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39 lines
1.2 KiB
C++
39 lines
1.2 KiB
C++
#include "raycast.hpp"
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#include <DetourNavMesh.h>
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#include <DetourNavMeshQuery.h>
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#include <array>
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namespace DetourNavigator
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{
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std::optional<osg::Vec3f> raycast(const dtNavMeshQuery& navMeshQuery, const osg::Vec3f& halfExtents,
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const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags)
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{
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dtQueryFilter queryFilter;
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queryFilter.setIncludeFlags(includeFlags);
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dtPolyRef ref = 0;
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if (dtStatus status = navMeshQuery.findNearestPoly(start.ptr(), halfExtents.ptr(), &queryFilter, &ref, nullptr);
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dtStatusFailed(status) || ref == 0)
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return {};
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const unsigned options = 0;
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std::array<dtPolyRef, 16> path;
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dtRaycastHit hit;
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hit.path = path.data();
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hit.maxPath = path.size();
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if (dtStatus status = navMeshQuery.raycast(ref, start.ptr(), end.ptr(), &queryFilter, options, &hit);
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dtStatusFailed(status) || hit.pathCount == 0)
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return {};
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osg::Vec3f hitPosition;
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if (dtStatus status
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= navMeshQuery.closestPointOnPoly(path[hit.pathCount - 1], end.ptr(), hitPosition.ptr(), nullptr);
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dtStatusFailed(status))
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return {};
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return hitPosition;
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}
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}
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