public long Request(long startRef, long endRef, float[] startPos, float[] endPos, QueryFilter filter)
{
int slot = -1;
for (int i = 0; i < MaxQueue; i++)
{
if (_queue[i].refId == PathQInvalid)
{
slot = i;
break;
}
}
if (slot == -1)
{
return(PathQInvalid);
}
long refId = _nextHandle++;
if (_nextHandle == PathQInvalid)
{
_nextHandle++;
}
PathQuery q = _queue[slot];
q.refId = refId;
Helper.VCopy(ref q.startPos, startPos);
q.startRef = startRef;
Helper.VCopy(ref q.endPos, endPos);
q.endRef = endRef;
q.status = 0;
q.npath = 0;
q.filter = filter;
q.keepAlive = 0;
return(refId);
}
public void Update(long refId, float[] pos, float collisionQueryRange, NavMeshQuery navQuery, QueryFilter filter)
{
int MaxSegsPerPoly = NavMeshBuilder.VertsPerPoly * 3;
if (refId <= 0)
{
Reset();
return;
}
Helper.VCopy(ref _center, pos);
long[] parentPoly = null;
navQuery.FindLocalNeighbourhood(refId, pos, collisionQueryRange, filter, ref _polys, ref parentPoly, ref _npolys,
MaxLocalPolys);
_nsegs = 0;
float[] segs = new float[MaxSegsPerPoly * 6];
int nsegs = 0;
long[] parentrefs = null;
for (int j = 0; j < _npolys; j++)
{
navQuery.GetPolyWallSegments(_polys[j], filter, ref segs, ref parentrefs, ref nsegs, MaxSegsPerPoly);
for (int k = 0; k < nsegs; k++)
{
int s = k * 6;
float tseg;
float distSqr = Helper.DistancePtSegSqr2D(pos[0], pos[1], pos[2], segs[s + 0], segs[s + 1],
segs[s + 2], segs[s + 3], segs[s + 4], segs[s + 5],
out tseg);
if (distSqr > collisionQueryRange * collisionQueryRange)
{
continue;
}
float[] tempS = new float[6];
Array.Copy(segs, s, tempS, 0, 6);
AddSegment(distSqr, tempS);
}
}
}
