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

Source/Framework/RecastDetour/Detour/DetourNavMesh.cs

@@ -35,12 +35,11 @@ using dtTileRef = System.UInt64;
 
 public static partial class Detour
 {
-    public const uint DT_SALT_BITS = 16;
+    public const uint DT_SALT_BITS = 12;
-    public const uint DT_TILE_BITS = 28;
+    public const uint DT_TILE_BITS = 21;
-    public const uint DT_POLY_BITS = 20;
+    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)
+                if (neis[j] == tile)
-                {
+                    continue;
-                    connectExtLinks(tile, neis[j], -1);
+
-                    connectExtLinks(neis[j], tile, -1);
+                connectExtLinks(tile, neis[j], -1);
-                }
+                connectExtLinks(neis[j], tile, -1);
                 connectExtOffMeshLinks(tile, neis[j], -1);
                 connectExtOffMeshLinks(neis[j], tile, -1);
             }

Source/Framework/RecastDetour/Detour/DetourNavMeshBuilder.cs

@@ -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 indices of the polygon's vertices.
-        /// The actual vertices are located in dtMeshTile::verts.
+        // 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.
+        // 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
-         * */
         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();
         }

Source/Framework/RecastDetour/Detour/DetourNode.cs

@@ -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 uint pidx;// : 24;		//< Index to parent node.
-        public byte flags;// : 2;		//< Node flags 0/open/closed.
+        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];

Source/Game/Chat/Commands/MMapsCommands.cs

@@ -172,7 +172,7 @@ namespace Game.Chat
             for (int i = 0; i < navmesh.getMaxTiles(); ++i)
             {
                 Detour.dtMeshTile tile = navmesh.getTile(i);
-                if (tile == null)
+                if (tile.header == null)
                     continue;
 
                 handler.SendSysMessage("[{0:D2}, {1:D2}]", tile.header.x, tile.header.y);

Source/Game/Maps/MMapManager.cs

@@ -16,12 +16,9 @@
  */
 
 using Framework.Constants;
-using Game.DataStorage;
 using System;
 using System.Collections.Generic;
 using System.IO;
-using System.Linq;
-using System.Runtime.InteropServices;
 using System.Text;
 
 namespace Game
@@ -152,13 +149,12 @@ namespace Game
                 }
 
                 var bytes = reader.ReadBytes((int)fileHeader.size);
-
                 Detour.dtRawTileData data = new Detour.dtRawTileData();
                 data.FromBytes(bytes, 0);
 
                 ulong tileRef = 0;
                 // memory allocated for data is now managed by detour, and will be deallocated when the tile is removed
-                if (Detour.dtStatusSucceed(mmap.navMesh.addTile(data, 0, 0, ref tileRef)))
+                if (Detour.dtStatusSucceed(mmap.navMesh.addTile(data, 1, 0, ref tileRef)))
                 {
                     mmap.loadedTileRefs.Add(packedGridPos, tileRef);
                     ++loadedTiles;

Source/Game/Movement/Generators/PathGenerator.cs

@@ -340,6 +340,7 @@ namespace Game.Movement
 
                 // generate suffix
                 uint suffixPolyLength = 0;
+                ulong[] tempPolyRefs = new ulong[_pathPolyRefs.Length];
 
                 uint dtResult;
                 if (_straightLine)
@@ -354,7 +355,7 @@ namespace Game.Movement
                         _filter,
                         ref hit,
                         hitNormal,
-                        _pathPolyRefs,
+                        tempPolyRefs,
                         ref suffixPolyLength,
                         74 - (int)prefixPolyLength);
 
@@ -374,7 +375,7 @@ namespace Game.Movement
                         suffixEndPoint,     // start position
                         endPoint,           // end position
                         _filter,            // polygon search filter
-                        _pathPolyRefs,
+                        tempPolyRefs,
                         ref suffixPolyLength,
                         74 - (int)prefixPolyLength);
                 }
@@ -389,6 +390,9 @@ namespace Game.Movement
 
                 Log.outDebug(LogFilter.Maps, "m_polyLength={0} prefixPolyLength={1} suffixPolyLength={2} \n", _polyLength, prefixPolyLength, suffixPolyLength);
 
+                for (var i = 0; i < _pathPolyRefs.Length - (prefixPolyLength - 1); ++i)
+                    _pathPolyRefs[(prefixPolyLength - 1) + i] = tempPolyRefs[i];
+
                 // new path = prefix + suffix - overlap
                 _polyLength = prefixPolyLength + suffixPolyLength - 1;
             }
@@ -797,21 +801,21 @@ namespace Game.Movement
 
         void CreateFilter()
         {
-            NavArea includeFlags = 0;
+            NavTerrainFlag includeFlags = 0;
-            NavArea excludeFlags = 0;
+            NavTerrainFlag excludeFlags = 0;
 
             if (_sourceUnit.IsTypeId(TypeId.Unit))
             {
                 Creature creature = _sourceUnit.ToCreature();
                 if (creature.CanWalk())
-                    includeFlags |= NavArea.Ground;
+                    includeFlags |= NavTerrainFlag.Ground;
 
                 // creatures don't take environmental damage
                 if (creature.CanSwim())
-                    includeFlags |= (NavArea.Water | NavArea.MagmaSlime);
+                    includeFlags |= (NavTerrainFlag.Water | NavTerrainFlag.MagmaSlime);
             }
             else
-                includeFlags = (NavArea.Ground | NavArea.Water | NavArea.MagmaSlime);
+                includeFlags = (NavTerrainFlag.Ground | NavTerrainFlag.Water | NavTerrainFlag.MagmaSlime);
 
             _filter.setIncludeFlags((ushort)includeFlags);
             _filter.setExcludeFlags((ushort)excludeFlags);