#include <DetourNavMesh.h>

Classes
struct	FConnectingPolyData

Public Member Functions
void	applyWorldOffset (const float *offset)
	Shift navigation mesh by provided offset.

dtLink &	getLink (dtMeshTile *tile, unsigned int linkIdx)
	Helper for accessing links.

const dtLink &	getLink (const dtMeshTile *tile, unsigned int linkIdx) const

dtClusterLink &	getClusterLink (dtMeshTile *tile, unsigned int linkIdx)
	Helper for accessing cluster links.

const dtClusterLink &	getClusterLink (const dtMeshTile *tile, unsigned int linkIdx) const

void	linkOffMeshHelper (dtMeshTile tile0, unsigned int polyIdx0, dtMeshTile tile1, unsigned int polyIdx1, unsigned char side, unsigned char edge)
	Helper for creating links in off-mesh connections.

bool	isEmpty () const

unsigned int	getSaltBits () const

void	applyAreaCostOrder (unsigned char *costOrder)

int	getNeighbourTilesCountAt (const int x, const int y, const int side) const
	Returns neighbour tile count based on side of given tile.

bool	getNeighbourCoords (const int x, const int y, const int side, int &outX, int &outY) const

unsigned int	getTileIndex (const dtMeshTile *tile) const

dtMeshTile *	getTile (int i)
	Returns pointer to tile in the tile array.

int	getTilesAt (const int x, const int y, dtMeshTile **tiles, const int maxTiles) const
	Returns neighbour tile based on side.

int	getNeighbourTilesAt (const int x, const int y, const int side, dtMeshTile **tiles, const int maxTiles) const
	Returns neighbour tile based on side.

int	findConnectingPolys (const float va, const float vb, const dtMeshTile fromTile, int fromPolyIdx, const dtMeshTile tile, int side, dtChunkArray< FConnectingPolyData > &cons) const
	Returns all polygons in neighbour tile based on portal defined by the segment.

void	connectIntLinks (dtMeshTile *tile)
	Builds internal polygons links for a tile.

void	baseOffMeshLinks (dtMeshTile *tile)
	Builds internal polygons links for a tile.

void	connectExtLinks (dtMeshTile tile, dtMeshTile target, int side, bool updateCLinks)
	Builds external polygon links for a tile.

void	connectExtOffMeshLinks (dtMeshTile tile, dtMeshTile target, int side, bool updateCLinks)
	Builds external polygon links for a tile.

void	unconnectExtLinks (dtMeshTile tile, dtMeshTile target)
	Removes external links at specified side.

void	connectClusterLink (dtMeshTile tile0, unsigned int cluster0, dtMeshTile tile1, unsigned int cluster1, unsigned char flags, bool bCheckExisting=true)
	Try to connect clusters.

void	unconnectClusterLinks (dtMeshTile tile, dtMeshTile target)
	Removes cluster links at specified side.

int	queryPolygonsInTile (const dtMeshTile tile, const float qmin, const float qmax, dtPolyRef polys, const int maxPolys, bool bExcludeUnwalkable=false) const
	Queries polygons within a tile.

dtPolyRef	findNearestPolyInTile (const dtMeshTile tile, const float center, const float extents, float nearestPt, bool bExcludeUnwalkable=false) const
	Find nearest polygon within a tile.

dtPolyRef	findCheapestNearPolyInTile (const dtMeshTile tile, const float center, const float extents, float nearestPt) const

void	closestPointOnPolyInTile (const dtMeshTile tile, unsigned int ip, const float pos, float *closest) const
	Returns closest point on polygon.

