/// <summary>
/// Immediately frees all unmanaged resources allocated by the object.
/// </summary>
public override void RequestDisposal()
{
// There are no managed or local allocations.
if (root != IntPtr.Zero)
{
mFilter.RequestDisposal();
mFilter = null;
mGrid.Dispose();
mGrid = null;
mQuery.RequestDisposal();
mQuery = null;
mNavmesh = null;
mMaxAgentRadius = -1;
agentStates = null;
for (int i = 0; i < mAgents.Length; i++)
{
if (mAgents[i] == null)
{
continue;
}
mAgents[i].Dispose();
mAgents[i] = null;
}
CrowdManagerEx.dtcDetourCrowdFree(root);
root = IntPtr.Zero;
}
}
private static NavStatus UnsafeCreate(byte[] serializedMesh
, bool safeStorage
, out Navmesh resultMesh)
{
if (serializedMesh == null || serializedMesh.Length == 0)
{
resultMesh = null;
return(NavStatus.Failure | NavStatus.InvalidParam);
}
IntPtr root = IntPtr.Zero;
NavStatus status = NavmeshEx.dtnmBuildDTNavMeshFromRaw(serializedMesh
, serializedMesh.Length
, safeStorage
, ref root);
if (NavUtil.Succeeded(status))
{
resultMesh = new Navmesh(root);
}
else
{
resultMesh = null;
}
return(status);
}
/// <summary>
/// Creates a single-tile navigation mesh.
/// </summary>
/// <param name="buildData">The tile build data.</param>
/// <param name="resultMesh">The result mesh.</param>
/// <returns>The <see cref="NavStatus"/> flags for the operation.
/// </returns>
public static NavStatus Create(NavmeshTileBuildData buildData
, out Navmesh resultMesh)
{
IntPtr navMesh = IntPtr.Zero;
NavStatus status = NavmeshEx.dtnmBuildSingleTileMesh(buildData
, ref navMesh);
if (NavUtil.Succeeded(status))
{
resultMesh = new Navmesh(navMesh);
}
else
{
resultMesh = null;
}
return(status);
}
/// <summary>
/// Creates a new crowd manager.
/// </summary>
/// <param name="maxAgents">
/// The maximum number of agents that can be added to the manager.
/// </param>
/// <param name="maxAgentRadius">The maximum allowed agent radius.</param>
/// <param name="navmesh">
/// The navigation mesh to use for path planning and steering related queries.
/// </param>
/// <returns>A new crowd manager, or null on error.</returns>
public static CrowdManager Create(int maxAgents, float maxAgentRadius, Navmesh navmesh)
{
if (navmesh == null || navmesh.IsDisposed)
{
return(null);
}
maxAgents = Math.Max(1, maxAgents);
maxAgentRadius = Math.Max(0, maxAgentRadius);
IntPtr root =
CrowdManagerEx.dtcDetourCrowdAlloc(maxAgents, maxAgentRadius, navmesh.root);
if (root == IntPtr.Zero)
{
return(null);
}
return(new CrowdManager(root, navmesh, maxAgents, maxAgentRadius));
}
private CrowdManager(IntPtr crowd, Navmesh navmesh, int maxAgents, float maxAgentRadius)
: base(AllocType.External)
{
mMaxAgentRadius = maxAgentRadius;
mNavmesh = navmesh;
root = crowd;
mAgents = new CrowdAgent[maxAgents];
agentStates = new CrowdAgentCoreState[maxAgents];
IntPtr ptr = CrowdManagerEx.dtcGetFilter(root);
mFilter = new NavmeshQueryFilter(ptr, AllocType.ExternallyManaged);
ptr = CrowdManagerEx.dtcGetGrid(root);
mGrid = new CrowdProximityGrid(ptr);
ptr = CrowdManagerEx.dtcGetNavMeshQuery(root);
mQuery = new NavmeshQuery(ptr, true, AllocType.ExternallyManaged);
}
/// <summary>
/// Creates an empty navigation mesh ready for tiles to be added.
/// </summary>
/// <remarks>
/// This is the method used when creating new multi-tile meshes.
/// Tiles are added using the <see cref="AddTile"/> method.
/// </remarks>
/// <param name="config">The mesh configuration.</param>
/// <param name="resultMesh">The result mesh.</param>
/// <returns>The <see cref="NavStatus"/> flags for the operation.
