Detour Sliced Path Find

Well, while I was in teh mood, I though I'd give it a go.

I just checked in (SVN R196) some extra methods for dtNavMeshQuery which implements sliced path finding. It works as follows:

// Request
m_pathFindState = m_navQuery->initSlicedFindPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter);

...

// On update
if (m_pathFindState == DT_QUERY_RUNNING)
    m_pathFindState = m_navQuery->updateSlicedFindPath(maxIter);

if (m_pathFindState == DT_QUERY_READY)
    m_npolys = m_navQuery->finalizeSlicedFindPath(m_polys, MAX_POLYS);

There is new tool called "Pathfind Sliced" which allows you to see it in action. The tool advances the search one node at a time so you can see how the closed list is update in realtime.

The actual path find is a tiny little slower than the findPath() because it does more validation. It should catch the case that some of the data is being removed while the query is in flight, and if the update encounters invalid data it will return DT_QUERY_FAILED.

If the removed data was already in the closed list of the search, the path result will contain invalid data. The rest of the API can handle that, but I recommend restarting all currently running path requests after you have added or removed a tile.