private void GetObstacleBounds(TileCacheObstacle ob, out Vector3 bmin, out Vector3 bmax)
{
bmin = new Vector3();
bmax = new Vector3();
if (ob.Type == ObstacleType.DT_OBSTACLE_CYLINDER)
{
var cl = ob.Cylinder;
bmin.X = cl.Pos.X - cl.Radius;
bmin.Y = cl.Pos.Y;
bmin.Z = cl.Pos.Z - cl.Radius;
bmax.X = cl.Pos.X + cl.Radius;
bmax.Y = cl.Pos.Y + cl.Height;
bmax.Z = cl.Pos.Z + cl.Radius;
}
else if (ob.Type == ObstacleType.DT_OBSTACLE_BOX)
{
bmin = ob.Box.BMin;
bmax = ob.Box.BMax;
}
else if (ob.Type == ObstacleType.DT_OBSTACLE_ORIENTED_BOX)
{
var orientedBox = ob.OrientedBox;
float maxr = 1.41f * Math.Max(orientedBox.HalfExtents.X, orientedBox.HalfExtents.Z);
bmin.X = orientedBox.Center.X - maxr;
bmax.X = orientedBox.Center.X + maxr;
bmin.Y = orientedBox.Center.Y - orientedBox.HalfExtents.Y;
bmax.Y = orientedBox.Center.Y + orientedBox.HalfExtents.Y;
bmin.Z = orientedBox.Center.Z - maxr;
bmax.Z = orientedBox.Center.Z + maxr;
}
}
public int GetObstacleRef(TileCacheObstacle ob)
{
if (ob == null)
{
return(0);
}
int idx = Array.IndexOf(m_obstacles, ob);
return(EncodeObstacleId(ob.Salt, idx));
}
public Status AddBoxObstacle(Vector3 center, Vector3 halfExtents, float yRadians, out int result)
{
result = 0;
if (m_nreqs >= DetourTileCache.MAX_REQUESTS)
{
return(Status.DT_FAILURE | Status.DT_BUFFER_TOO_SMALL);
}
int ob = -1;
if (m_nextFreeObstacle >= 0)
{
ob = m_nextFreeObstacle;
m_nextFreeObstacle = m_obstacles[ob].Next;
m_obstacles[ob].Next = -1;
}
if (ob == -1)
{
return(Status.DT_FAILURE);
}
float coshalf = (float)Math.Cos(0.5f * yRadians);
float sinhalf = (float)Math.Sin(-0.5f * yRadians);
var rotAux = new Vector2(coshalf * sinhalf, coshalf * coshalf - 0.5f);
int salt = m_obstacles[ob].Salt;
m_obstacles[ob] = new TileCacheObstacle
{
Salt = salt,
State = ObstacleState.DT_OBSTACLE_PROCESSING,
Type = ObstacleType.DT_OBSTACLE_ORIENTED_BOX,
OrientedBox = new ObstacleOrientedBox
{
Center = center,
HalfExtents = halfExtents,
RotAux = rotAux,
}
};
var req = new ObstacleRequest
{
Action = ObstacleRequestAction.REQUEST_ADD,
NRef = GetObstacleRef(m_obstacles[ob])
};
m_reqs[m_nreqs++] = req;
result = req.NRef;
return(Status.DT_SUCCESS);
}
public void Init(TileCacheParams tcparams, TileCacheMeshProcess tmproc)
{
m_params = tcparams;
m_tmproc = tmproc;
// Alloc space for obstacles.
m_obstacles = new TileCacheObstacle[tcparams.MaxObstacles];
m_nextFreeObstacle = -1;
for (int i = tcparams.MaxObstacles - 1; i >= 0; i--)
{
m_obstacles[i] = new TileCacheObstacle
{
Salt = 1,
Next = m_nextFreeObstacle
};
m_nextFreeObstacle = i;
}
// Init tiles
var m_tileLutSize = Helper.NextPowerOfTwo(tcparams.MaxTiles / 4);
if (m_tileLutSize == 0)
{
m_tileLutSize = 1;
}
m_tileLutMask = m_tileLutSize - 1;
m_tiles = new CompressedTile[tcparams.MaxTiles];
m_posLookup = new CompressedTile[m_tileLutSize];
for (int i = tcparams.MaxTiles - 1; i >= 0; i--)
{
m_tiles[i] = new CompressedTile
{
Salt = 1,
Next = m_nextFreeTile
};
m_nextFreeTile = m_tiles[i];
}
// Init ID generator values.
m_tileBits = (int)Math.Log(Helper.NextPowerOfTwo(tcparams.MaxTiles), 2);
// Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow.
m_saltBits = Math.Min(31, 32 - m_tileBits);
if (m_saltBits < 10)
{
throw new EngineException("NavMesh DT_INVALID_PARAM");
}
}
public Status AddObstacle(Vector3 pos, float radius, float height, out int result)
{
result = 0;
if (m_nreqs >= DetourTileCache.MAX_REQUESTS)
{
return(Status.DT_FAILURE | Status.DT_BUFFER_TOO_SMALL);
}
int ob = -1;
if (m_nextFreeObstacle >= 0)
{
ob = m_nextFreeObstacle;
m_nextFreeObstacle = m_obstacles[ob].Next;
m_obstacles[ob].Next = -1;
}
if (ob == -1)
{
return(Status.DT_FAILURE);
}
int salt = m_obstacles[ob].Salt;
m_obstacles[ob] = new TileCacheObstacle
{
Salt = salt,
State = ObstacleState.DT_OBSTACLE_PROCESSING,
Type = ObstacleType.DT_OBSTACLE_CYLINDER,
Cylinder = new ObstacleCylinder
{
Pos = pos,
Radius = radius,
Height = height
}
};
var req = new ObstacleRequest
{
Action = ObstacleRequestAction.REQUEST_ADD,
NRef = GetObstacleRef(m_obstacles[ob]),
};
m_reqs[m_nreqs++] = req;
result = req.NRef;
return(Status.DT_SUCCESS);
}
public Status AddBoxObstacle(Vector3 bmin, Vector3 bmax, out int result)
{
result = 0;
if (m_nreqs >= DetourTileCache.MAX_REQUESTS)
{
return(Status.DT_FAILURE | Status.DT_BUFFER_TOO_SMALL);
}
int ob = -1;
if (m_nextFreeObstacle >= 0)
{
ob = m_nextFreeObstacle;
m_nextFreeObstacle = m_obstacles[ob].Next;
m_obstacles[ob].Next = -1;
}
if (ob == -1)
{
return(Status.DT_FAILURE);
}
int salt = m_obstacles[ob].Salt;
m_obstacles[ob] = new TileCacheObstacle
{
Salt = salt,
State = ObstacleState.DT_OBSTACLE_PROCESSING,
Type = ObstacleType.DT_OBSTACLE_BOX,
Box = new ObstacleBox
{
BMin = bmin,
BMax = bmax
}
};
var req = new ObstacleRequest
{
Action = ObstacleRequestAction.REQUEST_ADD,
NRef = GetObstacleRef(m_obstacles[ob])
};
m_reqs[m_nreqs++] = req;
result = req.NRef;
return(Status.DT_SUCCESS);
}