866 lines
43 KiB
C++
866 lines
43 KiB
C++
// Copyright Epic Games, Inc. All Rights Reserved.
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// Modified version of Recast/Detour's source file
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//
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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 "CoreMinimal.h"
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#include "Detour/DetourAlloc.h"
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#include "Detour/DetourCommon.h"
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#include "Detour/DetourLargeWorldCoordinates.h"
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#include "Detour/DetourNavMesh.h"
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#include "Detour/DetourStatus.h"
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#include "Misc/AssertionMacros.h"
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//@UE BEGIN
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#define WITH_FIXED_AREA_ENTERING_COST 1
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// Note poly costs are still floats in UE so we are using FLT_MAX as unwalkable still.
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#define DT_UNWALKABLE_POLY_COST FLT_MAX
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//@UE END
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// By default dtQueryFilter will use virtual calls.
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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 actual implementations of the functions
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// are declared as inline for maximum speed.
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// To avoid virtual calls create dtQueryFilter with inIsVirtual = false.
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// Special link filter is custom filter run only for offmesh links with assigned UserId
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// Used by smart navlinks in UE
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//
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struct dtQuerySpecialLinkFilter
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{
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virtual ~dtQuerySpecialLinkFilter() {}
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/// Returns true if special link can be visited. (I.e. Is traversable.)
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/// @param[in] UserId Unique Id of link
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virtual bool isLinkAllowed(const unsigned long long int UserId) const { return true; }
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UE_DEPRECATED(5.3, "LinkIds are now based on a 64 bit uint. Use the version of this function that takes an unsigned long long int")
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virtual bool isLinkAllowed(const int UserId) const final { return true; }
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/// Called before accessing in A* loop (can be called multiple time for updateSlicedFindPath)
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virtual void initialize() {}
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};
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// [UE: moved all filter variables to struct, DO NOT mess with virtual functions here!]
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struct dtQueryFilterData
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{
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dtReal m_areaCost[DT_MAX_AREAS]; ///< Cost per area type. (Used by default implementation.)
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#if WITH_FIXED_AREA_ENTERING_COST
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dtReal m_areaFixedCost[DT_MAX_AREAS];///< Fixed cost for entering an area type (Used by default implementation.)
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#endif // WITH_FIXED_AREA_ENTERING_COST
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dtReal heuristicScale; ///< Search heuristic scale.
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dtReal lowestAreaCost;
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unsigned short m_includeFlags; ///< Flags for polygons that can be visited. (Used by default implementation.)
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unsigned short m_excludeFlags; ///< Flags for polygons that should not be visited. (Used by default implementation.)
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bool m_isBacktracking;
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//@UE BEGIN
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/// whether to ignore neighbour nodes that have already been visited.
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/// FALSE by default but you might want to set it to true if using heuristic
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/// scale much larger than 1 or experiencing cycles in our paths for any other
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/// reason
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bool m_shouldIgnoreClosedNodes;
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//@UE END
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NAVMESH_API dtQueryFilterData();
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NAVMESH_API bool equals(const dtQueryFilterData* other) const;
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NAVMESH_API void copyFrom(const dtQueryFilterData* source);
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};
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/// Defines polygon filtering and traversal costs for navigation mesh query operations.
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/// @ingroup detour
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class dtQueryFilter
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{
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protected:
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dtQueryFilterData data;
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bool isVirtual;
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public:
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dtQueryFilter(bool inIsVirtual = true) : isVirtual(inIsVirtual)
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{}
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virtual ~dtQueryFilter() {}
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protected:
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/// inlined filter implementation. @see passFilter for parameter description
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inline bool passInlineFilter(const dtPolyRef ref,
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const dtMeshTile* tile,
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const dtPoly* poly) const
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{
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return (poly->flags & data.m_includeFlags) != 0 && (poly->flags & data.m_excludeFlags) == 0
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&& (data.m_areaCost[poly->getArea()] < DT_UNWALKABLE_POLY_COST)
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#if WITH_FIXED_AREA_ENTERING_COST
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&& (data.m_areaFixedCost[poly->getArea()] < DT_UNWALKABLE_POLY_COST)
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#endif // WITH_FIXED_AREA_ENTERING_COST
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;
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}
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/// virtual filter implementation (defaults to passInlineFilter). @see passFilter for parameter description
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virtual bool passVirtualFilter(const dtPolyRef ref,
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const dtMeshTile* tile,
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const dtPoly* poly) const
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{
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return passInlineFilter(ref, tile, poly);
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}
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public:
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/// Returns true if it's a virtual filter.
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bool getIsVirtual() const { return isVirtual; }
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/// Returns true if the polygon can be visited. (I.e. Is traversable.)
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/// @param[in] ref The reference id of the polygon test.
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/// @param[in] tile The tile containing the polygon.
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/// @param[in] poly The polygon to test.
