// // Copyright (c) 2009-2010 Mikko Mononen memon@inside.org // // This software is provided 'as-is', without any express or implied // warranty. In no event will the authors be held liable for any damages // arising from the use of this software. // Permission is granted to anyone to use this software for any purpose, // including commercial applications, and to alter it and redistribute it // freely, subject to the following restrictions: // 1. The origin of this software must not be misrepresented; you must not // claim that you wrote the original software. If you use this software // in a product, an acknowledgment in the product documentation would be // appreciated but is not required. // 2. Altered source versions must be plainly marked as such, and must not be // misrepresented as being the original software. // 3. This notice may not be removed or altered from any source distribution. // #ifndef DETOURNAVMESHQUERY_H #define DETOURNAVMESHQUERY_H #include "DetourNavMesh.h" #include "DetourStatus.h" // Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter. // On certain platforms indirect or virtual function call is expensive. The default // setting is to use non-virtual functions, the actual implementations of the functions // are declared as inline for maximum speed. //#define DT_VIRTUAL_QUERYFILTER 1 /// Defines polygon filtering and traversal costs for navigation mesh query operations. /// @ingroup detour class dtQueryFilter { float m_areaCost[DT_MAX_AREAS]; ///< Cost per area type. (Used by default implementation.) unsigned short m_includeFlags; ///< Flags for polygons that can be visited. (Used by default implementation.) unsigned short m_excludeFlags; ///< Flags for polygons that should not be visted. (Used by default implementation.) public: dtQueryFilter(); #ifdef DT_VIRTUAL_QUERYFILTER virtual ~dtQueryFilter() { } #endif /// Returns true if the polygon can be visited. (I.e. Is traversable.) /// @param[in] ref The reference id of the polygon test. /// @param[in] tile The tile containing the polygon. /// @param[in] poly The polygon to test. #ifdef DT_VIRTUAL_QUERYFILTER virtual bool passFilter(const dtPolyRef ref, const dtMeshTile* tile, const dtPoly* poly) const; #else bool passFilter(const dtPolyRef ref, const dtMeshTile* tile, const dtPoly* poly) const; #endif /// Returns cost to move from the beginning to the end of a line segment /// that is fully contained within a polygon. /// @param[in] pa The start position on the edge of the previous and current polygon. [(x, y, z)] /// @param[in] pb The end position on the edge of the current and next polygon. [(x, y, z)] /// @param[in] prevRef The reference id of the previous polygon. [opt] /// @param[in] prevTile The tile containing the previous polygon. [opt] /// @param[in] prevPoly The previous polygon. [opt] /// @param[in] curRef The reference id of the current polygon. /// @param[in] curTile The tile containing the current polygon. /// @param[in] curPoly The current polygon. /// @param[in] nextRef The refernece id of the next polygon. [opt] /// @param[in] nextTile The tile containing the next polygon. [opt] /// @param[in] nextPoly The next polygon. [opt] #ifdef DT_VIRTUAL_QUERYFILTER virtual float getCost(const float* pa, const float* pb, const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly, const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly, const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const; #else float getCost(const float* pa, const float* pb, const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly, const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly, const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const; #endif /// @name Getters and setters for the default implementation data. ///@{ /// Returns the traversal cost of the area. /// @param[in] i The id of the area. /// @returns The traversal cost of the area. inline float getAreaCost(const int i) const { return m_areaCost[i]; } /// Sets the traversal cost of the area. /// @param[in] i The id of the area. /// @param[in] cost The new cost of traversing the area. inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; } /// Returns the include flags for the filter. /// Any polygons that include one or more of these flags will be /// included in the operation. inline unsigned short getIncludeFlags() const { return m_includeFlags; } /// Sets the include flags for the filter. /// @param[in] flags The new flags. inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; } /// Returns the exclude flags for the filter. /// Any polygons that include one ore more of these flags will be /// excluded from the operation. inline unsigned short getExcludeFlags() const { return m_excludeFlags; } /// Sets the exclude flags for the filter. /// @param[in] flags The new flags. inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; } ///@} }; /// Provides information about raycast hit /// filled by dtNavMeshQuery::raycast /// @ingroup detour struct dtRaycastHit { /// The hit parameter. (FLT_MAX if no wall hit.) float t; /// hitNormal The normal of the nearest wall hit. [(x, y, z)] float hitNormal[3]; /// The index of the edge on the final polygon where the wall was hit. int hitEdgeIndex; /// Pointer to an array of reference ids of the visited polygons. [opt] dtPolyRef* path; /// The number of visited polygons. [opt] int pathCount; /// The maximum number of polygons the @p path array can hold. int maxPath; /// The cost of the path until hit. float pathCost; }; /// Provides custom polygon query behavior. /// Used by dtNavMeshQuery::queryPolygons. /// @ingroup detour class dtPolyQuery { public: virtual ~dtPolyQuery() { } /// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons. /// This can be called multiple times for a single query. virtual void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) = 0; }; /// Provides the ability to perform pathfinding related queries against /// a navigation mesh. /// @ingroup detour class dtNavMeshQuery { public: dtNavMeshQuery(); ~dtNavMeshQuery(); /// Initializes the query object. /// @param[in] nav Pointer to the dtNavMesh object to use for all queries. /// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65535] /// @returns The status flags for the query. dtStatus init(const dtNavMesh* nav, const int maxNodes); /// @name Standard Pathfinding Functions // /@{ /// Finds a path from the start polygon to the end polygon. /// @param[in] startRef The refrence id of the start polygon. /// @param[in] endRef The reference id of the end polygon. /// @param[in] startPos A position within the start polygon. [(x, y, z)] /// @param[in] endPos A position within the end polygon. [(x, y, z)] /// @param[in] filter The polygon filter to apply to the query. /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) /// [(polyRef) * @p