From 2392b446f7da8c9e6ca9fadb03dd344a30f942b2 Mon Sep 17 00:00:00 2001 From: ikpil Date: Sun, 18 Jun 2023 17:31:58 +0900 Subject: [PATCH] remove LegacyNavMeshQuery --- src/DotRecast.Detour/LegacyNavMeshQuery.cs | 835 --------------------- 1 file changed, 835 deletions(-) delete mode 100644 src/DotRecast.Detour/LegacyNavMeshQuery.cs diff --git a/src/DotRecast.Detour/LegacyNavMeshQuery.cs b/src/DotRecast.Detour/LegacyNavMeshQuery.cs deleted file mode 100644 index d314080..0000000 --- a/src/DotRecast.Detour/LegacyNavMeshQuery.cs +++ /dev/null @@ -1,835 +0,0 @@ -/* -recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.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. -*/ - -using System; -using System.Collections.Generic; -using DotRecast.Core; -using DotRecast.Detour.QueryResults; - -namespace DotRecast.Detour -{ - using static DotRecast.Core.RcMath; - - - public class LegacyNavMeshQuery : DtNavMeshQuery - { - private static float H_SCALE = 0.999f; // Search heuristic scale. - - public LegacyNavMeshQuery(DtNavMesh nav) : base(nav) - { - } - - public override Result> FindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, - int options, float raycastLimit) - { - return FindPath(startRef, endRef, startPos, endPos, filter); - } - - public override Result> FindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter) - { - // Validate input - if (!m_nav.IsValidPolyRef(startRef) || !m_nav.IsValidPolyRef(endRef) || !RcVec3f.IsFinite(startPos) || !RcVec3f.IsFinite(endPos) || null == filter) - { - return Results.InvalidParam>(); - } - - if (startRef == endRef) - { - List singlePath = new List(1); - singlePath.Add(startRef); - return Results.Success(singlePath); - } - - m_nodePool.Clear(); - m_openList.Clear(); - - DtNode startNode = m_nodePool.GetNode(startRef); - startNode.pos = startPos; - startNode.pidx = 0; - startNode.cost = 0; - startNode.total = RcVec3f.Distance(startPos, endPos) * H_SCALE; - startNode.id = startRef; - startNode.flags = DtNode.DT_NODE_OPEN; - m_openList.Push(startNode); - - DtNode lastBestNode = startNode; - float lastBestNodeCost = startNode.total; - - DtStatus status = DtStatus.DT_SUCCSESS; - - while (!m_openList.IsEmpty()) - { - // 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; - - // Reached the goal, stop searching. - if (bestNode.id == endRef) - { - lastBestNode = bestNode; - break; - } - - // Get current poly and tile. - // The API input has been cheked already, skip checking internal data. - long bestRef = bestNode.id; - m_nav.GetTileAndPolyByRefUnsafe(bestRef, out var bestTile, out var bestPoly); - - // Get parent poly and tile. - long parentRef = 0; - DtMeshTile parentTile = null; - DtPoly parentPoly = null; - if (bestNode.pidx != 0) - { - parentRef = m_nodePool.GetNodeAtIdx(bestNode.pidx).id; - } - - if (parentRef != 0) - { - m_nav.GetTileAndPolyByRefUnsafe(parentRef, out parentTile, out parentPoly); - } - - for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next) - { - long neighbourRef = bestTile.links[i].refs; - - // Skip invalid ids and do not expand back to where we came from. - if (neighbourRef == 0 || neighbourRef == parentRef) - { - continue; - } - - // Get neighbour poly and tile. - // The API input has been cheked already, skip checking internal data. - m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly); - if (!filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly)) - { - continue; - } - - // deal explicitly with crossing tile boundaries - int crossSide = 0; - if (bestTile.links[i].side != 0xff) - { - crossSide = bestTile.links[i].side >> 1; - } - - // get the node - DtNode neighbourNode = m_nodePool.GetNode(neighbourRef, crossSide); - - // If the node is visited the first time, calculate node position. - if (neighbourNode.flags == 0) - { - GetEdgeMidPoint(bestRef, bestPoly, bestTile, - neighbourRef, neighbourPoly, neighbourTile, - ref neighbourNode.pos); - } - - // Calculate cost and heuristic. - float cost = 0; - float heuristic = 0; - - // Special case for last node. - if (neighbourRef == endRef) - { - // Cost - float curCost = filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly); - float