public Status AddBoxObstacle(Vector3 center, Vector3 halfExtents, float yRadians, out int result)
{
result = 0;
if (m_nreqs >= DetourTileCache.MAX_REQUESTS)
{
return(Status.DT_FAILURE | Status.DT_BUFFER_TOO_SMALL);
}
int ob = -1;
if (m_nextFreeObstacle >= 0)
{
ob = m_nextFreeObstacle;
m_nextFreeObstacle = m_obstacles[ob].Next;
m_obstacles[ob].Next = -1;
}
if (ob == -1)
{
return(Status.DT_FAILURE);
}
float coshalf = (float)Math.Cos(0.5f * yRadians);
float sinhalf = (float)Math.Sin(-0.5f * yRadians);
var rotAux = new Vector2(coshalf * sinhalf, coshalf * coshalf - 0.5f);
int salt = m_obstacles[ob].Salt;
m_obstacles[ob] = new TileCacheObstacle
{
Salt = salt,
State = ObstacleState.DT_OBSTACLE_PROCESSING,
Type = ObstacleType.DT_OBSTACLE_ORIENTED_BOX,
OrientedBox = new ObstacleOrientedBox
{
Center = center,
HalfExtents = halfExtents,
RotAux = rotAux,
}
};
var req = new ObstacleRequest
{
Action = ObstacleRequestAction.REQUEST_ADD,
NRef = GetObstacleRef(m_obstacles[ob])
};
m_reqs[m_nreqs++] = req;
result = req.NRef;
return(Status.DT_SUCCESS);
}
public Status AddObstacle(Vector3 pos, float radius, float height, out int result)
{
result = 0;
if (m_nreqs >= DetourTileCache.MAX_REQUESTS)
{
return(Status.DT_FAILURE | Status.DT_BUFFER_TOO_SMALL);
}
int ob = -1;
if (m_nextFreeObstacle >= 0)
{
ob = m_nextFreeObstacle;
m_nextFreeObstacle = m_obstacles[ob].Next;
m_obstacles[ob].Next = -1;
}
if (ob == -1)
{
return(Status.DT_FAILURE);
}
int salt = m_obstacles[ob].Salt;
m_obstacles[ob] = new TileCacheObstacle
{
Salt = salt,
State = ObstacleState.DT_OBSTACLE_PROCESSING,
Type = ObstacleType.DT_OBSTACLE_CYLINDER,
Cylinder = new ObstacleCylinder
{
Pos = pos,
Radius = radius,
Height = height
}
};
var req = new ObstacleRequest
{
Action = ObstacleRequestAction.REQUEST_ADD,
NRef = GetObstacleRef(m_obstacles[ob]),
};
m_reqs[m_nreqs++] = req;
result = req.NRef;
return(Status.DT_SUCCESS);
}
public Status AddBoxObstacle(Vector3 bmin, Vector3 bmax, out int result)
{
result = 0;
if (m_nreqs >= DetourTileCache.MAX_REQUESTS)
{
return(Status.DT_FAILURE | Status.DT_BUFFER_TOO_SMALL);
}
int ob = -1;
if (m_nextFreeObstacle >= 0)
{
ob = m_nextFreeObstacle;
m_nextFreeObstacle = m_obstacles[ob].Next;
m_obstacles[ob].Next = -1;
}
if (ob == -1)
{
return(Status.DT_FAILURE);
}
int salt = m_obstacles[ob].Salt;
m_obstacles[ob] = new TileCacheObstacle
{
Salt = salt,
State = ObstacleState.DT_OBSTACLE_PROCESSING,
Type = ObstacleType.DT_OBSTACLE_BOX,
Box = new ObstacleBox
{
BMin = bmin,
BMax = bmax
}
};
var req = new ObstacleRequest
{
Action = ObstacleRequestAction.REQUEST_ADD,
NRef = GetObstacleRef(m_obstacles[ob])
};
m_reqs[m_nreqs++] = req;
result = req.NRef;
return(Status.DT_SUCCESS);
}
public Status RemoveObstacle(int r)
{
if (r == 0)
{
return(Status.DT_SUCCESS);
}
if (m_nreqs >= DetourTileCache.MAX_REQUESTS)
{
return(Status.DT_FAILURE | Status.DT_BUFFER_TOO_SMALL);
}
var req = new ObstacleRequest
{
Action = ObstacleRequestAction.REQUEST_REMOVE,
NRef = r
};
m_reqs[m_nreqs++] = req;
return(Status.DT_SUCCESS);
}