server_common/recastnavigation_v1.6.0
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DETOUR return status codes changed, check blog! Changed Detour status codes to be bitfields which describes the highlevel status plus some details about the failure or quality of the result.

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This commit is contained in:
Mikko Mononen 2010-11-26 11:56:34 +00:00
parent 7fbcfa9c4b
commit 08741e894c
11 changed files with 1011 additions and 856 deletions
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2
DebugUtils/Source/DetourDebugDraw.cpp
View File

@ -421,7 +421,7 @@ void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef re
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (mesh.getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
if (dtStatusFailed(mesh.getTileAndPolyByRef(ref, &tile, &poly)))
return;
dd->depthMask(false);

53
Detour/Include/DetourNavMesh.h
View File

@ -66,15 +66,48 @@ enum dtPolyTypes
DT_POLYTYPE_OFFMESH_CONNECTION = 1, // Off-mesh connections.
};
enum dtStatus
typedef unsigned int dtStatus;
// High level status.
static const unsigned int DT_FAILURE = 1 << 31; // Operation failed.
static const unsigned int DT_SUCCESS = 1 << 30; // Operation succeed.
static const unsigned int DT_IN_PROGRESS = 1 << 29; // Operation still in progress.
// Detail information for status.
static const unsigned int DT_STATUS_DETAIL_MASK = 0x0ffffff;
static const unsigned int DT_WRONG_MAGIC = 1 << 0; // Input data is not recognized.
static const unsigned int DT_WRONG_VERSION = 1 << 1; // Input data is in wrong version.
static const unsigned int DT_OUT_OF_MEMORY = 1 << 2; // Operation ran out of memory.
static const unsigned int DT_INVALID_PARAM = 1 << 3; // An input parameter was invalid.
static const unsigned int DT_BUFFER_TOO_SMALL = 1 << 4; // Result buffer for the query was too small to store all results.
static const unsigned int DT_OUT_OF_NODES = 1 << 5; // Query ran out of nodes during search.
static const unsigned int DT_PARTIAL_RESULT = 1 << 6; // Query did not reach the end location, returning best guess.
// Returns true of status is success.
inline bool dtStatusSucceed(dtStatus status)
{
DT_FAILURE = 0, // Operation failed.
DT_FAILURE_DATA_MAGIC,
DT_FAILURE_DATA_VERSION,
DT_FAILURE_OUT_OF_MEMORY,
DT_SUCCESS, // Operation succeed.
DT_IN_PROGRESS, // Operation still in progress.
};
return (status & DT_SUCCESS) != 0;
}
// Returns true of status is failure.
inline bool dtStatusFailed(dtStatus status)
{
return (status & DT_FAILURE) != 0;
}
// Returns true of status is in progress.
inline bool dtStatusInProgress(dtStatus status)
{
return (status & DT_IN_PROGRESS) != 0;
}
// Returns true if specific detail is set.
inline bool dtStatusDetail(dtStatus status, unsigned int detail)
{
return (status & detail) != 0;
}
// Structure describing the navigation polygon data.
@ -384,8 +417,8 @@ private:
dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center,
const float* extents, float* nearestPt) const;
// Returns closest point on polygon.
dtStatus closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
const float* pos, float* closest) const;
void closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
const float* pos, float* closest) const;
dtNavMeshParams m_params; // Current initialization params. TODO: do not store this info twice.
float m_orig[3]; // Origin of the tile (0,0)

2
Detour/Include/DetourNavMeshQuery.h
View File

@ -365,7 +365,7 @@ private:
dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents,
const dtQueryFilter* filter, float* nearestPt) const;
// Returns closest point on polygon.
dtStatus closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) const;
void closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) const;
// Returns portal points between two polygons.
dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,

