#include <DetourNavMeshQuery.h>

Public Member Functions
dtStatus	init (const dtNavMesh nav, const int maxNodes, dtQuerySpecialLinkFilter linkFilter=0)

void	updateLinkFilter (dtQuerySpecialLinkFilter *linkFilter)
	updates special link filter for this query

dtStatus	getPortalPoints (dtPolyRef from, dtPolyRef to, float left, float right, unsigned char &fromType, unsigned char &toType) const
	Returns portal points between two polygons.

dtStatus	getPortalPoints (dtPolyRef from, const dtPoly fromPoly, const dtMeshTile fromTile, dtPolyRef to, const dtPoly toPoly, const dtMeshTile toTile, float left, float right) const

dtStatus	getEdgeMidPoint (dtPolyRef from, dtPolyRef to, float *mid) const
	Returns edge mid point between two polygons.

dtStatus	getEdgeMidPoint (dtPolyRef from, const dtPoly fromPoly, const dtMeshTile fromTile, dtPolyRef to, const dtPoly toPoly, const dtMeshTile toTile, float *mid) const

Standard Pathfinding Functions
dtStatus	findPath (dtPolyRef startRef, dtPolyRef endRef, const float startPos, const float endPos, const float costLimit, const dtQueryFilter filter, dtQueryResult &result, float totalCost) const

dtStatus	testClusterPath (dtPolyRef startRef, dtPolyRef endRef) const

dtStatus	findStraightPath (const float startPos, const float endPos, const dtPolyRef *path, const int pathSize, dtQueryResult &result, const int options=0) const

Sliced Pathfinding Functions
Common use case: Call initSlicedFindPath() to initialize the sliced path query. Call updateSlicedFindPath() until it returns complete. Call finalizeSlicedFindPath() to get the path.
dtStatus	initSlicedFindPath (dtPolyRef startRef, dtPolyRef endRef, const float startPos, const float endPos, const float costLimit, const dtQueryFilter *filter)

dtStatus	updateSlicedFindPath (const int maxIter, int *doneIters)

dtStatus	finalizeSlicedFindPath (dtPolyRef path, int pathCount, const int maxPath)

dtStatus	finalizeSlicedFindPathPartial (const dtPolyRef existing, const int existingSize, dtPolyRef path, int *pathCount, const int maxPath)

Dijkstra Search Functions

dtStatus	findPolysAroundCircle (dtPolyRef startRef, const float centerPos, const float radius, const dtQueryFilter filter, dtPolyRef resultRef, dtPolyRef resultParent, float resultCost, int resultCount, const int maxResult) const

dtStatus	findPolysAroundShape (dtPolyRef startRef, const float verts, const int nverts, const dtQueryFilter filter, dtPolyRef resultRef, dtPolyRef resultParent, float resultCost, int resultCount, const int maxResult) const

dtStatus	findPolysInPathDistance (dtPolyRef startRef, const float centerPos, const float pathDistance, const dtQueryFilter filter, dtPolyRef resultRef, int resultCount, const int maxResult) const

Local Query Functions
dtStatus	findNearestPoly (const float center, const float extents, const dtQueryFilter filter, dtPolyRef nearestRef, float nearestPt, const float referencePt=0) const

dtStatus	findNearestPoly2D (const float center, const float extents, const dtQueryFilter filter, dtPolyRef outProjectedRef, float outProjectedPt, const float referencePt=0, float tolerance=0) const

dtStatus	findNearestContainingPoly (const float center, const float extents, const dtQueryFilter filter, dtPolyRef nearestRef, float *nearestPt) const

dtStatus	queryPolygons (const float center, const float extents, const dtQueryFilter filter, dtPolyRef polys, int *polyCount, const int maxPolys) const

dtStatus	findLocalNeighbourhood (dtPolyRef startRef, const float centerPos, const float radius, const dtQueryFilter filter, dtPolyRef resultRef, dtPolyRef resultParent, int *resultCount, const int maxResult) const

dtStatus	findWallsInNeighbourhood (dtPolyRef startRef, const float centerPos, const float radius, const dtQueryFilter filter, dtPolyRef neiRefs, int neiCount, const int maxNei, float resultWalls, dtPolyRef resultRefs, int *resultCount, const int maxResult) const
	Finds the wall segments in local neighbourhood.

