590 lines
30 KiB
C
590 lines
30 KiB
C
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//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef DETOURNAVMESHQUERY_H
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#define DETOURNAVMESHQUERY_H
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#include "DetourNavMesh.h"
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#include "DetourStatus.h"
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// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter.
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// On certain platforms indirect or virtual function call is expensive. The default
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// setting is to use non-virtual functions, the actual implementations of the functions
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// are declared as inline for maximum speed.
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//#define DT_VIRTUAL_QUERYFILTER 1
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/// Defines polygon filtering and traversal costs for navigation mesh query operations.
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/// @ingroup detour
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class dtQueryFilter
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{
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float m_areaCost[DT_MAX_AREAS]; ///< Cost per area type. (Used by default implementation.)
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unsigned short m_includeFlags; ///< Flags for polygons that can be visited. (Used by default implementation.)
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unsigned short m_excludeFlags; ///< Flags for polygons that should not be visted. (Used by default implementation.)
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public:
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dtQueryFilter();
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#ifdef DT_VIRTUAL_QUERYFILTER
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virtual ~dtQueryFilter() { }
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#endif
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/// Returns true if the polygon can be visited. (I.e. Is traversable.)
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/// @param[in] ref The reference id of the polygon test.
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/// @param[in] tile The tile containing the polygon.
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/// @param[in] poly The polygon to test.
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#ifdef DT_VIRTUAL_QUERYFILTER
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virtual bool passFilter(const dtPolyRef ref,
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const dtMeshTile* tile,
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const dtPoly* poly) const;
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#else
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bool passFilter(const dtPolyRef ref,
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const dtMeshTile* tile,
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const dtPoly* poly) const;
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#endif
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/// Returns cost to move from the beginning to the end of a line segment
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/// that is fully contained within a polygon.
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/// @param[in] pa The start position on the edge of the previous and current polygon. [(x, y, z)]
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/// @param[in] pb The end position on the edge of the current and next polygon. [(x, y, z)]
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/// @param[in] prevRef The reference id of the previous polygon. [opt]
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/// @param[in] prevTile The tile containing the previous polygon. [opt]
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/// @param[in] prevPoly The previous polygon. [opt]
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/// @param[in] curRef The reference id of the current polygon.
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/// @param[in] curTile The tile containing the current polygon.
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/// @param[in] curPoly The current polygon.
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/// @param[in] nextRef The refernece id of the next polygon. [opt]
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/// @param[in] nextTile The tile containing the next polygon. [opt]
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/// @param[in] nextPoly The next polygon. [opt]
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#ifdef DT_VIRTUAL_QUERYFILTER
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virtual float getCost(const float* pa, const float* pb,
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const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
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const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
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const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
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#else
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float getCost(const float* pa, const float* pb,
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const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
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const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
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const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
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#endif
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/// @name Getters and setters for the default implementation data.
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///@{
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/// Returns the traversal cost of the area.
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/// @param[in] i The id of the area.
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/// @returns The traversal cost of the area.
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inline float getAreaCost(const int i) const { return m_areaCost[i]; }
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/// Sets the traversal cost of the area.
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/// @param[in] i The id of the area.
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/// @param[in] cost The new cost of traversing the area.
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inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; }
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/// Returns the include flags for the filter.
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/// Any polygons that include one or more of these flags will be
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/// included in the operation.
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inline unsigned short getIncludeFlags() const { return m_includeFlags; }
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/// Sets the include flags for the filter.
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/// @param[in] flags The new flags.
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inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; }
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/// Returns the exclude flags for the filter.
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/// Any polygons that include one ore more of these flags will be
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/// excluded from the operation.
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inline unsigned short getExcludeFlags() const { return m_excludeFlags; }
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/// Sets the exclude flags for the filter.
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/// @param[in] flags The new flags.
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inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; }
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///@}
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};
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/// Provides information about raycast hit
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/// filled by dtNavMeshQuery::raycast
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/// @ingroup detour
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struct dtRaycastHit
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{
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/// The hit parameter. (FLT_MAX if no wall hit.)
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float t;
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/// hitNormal The normal of the nearest wall hit. [(x, y, z)]
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float hitNormal[3];
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/// The index of the edge on the final polygon where the wall was hit.
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int hitEdgeIndex;
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/// Pointer to an array of reference ids of the visited polygons. [opt]
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dtPolyRef* path;
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/// The number of visited polygons. [opt]
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int pathCount;
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/// The maximum number of polygons the @p path array can hold.
