/// @par
///
/// Must be the first function called after construction, before other
/// functions are used.
///
/// This function can be used multiple times.
/// Initializes the query object.
/// @param[in] nav Pointer to the dtNavMesh object to use for all queries.
/// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65536]
/// @returns The status flags for the query.
public dtStatus init(dtNavMesh nav, int maxNodes)
{
m_nav = nav;
if (m_nodePool == null || m_nodePool.getMaxNodes() < maxNodes)
{
if (m_nodePool != null)
{
//m_nodePool.~dtNodePool();
//dtFree(m_nodePool);
m_nodePool = null;
}
m_nodePool = new dtNodePool(maxNodes, (int) dtNextPow2((uint)(maxNodes/4)));//(dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(maxNodes, dtNextPow2(maxNodes/4));
if (m_nodePool == null)
return DT_FAILURE | DT_OUT_OF_MEMORY;
}
else
{
m_nodePool.clear();
}
if (m_tinyNodePool == null)
{
m_tinyNodePool = new dtNodePool(64, 32);//(dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(64, 32);
if (m_tinyNodePool == null)
return DT_FAILURE | DT_OUT_OF_MEMORY;
}
else
{
m_tinyNodePool.clear();
}
// TODO: check the open list size too.
if (m_openList == null || m_openList.getCapacity() < maxNodes)
{
if (m_openList != null)
{
//m_openList.~dtNodeQueue();
//dtFree(m_openList);
m_openList = null;
}
m_openList = new dtNodeQueue(maxNodes);//(dtAlloc(sizeof(dtNodeQueue), DT_ALLOC_PERM)) dtNodeQueue(maxNodes);
if (m_openList == null)
return DT_FAILURE | DT_OUT_OF_MEMORY;
}
else
{
m_openList.clear();
}
return DT_SUCCESS;
}
// Initializes the navmesh with data.
// Params:
// data - (in) Pointer to navmesh data.
// dataSize - (in) size of the navmesh data.
// ownsData - (in) Flag indicating if the navmesh should own and delete the data.
public bool init( byte[] data, int dataSize, bool ownsData, int iIndex )
{
m_iIndex = iIndex;
m_header = new dtStatNavMeshHeader();
MemoryStream fs = new MemoryStream (data);
BinaryReader readerStream = new BinaryReader(fs);
readerStream.BaseStream.Position = 0;
int iFiledataSize = readerStream.ReadInt32() + 4;
m_header.magic = readerStream.ReadInt32();
m_header.version = readerStream.ReadInt32();
if( iFiledataSize != dataSize )
{
Debug.LogError("DetourStatNavMesh::init() [ dataSize != dataSize ]file size : " + iFiledataSize + " data Size :" + dataSize);
return false;
}
if( m_header.magic != 1312904781 )
{
Debug.LogError("DetourStatNavMesh::init() [ magic diff ]");
return false;
}
if( m_header.version != 3 )
{
Debug.LogError("DetourStatNavMesh::init() [ version diff ]");
return false;
}
m_header.npolys = readerStream.ReadInt32();
m_header.nverts = readerStream.ReadInt32();
m_header.nnodes = readerStream.ReadInt32();
m_header.ndmeshes = readerStream.ReadInt32();
m_header.ndverts = readerStream.ReadInt32();
m_header.ndtris = readerStream.ReadInt32();
m_header.cs = readerStream.ReadSingle();
m_header.bmin[0] = readerStream.ReadSingle();
m_header.bmin[1] = readerStream.ReadSingle();
m_header.bmin[2] = readerStream.ReadSingle();
m_header.bmax[0] = readerStream.ReadSingle();
m_header.bmax[1] = readerStream.ReadSingle();
m_header.bmax[2] = readerStream.ReadSingle();
int headerSize = dtStatNavMeshHeader.size+4;
int vertsSize = m_header.nverts;
int polysSize = m_header.npolys;
int nodesSize = m_header.npolys*2;
int detailMeshesSize = m_header.ndmeshes;
int detailVertsSize = m_header.ndverts;
int detailTrisSize = m_header.ndtris;
//------
readerStream.BaseStream.Position = headerSize;
m_header.verts = new Vector3[vertsSize];
for( int i=0; i<vertsSize; ++i )
{
m_header.verts[i].x = readerStream.ReadSingle();
m_header.verts[i].y = readerStream.ReadSingle();
m_header.verts[i].z = readerStream.ReadSingle();
}
//------
m_header.polys = new dtStatPoly[polysSize];
for( int i=0; i<polysSize; ++i )
{
m_header.polys[i] = new dtStatPoly();
for( int k=0; k<DT_STAT_VERTS_PER_POLYGON; ++k )
{
m_header.polys[i].v[k] = readerStream.ReadUInt16();
}
for( int k=0; k<DT_STAT_VERTS_PER_POLYGON; ++k )
{
m_header.polys[i].n[k] = readerStream.ReadUInt16();
}
m_header.polys[i].nv = readerStream.ReadByte();
m_header.polys[i].flags = readerStream.ReadByte();
}
//------
m_header.bvtree = new dtStatBVNode[nodesSize];
for( int i=0; i<nodesSize; ++i )
{
m_header.bvtree[i] = new dtStatBVNode();
for( int k=0; k<3; ++k )
{
m_header.bvtree[i].bmin[k] = readerStream.ReadUInt16();
}
for( int k=0; k<3; ++k )
{
m_header.bvtree[i].bmax[k] = readerStream.ReadUInt16();
}
m_header.bvtree[i].i = readerStream.ReadInt32();
}
//------
m_header.dmeshes = new dtStatPolyDetail[detailMeshesSize];
for( int i=0; i<detailMeshesSize; ++i )
{
m_header.dmeshes[i] = new dtStatPolyDetail();
m_header.dmeshes[i].vbase = readerStream.ReadUInt16();
m_header.dmeshes[i].nverts = readerStream.ReadUInt16();
m_header.dmeshes[i].tbase = readerStream.ReadUInt16();
m_header.dmeshes[i].ntris = readerStream.ReadUInt16();
}
m_header.dverts = new Vector3[detailVertsSize];
for( int i=0; i<detailVertsSize; ++i )
{
m_header.dverts[i].x = readerStream.ReadSingle();
m_header.dverts[i].y = readerStream.ReadSingle();
m_header.dverts[i].z = readerStream.ReadSingle();
}
m_header.dtris = new dtTriIdx[detailTrisSize];
for( int i=0; i<detailTrisSize; ++i )
{
m_header.dtris[i] = new dtTriIdx();
m_header.dtris[i].datas[0] = readerStream.ReadByte();
m_header.dtris[i].datas[1] = readerStream.ReadByte();
m_header.dtris[i].datas[2] = readerStream.ReadByte();
m_header.dtris[i].datas[3] = readerStream.ReadByte();
}
m_nodePool = new dtNodePool(2048, 256);
m_openList = new dtNodeQueue(2048);
/*if( ownsData )
{
m_data = data;
m_dataSize = dataSize;
}*/
return true;
}