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fix(Core/Deps): Update recastnavigation to last version (#2189)

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Note: you need to re-extract the client data files, or download them from: https://github.com/wowgaming/client-data/releases/tag/v7
This commit is contained in:
Francesco Borzì
2019-08-13 19:08:35 +02:00
committed by GitHub
parent 859eaed800
commit 10105cab01
21 changed files with 924 additions and 480 deletions
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162
deps/recastnavigation/Detour/Source/DetourNavMesh.cpp vendored
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@@ -616,63 +616,84 @@ void dtNavMesh::baseOffMeshLinks(dtMeshTile* tile)
}
}
void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const
namespace
{
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
getTileAndPolyByRefUnsafe(ref, &tile, &poly);
// Off-mesh connections don't have detail polygons.
if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
template<bool onlyBoundary>
void closestPointOnDetailEdges(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest)
{
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;
const unsigned int ip = (unsigned int)(poly - tile->polys);
const dtPolyDetail* pd = &tile->detailMeshes[ip];
float dmin = FLT_MAX;
float tmin = 0;
const float* pmin = 0;
const float* pmax = 0;
for (int i = 0; i < pd->triCount; i++)
{
const unsigned char* tris = &tile->detailTris[(pd->triBase + i) * 4];
const int ANY_BOUNDARY_EDGE =
(DT_DETAIL_EDGE_BOUNDARY << 0) |
(DT_DETAIL_EDGE_BOUNDARY << 2) |
(DT_DETAIL_EDGE_BOUNDARY << 4);
if (onlyBoundary && (tris[3] & ANY_BOUNDARY_EDGE) == 0)
continue;
const float* v[3];
for (int j = 0; j < 3; ++j)
{
if (tris[j] < poly->vertCount)
v[j] = &tile->verts[poly->verts[tris[j]] * 3];
else
v[j] = &tile->detailVerts[(pd->vertBase + (tris[j] - poly->vertCount)) * 3];
}
for (int k = 0, j = 2; k < 3; j = k++)
{
if ((dtGetDetailTriEdgeFlags(tris[3], j) & DT_DETAIL_EDGE_BOUNDARY) == 0 &&
(onlyBoundary || tris[j] < tris[k]))
{
// Only looking at boundary edges and this is internal, or
// this is an inner edge that we will see again or have already seen.
continue;
}
float t;
float d = dtDistancePtSegSqr2D(pos, v[j], v[k], t);
if (d < dmin)
{
dmin = d;
tmin = t;
pmin = v[j];
pmax = v[k];
}
}
}
dtVlerp(closest, pmin, pmax, tmin);
}
}
bool dtNavMesh::getPolyHeight(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* height) const
{
// Off-mesh connections do not have detail polys and getting height
// over them does not make sense.
if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
return false;
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 (posOverPoly)
*posOverPoly = true;
}
if (!dtPointInPolygon(pos, verts, nv))
return false;
if (!height)
return true;
// Find height at the location.
for (int j = 0; j < pd->triCount; ++j)
@@ -687,12 +708,53 @@ void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* close
v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
}
float h;
if (dtClosestHeightPointTriangle(closest, v[0], v[1], v[2], h))
if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
{
closest[1] = h;
break;
*height = h;
return true;
}
}
// If all triangle checks failed above (can happen with degenerate triangles
// or larger floating point values) the point is on an edge, so just select
// closest. This should almost never happen so the extra iteration here is
// ok.
float closest[3];
closestPointOnDetailEdges<false>(tile, poly, pos, closest);
*height = closest[1];
return true;
}
void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const
{
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
getTileAndPolyByRefUnsafe(ref, &tile, &poly);
dtVcopy(closest, pos);
if (getPolyHeight(tile, poly, pos, &closest[1]))
{
if (posOverPoly)
*posOverPoly = true;
return;
}
if (posOverPoly)
*posOverPoly = false;
// 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];
float t;
dtDistancePtSegSqr2D(pos, v0, v1, t);
dtVlerp(closest, v0, v1, t);
return;
}
// Outside poly that is not an offmesh connection.
closestPointOnDetailEdges<true>(tile, poly, pos, closest);
}
dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
@@ -855,7 +917,7 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
// Make sure the location is free.
if (getTileAt(header->x, header->y, header->layer))
return DT_FAILURE;
return DT_FAILURE | DT_ALREADY_OCCUPIED;
// Allocate a tile.
dtMeshTile* tile = 0;