MMaps Updates, Needs tested.

Port From (https://github.com/TrinityCore/TrinityCore)

Source/Framework/Constants/MapConst.cs

@@ -66,7 +66,7 @@ namespace Framework.Constants
         public const uint MapLiquidMagic = 0x51494C4D; //"MLIQ";
 
         public const uint mmapMagic = 0x4D4D4150; // 'MMAP'
-        public const int mmapVersion = 10;
+        public const int mmapVersion = 11;
 
         public const string VMapMagic = "VMAP_4.A";
         public const float VMAPInvalidHeightValue = -200000.0f;

Source/Framework/GameMath/Box.cs

@@ -37,7 +37,7 @@ namespace Framework.GameMath
 
             for (int i = 0; i < 3; ++i)
             {
-                if (!float.IsInfinity(_edgeVector[i].Length()))
+                if (!float.IsFinite(_edgeVector[i].Length()))
                 {
                     finiteExtent = false;
                     // If the extent is infinite along an axis, make the center zero to avoid NaNs
@@ -95,7 +95,7 @@ namespace Framework.GameMath
 
         public bool isFinite()
         {
-            return float.IsInfinity(_volume);
+            return float.IsFinite(_volume);
         }
     }
 }

Source/Framework/RecastDetour/Detour/DetourCommon.cs

@@ -211,6 +211,8 @@ public static partial class Detour
     ///  @param[out]	h		The resulting height.
     public static bool dtClosestHeightPointTriangle(float[] p, int pStart, float[] a, int aStart, float[] b, int bStart, float[] c, int cStart, ref float h)
     {
+        const float EPS = 1e-6f;
+
         float[] v0 = new float[3];
         float[] v1 = new float[3];
         float[] v2 = new float[3];
@@ -218,25 +220,24 @@ public static partial class Detour
         dtVsub(v1, 0, b, bStart, a, aStart);
         dtVsub(v2, 0, p, pStart, a, aStart);
 
-        float dot00 = dtVdot2D(v0, v0);
+        // Compute scaled barycentric coordinates
-        float dot01 = dtVdot2D(v0, v1);
+        float denom = v0[0] * v1[2] - v0[2] * v1[0];
-        float dot02 = dtVdot2D(v0, v2);
+        if (MathF.Abs(denom) < EPS)
-        float dot11 = dtVdot2D(v1, v1);
+            return false;
-        float dot12 = dtVdot2D(v1, v2);
 
-        // Compute barycentric coordinates
+        float u = v1[2] * v2[0] - v1[0] * v2[2];
-        float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
+        float v = v0[0] * v2[2] - v0[2] * v2[0];
-        float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
-        float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
 
-        // The (sloppy) epsilon is needed to allow to get height of points which
+        if (denom < 0)
-        // are interpolated along the edges of the triangles.
-        const float EPS = 1e-4f;
-
-        // If point lies inside the triangle, return interpolated ycoord.
-        if (u >= -EPS && v >= -EPS && (u + v) <= 1 + EPS)
         {
-            h = a[aStart + 1] + v0[1] * u + v1[1] * v;
+            denom = -denom;
+            u = -u;
+            v = -v;
+        }
+
+        if (u >= 0.0f && v >= 0.0f && (u + v) <= denom)
+        {
+            h = a[1] + (v0[1] * u + v1[1] * v) / denom;
             return true;
         }
 
@@ -779,6 +780,30 @@ public static partial class Detour
         float d = dtVdistSqr(p0, p0Start, p1, p1Start);
         return d < thr;
     }
+
+    /// Checks that the specified vector's components are all finite.
+    ///  @param[in]		v	A point. [(x, y, z)]
+    /// @return True if all of the point's components are finite, i.e. not NaN
+    /// or any of the infinities.
+    public static bool dtVisfinite(float[] v)
+    {
+
+        bool result =
+            float.IsFinite(v[0]) &&
+            float.IsFinite(v[1]) &&
+            float.IsFinite(v[2]);
+
+        return result;
+    }
+
+    /// Checks that the specified vector's 2D components are finite.
+    ///  @param[in]		v	A point. [(x, y, z)]
+    public static bool dtVisfinite2D(float[] v)
+    {
+        bool result = float.IsFinite(v[0]) && float.IsFinite(v[2]);
+        return result;
+    }
+
     /// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
     ///  @param[in]		u		A vector [(x, y, z)]
     ///  @param[in]		v		A vector [(x, y, z)]