99
Detour/Source/DetourNavMesh.cpp
View File

@ -189,10 +189,10 @@ dtStatus dtNavMesh::init(const dtNavMeshParams* params)
m_tiles = (dtMeshTile*)dtAlloc(sizeof(dtMeshTile)*m_maxTiles, DT_ALLOC_PERM);
if (!m_tiles)
return DT_FAILURE_OUT_OF_MEMORY;
return DT_FAILURE | DT_OUT_OF_MEMORY;
m_posLookup = (dtMeshTile**)dtAlloc(sizeof(dtMeshTile*)*m_tileLutSize, DT_ALLOC_PERM);
if (!m_posLookup)
return DT_FAILURE_OUT_OF_MEMORY;
return DT_FAILURE | DT_OUT_OF_MEMORY;
memset(m_tiles, 0, sizeof(dtMeshTile)*m_maxTiles);
memset(m_posLookup, 0, sizeof(dtMeshTile*)*m_tileLutSize);
m_nextFree = 0;
@ -208,7 +208,7 @@ dtStatus dtNavMesh::init(const dtNavMeshParams* params)
m_polyBits = dtIlog2(dtNextPow2((unsigned int)params->maxPolys));
m_saltBits = 32 - m_tileBits - m_polyBits;
if (m_saltBits < 10)
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
return DT_SUCCESS;
}
@ -218,9 +218,9 @@ dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flag
// Make sure the data is in right format.
dtMeshHeader* header = (dtMeshHeader*)data;
if (header->magic != DT_NAVMESH_MAGIC)
return DT_FAILURE_DATA_MAGIC;
return DT_FAILURE | DT_WRONG_MAGIC;
if (header->version != DT_NAVMESH_VERSION)
return DT_FAILURE_DATA_VERSION;
return DT_FAILURE | DT_WRONG_VERSION;
dtNavMeshParams params;
dtVcopy(params.orig, header->bmin);
@ -229,9 +229,9 @@ dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flag
params.maxTiles = 1;
params.maxPolys = header->polyCount;
dtStatus res = init(&params);
if (res != DT_SUCCESS)
return res;
dtStatus status = init(&params);
if (dtStatusFailed(status))
return status;
return addTile(data, dataSize, flags, 0, 0);
}
@ -555,8 +555,8 @@ void dtNavMesh::connectIntOffMeshLinks(dtMeshTile* tile)
}
}
dtStatus dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
const float* pos, float* closest) const
void dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
const float* pos, float* closest) const
{
const dtPoly* poly = &tile->polys[ip];
@ -583,8 +583,6 @@ dtStatus dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned in
closestDistSqr = d;
}
}
return DT_SUCCESS;
}
dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
@ -606,8 +604,7 @@ dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
{
dtPolyRef ref = polys[i];
float closestPtPoly[3];
if (closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly) != DT_SUCCESS)
continue;
closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly);
float d = dtVdistSqr(center, closestPtPoly);
if (d < nearestDistanceSqr)
{
@ -708,9 +705,9 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
// Make sure the data is in right format.
dtMeshHeader* header = (dtMeshHeader*)data;
if (header->magic != DT_NAVMESH_MAGIC)
return DT_FAILURE_DATA_MAGIC;
return DT_FAILURE | DT_WRONG_MAGIC;
if (header->version != DT_NAVMESH_VERSION)
return DT_FAILURE_DATA_VERSION;
return DT_FAILURE | DT_WRONG_VERSION;
// Make sure the location is free.
if (getTileAt(header->x, header->y))
@ -732,7 +729,7 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
// Try to relocate the tile to specific index with same salt.
int tileIndex = (int)decodePolyIdTile((dtPolyRef)lastRef);
if (tileIndex >= m_maxTiles)
return DT_FAILURE_OUT_OF_MEMORY;
return DT_FAILURE | DT_OUT_OF_MEMORY;
// Try to find the specific tile id from the free list.
dtMeshTile* target = &m_tiles[tileIndex];
dtMeshTile* prev = 0;
@ -744,7 +741,7 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
}
// Could not find the correct location.
if (tile != target)
return DT_FAILURE_OUT_OF_MEMORY;
return DT_FAILURE | DT_OUT_OF_MEMORY;
// Remove from freelist
if (!prev)
m_nextFree = tile->next;
@ -757,7 +754,7 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
// Make sure we could allocate a tile.
if (!tile)
return DT_FAILURE_OUT_OF_MEMORY;
return DT_FAILURE | DT_OUT_OF_MEMORY;
// Insert tile into the position lut.
int h = computeTileHash(header->x, header->y, m_tileLutMask);
@ -910,11 +907,12 @@ void dtNavMesh::calcTileLoc(const float* pos, int* tx, int* ty) const
dtStatus dtNavMesh::getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const
{
if (!ref) return DT_FAILURE;
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
if (ip >= (unsigned int)m_tiles[it].header->polyCount) return DT_FAILURE;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
if (ip >= (unsigned int)m_tiles[it].header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
*tile = &m_tiles[it];
*poly = &m_tiles[it].polys[ip];
return DT_SUCCESS;
@ -930,6 +928,7 @@ void dtNavMesh::getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile*
bool dtNavMesh::isValidPolyRef(dtPolyRef ref) const
{
if (!ref) return false;
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return false;
@ -941,14 +940,14 @@ bool dtNavMesh::isValidPolyRef(dtPolyRef ref) const
dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize)
{
if (!ref)
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref);
unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref);
if ((int)tileIndex >= m_maxTiles)
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
dtMeshTile* tile = &m_tiles[tileIndex];
if (tile->salt != tileSalt)
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
// Remove tile from hash lookup.
int h = computeTileHash(tile->header->x,tile->header->y,m_tileLutMask);
@ -1057,7 +1056,7 @@ dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data,
// Make sure there is enough space to store the state.
const int sizeReq = getTileStateSize(tile);
if (maxDataSize < sizeReq)
return DT_FAILURE;
return DT_FAILURE | DT_BUFFER_TOO_SMALL;
dtTileState* tileState = (dtTileState*)data; data += dtAlign4(sizeof(dtTileState));
dtPolyState* polyStates = (dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
@ -1084,18 +1083,18 @@ dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data
// Make sure there is enough space to store the state.
const int sizeReq = getTileStateSize(tile);
if (maxDataSize < sizeReq)
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
const dtTileState* tileState = (const dtTileState*)data; data += dtAlign4(sizeof(dtTileState));
const dtPolyState* polyStates = (const dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
// Check that the restore is possible.
if (tileState->magic != DT_NAVMESH_STATE_MAGIC)
return DT_FAILURE_DATA_MAGIC;
return DT_FAILURE | DT_WRONG_MAGIC;
if (tileState->version != DT_NAVMESH_STATE_VERSION)
return DT_FAILURE_DATA_VERSION;
return DT_FAILURE | DT_WRONG_VERSION;
if (tileState->ref != getTileRef(tile))
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
// Restore per poly state.
for (int i = 0; i < tile->header->polyCount; ++i)
@ -1114,12 +1113,15 @@ dtStatus dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyR
{
unsigned int salt, it, ip;
if (!polyRef)
return DT_FAILURE;
// Get current polygon
decodePolyId(polyRef, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
const dtMeshTile* tile = &m_tiles[it];
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
const dtPoly* poly = &tile->polys[ip];
// Make sure that the current poly is indeed off-mesh link.
@ -1154,6 +1156,9 @@ const dtOffMeshConnection* dtNavMesh::getOffMeshConnectionByRef(dtPolyRef ref) c
{
unsigned int salt, it, ip;
if (!ref)
return 0;
// Get current polygon
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return 0;
@ -1174,12 +1179,13 @@ const dtOffMeshConnection* dtNavMesh::getOffMeshConnectionByRef(dtPolyRef ref) c
dtStatus dtNavMesh::setPolyFlags(dtPolyRef ref, unsigned short flags)
{
if (!ref) return DT_FAILURE;
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
dtMeshTile* tile = &m_tiles[it];
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
dtPoly* poly = &tile->polys[ip];
// Change flags.
@ -1190,12 +1196,13 @@ dtStatus dtNavMesh::setPolyFlags(dtPolyRef ref, unsigned short flags)
dtStatus dtNavMesh::getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const
{
if (!ref) return DT_FAILURE;
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
const dtMeshTile* tile = &m_tiles[it];
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
const dtPoly* poly = &tile->polys[ip];
*resultFlags = poly->flags;
@ -1205,12 +1212,13 @@ dtStatus dtNavMesh::getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) con
dtStatus dtNavMesh::setPolyArea(dtPolyRef ref, unsigned char area)
{
if (!ref) return DT_FAILURE;
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
dtMeshTile* tile = &m_tiles[it];
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
dtPoly* poly = &tile->polys[ip];
poly->setArea(area);
@ -1220,12 +1228,13 @@ dtStatus dtNavMesh::setPolyArea(dtPolyRef ref, unsigned char area)
dtStatus dtNavMesh::getPolyArea(dtPolyRef ref, unsigned char* resultArea) const
{
if (!ref) return DT_FAILURE;
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
const dtMeshTile* tile = &m_tiles[it];
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
const dtPoly* poly = &tile->polys[ip];
*resultArea = poly->getArea();

