diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgentState.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgentState.cs index 15b9dbc..eda9251 100644 --- a/src/DotRecast.Detour.Crowd/DtCrowdAgentState.cs +++ b/src/DotRecast.Detour.Crowd/DtCrowdAgentState.cs @@ -4,12 +4,8 @@ /// @ingroup crowd public enum DtCrowdAgentState { - DT_CROWDAGENT_STATE_INVALID, - - /// < The agent is not in a valid state. - DT_CROWDAGENT_STATE_WALKING, - - /// < The agent is traversing a normal navigation mesh polygon. - DT_CROWDAGENT_STATE_OFFMESH, /// < The agent is traversing an off-mesh connection. + DT_CROWDAGENT_STATE_INVALID, // < The agent is not in a valid state. + DT_CROWDAGENT_STATE_WALKING, // < The agent is traversing a normal navigation mesh polygon. + DT_CROWDAGENT_STATE_OFFMESH, // < The agent is traversing an off-mesh connection. }; } \ No newline at end of file diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs index e680aed..91d5086 100644 --- a/src/DotRecast.Detour/DtNavMeshQuery.cs +++ b/src/DotRecast.Detour/DtNavMeshQuery.cs @@ -226,7 +226,7 @@ namespace DotRecast.Detour startNode.cost = 0; startNode.total = 0; startNode.id = startRef; - startNode.flags = DT_NODE_OPEN; + startNode.flags = DtNodeFlags.DT_NODE_OPEN; m_openList.Push(startNode); DtStatus status = DtStatus.DT_SUCCSESS; @@ -241,8 +241,8 @@ namespace DotRecast.Detour while (!m_openList.IsEmpty()) { DtNode bestNode = m_openList.Pop(); - bestNode.flags &= ~DT_NODE_OPEN; - bestNode.flags |= DT_NODE_CLOSED; + bestNode.flags &= ~DtNodeFlags.DT_NODE_OPEN; + bestNode.flags |= DtNodeFlags.DT_NODE_CLOSED; // Get poly and tile. // The API input has been checked already, skip checking internal data. long bestRef = bestNode.id; @@ -331,7 +331,7 @@ namespace DotRecast.Detour continue; } - if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0) { continue; } @@ -345,23 +345,23 @@ namespace DotRecast.Detour float total = bestNode.total + RcVec3f.Distance(bestNode.pos, neighbourNode.pos); // The node is already in open list and the new result is worse, skip. - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { continue; } neighbourNode.id = neighbourRef; - neighbourNode.flags = (neighbourNode.flags & ~DtNode.DT_NODE_CLOSED); + neighbourNode.flags = (neighbourNode.flags & ~DtNodeFlags.DT_NODE_CLOSED); neighbourNode.pidx = m_nodePool.GetNodeIdx(bestNode); neighbourNode.total = total; - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0) { m_openList.Modify(neighbourNode); } else { - neighbourNode.flags = DtNode.DT_NODE_OPEN; + neighbourNode.flags = DtNodeFlags.DT_NODE_OPEN; m_openList.Push(neighbourNode); } } @@ -780,7 +780,7 @@ namespace DotRecast.Detour startNode.cost = 0; startNode.total = heuristic.GetCost(startPos, endPos); startNode.id = startRef; - startNode.flags = DtNode.DT_NODE_OPEN; + startNode.flags = DtNodeFlags.DT_NODE_OPEN; m_openList.Push(startNode); DtNode lastBestNode = startNode; @@ -791,8 +791,8 @@ namespace DotRecast.Detour { // Remove node from open list and put it in closed list. DtNode bestNode = m_openList.Pop(); - bestNode.flags &= ~DtNode.DT_NODE_OPEN; - bestNode.flags |= DtNode.DT_NODE_CLOSED; + bestNode.flags &= ~DtNodeFlags.DT_NODE_OPEN; + bestNode.flags |= DtNodeFlags.DT_NODE_CLOSED; // Reached the goal, stop searching. if (bestNode.id == endRef) @@ -925,13 +925,13 @@ namespace DotRecast.Detour float total = cost + heuristicCost; // The node is already in open list and the new result is