Initialization and Tile Management
dtStatus	init (const dtNavMeshParams *params)

dtStatus	init (unsigned char *data, const int dataSize, const int flags)

const dtNavMeshParams *	getParams () const
	The navigation mesh initialization params.

dtStatus	addTile (unsigned char data, int dataSize, int flags, dtTileRef lastRef, dtTileRef result)

dtStatus	removeTile (dtTileRef ref, unsigned char *data, int dataSize)

Query Functions
void	calcTileLoc (const float pos, int tx, int *ty) const

const dtMeshTile *	getTileAt (const int x, const int y, const int layer) const

int	getTileCountAt (const int x, const int y) const

int	getTilesAt (const int x, const int y, dtMeshTile const **tiles, const int maxTiles) const

dtTileRef	getTileRefAt (int x, int y, int layer) const

dtTileRef	getTileRef (const dtMeshTile *tile) const

const dtMeshTile *	getTileByRef (dtTileRef ref) const

int	getMaxTiles () const

const dtMeshTile *	getTile (int i) const

dtStatus	getTileAndPolyByRef (const dtPolyRef ref, const dtMeshTile tile, const dtPoly poly) const

void	getTileAndPolyByRefUnsafe (const dtPolyRef ref, const dtMeshTile tile, const dtPoly poly) const

bool	isValidPolyRef (dtPolyRef ref) const

dtPolyRef	getPolyRefBase (const dtMeshTile *tile) const

dtClusterRef	getClusterRefBase (const dtMeshTile *tile) const

dtStatus	getOffMeshConnectionPolyEndPoints (dtPolyRef prevRef, dtPolyRef polyRef, const float currentPos, float startPos, float *endPos) const

const dtOffMeshConnection *	getOffMeshConnectionByRef (dtPolyRef ref) const

const dtOffMeshSegmentConnection *	getOffMeshSegmentConnectionByRef (dtPolyRef ref) const

void	updateOffMeshConnectionByUserId (unsigned int userId, unsigned char newArea, unsigned short newFlags)

void	updateOffMeshSegmentConnectionByUserId (unsigned int userId, unsigned char newArea, unsigned short newFlags)

State Management
These functions do not effect dtTileRef or dtPolyRef's.
dtStatus	setPolyFlags (dtPolyRef ref, unsigned short flags)

dtStatus	getPolyFlags (dtPolyRef ref, unsigned short *resultFlags) const

dtStatus	setPolyArea (dtPolyRef ref, unsigned char area)

dtStatus	getPolyArea (dtPolyRef ref, unsigned char *resultArea) const

int	getTileStateSize (const dtMeshTile *tile) const

dtStatus	storeTileState (const dtMeshTile tile, unsigned char data, const int maxDataSize) const

dtStatus	restoreTileState (dtMeshTile tile, const unsigned char data, const int maxDataSize)

Encoding and Decoding
These functions are generally meant for internal use only.
dtPolyRef	encodePolyId (unsigned int salt, unsigned int it, unsigned int ip) const

void	decodePolyId (dtPolyRef ref, unsigned int &salt, unsigned int &it, unsigned int &ip) const

unsigned int	decodePolyIdSalt (dtPolyRef ref) const

unsigned int	decodePolyIdTile (dtPolyRef ref) const

unsigned int	decodePolyIdPoly (dtPolyRef ref) const

unsigned int	decodeClusterIdTile (dtClusterRef ref) const

unsigned int	decodeClusterIdCluster (dtClusterRef ref) const

Public Attributes
dtNavMeshParams	m_params
	Current initialization params. TODO: do not store this info twice.

float	m_orig [3]
	Origin of the tile (0,0)

float	m_tileWidth

float	m_tileHeight
	Dimensions of each tile.

int	m_maxTiles
	Max number of tiles.

int	m_tileLutSize
	Tile hash lookup size (must be pot).

int	m_tileLutMask
	Tile hash lookup mask.

unsigned char	m_areaCostOrder [DT_MAX_AREAS]

dtMeshTile **	m_posLookup
	Tile hash lookup.

dtMeshTile *	m_nextFree
	Freelist of tiles.

dtMeshTile *	m_tiles
	List of tiles.

unsigned int	m_saltBits
	Number of salt bits in the tile ID.

unsigned int	m_tileBits
	Number of tile bits in the tile ID.

unsigned int	m_polyBits
	Number of poly bits in the tile ID.

Detailed Description

A navigation mesh based on tiles of convex polygons.

