server_common/recastnavigation_v1.6.0
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**API CHANGED** Implemented issue 124. Detour API returns error codes.

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This commit is contained in:
Mikko Mononen 2010-10-29 12:08:13 +00:00
parent 30b581b67d
commit e5d603ac92
15 changed files with 1489 additions and 1540 deletions
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2
DebugUtils/Source/DetourDebugDraw.cpp
View File

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

45
Detour/Include/DetourNavMesh.h
View File

@ -66,6 +66,17 @@ enum dtPolyTypes
DT_POLYTYPE_OFFMESH_CONNECTION = 1, // Off-mesh connections.
};
enum dtStatus
{
DT_FAILURE = 0, // Operation failed.
DT_FAILURE_DATA_MAGIC,
DT_FAILURE_DATA_VERSION,
DT_FAILURE_OUT_OF_MEMORY,
DT_SUCCESS, // Operation succeed.
DT_IN_PROGRESS, // Operation still in progress.
};
// Structure describing the navigation polygon data.
struct dtPoly
{
@ -177,7 +188,7 @@ public:
// Params:
// params - (in) navmesh initialization params, see dtNavMeshParams.
// Returns: True if succeed, else false.
bool init(const dtNavMeshParams* params);
dtStatus init(const dtNavMeshParams* params);
// Initializes the nav mesh for single tile use.
// Params:
@ -185,7 +196,7 @@ public:
// dataSize - (in) Data size of the new tile mesh.
// flags - (in) Tile flags, see dtTileFlags.
// Returns: True if succeed, else false.
bool init(unsigned char* data, const int dataSize, const int flags);
dtStatus init(unsigned char* data, const int dataSize, const int flags);
// Returns pointer to navmesh initialization params.
const dtNavMeshParams* getParams() const;
@ -198,17 +209,16 @@ public:
// dataSize - (in) Data size of the new tile mesh.
// flags - (in) Tile flags, see dtTileFlags.
// lastRef - (in,optional) Last tile ref, the tile will be restored so that
// the reference (as well as poly references) will be the same.
// Returns: Reference to the tile, 0 if failed.
dtTileRef addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef = 0);
// the reference (as well as poly references) will be the same. Default: 0.
// result - (out,optional) tile ref if the tile was succesfully added.
dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result);
// Removes specified tile.
// Params:
// ref - (in) Reference to the tile to remove.
// data - (out) Data associated with deleted tile.
// dataSize - (out) Size of the data associated with deleted tile.
// Returns: True if remove suceed, else false.
bool removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
// Calculates tile location based in input world position.
// Params:
@ -249,8 +259,7 @@ public:
// ref - (in) reference to a polygon.
// tile - (out) pointer to the tile containing the polygon.
// poly - (out) pointer to the polygon.
// Returns false if poly ref is not valid, true on success.
bool getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
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!
@ -273,29 +282,29 @@ public:
// 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;
dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
// Sets polygon flags.
void setPolyFlags(dtPolyRef ref, unsigned short flags);
dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags);
// Return polygon flags.
unsigned short getPolyFlags(dtPolyRef ref) const;
dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const;
// Set polygon type.
void setPolyArea(dtPolyRef ref, unsigned char area);
dtStatus setPolyArea(dtPolyRef ref, unsigned char area);
// Return polygon area type.
unsigned char getPolyArea(dtPolyRef ref) const;
dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const;
// Returns number of bytes required to store tile state.
int getTileStateSize(const dtMeshTile* tile) const;
// Stores tile state to buffer.
bool storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const;
dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const;
// Restores tile state.
bool restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize);
dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize);
// Encodes a tile id.
@ -371,8 +380,8 @@ private:
dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center,
const float* extents, float* nearestPt) const;
// Returns closest point on polygon.
bool closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
const float* pos, float* closest) const;
dtStatus closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
const float* pos, float* closest) const;
dtNavMeshParams m_params; // Current initialization params. TODO: do not store this info twice.
float m_orig[3]; // Origin of the tile (0,0)

