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Detour: Detail API documentation covering the DetourCommon.h and DetourNavMeshQuery.h files

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Stephen Pratt 2011-08-15 17:01:16 +00:00
parent 11fe155861
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Detour/Include/DetourCommon.h
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@ -19,6 +19,12 @@
#ifndef DETOURCOMMON_H
#define DETOURCOMMON_H
/**
* @defgroup detour Detour
* Classes and functions related to path planning.
* @note This is a summary list. Use the index or documentation search
* functionality to find minor elements.
*/
template<class T> inline void dtSwap(T& a, T& b) { T t = a; a = b; b = t; }
template<class T> inline T dtMin(T a, T b) { return a < b ? a : b; }

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Detour/Include/DetourNavMesh.h
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@ -26,283 +26,453 @@
// Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef.
// It is also recommended to change dtHashRef() to proper 64-bit hash too.
/// Reference to navigation polygon.
/// A handle to a polygon within a navigation mesh tile.
/// @ingroup detour
typedef unsigned int dtPolyRef;
/// Reference to navigation mesh tile.
/// A handle to a tile within a navigation mesh.
/// @ingroup detour
typedef unsigned int dtTileRef;
/// Maximum number of vertices per navigation polygon.
/// The maximum number of vertices per navigation polygon.
/// @ingroup detour
static const int DT_VERTS_PER_POLYGON = 6;
static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V'; ///< 'DNAV'
/// @{
/// @name Tile Serialization Constants
/// These constants are used to detect whether a navigation tile's data
/// and state format is compatible with the current build.
///
/// A magic number used to detect compatibility of navigation tile data.
static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V';
/// A version number used to detect compatibility of navigation tile data.
static const int DT_NAVMESH_VERSION = 7;
static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S'; ///< 'DNMS'
/// A magic number used to detect the compatibility of navigation tile states.
static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S';
/// A version number used to detect compatibility of navigation tile states.
static const int DT_NAVMESH_STATE_VERSION = 1;
/// @}
/// A flag that indicates that an entity links to an external entity.
/// (E.g. A polygon edge is a portal that links to another polygon.)
static const unsigned short DT_EXT_LINK = 0x8000;
/// A value that indicates the entity does not link to anything.
static const unsigned int DT_NULL_LINK = 0xffffffff;
/// A flag that indicates that an off-mesh connection can be traversed in both directions. (Is bi-directional.)
static const unsigned int DT_OFFMESH_CON_BIDIR = 1;
/// The maximum number of user defined area ids.
/// @ingroup detour
static const int DT_MAX_AREAS = 64;
/// Flags for addTile
/// Tile flags used for various functions and fields.
/// For an example, see dtNavMesh::addTile().
enum dtTileFlags
{
DT_TILE_FREE_DATA = 0x01, ///< Navmesh owns the tile memory and should free it.
/// The navigation mesh owns the tile memory and is responsible for freeing it.
DT_TILE_FREE_DATA = 0x01,
};
/// Flags returned by findStraightPath().
/// Vertex flags returned by dtNavMeshQuery::findStraightPath.
enum dtStraightPathFlags
{
DT_STRAIGHTPATH_START = 0x01, ///< The vertex is the start position.
DT_STRAIGHTPATH_END = 0x02, ///< The vertex is the end position.
DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04, ///< The vertex is start of an off-mesh link.
DT_STRAIGHTPATH_START = 0x01, ///< The vertex is the start position in the path.
DT_STRAIGHTPATH_END = 0x02, ///< The vertex is the end position in the path.
DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04, ///< The vertex is the start of an off-mesh connection.
};
/// Flags describing polygon properties.
/// Flags representing the type of a navigation mesh polygon.
enum dtPolyTypes
{
DT_POLYTYPE_GROUND = 0, ///< Regular ground polygons.
DT_POLYTYPE_OFFMESH_CONNECTION = 1, ///< Off-mesh connections.
/// The polygon is a standard convex polygon that is part of the surface of the mesh.
DT_POLYTYPE_GROUND = 0,
/// The polygon is an off-mesh connection consisting of two vertices.
DT_POLYTYPE_OFFMESH_CONNECTION = 1,
};
/// Structure describing the navigation polygon data.
/// Defines a polyogn within a dtMeshTile object.
/// @ingroup detour
struct dtPoly
{
unsigned int firstLink; ///< Index to first link in linked list.
unsigned short verts[DT_VERTS_PER_POLYGON]; ///< Indices to vertices of the poly.
unsigned short neis[DT_VERTS_PER_POLYGON]; ///< Refs to neighbours of the poly.
unsigned short flags; ///< Flags (see dtPolyFlags).
unsigned char vertCount; ///< Number of vertices.
unsigned char areaAndtype; ///< Bit packed: Area ID of the polygon, and Polygon type, see dtPolyTypes..
/// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.)
unsigned int firstLink;
/// The indices of the polygon's vertices.
/// The actual vertices are located in dtMeshTile::verts.
unsigned short verts[DT_VERTS_PER_POLYGON];
/// Packed data representing neighbor polygons references and flags for each edge.
unsigned short neis[DT_VERTS_PER_POLYGON];
/// The user defined polygon flags.
unsigned short flags;
/// The number of vertices in the polygon.
unsigned char vertCount;
/// The bit packed area id and polygon type.
/// @note Use the structure's set and get methods to acess this value.
unsigned char areaAndtype;
/// Sets the user defined area id. [Limit: < #DT_MAX_AREAS]
inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); }
/// Sets the polygon type. (See: #dtPolyTypes.)
inline void setType(unsigned char t) { areaAndtype = (areaAndtype & 0x3f) | (t << 6); }
/// Gets the user defined area id.
inline unsigned char getArea() const { return areaAndtype & 0x3f; }
/// Gets the polygon type. (See: #dtPolyTypes)
inline unsigned char getType() const { return areaAndtype >> 6; }
};
/// Stucture describing polygon detail triangles.
/// Defines the location of detail sub-mesh data within a dtMeshTile.
struct dtPolyDetail
{
unsigned int vertBase; ///< Offset to detail vertex array.
unsigned int triBase; ///< Offset to detail triangle array.
unsigned char vertCount; ///< Number of vertices in the detail mesh.
unsigned char triCount; ///< Number of triangles.
unsigned int vertBase; ///< The offset of the vertices in the dtMeshTile::detailVerts array.
unsigned int triBase; ///< The offset of the triangles in the dtMeshTile::detailTris array.
unsigned char vertCount; ///< The number of vertices in the sub-mesh.
unsigned char triCount; ///< The number of triangles in the sub-mesh.
};
/// Stucture describing a link to another polygon.
/// Defines a link between polygons.
/// @note This structure is rarely if ever used by the end user.
/// @see dtMeshTile
struct dtLink
{
dtPolyRef ref; ///< Neighbour reference.
unsigned int next; ///< Index to next link.
unsigned char edge; ///< Index to polygon edge which owns this link.
unsigned char side; ///< If boundary link, defines on which side the link is.
unsigned char bmin, bmax; ///< If boundary link, defines the sub edge area.
dtPolyRef ref; ///< Neighbour reference. (The neighbor that is linked to.)
unsigned int next; ///< Index of the next link.
unsigned char edge; ///< Index of the polygon edge that owns this link.
unsigned char side; ///< If a boundary link, defines on which side the link is.
unsigned char bmin; ///< If a boundary link, defines the minimum sub-edge area.
unsigned char bmax; ///< If a boundary link, defines the maximum sub-edge area.
};
/// Bounding volume node.
/// @note This structure is rarely if ever used by the end user.