Member Function Documentation

◆ addTile()

dtStatus AtomsUtils::dtNavMesh::addTile	(	unsigned char *	data,
		int	dataSize,
		int	flags,
		dtTileRef	lastRef,
		dtTileRef *	result
	)

Adds a tile to the navigation mesh.

Parameters

[in]	data	Data for the new tile mesh. (See: dtCreateNavMeshData)
[in]	dataSize	Data size of the new tile mesh.
[in]	flags	Tile flags. (See: dtTileFlags)
[in]	lastRef	The desired reference for the tile. (When reloading a tile.) [opt] [Default: 0]
[out]	result	The tile reference. (If the tile was succesfully added.) [opt]

Returns: The status flags for the operation.

◆ calcTileLoc()

void AtomsUtils::dtNavMesh::calcTileLoc	(	const float *	pos,
		int *	tx,
		int *	ty
	)		const

Calculates the tile grid location for the specified world position.

Parameters

[in]	pos	The world position for the query. [(x, y, z)]
[out]	tx	The tile's x-location. (x, y)
[out]	ty	The tile's y-location. (x, y)

◆ decodeClusterIdCluster()

unsigned int AtomsUtils::dtNavMesh::decodeClusterIdCluster ( dtClusterRef ref ) const

inline

Extracts the cluster's index (within its tile) from the specified cluster reference.

Note: This function is generally meant for internal use only.

Parameters

[in] ref The cluster reference.

◆ decodeClusterIdTile()

unsigned int AtomsUtils::dtNavMesh::decodeClusterIdTile ( dtClusterRef ref ) const

inline

Extracts the tile's index from the specified cluster reference.

Note: This function is generally meant for internal use only.

Parameters

[in] ref The cluster reference.

◆ decodePolyId()

void AtomsUtils::dtNavMesh::decodePolyId	(	dtPolyRef	ref,
		unsigned int &	salt,
		unsigned int &	it,
		unsigned int &	ip
	)		const

inline

Decodes a standard polygon reference.

Note: This function is generally meant for internal use only.

Parameters

[in]	ref	The polygon reference to decode.
[out]	salt	The tile's salt value.
[out]	it	The index of the tile.
[out]	ip	The index of the polygon within the tile.

See also: encodePolyId

◆ decodePolyIdPoly()

unsigned int AtomsUtils::dtNavMesh::decodePolyIdPoly ( dtPolyRef ref ) const

inline

Extracts the polygon's index (within its tile) from the specified polygon reference.

Note: This function is generally meant for internal use only.

Parameters

[in] ref The polygon reference.

See also: encodePolyId

◆ decodePolyIdSalt()

unsigned int AtomsUtils::dtNavMesh::decodePolyIdSalt ( dtPolyRef ref ) const

inline

Extracts a tile's salt value from the specified polygon reference.

Note: This function is generally meant for internal use only.

Parameters

[in] ref The polygon reference.

See also: encodePolyId

◆ decodePolyIdTile()

unsigned int AtomsUtils::dtNavMesh::decodePolyIdTile ( dtPolyRef ref ) const

inline

Extracts the tile's index from the specified polygon reference.

Note: This function is generally meant for internal use only.

Parameters

[in] ref The polygon reference.

See also: encodePolyId

◆ encodePolyId()

dtPolyRef AtomsUtils::dtNavMesh::encodePolyId	(	unsigned int	salt,
		unsigned int	it,
		unsigned int	ip
	)		const

inline

Derives a standard polygon reference.

Note: This function is generally meant for internal use only.

Parameters

[in]	salt	The tile's salt value.
[in]	it	The index of the tile.
[in]	ip	The index of the polygon within the tile.

◆ getClusterRefBase()

dtClusterRef AtomsUtils::dtNavMesh::getClusterRefBase ( const dtMeshTile * tile ) const

Gets the cluster reference for the tile's base cluster.

Parameters

[in] tile The tile.

Returns: The cluster reference for the base cluster in the specified tile.

