static bool getSteerTarget(Detour.dtNavMeshQuery navQuery, float[] startPos, float[] endPos,
float minTargetDist,
dtPolyRef[] path, int pathSize,
float[] steerPos, ref byte steerPosFlag, ref dtPolyRef steerPosRef)
{
// Find steer target.
const int MAX_STEER_POINTS = 3;
float[] steerPath = new float[MAX_STEER_POINTS*3];
byte[] steerPathFlags = new byte[MAX_STEER_POINTS];
dtPolyRef[] steerPathPolys = new dtPolyRef[MAX_STEER_POINTS];
int nsteerPath = 0;
navQuery.findStraightPath(startPos, endPos, path, pathSize,
steerPath, steerPathFlags, steerPathPolys, ref nsteerPath, MAX_STEER_POINTS, 0);
if (nsteerPath == 0)
return false;
// Find vertex far enough to steer to.
int ns = 0;
while (ns < nsteerPath)
{
// Stop at Off-Mesh link or when point is further than slop away.
if ((steerPathFlags[ns] & (byte)Detour.dtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0 ||
!inRange(steerPath, ns*3, startPos, 0, minTargetDist, 1000.0f))
break;
ns++;
}
// Failed to find good point to steer to.
if (ns >= nsteerPath)
return false;
Detour.dtVcopy(steerPos, 0, steerPath,ns*3);
steerPos[1] = startPos[1];
steerPosFlag = steerPathFlags[ns];
steerPosRef = steerPathPolys[ns];
return true;
}
public static StraightPath ComputeStraightPath(Detour.dtNavMeshQuery navQuery, float[] startPos, float[] endPos)
{
//m_ComputedPathType = PathType.Straight;
StraightPath path = new StraightPath();
float[] extents = new float[3];
for (int i=0;i<3;++i){
extents[i] = 10.0f;
}
dtPolyRef startRef = 0;
dtPolyRef endRef = 0;
float[] startPt = new float[3];
float[] endPt = new float[3];
Detour.dtQueryFilter filter = new Detour.dtQueryFilter();
navQuery.findNearestPoly( startPos, extents, filter, ref startRef, ref startPt );
navQuery.findNearestPoly( endPos, extents, filter, ref endRef, ref endPt );
int pathCount = -1;
navQuery.findPath(startRef, endRef, startPt, endPt, filter, path.m_RawPathPolys, ref pathCount, StraightPath.MAX_POLYS);
path.m_RawPathLength = pathCount;
if (pathCount > 0)
{
// In case of partial path, make sure the end point is clamped to the last polygon.
float[] epos = new float[3];
Detour.dtVcopy(epos, endPt);
if (path.m_RawPathPolys[pathCount - 1] != endRef) {
bool posOverPoly = false;
navQuery.closestPointOnPoly(path.m_RawPathPolys[pathCount - 1], endPt, epos, ref posOverPoly);
}
navQuery.findStraightPath(startPt, endPt, path.m_RawPathPolys, pathCount,
path.m_straightPath, path.m_straightPathFlags,
path.m_straightPathPolys, ref path.m_straightPathCount,
StraightPath.MAX_POLYS, path.m_straightPathOptions);
}
return path;
}