/// @see dtMeshTile
struct dtBVNode
{
unsigned short bmin[3], bmax[3]; ///< BVnode bounds
int i; ///< Index to item or if negative, escape index.
unsigned short bmin[3]; ///< Minimum bounds of the node's AABB. [(x, y, z)]
unsigned short bmax[3]; ///< Maximum bounds of the node's AABB. [(x, y, z)]
int i; ///< The node's index. (Negative for escape sequence.)
};
/// Defines an navigation mesh off-mesh connection within a dtMeshTile object.
/// An off-mesh connection is a user defined traversable connection made up to two vertices.
struct dtOffMeshConnection
{
float pos[6]; ///< Both end point locations.
float rad; ///< Link connection radius.
unsigned short poly; ///< Poly Id
unsigned char flags; ///< Link flags
unsigned char side; ///< End point side.
unsigned int userId; ///< User ID to identify this connection.
/// The endpoints of the connection. [(ax, ay, az, bx, by, bz)]
float pos[6];
/// The radius of the endpoints. [Limit: >= 0]
float rad;
/// The polygon reference of the connection within the tile.
unsigned short poly;
/// Link flags.
/// @note These are not the connection's user defined flags. Those are assigned via the
/// connection's dtPoly definition. These are link flags used for internal purposes.
unsigned char flags;
/// End point side.
unsigned char side;
/// The id of the offmesh connection. (User assigned when the navigation mesh is built.)
unsigned int userId;
};
/// Provides high level information related to a dtMeshTile object.
/// @ingroup detour
struct dtMeshHeader
{
int magic; ///< Magic number, used to identify the data.
int version; ///< Data version number.
int x, y, layer; ///< Location of the tile on the grid.
unsigned int userId; ///< User ID of the tile.
int polyCount; ///< Number of polygons in the tile.
int vertCount; ///< Number of vertices in the tile.
int maxLinkCount; ///< Number of allocated links.
int detailMeshCount; ///< Number of detail meshes.
int detailVertCount; ///< Number of detail vertices.
int detailTriCount; ///< Number of detail triangles.
int bvNodeCount; ///< Number of BVtree nodes.
int offMeshConCount; ///< Number of Off-Mesh links.
int offMeshBase; ///< Index to first polygon which is Off-Mesh link.
float walkableHeight; ///< Height of the agent.
float walkableRadius; ///< Radius of the agent
float walkableClimb; ///< Max climb height of the agent.
float bmin[3], bmax[3]; ///< Bounding box of the tile.
float bvQuantFactor; ///< BVtree quantization factor (world to bvnode coords)
int magic; ///< Tile magic number. (Used to identify the data format.)
int version; ///< Tile data format version number.
int x; ///< The x-position of the tile within the dtNavMesh tile grid. (x, y, layer)
int y; ///< The y-position of the tile within the dtNavMesh tile grid. (x, y, layer)
int layer; ///< The layer of the tile within the dtNavMesh tile grid. (x, y, layer)
unsigned int userId; ///< The user defined id of the tile.
int polyCount; ///< The number of polygons in the tile.
int vertCount; ///< The number of vertices in the tile.
int maxLinkCount; ///< The number of allocated links.
int detailMeshCount; ///< The number of sub-meshes in the detail mesh.
/// The number of unique vertices in the detail mesh. (In addition to the polygon vertices.)
int detailVertCount;
int detailTriCount; ///< The number of triangles in the detail mesh.
int bvNodeCount; ///< The number of bounding volume nodes. (Zero if bounding volumes are disabled.)
int offMeshConCount; ///< The number of off-mesh connections.
int offMeshBase; ///< The index of the first polygon which is an off-mesh connection.
float walkableHeight; ///< The height of the agents using the tile.
float walkableRadius; ///< The radius of the agents using the tile.
float walkableClimb; ///< The maximum climb height of the agents using the tile.
float bmin[3]; ///< The minimum bounds of the tile's AABB. [(x, y, z)]
float bmax[3]; ///< The maximum bounds of the tile's AABB. [(x, y, z)]
/// The bounding volume quantization factor.
float bvQuantFactor;
};
/// Defines a navigation mesh tile.
/// @ingroup detour
struct dtMeshTile
{
unsigned int salt; ///< Counter describing modifications to the tile.
unsigned int linksFreeList; ///< Index to next free link.
dtMeshHeader* header; ///< Pointer to tile header.
dtPoly* polys; ///< Pointer to the polygons (will be updated when tile is added).
float* verts; ///< Pointer to the vertices (will be updated when tile added).
dtLink* links; ///< Pointer to the links (will be updated when tile added).
dtPolyDetail* detailMeshes; ///< Pointer to detail meshes (will be updated when tile added).
float* detailVerts; ///< Pointer to detail vertices (will be updated when tile added).
unsigned char* detailTris; ///< Pointer to detail triangles (will be updated when tile added).
dtBVNode* bvTree; ///< Pointer to BVtree nodes (will be updated when tile added).
dtOffMeshConnection* offMeshCons; ///< Pointer to Off-Mesh links. (will be updated when tile added).
unsigned int linksFreeList; ///< Index to the next free link.
dtMeshHeader* header; ///< The tile header.
dtPoly* polys; ///< The tile polygons. [Size: dtMeshHeader::polyCount]
float* verts; ///< The tile vertices. [Size: dtMeshHeader::vertCount]
dtLink* links; ///< The tile links. [Size: dtMeshHeader::maxLinkCount]
dtPolyDetail* detailMeshes; ///< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount]
/// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount]
float* detailVerts;
/// The detail mesh's triangles. [(vertA, vertB, vertC) * dtMeshHeader::detailTriCount]
unsigned char* detailTris;
/// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount]
/// (Will be null if bounding volumes are disabled.)
dtBVNode* bvTree;
dtOffMeshConnection* offMeshCons; ///< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount]
unsigned char* data; ///< Pointer to tile data.
unsigned char* data; ///< The tile data. (Not directly accessed under normal situations.)
int dataSize; ///< Size of the tile data.
int flags; ///< Tile flags, see dtTileFlags.
dtMeshTile* next; ///< Next free tile or, next tile in spatial grid.
int flags; ///< Tile flags. (See: #dtTileFlags)
dtMeshTile* next; ///< The next free tile, or the next tile in the spatial grid.
};
/// Configutration parameters used to define multi-tile navigation meshes.
/// The values are used to allocate space during the initialization of a navigation mesh.
/// @see dtNavMesh::init()
/// @ingroup detour
struct dtNavMeshParams
{
float orig[3]; ///< Origin of the nav mesh tile space.
float tileWidth, tileHeight; ///< Width and height of each tile.
int maxTiles; ///< Maximum number of tiles the navmesh can contain.
int maxPolys; ///< Maximum number of polygons each tile can contain.
float orig[3]; ///< The world space origin of the navigation mesh's tile space. [(x, y, z)]
float tileWidth; ///< The width of each tile. (Along the x-axis.)
float tileHeight; ///< The height of each tile. (Along the z-axis.)
int maxTiles; ///< The maximum number of tiles the navigation mesh can contain.
int maxPolys; ///< The maximum number of polygons each tile can contain.
};
/// A navigation mesh based on tiles of convex polygons.
/// @ingroup detour
class dtNavMesh
{
public:
dtNavMesh();
~dtNavMesh();
/// Initializes the nav mesh for tiled use.
/// @param params [in] navmesh initialization params, see dtNavMeshParams.
/// @return True if succeed, else false.
/// @{
/// @name Initialization and Tile Management
/// Initializes the navigation mesh for tiled use.
/// @param[in] params Initialization parameters.
/// @return The status flags for the operation.
dtStatus init(const dtNavMeshParams* params);
/// Initializes the nav mesh for single tile use.
/// @param data - [in] Data of the new tile mesh.
