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Core/Recast: Updated to latest recast version.

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This commit is contained in:
hondacrx
2021-02-18 12:31:16 -05:00
parent 6c121e7ef5
commit b725a7b760
5 changed files with 74 additions and 46 deletions
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Source/Framework/Constants/MapConst.cs
+1 -1
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@@ -71,7 +71,7 @@ namespace Framework.Constants
public const uint MapLiquidMagic = 0x51494C4D; //"MLIQ";
public const uint mmapMagic = 0x4D4D4150; // 'MMAP'
public const int mmapVersion = 9;
public const int mmapVersion = 10;
public const string VMapMagic = "VMAP_4.9";
public const float VMAPInvalidHeightValue = -200000.0f;
Source/Framework/RecastDetour/Detour/DetourCommon.cs
+2 -2
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@@ -358,8 +358,8 @@ public static partial class Detour
// Find sub triangle weighted by area.
float thr = s * areasum;
float acc = 0.0f;
float u = 0.0f;
int tri = 0;
float u = 1.0f;
int tri = npts - 1;
for (int i = 2; i < npts; i++)
{
float dacc = areas[i];
Source/Framework/RecastDetour/Detour/DetourNavMesh.cs
+8 -8
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@@ -570,13 +570,13 @@ public static partial class Detour
if (targetPoly.firstLink == DT_NULL_LINK)
continue;
float[] ext = new float[] { targetCon.rad, target.header.walkableClimb, targetCon.rad };
float[] halfExtents = new float[] { targetCon.rad, target.header.walkableClimb, targetCon.rad };
// Find polygon to connect to.
//const float* p = &targetCon.pos[3];
int pIndex = 3;
float[] nearestPt = new float[3];
dtPolyRef polyRef = findNearestPolyInTile(tile, targetCon.pos, pIndex, ext, nearestPt);
dtPolyRef polyRef = findNearestPolyInTile(tile, targetCon.pos, pIndex, halfExtents, nearestPt);
if (polyRef == 0)
continue;
// findNearestPoly may return too optimistic results, further check to make sure.
@@ -676,13 +676,13 @@ public static partial class Detour
dtOffMeshConnection con = tile.offMeshCons[i];
dtPoly poly = tile.polys[con.poly];
float[] ext = new float[] { con.rad, tile.header.walkableClimb, con.rad };
float[] halfExtents = new float[] { con.rad, tile.header.walkableClimb, con.rad };
// Find polygon to connect to.
//const float* p = &con.pos[0]; // First vertex
float[] nearestPt = new float[3];
dtPolyRef polyRef = findNearestPolyInTile(tile, con.pos, 0, ext, nearestPt);
dtPolyRef polyRef = findNearestPolyInTile(tile, con.pos, 0, halfExtents, nearestPt);
if (polyRef == 0)
continue;
// findNearestPoly may return too optimistic results, further check to make sure.
@@ -812,7 +812,7 @@ public static partial class Detour
}
}
float h = .0f;
if (dtClosestHeightPointTriangle(pos, posStart, vArrays[0], vIndices[0], vArrays[1], vIndices[1], vArrays[2], vIndices[2], ref h))
if (dtClosestHeightPointTriangle(closest, posStart, vArrays[0], vIndices[0], vArrays[1], vIndices[1], vArrays[2], vIndices[2], ref h))
{
closest[1] = h;
break;
@@ -820,12 +820,12 @@ public static partial class Detour
}
}
public dtPolyRef findNearestPolyInTile(dtMeshTile tile, float[] center, int centerStart, float[] extents, float[] nearestPt)
public dtPolyRef findNearestPolyInTile(dtMeshTile tile, float[] center, int centerStart, float[] halfExtents, float[] nearestPt)
{
float[] bmin = new float[3];//, bmax[3];
float[] bmax = new float[3];
dtVsub(bmin, 0, center, centerStart, extents, 0);
dtVadd(bmax, 0, center, centerStart, extents, 0);
dtVsub(bmin, 0, center, centerStart, halfExtents, 0);
dtVadd(bmax, 0, center, centerStart, halfExtents, 0);
// Get nearby polygons from proximity grid.