/// </returns>
public static NavStatus Create(NavmeshParams config
, out Navmesh resultMesh)
{
if (config == null || config.maxTiles < 1)
{
resultMesh = null;
return(NavStatus.Failure | NavStatus.InvalidParam);
}
IntPtr root = IntPtr.Zero;
NavStatus status = NavmeshEx.dtnmInitTiledNavMesh(config, ref root);
if (NavUtil.Succeeded(status))
{
resultMesh = new Navmesh(root);
}
else
{
resultMesh = null;
}
return(status);
}
private static NavStatus UnsafeCreate(byte[] serializedMesh
, bool safeStorage
, out Navmesh resultMesh)
{
if (serializedMesh == null || serializedMesh.Length == 0)
{
resultMesh = null;
return NavStatus.Failure | NavStatus.InvalidParam;
}
IntPtr root = IntPtr.Zero;
NavStatus status = NavmeshEx.dtnmBuildDTNavMeshFromRaw(serializedMesh
, serializedMesh.Length
, safeStorage
, ref root);
if (NavUtil.Succeeded(status))
resultMesh = new Navmesh(root);
else
resultMesh = null;
return status;
}
/// <summary>
/// Creates a navigation mesh from data obtained from the <see cref="GetSerializedMesh"/>
/// method.
/// </summary>
/// <param name="serializedMesh">The serialized mesh.</param>
/// <param name="resultMesh">The result mesh.</param>
/// <returns>The <see cref="NavStatus"/> flags for the operation.
/// </returns>
public static NavStatus Create(byte[] serializedMesh
, out Navmesh resultMesh)
{
return UnsafeCreate(serializedMesh, true, out resultMesh);
}
/// <summary>
/// Creates a single-tile navigation mesh.
/// </summary>
/// <param name="buildData">The tile build data.</param>
/// <param name="resultMesh">The result mesh.</param>
/// <returns>The <see cref="NavStatus"/> flags for the operation.
/// </returns>
public static NavStatus Create(NavmeshTileBuildData buildData
, out Navmesh resultMesh)
{
IntPtr navMesh = IntPtr.Zero;
NavStatus status = NavmeshEx.dtnmBuildSingleTileMesh(buildData
, ref navMesh);
if (NavUtil.Succeeded(status))
resultMesh = new Navmesh(navMesh);
else
resultMesh = null;
return status;
}
internal NavmeshTile(Navmesh owner, IntPtr tile)
{
mOwner = owner;
mTile = tile;
}
/// <summary>
/// Creates a new navigation mesh query based on the provided navigation mesh.
/// </summary>
/// <param name="navmesh">A navigation mesh to query against.</param>
/// <param name="maximumNodes">
/// The maximum number of nodes allowed when performing A* and Dijkstra searches.
/// </param>
/// <param name="resultQuery">A navigation mesh query object.</param>
/// <returns>The <see cref="NavStatus" /> flags for the build request.</returns>
public static NavStatus Create(Navmesh navmesh
, int maximumNodes
, out NavmeshQuery resultQuery)
{
IntPtr query = IntPtr.Zero;
NavStatus status = NavmeshQueryEx.dtnqBuildDTNavQuery(
navmesh.root
, maximumNodes
, ref query);
if (NavUtil.Succeeded(status))
resultQuery = new NavmeshQuery(query, false, AllocType.External);
else
resultQuery = null;
return status;
}
/// <summary>
/// Immediately frees all unmanaged resources allocated by the object.
/// </summary>
public override void RequestDisposal()
{
// There are no managed or local allocations.
if (root != IntPtr.Zero)
{
mFilter.RequestDisposal();
mFilter = null;
mGrid.Dispose();
mGrid = null;
mQuery.RequestDisposal();
mQuery = null;
mNavmesh = null;
mMaxAgentRadius = -1;
agentStates = null;
for (int i = 0; i < mAgents.Length; i++)
{
if (mAgents[i] == null)
continue;
mAgents[i].Dispose();
mAgents[i] = null;
}
CrowdManagerEx.dtcDetourCrowdFree(root);
root = IntPtr.Zero;
}
}
/// <summary>
/// Creates a navigation mesh from data obtained from the <see cref="GetSerializedMesh"/>
/// method.
/// </summary>
/// <param name="serializedMesh">The serialized mesh.</param>
/// <param name="resultMesh">The result mesh.</param>
/// <returns>The <see cref="NavStatus"/> flags for the operation.
/// </returns>
public static NavStatus Create(byte[] serializedMesh
, out Navmesh resultMesh)
{
return(UnsafeCreate(serializedMesh, true, out resultMesh));
}
private CrowdManager(IntPtr crowd, Navmesh navmesh, int maxAgents, float maxAgentRadius)
: base(AllocType.External)
{
mMaxAgentRadius = maxAgentRadius;
mNavmesh = navmesh;
root = crowd;
mAgents = new CrowdAgent[maxAgents];
agentStates = new CrowdAgentCoreState[maxAgents];
IntPtr ptr = CrowdManagerEx.dtcGetFilter(root);
mFilter = new NavmeshQueryFilter(ptr, AllocType.ExternallyManaged);
ptr = CrowdManagerEx.dtcGetGrid(root);
mGrid = new CrowdProximityGrid(ptr);
ptr = CrowdManagerEx.dtcGetNavMeshQuery(root);
mQuery = new NavmeshQuery(ptr, true, AllocType.ExternallyManaged);
}
/// <summary>
/// Extracts the tile data from a serialized navigation mesh.