◆ getMaxTiles()

int AtomsUtils::dtNavMesh::getMaxTiles ( ) const

The maximum number of tiles supported by the navigation mesh.

Returns: The maximum number of tiles supported by the navigation mesh.

◆ getOffMeshConnectionByRef()

const dtOffMeshConnection* AtomsUtils::dtNavMesh::getOffMeshConnectionByRef ( dtPolyRef ref ) const

Gets the specified off-mesh connection: point type.

Parameters

[in] ref The polygon reference of the off-mesh connection.

Returns: The specified off-mesh connection, or null if the polygon reference is not valid.

◆ getOffMeshConnectionPolyEndPoints()

dtStatus AtomsUtils::dtNavMesh::getOffMeshConnectionPolyEndPoints	(	dtPolyRef	prevRef,
		dtPolyRef	polyRef,
		const float *	currentPos,
		float *	startPos,
		float *	endPos
	)		const

Gets the endpoints for an off-mesh connection, ordered by "direction of travel".

Parameters

[in]	prevRef	The reference of the polygon before the connection.
[in]	polyRef	The reference of the off-mesh connection polygon.
[in]	currentPos	Position before entering off-mesh connection [(x, y, z)]
[out]	startPos	The start position of the off-mesh connection. [(x, y, z)]
[out]	endPos	The end position of the off-mesh connection. [(x, y, z)]

Returns: The status flags for the operation.

◆ getOffMeshSegmentConnectionByRef()

const dtOffMeshSegmentConnection* AtomsUtils::dtNavMesh::getOffMeshSegmentConnectionByRef ( dtPolyRef ref ) const

Gets the specified off-mesh connection: segment type

Parameters

[in] ref The polygon reference of the off-mesh connection.

Returns: The specified off-mesh connection, or null if the polygon reference is not valid.

◆ getPolyArea()

dtStatus AtomsUtils::dtNavMesh::getPolyArea	(	dtPolyRef	ref,
		unsigned char *	resultArea
	)		const

Gets the user defined area for the specified polygon.

Parameters

[in]	ref	The polygon reference.
[out]	resultArea	The area id for the polygon.

Returns: The status flags for the operation.

◆ getPolyFlags()

dtStatus AtomsUtils::dtNavMesh::getPolyFlags	(	dtPolyRef	ref,
		unsigned short *	resultFlags
	)		const

Gets the user defined flags for the specified polygon.

Parameters

[in]	ref	The polygon reference.
[out]	resultFlags	The polygon flags.

Returns: The status flags for the operation.

◆ getPolyRefBase()

dtPolyRef AtomsUtils::dtNavMesh::getPolyRefBase ( const dtMeshTile * tile ) const

Gets the polygon reference for the tile's base polygon.

Parameters

[in] tile The tile.

Returns: The polygon reference for the base polygon in the specified tile.

◆ getTile()

const dtMeshTile* AtomsUtils::dtNavMesh::getTile ( int i ) const

Gets the tile at the specified index.

Parameters

[in] i The tile index. [Limit: 0 >= index < getMaxTiles()]

Returns: The tile at the specified index.

◆ getTileAndPolyByRef()

dtStatus AtomsUtils::dtNavMesh::getTileAndPolyByRef	(	const dtPolyRef	ref,
		const dtMeshTile **	tile,
		const dtPoly **	poly
	)		const

Gets the tile and polygon for the specified polygon reference.

Parameters

[in]	ref	The reference for the a polygon.
[out]	tile	The tile containing the polygon.
[out]	poly	The polygon.

Returns: The status flags for the operation.

◆ getTileAndPolyByRefUnsafe()

void AtomsUtils::dtNavMesh::getTileAndPolyByRefUnsafe	(	const dtPolyRef	ref,
		const dtMeshTile **	tile,
		const dtPoly **	poly
	)		const

Returns the tile and polygon for the specified polygon reference.

Parameters

[in]	ref	A known valid reference for a polygon.
[out]	tile	The tile containing the polygon.
[out]	poly	The polygon.