/// @param dataSize - [in] Data size of the new tile mesh.
/// @param flags - [in] Tile flags, see dtTileFlags.
/// @return True if succeed, else false.
/// Initializes the navigation mesh for single tile use.
/// @param[in] data Data of the new tile. (See: #dtCreateNavMeshData)
/// @param[in] dataSize The data size of the new tile.
/// @param[in] flags The tile flags. (See: #dtTileFlags)
/// @return The status flags for the operation.
/// @see dtCreateNavMeshData
dtStatus init(unsigned char* data, const int dataSize, const int flags);
/// Returns pointer to navmesh initialization params.
/// The navigation mesh initialization params.
const dtNavMeshParams* getParams() const;
/// Adds new tile into the navmesh.
/// The add will fail if the data is in wrong format,
/// there is not enough tiles left, or if there is a tile already at the location.
/// @param data [in] Data of the new tile mesh.
/// @param dataSize [in] Data size of the new tile mesh.
/// @param flags [in] Tile flags, see dtTileFlags.
/// @param lastRef [in,optional] Last tile ref, the tile will be restored so that
/// the reference (as well as poly references) will be the same. Default: 0.
/// @param result [out,optional] tile ref if the tile was succesfully added.
/// Adds a tile to the navigation mesh.
/// @param[in] data Data for the new tile mesh. (See: #dtCreateNavMeshData)
/// @param[in] dataSize Data size of the new tile mesh.
/// @param[in] flags Tile flags. (See: #dtTileFlags)
/// @param[in] lastRef The desired reference for the tile. (When reloading a tile.) [opt] [Default: 0]
/// @param[out] result The tile reference. (If the tile was succesfully added.) [opt]
/// @return The status flags for the operation.
dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result);
/// Removes specified tile.
/// @param ref [in] Reference to the tile to remove.
/// @param data [out] Data associated with deleted tile.
/// @param dataSize [out] Size of the data associated with deleted tile.
/// Removes the specified tile from the navigation mesh.
/// @param[in] ref The reference of the tile to remove.
/// @param[out] data Data associated with deleted tile.
/// @param[out] dataSize Size of the data associated with deleted tile.
/// @return The status flags for the operation.
dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
/// Calculates tile location based in input world position.
/// @param pos [in] world position of the query.
/// @param tx [out] tile x location.
/// @param ty [out] tile y location.
/// @}
/// @{
/// @name Query Functions
/// Calculates the tile grid location for the specified world position.
/// @param[in] pos The world position for the query. [(x, y, z)]
/// @param[out] tx The tile's x-location. (x, y)
/// @param[out] ty The tile's y-location. (x, y)
void calcTileLoc(const float* pos, int* tx, int* ty) const;
/// Returns pointer to tile at specified location.
/// @param x,y [in] Location of the tile to get.
/// @returns pointer to tile if tile exists or 0 tile does not exists.
/// Gets the tile at the specified grid location.
/// @param[in] x The tile's x-location. (x, y, layer)
/// @param[in] y The tile's y-location. (x, y, layer)
/// @param[in] layer The tile's layer. (x, y, layer)
/// @return The tile, or null if the tile does not exist.
const dtMeshTile* getTileAt(const int x, const int y, const int layer) const;
/// Gets all tiles at the specified grid location. (All layers.)
/// @param[in] x The tile's x-location. (x, y)
/// @param[in] y The tile's y-location. (x, y)
/// @param[out] tiles A pointer to an array of tiles that will hold the result.
/// @param[in] maxTiles The maximum tiles the tiles parameter can hold.
/// @return The number of tiles returned in the tiles array.
int getTilesAt(const int x, const int y,
dtMeshTile const** tiles, const int maxTiles) const;
/// Returns reference to tile at specified location.
/// @param x,y [in] Location of the tile to get.
/// @returns reference to tile if tile exists or 0 tile does not exists.
/// Gets the tile reference for the tile at specified grid location.
/// @param[in] x The tile's x-location. (x, y, layer)
/// @param[in] y The tile's y-location. (x, y, layer)
/// @param[in] layer The tile's layer. (x, y, layer)
/// @return The tile reference of the tile, or 0 if there is none.
dtTileRef getTileRefAt(int x, int y, int layer) const;
/// Returns tile references of a tile based on tile pointer.
/// Gets the tile reference for the specified tile.
/// @param[in] tile The tile.
/// @return The tile reference of the tile.
dtTileRef getTileRef(const dtMeshTile* tile) const;
/// Returns tile based on references.
/// Gets the tile for the specified tile reference.
/// @param[in] ref The tile reference of the tile to retrieve.
/// @return The tile for the specified reference, or null if the
/// reference is invalid.
const dtMeshTile* getTileByRef(dtTileRef ref) const;
/// Returns max number of tiles.
/// The maximum number of tiles supported by the navigation mesh.
/// @return The maximum number of tiles supported by the navigation mesh.
int getMaxTiles() const;
/// Returns pointer to tile in the tile array.
/// @param i [in] Index to the tile to retrieve, max index is getMaxTiles()-1.
/// @returns Pointer to specified tile.
/// Gets the tile at the specified index.
/// @param[in] i The tile index. [Limit: 0 >= index < #getMaxTiles()]
/// @return The tile at the specified index.
const dtMeshTile* getTile(int i) const;
/// Returns pointer to tile and polygon pointed by the polygon reference.
/// @param ref [in] reference to a polygon.
/// @param tile [out] pointer to the tile containing the polygon.
/// @param poly [out] pointer to the polygon.
/// Gets the tile and polygon for the specified polygon reference.
/// @param[in] ref The reference for the a polygon.
/// @param[out] tile The tile containing the polygon.
/// @param[out] poly The polygon.
/// @return The status flags for the operation.
dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
/// Returns pointer to tile and polygon pointed by the polygon reference.
/// Note: this function does not check if 'ref' s valid, and is thus faster. Use only with valid refs!
///
/// @param ref [in] reference to a polygon.
/// @param tile [out] pointer to the tile containing the polygon.
/// @param poly [out] pointer to the polygon.
/// Returns the tile and polygon for the specified polygon reference.
/// @param[in] ref A known valid reference for a polygon.
/// @param[out] tile The tile containing the polygon.
/// @param[out] poly The polygon.
void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
/// Returns true if polygon reference points to valid data.
/// Checks the validity of a polygon reference.
/// @param[in] ref The polygon reference to check.
/// @return True if polygon reference is valid for the navigation mesh.
bool isValidPolyRef(dtPolyRef ref) const;
/// Returns base poly id for specified tile, polygon refs can be deducted from this.
/// Gets the polygon reference for the tile's base polygon.
/// @param[in] tile The tile.
/// @return The polygon reference for the base polygon in the specified tile.
dtPolyRef getPolyRefBase(const dtMeshTile* tile) const;
/// Returns start and end location of an off-mesh link polygon.
/// @param prevRef [in] ref to the polygon before the link (used to select direction).
/// @param polyRef [in] ref to the off-mesh link polygon.
/// @param startPos[3] [out] start point of the link.
/// @param endPos[3] [out] end point of the link.
/// @returns true if link is found.
/// Gets the endpoints for an off-mesh connection, ordered by "direction of travel".
/// @param[in] prevRef The reference of the polygon before the connection.
/// @param[in] polyRef The reference of the off-mesh connection polygon.
/// @param[out] startPos The start position of the off-mesh connection. [(x, y, z)]
/// @param[out] endPos The end position of the off-mesh connection. [(x, y, z)]
/// @return The status flags for the operation.
dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
/// Returns pointer to off-mesh connection based on polyref, or null if ref not valid.
/// Gets the specified off-mesh connection.