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inline bool passFilter(const dtPolyRef ref,
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const dtMeshTile* tile,
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const dtPoly* poly) const
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{
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return !isVirtual ? passInlineFilter(ref, tile, poly) : passVirtualFilter(ref, tile, poly);
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}
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protected:
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/// inlined scoring function. @see getCost for parameter description
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inline dtReal getInlineCost(const dtReal* pa, const dtReal* 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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{
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#if WITH_FIXED_AREA_ENTERING_COST
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const dtReal areaChangeCost = nextPoly != 0 && nextPoly->getArea() != curPoly->getArea()
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? data.m_areaFixedCost[nextPoly->getArea()] : 0.f;
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return dtVdist(pa, pb) * data.m_areaCost[curPoly->getArea()] + areaChangeCost;
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#else
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return dtVdist(pa, pb) * data.m_areaCost[curPoly->getArea()];
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#endif // #if WITH_FIXED_AREA_ENTERING_COST
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}
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/// virtual scoring function implementation (defaults to getInlineCost). @see getCost for parameter description
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virtual dtReal getVirtualCost(const dtReal* pa, const dtReal* 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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{
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return getInlineCost(pa, pb,
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prevRef, prevTile, prevPoly,
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curRef, curTile, curPoly,
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nextRef, nextTile, nextPoly);
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}
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//@UE BEGIN Adding support for LWCoords.
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#if !DT_LARGE_WORLD_COORDINATES_DISABLED
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// This function is deprecated call the version on this function that takes FReal
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virtual float getVirtualCost(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 final
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{
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check(false); // This function is deprecated use the version of this function that takes FReal
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return 0.f;
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}
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#endif
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//@UE END Adding support for LWCoords.
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public:
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/// Returns cost to move from the beginning to the end of a line segment
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/// that is fully contained within a polygon.
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/// @param[in] pa The start position on the edge of the previous and current polygon. [(x, y, z)]
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/// @param[in] pb The end position on the edge of the current and next polygon. [(x, y, z)]
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/// @param[in] prevRef The reference id of the previous polygon. [opt]
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/// @param[in] prevTile The tile containing the previous polygon. [opt]
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/// @param[in] prevPoly The previous polygon. [opt]
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/// @param[in] curRef The reference id of the current polygon.
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/// @param[in] curTile The tile containing the current polygon.
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/// @param[in] curPoly The current polygon.
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/// @param[in] nextRef The reference id of the next polygon. [opt]
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/// @param[in] nextTile The tile containing the next polygon. [opt]
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/// @param[in] nextPoly The next polygon. [opt]
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inline dtReal getCost(const dtReal* pa, const dtReal* 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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{
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return !isVirtual ? getInlineCost(pa, pb, prevRef, prevTile, prevPoly, curRef, curTile, curPoly, nextRef, nextTile, nextPoly)
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: getVirtualCost(pa, pb, prevRef, prevTile, prevPoly, curRef, curTile, curPoly, nextRef, nextTile, nextPoly);
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}
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/// @name Getters and setters for the default implementation data.
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///@{
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/// Returns the traversal cost of the area.
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/// @param[in] i The id of the area.
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/// @returns The traversal cost of the area.
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inline dtReal getAreaCost(const int i) const { return data.m_areaCost[i]; }
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/// Sets the traversal cost of the area.
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/// @param[in] i The id of the area.
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/// @param[in] cost The new cost of traversing the area.
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inline void setAreaCost(const int i, const dtReal cost) { data.m_areaCost[i] = cost; data.lowestAreaCost = dtMin(data.lowestAreaCost, cost); }
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//@UE BEGIN
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inline const dtReal* getAllAreaCosts() const { return data.m_areaCost; }
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#if WITH_FIXED_AREA_ENTERING_COST
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/// Returns the fixed cost for entering an area.
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/// @param[in] i The id of the area.
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/// @returns The fixed cost of the area.
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inline dtReal getAreaFixedCost(const int i) const { return data.m_areaFixedCost[i]; }
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/// Sets the fixed cost for entering an area.
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/// @param[in] i The id of the area.
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/// @param[in] cost The new fixed cost of entering the area polygon.
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inline void setAreaFixedCost(const int i, const dtReal cost) { data.m_areaFixedCost[i] = cost; }
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inline const dtReal* getAllFixedAreaCosts() const { return data.m_areaFixedCost; }
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#endif // WITH_FIXED_AREA_ENTERING_COST
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inline dtReal getModifiedHeuristicScale() const { return data.heuristicScale * ((data.lowestAreaCost > 0) ? data.lowestAreaCost : 1.0f); }
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/// Retrieves euclidean distance heuristic scale
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/// @returns heuristic scale
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inline dtReal getHeuristicScale() const { return data.heuristicScale; }
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/// Set euclidean distance heuristic scale
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inline void setHeuristicScale(const dtReal newScale) { data.heuristicScale = newScale; }
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/// Filters link in regards to its side. Used for backtracking.
