mirror of
https://github.com/Mauler125/r5sdk.git
synced 2025-02-09 19:15:03 +01:00
Recast: move pointers out of dtQueryData
A mistake was made thinking this was part of the struct, but the real change is that m_queryFilter is static in r5 rather than a pointer. Changing this in Recast is a big change however; reverted changes made in 1255629fcf5a0b0ca2140309ca891c79e2f24738 and 9049e61d34cb3f52627b8ca10f1b7da21e147ad9.
This commit is contained in:
Kawe Mazidjatari
parent
1255629fcf
commit
b491abb5ec
@ -514,7 +514,7 @@ public:
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/// Gets the node pool.
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/// @returns The node pool.
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class dtNodePool* getNodePool() const { return m_query.m_nodePool; }
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class dtNodePool* getNodePool() const { return m_nodePool; }
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/// Gets the navigation mesh the query object is using.
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/// @return The navigation mesh the query object is using.
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@ -561,27 +561,6 @@ private:
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struct dtQueryData
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{
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void Reset()
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{
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status = 0;
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lastBestNode = nullptr;
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lastBestNodeCost = 0.0f;
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startRef = 0; endRef = 0;
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startPos[0] = 0.0f;
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startPos[1] = 0.0f;
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startPos[2] = 0.0f;
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endPos[0] = 0.0f;
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endPos[1] = 0.0f;
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endPos[2] = 0.0f;
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options = 0;
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raycastLimitSqr = 0.0f;
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// NOTE: the nodepool/nodequeue pointers should not be reset !!!
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}
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dtStatus status;
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struct dtNode* lastBestNode;
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float lastBestNodeCost;
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@ -589,14 +568,13 @@ private:
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float startPos[3], endPos[3];
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unsigned int options;
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float raycastLimitSqr;
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class dtNodePool* m_tinyNodePool; ///< Pointer to small node pool.
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class dtNodePool* m_nodePool; ///< Pointer to node pool.
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class dtNodeQueue* m_openList; ///< Pointer to open list queue.
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};
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dtQueryData m_query; ///< Sliced query state.
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const dtQueryFilter* m_queryFilter; ///< Pointer to query filter.
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class dtNodePool* m_tinyNodePool; ///< Pointer to small node pool.
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class dtNodePool* m_nodePool; ///< Pointer to node pool.
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class dtNodeQueue* m_openList; ///< Pointer to open list queue.
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const dtQueryFilter* m_queryFilter; ///< Pointer to query filter [NOTE: this field is possibly static in r5! Refactoring this in Recast is a big change however..].
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};
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/// Allocates a query object using the Detour allocator.
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@ -137,6 +137,9 @@ void dtFreeNavMeshQuery(dtNavMeshQuery* navmesh)
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dtNavMeshQuery::dtNavMeshQuery() :
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m_nav(0),
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m_tinyNodePool(0),
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m_nodePool(0),
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m_openList(0),
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m_queryFilter(0)
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{
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memset(&m_query, 0, sizeof(dtQueryData));
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@ -144,16 +147,16 @@ dtNavMeshQuery::dtNavMeshQuery() :
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dtNavMeshQuery::~dtNavMeshQuery()
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{
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if (m_query.m_tinyNodePool)
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m_query.m_tinyNodePool->~dtNodePool();
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if (m_query.m_nodePool)
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m_query.m_nodePool->~dtNodePool();
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if (m_query.m_openList)
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m_query.m_openList->~dtNodeQueue();
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if (m_tinyNodePool)
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m_tinyNodePool->~dtNodePool();
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if (m_nodePool)
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m_nodePool->~dtNodePool();
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if (m_openList)
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m_openList->~dtNodeQueue();
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dtFree(m_query.m_tinyNodePool);
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dtFree(m_query.m_nodePool);
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dtFree(m_query.m_openList);
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dtFree(m_tinyNodePool);
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dtFree(m_nodePool);
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dtFree(m_openList);
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}
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/// @par
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@ -169,49 +172,49 @@ dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes)
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m_nav = nav;
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if (!m_query.m_nodePool || m_query.m_nodePool->getMaxNodes() < maxNodes)
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if (!m_nodePool || m_nodePool->getMaxNodes() < maxNodes)
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{
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if (m_query.m_nodePool)
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if (m_nodePool)
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{
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m_query.m_nodePool->~dtNodePool();
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dtFree(m_query.m_nodePool);
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m_query.m_nodePool = 0;
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m_nodePool->~dtNodePool();
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dtFree(m_nodePool);
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m_nodePool = 0;
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}
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m_query.m_nodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(maxNodes, dtNextPow2(maxNodes/4));
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if (!m_query.m_nodePool)
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m_nodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(maxNodes, dtNextPow2(maxNodes/4));
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if (!m_nodePool)
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return DT_FAILURE | DT_OUT_OF_MEMORY;
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}
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else
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{
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m_query.m_nodePool->clear();
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m_nodePool->clear();