/// @param[in] ref The polygon reference of the off-mesh connection.
/// @return The specified off-mesh connection, or null if the polygon reference is not valid.
const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const;
/// Sets polygon flags.
/// @}
/// @{
/// @name State Management
/// These functions do not effect #dtTileRef or #dtPolyRef's.
/// Sets the user defined flags for the specified polygon.
/// @param[in] ref The polygon reference.
/// @param[in] flags The new flags for the polygon.
/// @return The status flags for the operation.
dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags);
/// Return polygon flags.
/// Gets the user defined flags for the specified polygon.
/// @param[in] ref The polygon reference.
/// @param[out] resultFlags The polygon flags.
/// @return The status flags for the operation.
dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const;
/// Set polygon type.
/// Sets the user defined area for the specified polygon.
/// @param[in] ref The polygon reference.
/// @param[in] area The new area id for the polygon. [Limit: < #DT_MAX_AREAS]
/// @return The status flags for the operation.
dtStatus setPolyArea(dtPolyRef ref, unsigned char area);
/// Return polygon area type.
/// Gets the user defined area for the specified polygon.
/// @param[in] ref The polygon reference.
/// @param[out] resultArea The area id for the polygon.
/// @return The status flags for the operation.
dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const;
/// Returns number of bytes required to store tile state.
/// Gets the size of the buffer required by #storeTileState to store the specified tile's state.
/// @param[in] tile The tile.
/// @return The size of the buffer required to store the state.
int getTileStateSize(const dtMeshTile* tile) const;
/// Stores tile state to buffer.
/// Stores the non-structural state of the tile in the specified buffer. (Flags, area ids, etc.)
/// @param[in] tile The tile.
/// @param[out] data The buffer to store the tile's state in.
/// @param[in] maxDataSize The size of the data buffer. [Limit: >= #getTileStateSize]
/// @return The status flags for the operation.
dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const;
/// Restores tile state.
/// Restores the state of the tile.
/// @param[in] tile The tile.
/// @param[in] data The new state. (Obtained from #storeTileState.)
/// @param[in] maxDataSize The size of the state within the data buffer.
/// @return The status flags for the operation.
dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize);
/// @}
/// Encodes a tile id.
/// @{
/// @name Encoding and Decoding
/// These functions are generally meant for internal use only.
/// Derives a standard polygon reference.
/// @note This function is generally meant for internal use only.
/// @param[in] salt The tile's salt value.
/// @param[in] it The index of the tile.
/// @param[in] ip The index of the polygon within the tile.
inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const
{
return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip;
}
/// Decodes a tile id.
/// Decodes a standard polygon reference.
/// @note This function is generally meant for internal use only.
/// @param[in] ref The polygon reference to decode.
/// @param[out] salt The tile's salt value.
/// @param[out] it The index of the tile.
/// @param[out] ip The index of the polygon within the tile.
/// @see #encodePolyId
inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const
{
const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
@ -313,26 +483,37 @@ public:
ip = (unsigned int)(ref & polyMask);
}
/// Decodes a tile salt.
/// Extracts a tile's salt value from the specified polygon reference.
/// @note This function is generally meant for internal use only.
/// @param[in] ref The polygon reference.
/// @see #encodePolyId
inline unsigned int decodePolyIdSalt(dtPolyRef ref) const
{
const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
return (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
}
/// Decodes a tile id.
/// Extracts the tile's index from the specified polygon reference.
/// @note This function is generally meant for internal use only.
/// @param[in] ref The polygon reference.
/// @see #encodePolyId
inline unsigned int decodePolyIdTile(dtPolyRef ref) const
{
const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
return (unsigned int)((ref >> m_polyBits) & tileMask);
}
/// Decodes a poly id.
/// Extracts the polygon's index (within its tile) from the specified polygon reference.
/// @note This function is generally meant for internal use only.
/// @param[in] ref The polygon reference.
/// @see #encodePolyId
inline unsigned int decodePolyIdPoly(dtPolyRef ref) const
{
const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
return (unsigned int)(ref & polyMask);
}
/// @}
private:
@ -394,8 +575,106 @@ private:
unsigned int m_polyBits; ///< Number of poly bits in the tile ID.
};
/// Helper function to allocate navmesh class using Detour allocator.
/// Allocates a navigation mesh object using the Detour allocator.
/// @return A navigation mesh that is ready for initialization, or null on failure.
/// @ingroup detour
dtNavMesh* dtAllocNavMesh();
/// Frees the specified navigation mesh object using the Detour allocator.
/// @param[in] navmesh A navigation mesh allocated using #dtAllocNavMesh
/// @ingroup detour
void dtFreeNavMesh(dtNavMesh* navmesh);
#endif // DETOURNAVMESH_H
///////////////////////////////////////////////////////////////////////////
// This section contains detailed documentation for types that don't have
// a source file. It reduces clutter in the main section of the header.
/// @typedef dtPolyRef
/// @par
///
/// Polygon references are subject to the same invalidate/preserve/restore
/// rules that apply to #dtTileRef's. If the #dtTileRef for the polygon's
/// tile changes, the polygon reference becomes invalid.
///
/// Changing a polygon's flags, area id, etc. does not impact its polygon
/// reference.
/// @typedef dtTileRef
/// @par
///
/// The following changes will invalidate a tile reference:
///
/// - The referenced tile has been removed from the navigation mesh.
/// - The navigation mesh has been initialized using a different set
/// of #dtNavMeshParams.
///
/// A tile reference is preserved/restored if the tile is added to a navigation
/// mesh initialized with the original #dtNavMeshParams and is added at the
/// original reference location. (E.g. The lastRef parameter is used with
/// dtNavMesh::addTile.)
///
/// Basically, if the storage structure of a tile changes, its associated
/// tile reference changes.
///
/// @var unsigned short dtPoly::neis[DT_VERTS_PER_POLYGON]
/// @par
///
/// Each entry represents data for the edge starting at the vertex of the same index.
/// E.g. The entry at index n represents the edge data for vertex[n] to vertex[n+1].
///
/// A value of zero indicates the edge has no polygon connection. (It makes up the
/// border of the navigation mesh.)
///
/// The information can be extracted as follows:
/// @code
/// neighborRef = neis[n] & 0xff; // Get the neighbor polygon reference.
///
/// if (neis[n] & #DT_EX_LINK)
/// {
/// // The edge is an external (portal) edge.
/// }
/// @endcode
/// @var float dtMeshHeader::bvQuantFactor
/// @par
///
/// This value is used for converting between world and bounding volume coordinates.
/// For example:
/// @code
/// const float cs = 1.0f / tile->header->bvQuantFactor;
/// const dtBVNode* n = &tile->bvTree[i];
/// if (n->i >= 0)
/// {
/// // This is a leaf node.
/// float worldMinX = tile->header->bmin[0] + n->bmin[0]*cs;
/// float worldMinY = tile->header->bmin[0] + n->bmin[1]*cs;
/// // Etc...
/// }
/// @endcode
/// @struct dtMeshTile
/// @par
///
/// Tiles generally only exist within the context of a dtNavMesh object.
///
/// Some tile content is optional. For example, a tile may not contain any
/// off-mesh connections. In this case the associated pointer will be null.
///
/// If a detail mesh exists it will share vertices with the base polygon mesh.
/// Only the vertices unique to the detail mesh will be stored in #detailVerts.
///
/// @warning Tiles returned by a dtNavMesh object are not guarenteed to be populated.
/// For example: The tile at a location might not have been loaded yet, or may have been removed.
/// In this case, pointers will be null. So if in doubt, check the polygon count in the
/// tile's header to determine if a tile has polygons defined.
