forked from mirror/DotRecast
115 lines
4.0 KiB
C#
115 lines
4.0 KiB
C#
/*
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Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
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DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
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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 DotRecast.Core;
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namespace DotRecast.Detour
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{
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using static DotRecast.Core.RecastMath;
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/**
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* <b>The Default Implementation</b>
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*
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* At construction: All area costs default to 1.0. All flags are included and none are excluded.
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*
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* If a polygon has both an include and an exclude flag, it will be excluded.
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*
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* The way filtering works, a navigation mesh polygon must have at least one flag set to ever be considered by a query.
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* So a polygon with no flags will never be considered.
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*
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* Setting the include flags to 0 will result in all polygons being excluded.
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*
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* <b>Custom Implementations</b>
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*
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* Implement a custom query filter by overriding the virtual passFilter() and getCost() functions. If this is done, both
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* functions should be as fast as possible. Use cached local copies of data rather than accessing your own objects where
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* possible.
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*
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* Custom implementations do not need to adhere to the flags or cost logic used by the default implementation.
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*
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* In order for A* searches to work properly, the cost should be proportional to the travel distance. Implementing a
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* cost modifier less than 1.0 is likely to lead to problems during pathfinding.
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*
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* @see NavMeshQuery
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*/
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public class DefaultQueryFilter : QueryFilter
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{
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private int m_excludeFlags;
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private int m_includeFlags;
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private readonly float[] m_areaCost = new float[NavMesh.DT_MAX_AREAS];
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public DefaultQueryFilter()
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{
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m_includeFlags = 0xffff;
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m_excludeFlags = 0;
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for (int i = 0; i < NavMesh.DT_MAX_AREAS; ++i)
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{
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m_areaCost[i] = 1.0f;
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}
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}
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public DefaultQueryFilter(int includeFlags, int excludeFlags, float[] areaCost)
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{
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m_includeFlags = includeFlags;
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m_excludeFlags = excludeFlags;
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for (int i = 0; i < Math.Min(NavMesh.DT_MAX_AREAS, areaCost.Length); ++i)
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{
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m_areaCost[i] = areaCost[i];
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}
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for (int i = areaCost.Length; i < NavMesh.DT_MAX_AREAS; ++i)
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{
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m_areaCost[i] = 1.0f;
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}
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}
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public bool passFilter(long refs, MeshTile tile, Poly poly)
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{
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return (poly.flags & m_includeFlags) != 0 && (poly.flags & m_excludeFlags) == 0;
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}
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public float getCost(Vector3f pa, Vector3f pb, long prevRef, MeshTile prevTile, Poly prevPoly, long curRef,
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MeshTile curTile, Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly)
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{
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return vDist(pa, pb) * m_areaCost[curPoly.getArea()];
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}
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public int getIncludeFlags()
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{
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return m_includeFlags;
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}
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public void setIncludeFlags(int flags)
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{
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m_includeFlags = flags;
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}
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public int getExcludeFlags()
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{
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return m_excludeFlags;
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}
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public void setExcludeFlags(int flags)
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{
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m_excludeFlags = flags;
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}
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}
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} |