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}
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if (!m_query.m_tinyNodePool)
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if (!m_tinyNodePool)
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{
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m_query.m_tinyNodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(64, 32);
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if (!m_query.m_tinyNodePool)
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m_tinyNodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(64, 32);
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if (!m_tinyNodePool)
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return DT_FAILURE | DT_OUT_OF_MEMORY;
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}
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else
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{
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m_query.m_tinyNodePool->clear();
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m_tinyNodePool->clear();
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}
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if (!m_query.m_openList || m_query.m_openList->getCapacity() < maxNodes)
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if (!m_openList || m_openList->getCapacity() < maxNodes)
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{
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if (m_query.m_openList)
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if (m_openList)
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{
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m_query.m_openList->~dtNodeQueue();
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dtFree(m_query.m_openList);
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m_query.m_openList = 0;
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m_openList->~dtNodeQueue();
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dtFree(m_openList);
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m_openList = 0;
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}
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m_query.m_openList = new (dtAlloc(sizeof(dtNodeQueue), DT_ALLOC_PERM)) dtNodeQueue(maxNodes);
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if (!m_query.m_openList)
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m_openList = new (dtAlloc(sizeof(dtNodeQueue), DT_ALLOC_PERM)) dtNodeQueue(maxNodes);
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if (!m_openList)
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return DT_FAILURE | DT_OUT_OF_MEMORY;
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}
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else
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{
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m_query.m_openList->clear();
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m_openList->clear();
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}
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return DT_SUCCESS;
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@ -313,8 +316,8 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
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dtPolyRef* randomRef, float* randomPt) const
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{
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dtAssert(m_nav);
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dtAssert(m_query.m_nodePool);
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dtAssert(m_query.m_openList);
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dtAssert(m_nodePool);
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dtAssert(m_openList);
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// Validate input
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if (!m_nav->isValidPolyRef(startRef) ||
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@ -331,17 +334,17 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
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if (!filter->passFilter(startRef, startTile, startPoly))
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return DT_FAILURE | DT_INVALID_PARAM;
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m_query.m_nodePool->clear();
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m_query.m_openList->clear();
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m_nodePool->clear();
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m_openList->clear();
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dtNode* startNode = m_query.m_nodePool->getNode(startRef);
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dtNode* startNode = m_nodePool->getNode(startRef);
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dtVcopy(startNode->pos, centerPos);
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startNode->pidx = 0;
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startNode->cost = 0;
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startNode->total = 0;
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startNode->id = startRef;
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startNode->flags = DT_NODE_OPEN;
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m_query.m_openList->push(startNode);
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m_openList->push(startNode);
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dtStatus status = DT_SUCCESS;
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@ -352,9 +355,9 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
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const dtPoly* randomPoly = 0;
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dtPolyRef randomPolyRef = 0;
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while (!m_query.m_openList->empty())
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while (!m_openList->empty())
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{
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dtNode* bestNode = m_query.m_openList->pop();
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dtNode* bestNode = m_openList->pop();
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bestNode->flags &= ~DT_NODE_OPEN;
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bestNode->flags |= DT_NODE_CLOSED;
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@ -394,7 +397,7 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
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const dtMeshTile* parentTile = 0;
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const dtPoly* parentPoly = 0;
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if (bestNode->pidx)
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parentRef = m_query.m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
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parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
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if (parentRef)
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m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
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@ -426,7 +429,7 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
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if (distSqr > radiusSqr)
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continue;
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dtNode* neighbourNode = m_query.m_nodePool->getNode(neighbourRef);
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dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
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if (!neighbourNode)
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{
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status |= DT_OUT_OF_NODES;
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@ -448,17 +451,17 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
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neighbourNode->id = neighbourRef;
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neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED);
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neighbourNode->pidx = m_query.m_nodePool->getNodeIdx(bestNode);
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neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
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neighbourNode->total = total;
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if (neighbourNode->flags & DT_NODE_OPEN)
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{
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m_query.m_openList->modify(neighbourNode);
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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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neighbourNode->flags = DT_NODE_OPEN;