280
Detour/Source/DetourNavMeshQuery.cpp
View File

@ -121,7 +121,7 @@ dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes)
}
m_nodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(maxNodes, dtNextPow2(maxNodes/4));
if (!m_nodePool)
return DT_FAILURE_OUT_OF_MEMORY;
return DT_FAILURE | DT_OUT_OF_MEMORY;
}
else
{
@ -132,7 +132,7 @@ dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes)
{
m_tinyNodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(64, 32);
if (!m_tinyNodePool)
return DT_FAILURE_OUT_OF_MEMORY;
return DT_FAILURE | DT_OUT_OF_MEMORY;
}
else
{
@ -150,7 +150,7 @@ dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes)
}
m_openList = new (dtAlloc(sizeof(dtNodeQueue), DT_ALLOC_PERM)) dtNodeQueue(maxNodes);
if (!m_openList)
return DT_FAILURE_OUT_OF_MEMORY;
return DT_FAILURE | DT_OUT_OF_MEMORY;
}
else
{
@ -166,16 +166,18 @@ dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, flo
dtAssert(m_nav);
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
return DT_FAILURE;
if (!tile) return DT_FAILURE;
if (closestPointOnPolyInTile(tile, poly, pos, closest) != DT_SUCCESS)
return DT_FAILURE;
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
return DT_FAILURE | DT_INVALID_PARAM;
if (!tile)
return DT_FAILURE | DT_INVALID_PARAM;
closestPointOnPolyInTile(tile, poly, pos, closest);
return DT_SUCCESS;
}
dtStatus dtNavMeshQuery::closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly,
const float* pos, float* closest) const
void dtNavMeshQuery::closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly,
const float* pos, float* closest) const
{
const unsigned int ip = (unsigned int)(poly - tile->polys);
const dtPolyDetail* pd = &tile->detailMeshes[ip];
@ -253,8 +255,6 @@ dtStatus dtNavMeshQuery::closestPointOnPolyInTile(const dtMeshTile* tile, const
closestDistSqr = d;
}
}
return DT_SUCCESS;
}
dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const
@ -263,8 +263,8 @@ dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float*
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
return DT_FAILURE;
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
return DT_FAILURE | DT_INVALID_PARAM;
// Collect vertices.
float verts[DT_VERTS_PER_POLYGON*3];
@ -311,8 +311,8 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
return DT_FAILURE;
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
return DT_FAILURE | DT_INVALID_PARAM;
if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
{
@ -350,7 +350,7 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h
}
}
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
}
dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* extents,
@ -364,8 +364,8 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* exten
// Get nearby polygons from proximity grid.
dtPolyRef polys[128];
int polyCount = 0;
if (queryPolygons(center, extents, filter, polys, &polyCount, 128) != DT_SUCCESS)
return DT_FAILURE;
if (dtStatusFailed(queryPolygons(center, extents, filter, polys, &polyCount, 128)))
return DT_FAILURE | DT_INVALID_PARAM;
// Find nearest polygon amongst the nearby polygons.
dtPolyRef nearest = 0;
@ -374,8 +374,7 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* exten
{
dtPolyRef ref = polys[i];
float closestPtPoly[3];
if (closestPointOnPoly(ref, center, closestPtPoly) != DT_SUCCESS)
continue;
closestPointOnPoly(ref, center, closestPtPoly);
float d = dtVdistSqr(center, closestPtPoly);
if (d < nearestDistanceSqr)
{
@ -413,8 +412,7 @@ dtPolyRef dtNavMeshQuery::findNearestPolyInTile(const dtMeshTile* tile, const fl
dtPolyRef ref = polys[i];
const dtPoly* poly = &tile->polys[m_nav->decodePolyIdPoly(ref)];
float closestPtPoly[3];
if (closestPointOnPolyInTile(tile, poly, center, closestPtPoly) != DT_SUCCESS)
continue;
closestPointOnPolyInTile(tile, poly, center, closestPtPoly);
float d = dtVdistSqr(center, closestPtPoly);
if (d < nearestDistanceSqr)
@ -547,7 +545,7 @@ dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents
if (n >= maxPolys)
{
*polyCount = n;
return DT_SUCCESS;
return DT_SUCCESS | DT_BUFFER_TOO_SMALL;
}
}
}
@ -568,14 +566,14 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
*pathCount = 0;
if (!startRef || !endRef)
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
if (!maxPath)
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
// Validate input
if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef))
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
if (startRef == endRef)
{
@ -599,6 +597,8 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
dtNode* lastBestNode = startNode;
float lastBestNodeCost = startNode->total;
dtStatus status = DT_SUCCESS;
while (!m_openList->empty())
{
// Remove node from open list and put it in closed list.
@ -648,7 +648,10 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
if (!neighbourNode)
{
status |= DT_OUT_OF_NODES;
continue;
}
// If the node is visited the first time, calculate node position.
if (neighbourNode->flags == 0)
@ -726,6 +729,9 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
}
}
if (lastBestNode->id != endRef)
status |= DT_PARTIAL_RESULT;
// Reverse the path.
dtNode* prev = 0;
dtNode* node = lastBestNode;
@ -744,13 +750,18 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
do
{
path[n++] = node->id;
if (n >= maxPath)
{
status |= DT_BUFFER_TOO_SMALL;
break;
}
node = m_nodePool->getNodeAtIdx(node->pidx);
}
while (node && n < maxPath);
while (node);
*pathCount = n;
return DT_SUCCESS;
return status;
}
dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
@ -771,11 +782,11 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
m_query.filter = filter;
if (!startRef || !endRef)
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
// Validate input
if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef))
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
if (startRef == endRef)
{
@ -804,7 +815,7 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter)
{
if (m_query.status!= DT_IN_PROGRESS)
if (!dtStatusInProgress(m_query.status))
return m_query.status;
// Make sure the request is still valid.
@ -828,7 +839,8 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter)
if (bestNode->id == m_query.endRef)
{
m_query.lastBestNode = bestNode;
m_query.status = DT_SUCCESS;
const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
m_query.status = DT_SUCCESS | details;
return m_query.status;
}
@ -837,7 +849,7 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter)
const dtPolyRef bestRef = bestNode->id;
const dtMeshTile* bestTile = 0;
const dtPoly* bestPoly = 0;
if (m_nav->getTileAndPolyByRef(bestRef, &bestTile, &bestPoly) != DT_SUCCESS)
if (dtStatusFailed(m_nav->getTileAndPolyByRef(bestRef, &bestTile, &bestPoly)))
{
// The polygon has disappeared during the sliced query, fail.
m_query.status = DT_FAILURE;
@ -852,7 +864,7 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter)
parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
if (parentRef)
{
if (m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly) != DT_SUCCESS)
if (dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly)))
{
// The polygon has disappeared during the sliced query, fail.
m_query.status = DT_FAILURE;
@ -879,7 +891,10 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter)
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
if (!neighbourNode)
{
m_query.status |= DT_OUT_OF_NODES;
continue;
}
// If the node is visited the first time, calculate node position.
if (neighbourNode->flags == 0)
@ -959,7 +974,10 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter)
// Exhausted all nodes, but could not find path.
if (m_openList->empty())
m_query.status = DT_SUCCESS;
{
const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
m_query.status = DT_SUCCESS | details;
}
return m_query.status;
}
@ -968,7 +986,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
{
*pathCount = 0;
if (m_query.status != DT_SUCCESS)
if (dtStatusFailed(m_query.status))
{
// Reset query.
memset(&m_query, 0, sizeof(dtQueryData));
@ -986,6 +1004,10 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
{
// Reverse the path.
dtAssert(m_query.lastBestNode);
if (m_query.lastBestNode->id != m_query.endRef)
m_query.status |= DT_PARTIAL_RESULT;
dtNode* prev = 0;
dtNode* node = m_query.lastBestNode;
do
@ -1002,17 +1024,24 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
do
{
path[n++] = node->id;
if (n >= maxPath)
{
m_query.status |= DT_BUFFER_TOO_SMALL;
break;
}
node = m_nodePool->getNodeAtIdx(node->pidx);
}
while (node && n < maxPath);
while (node);
}
const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
// Reset query.
memset(&m_query, 0, sizeof(dtQueryData));
*pathCount = n;
return DT_SUCCESS;
return DT_SUCCESS | details;
}
dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
@ -1025,7 +1054,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
return DT_FAILURE;
}
if (m_query.status != DT_SUCCESS && m_query.status != DT_IN_PROGRESS)
if (dtStatusFailed(m_query.status))
{
// Reset query.
memset(&m_query, 0, sizeof(dtQueryData));
@ -1071,17 +1100,24 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
do
{
path[n++] = node->id;
if (n >= maxPath)
{
m_query.status |= DT_BUFFER_TOO_SMALL;
break;
}
node = m_nodePool->getNodeAtIdx(node->pidx);
}
while (node && n < maxPath);
while (node);
}
const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
// Reset query.
memset(&m_query, 0, sizeof(dtQueryData));
*pathCount = n;
return DT_SUCCESS;
return DT_SUCCESS | details;
}
@ -1095,17 +1131,17 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
*straightPathCount = 0;
if (!maxStraightPath)
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
if (!path[0])
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
int n = 0;
// TODO: Should this be callers responsibility?
float closestStartPos[3];
if (closestPointOnPolyBoundary(path[0], startPos, closestStartPos) != DT_SUCCESS)
return DT_FAILURE;
if (dtStatusFailed(closestPointOnPolyBoundary(path[0], startPos, closestStartPos)))
return DT_FAILURE | DT_INVALID_PARAM;
// Add start point.
dtVcopy(&straightPath[n*3], closestStartPos);
@ -1117,12 +1153,12 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
if (n >= maxStraightPath)
{
*straightPathCount = n;
return DT_SUCCESS;
return DT_SUCCESS | DT_BUFFER_TOO_SMALL;
}
float closestEndPos[3];
if (closestPointOnPolyBoundary(path[pathSize-1], endPos, closestEndPos) != DT_SUCCESS)
return DT_FAILURE;
if (dtStatusFailed(closestPointOnPolyBoundary(path[pathSize-1], endPos, closestEndPos)))
return DT_FAILURE | DT_INVALID_PARAM;
if (pathSize > 1)
{
@ -1148,10 +1184,10 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
if (i+1 < pathSize)
{
// Next portal.
if (getPortalPoints(path[i], path[i+1], left, right, fromType, toType) != DT_SUCCESS)
if (dtStatusFailed(getPortalPoints(path[i], path[i+1], left, right, fromType, toType)))
{
if (closestPointOnPolyBoundary(path[i], endPos, closestEndPos) != DT_SUCCESS)
return DT_FAILURE;
