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Diffstat (limited to 'extern/recastnavigation/Detour/Source/DetourStatNavMesh.cpp')
| -rw-r--r-- | extern/recastnavigation/Detour/Source/DetourStatNavMesh.cpp | 876 |
1 files changed, 0 insertions, 876 deletions
diff --git a/extern/recastnavigation/Detour/Source/DetourStatNavMesh.cpp b/extern/recastnavigation/Detour/Source/DetourStatNavMesh.cpp deleted file mode 100644 index a02211816a2..00000000000 --- a/extern/recastnavigation/Detour/Source/DetourStatNavMesh.cpp +++ /dev/null @@ -1,876 +0,0 @@ -// -// Copyright (c) 2009 Mikko Mononen memon@inside.org -// -// This software is provided 'as-is', without any express or implied -// warranty. In no event will the authors be held liable for any damages -// arising from the use of this software. -// Permission is granted to anyone to use this software for any purpose, -// including commercial applications, and to alter it and redistribute it -// freely, subject to the following restrictions: -// 1. The origin of this software must not be misrepresented; you must not -// claim that you wrote the original software. If you use this software -// in a product, an acknowledgment in the product documentation would be -// appreciated but is not required. -// 2. Altered source versions must be plainly marked as such, and must not be -// misrepresented as being the original software. -// 3. This notice may not be removed or altered from any source distribution. -// - -#include <math.h> -#include <float.h> -#include <string.h> -#include <stdio.h> -#include "DetourStatNavMesh.h" -#include "DetourNode.h" -#include "DetourCommon.h" - - -////////////////////////////////////////////////////////////////////////////////////////// -dtStatNavMesh::dtStatNavMesh() : - m_data(0), - m_dataSize(0), - m_header(0), - m_nodePool(0), - m_openList(0) -{ -} - -dtStatNavMesh::~dtStatNavMesh() -{ - delete m_nodePool; - delete m_openList; - if (m_data) - delete [] m_data; -} - -bool dtStatNavMesh::init(unsigned char* data, int dataSize, bool ownsData) -{ - dtStatNavMeshHeader* header = (dtStatNavMeshHeader*)data; - - if (header->magic != DT_STAT_NAVMESH_MAGIC) - return false; - if (header->version != DT_STAT_NAVMESH_VERSION) - return false; - - const int headerSize = sizeof(dtStatNavMeshHeader); - const int vertsSize = sizeof(float)*3*header->nverts; - const int polysSize = sizeof(dtStatPoly)*header->npolys; - const int nodesSize = sizeof(dtStatBVNode)*header->npolys*2; - const int detailMeshesSize = sizeof(dtStatPolyDetail)*header->ndmeshes; - const int detailVertsSize = sizeof(float)*3*header->ndverts; - const int detailTrisSize = sizeof(unsigned char)*4*header->ndtris; - - - unsigned char* d = data + headerSize; - header->verts = (float*)d; d += vertsSize; - header->polys = (dtStatPoly*)d; d += polysSize; - header->bvtree = (dtStatBVNode*)d; d += nodesSize; - header->dmeshes = (dtStatPolyDetail*)d; d += detailMeshesSize; - header->dverts = (float*)d; d += detailVertsSize; - header->dtris = (unsigned char*)d; d += detailTrisSize; - - m_nodePool = new dtNodePool(2048, 256); - if (!m_nodePool) - return false; - - m_openList = new dtNodeQueue(2048); - if (!m_openList) - return false; - - if (ownsData) - { - m_data = data; - m_dataSize = dataSize; - } - - m_header = header; - - return true; -} - -const dtStatPoly* dtStatNavMesh::getPolyByRef(dtStatPolyRef ref) const -{ - if (!m_header || ref == 0 || (int)ref > m_header->npolys) return 0; - return &m_header->polys[ref-1]; -} - -int dtStatNavMesh::getPolyIndexByRef(dtStatPolyRef ref) const -{ - if (!m_header || ref == 0 || (int)ref > m_header->npolys) return -1; - return (int)ref-1; -} - -int dtStatNavMesh::findPath(dtStatPolyRef startRef, dtStatPolyRef endRef, - const float* startPos, const float* endPos, - dtStatPolyRef* path, const int maxPathSize) -{ - if (!m_header) return 0; - - if (!startRef || !endRef) - return 0; - - if (!maxPathSize) - return 0; - - if (startRef == endRef) - { - path[0] = startRef; - return 1; - } - - m_nodePool->clear(); - m_openList->clear(); - - static const float H_SCALE = 1.1f; // Heuristic scale. - - dtNode* startNode = m_nodePool->getNode(startRef); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = vdist(startPos, endPos) * H_SCALE; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - dtNode* lastBestNode = startNode; - float lastBestNodeCost = startNode->total; - while (!m_openList->empty()) - { - dtNode* bestNode = m_openList->pop(); - - if (bestNode->id == endRef) - { - lastBestNode = bestNode; - break; - } - - const dtStatPoly* poly = getPoly(bestNode->id-1); - for (int i = 0; i < (int)poly->nv; ++i) - { - dtStatPolyRef neighbour = poly->n[i]; - if (neighbour) - { - // Skip parent node. - if (bestNode->pidx && m_nodePool->getNodeAtIdx(bestNode->pidx)->id == neighbour) - continue; - - dtNode* parent = bestNode; - dtNode newNode; - newNode.pidx = m_nodePool->getNodeIdx(parent); - newNode.id = neighbour; - - // Calculate cost. - float p0[3], p1[3]; - if (!parent->pidx) - vcopy(p0, startPos); - else - getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0); - getEdgeMidPoint(parent->id, newNode.id, p1); - newNode.cost = parent->cost + vdist(p0,p1); - // Special case for last node. - if (newNode.id == endRef) - newNode.cost += vdist(p1, endPos); - - // Heuristic - const float h = vdist(p1,endPos)*H_SCALE; - newNode.total = newNode.cost + h; - - dtNode* actualNode = m_nodePool->getNode(newNode.id); - if (!actualNode) - continue; - - if (!((actualNode->flags & DT_NODE_OPEN) && newNode.total > actualNode->total) && - !((actualNode->flags & DT_NODE_CLOSED) && newNode.total > actualNode->total)) - { - actualNode->flags &= ~DT_NODE_CLOSED; - actualNode->pidx = newNode.pidx; - actualNode->cost = newNode.cost; - actualNode->total = newNode.total; - - if (h < lastBestNodeCost) - { - lastBestNodeCost = h; - lastBestNode = actualNode; - } - - if (actualNode->flags & DT_NODE_OPEN) - { - m_openList->modify(actualNode); - } - else - { - actualNode->flags |= DT_NODE_OPEN; - m_openList->push(actualNode); - } - } - } - } - bestNode->flags |= DT_NODE_CLOSED; - } - - // Reverse the path. - dtNode* prev = 0; - dtNode* node = lastBestNode; - do - { - dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); - node->pidx = m_nodePool->getNodeIdx(prev); - prev = node; - node = next; - } - while (node); - - // Store path - node = prev; - int n = 0; - do - { - path[n++] = node->id; - node = m_nodePool->getNodeAtIdx(node->pidx); - } - while (node && n < maxPathSize); - - return n; -} - -bool dtStatNavMesh::closestPointToPoly(dtStatPolyRef ref, const float* pos, float* closest) const -{ - int idx = getPolyIndexByRef(ref); - if (idx == -1) - return false; - - float closestDistSqr = FLT_MAX; - const dtStatPoly* p = getPoly(idx); - const dtStatPolyDetail* pd = getPolyDetail(idx); - - for (int j = 0; j < pd->ntris; ++j) - { - const unsigned char* t = getDetailTri(pd->tbase+j); - const float* v[3]; - for (int k = 0; k < 3; ++k) - { - if (t[k] < p->nv) - v[k] = getVertex(p->v[t[k]]); - else - v[k] = getDetailVertex(pd->vbase+(t[k]-p->nv)); - } - float pt[3]; - closestPtPointTriangle(pt, pos, v[0], v[1], v[2]); - float d = vdistSqr(pos, pt); - if (d < closestDistSqr) - { - vcopy(closest, pt); - closestDistSqr = d; - } - } - - return true; -} - -bool dtStatNavMesh::getPolyHeight(dtStatPolyRef ref, const float* pos, float* height) const -{ - int idx = getPolyIndexByRef(ref); - if (idx == -1) - return false; - - const dtStatPoly* p = getPoly(idx); - const dtStatPolyDetail* pd = getPolyDetail(idx); - - for (int i = 0; i < pd->ntris; ++i) - { - const unsigned char* t = getDetailTri(pd->tbase+i); - const float* v[3]; - for (int j = 0; j < 3; ++j) - { - if (t[j] < p->nv) - v[j] = getVertex(p->v[t[j]]); - else - v[j] = getDetailVertex(pd->vbase+(t[j]-p->nv)); - } - float h; - if (closestHeightPointTriangle(pos, v[0], v[1], v[2], h)) - { - if (height) - *height = h; - return true; - } - } - - return false; -} - -int dtStatNavMesh::findStraightPath(const float* startPos, const float* endPos, - const dtStatPolyRef* path, const int pathSize, - float* straightPath, const int maxStraightPathSize) -{ - if (!m_header) return 0; - - if (!maxStraightPathSize) - return 0; - - if (!path[0]) - return 0; - - int straightPathSize = 0; - - float closestStartPos[3]; - if (!closestPointToPoly(path[0], startPos, closestStartPos)) - return 0; - - // Add start point. - vcopy(&straightPath[straightPathSize*3], closestStartPos); - straightPathSize++; - if (straightPathSize >= maxStraightPathSize) - return straightPathSize; - - float closestEndPos[3]; - if (!closestPointToPoly(path[pathSize-1], endPos, closestEndPos)) - return 0; - - float portalApex[3], portalLeft[3], portalRight[3]; - - if (pathSize > 1) - { - vcopy(portalApex, closestStartPos); - vcopy(portalLeft, portalApex); - vcopy(portalRight, portalApex); - int apexIndex = 0; - int leftIndex = 0; - int rightIndex = 0; - - for (int i = 0; i < pathSize; ++i) - { - float left[3], right[3]; - if (i < pathSize-1) - { - // Next portal. - getPortalPoints(path[i], path[i+1], left, right); - } - else - { - // End of the path. - vcopy(left, closestEndPos); - vcopy(right, closestEndPos); - } - - // Right vertex. - if (vequal(portalApex, portalRight)) - { - vcopy(portalRight, right); - rightIndex = i; - } - else - { - if (triArea2D(portalApex, portalRight, right) <= 0.0f) - { - if (triArea2D(portalApex, portalLeft, right) > 0.0f) - { - vcopy(portalRight, right); - rightIndex = i; - } - else - { - vcopy(portalApex, portalLeft); - apexIndex = leftIndex; - - if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex)) - { - vcopy(&straightPath[straightPathSize*3], portalApex); - straightPathSize++; - if (straightPathSize >= maxStraightPathSize) - return straightPathSize; - } - - vcopy(portalLeft, portalApex); - vcopy(portalRight, portalApex); - leftIndex = apexIndex; - rightIndex = apexIndex; - - // Restart - i = apexIndex; - - continue; - } - } - } - - // Left vertex. - if (vequal(portalApex, portalLeft)) - { - vcopy(portalLeft, left); - leftIndex = i; - } - else - { - if (triArea2D(portalApex, portalLeft, left) >= 0.0f) - { - if (triArea2D(portalApex, portalRight, left) < 0.0f) - { - vcopy(portalLeft, left); - leftIndex = i; - } - else - { - vcopy(portalApex, portalRight); - apexIndex = rightIndex; - - if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex)) - { - vcopy(&straightPath[straightPathSize*3], portalApex); - straightPathSize++; - if (straightPathSize >= maxStraightPathSize) - return straightPathSize; - } - - vcopy(portalLeft, portalApex); - vcopy(portalRight, portalApex); - leftIndex = apexIndex; - rightIndex = apexIndex; - - // Restart - i = apexIndex; - - continue; - } - } - } - } - } - - // Add end point. - vcopy(&straightPath[straightPathSize*3], closestEndPos); - straightPathSize++; - - return straightPathSize; -} - -int