dtStatus	moveAlongSurface (dtPolyRef startRef, const float startPos, const float endPos, const dtQueryFilter filter, float resultPos, dtPolyRef visited, int visitedCount, const int maxVisitedSize) const

dtStatus	raycast (dtPolyRef startRef, const float startPos, const float endPos, const dtQueryFilter filter, float t, float hitNormal, dtPolyRef path, int *pathCount, const int maxPath) const

dtStatus	findDistanceToWall (dtPolyRef startRef, const float centerPos, const float maxRadius, const dtQueryFilter filter, float hitDist, float hitPos, float *hitNormal) const

dtStatus	getPolyWallSegments (dtPolyRef ref, const dtQueryFilter filter, float segmentVerts, dtPolyRef segmentRefs, int segmentCount, const int maxSegments) const

dtStatus	findRandomPoint (const dtQueryFilter filter, int randomSeed, dtPolyRef randomRef, float *randomPt) const

dtStatus	findRandomPointAroundCircle (dtPolyRef startRef, const float centerPos, const float maxRadius, const dtQueryFilter filter, int randomSeed, dtPolyRef randomRef, float randomPt) const

dtStatus	findRandomPointInCluster (dtClusterRef clusterRef, int randomSeed, dtPolyRef randomRef, float randomPt) const

dtStatus	closestPointOnPoly (dtPolyRef ref, const float pos, float closest) const

dtStatus	closestPointOnPolyBoundary (dtPolyRef ref, const float pos, float closest) const

dtStatus	projectedPointOnPoly (dtPolyRef ref, const float pos, float projected) const

dtStatus	isPointInsidePoly (dtPolyRef ref, const float *pos, bool &result) const

dtStatus	getPolyHeight (dtPolyRef ref, const float pos, float height) const

dtStatus	getPolyCluster (dtPolyRef polyRef, dtClusterRef &clusterRef) const

Miscellaneous Functions
bool	isValidPolyRef (dtPolyRef ref, const dtQueryFilter *filter) const

bool	isInClosedList (dtPolyRef ref) const

bool	wasClusterLinkSearched (dtPolyRef cFrom, dtPolyRef cTo) const

class dtNodePool *	getNodePool () const

const dtNavMesh *	getAttachedNavMesh () const

void	getCurrentBestResult (struct dtNode *&bestNode, float &bestCost) const
	Gets best node ref and cost from sliced pathfinding data.

int	getQueryNodes () const

Detailed Description

Provides the ability to perform pathfinding related queries against a navigation mesh.

Member Function Documentation

◆ closestPointOnPoly()

dtStatus AtomsUtils::dtNavMeshQuery::closestPointOnPoly	(	dtPolyRef	ref,
		const float *	pos,
		float *	closest
	)		const

Finds the closest point on the specified polygon.

Parameters

[in]	ref	The reference id of the polygon.
[in]	pos	The position to check. [(x, y, z)]
[out]	closest	The closest point on the polygon. [(x, y, z)]

Returns: The status flags for the query.

◆ closestPointOnPolyBoundary()

dtStatus AtomsUtils::dtNavMeshQuery::closestPointOnPolyBoundary	(	dtPolyRef	ref,
		const float *	pos,
		float *	closest
	)		const

Returns a point on the boundary closest to the source point if the source point is outside the polygon's xz-bounds.

Parameters

[in]	ref	The reference id to the polygon.
[in]	pos	The position to check. [(x, y, z)]
[out]	closest	The closest point. [(x, y, z)]

Returns: The status flags for the query.

