public bool PassableForMod(Vector3 end)
{
if (mNavMeshQuery == null)
{
return(false);
}
long endRef = 0;
float[] nearestPt = new float[3];
float[] endPos = new float[] { end.X, end.Y, end.Z };
try
{
Detour.Status status = mNavMeshQuery.FindNearestPoly(endPos, new[] { 0.2f, 10f, 0.2f }, mQueryFilter, ref endRef, ref nearestPt);
if (status == Detour.Status.Success)
{
return(mNavMeshQuery.IsValidPolyRef(endRef, mQueryFilter));
}
}
catch (System.Exception ex)
{
Log.Log.Server.Print(ex.ToString());
Log.Log.Server.Print(ex.StackTrace.ToString());
}
return(false);
}
public bool FindRandomPoint(Vector3 start, Vector3 center, float radius, ref Vector3 point)
{
if (mNavMeshQuery == null)
{
return(false);
}
long startRef = 0;
long randomRef = 0;
float[] nearestPt = new float[3];
float[] randomPt = new float[3];
float[] startPos = new float[] { start.X, start.Y, start.Z };
float[] centerPos = new float[] { center.X, center.Y, center.Z };
Detour.Status status = mNavMeshQuery.FindNearestPoly(startPos, new[] { 0.2f, 10f, 0.2f }, mQueryFilter, ref startRef, ref nearestPt);
status = mNavMeshQuery.FindRandomPointAroundCircle(startRef, centerPos, radius, mQueryFilter, Rand, ref randomRef, ref randomPt);
if (status == Detour.Status.Success)
{
point = new Vector3(randomPt[0], randomPt[1], randomPt[2]);
return(true);
}
return(false);
}
public bool FindPath(Vector3 start, Vector3 end, out NavpointList nodes)
{
nodes = new NavpointList();
if (mNavMeshQuery == null)
{
return(false);
}
long startRef = 0, endRef = 0;
int maxPolys = 256;
float[] nearestPt = new float[3];
float[] startPos = new float[] { start.X, 0, start.Z };
float[] endPos = new float[] { end.X, 0, end.Z };
Detour.Status status = mNavMeshQuery.FindNearestPoly(startPos, new[] { 0.2f, 10f, 0.2f }, mQueryFilter, ref startRef, ref nearestPt);
status = mNavMeshQuery.FindNearestPoly(endPos, new[] { 0.2f, 10f, 0.2f }, mQueryFilter, ref endRef, ref nearestPt);
long[] polys = new long[maxPolys];
int polyCount = 0;
try
{
status = mNavMeshQuery.FindPath(startRef, endRef, startPos, endPos, mQueryFilter, ref polys, ref polyCount, maxPolys);
}
catch (System.Exception ex)
{
Log.Log.Server.Print(ex.ToString());
Log.Log.Server.Print(ex.StackTrace.ToString());
}
if (status != Detour.Status.Success || polyCount == 0)
{
return(false);
}
long[] smoothPolys = new long[maxPolys];
System.Array.Copy(polys, smoothPolys, polyCount);
int smoothPolyCount = polyCount;
float[] iterPos = new float[3], targetPos = new float[3];
mNavMeshQuery.ClosestPointOnPoly(startRef, startPos, ref iterPos);
mNavMeshQuery.ClosestPointOnPoly(smoothPolys[smoothPolyCount - 1], endPos, ref targetPos);
float StepSize = 0.5f;
float Slop = 0.01f;
int maxSmooth = 683;
nodes.AddLast(new Vector3(iterPos[0], iterPos[1], iterPos[2]));
while (smoothPolyCount > 0 && nodes.Count < maxSmooth)
{
float[] steerPos = new float[3];
short steerPosFlag = 0;
long steerPosRef = 0;
if (!GetSteerTarget(mNavMeshQuery, iterPos, targetPos, Slop, smoothPolys, smoothPolyCount, ref steerPos, ref steerPosFlag, ref steerPosRef))
{
break;
}
bool endOfPath = (steerPosFlag & mStraightPathEnd) != 0;
bool offMeshConnection = (steerPosFlag & mStraightPathOffMeshConnection) != 0;
float[] delta = Helper.VSub(steerPos[0], steerPos[1], steerPos[2], iterPos[0], iterPos[1], iterPos[2]);
float len = (float)System.Math.Sqrt(Helper.VDot(delta, delta));
if ((endOfPath || offMeshConnection) && len < StepSize)
{
len = 1;
}
else
{
len = StepSize / len;
}
float[] moveTarget = new float[3];
Helper.VMad(ref moveTarget, iterPos, delta, len);
float[] result = new float[3];
long[] visited = new long[16];
int nVisited = 0;
mNavMeshQuery.MoveAlongSurface(smoothPolys[0], iterPos, moveTarget, mQueryFilter, ref result, ref visited, ref nVisited, 16);
smoothPolyCount = FixupCorridor(ref smoothPolys, smoothPolyCount, maxPolys, visited, nVisited);
float h = 0;
mNavMeshQuery.GetPolyHeight(smoothPolys[0], result, ref h);
result[1] = h;
System.Array.Copy(result, iterPos, 3);
if (endOfPath && InRange(iterPos, steerPos, Slop, 1.0f))
{
System.Array.Copy(targetPos, iterPos, 3);
if (nodes.Count < maxSmooth)
{
nodes.AddLast(new Vector3(iterPos[0], iterPos[1], iterPos[2]));
}
break;
}
else if (offMeshConnection && InRange(iterPos, steerPos, Slop, 1.0f))
{
float[] startPosOffMesh = new float[3], endPosOffMesh = new float[3];
long prevRef = 0, polyRef = smoothPolys[0];
int npos = 0;
while (npos < smoothPolyCount && polyRef != steerPosRef)
{
prevRef = polyRef;
polyRef = smoothPolys[npos];
npos++;
}
for (int i = npos; i < smoothPolyCount; i++)
{
smoothPolys[i - npos] = smoothPolys[i];
}
smoothPolyCount -= npos;
status = mNavMeshQuery.NavMesh.GetOffMeshConnectionPolyEndPoints(prevRef, polyRef, ref startPosOffMesh, ref endPosOffMesh);
if ((status & Status.Success) != 0)
{
if (nodes.Count < maxSmooth)
{
nodes.AddLast(new Vector3(startPosOffMesh[0], startPosOffMesh[1], startPosOffMesh[2]));
if ((nodes.Count & 1) == 1)
{
nodes.AddLast(new Vector3(startPosOffMesh[0], startPosOffMesh[1], startPosOffMesh[2]));
}
}
System.Array.Copy(endPosOffMesh, iterPos, 3);
float eh = 0.0f;
mNavMeshQuery.GetPolyHeight(smoothPolys[0], iterPos, ref eh);
iterPos[1] = eh;
}
}
if (nodes.Count < maxSmooth)
{
nodes.AddLast(new Vector3(iterPos[0], iterPos[1], iterPos[2]));
}
}
return(true);
}
