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changed UpdateSlicedFindPath

This commit is contained in:
ikpil 2023-06-20 22:41:51 +09:00
parent 4112168f4a
commit d38cddfbc6
6 changed files with 29 additions and 23 deletions
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2
src/DotRecast.Detour.Crowd/DtCrowd.cs
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@ -584,7 +584,7 @@ namespace DotRecast.Detour.Crowd
// Quick search towards the goal.
_navQuery.InitSlicedFindPath(path[0], ag.targetRef, ag.npos, ag.targetPos,
_filters[ag.option.queryFilterType], 0);
_navQuery.UpdateSlicedFindPath(_config.maxTargetFindPathIterations);
_navQuery.UpdateSlicedFindPath(_config.maxTargetFindPathIterations, out var _);
Result<List<long>> pathFound;
if (ag.targetReplan) // && npath > 10)
{

2
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
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@ -350,7 +350,7 @@ namespace DotRecast.Detour.Crowd
}
navquery.InitSlicedFindPath(m_path[0], m_path[m_path.Count - 1], m_pos, m_target, filter, 0);
navquery.UpdateSlicedFindPath(maxIterations);
navquery.UpdateSlicedFindPath(maxIterations, out var _);
Result<List<long>> fpr = navquery.FinalizeSlicedFindPathPartial(m_path);
if (fpr.Succeeded() && fpr.result.Count > 0)

6
src/DotRecast.Detour.Crowd/DtPathQueue.cs
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@ -46,6 +46,7 @@ namespace DotRecast.Detour.Crowd
{
break;
}
queue.RemoveFirst();
// Handle query start.
@ -58,9 +59,8 @@ namespace DotRecast.Detour.Crowd
// Handle query in progress.
if (q.result.status.InProgress())
{
Result<int> res = q.navQuery.UpdateSlicedFindPath(iterCount);
q.result.status = res.status;
iterCount -= res.result;
q.result.status = q.navQuery.UpdateSlicedFindPath(iterCount, out var iters);
iterCount -= iters;
}
if (q.result.status.Succeeded())

37
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -1101,18 +1101,19 @@ namespace DotRecast.Detour
* The maximum number of iterations to perform.
* @return The status flags for the query.
*/
public virtual Result<int> UpdateSlicedFindPath(int maxIter)
public virtual DtStatus UpdateSlicedFindPath(int maxIter, out int doneIters)
{
doneIters = 0;
if (!m_query.status.InProgress())
{
return Results.Of(m_query.status, 0);
return m_query.status;
}
// 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);
return DtStatus.DT_FAILURE;
}
int iter = 0;
@ -1129,8 +1130,10 @@ namespace DotRecast.Detour
if (bestNode.id == m_query.endRef)
{
m_query.lastBestNode = bestNode;
m_query.status = DtStatus.DT_SUCCSESS;
return Results.Of(m_query.status, iter);
var details = m_query.status & DtStatus.DT_STATUS_DETAIL_MASK;
m_query.status = DtStatus.DT_SUCCSESS | details;
doneIters = iter;
return m_query.status;
}
// Get current poly and tile.
@ -1140,9 +1143,10 @@ namespace DotRecast.Detour
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);
m_query.status = DtStatus.DT_FAILURE;
doneIters = iter;
return m_query.status;
}
// Get parent and grand parent poly and tile.
@ -1167,10 +1171,10 @@ namespace DotRecast.Detour
invalidParent = status.Failed();
if (invalidParent || (grandpaRef != 0 && !m_nav.IsValidPolyRef(grandpaRef)))
{
// The polygon has disappeared during the sliced query,
// fail.
// The polygon has disappeared during the sliced query fail.
m_query.status = DtStatus.DT_FAILURE;
return Results.Of(m_query.status, iter);
doneIters = iter;
return m_query.status;
}
}
@ -1236,8 +1240,7 @@ namespace DotRecast.Detour
List<long> shortcut = null;
if (tryLOS)
{
status = Raycast(parentRef, parentNode.pos, neighbourPos, m_query.filter,
DT_RAYCAST_USE_COSTS, grandpaRef, out var rayHit);
status = Raycast(parentRef, parentNode.pos, neighbourPos, m_query.filter, DT_RAYCAST_USE_COSTS, grandpaRef, out var rayHit);
if (status.Succeeded())
{
foundShortCut = rayHit.t >= 1.0f;
@ -1250,6 +1253,8 @@ namespace DotRecast.Detour
}
}
}
// update move cost
if (!foundShortCut)
@ -1293,7 +1298,7 @@ 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 & ~DT_NODE_CLOSED);
neighbourNode.cost = cost;
neighbourNode.total = total;
neighbourNode.pos = neighbourPos;
@ -1323,10 +1328,12 @@ namespace DotRecast.Detour
// Exhausted all nodes, but could not find path.
if (m_openList.IsEmpty())
{
m_query.status = DtStatus.DT_PARTIAL_RESULT;
var details = m_query.status & DtStatus.DT_STATUS_DETAIL_MASK;
m_query.status = DtStatus.DT_SUCCSESS | details;
}
return Results.Of(m_query.status, iter);
doneIters = iter;
return m_query.status;
}
/// Finalizes and returns the results of a sliced path query.

2
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -977,7 +977,7 @@ public class TestNavmeshTool : IRcTool
DtNavMeshQuery m_navQuery = _impl.GetSample().GetNavMeshQuery();
if (m_pathFindStatus.InProgress())
{
m_pathFindStatus = m_navQuery.UpdateSlicedFindPath(1).status;
m_pathFindStatus = m_navQuery.UpdateSlicedFindPath(1, out var _);
}
if (m_pathFindStatus.Succeeded())

3
test/DotRecast.Detour.Test/FindPathTest.cs
View File

@ -162,8 +162,7 @@ public class FindPathTest : AbstractDetourTest
DtStatus status = DtStatus.DT_IN_PROGRESS;
while (status.InProgress())
{
Result<int> res = query.UpdateSlicedFindPath(10);
status = res.status;
status = query.UpdateSlicedFindPath(10, out var _);
}
Result<List<long>> path = query.FinalizeSlicedFindPath();