diff options
Diffstat (limited to 'dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h')
| -rw-r--r-- | dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h | 53 |
1 files changed, 46 insertions, 7 deletions
diff --git a/dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h b/dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h index c7b360dcdc6..61541e83dfe 100644 --- a/dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h +++ b/dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h @@ -131,6 +131,9 @@ struct dtRaycastHit /// hitNormal The normal of the nearest wall hit. [(x, y, z)] float hitNormal[3]; + + /// The index of the edge on the final polygon where the wall was hit. + int hitEdgeIndex; /// Pointer to an array of reference ids of the visited polygons. [opt] dtPolyRef* path; @@ -145,7 +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. @@ -158,7 +172,7 @@ public: /// Initializes the query object. /// @param[in] nav Pointer to the dtNavMesh object to use for all queries. - /// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65536] + /// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65535] /// @returns The status flags for the query. dtStatus init(const dtNavMesh* nav, const int maxNodes); @@ -179,7 +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)] @@ -282,6 +296,20 @@ 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 ///@{ @@ -309,6 +337,14 @@ public: 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] extents 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* extents, + 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)] @@ -472,13 +508,13 @@ public: /// @} private: + // Explicitly disabled copy constructor and copy assignment operator + 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, @@ -502,6 +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. |