endCost = filter.GetCost(neighbourNode.pos, endPos, bestRef, bestTile, bestPoly, neighbourRef, - neighbourTile, neighbourPoly, 0L, null, null); - - cost = bestNode.cost + curCost + endCost; - heuristic = 0; - } - else - { - // Cost - float curCost = filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly); - cost = bestNode.cost + curCost; - heuristic = RcVec3f.Distance(neighbourNode.pos, endPos) * H_SCALE; - } - - float total = cost + heuristic; - - // 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) - { - 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) - { - continue; - } - - // Add or update the node. - neighbourNode.pidx = m_nodePool.GetNodeIdx(bestNode); - neighbourNode.id = neighbourRef; - neighbourNode.flags = (neighbourNode.flags & ~DtNode.DT_NODE_CLOSED); - neighbourNode.cost = cost; - neighbourNode.total = total; - - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0) - { - // Already in open, update node location. - m_openList.Modify(neighbourNode); - } - else - { - // Put the node in open list. - neighbourNode.flags |= DtNode.DT_NODE_OPEN; - m_openList.Push(neighbourNode); - } - - // Update nearest node to target so far. - if (heuristic < lastBestNodeCost) - { - lastBestNodeCost = heuristic; - lastBestNode = neighbourNode; - } - } - } - - List path = GetPathToNode(lastBestNode); - - if (lastBestNode.id != endRef) - { - status = DtStatus.DT_PARTIAL_RESULT; - } - - return Results.Of(status, path); - } - - /** - * Updates an in-progress sliced path query. - * - * @param maxIter - * The maximum number of iterations to perform. - * @return The status flags for the query. - */ - public override Result UpdateSlicedFindPath(int maxIter) - { - if (!m_query.status.InProgress()) - { - return Results.Of(m_query.status, 0); - } - - // Make sure the request is still valid. - if (!m_nav.IsValidPolyRef(m_query.startRef) || !m_nav.IsValidPolyRef(m_query.endRef)) - { - m_query.status = DtStatus.DT_FAILURE; - return Results.Of(m_query.status, 0); - } - - int iter = 0; - while (iter < maxIter && !m_openList.IsEmpty()) - { - iter++; - - // 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; - - // Reached the goal, stop searching. - if (bestNode.id == m_query.endRef) - { - m_query.lastBestNode = bestNode; - m_query.status = DtStatus.DT_SUCCSESS; - return Results.Of(m_query.status, iter); - } - - // Get current poly and tile. - // The API input has been cheked already, skip checking internal - // data. - long bestRef = bestNode.id; - var status = m_nav.GetTileAndPolyByRef(bestRef, out var bestTile, out var bestPoly); - if (status.Failed()) - { - m_query.status = DtStatus.DT_FAILURE; - // The polygon has disappeared during the sliced query, fail. - return Results.Of(m_query.status, iter); - } - - // Get parent and grand parent poly and tile. - long parentRef = 0, grandpaRef = 0; - DtMeshTile parentTile = null; - DtPoly parentPoly = null; - DtNode parentNode = null; - if (bestNode.pidx != 0) - { - parentNode = m_nodePool.GetNodeAtIdx(bestNode.pidx); - parentRef = parentNode.id; - if (parentNode.pidx != 0) - { - grandpaRef = m_nodePool.GetNodeAtIdx(parentNode.pidx).id; - } - } - - if (parentRef != 0) - { - bool invalidParent = false; - status = m_nav.GetTileAndPolyByRef(parentRef, out parentTile, out parentPoly); - invalidParent = status.Failed(); - if (invalidParent || (grandpaRef != 0 && !m_nav.IsValidPolyRef(grandpaRef))) - { - // The polygon has disappeared during the sliced query, - // fail. - m_query.status = DtStatus.DT_FAILURE; - return Results.Of(m_query.status, iter); - } - } - - // decide whether to test raycast to previous nodes - bool tryLOS = false; - if ((m_query.options & DT_FINDPATH_ANY_ANGLE) != 0) - { - if ((parentRef != 0) && (RcVec3f.DistSqr(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr)) - { - tryLOS = true; - } - } - - for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next) - { - long neighbourRef = bestTile.links[i].refs; - - // Skip invalid ids and do not expand back to where we came - // from. - if (neighbourRef == 0 || neighbourRef == parentRef) - { - continue; - } - - // Get