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m_query.m_openList->push(neighbourNode);
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m_openList->push(neighbourNode);
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}
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}
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}
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@ -956,8 +959,8 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
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dtPolyRef* path, int* pathCount, const int maxPath) const
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{
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dtAssert(m_nav);
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dtAssert(m_query.m_nodePool);
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dtAssert(m_query.m_openList);
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dtAssert(m_nodePool);
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dtAssert(m_openList);
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if (!pathCount)
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return DT_FAILURE | DT_INVALID_PARAM;
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@ -980,27 +983,27 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
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return DT_SUCCESS;
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}
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m_query.m_nodePool->clear();
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m_query.m_openList->clear();
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m_nodePool->clear();
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m_openList->clear();
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dtNode* startNode = m_query.m_nodePool->getNode(startRef);
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dtNode* startNode = m_nodePool->getNode(startRef);
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dtVcopy(startNode->pos, startPos);
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startNode->pidx = 0;
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startNode->cost = 0;
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startNode->total = dtVdist(startPos, endPos) * H_SCALE;
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startNode->id = startRef;
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startNode->flags = DT_NODE_OPEN;
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m_query.m_openList->push(startNode);
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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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bool outOfNodes = false;
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while (!m_query.m_openList->empty())
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while (!m_openList->empty())
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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_query.m_openList->pop();
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dtNode* bestNode = m_openList->pop();
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bestNode->flags &= ~DT_NODE_OPEN;
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bestNode->flags |= DT_NODE_CLOSED;
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@ -1023,7 +1026,7 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
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const dtMeshTile* parentTile = 0;
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const dtPoly* parentPoly = 0;
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if (bestNode->pidx)
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parentRef = m_query.m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
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parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
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if (parentRef)
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m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
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@ -1050,7 +1053,7 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
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crossSide = bestTile->links[i].side >> 1;
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// get the node
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dtNode* neighbourNode = m_query.m_nodePool->getNode(neighbourRef, crossSide);
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dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide);
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if (!neighbourNode)
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{
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outOfNodes = true;
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@ -1106,7 +1109,7 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
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continue;
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// Add or update the node.
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neighbourNode->pidx = m_query.m_nodePool->getNodeIdx(bestNode);
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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 & ~DT_NODE_CLOSED);
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neighbourNode->cost = cost;
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@ -1115,13 +1118,13 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
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if (neighbourNode->flags & DT_NODE_OPEN)
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{
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// Already in open, update node location.
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m_query.m_openList->modify(neighbourNode);
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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 |= DT_NODE_OPEN;
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m_query.m_openList->push(neighbourNode);
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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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@ -1152,7 +1155,7 @@ dtStatus dtNavMeshQuery::getPathToNode(dtNode* endNode, dtPolyRef* path, int* pa
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do
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{
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length++;
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curNode = m_query.m_nodePool->getNodeAtIdx(curNode->pidx);
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curNode = m_nodePool->getNodeAtIdx(curNode->pidx);
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} while (curNode);
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// If the path cannot be fully stored then advance to the last node we will be able to store.
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@ -1162,7 +1165,7 @@ dtStatus dtNavMeshQuery::getPathToNode(dtNode* endNode, dtPolyRef* path, int* pa
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{
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dtAssert(curNode);
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curNode = m_query.m_nodePool->getNodeAtIdx(curNode->pidx);
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curNode = m_nodePool->getNodeAtIdx(curNode->pidx);
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}
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// Write path
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@ -1171,7 +1174,7 @@ dtStatus dtNavMeshQuery::getPathToNode(dtNode* endNode, dtPolyRef* path, int* pa
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dtAssert(curNode);
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path[i] = curNode->id;
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curNode = m_query.m_nodePool->getNodeAtIdx(curNode->pidx);
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curNode = m_nodePool->getNodeAtIdx(curNode->pidx);
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}
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dtAssert(!curNode);
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@ -1198,11 +1201,11 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
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const dtQueryFilter* filter, const unsigned int options)
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{
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dtAssert(m_nav);
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dtAssert(m_query.m_nodePool);
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dtAssert(m_query.m_openList);
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dtAssert(m_nodePool);
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dtAssert(m_openList);
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// Init path state.
