Updated recast to 1.5.1

Engine/lib/recast/Detour/CMakeLists.txt

@@ -1,24 +0,0 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-
-SET(detour_SRCS
-	Source/DetourAlloc.cpp
-	Source/DetourCommon.cpp
-	Source/DetourNavMesh.cpp
-	Source/DetourNavMeshBuilder.cpp
-	Source/DetourNavMeshQuery.cpp
-	Source/DetourNode.cpp
-)
-
-SET(detour_HDRS
-	Include/DetourAlloc.h
-	Include/DetourAssert.h
-	Include/DetourCommon.h
-	Include/DetourNavMesh.h
-	Include/DetourNavMeshBuilder.h
-	Include/DetourNavMeshQuery.h
-	Include/DetourNode.h
-)
-
-INCLUDE_DIRECTORIES(Include)
-
-ADD_LIBRARY(Detour ${detour_SRCS} ${detour_HDRS})

Engine/lib/recast/Detour/Include/DetourAlloc.h

@@ -19,6 +19,8 @@
 #ifndef DETOURALLOCATOR_H
 #define DETOURALLOCATOR_H
 
+#include <stddef.h>
+
 /// Provides hint values to the memory allocator on how long the
 /// memory is expected to be used.
 enum dtAllocHint
@@ -32,7 +34,7 @@ enum dtAllocHint
 //  @param[in]		rcAllocHint	A hint to the allocator on how long the memory is expected to be in use.
 //  @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
 ///  @see dtAllocSetCustom
-typedef void* (dtAllocFunc)(int size, dtAllocHint hint);
+typedef void* (dtAllocFunc)(size_t size, dtAllocHint hint);
 
 /// A memory deallocation function.
 ///  @param[in]		ptr		A pointer to a memory block previously allocated using #dtAllocFunc.
@@ -49,7 +51,7 @@ void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc);
 ///  @param[in]		hint	A hint to the allocator on how long the memory is expected to be in use.
 ///  @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
 /// @see dtFree
-void* dtAlloc(int size, dtAllocHint hint);
+void* dtAlloc(size_t size, dtAllocHint hint);
 
 /// Deallocates a memory block.
 ///  @param[in]		ptr		A pointer to a memory block previously allocated using #dtAlloc.

Engine/lib/recast/Detour/Include/DetourCommon.h

@@ -19,6 +19,8 @@
 #ifndef DETOURCOMMON_H
 #define DETOURCOMMON_H
 
+#include "DetourMath.h"
+
 /**
 @defgroup detour Detour
 
@@ -32,6 +34,11 @@ feature to find minor members.
 /// @name General helper functions
 /// @{
 
+/// Used to ignore a function parameter.  VS complains about unused parameters
+/// and this silences the warning.
+///  @param [in] _ Unused parameter
+template<class T> void dtIgnoreUnused(const T&) { }
+
 /// Swaps the values of the two parameters.
 ///  @param[in,out]	a	Value A
 ///  @param[in,out]	b	Value B
@@ -66,11 +73,6 @@ template<class T> inline T dtSqr(T a) { return a*a; }
 ///  @return The value, clamped to the specified range.
 template<class T> inline T dtClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
 
-/// Returns the square root of the value.
-///  @param[in]		x	The value.
-///  @return The square root of the vlaue.
-float dtSqrt(float x);
-
 /// @}
 /// @name Vector helper functions.
 /// @{
@@ -197,7 +199,7 @@ inline void dtVcopy(float* dest, const float* a)
 /// @return The scalar length of the vector.
 inline float dtVlen(const float* v)
 {
-	return dtSqrt(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
+	return dtMathSqrtf(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
 }
 
 /// Derives the square of the scalar length of the vector. (len * len)
@@ -217,7 +219,7 @@ inline float dtVdist(const float* v1, const float* v2)
 	const float dx = v2[0] - v1[0];
 	const float dy = v2[1] - v1[1];
 	const float dz = v2[2] - v1[2];
-	return dtSqrt(dx*dx + dy*dy + dz*dz);
+	return dtMathSqrtf(dx*dx + dy*dy + dz*dz);
 }
 
 /// Returns the square of the distance between two points.
@@ -242,7 +244,7 @@ inline float dtVdist2D(const float* v1, const float* v2)
 {
 	const float dx = v2[0] - v1[0];
 	const float dz = v2[2] - v1[2];
-	return dtSqrt(dx*dx + dz*dz);
+	return dtMathSqrtf(dx*dx + dz*dz);
 }
 
 /// Derives the square of the distance between the specified points on the xz-plane.
@@ -260,7 +262,7 @@ inline float dtVdist2DSqr(const float* v1, const float* v2)
 ///  @param[in,out]	v	The vector to normalize. [(x, y, z)]
 inline void dtVnormalize(float* v)
 {
-	float d = 1.0f / dtSqrt(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2]));
+	float d = 1.0f / dtMathSqrtf(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2]));
 	v[0] *= d;
 	v[1] *= d;
 	v[2] *= d;
@@ -376,6 +378,10 @@ bool dtIntersectSegmentPoly2D(const float* p0, const float* p1,
 							  float& tmin, float& tmax,
 							  int& segMin, int& segMax);
 
