Method finalizeSlicedFindPath

3rdparty/recast/DetourNavMeshQuery.cpp:1497–1585

}

dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath)
{
	if (!pathCount)
		return DT_FAILURE | DT_INVALID_PARAM;

	*pathCount = 0;

	if (!path || maxPath <= 0)
		return DT_FAILURE | DT_INVALID_PARAM;
	
	if (dtStatusFailed(m_query.status))
	{
		// Reset query.
		memset(&m_query, 0, sizeof(dtQueryData));
		return DT_FAILURE;
	}

	int n = 0;

	if (m_query.startRef == m_query.endRef)
	{
		// Special case: the search starts and ends at same poly.
		path[n++] = m_query.startRef;
	}
	else
	{
		// Reverse the path.
		dtAssert(m_query.lastBestNode);
		
		if (m_query.lastBestNode->id != m_query.endRef)
			m_query.status |= DT_PARTIAL_RESULT;
		
		dtNode* prev = 0;
		dtNode* node = m_query.lastBestNode;
		int prevRay = 0;
		do
		{
			dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
			node->pidx = m_nodePool->getNodeIdx(prev);
			prev = node;
			int nextRay = node->flags & DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent (i.e. due to raycast shortcut)
			node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed path's node
			prevRay = nextRay;
			node = next;
		}
		while (node);
		
		// Store path
		node = prev;
		do
		{
			dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
			dtStatus status = 0;
			if (node->flags & DT_NODE_PARENT_DETACHED)
			{
				float t, normal[3];
				int m;
				status = raycast(node->id, node->pos, next->pos, m_query.filter, &t, normal, path+n, &m, maxPath-n);