forked from mirror/DotRecast
remove LegacyNavMeshQuery
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ikpil
parent
abc9692857
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/*
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recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
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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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using System;
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using System.Collections.Generic;
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using DotRecast.Core;
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using DotRecast.Detour.QueryResults;
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namespace DotRecast.Detour
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{
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using static DotRecast.Core.RcMath;
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public class LegacyNavMeshQuery : DtNavMeshQuery
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{
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private static float H_SCALE = 0.999f; // Search heuristic scale.
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public LegacyNavMeshQuery(DtNavMesh nav) : base(nav)
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{
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}
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public override Result<List<long>> FindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter,
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int options, float raycastLimit)
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{
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return FindPath(startRef, endRef, startPos, endPos, filter);
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}
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public override Result<List<long>> FindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter)
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{
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// Validate input
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if (!m_nav.IsValidPolyRef(startRef) || !m_nav.IsValidPolyRef(endRef) || !RcVec3f.IsFinite(startPos) || !RcVec3f.IsFinite(endPos) || null == filter)
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{
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return Results.InvalidParam<List<long>>();
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}
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if (startRef == endRef)
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{
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List<long> singlePath = new List<long>(1);
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singlePath.Add(startRef);
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return Results.Success(singlePath);
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}
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m_nodePool.Clear();
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m_openList.Clear();
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DtNode startNode = m_nodePool.GetNode(startRef);
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startNode.pos = startPos;
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startNode.pidx = 0;
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startNode.cost = 0;
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startNode.total = RcVec3f.Distance(startPos, endPos) * H_SCALE;
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startNode.id = startRef;
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startNode.flags = DtNode.DT_NODE_OPEN;
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m_openList.Push(startNode);
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DtNode lastBestNode = startNode;
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float lastBestNodeCost = startNode.total;
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DtStatus status = DtStatus.DT_SUCCSESS;
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while (!m_openList.IsEmpty())
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{
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// Remove node from open list and put it in closed list.
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DtNode bestNode = m_openList.Pop();
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bestNode.flags &= ~DtNode.DT_NODE_OPEN;
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bestNode.flags |= DtNode.DT_NODE_CLOSED;
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// Reached the goal, stop searching.
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if (bestNode.id == endRef)
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{
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lastBestNode = bestNode;
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break;
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}
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// Get current poly and tile.
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// The API input has been cheked already, skip checking internal data.
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long bestRef = bestNode.id;
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m_nav.GetTileAndPolyByRefUnsafe(bestRef, out var bestTile, out var bestPoly);
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// Get parent poly and tile.
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long parentRef = 0;
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DtMeshTile parentTile = null;
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DtPoly parentPoly = null;
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if (bestNode.pidx != 0)
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{
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parentRef = m_nodePool.GetNodeAtIdx(bestNode.pidx).id;
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}
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if (parentRef != 0)
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{
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m_nav.GetTileAndPolyByRefUnsafe(parentRef, out parentTile, out parentPoly);
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}
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for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
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{
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long neighbourRef = bestTile.links[i].refs;
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// Skip invalid ids and do not expand back to where we came from.
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if (neighbourRef == 0 || neighbourRef == parentRef)
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{
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continue;
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}
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// Get neighbour poly and tile.
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// The API input has been cheked already, skip checking internal data.
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m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
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if (!filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly))
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{
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continue;
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}
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// deal explicitly with crossing tile boundaries
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int crossSide = 0;
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if (bestTile.links[i].side != 0xff)
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{
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crossSide = bestTile.links[i].side >> 1;
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}
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// get the node
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DtNode neighbourNode = m_nodePool.GetNode(neighbourRef, crossSide);
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// If the node is visited the first time, calculate node position.
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if (neighbourNode.flags == 0)
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{
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GetEdgeMidPoint(bestRef, bestPoly, bestTile,
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neighbourRef, neighbourPoly, neighbourTile,
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ref neighbourNode.pos);
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}
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// Calculate cost and heuristic.
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float cost = 0;
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float heuristic = 0;
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// Special case for last node.
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if (neighbourRef == endRef)
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{
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// Cost
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float curCost = filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly,
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bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly);
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float endCost = filter.GetCost(neighbourNode.pos, endPos, bestRef, bestTile, bestPoly, neighbourRef,
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neighbourTile, neighbourPoly, 0L, null, null);
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cost = bestNode.cost + curCost + endCost;
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heuristic = 0;
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}
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else
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{
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// Cost
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float curCost = filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly,
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bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly);
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cost = bestNode.cost + curCost;
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heuristic = RcVec3f.Distance(neighbourNode.pos, endPos) * H_SCALE;
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}
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float total = cost + heuristic;
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// The node is already in open list and the new result is worse, skip.
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if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)
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{
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continue;
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}
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// The node is already visited and process, and the new result is worse, skip.
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if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total)
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{
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continue;
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}
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// Add or update the node.
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neighbourNode.pidx = m_nodePool.GetNodeIdx(bestNode);
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neighbourNode.id = neighbourRef;
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neighbourNode.flags = (neighbourNode.flags & ~DtNode.DT_NODE_CLOSED);
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neighbourNode.cost = cost;
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neighbourNode.total = total;
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if ((neighbourNode.flags & DtNode.DT_NODE_OPEN) != 0)
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{
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// Already in open, update node location.
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m_openList.Modify(neighbourNode);
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}
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else
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{
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// Put the node in open list.
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neighbourNode.flags |= DtNode.DT_NODE_OPEN;
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m_openList.Push(neighbourNode);
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}
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// Update nearest node to target so far.
