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Core/MMaps: updated detour to be current with tc (still doesn't find the right path sometimes)

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This commit is contained in:
hondacrx
2018-08-28 14:42:01 -04:00
parent 8c35e4f830
commit a187bfd169
7 changed files with 521 additions and 268 deletions
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Source/Framework/RecastDetour/Detour/DetourNavMesh.cs
+15 -35
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@@ -35,12 +35,11 @@ using dtTileRef = System.UInt64;
public static partial class Detour
{
public const uint DT_SALT_BITS = 16;
public const uint DT_TILE_BITS = 28;
public const uint DT_POLY_BITS = 20;
public const uint DT_SALT_BITS = 12;
public const uint DT_TILE_BITS = 21;
public const uint DT_POLY_BITS = 31;
}
public static partial class Detour
{
public static bool overlapSlabs(float[] amin, float[] amax, float[] bmin, float[] bmax, float px, float py)
@@ -85,6 +84,7 @@ public static partial class Detour
return va[2];
return 0;
}
public static float getSlabCoord(float[] va, int vaStart, int side)
{
if (side == 0 || side == 4)
@@ -94,7 +94,6 @@ public static partial class Detour
return 0;
}
public static void calcSlabEndPoints(float[] va, int vaStart, float[] vb, int vbStart, float[] bmin, float[] bmax, int side)
{
if (side == 0 || side == 4)
@@ -157,28 +156,6 @@ public static partial class Detour
}
/*
dtNavMesh* dtAllocNavMesh()
{
void* mem = dtAlloc(sizeof(dtNavMesh), DT_ALLOC_PERM);
if (!mem) return 0;
return new(mem) dtNavMesh;
}
*/
// @par
///
/// This function will only free the memory for tiles with the #DT_TILE_FREE_DATA
/// flag set.
/*
void dtFreeNavMesh(dtNavMesh* navmesh)
{
if (!navmesh) return;
navmesh.~dtNavMesh();
dtFree(navmesh);
}
*/
//////////////////////////////////////////////////////////////////////////////////////////
/**
@class dtNavMesh
The navigation mesh consists of one or more tiles defining three primary types of structural data:
@@ -207,7 +184,7 @@ public static partial class Detour
@see dtNavMeshQuery, dtCreateNavMeshData, dtNavMeshCreateParams, #dtAllocNavMesh, #dtFreeNavMesh
*/
/// A navigation mesh based on tiles of convex polygons.
// A navigation mesh based on tiles of convex polygons.
// @ingroup detour
public class dtNavMesh
{
@@ -276,7 +253,7 @@ public static partial class Detour
{
dtPolyRef saltMask = (dtPolyRef)(1 << (int)DT_SALT_BITS) - 1;
dtPolyRef tileMask = (dtPolyRef)((1 << (int)DT_TILE_BITS) - 1);
dtPolyRef polyMask = (dtPolyRef)((1 << (int)DT_POLY_BITS) - 1);
dtPolyRef polyMask = (dtPolyRef)((1ul << (int)DT_POLY_BITS) - 1);
salt = (uint)((polyRef >> (int)(DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
it = (uint)((polyRef >> (int)DT_POLY_BITS) & tileMask);
ip = (uint)(polyRef & polyMask);
@@ -308,7 +285,7 @@ public static partial class Detour
/// @see #encodePolyId
public uint decodePolyIdPoly(dtPolyRef polyRef)
{
dtPolyRef polyMask = (dtPolyRef)((1 << (int)DT_POLY_BITS) - 1);
dtPolyRef polyMask = (dtPolyRef)((1ul << (int)DT_POLY_BITS) - 1);
return (uint)(polyRef & polyMask);
}
@@ -1110,7 +1087,10 @@ public static partial class Detour
tile.flags = flags;
connectIntLinks(tile);
// Base off-mesh connections to their starting polygons and connect connections inside the tile.
baseOffMeshLinks(tile);
connectExtOffMeshLinks(tile, tile, -1);
// Create connections with neighbour tiles.
const int MAX_NEIS = 32;
@@ -1121,11 +1101,11 @@ public static partial class Detour
nneis = getTilesAt(header.x, header.y, neis, MAX_NEIS);
for (int j = 0; j < nneis; ++j)
{
if (neis[j] != tile)
{
connectExtLinks(tile, neis[j], -1);
connectExtLinks(neis[j], tile, -1);
}
if (neis[j] == tile)
continue;
connectExtLinks(tile, neis[j], -1);
connectExtLinks(neis[j], tile, -1);
connectExtOffMeshLinks(tile, neis[j], -1);
connectExtOffMeshLinks(neis[j], tile, -1);
}