Represents a dynamic polygon corridor used to plan agent movement. More...

#include <DetourPathCorridor.h>

Public Member Functions
	dtPathCorridor ()

	~dtPathCorridor ()

bool	init (const int maxPath)
	Allocates the corridor's path buffer. More...

void	reset (dtPolyRef ref, const float *pos)
	Resets the path corridor to the specified position. More...

int	findCorners (float cornerVerts, unsigned char cornerFlags, dtPolyRef cornerPolys, const int maxCorners, dtNavMeshQuery navquery, const dtQueryFilter *filter)
	Finds the corners in the corridor from the position toward the target. More...

void	optimizePathVisibility (const float next, const float pathOptimizationRange, dtNavMeshQuery navquery, const dtQueryFilter *filter)
	Attempts to optimize the path if the specified point is visible from the current position. More...

bool	optimizePathTopology (dtNavMeshQuery navquery, const dtQueryFilter filter)
	Attempts to optimize the path using a local area search. More...

bool	moveOverOffmeshConnection (dtPolyRef offMeshConRef, dtPolyRef refs, float startPos, float endPos, dtNavMeshQuery navquery)

bool	fixPathStart (dtPolyRef safeRef, const float *safePos)

bool	trimInvalidPath (dtPolyRef safeRef, const float safePos, dtNavMeshQuery navquery, const dtQueryFilter *filter)

bool	isValid (const int maxLookAhead, dtNavMeshQuery navquery, const dtQueryFilter filter)
	Checks the current corridor path to see if its polygon references remain valid. More...

bool	movePosition (const float npos, dtNavMeshQuery navquery, const dtQueryFilter *filter)
	Moves the position from the current location to the desired location, adjusting the corridor as needed to reflect the change. More...

bool	moveTargetPosition (const float npos, dtNavMeshQuery navquery, const dtQueryFilter *filter)
	Moves the target from the curent location to the desired location, adjusting the corridor as needed to reflect the change. More...

void	setCorridor (const float target, const dtPolyRef polys, const int npath)
	Loads a new path and target into the corridor. More...

const float *	getPos () const
	Gets the current position within the corridor. More...

const float *	getTarget () const
	Gets the current target within the corridor. More...

dtPolyRef	getFirstPoly () const
	The polygon reference id of the first polygon in the corridor, the polygon containing the position. More...

dtPolyRef	getLastPoly () const
	The polygon reference id of the last polygon in the corridor, the polygon containing the target. More...

const dtPolyRef *	getPath () const
	The corridor's path. More...

int	getPathCount () const
	The number of polygons in the current corridor path. More...

Description

Represents a dynamic polygon corridor used to plan agent movement.

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The corridor is loaded with a path, usually obtained from a dtNavMeshQuery::findPath() query. The corridor is then used to plan local movement, with the corridor automatically updating as needed to deal with inaccurate agent locomotion.

Example of a common use case:

Construct the corridor object and call init() to allocate its path buffer.
Obtain a path from a dtNavMeshQuery object.
Use reset() to set the agent's current position. (At the beginning of the path.)
Use setCorridor() to load the path and target.
Use findCorners() to plan movement. (This handles dynamic path straightening.)
Use movePosition() to feed agent movement back into the corridor. (The corridor will automatically adjust as needed.)
If the target is moving, use moveTargetPosition() to update the end of the corridor. (The corridor will automatically adjust as needed.)
Repeat the previous 3 steps to continue to move the agent.

The corridor position and target are always constrained to the navigation mesh.

One of the difficulties in maintaining a path is that floating point errors, locomotion inaccuracies, and/or local steering can result in the agent crossing the boundary of the path corridor, temporarily invalidating the path. This class uses local mesh queries to detect and update the corridor as needed to handle these types of issues.

The fact that local mesh queries are used to move the position and target locations results in two beahviors that need to be considered:

Every time a move function is used there is a chance that the path will become non-optimial. Basically, the further the target is moved from its original location, and the further the position is moved outside the original corridor, the more likely the path will become non-optimal. This issue can be addressed by periodically running the optimizePathTopology() and optimizePathVisibility() methods.

All local mesh queries have distance limitations. (Review the dtNavMeshQuery methods for details.) So the most accurate use case is to move the position and target in small increments. If a large increment is used, then the corridor may not be able to accurately find the new location. Because of this limiation, if a position is moved in a large increment, then compare the desired and resulting polygon references. If the two do not match, then path replanning may be needed. E.g. If you move the target, check getLastPoly() to see if it is the expected polygon.

