From bbb9c7816f0852d12453b69b23db09bd8fd64acf Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 19 Jul 2023 23:15:27 +0900
Subject: [PATCH] for unity3d

---
 .../Tools/TestNavmeshTool.cs                  |  8 +---
 .../Tools/TestNavmeshToolImpl.cs              | 42 ++++++++++++-------
 2 files changed, 28 insertions(+), 22 deletions(-)

diff --git a/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
index cf68fe5..2d7cdea 100644
--- a/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
@@ -277,15 +277,10 @@ public class TestNavmeshTool : IRcTool
         {
             if (m_sposSet && m_startRef != 0 && m_eposSet)
             {
-                float dx = m_epos.x - m_spos.x;
-                float dz = m_epos.z - m_spos.z;
-                float dist = (float)Math.Sqrt(dx * dx + dz * dz);
-                
                 List<long> refs = new();
                 List<long> parentRefs = new();
-                List<float> costs = new();
 
-                var status = m_navQuery.FindPolysAroundCircle(m_startRef, m_spos, dist, m_filter, ref refs, ref parentRefs, ref costs);
+                var status = _impl.FindPolysAroundCircle(m_startRef, m_spos, m_epos, m_filter, ref refs, ref parentRefs);
                 if (status.Succeeded())
                 {
                     m_polys = refs;
@@ -798,7 +793,6 @@ public class TestNavmeshTool : IRcTool
     }
 
 
-
     public void HandleUpdate(float dt)
     {
         // TODO Auto-generated method stub
diff --git a/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs b/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
index 0c22204..c670ba1 100644
--- a/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
+++ b/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
@@ -252,28 +252,40 @@ namespace DotRecast.Recast.DemoTool.Tools
             return status;
         }
 
-        public DtStatus FindPolysAroundShape(long startRef, RcVec3f m_spos, RcVec3f m_epos, IDtQueryFilter filter, ref List<long> resultRef, ref List<long> resultParent, out RcVec3f[] queryPoly)
+        public DtStatus FindPolysAroundCircle(long startRef, RcVec3f spos, RcVec3f epos, IDtQueryFilter filter, ref List<long> resultRef, ref List<long> resultParent)
         {
-            float nx = (m_epos.z - m_spos.z) * 0.25f;
-            float nz = -(m_epos.x - m_spos.x) * 0.25f;
+            float dx = epos.x - spos.x;
+            float dz = epos.z - spos.z;
+            float dist = (float)Math.Sqrt(dx * dx + dz * dz);
+
+            List<float> costs = new List<float>();
+            var navQuery = _sample.GetNavMeshQuery();
+
+            return navQuery.FindPolysAroundCircle(startRef, spos, dist, filter, ref resultRef, ref resultParent, ref costs);
+        }
+
+        public DtStatus FindPolysAroundShape(long startRef, RcVec3f spos, RcVec3f epos, IDtQueryFilter filter, ref List<long> resultRef, ref List<long> resultParent, out RcVec3f[] queryPoly)
+        {
+            float nx = (epos.z - spos.z) * 0.25f;
+            float nz = -(epos.x - spos.x) * 0.25f;
             float agentHeight = GetSample() != null ? GetSample().GetSettings().agentHeight : 0;
 
             queryPoly = new RcVec3f[4];
-            queryPoly[0].x = m_spos.x + nx * 1.2f;
-            queryPoly[0].y = m_spos.y + agentHeight / 2;
-            queryPoly[0].z = m_spos.z + nz * 1.2f;
+            queryPoly[0].x = spos.x + nx * 1.2f;
+            queryPoly[0].y = spos.y + agentHeight / 2;
+            queryPoly[0].z = spos.z + nz * 1.2f;
 
-            queryPoly[1].x = m_spos.x - nx * 1.3f;
-            queryPoly[1].y = m_spos.y + agentHeight / 2;
-            queryPoly[1].z = m_spos.z - nz * 1.3f;
+            queryPoly[1].x = spos.x - nx * 1.3f;
+            queryPoly[1].y = spos.y + agentHeight / 2;
+            queryPoly[1].z = spos.z - nz * 1.3f;
 
-            queryPoly[2].x = m_epos.x - nx * 0.8f;
-            queryPoly[2].y = m_epos.y + agentHeight / 2;
-            queryPoly[2].z = m_epos.z - nz * 0.8f;
+            queryPoly[2].x = epos.x - nx * 0.8f;
+            queryPoly[2].y = epos.y + agentHeight / 2;
+            queryPoly[2].z = epos.z - nz * 0.8f;
 
-            queryPoly[3].x = m_epos.x + nx;
-            queryPoly[3].y = m_epos.y + agentHeight / 2;
-            queryPoly[3].z = m_epos.z + nz;
+            queryPoly[3].x = epos.x + nx;
+            queryPoly[3].y = epos.y + agentHeight / 2;
+            queryPoly[3].z = epos.z + nz;
 
             var costs = new List<float>();
             var navQuery = _sample.GetNavMeshQuery();