◆ finalizeSlicedFindPath()

dtStatus AtomsUtils::dtNavMeshQuery::finalizeSlicedFindPath	(	dtPolyRef *	path,
		int *	pathCount,
		const int	maxPath
	)

Finalizes and returns the results of a sliced path query.

Parameters

[out]	path	An ordered list of polygon references representing the path. (Start to end.) [(polyRef) * `pathCount`]
[out]	pathCount	The number of polygons returned in the `path` array.
[in]	maxPath	The max number of polygons the path array can hold. [Limit: >= 1]

Returns: The status flags for the query.

◆ finalizeSlicedFindPathPartial()

dtStatus AtomsUtils::dtNavMeshQuery::finalizeSlicedFindPathPartial	(	const dtPolyRef *	existing,
		const int	existingSize,
		dtPolyRef *	path,
		int *	pathCount,
		const int	maxPath
	)

Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest polygon on the existing path that was visited during the search.

Parameters

[out]	existing	An array of polygon references for the existing path.
[out]	existingSize	The number of polygon in the `existing` array.
[out]	path	An ordered list of polygon references representing the path. (Start to end.) [(polyRef) * `pathCount`]
[out]	pathCount	The number of polygons returned in the `path` array.
[in]	maxPath	The max number of polygons the `path` array can hold. [Limit: >= 1]

Returns: The status flags for the query.

◆ findDistanceToWall()

dtStatus AtomsUtils::dtNavMeshQuery::findDistanceToWall	(	dtPolyRef	startRef,
		const float *	centerPos,
		const float	maxRadius,
		const dtQueryFilter *	filter,
		float *	hitDist,
		float *	hitPos,
		float *	hitNormal
	)		const

Finds the distance from the specified position to the nearest polygon wall.

Parameters

[in]	startRef	The reference id of the polygon containing `centerPos`.
[in]	centerPos	The center of the search circle. [(x, y, z)]
[in]	maxRadius	The radius of the search circle.
[in]	filter	The polygon filter to apply to the query.
[out]	hitDist	The distance to the nearest wall from `centerPos`.
[out]	hitPos	The nearest position on the wall that was hit. [(x, y, z)]
[out]	hitNormal	The normalized ray formed from the wall point to the source point. [(x, y, z)]

Returns: The status flags for the query.

◆ findLocalNeighbourhood()

dtStatus AtomsUtils::dtNavMeshQuery::findLocalNeighbourhood	(	dtPolyRef	startRef,
		const float *	centerPos,
		const float	radius,
		const dtQueryFilter *	filter,
		dtPolyRef *	resultRef,
		dtPolyRef *	resultParent,
		int *	resultCount,
		const int	maxResult
	)		const

Finds the non-overlapping navigation polygons in the local neighbourhood around the center position.

Parameters

[in]	startRef	The reference id of the polygon where the search starts.
[in]	centerPos	The center of the query circle. [(x, y, z)]
[in]	radius	The radius of the query circle.
[in]	filter	The polygon filter to apply to the query.
[out]	resultRef	The reference ids of the polygons touched by the circle.
[out]	resultParent	The reference ids of the parent polygons for each result. Zero if a result polygon has no parent. [opt]
[out]	resultCount	The number of polygons found.
[in]	maxResult	The maximum number of polygons the result arrays can hold.

Returns: The status flags for the query.

◆ findNearestContainingPoly()

dtStatus AtomsUtils::dtNavMeshQuery::findNearestContainingPoly	(	const float *	center,
		const float *	extents,
		const dtQueryFilter *	filter,
		dtPolyRef *	nearestRef,
		float *	nearestPt
	)		const

Finds the nearest polygon containing the specified center point.

