Core/Recast: Updated to latest recast version.

Source/Framework/Constants/MapConst.cs

@@ -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

@@ -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;
+        float u = 1.0f;
-        int tri = 0;
+        int tri = npts - 1;
         for (int i = 2; i < npts; i++)
         {
             float dacc = areas[i];

Source/Framework/RecastDetour/Detour/DetourNavMesh.cs

@@ -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);
+            dtVsub(bmin, 0, center, centerStart, halfExtents, 0);
-            dtVadd(bmax, 0, center, centerStart, extents, 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

@@ -906,28 +906,56 @@ 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.
+            // Calc polygon bounds. Use detail meshes if available.
-            //const ushort* p = &polys[i*nvp*2];
+            if (createParams.detailMeshes != null)
-            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)
             {
-                if (polys[pIndex + j] == MESH_NULL_IDX) break;
+                int vb = (int)createParams.detailMeshes[i * 4 + 0];
-                ushort x = verts[polys[pIndex + j] * 3 + 0];
+                int ndv = (int)createParams.detailMeshes[i * 4 + 1];
-                ushort y = verts[polys[pIndex + j] * 3 + 1];
+                float[] bmin = new float[3];
-                ushort z = verts[polys[pIndex + j] * 3 + 2];
+                float[] bmax = new float[3];
+
+                float[] dv = createParams.detailVerts[(vb * 3)..];
+                dtVcopy(bmin, dv);
+                dtVcopy(bmax, dv);
+
+                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;
@@ -938,12 +966,13 @@ public static partial class Detour
                     if (z > it.bmax[2]) it.bmax[2] = z;
                 }
                 // Remap y
-            it.bmin[1] = (ushort)Math.Floor((float)it.bmin[1] * ch / cs);
+                it.bmin[1] = (ushort)MathF.Floor((float)it.bmin[1] * createParams.ch / createParams.cs);
-            it.bmax[1] = (ushort)Math.Ceiling((float)it.bmax[1] * ch / cs);
+                it.bmax[1] = (ushort)MathF.Ceiling((float)it.bmax[1] * createParams.ch / createParams.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,
+            createBVTree(createParams, navBvtree, createParams.polyCount * 2);
-                         nvp, createParams.cs, createParams.ch, createParams.polyCount * 2, navBvtree);
         }
 
         // Store Off-Mesh connections.

Source/Framework/RecastDetour/Detour/DetourNavMeshQuery.cs

@@ -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);
+            dtVsub(bmin, center, halfExtents);
-            dtVadd(bmax, center, extents);
+            dtVadd(bmax, center, halfExtents);
 
             // Find tiles the query touches.
             int minx = 0, miny = 0, maxx = 0, maxy = 0;