server_common/recastnavigation_v1.6.0
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More polygons flags. Added filter for Detour queries.

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This commit is contained in:
Mikko Mononen 2010-01-19 15:13:33 +00:00
parent fe1a62db22
commit e973b71d4b
8 changed files with 965 additions and 250 deletions
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51
Detour/Include/DetourNavMesh.h
View File

@ -28,19 +28,39 @@ static const int DT_VERTS_PER_POLYGON = 6;
static const int DT_NAVMESH_MAGIC = 'DNAV';
static const int DT_NAVMESH_VERSION = 2;
static const unsigned char DT_POLY_OFFMESH_CONNECTION = 1;
static const unsigned short DT_EXT_LINK = 0x8000;
// Flags returned by 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.
};
// Flags describing polygon properties.
enum dtPolyFlags
{
DT_POLY_GROUND = 0x01, // Regular ground polygons.
DT_POLY_OFFMESH_CONNECTION = 0x02, // Off-mesh connections.
};
struct dtQueryFilter
{
dtQueryFilter() : includeFlags(0xffff), excludeFlags(0) {}
unsigned short includeFlags; // If any of the flags are set, the poly is included.
unsigned short excludeFlags; // If any of the flags are set, the poly is excluded.
};
// Structure describing the navigation polygon data.
struct dtPoly
{
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 linkBase; // Base index to header 'links' array.
unsigned short flags; // Flags (see dtPolyFlags).
unsigned char linkCount; // Number of links for
unsigned char vertCount; // Number of vertices.
unsigned char flags; // Flags.
};
// Stucture describing polygon detail triangles.
@ -118,13 +138,6 @@ struct dtMeshTile
dtMeshTile* next; // Next free tile or, next tile in spatial grid.
};
// Flags returned by 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.
};
class dtNavMesh
{
@ -206,16 +219,17 @@ public:
// extents - (in) The extents of the search box.
// nearestPt - (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, float* nearestPt);
dtPolyRef findNearestPoly(const float* center, const float* extents, dtQueryFilter* filter, float* nearestPt);
// Returns polygons which touch the query box.
// Params:
// center - (in) the center of the search box.
// extents - (in) the extents of the search box.
// flags - (int)
// polys - (out) array holding the search result.
// maxPolys - (in) The max number of polygons the polys array can hold.
// Returns: Number of polygons in search result array.
int queryPolygons(const float* center, const float* extents,
int queryPolygons(const float* center, const float* extents, dtQueryFilter* filter,
dtPolyRef* polys, const int maxPolys);
// Finds path from start polygon to end polygon.
@ -229,6 +243,7 @@ public:
// Returns: Number of polygons in search result array.
int findPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
dtQueryFilter* filter,
dtPolyRef* path, const int maxPathSize);
// Finds a straight path from start to end locations within the corridor
@ -266,7 +281,7 @@ public:
// hitNormal - (out) normal of the nearest hit.
// endRef - (out) ref to the last polygon which was processed.
// Returns: Number of polygons in path or 0 if failed.
int raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
int raycast(dtPolyRef startRef, const float* startPos, const float* endPos, dtQueryFilter* filter,
float& t, float* hitNormal, dtPolyRef* path, const int pathSize);
// Returns distance to nearest wall from the specified location.
@ -278,7 +293,7 @@ public:
// hitNormal - (out) normal of the nearest hit.
// Returns: Distance to nearest wall from the test location.
float findDistanceToWall(dtPolyRef centerRef, const float* centerPos, float maxRadius,
float* hitPos, float* hitNormal);
dtQueryFilter* filter, float* hitPos, float* hitNormal);
// Finds polygons found along the navigation graph which touch the specified circle.
// Params:
@ -290,7 +305,7 @@ public:
// resultCost - (out, opt) search cost at each result polygon.
// maxResult - (int) maximum capacity of search results.
// Returns: Number of results.
int findPolysAround(dtPolyRef centerRef, const float* centerPos, float radius,
int findPolysAround(dtPolyRef centerRef, const float* centerPos, float radius, dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
const int maxResult);
@ -371,9 +386,9 @@ private:
// Removes external links at specified side.
void removeExtLinks(dtMeshTile* tile, int side);
// Queries polygons within a tile.
int queryTilePolygons(dtMeshTile* tile, const float* qmin, const float* qmax,
int queryTilePolygons(dtMeshTile* tile, const float* qmin, const float* qmax, dtQueryFilter* filter,
dtPolyRef* polys, const int maxPolys);
unsigned short getPolyFlags(dtPolyRef ref);
float getCost(dtPolyRef prev, dtPolyRef from, dtPolyRef to) const;
float getFirstCost(const float* pos, dtPolyRef from, dtPolyRef to) const;
float getLastCost(dtPolyRef from, dtPolyRef to, const float* pos) const;
@ -381,7 +396,7 @@ private:
// Returns portal points between two polygons.
bool getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
unsigned char& fromFlags, unsigned char& toFlags) const;
unsigned short& fromFlags, unsigned short& toFlags) const;
// Returns edge mid point between two polygons.
bool getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;