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/// @returns should link with this side be accepted
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inline bool isValidLinkSide(const unsigned char side) const
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{
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return (side & DT_LINK_FLAG_OFFMESH_CON) == 0 || (side & DT_LINK_FLAG_OFFMESH_CON_BIDIR) != 0
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|| (data.m_isBacktracking ? (side & DT_LINK_FLAG_OFFMESH_CON_BACKTRACKER) != 0
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: (side & DT_LINK_FLAG_OFFMESH_CON_BACKTRACKER) == 0);
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}
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/// Sets up filter for backtracking
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inline void setIsBacktracking(const bool isBacktracking) { data.m_isBacktracking = isBacktracking; }
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/// Retrieves information whether this filter is set up for backtracking
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/// @returns is backtracking
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inline bool getIsBacktracking() const { return data.m_isBacktracking; }
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/// Instruct filter whether it can reopen nodes already on closed list
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inline void setShouldIgnoreClosedNodes(const bool shouldIgnore) { data.m_shouldIgnoreClosedNodes = shouldIgnore; }
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/// Retrieves information whether this filter allows reopening closed nodes
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/// @returns should consider reopening nodes already on closed list
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inline bool getShouldIgnoreClosedNodes() const { return data.m_shouldIgnoreClosedNodes; }
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//@UE END
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/// Returns the include flags for the filter.
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/// Any polygons that include one or more of these flags will be
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/// included in the operation.
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inline unsigned short getIncludeFlags() const { return data.m_includeFlags; }
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/// Sets the include flags for the filter.
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/// @param[in] flags The new flags.
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inline void setIncludeFlags(const unsigned short flags) { data.m_includeFlags = flags; }
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/// Returns the exclude flags for the filter.
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/// Any polygons that include one ore more of these flags will be
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/// excluded from the operation.
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inline unsigned short getExcludeFlags() const { return data.m_excludeFlags; }
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/// Sets the exclude flags for the filter.
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/// @param[in] flags The new flags.
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inline void setExcludeFlags(const unsigned short flags) { data.m_excludeFlags = flags; }
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///@}
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/// Check if two filters have the same data values
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inline bool equals(const dtQueryFilter* other) const { return data.equals(&(other->data)); }
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inline bool equals(const dtQueryFilter& other) const { return data.equals(&(other.data)); }
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/// Copy data values from source filter
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inline void copyFrom(const dtQueryFilter* other) { data.copyFrom(&(other->data)); }
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inline void copyFrom(const dtQueryFilter& other) { data.copyFrom(&(other.data)); }
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};
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struct dtQueryResultPack
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{
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dtPolyRef ref;
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dtReal cost;
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dtReal pos[3];
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unsigned int flag;
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dtQueryResultPack() : ref(0), cost(0), flag(0) {}
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dtQueryResultPack(dtPolyRef inRef, dtReal inCost, const dtReal* inPos, unsigned int inFlag);
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};
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struct dtQueryResult
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{
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inline void reserve(int n) { data.resize(n); data.resize(0); }
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inline int size() const { return data.size(); }
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inline dtPolyRef getRef(int idx) const { return data[idx].ref; }
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inline dtReal getCost(int idx) const { return data[idx].cost; }
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inline const dtReal* getPos(int idx) const { return data[idx].pos; }
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inline unsigned int getFlag(int idx) const { return data[idx].flag; }
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NAVMESH_API void getPos(int idx, dtReal* pos);
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NAVMESH_API void copyRefs(dtPolyRef* refs, int nmax);
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NAVMESH_API void copyCosts(dtReal* costs, int nmax);
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NAVMESH_API void copyPos(dtReal* pos, int nmax);
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NAVMESH_API void copyFlags(unsigned char* flags, int nmax);
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NAVMESH_API void copyFlags(unsigned int* flags, int nmax);
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protected:
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dtChunkArray<dtQueryResultPack> data;
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inline int addItem(dtPolyRef ref, dtReal cost, const dtReal* pos, unsigned int flag) { data.push(dtQueryResultPack(ref, cost, pos, flag)); return data.size() - 1; }
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inline void setRef(int idx, dtPolyRef ref) { data[idx].ref = ref; }
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inline void setCost(int idx, dtReal cost) { data[idx].cost = cost; }
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inline void setFlag(int idx, unsigned int flag) { data[idx].flag = flag; }
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NAVMESH_API void setPos(int idx, const dtReal* pos);
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friend class dtNavMeshQuery;
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};
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/// Provides the ability to perform pathfinding related queries against
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/// a navigation mesh.
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/// @ingroup detour
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class dtNavMeshQuery
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{
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public:
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NAVMESH_API dtNavMeshQuery();
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NAVMESH_API ~dtNavMeshQuery();
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/// Initializes the query object.
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/// @param[in] nav Pointer to the dtNavMesh object to use for all queries.
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/// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65536]
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/// @param[in] linkFilter Special link filter used for every query
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/// @returns The status flags for the query.