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int maxPath;
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/// The cost of the path until hit.
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float pathCost;
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};
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/// Provides custom polygon query behavior.
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/// Used by dtNavMeshQuery::queryPolygons.
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/// @ingroup detour
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class dtPolyQuery
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{
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public:
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virtual ~dtPolyQuery() { }
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/// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons.
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/// This can be called multiple times for a single query.
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virtual void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) = 0;
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};
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/// Provides the ability to perform pathfinding related queries against
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/// a navigation mesh.
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/// @ingroup detour
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class dtNavMeshQuery
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{
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public:
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dtNavMeshQuery();
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~dtNavMeshQuery();
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/// Initializes the query object.
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/// @param[in] nav Pointer to the dtNavMesh object to use for all queries.
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/// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65535]
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/// @returns The status flags for the query.
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dtStatus init(const dtNavMesh* nav, const int maxNodes);
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/// @name Standard Pathfinding Functions
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// /@{
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/// Finds a path from the start polygon to the end polygon.
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/// @param[in] startRef The refrence id of the start polygon.
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/// @param[in] endRef The reference id of the end polygon.
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/// @param[in] startPos A position within the start polygon. [(x, y, z)]
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/// @param[in] endPos A position within the end polygon. [(x, y, z)]
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/// @param[in] filter The polygon filter to apply to the query.
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/// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
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/// [(polyRef) * @p pathCount]
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/// @param[out] pathCount The number of polygons returned in the @p path array.
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/// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 1]
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dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef,
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const float* startPos, const float* endPos,
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const dtQueryFilter* filter,
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dtPolyRef* path, int* pathCount, const int maxPath) const;
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/// Finds the straight path from the start to the end position within the polygon corridor.
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/// @param[in] startPos Path start position. [(x, y, z)]
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/// @param[in] endPos Path end position. [(x, y, z)]
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/// @param[in] path An array of polygon references that represent the path corridor.
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/// @param[in] pathSize The number of polygons in the @p path array.
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/// @param[out] straightPath Points describing the straight path. [(x, y, z) * @p straightPathCount].
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/// @param[out] straightPathFlags Flags describing each point. (See: #dtStraightPathFlags) [opt]
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/// @param[out] straightPathRefs The reference id of the polygon that is being entered at each point. [opt]
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/// @param[out] straightPathCount The number of points in the straight path.
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/// @param[in] maxStraightPath The maximum number of points the straight path arrays can hold. [Limit: > 0]
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/// @param[in] options Query options. (see: #dtStraightPathOptions)
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/// @returns The status flags for the query.
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dtStatus findStraightPath(const float* startPos, const float* endPos,
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const dtPolyRef* path, const int pathSize,
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float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
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int* straightPathCount, const int maxStraightPath, const int options = 0) const;
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///@}
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/// @name Sliced Pathfinding Functions
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/// Common use case:
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/// -# Call initSlicedFindPath() to initialize the sliced path query.
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/// -# Call updateSlicedFindPath() until it returns complete.
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/// -# Call finalizeSlicedFindPath() to get the path.
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///@{
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/// Intializes a sliced path query.
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/// @param[in] startRef The refrence id of the start polygon.
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/// @param[in] endRef The reference id of the end polygon.
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/// @param[in] startPos A position within the start polygon. [(x, y, z)]
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/// @param[in] endPos A position within the end polygon. [(x, y, z)]
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/// @param[in] filter The polygon filter to apply to the query.
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/// @param[in] options query options (see: #dtFindPathOptions)
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/// @returns The status flags for the query.
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dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
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const float* startPos, const float* endPos,
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const dtQueryFilter* filter, const unsigned int options = 0);
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/// Updates an in-progress sliced path query.
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/// @param[in] maxIter The maximum number of iterations to perform.
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/// @param[out] doneIters The actual number of iterations completed. [opt]
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/// @returns The status flags for the query.
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dtStatus updateSlicedFindPath(const int maxIter, int* doneIters);
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/// Finalizes and returns the results of a sliced path query.
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/// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
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/// [(polyRef) * @p pathCount]
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/// @param[out] pathCount The number of polygons returned in the @p path array.
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/// @param[in] maxPath The max number of polygons the path array can hold. [Limit: >= 1]
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/// @returns The status flags for the query.
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dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
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/// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest
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/// polygon on the existing path that was visited during the search.
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/// @param[in] existing An array of polygon references for the existing path.
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/// @param[in] existingSize The number of polygon in the @p existing array.