77
Detour/Source/DetourNavMesh.cpp
View File

@ -74,6 +74,11 @@ inline int computeTileHash(int x, int y, const int mask)
return (int)(n & mask);
}
inline bool passFilter(dtQueryFilter* filter, unsigned short flags)
{
return (flags & filter->includeFlags) != 0 && (flags & filter->excludeFlags) == 0;
}
//////////////////////////////////////////////////////////////////////////////////////////
@ -361,6 +366,7 @@ void dtNavMesh::buildIntLinks(dtMeshTile* tile)
{
dtOffMeshConnection* con = &h->offMeshCons[i];
dtPoly* poly = &h->polys[con->poly];
dtQueryFilter defaultFilter;
con->ref[0] = 0;
con->ref[1] = 0;
@ -371,7 +377,7 @@ void dtNavMesh::buildIntLinks(dtMeshTile* tile)
// Find polygon to connect to.
const float* p = &con->pos[j*3];
float nearestPt[3];
dtPolyRef ref = findNearestPoly(p, ext, nearestPt);
dtPolyRef ref = findNearestPoly(p, ext, &defaultFilter, nearestPt);
// findNearestPoly may return too optimistic results, further check to make sure.
if (sqr(nearestPt[0]-p[0])+sqr(nearestPt[2]-p[2]) > sqr(con->rad))
continue;
@ -847,11 +853,11 @@ bool dtNavMesh::getPolyHeight(dtPolyRef ref, const float* pos, float* height) co
}
dtPolyRef dtNavMesh::findNearestPoly(const float* center, const float* extents, float* nearestPt)
dtPolyRef dtNavMesh::findNearestPoly(const float* center, const float* extents, dtQueryFilter* filter, float* nearestPt)
{
// Get nearby polygons from proximity grid.
dtPolyRef polys[128];
int polyCount = queryPolygons(center, extents, polys, 128);
int polyCount = queryPolygons(center, extents, filter, polys, 128);
// Find nearest polygon amongst the nearby polygons.
dtPolyRef nearest = 0;
@ -875,8 +881,8 @@ dtPolyRef dtNavMesh::findNearestPoly(const float* center, const float* extents,
return nearest;
}
int dtNavMesh::queryTilePolygons(dtMeshTile* tile,
const float* qmin, const float* qmax,
int dtNavMesh::queryTilePolygons(dtMeshTile* tile, const float* qmin, const float* qmax,
dtQueryFilter* filter,
dtPolyRef* polys, const int maxPolys)
{
const dtMeshHeader* header = tile->header;
@ -911,10 +917,13 @@ int dtNavMesh::queryTilePolygons(dtMeshTile* tile,
bool isLeafNode = node->i >= 0;
if (isLeafNode && overlap)
{
if (passFilter(filter, header->polys[node->i].flags))
{
if (n < maxPolys)
polys[n++] = base | (dtPolyRef)node->i;
}
}
if (overlap || isLeafNode)
node++;
@ -947,16 +956,19 @@ int dtNavMesh::queryTilePolygons(dtMeshTile* tile,
vmax(bmax, v);
}
if (overlapBoxes(qmin,qmax, bmin,bmax))
{
if (passFilter(filter, p->flags))
{
if (n < maxPolys)
polys[n++] = base | (dtPolyRef)i;
}
}
}
return n;
}
}
int dtNavMesh::queryPolygons(const float* center, const float* extents,
int dtNavMesh::queryPolygons(const float* center, const float* extents, dtQueryFilter* filter,
dtPolyRef* polys, const int maxPolys)
{
float bmin[3], bmax[3];
@ -982,7 +994,7 @@ int dtNavMesh::queryPolygons(const float* center, const float* extents,
{
dtMeshTile* tile = getTileAt(x,y);
if (!tile) continue;
n += queryTilePolygons(tile, bmin, bmax, polys+n, maxPolys-n);