if (dtStatusFailed(closestPointOnPolyBoundary(path[i], endPos, closestEndPos)))
return DT_FAILURE | DT_INVALID_PARAM;
dtVcopy(&straightPath[n*3], closestEndPos);
if (straightPathFlags)
@ -1215,7 +1251,7 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
if (flags == DT_STRAIGHTPATH_END || n >= maxStraightPath)
{
*straightPathCount = n;
return DT_SUCCESS;
return DT_SUCCESS | ((n >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0);
}
}
else
@ -1274,7 +1310,7 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
if (flags == DT_STRAIGHTPATH_END || n >= maxStraightPath)
{
*straightPathCount = n;
return DT_SUCCESS;
return DT_SUCCESS | ((n >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0);
}
}
else
@ -1316,7 +1352,8 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
}
*straightPathCount = n;
return DT_SUCCESS;
return DT_SUCCESS | ((n >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0);
}
dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
@ -1329,8 +1366,12 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
*visitedCount = 0;
// Validate input
if (!startRef) return DT_FAILURE;
if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE;
if (!startRef)
return DT_FAILURE | DT_INVALID_PARAM;
if (!m_nav->isValidPolyRef(startRef))
return DT_FAILURE | DT_INVALID_PARAM;
dtStatus status = DT_SUCCESS;
static const int MAX_STACK = 48;
dtNode* stack[MAX_STACK];
@ -1495,16 +1536,21 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
do
{
visited[n++] = node->id;
if (n >= maxVisitedSize)
{
status |= DT_BUFFER_TOO_SMALL;
break;
}
node = m_tinyNodePool->getNodeAtIdx(node->pidx);
}
while (node && n < maxVisitedSize);
while (node);
}
dtVcopy(resultPos, bestPos);
*visitedCount = n;
return DT_SUCCESS;
return status;
}
@ -1515,14 +1561,14 @@ dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, dtPolyRef to, float* le
const dtMeshTile* fromTile = 0;
const dtPoly* fromPoly = 0;
if (m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly) != DT_SUCCESS)
return DT_FAILURE;
if (dtStatusFailed(m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly)))
return DT_FAILURE | DT_INVALID_PARAM;
fromType = fromPoly->getType();
const dtMeshTile* toTile = 0;
const dtPoly* toPoly = 0;
if (m_nav->getTileAndPolyByRef(to, &toTile, &toPoly) != DT_SUCCESS)
return DT_FAILURE;
if (dtStatusFailed(m_nav->getTileAndPolyByRef(to, &toTile, &toPoly)))
return DT_FAILURE | DT_INVALID_PARAM;
toType = toPoly->getType();
return getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right);
@ -1544,7 +1590,7 @@ dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly,
}
}
if (!link)
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
// Handle off-mesh connections.
if (fromPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
@ -1560,7 +1606,7 @@ dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly,
return DT_SUCCESS;
}
}
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
}
if (toPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
@ -1575,7 +1621,7 @@ dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly,
return DT_SUCCESS;
}
}
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
}
// Find portal vertices.
@ -1607,7 +1653,8 @@ dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mi
{
float left[3], right[3];
unsigned char fromType, toType;
if (!getPortalPoints(from, to, left,right, fromType, toType)) return DT_FAILURE;
if (dtStatusFailed(getPortalPoints(from, to, left,right, fromType, toType)))
return DT_FAILURE | DT_INVALID_PARAM;
mid[0] = (left[0]+right[0])*0.5f;
mid[1] = (left[1]+right[1])*0.5f;
mid[2] = (left[2]+right[2])*0.5f;
@ -1619,8 +1666,8 @@ dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly,
float* mid) const
{
float left[3], right[3];
if (getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right) != DT_SUCCESS)
return DT_FAILURE;
if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right)))
return DT_FAILURE | DT_INVALID_PARAM;
mid[0] = (left[0]+right[0])*0.5f;
mid[1] = (left[1]+right[1])*0.5f;
mid[2] = (left[2]+right[2])*0.5f;
@ -1639,7 +1686,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
return DT_FAILURE;
return DT_FAILURE | DT_INVALID_PARAM;
dtPolyRef curRef = startRef;
float verts[DT_VERTS_PER_POLYGON*3];
@ -1649,6 +1696,8 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
hitNormal[1] = 0;
hitNormal[2] = 0;
dtStatus status = DT_SUCCESS;
while (curRef)
{
// Cast ray against current polygon.
@ -1673,7 +1722,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
// Could not hit the polygon, keep the old t and report hit.
if (pathCount)
*pathCount = n;
return DT_SUCCESS;
return status;
}
// Keep track of furthest t so far.
if (tmax > *t)
@ -1682,6 +1731,8 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
// Store visited polygons.
if (n < maxPath)
path[n++] = curRef;
else
status |= DT_BUFFER_TOO_SMALL;
// Ray end is completely inside the polygon.
if (segMax == -1)
@ -1689,7 +1740,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
*t = FLT_MAX;
if (pathCount)
*pathCount = n;
return DT_SUCCESS;
return status;
}
// Follow neighbours.
@ -1791,7 +1842,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
if (pathCount)
*pathCount = n;
return DT_SUCCESS;
return status;
}
// No hit, advance to neighbour polygon.
@ -1801,7 +1852,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
if (pathCount)
*pathCount = n;
return DT_SUCCESS;
return status;
}
dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