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/// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
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/// [(polyRef) * @p pathCount]
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/// @param[out] pathCount The number of polygons returned in the @p path array.
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/// @param[in] maxPath The max number of polygons the @p path array can hold. [Limit: >= 1]
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/// @returns The status flags for the query.
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dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
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dtPolyRef* path, int* pathCount, const int maxPath);
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///@}
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/// @name Dijkstra Search Functions
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/// @{
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/// Finds the polygons along the navigation graph that touch the specified circle.
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/// @param[in] startRef The reference id of the polygon where the search starts.
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/// @param[in] centerPos The center of the search circle. [(x, y, z)]
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/// @param[in] radius The radius of the search circle.
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/// @param[in] filter The polygon filter to apply to the query.
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/// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt]
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/// @param[out] resultParent The reference ids of the parent polygons for each result.
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/// Zero if a result polygon has no parent. [opt]
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/// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt]
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/// @param[out] resultCount The number of polygons found. [opt]
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/// @param[in] maxResult The maximum number of polygons the result arrays can hold.
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/// @returns The status flags for the query.
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dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
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const dtQueryFilter* filter,
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dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
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int* resultCount, const int maxResult) const;
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/// Finds the polygons along the naviation graph that touch the specified convex polygon.
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/// @param[in] startRef The reference id of the polygon where the search starts.
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/// @param[in] verts The vertices describing the convex polygon. (CCW)
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/// [(x, y, z) * @p nverts]
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/// @param[in] nverts The number of vertices in the polygon.
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/// @param[in] filter The polygon filter to apply to the query.
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/// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt]
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/// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a
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/// result polygon has no parent. [opt]
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/// @param[out] resultCost The search cost from the centroid point to the polygon. [opt]
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/// @param[out] resultCount The number of polygons found.
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/// @param[in] maxResult The maximum number of polygons the result arrays can hold.
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/// @returns The status flags for the query.
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dtStatus findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
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const dtQueryFilter* filter,
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dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
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int* resultCount, const int maxResult) const;
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/// Gets a path from the explored nodes in the previous search.
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/// @param[in] endRef The reference id of the end polygon.
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/// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
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/// [(polyRef) * @p pathCount]
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/// @param[out] pathCount The number of polygons returned in the @p path array.
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/// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 0]
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/// @returns The status flags. Returns DT_FAILURE | DT_INVALID_PARAM if any parameter is wrong, or if
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/// @p endRef was not explored in the previous search. Returns DT_SUCCESS | DT_BUFFER_TOO_SMALL
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/// if @p path cannot contain the entire path. In this case it is filled to capacity with a partial path.
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/// Otherwise returns DT_SUCCESS.
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/// @remarks The result of this function depends on the state of the query object. For that reason it should only
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/// be used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape.
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dtStatus getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef* path, int* pathCount, int maxPath) const;
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/// @}
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/// @name Local Query Functions
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///@{
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/// Finds the polygon nearest to the specified center point.
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/// [opt] means the specified parameter can be a null pointer, in that case the output parameter will not be set.
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///
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|
/// @param[in] center The center of the search box. [(x, y, z)]
|
||
|
|
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[out] nearestRef The reference id of the nearest polygon. Will be set to 0 if no polygon is found.
|
||
|
|
/// @param[out] nearestPt The nearest point on the polygon. Unchanged if no polygon is found. [opt] [(x, y, z)]
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus findNearestPoly(const float* center, const float* halfExtents,
|
||
|
|
const dtQueryFilter* filter,
|
||
|
|
dtPolyRef* nearestRef, float* nearestPt) const;
|
||
|
|
|
||
|
|
/// Finds the polygon nearest to the specified center point.
|
||
|
|
/// [opt] means the specified parameter can be a null pointer, in that case the output parameter will not be set.
|
||
|
|
///
|
||
|
|
/// @param[in] center The center of the search box. [(x, y, z)]
|
||
|
|
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[out] nearestRef The reference id of the nearest polygon. Will be set to 0 if no polygon is found.
|
||
|
|
/// @param[out] nearestPt The nearest point on the polygon. Unchanged if no polygon is found. [opt] [(x, y, z)]
|
||
|
|
/// @param[out] isOverPoly Set to true if the point's X/Z coordinate lies inside the polygon, false otherwise. Unchanged if no polygon is found. [opt]
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus findNearestPoly(const float* center, const float* halfExtents,
|
||
|
|
const dtQueryFilter* filter,
|
||
|
|
dtPolyRef* nearestRef, float* nearestPt, bool* isOverPoly) const;
|
||
|
|
|
||
|
|
/// Finds polygons that overlap the search box.
|
||
|
|
/// @param[in] center The center of the search box. [(x, y, z)]
|
||
|
|
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[out] polys The reference ids of the polygons that overlap the query box.
|
||
|
|
/// @param[out] polyCount The number of polygons in the search result.
|
||
|
|
/// @param[in] maxPolys The maximum number of polygons the search result can hold.