+bool dtIntersectSegSeg2D(const float* ap, const float* aq,
+						 const float* bp, const float* bq,
+						 float& s, float& t);
+
 /// Determines if the specified point is inside the convex polygon on the xz-plane.
 ///  @param[in]		pt		The point to check. [(x, y, z)]
 ///  @param[in]		verts	The polygon vertices. [(x, y, z) * @p nverts]

Engine/lib/recast/Detour/Include/DetourMath.h

@@ -0,0 +1,20 @@
+/**
+@defgroup detour Detour
+
+Members in this module are wrappers around the standard math library
+*/
+
+#ifndef DETOURMATH_H
+#define DETOURMATH_H
+
+#include <math.h>
+
+inline float dtMathFabsf(float x) { return fabsf(x); }
+inline float dtMathSqrtf(float x) { return sqrtf(x); }
+inline float dtMathFloorf(float x) { return floorf(x); }
+inline float dtMathCeilf(float x) { return ceilf(x); }
+inline float dtMathCosf(float x) { return cosf(x); }
+inline float dtMathSinf(float x) { return sinf(x); }
+inline float dtMathAtan2f(float y, float x) { return atan2f(y, x); }
+
+#endif

Engine/lib/recast/Detour/Include/DetourNavMesh.h

@@ -22,16 +22,39 @@
 #include "DetourAlloc.h"
 #include "DetourStatus.h"
 
+// Undefine (or define in a build cofnig) the following line to use 64bit polyref.
+// Generally not needed, useful for very large worlds.
+// Note: tiles build using 32bit refs are not compatible with 64bit refs!
+//#define DT_POLYREF64 1
+
+#ifdef DT_POLYREF64
+// TODO: figure out a multiplatform version of uint64_t
+// - maybe: https://code.google.com/p/msinttypes/
+// - or: http://www.azillionmonkeys.com/qed/pstdint.h
+#include <stdint.h>
+#endif
+
 // Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef.
 // It is also recommended that you change dtHashRef() to a proper 64-bit hash.
 
 /// A handle to a polygon within a navigation mesh tile.
 /// @ingroup detour
+#ifdef DT_POLYREF64
+static const unsigned int DT_SALT_BITS = 16;
+static const unsigned int DT_TILE_BITS = 28;
+static const unsigned int DT_POLY_BITS = 20;
+typedef uint64_t dtPolyRef;
+#else
 typedef unsigned int dtPolyRef;
+#endif
 
 /// A handle to a tile within a navigation mesh.
 /// @ingroup detour
+#ifdef DT_POLYREF64
+typedef uint64_t dtTileRef;
+#else
 typedef unsigned int dtTileRef;
+#endif
 
 /// The maximum number of vertices per navigation polygon.
 /// @ingroup detour
@@ -87,6 +110,31 @@ enum dtStraightPathFlags
 	DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04,	///< The vertex is the start of an off-mesh connection.
 };
 
+/// Options for dtNavMeshQuery::findStraightPath.
+enum dtStraightPathOptions
+{
+	DT_STRAIGHTPATH_AREA_CROSSINGS = 0x01,	///< Add a vertex at every polygon edge crossing where area changes.
+	DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02,	///< Add a vertex at every polygon edge crossing.
+};
+
+
+/// Options for dtNavMeshQuery::initSlicedFindPath and updateSlicedFindPath
+enum dtFindPathOptions
+{
+	DT_FINDPATH_ANY_ANGLE	= 0x02,		///< use raycasts during pathfind to "shortcut" (raycast still consider costs)
+};
+
+/// Options for dtNavMeshQuery::raycast
+enum dtRaycastOptions
+{
+	DT_RAYCAST_USE_COSTS = 0x01,		///< Raycast should calculate movement cost along the ray and fill RaycastHit::cost
+};
+
+
+/// Limit raycasting during any angle pahfinding
+/// The limit is given as a multiple of the character radius
+static const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
+
 /// Flags representing the type of a navigation mesh polygon.
 enum dtPolyTypes
 {
@@ -97,7 +145,7 @@ enum dtPolyTypes
 };
 
 
-/// Defines a polyogn within a dtMeshTile object.
+/// Defines a polygon within a dtMeshTile object.
 /// @ingroup detour
 struct dtPoly
 {
@@ -252,6 +300,9 @@ struct dtMeshTile
 	int dataSize;							///< Size of the tile data.
 	int flags;								///< Tile flags. (See: #dtTileFlags)
 	dtMeshTile* next;						///< The next free tile, or the next tile in the spatial grid.
+private:
+	dtMeshTile(const dtMeshTile&);
+	dtMeshTile& operator=(const dtMeshTile&);
 };
 
 /// Configuration parameters used to define multi-tile navigation meshes.
@@ -462,7 +513,11 @@ public:
 	///  @param[in]	ip		The index of the polygon within the tile.
 	inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const
 	{
+#ifdef DT_POLYREF64
+		return ((dtPolyRef)salt << (DT_POLY_BITS+DT_TILE_BITS)) | ((dtPolyRef)it << DT_POLY_BITS) | (dtPolyRef)ip;
+#else
 		return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip;
+#endif
 	}
 	
