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Dep/Recast: Update recastnavigation to 54bb0943e5

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This commit is contained in:
jackpoz
2019-04-07 21:05:23 +02:00
parent 1374658d72
commit e061663508
7 changed files with 161 additions and 182 deletions
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129
dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
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@@ -514,88 +514,14 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const
{
dtAssert(m_nav);
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
if (!m_nav->isValidPolyRef(ref) ||
!pos || !dtVisfinite(pos) ||
!closest)
{
return DT_FAILURE | DT_INVALID_PARAM;
if (!tile)
return DT_FAILURE | DT_INVALID_PARAM;
if (!pos || !dtVisfinite(pos) || !closest)
return DT_FAILURE | DT_INVALID_PARAM;
// 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 DT_SUCCESS;
}
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 = edged[0];
int imin = 0;
for (int i = 1; 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];
const float* v[3];
for (int k = 0; k < 3; ++k)
{
if (t[k] < poly->vertCount)
v[k] = &tile->verts[poly->verts[t[k]]*3];
else
v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
}
float h;
if (dtClosestHeightPointTriangle(closest, v[0], v[1], v[2], h))
{
closest[1] = h;
break;
}
}
m_nav->closestPointOnPoly(ref, pos, closest, posOverPoly);
return DT_SUCCESS;
}
@@ -662,7 +588,7 @@ dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float*
/// @par
///
/// Will return #DT_FAILURE if the provided position is outside the xz-bounds
/// Will return #DT_FAILURE | DT_INVALID_PARAM if the provided position is outside the xz-bounds
/// of the polygon.
///
dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* height) const
@@ -676,44 +602,25 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h
if (!pos || !dtVisfinite2D(pos))
return DT_FAILURE | DT_INVALID_PARAM;
// We used to return success for offmesh connections, but the
// getPolyHeight in DetourNavMesh does not do this, so special
// case it here.
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 = dtVdist2D(pos, v0);
const float d1 = dtVdist2D(pos, v1);
const float u = d0 / (d0+d1);
float t;
dtDistancePtSegSqr2D(pos, v0, v1, t);
if (height)
*height = v0[1] + (v1[1] - v0[1]) * u;
*height = v0[1] + (v1[1] - v0[1])*t;
return DT_SUCCESS;
}
else
{
const unsigned int ip = (unsigned int)(poly - tile->polys);
const dtPolyDetail* pd = &tile->detailMeshes[ip];
for (int j = 0; j < pd->triCount; ++j)
{
const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
const float* v[3];
for (int k = 0; k < 3; ++k)
{
if (t[k] < poly->vertCount)
v[k] = &tile->verts[poly->verts[t[k]]*3];
else
v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
}
float h;
if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
{
if (height)
*height = h;
return DT_SUCCESS;
}
}
}
return DT_FAILURE | DT_INVALID_PARAM;
return m_nav->getPolyHeight(tile, poly, pos, height)
? DT_SUCCESS
: DT_FAILURE | DT_INVALID_PARAM;
}
class dtFindNearestPolyQuery : public dtPolyQuery