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//========= Copyright Valve Corporation, All rights reserved. ============//
//
// Purpose:
//
// $NoKeywords: $
//
//=============================================================================//
// nav_pathfind.h
// Path-finding mechanisms using the Navigation Mesh
// Author: Michael S. Booth ([email protected]), January 2003
#ifndef _CS_NAV_PATHFIND_H_
#define _CS_NAV_PATHFIND_H_
#include "nav_pathfind.h"
//--------------------------------------------------------------------------------------------------------------
/**
* Compute travel distance along shortest path from startPos to goalPos.
* Return -1 if can't reach endPos from goalPos.
*/
template< typename CostFunctor >
float NavAreaTravelDistance( const Vector &startPos, const Vector &goalPos, CostFunctor &costFunc )
{
CNavArea *startArea = TheNavMesh->GetNearestNavArea( startPos );
if (startArea == NULL)
{
return -1.0f;
}
// compute path between areas using given cost heuristic
CNavArea *goalArea = NULL;
if (NavAreaBuildPath( startArea, NULL, &goalPos, costFunc, &goalArea ) == false)
{
return -1.0f;
}
// compute distance along path
if (goalArea->GetParent() == NULL)
{
// both points are in the same area - return euclidean distance
return (goalPos - startPos).Length();
}
else
{
CNavArea *area;
float distance;
// goalPos is assumed to be inside goalArea (or very close to it) - skip to next area
area = goalArea->GetParent();
distance = (goalPos - area->GetCenter()).Length();
for( ; area->GetParent(); area = area->GetParent() )
{
distance += (area->GetCenter() - area->GetParent()->GetCenter()).Length();
}
// add in distance to startPos
distance += (startPos - area->GetCenter()).Length();
return distance;
}
}
#endif // _CS_NAV_PATHFIND_H_
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