/// <summary>
/// Performs a raycast on the navigation mesh to perform line of sight or similar checks
/// </summary>
/// <param name="start">Starting point</param>
/// <param name="end">Ending point</param>
/// <param name="querySettings">Advanced settings to be provided to the navigation mesh query</param>
/// <returns>The found raycast hit if <see cref="NavigationRaycastResult.Hit"/> is true</returns>
public unsafe NavigationRaycastResult Raycast(Vector3 start, Vector3 end, NavigationQuerySettings querySettings)
{
NavigationRaycastResult result = new NavigationRaycastResult {
Hit = false
};
if (NavigationMeshInternal == IntPtr.Zero)
{
return(result);
}
Navigation.RaycastQuery query;
query.Source = start;
query.Target = end;
query.MaxPathPoints = querySettings.MaxPathPoints;
query.FindNearestPolyExtent = querySettings.FindNearestPolyExtent;
Navigation.RaycastResult queryResult;
Navigation.DoRaycastQuery(NavigationMeshInternal, query, new IntPtr(&queryResult));
if (!queryResult.Hit)
{
return(result);
}
result.Hit = true;
result.Position = queryResult.Position;
result.Normal = queryResult.Normal;
return(result);
}
/// <summary>
/// Finds a path from point <see cref="start"/> to <see cref="end"/>
/// </summary>
/// <param name="start">The starting location of the pathfinding query</param>
/// <param name="end">The ending location of the pathfinding query</param>
/// <param name="querySettings">Advanced settings to be provided to the navigation mesh query</param>
/// <param name="path">The waypoints for the found path, if any (at least 2 if a path was found)</param>
/// <returns>The found path points or null</returns>
public unsafe bool TryFindPath(Vector3 start, Vector3 end, ICollection<Vector3> path, NavigationQuerySettings querySettings)
{
if (path == null)
throw new ArgumentNullException(nameof(path));
if (NavigationMeshInternal == IntPtr.Zero)
throw new InvalidOperationException("Navigation mesh was not initialized");
Navigation.PathFindQuery query;
query.Source = start;
query.Target = end;
query.MaxPathPoints = querySettings.MaxPathPoints;
query.FindNearestPolyExtent = querySettings.FindNearestPolyExtent;
Navigation.PathFindResult queryResult;
Vector3[] generatedPathPoints = new Vector3[querySettings.MaxPathPoints];
fixed (Vector3* generatedPathPointsPtr = generatedPathPoints)
{
queryResult.PathPoints = new IntPtr(generatedPathPointsPtr);
Navigation.DoPathFindQuery(NavigationMeshInternal, query, new IntPtr(&queryResult));
if (!queryResult.PathFound)
return false;
}
// Read path from unsafe result
Vector3* points = (Vector3*)queryResult.PathPoints;
for (int i = 0; i < queryResult.NumPathPoints; i++)
{
path.Add(points[i]);
}
return true;
}
/// <summary>
/// Finds a path from point <see cref="start"/> to <see cref="end"/>
/// </summary>
/// <param name="start">The starting location of the pathfinding query</param>
/// <param name="end">The ending location of the pathfinding query</param>
/// <param name="querySettings">Advanced settings to be provided to the navigation mesh query</param>
/// <param name="path">The waypoints for the found path, if any (at least 2 if a path was found)</param>
/// <returns>The found path points or null</returns>
public unsafe bool TryFindPath(Vector3 start, Vector3 end, ICollection <Vector3> path, NavigationQuerySettings querySettings)
{
if (path == null)
{
throw new ArgumentNullException(nameof(path));
}
if (NavigationMeshInternal == IntPtr.Zero)
{
throw new InvalidOperationException("Navigation mesh was not initialized");
}
Navigation.PathFindQuery query;
query.Source = start;
query.Target = end;
query.MaxPathPoints = querySettings.MaxPathPoints;
query.FindNearestPolyExtent = querySettings.FindNearestPolyExtent;
Navigation.PathFindResult queryResult;
Vector3[] generatedPathPoints = new Vector3[querySettings.MaxPathPoints];
fixed(Vector3 *generatedPathPointsPtr = generatedPathPoints)
{