Source/Framework/RecastDetour/Detour/DetourNavMesh.cs

@@ -1,5 +1,6 @@
 using System;
 using System.Diagnostics;
+using System.Linq;
 /**
     @typedef dtPolyRef
     @par
@@ -725,68 +726,84 @@ public static partial class Detour
             }
         }
 
-        public void closestPointOnPoly(dtPolyRef polyRef, float[] pos, int posStart, float[] closest, ref bool posOverPoly)
+        void closestPointOnDetailEdges(bool onlyBoundary, dtMeshTile tile, dtPoly poly, float[] pos, float[] closest)
         {
-            dtMeshTile tile = null;
+            uint ip = (uint)tile.polys.ToList().IndexOf(poly);
-            dtPoly poly = null;
+            dtPolyDetail pd = tile.detailMeshes[ip];
-            uint ip = 0;
+
-            getTileAndPolyByRefUnsafe(polyRef, ref tile, ref poly, ref ip);
+            float dmin = float.MaxValue;
-
+            float tmin = 0;
-            // Off-mesh connections don't have detail polygons.
+            int pmin = 0;
-            if (poly.getType() == (byte)dtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
+            int pmax = 0;
-            {
+            float[] v = new float[0];
-                //const float* v0 = &tile.verts[poly.verts[0]*3];
+
-                //const float* v1 = &tile.verts[poly.verts[1]*3];
+            for (int i = 0; i < pd.triCount; i++)
-                int v0Start = poly.verts[0] * 3;
+            {
-                int v1Start = poly.verts[1] * 3;
+                int trisIndex = (int)((pd.triBase + i) * 4);
-                float d0 = dtVdist(pos, posStart, tile.verts, v0Start);
+                const int ANY_BOUNDARY_EDGE =
-                float d1 = dtVdist(pos, posStart, tile.verts, v1Start);
+                    ((int)dtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY << 0) |
-                float u = d0 / (d0 + d1);
+                    ((int)dtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY << 2) |
-                dtVlerp(closest, 0, tile.verts, v0Start, tile.verts, v1Start, u);
+                    ((int)dtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY << 4);
-
+                if (onlyBoundary && (tile.detailTris[trisIndex + 3] & ANY_BOUNDARY_EDGE) == 0)
-                posOverPoly = false;
+                    continue;
-                return;
+
-            }
+                v = new float[3];
-
+                for (int j = 0; j < 3; ++j)
-            //uint ip = (uint)(poly - tile.polys);
+                {
+                    if (tile.detailTris[trisIndex + j] < poly.vertCount)
+                        v[j] = tile.verts[poly.verts[tile.detailTris[trisIndex + j]] * 3];
+                    else
+                        v[j] = tile.detailVerts[(pd.vertBase + (tile.detailTris[trisIndex + j] - poly.vertCount)) * 3];
+                }
+
+                for (int k = 0, j = 2; k < 3; j = k++)
+                {
+                    if ((dtGetDetailTriEdgeFlags(tile.detailTris[trisIndex + 3], j) & (int)dtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0 &&
+                        (onlyBoundary || tile.detailTris[trisIndex + j] < tile.detailTris[trisIndex + k]))
+                    {
+                        // Only looking at boundary edges and this is internal, or
+                        // this is an inner edge that we will see again or have already seen.
+                        continue;
+                    }
+
+                    float t = 0;
+                    float d = dtDistancePtSegSqr2D(pos, 0, v, j, v, k, ref t);
+                    if (d < dmin)
+                    {
+                        dmin = d;
+                        tmin = t;
+                        pmin = j;
+                        pmax = k;
+                    }
+                }
+            }
+
+            dtVlerp(closest, 0, v, pmin, v, pmax, tmin);
+        }
+
+        public bool getPolyHeight(dtMeshTile tile, dtPoly poly, float[] pos, float height)
+        {
+            // Off-mesh connections do not have detail polys and getting height
+            // over them does not make sense.
+            if (poly.getType() == (byte)dtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
+                return false;
+
+            uint ip = (uint)tile.polys.ToList().IndexOf(poly);
             dtPolyDetail pd = tile.detailMeshes[ip];
 