154
Detour/Include/DetourNavMeshQuery.h
View File

@ -96,13 +96,6 @@ public:
inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; }
};
enum dtQueryState
{
DT_QUERY_FAILED = 0, // Path find failed.
DT_QUERY_RUNNING, // Path find running.
DT_QUERY_READY, // Path find results ready.
};
class dtNavMeshQuery
{
public:
@ -114,17 +107,19 @@ public:
// nav - (in) pointer to navigation mesh data.
// maxNodes - (in) Maximum number of search nodes to use (max 65536).
// Returns: True if succeed, else false.
bool init(const dtNavMesh* nav, const int maxNodes);
dtStatus init(const dtNavMesh* nav, const int maxNodes);
// Finds the nearest navigation polygon around the center location.
// Params:
// center[3] - (in) The center of the search box.
// extents[3] - (in) The extents of the search box.
// filter - (in) path polygon filter.
// nearestRef - (out) Reference to the nearest polygon.
// 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,
const dtQueryFilter* filter, float* nearestPt) const;
dtStatus findNearestPoly(const float* center, const float* extents,
const dtQueryFilter* filter,
dtPolyRef* nearestRef, float* nearestPt) const;
// Returns polygons which overlap the query box.
// Params:
@ -132,10 +127,11 @@ public:
// extents[3] - (in) the extents of the search box.
// filter - (in) path polygon filter.
// polys - (out) array holding the search result.
// polyCount - (out) Number of polygons in search result array.
// maxPolys - (in) The max number of polygons the polys array can hold.
// Returns: Number of polygons in search result array.
int queryPolygons(const float* center, const float* extents, const dtQueryFilter* filter,
dtPolyRef* polys, const int maxPolys) const;
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,
@ -149,12 +145,12 @@ public:
// 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. Must be at least 1.
// Returns: Number of polygons in search result array.
int findPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter,
dtPolyRef* path, const int maxPathSize) const;
// pathCount - (out) Number of polygons in search result array.
// maxPath - (in) The max number of polygons the path array can hold. Must be at least 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()
@ -167,22 +163,21 @@ public:
// startPos[3] - (in) Path start location.
// endPos[3] - (in) Path end location.
// filter - (in) path polygon filter.
// Returns: Path query state.
dtQueryState initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter);
dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter);
// Updates sliced path find query.
// Params:
// maxIter - (in) max number of iterations to update.
// Returns: Path query state.
dtQueryState updateSlicedFindPath(const int maxIter);
dtStatus updateSlicedFindPath(const int maxIter);
// Finalizes sliced path find query.
// 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.
int finalizeSlicedFindPath(dtPolyRef* path, const int maxPathSize);
// pathCount - (out) Number of polygons in search result array.
// maxPath - (in) The max number of polygons the path array can hold.
dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
// Finds a straight path from start to end locations within the corridor
// described by the path polygons.
@ -198,12 +193,12 @@ public:
// straightPath - (out) Points describing the straight path.
// straightPathFlags - (out, opt) Flags describing each point type, see dtStraightPathFlags.
// straightPathRefs - (out, opt) References to polygons at point locations.
// maxStraightPathSize - (in) The max number of points the straight path array can hold. Must be at least 1.
// Returns: Number of points in the path.
int findStraightPath(const float* startPos, const float* endPos,
const dtPolyRef* path, const int pathSize,
float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
const int maxStraightPathSize) const;
// straightPathCount - (out) Number of points in the path.
// maxStraightPath - (in) The max number of points the straight path array can hold. Must be at least 1.
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;
// Moves from startPos to endPos constrained to the navmesh.
// If the endPos is reachable, the resultPos will be endPos,
@ -217,11 +212,11 @@ public:
// filter - (in) path polygon filter.
// resultPos[3] - (out) new position of the mover.
// visited - (out) array of visited polygons.
// visitedCount - (out) Number of entries in the visited array.
// maxVisitedSize - (in) max number of polygons in the visited array.
// Returns: Number of entries in the visited array.
int moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter,
float* resultPos, dtPolyRef* visited, const int maxVisitedSize) const;
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.
// Params:
@ -231,23 +226,25 @@ public:
// t - (out) hit parameter along the segment, FLT_MAX if no hit.
// 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, const dtQueryFilter* filter,
float& t, float* hitNormal, dtPolyRef* path, const int pathSize) const;
// path - (out,opt) visited path polygons.
// pathCount - (out,opt) Number of polygons visited.
// 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.
// Params:
// centerRef - (in) ref to the polygon where the center lies.
// startRef - (in) ref to the polygon where the center lies.
// centerPos[3] - (in) center if the query circle.
// maxRadius - (in) max search radius.
// filter - (in) path polygon filter.
// hitDist - (out) distance to nearest wall from the test location.
// 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,
const dtQueryFilter* filter, float* hitPos, float* hitNormal) const;
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.
// Params:
@ -258,12 +255,12 @@ public:
// 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.
// resultCount - (out, opt) Number of results.
// maxResult - (int) maximum capacity of search results.
// Returns: Number of results.
int findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
const dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
const int maxResult) const;
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.
// Params:
@ -274,12 +271,12 @@ public:
// 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.
// resultCount - (out) number of results.
// maxResult - (int) maximum capacity of search results.
// Returns: Number of results.
int findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
const dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
const int maxResult) const;
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.
@ -290,21 +287,22 @@ public:
// filter - (in) path polygon filter.
// resultRef - (out) refs to the polygons touched by the circle.
// resultParent - (out, opt) parent of each result polygon.
// resultCount - (out) number of results.
// maxResult - (int) maximum capacity of search results.
// Returns: Number of results.
int findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
const dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent, const int maxResult) const;
dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
const dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent,
int* resultCount, const int maxResult) const;
// Returns wall segments of specified polygon.
// Params:
// ref - (in) ref to the polygon.
// filter - (in) path polygon filter.
// segments[6*maxSegments] - (out) wall segments (2 endpoints per segment).
// segmentCount - (out) number of wall segments.
// maxSegments - (in) max number of segments that can be stored in 'segments'.
// Returns: Number of wall segments.
int getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
float* segments, const int maxSegments);
dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
float* segments, 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.
@ -313,7 +311,7 @@ public:
// 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;
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
@ -323,7 +321,7 @@ public:
// 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;
dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
// Returns start and end location of an off-mesh link polygon.
// Params:
@ -332,7 +330,7 @@ public:
// 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;
dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
// Returns height of the polygon at specified location.
// Params:
@ -340,7 +338,7 @@ public:
// 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;
dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;
// Returns true if poly reference ins in closed list.
bool isInClosedList(dtPolyRef ref) const;
@ -359,26 +357,26 @@ private:
dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents,
const dtQueryFilter* filter, float* nearestPt) const;
// Returns closest point on polygon.
bool closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) const;
dtStatus closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) const;
// Returns portal points between two polygons.
bool getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
unsigned char& fromType, unsigned char& toType) const;
bool getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
float* left, float* right) const;
dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
unsigned char& fromType, unsigned char& toType) const;
dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
float* left, float* right) const;
// Returns edge mid point between two polygons.
bool getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
bool getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
float* mid) const;
dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
float* mid) const;
const dtNavMesh* m_nav; // Pointer to navmesh data.
struct dtQueryData
{
dtQueryState state;
dtStatus status;
struct dtNode* lastBestNode;
float lastBestNodeCost;
dtPolyRef startRef, endRef;

