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  3. dtNavMeshQuery

dtNavMeshQuery

Provides the ability to perform pathfinding related queries against a navigation mesh.

Unreal Engine C++ API Reference > Runtime > Navmesh > Detour

References

   
Module Navmesh
Header /Engine/Source/Runtime/Navmesh/Public/Detour/DetourNavMeshQuery.h
Include #include "Detour/DetourNavMeshQuery.h"

Syntax

class dtNavMeshQuery

Remarks

Provides the ability to perform pathfinding related queries against a navigation mesh.

For methods that support undersized buffers, if the buffer is too small to hold the entire result set the return status of the method will include the #DT_BUFFER_TOO_SMALL flag.

Constant member functions can be used by multiple clients without side effects. (E.g. No change to the closed list. No impact on an in-progress sliced path query. Etc.)

Walls and portals: A wall is a polygon segment that is considered impassable. A portal is a passable segment between polygons. A portal may be treated as a wall based on the dtQueryFilter used for a query.

Constructors

  Type Name Description
Public function    

Destructors

  Type Name Description
Public function    

Functions

  Type Name Description
Public function Const dtStatus

appendPortals ( const int startIdx,
const int endIdx,
const dtReal* endPos,
const dtPolyRef* path,
dtQueryResult& result,
const int options
)

 Appends intermediate portal points to a straight path.
Public function Const dtStatus

appendVertex ( const dtReal* pos,
const unsigned char flags,
const dtPolyRef ref,
dtQueryResult& result,
const bool bOverrideIdenticalPosition
)

 Appends vertex to a straight path.
Public function Const dtStatus

closestPointOnPoly ( dtPolyRef ref,
const dtReal* pos,
dtReal* closest
)

 Finds the closest point on the specified polygon.
Public function Const dtStatus

closestPointOnPolyBoundary ( dtPolyRef ref,
const dtReal* pos,
dtReal* closest
)

 Returns a point on the boundary closest to the source point if the source point is outside the polygon's xz-bounds.
Public function dtStatus

finalizeSlicedFindPath ( dtPolyRef* path,
int* pathCount,
const int maxPath
)

 Finalizes and returns the results of a sliced path query.
Public function dtStatus

finalizeSlicedFindPathPartial ( const dtPolyRef* existing,
const int existingSize,
dtPolyRef* path,
int* pathCount,
const int maxPath
)

 Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest polygon on the existing path that was visited during the search.
Public function Const dtStatus

findDistanceToWall ( dtPolyRef startRef,
const dtReal* centerPos,
const dtReal maxRadius,
const dtQueryFilter* filter,
dtReal* hitDist,
dtReal* hitPos,
dtReal* hitNormal
)

 Finds the distance from the specified position to the nearest polygon wall.
Public function Const dtStatus

findLocalNeighbourhood ( dtPolyRef startRef,
const dtReal* centerPos,
const dtReal radius,
const dtQueryFilter* filter,
dtPolyRef* resultRef,
dtPolyRef* resultParent,
int* resultCount,
const int maxResult
)

 Finds the non-overlapping navigation polygons in the local neighbourhood around the center position.
Public function Const dtStatus

findNearestContainingPoly ( const dtReal* center,
const dtReal* extents,
const dtQueryFilter* filter,
dtPolyRef* nearestRef,
dtReal* nearestPt
)

 Finds the nearest polygon in height containing the specified center point.
Public function Const dtStatus

findNearestPoly ( const dtReal* center,
const dtReal* extents,
const dtQueryFilter* filter,
dtPolyRef* nearestRef,
dtReal* nearestPt,
const dtReal* referencePt
)

 Finds the polygon nearest to the specified center point.
Public function Const dtStatus

findNearestPoly2D ( const dtReal* center,
const dtReal* extents,
const dtQueryFilter* filter,
dtPolyRef* outProjectedRef,
dtReal* outProjectedPt,
const dtReal* referencePt,
dtReal tolerance
)

 Finds the polygon 2D-nearest to the specified center point.
Public function Const dtStatus

findPath ( dtPolyRef startRef,
dtPolyRef endRef,
const dtReal* startPos,
const dtReal* endPos,
const dtReal costLimit,
const dtQueryFilter* filter,
dtQueryResult& result,
dtReal* totalCost
)

