Updated recast to 1.5.1

Engine/lib/recast/DetourCrowd/Include/DetourCrowd.h

@@ -45,6 +45,12 @@ static const int DT_CROWDAGENT_MAX_CORNERS = 4;
 ///		 dtCrowdAgentParams::obstacleAvoidanceType
 static const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8;
 
+/// The maximum number of query filter types supported by the crowd manager.
+/// @ingroup crowd
+/// @see dtQueryFilter, dtCrowd::getFilter() dtCrowd::getEditableFilter(),
+///		dtCrowdAgentParams::queryFilterType
+static const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
+
 /// Provides neighbor data for agents managed by the crowd.
 /// @ingroup crowd
 /// @see dtCrowdAgent::neis, dtCrowd
@@ -87,6 +93,9 @@ struct dtCrowdAgentParams
 	/// [Limits: 0 <= value <= #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
 	unsigned char obstacleAvoidanceType;	
 
+	/// The index of the query filter used by this agent.
+	unsigned char queryFilterType;
+
 	/// User defined data attached to the agent.
 	void* userData;
 };
@@ -106,12 +115,15 @@ enum MoveRequestState
 /// @ingroup crowd
 struct dtCrowdAgent
 {
-	/// 1 if the agent is active, or 0 if the agent is in an unused slot in the agent pool.
-	unsigned char active;
+	/// True if the agent is active, false if the agent is in an unused slot in the agent pool.
+	bool active;
 
 	/// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState)
 	unsigned char state;
 
+	/// True if the agent has valid path (targetState == DT_CROWDAGENT_TARGET_VALID) and the path does not lead to the requested position, else false.
+	bool partial;
+
 	/// The path corridor the agent is using.
 	dtPathCorridor corridor;
 
@@ -131,10 +143,10 @@ struct dtCrowdAgent
 	float desiredSpeed;
 
 	float npos[3];		///< The current agent position. [(x, y, z)]
-	float disp[3];
-	float dvel[3];		///< The desired velocity of the agent. [(x, y, z)]
-	float nvel[3];
-	float vel[3];		///< The actual velocity of the agent. [(x, y, z)]
+	float disp[3];		///< A temporary value used to accumulate agent displacement during iterative collision resolution. [(x, y, z)]
+	float dvel[3];		///< The desired velocity of the agent. Based on the current path, calculated from scratch each frame. [(x, y, z)]
+	float nvel[3];		///< The desired velocity adjusted by obstacle avoidance, calculated from scratch each frame. [(x, y, z)]
+	float vel[3];		///< The actual velocity of the agent. The change from nvel -> vel is constrained by max acceleration. [(x, y, z)]
 
 	/// The agent's configuration parameters.
 	dtCrowdAgentParams params;
@@ -161,7 +173,7 @@ struct dtCrowdAgent
 
 struct dtCrowdAgentAnimation
 {
-	unsigned char active;
+	bool active;
 	float initPos[3], startPos[3], endPos[3];
 	dtPolyRef polyRef;
 	float t, tmax;
@@ -206,8 +218,9 @@ class dtCrowd
 	int m_maxPathResult;
 	
 	float m_ext[3];
-	dtQueryFilter m_filter;
-	
+
+	dtQueryFilter m_filters[DT_CROWD_MAX_QUERY_FILTER_TYPE];
+
 	float m_maxAgentRadius;
 
 	int m_velocitySampleCount;
@@ -218,7 +231,7 @@ class dtCrowd
 	void updateMoveRequest(const float dt);
 	void checkPathValidity(dtCrowdAgent** agents, const int nagents, const float dt);
 
-	inline int getAgentIndex(const dtCrowdAgent* agent) const  { return agent - m_agents; }
+	inline int getAgentIndex(const dtCrowdAgent* agent) const  { return (int)(agent - m_agents); }
 
 	bool requestMoveTargetReplan(const int idx, dtPolyRef ref, const float* pos);
 
@@ -251,9 +264,14 @@ public:
 	/// @return The requested agent.
 	const dtCrowdAgent* getAgent(const int idx);
 
+	/// Gets the specified agent from the pool.
+	///	 @param[in]		idx		The agent index. [Limits: 0 <= value < #getAgentCount()]
+	/// @return The requested agent.
+	dtCrowdAgent* getEditableAgent(const int idx);
+
 	/// The maximum number of agents that can be managed by the object.
 	/// @return The maximum number of agents.
-	const int getAgentCount() const;
+	int getAgentCount() const;
 	
 	/// Adds a new agent to the crowd.
 	///  @param[in]		pos		The requested position of the agent. [(x, y, z)]
@@ -301,11 +319,11 @@ public:
 	
 	/// Gets the filter used by the crowd.
 	/// @return The filter used by the crowd.
-	const dtQueryFilter* getFilter() const { return &m_filter; }
-
+	inline const dtQueryFilter* getFilter(const int i) const { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
+	
 	/// Gets the filter used by the crowd.
 	/// @return The filter used by the crowd.
-	dtQueryFilter* getEditableFilter() { return &m_filter; }
+	inline dtQueryFilter* getEditableFilter(const int i) { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
 
 	/// Gets the search extents [(x, y, z)] used by the crowd for query operations. 
 	/// @return The search extents used by the crowd. [(x, y, z)]
@@ -325,6 +343,11 @@ public:
 
 	/// Gets the query object used by the crowd.
 	const dtNavMeshQuery* getNavMeshQuery() const { return m_navquery; }
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	dtCrowd(const dtCrowd&);
+	dtCrowd& operator=(const dtCrowd&);
 };
 
 /// Allocates a crowd object using the Detour allocator.
@@ -429,4 +452,4 @@ This value is often based on the agent radius. E.g. radius * 30
 A higher value will result in agents trying to stay farther away from each other at 
 the cost of more difficult steering in tight spaces.
 