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NAVMESH_API dtStatus init(const dtNavMesh* nav, const int maxNodes, dtQuerySpecialLinkFilter* linkFilter = 0);
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/// UE: updates special link filter for this query
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NAVMESH_API void updateLinkFilter(dtQuerySpecialLinkFilter* linkFilter);
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/// @name Standard Pathfinding Functions
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// /@{
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/// Finds a path from the start polygon to the end polygon.
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/// @param[in] startRef The reference id of the start polygon.
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/// @param[in] endRef The reference id of the end polygon.
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/// @param[in] startPos A position within the start polygon. [(x, y, z)]
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/// @param[in] endPos A position within the end polygon. [(x, y, z)]
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/// @param[in] costLimit Cost limit of nodes allowed to be added to the open list //@UE
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/// @param[in] filter The polygon filter to apply to the query.
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/// @param[out] result Results for path corridor, fills in refs and costs for each poly from start to end
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/// @param[out] totalCost If provided will get filled will total cost of path
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NAVMESH_API dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef,
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const dtReal* startPos, const dtReal* endPos, const dtReal costLimit, //@UE
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const dtQueryFilter* filter,
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dtQueryResult& result, dtReal* totalCost) const;
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/// Finds the straight path from the start to the end position within the polygon corridor.
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/// @param[in] startPos Path start position. [(x, y, z)]
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/// @param[in] endPos Path end position. [(x, y, z)]
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/// @param[in] path An array of polygon references that represent the path corridor.
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/// @param[in] pathSize The number of polygons in the @p path array.
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/// @param[out] result Fills in positions, refs and flags
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/// @param[in] options Query options. (see: #dtStraightPathOptions)
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/// @returns The status flags for the query.
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NAVMESH_API dtStatus findStraightPath(const dtReal* startPos, const dtReal* endPos,
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const dtPolyRef* path, const int pathSize,
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dtQueryResult& result, const int options = 0) const;
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///@}
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/// @name Sliced Pathfinding Functions
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/// Common use case:
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/// -# Call initSlicedFindPath() to initialize the sliced path query.
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/// -# Call updateSlicedFindPath() until it returns complete.
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/// -# Call finalizeSlicedFindPath() to get the path.
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///@{
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/// Initializes a sliced path query.
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/// @param[in] startRef The refrence id of the start polygon.
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/// @param[in] endRef The reference id of the end polygon.
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/// @param[in] startPos A position within the start polygon. [(x, y, z)]
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/// @param[in] endPos A position within the end polygon. [(x, y, z)]
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/// @param[in] costLimit Cost limit of nodes allowed to be added to the open list //@UE
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/// @param[in] requireNavigableEndLocation Define if the end location is required to be a valid navmesh polygon //@UE
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/// @param[in] filter The polygon filter to apply to the query.
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/// @returns The status flags for the query.
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NAVMESH_API dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
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const dtReal* startPos, const dtReal* endPos, const dtReal costLimit, const bool requireNavigableEndLocation, //@UE
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const dtQueryFilter* filter);
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/// Updates an in-progress sliced path query.
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/// @param[in] maxIter The maximum number of iterations to perform.
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/// @param[out] doneIters The actual number of iterations completed. [opt]
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/// @returns The status flags for the query.
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NAVMESH_API dtStatus updateSlicedFindPath(const int maxIter, int* doneIters);
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/// Finalizes and returns the results of a sliced path query.
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/// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
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/// [(polyRef) * @p pathCount]
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/// @param[out] pathCount The number of polygons returned in the @p path array.
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/// @param[in] maxPath The max number of polygons the path array can hold. [Limit: >= 1]
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
|
|
|
|
/// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest
|
|
/// polygon on the existing path that was visited during the search.
|
|
/// @param[out] existing An array of polygon references for the existing path.
|
|
/// @param[out] existingSize The number of polygon in the @p existing array.
|
|
/// @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 max number of polygons the @p path array can hold. [Limit: >= 1]
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
|
|
dtPolyRef* path, int* pathCount, const int maxPath);
|
|
|
|
///@}
|
|
/// @name Dijkstra Search Functions
|
|
/// @{
|
|
|
|
/// Finds the polygons along the navigation graph that touch the specified circle.
|
|
/// @param[in] startRef The reference id of the polygon where the search starts.
|
|
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
|
|
/// @param[in] radius The radius of the search circle.
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
|
/// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt]
|
|
/// @param[out] resultParent The reference ids of the parent polygons for each result.
|
|
/// Zero if a result polygon has no parent. [opt]
|
|
/// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt]
|
|
/// @param[out] resultCount The number of polygons found.
|
|
/// @param[in] maxResult The maximum number of polygons the result arrays can hold.
