public override async Task <PathingResponse> GetPathStraight(PathingRequest request, ServerCallContext context)
{
// NOTE: Consider using GetPathStreamed instead
Navmesh mesh;
if (!Navmeshes.TryGetValue(request.Navmesh, out mesh))
{
Metrics.QPSByResult["NavmeshUnavailable"].Increment();
return(new PathingResponse {
ResultCode = PathingResult.NavmeshUnavailable
});
}
var onDequeue = Metrics.Record("Path", request.Navmesh);
return(await Task.Factory.StartNew(() => {
lock (mesh) {
onDequeue();
var startFloats = ToRecastFloats(request.StartingPoint.X, request.StartingPoint.Y, request.StartingPoint.Z + 8);
var endFloats = ToRecastFloats(request.DestinationPoint.X, request.DestinationPoint.Y,
request.DestinationPoint.Z + 8);
var numNodes = 0;
var buffer = new float[MAX_POLY * 3];
var flags = new dtPolyFlags[MAX_POLY];
var includeFilter = dtPolyFlags.ALL ^ dtPolyFlags.DISABLED;
var excludeFilter = (dtPolyFlags)0;
var filter = new[] { includeFilter, excludeFilter };
var polyExt = ToRecastFloats(64f, 64f, 256f);
var options = dtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS;
var status = PathStraight(mesh.QueryPtr, startFloats, endFloats, polyExt, filter, options, ref numNodes, buffer, flags);
if ((status & dtStatus.DT_SUCCESS) == 0)
{
Metrics.QPSByResult["NoPathFound"].Increment();
return new PathingResponse {
ResultCode = PathingResult.NoPathFound
};
}
var points = new PathPoint[numNodes];
var positions = Vector3ArrayFromRecastFloats(buffer, numNodes);
for (var i = 0; i < numNodes; i++)
{
points[i] = new PathPoint {
Flags = (uint)flags[i], Position = positions[i]
};
}
if ((status & dtStatus.DT_PARTIAL_RESULT) == 0)
{
Metrics.QPSByResult["PathFound"].Increment();
return new PathingResponse {
ResultCode = PathingResult.PathFound,
Path = { points }
};
}
Metrics.QPSByResult["PartialPathFound"].Increment();
return new PathingResponse {
ResultCode = PathingResult.PartialPathFound,
Path = { points }
};
}
}, TaskCreationOptions.LongRunning));
}
private unsafe PathingResponse GetPathForStreaming(PathingRequest request)
{
Navmesh mesh;
if (!Navmeshes.TryGetValue(request.Navmesh, out mesh))
{
Metrics.QPSByResult["NavmeshUnavailable"].Increment();
return(new PathingResponse()
{
SequenceID = request.SequenceID,
ResultCode = PathingResult.NavmeshUnavailable,
});
}
var onDequeue = Metrics.Record("PathStreamed", request.Navmesh);
lock (mesh)
{
onDequeue();
var startFloats = ToRecastFloats(request.StartingPoint.X, request.StartingPoint.Y, request.StartingPoint.Z + 8);
var endFloats = ToRecastFloats(request.DestinationPoint.X, request.DestinationPoint.Y,
request.DestinationPoint.Z + 8);
var numNodes = 0;
var buffer = new float[MAX_POLY * 3];
var flags = new dtPolyFlags[MAX_POLY];
var includeFilter = dtPolyFlags.ALL ^ dtPolyFlags.DISABLED;
var excludeFilter = (dtPolyFlags)0;
var filter = new[] { includeFilter, excludeFilter };
var polyExt = ToRecastFloats(64f, 64f, 256f);
var options = dtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS;
var status = PathStraight(mesh.QueryPtr, startFloats, endFloats, polyExt, filter, options, ref numNodes, buffer, flags);
if ((status & dtStatus.DT_SUCCESS) == 0)
{
Metrics.QPSByResult["NoPathFound"].Increment();
return(new PathingResponse()
{
SequenceID = request.SequenceID,
ResultCode = PathingResult.NoPathFound,
});
}
var code = PathingResult.PathFound;
if ((status & dtStatus.DT_PARTIAL_RESULT) != 0)
{
Metrics.QPSByResult["PartialPathFound"].Increment();
code = PathingResult.PartialPathFound;
}
else
{
Metrics.QPSByResult["PathFound"].Increment();
}
// Create nodes
var positions = Vector3ArrayFromRecastFloats(buffer, numNodes);
var oneStructSize = Marshal.SizeOf <PathPointStruct>();
var oneStruct = Marshal.AllocHGlobal(oneStructSize);
byte[] buf = new byte[oneStructSize * numNodes];
for (int i = 0; i < numNodes; i++)
{
var vec = positions[i];
var pp = new PathPointStruct {
Flags = flags[i],
X = (float)vec.X,
Y = (float)vec.Y,
Z = (float)vec.Z,
};
Marshal.StructureToPtr(pp, oneStruct, false);
Marshal.Copy(oneStruct, buf, i * oneStructSize, oneStructSize);
}
return(new PathingResponse()
{
SequenceID = request.SequenceID,
PathNodes = (uint)numNodes,
ResultCode = code,
SerializedNodes = ByteString.CopyFrom(buf, 0, buf.Length)
});
}
}