dtPolyRef[] polys = new dtPolyRef[128];
Source/Framework/RecastDetour/Detour/DetourNavMeshBuilder.cs
+55 -27
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@@ -906,44 +906,73 @@ public static partial class Detour
}
}
public static int createBVTree(ushort[] verts, int nverts, ushort[] polys, int npolys, int nvp, float cs, float ch, int nnodes, dtBVNode[] nodes)
public static int createBVTree(dtNavMeshCreateParams createParams, dtBVNode[] nodes, int nnodes)
{
// Build tree
BVItem[] items = new BVItem[npolys];//(BVItem*)dtAlloc(sizeof(BVItem)*npolys, DT_ALLOC_TEMP);
float quantFactor = 1 / createParams.cs;
BVItem[] items = new BVItem[createParams.polyCount];//(BVItem*)dtAlloc(sizeof(BVItem)*npolys, DT_ALLOC_TEMP);
dtcsArrayItemsCreate(items);
for (int i = 0; i < npolys; i++)
for (int i = 0; i < createParams.polyCount; i++)
{
BVItem it = items[i];
it.i = i;
// Calc polygon bounds.
//const ushort* p = &polys[i*nvp*2];
int pIndex = i * nvp * 2;
it.bmin[0] = it.bmax[0] = verts[polys[pIndex + 0] * 3 + 0];
it.bmin[1] = it.bmax[1] = verts[polys[pIndex + 0] * 3 + 1];
it.bmin[2] = it.bmax[2] = verts[polys[pIndex + 0] * 3 + 2];
for (int j = 1; j < nvp; ++j)
// Calc polygon bounds. Use detail meshes if available.
if (createParams.detailMeshes != null)
{
if (polys[pIndex + j] == MESH_NULL_IDX) break;
ushort x = verts[polys[pIndex + j] * 3 + 0];
ushort y = verts[polys[pIndex + j] * 3 + 1];
ushort z = verts[polys[pIndex + j] * 3 + 2];
int vb = (int)createParams.detailMeshes[i * 4 + 0];
int ndv = (int)createParams.detailMeshes[i * 4 + 1];
float[] bmin = new float[3];
float[] bmax = new float[3];
if (x < it.bmin[0]) it.bmin[0] = x;
if (y < it.bmin[1]) it.bmin[1] = y;
if (z < it.bmin[2]) it.bmin[2] = z;
float[] dv = createParams.detailVerts[(vb * 3)..];
dtVcopy(bmin, dv);
dtVcopy(bmax, dv);
if (x > it.bmax[0]) it.bmax[0] = x;
if (y > it.bmax[1]) it.bmax[1] = y;
if (z > it.bmax[2]) it.bmax[2] = z;
for (int j = 1; j < ndv; j++)
{
dtVmin(bmin, dv[(j * 3)..]);
dtVmax(bmax, dv[(j * 3)..]);
}
// BV-tree uses cs for all dimensions
it.bmin[0] = (ushort)dtClamp((int)((bmin[0] - createParams.bmin[0]) * quantFactor), 0, 0xffff);
it.bmin[1] = (ushort)dtClamp((int)((bmin[1] - createParams.bmin[1]) * quantFactor), 0, 0xffff);
it.bmin[2] = (ushort)dtClamp((int)((bmin[2] - createParams.bmin[2]) * quantFactor), 0, 0xffff);
it.bmax[0] = (ushort)dtClamp((int)((bmax[0] - createParams.bmin[0]) * quantFactor), 0, 0xffff);
it.bmax[1] = (ushort)dtClamp((int)((bmax[1] - createParams.bmin[1]) * quantFactor), 0, 0xffff);
it.bmax[2] = (ushort)dtClamp((int)((bmax[2] - createParams.bmin[2]) * quantFactor), 0, 0xffff);
}
else
{
ushort[] p = createParams.polys[(i * createParams.nvp * 2)..];
it.bmin[0] = it.bmax[0] = createParams.verts[p[0] * 3 + 0];
it.bmin[1] = it.bmax[1] = createParams.verts[p[0] * 3 + 1];
it.bmin[2] = it.bmax[2] = createParams.verts[p[0] * 3 + 2];
for (int j = 1; j < createParams.nvp; ++j)
{
if (p[j] == MESH_NULL_IDX) break;
ushort x = createParams.verts[p[j] * 3 + 0];
ushort y = createParams.verts[p[j] * 3 + 1];
ushort z = createParams.verts[p[j] * 3 + 2];
if (x < it.bmin[0]) it.bmin[0] = x;
if (y < it.bmin[1]) it.bmin[1] = y;
if (z < it.bmin[2]) it.bmin[2] = z;
if (x > it.bmax[0]) it.bmax[0] = x;
if (y > it.bmax[1]) it.bmax[1] = y;
if (z > it.bmax[2]) it.bmax[2] = z;
}
// Remap y
it.bmin[1] = (ushort)MathF.Floor((float)it.bmin[1] * createParams.ch / createParams.cs);
it.bmax[1] = (ushort)MathF.Ceiling((float)it.bmax[1] * createParams.ch / createParams.cs);
}
// Remap y
it.bmin[1] = (ushort)Math.Floor((float)it.bmin[1] * ch / cs);
it.bmax[1] = (ushort)Math.Ceiling((float)it.bmax[1] * ch / cs);
}
int curNode = 0;
subdivide(items, npolys, 0, npolys, ref curNode, nodes);
subdivide(items, createParams.polyCount, 0, createParams.polyCount, ref curNode, nodes);
//dtFree(items);
@@ -1412,8 +1441,7 @@ public static partial class Detour
// TODO: take detail mesh into account! use byte per bbox extent?