 Finds a path from the start polygon to the end polygon.
Public function Const dtStatus

findPolysAroundCircle ( dtPolyRef startRef,
const dtReal* centerPos,
const dtReal radius,
const dtQueryFilter* filter,
dtPolyRef* resultRef,
dtPolyRef* resultParent,
dtReal* resultCost,
int* resultCount,
const int maxResult
)

 Finds the polygons along the navigation graph that touch the specified circle.
Public function Const dtStatus

findPolysAroundShape ( dtPolyRef startRef,
const dtReal* verts,
const int nverts,
const dtQueryFilter* filter,
dtPolyRef* resultRef,
dtPolyRef* resultParent,
dtReal* resultCost,
int* resultCount,
const int maxResult
)

 Finds the polygons along the naviation graph that touch the specified convex polygon.
Public function Const dtStatus

findPolysInPathDistance ( dtPolyRef startRef,
const dtReal* centerPos,
const dtReal pathDistance,
const dtQueryFilter* filter,
dtPolyRef* resultRef,
int* resultCount,
const int maxResult
)

 Finds the polygons along the navigation graph that are no more than given path length away from centerPos.
Public function Const dtStatus

findRandomPoint ( const dtQueryFilter* filter,
float(*)() frand,
dtPolyRef* randomRef,
dtReal* randomPt
)

 Returns random location on navmesh.
Public function Const dtStatus

findRandomPointAroundCircle ( dtPolyRef startRef,
const dtReal* centerPos,
const dtReal maxRadius,
const dtQueryFilter* filter,
float(*)() frand,
dtPolyRef* randomRef,
dtReal* randomPt
)

 Returns random location on navmesh within the reach of specified location.
Public function Const dtStatus

findRandomPointInPoly ( dtPolyRef ref,
float(*)() frand,
dtReal* randomPt
)

 Returns random location inside the specified polygon.
Public function Const dtStatus

findStraightPath ( const dtReal* startPos,
const dtReal* endPos,
const dtPolyRef* path,
const int pathSize,
dtQueryResult& result,
const int options
)

 Finds the straight path from the start to the end position within the polygon corridor.
Public function Const dtStatus

findWallsAroundPath ( const dtPolyRef* path,
const int pathCount,
const dtReal* searchAreaPoly,
const int searchAreaPolyCount,
const dtReal maxAreaEnterCost,
const dtQueryFilter* filter,
dtPolyRef* neiRefs,
int* neiCount,
const int maxNei,
dtReal* resultWalls,
dtPolyRef* resultRefs,
int* resultCount,
const int maxResult
)

 [UE] Finds the wall segments that overlap the polygon shape.
Public function Const dtStatus

findWallsInNeighbourhood ( dtPolyRef startRef,
const dtReal* centerPos,
const dtReal radius,
const dtQueryFilter* filter,
dtPolyRef* neiRefs,
int* neiCount,
const int maxNei,
dtReal* resultWalls,
dtPolyRef* resultRefs,
int* resultCount,
const int maxResult
)

 [UE] Finds the wall segments in local neighbourhood
Public function Const dtStatus

findWallsOverlappingShape ( dtPolyRef startRef,
const dtReal* verts,
const int nverts,
const dtQueryFilter* filter,
dtPolyRef* neiRefs,
int* neiCount,
const int maxNei,
dtReal* resultWalls,
dtPolyRef* resultRefs,
int* resultCount,
const int maxResult
)

 [UE] Finds the wall segments that overlap the polygon shape.
Public function Const const dtNavMesh * Gets the navigation mesh the query object is using.
Public function Const void

getCurrentBestResult ( dtNode*& bestNode,
dtReal& bestCost
)

 Gets best node ref and cost from sliced pathfinding data.
Public function Const dtStatus

getEdgeMidPoint ( dtPolyRef from,
const dtPoly* fromPoly,
const dtMeshTile* fromTile,
dtPolyRef to,
const dtPoly* toPoly,
const dtMeshTile* toTile,
dtReal* mid
)

