diff options
Diffstat (limited to 'dep')
| -rw-r--r-- | dep/recastnavigation/Detour/DetourCommon.cpp | 4 | ||||
| -rw-r--r-- | dep/recastnavigation/Detour/DetourCommon.h | 5 | ||||
| -rw-r--r-- | dep/recastnavigation/Detour/DetourMath.h | 21 | ||||
| -rw-r--r-- | dep/recastnavigation/Detour/DetourNavMesh.cpp | 32 | ||||
| -rw-r--r-- | dep/recastnavigation/Detour/DetourNavMesh.h | 72 | ||||
| -rw-r--r-- | dep/recastnavigation/Detour/DetourNavMeshBuilder.cpp | 6 | ||||
| -rw-r--r-- | dep/recastnavigation/Detour/DetourNavMeshQuery.cpp | 15 | ||||
| -rw-r--r-- | dep/recastnavigation/Detour/DetourNavMeshQuery.h | 4 | ||||
| -rw-r--r-- | dep/recastnavigation/Detour/DetourNode.cpp | 29 | ||||
| -rw-r--r-- | dep/recastnavigation/Recast/Recast.cpp | 20 | ||||
| -rw-r--r-- | dep/recastnavigation/Recast/Recast.h | 15 | ||||
| -rw-r--r-- | dep/recastnavigation/Recast/RecastLayers.cpp | 4 | ||||
| -rw-r--r-- | dep/recastnavigation/Recast/RecastMesh.cpp | 4 | ||||
| -rw-r--r-- | dep/recastnavigation/Recast/RecastMeshDetail.cpp | 6 |
14 files changed, 159 insertions, 78 deletions
diff --git a/dep/recastnavigation/Detour/DetourCommon.cpp b/dep/recastnavigation/Detour/DetourCommon.cpp index b5700f5930b..a98d8c8e56d 100644 --- a/dep/recastnavigation/Detour/DetourCommon.cpp +++ b/dep/recastnavigation/Detour/DetourCommon.cpp @@ -16,14 +16,14 @@ // 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); + return dtMathSqrtf(x); } void dtClosestPtPointTriangle(float* closest, const float* p, diff --git a/dep/recastnavigation/Detour/DetourCommon.h b/dep/recastnavigation/Detour/DetourCommon.h index ed7c5149db9..0888614ea9b 100644 --- a/dep/recastnavigation/Detour/DetourCommon.h +++ b/dep/recastnavigation/Detour/DetourCommon.h @@ -32,6 +32,11 @@ feature to find minor members. /// @name General helper functions /// @{ +/// Used to ignore a function parameter. VS complains about unused parameters +/// and this silences the warning. +/// @param [in] _ Unused parameter +template<class T> void dtIgnoreUnused(const T&) { } + /// Swaps the values of the two parameters. /// @param[in,out] a Value A /// @param[in,out] b Value B diff --git a/dep/recastnavigation/Detour/DetourMath.h b/dep/recastnavigation/Detour/DetourMath.h new file mode 100644 index 00000000000..744c562e5f1 --- /dev/null +++ b/dep/recastnavigation/Detour/DetourMath.h @@ -0,0 +1,21 @@ +#ifndef DETOURMATH_H +#define DETOURMATH_H + +/** +@defgroup detour Detour + +Members in this module are wrappers around the standard math library + +*/ + +#include <math.h> + +#define dtMathFabs(x) fabs(x) +#define dtMathSqrtf(x) sqrtf(x) +#define dtMathFloorf(x) floorf(x) +#define dtMathCeilf(x) ceilf(x) +#define dtMathCosf(x) cosf(x) +#define dtMathSinf(x) sinf(x) +#define dtMathAtan2f(y, x) atan2f(y, x) + +#endif diff --git a/dep/recastnavigation/Detour/DetourNavMesh.cpp b/dep/recastnavigation/Detour/DetourNavMesh.cpp index 6b8e2d9d649..3bc2b735055 100644 --- a/dep/recastnavigation/Detour/DetourNavMesh.cpp +++ b/dep/recastnavigation/Detour/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> @@ -193,11 +193,13 @@ dtNavMesh::dtNavMesh() : m_tileLutMask(0), m_posLookup(0), m_nextFree(0), - m_tiles(0), - m_saltBits(0), - m_tileBits(0), - m_polyBits(0) + m_tiles(0) { +#ifndef DT_POLYREF64 + m_saltBits = 0; + m_tileBits = 0; + m_polyBits = 0; +#endif memset(&m_params, 0, sizeof(dtNavMeshParams)); m_orig[0] = 0; m_orig[1] = 0; @@ -248,11 +250,17 @@ dtStatus dtNavMesh::init(const dtNavMeshParams* params) m_nextFree = &m_tiles[i]; } - // Edited by TC - m_tileBits = STATIC_TILE_BITS; - m_polyBits = STATIC_POLY_BITS; - m_saltBits = STATIC_SALT_BITS; - + // Init ID generator values. +#ifndef DT_POLYREF64 + m_tileBits = dtIlog2(dtNextPow2((unsigned int)params->maxTiles)); + m_polyBits = dtIlog2(dtNextPow2((unsigned int)params->maxPolys)); + // Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow. + m_saltBits = dtMin((unsigned int)31, 32 - m_tileBits - m_polyBits); + + if (m_saltBits < 10) + return DT_FAILURE | DT_INVALID_PARAM; +#endif + return DT_SUCCESS; } @@ -1206,7 +1214,11 @@ dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSiz tile->offMeshCons = 0; // Update salt, salt should never be zero. +#ifdef DT_POLYREF64 + tile->salt = (tile->salt+1) & ((1<<DT_SALT_BITS)-1); +#else tile->salt = (tile->salt+1) & ((1<<m_saltBits)-1); +#endif if (tile->salt == 0) tile->salt++; diff --git a/dep/recastnavigation/Detour/DetourNavMesh.h b/dep/recastnavigation/Detour/DetourNavMesh.h index c094e4134d5..d87fee8d5d2 100644 --- a/dep/recastnavigation/Detour/DetourNavMesh.h +++ b/dep/recastnavigation/Detour/DetourNavMesh.h @@ -22,37 +22,39 @@ #include "DetourAlloc.h" #include "DetourStatus.h" - -// Edited by TC -#if defined(WIN32) && !defined(__MINGW32__) -typedef unsigned __int64 uint64; -#else +// Undefine (or define in a build cofnig) the following line to use 64bit polyref. +// Generally not needed, useful for very large worlds. +// Note: tiles build using 32bit refs are not compatible with 64bit refs! +//#define DT_POLYREF64 1 + +#ifdef DT_POLYREF64 +// TODO: figure out a multiplatform version of uint64_t +// - maybe: https://code.google.com/p/msinttypes/ +// - or: http://www.azillionmonkeys.com/qed/pstdint.h #include <stdint.h> -#ifndef uint64_t -#ifdef __linux__ -#include <linux/types.h> -#endif #endif -typedef uint64_t uint64; -#endif // Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef. // It is also recommended that you change dtHashRef() to a proper 64-bit hash. -// Edited by TC -// We cannot have over 31 bits for either tile nor poly -// without changing polyCount to use 64bits too. -static const int STATIC_SALT_BITS = 12; -static const int STATIC_TILE_BITS = 21; -static const int STATIC_POLY_BITS = 31; - /// A handle to a polygon within a navigation mesh tile. /// @ingroup detour -typedef uint64 dtPolyRef; // Edited by TC +#ifdef DT_POLYREF64 +static const unsigned int DT_SALT_BITS = 16; +static const unsigned int DT_TILE_BITS = 28; +static const unsigned int DT_POLY_BITS = 20; +typedef uint64_t dtPolyRef; +#else +typedef unsigned int dtPolyRef; +#endif /// A handle to a tile within a navigation mesh. /// @ingroup detour -typedef uint64 dtTileRef; // Edited by TC +#ifdef DT_POLYREF64 +typedef uint64_t dtTileRef; +#else +typedef unsigned int dtTileRef; +#endif /// The maximum number of vertices per navigation polygon. /// @ingroup detour @@ -490,7 +492,11 @@ public: /// @param[in] ip The index of the polygon within the tile. inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const { +#ifdef DT_POLYREF64 + return ((dtPolyRef)salt << (DT_POLY_BITS+DT_TILE_BITS)) | ((dtPolyRef)it << DT_POLY_BITS) | (dtPolyRef)ip; +#else return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip; +#endif } /// Decodes a standard polygon reference. @@ -502,12 +508,21 @@ public: /// @see #encodePolyId inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const { +#ifdef DT_POLYREF64 + const dtPolyRef saltMask = ((dtPolyRef)1<<DT_SALT_BITS)-1; + const dtPolyRef tileMask = ((dtPolyRef)1<<DT_TILE_BITS)-1; + const dtPolyRef polyMask = ((dtPolyRef)1<<DT_POLY_BITS)-1; + salt = (unsigned int)((ref >> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask); + it = (unsigned int)((ref >> DT_POLY_BITS) & tileMask); + ip = (unsigned int)(ref & polyMask); +#else const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1; const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1; const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1; salt = (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask); it = (unsigned int)((ref >> m_polyBits) & tileMask); ip = (unsigned int)(ref & polyMask); +#endif } /// Extracts a tile's salt value from the specified polygon reference. @@ -516,8 +531,13 @@ public: /// @see #encodePolyId inline unsigned int decodePolyIdSalt(dtPolyRef ref) const { +#ifdef DT_POLYREF64 + const dtPolyRef saltMask = ((dtPolyRef)1<<DT_SALT_BITS)-1; + return (unsigned int)((ref >> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask); +#else const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1; return (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask); +#endif } /// Extracts the tile's index from the specified polygon reference. @@ -526,8 +546,13 @@ public: /// @see #encodePolyId inline unsigned int decodePolyIdTile(dtPolyRef ref) const { +#ifdef DT_POLYREF64 + const dtPolyRef tileMask = ((dtPolyRef)1<<DT_TILE_BITS)-1; + return (unsigned int)((ref >> DT_POLY_BITS) & tileMask); +#else const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1; return (unsigned int)((ref >> m_polyBits) & tileMask); +#endif } /// Extracts the polygon's index (within its tile) from the specified polygon reference. @@ -536,8 +561,13 @@ public: /// @see #encodePolyId inline unsigned int decodePolyIdPoly(dtPolyRef ref) const { +#ifdef DT_POLYREF64 + const dtPolyRef polyMask = ((dtPolyRef)1<<DT_POLY_BITS)-1; + return (unsigned int)(ref & polyMask); +#else const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1; return (unsigned int)(ref & polyMask); +#endif } /// @} @@ -597,9 +627,11 @@ private: dtMeshTile* m_nextFree; ///< Freelist of tiles. dtMeshTile* m_tiles; ///< List of tiles. +#ifndef DT_POLYREF64 unsigned int m_saltBits; ///< Number of salt bits in the tile ID. unsigned int m_tileBits; ///< Number of tile bits in the tile ID. unsigned int m_polyBits; ///< Number of poly bits in the tile ID. +#endif }; /// Allocates a navigation mesh object using the Detour allocator. diff --git a/dep/recastnavigation/Detour/DetourNavMeshBuilder.cpp b/dep/recastnavigation/Detour/DetourNavMeshBuilder.cpp index 9d8471b96a1..1bf271bed7a 100644 --- a/dep/recastnavigation/Detour/DetourNavMeshBuilder.cpp +++ b/dep/recastnavigation/Detour/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/DetourNavMeshQuery.cpp b/dep/recastnavigation/Detour/DetourNavMeshQuery.cpp index e6557cf707e..bdbee004834 100644 --- a/dep/recastnavigation/Detour/DetourNavMeshQuery.cpp +++ b/dep/recastnavigation/Detour/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 +99,8 @@ 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 = 0.999f; // Search heuristic scale. dtNavMeshQuery* dtAllocNavMeshQuery() @@ -511,11 +510,7 @@ dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, flo return DT_FAILURE | DT_INVALID_PARAM; if (!tile) return DT_FAILURE | DT_INVALID_PARAM; - - // Edited by TC - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - return DT_FAILURE; - + closestPointOnPolyInTile(tile, poly, pos, closest); return DT_SUCCESS; @@ -3347,7 +3342,7 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen dtVsub(hitNormal, centerPos, hitPos); dtVnormalize(hitNormal); - *hitDist = dtSqrt(radiusSqr); + *hitDist = dtMathSqrtf(radiusSqr); return status; } diff --git a/dep/recastnavigation/Detour/DetourNavMeshQuery.h b/dep/recastnavigation/Detour/DetourNavMeshQuery.h index d431bf177bd..6edf5bf6117 100644 --- a/dep/recastnavigation/Detour/DetourNavMeshQuery.h +++ b/dep/recastnavigation/Detour/DetourNavMeshQuery.h @@ -200,8 +200,8 @@ public: /// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest /// polygon on the existing path that was visited during the search. - /// @param[out] existing An array of polygon references for the existing path. - /// @param[out] existingSize The number of polygon in the @p existing array. + /// @param[in] existing An array of polygon references for the existing path. + /// @param[in] existingSize The number of polygon in the @p existing array. /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) /// [(polyRef) * @p pathCount] /// @param[out] pathCount The number of polygons returned in the @p path array. diff --git a/dep/recastnavigation/Detour/DetourNode.cpp b/dep/recastnavigation/Detour/DetourNode.cpp index 4c8215e20d0..57cb2066696 100644 --- a/dep/recastnavigation/Detour/DetourNode.cpp +++ b/dep/recastnavigation/Detour/DetourNode.cpp @@ -22,17 +22,30 @@ #include "DetourCommon.h" #include <string.h> +#ifdef DT_POLYREF64 +// From Thomas Wang, https://gist.github.com/badboy/6267743 inline unsigned int dtHashRef(dtPolyRef a) { - // Edited by TC - a = (~a) + (a << 18); - a = a ^ (a >> 31); - a = a * 21; - a = a ^ (a >> 11); - a = a + (a << 6); - a = a ^ (a >> 22); - return (unsigned int)a; + a = (~a) + (a << 18); // a = (a << 18) - a - 1; + a = a ^ (a >> 31); + a = a * 21; // a = (a + (a << 2)) + (a << 4); + a = a ^ (a >> 11); + a = a + (a << 6); + a = a ^ (a >> 22); + return (unsigned int)a; } +#else +inline unsigned int dtHashRef(dtPolyRef a) +{ + a += ~(a<<15); + a ^= (a>>10); + a += (a<<3); + a ^= (a>>6); + a += ~(a<<11); + a ^= (a>>16); + return (unsigned int)a; +} +#endif ////////////////////////////////////////////////////////////////////////////////////////// dtNodePool::dtNodePool(int maxNodes, int hashSize) : diff --git a/dep/recastnavigation/Recast/Recast.cpp b/dep/recastnavigation/Recast/Recast.cpp index 803daac3bcf..b9d86036c3f 100644 --- a/dep/recastnavigation/Recast/Recast.cpp +++ b/dep/recastnavigation/Recast/Recast.cpp @@ -208,12 +208,11 @@ void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* /// See the #rcConfig documentation for more information on the configuration parameters. /// /// @see rcAllocHeightfield, rcHeightfield -bool rcCreateHeightfield(rcContext* /*ctx*/, rcHeightfield& hf, int width, int height, +bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height, const float* bmin, const float* bmax, float cs, float ch) { - // TODO: VC complains about unref formal variable, figure out a way to handle this better. -// rcAssert(ctx); + rcIgnoreUnused(ctx); hf.width = width; hf.height = height; @@ -245,13 +244,12 @@ static void calcTriNormal(const float* v0, const float* v1, const float* v2, flo /// See the #rcConfig documentation for more information on the configuration parameters. /// /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles -void rcMarkWalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle, +void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int /*nv*/, const int* tris, int nt, unsigned char* areas) { - // TODO: VC complains about unref formal variable, figure out a way to handle this better. -// rcAssert(ctx); + rcIgnoreUnused(ctx); const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI); @@ -275,13 +273,12 @@ void rcMarkWalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle, /// See the #rcConfig documentation for more information on the configuration parameters. /// /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles -void rcClearUnwalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle, +void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int /*nv*/, const int* tris, int nt, unsigned char* areas) { - // TODO: VC complains about unref formal variable, figure out a way to handle this better. -// rcAssert(ctx); + rcIgnoreUnused(ctx); const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI); @@ -297,10 +294,9 @@ void rcClearUnwalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAng } } -int rcGetHeightFieldSpanCount(rcContext* /*ctx*/, rcHeightfield& hf) +int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf) { - // TODO: VC complains about unref formal variable, figure out a way to handle this better. -// rcAssert(ctx); + rcIgnoreUnused(ctx); const int w = hf.width; const int h = hf.height; diff --git a/dep/recastnavigation/Recast/Recast.h b/dep/recastnavigation/Recast/Recast.h index fb36aa4c5cf..336837ec270 100644 --- a/dep/recastnavigation/Recast/Recast.h +++ b/dep/recastnavigation/Recast/Recast.h @@ -219,7 +219,7 @@ struct rcConfig int maxEdgeLen; /// The maximum distance a simplfied contour's border edges should deviate - /// the original raw contour. [Limit: >=0] [Units: wu] + /// the original raw contour. [Limit: >=0] [Units: vx] float maxSimplificationError; /// The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx] @@ -243,7 +243,7 @@ struct rcConfig }; /// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax. -static const int RC_SPAN_HEIGHT_BITS = 16; // EDITED BY TC +static const int RC_SPAN_HEIGHT_BITS = 13; /// Defines the maximum value for rcSpan::smin and rcSpan::smax. static const int RC_SPAN_MAX_HEIGHT = (1<<RC_SPAN_HEIGHT_BITS)-1; @@ -255,9 +255,9 @@ static const int RC_SPANS_PER_POOL = 2048; /// @see rcHeightfield struct rcSpan { - unsigned int smin : 16; ///< The lower limit of the span. [Limit: < #smax] - unsigned int smax : 16; ///< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] - unsigned char area; ///< The area id assigned to the span. + unsigned int smin : 13; ///< The lower limit of the span. [Limit: < #smax] + unsigned int smax : 13; ///< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] + unsigned int area : 6; ///< The area id assigned to the span. rcSpan* next; ///< The next span higher up in column. }; @@ -549,6 +549,11 @@ static const int RC_NOT_CONNECTED = 0x3f; /// @name General helper functions /// @{ +/// Used to ignore a function parameter. VS complains about unused parameters +/// and this silences the warning. +/// @param [in] _ Unused parameter +template<class T> void rcIgnoreUnused(const T&) { } + /// Swaps the values of the two parameters. /// @param[in,out] a Value A /// @param[in,out] b Value B diff --git a/dep/recastnavigation/Recast/RecastLayers.cpp b/dep/recastnavigation/Recast/RecastLayers.cpp index 5ea6cb79d16..204f72e8cb2 100644 --- a/dep/recastnavigation/Recast/RecastLayers.cpp +++ b/dep/recastnavigation/Recast/RecastLayers.cpp @@ -325,7 +325,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, continue; // Skip if the height range would become too large. const int ymin = rcMin(root.ymin, regn.ymin); - const int ymax = rcMax(root.ymax, regn.ymax); // Edited by TC + const int ymax = rcMax(root.ymax, regn.ymax); if ((ymax - ymin) >= 255) continue; @@ -373,7 +373,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, continue; // Skip if the height range would become too large. const int ymin = rcMin(ri.ymin, rj.ymin); - const int ymax = rcMax(ri.ymax, rj.ymax); // Edited by TC + const int ymax = rcMax(ri.ymax, rj.ymax); if ((ymax - ymin) >= 255) continue; diff --git a/dep/recastnavigation/Recast/RecastMesh.cpp b/dep/recastnavigation/Recast/RecastMesh.cpp index 13aad2af01c..23a466053b1 100644 --- a/dep/recastnavigation/Recast/RecastMesh.cpp +++ b/dep/recastnavigation/Recast/RecastMesh.cpp @@ -1105,7 +1105,9 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe unsigned short* pa = &polys[bestPa*nvp]; unsigned short* pb = &polys[bestPb*nvp]; mergePolys(pa, pb, bestEa, bestEb, tmpPoly, nvp); - memcpy(pb, &polys[(npolys-1)*nvp], sizeof(unsigned short)*nvp); + unsigned short* lastPoly = &polys[(npolys-1)*nvp]; + if (pb != lastPoly) + memcpy(pb, lastPoly, sizeof(unsigned short)*nvp); npolys--; } else diff --git a/dep/recastnavigation/Recast/RecastMeshDetail.cpp b/dep/recastnavigation/Recast/RecastMeshDetail.cpp index f49d67400c2..77438fd8f58 100644 --- a/dep/recastnavigation/Recast/RecastMeshDetail.cpp +++ b/dep/recastnavigation/Recast/RecastMeshDetail.cpp @@ -200,8 +200,8 @@ static unsigned short getHeight(const float fx, const float fy, const float fz, { int ix = (int)floorf(fx*ics + 0.01f); int iz = (int)floorf(fz*ics + 0.01f); - ix = rcClamp(ix-hp.xmin, 0, hp.width); - iz = rcClamp(iz-hp.ymin, 0, hp.height); + ix = rcClamp(ix-hp.xmin, 0, hp.width - 1); + iz = rcClamp(iz-hp.ymin, 0, hp.height - 1); unsigned short h = hp.data[ix+iz*hp.width]; if (h == RC_UNSET_HEIGHT) { @@ -554,7 +554,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin, float dx = vi[0] - vj[0]; float dy = vi[1] - vj[1]; float dz = vi[2] - vj[2]; - float d = rcSqrt(dx*dx + dz*dz); + float d = sqrtf(dx*dx + dz*dz); int nn = 1 + (int)floorf(d/sampleDist); if (nn >= MAX_VERTS_PER_EDGE) nn = MAX_VERTS_PER_EDGE-1; if (nverts+nn >= MAX_VERTS) |