@ -1816,8 +1867,8 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
*resultCount = 0;
// Validate input
if (!startRef) return DT_FAILURE;
if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE;
if (!startRef || !m_nav->isValidPolyRef(startRef))
return DT_FAILURE | DT_INVALID_PARAM;
m_nodePool->clear();
m_openList->clear();
@ -1831,6 +1882,8 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
startNode->flags = DT_NODE_OPEN;
m_openList->push(startNode);
dtStatus status = DT_SUCCESS;
int n = 0;
if (n < maxResult)
{
@ -1842,6 +1895,10 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
resultCost[n] = 0;
++n;
}
else
{
status |= DT_BUFFER_TOO_SMALL;
}
const float radiusSqr = dtSqr(radius);
@ -1897,7 +1954,10 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
if (!neighbourNode)
{
status |= DT_OUT_OF_NODES;
continue;
}
if (neighbourNode->flags & DT_NODE_CLOSED)
continue;
@ -1933,6 +1993,10 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
resultCost[n] = neighbourNode->total;
++n;
}
else
{
status |= DT_BUFFER_TOO_SMALL;
}
neighbourNode->flags = DT_NODE_OPEN;
m_openList->push(neighbourNode);
}
@ -1941,7 +2005,7 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
*resultCount = n;
return DT_SUCCESS;
return status;
}
dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
@ -1956,8 +2020,8 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
*resultCount = 0;
// Validate input
if (!startRef) return DT_FAILURE;
if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE;
if (!startRef || !m_nav->isValidPolyRef(startRef))
return DT_FAILURE | DT_INVALID_PARAM;
m_nodePool->clear();
m_openList->clear();
@ -1976,6 +2040,8 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
startNode->flags = DT_NODE_OPEN;
m_openList->push(startNode);
dtStatus status = DT_SUCCESS;
int n = 0;
if (n < maxResult)
{
@ -1987,6 +2053,10 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
resultCost[n] = 0;
++n;
}
else
{
status |= DT_BUFFER_TOO_SMALL;
}
while (!m_openList->empty())
{
@ -2042,7 +2112,10 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
if (!neighbourNode)
{
status |= DT_OUT_OF_NODES;
continue;
}
if (neighbourNode->flags & DT_NODE_CLOSED)
continue;
@ -2078,6 +2151,10 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
resultCost[n] = neighbourNode->total;
++n;
}
else
{
status |= DT_BUFFER_TOO_SMALL;
}
neighbourNode->flags = DT_NODE_OPEN;
m_openList->push(neighbourNode);
}
@ -2086,7 +2163,7 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
*resultCount = n;
return DT_SUCCESS;
return status;
}
dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
@ -2100,8 +2177,8 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
*resultCount = 0;
// Validate input
if (!startRef) return DT_FAILURE;
if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE;
if (!startRef || !m_nav->isValidPolyRef(startRef))
return DT_FAILURE | DT_INVALID_PARAM;
static const int MAX_STACK = 48;
dtNode* stack[MAX_STACK];
@ -2120,6 +2197,8 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
float pa[DT_VERTS_PER_POLYGON*3];
float pb[DT_VERTS_PER_POLYGON*3];
dtStatus status = DT_SUCCESS;
int n = 0;
if (n < maxResult)
{
@ -2128,6 +2207,10 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
resultParent[n] = 0;
++n;
}
else
{
status |= DT_BUFFER_TOO_SMALL;
}
while (nstack)
{
@ -2241,6 +2324,10 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
resultParent[n] = curRef;
++n;
}
else
{
status |= DT_BUFFER_TOO_SMALL;
}
if (nstack < MAX_STACK)
{
@ -2251,7 +2338,7 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
*resultCount = n;
return DT_SUCCESS;
return status;
}
@ -2290,14 +2377,16 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter*
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
return DT_FAILURE;
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
return DT_FAILURE | DT_INVALID_PARAM;
int n = 0;
static const int MAX_INTERVAL = 16;
dtSegInterval ints[MAX_INTERVAL];
int nints;
dtStatus status = DT_SUCCESS;
for (int i = 0, j = (int)poly->vertCount-1; i < (int)poly->vertCount; j = i++)
{
// Skip non-solid edges.
@ -2354,6 +2443,10 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter*
dtVcopy(seg+0, vj);
dtVcopy(seg+3, vi);
}
else
{
status |= DT_BUFFER_TOO_SMALL;
}
}
else
{
@ -2366,13 +2459,17 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter*
dtVlerp(seg+0, vj,vi, tmin);
dtVlerp(seg+3, vj,vi, tmax);
}
else
{
status |= DT_BUFFER_TOO_SMALL;
}
}
}
}
*segmentCount = n;
return DT_SUCCESS;
return status;
}
dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
@ -2384,8 +2481,8 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
dtAssert(m_openList);
// Validate input
if (!startRef) return DT_FAILURE;
if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE;
if (!startRef || !m_nav->isValidPolyRef(startRef))
return DT_FAILURE | DT_INVALID_PARAM;
m_nodePool->clear();
m_openList->clear();
@ -2401,6 +2498,8 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
float radiusSqr = dtSqr(maxRadius);
dtStatus status = DT_SUCCESS;
while (!m_openList->empty())
{
dtNode* bestNode = m_openList->pop();
@ -2508,7 +2607,10 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
if (!neighbourNode)
{
status |= DT_OUT_OF_NODES;
continue;
}
if (neighbourNode->flags & DT_NODE_CLOSED)
continue;
@ -2549,7 +2651,7 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
*hitDist = sqrtf(radiusSqr);
return DT_SUCCESS;
return status;
}
bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const

