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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/DetourNode.cs
+7 -5
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@@ -23,6 +23,7 @@ public partial class Detour
{
DT_NODE_OPEN = 0x01,
DT_NODE_CLOSED = 0x02,
DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not adjacent. Found using raycast.
};
public const dtNodeIndex DT_NULL_IDX = dtNodeIndex.MaxValue; //(dtNodeIndex)~0;
@@ -32,8 +33,9 @@ public partial class Detour
public float[] pos = new float[3]; //< Position of the node.
public float cost; //< Cost from previous node to current node.
public float total; //< Cost up to the node.
public uint pidx;// : 30; //< Index to parent node.
public byte flags;// : 2; //< Node flags 0/open/closed.
public uint pidx;// : 24; //< Index to parent node.
public uint state;// : 2; ///< extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE
public byte flags;// : 3; //< Node flags 0/open/closed.
public dtPolyRef id; //< Polygon ref the node corresponds to.
///
public static int getSizeOf()
@@ -73,7 +75,6 @@ public partial class Detour
//////////////////////////////////////////////////////////////////////////////////////////
public dtNodePool(int maxNodes, int hashSize)
{
m_maxNodes = maxNodes;
m_hashSize = hashSize;
@@ -164,14 +165,14 @@ public partial class Detour
return null;
}
public dtNode getNode(dtPolyRef id)
public dtNode getNode(dtPolyRef id, byte state = 0)
{
uint bucket = (uint)(dtHashRef(id) & (m_hashSize - 1));
dtNodeIndex i = m_first[bucket];
dtNode node = null;
while (i != DT_NULL_IDX)
{
if (m_nodes[i].id == id)
if (m_nodes[i].id == id && m_nodes[i].state == state)
return m_nodes[i];
i = m_next[i];
}
@@ -188,6 +189,7 @@ public partial class Detour
node.cost = 0;
node.total = 0;
node.id = id;
node.state = state;
node.flags = 0;
m_next[i] = m_first[bucket];