public List<Hop> FindPath(Vector3 startVec, Vector3 endVec)
{
var extents = new Vector3(2.5f, 2.5f, 2.5f).ToFloatArray();
var start = startVec.ToRecast().ToFloatArray();
var end = endVec.ToRecast().ToFloatArray();
if (!IsDungeon)
{
LoadAround(startVec, 1);
LoadAround(endVec, 1);
}
var startRef = _query.FindNearestPolygon(start, extents, Filter);
if (startRef == 0)
throw new NavMeshException(DetourStatus.Failure, "No polyref found for start");
var endRef = _query.FindNearestPolygon(end, extents, Filter);
if (endRef == 0)
throw new NavMeshException(DetourStatus.Failure, "No polyref found for end");
uint[] pathCorridor;
var status = _query.FindPath(startRef, endRef, start, end, Filter, out pathCorridor);
if (status.HasFailed() || pathCorridor == null)
throw new NavMeshException(status, "FindPath failed, start: " + startRef + " end: " + endRef);
if (status.HasFlag(DetourStatus.PartialResult))
Console.WriteLine("Warning, partial result: " + status);
float[] finalPath;
StraightPathFlag[] pathFlags;
uint[] pathRefs;
status = _query.FindStraightPath(start, end, pathCorridor, out finalPath, out pathFlags, out pathRefs);
if (status.HasFailed() || (finalPath == null || pathFlags == null || pathRefs == null))
throw new NavMeshException(status, "FindStraightPath failed, refs in corridor: " + pathCorridor.Length);
var ret = new List<Hop>(finalPath.Length/3);
for (int i = 0; i < (finalPath.Length / 3); i++)
{
if (pathFlags[i].HasFlag(StraightPathFlag.OffMeshConnection))
{
var polyRef = pathRefs[i];
MeshTile tile;
Poly poly;
if (_mesh.GetTileAndPolyByRef(polyRef, out tile, out poly).HasFailed() || (poly == null || tile == null))
throw new NavMeshException(DetourStatus.Failure, "FindStraightPath returned a hop with an unresolvable off-mesh connection");
int polyIndex = _mesh.DecodePolyIndex(polyRef);
int pathId = -1;
for (int j = 0; j < tile.Header.OffMeshConCount; j++)
{
var con = tile.GetOffMeshConnection(j);
if (con == null)
continue;
if (con.PolyId == polyIndex)
{
pathId = (int)con.UserID;
break;
}
}
if (pathId == -1)
throw new NavMeshException(DetourStatus.Failure, "FindStraightPath returned a hop with an poly that lacks a matching off-mesh connection");
ret.Add(BuildFlightmasterHop(pathId));
}
else
{
var hop = new Hop
{
Location =
new Vector3(finalPath[(i*3) + 0], finalPath[(i*3) + 1], finalPath[(i*3) + 2]).
ToWoW(),
Type = HopType.Waypoint
};
ret.Add(hop);
}
}
return ret;
}
public List <Hop> FindPath(Vector3 startVec, Vector3 endVec)
{
var extents = new Vector3(2.5f, 2.5f, 2.5f).ToFloatArray();
var start = startVec.ToRecast().ToFloatArray();
var end = endVec.ToRecast().ToFloatArray();
if (!IsDungeon)
{
LoadAround(startVec, 1);
LoadAround(endVec, 1);
}
var startRef = _query.FindNearestPolygon(start, extents, Filter);
if (startRef == 0)
{
throw new NavMeshException(DetourStatus.Failure, "No polyref found for start");
}
var endRef = _query.FindNearestPolygon(end, extents, Filter);
if (endRef == 0)
{
throw new NavMeshException(DetourStatus.Failure, "No polyref found for end");
}
uint[] pathCorridor;
var status = _query.FindPath(startRef, endRef, start, end, Filter, out pathCorridor);
if (status.HasFailed() || pathCorridor == null)
{
throw new NavMeshException(status, "FindPath failed, start: " + startRef + " end: " + endRef);
}
if (status.HasFlag(DetourStatus.PartialResult))
{
Console.WriteLine("Warning, partial result: " + status);
}
float[] finalPath;
StraightPathFlag[] pathFlags;
uint[] pathRefs;
status = _query.FindStraightPath(start, end, pathCorridor, out finalPath, out pathFlags, out pathRefs);
if (status.HasFailed() || (finalPath == null || pathFlags == null || pathRefs == null))
{
throw new NavMeshException(status, "FindStraightPath failed, refs in corridor: " + pathCorridor.Length);
}
var ret = new List <Hop>(finalPath.Length / 3);
for (int i = 0; i < (finalPath.Length / 3); i++)
{
if (pathFlags[i].HasFlag(StraightPathFlag.OffMeshConnection))
{
var polyRef = pathRefs[i];
MeshTile tile;
Poly poly;
if (_mesh.GetTileAndPolyByRef(polyRef, out tile, out poly).HasFailed() || (poly == null || tile == null))
{
throw new NavMeshException(DetourStatus.Failure, "FindStraightPath returned a hop with an unresolvable off-mesh connection");
}
int polyIndex = _mesh.DecodePolyIndex(polyRef);
int pathId = -1;
for (int j = 0; j < tile.Header.OffMeshConCount; j++)
{
var con = tile.GetOffMeshConnection(j);
if (con == null)
{
continue;
}
if (con.PolyId == polyIndex)
{
pathId = (int)con.UserID;
break;
}
}
if (pathId == -1)
{
throw new NavMeshException(DetourStatus.Failure, "FindStraightPath returned a hop with an poly that lacks a matching off-mesh connection");
}
ret.Add(BuildFlightmasterHop(pathId));
}
else
{
var hop = new Hop
{
Location =
new Vector3(finalPath[(i * 3) + 0], finalPath[(i * 3) + 1], finalPath[(i * 3) + 2]).
ToWoW(),
Type = HopType.Waypoint
};
ret.Add(hop);
}
}
return(ret);
}
