91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
// Copyright Epic Games, Inc. All Rights Reserved.
|
|
// Modified version of Recast/Detour's source file
|
|
|
|
//
|
|
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
|
|
//
|
|
// This software is provided 'as-is', without any express or implied
|
|
// warranty. In no event will the authors be held liable for any damages
|
|
// arising from the use of this software.
|
|
// Permission is granted to anyone to use this software for any purpose,
|
|
// including commercial applications, and to alter it and redistribute it
|
|
// freely, subject to the following restrictions:
|
|
// 1. The origin of this software must not be misrepresented; you must not
|
|
// claim that you wrote the original software. If you use this software
|
|
// in a product, an acknowledgment in the product documentation would be
|
|
// appreciated but is not required.
|
|
// 2. Altered source versions must be plainly marked as such, and must not be
|
|
// misrepresented as being the original software.
|
|
// 3. This notice may not be removed or altered from any source distribution.
|
|
//
|
|
|
|
#ifndef DETOURPATHQUEUE_H
|
|
#define DETOURPATHQUEUE_H
|
|
|
|
#include "CoreMinimal.h"
|
|
#include "Detour/DetourLargeWorldCoordinates.h"
|
|
#include "Detour/DetourNavMesh.h"
|
|
#include "Detour/DetourNavMeshQuery.h"
|
|
#include "Detour/DetourStatus.h"
|
|
#include "Templates/SharedPointer.h"
|
|
|
|
class dtNavMeshQuery;
|
|
class dtQueryFilter;
|
|
struct dtQuerySpecialLinkFilter;
|
|
|
|
static const unsigned int DT_PATHQ_INVALID = 0;
|
|
|
|
typedef unsigned int dtPathQueueRef;
|
|
|
|
class dtPathQueue
|
|
{
|
|
struct PathQuery
|
|
{
|
|
dtPathQueueRef ref;
|
|
/// Path find start and end location.
|
|
dtReal startPos[3], endPos[3];
|
|
dtPolyRef startRef, endRef;
|
|
dtReal costLimit;
|
|
unsigned char requireNavigableEndLocation : 1; // @UE
|
|
/// Result.
|
|
dtPolyRef* path;
|
|
const dtQueryFilter* filter;
|
|
TSharedPtr<dtQuerySpecialLinkFilter> linkFilter;
|
|
int npath;
|
|
/// State.
|
|
dtStatus status;
|
|
int keepAlive;
|
|
};
|
|
|
|
static const int MAX_QUEUE = 8;
|
|
PathQuery m_queue[MAX_QUEUE];
|
|
dtNavMeshQuery* m_navquery;
|
|
dtPathQueueRef m_nextHandle;
|
|
int m_maxPathSize;
|
|
int m_queueHead;
|
|
|
|
void purge();
|
|
|
|
public:
|
|
dtPathQueue();
|
|
~dtPathQueue();
|
|
|
|
bool init(const int maxPathSize, const int maxSearchNodeCount, dtNavMesh* nav);
|
|
|
|
void update(const int maxIters);
|
|
|
|
dtPathQueueRef request(dtPolyRef startRef, dtPolyRef endRef,
|
|
const dtReal* startPos, const dtReal* endPos, const dtReal costLimit, const bool requireNavigableEndLocation, //@UE
|
|
const dtQueryFilter* filter,
|
|
TSharedPtr<dtQuerySpecialLinkFilter> linkFilter);
|
|
|
|
dtStatus getRequestStatus(dtPathQueueRef ref) const;
|
|
|
|
dtStatus getPathResult(dtPathQueueRef ref, dtPolyRef* path, int* pathSize, const int maxPath);
|
|
|
|
inline const dtNavMeshQuery* getNavQuery() const { return m_navquery; }
|
|
|
|
};
|
|
|
|
#endif // DETOURPATHQUEUE_H
|