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus queryPolygons(const float* center, const float* halfExtents,
|
||
|
|
const dtQueryFilter* filter,
|
||
|
|
dtPolyRef* polys, int* polyCount, const int maxPolys) const;
|
||
|
|
|
||
|
|
/// Finds polygons that overlap the search box.
|
||
|
|
/// @param[in] center The center of the search box. [(x, y, z)]
|
||
|
|
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[in] query The query. Polygons found will be batched together and passed to this query.
|
||
|
|
dtStatus queryPolygons(const float* center, const float* halfExtents,
|
||
|
|
const dtQueryFilter* filter, dtPolyQuery* query) const;
|
||
|
|
|
||
|
|
/// Finds the non-overlapping navigation polygons in the local neighbourhood around the center position.
|
||
|
|
/// @param[in] startRef The reference id of the polygon where the search starts.
|
||
|
|
/// @param[in] centerPos The center of the query circle. [(x, y, z)]
|
||
|
|
/// @param[in] radius The radius of the query circle.
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[out] resultRef The reference ids of the polygons touched by the circle.
|
||
|
|
/// @param[out] resultParent The reference ids of the parent polygons for each result.
|
||
|
|
/// Zero if a result polygon has no parent. [opt]
|
||
|
|
/// @param[out] resultCount The number of polygons found.
|
||
|
|
/// @param[in] maxResult The maximum number of polygons the result arrays can hold.
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
|
||
|
|
const dtQueryFilter* filter,
|
||
|
|
dtPolyRef* resultRef, dtPolyRef* resultParent,
|
||
|
|
int* resultCount, const int maxResult) const;
|
||
|
|
|
||
|
|
/// Moves from the start to the end position constrained to the navigation mesh.
|
||
|
|
/// @param[in] startRef The reference id of the start polygon.
|
||
|
|
/// @param[in] startPos A position of the mover within the start polygon. [(x, y, x)]
|
||
|
|
/// @param[in] endPos The desired end position of the mover. [(x, y, z)]
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[out] resultPos The result position of the mover. [(x, y, z)]
|
||
|
|
/// @param[out] visited The reference ids of the polygons visited during the move.
|
||
|
|
/// @param[out] visitedCount The number of polygons visited during the move.
|
||
|
|
/// @param[in] maxVisitedSize The maximum number of polygons the @p visited array can hold.
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
|
||
|
|
const dtQueryFilter* filter,
|
||
|
|
float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const;
|
||
|
|
|
||
|
|
/// Casts a 'walkability' ray along the surface of the navigation mesh from
|
||
|
|
/// the start position toward the end position.
|
||
|
|
/// @note A wrapper around raycast(..., RaycastHit*). Retained for backward compatibility.
|
||
|
|
/// @param[in] startRef The reference id of the start polygon.
|
||
|
|
/// @param[in] startPos A position within the start polygon representing
|
||
|
|
/// the start of the ray. [(x, y, z)]
|
||
|
|
/// @param[in] endPos The position to cast the ray toward. [(x, y, z)]
|
||
|
|
/// @param[out] t The hit parameter. (FLT_MAX if no wall hit.)
|
||
|
|
/// @param[out] hitNormal The normal of the nearest wall hit. [(x, y, z)]
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[out] path The reference ids of the visited polygons. [opt]
|
||
|
|
/// @param[out] pathCount The number of visited polygons. [opt]
|
||
|
|
/// @param[in] maxPath The maximum number of polygons the @p path array can hold.
