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update recast

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This commit is contained in:
Johxz 2018-02-28 22:15:31 -06:00
parent e079536122
commit 8aa48ff21b
34 changed files with 1138 additions and 407 deletions
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61
Engine/lib/recast/Detour/Source/DetourNavMesh.cpp
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@ -304,7 +304,7 @@ int dtNavMesh::findConnectingPolys(const float* va, const float* vb,
if (!tile) return 0;
float amin[2], amax[2];
calcSlabEndPoints(va,vb, amin,amax, side);
calcSlabEndPoints(va, vb, amin, amax, side);
const float apos = getSlabCoord(va, side);
// Remove links pointing to 'side' and compact the links array.
@ -470,12 +470,12 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
if (targetPoly->firstLink == DT_NULL_LINK)
continue;
const float ext[3] = { targetCon->rad, target->header->walkableClimb, targetCon->rad };
const float halfExtents[3] = { targetCon->rad, target->header->walkableClimb, targetCon->rad };
// Find polygon to connect to.
const float* p = &targetCon->pos[3];
float nearestPt[3];
dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt);
dtPolyRef ref = findNearestPolyInTile(tile, p, halfExtents, nearestPt);
if (!ref)
continue;
// findNearestPoly may return too optimistic results, further check to make sure.
@ -570,12 +570,12 @@ void dtNavMesh::baseOffMeshLinks(dtMeshTile* tile)
dtOffMeshConnection* con = &tile->offMeshCons[i];
dtPoly* poly = &tile->polys[con->poly];
const float ext[3] = { con->rad, tile->header->walkableClimb, con->rad };
const float halfExtents[3] = { con->rad, tile->header->walkableClimb, con->rad };
// Find polygon to connect to.
const float* p = &con->pos[0]; // First vertex
float nearestPt[3];
dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt);
dtPolyRef ref = findNearestPolyInTile(tile, p, halfExtents, nearestPt);
if (!ref) continue;
// findNearestPoly may return too optimistic results, further check to make sure.
if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(con->rad))
@ -651,9 +651,9 @@ void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* close
if (!dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
{
// Point is outside the polygon, dtClamp to nearest edge.
float dmin = FLT_MAX;
int imin = -1;
for (int i = 0; i < nv; ++i)
float dmin = edged[0];
int imin = 0;
for (int i = 1; i < nv; ++i)
{
if (edged[i] < dmin)
{
@ -687,7 +687,7 @@ void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* close
v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
}
float h;
if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
if (dtClosestHeightPointTriangle(closest, v[0], v[1], v[2], h))
{
closest[1] = h;
break;
@ -696,12 +696,12 @@ void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* close
}
dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
const float* center, const float* extents,
const float* center, const float* halfExtents,
float* nearestPt) const
{
float bmin[3], bmax[3];
dtVsub(bmin, center, extents);
dtVadd(bmax, center, extents);
dtVsub(bmin, center, halfExtents);
dtVadd(bmax, center, halfExtents);
// Get nearby polygons from proximity grid.
dtPolyRef polys[128];
@ -917,14 +917,14 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount);
unsigned char* d = data + headerSize;
tile->verts = (float*)d; d += vertsSize;
tile->polys = (dtPoly*)d; d += polysSize;
tile->links = (dtLink*)d; d += linksSize;
tile->detailMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
tile->detailVerts = (float*)d; d += detailVertsSize;
tile->detailTris = (unsigned char*)d; d += detailTrisSize;
tile->bvTree = (dtBVNode*)d; d += bvtreeSize;
tile->offMeshCons = (dtOffMeshConnection*)d; d += offMeshLinksSize;
tile->verts = dtGetThenAdvanceBufferPointer<float>(d, vertsSize);
tile->polys = dtGetThenAdvanceBufferPointer<dtPoly>(d, polysSize);
tile->links = dtGetThenAdvanceBufferPointer<dtLink>(d, linksSize);
tile->detailMeshes = dtGetThenAdvanceBufferPointer<dtPolyDetail>(d, detailMeshesSize);
tile->detailVerts = dtGetThenAdvanceBufferPointer<float>(d, detailVertsSize);
tile->detailTris = dtGetThenAdvanceBufferPointer<unsigned char>(d, detailTrisSize);
tile->bvTree = dtGetThenAdvanceBufferPointer<dtBVNode>(d, bvtreeSize);
tile->offMeshCons = dtGetThenAdvanceBufferPointer<dtOffMeshConnection>(d, offMeshLinksSize);
// If there are no items in the bvtree, reset the tree pointer.
if (!bvtreeSize)
@ -943,7 +943,10 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
tile->flags = flags;
connectIntLinks(tile);
// Base off-mesh connections to their starting polygons and connect connections inside the tile.
baseOffMeshLinks(tile);
connectExtOffMeshLinks(tile, tile, -1);
// Create connections with neighbour tiles.
static const int MAX_NEIS = 32;
@ -954,11 +957,11 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
nneis = getTilesAt(header->x, header->y, neis, MAX_NEIS);
for (int j = 0; j < nneis; ++j)
{
if (neis[j] != tile)
{
connectExtLinks(tile, neis[j], -1);
connectExtLinks(neis[j], tile, -1);
}
if (neis[j] == tile)
continue;
connectExtLinks(tile, neis[j], -1);
connectExtLinks(neis[j], tile, -1);
connectExtOffMeshLinks(tile, neis[j], -1);
connectExtOffMeshLinks(neis[j], tile, -1);
}
@ -1322,8 +1325,8 @@ dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data,
if (maxDataSize < sizeReq)
return DT_FAILURE | DT_BUFFER_TOO_SMALL;
dtTileState* tileState = (dtTileState*)data; data += dtAlign4(sizeof(dtTileState));
dtPolyState* polyStates = (dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
dtTileState* tileState = dtGetThenAdvanceBufferPointer<dtTileState>(data, dtAlign4(sizeof(dtTileState)));
dtPolyState* polyStates = dtGetThenAdvanceBufferPointer<dtPolyState>(data, dtAlign4(sizeof(dtPolyState) * tile->header->polyCount));
// Store tile state.
tileState->magic = DT_NAVMESH_STATE_MAGIC;
@ -1354,8 +1357,8 @@ dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data
if (maxDataSize < sizeReq)
return DT_FAILURE | DT_INVALID_PARAM;
const dtTileState* tileState = (const dtTileState*)data; data += dtAlign4(sizeof(dtTileState));
const dtPolyState* polyStates = (const dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
const dtTileState* tileState = dtGetThenAdvanceBufferPointer<const dtTileState>(data, dtAlign4(sizeof(dtTileState)));
const dtPolyState* polyStates = dtGetThenAdvanceBufferPointer<const dtPolyState>(data, dtAlign4(sizeof(dtPolyState) * tile->header->polyCount));
// Check that the restore is possible.
if (tileState->magic != DT_NAVMESH_STATE_MAGIC)