-            // Clamp point to be inside the polygon.
             float[] verts = new float[DT_VERTS_PER_POLYGON * 3];
-            float[] edged = new float[DT_VERTS_PER_POLYGON];
+
-            float[] edget = new float[DT_VERTS_PER_POLYGON];
             int nv = poly.vertCount;
             for (int i = 0; i < nv; ++i)
             {
                 dtVcopy(verts, i * 3, tile.verts, poly.verts[i] * 3);
             }
 
-            dtVcopy(closest, 0, pos, posStart);
+            if (!dtPointInPolygon(pos, verts, nv))
-            if (!dtDistancePtPolyEdgesSqr(pos, posStart, verts, nv, edged, edget))
+                return false;
-            {
-                // Point is outside the polygon, dtClamp to nearest edge.
-                float dmin = float.MaxValue;
-                int imin = -1;
-                for (int i = 0; i < nv; ++i)
-                {
-                    if (edged[i] < dmin)
-                    {
-                        dmin = edged[i];
-                        imin = i;
-                    }
-                }
-                //float[] va = &verts[imin*3];
-                //const float* vb = &verts[((imin+1)%nv)*3];
-                int vaStart = imin * 3;
-                int vbStart = ((imin + 1) % nv) * 3;
-                dtVlerp(closest, 0, verts, vaStart, verts, vbStart, edget[imin]);
 
-                posOverPoly = false;
+            if (height == 0)
-            }
+                return true;
-            else
-            {
-                posOverPoly = true;
-            }
 
             // Find height at the location.
             for (int j = 0; j < pd.triCount; ++j)
@@ -812,12 +829,54 @@ public static partial class Detour
                     }
                 }
                 float h = .0f;
-                if (dtClosestHeightPointTriangle(closest, posStart, vArrays[0], vIndices[0], vArrays[1], vIndices[1], vArrays[2], vIndices[2], ref h))
+                if (dtClosestHeightPointTriangle(pos, 0, vArrays[0], vIndices[0], vArrays[1], vIndices[1], vArrays[2], vIndices[2], ref h))
                 {
-                    closest[1] = h;
+                    height = h;
-                    break;
+                    return true;
                 }
             }
+
+            // If all triangle checks failed above (can happen with degenerate triangles
+            // or larger floating point values) the point is on an edge, so just select
+            // closest. This should almost never happen so the extra iteration here is
+            // ok.
+            float[] closest = new float[3];
+            closestPointOnDetailEdges(false, tile, poly, pos, closest);
+            height = closest[1];
+            return true;
+        }
+
+        public void closestPointOnPoly(dtPolyRef polyRef, float[] pos, float[] closest, ref bool posOverPoly)
+        {
+
+            dtMeshTile tile = new();
+            dtPoly poly = new();
+            getTileAndPolyByRefUnsafe(polyRef, ref tile, ref poly);
+
+            dtVcopy(closest, pos);
+            if (getPolyHeight(tile, poly, pos, closest[1]))
+            {
+                if (posOverPoly)
+                    posOverPoly = true;
+                return;
+            }
+
+            if (posOverPoly)
+                posOverPoly = false;
+
+            // Off-mesh connections don't have detail polygons.
+            if (poly.getType() == (byte)dtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
+            {
+                int v0 = poly.verts[0] * 3;
+                int v1 = poly.verts[1] * 3;
+                float t = 0;
+                dtDistancePtSegSqr2D(pos, 0, tile.verts, v0, tile.verts, v1, ref t);
+                dtVlerp(closest, 0, tile.verts, v0, tile.verts, v1, t);
+                return;
+            }
+
+            // Outside poly that is not an offmesh connection.
+            closestPointOnDetailEdges(true, tile, poly, pos, closest);
         }
 