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
|
||
|
|
const dtQueryFilter* filter,
|
||
|
|
float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const;
|
||
|
|
|
||
|
|
/// Casts a 'walkability' ray along the surface of the navigation mesh from
|
||
|
|
/// the start position toward the end position.
|
||
|
|
/// @param[in] startRef The reference id of the start polygon.
|
||
|
|
/// @param[in] startPos A position within the start polygon representing
|
||
|
|
/// the start of the ray. [(x, y, z)]
|
||
|
|
/// @param[in] endPos The position to cast the ray toward. [(x, y, z)]
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[in] flags govern how the raycast behaves. See dtRaycastOptions
|
||
|
|
/// @param[out] hit Pointer to a raycast hit structure which will be filled by the results.
|
||
|
|
/// @param[in] prevRef parent of start ref. Used during for cost calculation [opt]
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
|
||
|
|
const dtQueryFilter* filter, const unsigned int options,
|
||
|
|
dtRaycastHit* hit, dtPolyRef prevRef = 0) const;
|
||
|
|
|
||
|
|
|
||
|
|
/// Finds the distance from the specified position to the nearest polygon wall.
|
||
|
|
/// @param[in] startRef The reference id of the polygon containing @p centerPos.
|
||
|
|
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
|
||
|
|
/// @param[in] maxRadius The radius of the search circle.
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[out] hitDist The distance to the nearest wall from @p centerPos.
|
||
|
|
/// @param[out] hitPos The nearest position on the wall that was hit. [(x, y, z)]
|
||
|
|
/// @param[out] hitNormal The normalized ray formed from the wall point to the
|
||
|
|
/// source point. [(x, y, z)]
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
|
||
|
|
const dtQueryFilter* filter,
|
||
|
|
float* hitDist, float* hitPos, float* hitNormal) const;
|
||
|
|
|
||
|
|
/// Returns the segments for the specified polygon, optionally including portals.
|
||
|
|
/// @param[in] ref The reference id of the polygon.
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[out] segmentVerts The segments. [(ax, ay, az, bx, by, bz) * segmentCount]
|
||
|
|
/// @param[out] segmentRefs The reference ids of each segment's neighbor polygon.
|
||
|
|
/// Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount]
|
||
|
|
/// @param[out] segmentCount The number of segments returned.
|
||
|
|
/// @param[in] maxSegments The maximum number of segments the result arrays can hold.
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
|
||
|
|
float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount,
|
||
|
|
const int maxSegments) const;
|
||
|
|
|
||
|
|
/// Returns random location on navmesh.
|
||
|
|
/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[in] frand Function returning a random number [0..1).
|
||
|
|
/// @param[out] randomRef The reference id of the random location.
|
||
|
|
/// @param[out] randomPt The random location.
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus findRandomPoint(const dtQueryFilter* filter, float (*frand)(),
|
||
|
|
dtPolyRef* randomRef, float* randomPt) const;
|
||
|
|
|
||
|
|
/// Returns random location on navmesh within the reach of specified location.
|
||
|
|
/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
|
||
|
|
/// The location is not exactly constrained by the circle, but it limits the visited polygons.
|
||
|
|
/// @param[in] startRef The reference id of the polygon where the search starts.
|
||
|
|
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
|
||
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
||
|
|
/// @param[in] frand Function returning a random number [0..1).
|
||
|
|
/// @param[out] randomRef The reference id of the random location.
|
||
|
|
/// @param[out] randomPt The random location. [(x, y, z)]
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius,
|
||
|
|
const dtQueryFilter* filter, float (*frand)(),
|
||
|
|
dtPolyRef* randomRef, float* randomPt) const;
|
||
|
|
|
||
|
|
/// Finds the closest point on the specified polygon.
|
||
|
|
/// @param[in] ref The reference id of the polygon.
|
||
|
|
/// @param[in] pos The position to check. [(x, y, z)]
|
||
|
|
/// @param[out] closest The closest point on the polygon. [(x, y, z)]
|
||
|
|
/// @param[out] posOverPoly True of the position is over the polygon.
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const;
|
||
|
|
|
||
|
|
/// Returns a point on the boundary closest to the source point if the source point is outside the
|
||
|
|
/// polygon's xz-bounds.
|
||
|
|
/// @param[in] ref The reference id to the polygon.
|
||
|
|
/// @param[in] pos The position to check. [(x, y, z)]
|
||
|
|
/// @param[out] closest The closest point. [(x, y, z)]
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
|
||
|
|
|
||
|
|
/// Gets the height of the polygon at the provided position using the height detail. (Most accurate.)
|
||
|
|
/// @param[in] ref The reference id of the polygon.
|
||
|
|
/// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)]
|
||
|
|
/// @param[out] height The height at the surface of the polygon.
|
||
|
|
/// @returns The status flags for the query.
|
||
|
|
dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;
|
||
|
|
|
||
|
|
/// @}
|
||
|
|
/// @name Miscellaneous Functions
|
||
|
|
/// @{
|
||
|
|
|
||
|
|
/// Returns true if the polygon reference is valid and passes the filter restrictions.