/// @var float dtOffMeshConnection::pos[6]
/// @par
///
/// For a properly built navigation mesh, vertex A will always be within the bounds of the mesh.
/// Vertex B is not required to be within the bounds of the mesh.
///

507
Detour/Include/DetourNavMeshQuery.h
View File

@ -25,34 +25,26 @@
// 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 actualy implementations of the functions
// 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
/// Class for polygon filtering and cost calculation during query operations.
/// - It is possible to derive a custom query filter from dtQueryFilter by overriding
/// the virtual functions passFilter() and getCost().
/// - Both functions should be as fast as possible. Use cached local copy of data
/// instead of accessing your own objects where possible.
/// - You do not need to adhere to the flags and cost logic provided by the default
/// implementation.
/// - In order for the A* to work properly, the cost should be proportional to
/// the travel distance. Using cost modifier less than 1.0 is likely to lead
/// to problems during pathfinding.
/// Defines polygon filtering and traversal costs for navigation mesh query operations.
/// @ingroup detour
class dtQueryFilter
{
float m_areaCost[DT_MAX_AREAS]; ///< Array storing cost per area type, used by default implementation.
unsigned short m_includeFlags; ///< Include poly flags, used by default implementation.
unsigned short m_excludeFlags; ///< Exclude poly flags, used by default implementation.
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();
/// Returns true if the polygon is can visited.
/// @param ref [in] reference to the polygon test.
/// @param tile [in] pointer to the tile of the polygon test.
/// @param poly [in] pointer to the polygon test.
/// 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,
@ -63,15 +55,19 @@ public:
const dtPoly* poly) const;
#endif
/// Returns cost to travel from 'pa' to 'pb'.'
/// The segment is fully contained inside 'cur'.
/// 'pa' lies on the edge between 'prev' and 'cur',
/// 'pb' lies on the edge between 'cur' and 'next'.
/// @param pa [in] segment start position.
/// @param pb [in] segment end position.
/// @param prevRef, prevTile, prevPoly [in] data describing the previous polygon, can be null.
/// @param curRef, curTile, curPoly [in] data describing the current polygon.
/// @param nextRef, nextTile, nextPoly [in] data describing the next polygon, can be null.
/// 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,
@ -83,260 +79,321 @@ public:
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 the ability to perform pathfinding related queries against
/// a navigation mesh.
/// @ingroup detour
class dtNavMeshQuery
{
public:
dtNavMeshQuery();
~dtNavMeshQuery();
/// Initializes the nav mesh query.
/// @param nav [in] pointer to navigation mesh data.
/// @param maxNodes [in] Maximum number of search nodes to use (max 65536).
/// 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 <= 65536]
/// @returns The status flags for the query.
dtStatus init(const dtNavMesh* nav, const int maxNodes);
/// Finds the nearest navigation polygon around the center location.
/// @param center[3] [in] The center of the search box.
/// @param extents[3] [in] The extents of the search box.
/// @param filter [in] path polygon filter.
/// @param nearestRef [out] Reference to the nearest polygon.
/// @param nearestPt[3] [out, opt] The nearest point on found polygon, null if not needed.
dtStatus findNearestPoly(const float* center, const float* extents,
const dtQueryFilter* filter,
dtPolyRef* nearestRef, float* nearestPt) const;
/// Returns polygons which overlap the query box.
/// @param center[3] [in] the center of the search box.
/// @param extents[3] [in] the extents of the search box.
/// @param filter [in] path polygon filter.
/// @param polys [out] array holding the search result.
/// @param polyCount [out] Number of polygons in search result array.
/// @param maxPolys [in] The max number of polygons the polys array can hold.
dtStatus queryPolygons(const float* center, const float* extents,
const dtQueryFilter* filter,
dtPolyRef* polys, int* polyCount, const int maxPolys) const;
/// 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.
/// @param startRef [in] ref to path start polygon.
/// @param endRef [in] ref to path end polygon.
/// @param startPos[3] [in] Path start location.
/// @param endPos[3] [in] Path end location.
/// @param filter [in] path polygon filter.
/// @param path [out] array holding the search result.
/// @param pathCount [out] Number of polygons in search result array.
/// @param maxPath [in] The max number of polygons the path array can hold. Must be at least 1.
/// @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;
/// Intializes sliced path find query.
/// Note 1: calling any other dtNavMeshQuery method before calling findPathEnd()
/// may results in corrupted data!
/// Note 2: The pointer to filter is store, and used in subsequent
/// calls to updateSlicedFindPath().
/// @param startRef [in] ref to path start polygon.
/// @param endRef [in] ref to path end polygon.
/// @param startPos[3] [in] Path start location.
/// @param endPos[3] [in] Path end location.
/// @param filter [in] path polygon filter.
dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter);
/// Updates sliced path find query.
/// @param maxIter [in] Max number of iterations to update.
/// @param doneIters [out,opt] Number of iterations done during the update.
/// Returns: Path query state.
dtStatus updateSlicedFindPath(const int maxIter, int* doneIters);
/// Finalizes sliced path find query and returns found path.
/// @param path [out] array holding the search result.
/// @param pathCount [out] Number of polygons in search result array.
/// @param maxPath [in] The max number of polygons the path array can hold.
dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
/// Finalizes partial sliced path find query and returns path to the furthest
/// polygon on the existing path that was visited during the search.
/// @param existing [out] Array of polygons in the existing path.
/// @param existingSize [out] Number of polygons in existing path array.
/// @param path [out] array holding the search result.
/// @param pathCount [out] Number of polygons in search result array.
/// @param maxPath [in] The max number of polygons the path array can hold.
dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
dtPolyRef* path, int* pathCount, const int maxPath);
/// Finds a straight path from start to end locations within the corridor
/// described by the path polygons.
/// Start and end locations will be clamped on the corridor.
/// The returned polygon references are point to polygon which was entered when
/// 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.
/// @param startPos[3] [in] Path start location.
/// @param endPos[3] [in] Path end location.
/// @param path [in] Array of connected polygons describing the corridor.
/// @param pathSize [in] Number of polygons in path array.
/// @param straightPath [out] Points describing the straight path.
/// @param straightPathFlags [out, opt] Flags describing each point type, see dtStraightPathFlags.
/// @param straightPathRefs [out, opt] References to polygons at point locations.
/// @param straightPathCount [out] Number of points in the path.
/// @param maxStraightPath [in] The max number of points the straight path array can hold. Must be at least 1.
/// 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]
/// @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;
///@}
/// @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.
/// @returns The status flags for the query.
dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter);
/// 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);
/// Moves from startPos to endPos constrained to the navmesh.
/// If the endPos is reachable, the resultPos will be endPos,
/// or else the resultPos will be the nearest point in navmesh.
/// Note: The resulting point is not projected to the ground, use getPolyHeight() to get height.
/// Note: The algorithm is optimized for small delta movement and small number of polygons.
/// @param startRef [in] ref to the polygon where startPos lies.
/// @param startPos[3] [in] start position of the mover.
/// @param endPos[3] [in] desired end position of the mover.
/// @param filter [in] path polygon filter.
/// @param resultPos[3] [out] new position of the mover.
/// @param visited [out] array of visited polygons.
/// @param visitedCount [out] Number of entries in the visited array.
/// @param maxVisitedSize [in] max number of polygons in the visited array.
dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter,
float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const;
/// Casts 'walkability' ray along the navmesh surface from startPos towards the endPos.
/// @param startRef [in] ref to the polygon where the start lies.
/// @param startPos[3] [in] start position of the query.
/// @param endPos[3] [in] end position of the query.
/// @param t [out] hit parameter along the segment, FLT_MAX if no hit.
/// @param hitNormal[3] [out] normal of the nearest hit.