         public dtPolyRef findNearestPolyInTile(dtMeshTile tile, float[] center, int centerStart, float[] halfExtents, float[] nearestPt)
@@ -841,7 +900,7 @@ public static partial class Detour
                 float[] diff = new float[3];
                 bool posOverPoly = false;
                 float d = 0;
-                closestPointOnPoly(polyRef, center, centerStart, closestPtPoly, ref posOverPoly);
+                closestPointOnPoly(polyRef, center, closestPtPoly, ref posOverPoly);
 
                 // If a point is directly over a polygon and closer than
                 // climb height, favor that instead of straight line nearest point.
@@ -996,7 +1055,7 @@ public static partial class Detour
 
             // Make sure the location is free.
             if (getTileAt(header.x, header.y, header.layer) != null)
-                return DT_FAILURE;
+                return DT_FAILURE | DT_ALREADY_OCCUPIED;
 
             // Allocate a tile.
             dtMeshTile tile = null;

Source/Framework/RecastDetour/Detour/DetourNavMeshBuilder.cs

@@ -80,6 +80,11 @@ public static partial class Detour
         DT_RAYCAST_USE_COSTS = 0x01,        ///< Raycast should calculate movement cost along the ray and fill RaycastHit::cost
     };
 
+    enum dtDetailTriEdgeFlags
+    {
+        DT_DETAIL_EDGE_BOUNDARY = 0x01,     ///< Detail triangle edge is part of the poly boundary
+    };
+
     /// Flags representing the type of a navigation mesh polygon.
     public enum dtPolyTypes
     {
@@ -616,7 +621,8 @@ public static partial class Detour
         /// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount]
         public float[] detailVerts;
 
-        /// The detail mesh's triangles. [(vertA, vertB, vertC) * dtMeshHeader::detailTriCount]
+        /// The detail mesh's triangles. [(vertA, vertB, vertC, triFlags) * dtMeshHeader::detailTriCount].
+        /// See dtDetailTriEdgeFlags and dtGetDetailTriEdgeFlags.
         public byte[] detailTris;
 
         /// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount]
@@ -631,6 +637,15 @@ public static partial class Detour
         public dtMeshTile next;						//< The next free tile, or the next tile in the spatial grid.
     };
 
+    /// Get flags for edge in detail triangle.
+    /// @param	triFlags[in]		The flags for the triangle (last component of detail vertices above).
+    /// @param	edgeIndex[in]		The index of the first vertex of the edge. For instance, if 0,
+    ///								returns flags for edge AB.
+    public static int dtGetDetailTriEdgeFlags(byte triFlags, int edgeIndex)
+    {
+        return (triFlags >> (edgeIndex * 2)) & 0x3;
+    }
+
     /// Configuration parameters used to define multi-tile navigation meshes.
     /// The values are used to allocate space during the initialization of a navigation mesh.
     // @see dtNavMesh::init()

Source/Framework/RecastDetour/Detour/DetourNavMeshQuery.cs

@@ -36,6 +36,7 @@ using System;
 using System.Diagnostics;
 using dtPolyRef = System.UInt64;
 using dtStatus = System.UInt32;
+using System.Collections.Generic;
 
 // Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter.
 // On certain platforms indirect or virtual function call is expensive. The default
@@ -310,6 +311,9 @@ public static partial class Detour
         {
             Debug.Assert(m_nav != null);
 
