/// <summary>
/// Returns a path that prevents collisions with the navmesh, but floats freely otherwise
/// </summary>
/// <param name="zone"></param>
/// <param name="start">Start in GlobalXYZ</param>
/// <param name="end">End in GlobalXYZ</param>
/// <returns></returns>
public async Task <WrappedPathingResult> GetPathStraightAsync(Zone zone, Vector3 start, Vector3 end)
{
if (!_navmeshPtrs.ContainsKey(zone.ClientID))
{
return new WrappedPathingResult {
Error = PathingError.NoPathFound,
Points = null,
}
}
;
GSStatistics.Paths.Inc();
return(await Task.Factory.StartNew(() =>
{
var ptrs = _navmeshPtrs[zone.ClientID];
var startFloats = (start + Vector3.zAxis * 8).ToRecastFloats();
var endFloats = (end + Vector3.zAxis * 8).ToRecastFloats();
var numNodes = 0;
var buffer = new float[MAX_POLY * 3];
var flags = new dtPolyFlags[MAX_POLY];
dtPolyFlags includeFilter = dtPolyFlags.ALL ^ dtPolyFlags.DISABLED;
dtPolyFlags excludeFilter = 0;
float polyExtX = 64.0f;
float polyExtY = 64.0f;
float polyExtZ = 256.0f;
dtStraightPathOptions options = dtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS;
var filter = new[] { includeFilter, excludeFilter };
var status = PathStraight(ptrs[1], startFloats, endFloats,
new Vector3(polyExtX, polyExtY, polyExtZ).ToRecastFloats(), filter, options, ref numNodes, buffer, flags);
if ((status & dtStatus.DT_SUCCESS) == 0)
{
return new WrappedPathingResult
{
Error = PathingError.NoPathFound,
Points = null,
};
}
var points = new WrappedPathPoint[numNodes];
var positions = Vector3ArrayFromRecastFloats(buffer, numNodes);
for (var i = 0; i < numNodes; i++)
{
points[i].Position = positions[i];
points[i].Flags = flags[i];
}
ImprovePath(zone, points);
if ((status & dtStatus.DT_PARTIAL_RESULT) == 0)
{
return new WrappedPathingResult
{
Error = PathingError.PathFound,
Points = points,
};
}
else
{
return new WrappedPathingResult
{
Error = PathingError.PartialPathFound,
Points = points,
};
}
}, TaskCreationOptions.LongRunning));
}
private static extern dtStatus PathStraight(IntPtr queryPtr, float[] start, float[] end, float[] polyPickExt, dtPolyFlags[] queryFilter, dtStraightPathOptions pathOptions, ref int pointCount, float[] pointBuffer, dtPolyFlags[] pointFlags);
/// <summary>
/// Returns a path that prevents collisions with the navmesh, but floats freely otherwise
/// </summary>
/// <param name="zone"></param>
/// <param name="start">Start in GlobalXYZ</param>
/// <param name="end">End in GlobalXYZ</param>
/// <returns></returns>
public static PathPoint[] GetPathStraight(Zone2 zone, Vector3 start, Vector3 end, dtPolyFlags includeFilter = dtPolyFlags.ALL ^ dtPolyFlags.DISABLED, dtPolyFlags excludeFilter = 0, float polyExtX = 64.0f, float polyExtY = 64.0f, float polyExtZ = 256.0f, dtStraightPathOptions options = dtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS)
{
if (!_loadedZones.ContainsKey(zone.ID))
{
return(null);
}
var ptrs = _loadedZones[zone.ID];
var startFloats = (start + zAxis * 8).ToRecastFloats();
var endFloats = (end + zAxis * 8).ToRecastFloats();
var numNodes = 0;
var buffer = new float[MAX_POLY * 3];
var flags = new dtPolyFlags[MAX_POLY];
var filter = new[] { includeFilter, excludeFilter };
PathStraight(ptrs.queryPtr, startFloats, endFloats, new Vector3(polyExtX, polyExtY, polyExtZ).ToRecastFloats(), filter, options, ref numNodes, buffer, flags);
var points = new PathPoint[numNodes];
var positions = Vector3ArrayFromRecastFloats(buffer, numNodes);
for (var i = 0; i < numNodes; i++)
{
points[i].Position = positions[i];
points[i].Flags = flags[i];
}
return(points);
}