/// @param filter [in] path polygon filter.
/// @param path [out,opt] visited path polygons.
/// @param pathCount [out,opt] Number of polygons visited.
/// @param maxPath [in] max number of polygons in the path array.
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;
/// Returns distance to nearest wall from the specified location.
/// @param startRef [in] ref to the polygon where the center lies.
/// @param centerPos[3] [in] center if the query circle.
/// @param maxRadius [in] max search radius.
/// @param filter [in] path polygon filter.
/// @param hitDist [out] distance to nearest wall from the test location.
/// @param hitPos[3] [out] location of the nearest hit.
/// @param hitNormal[3] [out] normal of the nearest hit.
dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
const dtQueryFilter* filter,
float* hitDist, float* hitPos, float* hitNormal) const;
/// Finds polygons found along the navigation graph which touch the specified circle.
/// @param startRef [in] ref to the polygon where the search starts.
/// @param centerPos[3] [in] center if the query circle.
/// @param radius [in] radius of the query circle.
/// @param filter [in] path polygon filter.
/// @param resultRef [out, opt] refs to the polygons touched by the circle.
/// @param resultParent [out, opt] parent of each result polygon.
/// @param resultCost [out, opt] search cost at each result polygon.
/// @param resultCount [out, opt] Number of results.
/// @param maxResult [int] maximum capacity of search results.
/// 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[out] existing An array of polygon references for the existing path.
/// @param[out] 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 polygons found along the navigation graph which touch the convex polygon shape.
/// @param startRef [in] ref to the polygon where the search starts.
/// @param verts[3*n] [in] vertices describing convex polygon shape (CCW).
/// @param nverts [in] number of vertices in the polygon.
/// @param filter [in] path polygon filter.
/// @param resultRef [out, opt] refs to the polygons touched by the circle.
/// @param resultParent [out, opt] parent of each result polygon.
/// @param resultCost [out, opt] search cost at each result polygon.
/// @param resultCount [out] number of results.
/// @param maxResult [int] maximum capacity of search results.
/// 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;
/// Finds non-overlapping local neighbourhood around center location.
/// Note: The algorithm is optimized for small query radius and small number of polygons.
/// @param startRef [in] ref to the polygon where the search starts.
/// @param centerPos[3] [in] center if the query circle.
/// @param radius [in] radius of the query circle.
/// @param filter [in] path polygon filter.
/// @param resultRef [out] refs to the polygons touched by the circle.
/// @param resultParent [out, opt] parent of each result polygon.
/// @param resultCount [out] number of results.
/// @param maxResult [int] maximum capacity of search results.
/// @}
/// @name Local Query Functions
///@{
/// Finds the polygon nearest to the specified center point.
/// @param[in] center The center of the search box. [(x, y, z)]
/// @param[in] extents 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.
/// @param[out] nearestPt The nearest point on the polygon. [opt] [(x, y, z)]
/// @returns The status flags for the query.
dtStatus findNearestPoly(const float* center, const float* extents,
const dtQueryFilter* filter,
dtPolyRef* nearestRef, float* nearestPt) const;
/// Finds polygons that overlap the search box.
/// @param[in] center The center of the search box. [(x, y, z)]
/// @param[in] extents 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* extents,
const dtQueryFilter* filter,
dtPolyRef* polys, int* polyCount, const int maxPolys) 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;
/// Returns wall segments of specified polygon.
/// If 'segmentRefs' is specified, both the wall and portal segments are returned.
/// Wall segments will have null (0) polyref, and portal segments store the polygon they lead to.
/// @param ref [in] ref to the polygon.
/// @param filter [in] path polygon filter.
/// @param segmentVerts[6*maxSegments] [out] wall segments (2 endpoints per segment).
/// @param segmentRefs[maxSegments] [out,opt] reference to a neighbour.
/// @param segmentCount [out] number of wall segments.
/// @param maxSegments [in] max number of segments that can be stored in 'segments'.
/// 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[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;
/// 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 closest point on navigation polygon.
/// Uses detail polygons to find the closest point to the navigation polygon surface.
/// @param ref [in] ref to the polygon.
/// @param pos[3] [in] the point to check.
/// @param closest[3] [out] closest point.
/// @returns true if closest point found.
/// 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)]
/// @returns The status flags for the query.
dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const;
/// Returns closest point on navigation polygon boundary.
/// Uses the navigation polygon boundary to snap the point to poly boundary
/// if it is outside the polygon. Much faster than closestPointToPoly. Does not affect height.
/// @param ref [in] ref to the polygon.
/// @param pos[3] [in] the point to check.
/// @param closest[3] [out] closest point.
/// @returns true if closest point found.
/// 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;
/// Returns height of the polygon at specified location.
/// @param ref [in] ref to the polygon.
/// @param pos[3] [in] the point where to locate the height.
/// @param height [out] height at the location.
/// @returns true if over polygon.
/// 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;
// Returns true if polygon reference points to valid data and passes the filter.
bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const;
// Returns true if poly reference ins in closed list.
/// @}
/// @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:
@ -383,8 +440,14 @@ private:
class dtNodeQueue* m_openList; ///< Pointer to open list queue.
};
/// Helper function to allocate navmesh query class using Detour allocator.
/// 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

80
Detour/Source/DetourNavMesh.cpp
View File

@ -142,6 +142,10 @@ dtNavMesh* dtAllocNavMesh()
return new(mem) dtNavMesh;
}
/// @par
///
/// This function will only free the memory for tiles with the #DT_TILE_FREE_DATA
/// flag set.
void dtFreeNavMesh(dtNavMesh* navmesh)
{
if (!navmesh) return;
@ -150,6 +154,19 @@ void dtFreeNavMesh(dtNavMesh* navmesh)
}
//////////////////////////////////////////////////////////////////////////////////////////
/// @class dtNavMesh
///
/// This class is usually used in conjunction with the dtNavMeshQuery class.
///
/// Technically, all navigation meshes are tiled. A 'solo' mesh is simply a navigation mesh initialized
/// to have only a single tile.
///
/// This class does not implement any asynchronous methods. So the ::dtStatus result of all methods will
/// always contain either a success or failure flag.
///
/// @see dtNavMeshQuery, dtCreateNavMeshData(), dtNavMeshCreateParams, #dtAllocNavMesh, #dtFreeNavMesh
dtNavMesh::dtNavMesh() :
m_tileWidth(0),
m_tileHeight(0),
@ -246,6 +263,10 @@ dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flag
return addTile(data, dataSize, flags, 0, 0);
}
/// @par
///
/// @note The parameters are created automatically when the single tile
/// initialization is performed.
const dtNavMeshParams* dtNavMesh::getParams() const
{
return &m_params;
@ -726,6 +747,17 @@ int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, co
}
}
/// @par
///
/// The add operation will fail if the data is in the wrong format, the allocated tile
/// space is full, or there is a tile already at the specified reference.
///
/// The lastRef parameter is used to restore a tile with the same tile
/// reference it had previously used. In this case the #dtPolyRef's for the
/// tile will be restored to the same values they were before the tile was
/// removed.
///
/// @see dtCreateNavMeshData, #removeTile
dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
dtTileRef lastRef, dtTileRef* result)
{
@ -922,6 +954,10 @@ int dtNavMesh::getTilesAt(const int x, const int y, dtMeshTile** tiles, const in
return n;
}
/// @par
///
/// This function will not fail if the tiles array is too small to hold the
/// entire result set. It will simply fill the array to capacity.
int dtNavMesh::getTilesAt(const int x, const int y, dtMeshTile const** tiles, const int maxTiles) const
{
int n = 0;
@ -1012,6 +1048,11 @@ dtStatus dtNavMesh::getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile**
return DT_SUCCESS;
}
/// @par
///
/// @warning Only use this function if it is known that the provided polygon
/// reference is valid. This function is faster than #getTileAndPolyByRef, but
/// it does not validate the reference.
void dtNavMesh::getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const
{
unsigned int salt, it, ip;
@ -1031,6 +1072,12 @@ bool dtNavMesh::isValidPolyRef(dtPolyRef ref) const
return true;
}
/// @par
///
/// This function returns the data for the tile so that, if desired,
/// it can be added back to the navigation mesh at a later point.