+            if (filter == null || frand == null || randomPt == null)
+                return DT_FAILURE | DT_INVALID_PARAM;
+
             // Randomly pick one tile. Assume that all tiles cover roughly the same area.
             dtMeshTile tile = null;
             float tsum = 0.0f;
@@ -409,14 +413,17 @@ public static partial class Detour
         ///  @param[out]	randomRef		The reference id of the random location.
         ///  @param[out]	randomPt		The random location. [(x, y, z)]
         // @returns The status flags for the query.
-        public dtStatus findRandomPointAroundCircle(dtPolyRef startRef, float[] centerPos, float radius, dtQueryFilter filter, randomFloatGenerator frand, ref dtPolyRef randomRef, ref float[] randomPt)
+        public dtStatus findRandomPointAroundCircle(dtPolyRef startRef, float[] centerPos, float maxRadius, dtQueryFilter filter, randomFloatGenerator frand, ref dtPolyRef randomRef, ref float[] randomPt)
         {
             Debug.Assert(m_nav != null);
             Debug.Assert(m_nodePool != null);
             Debug.Assert(m_openList != null);
 
             // Validate input
-            if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
+            if (!m_nav.isValidPolyRef(startRef) ||
+                centerPos == null || !dtVisfinite(centerPos) ||
+                maxRadius < 0 || !float.IsFinite(maxRadius) ||
+                filter == null || frand == null || randomPt == null)
                 return DT_FAILURE | DT_INVALID_PARAM;
 
             dtMeshTile startTile = null;
@@ -439,7 +446,7 @@ public static partial class Detour
 
             dtStatus status = DT_SUCCESS;
 
-            float radiusSqr = dtSqr(radius);
+            float radiusSqr = dtSqr(maxRadius);
             float areaSum = 0.0f;
 
             dtMeshTile randomTile = null;
@@ -617,104 +624,13 @@ public static partial class Detour
         public dtStatus closestPointOnPoly(dtPolyRef polyRef, float[] pos, float[] closest, ref bool posOverPoly)
         {
             Debug.Assert(m_nav != null);
-            dtMeshTile tile = null;
+            
-            dtPoly poly = null;
+            if (!m_nav.isValidPolyRef(polyRef) ||
-            uint ip = 0;
+                pos == null || !dtVisfinite(pos) ||
-            if (dtStatusFailed(m_nav.getTileAndPolyByRef(polyRef, ref tile, ref poly, ref ip)))
+                closest == null)
-                return DT_FAILURE | DT_INVALID_PARAM;
-            if (tile == null)
                 return DT_FAILURE | DT_INVALID_PARAM;
 