pathCount] /// @param[out] pathCount The number of polygons returned in the @p path array. /// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 1] dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef, const float* startPos, const float* endPos, const dtQueryFilter* filter, dtPolyRef* path, int* pathCount, const int maxPath) const; /// Finds the straight path from the start to the end position within the polygon corridor. /// @param[in] startPos Path start position. [(x, y, z)] /// @param[in] endPos Path end position. [(x, y, z)] /// @param[in] path An array of polygon references that represent the path corridor. /// @param[in] pathSize The number of polygons in the @p path array. /// @param[out] straightPath Points describing the straight path. [(x, y, z) * @p straightPathCount]. /// @param[out] straightPathFlags Flags describing each point. (See: #dtStraightPathFlags) [opt] /// @param[out] straightPathRefs The reference id of the polygon that is being entered at each point. [opt] /// @param[out] straightPathCount The number of points in the straight path. /// @param[in] maxStraightPath The maximum number of points the straight path arrays can hold. [Limit: > 0] /// @param[in] options Query options. (see: #dtStraightPathOptions) /// @returns The status flags for the query. dtStatus findStraightPath(const float* startPos, const float* endPos, const dtPolyRef* path, const int pathSize, float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, int* straightPathCount, const int maxStraightPath, const int options = 0) const; ///@} /// @name Sliced Pathfinding Functions /// Common use case: /// -# Call initSlicedFindPath() to initialize the sliced path query. /// -# Call updateSlicedFindPath() until it returns complete. /// -# Call finalizeSlicedFindPath() to get the path. ///@{ /// Intializes a sliced path query. /// @param[in] startRef The refrence id of the start polygon. /// @param[in] endRef The reference id of the end polygon. /// @param[in] startPos A position within the start polygon. [(x, y, z)] /// @param[in] endPos A position within the end polygon. [(x, y, z)] /// @param[in] filter The polygon filter to apply to the query. /// @param[in] options query options (see: #dtFindPathOptions) /// @returns The status flags for the query. dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef, const float* startPos, const float* endPos, const dtQueryFilter* filter, const unsigned int options = 0); /// Updates an in-progress sliced path query. /// @param[in] maxIter The maximum number of iterations to perform. /// @param[out] doneIters The actual number of iterations completed. [opt] /// @returns The status flags for the query. dtStatus updateSlicedFindPath(const int maxIter, int* doneIters); /// Finalizes and returns the results of a sliced path query. /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) /// [(polyRef) * @p pathCount] /// @param[out] pathCount The number of polygons returned in the @p path array. /// @param[in] maxPath The max number of polygons the path array can hold. [Limit: >= 1] /// @returns The status flags for the query. dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath); /// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest /// polygon on the existing path that was visited during the search. /// @param[in] existing An array of polygon references for the existing path. /// @param[in] existingSize The number of polygon in the @p existing array. /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) /// [(polyRef) * @p pathCount] /// @param[out] pathCount The number of polygons returned in the @p path array. /// @param[in] maxPath The max number of polygons the @p path array can hold. [Limit: >= 1] /// @returns The status flags for the query. dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize, dtPolyRef* path, int* pathCount, const int maxPath); ///@} /// @name Dijkstra Search Functions /// @{ /// Finds the polygons along the navigation graph that touch the specified circle. /// @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] radius The radius of the search 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. [opt] /// @param[out] resultParent The reference ids of the parent polygons for each result. /// Zero if a result polygon has no parent. [opt] /// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt] /// @param[out] resultCount The number of polygons found. [opt] /// @param[in] maxResult The maximum number of polygons the result arrays can hold. /// @returns The status flags for the query. dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius, const dtQueryFilter* filter, dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, int* resultCount, const int maxResult) const; /// Finds the polygons along the naviation graph that touch the specified convex polygon. /// @param[in] startRef The reference id of the polygon where the search starts. /// @param[in] verts The vertices describing the convex polygon. (CCW) /// [(x, y, z) * @p nverts] /// @param[in] nverts The number of vertices in the polygon. /// @param[in] filter The polygon filter to apply to the query. /// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt] /// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a /// result polygon has no parent. [opt] /// @param[out] resultCost The search cost from the centroid point to the polygon. [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 findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts, const dtQueryFilter* filter, dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, int* resultCount, const int maxResult) const; /// Gets a path from the explored nodes in the previous search. /// @param[in] endRef The reference id of the end polygon. /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) /// [(polyRef) * @p pathCount] /// @param[out] pathCount The number of polygons returned in the @p path array. /// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 0] /// @returns The status flags. Returns DT_FAILURE | DT_INVALID_PARAM if any parameter is wrong, or if /// @p endRef was not explored in the previous search. Returns DT_SUCCESS | DT_BUFFER_TOO_SMALL /// if @p path cannot contain the entire path. In this case it is filled to capacity with a partial path. /// Otherwise returns DT_SUCCESS. /// @remarks The result of this function depends on the state of the query object. For that reason it should only /// be used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape. dtStatus getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef* path, int* pathCount, int maxPath) const; /// @} /// @name Local Query Functions ///@{ /// 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)] /// @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