◆ getTileAt()

const dtMeshTile* AtomsUtils::dtNavMesh::getTileAt	(	const int	x,
		const int	y,
		const int	layer
	)		const

Gets the tile at the specified grid location.

Parameters

[in]	x	The tile's x-location. (x, y, layer)
[in]	y	The tile's y-location. (x, y, layer)
[in]	layer	The tile's layer. (x, y, layer)

Returns: The tile, or null if the tile does not exist.

◆ getTileByRef()

const dtMeshTile* AtomsUtils::dtNavMesh::getTileByRef ( dtTileRef ref ) const

Gets the tile for the specified tile reference.

Parameters

[in] ref The tile reference of the tile to retrieve.

Returns: The tile for the specified reference, or null if the reference is invalid.

◆ getTileCountAt()

int AtomsUtils::dtNavMesh::getTileCountAt	(	const int	x,
		const int	y
	)		const

Gets number of tiles at the specified grid location. (All layers.)

Parameters

[in]	x	The tile's x-location. (x, y)
[in]	y	The tile's y-location. (x, y)

Returns: The number of tiles in grid.

◆ getTileRef()

dtTileRef AtomsUtils::dtNavMesh::getTileRef ( const dtMeshTile * tile ) const

Gets the tile reference for the specified tile.

Parameters

[in] tile The tile.

Returns: The tile reference of the tile.

◆ getTileRefAt()

dtTileRef AtomsUtils::dtNavMesh::getTileRefAt	(	int	x,
		int	y,
		int	layer
	)		const

Gets the tile reference for the tile at specified grid location.

Parameters

[in]	x	The tile's x-location. (x, y, layer)
[in]	y	The tile's y-location. (x, y, layer)
[in]	layer	The tile's layer. (x, y, layer)

Returns: The tile reference of the tile, or 0 if there is none.

◆ getTilesAt()

int AtomsUtils::dtNavMesh::getTilesAt	(	const int	x,
		const int	y,
		dtMeshTile const **	tiles,
		const int	maxTiles
	)		const

Gets all tiles at the specified grid location. (All layers.)

Parameters

[in]	x	The tile's x-location. (x, y)
[in]	y	The tile's y-location. (x, y)
[out]	tiles	A pointer to an array of tiles that will hold the result.
[in]	maxTiles	The maximum tiles the tiles parameter can hold.

Returns: The number of tiles returned in the tiles array.

◆ getTileStateSize()

int AtomsUtils::dtNavMesh::getTileStateSize ( const dtMeshTile * tile ) const

Gets the size of the buffer required by storeTileState to store the specified tile's state.

Parameters

[in] tile The tile.

Returns: The size of the buffer required to store the state.

◆ init() [1/2]

dtStatus AtomsUtils::dtNavMesh::init ( const dtNavMeshParams * params )

Initializes the navigation mesh for tiled use.

Parameters

[in] params Initialization parameters.

Returns: The status flags for the operation.

◆ init() [2/2]

dtStatus AtomsUtils::dtNavMesh::init	(	unsigned char *	data,
		const int	dataSize,
		const int	flags
	)

Initializes the navigation mesh for single tile use.

Parameters

[in]	data	Data of the new tile. (See: dtCreateNavMeshData)
[in]	dataSize	The data size of the new tile.
[in]	flags	The tile flags. (See: dtTileFlags)

Returns: The status flags for the operation.

See also: dtCreateNavMeshData

◆ isValidPolyRef()

bool AtomsUtils::dtNavMesh::isValidPolyRef ( dtPolyRef ref ) const

Checks the validity of a polygon reference.

Parameters

[in] ref The polygon reference to check.

Returns: True if polygon reference is valid for the navigation mesh.

◆ removeTile()

dtStatus AtomsUtils::dtNavMesh::removeTile	(	dtTileRef	ref,
		unsigned char **	data,
		int *	dataSize
	)

Removes the specified tile from the navigation mesh.