Parameters

[in]	center	The center of the search box. [(x, y, z)]
[in]	extents	The search distance along each axis. [(x, y, z)]
[in]	filter	The polygon filter to apply to the query.
[out]	nearestRef	The reference id of the nearest polygon.
[out]	nearestPt	The nearest point on the polygon. [opt] [(x, y, z)]

Returns: The status flags for the query.

◆ findNearestPoly()

dtStatus AtomsUtils::dtNavMeshQuery::findNearestPoly	(	const float *	center,
		const float *	extents,
		const dtQueryFilter *	filter,
		dtPolyRef *	nearestRef,
		float *	nearestPt,
		const float *	referencePt = `0`
	)		const

Finds the polygon nearest to the specified center point.

Parameters

[in]	center	The center of the search box. [(x, y, z)]
[in]	extents	The search distance along each axis. [(x, y, z)]
[in]	filter	The polygon filter to apply to the query.
[out]	nearestRef	The reference id of the nearest polygon.
[out]	nearestPt	The nearest point on the polygon. [opt] [(x, y, z)]
[in]	referencePt	If supplied replaces
	center	in terms of distance measurements. [opt] [(x, y, z)]

Returns: The status flags for the query.

◆ findNearestPoly2D()

dtStatus AtomsUtils::dtNavMeshQuery::findNearestPoly2D	(	const float *	center,
		const float *	extents,
		const dtQueryFilter *	filter,
		dtPolyRef *	outProjectedRef,
		float *	outProjectedPt,
		const float *	referencePt = `0`,
		float	tolerance = `0`
	)		const

Finds the polygon 2D-nearest to the specified center point.

Parameters

[in]	center	The center of the search box. [(x, y, z)]
[in]	extents	The search distance along each axis. [(x, y, z)]
[in]	filter	The polygon filter to apply to the query.
[out]	nearestRef	The reference id of the nearest polygon.
[out]	nearestPt	The nearest point on the polygon. [opt] [(x, y, z)]
[in]	referencePt	If supplied replaces
	center	in terms of distance measurements. [opt] [(x, y, z)]
[in]	tolerance	Radius around best 2D point for picking vertical match

Returns: The status flags for the query.

◆ findPath()

dtStatus AtomsUtils::dtNavMeshQuery::findPath	(	dtPolyRef	startRef,
		dtPolyRef	endRef,
		const float *	startPos,
		const float *	endPos,
		const float	costLimit,
		const dtQueryFilter *	filter,
		dtQueryResult &	result,
		float *	totalCost
	)		const

Finds a path from the start polygon to the end polygon.

Parameters

[in]	startRef	The reference id of the start polygon.
[in]	endRef	The reference id of the end polygon.
[in]	startPos	A position within the start polygon. [(x, y, z)]
[in]	endPos	A position within the end polygon. [(x, y, z)]
[in]	costLimit	Cost limit of nodes allowed to be added to the open list
[in]	filter	The polygon filter to apply to the query.
[out]	result	Results for path corridor, fills in refs and costs for each poly from start to end
[out]	totalCost	If provided will get filled will total cost of path

◆ findPolysAroundCircle()

dtStatus AtomsUtils::dtNavMeshQuery::findPolysAroundCircle	(	dtPolyRef	startRef,
		const float *	centerPos,
		const float	radius,
		const dtQueryFilter *	filter,
		dtPolyRef *	resultRef,
		dtPolyRef *	resultParent,
		float *	resultCost,
		int *	resultCount,
		const int	maxResult
	)		const

Finds the polygons along the navigation graph that touch the specified circle.

Parameters

[in]	startRef	The reference id of the polygon where the search starts.
[in]	centerPos	The center of the search circle. [(x, y, z)]
[in]	radius	The radius of the search circle.
[in]	filter	The polygon filter to apply to the query.
[out]	resultRef	The reference ids of the polygons touched by the circle. [opt]
[out]	resultParent	The reference ids of the parent polygons for each result. Zero if a result polygon has no parent. [opt]
[out]	resultCost	The search cost from `centerPos` to the polygon. [opt]
[out]	resultCount	The number of polygons found. [opt]
[in]	maxResult	The maximum number of polygons the result arrays can hold.