162
Detour/Source/DetourNavMesh.cpp
View File

@ -174,7 +174,7 @@ dtNavMesh::~dtNavMesh()
dtFree(m_tiles);
}
bool dtNavMesh::init(const dtNavMeshParams* params)
dtStatus dtNavMesh::init(const dtNavMeshParams* params)
{
memcpy(&m_params, params, sizeof(dtNavMeshParams));
dtVcopy(m_orig, params->orig);
@ -189,10 +189,10 @@ bool dtNavMesh::init(const dtNavMeshParams* params)
m_tiles = (dtMeshTile*)dtAlloc(sizeof(dtMeshTile)*m_maxTiles, DT_ALLOC_PERM);
if (!m_tiles)
return false;
return DT_FAILURE;
m_posLookup = (dtMeshTile**)dtAlloc(sizeof(dtMeshTile*)*m_tileLutSize, DT_ALLOC_PERM);
if (!m_posLookup)
return false;
return DT_FAILURE;
memset(m_tiles, 0, sizeof(dtMeshTile)*m_maxTiles);
memset(m_posLookup, 0, sizeof(dtMeshTile*)*m_tileLutSize);
m_nextFree = 0;
@ -208,19 +208,19 @@ bool dtNavMesh::init(const dtNavMeshParams* params)
m_polyBits = dtIlog2(dtNextPow2((unsigned int)params->maxPolys));
m_saltBits = 32 - m_tileBits - m_polyBits;
if (m_saltBits < 10)
return false;
return DT_FAILURE;
return true;
return DT_SUCCESS;
}
bool dtNavMesh::init(unsigned char* data, const int dataSize, const int flags)
dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flags)
{
// Make sure the data is in right format.
dtMeshHeader* header = (dtMeshHeader*)data;
if (header->magic != DT_NAVMESH_MAGIC)
return false;
return DT_FAILURE;
if (header->version != DT_NAVMESH_VERSION)
return false;
return DT_FAILURE;
dtNavMeshParams params;
dtVcopy(params.orig, header->bmin);
@ -228,10 +228,12 @@ bool dtNavMesh::init(unsigned char* data, const int dataSize, const int flags)
params.tileHeight = header->bmax[2] - header->bmin[2];
params.maxTiles = 1;
params.maxPolys = header->polyCount;
if (!init(&params))
return false;
dtStatus res = init(&params);
if (res != DT_SUCCESS)
return res;
return addTile(data, dataSize, flags) != 0;
return addTile(data, dataSize, flags, 0, 0);
}
const dtNavMeshParams* dtNavMesh::getParams() const
@ -553,8 +555,8 @@ void dtNavMesh::connectIntOffMeshLinks(dtMeshTile* tile)
}
}
bool dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
const float* pos, float* closest) const
dtStatus dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
const float* pos, float* closest) const
{
const dtPoly* poly = &tile->polys[ip];
@ -582,7 +584,7 @@ bool dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip
}
}
return true;
return DT_SUCCESS;
}
dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
@ -604,7 +606,7 @@ dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
{
dtPolyRef ref = polys[i];
float closestPtPoly[3];
if (!closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly))
if (closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly) != DT_SUCCESS)
continue;
float d = dtVdistSqr(center, closestPtPoly);
if (d < nearestDistanceSqr)
@ -700,18 +702,19 @@ int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, co
}
}
dtTileRef dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef)
dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
dtTileRef lastRef, dtTileRef* result)
{
// Make sure the data is in right format.
dtMeshHeader* header = (dtMeshHeader*)data;
if (header->magic != DT_NAVMESH_MAGIC)
return 0;
return DT_FAILURE_DATA_MAGIC;
if (header->version != DT_NAVMESH_VERSION)
return 0;
return DT_FAILURE_DATA_VERSION;
// Make sure the location is free.
if (getTileAt(header->x, header->y))
return 0;
return DT_FAILURE;
// Allocate a tile.
dtMeshTile* tile = 0;
@ -726,12 +729,10 @@ dtTileRef dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, dtTil
}
else
{
// TODO: Better error reporting!
// Try to relocate the tile to specific index with same salt.
int tileIndex = (int)decodePolyIdTile((dtPolyRef)lastRef);
if (tileIndex >= m_maxTiles)
return 0;
return DT_FAILURE_OUT_OF_MEMORY;
// Try to find the specific tile id from the free list.
dtMeshTile* target = &m_tiles[tileIndex];
dtMeshTile* prev = 0;
@ -743,7 +744,7 @@ dtTileRef dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, dtTil
}
// Could not find the correct location.
if (tile != target)
return 0;
return DT_FAILURE_OUT_OF_MEMORY;
// Remove from freelist
if (!prev)
m_nextFree = tile->next;
@ -756,7 +757,7 @@ dtTileRef dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, dtTil
// Make sure we could allocate a tile.
if (!tile)
return 0;
return DT_FAILURE_OUT_OF_MEMORY;
// Insert tile into the position lut.
int h = computeTileHash(header->x, header->y, m_tileLutMask);
@ -812,7 +813,10 @@ dtTileRef dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, dtTil
}
}
return getTileRef(tile);
if (result)
*result = getTileRef(tile);
return DT_SUCCESS;
}
const dtMeshTile* dtNavMesh::getTileAt(int x, int y) const
@ -904,26 +908,16 @@ void dtNavMesh::calcTileLoc(const float* pos, int* tx, int* ty) const
*ty = (int)floorf((pos[2]-m_orig[2]) / m_tileHeight);
}
/*const dtPoly* dtNavMesh::getPolyByRef(dtPolyRef ref) const
dtStatus dtNavMesh::getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const
{
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return 0;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
if (ip >= (unsigned int)m_tiles[it].header->polyCount) return 0;
return &m_tiles[it].polys[ip];
}*/
bool dtNavMesh::getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const
{
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return false;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false;
if (ip >= (unsigned int)m_tiles[it].header->polyCount) return false;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
if (ip >= (unsigned int)m_tiles[it].header->polyCount) return DT_FAILURE;
*tile = &m_tiles[it];
*poly = &m_tiles[it].polys[ip];
return true;
return DT_SUCCESS;
}
void dtNavMesh::getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const
@ -944,17 +938,17 @@ bool dtNavMesh::isValidPolyRef(dtPolyRef ref) const
return true;
}
bool dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize)
dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize)
{
if (!ref)
return false;
return DT_FAILURE;
unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref);
unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref);
if ((int)tileIndex >= m_maxTiles)
return false;
return DT_FAILURE;
dtMeshTile* tile = &m_tiles[tileIndex];
if (tile->salt != tileSalt)
return false;
return DT_FAILURE;
// Remove tile from hash lookup.
int h = computeTileHash(tile->header->x,tile->header->y,m_tileLutMask);
@ -1020,7 +1014,7 @@ bool dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize)
tile->next = m_nextFree;
m_nextFree = tile;
return true;
return DT_SUCCESS;
}
dtTileRef dtNavMesh::getTileRef(const dtMeshTile* tile) const
@ -1058,12 +1052,12 @@ int dtNavMesh::getTileStateSize(const dtMeshTile* tile) const
return headerSize + polyStateSize;
}
bool dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const
dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const
{
// Make sure there is enough space to store the state.
const int sizeReq = getTileStateSize(tile);
if (maxDataSize < sizeReq)
return false;
return DT_FAILURE;
dtTileState* tileState = (dtTileState*)data; data += dtAlign4(sizeof(dtTileState));
dtPolyState* polyStates = (dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
@ -1082,26 +1076,26 @@ bool dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data, cons
s->area = p->getArea();
}
return true;
return DT_SUCCESS;
}
bool dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize)
dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize)
{
// Make sure there is enough space to store the state.
const int sizeReq = getTileStateSize(tile);
if (maxDataSize < sizeReq)
return false;
return DT_FAILURE;
const dtTileState* tileState = (const dtTileState*)data; data += dtAlign4(sizeof(dtTileState));
const dtPolyState* polyStates = (const dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
// Check that the restore is possible.
if (tileState->magic != DT_NAVMESH_STATE_MAGIC)
return false;
return DT_FAILURE_DATA_MAGIC;
if (tileState->version != DT_NAVMESH_STATE_VERSION)
return false;
return DT_FAILURE_DATA_VERSION;
if (tileState->ref != getTileRef(tile))
return false;
return DT_FAILURE;
// Restore per poly state.
for (int i = 0; i < tile->header->polyCount; ++i)
@ -1112,25 +1106,25 @@ bool dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data, co
p->setArea(s->area);
}
return true;
return DT_SUCCESS;
}
// Returns start and end location of an off-mesh link polygon.
bool dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const
dtStatus dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const
{
unsigned int salt, it, ip;
// Get current polygon
decodePolyId(polyRef, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return false;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
const dtMeshTile* tile = &m_tiles[it];
if (ip >= (unsigned int)tile->header->polyCount) return false;
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
const dtPoly* poly = &tile->polys[ip];
// Make sure that the current poly is indeed off-mesh link.
if (poly->getType() != DT_POLYTYPE_OFFMESH_CONNECTION)
return false;
return DT_FAILURE;
// Figure out which way to hand out the vertices.
int idx0 = 0, idx1 = 1;
@ -1152,57 +1146,69 @@ bool dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef p
dtVcopy(startPos, &tile->verts[poly->verts[idx0]*3]);
dtVcopy(endPos, &tile->verts[poly->verts[idx1]*3]);
return true;
return DT_SUCCESS;
}
void dtNavMesh::setPolyFlags(dtPolyRef ref, unsigned short flags)
dtStatus dtNavMesh::setPolyFlags(dtPolyRef ref, unsigned short flags)
{
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
dtMeshTile* tile = &m_tiles[it];
if (ip >= (unsigned int)tile->header->polyCount) return;
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
dtPoly* poly = &tile->polys[ip];
// Change flags.
poly->flags = flags;
return DT_SUCCESS;
}
unsigned short dtNavMesh::getPolyFlags(dtPolyRef ref) const
dtStatus dtNavMesh::getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const
{
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return 0;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
const dtMeshTile* tile = &m_tiles[it];
if (ip >= (unsigned int)tile->header->polyCount) return 0;
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
const dtPoly* poly = &tile->polys[ip];
return poly->flags;
*resultFlags = poly->flags;
return DT_SUCCESS;
}
void dtNavMesh::setPolyArea(dtPolyRef ref, unsigned char area)
dtStatus dtNavMesh::setPolyArea(dtPolyRef ref, unsigned char area)
{
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
dtMeshTile* tile = &m_tiles[it];
if (ip >= (unsigned int)tile->header->polyCount) return;
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
dtPoly* poly = &tile->polys[ip];
poly->setArea(area);
return DT_SUCCESS;
}
unsigned char dtNavMesh::getPolyArea(dtPolyRef ref) const
dtStatus dtNavMesh::getPolyArea(dtPolyRef ref, unsigned char* resultArea) const
{
unsigned int salt, it, ip;
decodePolyId(ref, salt, it, ip);
if (it >= (unsigned int)m_maxTiles) return 0;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
const dtMeshTile* tile = &m_tiles[it];
if (ip >= (unsigned int)tile->header->polyCount) return 0;
if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
const dtPoly* poly = &tile->polys[ip];
return poly->getArea();
*resultArea = poly->getArea();
return DT_SUCCESS;
}

