public Queue <Position> FindPathBetween(Position start, Position end, bool useStraightPath = false)
{
var path = new Queue <Position>();
if (dtNavMesh == null)
{
return(path);
}
var startDetourPosition = start.ToDetourPosition();
var endDetourPosition = end.ToDetourPosition();
var queryFilter = new Detour.dtQueryFilter();
var navMeshQuery = new Detour.dtNavMeshQuery();
var status = navMeshQuery.init(dtNavMesh, MAX_PATH);
if (Detour.dtStatusFailed(status))
{
return(path);
}
queryFilter.setIncludeFlags(0xffff);
queryFilter.setExcludeFlags(0x0);
uint startRef = 0;
uint endRef = 0;
float[] startNearest = new float[3];
float[] endNearest = new float[3];
float[] extents = new float[] { 10.0F, 25.0F, 10.0F };
status = navMeshQuery.findNearestPoly(startDetourPosition, extents, queryFilter, ref startRef, ref startNearest);
if (Detour.dtStatusFailed(status))
{
return(path);
}
status = navMeshQuery.findNearestPoly(endDetourPosition, extents, queryFilter, ref endRef, ref endNearest);
if (Detour.dtStatusFailed(status))
{
return(path);
}
if (!dtNavMesh.isValidPolyRef(startRef) || !dtNavMesh.isValidPolyRef(endRef))
{
return(path);
}
uint[] pathPolys = new uint[MAX_PATH];
int pathCount = 0;
float[] straightPath = new float[MAX_PATH * 3];
byte[] straightPathFlags = new byte[MAX_PATH];
uint[] straightPathPolys = new uint[MAX_PATH];
int straightPathCount = 0;
status = navMeshQuery.findPath(
startRef,
endRef,
startNearest,
endNearest,
queryFilter,
pathPolys,
ref pathCount,
MAX_PATH
);
if (Detour.dtStatusFailed(status))
{
path.Enqueue(start);
path.Enqueue(end);
return(path);
}
status = navMeshQuery.findStraightPath(
startNearest,
endNearest,
pathPolys,
pathCount,
straightPath,
straightPathFlags,
straightPathPolys,
ref straightPathCount,
MAX_PATH,
(int)Detour.dtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS
);
if (Detour.dtStatusFailed(status))
{
path.Enqueue(start);
path.Enqueue(end);
return(path);
}
if (straightPathCount > 0)
{
if (Detour.dtStatusFailed(status))
{
return(path);
}
for (int i = 3; i < straightPathCount * 3;)
{
float[] pathPos = new float[3];
pathPos[0] = straightPath[i++];
pathPos[1] = straightPath[i++];
pathPos[2] = straightPath[i++];
var position = ToFFXIPosition(pathPos);
path.Enqueue(position);
}
}
else
{
for (int i = 1; i < pathCount; i++)
{
float[] pathPos = new float[3];
bool posOverPoly = false;
if (Detour.dtStatusFailed(navMeshQuery.closestPointOnPoly(pathPolys[i], startDetourPosition, pathPos, ref posOverPoly)))
{
return(path);
}
if (path.Count < 1)
{
if (Detour.dtStatusFailed(navMeshQuery.closestPointOnPolyBoundary(pathPolys[i], startDetourPosition, pathPos)))
{
return(path);
}
}
var position = ToFFXIPosition(pathPos);
path.Enqueue(position);
}
}
if (path.Count < 1)
{
path.Enqueue(end);
}
return(path);
}
public Queue <Position> FindPathBetween(Position start, Position end, bool useStraightPath = false)
{
var path = new Queue <Position>();
if (dtNavMesh == null)
{
EasyFarm.ViewModels.LogViewModel.Write("FindPathBetween: Unable to path due to lacking navigation mesh for zone " + _zone.ToString());
return(path);
}
var startDetourPosition = start.ToDetourPosition();
var endDetourPosition = end.ToDetourPosition();
var queryFilter = new Detour.dtQueryFilter();
var navMeshQuery = new Detour.dtNavMeshQuery();
var status = navMeshQuery.init(dtNavMesh, 256);
if (Detour.dtStatusFailed(status))
{
return(path);
}
queryFilter.setIncludeFlags(0xffff);
queryFilter.setExcludeFlags(0x0);
uint startRef = 0;
uint endRef = 0;
float[] startNearest = new float[3];
float[] endNearest = new float[3];
float[] extents = new float[] { 10.0F, (float)EasyFarm.UserSettings.Config.Instance.HeightThreshold, 10.0F };
status = navMeshQuery.findNearestPoly(startDetourPosition, extents, queryFilter, ref startRef, ref startNearest);
if (Detour.dtStatusFailed(status))
{
return(path);
}
status = navMeshQuery.findNearestPoly(endDetourPosition, extents, queryFilter, ref endRef, ref endNearest);
if (Detour.dtStatusFailed(status))
{
return(path);
}
if (!dtNavMesh.isValidPolyRef(startRef) || !dtNavMesh.isValidPolyRef(endRef))
{
return(path);
}
uint[] pathPolys = new uint[256];
int pathCount = 0;
status = navMeshQuery.findPath(startRef, endRef, startNearest, endNearest, queryFilter, pathPolys, ref pathCount, 256);
if (Detour.dtStatusFailed(status))
{
return(path);
}
if (path.Count < 1)
{
float[] straightPath = new float[256 * 3];
byte[] straightPathFlags = new byte[256];
uint[] straightPathPolys = new uint[256];
int straightPathCount = 256 * 3;
status = navMeshQuery.findStraightPath(
startNearest,
endNearest,
pathPolys,
pathCount,
straightPath,
straightPathFlags,
straightPathPolys,
ref straightPathCount,
256,
0
);
if (straightPathCount > 1)
{
if (Detour.dtStatusFailed(status))
{
return(path);
}
path.Clear();
// i starts at 3 so the start position is ignored
for (int i = 3; i < straightPathCount * 3;)
{
float[] pathPos = new float[3];
pathPos[0] = straightPath[i++];
pathPos[1] = straightPath[i++];
pathPos[2] = straightPath[i++];
var position = ToFFXIPosition(pathPos);
path.Enqueue(position);
}
}
}
else
{
// i starts at 3 so the start position is ignored
for (int i = 1; i < pathCount; i++)
{
float[] pathPos = new float[3];
bool posOverPoly = false;
if (Detour.dtStatusFailed(navMeshQuery.closestPointOnPoly(pathPolys[i], startDetourPosition, pathPos, ref posOverPoly)))
{
return(path);
}
if (path.Count < 1)
{
if (Detour.dtStatusFailed(navMeshQuery.closestPointOnPolyBoundary(pathPolys[i], startDetourPosition, pathPos)))
{
return(path);
}
}
var position = ToFFXIPosition(pathPos);
path.Enqueue(position);
}
}
return(path);
}
