dtNavMeshQuery Class Reference

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

#include <DetourNavMeshQuery.h>

List of all members.

Classes
struct	dtQueryData
Public Member Functions
	dtNavMeshQuery ()
dtStatus	init (const dtNavMesh *nav, const int maxNodes)
	Initializes the query object.
	~dtNavMeshQuery ()
Standard Pathfinding Functions
dtStatus	findPath (dtPolyRef startRef, dtPolyRef endRef, const float *startPos, const float *endPos, const dtQueryFilter *filter, dtPolyRef *path, int *pathCount, const int maxPath) const
	Finds a path from the start polygon to the end polygon.
dtStatus	findStraightPath (const float *startPos, const float *endPos, const dtPolyRef *path, const int pathSize, float *straightPath, unsigned char *straightPathFlags, dtPolyRef *straightPathRefs, int *straightPathCount, const int maxStraightPath) const
	Finds the straight path from the start to the end position within the polygon corridor.
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 dtQueryFilter *filter)
	Intializes a sliced path query.
dtStatus	updateSlicedFindPath (const int maxIter, int *doneIters)
	Updates an in-progress sliced path query.
dtStatus	finalizeSlicedFindPath (dtPolyRef *path, int *pathCount, const int maxPath)
	Finalizes and returns the results of a sliced path query.
dtStatus	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.
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
	Finds the polygons along the navigation graph that touch the specified circle.
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
	Finds the polygons along the naviation graph that touch the specified convex polygon.
Local Query Functions
dtStatus	findNearestPoly (const float *center, const float *extents, const dtQueryFilter *filter, dtPolyRef *nearestRef, float *nearestPt) const
	Finds the polygon nearest to the specified center point.
dtStatus	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.
dtStatus	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.
dtStatus	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.
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
	Casts a 'walkability' ray along the surface of the navigation mesh from the start position toward the end position.
dtStatus	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.
dtStatus	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.
dtStatus	findRandomPoint (const dtQueryFilter *filter, float(*frand)(), 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.
dtStatus	findRandomPointAroundCircle (dtPolyRef startRef, const float *centerPos, const float maxRadius, const dtQueryFilter *filter, float(*frand)(), 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.
dtStatus	closestPointOnPoly (dtPolyRef ref, const float *pos, float *closest) const
	Finds the closest point on the specified polygon.
dtStatus	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.
dtStatus	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.)
Miscellaneous Functions
bool	isValidPolyRef (dtPolyRef ref, const dtQueryFilter *filter) const
	Returns true if the polygon reference is valid and passes the filter restrictions.
bool	isInClosedList (dtPolyRef ref) const
	Returns true if the polygon reference is in the closed list.
class dtNodePool *	getNodePool () const
	Gets the node pool.
const dtNavMesh *	getAttachedNavMesh () const
	Gets the navigation mesh the query object is using.

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Detailed Description

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

Definition at line 121 of file DetourNavMeshQuery.h.

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Constructor & Destructor Documentation

dtNavMeshQuery::dtNavMeshQuery

(

)

dtNavMeshQuery::~dtNavMeshQuery

(

)

---

Member Function Documentation

dtStatus 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.

dtStatus 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.

dtStatus 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.

dtStatus 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.

dtStatus 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.

dtStatus 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.

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

Returns:

The status flags for the query.

dtStatus dtNavMeshQuery::findPath	(	dtPolyRef	startRef,
		dtPolyRef	endRef,
		const float *	startPos,
		const float *	endPos,
		const dtQueryFilter *	filter,
		dtPolyRef *	path,
		int *	pathCount,
		const int	maxPath
	)		const

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

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]	filter	The polygon filter to apply to the query.
[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 maximum number of polygons the path array can hold. [Limit: >= 1]

dtStatus 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.

dtStatus 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.

dtStatus dtNavMeshQuery::findRandomPoint	(	const dtQueryFilter *	filter,
		float(*)()	frand,
		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.

dtStatus dtNavMeshQuery::findRandomPointAroundCircle	(	dtPolyRef	startRef,
		const float *	centerPos,
		const float	maxRadius,
		const dtQueryFilter *	filter,
		float(*)()	frand,
		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.

dtStatus dtNavMeshQuery::findStraightPath	(	const float *	startPos,
		const float *	endPos,
		const dtPolyRef *	path,
		const int	pathSize,
		float *	straightPath,
		unsigned char *	straightPathFlags,
		dtPolyRef *	straightPathRefs,
		int *	straightPathCount,
		const int	maxStraightPath
	)		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]	straightPath	Points describing the straight path. [(x, y, z) * straightPathCount].
[out]	straightPathFlags	Flags describing each point. (See: dtStraightPathFlags) [opt]
[out]	straightPathRefs	The reference id of the polygon that is being entered at each point. [opt]
[out]	straightPathCount	The number of points in the straight path.
[in]	maxStraightPath	The maximum number of points the straight path arrays can hold. [Limit: > 0]

Returns:

The status flags for the query.

const dtNavMesh* dtNavMeshQuery::getAttachedNavMesh

(

)

const [inline]

Gets the navigation mesh the query object is using.

Returns:

The navigation mesh the query object is using.

Definition at line 418 of file DetourNavMeshQuery.h.

class dtNodePool* dtNavMeshQuery::getNodePool

(

)

const [inline]

Gets the node pool.

Returns:

The node pool.

Definition at line 414 of file DetourNavMeshQuery.h.

dtStatus 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.

dtStatus 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.

dtStatus dtNavMeshQuery::init	(	const dtNavMesh *	nav,
		const int	maxNodes
	)

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]

Returns:

The status flags for the query.

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

Intializes 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]	filter	The polygon filter to apply to the query.

Returns:

The status flags for the query.

bool 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.

bool 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.

dtStatus 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.

dtStatus 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.

dtStatus 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.

Returns:

The status flags for the query.

dtStatus 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.

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

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