worse, skip. - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { continue; } // The node is already visited and process, and the new result is worse, skip. - if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total) { continue; } @@ -939,13 +939,13 @@ namespace DotRecast.Detour // Add or update the node. neighbourNode.pidx = foundShortCut ? bestNode.pidx : m_nodePool.GetNodeIdx(bestNode); neighbourNode.id = neighbourRef; - neighbourNode.flags = (neighbourNode.flags & ~DtNode.DT_NODE_CLOSED); + neighbourNode.flags = (neighbourNode.flags & ~DtNodeFlags.DT_NODE_CLOSED); neighbourNode.cost = cost; neighbourNode.total = total; neighbourNode.pos = neighbourPos; neighbourNode.shortcut = shortcut; - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0) { // Already in open, update node location. m_openList.Modify(neighbourNode); @@ -953,7 +953,7 @@ namespace DotRecast.Detour else { // Put the node in open list. - neighbourNode.flags |= DtNode.DT_NODE_OPEN; + neighbourNode.flags |= DtNodeFlags.DT_NODE_OPEN; m_openList.Push(neighbourNode); } @@ -1050,7 +1050,7 @@ namespace DotRecast.Detour startNode.cost = 0; startNode.total = heuristic.GetCost(startPos, endPos); startNode.id = startRef; - startNode.flags = DtNode.DT_NODE_OPEN; + startNode.flags = DtNodeFlags.DT_NODE_OPEN; m_openList.Push(startNode); m_query.status = DtStatus.DT_IN_PROGRESS; @@ -1089,8 +1089,8 @@ namespace DotRecast.Detour // Remove node from open list and put it in closed list. DtNode bestNode = m_openList.Pop(); - bestNode.flags &= ~DtNode.DT_NODE_OPEN; - bestNode.flags |= DtNode.DT_NODE_CLOSED; + bestNode.flags &= ~DtNodeFlags.DT_NODE_OPEN; + bestNode.flags |= DtNodeFlags.DT_NODE_CLOSED; // Reached the goal, stop searching. if (bestNode.id == m_query.endRef) @@ -1249,14 +1249,14 @@ namespace DotRecast.Detour // The node is already in open list and the new result is worse, // skip. - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { continue; } // The node is already visited and process, and the new result // is worse, skip. - if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total) { continue; } @@ -1264,13 +1264,13 @@ namespace DotRecast.Detour // Add or update the node. neighbourNode.pidx = foundShortCut ? bestNode.pidx : m_nodePool.GetNodeIdx(bestNode); neighbourNode.id = neighbourRef; - neighbourNode.flags = (neighbourNode.flags & ~DT_NODE_CLOSED); + neighbourNode.flags = (neighbourNode.flags & ~DtNodeFlags.DT_NODE_CLOSED); neighbourNode.cost = cost; neighbourNode.total = total; neighbourNode.pos = neighbourPos; neighbourNode.shortcut = shortcut; - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0) { // Already in open, update node location. m_openList.Modify(neighbourNode); @@ -1278,7 +1278,7 @@ namespace DotRecast.Detour else { // Put the node in open list. - neighbourNode.flags |= DtNode.DT_NODE_OPEN; + neighbourNode.flags |= DtNodeFlags.DT_NODE_OPEN; m_openList.Push(neighbourNode); } @@ -1792,7 +1792,7 @@ namespace DotRecast.Detour startNode.cost = 0; startNode.total = 0; startNode.id = startRef; - startNode.flags = DtNode.DT_NODE_CLOSED; + startNode.flags = DtNodeFlags.DT_NODE_CLOSED; LinkedList stack = new LinkedList(); stack.AddLast(startNode); @@ -1894,7 +1894,7 @@ namespace DotRecast.Detour { DtNode neighbourNode = tinyNodePool.GetNode(neis[k]); // Skip if already visited. - if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0) { continue; } @@ -1911,7 +1911,7 @@ namespace DotRecast.Detour // Mark as the node as visited and push to