1302
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
View File

File diff suppressed because it is too large Load Diff

73
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
View File

@ -284,14 +284,14 @@
<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
<array>
<array>
<integer>34</integer>
<integer>27</integer>
<integer>15</integer>
<integer>11</integer>
<integer>1</integer>
<integer>0</integer>
</array>
</array>
<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
<string>{{0, 394}, {264, 622}}</string>
<string>{{0, 0}, {264, 622}}</string>
</dict>
<key>PBXTopSmartGroupGIDs</key>
<array/>
@ -326,7 +326,7 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A30F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>RecastRegion.cpp</string>
<string>DetourNavMesh.h</string>
<key>PBXSplitModuleInNavigatorKey</key>
<dict>
<key>Split0</key>
@ -334,11 +334,11 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A40F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>RecastRegion.cpp</string>
<string>DetourNavMesh.h</string>
<key>_historyCapacity</key>
<integer>0</integer>
<key>bookmark</key>
<string>6B6BECAF129968E50077F7A4</string>
<string>6B6BEDED129FD0F60077F7A4</string>
<key>history</key>
<array>
<string>6B8D565F127ADB0D0077C699</string>
@ -353,39 +353,40 @@
<string>6B74B627128314A500262888</string>
<string>6B74B628128314A500262888</string>
<string>6B74B62A128314A500262888</string>
<string>6B74B62B128314A500262888</string>
<string>6B74B6D81286ABC000262888</string>
<string>6B74B7061286AEBD00262888</string>
<string>6B74B7601286BB6900262888</string>
<string>6B74B7611286BB6900262888</string>
<string>6B74B76B1286F56B00262888</string>
<string>6B74B76F1286F56B00262888</string>
<string>6B74B7771286F61200262888</string>
<string>6B74B7801286F72D00262888</string>
<string>6B74B7811286F72D00262888</string>
<string>6B74B7821286F72D00262888</string>
<string>6B74B7901286F77500262888</string>
<string>6B74B7991286F7CD00262888</string>
<string>6B74B7AD1286F93000262888</string>
<string>6B74B7B21286F99100262888</string>
<string>6B74B7C01286FA5200262888</string>
<string>6B74B7C51286FAB500262888</string>
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<string>6B6BEDB3129FCDB20077F7A4</string>
<string>6B6BEDB4129FCDB20077F7A4</string>
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<string>6B6BEDE6129FD0C30077F7A4</string>
<string>6B6BEDEB129FD0F60077F7A4</string>
<string>6B6BEDEC129FD0F60077F7A4</string>
</array>
</dict>
<key>SplitCount</key>
@ -399,18 +400,18 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {914, 533}}</string>
<string>{{0, 0}, {914, 443}}</string>
<key>RubberWindowFrame</key>
<string>47 97 1200 681 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXNavigatorGroup</string>
<key>Proportion</key>
<string>533pt</string>
<string>443pt</string>
</dict>
<dict>
<key>Proportion</key>
<string>102pt</string>
<string>192pt</string>
<key>Tabs</key>
<array>
<dict>
@ -424,9 +425,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {914, 75}}</string>
<key>RubberWindowFrame</key>
<string>47 97 1200 681 0 0 1280 778 </string>
<string>{{10, 27}, {914, 78}}</string>
</dict>
<key>Module</key>
<string>XCDetailModule</string>
@ -442,7 +441,9 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {914, 66}}</string>
<string>{{10, 27}, {914, 165}}</string>
<key>RubberWindowFrame</key>
<string>47 97 1200 681 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXProjectFindModule</string>
@ -508,11 +509,11 @@
</array>
<key>TableOfContents</key>
<array>
<string>6B6BEC1A129959080077F7A4</string>
<string>6B6BED8F129FB8670077F7A4</string>
<string>1CA23ED40692098700951B8B</string>
<string>6B6BEC1B129959080077F7A4</string>
<string>6B6BED90129FB8670077F7A4</string>
<string>6B8632A30F78115100E2684A</string>
<string>6B6BEC1C129959080077F7A4</string>
<string>6B6BED91129FB8670077F7A4</string>
<string>1CA23EDF0692099D00951B8B</string>
<string>1CA23EE00692099D00951B8B</string>
<string>1CA23EE10692099D00951B8B</string>
@ -660,14 +661,14 @@
</array>
<key>TableOfContents</key>
<array>
<string>6B6BEC3312995D2A0077F7A4</string>
<string>6B6BEDB9129FCDB20077F7A4</string>
<string>1CCC7628064C1048000F2A68</string>
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<string>6B6BEDBD129FCDB20077F7A4</string>
<string>6B6BEDBE129FCDB20077F7A4</string>
</array>
<key>ToolbarConfigUserDefaultsMinorVersion</key>
<string>2</string>
@ -699,9 +700,9 @@
<integer>5</integer>
<key>WindowOrderList</key>
<array>
<string>6B6BECB0129968E50077F7A4</string>
<string>6B6BEC3B12995D2A0077F7A4</string>
<string>6B6BEC3A12995D2A0077F7A4</string>
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<string>6B6BEDD0129FD0400077F7A4</string>
<string>6B6BEDD1129FD0400077F7A4</string>
<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
</array>
<key>WindowString</key>

