dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents, float* nearestPt)
{
float bmin[3], bmax[3];
dtVsub(bmin, center, extents);
dtVadd(bmax, center, extents);
// Get nearby polygons from proximity grid.
dtPolyRef polys[128];
int polyCount = queryPolygonsInTile(tile, bmin, bmax, polys, 128);
// Find nearest polygon amongst the nearby polygons.
dtPolyRef nearest = 0;
float nearestDistanceSqr = FLT_MAX;
for (int i = 0; i < polyCount; ++i)
{
dtPolyRef ref = polys[i];
float closestPtPoly[3];
if (closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly) != DT_SUCCESS)
continue;
float d = dtVdistSqr(center, closestPtPoly);
if (d < nearestDistanceSqr)
{
if (nearestPt)
dtVcopy(nearestPt, closestPtPoly);
nearestDistanceSqr = d;
nearest = ref;
}
}
return nearest;
}
dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
const float* center, const float* extents,
float* nearestPt) const
{
float bmin[3], bmax[3];
dtVsub(bmin, center, extents);
dtVadd(bmax, center, extents);
// Get nearby polygons from proximity grid.
dtPolyRef polys[128];
int polyCount = queryPolygonsInTile(tile, bmin, bmax, polys, 128);
// Find nearest polygon amongst the nearby polygons.
dtPolyRef nearest = 0;
float nearestDistanceSqr = FLT_MAX;
for (int i = 0; i < polyCount; ++i)
{
dtPolyRef ref = polys[i];
float closestPtPoly[3];
float diff[3];
bool posOverPoly = false;
float d = 0;
closestPointOnPoly(ref, center, closestPtPoly, &posOverPoly);
// If a point is directly over a polygon and closer than
// climb height, favor that instead of straight line nearest point.
dtVsub(diff, center, closestPtPoly);
if (posOverPoly)
{
d = dtAbs(diff[1]) - tile->header->walkableClimb;
d = d > 0 ? d*d : 0;
}
else
{
d = dtVlenSqr(diff);
}
if (d < nearestDistanceSqr)
{
dtVcopy(nearestPt, closestPtPoly);
nearestDistanceSqr = d;
nearest = ref;
}
}
return nearest;
}