dtStatNavMesh::getPolyVerts(dtStatPolyRef ref, float* verts) const -{ - if (!m_header) return 0; - const dtStatPoly* poly = getPolyByRef(ref); - if (!poly) return 0; - float* v = verts; - for (int i = 0; i < (int)poly->nv; ++i) - { - const float* cv = &m_header->verts[poly->v[i]*3]; - *v++ = cv[0]; - *v++ = cv[1]; - *v++ = cv[2]; - } - return (int)poly->nv; -} - -int dtStatNavMesh::raycast(dtStatPolyRef centerRef, const float* startPos, const float* endPos, - float& t, dtStatPolyRef* path, const int pathSize) -{ - if (!m_header) return 0; - if (!centerRef) return 0; - - /* dtStatPolyRef prevRef = centerRef; */ /* UNUSED */ - dtStatPolyRef curRef = centerRef; - t = 0; - - float verts[DT_STAT_VERTS_PER_POLYGON*3]; - int n = 0; - - while (curRef) - { - // Cast ray against current polygon. - int nv = getPolyVerts(curRef, verts); - if (nv < 3) - { - // Hit bad polygon, report hit. - return n; - } - - float tmin, tmax; - int segMin, segMax; - if (!intersectSegmentPoly2D(startPos, endPos, verts, nv, tmin, tmax, segMin, segMax)) - { - // Could not a polygon, keep the old t and report hit. - return n; - } - // Keep track of furthest t so far. - if (tmax > t) - t = tmax; - - if (n < pathSize) - path[n++] = curRef; - - // Check the neighbour of this polygon. - const dtStatPoly* poly = getPolyByRef(curRef); - dtStatPolyRef nextRef = poly->n[segMax]; - if (!nextRef) - { - // No neighbour, we hit a wall. - return n; - } - - // No hit, advance to neighbour polygon. - /* prevRef = curRef; */ /* UNUSED */ - curRef = nextRef; - } - - return n; -} - - -float dtStatNavMesh::findDistanceToWall(dtStatPolyRef centerRef, const float* centerPos, float maxRadius, - float* hitPos, float* hitNormal) -{ - if (!m_header) return 0; - if (!centerRef) return 0; - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(centerRef); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = centerRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - float radiusSqr = sqr(maxRadius); - - hitNormal[0] = 1; - hitNormal[1] = 0; - hitNormal[2] = 0; - - while (!m_openList->empty()) - { - dtNode* bestNode = m_openList->pop(); - const dtStatPoly* poly = getPoly(bestNode->id-1); - - // Hit test walls. - for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++) - { - // Skip non-solid edges. - if (poly->n[j]) continue; - - // Calc distance to the edge. - const float* vj = getVertex(poly->v[j]); - const float* vi = getVertex(poly->v[i]); - float tseg; - float distSqr = distancePtSegSqr2D(centerPos, vj, vi, tseg); - - // Edge is too far, skip. - if (distSqr > radiusSqr) - continue; - - // Hit wall, update radius. - radiusSqr = distSqr; - // Calculate hit pos. - hitPos[0] = vj[0] + (vi[0] - vj[0])*tseg; - hitPos[1] = vj[1] + (vi[1] - vj[1])*tseg; - hitPos[2] = vj[2] + (vi[2] - vj[2])*tseg; - } - - // Check to see if the circle expands to one of the neighbours and expand. - for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++) - { - // Skip solid edges. - if (!poly->n[j]) continue; - - // Expand to neighbour if not visited yet. - dtStatPolyRef neighbour = poly->n[j]; - - // Skip parent node. - if (bestNode->pidx && m_nodePool->getNodeAtIdx(bestNode->pidx)->id == neighbour) - continue; - - // Calc distance to the edge. - const float* vj = getVertex(poly->v[j]); - const float* vi = getVertex(poly->v[i]); - float tseg; - float distSqr = distancePtSegSqr2D(centerPos, vj, vi, tseg); - - // Edge is too far, skip. - if (distSqr > radiusSqr) - continue; - - dtNode* parent = bestNode; - dtNode newNode; - newNode.pidx = m_nodePool->getNodeIdx(parent); - newNode.id = neighbour; - - // Cost - float p0[3], p1[3]; - if (!parent->pidx) - vcopy(p0, centerPos); - else - getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0); - getEdgeMidPoint(parent->id, newNode.id, p1); - newNode.total = parent->total + vdist(p0,p1); - - dtNode* actualNode = m_nodePool->getNode(newNode.id); - if (!actualNode) - continue; - - if (!