 	/// Decodes a standard polygon reference.
@@ -474,12 +529,21 @@ public:
 	///  @see #encodePolyId
 	inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const
 	{
+#ifdef DT_POLYREF64
+		const dtPolyRef saltMask = ((dtPolyRef)1<<DT_SALT_BITS)-1;
+		const dtPolyRef tileMask = ((dtPolyRef)1<<DT_TILE_BITS)-1;
+		const dtPolyRef polyMask = ((dtPolyRef)1<<DT_POLY_BITS)-1;
+		salt = (unsigned int)((ref >> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask);
+		it = (unsigned int)((ref >> DT_POLY_BITS) & tileMask);
+		ip = (unsigned int)(ref & polyMask);
+#else
 		const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
 		const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
 		const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
 		salt = (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
 		it = (unsigned int)((ref >> m_polyBits) & tileMask);
 		ip = (unsigned int)(ref & polyMask);
+#endif
 	}
 
 	/// Extracts a tile's salt value from the specified polygon reference.
@@ -488,8 +552,13 @@ public:
 	///  @see #encodePolyId
 	inline unsigned int decodePolyIdSalt(dtPolyRef ref) const
 	{
+#ifdef DT_POLYREF64
+		const dtPolyRef saltMask = ((dtPolyRef)1<<DT_SALT_BITS)-1;
+		return (unsigned int)((ref >> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask);
+#else
 		const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
 		return (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
+#endif
 	}
 	
 	/// Extracts the tile's index from the specified polygon reference.
@@ -498,8 +567,13 @@ public:
 	///  @see #encodePolyId
 	inline unsigned int decodePolyIdTile(dtPolyRef ref) const
 	{
+#ifdef DT_POLYREF64
+		const dtPolyRef tileMask = ((dtPolyRef)1<<DT_TILE_BITS)-1;
+		return (unsigned int)((ref >> DT_POLY_BITS) & tileMask);
+#else
 		const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
 		return (unsigned int)((ref >> m_polyBits) & tileMask);
+#endif
 	}
 	
 	/// Extracts the polygon's index (within its tile) from the specified polygon reference.
@@ -508,13 +582,21 @@ public:
 	///  @see #encodePolyId
 	inline unsigned int decodePolyIdPoly(dtPolyRef ref) const
 	{
+#ifdef DT_POLYREF64
+		const dtPolyRef polyMask = ((dtPolyRef)1<<DT_POLY_BITS)-1;
+		return (unsigned int)(ref & polyMask);
+#else
 		const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
 		return (unsigned int)(ref & polyMask);
+#endif
 	}
 
 	/// @}
 	
 private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	dtNavMesh(const dtNavMesh&);
+	dtNavMesh& operator=(const dtNavMesh&);
 
 	/// Returns pointer to tile in the tile array.
 	dtMeshTile* getTile(int i);
@@ -543,7 +625,7 @@ private:
 	void connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side);
 	
 	/// Removes external links at specified side.
-	void unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target);
+	void unconnectLinks(dtMeshTile* tile, dtMeshTile* target);
 	
 
 	// TODO: These methods are duplicates from dtNavMeshQuery, but are needed for off-mesh connection finding.
@@ -555,8 +637,7 @@ private:
 	dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center,
 									const float* extents, float* nearestPt) const;
 	/// Returns closest point on polygon.
-	void closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
-								  const float* pos, float* closest) const;
+	void closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const;
 	
 	dtNavMeshParams m_params;			///< Current initialization params. TODO: do not store this info twice.
 	float m_orig[3];					///< Origin of the tile (0,0)
@@ -569,9 +650,11 @@ private:
 	dtMeshTile* m_nextFree;				///< Freelist of tiles.
 	dtMeshTile* m_tiles;				///< List of tiles.
 		
+#ifndef DT_POLYREF64
 	unsigned int m_saltBits;			///< Number of salt bits in the tile ID.
 	unsigned int m_tileBits;			///< Number of tile bits in the tile ID.
 	unsigned int m_polyBits;			///< Number of poly bits in the tile ID.
+#endif
 };
 
 /// Allocates a navigation mesh object using the Detour allocator.

Engine/lib/recast/Detour/Include/DetourNavMeshQuery.h

@@ -41,6 +41,10 @@ class dtQueryFilter
 public:
 	dtQueryFilter();
 	
+#ifdef DT_VIRTUAL_QUERYFILTER
+	virtual ~dtQueryFilter() { }
+#endif
+	
 	/// Returns true if the polygon can be visited.  (I.e. Is traversable.)
 	///  @param[in]		ref		The reference id of the polygon test.
 	///  @param[in]		tile	The tile containing the polygon.
@@ -115,6 +119,37 @@ public:
 
 };
 
+
+
+/// Provides information about raycast hit
+/// filled by dtNavMeshQuery::raycast
+/// @ingroup detour
+struct dtRaycastHit
+{
+	/// The hit parameter. (FLT_MAX if no wall hit.)
+	float t; 
+	
+	/// hitNormal	The normal of the nearest wall hit. [(x, y, z)]
+	float hitNormal[3];
+
+	/// The index of the edge on the final polygon where the wall was hit.
+	int hitEdgeIndex;
+	
+	/// Pointer to an array of reference ids of the visited polygons. [opt]
+	dtPolyRef* path;
+	
+	/// The number of visited polygons. [opt]
+	int pathCount;
+
+	/// The maximum number of polygons the @p path array can hold.
+	int maxPath;
+
+	///  The cost of the path until hit.
+	float pathCost;
+};
+
+
+
 /// Provides the ability to perform pathfinding related queries against
 /// a navigation mesh.
 /// @ingroup detour
@@ -126,7 +161,7 @@ public:
 	