n += queryTilePolygons(tile, bmin, bmax, filter, polys+n, maxPolys-n);
if (n >= maxPolys) return n;
}
}
@ -992,6 +1004,7 @@ int dtNavMesh::queryPolygons(const float* center, const float* extents,
int dtNavMesh::findPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
dtQueryFilter* filter,
dtPolyRef* path, const int maxPathSize)
{
if (!startRef || !endRef)
@ -1053,6 +1066,10 @@ int dtNavMesh::findPath(dtPolyRef startRef, dtPolyRef endRef,
if (bestNode->pidx && m_nodePool->getNodeAtIdx(bestNode->pidx)->id == neighbour)
continue;
// TODO: Avoid digging the polygon (done in getEdgeMidPoint too).
if (!passFilter(filter, getPolyFlags(neighbour)))
continue;
dtNode* parent = bestNode;
dtNode newNode;
newNode.pidx = m_nodePool->getNodeIdx(parent);
@ -1064,7 +1081,9 @@ int dtNavMesh::findPath(dtPolyRef startRef, dtPolyRef endRef,
vcopy(p0, startPos);
else
getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0);
getEdgeMidPoint(parent->id, newNode.id, p1);
newNode.cost = parent->cost + vdist(p0,p1);
// Special case for last node.
if (newNode.id == endRef)
@ -1174,8 +1193,8 @@ int dtNavMesh::findStraightPath(const float* startPos, const float* endPos,
int leftIndex = 0;
int rightIndex = 0;
unsigned char leftPolyFlags = 0;
unsigned char rightPolyFlags = 0;
unsigned short leftPolyFlags = 0;
unsigned short rightPolyFlags = 0;
dtPolyRef leftPolyRef = path[0];
dtPolyRef rightPolyRef = path[0];
@ -1183,7 +1202,7 @@ int dtNavMesh::findStraightPath(const float* startPos, const float* endPos,
for (int i = 0; i < pathSize; ++i)
{
float left[3], right[3];
unsigned char fromFlags, toFlags;
unsigned short fromFlags, toFlags;
if (i+1 < pathSize)
{
@ -1382,7 +1401,7 @@ int dtNavMesh::moveAlongPathCorridor(const float* startPos, const float* endPos,
if (n+1 < pathSize)
{
float left[3], right[3];
unsigned char fromFlags, toFlags;
unsigned short fromFlags, toFlags;
if (!getPortalPoints(path[n], path[n+1], left, right, fromFlags, toFlags))
return n;
vcopy(resultPos, endPos);
@ -1426,7 +1445,7 @@ int dtNavMesh::moveAlongPathCorridor(const float* startPos, const float* endPos,
if (n+1 >= pathSize)
return n;
float left[3], right[3];
unsigned char fromFlags, toFlags;
unsigned short fromFlags, toFlags;
if (!getPortalPoints(path[n], path[n+1], left, right, fromFlags, toFlags))
return n;
// If the clamped point is close to the next portal edge, advance to next poly.
@ -1443,7 +1462,7 @@ int dtNavMesh::moveAlongPathCorridor(const float* startPos, const float* endPos,
// Returns portal points between two polygons.
bool dtNavMesh::getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
unsigned char& fromFlags, unsigned char& toFlags) const
unsigned short& fromFlags, unsigned short& toFlags) const
{
unsigned int salt, it, ip;
dtDecodePolyId(from, salt, it, ip);
@ -1526,7 +1545,7 @@ bool dtNavMesh::getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float
bool dtNavMesh::getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const
{
float left[3], right[3];
unsigned char fromFlags, toFlags;