Constructor & Destructor Documentation

◆ dtPathCorridor()

dtPathCorridor::dtPathCorridor ( )

◆ ~dtPathCorridor()

dtPathCorridor::~dtPathCorridor ( )

Member Function Documentation

◆ findCorners()

int dtPathCorridor::findCorners	(	float *	cornerVerts,
		unsigned char *	cornerFlags,
		dtPolyRef *	cornerPolys,
		const int	maxCorners,
		dtNavMeshQuery *	navquery,
		const dtQueryFilter *	filter
	)

Finds the corners in the corridor from the position toward the target.

(The straightened path.)

Parameters

[out]	cornerVerts	The corner vertices. [(x, y, z) * cornerCount] [Size: <= maxCorners]
[out]	cornerFlags	The flag for each corner. [(flag) * cornerCount] [Size: <= maxCorners]
[out]	cornerPolys	The polygon reference for each corner. [(polyRef) * cornerCount] [Size: <= `maxCorners`]
[in]	maxCorners	The maximum number of corners the buffers can hold.
[in]	navquery	The query object used to build the corridor.
[in]	filter	The filter to apply to the operation.

Returns: The number of corners returned in the corner buffers. [0 <= value <= maxCorners]

This is the function used to plan local movement within the corridor. One or more corners can be detected in order to plan movement. It performs essentially the same function as dtNavMeshQuery::findStraightPath.

Due to internal optimizations, the maximum number of corners returned will be (maxCorners - 1) For example: If the buffers are sized to hold 10 corners, the function will never return more than 9 corners. So if 10 corners are needed, the buffers should be sized for 11 corners.

If the target is within range, it will be the last corner and have a polygon reference id of zero.

◆ fixPathStart()

bool dtPathCorridor::fixPathStart	(	dtPolyRef	safeRef,
		const float *	safePos
	)

◆ getFirstPoly()

dtPolyRef dtPathCorridor::getFirstPoly ( ) const

inline

The polygon reference id of the first polygon in the corridor, the polygon containing the position.

Returns: The polygon reference id of the first polygon in the corridor. (Or zero if there is no path.)

◆ getLastPoly()

dtPolyRef dtPathCorridor::getLastPoly ( ) const

inline

The polygon reference id of the last polygon in the corridor, the polygon containing the target.

Returns: The polygon reference id of the last polygon in the corridor. (Or zero if there is no path.)

◆ getPath()

const dtPolyRef* dtPathCorridor::getPath ( ) const

inline

The corridor's path.

Returns: The corridor's path. [(polyRef) * getPathCount()]

◆ getPathCount()

int dtPathCorridor::getPathCount ( ) const

inline

The number of polygons in the current corridor path.

Returns: The number of polygons in the current corridor path.

◆ getPos()

const float* dtPathCorridor::getPos ( ) const

inline

Gets the current position within the corridor.

(In the first polygon.)

Returns: The current position within the corridor.

◆ getTarget()

const float* dtPathCorridor::getTarget ( ) const

inline

Gets the current target within the corridor.

(In the last polygon.)

Returns: The current target within the corridor.

◆ init()

bool dtPathCorridor::init ( const int maxPath )

Allocates the corridor's path buffer.

Parameters

[in] maxPath The maximum path size the corridor can handle.

Returns: True if the initialization succeeded.

Warning: Cannot be called more than once.

◆ isValid()

bool dtPathCorridor::isValid	(	const int	maxLookAhead,
		dtNavMeshQuery *	navquery,
		const dtQueryFilter *	filter
	)

Checks the current corridor path to see if its polygon references remain valid.

Parameters

[in]	maxLookAhead	The number of polygons from the beginning of the corridor to search.
[in]	navquery	The query object used to build the corridor.
[in]	filter	The filter to apply to the operation.

The path can be invalidated if there are structural changes to the underlying navigation mesh, or the state of a polygon within the path changes resulting in it being filtered out. (E.g. An exclusion or inclusion flag changes.)

◆ moveOverOffmeshConnection()

bool dtPathCorridor::moveOverOffmeshConnection	(	dtPolyRef	offMeshConRef,
		dtPolyRef *	refs,
		float *	startPos,
		float *	endPos,
		dtNavMeshQuery *	navquery
	)

◆ movePosition()

bool dtPathCorridor::movePosition	(	const float *	npos,
		dtNavMeshQuery *	navquery,
		const dtQueryFilter *	filter
	)

Moves the position from the current location to the desired location, adjusting the corridor as needed to reflect the change.

Parameters

[in]	npos	The desired new position. [(x, y, z)]
[in]	navquery	The query object used to build the corridor.
[in]	filter	The filter to apply to the operation.

Returns: Returns true if move succeeded.

Behavior:

The movement is constrained to the surface of the navigation mesh.
The corridor is automatically adjusted (shorted or lengthened) in order to remain valid.
The new position will be located in the adjusted corridor's first polygon.