 	/// Initializes the query object.
 	///  @param[in]		nav			Pointer to the dtNavMesh object to use for all queries.
-	///  @param[in]		maxNodes	Maximum number of search nodes. [Limits: 0 < value <= 65536]
+	///  @param[in]		maxNodes	Maximum number of search nodes. [Limits: 0 < value <= 65535]
 	/// @returns The status flags for the query.
 	dtStatus init(const dtNavMesh* nav, const int maxNodes);
 	
@@ -158,11 +193,12 @@ public:
 	///  @param[out]	straightPathRefs	The reference id of the polygon that is being entered at each point. [opt]
 	///  @param[out]	straightPathCount	The number of points in the straight path.
 	///  @param[in]		maxStraightPath		The maximum number of points the straight path arrays can hold.  [Limit: > 0]
+	///  @param[in]		options				Query options. (see: #dtStraightPathOptions)
 	/// @returns The status flags for the query.
 	dtStatus findStraightPath(const float* startPos, const float* endPos,
 							  const dtPolyRef* path, const int pathSize,
 							  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
-							  int* straightPathCount, const int maxStraightPath) const;
+							  int* straightPathCount, const int maxStraightPath, const int options = 0) const;
 
 	///@}
 	/// @name Sliced Pathfinding Functions
@@ -178,10 +214,11 @@ public:
 	///  @param[in]		startPos	A position within the start polygon. [(x, y, z)]
 	///  @param[in]		endPos		A position within the end polygon. [(x, y, z)]
 	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[in]		options		query options (see: #dtFindPathOptions)
 	/// @returns The status flags for the query.
 	dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
 								const float* startPos, const float* endPos,
-								const dtQueryFilter* filter);
+								const dtQueryFilter* filter, const unsigned int options = 0);
 
 	/// Updates an in-progress sliced path query.
 	///  @param[in]		maxIter		The maximum number of iterations to perform.
@@ -199,8 +236,8 @@ public:
 	
 	/// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest
 	/// polygon on the existing path that was visited during the search.
-	///  @param[out]	existing		An array of polygon references for the existing path.
-	///  @param[out]	existingSize	The number of polygon in the @p existing array.
+	///  @param[in]		existing		An array of polygon references for the existing path.
+	///  @param[in]		existingSize	The number of polygon in the @p existing array.
 	///  @param[out]	path			An ordered list of polygon references representing the path. (Start to end.) 
 	///  								[(polyRef) * @p pathCount]
 	///  @param[out]	pathCount		The number of polygons returned in the @p path array.
@@ -307,6 +344,7 @@ public:
 	
 	/// Casts a 'walkability' ray along the surface of the navigation mesh from 
 	/// the start position toward the end position.
+	/// @note A wrapper around raycast(..., RaycastHit*). Retained for backward compatibility.
 	///  @param[in]		startRef	The reference id of the start polygon.
 	///  @param[in]		startPos	A position within the start polygon representing 
 	///  							the start of the ray. [(x, y, z)]
@@ -322,6 +360,22 @@ public:
 					 const dtQueryFilter* filter,
 					 float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const;
 	
+	/// Casts a 'walkability' ray along the surface of the navigation mesh from 
+	/// the start position toward the end position.
+	///  @param[in]		startRef	The reference id of the start polygon.
+	///  @param[in]		startPos	A position within the start polygon representing 
+	///  							the start of the ray. [(x, y, z)]
+	///  @param[in]		endPos		The position to cast the ray toward. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[in]		flags		govern how the raycast behaves. See dtRaycastOptions
+	///  @param[out]	hit			Pointer to a raycast hit structure which will be filled by the results.
+	///  @param[in]		prevRef		parent of start ref. Used during for cost calculation [opt]
+	/// @returns The status flags for the query.
+	dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
+					 const dtQueryFilter* filter, const unsigned int options,
+					 dtRaycastHit* hit, dtPolyRef prevRef = 0) const;
+
+
 	/// Finds the distance from the specified position to the nearest polygon wall.
 	///  @param[in]		startRef		The reference id of the polygon containing @p centerPos.
 	///  @param[in]		centerPos		The center of the search circle. [(x, y, z)]
@@ -377,8 +431,9 @@ public:
 	///  @param[in]		ref			The reference id of the polygon.
 	///  @param[in]		pos			The position to check. [(x, y, z)]
 	///  @param[out]	closest		The closest point on the polygon. [(x, y, z)]
+	///  @param[out]	posOverPoly	True of the position is over the polygon.
 	/// @returns The status flags for the query.
-	dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const;
+	dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const;
 	
 	/// Returns a point on the boundary closest to the source point if the source point is outside the 
 	/// polygon's xz-bounds.
@@ -420,6 +475,9 @@ public:
 	/// @}
 	
 private:
+	// Explicitly disabled copy constructor and copy assignment operator
+	dtNavMeshQuery(const dtNavMeshQuery&);
+	dtNavMeshQuery& operator=(const dtNavMeshQuery&);
 	