-            // Off-mesh connections don't have detail polygons.
+            m_nav.closestPointOnPoly(polyRef, pos, closest, ref posOverPoly);
-            if (poly.getType() == (byte)dtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
-            {
-                //const float* v0 = &tile.verts[poly.verts[0]*3];
-                //const float* v1 = &tile.verts[poly.verts[1]*3];
-                int v0Start = poly.verts[0] * 3;
-                int v1Start = poly.verts[1] * 3;
-                float d0 = dtVdist(pos, 0, tile.verts, v0Start);
-                float d1 = dtVdist(pos, 0, tile.verts, v1Start);
-                float u = d0 / (d0 + d1);
-                dtVlerp(closest, 0, tile.verts, v0Start, tile.verts, v1Start, u);
-                //if (posOverPoly)
-                posOverPoly = false;
-                return DT_SUCCESS;
-            }
-
-            //uint ip = (uint)(poly - tile.polys);
-            dtPolyDetail pd = tile.detailMeshes[ip];
-
-            // Clamp point to be inside the polygon.
-            float[] verts = new float[DT_VERTS_PER_POLYGON * 3];
-            float[] edged = new float[DT_VERTS_PER_POLYGON];
-            float[] edget = new float[DT_VERTS_PER_POLYGON];
-            int nv = poly.vertCount;
-            for (int i = 0; i < nv; ++i)
-            {
-                dtVcopy(verts, i * 3, tile.verts, poly.verts[i] * 3);
-            }
-
-            dtVcopy(closest, pos);
-            if (!dtDistancePtPolyEdgesSqr(pos, 0, verts, nv, edged, edget))
-            {
-                // Point is outside the polygon, dtClamp to nearest edge.
-                float dmin = float.MaxValue;
-                int imin = -1;
-                for (int i = 0; i < nv; ++i)
-                {
-                    if (edged[i] < dmin)
-                    {
-                        dmin = edged[i];
-                        imin = i;
-                    }
-                }
-                //const float* va = &verts[imin*3];
-                //const float* vb = &verts[((imin+1)%nv)*3];
-                int vaStart = imin * 3;
-                int vbStart = ((imin + 1) % nv) * 3;
-                dtVlerp(closest, 0, verts, vaStart, verts, vbStart, edget[imin]);
-
-                //if (posOverPoly)
-                posOverPoly = false;
-            }
-            else
-            {
-                //if (posOverPoly)
-                posOverPoly = true;
-            }
-
-            // Find height at the location.
-            for (int j = 0; j < pd.triCount; ++j)
-            {
-                //byte[] t = &tile.detailTris[(pd.triBase+j)*4];
-                //const float* v[3];
-                int tStart = (int)(pd.triBase + j) * 4;
-                int[] vStarts = new int[3];
-                float[][] vSrc = new float[3][];
-                for (int k = 0; k < 3; ++k)
-                {
-                    byte tk = tile.detailTris[tStart + k];
-                    byte vCount = poly.vertCount;
-                    if (tk < vCount)
-                    {
-                        //v[k] = &tile.verts[poly.verts[tile.detailTris[tStart + k]]*3];
-                        vStarts[k] = poly.verts[tk] * 3;
-                        vSrc[k] = tile.verts;
-                    }
-                    else
-                    {
-                        //v[k] = &tile.detailVerts[(pd.vertBase+(t[k]-poly.vertCount))*3];
-                        vStarts[k] = (int)(pd.vertBase + (tk - vCount)) * 3;
-                        vSrc[k] = tile.detailVerts;
-                    }
-                }
-                float h = .0f;
-                if (dtClosestHeightPointTriangle(closest, 0, vSrc[0], vStarts[0], vSrc[1], vStarts[1], vSrc[2], vStarts[2], ref h))
-                {
-                    closest[1] = h;
-                    break;
-                }
-            }
 
             return DT_SUCCESS;
         }
@@ -745,6 +661,9 @@ public static partial class Detour
             if (dtStatusFailed(m_nav.getTileAndPolyByRef(polyRef, ref tile, ref poly)))
                 return DT_FAILURE | DT_INVALID_PARAM;
 
+            if (pos == null || !dtVisfinite(pos) || closest == null)
+                return DT_FAILURE | DT_INVALID_PARAM;
+
             // Collect vertices.
             float[] verts = new float[DT_VERTS_PER_POLYGON * 3];
             float[] edged = new float[DT_VERTS_PER_POLYGON];
@@ -792,10 +711,10 @@ public static partial class Detour
         // @returns The status flags for the query.
         // @par
         ///
-        /// Will return #DT_FAILURE if the provided position is outside the xz-bounds 
+        /// Will return #DT_FAILURE | DT_INVALID_PARAM if the provided position is outside the xz-bounds 
         /// of the polygon.
         /// 
-		public dtStatus getPolyHeight(dtPolyRef polyRef, float[] pos, ref float height)
+        public dtStatus getPolyHeight(dtPolyRef polyRef, float[] pos, ref float height)
         {
             Debug.Assert(m_nav != null);
 
@@ -805,57 +724,26 @@ public static partial class Detour
             if (dtStatusFailed(m_nav.getTileAndPolyByRef(polyRef, ref tile, ref poly, ref ip)))
                 return DT_FAILURE | DT_INVALID_PARAM;
 