500
Detour/Source/DetourNavMeshQuery.cpp
View File

File diff suppressed because it is too large Load Diff

1856
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
View File

File diff suppressed because it is too large Load Diff

152
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
View File

@ -284,14 +284,14 @@
<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
<array>
<array>
<integer>52</integer>
<integer>59</integer>
<integer>51</integer>
<integer>1</integer>
<integer>0</integer>
</array>
</array>
<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
<string>{{0, 824}, {264, 660}}</string>
<string>{{0, 590}, {264, 660}}</string>
</dict>
<key>PBXTopSmartGroupGIDs</key>
<array/>
@ -326,7 +326,7 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A30F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>CrowdTool.cpp</string>
<string>NavMeshTesterTool.cpp</string>
<key>PBXSplitModuleInNavigatorKey</key>
<dict>
<key>Split0</key>
@ -334,105 +334,29 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A40F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>CrowdTool.cpp</string>
<string>NavMeshTesterTool.cpp</string>
<key>_historyCapacity</key>
<integer>0</integer>
<key>bookmark</key>
<string>6B8D5605127ABBD80077C699</string>
<string>6B8D56DA127AEC580077C699</string>
<key>history</key>
<array>
<string>6BBB4C34115B7A3D00CF791D</string>
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</array>
</dict>
<key>SplitCount</key>
@ -446,18 +370,18 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {992, 471}}</string>
<string>{{0, 0}, {992, 434}}</string>
<key>RubberWindowFrame</key>
<string>0 59 1278 719 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXNavigatorGroup</string>
<key>Proportion</key>
<string>471pt</string>
<string>434pt</string>
</dict>
<dict>
<key>Proportion</key>
<string>202pt</string>
<string>239pt</string>
<key>Tabs</key>
<array>
<dict>
@ -487,7 +411,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {614, 336}}</string>
<string>{{10, 27}, {992, 212}}</string>
</dict>
<key>Module</key>
<string>PBXProjectFindModule</string>
@ -525,7 +449,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {992, 175}}</string>
<string>{{10, 27}, {992, 212}}</string>
<key>RubberWindowFrame</key>
<string>0 59 1278 719 0 0 1280 778 </string>
</dict>
@ -555,11 +479,11 @@
</array>
<key>TableOfContents</key>
<array>
<string>6B8D5569127A98FB0077C699</string>
<string>6B8D5625127AD44A0077C699</string>
<string>1CA23ED40692098700951B8B</string>
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<string>1CA23EE10692099D00951B8B</string>
@ -707,14 +631,14 @@
</array>
<key>TableOfContents</key>
<array>
<string>6B8D5585127AA2270077C699</string>
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</array>
<key>ToolbarConfigUserDefaultsMinorVersion</key>
<string>2</string>
@ -746,9 +670,9 @@
<integer>5</integer>
<key>WindowOrderList</key>
<array>
<string>6B8D5606127ABBD80077C699</string>
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<string>6B8D56D7127AEC100077C699</string>
<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
</array>
<key>WindowString</key>