((actualNode->flags & DT_NODE_OPEN) && newNode.total > actualNode->total) && - !((actualNode->flags & DT_NODE_CLOSED) && newNode.total > actualNode->total)) - { - actualNode->flags &= ~DT_NODE_CLOSED; - actualNode->pidx = newNode.pidx; - actualNode->total = newNode.total; - - if (actualNode->flags & DT_NODE_OPEN) - { - m_openList->modify(actualNode); - } - else - { - actualNode->flags |= DT_NODE_OPEN; - m_openList->push(actualNode); - } - } - } - bestNode->flags |= DT_NODE_CLOSED; - } - - // Calc hit normal. - vsub(hitNormal, centerPos, hitPos); - vnormalize(hitNormal); - - return sqrtf(radiusSqr); -} - -int dtStatNavMesh::findPolysAround(dtStatPolyRef centerRef, const float* centerPos, float radius, - dtStatPolyRef* resultRef, dtStatPolyRef* resultParent, float* resultCost, - const int maxResult) -{ - if (!m_header) return 0; - if (!centerRef) return 0; - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(centerRef); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = centerRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - int n = 0; - if (n < maxResult) - { - if (resultRef) - resultRef[n] = startNode->id; - if (resultParent) - resultParent[n] = 0; - if (resultCost) - resultCost[n] = 0; - ++n; - } - - const float radiusSqr = sqr(radius); - - while (!m_openList->empty()) - { - dtNode* bestNode = m_openList->pop(); - const dtStatPoly* poly = getPoly(bestNode->id-1); - for (unsigned i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j=i++) - { - dtStatPolyRef neighbour = poly->n[j]; - - if (neighbour) - { - // Skip parent node. - if (bestNode->pidx && m_nodePool->getNodeAtIdx(bestNode->pidx)->id == neighbour) - continue; - - // Calc distance to the edge. - const float* vj = getVertex(poly->v[j]); - const float* vi = getVertex(poly->v[i]); - float tseg; - float distSqr = distancePtSegSqr2D(centerPos, vj, vi, tseg); - - // If the circle is not touching the next polygon, skip it. - if (distSqr > radiusSqr) - continue; - - dtNode* parent = bestNode; - dtNode newNode; - newNode.pidx = m_nodePool->getNodeIdx(parent); - newNode.id = neighbour; - - // Cost - float p0[3], p1[3]; - if (!parent->pidx) - vcopy(p0, centerPos); - else - getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0); - getEdgeMidPoint(parent->id, newNode.id, p1); - newNode.total = parent->total + vdist(p0,p1); - - dtNode* actualNode = m_nodePool->getNode(newNode.id); - if (!actualNode) - continue; - - if (!((actualNode->flags & DT_NODE_OPEN) && newNode.total > actualNode->total) && - !((actualNode->flags & DT_NODE_CLOSED) && newNode.total > actualNode->total)) - { - actualNode->flags &= ~DT_NODE_CLOSED; - actualNode->pidx = newNode.pidx; - actualNode->total = newNode.total; - - if (actualNode->flags & DT_NODE_OPEN) - { - m_openList->modify(actualNode); - } - else - { - if (n < maxResult) - { - if (resultRef) - resultRef[n] = actualNode->id; - if (resultParent) - resultParent[n] = m_nodePool->getNodeAtIdx(actualNode->pidx)->id; - if (resultCost) - resultCost[n] = actualNode->total; - ++n; - } - actualNode->flags |= DT_NODE_OPEN; - m_openList->push(actualNode); - } - } - } - } - bestNode->flags |= DT_NODE_CLOSED; - - } - - return n; -} - -// Returns polygons which are withing certain radius from the query location. -int dtStatNavMesh::queryPolygons(const float* center, const