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-rw-r--r--dep/recastnavigation/Detour/Include/DetourCommon.h22
-rw-r--r--dep/recastnavigation/Detour/Include/DetourMath.h4
-rw-r--r--dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp182
3 files changed, 161 insertions, 47 deletions
diff --git a/dep/recastnavigation/Detour/Include/DetourCommon.h b/dep/recastnavigation/Detour/Include/DetourCommon.h
index 739858cd9ad..113e8c3361a 100644
--- a/dep/recastnavigation/Detour/Include/DetourCommon.h
+++ b/dep/recastnavigation/Detour/Include/DetourCommon.h
@@ -283,6 +283,28 @@ inline bool dtVequal(const float* p0, const float* p1)
return d < thr;
}
+/// Checks that the specified vector's components are all finite.
+/// @param[in] v A point. [(x, y, z)]
+/// @return True if all of the point's components are finite, i.e. not NaN
+/// or any of the infinities.
+inline bool dtVisfinite(const float* v)
+{
+ bool result =
+ dtMathIsfinite(v[0]) &&
+ dtMathIsfinite(v[1]) &&
+ dtMathIsfinite(v[2]);
+
+ return result;
+}
+
+/// Checks that the specified vector's 2D components are finite.
+/// @param[in] v A point. [(x, y, z)]
+inline bool dtVisfinite2D(const float* v)
+{
+ bool result = dtMathIsfinite(v[0]) && dtMathIsfinite(v[2]);
+ return result;
+}
+
/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
/// @param[in] u A vector [(x, y, z)]
/// @param[in] v A vector [(x, y, z)]
diff --git a/dep/recastnavigation/Detour/Include/DetourMath.h b/dep/recastnavigation/Detour/Include/DetourMath.h
index 95e14f8843b..54af8af0954 100644
--- a/dep/recastnavigation/Detour/Include/DetourMath.h
+++ b/dep/recastnavigation/Detour/Include/DetourMath.h
@@ -8,6 +8,9 @@ Members in this module are wrappers around the standard math library
#define DETOURMATH_H
#include <math.h>
+// This include is required because libstdc++ has problems with isfinite
+// if cmath is included before math.h.
+#include <cmath>
inline float dtMathFabsf(float x) { return fabsf(x); }
inline float dtMathSqrtf(float x) { return sqrtf(x); }
@@ -16,5 +19,6 @@ inline float dtMathCeilf(float x) { return ceilf(x); }
inline float dtMathCosf(float x) { return cosf(x); }
inline float dtMathSinf(float x) { return sinf(x); }
inline float dtMathAtan2f(float y, float x) { return atan2f(y, x); }
+inline bool dtMathIsfinite(float x) { return std::isfinite(x); }
#endif
diff --git a/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp b/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
index 864ba31411a..c18db1c1968 100644
--- a/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
+++ b/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
@@ -222,7 +222,10 @@ dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*fr
dtPolyRef* randomRef, float* randomPt) const
{
dtAssert(m_nav);
-
+
+ if (!filter || !frand || !randomRef || !randomPt)
+ return DT_FAILURE | DT_INVALID_PARAM;
+
// Randomly pick one tile. Assume that all tiles cover roughly the same area.
const dtMeshTile* tile = 0;
float tsum = 0.0f;
@@ -319,8 +322,13 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
dtAssert(m_openList);
// Validate input
- if (!startRef || !m_nav->isValidPolyRef(startRef))
+ if (!m_nav->isValidPolyRef(startRef) ||
+ !centerPos || !dtVisfinite(centerPos) ||
+ maxRadius < 0 || !dtMathIsfinite(maxRadius) ||
+ !filter || !frand || !randomRef || !randomPt)
+ {
return DT_FAILURE | DT_INVALID_PARAM;
+ }
const dtMeshTile* startTile = 0;
const dtPoly* startPoly = 0;
@@ -512,6 +520,9 @@ dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, flo
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)
@@ -607,6 +618,9 @@ dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float*
const dtPoly* poly = 0;
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
return DT_FAILURE | DT_INVALID_PARAM;
+
+ if (!pos || !dtVisfinite(pos) || !closest)
+ return DT_FAILURE | DT_INVALID_PARAM;
// Collect vertices.