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m_query.Reset();
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memset(&m_query, 0, sizeof(dtQueryData));
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m_query.status = DT_FAILURE;
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m_query.startRef = startRef;
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m_query.endRef = endRef;
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@ -1238,17 +1241,17 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
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return DT_SUCCESS;
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}
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m_query.m_nodePool->clear();
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m_query.m_openList->clear();
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m_nodePool->clear();
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m_openList->clear();
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dtNode* startNode = m_query.m_nodePool->getNode(startRef);
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dtNode* startNode = m_nodePool->getNode(startRef);
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dtVcopy(startNode->pos, startPos);
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startNode->pidx = 0;
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startNode->cost = 0;
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startNode->total = dtVdist(startPos, endPos) * H_SCALE;
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startNode->id = startRef;
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startNode->flags = DT_NODE_OPEN;
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m_query.m_openList->push(startNode);
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m_openList->push(startNode);
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m_query.status = DT_IN_PROGRESS;
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m_query.lastBestNode = startNode;
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@ -1273,12 +1276,12 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
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rayHit.maxPath = 0;
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int iter = 0;
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while (iter < maxIter && !m_query.m_openList->empty())
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while (iter < maxIter && !m_openList->empty())
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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_query.m_openList->pop();
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dtNode* bestNode = m_openList->pop();
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bestNode->flags &= ~DT_NODE_OPEN;
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bestNode->flags |= DT_NODE_CLOSED;
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@ -1314,10 +1317,10 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
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dtNode* parentNode = 0;
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if (bestNode->pidx)
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{
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parentNode = m_query.m_nodePool->getNodeAtIdx(bestNode->pidx);
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parentNode = m_nodePool->getNodeAtIdx(bestNode->pidx);
|
||||
parentRef = parentNode->id;
|
||||
if (parentNode->pidx)
|
||||
grandpaRef = m_query.m_nodePool->getNodeAtIdx(parentNode->pidx)->id;
|
||||
grandpaRef = m_nodePool->getNodeAtIdx(parentNode->pidx)->id;
|
||||
}
|
||||
if (parentRef)
|
||||
{
|
||||
@ -1358,7 +1361,7 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
|
||||
continue;
|
||||
|
||||
// get the neighbor node
|
||||
dtNode* neighbourNode = m_query.m_nodePool->getNode(neighbourRef, 0);
|
||||
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, 0);
|
||||
if (!neighbourNode)
|
||||
{
|
||||
m_query.status |= DT_OUT_OF_NODES;
|
||||
@ -1432,7 +1435,7 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
|
||||
continue;
|
||||
|
||||
// Add or update the node.
|
||||
neighbourNode->pidx = foundShortCut ? bestNode->pidx : m_query.m_nodePool->getNodeIdx(bestNode);
|
||||
neighbourNode->pidx = foundShortCut ? bestNode->pidx : m_nodePool->getNodeIdx(bestNode);
|
||||
neighbourNode->id = neighbourRef;
|
||||
neighbourNode->flags = (neighbourNode->flags & ~(DT_NODE_CLOSED | DT_NODE_PARENT_DETACHED));
|
||||
neighbourNode->cost = cost;
|
||||
@ -1443,13 +1446,13 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
|
||||
if (neighbourNode->flags & DT_NODE_OPEN)
|
||||
{
|
||||
// Already in open, update node location.
|
||||
m_query.m_openList->modify(neighbourNode);
|
||||
m_openList->modify(neighbourNode);
|
||||
}
|
||||
else
|
||||
{
|
||||
// Put the node in open list.
|
||||
neighbourNode->flags |= DT_NODE_OPEN;
|
||||
m_query.m_openList->push(neighbourNode);
|
||||
m_openList->push(neighbourNode);
|
||||
}
|
||||
|
||||
// Update nearest node to target so far.
|
||||
@ -1462,7 +1465,7 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
|
||||
}
|
||||
|
||||
// Exhausted all nodes, but could not find path.
|
||||
if (m_query.m_openList->empty())
|
||||
if (m_openList->empty())
|
||||
{
|
||||
const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
|
||||
m_query.status = DT_SUCCESS | details;
|
||||
@ -1487,7 +1490,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
|
||||
if (dtStatusFailed(m_query.status))
|
||||
{
|
||||
// Reset query.
|
||||
m_query.Reset();
|
||||
memset(&m_query, 0, sizeof(dtQueryData));
|
||||
return DT_FAILURE;
|
||||
}
|
||||
|
||||
@ -1511,8 +1514,8 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
|
||||
int prevRay = 0;
|
||||
do
|
||||
{
|
||||
dtNode* next = m_query.m_nodePool->getNodeAtIdx(node->pidx);
|
||||
node->pidx = m_query.m_nodePool->getNodeIdx(prev);
|
||||
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
|
||||
node->pidx = m_nodePool->getNodeIdx(prev);
|
||||
prev = node;
|
||||
int nextRay = node->flags & DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent (i.e. due to raycast shortcut)
|
||||
node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed path's node
|
||||
@ -1525,7 +1528,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
|
||||
node = prev;
|
||||
do
|
||||
{
|
||||
dtNode* next = m_query.m_nodePool->getNodeAtIdx(node->pidx);
|
||||
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
|
||||
dtStatus status = 0;
|
||||
if (node->flags & DT_NODE_PARENT_DETACHED)
|
||||
{
|
||||
@ -1557,7 +1560,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
|
||||
const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
|
||||
|
||||
// Reset query.