2
RecastDemo/Include/NavMeshTesterTool.h
View File

@ -32,7 +32,7 @@ class NavMeshTesterTool : public SampleTool
dtQueryFilter m_filter;
dtQueryState m_pathFindState;
dtStatus m_pathFindStatus;
enum ToolMode
{

40
RecastDemo/Source/CrowdManager.cpp
View File

@ -216,8 +216,8 @@ void PathQueue::update(dtNavMeshQuery* navquery)
PathQuery& q = m_queue[i];
if (q.ref == PATHQ_INVALID)
continue;
q.npath = navquery->findPath(q.startRef, q.endRef, q.startPos, q.endPos,
q.filter, q.path, PQ_MAX_PATH);
navquery->findPath(q.startRef, q.endRef, q.startPos, q.endPos,
q.filter, q.path, &q.npath, PQ_MAX_PATH);
q.ready = true;
break;
}
@ -474,8 +474,9 @@ int PathCorridor::findCorners(float* cornerVerts, unsigned char* cornerFlags,
static const float MIN_TARGET_DIST = 0.01f;
int ncorners = navquery->findStraightPath(m_pos, m_target, m_path, m_npath,
cornerVerts, cornerFlags, cornerPolys, maxCorners);
int ncorners = 0;
navquery->findStraightPath(m_pos, m_target, m_path, m_npath,
cornerVerts, cornerFlags, cornerPolys, &ncorners, maxCorners);
// Prune points in the beginning of the path which are too close.
while (ncorners)
@ -530,7 +531,8 @@ void PathCorridor::optimizePath(const float* next, const float pathOptimizationR
static const int MAX_RES = 32;
dtPolyRef res[MAX_RES];
float t, norm[3];
const int nres = navquery->raycast(m_path[0], m_pos, goal, filter, t, norm, res, MAX_RES);
int nres = 0;
navquery->raycast(m_path[0], m_pos, goal, filter, &t, norm, res, &nres, MAX_RES);
if (nres > 1 && t > 0.99f)
{
m_npath = mergeCorridor(m_path, m_npath, m_maxPath, res, nres);
@ -546,8 +548,9 @@ void PathCorridor::movePosition(const float* npos, dtNavMeshQuery* navquery, con
float result[3];
static const int MAX_VISITED = 16;
dtPolyRef visited[MAX_VISITED];
int nvisited = navquery->moveAlongSurface(m_path[0], m_pos, npos, filter,
result, visited, MAX_VISITED);
int nvisited = 0;
navquery->moveAlongSurface(m_path[0], m_pos, npos, filter,
result, visited, &nvisited, MAX_VISITED);
m_npath = fixupCorridor(m_path, m_npath, m_maxPath, visited, nvisited);
// Adjust the position to stay on top of the navmesh.
@ -566,8 +569,9 @@ void PathCorridor::moveTargetPosition(const float* npos, dtNavMeshQuery* navquer
float result[3];
static const int MAX_VISITED = 16;
dtPolyRef visited[MAX_VISITED];
int nvisited = navquery->moveAlongSurface(m_path[m_npath-1], m_target, npos, filter,
result, visited, MAX_VISITED);
int nvisited = 0;
navquery->moveAlongSurface(m_path[m_npath-1], m_target, npos, filter,
result, visited, &nvisited, MAX_VISITED);
m_npath = fixupCorridorEnd(m_path, m_npath, m_maxPath, visited, nvisited);
// TODO: should we do that?
@ -741,15 +745,17 @@ void LocalBoundary::update(dtPolyRef ref, const float* pos, const float collisio
// First query non-overlapping polygons.
dtPolyRef locals[MAX_LOCAL_POLYS];
const int nlocals = navquery->findLocalNeighbourhood(ref, pos, collisionQueryRange,
filter, locals, 0, MAX_LOCAL_POLYS);
int nlocals = 0;
navquery->findLocalNeighbourhood(ref, pos, collisionQueryRange,
filter, locals, 0, &nlocals, MAX_LOCAL_POLYS);
// Secondly, store all polygon edges.
m_nsegs = 0;
float segs[MAX_SEGS_PER_POLY*6];
int nsegs = 0;
for (int j = 0; j < nlocals; ++j)
{
const int nsegs = navquery->getPolyWallSegments(locals[j], filter, segs, MAX_SEGS_PER_POLY);
navquery->getPolyWallSegments(locals[j], filter, segs, &nsegs, MAX_SEGS_PER_POLY);
for (int k = 0; k < nsegs; ++k)
{
const float* s = &segs[k*6];
@ -855,7 +861,8 @@ int CrowdManager::addAgent(const float* pos, const float radius, const float hei
// Find nearest position on navmesh and place the agent there.
float nearest[3];
dtPolyRef ref = navquery->findNearestPoly(pos, m_ext, &m_filter, nearest);
dtPolyRef ref;
navquery->findNearestPoly(pos, m_ext, &m_filter, &ref, nearest);
if (!ref)
{
// Could not find a location on navmesh.
@ -1082,8 +1089,9 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery, c
float result[3];
static const int MAX_VISITED = 16;
dtPolyRef visited[MAX_VISITED];
int nvisited = navquery->moveAlongSurface(req->temp[req->ntemp-1], req->pos, req->apos, filter,
result, visited, MAX_VISITED);
int nvisited = 0;
navquery->moveAlongSurface(req->temp[req->ntemp-1], req->pos, req->apos, filter,
result, visited, &nvisited, MAX_VISITED);
req->ntemp = fixupCorridorEnd(req->temp, req->ntemp, MAX_TEMP_PATH, visited, nvisited);
dtVcopy(req->pos, result);
@ -1191,7 +1199,7 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery, c
{
// Partial path, constrain target position inside the last polygon.
float nearest[3];
if (navquery->closestPointOnPoly(res[nres-1], targetPos, nearest))
if (navquery->closestPointOnPoly(res[nres-1], targetPos, nearest) == DT_SUCCESS)
dtVcopy(targetPos, nearest);
else
valid = false;

