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https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-03-06 14:00:39 +00:00
Updated recast to 1.5.1
This commit is contained in:
Johxz
parent
630949514a
commit
c7e5b35744
55 changed files with 3277 additions and 1460 deletions
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@ -16,13 +16,13 @@
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#include <math.h>
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#include <float.h>
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#include <string.h>
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#include <stdio.h>
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#include "DetourNavMesh.h"
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#include "DetourNode.h"
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#include "DetourCommon.h"
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#include "DetourMath.h"
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#include "DetourAlloc.h"
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#include "DetourAssert.h"
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#include <new>
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@ -193,11 +193,13 @@ dtNavMesh::dtNavMesh() :
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m_tileLutMask(0),
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m_posLookup(0),
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m_nextFree(0),
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m_tiles(0),
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m_saltBits(0),
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m_tileBits(0),
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m_polyBits(0)
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m_tiles(0)
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{
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#ifndef DT_POLYREF64
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m_saltBits = 0;
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m_tileBits = 0;
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m_polyBits = 0;
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#endif
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memset(&m_params, 0, sizeof(dtNavMeshParams));
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m_orig[0] = 0;
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m_orig[1] = 0;
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@ -249,12 +251,15 @@ dtStatus dtNavMesh::init(const dtNavMeshParams* params)
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}
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// Init ID generator values.
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#ifndef DT_POLYREF64
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m_tileBits = dtIlog2(dtNextPow2((unsigned int)params->maxTiles));
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m_polyBits = dtIlog2(dtNextPow2((unsigned int)params->maxPolys));
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// Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow.
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m_saltBits = dtMin((unsigned int)31, 32 - m_tileBits - m_polyBits);
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if (m_saltBits < 10)
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return DT_FAILURE | DT_INVALID_PARAM;
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#endif
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return DT_SUCCESS;
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}
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@ -345,7 +350,7 @@ int dtNavMesh::findConnectingPolys(const float* va, const float* vb,
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return n;
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}
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void dtNavMesh::unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target)
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void dtNavMesh::unconnectLinks(dtMeshTile* tile, dtMeshTile* target)
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{
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if (!tile || !target) return;
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@ -358,10 +363,9 @@ void dtNavMesh::unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target)
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unsigned int pj = DT_NULL_LINK;
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while (j != DT_NULL_LINK)
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{
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if (tile->links[j].side != 0xff &&
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decodePolyIdTile(tile->links[j].ref) == targetNum)
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if (decodePolyIdTile(tile->links[j].ref) == targetNum)
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{
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// Revove link.
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// Remove link.
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unsigned int nj = tile->links[j].next;
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if (pj == DT_NULL_LINK)
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poly->firstLink = nj;
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@ -612,14 +616,65 @@ void dtNavMesh::baseOffMeshLinks(dtMeshTile* tile)
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}
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}
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void dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
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const float* pos, float* closest) const
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void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const
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{
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const dtPoly* poly = &tile->polys[ip];
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const dtMeshTile* tile = 0;
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const dtPoly* poly = 0;
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getTileAndPolyByRefUnsafe(ref, &tile, &poly);
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float closestDistSqr = FLT_MAX;
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// Off-mesh connections don't have detail polygons.
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if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
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{
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const float* v0 = &tile->verts[poly->verts[0]*3];
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const float* v1 = &tile->verts[poly->verts[1]*3];
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const float d0 = dtVdist(pos, v0);
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const float d1 = dtVdist(pos, v1);
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const float u = d0 / (d0+d1);
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dtVlerp(closest, v0, v1, u);
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if (posOverPoly)
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*posOverPoly = false;
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return;
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}
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const unsigned int ip = (unsigned int)(poly - tile->polys);
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const dtPolyDetail* pd = &tile->detailMeshes[ip];
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// Clamp point to be inside the polygon.
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float verts[DT_VERTS_PER_POLYGON*3];
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float edged[DT_VERTS_PER_POLYGON];
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float edget[DT_VERTS_PER_POLYGON];
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const int nv = poly->vertCount;
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for (int i = 0; i < nv; ++i)
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dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]);
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dtVcopy(closest, pos);
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if (!dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
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{
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// Point is outside the polygon, dtClamp to nearest edge.