///
/// @see #addTile
dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize)
{
if (!ref)
@ -1130,6 +1177,20 @@ dtTileRef dtNavMesh::getTileRef(const dtMeshTile* tile) const
return (dtTileRef)encodePolyId(tile->salt, it, 0);
}
/// @par
///
/// Example use case:
/// @code
///
/// const dtPolyRef base = navmesh->getPolyRefBase(tile);
/// for (int i = 0; i < tile->header->polyCount; ++i)
/// {
/// const dtPoly* p = &tile->polys[i];
/// const dtPolyRef ref = base | (dtPolyRef)i;
///
/// // Use the reference to access the polygon data.
/// }
/// @endcode
dtPolyRef dtNavMesh::getPolyRefBase(const dtMeshTile* tile) const
{
if (!tile) return 0;
@ -1150,6 +1211,7 @@ struct dtPolyState
unsigned char area; // Area ID of the polygon.
};
/// @see #storeTileState
int dtNavMesh::getTileStateSize(const dtMeshTile* tile) const
{
if (!tile) return 0;
@ -1158,6 +1220,11 @@ int dtNavMesh::getTileStateSize(const dtMeshTile* tile) const
return headerSize + polyStateSize;
}
/// @par
///
/// Tile state includes non-structural data such as polygon flags, area ids, etc.
/// @note The state data is only valid until the tile reference changes.
/// @see #getTileStateSize, #restoreTileState
dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const
{
// Make sure there is enough space to store the state.
@ -1185,6 +1252,11 @@ dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data,
return DT_SUCCESS;
}
/// @par
///
/// Tile state includes non-structural data such as polygon flags, area ids, etc.
/// @note This function does not impact the tile's #dtTileRef and #dtPolyRef's.
/// @see #storeTileState
dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize)
{
// Make sure there is enough space to store the state.
@ -1215,7 +1287,13 @@ dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data
return DT_SUCCESS;
}
// Returns start and end location of an off-mesh link polygon.
/// @par
///
/// Off-mesh connections are stored in the navigation mesh as special 2-vertex
/// polygons with a single edge. At least one of the vertices is expected to be
/// inside a normal polygon. So an off-mesh connection is "entered" from a
/// normal polygon at one of its endpoints. This is the polygon identified by
/// the prevRef parameter.
dtStatus dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const
{
unsigned int salt, it, ip;

290
Detour/Source/DetourNavMeshQuery.cpp
View File

@ -27,6 +27,38 @@
#include "DetourAssert.h"
#include <new>
/// @class dtQueryFilter
///
/// <b>The Default Implmentation</b>
///
/// At construction: All area costs default to 1.0. All flags are included
/// and none are excluded.
///
/// If a polygon has both an include and an exclude flag, it will be excluded.
///
/// The way filtering works, a navigation mesh polygon must have at least one flag
/// set to ever be considered by a query. So a polygon with no flags will never
/// be considered.
///
/// Setting the include flags to 0 will result in all polygons being excluded.
///
/// <b>Custom Implementations</b>
///
/// DT_VIRTUAL_QUERYFILTER must be defined in order to extend this class.
///
/// Implement a custom query filter by overriding the virtual passFilter()
/// and getCost() functions. If this is done, both functions should be as
/// fast as possible. Use cached local copies of data rather than accessing
/// your own objects where possible.
///
/// Custom implementations do not need to adhere to the flags or cost logic
/// used by the default implementation.
///
/// In order for A* searches to work properly, the cost should be proportional to
/// the travel distance. Implementing a cost modifier less than 1.0 is likely
/// to lead to problems during pathfinding.
///
/// @see dtNavMeshQuery
dtQueryFilter::dtQueryFilter() :
m_includeFlags(0xffff),
@ -86,6 +118,23 @@ void dtFreeNavMeshQuery(dtNavMeshQuery* navmesh)
}
//////////////////////////////////////////////////////////////////////////////////////////
/// @class dtNavMeshQuery
///
/// For methods that support undersized buffers, if the buffer is too small
/// to hold the entire result set the return status of the method will include
/// the #DT_BUFFER_TOO_SMALL flag.
///
/// Constant member functions can be used by multiple clients without side
/// effects. (E.g. No change to the closed list. No impact on an in-progress
/// sliced path query. Etc.)
///
/// Walls and portals: A @e wall is a polygon segment that is
/// considered impassable. A @e portal is a passable segment between polygons.
/// A portal may be treated as a wall based on the dtQueryFilter used for a query.
///
/// @see dtNavMesh, dtQueryFilter, #dtAllocNavMeshQuery(), #dtAllocNavMeshQuery()
dtNavMeshQuery::dtNavMeshQuery() :
m_tinyNodePool(0),
m_nodePool(0),
@ -107,6 +156,12 @@ dtNavMeshQuery::~dtNavMeshQuery()
dtFree(m_openList);
}
/// @par
///
/// Must be the first function called after construction, before other
/// functions are used.
///
/// This function can be used multiple times.
dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes)
{
m_nav = nav;
@ -161,6 +216,15 @@ dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes)
}
//////////////////////////////////////////////////////////////////////////////////////////
/// @par
///
/// Uses the detail polygons to find the surface height. (Most accurate.)
///
/// @p pos does not have to be within the bounds of the polygon or navigation mesh.
///
/// See closestPointOnPolyBoundary() for a limited but faster option.
///
dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const
{
dtAssert(m_nav);
@ -257,6 +321,17 @@ void dtNavMeshQuery::closestPointOnPolyInTile(const dtMeshTile* tile, const dtPo
}
}
/// @par
///
/// Much faster than closestPointOnPoly().
///
/// If the provided position lies within the polygon's xz-bounds (above or below),
/// then @p pos and @p closest will be equal.
///
/// The height of @p closest will be the polygon boundary. The height detail is not used.
///
/// @p pos does not have to be within the bounds of the polybon or the navigation mesh.
///
dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const
{
dtAssert(m_nav);
@ -304,7 +379,11 @@ dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float*
return DT_SUCCESS;
}
/// @par
///
/// Will return #DT_FAILURE if the provided position is outside the xz-bounds
/// of the polygon.
///
dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* height) const
{
dtAssert(m_nav);
@ -353,6 +432,12 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h
return DT_FAILURE | DT_INVALID_PARAM;
}
/// @par
///
/// @note If the search box does not intersect any polygons the search will
/// return #DT_SUCCESS, but @p nearestRef will be zero. So if in doubt, check
/// @p nearestRef before using @p nearestPt.
///
dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* extents,
const dtQueryFilter* filter,
dtPolyRef* nearestRef, float* nearestPt) const
@ -519,6 +604,15 @@ int dtNavMeshQuery::queryPolygonsInTile(const dtMeshTile* tile, const float* qmi
}
}
/// @par
///
/// If no polygons are found, the function will return #DT_SUCCESS with a
/// @p polyCount of zero.
///
/// If @p polys is too small to hold the entire result set, then the array will
/// be filled to capacity. The method of choosing which polygons from the
/// full set are included in the partial result set is undefined.