if (createParams.buildBvTree)
{
createBVTree(createParams.verts, createParams.vertCount, createParams.polys, createParams.polyCount,
nvp, createParams.cs, createParams.ch, createParams.polyCount * 2, navBvtree);
createBVTree(createParams, navBvtree, createParams.polyCount * 2);
}
// Store Off-Mesh connections.
Source/Framework/RecastDetour/Detour/DetourNavMeshQuery.cs
+8 -8
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@@ -709,7 +709,7 @@ public static partial class Detour
}
}
float h = .0f;
if (dtClosestHeightPointTriangle(pos, 0, vSrc[0], vStarts[0], vSrc[1], vStarts[1], vSrc[2], vStarts[2], ref h))
if (dtClosestHeightPointTriangle(closest, 0, vSrc[0], vStarts[0], vSrc[1], vStarts[1], vSrc[2], vStarts[2], ref h))
{
closest[1] = h;
break;
@@ -864,7 +864,7 @@ public static partial class Detour
/// Finds the polygon nearest to the specified center point.
/// @param[in] center The center of the search box. [(x, y, z)]
/// @param[in] extents The search distance along each axis. [(x, y, z)]
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] nearestRef The reference id of the nearest polygon.
/// @param[out] nearestPt The nearest point on the polygon. [opt] [(x, y, z)]
@@ -878,7 +878,7 @@ public static partial class Detour
// @warning This function is not suitable for large area searches. If the search
/// extents overlaps more than 128 polygons it may return an invalid result.
///
public dtStatus findNearestPoly(float[] center, float[] extents, dtQueryFilter filter, ref dtPolyRef nearestRef, ref float[] nearestPt)
public dtStatus findNearestPoly(float[] center, float[] halfExtents, dtQueryFilter filter, ref dtPolyRef nearestRef, ref float[] nearestPt)
{
Debug.Assert(m_nav != null);
@@ -886,7 +886,7 @@ public static partial class Detour
dtFindNearestPolyQuery query = new dtFindNearestPolyQuery(this, center);
dtStatus status = queryPolygons(center, extents, filter, query);
dtStatus status = queryPolygons(center, halfExtents, filter, query);
if (dtStatusFailed(status))
return status;
@@ -1030,7 +1030,7 @@ public static partial class Detour
/// Finds polygons that overlap the search box.
/// @param[in] center The center of the search box. [(x, y, z)]
/// @param[in] extents The search distance along each axis. [(x, y, z)]
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] polys The reference ids of the polygons that overlap the query box.
/// @param[out] polyCount The number of polygons in the search result.
@@ -1045,14 +1045,14 @@ public static partial class Detour
/// be filled to capacity. The method of choosing which polygons from the
/// full set are included in the partial result set is undefined.
///
public dtStatus queryPolygons(float[] center, float[] extents, dtQueryFilter filter, dtFindNearestPolyQuery query)
public dtStatus queryPolygons(float[] center, float[] halfExtents, dtQueryFilter filter, dtFindNearestPolyQuery query)
{
Debug.Assert(m_nav != null);
float[] bmin = new float[3];
float[] bmax = new float[3];
dtVsub(bmin, center, extents);
dtVadd(bmax, center, extents);
dtVsub(bmin, center, halfExtents);
dtVadd(bmax, center, halfExtents);
// Find tiles the query touches.
int minx = 0, miny = 0, maxx = 0, maxy = 0;