407 lines
19 KiB
C++
407 lines
19 KiB
C++
//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef DETOURNAVMESHQUERY_H
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#define DETOURNAVMESHQUERY_H
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#include "DetourNavMesh.h"
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// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter.
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// On certain platforms indirect or virtual function call is expensive. The default
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// setting is to use non-virtual functions, the actualy implementations of the functions
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// are declared as inline for maximum speed.
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//#define DT_VIRTUAL_QUERYFILTER 1
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// Class for polygon filtering and cost calculation during query operations.
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// - It is possible to derive a custom query filter from dtQueryFilter by overriding
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// the virtual functions passFilter() and getCost().
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// - Both functions should be as fast as possible. Use cached local copy of data
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// instead of accessing your own objects where possible.
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// - You do not need to adhere to the flags and cost logic provided by the default
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// implementation.
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// - In order for the A* to work properly, the cost should be proportional to
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// the travel distance. Using cost modifier less than 1.0 is likely to lead
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// to problems during pathfinding.
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class dtQueryFilter
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{
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float m_areaCost[DT_MAX_AREAS]; // Array storing cost per area type, used by default implementation.
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unsigned short m_includeFlags; // Include poly flags, used by default implementation.
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unsigned short m_excludeFlags; // Exclude poly flags, used by default implementation.
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public:
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dtQueryFilter();
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// Returns true if the polygon is can visited.
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// Params:
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// ref - (in) reference to the polygon test.
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// tile - (in) pointer to the tile of the polygon test.
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// poly - (in) pointer to the polygon test.
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#ifdef DT_VIRTUAL_QUERYFILTER
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virtual bool passFilter(const dtPolyRef ref,
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const dtMeshTile* tile,
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const dtPoly* poly) const;
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#else
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bool passFilter(const dtPolyRef ref,
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const dtMeshTile* tile,
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const dtPoly* poly) const;
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#endif
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// Returns cost to travel from 'pa' to 'pb'.'
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// The segment is fully contained inside 'cur'.
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// 'pa' lies on the edge between 'prev' and 'cur',
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// 'pb' lies on the edge between 'cur' and 'next'.
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// Params:
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// pa - (in) segment start position.
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// pb - (in) segment end position.
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// prevRef, prevTile, prevPoly - (in) data describing the previous polygon, can be null.
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// curRef, curTile, curPoly - (in) data describing the current polygon.
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// nextRef, nextTile, nextPoly - (in) data describing the next polygon, can be null.
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#ifdef DT_VIRTUAL_QUERYFILTER
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virtual float getCost(const float* pa, const float* pb,
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const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
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const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
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const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
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#else
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float getCost(const float* pa, const float* pb,
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const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
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const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
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const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
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#endif
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// Getters and setters for the default implementation data.
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inline float getAreaCost(const int i) const { return m_areaCost[i]; }
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inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; }
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inline unsigned short getIncludeFlags() const { return m_includeFlags; }
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inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; }
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inline unsigned short getExcludeFlags() const { return m_excludeFlags; }
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inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; }
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};
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class dtNavMeshQuery
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{
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public:
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dtNavMeshQuery();
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~dtNavMeshQuery();
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// Initializes the nav mesh query.
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// Params:
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// nav - (in) pointer to navigation mesh data.
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// maxNodes - (in) Maximum number of search nodes to use (max 65536).
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dtStatus init(const dtNavMesh* nav, const int maxNodes);
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// Finds the nearest navigation polygon around the center location.
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// Params:
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// center[3] - (in) The center of the search box.
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// extents[3] - (in) The extents of the search box.
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// filter - (in) path polygon filter.
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// nearestRef - (out) Reference to the nearest polygon.
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// nearestPt[3] - (out, opt) The nearest point on found polygon, null if not needed.
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dtStatus findNearestPoly(const float* center, const float* extents,
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const dtQueryFilter* filter,
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dtPolyRef* nearestRef, float* nearestPt) const;
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// Returns polygons which overlap the query box.
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// Params:
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// center[3] - (in) the center of the search box.
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// extents[3] - (in) the extents of the search box.
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// filter - (in) path polygon filter.
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// polys - (out) array holding the search result.
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// polyCount - (out) Number of polygons in search result array.
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// maxPolys - (in) The max number of polygons the polys array can hold.
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dtStatus queryPolygons(const float* center, const float* extents,
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const dtQueryFilter* filter,
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dtPolyRef* polys, int* polyCount, const int maxPolys) const;
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// Finds path from start polygon to end polygon.
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// If target polygon canno be reached through the navigation graph,
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// the last node on the array is nearest node to the end polygon.
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// Start end end positions are needed to calculate more accurate
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// traversal cost at start end end polygons.
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// Params:
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// startRef - (in) ref to path start polygon.
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// endRef - (in) ref to path end polygon.
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// startPos[3] - (in) Path start location.
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// endPos[3] - (in) Path end location.
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// filter - (in) path polygon filter.
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// path - (out) array holding the search result.
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// pathCount - (out) Number of polygons in search result array.
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// maxPath - (in) The max number of polygons the path array can hold. Must be at least 1.