3
RecastDemo/Source/CrowdTool.cpp
View File

@ -253,7 +253,8 @@ void CrowdTool::handleClick(const float* s, const float* p, bool shift)
dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
const dtQueryFilter* filter = m_crowd.getFilter();
const float* ext = m_crowd.getQueryExtents();
m_targetRef = navquery->findNearestPoly(p, ext, filter, m_targetPos);
navquery->findNearestPoly(p, ext, filter, &m_targetRef, m_targetPos);
if (shift)
{

82
RecastDemo/Source/NavMeshTesterTool.cpp
View File

@ -104,8 +104,9 @@ static bool getSteerTarget(dtNavMeshQuery* navQuery, const float* startPos, cons
float steerPath[MAX_STEER_POINTS*3];
unsigned char steerPathFlags[MAX_STEER_POINTS];
dtPolyRef steerPathPolys[MAX_STEER_POINTS];
int nsteerPath = navQuery->findStraightPath(startPos, endPos, path, pathSize,
steerPath, steerPathFlags, steerPathPolys, MAX_STEER_POINTS);
int nsteerPath = 0;
navQuery->findStraightPath(startPos, endPos, path, pathSize,
steerPath, steerPathFlags, steerPathPolys, &nsteerPath, MAX_STEER_POINTS);
if (!nsteerPath)
return false;
@ -144,7 +145,7 @@ NavMeshTesterTool::NavMeshTesterTool() :
m_sample(0),
m_navMesh(0),
m_navQuery(0),
m_pathFindState(DT_QUERY_FAILED),
m_pathFindStatus(DT_FAILURE),
m_toolMode(TOOLMODE_PATHFIND_FOLLOW),
m_startRef(0),
m_endRef(0),
@ -234,7 +235,7 @@ void NavMeshTesterTool::handleMenu()
m_toolMode = TOOLMODE_FIND_POLYS_IN_CIRCLE;
recalc();
}
if (imguiCheck("Find Polys in Poly", m_toolMode == TOOLMODE_FIND_POLYS_IN_SHAPE))
if (imguiCheck("Find Polys in Shape", m_toolMode == TOOLMODE_FIND_POLYS_IN_SHAPE))
{
m_toolMode = TOOLMODE_FIND_POLYS_IN_SHAPE;
recalc();
@ -333,7 +334,7 @@ void NavMeshTesterTool::handleStep()
if (m_pathIterNum == 0)
{
m_npolys = m_navQuery->findPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, m_polys, MAX_POLYS);
m_navQuery->findPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, m_polys, &m_npolys, MAX_POLYS);
m_nsmoothPath = 0;
m_pathIterPolyCount = m_npolys;
@ -397,8 +398,9 @@ void NavMeshTesterTool::handleStep()
// Move
float result[3];
dtPolyRef visited[16];
int nvisited = m_navQuery->moveAlongSurface(m_pathIterPolys[0], m_iterPos, moveTgt, &m_filter,
result, visited, 16);
int nvisited = 0;
m_navQuery->moveAlongSurface(m_pathIterPolys[0], m_iterPos, moveTgt, &m_filter,
result, visited, &nvisited, 16);
m_pathIterPolyCount = fixupCorridor(m_pathIterPolys, m_pathIterPolyCount, MAX_POLYS, visited, nvisited);
float h = 0;
m_navQuery->getPolyHeight(m_pathIterPolys[0], result, &h);
@ -436,7 +438,7 @@ void NavMeshTesterTool::handleStep()
m_pathIterPolyCount -= npos;
// Handle the connection.
if (m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos))
if (m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos) == DT_SUCCESS)
{
if (m_nsmoothPath < MAX_SMOOTH)
{
@ -470,14 +472,14 @@ void NavMeshTesterTool::handleUpdate(const float /*dt*/)
{
if (m_toolMode == TOOLMODE_PATHFIND_SLICED)
{
if (m_pathFindState == DT_QUERY_RUNNING)
if (m_pathFindStatus == DT_IN_PROGRESS)
{
m_pathFindState = m_navQuery->updateSlicedFindPath(1);
m_pathFindStatus = m_navQuery->updateSlicedFindPath(1);
}
if (m_pathFindState == DT_QUERY_READY)
if (m_pathFindStatus == DT_SUCCESS)
{
m_npolys = m_navQuery->finalizeSlicedFindPath(m_polys, MAX_POLYS);
m_navQuery->finalizeSlicedFindPath(m_polys, &m_npolys, MAX_POLYS);
m_nstraightPath = 0;
if (m_npolys)
{
@ -487,12 +489,12 @@ void NavMeshTesterTool::handleUpdate(const float /*dt*/)
if (m_polys[m_npolys-1] != m_endRef)
m_navQuery->closestPointOnPoly(m_polys[m_npolys-1], m_epos, epos);
m_nstraightPath = m_navQuery->findStraightPath(m_spos, epos, m_polys, m_npolys,
m_straightPath, m_straightPathFlags,
m_straightPathPolys, MAX_POLYS);
m_navQuery->findStraightPath(m_spos, epos, m_polys, m_npolys,
m_straightPath, m_straightPathFlags,
m_straightPathPolys, &m_nstraightPath, MAX_POLYS);
}
m_pathFindState = DT_QUERY_FAILED;
m_pathFindStatus = DT_FAILURE;
}
}
}
@ -516,16 +518,16 @@ void NavMeshTesterTool::recalc()
return;
if (m_sposSet)
m_startRef = m_navQuery->findNearestPoly(m_spos, m_polyPickExt, &m_filter, 0);
m_navQuery->findNearestPoly(m_spos, m_polyPickExt, &m_filter, &m_startRef, 0);
else
m_startRef = 0;
if (m_eposSet)
m_endRef = m_navQuery->findNearestPoly(m_epos, m_polyPickExt, &m_filter, 0);
m_navQuery->findNearestPoly(m_epos, m_polyPickExt, &m_filter, &m_endRef, 0);
else
m_endRef = 0;
m_pathFindState = DT_QUERY_FAILED;
m_pathFindStatus = DT_FAILURE;
if (m_toolMode == TOOLMODE_PATHFIND_FOLLOW)
{
@ -538,7 +540,7 @@ void NavMeshTesterTool::recalc()
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_npolys = m_navQuery->findPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, m_polys, MAX_POLYS);
m_navQuery->findPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, m_polys, &m_npolys, MAX_POLYS);