The expected use case is that the desired position will be 'near' the current corridor. What is considered 'near' depends on local polygon density, query search half extents, etc.

The resulting position will differ from the desired position if the desired position is not on the navigation mesh, or it can't be reached using a local search.

◆ moveTargetPosition()

bool dtPathCorridor::moveTargetPosition	(	const float *	npos,
		dtNavMeshQuery *	navquery,
		const dtQueryFilter *	filter
	)

Moves the target from the curent location to the desired location, adjusting the corridor as needed to reflect the change.

Parameters

[in]	npos	The desired new target position. [(x, y, z)]
[in]	navquery	The query object used to build the corridor.
[in]	filter	The filter to apply to the operation.

Returns: Returns true if move succeeded.

Behavior:

The movement is constrained to the surface of the navigation mesh.
The corridor is automatically adjusted (shorted or lengthened) in order to remain valid.
The new target will be located in the adjusted corridor's last polygon.

The expected use case is that the desired target will be 'near' the current corridor. What is considered 'near' depends on local polygon density, query search half extents, etc.

The resulting target will differ from the desired target if the desired target is not on the navigation mesh, or it can't be reached using a local search.

◆ optimizePathTopology()

bool dtPathCorridor::optimizePathTopology	(	dtNavMeshQuery *	navquery,
		const dtQueryFilter *	filter
	)

Attempts to optimize the path using a local area search.

(Partial replanning.)

Parameters

[in]	navquery	The query object used to build the corridor.
[in]	filter	The filter to apply to the operation.

Inaccurate locomotion or dynamic obstacle avoidance can force the agent position significantly outside the original corridor. Over time this can result in the formation of a non-optimal corridor. This function will use a local area path search to try to re-optimize the corridor.

The more inaccurate the agent movement, the more beneficial this function becomes. Simply adjust the frequency of the call to match the needs to the agent.

◆ optimizePathVisibility()

void dtPathCorridor::optimizePathVisibility	(	const float *	next,
		const float	pathOptimizationRange,
		dtNavMeshQuery *	navquery,
		const dtQueryFilter *	filter
	)

Attempts to optimize the path if the specified point is visible from the current position.

Parameters

[in]	next	The point to search toward. [(x, y, z])
[in]	pathOptimizationRange	The maximum range to search. [Limit: > 0]
[in]	navquery	The query object used to build the corridor.
[in]	filter	The filter to apply to the operation.

Inaccurate locomotion or dynamic obstacle avoidance can force the argent position significantly outside the original corridor. Over time this can result in the formation of a non-optimal corridor. Non-optimal paths can also form near the corners of tiles.

This function uses an efficient local visibility search to try to optimize the corridor between the current position and next.

The corridor will change only if next is visible from the current position and moving directly toward the point is better than following the existing path.

The more inaccurate the agent movement, the more beneficial this function becomes. Simply adjust the frequency of the call to match the needs to the agent.

This function is not suitable for long distance searches.

◆ reset()

void dtPathCorridor::reset	(	dtPolyRef	ref,
		const float *	pos
	)

Resets the path corridor to the specified position.

Parameters

[in]	ref	The polygon reference containing the position.
[in]	pos	The new position in the corridor. [(x, y, z)]

Essentially, the corridor is set of one polygon in size with the target equal to the position.

◆ setCorridor()

void dtPathCorridor::setCorridor	(	const float *	target,
		const dtPolyRef *	path,
		const int	npath
	)

Loads a new path and target into the corridor.

Parameters

[in]	target	The target location within the last polygon of the path. [(x, y, z)]
[in]	path	The path corridor. [(polyRef) * `npolys`]
[in]	npath	The number of polygons in the path.

The current corridor position is expected to be within the first polygon in the path. The target is expected to be in the last polygon.

Warning: The size of the path must not exceed the size of corridor's path buffer set during init().

◆ trimInvalidPath()

bool dtPathCorridor::trimInvalidPath	(	dtPolyRef	safeRef,
		const float *	safePos,
		dtNavMeshQuery *	navquery,
		const dtQueryFilter *	filter
	)

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

Public Member Functions

Description

Constructor & Destructor Documentation

◆ dtPathCorridor()

◆ ~dtPathCorridor()

Member Function Documentation

◆ findCorners()

◆ fixPathStart()

◆ getFirstPoly()

◆ getLastPoly()

◆ getPath()

◆ getPathCount()

◆ getPos()

◆ getTarget()

◆ init()

◆ isValid()

◆ moveOverOffmeshConnection()

◆ movePosition()

◆ moveTargetPosition()

◆ optimizePathTopology()

◆ optimizePathVisibility()

◆ reset()

◆ setCorridor()

◆ trimInvalidPath()