+            if (pos == null || !dtVisfinite2D(pos))
+                return DT_FAILURE | DT_INVALID_PARAM;
+
+            // We used to return success for offmesh connections, but the
+            // getPolyHeight in DetourNavMesh does not do this, so special
+            // case it here.
             if (poly.getType() == (byte)dtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
             {
                 //const float* v0 = &tile.verts[poly.verts[0]*3];
                 //const float* v1 = &tile.verts[poly.verts[1]*3];
                 int v0Start = poly.verts[0] * 3;
                 int v1Start = poly.verts[1] * 3;
-                float d0 = dtVdist2D(pos, 0, tile.verts, v0Start);
+                float t = 0;
-                float d1 = dtVdist2D(pos, 0, tile.verts, v1Start);
+                dtDistancePtSegSqr2D(pos, 0, tile.verts, v0Start, tile.verts, v1Start, ref t);
-                float u = d0 / (d0 + d1);
                 //if (height)
-                height = tile.verts[v0Start + 1] + (tile.verts[v1Start + 1] - tile.verts[v0Start + 1]) * u;
+                height = tile.verts[v0Start + 1] + (tile.verts[v1Start + 1] - tile.verts[v0Start + 1]) * t;
                 return DT_SUCCESS;
             }
-            else
-            {
-                //const uint ip = (uint)(poly - tile.polys);
-                dtPolyDetail pd = tile.detailMeshes[ip];
-                for (int j = 0; j < pd.triCount; ++j)
-                {
-                    //byte[] t =  tile.detailTris[(pd.triBase+j)*4] ;
-                    //float* v[3];
-                    int tStart = (int)(pd.triBase + j) * 4;
-                    int[] vStarts = new int[3];
-                    float[][] vSrc = new float[3][];
 
-                    for (int k = 0; k < 3; ++k)
+            return m_nav.getPolyHeight(tile, poly, pos, height) ? DT_SUCCESS : DT_FAILURE | DT_INVALID_PARAM;
-                    {
-                        if (tile.detailTris[tStart + k] < poly.vertCount)
-                        {
-                            //v[k] = &tile.verts[poly.verts[tile.detailTris[tStart + k]]*3];
-                            vStarts[k] = poly.verts[tile.detailTris[tStart + k]] * 3;
-                            vSrc[k] = tile.verts;
-                        }
-                        else
-                        {
-                            //v[k] = &tile.detailVerts[(pd.vertBase+(tile.detailTris[tStart + k]-poly.vertCount))*3];
-                            vStarts[k] = (int)(pd.vertBase + (tile.detailTris[tStart + k] - poly.vertCount)) * 3;
-                            vSrc[k] = tile.detailVerts;
-                        }
-                    }
-                    float h = .0f;
-                    if (dtClosestHeightPointTriangle(pos, 0, vSrc[0], vStarts[0], vSrc[1], vStarts[1], vSrc[2], vStarts[2], ref h))
-                    {
-                        //if (height)
-                        height = h;
-                        return DT_SUCCESS;
-                    }
-                }
-            }
-
-            return DT_FAILURE | DT_INVALID_PARAM;
         }
 
         // @}
@@ -884,6 +772,8 @@ public static partial class Detour
 
             nearestRef = 0;
 
+            // queryPolygons below will check rest of params
+
             dtFindNearestPolyQuery query = new(this, center);
 
             dtStatus status = queryPolygons(center, halfExtents, filter, query);
@@ -1049,6 +939,13 @@ public static partial class Detour
         {
             Debug.Assert(m_nav != null);
 
+            if (center == null || !dtVisfinite(center) ||
+                halfExtents == null || !dtVisfinite(halfExtents) ||
+                filter == null || query == null)
+            {
+                return DT_FAILURE | DT_INVALID_PARAM;
+            }
+
             float[] bmin = new float[3];
             float[] bmax = new float[3];
             dtVsub(bmin, center, halfExtents);
@@ -1106,12 +1003,11 @@ public static partial class Detour
 
             pathCount = 0;
 
-            if (maxPath <= 0)
-                return DT_FAILURE | DT_INVALID_PARAM;
-
             // Validate input
             if (!m_nav.isValidPolyRef(startRef) || !m_nav.isValidPolyRef(endRef) ||
-                startPos == null || endPos == null || filter == null || maxPath <= 0 || path == null)
+                startPos == null || !dtVisfinite(startPos) ||
+                endPos == null || !dtVisfinite(endPos) ||
+                filter == null || path == null || maxPath <= 0)
                 return DT_FAILURE | DT_INVALID_PARAM;
 
             if (startRef == endRef)
@@ -1372,11 +1268,10 @@ public static partial class Detour
             m_query.options = options;
             m_query.raycastLimitSqr = float.MaxValue;
 