m_nsmoothPath = 0;
@ -592,9 +594,9 @@ void NavMeshTesterTool::recalc()
// Move
float result[3];
dtPolyRef visited[16];
int nvisited = m_navQuery->moveAlongSurface(polys[0], iterPos, moveTgt, &m_filter,
result, visited, 16);
int nvisited = 0;
m_navQuery->moveAlongSurface(polys[0], iterPos, moveTgt, &m_filter,
result, visited, &nvisited, 16);
npolys = fixupCorridor(polys, npolys, MAX_POLYS, visited, nvisited);
float h = 0;
@ -633,7 +635,7 @@ void NavMeshTesterTool::recalc()
npolys -= npos;
// Handle the connection.
if (m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos))
if (m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos) == DT_SUCCESS)
{
if (m_nsmoothPath < MAX_SMOOTH)
{
@ -679,7 +681,7 @@ void NavMeshTesterTool::recalc()
m_spos[0],m_spos[1],m_spos[2], m_epos[0],m_epos[1],m_epos[2],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_npolys = m_navQuery->findPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, m_polys, MAX_POLYS);
m_navQuery->findPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, m_polys, &m_npolys, MAX_POLYS);
m_nstraightPath = 0;
if (m_npolys)
{
@ -689,9 +691,9 @@ void NavMeshTesterTool::recalc()
if (m_polys[m_npolys-1] != m_endRef)
m_navQuery->closestPointOnPoly(m_polys[m_npolys-1], m_epos, epos);
m_nstraightPath = m_navQuery->findStraightPath(m_spos, epos, m_polys, m_npolys,
m_straightPath, m_straightPathFlags,
m_straightPathPolys, MAX_POLYS);
m_navQuery->findStraightPath(m_spos, epos, m_polys, m_npolys,
m_straightPath, m_straightPathFlags,
m_straightPathPolys, &m_nstraightPath, MAX_POLYS);
}
}
else
@ -712,7 +714,7 @@ void NavMeshTesterTool::recalc()
m_npolys = 0;
m_nstraightPath = 0;
m_pathFindState = m_navQuery->initSlicedFindPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter);
m_pathFindStatus = m_navQuery->initSlicedFindPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter);
}
else
{
@ -736,7 +738,7 @@ void NavMeshTesterTool::recalc()
m_straightPath[0] = m_spos[0];
m_straightPath[1] = m_spos[1];
m_straightPath[2] = m_spos[2];
m_npolys = m_navQuery->raycast(m_startRef, m_spos, m_epos, &m_filter, t, m_hitNormal, m_polys, MAX_POLYS);
m_navQuery->raycast(m_startRef, m_spos, m_epos, &m_filter, &t, m_hitNormal, m_polys, &m_npolys, MAX_POLYS);
if (t > 1)
{
// No hit
@ -770,7 +772,8 @@ void NavMeshTesterTool::recalc()
m_spos[0],m_spos[1],m_spos[2], 100.0f,
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_distanceToWall = m_navQuery->findDistanceToWall(m_startRef, m_spos, 100.0f, &m_filter, m_hitPos, m_hitNormal);
m_distanceToWall = 0.0f;
m_navQuery->findDistanceToWall(m_startRef, m_spos, 100.0f, &m_filter, &m_distanceToWall, m_hitPos, m_hitNormal);
}
}
else if (m_toolMode == TOOLMODE_FIND_POLYS_IN_CIRCLE)
@ -785,8 +788,8 @@ void NavMeshTesterTool::recalc()
m_spos[0],m_spos[1],m_spos[2], dist,
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_npolys = m_navQuery->findPolysAroundCircle(m_startRef, m_spos, dist, &m_filter,
m_polys, m_parent, 0, MAX_POLYS);
m_navQuery->findPolysAroundCircle(m_startRef, m_spos, dist, &m_filter,
m_polys, m_parent, 0, &m_npolys, MAX_POLYS);
}
}
@ -822,8 +825,8 @@ void NavMeshTesterTool::recalc()
m_queryPoly[9],m_queryPoly[10],m_queryPoly[11],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_npolys = m_navQuery->findPolysAroundShape(m_startRef, m_queryPoly, 4, &m_filter,
m_polys, m_parent, 0, MAX_POLYS);
m_navQuery->findPolysAroundShape(m_startRef, m_queryPoly, 4, &m_filter,
m_polys, m_parent, 0, &m_npolys, MAX_POLYS);
}
}
else if (m_toolMode == TOOLMODE_FIND_LOCAL_NEIGHBOURHOOD)
@ -835,8 +838,8 @@ void NavMeshTesterTool::recalc()
m_spos[0],m_spos[1],m_spos[2], m_neighbourhoodRadius,
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_npolys = m_navQuery->findLocalNeighbourhood(m_startRef, m_spos, m_neighbourhoodRadius, &m_filter,
m_polys, m_parent, MAX_POLYS);
m_navQuery->findLocalNeighbourhood(m_startRef, m_spos, m_neighbourhoodRadius, &m_filter,
m_polys, m_parent, &m_npolys, MAX_POLYS);
}
}
}
@ -849,7 +852,7 @@ static void getPolyCenter(dtNavMesh* navMesh, dtPolyRef ref, float* center)
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (!navMesh->getTileAndPolyByRef(ref, &tile, &poly))
if (navMesh->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
return;
for (int i = 0; i < (int)poly->vertCount; ++i)
@ -1120,7 +1123,8 @@ void NavMeshTesterTool::handleRender()
static const int MAX_SEGS = DT_VERTS_PER_POLYGON*2;
float segs[MAX_SEGS*6];
const int nsegs = m_navQuery->getPolyWallSegments(m_polys[i], &m_filter, segs, MAX_SEGS);
int nsegs = 0;
m_navQuery->getPolyWallSegments(m_polys[i], &m_filter, segs, &nsegs, MAX_SEGS);
dd.begin(DU_DRAW_LINES, 2.0f);
for (int j = 0; j < nsegs; ++j)
{