 	/// Returns neighbour tile based on side.
 	dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
@@ -427,12 +485,7 @@ private:
 	/// Queries polygons within a tile.
 	int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, const dtQueryFilter* filter,
 							dtPolyRef* polys, const int maxPolys) const;
-	/// Find nearest polygon within a tile.
-	dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents,
-									const dtQueryFilter* filter, float* nearestPt) const;
-	/// Returns closest point on polygon.
-	void closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) const;
-	
+
 	/// Returns portal points between two polygons.
 	dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
 							 unsigned char& fromType, unsigned char& toType) const;
@@ -446,6 +499,16 @@ private:
 							 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
 							 float* mid) const;
 	
+	// Appends vertex to a straight path
+	dtStatus appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref,
+						  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
+						  int* straightPathCount, const int maxStraightPath) const;
+
+	// Appends intermediate portal points to a straight path.
+	dtStatus appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path,
+						   float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
+						   int* straightPathCount, const int maxStraightPath, const int options) const;
+	
 	const dtNavMesh* m_nav;				///< Pointer to navmesh data.
 
 	struct dtQueryData
@@ -456,6 +519,8 @@ private:
 		dtPolyRef startRef, endRef;
 		float startPos[3], endPos[3];
 		const dtQueryFilter* filter;
+		unsigned int options;
+		float raycastLimitSqr;
 	};
 	dtQueryData m_query;				///< Sliced query state.
 

Engine/lib/recast/Detour/Include/DetourNode.h

@@ -25,48 +25,56 @@ enum dtNodeFlags
 {
 	DT_NODE_OPEN = 0x01,
 	DT_NODE_CLOSED = 0x02,
+	DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not adjacent. Found using raycast.
 };
 
 typedef unsigned short dtNodeIndex;
 static const dtNodeIndex DT_NULL_IDX = (dtNodeIndex)~0;
 
+static const int DT_NODE_PARENT_BITS = 24;
+static const int DT_NODE_STATE_BITS = 2;
 struct dtNode
 {
-	float pos[3];				///< Position of the node.
-	float cost;					///< Cost from previous node to current node.
-	float total;				///< Cost up to the node.
-	unsigned int pidx : 30;		///< Index to parent node.
-	unsigned int flags : 2;		///< Node flags 0/open/closed.
-	dtPolyRef id;				///< Polygon ref the node corresponds to.
+	float pos[3];								///< Position of the node.
+	float cost;									///< Cost from previous node to current node.
+	float total;								///< Cost up to the node.
+	unsigned int pidx : DT_NODE_PARENT_BITS;	///< Index to parent node.
+	unsigned int state : DT_NODE_STATE_BITS;	///< extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE
+	unsigned int flags : 3;						///< Node flags. A combination of dtNodeFlags.
+	dtPolyRef id;								///< Polygon ref the node corresponds to.
 };
 
+static const int DT_MAX_STATES_PER_NODE = 1 << DT_NODE_STATE_BITS;	// number of extra states per node. See dtNode::state
 
 class dtNodePool
 {
 public:
 	dtNodePool(int maxNodes, int hashSize);
 	~dtNodePool();
-	inline void operator=(const dtNodePool&) {}
 	void clear();
-	dtNode* getNode(dtPolyRef id);
-	dtNode* findNode(dtPolyRef id);
+
+	// Get a dtNode by ref and extra state information. If there is none then - allocate
+	// There can be more than one node for the same polyRef but with different extra state information
+	dtNode* getNode(dtPolyRef id, unsigned char state=0);	
+	dtNode* findNode(dtPolyRef id, unsigned char state);
+	unsigned int findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes);
 
 	inline unsigned int getNodeIdx(const dtNode* node) const
 	{
 		if (!node) return 0;
-		return (unsigned int)(node - m_nodes)+1;
+		return (unsigned int)(node - m_nodes) + 1;
 	}
 
 	inline dtNode* getNodeAtIdx(unsigned int idx)
 	{
 		if (!idx) return 0;
-		return &m_nodes[idx-1];
+		return &m_nodes[idx - 1];
 	}
 
 	inline const dtNode* getNodeAtIdx(unsigned int idx) const
 	{
 		if (!idx) return 0;
-		return &m_nodes[idx-1];
+		return &m_nodes[idx - 1];
 	}
 	
 	inline int getMemUsed() const
@@ -82,8 +90,12 @@ public:
 	inline int getHashSize() const { return m_hashSize; }
 	inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; }
 	inline dtNodeIndex getNext(int i) const { return m_next[i]; }
+	inline int getNodeCount() const { return m_nodeCount; }
 	
 private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	dtNodePool(const dtNodePool&);
+	dtNodePool& operator=(const dtNodePool&);
 	
 	dtNode* m_nodes;
 	dtNodeIndex* m_first;
@@ -98,17 +110,10 @@ class dtNodeQueue
 public:
 	dtNodeQueue(int n);
 	~dtNodeQueue();
-	inline void operator=(dtNodeQueue&) {}
 	