queryResult.PathPoints = new IntPtr(generatedPathPointsPtr);
Navigation.DoPathFindQuery(NavigationMeshInternal, query, new IntPtr(&queryResult));
if (!queryResult.PathFound)
{
return(false);
}
}
// Read path from unsafe result
Vector3 *points = (Vector3 *)queryResult.PathPoints;
for (int i = 0; i < queryResult.NumPathPoints; i++)
{
path.Add(points[i]);
}
return(true);
}
/// <summary>
/// Finds a path from the entity's current location to <see cref="end"/>
/// </summary>
/// <param name="end">The ending location of the pathfinding query</param>
/// <param name="querySettings">Advanced settings to be provided to the navigation mesh query</param>
/// <param name="path">The waypoints for the found path, if any (at least 2 if a path was found)</param>
/// <returns>The found path points or null</returns>
public bool TryFindPath(Vector3 end, ICollection <Vector3> path, NavigationQuerySettings querySettings)
{
return(TryFindPath(Entity.Transform.WorldMatrix.TranslationVector, end, path, querySettings));
}
/// <summary>
/// Performs a raycast on the navigation mesh to perform line of sight or similar checks. Starts from the entity's current world position
/// </summary>
/// <param name="end">Ending point</param>
/// <param name="querySettings">Advanced settings to be provided to the navigation mesh query</param>
/// <returns>The found raycast hit if <see cref="NavigationRaycastResult.Hit"/> is true</returns>
public NavigationRaycastResult Raycast(Vector3 end, NavigationQuerySettings querySettings)
{
return(Raycast(Entity.Transform.WorldMatrix.TranslationVector, end, querySettings));
}
/// <summary>
/// Finds a path from the entity's current location to <see cref="end"/>
/// </summary>
/// <param name="end">The ending location of the pathfinding query</param>
/// <param name="querySettings">Advanced settings to be provided to the navigation mesh query</param>
/// <param name="path">The waypoints for the found path, if any (at least 2 if a path was found)</param>
/// <returns>The found path points or null</returns>
public bool TryFindPath(Vector3 end, ICollection<Vector3> path, NavigationQuerySettings querySettings)
{
return TryFindPath(Entity.Transform.WorldMatrix.TranslationVector, end, path, querySettings);
}
/// <summary>
/// Performs a raycast on the navigation mesh to perform line of sight or similar checks
/// </summary>
/// <param name="start">Starting point</param>
/// <param name="end">Ending point</param>
/// <param name="querySettings">Advanced settings to be provided to the navigation mesh query</param>
/// <returns>The found raycast hit if <see cref="NavigationRaycastResult.Hit"/> is true</returns>
public unsafe NavigationRaycastResult Raycast(Vector3 start, Vector3 end, NavigationQuerySettings querySettings)
{
NavigationRaycastResult result = new NavigationRaycastResult { Hit = false };
if (NavigationMeshInternal == IntPtr.Zero)
return result;
Navigation.RaycastQuery query;
query.Source = start;
query.Target = end;
query.MaxPathPoints = querySettings.MaxPathPoints;
query.FindNearestPolyExtent = querySettings.FindNearestPolyExtent;
Navigation.RaycastResult queryResult;
Navigation.DoRaycastQuery(NavigationMeshInternal, query, new IntPtr(&queryResult));
if (!queryResult.Hit)
return result;
result.Hit = true;
result.Position = queryResult.Position;
result.Normal = queryResult.Normal;
return result;
}
/// <summary>
/// Performs a raycast on the navigation mesh to perform line of sight or similar checks. Starts from the entity's current world position
/// </summary>
/// <param name="end">Ending point</param>
/// <param name="querySettings">Advanced settings to be provided to the navigation mesh query</param>
/// <returns>The found raycast hit if <see cref="NavigationRaycastResult.Hit"/> is true</returns>
public NavigationRaycastResult Raycast(Vector3 end, NavigationQuerySettings querySettings)
{
return Raycast(Entity.Transform.WorldMatrix.TranslationVector, end, querySettings);
}