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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/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.