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if (heuristic < lastBestNodeCost)
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{
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lastBestNodeCost = heuristic;
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lastBestNode = neighbourNode;
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}
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}
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}
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List<long> path = GetPathToNode(lastBestNode);
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if (lastBestNode.id != endRef)
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{
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status = DtStatus.DT_PARTIAL_RESULT;
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}
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return Results.Of(status, path);
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}
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/**
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* Updates an in-progress sliced path query.
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*
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* @param maxIter
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* The maximum number of iterations to perform.
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* @return The status flags for the query.
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*/
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public override Result<int> UpdateSlicedFindPath(int maxIter)
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{
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if (!m_query.status.InProgress())
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{
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return Results.Of(m_query.status, 0);
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}
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// Make sure the request is still valid.
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if (!m_nav.IsValidPolyRef(m_query.startRef) || !m_nav.IsValidPolyRef(m_query.endRef))
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{
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m_query.status = DtStatus.DT_FAILURE;
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return Results.Of(m_query.status, 0);
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}
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int iter = 0;
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while (iter < maxIter && !m_openList.IsEmpty())
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{
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iter++;
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// Remove node from open list and put it in closed list.
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DtNode bestNode = m_openList.Pop();
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bestNode.flags &= ~DtNode.DT_NODE_OPEN;
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bestNode.flags |= DtNode.DT_NODE_CLOSED;
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// Reached the goal, stop searching.
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if (bestNode.id == m_query.endRef)
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{
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m_query.lastBestNode = bestNode;
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m_query.status = DtStatus.DT_SUCCSESS;
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return Results.Of(m_query.status, iter);
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}
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// Get current poly and tile.
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// The API input has been cheked already, skip checking internal
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// data.
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long bestRef = bestNode.id;
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var status = m_nav.GetTileAndPolyByRef(bestRef, out var bestTile, out var bestPoly);
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if (status.Failed())
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{
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m_query.status = DtStatus.DT_FAILURE;
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// The polygon has disappeared during the sliced query, fail.
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return Results.Of(m_query.status, iter);
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}
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// Get parent and grand parent poly and tile.
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long parentRef = 0, grandpaRef = 0;
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DtMeshTile parentTile = null;
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DtPoly parentPoly = null;
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DtNode parentNode = null;
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if (bestNode.pidx != 0)
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{
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parentNode = m_nodePool.GetNodeAtIdx(bestNode.pidx);
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parentRef = parentNode.id;
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if (parentNode.pidx != 0)
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{
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grandpaRef = m_nodePool.GetNodeAtIdx(parentNode.pidx).id;
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}
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}
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if (parentRef != 0)
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{
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bool invalidParent = false;
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status = m_nav.GetTileAndPolyByRef(parentRef, out parentTile, out parentPoly);
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invalidParent = status.Failed();
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if (invalidParent || (grandpaRef != 0 && !m_nav.IsValidPolyRef(grandpaRef)))
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{
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// The polygon has disappeared during the sliced query,
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// fail.
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m_query.status = DtStatus.DT_FAILURE;
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return Results.Of(m_query.status, iter);
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}
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}
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// decide whether to test raycast to previous nodes
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bool tryLOS = false;
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if ((m_query.options & DT_FINDPATH_ANY_ANGLE) != 0)
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{
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if ((parentRef != 0) && (RcVec3f.DistSqr(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr))
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{
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tryLOS = true;
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}
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}
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for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
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{
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long neighbourRef = bestTile.links[i].refs;
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// Skip invalid ids and do not expand back to where we came
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// from.
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if (neighbourRef == 0 || neighbourRef == parentRef)
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{
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continue;
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}
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// Get neighbour poly and tile.
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// The API input has been cheked already, skip checking internal
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// data.
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m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
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if (!m_query.filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly))
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{
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continue;
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}
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// get the neighbor node
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DtNode neighbourNode = m_nodePool.GetNode(neighbourRef, 0);
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// do not expand to nodes that were already visited from the
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// same parent
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if (neighbourNode.pidx != 0 && neighbourNode.pidx == bestNode.pidx)
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{
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continue;
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}
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// If the node is visited the first time, calculate node
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// position.
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if (neighbourNode.flags == 0)
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{
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GetEdgeMidPoint(bestRef, bestPoly, bestTile,
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neighbourRef, neighbourPoly, neighbourTile,
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ref neighbourNode.pos);
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}
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// Calculate cost and heuristic.
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float cost = 0;
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float heuristic = 0;
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// raycast parent
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bool foundShortCut = false;
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if (tryLOS)
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{
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status = Raycast(parentRef, parentNode.pos, neighbourNode.pos, m_query.filter,
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DT_RAYCAST_USE_COSTS, grandpaRef, out var rayHit);
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if (status.Succeeded())
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{
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foundShortCut = rayHit.t >= 1.0f;
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if (foundShortCut)
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{
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// shortcut found using raycast. Using shorter cost
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// instead
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cost = parentNode.cost + rayHit.pathCost;
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}
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}
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}
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// update move cost
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if (!foundShortCut)
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{
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// No shortcut found.
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float curCost = m_query.filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile,
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parentPoly, bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly);
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cost = bestNode.cost + curCost;
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}
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// Special case for last node.
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if (neighbourRef == m_query.endRef)
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{
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float endCost = m_query.filter.GetCost(neighbourNode.pos, m_query.endPos, bestRef, bestTile,
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bestPoly, neighbourRef, neighbourTile, neighbourPoly, 0, null, null);
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cost = cost + endCost;
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heuristic = 0;
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}
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else
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{
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|
||||||
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<List<long>> FinalizeSlicedFindPath()
|
|
||||||
{
|
|
||||||
List<long> path = new List<long>(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<List<long>> FinalizeSlicedFindPathPartial(List<long> existing)
|
|
||||||
{
|
|
||||||
List<long> path = new List<long>(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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
Loading…
Reference in New Issue