|
||||
m_query.Reset();
|
||||
memset(&m_query, 0, sizeof(dtQueryData));
|
||||
|
||||
*pathCount = n;
|
||||
|
||||
@ -1578,7 +1581,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
|
||||
if (dtStatusFailed(m_query.status))
|
||||
{
|
||||
// Reset query.
|
||||
m_query.Reset();
|
||||
memset(&m_query, 0, sizeof(dtQueryData));
|
||||
return DT_FAILURE;
|
||||
}
|
||||
|
||||
@ -1596,7 +1599,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
|
||||
dtNode* node = 0;
|
||||
for (int i = existingSize-1; i >= 0; --i)
|
||||
{
|
||||
m_query.m_nodePool->findNodes(existing[i], &node, 1);
|
||||
m_nodePool->findNodes(existing[i], &node, 1);
|
||||
if (node)
|
||||
break;
|
||||
}
|
||||
@ -1612,8 +1615,8 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
|
||||
int prevRay = 0;
|
||||
do
|
||||
{
|
||||
dtNode* next = m_query.m_nodePool->getNodeAtIdx(node->pidx);
|
||||
node->pidx = m_query.m_nodePool->getNodeIdx(prev);
|
||||
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
|
||||
node->pidx = m_nodePool->getNodeIdx(prev);
|
||||
prev = node;
|
||||
int nextRay = node->flags & DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent (i.e. due to raycast shortcut)
|
||||
node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed path's node
|
||||
@ -1626,7 +1629,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
|
||||
node = prev;
|
||||
do
|
||||
{
|
||||
dtNode* next = m_query.m_nodePool->getNodeAtIdx(node->pidx);
|
||||
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
|
||||
dtStatus status = 0;
|
||||
if (node->flags & DT_NODE_PARENT_DETACHED)
|
||||
{
|
||||
@ -1658,7 +1661,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
|
||||
const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
|
||||
|
||||
// Reset query.
|
||||
m_query.Reset();
|
||||
memset(&m_query, 0, sizeof(dtQueryData));
|
||||
|
||||
*pathCount = n;
|
||||
|
||||
@ -2026,7 +2029,7 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
|
||||
float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const
|
||||
{
|
||||
dtAssert(m_nav);
|
||||
dtAssert(m_query.m_tinyNodePool);
|
||||
dtAssert(m_tinyNodePool);
|
||||
|
||||
if (!visitedCount)
|
||||
return DT_FAILURE | DT_INVALID_PARAM;
|
||||
@ -2048,9 +2051,9 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
|
||||
dtNode* stack[MAX_STACK];
|
||||
int nstack = 0;
|
||||
|
||||
m_query.m_tinyNodePool->clear();
|
||||
m_tinyNodePool->clear();
|
||||
|
||||
dtNode* startNode = m_query.m_tinyNodePool->getNode(startRef);
|
||||
dtNode* startNode = m_tinyNodePool->getNode(startRef);
|
||||
startNode->pidx = 0;
|
||||
startNode->cost = 0;
|
||||
startNode->total = 0;
|
||||
@ -2159,7 +2162,7 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
|
||||
for (int k = 0; k < nneis; ++k)
|
||||
{
|
||||
// Skip if no node can be allocated.
|
||||
dtNode* neighbourNode = m_query.m_tinyNodePool->getNode(neis[k]);
|
||||
dtNode* neighbourNode = m_tinyNodePool->getNode(neis[k]);
|
||||
if (!neighbourNode)
|
||||
continue;
|
||||
// Skip if already visited.
|
||||
@ -2178,7 +2181,7 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
|
||||
// Mark as the node as visited and push to queue.