float verts[DT_VERTS_PER_POLYGON*3];
@@ -659,6 +673,9 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h
const dtPoly* poly = 0;
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
return DT_FAILURE | DT_INVALID_PARAM;
+
+ if (!pos || !dtVisfinite2D(pos))
+ return DT_FAILURE | DT_INVALID_PARAM;
if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
{
@@ -767,6 +784,8 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* halfE
if (!nearestRef)
return DT_FAILURE | DT_INVALID_PARAM;
+
+ // queryPolygons below will check rest of params
dtFindNearestPolyQuery query(this, center);
@@ -972,8 +991,12 @@ dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* halfExt
{
dtAssert(m_nav);
- if (!center || !halfExtents || !filter || !query)
+ if (!center || !dtVisfinite(center) ||
+ !halfExtents || !dtVisfinite(halfExtents) ||
+ !filter || !query)
+ {
return DT_FAILURE | DT_INVALID_PARAM;
+ }
float bmin[3], bmax[3];
dtVsub(bmin, center, halfExtents);
@@ -1021,14 +1044,20 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
dtAssert(m_nav);
dtAssert(m_nodePool);
dtAssert(m_openList);
-
- if (pathCount)
- *pathCount = 0;
+
+ if (!pathCount)
+ return DT_FAILURE | DT_INVALID_PARAM;
+
+ *pathCount = 0;
// Validate input
if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) ||
- !startPos || !endPos || !filter || maxPath <= 0 || !path || !pathCount)
+ !startPos || !dtVisfinite(startPos) ||
+ !endPos || !dtVisfinite(endPos) ||
+ !filter || !path || maxPath <= 0)
+ {
return DT_FAILURE | DT_INVALID_PARAM;
+ }
if (startRef == endRef)
{
@@ -1208,10 +1237,6 @@ dtStatus dtNavMeshQuery::getPathToNode(dtNode* endNode, dtPolyRef* path, int* pa
int length = 0;
do
{
- // Go through the whole m_nodepool max once, otherwise it's most likely a sign of infinite loop
- if (length > m_nodePool->getMaxNodes())
- return DT_FAILURE;
-
length++;
curNode = m_nodePool->getNodeAtIdx(curNode->pidx);
} while (curNode);
@@ -1267,18 +1292,21 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
m_query.status = DT_FAILURE;
m_query.startRef = startRef;
m_query.endRef = endRef;
- dtVcopy(m_query.startPos, startPos);
- dtVcopy(m_query.endPos, endPos);
+ if (startPos)
+ dtVcopy(m_query.startPos, startPos);
+ if (endPos)
+ dtVcopy(m_query.endPos, endPos);
m_query.filter = filter;
m_query.options = options;
m_query.raycastLimitSqr = FLT_MAX;
- if (!startRef || !endRef)
- return DT_FAILURE | DT_INVALID_PARAM;
-
// Validate input
- if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef))
+ if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef)
+ || !startPos || !dtVisfinite(startPos) ||
+ !endPos || !dtVisfinite(endPos) || !filter)
+ {
return DT_FAILURE | DT_INVALID_PARAM;
+ }
// trade quality with performance?
if (options & DT_FINDPATH_ANY_ANGLE)
@@ -1534,7 +1562,13 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath)
{
+ if (!pathCount)
+ return DT_FAILURE | DT_INVALID_PARAM;
+
*pathCount = 0;
+
+ if (!path || maxPath <= 0)
+ return DT_FAILURE | DT_INVALID_PARAM;
if (dtStatusFailed(m_query.status))
{
@@ -1619,12 +1653,13 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
dtPolyRef* path, int* pathCount, const int maxPath)
{
+ if (!pathCount)
+ return DT_FAILURE | DT_INVALID_PARAM;
+
*pathCount = 0;
-
- if (existingSize == 0)
- {
- return DT_FAILURE;
- }
+
+ if (!existing || existingSize <= 0 || !path || !pathCount || maxPath <= 0)
+ return DT_FAILURE | DT_INVALID_PARAM;
if (dtStatusFailed(m_query.status))
{
@@ -1827,14 +1862,19 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
int* straightPathCount, const int maxStraightPath, const int options) const
{
dtAssert(m_nav);
-
- *straightPathCount = 0;
-
- if (!maxStraightPath)
+
+ if (!straightPathCount)
return DT_FAILURE | DT_INVALID_PARAM;
-
- if (!path[0])
+
+ *straightPathCount = 0;
+
+ if (!startPos || !dtVisfinite(startPos) ||
