Method findRandomPointAroundCircle

3rdparty/recast/DetourNavMeshQuery.cpp:317–498

}

dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius,
													 const dtQueryFilter* filter, float (*frand)(),
													 dtPolyRef* randomRef, float* randomPt) const
{
	dtAssert(m_nav);
	dtAssert(m_nodePool);
	dtAssert(m_openList);
	
	// Validate input
	if (!m_nav->isValidPolyRef(startRef) ||
		!centerPos || !dtVisfinite(centerPos) ||
		maxRadius < 0 || !dtMathIsfinite(maxRadius) ||
		!filter || !frand || !randomRef || !randomPt)
	{
		return DT_FAILURE | DT_INVALID_PARAM;
	}
	
	const dtMeshTile* startTile = 0;
	const dtPoly* startPoly = 0;
	m_nav->getTileAndPolyByRefUnsafe(startRef, &startTile, &startPoly);
	if (!filter->passFilter(startRef, startTile, startPoly))
		return DT_FAILURE | DT_INVALID_PARAM;
	
	m_nodePool->clear();
	m_openList->clear();
	
	dtNode* startNode = m_nodePool->getNode(startRef);
	dtVcopy(startNode->pos, centerPos);
	startNode->pidx = 0;
	startNode->cost = 0;
	startNode->total = 0;
	startNode->id = startRef;
	startNode->flags = DT_NODE_OPEN;
	m_openList->push(startNode);
	
	dtStatus status = DT_SUCCESS;
	
	const float radiusSqr = dtSqr(maxRadius);
	float areaSum = 0.0f;

	const dtMeshTile* randomTile = 0;
	const dtPoly* randomPoly = 0;
	dtPolyRef randomPolyRef = 0;

	while (!m_openList->empty())
	{
		dtNode* bestNode = m_openList->pop();
		bestNode->flags &= ~DT_NODE_OPEN;
		bestNode->flags |= DT_NODE_CLOSED;
		
		// Get poly and tile.
		// The API input has been cheked already, skip checking internal data.
		const dtPolyRef bestRef = bestNode->id;
		const dtMeshTile* bestTile = 0;
		const dtPoly* bestPoly = 0;
		m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly);

		// Place random locations on on ground.