|
||||
if (nstack < MAX_STACK)
|
||||
{
|
||||
neighbourNode->pidx = m_query.m_tinyNodePool->getNodeIdx(curNode);
|
||||
neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode);
|
||||
neighbourNode->flags |= DT_NODE_CLOSED;
|
||||
stack[nstack++] = neighbourNode;
|
||||
}
|
||||
@ -2195,8 +2198,8 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
|
||||
dtNode* node = bestNode;
|
||||
do
|
||||
{
|
||||
dtNode* next = m_query.m_tinyNodePool->getNodeAtIdx(node->pidx);
|
||||
node->pidx = m_query.m_tinyNodePool->getNodeIdx(prev);
|
||||
dtNode* next = m_tinyNodePool->getNodeAtIdx(node->pidx);
|
||||
node->pidx = m_tinyNodePool->getNodeIdx(prev);
|
||||
prev = node;
|
||||
node = next;
|
||||
}
|
||||
@ -2212,7 +2215,7 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
|
||||
status |= DT_BUFFER_TOO_SMALL;
|
||||
break;
|
||||
}
|
||||
node = m_query.m_tinyNodePool->getNodeAtIdx(node->pidx);
|
||||
node = m_tinyNodePool->getNodeAtIdx(node->pidx);
|
||||
}
|
||||
while (node);
|
||||
}
|
||||
@ -2703,8 +2706,8 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
|
||||
int* resultCount, const int maxResult) const
|
||||
{
|
||||
dtAssert(m_nav);
|
||||
dtAssert(m_query.m_nodePool);
|
||||
dtAssert(m_query.m_openList);
|
||||
dtAssert(m_nodePool);
|
||||
dtAssert(m_openList);
|
||||
|
||||
if (!resultCount)
|
||||
return DT_FAILURE | DT_INVALID_PARAM;
|
||||
@ -2719,17 +2722,17 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
|
||||
return DT_FAILURE | DT_INVALID_PARAM;
|
||||
}
|
||||
|
||||
m_query.m_nodePool->clear();
|
||||
m_query.m_openList->clear();
|
||||
m_nodePool->clear();
|
||||
m_openList->clear();
|
||||
|
||||
dtNode* startNode = m_query.m_nodePool->getNode(startRef);
|
||||
dtNode* startNode = m_nodePool->getNode(startRef);
|
||||
dtVcopy(startNode->pos, centerPos);
|
||||
startNode->pidx = 0;
|
||||
startNode->cost = 0;
|
||||
startNode->total = 0;
|
||||
startNode->id = startRef;
|
||||
startNode->flags = DT_NODE_OPEN;
|
||||
m_query.m_openList->push(startNode);
|
||||
m_openList->push(startNode);
|
||||
|
||||
dtStatus status = DT_SUCCESS;
|
||||
|
||||
@ -2737,9 +2740,9 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
|
||||
|
||||
const float radiusSqr = dtSqr(radius);
|
||||
|
||||
while (!m_query.m_openList->empty())
|
||||
while (!m_openList->empty())
|
||||
{
|
||||
dtNode* bestNode = m_query.m_openList->pop();
|
||||
dtNode* bestNode = m_openList->pop();
|
||||
bestNode->flags &= ~DT_NODE_OPEN;
|
||||
bestNode->flags |= DT_NODE_CLOSED;
|
||||
|
||||
@ -2755,7 +2758,7 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
|
||||
const dtMeshTile* parentTile = 0;
|
||||
const dtPoly* parentPoly = 0;
|
||||
if (bestNode->pidx)
|
||||
parentRef = m_query.m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
|
||||
parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
|
||||
if (parentRef)
|
||||
m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
|
||||
|
||||
@ -2802,7 +2805,7 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
|
||||
if (distSqr > radiusSqr)
|
||||
continue;
|
||||
|
||||
dtNode* neighbourNode = m_query.m_nodePool->getNode(neighbourRef);
|
||||
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
|
||||
if (!neighbourNode)
|
||||
{
|
||||
status |= DT_OUT_OF_NODES;
|
||||
@ -2829,17 +2832,17 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
|
||||
continue;
|
||||
|
||||
neighbourNode->id = neighbourRef;
|
||||
neighbourNode->pidx = m_query.m_nodePool->getNodeIdx(bestNode);
|
||||
neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
|
||||
neighbourNode->total = total;
|
||||
|
||||
if (neighbourNode->flags & DT_NODE_OPEN)
|
||||
{
|
||||
m_query.m_openList->modify(neighbourNode);
|
||||
m_openList->modify(neighbourNode);
|
||||
}
|
||||
else
|
||||
{
|
||||
neighbourNode->flags = DT_NODE_OPEN;
|
||||
m_query.m_openList->push(neighbourNode);
|
||||
m_openList->push(neighbourNode);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -2877,8 +2880,8 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
|
||||
int* resultCount, const int maxResult) const
|
||||
{
|
||||
dtAssert(m_nav);
|
||||
dtAssert(m_query.m_nodePool);
|
||||
dtAssert(m_query.m_openList);
|
||||
dtAssert(m_nodePool);
|
||||
dtAssert(m_openList);
|
||||
|
||||
if (!resultCount)
