public PolyPointResult FindNearestPoly(NavMeshQuery navMeshQuery, float[] point, float[] halfExtents)
{
var polyPointResultPointer = RecastLibrary.navmesh_query_find_nearest_poly(navMeshQuery.DangerousGetHandle(), point, halfExtents);
var polyPointResult = Marshal.PtrToStructure(polyPointResultPointer, typeof(PolyPointResult));
RecastLibrary.poly_point_result_delete(polyPointResultPointer);
return((PolyPointResult)polyPointResult);
}
public PolyPointResult FindRandomPoint(NavMeshQuery navMeshQuery)
{
var polyPointResultPointer = RecastLibrary.navmesh_query_find_random_point(navMeshQuery.DangerousGetHandle());
var polyPointResult = Marshal.PtrToStructure(polyPointResultPointer, typeof(PolyPointResult));
RecastLibrary.poly_point_result_delete(polyPointResultPointer);
return((PolyPointResult)polyPointResult);
}
public NavMesh LoadTiledNavMeshBinFile(string path)
{
if (!File.Exists(path))
{
throw new FileNotFoundException("File not found.", path);
}
return(new NavMesh(RecastLibrary.navmesh_load_tiled_bin(path.ToCharArray())));
}
public NavMeshDataResult CreateNavMeshData(RcConfig config, PolyMeshDetail polyMeshDetail, PolyMesh polyMesh,
InputGeom geom, int tx, int ty, float agentHeight, float agentRadius, float agentMaxClimb)
{
return(RecastLibrary.navmesh_data_create(
_context.DangerousGetHandle(),
ref config,
polyMeshDetail.DangerousGetHandle(),
polyMesh.DangerousGetHandle(),
geom.DangerousGetHandle(),
tx,
ty,
agentHeight,
agentRadius,
agentMaxClimb));
}
public FindPathResult FindPath(NavMeshQuery navMeshQuery, PolyPointResult a, PolyPointResult b)
{
var filter = RecastLibrary.dtQueryFilter_create();
var aPointer = Marshal.AllocHGlobal(3 * 4);
Marshal.Copy(a.point, 0, aPointer, 3);
var bPointer = Marshal.AllocHGlobal(3 * 4);
Marshal.Copy(b.point, 0, bPointer, 3);
var pathResultPointer = RecastLibrary.navmesh_query_find_path(navMeshQuery.DangerousGetHandle(), a.polyRef, b.polyRef, aPointer, bPointer, filter);
Marshal.FreeHGlobal(aPointer);
Marshal.FreeHGlobal(bPointer);
RecastLibrary.dtQueryFilter_delete(filter);
var pathResult = Marshal.PtrToStructure(pathResultPointer, typeof(FindPathResult));
RecastLibrary.find_path_result_delete(pathResultPointer);
return((FindPathResult)pathResult);
}
public SmoothPathResult FindSmoothPath(NavMeshQuery navMeshQuery, NavMesh navMesh, FindPathResult pathResult, PolyPointResult a, PolyPointResult b)
{
var filter = RecastLibrary.dtQueryFilter_create();
var aPointer = Marshal.AllocHGlobal(3 * 4);
Marshal.Copy(a.point, 0, aPointer, 3);
var bPointer = Marshal.AllocHGlobal(3 * 4);
Marshal.Copy(b.point, 0, bPointer, 3);
var pathResultPointer = RecastLibrary.navmesh_query_get_smooth_path(aPointer, a.polyRef, bPointer,
ref pathResult, filter, navMesh.DangerousGetHandle(), navMeshQuery.DangerousGetHandle());
Marshal.FreeHGlobal(aPointer);
Marshal.FreeHGlobal(bPointer);
RecastLibrary.dtQueryFilter_delete(filter);
var smoothPathResult = Marshal.PtrToStructure(pathResultPointer, typeof(SmoothPathResult));
RecastLibrary.smooth_path_result_delete(pathResultPointer);
return((SmoothPathResult)smoothPathResult);
}
public NavMeshQuery CreateNavMeshQuery(NavMesh navMesh)
{
var handle = RecastLibrary.navmesh_query_create(navMesh.DangerousGetHandle());
return(new NavMeshQuery(handle));
}
public NavMesh CreateNavMesh(NavMeshDataResult navMeshDataResult)
{
return(new NavMesh(RecastLibrary.navmesh_create(_context.DangerousGetHandle(), ref navMeshDataResult)));
}
public PolyMeshDetail CreatePolyMeshDetail(RcConfig config, PolyMesh polyMesh, CompactHeightfield chf)
{
var handle = RecastLibrary.polymesh_detail_create(_context.DangerousGetHandle(), ref config, polyMesh.DangerousGetHandle(), chf.DangerousGetHandle());
return(new PolyMeshDetail(handle));
}
public PolyMesh CreatePolyMesh(RcConfig config, CompactHeightfield chf)
{
var handle = RecastLibrary.polymesh_create(_context.DangerousGetHandle(), ref config, chf.DangerousGetHandle());
return(new PolyMesh(handle));
}
public CompactHeightfield CreateCompactHeightfield(RcConfig config, InputGeom geom)
{
var handle = RecastLibrary.compact_heightfield_create(_context.DangerousGetHandle(), ref config, geom.DangerousGetHandle());
return(new CompactHeightfield(handle));
}
public void CalcGridSize(ref RcConfig config, InputGeom geom)
{
RecastLibrary.rcConfig_calc_grid_size(ref config, geom.DangerousGetHandle());
}
public InputGeom LoadInputGeom(string path, bool invertYZ)
{
var handle = RecastLibrary.InputGeom_load(_context.DangerousGetHandle(), path, invertYZ);
return(new InputGeom(handle));
}
public static bool IsUsing64BitPolyRefs()
{
return(RecastLibrary.dtPolyRef_is_64bit());
}
public RecastContext()
{
_context = new RcContext(RecastLibrary.rcContext_create());
RecastLibrary.random_set_seed(new Random().Next());
}
