Method initSlicedFindPath

3rdparty/recast/DetourNavMeshQuery.cpp:1216–1278

@par @warning Calling any non-slice methods before calling finalizeSlicedFindPath() or finalizeSlicedFindPathPartial() may result in corrupted data! The @p filter pointer is stored and used for the duration of the sliced path query.

/// path query.
///
dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
											const float* startPos, const float* endPos,
											const dtQueryFilter* filter, const unsigned int options)
{
	dtAssert(m_nav);
	dtAssert(m_nodePool);
	dtAssert(m_openList);

	// Init path state.
	memset(&m_query, 0, sizeof(dtQueryData));
	m_query.status = DT_FAILURE;
	m_query.startRef = startRef;
	m_query.endRef = endRef;
	if (startPos)
		dtVcopy(m_query.startPos, startPos);
	if (endPos)
		dtVcopy(m_query.endPos, endPos);
	m_query.filter = filter;
	m_query.options = options;
	m_query.raycastLimitSqr = FLT_MAX;
	
	// Validate input
	if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) ||
		!startPos || !dtVisfinite(startPos) ||
		!endPos || !dtVisfinite(endPos) || !filter)
	{
		return DT_FAILURE | DT_INVALID_PARAM;
	}

	// trade quality with performance?
	if (options & DT_FINDPATH_ANY_ANGLE)
	{
		// limiting to several times the character radius yields nice results. It is not sensitive 
		// so it is enough to compute it from the first tile.
		const dtMeshTile* tile = m_nav->getTileByRef(startRef);
		float agentRadius = tile->header->walkableRadius;
		m_query.raycastLimitSqr = dtSqr(agentRadius * DT_RAY_CAST_LIMIT_PROPORTIONS);
	}

	if (startRef == endRef)
	{
		m_query.status = DT_SUCCESS;
		return DT_SUCCESS;
	}
	
	m_nodePool->clear();
	m_openList->clear();
	
	dtNode* startNode = m_nodePool->getNode(startRef);
	dtVcopy(startNode->pos, startPos);
	startNode->pidx = 0;
	startNode->cost = 0;
	startNode->total = dtVdist(startPos, endPos) * H_SCALE;
	startNode->id = startRef;
	startNode->flags = DT_NODE_OPEN;
	m_openList->push(startNode);
	
	m_query.status = DT_IN_PROGRESS;