diff --git a/Detour/Include/DetourNavMesh.h b/Detour/Include/DetourNavMesh.h index 02ee5e7..09b778f 100644 --- a/Detour/Include/DetourNavMesh.h +++ b/Detour/Include/DetourNavMesh.h @@ -655,6 +655,8 @@ private: unsigned int m_tileBits; ///< Number of tile bits in the tile ID. unsigned int m_polyBits; ///< Number of poly bits in the tile ID. #endif + + friend class dtNavMeshQuery; }; /// Allocates a navigation mesh object using the Detour allocator. diff --git a/Detour/Include/DetourNavMeshQuery.h b/Detour/Include/DetourNavMeshQuery.h index 1c23e48..0b40371 100644 --- a/Detour/Include/DetourNavMeshQuery.h +++ b/Detour/Include/DetourNavMeshQuery.h @@ -119,8 +119,6 @@ public: }; - - /// Provides information about raycast hit /// filled by dtNavMeshQuery::raycast /// @ingroup detour diff --git a/Detour/Source/DetourNavMeshQuery.cpp b/Detour/Source/DetourNavMeshQuery.cpp index c5ef385..520f915 100644 --- a/Detour/Source/DetourNavMeshQuery.cpp +++ b/Detour/Source/DetourNavMeshQuery.cpp @@ -514,88 +514,14 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const { dtAssert(m_nav); - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) + if (!m_nav->isValidPolyRef(ref) || + !pos || !dtVisfinite(pos) || + !closest) + { return DT_FAILURE | DT_INVALID_PARAM; - if (!tile) - return DT_FAILURE | DT_INVALID_PARAM; - - if (!pos || !dtVisfinite(pos) || !closest) - return DT_FAILURE | DT_INVALID_PARAM; - - // Off-mesh connections don't have detail polygons. - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - const float* v0 = &tile->verts[poly->verts[0]*3]; - const float* v1 = &tile->verts[poly->verts[1]*3]; - const float d0 = dtVdist(pos, v0); - const float d1 = dtVdist(pos, v1); - const float u = d0 / (d0+d1); - dtVlerp(closest, v0, v1, u); - if (posOverPoly) - *posOverPoly = false; - return DT_SUCCESS; } - const unsigned int ip = (unsigned int)(poly - tile->polys); - const dtPolyDetail* pd = &tile->detailMeshes[ip]; - - // Clamp point to be inside the polygon. - float verts[DT_VERTS_PER_POLYGON*3]; - float edged[DT_VERTS_PER_POLYGON]; - float edget[DT_VERTS_PER_POLYGON]; - const int nv = poly->vertCount; - for (int i = 0; i < nv; ++i) - dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]); - - dtVcopy(closest, pos); - if (!dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget)) - { - // Point is outside the polygon, dtClamp to nearest edge. - float dmin = edged[0]; - int imin = 0; - for (int i = 1; i < nv; ++i) - { - if (edged[i] < dmin) - { - dmin = edged[i]; - imin = i; - } - } - const float* va = &verts[imin*3]; - const float* vb = &verts[((imin+1)%nv)*3]; - dtVlerp(closest, va, vb, edget[imin]); - - if (posOverPoly) - *posOverPoly = false; - } - else - { - if (posOverPoly) - *posOverPoly = true; - } - - // Find height at the location. - for (int j = 0; j < pd->triCount; ++j) - { - const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; - const float* v[3]; - for (int k = 0; k < 3; ++k) - { - if (t[k] < poly->vertCount) - v[k] = &tile->verts[poly->verts[t[k]]*3]; - else - v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3]; - } - float h; - if (dtClosestHeightPointTriangle(closest, v[0], v[1], v[2], h)) - { - closest[1] = h; - break; - } - } - + m_nav->closestPointOnPoly(ref, pos, closest, posOverPoly); return DT_SUCCESS; }