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dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef,
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const float* startPos, const float* endPos,
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const dtQueryFilter* filter,
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dtPolyRef* path, int* pathCount, const int maxPath) const;
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// Intializes sliced path find query.
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// Note 1: calling any other dtNavMeshQuery method before calling findPathEnd()
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// may results in corrupted data!
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// Note 2: The pointer to filter is store, and used in subsequent
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// calls to updateSlicedFindPath().
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// Params:
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// startRef - (in) ref to path start polygon.
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// endRef - (in) ref to path end polygon.
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// startPos[3] - (in) Path start location.
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// endPos[3] - (in) Path end location.
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// filter - (in) path polygon filter.
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dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
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const float* startPos, const float* endPos,
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const dtQueryFilter* filter);
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// Updates sliced path find query.
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// Params:
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// maxIter - (in) Max number of iterations to update.
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// doneIters - (out,opt) Number of iterations done during the update.
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// Returns: Path query state.
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dtStatus updateSlicedFindPath(const int maxIter, int* doneIters);
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// Finalizes sliced path find query and returns found path.
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// path - (out) array holding the search result.
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// pathCount - (out) Number of polygons in search result array.
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// maxPath - (in) The max number of polygons the path array can hold.
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dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
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// Finalizes partial sliced path find query and returns path to the furthest
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// polygon on the existing path that was visited during the search.
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// existing - (out) Array of polygons in the existing path.
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// existingSize - (out) Number of polygons in existing path array.
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// path - (out) array holding the search result.
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// pathCount - (out) Number of polygons in search result array.
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// maxPath - (in) The max number of polygons the path array can hold.
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dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
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dtPolyRef* path, int* pathCount, const int maxPath);
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// Finds a straight path from start to end locations within the corridor
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// described by the path polygons.
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// Start and end locations will be clamped on the corridor.
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// The returned polygon references are point to polygon which was entered when
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// a path point was added. For the end point, zero will be returned. This allows
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// to match for example off-mesh link points to their representative polygons.
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// Params:
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// startPos[3] - (in) Path start location.
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// endPo[3] - (in) Path end location.
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// path - (in) Array of connected polygons describing the corridor.
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// pathSize - (in) Number of polygons in path array.
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// straightPath - (out) Points describing the straight path.
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// straightPathFlags - (out, opt) Flags describing each point type, see dtStraightPathFlags.
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// straightPathRefs - (out, opt) References to polygons at point locations.
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// straightPathCount - (out) Number of points in the path.
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// maxStraightPath - (in) The max number of points the straight path array can hold. Must be at least 1.
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dtStatus findStraightPath(const float* startPos, const float* endPos,
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const dtPolyRef* path, const int pathSize,
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float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
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int* straightPathCount, const int maxStraightPath) const;
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// Moves from startPos to endPos constrained to the navmesh.
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// If the endPos is reachable, the resultPos will be endPos,
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// or else the resultPos will be the nearest point in navmesh.
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// Note: The resulting point is not projected to the ground, use getPolyHeight() to get height.
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// Note: The algorithm is optimized for small delta movement and small number of polygons.
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// Params:
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// startRef - (in) ref to the polygon where startPos lies.
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// startPos[3] - (in) start position of the mover.
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// endPos[3] - (in) desired end position of the mover.
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// filter - (in) path polygon filter.
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// resultPos[3] - (out) new position of the mover.
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// visited - (out) array of visited polygons.
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// visitedCount - (out) Number of entries in the visited array.
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// maxVisitedSize - (in) max number of polygons in the visited array.
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dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
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const dtQueryFilter* filter,
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float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const;
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// Casts 'walkability' ray along the navmesh surface from startPos towards the endPos.
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// Params:
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// startRef - (in) ref to the polygon where the start lies.
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// startPos[3] - (in) start position of the query.
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// endPos[3] - (in) end position of the query.
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// t - (out) hit parameter along the segment, FLT_MAX if no hit.
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// hitNormal[3] - (out) normal of the nearest hit.
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// filter - (in) path polygon filter.
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// path - (out,opt) visited path polygons.
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// pathCount - (out,opt) Number of polygons visited.
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// maxPath - (in) max number of polygons in the path array.
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dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
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const dtQueryFilter* filter,
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float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const;
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// Returns distance to nearest wall from the specified location.
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// Params:
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// startRef - (in) ref to the polygon where the center lies.
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// centerPos[3] - (in) center if the query circle.
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// maxRadius - (in) max search radius.
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// filter - (in) path polygon filter.
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// hitDist - (out) distance to nearest wall from the test location.
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// hitPos[3] - (out) location of the nearest hit.
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// hitNormal[3] - (out) normal of the nearest hit.
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dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
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const dtQueryFilter* filter,
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float* hitDist, float* hitPos, float* hitNormal) const;
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// Finds polygons found along the navigation graph which touch the specified circle.
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// Params:
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// startRef - (in) ref to the polygon where the search starts.
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// centerPos[3] - (in) center if the query circle.
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// radius - (in) radius of the query circle.
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// filter - (in) path polygon filter.
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// resultRef - (out, opt) refs to the polygons touched by the circle.
