server_common/recastnavigation_v1.6.0
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Better documentation of navmesh header.

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This commit is contained in:
Mikko Mononen 2010-01-27 14:30:43 +00:00
parent a56bf3ec2d
commit 4cb96e9dc0
1 changed files with 45 additions and 27 deletions
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72
Detour/Include/DetourNavMesh.h
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@ -147,7 +147,7 @@ public:
// Initializes the nav mesh for tiled use.
// Params:
// orig - (in) origin of the nav mesh tile space.
// orig[3] - (in) origin of the nav mesh tile space.
// tileWidth - (in) width of each tile.
// tileHeight - (in) height of each tile.
// maxTiles - (in) maximum number of tiles the navmesh can contain*.
@ -215,17 +215,18 @@ public:
// Finds the nearest navigation polygon around the center location.
// Params:
// center - (in) The center of the search box.
// extents - (in) The extents of the search box.
// nearestPt - (out, opt) The nearest point on found polygon, null if not needed.
// center[3] - (in) The center of the search box.
// extents[3] - (in) The extents of the search box.
// filter - (in) path polygon filter.
// nearestPt[3] - (out, opt) The nearest point on found polygon, null if not needed.
// Returns: Reference identifier for the polygon, or 0 if no polygons found.
dtPolyRef findNearestPoly(const float* center, const float* extents, dtQueryFilter* filter, float* nearestPt);
// Returns polygons which touch the query box.
// Params:
// center - (in) the center of the search box.
// extents - (in) the extents of the search box.
// flags - (int)
// center[3] - (in) the center of the search box.
// extents[3] - (in) the extents of the search box.
// filter - (in) path polygon filter.
// polys - (out) array holding the search result.
// maxPolys - (in) The max number of polygons the polys array can hold.
// Returns: Number of polygons in search result array.
@ -235,9 +236,14 @@ public:
// Finds path from start polygon to end polygon.
// If target polygon canno be reached through the navigation graph,
// the last node on the array is nearest node to the end polygon.
// Start end end positions are needed to calculate more accurate
// traversal cost at start end end polygons.
// Params:
// startRef - (in) ref to path start polygon.
// endRef - (in) ref to path end polygon.
// startPos[3] - (in) Path start location.
// endPos[3] - (in) Path end location.
// filter - (in) path polygon filter.
// path - (out) array holding the search result.
// maxPathSize - (in) The max number of polygons the path array can hold.
// Returns: Number of polygons in search result array.
@ -253,8 +259,8 @@ public:
// a path point was added. For the end point, zero will be returned. This allows
// to match for example off-mesh link points to their representative polygons.
// Params:
// startPos - (in) Path start location.
// endPos - (in) Path end location.
// startPos[3] - (in) Path start location.
// endPo[3] - (in) Path end location.
// path - (in) Array of connected polygons describing the corridor.
// pathSize - (in) Number of polygons in path array.
// straightPath - (out) Points describing the straight path.
@ -268,29 +274,40 @@ public:
const int maxStraightPathSize);
// Moves towards end position a long the path corridor.
// Returns: Index to the result path polygon.
// The start location is assumed to be roughly at inside the first polygon on the path.
// The return value can be used to advance the path pointer along the path.
// Params:
// startPos[3] - (in) current position of the agent.
// endPos[3] - (in) new position of the agent.
// resultPos[3] - (out) new positio after the move, constrained to be inside the path polygons.
// path - (in) remainder of the path to follow.
// pathSize - (in) number of polygons on the path.
// Returns: Index to the path polygon where the result position lies.
int moveAlongPathCorridor(const float* startPos, const float* endPos, float* resultPos,
const dtPolyRef* path, const int pathSize);
// Finds intersection againts walls starting from start pos.
// Params:
// startRef - (in) ref to the polygon where the start lies.
// startPos - (in) start position of the query.
// endPos - (in) end position of the query.
// startPos[3] - (in) start position of the query.
// endPos[3] - (in) end position of the query.
// t - (out) hit parameter along the segment, 0 if no hit.
// hitNormal - (out) normal of the nearest hit.
// endRef - (out) ref to the last polygon which was processed.
// Returns: Number of polygons in path or 0 if failed.
// hitNormal[3] - (out) normal of the nearest hit.
// filter - (in) path polygon filter.
// path - (out) visited path polygons.
// pathSize - (in) max number of polygons in the path array.
// Returns: Number of polygons visited or 0 if failed.
int raycast(dtPolyRef startRef, const float* startPos, const float* endPos, dtQueryFilter* filter,
float& t, float* hitNormal, dtPolyRef* path, const int pathSize);
// Returns distance to nearest wall from the specified location.
// Params:
// centerRef - (in) ref to the polygon where the center lies.
// centerPos - (in) center if the query circle.
// centerPos[3] - (in) center if the query circle.
// maxRadius - (in) max search radius.
// hitPos - (out) location of the nearest hit.
// hitNormal - (out) normal of the nearest hit.
// filter - (in) path polygon filter.
// hitPos[3] - (out) location of the nearest hit.
// hitNormal[3] - (out) normal of the nearest hit.
// Returns: Distance to nearest wall from the test location.
float findDistanceToWall(dtPolyRef centerRef, const float* centerPos, float maxRadius,
dtQueryFilter* filter, float* hitPos, float* hitNormal);
@ -298,8 +315,9 @@ public:
// Finds polygons found along the navigation graph which touch the specified circle.
// Params:
// centerRef - (in) ref to the polygon where the center lies.
// centerPos - (in) center if the query circle
// centerPos[3] - (in) center if the query circle
// radius - (in) radius of the query circle
// filter - (in) path polygon filter.
// resultRef - (out, opt) refs to the polygons touched by the circle.
// resultParent - (out, opt) parent of each result polygon.
// resultCost - (out, opt) search cost at each result polygon.
@ -310,11 +328,11 @@ public:
const int maxResult);
// Returns closest point on navigation polygon.
// Uses detail polygons to find the closest point to the navigation polygon.
// Uses detail polygons to find the closest point to the navigation polygon surface.
// Params:
// ref - (in) ref to the polygon.
// pos - (in) the point to check.
// closest - (out) closest point.
// pos[3] - (in) the point to check.
// closest[3] - (out) closest point.
// Returns: true if closest point found.
bool closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const;
@ -323,8 +341,8 @@ public:
// if it is outside the polygon. Much faster than closestPointToPoly. Does not affect height.
// Params:
// ref - (in) ref to the polygon.
// pos - (in) the point to check.
// closest - (out) closest point.
// pos[3] - (in) the point to check.
// closest[3] - (out) closest point.
// Returns: true if closest point found.
bool closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
@ -332,15 +350,15 @@ public:
// Params:
// prevRef - (in) ref to the polygon before the link (used to select direction).
// polyRef - (in) ref to the off-mesh link polygon.
// startPos - (out) start point of the link.
// endPos - (out) end point of the link.
// startPos[3] - (out) start point of the link.
// endPos[3] - (out) end point of the link.
// Returns: true if link is found.
bool getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
// Returns height of the polygon at specified location.
// Params:
// ref - (in) ref to the polygon.
// pos - (in) the point where to locate the height.
// pos[3] - (in) the point where to locate the height.
// height - (out) height at the location.
// Returns: true if over polygon.
bool getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;