-	inline void clear()
-	{
-		m_size = 0;
-	}
+	inline void clear() { m_size = 0; }
 	
-	inline dtNode* top()
-	{
-		return m_heap[0];
-	}
+	inline dtNode* top() { return m_heap[0]; }
 	
 	inline dtNode* pop()
 	{
@@ -141,12 +146,16 @@ public:
 	inline int getMemUsed() const
 	{
 		return sizeof(*this) +
-		sizeof(dtNode*)*(m_capacity+1);
+		sizeof(dtNode*) * (m_capacity + 1);
 	}
 	
 	inline int getCapacity() const { return m_capacity; }
 	
 private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	dtNodeQueue(const dtNodeQueue&);
+	dtNodeQueue& operator=(const dtNodeQueue&);
+
 	void bubbleUp(int i, dtNode* node);
 	void trickleDown(int i, dtNode* node);
 	

Engine/lib/recast/Detour/Source/DetourAlloc.cpp

@@ -19,7 +19,7 @@
 #include <stdlib.h>
 #include "DetourAlloc.h"
 
-static void *dtAllocDefault(int size, dtAllocHint)
+static void *dtAllocDefault(size_t size, dtAllocHint)
 {
 	return malloc(size);
 }
@@ -38,7 +38,7 @@ void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc)
 	sFreeFunc = freeFunc ? freeFunc : dtFreeDefault;
 }
 
-void* dtAlloc(int size, dtAllocHint hint)
+void* dtAlloc(size_t size, dtAllocHint hint)
 {
 	return sAllocFunc(size, hint);
 }

Engine/lib/recast/Detour/Source/DetourCommon.cpp

@@ -16,16 +16,11 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include "DetourCommon.h"
+#include "DetourMath.h"
 
 //////////////////////////////////////////////////////////////////////////////////////////
 
-float dtSqrt(float x)
-{
-	return sqrtf(x);
-}
-
 void dtClosestPtPointTriangle(float* closest, const float* p,
 							  const float* a, const float* b, const float* c)
 {
@@ -360,7 +355,7 @@ void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
 		acc += dacc;
 	}
 	
-	float v = dtSqrt(t);
+	float v = dtMathSqrtf(t);
 	
 	const float a = 1 - v;
 	const float b = (1 - u) * v;
@@ -374,3 +369,20 @@ void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
 	out[2] = a*pa[2] + b*pb[2] + c*pc[2];
 }
 
+inline float vperpXZ(const float* a, const float* b) { return a[0]*b[2] - a[2]*b[0]; }
+
+bool dtIntersectSegSeg2D(const float* ap, const float* aq,
+						 const float* bp, const float* bq,
+						 float& s, float& t)
+{
+	float u[3], v[3], w[3];
+	dtVsub(u,aq,ap);
+	dtVsub(v,bq,bp);
+	dtVsub(w,ap,bp);
+	float d = vperpXZ(u,v);
+	if (fabsf(d) < 1e-6f) return false;
+	s = vperpXZ(v,w) / d;
+	t = vperpXZ(u,w) / d;
+	return true;
+}
+

Engine/lib/recast/Detour/Source/DetourNavMesh.cpp

@@ -16,13 +16,13 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include <float.h>
 #include <string.h>
 #include <stdio.h>
 #include "DetourNavMesh.h"
 #include "DetourNode.h"
 #include "DetourCommon.h"
+#include "DetourMath.h"
 #include "DetourAlloc.h"
 #include "DetourAssert.h"
 #include <new>
@@ -193,11 +193,13 @@ dtNavMesh::dtNavMesh() :
 	m_tileLutMask(0),
 	m_posLookup(0),
 	m_nextFree(0),
-	m_tiles(0),
-	m_saltBits(0),
-	m_tileBits(0),
-	m_polyBits(0)
+	m_tiles(0)
 {
+#ifndef DT_POLYREF64
+	m_saltBits = 0;
+	m_tileBits = 0;
+	m_polyBits = 0;
+#endif
 	memset(&m_params, 0, sizeof(dtNavMeshParams));
 	m_orig[0] = 0;
 	m_orig[1] = 0;
@@ -249,12 +251,15 @@ dtStatus dtNavMesh::init(const dtNavMeshParams* params)
 	}
 	
 	// Init ID generator values.
+#ifndef DT_POLYREF64
 	m_tileBits = dtIlog2(dtNextPow2((unsigned int)params->maxTiles));
 	m_polyBits = dtIlog2(dtNextPow2((unsigned int)params->maxPolys));
 	// Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow.
 	m_saltBits = dtMin((unsigned int)31, 32 - m_tileBits - m_polyBits);
+
 	if (m_saltBits < 10)
 		return DT_FAILURE | DT_INVALID_PARAM;
+#endif
 	
 	return DT_SUCCESS;
 }
@@ -345,7 +350,7 @@ int dtNavMesh::findConnectingPolys(const float* va, const float* vb,
 	return n;
 }
 
-void dtNavMesh::unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target)
+void dtNavMesh::unconnectLinks(dtMeshTile* tile, dtMeshTile* target)
 {
 	if (!tile || !target) return;
 