Returns: The status flags for the query.

◆ findPolysAroundShape()

dtStatus AtomsUtils::dtNavMeshQuery::findPolysAroundShape	(	dtPolyRef	startRef,
		const float *	verts,
		const int	nverts,
		const dtQueryFilter *	filter,
		dtPolyRef *	resultRef,
		dtPolyRef *	resultParent,
		float *	resultCost,
		int *	resultCount,
		const int	maxResult
	)		const

Finds the polygons along the naviation graph that touch the specified convex polygon.

Parameters

[in]	startRef	The reference id of the polygon where the search starts.
[in]	verts	The vertices describing the convex polygon. (CCW) [(x, y, z) * `nverts`]
[in]	nverts	The number of vertices in the polygon.
[in]	filter	The polygon filter to apply to the query.
[out]	resultRef	The reference ids of the polygons touched by the search polygon. [opt]
[out]	resultParent	The reference ids of the parent polygons for each result. Zero if a result polygon has no parent. [opt]
[out]	resultCost	The search cost from the centroid point to the polygon. [opt]
[out]	resultCount	The number of polygons found.
[in]	maxResult	The maximum number of polygons the result arrays can hold.

Returns: The status flags for the query.

◆ findPolysInPathDistance()

dtStatus AtomsUtils::dtNavMeshQuery::findPolysInPathDistance	(	dtPolyRef	startRef,
		const float *	centerPos,
		const float	pathDistance,
		const dtQueryFilter *	filter,
		dtPolyRef *	resultRef,
		int *	resultCount,
		const int	maxResult
	)		const

Finds the polygons along the navigation graph that are no more than given path length away from centerPos.

Parameters

[in]	startRef	The reference id of the polygon where the search starts.
[in]	centerPos	The center of the search circle. [(x, y, z)]
[in]	pathDistance	The path distance limit of the search
[in]	filter	The polygon filter to apply to the query.
[out]	resultRef	The reference ids of the polygons touched by the circle. [opt]
[out]	resultCount	The number of polygons found. [opt]
[in]	maxResult	The maximum number of polygons the result arrays can hold.

Returns: The status flags for the query.

◆ findRandomPoint()

dtStatus AtomsUtils::dtNavMeshQuery::findRandomPoint	(	const dtQueryFilter *	filter,
		int	randomSeed,
		dtPolyRef *	randomRef,
		float *	randomPt
	)		const

Returns random location on navmesh. Polygons are chosen weighted by area. The search runs in linear related to number of polygon.

Parameters

[in]	filter	The polygon filter to apply to the query.
[in]	frand	Function returning a random number [0..1).
[out]	randomRef	The reference id of the random location.
[out]	randomPt	The random location.

Returns: The status flags for the query.

◆ findRandomPointAroundCircle()

dtStatus AtomsUtils::dtNavMeshQuery::findRandomPointAroundCircle	(	dtPolyRef	startRef,
		const float *	centerPos,
		const float	maxRadius,
		const dtQueryFilter *	filter,
		int	randomSeed,
		dtPolyRef *	randomRef,
		float *	randomPt
	)		const

Returns random location on navmesh within the reach of specified location. Polygons are chosen weighted by area. The search runs in linear related to number of polygon. The location is not exactly constrained by the circle, but it limits the visited polygons.

Parameters

[in]	startRef	The reference id of the polygon where the search starts.
[in]	centerPos	The center of the search circle. [(x, y, z)]
[in]	filter	The polygon filter to apply to the query.
[in]	frand	Function returning a random number [0..1).
[out]	randomRef	The reference id of the random location.
[out]	randomPt	The random location. [(x, y, z)]

Returns: The status flags for the query.