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus findPolysAroundCircle(dtPolyRef startRef, const dtReal* centerPos, const dtReal radius,
|
|
const dtQueryFilter* filter,
|
|
dtPolyRef* resultRef, dtPolyRef* resultParent, dtReal* resultCost,
|
|
int* resultCount, const int maxResult) const;
|
|
|
|
/// Finds the polygons along the naviation graph that touch the specified convex polygon.
|
|
/// @param[in] startRef The reference id of the polygon where the search starts.
|
|
/// @param[in] verts The vertices describing the convex polygon. (CCW)
|
|
/// [(x, y, z) * @p nverts]
|
|
/// @param[in] nverts The number of vertices in the polygon.
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
|
/// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt]
|
|
/// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a
|
|
/// result polygon has no parent. [opt]
|
|
/// @param[out] resultCost The search cost from the centroid point to the polygon. [opt]
|
|
/// @param[out] resultCount The number of polygons found.
|
|
/// @param[in] maxResult The maximum number of polygons the result arrays can hold.
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus findPolysAroundShape(dtPolyRef startRef, const dtReal* verts, const int nverts,
|
|
const dtQueryFilter* filter,
|
|
dtPolyRef* resultRef, dtPolyRef* resultParent, dtReal* resultCost,
|
|
int* resultCount, const int maxResult) const;
|
|
|
|
//@UE BEGIN
|
|
/// Finds the polygons along the navigation graph that are no more than given path length away from centerPos.
|
|
/// @param[in] startRef The reference id of the polygon where the search starts.
|
|
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
|
|
/// @param[in] pathDistance The path distance limit of the search
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
|
/// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt]
|
|
/// @param[out] resultCount The number of polygons found. [opt]
|
|
/// @param[in] maxResult The maximum number of polygons the result arrays can hold.
|
|
/// @returns The status flags for the querydtReal
|
|
NAVMESH_API dtStatus findPolysInPathDistance(dtPolyRef startRef, const dtReal* centerPos, const dtReal pathDistance,
|
|
const dtQueryFilter* filter, dtPolyRef* resultRef,
|
|
int* resultCount, const int maxResult) 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] 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)]
|
|
/// @param[in] referencePt If supplied replaces @param center in terms of distance measurements. Note that extents are not precise when using a referencePt. [opt] [(x, y, z)]
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus findNearestPoly(const dtReal* center, const dtReal* extents,
|
|
const dtQueryFilter* filter,
|
|
dtPolyRef* nearestRef, dtReal* nearestPt, const dtReal* referencePt = 0) const;
|
|
|
|
/// Finds the polygon 2D-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] 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)]
|
|
/// @param[in] referencePt If supplied replaces @param center in terms of distance measurements. Note that extents are not precise when using a referencePt. [opt] [(x, y, z)]
|
|
/// @param[in] tolerance Radius around best 2D point for picking vertical match
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus findNearestPoly2D(const dtReal* center, const dtReal* extents,
|
|
const dtQueryFilter* filter,
|
|
dtPolyRef* outProjectedRef, dtReal* outProjectedPt,
|
|
const dtReal* referencePt = 0, dtReal tolerance = 0) const;
|
|
|
|
/// Finds the nearest polygon in height containing 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] 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.
|
|
NAVMESH_API dtStatus findNearestContainingPoly(const dtReal* center, const dtReal* extents,
|
|
const dtQueryFilter* filter,
|
|
dtPolyRef* nearestRef, dtReal* nearestPt) const;
|
|
//@UE END
|
|
|
|
/// 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[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.
|
|
NAVMESH_API dtStatus queryPolygons(const dtReal* center, const dtReal* extents,
|
|
const dtQueryFilter* filter,
|
|
dtPolyRef* polys, int* polyCount, const int maxPolys) 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)]
|
|
/// @param[in] radius The radius of the query circle.
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
|
/// @param[out] resultRef The reference ids of the polygons touched by the circle.
|
|
/// @param[out] resultParent The reference ids of the parent polygons for each result.
|
|
/// Zero if a result polygon has no parent. [opt]
|
|
/// @param[out] resultCount The number of polygons found.
|
|
/// @param[in] maxResult The maximum number of polygons the result arrays can hold.
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus findLocalNeighbourhood(dtPolyRef startRef, const dtReal* centerPos, const dtReal radius,
|
|
const dtQueryFilter* filter,
|
|
dtPolyRef* resultRef, dtPolyRef* resultParent,
|
|
int* resultCount, const int maxResult) const;
|
|
|
|
/// [UE] Finds the wall segments in local neighbourhood
|
|
NAVMESH_API dtStatus findWallsInNeighbourhood(dtPolyRef startRef, const dtReal* centerPos, const dtReal radius,
|
|
const dtQueryFilter* filter,
|
|
dtPolyRef* neiRefs, int* neiCount, const int maxNei,
|
|
dtReal* resultWalls, dtPolyRef* resultRefs, int* resultCount, const int maxResult) const;
|
|
|
|
|
|
/// [UE] Finds the wall segments that overlap the polygon shape.