float* extents, - dtStatPolyRef* polys, const int maxIds) -{ - if (!m_header) return 0; - - const dtStatBVNode* node = &m_header->bvtree[0]; - const dtStatBVNode* end = &m_header->bvtree[m_header->nnodes]; - - // Calculate quantized box - const float ics = 1.0f / m_header->cs; - unsigned short bmin[3], bmax[3]; - // Clamp query box to world box. - float minx = clamp(center[0] - extents[0], m_header->bmin[0], m_header->bmax[0]) - m_header->bmin[0]; - float miny = clamp(center[1] - extents[1], m_header->bmin[1], m_header->bmax[1]) - m_header->bmin[1]; - float minz = clamp(center[2] - extents[2], m_header->bmin[2], m_header->bmax[2]) - m_header->bmin[2]; - float maxx = clamp(center[0] + extents[0], m_header->bmin[0], m_header->bmax[0]) - m_header->bmin[0]; - float maxy = clamp(center[1] + extents[1], m_header->bmin[1], m_header->bmax[1]) - m_header->bmin[1]; - float maxz = clamp(center[2] + extents[2], m_header->bmin[2], m_header->bmax[2]) - m_header->bmin[2]; - // Quantize - bmin[0] = (unsigned short)(ics * minx) & 0xfffe; - bmin[1] = (unsigned short)(ics * miny) & 0xfffe; - bmin[2] = (unsigned short)(ics * minz) & 0xfffe; - bmax[0] = (unsigned short)(ics * maxx + 1) | 1; - bmax[1] = (unsigned short)(ics * maxy + 1) | 1; - bmax[2] = (unsigned short)(ics * maxz + 1) | 1; - - // Traverse tree - int n = 0; - while (node < end) - { - bool overlap = checkOverlapBox(bmin, bmax, node->bmin, node->bmax); - bool isLeafNode = node->i >= 0; - - if (isLeafNode && overlap) - { - if (n < maxIds) - { - polys[n] = (dtStatPolyRef)node->i; - n++; - } - } - - if (overlap || isLeafNode) - node++; - else - { - const int escapeIndex = -node->i; - node += escapeIndex; - } - } - - return n; -} - -dtStatPolyRef dtStatNavMesh::findNearestPoly(const float* center, const float* extents) -{ - if (!m_header) return 0; - - // Get nearby polygons from proximity grid. - dtStatPolyRef polys[128]; - int npolys = queryPolygons(center, extents, polys, 128); - - // Find nearest polygon amongst the nearby polygons. - dtStatPolyRef nearest = 0; - float nearestDistanceSqr = FLT_MAX; - for (int i = 0; i < npolys; ++i) - { - dtStatPolyRef ref = polys[i]; - float closest[3]; - if (!closestPointToPoly(ref, center, closest)) - continue; - float d = vdistSqr(center, closest); - if (d < nearestDistanceSqr) - { - nearestDistanceSqr = d; - nearest = ref; - } - } - - return nearest; -} - -bool dtStatNavMesh::getPortalPoints(dtStatPolyRef from, dtStatPolyRef to, float* left, float* right) const -{ - const dtStatPoly* fromPoly = getPolyByRef(from); - if (!fromPoly) - return false; - - // Find common edge between the polygons and returns the segment end points. - for (unsigned i = 0, j = (int)fromPoly->nv - 1; i < (int)fromPoly->nv; j = i++) - { - unsigned short neighbour = fromPoly->n[j]; - if (neighbour == to) - { - vcopy(left, getVertex(fromPoly->v[j])); - vcopy(right, getVertex(fromPoly->v[i])); - return true; - } - } - - return false; -} - -bool dtStatNavMesh::getEdgeMidPoint(dtStatPolyRef from, dtStatPolyRef to, float* mid) const -{ - float left[3], right[3]; - if (!getPortalPoints(from, to, left,right)) return false; - mid[0] = (left[0]+right[0])*0.5f; - mid[1] = (left[1]+right[1])*0.5f; - mid[2] = (left[2]+right[2])*0.5f; - return true; -} - -bool dtStatNavMesh::isInClosedList(dtStatPolyRef ref) const -{ - if (!m_nodePool) return false; - const dtNode* node = m_nodePool->findNode(ref); - return node && node->flags & DT_NODE_CLOSED; -} - -int dtStatNavMesh::getMemUsed() const -{ - if (!m_nodePool || ! m_openList) - return 0; - return sizeof(*this) + m_dataSize + - m_nodePool->getMemUsed() + - m_openList->getMemUsed(); -} |