@@ -358,10 +363,9 @@ void dtNavMesh::unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target)
 		unsigned int pj = DT_NULL_LINK;
 		while (j != DT_NULL_LINK)
 		{
-			if (tile->links[j].side != 0xff &&
-				decodePolyIdTile(tile->links[j].ref) == targetNum)
+			if (decodePolyIdTile(tile->links[j].ref) == targetNum)
 			{
-				// Revove link.
+				// Remove link.
 				unsigned int nj = tile->links[j].next;
 				if (pj == DT_NULL_LINK)
 					poly->firstLink = nj;
@@ -612,14 +616,65 @@ void dtNavMesh::baseOffMeshLinks(dtMeshTile* tile)
 	}
 }
 
-void dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
-										 const float* pos, float* closest) const
+void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const
 {
-	const dtPoly* poly = &tile->polys[ip];
+	const dtMeshTile* tile = 0;
+	const dtPoly* poly = 0;
+	getTileAndPolyByRefUnsafe(ref, &tile, &poly);
 	
-	float closestDistSqr = FLT_MAX;
+	// Off-mesh connections don't have detail polygons.
+	if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+	{
+		const float* v0 = &tile->verts[poly->verts[0]*3];
+		const float* v1 = &tile->verts[poly->verts[1]*3];
+		const float d0 = dtVdist(pos, v0);
+		const float d1 = dtVdist(pos, v1);
+		const float u = d0 / (d0+d1);
+		dtVlerp(closest, v0, v1, u);
+		if (posOverPoly)
+			*posOverPoly = false;
+		return;
+	}
+	
+	const unsigned int ip = (unsigned int)(poly - tile->polys);
 	const dtPolyDetail* pd = &tile->detailMeshes[ip];
 	
+	// Clamp point to be inside the polygon.
+	float verts[DT_VERTS_PER_POLYGON*3];	
+	float edged[DT_VERTS_PER_POLYGON];
+	float edget[DT_VERTS_PER_POLYGON];
+	const int nv = poly->vertCount;
+	for (int i = 0; i < nv; ++i)
+		dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]);
+	
+	dtVcopy(closest, pos);
+	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)
+		{
+			if (edged[i] < dmin)
+			{
+				dmin = edged[i];
+				imin = i;
+			}
+		}
+		const float* va = &verts[imin*3];
+		const float* vb = &verts[((imin+1)%nv)*3];
+		dtVlerp(closest, va, vb, edget[imin]);
+		
+		if (posOverPoly)
+			*posOverPoly = false;
+	}
+	else
+	{
+		if (posOverPoly)
+			*posOverPoly = true;
+	}
+	
+	// Find height at the location.
 	for (int j = 0; j < pd->triCount; ++j)
 	{
 		const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
@@ -631,13 +686,11 @@ void dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip
 			else
 				v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
 		}
-		float pt[3];
-		dtClosestPtPointTriangle(pt, pos, v[0], v[1], v[2]);
-		float d = dtVdistSqr(pos, pt);
-		if (d < closestDistSqr)
+		float h;
+		if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
 		{
-			dtVcopy(closest, pt);
-			closestDistSqr = d;
+			closest[1] = h;
+			break;
 		}
 	}
 }
@@ -661,12 +714,27 @@ dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
 	{
 		dtPolyRef ref = polys[i];
 		float closestPtPoly[3];
-		closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly);
-		float d = dtVdistSqr(center, closestPtPoly);
+		float diff[3];
+		bool posOverPoly = false;
+		float d;
+		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)
 		{
-			if (nearestPt)
-				dtVcopy(nearestPt, closestPtPoly);
+			dtVcopy(nearestPt, closestPtPoly);
 			nearestDistanceSqr = d;
 			nearest = ref;
 		}
@@ -769,6 +837,11 @@ int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, co
 /// tile will be restored to the same values they were before the tile was 
 /// removed.
 ///
+/// The nav mesh assumes exclusive access to the data passed and will make
+/// changes to the dynamic portion of the data. For that reason the data
+/// should not be reused in other nav meshes until the tile has been successfully
+/// removed from this nav mesh.
+///
 /// @see dtCreateNavMeshData, #removeTile
 dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
 							dtTileRef lastRef, dtTileRef* result)
@@ -1123,25 +1196,24 @@ dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSiz
 	}
 	
 	// Remove connections to neighbour tiles.
-	// Create connections with neighbour tiles.
 	static const int MAX_NEIS = 32;
 	dtMeshTile* neis[MAX_NEIS];
 	int nneis;
 	
-	// Connect with layers in current tile.
+	// Disconnect from other layers in current tile.
 	nneis = getTilesAt(tile->header->x, tile->header->y, neis, MAX_NEIS);
 	for (int j = 0; j < nneis; ++j)
 	{
 		if (neis[j] == tile) continue;
-		unconnectExtLinks(neis[j], tile);
+		unconnectLinks(neis[j], tile);
 	}
 	
-	// Connect with neighbour tiles.
+	// Disconnect from neighbour tiles.
 	for (int i = 0; i < 8; ++i)
 	{
 		nneis = getNeighbourTilesAt(tile->header->x, tile->header->y, i, neis, MAX_NEIS);
 		for (int j = 0; j < nneis; ++j)
-			unconnectExtLinks(neis[j], tile);
+			unconnectLinks(neis[j], tile);
 	}
 		