|
|
NAVMESH_API dtStatus findWallsOverlappingShape(dtPolyRef startRef, const dtReal* verts, const int nverts,
|
|
const dtQueryFilter* filter,
|
|
dtPolyRef* neiRefs, int* neiCount, const int maxNei,
|
|
dtReal* resultWalls, dtPolyRef* resultRefs, int* resultCount, const int maxResult) const;
|
|
|
|
/// [UE] Finds the wall segments that overlap the polygon shape.
|
|
NAVMESH_API dtStatus findWallsAroundPath(const dtPolyRef* path, const int pathCount, const dtReal* searchAreaPoly, const int searchAreaPolyCount,
|
|
const dtReal maxAreaEnterCost, const dtQueryFilter* filter,
|
|
dtPolyRef* neiRefs, int* neiCount, const int maxNei,
|
|
dtReal* resultWalls, dtPolyRef* resultRefs, int* resultCount, const int maxResult) const;
|
|
|
|
/// Moves from the start to the end position constrained to the navigation mesh.
|
|
/// @param[in] startRef The reference id of the start polygon.
|
|
/// @param[in] startPos A position of the mover within the start polygon. [(x, y, x)]
|
|
/// @param[in] endPos The desired end position of the mover. [(x, y, z)]
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
|
/// @param[out] resultPos The result position of the mover. [(x, y, z)]
|
|
/// @param[out] visited The reference ids of the polygons visited during the move.
|
|
/// @param[out] visitedCount The number of polygons visited during the move.
|
|
/// @param[in] maxVisitedSize The maximum number of polygons the @p visited array can hold.
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus moveAlongSurface(dtPolyRef startRef, const dtReal* startPos, const dtReal* endPos,
|
|
const dtQueryFilter* filter,
|
|
dtReal* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const;
|
|
|
|
/// Casts a 'walkability' ray along the surface of the navigation mesh from
|
|
/// the start position toward the end position.
|
|
/// @param[in] startRef The reference id of the start polygon.
|
|
/// @param[in] startPos A position within the start polygon representing
|
|
/// the start of the ray. [(x, y, z)]
|
|
/// @param[in] endPos The position to cast the ray toward. [(x, y, z)]
|
|
/// @param[out] t The hit parameter. (DT_REAL_MAX if no wall hit.)
|
|
/// @param[out] hitNormal The normal of the nearest wall hit. [(x, y, z)]
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
|
/// @param[out] path The reference ids of the visited polygons. [opt]
|
|
/// @param[out] pathCount The number of visited polygons. [opt]
|
|
/// @param[in] maxPath The maximum number of polygons the @p path array can hold.
|
|
/// @param[in] walkableArea Specific area that can be visited or 255 to skip it and test all areas.
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus raycast(dtPolyRef startRef, const dtReal* startPos, const dtReal* endPos,
|
|
const dtQueryFilter* filter,
|
|
dtReal* t, dtReal* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const;
|
|
|
|
/// Finds the distance from the specified position to the nearest polygon wall.
|
|
/// @param[in] startRef The reference id of the polygon containing @p centerPos.
|
|
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
|
|
/// @param[in] maxRadius The radius of the search circle.
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
|
/// @param[out] hitDist The distance to the nearest wall from @p centerPos.
|
|
/// @param[out] hitPos The nearest position on the wall that was hit. [(x, y, z)]
|
|
/// @param[out] hitNormal The normalized ray formed from the wall point to the
|
|
/// source point. [(x, y, z)]
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus findDistanceToWall(dtPolyRef startRef, const dtReal* centerPos, const dtReal maxRadius,
|
|
const dtQueryFilter* filter,
|
|
dtReal* hitDist, dtReal* hitPos, dtReal* hitNormal) const;
|
|
|
|
/// Returns the segments for the specified polygon, optionally including portals.
|
|
/// @param[in] ref The reference id of the polygon.
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
|
/// @param[out] segmentVerts The segments. [(ax, ay, az, bx, by, bz) * segmentCount]
|
|
/// @param[out] segmentRefs The reference ids of each segment's neighbor polygon.
|
|
/// Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount]
|
|
/// @param[out] segmentCount The number of segments returned.
|
|
/// @param[in] maxSegments The maximum number of segments the result arrays can hold.
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
|
|
dtReal* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount,
|
|
const int maxSegments) const;
|
|
|
|
/// Returns random location on navmesh.
|
|
/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
|
/// @param[in] frand Function returning a random number [0..1).
|
|
/// @param[out] randomRef The reference id of the random location.
|
|
/// @param[out] randomPt The random location.
