Step 1: Create Project Directory Шаг 1: Создание директории проекта

Create a workspace folder and a new directory for your Recast Navigation test project: Создайте рабочую папку для проектов и новую директорию для вашего тестового проекта Recast Navigation:

Windows (Command Prompt / PowerShell)

mkdir C:\projects\recast-test
cd C:\projects\recast-test

Ubuntu (Terminal)

mkdir -p ~/projects/recast-test
cd ~/projects/recast-test

Step 2: Create Source Files (main.cpp & CMakeLists.txt) Шаг 2: Создание исходных файлов (main.cpp и CMakeLists.txt)

You can create these files using Notepad / Sublime Text on Windows, or nano in Ubuntu terminal: Вы можете создать эти файлы через Блокнот / Sublime Text в Windows или с помощью nano в терминале Ubuntu:

Windows (Terminal / Notepad)

notepad main.cpp
notepad CMakeLists.txt

Ubuntu (Terminal / Nano)

nano main.cpp
nano CMakeLists.txt

1. File Contents for main.cpp 1. Содержимое файла main.cpp

#include <iostream>
#include <Recast.h>
#include <DetourNavMesh.h>
#include <DetourNavMeshQuery.h>

int main() {
    std::cout << "Initializing Recast & Detour..." << std::endl;

    // Allocate Recast Context
    rcContext ctx;
    
    // Allocate Detour NavMesh & NavMeshQuery objects
    dtNavMesh* navMesh = dtAllocNavMesh();
    dtNavMeshQuery* navQuery = dtAllocNavMeshQuery();

    if (!navMesh || !navQuery) {
        std::cerr << "Failed to allocate Detour structures!" << std::endl;
        return 1;
    }

    dtStatus status = navQuery->init(navMesh, 2048);
    if (dtStatusSucceed(status)) {
        std::cout << "NavMeshQuery initialized (empty mesh baseline test successful)." << std::endl;
    }

    // Clean up allocated memory
    dtFreeNavMeshQuery(navQuery);
    dtFreeNavMesh(navMesh);

    std::cout << "Recast Navigation integration test completed successfully!" << std::endl;
    return 0;
}

2. File Contents for CMakeLists.txt 2. Содержимое файла CMakeLists.txt

Imports all core Recast & Detour static library targets explicitly and configures platform-specific paths: Явно импортирует все основные цели статических библиотек Recast и Detour и настраивает пути под платформу:

set(CMAKE_BUILD_TYPE "Debug")

cmake_minimum_required(VERSION 3.21)
project(recast_test CXX)

set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(PROJECT_SOURCES
    main.cpp
)

add_executable(app)
target_sources(app PRIVATE ${PROJECT_SOURCES})

if(WIN32)
    set(RECAST_DIR "C:/libs/recastnavigation-mingw")

    target_include_directories(app PRIVATE
        ${RECAST_DIR}/include/recastnavigation
    )

    add_library(Recast_Static STATIC IMPORTED)
    set_target_properties(Recast_Static PROPERTIES
        IMPORTED_LOCATION "${RECAST_DIR}/lib/libRecast.a"
    )

    add_library(Detour_Static STATIC IMPORTED)
    set_target_properties(Detour_Static PROPERTIES
        IMPORTED_LOCATION "${RECAST_DIR}/lib/libDetour.a"
    )

    add_library(DebugUtils_Static STATIC IMPORTED)
    set_target_properties(DebugUtils_Static PROPERTIES
        IMPORTED_LOCATION "${RECAST_DIR}/lib/libDebugUtils.a"
    )

    add_library(DetourCrowd_Static STATIC IMPORTED)
    set_target_properties(DetourCrowd_Static PROPERTIES
        IMPORTED_LOCATION "${RECAST_DIR}/lib/libDetourCrowd.a"
    )

    add_library(DetourTileCache_Static STATIC IMPORTED)
    set_target_properties(DetourTileCache_Static PROPERTIES
        IMPORTED_LOCATION "${RECAST_DIR}/lib/libDetourTileCache.a"
    )

    target_link_libraries(app PRIVATE
        Recast_Static
        Detour_Static
        DebugUtils_Static
        DetourCrowd_Static
        DetourTileCache_Static
    )

    target_compile_options(app PRIVATE -Os)
    target_link_options(app PRIVATE -static -s -static-libgcc -static-libstdc++ -mconsole)

else() # Linux / Ubuntu
    set(RECAST_DIR "$ENV{HOME}/libs/recastnavigation-ubuntu")

    target_include_directories(app PRIVATE
        ${RECAST_DIR}/include/recastnavigation
    )

    add_library(Recast_Static STATIC IMPORTED)
    set_target_properties(Recast_Static PROPERTIES
        IMPORTED_LOCATION "${RECAST_DIR}/lib/libRecast.a"
    )

    add_library(Detour_Static STATIC IMPORTED)
    set_target_properties(Detour_Static PROPERTIES
        IMPORTED_LOCATION "${RECAST_DIR}/lib/libDetour.a"
    )

    add_library(DebugUtils_Static STATIC IMPORTED)
    set_target_properties(DebugUtils_Static PROPERTIES
        IMPORTED_LOCATION "${RECAST_DIR}/lib/libDebugUtils.a"
    )

    add_library(DetourCrowd_Static STATIC IMPORTED)
    set_target_properties(DetourCrowd_Static PROPERTIES
        IMPORTED_LOCATION "${RECAST_DIR}/lib/libDetourCrowd.a"
    )

    add_library(DetourTileCache_Static STATIC IMPORTED)
    set_target_properties(DetourTileCache_Static PROPERTIES
        IMPORTED_LOCATION "${RECAST_DIR}/lib/libDetourTileCache.a"
    )

    find_package(Threads REQUIRED)

    target_link_libraries(app PRIVATE
        Recast_Static
        Detour_Static
        DebugUtils_Static
        DetourCrowd_Static
        DetourTileCache_Static
        Threads::Threads
    )
endif()

Step 3: Create Build & Execution Scripts Шаг 3: Создание скриптов сборки и запуска

Windows (MinGW / Batch Scripts)

config-exe.bat

cmake -G Ninja -S . -B dist/win

build-exe.bat

cmake --build dist/win

run-exe.bat

@echo off
.\dist\win\app.exe

Run the scripts sequentially in Command Prompt or PowerShell: Последовательно запустите скрипты в командной строке или PowerShell:

config-exe.bat
build-exe.bat
run-exe.bat

Ubuntu (Bash Scripts)

config-bin.sh

#!/usr/bin/env bash
set -e
cmake -G Ninja -S . -B dist/linux

build-bin.sh

#!/usr/bin/env bash
set -e
cmake --build dist/linux

run-bin.sh

#!/usr/bin/env bash
set -e
./dist/linux/app

Grant execute permissions on Ubuntu before running: Предоставьте права на выполнение в Ubuntu перед запуском:

chmod +x config-bin.sh build-bin.sh run-bin.sh
./config-bin.sh
./build-bin.sh
./run-bin.sh

Step 4: Expected Output Шаг 4: Ожидаемый результат

After running the build and execution scripts, you should see output similar to this: После запуска скриптов сборки и выполнения вы должны увидеть результат, похожий на следующий:

Initializing Recast & Detour...
NavMeshQuery initialized (empty mesh baseline test successful).
Recast Navigation integration test completed successfully!