 	// Reset tile.
@@ -1173,7 +1245,11 @@ dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSiz
 	tile->offMeshCons = 0;
 
 	// Update salt, salt should never be zero.
+#ifdef DT_POLYREF64
+	tile->salt = (tile->salt+1) & ((1<<DT_SALT_BITS)-1);
+#else
 	tile->salt = (tile->salt+1) & ((1<<m_saltBits)-1);
+#endif
 	if (tile->salt == 0)
 		tile->salt++;
 

Engine/lib/recast/Detour/Source/DetourNavMeshBuilder.cpp

@@ -16,13 +16,13 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <float.h>
 #include "DetourNavMesh.h"
 #include "DetourCommon.h"
+#include "DetourMath.h"
 #include "DetourNavMeshBuilder.h"
 #include "DetourAlloc.h"
 #include "DetourAssert.h"
@@ -202,8 +202,8 @@ static int createBVTree(const unsigned short* verts, const int /*nverts*/,
 			if (z > it.bmax[2]) it.bmax[2] = z;
 		}
 		// Remap y
-		it.bmin[1] = (unsigned short)floorf((float)it.bmin[1]*ch/cs);
-		it.bmax[1] = (unsigned short)ceilf((float)it.bmax[1]*ch/cs);
+		it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1]*ch/cs);
+		it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1]*ch/cs);
 	}
 	
 	int curNode = 0;

Engine/lib/recast/Detour/Source/DetourNode.cpp

@@ -22,6 +22,19 @@
 #include "DetourCommon.h"
 #include <string.h>
 
+#ifdef DT_POLYREF64
+// From Thomas Wang, https://gist.github.com/badboy/6267743
+inline unsigned int dtHashRef(dtPolyRef a)
+{
+	a = (~a) + (a << 18); // a = (a << 18) - a - 1;
+	a = a ^ (a >> 31);
+	a = a * 21; // a = (a + (a << 2)) + (a << 4);
+	a = a ^ (a >> 11);
+	a = a + (a << 6);
+	a = a ^ (a >> 22);
+	return (unsigned int)a;
+}
+#else
 inline unsigned int dtHashRef(dtPolyRef a)
 {
 	a += ~(a<<15);
@@ -32,6 +45,7 @@ inline unsigned int dtHashRef(dtPolyRef a)
 	a ^=  (a>>16);
 	return (unsigned int)a;
 }
+#endif
 
 //////////////////////////////////////////////////////////////////////////////////////////
 dtNodePool::dtNodePool(int maxNodes, int hashSize) :
@@ -43,7 +57,9 @@ dtNodePool::dtNodePool(int maxNodes, int hashSize) :
 	m_nodeCount(0)
 {
 	dtAssert(dtNextPow2(m_hashSize) == (unsigned int)m_hashSize);
-	dtAssert(m_maxNodes > 0);
+	// pidx is special as 0 means "none" and 1 is the first node. For that reason
+	// we have 1 fewer nodes available than the number of values it can contain.
+	dtAssert(m_maxNodes > 0 && m_maxNodes <= DT_NULL_IDX && m_maxNodes <= (1 << DT_NODE_PARENT_BITS) - 1);
 
 	m_nodes = (dtNode*)dtAlloc(sizeof(dtNode)*m_maxNodes, DT_ALLOC_PERM);
 	m_next = (dtNodeIndex*)dtAlloc(sizeof(dtNodeIndex)*m_maxNodes, DT_ALLOC_PERM);
@@ -70,27 +86,46 @@ void dtNodePool::clear()
 	m_nodeCount = 0;
 }
 
-dtNode* dtNodePool::findNode(dtPolyRef id)
+unsigned int dtNodePool::findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes)
 {
+	int n = 0;
 	unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
 	dtNodeIndex i = m_first[bucket];
 	while (i != DT_NULL_IDX)
 	{
 		if (m_nodes[i].id == id)
+		{
+			if (n >= maxNodes)
+				return n;
+			nodes[n++] = &m_nodes[i];
+		}
+		i = m_next[i];
+	}
+
+	return n;
+}
+
+dtNode* dtNodePool::findNode(dtPolyRef id, unsigned char state)
+{
+	unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
+	dtNodeIndex i = m_first[bucket];
+	while (i != DT_NULL_IDX)
+	{
+		if (m_nodes[i].id == id && m_nodes[i].state == state)
 			return &m_nodes[i];
 		i = m_next[i];
 	}
 	return 0;
 }
 
-dtNode* dtNodePool::getNode(dtPolyRef id)
+dtNode* dtNodePool::getNode(dtPolyRef id, unsigned char state)
 {
 	unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
 	dtNodeIndex i = m_first[bucket];
 	dtNode* node = 0;
 	while (i != DT_NULL_IDX)
 	{
-		if (m_nodes[i].id == id)
+		if (m_nodes[i].id == id && m_nodes[i].state == state)
 			return &m_nodes[i];
 		i = m_next[i];
 	}
@@ -107,6 +142,7 @@ dtNode* dtNodePool::getNode(dtPolyRef id)
 	node->cost = 0;
 	node->total = 0;
 	node->id = id;
+	node->state = state;
 	node->flags = 0;
 	
 	m_next[i] = m_first[bucket];