unsigned short fromFlags, toFlags;
if (!getPortalPoints(from, to, left,right, fromFlags, toFlags)) return false;
mid[0] = (left[0]+right[0])*0.5f;
mid[1] = (left[1]+right[1])*0.5f;
@ -1534,7 +1553,19 @@ bool dtNavMesh::getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const
return true;
}
int dtNavMesh::raycast(dtPolyRef centerRef, const float* startPos, const float* endPos,
unsigned short dtNavMesh::getPolyFlags(dtPolyRef ref)
{
unsigned int salt, it, ip;
dtDecodePolyId(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;
const dtMeshHeader* header = m_tiles[it].header;
const dtPoly* poly = &header->polys[ip];
return poly->flags;
}
int dtNavMesh::raycast(dtPolyRef centerRef, const float* startPos, const float* endPos, dtQueryFilter* filter,
float& t, float* hitNormal, dtPolyRef* path, const int pathSize)
{
t = 0;
@ -1638,7 +1669,7 @@ int dtNavMesh::raycast(dtPolyRef centerRef, const float* startPos, const float*
}
}
if (!nextRef)
if (!nextRef || !passFilter(filter, getPolyFlags(nextRef)))
{
// No neighbour, we hit a wall.
@ -1664,7 +1695,7 @@ int dtNavMesh::raycast(dtPolyRef centerRef, const float* startPos, const float*
return n;
}
int dtNavMesh::findPolysAround(dtPolyRef centerRef, const float* centerPos, float radius,
int dtNavMesh::findPolysAround(dtPolyRef centerRef, const float* centerPos, float radius, dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
const int maxResult)
{
@ -1728,6 +1759,9 @@ int dtNavMesh::findPolysAround(dtPolyRef centerRef, const float* centerPos, floa
if (distSqr > radiusSqr)
continue;
if (!passFilter(filter, getPolyFlags(neighbour)))
continue;
dtNode* parent = bestNode;
dtNode newNode;
newNode.pidx = m_nodePool->getNodeIdx(parent);
@ -1780,7 +1814,7 @@ int dtNavMesh::findPolysAround(dtPolyRef centerRef, const float* centerPos, floa
return n;
}
float dtNavMesh::findDistanceToWall(dtPolyRef centerRef, const float* centerPos, float maxRadius,
float dtNavMesh::findDistanceToWall(dtPolyRef centerRef, const float* centerPos, float maxRadius, dtQueryFilter* filter,
float* hitPos, float* hitNormal)
{
if (!centerRef) return 0;
@ -1822,7 +1856,7 @@ float dtNavMesh::findDistanceToWall(dtPolyRef centerRef, const float* centerPos,
for (int i = 0; i < poly->linkCount; ++i)
{
const dtLink* link = &header->links[poly->linkBase+i];
if (link->edge == j && link->ref != 0)
if (link->edge == j && link->ref != 0 && passFilter(filter, getPolyFlags(link->ref)))
{
solid = false;
break;
@ -1830,7 +1864,7 @@ float dtNavMesh::findDistanceToWall(dtPolyRef centerRef, const float* centerPos,
}
if (!solid) continue;
}
else if (poly->neis[j])
else if (poly->neis[j] && passFilter(filter, getPolyFlags(poly->neis[j])))
{
// Internal edge
continue;
@ -1874,6 +1908,9 @@ float dtNavMesh::findDistanceToWall(dtPolyRef centerRef, const float* centerPos,
if (distSqr > radiusSqr)
continue;
if (!passFilter(filter, getPolyFlags(neighbour)))
continue;
dtNode* parent = bestNode;
dtNode newNode;
newNode.pidx = m_nodePool->getNodeIdx(parent);