  
Public function Const dtStatus

getEdgeMidPoint ( dtPolyRef from,
dtPolyRef to,
dtReal* mid
)

 Returns edge mid point between two polygons.
Public function Const dtNodePool * Gets the node pool.
Public function Const dtStatus

getPolyHeight ( dtPolyRef ref,
const dtReal* pos,
dtReal* height
)

 Gets the height of the polygon at the provided position using the height detail.
Public function Const dtStatus

getPolyWallSegments ( dtPolyRef ref,
const dtQueryFilter* filter,
dtReal* segmentVerts,
dtPolyRef* segmentRefs,
int* segmentCount,
const int maxSegments
)

 Returns the segments for the specified polygon, optionally including portals.
Public function Const dtStatus

getPortalPoints ( dtPolyRef from,
dtPolyRef to,
dtReal* left,
dtReal* right,
unsigned char& fromType,
unsigned char& toType
)

 Exposing function to be able to generate navigation corridors as sequence of point pairs
Public function Const dtStatus

getPortalPoints ( dtPolyRef from,
const dtPoly* fromPoly,
const dtMeshTile* fromTile,
dtPolyRef to,
const dtPoly* toPoly,
const dtMeshTile* toTile,
dtReal* left,
dtReal* right
)

  
Public function Const int  
Public function dtStatus

init ( const dtNavMesh* nav,
const int maxNodes,
dtQuerySpecialLinkFilter* linkFilter
)

 Initializes the query object.
Public function dtStatus

initSlicedFindPath ( dtPolyRef startRef,
dtPolyRef endRef,
const dtReal* startPos,
const dtReal* endPos,
const dtReal costLimit,
const bool requireNavigableEndLocation,
const dtQueryFilter* filter
)

 Initializes a sliced path query.
Public function Const bool

isInClosedList ( dtPolyRef ref
)

 Returns true if the polygon reference is in the closed list.
Public function Const dtStatus

isPointInsidePoly ( dtPolyRef ref,
const dtReal* pos,
bool& result
)

 Checks if specified pos is inside given polygon specified by ref
Public function Const bool  
Public function Const bool

isValidPolyRef ( dtPolyRef ref,
const dtQueryFilter* filter
)

 Returns true if the polygon reference is valid and passes the filter restrictions.
Public function Const dtStatus

moveAlongSurface ( dtPolyRef startRef,
const dtReal* startPos,
const dtReal* endPos,
const dtQueryFilter* filter,
dtReal* resultPos,
dtPolyRef* visited,
int* visitedCount,
const int maxVisitedSize
)

 Moves from the start to the end position constrained to the navigation mesh.
Public function Const bool

passLinkFilter ( const dtMeshTile* tile,
const int polyIdx
)

  
Public function Const bool

passLinkFilterByRef ( const dtMeshTile* tile,
const dtPolyRef ref
)

  
Public function Const dtStatus

projectedPointOnPoly ( dtPolyRef ref,
const dtReal* pos,
dtReal* projected
)

 Finds the point's projection on the specified polygon.
Public function Const dtStatus

queryPolygons ( const dtReal* center,
const dtReal* extents,
const dtQueryFilter* filter,
dtPolyRef* polys,
int* polyCount,
const int maxPolys
)

 Finds polygons that overlap the search box.
Public function Const dtStatus

raycast ( dtPolyRef startRef,
const dtReal* startPos,
const dtReal* endPos,
const dtQueryFilter* filter,
dtReal* t,
dtReal* hitNormal,
dtPolyRef* path,
int* pathCount,
const int maxPath
)

 Casts a 'walkability' ray along the surface of the navigation mesh from the start position toward the end position.
Public function void

setRequireNavigableEndLocation ( const bool value
)

  
Public function void UE: updates special link filter for this query.
Public function dtStatus

updateSlicedFindPath ( const int maxIter,
int* doneIters
)

 Updates an in-progress sliced path query.
Public function Const bool

wasClusterLinkSearched ( dtPolyRef cFrom,
dtPolyRef cTo
)

 Returns true if the cluster link was used in previous search.

See Also

dtNavMesh

dtQueryFilter

dtAllocNavMeshQuery()

dtAllocNavMeshQuery()

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