◆ findRandomPointInCluster()

dtStatus AtomsUtils::dtNavMeshQuery::findRandomPointInCluster	(	dtClusterRef	clusterRef,
		int	randomSeed,
		dtPolyRef *	randomRef,
		float *	randomPt
	)		const

Returns random location on navmesh within specified cluster.

Parameters

[in]	frand	Function returning a random number [0..1).
[out]	randomRef	The reference id of the random location.
[out]	randomPt	The random location.

Returns: The status flags for the query.

◆ findStraightPath()

dtStatus AtomsUtils::dtNavMeshQuery::findStraightPath	(	const float *	startPos,
		const float *	endPos,
		const dtPolyRef *	path,
		const int	pathSize,
		dtQueryResult &	result,
		const int	options = `0`
	)		const

Finds the straight path from the start to the end position within the polygon corridor.

Parameters

[in]	startPos	Path start position. [(x, y, z)]
[in]	endPos	Path end position. [(x, y, z)]
[in]	path	An array of polygon references that represent the path corridor.
[in]	pathSize	The number of polygons in the `path` array.
[out]	result	Fills in positions, refs and flags
[in]	options	Query options. (see: dtStraightPathOptions)

Returns: The status flags for the query.

◆ getAttachedNavMesh()

const dtNavMesh* AtomsUtils::dtNavMeshQuery::getAttachedNavMesh ( ) const

inline

Gets the navigation mesh the query object is using.

Returns: The navigation mesh the query object is using.

◆ getNodePool()

class dtNodePool* AtomsUtils::dtNavMeshQuery::getNodePool ( ) const

inline

Gets the node pool.

Returns: The node pool.

◆ getPolyCluster()

dtStatus AtomsUtils::dtNavMeshQuery::getPolyCluster	(	dtPolyRef	polyRef,
		dtClusterRef &	clusterRef
	)		const

Gets the cluster containing given polygon

Parameters

[in]	polyRef	The reference id of the polygon.
[out]	clusterRef	The reference id of the cluster

Returns: The status flags for the query.

◆ getPolyHeight()

dtStatus AtomsUtils::dtNavMeshQuery::getPolyHeight	(	dtPolyRef	ref,
		const float *	pos,
		float *	height
	)		const

Gets the height of the polygon at the provided position using the height detail. (Most accurate.)

Parameters

[in]	ref	The reference id of the polygon.
[in]	pos	A position within the xz-bounds of the polygon. [(x, y, z)]
[out]	height	The height at the surface of the polygon.

Returns: The status flags for the query.

◆ getPolyWallSegments()

dtStatus AtomsUtils::dtNavMeshQuery::getPolyWallSegments	(	dtPolyRef	ref,
		const dtQueryFilter *	filter,
		float *	segmentVerts,
		dtPolyRef *	segmentRefs,
		int *	segmentCount,
		const int	maxSegments
	)		const

Returns the segments for the specified polygon, optionally including portals.

Parameters

[in]	ref	The reference id of the polygon.
[in]	filter	The polygon filter to apply to the query.
[out]	segmentVerts	The segments. [(ax, ay, az, bx, by, bz) * segmentCount]
[out]	segmentRefs	The reference ids of each segment's neighbor polygon. Or zero if the segment is a wall. [opt] [(parentRef) * `segmentCount`]
[out]	segmentCount	The number of segments returned.
[in]	maxSegments	The maximum number of segments the result arrays can hold.

Returns: The status flags for the query.

◆ init()

dtStatus AtomsUtils::dtNavMeshQuery::init	(	const dtNavMesh *	nav,
		const int	maxNodes,
		dtQuerySpecialLinkFilter *	linkFilter = `0`
	)

Initializes the query object.

Parameters

[in]	nav	Pointer to the dtNavMesh object to use for all queries.
[in]	maxNodes	Maximum number of search nodes. [Limits: 0 < value <= 65536]
[in]	linkFilter	Special link filter used for every query

Returns: The status flags for the query.