-*/
+*/

Engine/lib/recast/DetourCrowd/Include/DetourLocalBoundary.h

@@ -40,7 +40,7 @@ class dtLocalBoundary
 	dtPolyRef m_polys[MAX_LOCAL_POLYS];
 	int m_npolys;
 
-	void addSegment(const float dist, const float* seg);
+	void addSegment(const float dist, const float* s);
 	
 public:
 	dtLocalBoundary();
@@ -56,6 +56,11 @@ public:
 	inline const float* getCenter() const { return m_center; }
 	inline int getSegmentCount() const { return m_nsegs; }
 	inline const float* getSegment(int i) const { return m_segs[i].s; }
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	dtLocalBoundary(const dtLocalBoundary&);
+	dtLocalBoundary& operator=(const dtLocalBoundary&);
 };
 
 #endif // DETOURLOCALBOUNDARY_H

Engine/lib/recast/DetourCrowd/Include/DetourObstacleAvoidance.h

@@ -58,6 +58,10 @@ public:
 	inline float getSampleCollisionTimePenalty(const int i) const { return m_tpen[i]; }
 
 private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	dtObstacleAvoidanceDebugData(const dtObstacleAvoidanceDebugData&);
+	dtObstacleAvoidanceDebugData& operator=(const dtObstacleAvoidanceDebugData&);
+
 	int m_nsamples;
 	int m_maxSamples;
 	float* m_vel;
@@ -122,17 +126,18 @@ public:
 	const dtObstacleSegment* getObstacleSegment(const int i) { return &m_segments[i]; }
 
 private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	dtObstacleAvoidanceQuery(const dtObstacleAvoidanceQuery&);
+	dtObstacleAvoidanceQuery& operator=(const dtObstacleAvoidanceQuery&);
 
 	void prepare(const float* pos, const float* dvel);
 
 	float processSample(const float* vcand, const float cs,
 						const float* pos, const float rad,
 						const float* vel, const float* dvel,
+						const float minPenalty,
 						dtObstacleAvoidanceDebugData* debug);
 
-	dtObstacleCircle* insertCircle(const float dist);
-	dtObstacleSegment* insertSegment(const float dist);
-
 	dtObstacleAvoidanceParams m_params;
 	float m_invHorizTime;
 	float m_vmax;

Engine/lib/recast/DetourCrowd/Include/DetourPathCorridor.h

@@ -92,14 +92,16 @@ public:
 	///  @param[in]		npos		The desired new position. [(x, y, z)]
 	///  @param[in]		navquery	The query object used to build the corridor.
 	///  @param[in]		filter		The filter to apply to the operation.
-	void movePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
+	/// @return Returns true if move succeeded.
+	bool movePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 
 	/// Moves the target from the curent location to the desired location, adjusting the corridor
 	/// as needed to reflect the change. 
 	///  @param[in]		npos		The desired new target position. [(x, y, z)]
 	///  @param[in]		navquery	The query object used to build the corridor.
 	///  @param[in]		filter		The filter to apply to the operation.
-	void moveTargetPosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
+	/// @return Returns true if move succeeded.
+	bool moveTargetPosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 	
 	/// Loads a new path and target into the corridor.
 	///  @param[in]		target		The target location within the last polygon of the path. [(x, y, z)]
@@ -129,7 +131,12 @@ public:
 
 	/// The number of polygons in the current corridor path.
 	/// @return The number of polygons in the current corridor path.
-	inline int getPathCount() const { return m_npath; } 	
+	inline int getPathCount() const { return m_npath; }
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	dtPathCorridor(const dtPathCorridor&);
+	dtPathCorridor& operator=(const dtPathCorridor&);
 };
 
 int dtMergeCorridorStartMoved(dtPolyRef* path, const int npath, const int maxPath,

Engine/lib/recast/DetourCrowd/Include/DetourPathQueue.h

@@ -70,6 +70,10 @@ public:
 	
 	inline const dtNavMeshQuery* getNavQuery() const { return m_navquery; }
 
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	dtPathQueue(const dtPathQueue&);
+	dtPathQueue& operator=(const dtPathQueue&);
 };
 
 #endif // DETOURPATHQUEUE_H

Engine/lib/recast/DetourCrowd/Include/DetourProximityGrid.h

@@ -21,7 +21,6 @@
 
 class dtProximityGrid
 {
-	int m_maxItems;
 	float m_cellSize;
 	float m_invCellSize;
 	
@@ -44,7 +43,7 @@ public:
 	dtProximityGrid();
 	~dtProximityGrid();
 	
-	bool init(const int maxItems, const float cellSize);
+	bool init(const int poolSize, const float cellSize);
 	
 	void clear();
 	
@@ -59,7 +58,12 @@ public:
 	int getItemCountAt(const int x, const int y) const;
 	
 	inline const int* getBounds() const { return m_bounds; }
-	inline const float getCellSize() const { return m_cellSize; }
+	inline float getCellSize() const { return m_cellSize; }
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	dtProximityGrid(const dtProximityGrid&);
+	dtProximityGrid& operator=(const dtProximityGrid&);
 };
 
 dtProximityGrid* dtAllocProximityGrid();