Updated recast to 1.5.1

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);