◆ initSlicedFindPath()

dtStatus AtomsUtils::dtNavMeshQuery::initSlicedFindPath	(	dtPolyRef	startRef,
		dtPolyRef	endRef,
		const float *	startPos,
		const float *	endPos,
		const float	costLimit,
		const dtQueryFilter *	filter
	)

Initializes a sliced path query.

Parameters

[in]	startRef	The refrence id of the start polygon.
[in]	endRef	The reference id of the end polygon.
[in]	startPos	A position within the start polygon. [(x, y, z)]
[in]	endPos	A position within the end polygon. [(x, y, z)]
[in]	costLimit	Cost limit of nodes allowed to be added to the open list
[in]	filter	The polygon filter to apply to the query.

Returns: The status flags for the query.

◆ isInClosedList()

bool AtomsUtils::dtNavMeshQuery::isInClosedList ( dtPolyRef ref ) const

Returns true if the polygon reference is in the closed list.

Parameters

[in] ref The reference id of the polygon to check.

Returns: True if the polygon is in closed list.

◆ isPointInsidePoly()

dtStatus AtomsUtils::dtNavMeshQuery::isPointInsidePoly	(	dtPolyRef	ref,
		const float *	pos,
		bool &	result
	)		const

Checks if specified pos is inside given polygon specified by ref

Parameters

[in]	ref	The reference id of the polygon.
[in]	pos	The position to check. [(x, y, z)]
[out]	result	The result of the check, whether the point is inside (true) or not (false)

Returns: The status flags for the query.

◆ isValidPolyRef()

bool AtomsUtils::dtNavMeshQuery::isValidPolyRef	(	dtPolyRef	ref,
		const dtQueryFilter *	filter
	)		const

Returns true if the polygon reference is valid and passes the filter restrictions.

Parameters

[in]	ref	The polygon reference to check.
[in]	filter	The filter to apply.

◆ moveAlongSurface()

dtStatus AtomsUtils::dtNavMeshQuery::moveAlongSurface	(	dtPolyRef	startRef,
		const float *	startPos,
		const float *	endPos,
		const dtQueryFilter *	filter,
		float *	resultPos,
		dtPolyRef *	visited,
		int *	visitedCount,
		const int	maxVisitedSize
	)		const

Moves from the start to the end position constrained to the navigation mesh.

Parameters

[in]	startRef	The reference id of the start polygon.
[in]	startPos	A position of the mover within the start polygon. [(x, y, x)]
[in]	endPos	The desired end position of the mover. [(x, y, z)]
[in]	filter	The polygon filter to apply to the query.
[out]	resultPos	The result position of the mover. [(x, y, z)]
[out]	visited	The reference ids of the polygons visited during the move.
[out]	visitedCount	The number of polygons visited during the move.
[in]	maxVisitedSize	The maximum number of polygons the `visited` array can hold.

Returns: The status flags for the query.

◆ projectedPointOnPoly()

dtStatus AtomsUtils::dtNavMeshQuery::projectedPointOnPoly	(	dtPolyRef	ref,
		const float *	pos,
		float *	projected
	)		const

Finds the point's projection on the specified polygon.

Parameters

[in]	ref	The reference id of the polygon.
[in]	pos	The position to check. [(x, y, z)]
[out]	closest	The projected point on the polygon. [(x, y, z)]

Returns: The status flags for the query.

◆ queryPolygons()

dtStatus AtomsUtils::dtNavMeshQuery::queryPolygons	(	const float *	center,
		const float *	extents,
		const dtQueryFilter *	filter,
		dtPolyRef *	polys,
		int *	polyCount,
		const int	maxPolys
	)		const

Finds polygons that overlap the search box.