+ !endPos || !dtVisfinite(endPos) ||
+ !path || pathSize <= 0 || !path[0] ||
+ maxStraightPath <= 0)
+ {
return DT_FAILURE | DT_INVALID_PARAM;
+ }
dtStatus stat = 0;
@@ -2074,13 +2114,19 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
dtAssert(m_nav);
dtAssert(m_tinyNodePool);
- *visitedCount = 0;
-
- // Validate input
- if (!startRef)
+ if (!visitedCount)
return DT_FAILURE | DT_INVALID_PARAM;
- if (!m_nav->isValidPolyRef(startRef))
+
+ *visitedCount = 0;
+
+ if (!m_nav->isValidPolyRef(startRef) ||
+ !startPos || !dtVisfinite(startPos) ||
+ !endPos || !dtVisfinite(endPos) ||
+ !filter || !resultPos || !visited ||
+ maxVisitedSize <= 0)
+ {
return DT_FAILURE | DT_INVALID_PARAM;
+ }
dtStatus status = DT_SUCCESS;
@@ -2488,16 +2534,23 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
dtRaycastHit* hit, dtPolyRef prevRef) const
{
dtAssert(m_nav);
-
+
+ if (!hit)
+ return DT_FAILURE | DT_INVALID_PARAM;
+
hit->t = 0;
hit->pathCount = 0;
hit->pathCost = 0;
// Validate input
- if (!startRef || !m_nav->isValidPolyRef(startRef))
- return DT_FAILURE | DT_INVALID_PARAM;
- if (prevRef && !m_nav->isValidPolyRef(prevRef))
+ if (!m_nav->isValidPolyRef(startRef) ||
+ !startPos || !dtVisfinite(startPos) ||
+ !endPos || !dtVisfinite(endPos) ||
+ !filter ||
+ (prevRef && !m_nav->isValidPolyRef(prevRef)))
+ {
return DT_FAILURE | DT_INVALID_PARAM;
+ }
float dir[3], curPos[3], lastPos[3];
float verts[DT_VERTS_PER_POLYGON*3+3];
@@ -2739,11 +2792,18 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
dtAssert(m_nodePool);
dtAssert(m_openList);
+ if (!resultCount)
+ return DT_FAILURE | DT_INVALID_PARAM;
+
*resultCount = 0;
-
- // Validate input
- if (!startRef || !m_nav->isValidPolyRef(startRef))
+
+ if (!m_nav->isValidPolyRef(startRef) ||
+ !centerPos || !dtVisfinite(centerPos) ||
+ radius < 0 || !dtMathIsfinite(radius) ||
+ !filter || maxResult < 0)
+ {
return DT_FAILURE | DT_INVALID_PARAM;
+ }
m_nodePool->clear();
m_openList->clear();
@@ -2905,8 +2965,18 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
dtAssert(m_nav);
dtAssert(m_nodePool);
dtAssert(m_openList);
-
+
+ if (!resultCount)
+ return DT_FAILURE | DT_INVALID_PARAM;
+
*resultCount = 0;
+
+ if (!m_nav->isValidPolyRef(startRef) ||
+ !verts || nverts < 3 ||
+ !filter || maxResult < 0)
+ {
+ return DT_FAILURE | DT_INVALID_PARAM;
+ }
// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
@@ -3092,13 +3162,20 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
{
dtAssert(m_nav);
dtAssert(m_tinyNodePool);
-
+
+ if (!resultCount)
+ return DT_FAILURE | DT_INVALID_PARAM;
+
*resultCount = 0;
- // Validate input
- if (!startRef || !m_nav->isValidPolyRef(startRef))
+ if (!m_nav->isValidPolyRef(startRef) ||
+ !centerPos || !dtVisfinite(centerPos) ||
+ radius < 0 || !dtMathIsfinite(radius) ||
+ !filter || maxResult < 0)
+ {
return DT_FAILURE | DT_INVALID_PARAM;
-
+ }
+
static const int MAX_STACK = 48;
dtNode* stack[MAX_STACK];
int nstack = 0;
@@ -3305,13 +3382,19 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter*
const int maxSegments) const
{
dtAssert(m_nav);
+
+ if (!segmentCount)
+ return DT_FAILURE | DT_INVALID_PARAM;
*segmentCount = 0;
-
+
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
return DT_FAILURE | DT_INVALID_PARAM;
+
+ if (!filter || !segmentVerts || maxSegments < 0)
+ return DT_FAILURE | DT_INVALID_PARAM;
int n = 0;
static const int MAX_INTERVAL = 16;
@@ -3459,8 +3542,13 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
dtAssert(m_openList);
// Validate input
- if (!startRef || !m_nav->isValidPolyRef(startRef))
+ if (!m_nav->isValidPolyRef(startRef) ||
+ !centerPos || !dtVisfinite(centerPos) ||
+ maxRadius < 0 || !dtMathIsfinite(maxRadius) ||
+ !filter || !hitDist || !hitPos || !hitNormal)
+ {
return DT_FAILURE | DT_INVALID_PARAM;
+ }
m_nodePool->clear();
m_openList->clear();