|
||||
return DT_FAILURE | DT_INVALID_PARAM;
|
||||
@ -2896,30 +2899,30 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
|
||||
if (!startRef || !m_nav->isValidPolyRef(startRef))
|
||||
return DT_FAILURE | DT_INVALID_PARAM;
|
||||
|
||||
m_query.m_nodePool->clear();
|
||||
m_query.m_openList->clear();
|
||||
m_nodePool->clear();
|
||||
m_openList->clear();
|
||||
|
||||
float centerPos[3] = {0,0,0};
|
||||
for (int i = 0; i < nverts; ++i)
|
||||
dtVadd(centerPos,centerPos,&verts[i*3]);
|
||||
dtVscale(centerPos,centerPos,1.0f/nverts);
|
||||
|
||||
dtNode* startNode = m_query.m_nodePool->getNode(startRef);
|
||||
dtNode* startNode = m_nodePool->getNode(startRef);
|
||||
dtVcopy(startNode->pos, centerPos);
|
||||
startNode->pidx = 0;
|
||||
startNode->cost = 0;
|
||||
startNode->total = 0;
|
||||
startNode->id = startRef;
|
||||
startNode->flags = DT_NODE_OPEN;
|
||||
m_query.m_openList->push(startNode);
|
||||
m_openList->push(startNode);
|
||||
|
||||
dtStatus status = DT_SUCCESS;
|
||||
|
||||
int n = 0;
|
||||
|
||||
while (!m_query.m_openList->empty())
|
||||
while (!m_openList->empty())
|
||||
{
|
||||
dtNode* bestNode = m_query.m_openList->pop();
|
||||
dtNode* bestNode = m_openList->pop();
|
||||
bestNode->flags &= ~DT_NODE_OPEN;
|
||||
bestNode->flags |= DT_NODE_CLOSED;
|
||||
|
||||
@ -2935,7 +2938,7 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
|
||||
const dtMeshTile* parentTile = 0;
|
||||
const dtPoly* parentPoly = 0;
|
||||
if (bestNode->pidx)
|
||||
parentRef = m_query.m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
|
||||
parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
|
||||
if (parentRef)
|
||||
m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
|
||||
|
||||
@ -2985,7 +2988,7 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
|
||||
if (tmin > 1.0f || tmax < 0.0f)
|
||||
continue;
|
||||
|
||||
dtNode* neighbourNode = m_query.m_nodePool->getNode(neighbourRef);
|
||||
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
|
||||
if (!neighbourNode)
|
||||
{
|
||||
status |= DT_OUT_OF_NODES;
|
||||
@ -3012,17 +3015,17 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
|
||||
continue;
|
||||
|
||||
neighbourNode->id = neighbourRef;
|
||||
neighbourNode->pidx = m_query.m_nodePool->getNodeIdx(bestNode);
|
||||
neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
|
||||
neighbourNode->total = total;
|
||||
|
||||
if (neighbourNode->flags & DT_NODE_OPEN)
|
||||
{
|
||||
m_query.m_openList->modify(neighbourNode);
|
||||
m_openList->modify(neighbourNode);
|
||||
}
|
||||
else
|
||||
{
|
||||
neighbourNode->flags = DT_NODE_OPEN;
|
||||
m_query.m_openList->push(neighbourNode);
|
||||
m_openList->push(neighbourNode);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -3040,7 +3043,7 @@ dtStatus dtNavMeshQuery::getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef*
|
||||
*pathCount = 0;
|
||||
|
||||
dtNode* endNode;
|
||||
if (m_query.m_nodePool->findNodes(endRef, &endNode, 1) != 1 ||
|
||||
if (m_nodePool->findNodes(endRef, &endNode, 1) != 1 ||
|
||||
(endNode->flags & DT_NODE_CLOSED) == 0)
|
||||
return DT_FAILURE | DT_INVALID_PARAM;
|
||||
|
||||
@ -3075,7 +3078,7 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
|
||||
int* resultCount, const int maxResult) const
|
||||
{
|
||||
dtAssert(m_nav);
|
||||
dtAssert(m_query.m_tinyNodePool);
|
||||
dtAssert(m_tinyNodePool);
|
||||
|
||||
if (!resultCount)
|
||||
return DT_FAILURE | DT_INVALID_PARAM;
|
||||
@ -3094,9 +3097,9 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
|
||||
dtNode* stack[MAX_STACK];
|
||||
int nstack = 0;
|
||||
|
||||
m_query.m_tinyNodePool->clear();
|
||||
m_tinyNodePool->clear();
|
||||
|
||||
dtNode* startNode = m_query.m_tinyNodePool->getNode(startRef);
|
||||
dtNode* startNode = m_tinyNodePool->getNode(startRef);
|
||||
startNode->pidx = 0;
|
||||
startNode->id = startRef;
|
||||
startNode->flags = DT_NODE_CLOSED;
|
||||
@ -3146,7 +3149,7 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
|
||||
continue;
|
||||
|
||||
// Skip if cannot alloca more nodes.
|
||||
dtNode* neighbourNode = m_query.m_tinyNodePool->getNode(neighbourRef);
|
||||
dtNode* neighbourNode = m_tinyNodePool->getNode(neighbourRef);
|
||||
if (!neighbourNode)
|
||||
continue;
|
||||
// Skip visited.
