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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/DetourNavMeshBuilder.cs
+16 -44
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@@ -68,6 +68,18 @@ public static partial class Detour
DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02, //< Add a vertex at every polygon edge crossing.
};
/// Options for dtNavMeshQuery::initSlicedFindPath and updateSlicedFindPath
enum dtFindPathOptions
{
DT_FINDPATH_ANY_ANGLE = 0x02, ///< use raycasts during pathfind to "shortcut" (raycast still consider costs)
};
/// Options for dtNavMeshQuery::raycast
enum dtRaycastOptions
{
DT_RAYCAST_USE_COSTS = 0x01, ///< Raycast should calculate movement cost along the ray and fill RaycastHit::cost
};
/// Flags representing the type of a navigation mesh polygon.
public enum dtPolyTypes
{
@@ -85,31 +97,11 @@ public static partial class Detour
/// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.)
public uint firstLink;
/// The indices of the polygon's vertices.
/// The actual vertices are located in dtMeshTile::verts.
// The indices of the polygon's vertices.
// The actual vertices are located in dtMeshTile::verts.
public ushort[] verts = new ushort[DT_VERTS_PER_POLYGON];
/// Packed data representing neighbor polygons references and flags for each edge.
/*
@var ushort dtPoly::neis[DT_VERTS_PER_POLYGON]
@par
Each entry represents data for the edge starting at the vertex of the same index.
E.g. The entry at index n represents the edge data for vertex[n] to vertex[n+1].
A value of zero indicates the edge has no polygon connection. (It makes up the
border of the navigation mesh.)
The information can be extracted as follows:
@code
neighborRef = neis[n] & 0xff; // Get the neighbor polygon reference.
if (neis[n] & #DT_EX_LINK)
{
// The edge is an external (portal) edge.
}
@endcode
* */
// Packed data representing neighbor polygons references and flags for each edge.
public ushort[] neis = new ushort[DT_VERTS_PER_POLYGON];
/// The user defined polygon flags.
@@ -377,26 +369,9 @@ public static partial class Detour
public float walkableRadius; //< The radius of the agents using the tile.
public float walkableClimb; //< The maximum climb height of the agents using the tile.
public float[] bmin = new float[3]; //< The minimum bounds of the tile's AABB. [(x, y, z)]
public float[] bmax = new float[3]; //< The maximum bounds of the tile's AABB. [(x, y, z)]
public float[] bmax = new float[3]; //< The maximum bounds of the tile's AABB. [(x, y, z)]
/// The bounding volume quantization factor.
/*
@var float dtMeshHeader::bvQuantFactor
@par
This value is used for converting between world and bounding volume coordinates.
For example:
@code
const float cs = 1.0f / tile.header.bvQuantFactor;
const dtBVNode* n = &tile.bvTree[i];
if (n.i >= 0)
{
// This is a leaf node.
float worldMinX = tile.header.bmin[0] + n.bmin[0]*cs;
float worldMinY = tile.header.bmin[0] + n.bmin[1]*cs;
// Etc...
}
@endcode */
public float bvQuantFactor;
public int FromBytes(byte[] array, int start)
@@ -557,8 +532,6 @@ public static partial class Detour
offMeshCons[i] = new dtOffMeshConnection();
start = offMeshCons[i].FromBytes(array, start);
}
//flags = BitConverter.ToInt32(array, start);
//start += sizeof(int);
return start;
}
@@ -599,7 +572,6 @@ public static partial class Detour
{
bytes.AddRange(offMeshCons[i].ToBytes());
}
bytes.AddRange(BitConverter.GetBytes(flags));
return bytes.ToArray();
}