queue. neighbourNode.pidx = tinyNodePool.GetNodeIdx(curNode); - neighbourNode.flags |= DtNode.DT_NODE_CLOSED; + neighbourNode.flags |= DtNodeFlags.DT_NODE_CLOSED; stack.AddLast(neighbourNode); } } @@ -2452,7 +2452,7 @@ namespace DotRecast.Detour startNode.cost = 0; startNode.total = 0; startNode.id = startRef; - startNode.flags = DtNode.DT_NODE_OPEN; + startNode.flags = DtNodeFlags.DT_NODE_OPEN; m_openList.Push(startNode); float radiusSqr = RcMath.Sqr(radius); @@ -2460,8 +2460,8 @@ namespace DotRecast.Detour while (!m_openList.IsEmpty()) { DtNode bestNode = m_openList.Pop(); - bestNode.flags &= ~DtNode.DT_NODE_OPEN; - bestNode.flags |= DtNode.DT_NODE_CLOSED; + bestNode.flags &= ~DtNodeFlags.DT_NODE_OPEN; + bestNode.flags |= DtNodeFlags.DT_NODE_CLOSED; // Get poly and tile. // The API input has been checked already, skip checking internal data. @@ -2522,7 +2522,7 @@ namespace DotRecast.Detour DtNode neighbourNode = m_nodePool.GetNode(neighbourRef); - if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0) { continue; } @@ -2538,7 +2538,7 @@ namespace DotRecast.Detour float total = bestNode.total + cost; // The node is already in open list and the new result is worse, skip. - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { continue; } @@ -2547,13 +2547,13 @@ namespace DotRecast.Detour neighbourNode.pidx = m_nodePool.GetNodeIdx(bestNode); neighbourNode.total = total; - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0) { m_openList.Modify(neighbourNode); } else { - neighbourNode.flags = DtNode.DT_NODE_OPEN; + neighbourNode.flags = DtNodeFlags.DT_NODE_OPEN; m_openList.Push(neighbourNode); } } @@ -2631,14 +2631,14 @@ namespace DotRecast.Detour startNode.cost = 0; startNode.total = 0; startNode.id = startRef; - startNode.flags = DtNode.DT_NODE_OPEN; + startNode.flags = DtNodeFlags.DT_NODE_OPEN; m_openList.Push(startNode); while (!m_openList.IsEmpty()) { DtNode bestNode = m_openList.Pop(); - bestNode.flags &= ~DtNode.DT_NODE_OPEN; - bestNode.flags |= DtNode.DT_NODE_CLOSED; + bestNode.flags &= ~DtNodeFlags.DT_NODE_OPEN; + bestNode.flags |= DtNodeFlags.DT_NODE_CLOSED; // Get poly and tile. // The API input has been checked already, skip checking internal data. @@ -2704,7 +2704,7 @@ namespace DotRecast.Detour DtNode neighbourNode = m_nodePool.GetNode(neighbourRef); - if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0) { continue; } @@ -2721,7 +2721,7 @@ namespace DotRecast.Detour float total = bestNode.total + cost; // The node is already in open list and the new result is worse, skip. - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { continue; } @@ -2730,13 +2730,13 @@ namespace DotRecast.Detour neighbourNode.pidx = m_nodePool.GetNodeIdx(bestNode); neighbourNode.total = total; - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0) { m_openList.Modify(neighbourNode); } else { - neighbourNode.flags = DtNode.DT_NODE_OPEN; + neighbourNode.flags = DtNodeFlags.DT_NODE_OPEN; m_openList.Push(neighbourNode); } } @@ -2795,7 +2795,7 @@ namespace DotRecast.Detour DtNode startNode = tinyNodePool.GetNode(startRef); startNode.pidx = 0; startNode.id = startRef; - startNode.flags = DtNode.DT_NODE_CLOSED; + startNode.flags = DtNodeFlags.DT_NODE_CLOSED; LinkedList stack = new LinkedList(); stack.AddLast(startNode); @@ -2830,7 +2830,7 @@ namespace DotRecast.Detour DtNode neighbourNode = tinyNodePool.GetNode(neighbourRef); // Skip visited. - if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0) { continue; } @@ -2867,7 +2867,7 @@ namespace DotRecast.Detour // Mark node visited, this is done before the overlap test so that // we will not visit the poly again if the test fails. - neighbourNode.flags |= DtNode.DT_NODE_CLOSED; + neighbourNode.flags |= DtNodeFlags.DT_NODE_CLOSED; neighbourNode.pidx = tinyNodePool.GetNodeIdx(curNode); // Check that the polygon does not collide with existing polygons. @@ -3127,7 +3127,7 @@ namespace DotRecast.Detour startNode.cost = 0; startNode.total = 0; startNode.id = startRef; - startNode.flags = DtNode.DT_NODE_OPEN; + startNode.flags = DtNodeFlags.DT_NODE_OPEN; m_openList.Push(startNode); float radiusSqr = RcMath.Sqr(maxRadius); @@ -3140,8 +3140,8 @@ namespace DotRecast.Detour while (!m_openList.IsEmpty()) { DtNode bestNode = m_openList.Pop(); - bestNode.flags &= ~DtNode.DT_NODE_OPEN; - bestNode.flags |= DtNode.DT_NODE_CLOSED; + bestNode.flags &= ~DtNodeFlags.DT_NODE_OPEN; + bestNode.flags |= DtNodeFlags.DT_NODE_CLOSED; // Get poly and tile. // The API input has been checked already, skip checking internal data. @@ -3260,7 +3260,7 @@ namespace DotRecast.Detour continue; } - if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0) { continue; } @@ -3276,23 +3276,23 @@ namespace DotRecast.Detour float total = bestNode.total + RcVec3f.Distance(bestNode.pos, neighbourNode.pos); // The node is already in open list and the new result is worse, skip. - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { continue; } neighbourNode.id = neighbourRef; - neighbourNode.flags = (neighbourNode.flags & ~DtNode.DT_NODE_CLOSED); + neighbourNode.flags = (neighbourNode.flags & ~DtNodeFlags.DT_NODE_CLOSED); neighbourNode.pidx = m_nodePool.GetNodeIdx(bestNode); neighbourNode.total = total; - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0) + if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0) { m_openList.Modify(neighbourNode); } else { - neighbourNode.flags |= DtNode.DT_NODE_OPEN; + neighbourNode.flags |= DtNodeFlags.DT_NODE_OPEN; m_openList.Push(neighbourNode); } } @@ -3365,7 +3365,7 @@ namespace DotRecast.Detour } DtNode endNode = nodes[0]; - if ((endNode.flags & DT_NODE_CLOSED) == 0) + if ((endNode.flags & DtNodeFlags.DT_NODE_CLOSED) == 0) { return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM; } @@ -3415,7 +3415,7 @@ namespace DotRecast.Detour foreach (DtNode n in m_nodePool.FindNodes(refs)) { - if ((n.flags & DT_NODE_CLOSED) != 0) + if ((n.flags & DtNodeFlags.DT_NODE_CLOSED) != 0) { return true; } diff --git a/src/DotRecast.Detour/DtNode.cs b/src/DotRecast.Detour/DtNode.cs index 272fae5..e583bbf 100644 --- a/src/DotRecast.Detour/DtNode.cs +++ b/src/DotRecast.Detour/DtNode.cs @@ -25,12 +25,6 @@ namespace DotRecast.Detour { public class DtNode { - public const int DT_NODE_OPEN = 0x01; - public const int DT_NODE_CLOSED = 0x02; - - /** parent of the node is not adjacent. Found using raycast. */ - public const int DT_NODE_PARENT_DETACHED = 0x04; - public readonly int index; /** Position of the node. */ diff --git a/src/DotRecast.Detour/DtNodeFlags.cs b/src/DotRecast.Detour/DtNodeFlags.cs new file mode 100644 index 0000000..d204ad4 --- /dev/null +++ b/src/DotRecast.Detour/DtNodeFlags.cs @@ -0,0 +1,9 @@ +namespace DotRecast.Detour +{ + public static class DtNodeFlags + { + public const int DT_NODE_OPEN = 0x01; + public const int DT_NODE_CLOSED = 0x02; + public const int DT_NODE_PARENT_DETACHED = 0x04; // parent of the node is not adjacent. Found using raycast. + } +} \ No newline at end of file