Parameters

[in]	center	The center of the search box. [(x, y, z)]
[in]	extents	The search distance along each axis. [(x, y, z)]
[in]	filter	The polygon filter to apply to the query.
[out]	polys	The reference ids of the polygons that overlap the query box.
[out]	polyCount	The number of polygons in the search result.
[in]	maxPolys	The maximum number of polygons the search result can hold.

Returns: The status flags for the query.

◆ raycast()

dtStatus AtomsUtils::dtNavMeshQuery::raycast	(	dtPolyRef	startRef,
		const float *	startPos,
		const float *	endPos,
		const dtQueryFilter *	filter,
		float *	t,
		float *	hitNormal,
		dtPolyRef *	path,
		int *	pathCount,
		const int	maxPath
	)		const

Casts a 'walkability' ray along the surface of the navigation mesh from the start position toward the end position.

Parameters

[in]	startRef	The reference id of the start polygon.
[in]	startPos	A position within the start polygon representing the start of the ray. [(x, y, z)]
[in]	endPos	The position to cast the ray toward. [(x, y, z)]
[out]	t	The hit parameter. (FLT_MAX if no wall hit.)
[out]	hitNormal	The normal of the nearest wall hit. [(x, y, z)]
[in]	filter	The polygon filter to apply to the query.
[out]	path	The reference ids of the visited polygons. [opt]
[out]	pathCount	The number of visited polygons. [opt]
[in]	maxPath	The maximum number of polygons the `path` array can hold.
[in]	walkableArea	Specific area that can be visited or 255 to skip it and test all areas.

Returns: The status flags for the query.

◆ testClusterPath()

dtStatus AtomsUtils::dtNavMeshQuery::testClusterPath	(	dtPolyRef	startRef,
		dtPolyRef	endRef
	)		const

Check if there is a path from start polygon to the end polygon using cluster graph (cheap, does not care about link costs)

Parameters

[in]	startRef	The reference id of the start polygon.
[in]	endRef	The reference id of the end polygon.

◆ updateSlicedFindPath()

dtStatus AtomsUtils::dtNavMeshQuery::updateSlicedFindPath	(	const int	maxIter,
		int *	doneIters
	)

Updates an in-progress sliced path query.

Parameters

[in]	maxIter	The maximum number of iterations to perform.
[out]	doneIters	The actual number of iterations completed. [opt]

Returns: The status flags for the query.

◆ wasClusterLinkSearched()

bool AtomsUtils::dtNavMeshQuery::wasClusterLinkSearched	(	dtPolyRef	cFrom,
		dtPolyRef	cTo
	)		const

Returns true if the cluster link was used in previous search.

Parameters

[in]	cFrom	The reference id of the start cluster.
[in]	cto	The reference id of the end cluster.

Returns: True if the cluster link was searched.

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

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

Public Member Functions

Detailed Description

Member Function Documentation

◆ closestPointOnPoly()

◆ closestPointOnPolyBoundary()

◆ finalizeSlicedFindPath()

◆ finalizeSlicedFindPathPartial()

◆ findDistanceToWall()

◆ findLocalNeighbourhood()

◆ findNearestContainingPoly()

◆ findNearestPoly()

◆ findNearestPoly2D()

◆ findPath()

◆ findPolysAroundCircle()

◆ findPolysAroundShape()

◆ findPolysInPathDistance()

◆ findRandomPoint()

◆ findRandomPointAroundCircle()

◆ findRandomPointInCluster()

◆ findStraightPath()

◆ getAttachedNavMesh()

◆ getNodePool()

◆ getPolyCluster()

◆ getPolyHeight()

◆ getPolyWallSegments()

◆ init()

◆ initSlicedFindPath()

◆ isInClosedList()

◆ isPointInsidePoly()

◆ isValidPolyRef()

◆ moveAlongSurface()

◆ projectedPointOnPoly()

◆ queryPolygons()

◆ raycast()

◆ testClusterPath()

◆ updateSlicedFindPath()

◆ wasClusterLinkSearched()