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Transform path coordinates outside findSmoothPath

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elsid 2023-04-28 13:30:08 +02:00
parent 19940987a3
commit fcea153947
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GPG key ID: 4DE04C198CBA7625
2 changed files with 6 additions and 5 deletions
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7
components/detournavigator/findsmoothpath.hpp
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@ -253,7 +253,7 @@ namespace DetourNavigator
template <class OutputIterator> template <class OutputIterator>
Status findSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents, Status findSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents,
const float stepSize, const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const float stepSize, const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags,
const AreaCosts& areaCosts, const Settings& settings, float endTolerance, OutputIterator out) const AreaCosts& areaCosts, const DetourSettings& settings, float endTolerance, OutputIterator out)
{ {
dtQueryFilter queryFilter; dtQueryFilter queryFilter;
queryFilter.setIncludeFlags(includeFlags); queryFilter.setIncludeFlags(includeFlags);
@ -274,7 +274,7 @@ namespace DetourNavigator
if (endRef == 0) if (endRef == 0)
return Status::EndPolygonNotFound; return Status::EndPolygonNotFound;
std::vector<dtPolyRef> polygonPath(settings.mDetour.mMaxPolygonPathSize); std::vector<dtPolyRef> polygonPath(settings.mMaxPolygonPathSize);
const auto polygonPathSize const auto polygonPathSize
= findPath(navMeshQuery, startRef, endRef, start, end, queryFilter, polygonPath.data(), polygonPath.size()); = findPath(navMeshQuery, startRef, endRef, start, end, queryFilter, polygonPath.data(), polygonPath.size());
@ -285,9 +285,8 @@ namespace DetourNavigator
return Status::Success; return Status::Success;
const bool partialPath = polygonPath[*polygonPathSize - 1] != endRef; const bool partialPath = polygonPath[*polygonPathSize - 1] != endRef;
auto outTransform = OutputTransformIterator<OutputIterator>(out, settings.mRecast);
const Status smoothStatus = makeSmoothPath(navMesh, navMeshQuery, queryFilter, start, end, stepSize, const Status smoothStatus = makeSmoothPath(navMesh, navMeshQuery, queryFilter, start, end, stepSize,
polygonPath, *polygonPathSize, settings.mDetour.mMaxSmoothPathSize, outTransform); polygonPath, *polygonPathSize, settings.mMaxSmoothPathSize, out);
if (smoothStatus != Status::Success) if (smoothStatus != Status::Success)
return smoothStatus; return smoothStatus;

4
components/detournavigator/navigatorutils.hpp
View file

@ -36,11 +36,13 @@ namespace DetourNavigator
if (navMesh == nullptr) if (navMesh == nullptr)
return Status::NavMeshNotFound; return Status::NavMeshNotFound;
const Settings& settings = navigator.getSettings(); const Settings& settings = navigator.getSettings();
auto outTransform = OutputTransformIterator<OutputIterator>(out, settings.mRecast);
const auto locked = navMesh->lock(); const auto locked = navMesh->lock();
return findSmoothPath(locked->getImpl(), locked->getQuery(), return findSmoothPath(locked->getImpl(), locked->getQuery(),
toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents), toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
toNavMeshCoordinates(settings.mRecast, stepSize), toNavMeshCoordinates(settings.mRecast, start), toNavMeshCoordinates(settings.mRecast, stepSize), toNavMeshCoordinates(settings.mRecast, start),
toNavMeshCoordinates(settings.mRecast, end), includeFlags, areaCosts, settings, endTolerance, out); toNavMeshCoordinates(settings.mRecast, end), includeFlags, areaCosts, settings.mDetour, endTolerance,
outTransform);
} }
/** /**