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update recast

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Johxz 2018-02-28 22:15:31 -06:00
parent 78caec2718
commit 594866f24c
34 changed files with 1138 additions and 407 deletions
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53
Engine/lib/recast/Detour/Include/DetourNavMeshQuery.h
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@ -148,7 +148,18 @@ struct dtRaycastHit
float pathCost;
};
/// Provides custom polygon query behavior.
/// Used by dtNavMeshQuery::queryPolygons.
/// @ingroup detour
class dtPolyQuery
{
public:
virtual ~dtPolyQuery() { }
/// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons.
/// This can be called multiple times for a single query.
virtual void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) = 0;
};
/// Provides the ability to perform pathfinding related queries against
/// a navigation mesh.
@ -182,7 +193,7 @@ public:
const float* startPos, const float* endPos,
const dtQueryFilter* filter,
dtPolyRef* path, int* pathCount, const int maxPath) const;
/// Finds the straight path from the start to the end position within the polygon corridor.
/// @param[in] startPos Path start position. [(x, y, z)]
/// @param[in] endPos Path end position. [(x, y, z)]
@ -285,33 +296,55 @@ public:
dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
int* resultCount, const int maxResult) const;
/// Gets a path from the explored nodes in the previous search.
/// @param[in] endRef The reference id of the end polygon.
/// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
/// [(polyRef) * @p pathCount]
/// @param[out] pathCount The number of polygons returned in the @p path array.
/// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 0]
/// @returns The status flags. Returns DT_FAILURE | DT_INVALID_PARAM if any parameter is wrong, or if
/// @p endRef was not explored in the previous search. Returns DT_SUCCESS | DT_BUFFER_TOO_SMALL
/// if @p path cannot contain the entire path. In this case it is filled to capacity with a partial path.
/// Otherwise returns DT_SUCCESS.
/// @remarks The result of this function depends on the state of the query object. For that reason it should only
/// be used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape.
dtStatus getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef* path, int* pathCount, int maxPath) const;
/// @}
/// @name Local Query Functions
///@{
/// Finds the polygon nearest to the specified center point.
/// @param[in] center The center of the search box. [(x, y, z)]
/// @param[in] extents The search distance along each axis. [(x, y, z)]
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] nearestRef The reference id of the nearest polygon.
/// @param[out] nearestPt The nearest point on the polygon. [opt] [(x, y, z)]
/// @returns The status flags for the query.
dtStatus findNearestPoly(const float* center, const float* extents,
dtStatus findNearestPoly(const float* center, const float* halfExtents,
const dtQueryFilter* filter,
dtPolyRef* nearestRef, float* nearestPt) const;
/// Finds polygons that overlap the search box.
/// @param[in] center The center of the search box. [(x, y, z)]
/// @param[in] extents The search distance along each axis. [(x, y, z)]
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] polys The reference ids of the polygons that overlap the query box.
/// @param[out] polyCount The number of polygons in the search result.
/// @param[in] maxPolys The maximum number of polygons the search result can hold.
/// @returns The status flags for the query.
dtStatus queryPolygons(const float* center, const float* extents,
dtStatus queryPolygons(const float* center, const float* halfExtents,
const dtQueryFilter* filter,
dtPolyRef* polys, int* polyCount, const int maxPolys) const;
/// Finds polygons that overlap the search box.
/// @param[in] center The center of the search box. [(x, y, z)]
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[in] query The query. Polygons found will be batched together and passed to this query.
dtStatus queryPolygons(const float* center, const float* halfExtents,
const dtQueryFilter* filter, dtPolyQuery* query) const;
/// Finds the non-overlapping navigation polygons in the local neighbourhood around the center position.
/// @param[in] startRef The reference id of the polygon where the search starts.
/// @param[in] centerPos The center of the query circle. [(x, y, z)]
@ -479,12 +512,9 @@ private:
dtNavMeshQuery(const dtNavMeshQuery&);
dtNavMeshQuery& operator=(const dtNavMeshQuery&);
/// Returns neighbour tile based on side.
dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
/// Queries polygons within a tile.
int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, const dtQueryFilter* filter,
dtPolyRef* polys, const int maxPolys) const;
void queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
const dtQueryFilter* filter, dtPolyQuery* query) const;
/// Returns portal points between two polygons.
dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
@ -508,6 +538,9 @@ private:
dtStatus appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path,
float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
int* straightPathCount, const int maxStraightPath, const int options) const;
// Gets the path leading to the specified end node.
dtStatus getPathToNode(struct dtNode* endNode, dtPolyRef* path, int* pathCount, int maxPath) const;
const dtNavMesh* m_nav; ///< Pointer to navmesh data.