1
Detour/Source/DetourNavMeshBuilder.cpp
View File

@ -486,6 +486,7 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
{
dtPoly* p = &navPolys[i];
p->vertCount = 0;
p->flags = DT_POLY_GROUND;
for (int j = 0; j < nvp; ++j)
{
if (src[j] == 0xffff) break;

BIN
RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
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Binary file not shown.

958
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
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File diff suppressed because it is too large Load Diff

66
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
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@ -281,14 +281,14 @@
<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
<array>
<array>
<integer>11</integer>
<integer>3</integer>
<integer>13</integer>
<integer>12</integer>
<integer>1</integer>
<integer>0</integer>
</array>
</array>
<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
<string>{{0, 45}, {282, 643}}</string>
<string>{{0, 41}, {282, 643}}</string>
</dict>
<key>PBXTopSmartGroupGIDs</key>
<array/>
@ -323,7 +323,7 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A30F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>DetourDebugDraw.cpp</string>
<string>DetourNavMesh.h</string>
<key>PBXSplitModuleInNavigatorKey</key>
<dict>
<key>Split0</key>
@ -331,11 +331,11 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A40F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>DetourDebugDraw.cpp</string>
<string>DetourNavMesh.h</string>
<key>_historyCapacity</key>
<integer>0</integer>
<key>bookmark</key>
<string>6BCF34AF1105F8DB009445BF</string>
<string>6BCF34F411060322009445BF</string>
<key>history</key>
<array>
<string>6B57D358108C66B200DDD053</string>
@ -360,7 +360,6 @@
<string>6BB3605210FE5CBD00A9B4B8</string>
<string>6BB3606210FE5E8F00A9B4B8</string>
<string>6B69736710FFBDCA00984788</string>
<string>6B69736810FFBDCA00984788</string>
<string>6B69739F10FFCA4500984788</string>
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@ -379,15 +378,16 @@
<string>6BCF343A1105ECAB009445BF</string>
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<string>6BCF34F111060322009445BF</string>
<string>6BCF34F211060322009445BF</string>
</array>
<key>prevStack</key>
<array>
@ -605,6 +605,40 @@
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</dict>
<key>SplitCount</key>
@ -618,18 +652,18 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {952, 562}}</string>
<string>{{0, 0}, {952, 547}}</string>
<key>RubberWindowFrame</key>
<string>11 76 1256 702 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXNavigatorGroup</string>
<key>Proportion</key>
<string>562pt</string>
<string>547pt</string>
</dict>
<dict>
<key>Proportion</key>
<string>94pt</string>
<string>109pt</string>
<key>Tabs</key>
<array>
<dict>
@ -697,7 +731,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {952, 67}}</string>
<string>{{10, 27}, {952, 82}}</string>
<key>RubberWindowFrame</key>
<string>11 76 1256 702 0 0 1280 778 </string>
</dict>

2
RecastDemo/Include/NavMeshTesterTool.h
View File

@ -31,6 +31,8 @@ class NavMeshTesterTool : public SampleTool
float m_agentHeight;
float m_agentClimb;
dtQueryFilter m_filter;
enum ToolMode
{
TOOLMODE_PATHFIND,

