void dtNavMesh::queryTiles(const float bmin[3], const float bmax[3], dtTileCallback callback, void * userdata) const
{
const int tx0 = (int)dtMathFloorf((bmin[0]-m_params.orig[0]) / m_tileWidth);
const int tx1 = (int)dtMathFloorf((bmax[0]-m_params.orig[0]) / m_tileWidth);
const int ty0 = (int)dtMathFloorf((bmin[2]-m_params.orig[2]) / m_tileHeight);
const int ty1 = (int)dtMathFloorf((bmax[2]-m_params.orig[2]) / m_tileHeight);
for (int ty = ty0; ty <= ty1; ++ty)
{
for (int tx = tx0; tx <= tx1; ++tx)
{
enum { MaxTiles = 32 };
const dtMeshTile * tmpTiles[ MaxTiles ];
const int ntiles = getTilesAt(tx,ty,tmpTiles,MaxTiles);
for (int i = 0; i < ntiles; ++i)
{
if (dtOverlapBounds(bmin,bmax, tmpTiles[ i ]->header->bmin, tmpTiles[ i ]->header->bmax))
{
callback( tmpTiles[i], userdata );
}
}
}
}
}
dtStatus dtTileCache::queryTiles(const float* bmin, const float* bmax,
dtCompressedTileRef* results, int* resultCount, const int maxResults) const
{
const int MAX_TILES = 32;
dtCompressedTileRef tiles[MAX_TILES];
int n = 0;
const float tw = m_params.width * m_params.cs;
const float th = m_params.height * m_params.cs;
const int tx0 = (int)floorf((bmin[0]-m_params.orig[0]) / tw);
const int tx1 = (int)floorf((bmax[0]-m_params.orig[0]) / tw);
const int ty0 = (int)floorf((bmin[2]-m_params.orig[2]) / th);
const int ty1 = (int)floorf((bmax[2]-m_params.orig[2]) / th);
for (int ty = ty0; ty <= ty1; ++ty)
{
for (int tx = tx0; tx <= tx1; ++tx)
{
const int ntiles = getTilesAt(tx,ty,tiles,MAX_TILES);
for (int i = 0; i < ntiles; ++i)
{
const dtCompressedTile* tile = &m_tiles[decodeTileIdTile(tiles[i])];
float tbmin[3], tbmax[3];
calcTightTileBounds(tile->header, tbmin, tbmax);
if (dtOverlapBounds(bmin,bmax, tbmin,tbmax))
{
if (n < maxResults)
results[n++] = tiles[i];
}
}
}
}
*resultCount = n;
return DT_SUCCESS;
}
int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
dtPolyRef* polys, const int maxPolys) const
{
if (tile->bvTree)
{
const dtBVNode* node = &tile->bvTree[0];
const dtBVNode* end = &tile->bvTree[tile->header->bvNodeCount];
const float* tbmin = tile->header->bmin;
const float* tbmax = tile->header->bmax;
const float qfac = tile->header->bvQuantFactor;
// Calculate quantized box
unsigned short bmin[3], bmax[3];
// dtClamp query box to world box.
float minx = dtClamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0];
float miny = dtClamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1];
float minz = dtClamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2];
float maxx = dtClamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0];
float maxy = dtClamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1];
float maxz = dtClamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2];
// Quantize
bmin[0] = (unsigned short)(qfac * minx) & 0xfffe;
bmin[1] = (unsigned short)(qfac * miny) & 0xfffe;
bmin[2] = (unsigned short)(qfac * minz) & 0xfffe;
bmax[0] = (unsigned short)(qfac * maxx + 1) | 1;
bmax[1] = (unsigned short)(qfac * maxy + 1) | 1;
bmax[2] = (unsigned short)(qfac * maxz + 1) | 1;
// Traverse tree
dtPolyRef base = getPolyRefBase(tile);
int n = 0;
while (node < end)
{
const bool overlap = dtOverlapQuantBounds(bmin, bmax, node->bmin, node->bmax);
const bool isLeafNode = node->i >= 0;
if (isLeafNode && overlap)
{
if (n < maxPolys)
polys[n++] = base | (dtPolyRef)node->i;
}
if (overlap || isLeafNode)
node++;
else
{
const int escapeIndex = -node->i;
node += escapeIndex;
}
}
return n;
}
else
{
float bmin[3], bmax[3];
int n = 0;
dtPolyRef base = getPolyRefBase(tile);
for (int i = 0; i < tile->header->polyCount; ++i)
{
dtPoly* p = &tile->polys[i];
// Do not return off-mesh connection polygons.
if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
continue;
// Calc polygon bounds.
const float* v = &tile->verts[p->verts[0]*3];
dtVcopy(bmin, v);
dtVcopy(bmax, v);
for (int j = 1; j < p->vertCount; ++j)
{
v = &tile->verts[p->verts[j]*3];
dtVmin(bmin, v);
dtVmax(bmax, v);
}
if (dtOverlapBounds(qmin,qmax, bmin,bmax))
{
if (n < maxPolys)
polys[n++] = base | (dtPolyRef)i;
}
}
return n;
}
}