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus findRandomPoint(const dtQueryFilter* filter, float(*frand)(),
|
|
dtPolyRef* randomRef, dtReal* randomPt) const;
|
|
|
|
/// Returns random location on navmesh within the reach of specified location.
|
|
/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
|
|
/// The location is not exactly constrained by the circle, but it limits the visited polygons.
|
|
/// @param[in] startRef The reference id of the polygon where the search starts.
|
|
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
|
|
/// @param[in] filter The polygon filter to apply to the query.
|
|
/// @param[in] frand Function returning a random number [0..1).
|
|
/// @param[out] randomRef The reference id of the random location.
|
|
/// @param[out] randomPt The random location. [(x, y, z)]
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus findRandomPointAroundCircle(dtPolyRef startRef, const dtReal* centerPos, const dtReal maxRadius,
|
|
const dtQueryFilter* filter, float(*frand)(),
|
|
dtPolyRef* randomRef, dtReal* randomPt) const;
|
|
|
|
/// Returns random location inside the specified polygon.
|
|
/// @param[in] ref The reference id of the polygon.
|
|
/// @param[in] frand Function returning a random number [0..1).
|
|
/// @param[out] randomPt The random location. [(x, y, z)]
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus findRandomPointInPoly(dtPolyRef ref, float(*frand)(), dtReal* randomPt) const;
|
|
|
|
//@UE BEGIN
|
|
#if WITH_NAVMESH_CLUSTER_LINKS
|
|
/// Check if there is a path from start polygon to the end polygon using cluster graph
|
|
/// (cheap, does not care about link costs)
|
|
/// @param[in] startRef The reference id of the start polygon.
|
|
/// @param[in] endRef The reference id of the end polygon.
|
|
NAVMESH_API dtStatus testClusterPath(dtPolyRef startRef, dtPolyRef endRef) const;
|
|
|
|
/// Returns random location on navmesh within specified cluster.
|
|
/// @param[in] frand Function returning a random number [0..1).
|
|
/// @param[out] randomRef The reference id of the random location.
|
|
/// @param[out] randomPt The random location.
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus findRandomPointInCluster(dtClusterRef clusterRef, float(*frand)(),
|
|
dtPolyRef* randomRef, dtReal* randomPt) const;
|
|
|
|
/// Gets the cluster containing given polygon
|
|
/// @param[in] polyRef The reference id of the polygon.
|
|
/// @param[out] clusterRef The reference id of the cluster
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus getPolyCluster(dtPolyRef polyRef, dtClusterRef& clusterRef) const;
|
|
#endif // WITH_NAVMESH_CLUSTER_LINKS
|
|
//@UE END
|
|
|
|
/// Finds the closest point on the specified polygon.
|
|
/// @param[in] ref The reference id of the polygon.
|
|
/// @param[in] pos The position to check. [(x, y, z)]
|
|
/// @param[out] closest The closest point on the polygon. [(x, y, z)]
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus closestPointOnPoly(dtPolyRef ref, const dtReal* pos, dtReal* closest) const;
|
|
|
|
/// Returns a point on the boundary closest to the source point if the source point is outside the
|
|
/// polygon's xz-bounds.
|
|
/// @param[in] ref The reference id to the polygon.
|
|
/// @param[in] pos The position to check. [(x, y, z)]
|
|
/// @param[out] closest The closest point. [(x, y, z)]
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const dtReal* pos, dtReal* closest) const;
|
|
|
|
/// Finds the point's projection on the specified polygon.
|
|
/// @param[in] ref The reference id of the polygon.
|
|
/// @param[in] pos The position to check. [(x, y, z)]
|
|
/// @param[out] closest The projected point on the polygon. [(x, y, z)]
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus projectedPointOnPoly(dtPolyRef ref, const dtReal* pos, dtReal* projected) const;
|
|
|
|
/// Checks if specified pos is inside given polygon specified by ref
|
|
/// @param[in] ref The reference id of the polygon.
|
|
/// @param[in] pos The position to check. [(x, y, z)]
|
|
/// @param[out] result The result of the check, whether the point is inside (true) or not (false)
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus isPointInsidePoly(dtPolyRef ref, const dtReal* pos, bool& result) const;
|
|
|
|
/// Gets the height of the polygon at the provided position using the height detail. (Most accurate.)
|
|
/// @param[in] ref The reference id of the polygon.
|
|
/// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)]
|
|
/// @param[out] height The height at the surface of the polygon.
|
|
/// @returns The status flags for the query.
|
|
NAVMESH_API dtStatus getPolyHeight(dtPolyRef ref, const dtReal* pos, dtReal* height) const;
|
|
|
|
/// @}
|
|
/// @name Miscellaneous Functions
|
|
/// @{
|
|
|
|
/// Returns true if the polygon reference is valid and passes the filter restrictions.
|
|
/// @param[in] ref The polygon reference to check.
|
|
/// @param[in] filter The filter to apply.
|
|
NAVMESH_API bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const;
|
|
|
|
/// Returns true if the polygon reference is in the closed list.
|
|
/// @param[in] ref The reference id of the polygon to check.
|
|
/// @returns True if the polygon is in closed list.
|
|
NAVMESH_API bool isInClosedList(dtPolyRef ref) const;
|
|
|
|
/// Returns true if the cluster link was used in previous search.
|
|
/// @param[in] cFrom The reference id of the start cluster.
|
|
/// @param[in] cto The reference id of the end cluster.
|
|
/// @returns True if the cluster link was searched.