neighbour poly and tile. - // The API input has been cheked already, skip checking internal - // data. - m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly); - if (!m_query.filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly)) - { - continue; - } - - // get the neighbor node - DtNode neighbourNode = m_nodePool.GetNode(neighbourRef, 0); - - // do not expand to nodes that were already visited from the - // same parent - if (neighbourNode.pidx != 0 && neighbourNode.pidx == bestNode.pidx) - { - continue; - } - - // If the node is visited the first time, calculate node - // position. - if (neighbourNode.flags == 0) - { - GetEdgeMidPoint(bestRef, bestPoly, bestTile, - neighbourRef, neighbourPoly, neighbourTile, - ref neighbourNode.pos); - } - - // Calculate cost and heuristic. - float cost = 0; - float heuristic = 0; - - // raycast parent - bool foundShortCut = false; - if (tryLOS) - { - status = Raycast(parentRef, parentNode.pos, neighbourNode.pos, m_query.filter, - DT_RAYCAST_USE_COSTS, grandpaRef, out var rayHit); - if (status.Succeeded()) - { - foundShortCut = rayHit.t >= 1.0f; - if (foundShortCut) - { - // shortcut found using raycast. Using shorter cost - // instead - cost = parentNode.cost + rayHit.pathCost; - } - } - } - - // update move cost - if (!foundShortCut) - { - // No shortcut found. - float curCost = m_query.filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, - parentPoly, bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly); - cost = bestNode.cost + curCost; - } - - // Special case for last node. - if (neighbourRef == m_query.endRef) - { - float endCost = m_query.filter.GetCost(neighbourNode.pos, m_query.endPos, bestRef, bestTile, - bestPoly, neighbourRef, neighbourTile, neighbourPoly, 0, null, null); - - cost = cost + endCost; - heuristic = 0; - } - else - { - heuristic = RcVec3f.Distance(neighbourNode.pos, m_query.endPos) * H_SCALE; - } - - float total = cost + heuristic; - - // 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) - { - 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) - { - continue; - } - - // 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 | DtNode.DT_NODE_PARENT_DETACHED)); - neighbourNode.cost = cost; - neighbourNode.total = total; - if (foundShortCut) - { - neighbourNode.flags = (neighbourNode.flags | DtNode.DT_NODE_PARENT_DETACHED); - } - - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0) - { - // Already in open, update node location. - m_openList.Modify(neighbourNode); - } - else - { - // Put the node in open list. - neighbourNode.flags |= DtNode.DT_NODE_OPEN; - m_openList.Push(neighbourNode); - } - - // Update nearest node to target so far. - if (heuristic < m_query.lastBestNodeCost) - { - m_query.lastBestNodeCost = heuristic; - m_query.lastBestNode = neighbourNode; - } - } - } - - // Exhausted all nodes, but could not find path. - if (m_openList.IsEmpty()) - { - m_query.status = DtStatus.DT_PARTIAL_RESULT; - } - - return Results.Of(m_query.status, iter); - } - - /// Finalizes and returns the results of a sliced path query. - /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) - /// [(polyRef) * @p pathCount] - /// @returns The status flags for the query. - public override Result> FinalizeSlicedFindPath() - { - List path = new List(64); - if (m_query.status.Failed()) - { - // Reset query. - m_query = new DtQueryData(); - return Results.Failure(path); - } - - if (m_query.startRef == m_query.endRef) - { - // Special case: the search starts and ends at same poly. - path.Add(m_query.startRef); - } - else - { - // Reverse the path. - if (m_query.lastBestNode.id != m_query.endRef) - { - m_query.status = DtStatus.DT_PARTIAL_RESULT; - } - - DtNode prev = null; - DtNode node = m_query.lastBestNode; - int prevRay = 0; - do - { - DtNode next = m_nodePool.GetNodeAtIdx(node.pidx); - node.pidx = m_nodePool.GetNodeIdx(prev); - prev = node; - int nextRay = node.flags & DtNode.DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent - // (i.e. due to raycast shortcut) - node.flags = (node.flags & ~DtNode.DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed - // path's node - prevRay = nextRay; - node = next; - } while (node != null); - - // Store path - node = prev; - do - { - DtNode next = m_nodePool.GetNodeAtIdx(node.pidx); - if ((node.flags & DtNode.DT_NODE_PARENT_DETACHED) != 0) - { - var status = Raycast(node.id, node.pos, next.pos, m_query.filter, 0, 0, out var rayHit); - if (status.Succeeded()) - { - path.AddRange(rayHit.path); - } - - // raycast ends on poly boundary and the path might include the next poly boundary. - if (path[path.Count - 1] == next.id) - { - path.RemoveAt(path.Count - 1); // remove to avoid duplicates - } - } - else - { - path.Add(node.id); - } - - node = next; - } while (node != null); - } - - DtStatus details = m_query.status; - // Reset query. - m_query = new DtQueryData(); - - return Results.Of(details, path); - } - - /// 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[in] existing An array of polygon references for the existing path. - /// @param[in] 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] - /// @returns The status flags for the query. - public override Result> FinalizeSlicedFindPathPartial(List existing) - { - List path = new List(64); - if (null == existing || existing.Count <= 0) - { - return Results.Failure(path); - } - - if (m_query.status.Failed()) - { - // Reset query. - m_query = new DtQueryData(); - return Results.Failure(path); - } - - if (m_query.startRef == m_query.endRef) - { - // Special case: the search starts and ends at same poly. - path.Add(m_query.startRef); - } - else - { - // Find furthest existing node that was visited. - DtNode prev = null; - DtNode node = null; - for (int i = existing.Count - 1; i >= 0; --i) - { - node = m_nodePool.FindNode(existing[i]); - if (node != null) - { - break; - } - } - - if (node == null) - { - m_query.status = DtStatus.DT_PARTIAL_RESULT; - node = m_query.lastBestNode; - } - - // Reverse the path. - int prevRay = 0; - do - { - DtNode next = m_nodePool.GetNodeAtIdx(node.pidx); - node.pidx = m_nodePool.GetNodeIdx(prev); - prev = node; - int nextRay = node.flags & DtNode.DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent - // (i.e. due to raycast shortcut) - node.flags = (node.flags & ~DtNode.DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed - // path's node - prevRay = nextRay; - node = next; - } while (node != null); - - // Store path - node = prev; - do - { - DtNode next = m_nodePool.GetNodeAtIdx(node.pidx); - if ((node.flags & DtNode.DT_NODE_PARENT_DETACHED) != 0) - { - var status = Raycast(node.id, node.pos, next.pos, m_query.filter, 0, 0, out var rayHit); - if (status.Succeeded()) - { - path.AddRange(rayHit.path); - } - - // raycast ends on poly boundary and the path might include the next poly boundary. - if (path[path.Count - 1] == next.id) - { - path.RemoveAt(path.Count - 1); // remove to avoid duplicates - } - } - else - { - path.Add(node.id); - } - - node = next; - } while (node != null); - } - - DtStatus details = m_query.status; - - // Reset query. - m_query = new DtQueryData(); - - return Results.Of(details, path); - } - - public override DtStatus FindDistanceToWall(long startRef, RcVec3f centerPos, float maxRadius, - IDtQueryFilter filter, - out float hitDist, out RcVec3f hitPos, out RcVec3f hitNormal) - { - hitDist = 0; - hitPos = RcVec3f.Zero; - hitNormal = RcVec3f.Zero; - - // Validate input - if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(centerPos) || maxRadius < 0 - || !float.IsFinite(maxRadius) || null == filter) - { - return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM; - } - - m_nodePool.Clear(); - m_openList.Clear(); - - DtNode startNode = m_nodePool.GetNode(startRef); - startNode.pos = centerPos; - startNode.pidx = 0; - startNode.cost = 0; - startNode.total = 0; - startNode.id = startRef; - startNode.flags = DtNode.DT_NODE_OPEN; - m_openList.Push(startNode); - - float radiusSqr = Sqr(maxRadius); - RcVec3f? bestvj = null; - RcVec3f? bestvi = null; - - var status = DtStatus.DT_SUCCSESS; - - while (!m_openList.IsEmpty()) - { - DtNode bestNode = m_openList.Pop(); - bestNode.flags &= ~DtNode.DT_NODE_OPEN; - bestNode.flags |= DtNode.DT_NODE_CLOSED; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - long bestRef = bestNode.id; - m_nav.GetTileAndPolyByRefUnsafe(bestRef, out var bestTile, out var bestPoly); - - // Get parent poly and tile. - long parentRef = 0; - if (bestNode.pidx != 0) - { - parentRef = m_nodePool.GetNodeAtIdx(bestNode.pidx).id; - } - - // Hit test walls. - for (int i = 0, j = bestPoly.vertCount - 1; i < bestPoly.vertCount; j = i++) - { - // Skip non-solid edges. - if ((bestPoly.neis[j] & DtNavMesh.DT_EXT_LINK) != 0) - { - // Tile border. - bool solid = true; - for (int k = bestTile.polyLinks[bestPoly.index]; k != DtNavMesh.DT_NULL_LINK; k = bestTile.links[k].next) - { - DtLink link = bestTile.links[k]; - if (link.edge == j) - { - if (link.refs != 0) - { - m_nav.GetTileAndPolyByRefUnsafe(link.refs, out var neiTile, out var neiPoly); - if (filter.PassFilter(link.refs, neiTile, neiPoly)) - { - solid = false; - } - } - - break; - } - } - - if (!solid) - { - continue; - } - } - else if (bestPoly.neis[j] != 0) - { - // Internal edge - int idx = (bestPoly.neis[j] - 1); - long refs = m_nav.GetPolyRefBase(bestTile) | (long)idx; - if (filter.PassFilter(refs, bestTile, bestTile.data.polys[idx])) - { - continue; - } - } - - // Calc distance to the edge. - int vj = bestPoly.verts[j] * 3; - int vi = bestPoly.verts[i] * 3; - var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi, out var tseg); - // Edge is too far, skip. - if (distSqr > radiusSqr) - { - continue; - } - - // Hit wall, update radius. - radiusSqr = distSqr; - // Calculate hit pos. - hitPos.x = bestTile.data.verts[vj + 0] + (bestTile.data.verts[vi + 0] - bestTile.data.verts[vj + 0]) * tseg; - hitPos.y = bestTile.data.verts[vj + 1] + (bestTile.data.verts[vi + 1] - bestTile.data.verts[vj + 1]) * tseg; - hitPos.z = bestTile.data.verts[vj + 2] + (bestTile.data.verts[vi + 2] - bestTile.data.verts[vj + 2]) * tseg; - bestvj = RcVec3f.Of(bestTile.data.verts, vj); - bestvi = RcVec3f.Of(bestTile.data.verts, vi); - } - - for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next) - { - DtLink link = bestTile.links[i]; - long neighbourRef = link.refs; - // Skip invalid neighbours and do not follow back to parent. - if (neighbourRef == 0 || neighbourRef == parentRef) - { - continue; - } - - // Expand to neighbour. - m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly); - - // Skip off-mesh connections. - if (neighbourPoly.GetPolyType() == DtPoly.DT_POLYTYPE_OFFMESH_CONNECTION) - { - continue; - } - - // Calc distance to the edge. - int va = bestPoly.verts[link.edge] * 3; - int vb = bestPoly.verts[(link.edge + 1) % bestPoly.vertCount] * 3; - var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb, out var tseg); - // If the circle is not touching the next polygon, skip it. - if (distSqr > radiusSqr) - { - continue; - } - - if (!filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly)) - { - continue; - } - - DtNode neighbourNode = m_nodePool.GetNode(neighbourRef); - if (null == neighbourNode) - { - status |= DtStatus.DT_OUT_OF_NODES; - continue; - } - - if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0) - { - continue; - } - - // Cost - if (neighbourNode.flags == 0) - { - GetEdgeMidPoint(bestRef, bestPoly, bestTile, - neighbourRef, neighbourPoly, neighbourTile, - ref neighbourNode.pos); - } - - 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) - { - continue; - } - - neighbourNode.id = neighbourRef; - neighbourNode.flags = (neighbourNode.flags & ~DtNode.DT_NODE_CLOSED); - neighbourNode.pidx = m_nodePool.GetNodeIdx(bestNode); - neighbourNode.total = total; - - if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0) - { - m_openList.Modify(neighbourNode); - } - else - { - neighbourNode.flags |= DtNode.DT_NODE_OPEN; - m_openList.Push(neighbourNode); - } - } - } - - // Calc hit normal. - if (bestvi != null && bestvj != null) - { - var tangent = bestvi.Value.Subtract(bestvj.Value); - hitNormal.x = tangent.z; - hitNormal.y = 0; - hitNormal.z = -tangent.x; - hitNormal.Normalize(); - } - - hitDist = (float)Math.Sqrt(radiusSqr); - - return status; - } - } -} \ No newline at end of file