Method updateSlicedFindPath

3rdparty/recast/DetourNavMeshQuery.cpp:1280–1495

}
	
dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
{
	if (!dtStatusInProgress(m_query.status))
		return m_query.status;

	// Make sure the request is still valid.
	if (!m_nav->isValidPolyRef(m_query.startRef) || !m_nav->isValidPolyRef(m_query.endRef))
	{
		m_query.status = DT_FAILURE;
		return DT_FAILURE;
	}

	dtRaycastHit rayHit;
	rayHit.maxPath = 0;
		
	int iter = 0;
	while (iter < maxIter && !m_openList->empty())
	{
		iter++;
		
		// Remove node from open list and put it in closed list.
		dtNode* bestNode = m_openList->pop();
		bestNode->flags &= ~DT_NODE_OPEN;
		bestNode->flags |= DT_NODE_CLOSED;
		
		// Reached the goal, stop searching.
		if (bestNode->id == m_query.endRef)
		{
			m_query.lastBestNode = bestNode;
			const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
			m_query.status = DT_SUCCESS | details;
			if (doneIters)
				*doneIters = iter;
			return m_query.status;
		}
		
		// Get current 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;
		if (dtStatusFailed(m_nav->getTileAndPolyByRef(bestRef, &bestTile, &bestPoly)))
		{
			// The polygon has disappeared during the sliced query, fail.
			m_query.status = DT_FAILURE;
			if (doneIters)
				*doneIters = iter;
			return m_query.status;
		}
		
		// Get parent and grand parent poly and tile.
		dtPolyRef parentRef = 0, grandpaRef = 0;
		const dtMeshTile* parentTile = 0;
		const dtPoly* parentPoly = 0;
		dtNode* parentNode = 0;
		if (bestNode->pidx)
		{
			parentNode = m_nodePool->getNodeAtIdx(bestNode->pidx);