|
|
NAVMESH_API bool wasClusterLinkSearched(dtPolyRef cFrom, dtPolyRef cTo) const;
|
|
|
|
/// Gets the node pool.
|
|
/// @returns The node pool.
|
|
class dtNodePool* getNodePool() const { return m_nodePool; }
|
|
|
|
/// Gets the navigation mesh the query object is using.
|
|
/// @return The navigation mesh the query object is using.
|
|
const dtNavMesh* getAttachedNavMesh() const { return m_nav; }
|
|
|
|
/// Gets best node ref and cost from sliced pathfinding data
|
|
void getCurrentBestResult(struct dtNode*& bestNode, dtReal& bestCost) const { bestNode = m_query.lastBestNode; bestCost = m_query.lastBestNodeCost; }
|
|
|
|
int getQueryNodes() const { return m_queryNodes; }
|
|
/// @}
|
|
|
|
private:
|
|
|
|
/// Returns neighbour tile based on side.
|
|
NAVMESH_API dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
|
|
|
|
/// Queries polygons within a tile.
|
|
NAVMESH_API int queryPolygonsInTile(const dtMeshTile* tile, const dtReal* qmin, const dtReal* qmax, const dtQueryFilter* filter,
|
|
dtPolyRef* polys, const int maxPolys) const;
|
|
/// Find nearest polygon within a tile.
|
|
NAVMESH_API dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const dtReal* center, const dtReal* extents,
|
|
const dtQueryFilter* filter, dtReal* nearestPt) const;
|
|
/// Returns closest point on polygon.
|
|
NAVMESH_API void closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const dtReal* pos, dtReal* closest) const;
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/// Returns projected point on polygon.
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NAVMESH_API dtStatus projectedPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const dtReal* pos, dtReal* projected) const;
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//@UE BEGIN
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/// Handle 0 extents by having the vector components set to a minimum value.
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static void dtApplyEpsilon(dtReal* extents);
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// exposing function to be able to generate navigation corridors as sequence of point pairs
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public:
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/// Returns portal points between two polygons.
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NAVMESH_API dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, dtReal* left, dtReal* right,
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unsigned char& fromType, unsigned char& toType) const;
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NAVMESH_API 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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dtReal* left, dtReal* right) const;
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/// Returns edge mid point between two polygons.
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NAVMESH_API dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, dtReal* mid) const;
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NAVMESH_API 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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dtReal* mid) const;
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//@UE END
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// Appends vertex to a straight path
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NAVMESH_API dtStatus appendVertex(const dtReal* pos, const unsigned char flags, const dtPolyRef ref,
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dtQueryResult& result, const bool bOverrideIdenticalPosition = true) const;
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// Appends intermediate portal points to a straight path.
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NAVMESH_API dtStatus appendPortals(const int startIdx, const int endIdx, const dtReal* endPos, const dtPolyRef* path,
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dtQueryResult& result, const int options) const;
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inline bool passLinkFilterByRef(const dtMeshTile* tile, const dtPolyRef ref) const
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{
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return passLinkFilter(tile, m_nav->decodePolyIdPoly(ref));
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}
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inline bool passLinkFilter(const dtMeshTile* tile, const int polyIdx) const
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{
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const int linkIdx = polyIdx - tile->header->offMeshBase;
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return !(m_linkFilter && polyIdx >= tile->header->offMeshBase
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&& linkIdx < tile->header->offMeshConCount
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&& tile->offMeshCons[linkIdx].userId != 0
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&& m_linkFilter->isLinkAllowed(tile->offMeshCons[linkIdx].userId) == false);
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}
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//@UE BEGIN
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inline void setRequireNavigableEndLocation(const bool value) { m_query.requireNavigableEndLocation = value; }
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inline bool isRequiringNavigableEndLocation() const { return m_query.requireNavigableEndLocation; }
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//@UE END
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private:
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const dtNavMesh* m_nav; ///< Pointer to navmesh data.
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dtQuerySpecialLinkFilter* m_linkFilter; ///< Pointer to optional special link filter
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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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dtReal lastBestNodeCost;
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dtPolyRef startRef, endRef;
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dtReal startPos[3], endPos[3];
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dtReal costLimit; //@UE ///< Cost limit of nodes allowed to be added to the open list
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const dtQueryFilter* filter;
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unsigned char requireNavigableEndLocation : 1; //@UE
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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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mutable int m_queryNodes;
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};
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/// Allocates a query object using the Detour allocator.
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/// @return An allocated query object, or null on failure.
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/// @ingroup detour
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NAVMESH_API dtNavMeshQuery* dtAllocNavMeshQuery();
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/// Frees the specified query object using the Detour allocator.
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/// @param[in] query A query object allocated using #dtAllocNavMeshQuery
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/// @ingroup detour
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NAVMESH_API void dtFreeNavMeshQuery(dtNavMeshQuery* query);
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#endif // DETOURNAVMESHQUERY_H
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