Move duplicated usage patter of dtNavMeshQuery::findNearestPoly into a separate function

components/detournavigator/findrandompointaroundcircle.cpp

@@ -20,15 +20,7 @@ namespace DetourNavigator
         dtQueryFilter queryFilter;
         queryFilter.setIncludeFlags(includeFlags);
 
-        dtPolyRef startRef = 0;
-        for (int i = 0; i < 3; ++i)
-        {
-            const auto status = navMeshQuery.findNearestPoly(start.ptr(), (halfExtents * (1 << i)).ptr(), &queryFilter,
-                &startRef, nullptr);
-            if (!dtStatusFailed(status) && startRef != 0)
-                break;
-        }
-
+        dtPolyRef startRef = findNearestPolyExpanding(navMeshQuery, queryFilter, start, halfExtents);
         if (startRef == 0)
             return std::optional<osg::Vec3f>();
 

components/detournavigator/findsmoothpath.cpp

@@ -140,4 +140,17 @@ namespace DetourNavigator
 
         return result;
     }
+
+    dtPolyRef findNearestPolyExpanding(const dtNavMeshQuery& query, const dtQueryFilter& filter,
+            const osg::Vec3f& center, const osg::Vec3f& halfExtents)
+    {
+        dtPolyRef ref = 0;
+        for (int i = 0; i < 3; ++i)
+        {
+            const dtStatus status = query.findNearestPoly(center.ptr(), (halfExtents * (1 << i)).ptr(), &filter, &ref, nullptr);
+            if (!dtStatusFailed(status) && ref != 0)
+                break;
+        }
+        return ref;
+    }
 }

components/detournavigator/findsmoothpath.hpp

@@ -103,6 +103,9 @@ namespace DetourNavigator
         return dtStatusSucceed(status);
     }
 
+    dtPolyRef findNearestPolyExpanding(const dtNavMeshQuery& query, const dtQueryFilter& filter,
+            const osg::Vec3f& center, const osg::Vec3f& halfExtents);
+
     struct MoveAlongSurfaceResult
     {
         osg::Vec3f mResultPos;
@@ -282,27 +285,11 @@ namespace DetourNavigator
         queryFilter.setAreaCost(AreaType_pathgrid, areaCosts.mPathgrid);
         queryFilter.setAreaCost(AreaType_ground, areaCosts.mGround);
 
-        dtPolyRef startRef = 0;
-        for (int i = 0; i < 3; ++i)
-        {
-            const auto status = navMeshQuery.findNearestPoly(start.ptr(), (halfExtents * (1 << i)).ptr(), &queryFilter,
-                &startRef, nullptr);
-            if (!dtStatusFailed(status) && startRef != 0)
-                break;
-        }
-
+        dtPolyRef startRef = findNearestPolyExpanding(navMeshQuery, queryFilter, start, halfExtents);
         if (startRef == 0)
             return Status::StartPolygonNotFound;
 
-        dtPolyRef endRef = 0;
-        for (int i = 0; i < 3; ++i)
-        {
-            const auto status = navMeshQuery.findNearestPoly(end.ptr(), (halfExtents * (1 << i)).ptr(), &queryFilter,
-                &endRef, nullptr);
-            if (!dtStatusFailed(status) && endRef != 0)
-                break;
-        }
-
+        dtPolyRef endRef = findNearestPolyExpanding(navMeshQuery, queryFilter, end, halfExtents);
         if (endRef == 0)
             return Status::EndPolygonNotFound;