|
||
|
|
/// @param[in] ref The polygon reference to check.
|
||
|
|
/// @param[in] filter The filter to apply.
|
||
|
|
bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const;
|
||
|
|
|
||
|
|
/// Returns true if the polygon reference is in the closed list.
|
||
|
|
/// @param[in] ref The reference id of the polygon to check.
|
||
|
|
/// @returns True if the polygon is in closed list.
|
||
|
|
bool isInClosedList(dtPolyRef ref) const;
|
||
|
|
|
||
|
|
/// Gets the node pool.
|
||
|
|
/// @returns The node pool.
|
||
|
|
class dtNodePool* getNodePool() const { return m_nodePool; }
|
||
|
|
|
||
|
|
/// Gets the navigation mesh the query object is using.
|
||
|
|
/// @return The navigation mesh the query object is using.
|
||
|
|
const dtNavMesh* getAttachedNavMesh() const { return m_nav; }
|
||
|
|
|
||
|
|
/// @}
|
||
|
|
|
||
|
|
private:
|
||
|
|
// Explicitly disabled copy constructor and copy assignment operator
|
||
|
|
dtNavMeshQuery(const dtNavMeshQuery&);
|
||
|
|
dtNavMeshQuery& operator=(const dtNavMeshQuery&);
|
||
|
|
|
||
|
|
/// Queries polygons within a tile.
|
||
|
|
void queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
|
||
|
|
const dtQueryFilter* filter, dtPolyQuery* query) const;
|
||
|
|
|
||
|
|
/// Returns portal points between two polygons.
|
||
|
|
dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
|
||
|
|
unsigned char& fromType, unsigned char& toType) const;
|
||
|
|
dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
|
||
|
|
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
|
||
|
|
float* left, float* right) const;
|
||
|
|
|
||
|
|
/// Returns edge mid point between two polygons.
|
||
|
|
dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
|
||
|
|
dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
|
||
|
|
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
|
||
|
|
float* mid) const;
|
||
|
|
|
||
|
|
// Appends vertex to a straight path
|
||
|
|
dtStatus appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref,
|
||
|
|
float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
|
||
|
|
int* straightPathCount, const int maxStraightPath) const;
|
||
|
|
|
||
|
|
// Appends intermediate portal points to a straight path.
|
||
|
|
dtStatus appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path,
|
||
|
|
float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
|
||
|
|
int* straightPathCount, const int maxStraightPath, const int options) const;
|
||
|
|
|
||
|
|
// Gets the path leading to the specified end node.
|
||
|
|
dtStatus getPathToNode(struct dtNode* endNode, dtPolyRef* path, int* pathCount, int maxPath) const;
|
||
|
|
|
||
|
|
const dtNavMesh* m_nav; ///< Pointer to navmesh data.
|
||
|
|
|
||
|
|
struct dtQueryData
|
||
|
|
{
|
||
|
|
dtStatus status;
|
||
|
|
struct dtNode* lastBestNode;
|
||
|
|
float lastBestNodeCost;
|
||
|
|
dtPolyRef startRef, endRef;
|
||
|
|
float startPos[3], endPos[3];
|
||
|
|
const dtQueryFilter* filter;
|
||
|
|
unsigned int options;
|
||
|
|
float raycastLimitSqr;
|
||
|
|
};
|
||
|
|
dtQueryData m_query; ///< Sliced query state.
|
||
|
|
|
||
|
|
class dtNodePool* m_tinyNodePool; ///< Pointer to small node pool.
|
||
|
|
class dtNodePool* m_nodePool; ///< Pointer to node pool.
|
||
|
|
class dtNodeQueue* m_openList; ///< Pointer to open list queue.
|
||
|
|
};
|
||
|
|
|
||
|
|
/// Allocates a query object using the Detour allocator.
|
||
|
|
/// @return An allocated query object, or null on failure.
|
||
|
|
/// @ingroup detour
|
||
|
|
dtNavMeshQuery* dtAllocNavMeshQuery();
|
||
|
|
|
||
|
|
/// Frees the specified query object using the Detour allocator.
|
||
|
|
/// @param[in] query A query object allocated using #dtAllocNavMeshQuery
|
||
|
|
/// @ingroup detour
|
||
|
|
void dtFreeNavMeshQuery(dtNavMeshQuery* query);
|
||
|
|
|
||
|
|
#endif // DETOURNAVMESHQUERY_H
|