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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/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];