1 files changed, 151 insertions, 152 deletions

diff --git a/deps/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp b/deps/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
index fcac11f072..85ad33259c 100644
--- a/deps/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
+++ b/deps/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
@@ -100,7 +100,7 @@ inline float dtQueryFilter::getCost(const float* pa, const float* pb,
 }
 #endif	
 	
-static const float H_SCALE = 2.0f; // Search heuristic scale.
+static const float H_SCALE = 0.999f; // Search heuristic scale.
 
 
 dtNavMeshQuery* dtAllocNavMeshQuery()
@@ -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;
@@ -506,85 +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)))
-		return DT_FAILURE | DT_INVALID_PARAM;
-	if (!tile)
-		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 (!m_nav->isValidPolyRef(ref) ||
+		!pos || !dtVisfinite(pos) ||
+		!closest)
 	{
-		if (posOverPoly)
-			*posOverPoly = true;
+		return DT_FAILURE | DT_INVALID_PARAM;
 	}
 
-	// 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;
 }
 
@@ -607,6 +544,9 @@ 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];	
@@ -648,7 +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
@@ -659,44 +599,28 @@ 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;
+
+	// 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
@@ -767,6 +691,8 @@ 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 +898,12 @@ 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 +951,20 @@ 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)
 	{
@@ -1263,18 +1199,21 @@ 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)
@@ -1530,7 +1469,13 @@ 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))
 	{
@@ -1615,12 +1560,13 @@ 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))
 	{
@@ -1823,14 +1769,19 @@ 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;
 	
@@ -2070,13 +2021,19 @@ 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;
 	
@@ -2484,16 +2441,23 @@ 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];	
@@ -2735,11 +2699,18 @@ 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();
@@ -2901,8 +2872,18 @@ 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))
@@ -3088,13 +3069,20 @@ 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;
@@ -3301,13 +3289,19 @@ 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;
@@ -3455,8 +3449,13 @@ 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();