16
RecastDemo/Source/NavMeshTesterTool.cpp
View File

@ -442,7 +442,8 @@ void NavMeshTesterTool::handleToggle()
m_pathIterPolyCount -= npos;
// Handle the connection.
if (m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos) == DT_SUCCESS)
dtStatus status = m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos);
if (dtStatusSucceed(status))
{
if (m_nsmoothPath < MAX_SMOOTH)
{
@ -476,12 +477,11 @@ void NavMeshTesterTool::handleUpdate(const float /*dt*/)
{
if (m_toolMode == TOOLMODE_PATHFIND_SLICED)
{
if (m_pathFindStatus == DT_IN_PROGRESS)
if (dtStatusInProgress(m_pathFindStatus))
{
m_pathFindStatus = m_navQuery->updateSlicedFindPath(1);
}
if (m_pathFindStatus == DT_SUCCESS)
if (dtStatusSucceed(m_pathFindStatus))
{
m_navQuery->finalizeSlicedFindPath(m_polys, &m_npolys, MAX_POLYS);
m_nstraightPath = 0;
@ -498,7 +498,7 @@ void NavMeshTesterTool::handleUpdate(const float /*dt*/)
m_straightPathPolys, &m_nstraightPath, MAX_POLYS);
}
m_pathFindStatus = DT_FAILURE;
m_pathFindStatus = DT_FAILURE;
}
}
}
@ -639,7 +639,8 @@ void NavMeshTesterTool::recalc()
npolys -= npos;
// Handle the connection.
if (m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos) == DT_SUCCESS)
dtStatus status = m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos);
if (dtStatusSucceed(status))
{
if (m_nsmoothPath < MAX_SMOOTH)
{
@ -856,7 +857,8 @@ static void getPolyCenter(dtNavMesh* navMesh, dtPolyRef ref, float* center)
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (navMesh->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
dtStatus status = navMesh->getTileAndPolyByRef(ref, &tile, &poly);
if (dtStatusFailed(status))
return;
for (int i = 0; i < (int)poly->vertCount; ++i)

8
RecastDemo/Source/Sample_SoloMeshSimple.cpp
View File

@ -640,14 +640,18 @@ bool Sample_SoloMeshSimple::handleBuild()
return false;
}
if (m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA) != DT_SUCCESS)
dtStatus status;
status = m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA);
if (dtStatusFailed(status))
{
dtFree(navData);
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh");
return false;
}
if (m_navQuery->init(m_navMesh, 2048) != DT_SUCCESS)
status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh query");
return false;

8
RecastDemo/Source/Sample_SoloMeshTiled.cpp
View File

@ -1082,14 +1082,18 @@ bool Sample_SoloMeshTiled::handleBuild()
return false;
}
if (m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA) != DT_SUCCESS)
dtStatus status;
status = m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA);
if (dtStatusFailed(status))
{
dtFree(navData);
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh");
return false;
}
if (m_navQuery->init(m_navMesh, 2048) != DT_SUCCESS)
status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh query");
return false;

24
RecastDemo/Source/Sample_TileMesh.cpp
View File

@ -296,8 +296,13 @@ dtNavMesh* Sample_TileMesh::loadAll(const char* path)
}
dtNavMesh* mesh = dtAllocNavMesh();
if (!mesh || mesh->init(&header.params) != DT_SUCCESS)
if (!mesh)
{
fclose(fp);
return 0;
}
dtStatus status = mesh->init(&header.params);
if (dtStatusFailed(status))
{
fclose(fp);
return 0;
@ -712,13 +717,18 @@ bool Sample_TileMesh::handleBuild()
params.tileHeight = m_tileSize*m_cellSize;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
if (m_navMesh->init(&params) != DT_SUCCESS)
dtStatus status;
status = m_navMesh->init(&params);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
return false;
}
if (m_navQuery->init(m_navMesh, 2048) != DT_SUCCESS)
status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init Detour navmesh query");
return false;
@ -766,7 +776,8 @@ void Sample_TileMesh::buildTile(const float* pos)
m_navMesh->removeTile(m_navMesh->getTileRefAt(tx,ty),0,0);
// Let the navmesh own the data.
if (m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,0) != DT_SUCCESS)
dtStatus status = m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,0);
if (dtStatusFailed(status))
dtFree(data);
}
@ -846,7 +857,8 @@ void Sample_TileMesh::buildAllTiles()
// Remove any previous data (navmesh owns and deletes the data).
m_navMesh->removeTile(m_navMesh->getTileRefAt(x,y),0,0);
// Let the navmesh own the data.
if (m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,0) != DT_SUCCESS)
dtStatus status = m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,0);
if (dtStatusFailed(status))
dtFree(data);
}
}