# 五、Recast 参数

// Specifies a configuration to use when performing Recast builds.
struct rcConfig
{
/// The minimum/maximum bounds of the field's AABB. [(x, y, z)] [Units: wu]
/// 环境Mesh中顶点XYZ的最大最小值构成的AABB包围盒，将环境都包含在内。
/// 这个值也可以自定义，毕竟真实的游戏很复杂，有些区域不需要寻路，比如：水里、天空、不可到达的区域...
float bmin[3]; 
float bmax[3];

/// The xz-plane/y-axis cell size/height to use for fields. [Limit: > 0] [Units: wu] 
/// 体素细分单位。体素长宽高单位大小。
float cs; // cell size -> 立方体XZ的大小 -> XZ平面正方形
float ch; // cell height -> 立方体高度大小

/// The width/height of the field along the x-axis/z-axis. [Limit: >= 0] [Units: vx]
/// 将上面的AABB包围盒细分。将X轴细分为width块，将Z轴细分为height块。
int width;  // X轴细分。浮点数向上取整。如：width = (fAABBMax_X - fAABBMin_X)/(cs + 0.5f)
int height; // Z轴细分。
    // 注意：Y轴没有被细分。

/// The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx]
/// 边界区域大小，这些边界区域不会生成导航网格。
int borderSize;

/// The width/height size of tile's on the xz-plane. [Limit: >= 0] [Units: vx]
int tileSize;

/// The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees]
/// 爬坡下坎的角度，斜面超过这个角度不能导航。 
float walkableSlopeAngle;

/// Minimum floor to 'ceiling(天花板)' height 
/// that will still allow the floor area to be considered walkable. [Limit: >= 3] [Units: vx] 
/// 可行走的最小高度 - 体素坐标系 - 单位为体素的高
int walkableHeight;

/// Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx] 
/// 可以攀爬的最大高度 - 体素坐标系 - 单位为体素的高
int walkableClimb;

/// The distance to erode/shrink the walkable area of the heightfield away from obstructions.  [Limit: >=0] [Units: vx] 
/// 行走半径。区域圆的半径大于该值时才可以行走。每个物体都有半径，行走物应该都有半径！[Limit: >=0]
int walkableRadius;

/// The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx]
int maxEdgeLen;

/// The maximum distance a simplified contour's border edges should deviate the original raw contour. [Limit: >=0] [Units: vx]
float maxSimplificationError;

/// The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx] 
/// 平面XZ最小可行走区域。
int minRegionArea;

/// Any regions with a span count smaller than this value will, if possible, be merged with larger regions. [Limit: >=0] [Units: vx] 
int mergeRegionArea;

/// The maximum number of vertices allowed for polygons generated during the contour to polygon conversion process. [Limit: >= 3] 
int maxVertsPerPoly;

/// Sets the sampling distance to use when generating the detail mesh.(For height detail only.) [Limits: 0 or >= 0.9] [Units: wu] 
float detailSampleDist;

/// The maximum distance the detail mesh surface should deviate from heightfield data. (For height detail only.) [Limit: >=0] [Units: wu] 
float detailSampleMaxError;
};