|
||||
@ -3180,7 +3183,7 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
|
||||
// Mark node visited, this is done before the overlap test so that
|
||||
// we will not visit the poly again if the test fails.
|
||||
neighbourNode->flags |= DT_NODE_CLOSED;
|
||||
neighbourNode->pidx = m_query.m_tinyNodePool->getNodeIdx(curNode);
|
||||
neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode);
|
||||
|
||||
// Check that the polygon does not collide with existing polygons.
|
||||
|
||||
@ -3452,8 +3455,8 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
|
||||
float* hitDist, float* hitPos, float* hitNormal) const
|
||||
{
|
||||
dtAssert(m_nav);
|
||||
dtAssert(m_query.m_nodePool);
|
||||
dtAssert(m_query.m_openList);
|
||||
dtAssert(m_nodePool);
|
||||
dtAssert(m_openList);
|
||||
|
||||
// Validate input
|
||||
if (!m_nav->isValidPolyRef(startRef) ||
|
||||
@ -3464,25 +3467,25 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
|
||||
return DT_FAILURE | DT_INVALID_PARAM;
|
||||
}
|
||||
|
||||
m_query.m_nodePool->clear();
|
||||
m_query.m_openList->clear();
|
||||
m_nodePool->clear();
|
||||
m_openList->clear();
|
||||
|
||||
dtNode* startNode = m_query.m_nodePool->getNode(startRef);
|
||||
dtNode* startNode = m_nodePool->getNode(startRef);
|
||||
dtVcopy(startNode->pos, centerPos);
|
||||
startNode->pidx = 0;
|
||||
startNode->cost = 0;
|
||||
startNode->total = 0;
|
||||
startNode->id = startRef;
|
||||
startNode->flags = DT_NODE_OPEN;
|
||||
m_query.m_openList->push(startNode);
|
||||
m_openList->push(startNode);
|
||||
|
||||
float radiusSqr = dtSqr(maxRadius);
|
||||
|
||||
dtStatus status = DT_SUCCESS;
|
||||
|
||||
while (!m_query.m_openList->empty())
|
||||
while (!m_openList->empty())
|
||||
{
|
||||
dtNode* bestNode = m_query.m_openList->pop();
|
||||
dtNode* bestNode = m_openList->pop();
|
||||
bestNode->flags &= ~DT_NODE_OPEN;
|
||||
bestNode->flags |= DT_NODE_CLOSED;
|
||||
|
||||
@ -3498,7 +3501,7 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
|
||||
const dtMeshTile* parentTile = 0;
|
||||
const dtPoly* parentPoly = 0;
|
||||
if (bestNode->pidx)
|
||||
parentRef = m_query.m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
|
||||
parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
|
||||
if (parentRef)
|
||||
m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
|
||||
|
||||
@ -3585,7 +3588,7 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
|
||||
if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
|
||||
continue;
|
||||
|
||||
dtNode* neighbourNode = m_query.m_nodePool->getNode(neighbourRef);
|
||||
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
|
||||
if (!neighbourNode)
|
||||
{
|
||||
status |= DT_OUT_OF_NODES;
|
||||
@ -3610,17 +3613,17 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
|
||||
|
||||
neighbourNode->id = neighbourRef;
|
||||
neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED);
|
||||
neighbourNode->pidx = m_query.m_nodePool->getNodeIdx(bestNode);
|
||||
neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
|
||||
neighbourNode->total = total;
|
||||
|
||||
if (neighbourNode->flags & DT_NODE_OPEN)
|
||||
{
|
||||
m_query.m_openList->modify(neighbourNode);
|
||||
m_openList->modify(neighbourNode);
|
||||
}
|
||||
else
|
||||
{
|
||||
neighbourNode->flags |= DT_NODE_OPEN;
|
||||
m_query.m_openList->push(neighbourNode);
|
||||
m_openList->push(neighbourNode);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -3655,10 +3658,10 @@ bool dtNavMeshQuery::isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter)
|
||||
///
|
||||
bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const
|
||||
{
|
||||
if (!m_query.m_nodePool) return false;
|
||||
if (!m_nodePool) return false;
|
||||
|
||||
dtNode* nodes[DT_MAX_STATES_PER_NODE];
|
||||
int n= m_query.m_nodePool->findNodes(ref, nodes, DT_MAX_STATES_PER_NODE);
|
||||
int n= m_nodePool->findNodes(ref, nodes, DT_MAX_STATES_PER_NODE);
|
||||
|
||||
for (int i=0; i<n; i++)
|
||||
{
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user