diff options
Diffstat (limited to 'dep/recastnavigation/Detour')
6 files changed, 44 insertions, 35 deletions
diff --git a/dep/recastnavigation/Detour/Include/DetourCommon.h b/dep/recastnavigation/Detour/Include/DetourCommon.h index 0888614ea9b..2afba0d780b 100644 --- a/dep/recastnavigation/Detour/Include/DetourCommon.h +++ b/dep/recastnavigation/Detour/Include/DetourCommon.h @@ -19,6 +19,8 @@ #ifndef DETOURCOMMON_H #define DETOURCOMMON_H +#include "DetourMath.h" + /** @defgroup detour Detour @@ -71,11 +73,6 @@ template<class T> inline T dtSqr(T a) { return a*a; } /// @return The value, clamped to the specified range. template<class T> inline T dtClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } -/// Returns the square root of the value. -/// @param[in] x The value. -/// @return The square root of the vlaue. -float dtSqrt(float x); - /// @} /// @name Vector helper functions. /// @{ @@ -202,7 +199,7 @@ inline void dtVcopy(float* dest, const float* a) /// @return The scalar length of the vector. inline float dtVlen(const float* v) { - return dtSqrt(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]); + return dtMathSqrtf(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]); } /// Derives the square of the scalar length of the vector. (len * len) @@ -222,7 +219,7 @@ inline float dtVdist(const float* v1, const float* v2) const float dx = v2[0] - v1[0]; const float dy = v2[1] - v1[1]; const float dz = v2[2] - v1[2]; - return dtSqrt(dx*dx + dy*dy + dz*dz); + return dtMathSqrtf(dx*dx + dy*dy + dz*dz); } /// Returns the square of the distance between two points. @@ -247,7 +244,7 @@ inline float dtVdist2D(const float* v1, const float* v2) { const float dx = v2[0] - v1[0]; const float dz = v2[2] - v1[2]; - return dtSqrt(dx*dx + dz*dz); + return dtMathSqrtf(dx*dx + dz*dz); } /// Derives the square of the distance between the specified points on the xz-plane. @@ -265,7 +262,7 @@ inline float dtVdist2DSqr(const float* v1, const float* v2) /// @param[in,out] v The vector to normalize. [(x, y, z)] inline void dtVnormalize(float* v) { - float d = 1.0f / dtSqrt(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2])); + float d = 1.0f / dtMathSqrtf(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2])); v[0] *= d; v[1] *= d; v[2] *= d; diff --git a/dep/recastnavigation/Detour/Include/DetourMath.h b/dep/recastnavigation/Detour/Include/DetourMath.h new file mode 100644 index 00000000000..95e14f8843b --- /dev/null +++ b/dep/recastnavigation/Detour/Include/DetourMath.h @@ -0,0 +1,20 @@ +/** +@defgroup detour Detour + +Members in this module are wrappers around the standard math library +*/ + +#ifndef DETOURMATH_H +#define DETOURMATH_H + +#include <math.h> + +inline float dtMathFabsf(float x) { return fabsf(x); } +inline float dtMathSqrtf(float x) { return sqrtf(x); } +inline float dtMathFloorf(float x) { return floorf(x); } +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); } + +#endif diff --git a/dep/recastnavigation/Detour/Source/DetourCommon.cpp b/dep/recastnavigation/Detour/Source/DetourCommon.cpp index b5700f5930b..26fe65c1781 100644 --- a/dep/recastnavigation/Detour/Source/DetourCommon.cpp +++ b/dep/recastnavigation/Detour/Source/DetourCommon.cpp @@ -16,16 +16,11 @@ // 3. This notice may not be removed or altered from any source distribution. // -#include <math.h> #include "DetourCommon.h" +#include "DetourMath.h" ////////////////////////////////////////////////////////////////////////////////////////// -float dtSqrt(float x) -{ - return sqrtf(x); -} - void dtClosestPtPointTriangle(float* closest, const float* p, const float* a, const float* b, const float* c) { @@ -360,7 +355,7 @@ void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas, acc += dacc; } - float v = dtSqrt(t); + float v = dtMathSqrtf(t); const float a = 1 - v; const float b = (1 - u) * v; diff --git a/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp b/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp index 51740509950..e8a679bb5d1 100644 --- a/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp +++ b/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp @@ -16,13 +16,13 @@ // 3. This notice may not be removed or altered from any source distribution. // -#include <math.h> #include <float.h> #include <string.h> #include <stdio.h> #include "DetourNavMesh.h" #include "DetourNode.h" #include "DetourCommon.h" +#include "DetourMath.h" #include "DetourAlloc.h" #include "DetourAssert.h" #include <new> @@ -709,7 +709,7 @@ dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile, float closestPtPoly[3]; float diff[3]; bool posOverPoly = false; - float d = 0; + float d; closestPointOnPoly(ref, center, closestPtPoly, &posOverPoly); // If a point is directly over a polygon and closer than diff --git a/dep/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp b/dep/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp index 9d8471b96a1..1bf271bed7a 100644 --- a/dep/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp +++ b/dep/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp @@ -16,13 +16,13 @@ // 3. This notice may not be removed or altered from any source distribution. // -#include <math.h> #include <stdio.h> #include <stdlib.h> #include <string.h> #include <float.h> #include "DetourNavMesh.h" #include "DetourCommon.h" +#include "DetourMath.h" #include "DetourNavMeshBuilder.h" #include "DetourAlloc.h" #include "DetourAssert.h" @@ -202,8 +202,8 @@ static int createBVTree(const unsigned short* verts, const int /*nverts*/, if (z > it.bmax[2]) it.bmax[2] = z; } // Remap y - it.bmin[1] = (unsigned short)floorf((float)it.bmin[1]*ch/cs); - it.bmax[1] = (unsigned short)ceilf((float)it.bmax[1]*ch/cs); + it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1]*ch/cs); + it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1]*ch/cs); } int curNode = 0; diff --git a/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp b/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp index ec3a2946ea5..fbf3724e85b 100644 --- a/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp +++ b/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp @@ -16,13 +16,13 @@ // 3. This notice may not be removed or altered from any source distribution. // -#include <math.h> #include <float.h> #include <string.h> #include "DetourNavMeshQuery.h" #include "DetourNavMesh.h" #include "DetourNode.h" #include "DetourCommon.h" +#include "DetourMath.h" #include "DetourAlloc.h" #include "DetourAssert.h" #include <new> @@ -99,9 +99,9 @@ inline float dtQueryFilter::getCost(const float* pa, const float* pb, return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()]; } #endif - + // Edited by TC -static const float H_SCALE = 2.0f; // Search heuristic scale. +static const float H_SCALE = 2.0f; // Search heuristic scale. dtNavMeshQuery* dtAllocNavMeshQuery() @@ -309,7 +309,7 @@ dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*fr return DT_SUCCESS; } -dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius, +dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius, const dtQueryFilter* filter, float (*frand)(), dtPolyRef* randomRef, float* randomPt) const { @@ -341,7 +341,7 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f dtStatus status = DT_SUCCESS; - const float radiusSqr = dtSqr(radius); + const float radiusSqr = dtSqr(maxRadius); float areaSum = 0.0f; const dtMeshTile* randomTile = 0; @@ -705,7 +705,7 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h /// @p nearestRef before using @p nearestPt. /// /// @warning This function is not suitable for large area searches. If the search -/// extents overlaps more than 128 polygons it may return an invalid result. +/// extents overlaps more than MAX_SEARCH (128) polygons it may return an invalid result. /// dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* extents, const dtQueryFilter* filter, @@ -716,9 +716,10 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* exten *nearestRef = 0; // Get nearby polygons from proximity grid. - dtPolyRef polys[128]; + const int MAX_SEARCH = 128; + dtPolyRef polys[MAX_SEARCH]; int polyCount = 0; - if (dtStatusFailed(queryPolygons(center, extents, filter, polys, &polyCount, 128))) + if (dtStatusFailed(queryPolygons(center, extents, filter, polys, &polyCount, MAX_SEARCH))) return DT_FAILURE | DT_INVALID_PARAM; // Find nearest polygon amongst the nearby polygons. @@ -1304,12 +1305,8 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters) if (!m_query.filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) continue; - // deal explicitly with crossing tile boundaries - unsigned char crossSide = 0; - if (bestTile->links[i].side != 0xff) - crossSide = bestTile->links[i].side >> 1; - - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide); + // get the neighbor node + dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, 0); if (!neighbourNode) { m_query.status |= DT_OUT_OF_NODES; |