/// </summary>
/// <remarks>
/// <para>
/// Tile data is normally preserved by serializing
/// the the content of the <see cref="NavmeshTileData"/> objects used to
/// create the navigation mesh. That is the most efficient method
/// and should be used whenever possible.
/// </para>
/// <para>
/// This method can be used to extract the tile data when
/// the original data is not available. It should only be used as
/// a backup to the normal method since this method is not efficient.
/// </para>
/// <para>
/// Always check the header polygon count
/// of the resulting <see cref="NavmeshTileExtract"/> objects before use since some tiles
/// in the navigation mesh may be empty. The <see cref="NavmeshTileExtract.data"/>
/// field will be null for empty tiles.
/// </para>
/// </remarks>
/// <param name="serializedMesh">A valid serialized navigation mesh.</param>
/// <param name="tileData">
/// The extracted tile data. [Length: <see cref="Navmesh.GetMaxTiles()"/>]
/// </param>
/// <param name="config">The navigation mesh's configuration.</param>
/// <returns>The <see cref="NavStatus"/> flags for the operation.</returns>
public static NavStatus ExtractTileData(byte[] serializedMesh
, out NavmeshTileExtract[] tileData
, out NavmeshParams config)
{
/*
* Design notes:
*
* Normally, the only way to get tile data out of a navigation mesh
* is when the tile data is NOT owned by the mesh. This is not
* permitted for normal mesh objects, which is why the RemoveTile() method
* never returns the tile data.
*
* The most efficient way to extract the data is to get it directly
* from the serialized data. But that would be a code maintenance issue.
* (Duplicating the mesh creation process.) So I'm using this rather
* convoluted method instead.
*
*/
if (serializedMesh == null)
{
tileData = null;
config = null;
return(NavStatus.Failure | NavStatus.InvalidParam);
}
Navmesh mesh;
NavStatus status = Navmesh.UnsafeCreate(serializedMesh, false, out mesh);
if ((status & NavStatus.Failure) != 0)
{
tileData = null;
config = null;
return(status);
}
config = mesh.GetConfig();
int count = mesh.GetMaxTiles();
tileData = new NavmeshTileExtract[count];
if (count == 0)
{
return(NavStatus.Sucess);
}
for (int i = 0; i < count; i++)
{
NavmeshTile tile = mesh.GetTile(i);
tileData[i].header = tile.GetHeader();
if (tileData[i].header.polyCount == 0)
{
// Tile not in use.
continue;
}
tileData[i].tileRef = tile.GetTileRef();
IntPtr tdata = new IntPtr();
int tsize = 0;
NavmeshEx.dtnmRemoveTile(mesh.root, tileData[i].tileRef, ref tdata, ref tsize);
tileData[i].data = UtilEx.ExtractArrayByte(tdata, tsize);
NavmeshEx.dtnmFreeBytes(ref tdata);
}
return(NavStatus.Sucess);
}
/// <summary>
/// Creates an empty navigation mesh ready for tiles to be added.
/// </summary>
/// <remarks>
/// This is the method used when creating new multi-tile meshes.
/// Tiles are added using the <see cref="AddTile"/> method.
/// </remarks>
/// <param name="config">The mesh configuration.</param>
/// <param name="resultMesh">The result mesh.</param>
/// <returns>The <see cref="NavStatus"/> flags for the operation.
/// </returns>
public static NavStatus Create(NavmeshParams config
, out Navmesh resultMesh)
{
if (config == null || config.maxTiles < 1)
{
resultMesh = null;
return NavStatus.Failure | NavStatus.InvalidParam;
}
IntPtr root = IntPtr.Zero;
NavStatus status = NavmeshEx.dtnmInitTiledNavMesh(config, ref root);
if (NavUtil.Succeeded(status))
resultMesh = new Navmesh(root);
else
resultMesh = null;
return status;
}
internal NavmeshTile(Navmesh owner, IntPtr tile)
{
mOwner = owner;
mTile = tile;
}
/// <summary>
/// Creates a new crowd manager.
/// </summary>
/// <param name="maxAgents">
/// The maximum number of agents that can be added to the manager.
/// </param>
/// <param name="maxAgentRadius">The maximum allowed agent radius.</param>
/// <param name="navmesh">
/// The navigation mesh to use for path planning and steering related queries.
/// </param>
/// <returns>A new crowd manager, or null on error.</returns>
public static CrowdManager Create(int maxAgents, float maxAgentRadius, Navmesh navmesh)
{
if (navmesh == null || navmesh.IsDisposed)
return null;
maxAgents = Math.Max(1, maxAgents);
maxAgentRadius = Math.Max(0, maxAgentRadius);
IntPtr root =
CrowdManagerEx.dtcDetourCrowdAlloc(maxAgents, maxAgentRadius, navmesh.root);
if (root == IntPtr.Zero)
return null;
return new CrowdManager(root, navmesh, maxAgents, maxAgentRadius);
}
