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**API CHANGED** Implemented issue 124. Detour API returns error codes.

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This commit is contained in:
Mikko Mononen
2010-10-29 12:08:13 +00:00
parent 30b581b67d
commit e5d603ac92
15 changed files with 1489 additions and 1540 deletions
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40
RecastDemo/Source/CrowdManager.cpp
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@@ -216,8 +216,8 @@ void PathQueue::update(dtNavMeshQuery* navquery)
PathQuery& q = m_queue[i];
if (q.ref == PATHQ_INVALID)
continue;
q.npath = navquery->findPath(q.startRef, q.endRef, q.startPos, q.endPos,
q.filter, q.path, PQ_MAX_PATH);
navquery->findPath(q.startRef, q.endRef, q.startPos, q.endPos,
q.filter, q.path, &q.npath, PQ_MAX_PATH);
q.ready = true;
break;
}
@@ -474,8 +474,9 @@ int PathCorridor::findCorners(float* cornerVerts, unsigned char* cornerFlags,
static const float MIN_TARGET_DIST = 0.01f;
int ncorners = navquery->findStraightPath(m_pos, m_target, m_path, m_npath,
cornerVerts, cornerFlags, cornerPolys, maxCorners);
int ncorners = 0;
navquery->findStraightPath(m_pos, m_target, m_path, m_npath,
cornerVerts, cornerFlags, cornerPolys, &ncorners, maxCorners);
// Prune points in the beginning of the path which are too close.
while (ncorners)
@@ -530,7 +531,8 @@ void PathCorridor::optimizePath(const float* next, const float pathOptimizationR
static const int MAX_RES = 32;
dtPolyRef res[MAX_RES];
float t, norm[3];
const int nres = navquery->raycast(m_path[0], m_pos, goal, filter, t, norm, res, MAX_RES);
int nres = 0;
navquery->raycast(m_path[0], m_pos, goal, filter, &t, norm, res, &nres, MAX_RES);
if (nres > 1 && t > 0.99f)
{
m_npath = mergeCorridor(m_path, m_npath, m_maxPath, res, nres);
@@ -546,8 +548,9 @@ void PathCorridor::movePosition(const float* npos, dtNavMeshQuery* navquery, con
float result[3];
static const int MAX_VISITED = 16;
dtPolyRef visited[MAX_VISITED];
int nvisited = navquery->moveAlongSurface(m_path[0], m_pos, npos, filter,
result, visited, MAX_VISITED);
int nvisited = 0;
navquery->moveAlongSurface(m_path[0], m_pos, npos, filter,
result, visited, &nvisited, MAX_VISITED);
m_npath = fixupCorridor(m_path, m_npath, m_maxPath, visited, nvisited);
// Adjust the position to stay on top of the navmesh.
@@ -566,8 +569,9 @@ void PathCorridor::moveTargetPosition(const float* npos, dtNavMeshQuery* navquer
float result[3];
static const int MAX_VISITED = 16;
dtPolyRef visited[MAX_VISITED];
int nvisited = navquery->moveAlongSurface(m_path[m_npath-1], m_target, npos, filter,
result, visited, MAX_VISITED);
int nvisited = 0;
navquery->moveAlongSurface(m_path[m_npath-1], m_target, npos, filter,
result, visited, &nvisited, MAX_VISITED);
m_npath = fixupCorridorEnd(m_path, m_npath, m_maxPath, visited, nvisited);
// TODO: should we do that?
@@ -741,15 +745,17 @@ void LocalBoundary::update(dtPolyRef ref, const float* pos, const float collisio
// First query non-overlapping polygons.
dtPolyRef locals[MAX_LOCAL_POLYS];
const int nlocals = navquery->findLocalNeighbourhood(ref, pos, collisionQueryRange,
filter, locals, 0, MAX_LOCAL_POLYS);
int nlocals = 0;
navquery->findLocalNeighbourhood(ref, pos, collisionQueryRange,
filter, locals, 0, &nlocals, MAX_LOCAL_POLYS);
// Secondly, store all polygon edges.
m_nsegs = 0;
float segs[MAX_SEGS_PER_POLY*6];
int nsegs = 0;
for (int j = 0; j < nlocals; ++j)
{
const int nsegs = navquery->getPolyWallSegments(locals[j], filter, segs, MAX_SEGS_PER_POLY);
navquery->getPolyWallSegments(locals[j], filter, segs, &nsegs, MAX_SEGS_PER_POLY);
for (int k = 0; k < nsegs; ++k)
{
const float* s = &segs[k*6];
@@ -855,7 +861,8 @@ int CrowdManager::addAgent(const float* pos, const float radius, const float hei
// Find nearest position on navmesh and place the agent there.
float nearest[3];
dtPolyRef ref = navquery->findNearestPoly(pos, m_ext, &m_filter, nearest);
dtPolyRef ref;
navquery->findNearestPoly(pos, m_ext, &m_filter, &ref, nearest);
if (!ref)
{
// Could not find a location on navmesh.
@@ -1082,8 +1089,9 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery, c
float result[3];
static const int MAX_VISITED = 16;
dtPolyRef visited[MAX_VISITED];
int nvisited = navquery->moveAlongSurface(req->temp[req->ntemp-1], req->pos, req->apos, filter,
result, visited, MAX_VISITED);
int nvisited = 0;
navquery->moveAlongSurface(req->temp[req->ntemp-1], req->pos, req->apos, filter,
result, visited, &nvisited, MAX_VISITED);
req->ntemp = fixupCorridorEnd(req->temp, req->ntemp, MAX_TEMP_PATH, visited, nvisited);
dtVcopy(req->pos, result);
@@ -1191,7 +1199,7 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery, c
{
// Partial path, constrain target position inside the last polygon.
float nearest[3];
if (navquery->closestPointOnPoly(res[nres-1], targetPos, nearest))
if (navquery->closestPointOnPoly(res[nres-1], targetPos, nearest) == DT_SUCCESS)
dtVcopy(targetPos, nearest);
else
valid = false;