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  3. dtNavMeshQuery

dtNavMeshQuery

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

API > API/Runtime > API/Runtime/Navmesh

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.

   
Name dtNavMeshQuery
Type class
Header File /Engine/Source/Runtime/Navmesh/Public/Detour/DetourNavMeshQuery.h
Include Path #include "Detour/DetourNavMeshQuery.h"

Syntax

class dtNavMeshQuery

Constructors

Name Remarks Include Path Unreal Specifiers

dtNavMeshQuery()

   Detour/DetourNavMeshQuery.h  

Destructors

Name Remarks Include Path Unreal Specifiers

~dtNavMeshQuery()

   Detour/DetourNavMeshQuery.h  

Structs

Name Remarks
dtQueryData  

Variables

Protected

Name Type Remarks Include Path Unreal Specifiers
m_linkFilter dtQuerySpecialLinkFilter * Pointer to optional special link filter. Detour/DetourNavMeshQuery.h  
m_nav const dtNavMesh * Pointer to navmesh data. Detour/DetourNavMeshQuery.h  
m_nodePool dtNodePool * Pointer to node pool. Detour/DetourNavMeshQuery.h  
m_openList dtNodeQueue * Pointer to open list queue. Detour/DetourNavMeshQuery.h  
m_query dtQueryData Sliced query state. Detour/DetourNavMeshQuery.h  
m_queryNodes int   Detour/DetourNavMeshQuery.h  
m_tinyNodePool dtNodePool * Pointer to small node pool. Detour/DetourNavMeshQuery.h  

Functions

Public

Name Remarks Include Path Unreal Specifiers

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

 Appends intermediate portal points to a straight path. Detour/DetourNavMeshQuery.h  

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

 Appends vertex to a straight path. Detour/DetourNavMeshQuery.h  

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

 Finds the closest point on the specified polygon. Detour/DetourNavMeshQuery.h  

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

 Returns a point on the boundary closest to the source point if the source point is outside the polygon's xz-bounds. Detour/DetourNavMeshQuery.h  

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

 Finalizes and returns the results of a sliced path query. Detour/DetourNavMeshQuery.h  

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. Detour/DetourNavMeshQuery.h  

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

 Finds the distance from the specified position to the nearest polygon wall. Detour/DetourNavMeshQuery.h  

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

 Finds the non-overlapping navigation polygons in the local neighbourhood around the center position. Detour/DetourNavMeshQuery.h  

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

 Finds the nearest polygon in height containing the specified center point. Detour/DetourNavMeshQuery.h  

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

 Finds the polygon nearest to the specified center point. Detour/DetourNavMeshQuery.h  

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

 Finds the polygon 2D-nearest to the specified center point. Detour/DetourNavMeshQuery.h  

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

 Finds a path from the start polygon to the end polygon. Detour/DetourNavMeshQuery.h  

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

 Finds the polygons along the navigation graph that touch the specified circle. Detour/DetourNavMeshQuery.h  

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

 Finds the polygons along the naviation graph that touch the specified convex polygon. Detour/DetourNavMeshQuery.h  

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

 Finds the polygons along the navigation graph that are no more than given path length away from centerPos. Detour/DetourNavMeshQuery.h  

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

 Returns random location on navmesh. Detour/DetourNavMeshQuery.h  

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

 Returns random location on navmesh within the reach of specified location. Detour/DetourNavMeshQuery.h  

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

 Returns random location inside the specified polygon. Detour/DetourNavMeshQuery.h  

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

 Finds the straight path from the start to the end position within the polygon corridor. Detour/DetourNavMeshQuery.h  

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
) const

 [UE] Finds the wall segments that overlap the polygon shape. Detour/DetourNavMeshQuery.h  

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
) const

 [UE] Finds the wall segments in local neighbourhood Detour/DetourNavMeshQuery.h  

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
) const

 [UE] Finds the wall segments that overlap the polygon shape. Detour/DetourNavMeshQuery.h  

const dtNavMesh * getAttachedNavMesh()

 Gets the navigation mesh the query object is using. Detour/DetourNavMeshQuery.h  

void getCurrentBestResult ( dtNode*& bestNode,
dtReal& bestCost
) const

 Gets best node ref and cost from sliced pathfinding data. Detour/DetourNavMeshQuery.h  

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

   Detour/DetourNavMeshQuery.h  

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

 Returns edge mid point between two polygons. Detour/DetourNavMeshQuery.h  

dtNodePool * getNodePool()

 Gets the node pool. Detour/DetourNavMeshQuery.h  

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

 Gets the height of the polygon at the provided position using the height detail. Detour/DetourNavMeshQuery.h  

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

 Returns the segments for the specified polygon, optionally including portals. Detour/DetourNavMeshQuery.h  

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

 Exposing function to be able to generate navigation corridors as sequence of point pairs Detour/DetourNavMeshQuery.h  

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

   Detour/DetourNavMeshQuery.h  

int getQueryNodes()

   Detour/DetourNavMeshQuery.h  

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

 Initializes the query object. Detour/DetourNavMeshQuery.h  

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. Detour/DetourNavMeshQuery.h  

bool isInClosedList ( dtPolyRef ref
) const

 Returns true if the polygon reference is in the closed list. Detour/DetourNavMeshQuery.h  

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

 Checks if specified pos is inside given polygon specified by ref Detour/DetourNavMeshQuery.h  

bool isRequiringNavigableEndLocation()

   Detour/DetourNavMeshQuery.h  

bool isValidPolyRef ( dtPolyRef ref,
const dtQueryFilter* filter
) const

 Returns true if the polygon reference is valid and passes the filter restrictions. Detour/DetourNavMeshQuery.h  

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

 Moves from the start to the end position constrained to the navigation mesh. Detour/DetourNavMeshQuery.h  

bool passLinkFilter ( const dtMeshTile* tile,
const int polyIdx
) const

   Detour/DetourNavMeshQuery.h  

bool passLinkFilterByRef ( const dtMeshTile* tile,
const dtPolyRef ref
) const

   Detour/DetourNavMeshQuery.h  

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

 Finds the point's projection on the specified polygon. Detour/DetourNavMeshQuery.h  

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

 Finds polygons that overlap the search box. Detour/DetourNavMeshQuery.h  

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

 Casts a 'walkability' ray along the surface of the navigation mesh from the start position toward the end position. Detour/DetourNavMeshQuery.h  

void setRequireNavigableEndLocation ( const bool value
)

   Detour/DetourNavMeshQuery.h  

void updateLinkFilter ( dtQuerySpecialLinkFilter* linkFilter
)

 UE: updates special link filter for this query. Detour/DetourNavMeshQuery.h  

dtStatus updateSlicedFindPath ( const int maxIter,
int* doneIters
)

 Updates an in-progress sliced path query. Detour/DetourNavMeshQuery.h  

bool wasClusterLinkSearched ( dtPolyRef cFrom,
dtPolyRef cTo
) const

 Returns true if the cluster link was used in previous search. Detour/DetourNavMeshQuery.h  

Static

Name Remarks Include Path Unreal Specifiers

static void dtApplyEpsilon ( dtReal* extents
)

 Handle 0 extents by having the vector components set to a minimum value. Detour/DetourNavMeshQuery.h  

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