DetourPathQueue.h

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// Copyright Epic Games, Inc. All Rights Reserved.
// Modified version of Recast/Detour's source file
 
//
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty.  In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
//    claim that you wrote the original software. If you use this software
//    in a product, an acknowledgment in the product documentation would be
//    appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
//    misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
 
#ifndef DETOURPATHQUEUE_H
#define DETOURPATHQUEUE_H
 
#include "CoreMinimal.h"
#include "Detour/DetourLargeWorldCoordinates.h"
#include "Detour/DetourNavMesh.h"
#include "Detour/DetourNavMeshQuery.h"
#include "Detour/DetourStatus.h"
#include "Templates/SharedPointer.h"
 
class dtNavMeshQuery;
class dtQueryFilter;
struct dtQuerySpecialLinkFilter;
 
static const unsigned int DT_PATHQ_INVALID = 0;
 
typedef unsigned int dtPathQueueRef;
 
class dtPathQueue
{
    struct PathQuery
    {
        dtPathQueueRef ref;
        dtReal startPos[3], endPos[3];
        dtPolyRef startRef, endRef;
        dtReal costLimit;
        unsigned char requireNavigableEndLocation : 1;  // @UE
        dtPolyRef* path;
        const dtQueryFilter* filter;
        TSharedPtr<dtQuerySpecialLinkFilter> linkFilter;
        int npath;
        dtStatus status;
        int keepAlive;
    };
    
    static const int MAX_QUEUE = 8;
    PathQuery m_queue[MAX_QUEUE];
    dtNavMeshQuery* m_navquery;
    dtPathQueueRef m_nextHandle;
    int m_maxPathSize;
    int m_queueHead;
    
    void purge();
    
public:
    dtPathQueue();
    ~dtPathQueue();
    
    bool init(const int maxPathSize, const int maxSearchNodeCount, dtNavMesh* nav);
    
    void update(const int maxIters);
    
    dtPathQueueRef request(dtPolyRef startRef, dtPolyRef endRef,
                           const dtReal* startPos, const dtReal* endPos, const dtReal costLimit, const bool requireNavigableEndLocation, //@UE
                           const dtQueryFilter* filter,
                           TSharedPtr<dtQuerySpecialLinkFilter> linkFilter);
    
    dtStatus getRequestStatus(dtPathQueueRef ref) const;
    
    dtStatus getPathResult(dtPathQueueRef ref, dtPolyRef* path, int* pathSize, const int maxPath);
    
    inline const dtNavMeshQuery* getNavQuery() const { return m_navquery; }
 
};
 
#endif // DETOURPATHQUEUE_H