public static SmoothPath ComputeSmoothPath(Detour.dtNavMeshQuery navQuery, float[] startWorldPos, float[] endWorldPos)
{
SmoothPath smoothPath = new SmoothPath();
if (navQuery == null){
return smoothPath;
}
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(startWorldPos, extents, filter, ref startRef, ref startPt);
navQuery.findNearestPoly(endWorldPos, extents, filter, ref endRef, ref endPt);
const int maxPath = SmoothPath.MAX_POLYS;
dtPolyRef[] path = new dtPolyRef[maxPath];
int pathCount = -1;
navQuery.findPath(startRef, endRef, startPt, endPt, filter, path, ref pathCount, maxPath );
smoothPath.m_nsmoothPath = 0;
if (pathCount > 0)
{
// Iterate over the path to find smooth path on the detail mesh surface.
dtPolyRef[] polys = new dtPolyRef[SmoothPath.MAX_POLYS];
for (int i=0;i<pathCount;++i){
polys[i] = path[i];
}
int npolys = pathCount;
float[] iterPos = new float[3];
float[] targetPos = new float[3];
bool posOverPoly_dummy = false;
navQuery.closestPointOnPoly(startRef, startPt, iterPos, ref posOverPoly_dummy);
navQuery.closestPointOnPoly(polys[npolys-1], endPt, targetPos, ref posOverPoly_dummy);
const float STEP_SIZE = 0.5f;
const float SLOP = 0.01f;
smoothPath.m_nsmoothPath = 0;
Detour.dtVcopy(smoothPath.m_smoothPath,smoothPath.m_nsmoothPath*3, iterPos, 0);
smoothPath.m_nsmoothPath++;
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
while (npolys != 0 && smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
// Find location to steer towards.
float[] steerPos = new float[3];
byte steerPosFlag = 0;
dtPolyRef steerPosRef = 0;
if (!getSteerTarget(navQuery, iterPos, targetPos, SLOP,
polys, npolys, steerPos, ref steerPosFlag, ref steerPosRef))
break;
bool endOfPath = (steerPosFlag & (byte)Detour.dtStraightPathFlags.DT_STRAIGHTPATH_END) != 0 ? true : false;
bool offMeshConnection = (steerPosFlag & (byte)Detour.dtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0 ? true : false;
// Find movement delta.
float[] delta = new float[3];//, len;
float len = .0f;
Detour.dtVsub(delta, steerPos, iterPos);
len = (float)Mathf.Sqrt(Detour.dtVdot(delta,delta));
// If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
len = 1;
else
len = STEP_SIZE / len;
float[] moveTgt = new float[3];
Detour.dtVmad(moveTgt, iterPos, delta, len);
// Move
float[] result = new float[3];
dtPolyRef[] visited = new dtPolyRef[16];
int nvisited = 0;
navQuery.moveAlongSurface(polys[0], iterPos, moveTgt, filter,
result, visited, ref nvisited, 16);
npolys = fixupCorridor(polys, npolys, SmoothPath.MAX_POLYS, visited, nvisited);
npolys = fixupShortcuts(polys, npolys, navQuery);
float h = 0;
dtStatus getHeightStatus = navQuery.getPolyHeight(polys[0], result, ref h);
result[1] = h;
if ((getHeightStatus & Detour.DT_FAILURE) != 0) {
Debug.LogError("Failed to getPolyHeight " + polys[0] + " pos " + result[0] + " " + result[1] + " " + result[2] + " h " + h);
}
Detour.dtVcopy(iterPos, result);
// Handle end of path and off-mesh links when close enough.
if (endOfPath && inRange(iterPos, 0, steerPos, 0, SLOP, 1.0f))
{
// Reached end of path.
Detour.dtVcopy(iterPos, targetPos);
if (smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
Detour.dtVcopy(smoothPath.m_smoothPath,smoothPath.m_nsmoothPath*3, iterPos, 0);
smoothPath.m_nsmoothPath++;
}
break;
}
else if (offMeshConnection && inRange(iterPos, 0, steerPos, 0, SLOP, 1.0f))
{
// Reached off-mesh connection.
float[] startPos = new float[3];//, endPos[3];
float[] endPos = new float[3];
// Advance the path up to and over the off-mesh connection.
dtPolyRef prevRef = 0, polyRef = polys[0];
int npos = 0;
while (npos < npolys && polyRef != steerPosRef)
{
prevRef = polyRef;
polyRef = polys[npos];
npos++;
}
for (int i = npos; i < npolys; ++i)
polys[i-npos] = polys[i];
npolys -= npos;
// Handle the connection.
dtStatus status = navQuery.getAttachedNavMesh().getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos);
if (Detour.dtStatusSucceed(status))
{
if (smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
Detour.dtVcopy(smoothPath.m_smoothPath,smoothPath.m_nsmoothPath*3, startPos, 0);
smoothPath.m_nsmoothPath++;
// Hack to make the dotted path not visible during off-mesh connection.
if ((smoothPath.m_nsmoothPath & 1) != 0)
{
Detour.dtVcopy(smoothPath.m_smoothPath, smoothPath.m_nsmoothPath * 3, startPos, 0);
smoothPath.m_nsmoothPath++;
}
}
// Move position at the other side of the off-mesh link.
Detour.dtVcopy(iterPos, endPos);
float eh = 0.0f;
navQuery.getPolyHeight(polys[0], iterPos, ref eh);
iterPos[1] = eh;
}
}
// Store results.
if (smoothPath.m_nsmoothPath < SmoothPath.MAX_SMOOTH)
{
Detour.dtVcopy(smoothPath.m_smoothPath, smoothPath.m_nsmoothPath * 3, iterPos, 0);
smoothPath.m_nsmoothPath++;
}
}
}
return smoothPath;
}
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;
}