4
RecastDemo/Source/Sample_SoloMeshSimple.cpp
View File

@ -639,14 +639,14 @@ bool Sample_SoloMeshSimple::handleBuild()
return false;
}
if (!m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA))
if (m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA) != DT_SUCCESS)
{
dtFree(navData);
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh");
return false;
}
if (!m_navQuery->init(m_navMesh, 2048))
if (m_navQuery->init(m_navMesh, 2048) != DT_SUCCESS)
{
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh query");
return false;

4
RecastDemo/Source/Sample_SoloMeshTiled.cpp
View File

@ -1079,14 +1079,14 @@ bool Sample_SoloMeshTiled::handleBuild()
return false;
}
if (!m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA))
if (m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA) != DT_SUCCESS)
{
dtFree(navData);
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh");
return false;
}
if (!m_navQuery->init(m_navMesh, 2048))
if (m_navQuery->init(m_navMesh, 2048) != DT_SUCCESS)
{
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh query");
return false;

12
RecastDemo/Source/Sample_TileMesh.cpp
View File

@ -295,7 +295,7 @@ dtNavMesh* Sample_TileMesh::loadAll(const char* path)
dtNavMesh* mesh = dtAllocNavMesh();
if (!mesh || !mesh->init(&header.params))
if (!mesh || mesh->init(&header.params) != DT_SUCCESS)
{
fclose(fp);
return 0;
@ -314,7 +314,7 @@ dtNavMesh* Sample_TileMesh::loadAll(const char* path)
memset(data, 0, tileHeader.dataSize);
fread(data, tileHeader.dataSize, 1, fp);
mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef);
mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
}
fclose(fp);
@ -710,13 +710,13 @@ bool Sample_TileMesh::handleBuild()
params.tileHeight = m_tileSize*m_cellSize;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
if (!m_navMesh->init(&params))
if (m_navMesh->init(&params) != DT_SUCCESS)
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
return false;
}
if (!m_navQuery->init(m_navMesh, 2048))
if (m_navQuery->init(m_navMesh, 2048) != DT_SUCCESS)
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init Detour navmesh query");
return false;
@ -764,7 +764,7 @@ void Sample_TileMesh::buildTile(const float* pos)
m_navMesh->removeTile(m_navMesh->getTileRefAt(tx,ty),0,0);
// Let the navmesh own the data.
if (!m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA))
if (m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,0) != DT_SUCCESS)
dtFree(data);
}
@ -844,7 +844,7 @@ void Sample_TileMesh::buildAllTiles()
// Remove any previous data (navmesh owns and deletes the data).
m_navMesh->removeTile(m_navMesh->getTileRefAt(x,y),0,0);
// Let the navmesh own the data.
if (!m_navMesh->addTile(data,dataSize,true))
if (m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,0) != DT_SUCCESS)
dtFree(data);
}
}

11
RecastDemo/Source/TestCase.cpp
View File

@ -186,8 +186,9 @@ void TestCase::doTests(dtNavMesh* navmesh, dtNavMeshQuery* navquery)
// Find start points
TimeVal findNearestPolyStart = getPerfTime();
dtPolyRef startRef = navquery->findNearestPoly(iter->spos, polyPickExt, &filter, 0);
dtPolyRef endRef = navquery->findNearestPoly(iter->epos, polyPickExt, &filter, 0);
dtPolyRef startRef, endRef;
navquery->findNearestPoly(iter->spos, polyPickExt, &filter, &startRef, 0);
navquery->findNearestPoly(iter->epos, polyPickExt, &filter, &endRef, 0);
TimeVal findNearestPolyEnd = getPerfTime();
iter->findNearestPolyTime += getPerfDeltaTimeUsec(findNearestPolyStart, findNearestPolyEnd);
@ -198,7 +199,7 @@ void TestCase::doTests(dtNavMesh* navmesh, dtNavMeshQuery* navquery)
// Find path
TimeVal findPathStart = getPerfTime();
iter->npolys = navquery->findPath(startRef, endRef, iter->spos, iter->epos, &filter, polys, MAX_POLYS);
navquery->findPath(startRef, endRef, iter->spos, iter->epos, &filter, polys, &iter->npolys, MAX_POLYS);
TimeVal findPathEnd = getPerfTime();
iter->findPathTime += getPerfDeltaTimeUsec(findPathStart, findPathEnd);
@ -208,8 +209,8 @@ void TestCase::doTests(dtNavMesh* navmesh, dtNavMeshQuery* navquery)
{
TimeVal findStraightPathStart = getPerfTime();
iter->nstraight = navquery->findStraightPath(iter->spos, iter->epos, polys, iter->npolys,
straight, 0, 0, MAX_POLYS);
navquery->findStraightPath(iter->spos, iter->epos, polys, iter->npolys,
straight, 0, 0, &iter->nstraight, MAX_POLYS);
TimeVal findStraightPathEnd = getPerfTime();
iter->findStraightPathTime += getPerfDeltaTimeUsec(findStraightPathStart, findStraightPathEnd);
}