forked from mirror/DotRecast
100 lines
3.5 KiB
C#
100 lines
3.5 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.Collections.Generic;
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using DotRecast.Core;
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using DotRecast.Detour.QueryResults;
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namespace DotRecast.Detour.Crowd
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{
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using static DotRecast.Core.RcMath;
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public class PathQueue
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{
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private readonly CrowdConfig config;
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private readonly LinkedList<PathQuery> queue = new LinkedList<PathQuery>();
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public PathQueue(CrowdConfig config)
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{
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this.config = config;
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}
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public void Update(NavMesh navMesh)
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{
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// Update path request until there is nothing to update or up to maxIters pathfinder iterations has been
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// consumed.
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int iterCount = config.maxFindPathIterations;
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while (iterCount > 0)
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{
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PathQuery q = queue.First?.Value;
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if (q == null)
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{
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break;
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}
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queue.RemoveFirst();
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// Handle query start.
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if (q.result.status == null)
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{
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q.navQuery = new NavMeshQuery(navMesh);
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q.result.status = q.navQuery.InitSlicedFindPath(q.startRef, q.endRef, q.startPos, q.endPos, q.filter, 0);
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}
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// Handle query in progress.
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if (q.result.status.IsInProgress())
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{
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Result<int> res = q.navQuery.UpdateSlicedFindPath(iterCount);
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q.result.status = res.status;
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iterCount -= res.result;
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}
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if (q.result.status.IsSuccess())
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{
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Result<List<long>> path = q.navQuery.FinalizeSlicedFindPath();
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q.result.status = path.status;
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q.result.path = path.result;
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}
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if (!(q.result.status.IsFailed() || q.result.status.IsSuccess()))
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{
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queue.AddFirst(q);
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}
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}
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}
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public PathQueryResult Request(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IQueryFilter filter)
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{
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if (queue.Count >= config.pathQueueSize)
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{
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return null;
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}
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PathQuery q = new PathQuery();
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q.startPos = startPos;
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q.startRef = startRef;
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q.endPos = endPos;
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q.endRef = endRef;
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q.result.status = null;
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q.filter = filter;
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queue.AddLast(q);
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return q.result;
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}
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}
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} |