///
dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents,
const dtQueryFilter* filter,
dtPolyRef* polys, int* polyCount, const int maxPolys) const
@ -559,6 +653,17 @@ dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents
return DT_SUCCESS;
}
/// @par
///
/// If the end polygon cannot be reached through the navigation graph,
/// the last polygon in the path will be the nearest the end polygon.
///
/// If the path array is to small to hold the full result, it will be filled as
/// far as possible from the start polygon toward the end polygon.
///
/// The start and end positions are used to calculate traversal costs.
/// (The y-values impact the result.)
///
dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter,
@ -769,6 +874,14 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
return status;
}
/// @par
///
/// @warning Calling any non-slice methods before calling finalizeSlicedFindPath()
/// or finalizeSlicedFindPathPartial() may result in corrupted data!
///
/// The @p filter pointer is stored and used for the duration of the sliced
/// path query.
///
dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter)
@ -1134,7 +1247,23 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
return DT_SUCCESS | details;
}
/// @par
///
/// This method peforms what is often called 'string pulling'.
///
/// The start position is clamped to the first polygon in the path, and the
/// end position is clamped to the last. So the start and end positions should
/// normally be within or very near the first and last polygons respectively.
///
/// The returned polygon references represent the reference id of the polygon
/// that is entered at the associated path position. The reference id associated
/// with the end point will always be zero. This allows, for example, matching
/// off-mesh link points to their representative polygons.
///
/// If the provided result buffers are too small for the entire result set,
/// they will be filled as far as possible from the start toward the end
/// position.
///
dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* endPos,
const dtPolyRef* path, const int pathSize,
float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
@ -1378,6 +1507,26 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
return DT_SUCCESS | ((n >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0);
}
/// @par
///
/// This method is optimized for small delta movement and a small number of
/// polygons. If used for too great a distance, the result set will form an
/// incomplete path.
///
/// @p resultPos will equal the @p endPos if the end is reached.
/// Otherwise the closest reachable position will be returned.
///
/// @p resultPos is not projected onto the surface of the navigation
/// mesh. Use #getPolyHeight if this is needed.
///
/// This method treats the end position in the same manner as
/// the #raycast method. (As a 2D point.) See that method's documentation
/// for details.
///
/// If the @p visited array is too small to hold the entire result set, it will
/// be filled as far as possible from the start position toward the end
/// position.
///
dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter,
float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const
@ -1696,6 +1845,44 @@ dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly,
return DT_SUCCESS;
}
/// @par
///
/// This method is meant to be used for quick, short distance checks.
///
/// If the path array is too small to hold the result, it will be filled as
/// far as possible from the start postion toward the end position.
///
/// <b>Using the Hit Parameter (t)</b>
///
/// If the hit parameter is a very high value (FLT_MAX), then the ray has hit
/// the end position. In this case the path represents a valid corridor to the
/// end position and the value of @p hitNormal is undefined.
///
/// If the hit parameter is zero, then the start position is on the wall that
/// was hit and the value of @p hitNormal is undefined.
///
/// If 0 < t < 1.0 then the following applies:
///
/// @code
/// distanceToHitBorder = distanceToEndPosition * t
/// hitPoint = startPos + (endPos - startPos) * t
/// @endcode
///
/// <b>Use Case Restriction</b>
///
/// The raycast ignores the y-value of the end position. (2D check.) This
/// places significant limits on how it can be used. For example:
///
/// Consider a scene where there is a main floor with a second floor balcony
/// that hangs over the main floor. So the first floor mesh extends below the
/// balcony mesh. The start position is somewhere on the first floor. The end
/// position is on the balcony.
///
/// The raycast will search toward the end position along the first floor mesh.
/// If it reaches the end position's xz-coordinates it will indicate FLT_MAX
/// (no wall hit), meaning it reached the end position. This is one example of why
/// this method is meant for short distance checks.
///
dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter,
float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const
@ -1877,6 +2064,35 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
return status;
}
/// @par
///
/// At least one result array must be provided.
///
/// The order of the result set is from least to highest cost to reach the polygon.
///
/// A common use case for this method is to perform Dijkstra searches.
/// Candidate polygons are found by searching the graph beginning at the start polygon.
///
/// If a polygon is not found via the graph search, even if it intersects the
/// search circle, it will not be included in the result set. For example:
///
/// polyA is the start polygon.
/// polyB shares an edge with polyA. (Is adjacent.)
/// polyC shares an edge with polyB, but not with polyA
/// Even if the search circle overlaps polyC, it will not be included in the
/// result set unless polyB is also in the set.
///
/// The value of the center point is used as the start position for cost
/// calculations. It is not projected onto the surface of the mesh, so its
/// y-value will effect the costs.
///
/// Intersection tests occur in 2D. All polygons and the search circle are
/// projected onto the xz-plane. So the y-value of the center point does not
/// effect intersection tests.
///
/// If the result arrays are to small to hold the entire result set, they will be
/// filled to capacity.
///
dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
const dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
@ -2030,6 +2246,28 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
return status;
}
/// @par
///
/// The order of the result set is from least to highest cost.
///
/// At least one result array must be provided.
///
/// A common use case for this method is to perform Dijkstra searches.
/// Candidate polygons are found by searching the graph beginning at the start
/// polygon.
///
/// The same intersection test restrictions that apply to findPolysAroundCircle()
/// method apply to this method.
///
/// The 3D centroid of the search polygon is used as the start position for cost
/// calculations.
///
/// Intersection tests occur in 2D. All polygons are projected onto the
/// xz-plane. So the y-values of the vertices do not effect intersection tests.
///
/// If the result arrays are is too small to hold the entire result set, they will
/// be filled to capacity.
///
dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
const dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
@ -2188,6 +2426,28 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
return status;
}
/// @par
///
/// This method is optimized for a small search radius and small number of result
/// polygons.
///
/// Candidate polygons are found by searching the navigation graph beginning at
/// the start polygon.
///
/// The same intersection test restrictions that apply to the findPolysAroundCircle
/// mehtod applies to this method.
///
/// The value of the center point is used as the start point for cost calculations.
/// It is not projected onto the surface of the mesh, so its y-value will effect
/// the costs.
///
/// Intersection tests occur in 2D. All polygons and the search circle are
/// projected onto the xz-plane. So the y-value of the center point does not
/// effect intersection tests.
///
/// If the result arrays are is too small to hold the entire result set, they will
/// be filled to capacity.
///
dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
const dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent,
@ -2392,6 +2652,17 @@ static void insertInterval(dtSegInterval* ints, int& nints, const int maxInts,
nints++;
}
/// @par
///
/// If the @p segmentRefs parameter is provided, then all polygon segments will be returned.
/// Otherwise only the wall segments are returned.
///
/// A segment that is normally a portal will be included in the result set as a
/// wall if the @p filter results in the neighbor polygon becoomming impassable.
///
/// The @p segmentVerts and @p segmentRefs buffers should normally be sized for the
/// maximum segments per polygon of the source navigation mesh.
///
dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount,
const int maxSegments) const
@ -2532,6 +2803,16 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter*
return status;
}
/// @par
///
/// @p hitPos is not adjusted using the height detail data.
///
/// @p hitDist will equal the search radius if there is no wall within the
/// radius. In this case the values of @p hitPos and @p hitNormal are
/// undefined.
///
/// The normal will become unpredicable if @p hitDist is a very small number.
///
dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
const dtQueryFilter* filter,
float* hitDist, float* hitPos, float* hitNormal) const
@ -2728,6 +3009,11 @@ bool dtNavMeshQuery::isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter)
return true;
}
/// @par
///
/// The closed list is the list of polygons that were fully evaluated during
/// the last navigation graph search. (A* or Dijkstra)
///
bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const
{
if (!m_nodePool) return false;