dtNavMesh Class Reference

A navigation mesh based on tiles of convex polygons. More...

#include <DetourNavMesh.h>

List of all members.

Public Member Functions
	dtNavMesh ()
dtMeshTile *	getTile (int i)
	Returns pointer to tile in the tile array.
	~dtNavMesh ()
Initialization and Tile Management
dtStatus	init (const dtNavMeshParams *params)
	Initializes the navigation mesh for tiled use.
dtStatus	init (unsigned char *data, const int dataSize, const int flags)
	Initializes the navigation mesh for single tile use.
const dtNavMeshParams *	getParams () const
	The navigation mesh initialization params.
dtStatus	addTile (unsigned char *data, int dataSize, int flags, dtTileRef lastRef, dtTileRef *result)
	Adds a tile to the navigation mesh.
dtStatus	removeTile (dtTileRef ref, unsigned char **data, int *dataSize)
	Removes the specified tile from the navigation mesh.
Query Functions
void	calcTileLoc (const float *pos, int *tx, int *ty) const
	Calculates the tile grid location for the specified world position.
const dtMeshTile *	getTileAt (const int x, const int y, const int layer) const
	Gets the tile at the specified grid location.
int	getTilesAt (const int x, const int y, dtMeshTile const **tiles, const int maxTiles) const
	Gets all tiles at the specified grid location. (All layers.)
dtTileRef	getTileRefAt (int x, int y, int layer) const
	Gets the tile reference for the tile at specified grid location.
dtTileRef	getTileRef (const dtMeshTile *tile) const
	Gets the tile reference for the specified tile.
const dtMeshTile *	getTileByRef (dtTileRef ref) const
	Gets the tile for the specified tile reference.
int	getMaxTiles () const
	The maximum number of tiles supported by the navigation mesh.
const dtMeshTile *	getTile (int i) const
	Gets the tile at the specified index.
dtStatus	getTileAndPolyByRef (const dtPolyRef ref, const dtMeshTile **tile, const dtPoly **poly) const
	Gets the tile and polygon for the specified polygon reference.
void	getTileAndPolyByRefUnsafe (const dtPolyRef ref, const dtMeshTile **tile, const dtPoly **poly) const
	Returns the tile and polygon for the specified polygon reference.
bool	isValidPolyRef (dtPolyRef ref) const
	Checks the validity of a polygon reference.
dtPolyRef	getPolyRefBase (const dtMeshTile *tile) const
	Gets the polygon reference for the tile's base polygon.
dtStatus	getOffMeshConnectionPolyEndPoints (dtPolyRef prevRef, dtPolyRef polyRef, float *startPos, float *endPos) const
	Gets the endpoints for an off-mesh connection, ordered by "direction of travel".
const dtOffMeshConnection *	getOffMeshConnectionByRef (dtPolyRef ref) const
	Gets the specified off-mesh connection.
State Management
These functions do not effect dtTileRef or dtPolyRef's.
dtStatus	setPolyFlags (dtPolyRef ref, unsigned short flags)
	Sets the user defined flags for the specified polygon.
dtStatus	getPolyFlags (dtPolyRef ref, unsigned short *resultFlags) const
	Gets the user defined flags for the specified polygon.
dtStatus	setPolyArea (dtPolyRef ref, unsigned char area)
	Sets the user defined area for the specified polygon.
dtStatus	getPolyArea (dtPolyRef ref, unsigned char *resultArea) const
	Gets the user defined area for the specified polygon.
int	getTileStateSize (const dtMeshTile *tile) const
	Gets the size of the buffer required by storeTileState to store the specified tile's state.
dtStatus	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.)
dtStatus	restoreTileState (dtMeshTile *tile, const unsigned char *data, const int maxDataSize)
	Restores the state of the tile.
Encoding and Decoding
These functions are generally meant for internal use only.
dtPolyRef	encodePolyId (unsigned int salt, unsigned int it, unsigned int ip) const
	Derives a standard polygon reference.
void	decodePolyId (dtPolyRef ref, unsigned int &salt, unsigned int &it, unsigned int &ip) const
	Decodes a standard polygon reference.
unsigned int	decodePolyIdSalt (dtPolyRef ref) const
	Extracts a tile's salt value from the specified polygon reference.
unsigned int	decodePolyIdTile (dtPolyRef ref) const
	Extracts the tile's index from the specified polygon reference.
unsigned int	decodePolyIdPoly (dtPolyRef ref) const
	Extracts the polygon's index (within its tile) from the specified polygon reference.

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Detailed Description

A navigation mesh based on tiles of convex polygons.

Definition at line 272 of file DetourNavMesh.h.

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Constructor & Destructor Documentation

dtNavMesh::dtNavMesh

(

)

dtNavMesh::~dtNavMesh

(

)

---

Member Function Documentation

dtStatus 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 successfully added.) [opt]

Returns:

The status flags for the operation.

void 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)

void 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

Definition at line 475 of file DetourNavMesh.h.

unsigned int 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

Definition at line 509 of file DetourNavMesh.h.

unsigned int 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

Definition at line 489 of file DetourNavMesh.h.

unsigned int 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

Definition at line 499 of file DetourNavMesh.h.

dtPolyRef 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.

Definition at line 463 of file DetourNavMesh.h.

int dtNavMesh::getMaxTiles

(

)

const

The maximum number of tiles supported by the navigation mesh.

Returns:

The maximum number of tiles supported by the navigation mesh.

const dtOffMeshConnection* dtNavMesh::getOffMeshConnectionByRef

(

dtPolyRef

ref

)

const

Gets the specified off-mesh connection.

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.

dtStatus dtNavMesh::getOffMeshConnectionPolyEndPoints	(	dtPolyRef	prevRef,
		dtPolyRef	polyRef,
		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.
[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.

const dtNavMeshParams* dtNavMesh::getParams

(

)

const

The navigation mesh initialization params.

dtStatus 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.

dtStatus 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.

dtPolyRef 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.

dtMeshTile* dtNavMesh::getTile

(

int

i

)

Returns pointer to tile in the tile array.

const dtMeshTile* 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.

dtStatus 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.

void 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.

const dtMeshTile* 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.

const dtMeshTile* 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.

dtTileRef 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.

dtTileRef 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.

int 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.

int 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.

dtStatus 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

dtStatus dtNavMesh::init

(

const dtNavMeshParams *

params

)

Initializes the navigation mesh for tiled use.

Parameters:

[in]

params

Initialization parameters.

Returns:

The status flags for the operation.

bool 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.

dtStatus 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.

dtStatus 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.

dtStatus 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.

dtStatus 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.

dtStatus 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.

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

• plugins/common/recast/recastnavigation/DetourNavMesh.h