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// resultParent - (out, opt) parent of each result polygon.
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// resultCost - (out, opt) search cost at each result polygon.
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// resultCount - (out, opt) Number of results.
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// maxResult - (int) maximum capacity of search results.
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dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
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const dtQueryFilter* filter,
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dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
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int* resultCount, const int maxResult) const;
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// Finds polygons found along the navigation graph which touch the convex polygon shape.
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// Params:
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// startRef - (in) ref to the polygon where the search starts.
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// verts[3*n] - (in) vertices describing convex polygon shape (CCW).
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// nverts - (in) number of vertices in the polygon.
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// filter - (in) path polygon filter.
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// resultRef - (out, opt) refs to the polygons touched by the circle.
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// resultParent - (out, opt) parent of each result polygon.
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// resultCost - (out, opt) search cost at each result polygon.
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// resultCount - (out) number of results.
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// maxResult - (int) maximum capacity of search results.
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dtStatus findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
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const dtQueryFilter* filter,
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dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
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int* resultCount, const int maxResult) const;
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// Finds non-overlapping local neighbourhood around center location.
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// Note: The algorithm is optimized for small query radius and small number of polygons.
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// Params:
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// startRef - (in) ref to the polygon where the search starts.
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// centerPos[3] - (in) center if the query circle.
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// radius - (in) radius of the query circle.
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// filter - (in) path polygon filter.
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// resultRef - (out) refs to the polygons touched by the circle.
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// resultParent - (out, opt) parent of each result polygon.
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// resultCount - (out) number of results.
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// maxResult - (int) maximum capacity of search results.
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dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
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const dtQueryFilter* filter,
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dtPolyRef* resultRef, dtPolyRef* resultParent,
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int* resultCount, const int maxResult) const;
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// Returns wall segments of specified polygon.
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// Params:
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// ref - (in) ref to the polygon.
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// filter - (in) path polygon filter.
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// segments[6*maxSegments] - (out) wall segments (2 endpoints per segment).
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// segmentCount - (out) number of wall segments.
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// maxSegments - (in) max number of segments that can be stored in 'segments'.
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dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
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float* segments, int* segmentCount, const int maxSegments) const;
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// Returns closest point on navigation polygon.
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// Uses detail polygons to find the closest point to the navigation polygon surface.
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// Params:
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// ref - (in) ref to the polygon.
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// pos[3] - (in) the point to check.
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// closest[3] - (out) closest point.
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// Returns: true if closest point found.
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dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const;
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// Returns closest point on navigation polygon boundary.
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// Uses the navigation polygon boundary to snap the point to poly boundary
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// if it is outside the polygon. Much faster than closestPointToPoly. Does not affect height.
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// Params:
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// ref - (in) ref to the polygon.
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// pos[3] - (in) the point to check.
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// closest[3] - (out) closest point.
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// Returns: true if closest point found.
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dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
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// Returns start and end location of an off-mesh link polygon.
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// Params:
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// prevRef - (in) ref to the polygon before the link (used to select direction).
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// polyRef - (in) ref to the off-mesh link polygon.
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// startPos[3] - (out) start point of the link.
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// endPos[3] - (out) end point of the link.
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// Returns: true if link is found.
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dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
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// Returns height of the polygon at specified location.
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// Params:
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// ref - (in) ref to the polygon.
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// pos[3] - (in) the point where to locate the height.
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// height - (out) height at the location.
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// Returns: true if over polygon.
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dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;
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// Returns true if poly reference ins in closed list.
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bool isInClosedList(dtPolyRef ref) const;
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class dtNodePool* getNodePool() const { return m_nodePool; }
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private:
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// Returns neighbour tile based on side.
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dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
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// Queries polygons within a tile.
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int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, const dtQueryFilter* filter,
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dtPolyRef* polys, const int maxPolys) const;
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// Find nearest polygon within a tile.
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dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents,
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const dtQueryFilter* filter, float* nearestPt) const;
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// Returns closest point on polygon.
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void closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) const;
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// Returns portal points between two polygons.
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dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
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unsigned char& fromType, unsigned char& toType) const;
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dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
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dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
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float* left, float* right) const;
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// Returns edge mid point between two polygons.
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dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
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dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
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dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
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float* mid) const;
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const dtNavMesh* m_nav; // Pointer to navmesh data.
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struct dtQueryData
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{
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dtStatus status;
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struct dtNode* lastBestNode;
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float lastBestNodeCost;
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dtPolyRef startRef, endRef;
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float startPos[3], endPos[3];
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const dtQueryFilter* filter;
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};
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dtQueryData m_query; // Sliced query state.
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class dtNodePool* m_tinyNodePool; // Pointer to small node pool.
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class dtNodePool* m_nodePool; // Pointer to node pool.
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class dtNodeQueue* m_openList; // Pointer to open list queue.
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};
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// Helper function to allocate navmesh query class using Detour allocator.
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dtNavMeshQuery* dtAllocNavMeshQuery();
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void dtFreeNavMeshQuery(dtNavMeshQuery* query);
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#endif // DETOURNAVMESHQUERY_H
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