Parameters

[in]	ref	The reference of the tile to remove.
[out]	data	Data associated with deleted tile.
[out]	dataSize	Size of the data associated with deleted tile.

Returns: The status flags for the operation.

◆ restoreTileState()

dtStatus AtomsUtils::dtNavMesh::restoreTileState	(	dtMeshTile *	tile,
		const unsigned char *	data,
		const int	maxDataSize
	)

Restores the state of the tile.

Parameters

[in]	tile	The tile.
[in]	data	The new state. (Obtained from storeTileState.)
[in]	maxDataSize	The size of the state within the data buffer.

Returns: The status flags for the operation.

◆ setPolyArea()

dtStatus AtomsUtils::dtNavMesh::setPolyArea	(	dtPolyRef	ref,
		unsigned char	area
	)

Sets the user defined area for the specified polygon.

Parameters

[in]	ref	The polygon reference.
[in]	area	The new area id for the polygon. [Limit: < #DT_MAX_AREAS]

Returns: The status flags for the operation.

◆ setPolyFlags()

dtStatus AtomsUtils::dtNavMesh::setPolyFlags	(	dtPolyRef	ref,
		unsigned short	flags
	)

Sets the user defined flags for the specified polygon.

Parameters

[in]	ref	The polygon reference.
[in]	flags	The new flags for the polygon.

Returns: The status flags for the operation.

◆ storeTileState()

dtStatus AtomsUtils::dtNavMesh::storeTileState	(	const dtMeshTile *	tile,
		unsigned char *	data,
		const int	maxDataSize
	)		const

Stores the non-structural state of the tile in the specified buffer. (Flags, area ids, etc.)

Parameters

[in]	tile	The tile.
[out]	data	The buffer to store the tile's state in.
[in]	maxDataSize	The size of the data buffer. [Limit: >= getTileStateSize]

Returns: The status flags for the operation.

◆ updateOffMeshConnectionByUserId()

void AtomsUtils::dtNavMesh::updateOffMeshConnectionByUserId	(	unsigned int	userId,
		unsigned char	newArea,
		unsigned short	newFlags
	)

Updates area and flags for specified off-mesh connection: point type

Parameters

[in]	userId	User Id of connection
[in]	newArea	Area code to apply

◆ updateOffMeshSegmentConnectionByUserId()

void AtomsUtils::dtNavMesh::updateOffMeshSegmentConnectionByUserId	(	unsigned int	userId,
		unsigned char	newArea,
		unsigned short	newFlags
	)

Updates area and flags for specified off-mesh connection: segment type

Parameters

[in]	userId	User Id of connection
[in]	newArea	Area code to apply

The documentation for this class was generated from the following file:

C:/projects/atomsCrowd/AtomsUtils/include/AtomsUtils/NavigationMesh/Detour/DetourNavMesh.h

Classes

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ addTile()

◆ calcTileLoc()

◆ decodeClusterIdCluster()

◆ decodeClusterIdTile()

◆ decodePolyId()

◆ decodePolyIdPoly()

◆ decodePolyIdSalt()

◆ decodePolyIdTile()

◆ encodePolyId()

◆ getClusterRefBase()

◆ getMaxTiles()

◆ getOffMeshConnectionByRef()

◆ getOffMeshConnectionPolyEndPoints()

◆ getOffMeshSegmentConnectionByRef()

◆ getPolyArea()

◆ getPolyFlags()

◆ getPolyRefBase()

◆ getTile()

◆ getTileAndPolyByRef()

◆ getTileAndPolyByRefUnsafe()

◆ getTileAt()

◆ getTileByRef()

◆ getTileCountAt()

◆ getTileRef()

◆ getTileRefAt()

◆ getTilesAt()

◆ getTileStateSize()

◆ init() [1/2]

◆ init() [2/2]

◆ isValidPolyRef()

◆ removeTile()

◆ restoreTileState()

◆ setPolyArea()

◆ setPolyFlags()

◆ storeTileState()

◆ updateOffMeshConnectionByUserId()

◆ updateOffMeshSegmentConnectionByUserId()