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float dmin = FLT_MAX;
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int imin = -1;
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for (int i = 0; i < nv; ++i)
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{
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if (edged[i] < dmin)
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{
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dmin = edged[i];
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imin = i;
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}
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}
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const float* va = &verts[imin*3];
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const float* vb = &verts[((imin+1)%nv)*3];
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dtVlerp(closest, va, vb, edget[imin]);
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if (posOverPoly)
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*posOverPoly = false;
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}
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else
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{
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if (posOverPoly)
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*posOverPoly = true;
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}
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// Find height at the location.
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for (int j = 0; j < pd->triCount; ++j)
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{
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const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
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@ -631,13 +686,11 @@ void dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip
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else
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v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
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}
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float pt[3];
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dtClosestPtPointTriangle(pt, pos, v[0], v[1], v[2]);
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float d = dtVdistSqr(pos, pt);
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if (d < closestDistSqr)
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float h;
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if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
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{
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dtVcopy(closest, pt);
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closestDistSqr = d;
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closest[1] = h;
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break;
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}
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}
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}
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@ -661,12 +714,27 @@ dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
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{
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dtPolyRef ref = polys[i];
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float closestPtPoly[3];
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closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly);
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float d = dtVdistSqr(center, closestPtPoly);
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float diff[3];
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bool posOverPoly = false;
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float d;
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closestPointOnPoly(ref, center, closestPtPoly, &posOverPoly);
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// If a point is directly over a polygon and closer than
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// climb height, favor that instead of straight line nearest point.
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dtVsub(diff, center, closestPtPoly);
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if (posOverPoly)
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{
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d = dtAbs(diff[1]) - tile->header->walkableClimb;
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d = d > 0 ? d*d : 0;
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}
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else
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{
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d = dtVlenSqr(diff);
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}
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if (d < nearestDistanceSqr)
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{
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if (nearestPt)
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dtVcopy(nearestPt, closestPtPoly);
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dtVcopy(nearestPt, closestPtPoly);
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nearestDistanceSqr = d;
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nearest = ref;
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}
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@ -769,6 +837,11 @@ int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, co
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/// tile will be restored to the same values they were before the tile was
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/// removed.
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///
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/// The nav mesh assumes exclusive access to the data passed and will make
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/// changes to the dynamic portion of the data. For that reason the data
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/// should not be reused in other nav meshes until the tile has been successfully
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/// removed from this nav mesh.
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///
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/// @see dtCreateNavMeshData, #removeTile
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dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
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dtTileRef lastRef, dtTileRef* result)
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@ -1123,25 +1196,24 @@ dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSiz
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}
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// Remove connections to neighbour tiles.
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// Create connections with neighbour tiles.
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static const int MAX_NEIS = 32;
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dtMeshTile* neis[MAX_NEIS];
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int nneis;
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// Connect with layers in current tile.
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// Disconnect from other layers in current tile.
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nneis = getTilesAt(tile->header->x, tile->header->y, neis, MAX_NEIS);
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for (int j = 0; j < nneis; ++j)
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{
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if (neis[j] == tile) continue;
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unconnectExtLinks(neis[j], tile);
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unconnectLinks(neis[j], tile);
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}
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// Connect with neighbour tiles.
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// Disconnect from neighbour tiles.
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for (int i = 0; i < 8; ++i)
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{
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nneis = getNeighbourTilesAt(tile->header->x, tile->header->y, i, neis, MAX_NEIS);
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for (int j = 0; j < nneis; ++j)
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unconnectExtLinks(neis[j], tile);
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unconnectLinks(neis[j], tile);
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}
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// Reset tile.
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@ -1173,7 +1245,11 @@ dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSiz
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tile->offMeshCons = 0;
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// Update salt, salt should never be zero.
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#ifdef DT_POLYREF64
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tile->salt = (tile->salt+1) & ((1<<DT_SALT_BITS)-1);
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#else
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tile->salt = (tile->salt+1) & ((1<<m_saltBits)-1);
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#endif
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if (tile->salt == 0)
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tile->salt++;
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