Core/MMaps: Fix infinite loop in Detour

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

1 files changed, 9 insertions, 1 deletions

diff --git a/dep/recastnavigation/Detour/Source/DetourCommon.cpp b/dep/recastnavigation/Detour/Source/DetourCommon.cpp
index 3886f14b04d..e10e6276170 100644
--- a/dep/recastnavigation/Detour/Source/DetourCommon.cpp
+++ b/dep/recastnavigation/Detour/Source/DetourCommon.cpp
@@ -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;