46
RecastDemo/Source/NavMeshTesterTool.cpp
View File

@ -59,6 +59,9 @@ NavMeshTesterTool::NavMeshTesterTool() :
m_sposSet(false),
m_eposSet(false)
{
m_filter.includeFlags = DT_POLY_GROUND | DT_POLY_OFFMESH_CONNECTION;
m_filter.excludeFlags = 0;
m_polyPickExt[0] = 2;
m_polyPickExt[1] = 4;
m_polyPickExt[2] = 2;
@ -117,6 +120,34 @@ void NavMeshTesterTool::handleMenu()
recalc();
}
imguiSeparator();
imguiLabel("Include Flags");
if (imguiCheck("Ground", m_filter.includeFlags & DT_POLY_GROUND))
{
m_filter.includeFlags ^= DT_POLY_GROUND;
recalc();
}
if (imguiCheck("Off-Mesh Connections", m_filter.includeFlags & DT_POLY_OFFMESH_CONNECTION))
{
m_filter.includeFlags ^= DT_POLY_OFFMESH_CONNECTION;
recalc();
}
imguiLabel("Exclude Flags");
if (imguiCheck("Ground", m_filter.excludeFlags & DT_POLY_GROUND))
{
m_filter.excludeFlags ^= DT_POLY_GROUND;
recalc();
}
if (imguiCheck("Off-Mesh Connections", m_filter.excludeFlags & DT_POLY_OFFMESH_CONNECTION))
{
m_filter.excludeFlags ^= DT_POLY_OFFMESH_CONNECTION;
recalc();
}
if (m_toolMode == TOOLMODE_PATHFIND)
{
unsigned char flags = DU_DRAWNAVMESH_CLOSEDLIST;
@ -203,12 +234,12 @@ void NavMeshTesterTool::recalc()
return;
if (m_sposSet)
m_startRef = m_navMesh->findNearestPoly(m_spos, m_polyPickExt, 0);
m_startRef = m_navMesh->findNearestPoly(m_spos, m_polyPickExt, &m_filter, 0);
else
m_startRef = 0;
if (m_eposSet)
m_endRef = m_navMesh->findNearestPoly(m_epos, m_polyPickExt, 0);
m_endRef = m_navMesh->findNearestPoly(m_epos, m_polyPickExt, &m_filter, 0);
else
m_endRef = 0;
@ -216,7 +247,7 @@ void NavMeshTesterTool::recalc()
{
if (m_sposSet && m_eposSet && m_startRef && m_endRef)
{
m_npolys = m_navMesh->findPath(m_startRef, m_endRef, m_spos, m_epos, m_polys, MAX_POLYS);
m_npolys = m_navMesh->findPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, m_polys, MAX_POLYS);
m_nstraightPath = 0;
m_nsmoothPath = 0;
@ -224,7 +255,8 @@ void NavMeshTesterTool::recalc()
if (m_npolys)
{
m_nstraightPath = m_navMesh->findStraightPath(m_spos, m_epos, m_polys, m_npolys,
m_straightPath, m_straightPathFlags, m_straightPathPolys, MAX_POLYS);
m_straightPath, m_straightPathFlags,
m_straightPathPolys, MAX_POLYS);
// Iterate over the path to find smooth path on the detail mesh surface.
@ -364,7 +396,7 @@ void NavMeshTesterTool::recalc()
m_straightPath[1] = m_spos[1];
m_straightPath[2] = m_spos[2];
vcopy(m_hitPos, m_epos);
m_npolys = m_navMesh->raycast(m_startRef, m_spos, m_epos, t, m_hitNormal, m_polys, MAX_POLYS);
m_npolys = m_navMesh->raycast(m_startRef, m_spos, m_epos, &m_filter, t, m_hitNormal, m_polys, MAX_POLYS);
if (m_npolys && t < 1)
{
m_hitPos[0] = m_spos[0] + (m_epos[0] - m_spos[0]) * t;
@ -378,7 +410,7 @@ void NavMeshTesterTool::recalc()
{
m_distanceToWall = 0;
if (m_sposSet && m_startRef)
m_distanceToWall = m_navMesh->findDistanceToWall(m_startRef, m_spos, 100.0f, m_hitPos, m_hitNormal);
m_distanceToWall = m_navMesh->findDistanceToWall(m_startRef, m_spos, 100.0f, &m_filter, m_hitPos, m_hitNormal);
}
else if (m_toolMode == TOOLMODE_FIND_POLYS_AROUND)
{
@ -387,7 +419,7 @@ void NavMeshTesterTool::recalc()
const float dx = m_epos[0] - m_spos[0];
const float dz = m_epos[2] - m_spos[2];
float dist = sqrtf(dx*dx + dz*dz);
m_npolys = m_navMesh->findPolysAround(m_startRef, m_spos, dist, m_polys, m_parent, 0, MAX_POLYS);
m_npolys = m_navMesh->findPolysAround(m_startRef, m_spos, dist, &m_filter, m_polys, m_parent, 0, MAX_POLYS);
}
}
}