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Core/MMaps: Fix infinite loop in Detour

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Fix another infinite loop in Detour caused by degenerated triangles.
Check the result of some previously ignored Detour calls.
Update recastnavigation to 3a619d773deb7e3a15ee215217c825995fe71312 and apply some more custom changes
This commit is contained in:
jackpoz
2019-03-02 19:53:46 +01:00
parent e9957b1765
commit c602220e02
4 changed files with 19 additions and 7 deletions
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3
dep/PackageList.txt
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@@ -62,4 +62,5 @@ gSOAP (a portable development toolkit for C and C++ XML Web services and XML dat
recastnavigation (Recast is state of the art navigation mesh construction toolset for games)
https://github.com/recastnavigation/recastnavigation
Version: 14b2631527c4792e95b2c78ebfa8ac4cd3413363
Version: 3a619d773deb7e3a15ee215217c825995fe71312
Custom changes: https://github.com/TrinityCore/recastnavigation/tree/3.3.5

10
dep/recastnavigation/Detour/Source/DetourCommon.cpp
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@@ -226,7 +226,15 @@ bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b
// If point lies inside the triangle, return interpolated ycoord.
if (u >= epsilon && v >= epsilon && (u+v) <= denom - epsilon) {
h = a[1] + (v0[1]*u + v1[1]*v) / denom;
if (denom == 0.f && u == 0.f && v == 0.f)
h = a[1];
else
h = a[1] + (v0[1]*u + v1[1]*v) / denom;
if (!dtMathIsfinite(h))
return false;
return true;
}
return false;

4
dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
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@@ -1301,8 +1301,8 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
m_query.raycastLimitSqr = FLT_MAX;
// Validate input
if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef)
|| !startPos || !dtVisfinite(startPos) ||
if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) ||
!startPos || !dtVisfinite(startPos) ||
!endPos || !dtVisfinite(endPos) || !filter)
{
return DT_FAILURE | DT_INVALID_PARAM;

9
src/server/game/Movement/PathGenerator.cpp
View File

@@ -817,10 +817,12 @@ dtStatus PathGenerator::FindSmoothPath(float const* startPos, float const* endPo
dtPolyRef visited[MAX_VISIT_POLY];
uint32 nvisited = 0;
_navMeshQuery->moveAlongSurface(polys[0], iterPos, moveTgt, &_filter, result, visited, (int*)&nvisited, MAX_VISIT_POLY);
if (dtStatusFailed(_navMeshQuery->moveAlongSurface(polys[0], iterPos, moveTgt, &_filter, result, visited, (int*)&nvisited, MAX_VISIT_POLY)))
return DT_FAILURE;
npolys = FixupCorridor(polys, npolys, MAX_PATH_LENGTH, visited, nvisited);
_navMeshQuery->getPolyHeight(polys[0], result, &result[1]);
if (dtStatusFailed(_navMeshQuery->getPolyHeight(polys[0], result, &result[1])))
return DT_FAILURE;
result[1] += 0.5f;
dtVcopy(iterPos, result);
@@ -865,7 +867,8 @@ dtStatus PathGenerator::FindSmoothPath(float const* startPos, float const* endPo
}
// Move position at the other side of the off-mesh link.
dtVcopy(iterPos, connectionEndPos);
_navMeshQuery->getPolyHeight(polys[0], iterPos, &iterPos[1]);
if (dtStatusFailed(_navMeshQuery->getPolyHeight(polys[0], iterPos, &iterPos[1])))
return DT_FAILURE;
iterPos[1] += 0.5f;
}
}