-            if (startRef == 0 || endRef == 0)
-                return DT_FAILURE | DT_INVALID_PARAM;
-
             // Validate input
-            if (!m_nav.isValidPolyRef(startRef) || !m_nav.isValidPolyRef(endRef))
+            if (!m_nav.isValidPolyRef(startRef) || !m_nav.isValidPolyRef(endRef) ||
+                startPos == null || !dtVisfinite(startPos) ||
+                endPos == null || !dtVisfinite(endPos) || filter == null)
                 return DT_FAILURE | DT_INVALID_PARAM;
 
             // trade quality with performance?
@@ -1646,6 +1541,9 @@ public static partial class Detour
         {
             pathCount = 0;
 
+            if (path == null || maxPath <= 0)
+                return DT_FAILURE | DT_INVALID_PARAM;
+
             if (dtStatusFailed(m_query.status))
             {
                 // Reset query.
@@ -1747,10 +1645,8 @@ public static partial class Detour
         {
             pathCount = 0;
 
-            if (existingSize == 0)
+            if (existing == null || existingSize <= 0 || path == null || maxPath <= 0)
-            {
+                return DT_FAILURE | DT_INVALID_PARAM;
-                return DT_FAILURE;
-            }
 
             if (dtStatusFailed(m_query.status))
             {
@@ -1971,10 +1867,10 @@ public static partial class Detour
 
             straightPathCount = 0;
 
-            if (maxStraightPath == 0)
+            if (startPos == null || !dtVisfinite(startPos) ||
-                return DT_FAILURE | DT_INVALID_PARAM;
+                endPos == null || !dtVisfinite(endPos) ||
-
+                path == null || pathSize <= 0 || path[0] == 0 ||
-            if (path[0] == 0)
+                maxStraightPath <= 0)
                 return DT_FAILURE | DT_INVALID_PARAM;
 
             dtStatus stat = 0;
@@ -2225,9 +2121,11 @@ public static partial class Detour
             visitedCount = 0;
 
             // Validate input
-            if (startRef == 0)
+            if (!m_nav.isValidPolyRef(startRef) ||
-                return DT_FAILURE | DT_INVALID_PARAM;
+                startPos == null || !dtVisfinite(startPos) ||
-            if (!m_nav.isValidPolyRef(startRef))
+                endPos == null || !dtVisfinite(endPos) ||
+                filter == null || resultPos == null || visited == null ||
+                maxVisitedSize <= 0)
                 return DT_FAILURE | DT_INVALID_PARAM;
 
             dtStatus status = DT_SUCCESS;
@@ -2578,7 +2476,6 @@ public static partial class Detour
         ///
         public dtStatus raycast(dtPolyRef startRef, float[] startPos, float[] endPos, dtQueryFilter filter, ref float t, float[] hitNormal, dtPolyRef[] path, ref uint pathCount, int maxPath)
         {
-
             dtRaycastHit hit = new();
             hit.path = path;
             hit.maxPath = maxPath;
@@ -2647,15 +2544,19 @@ public static partial class Detour
         {
             Debug.Assert(m_nav != null);
 
+            if (hit == null)
+                return DT_FAILURE | DT_INVALID_PARAM;
+
             hit.t = 0;
             hit.pathCount = 0;
             hit.pathCost = 0;
 
             // Validate input
-            if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
+            if (!m_nav.isValidPolyRef(startRef) ||
-                return DT_FAILURE | DT_INVALID_PARAM;
+                startPos == null || !dtVisfinite(startPos) ||
-
+                endPos == null || !dtVisfinite(endPos) ||
-            if (prevRef != 0 && !m_nav.isValidPolyRef(prevRef))
+                filter == null ||
+                (prevRef != 0 && !m_nav.isValidPolyRef(prevRef)))
                 return DT_FAILURE | DT_INVALID_PARAM;
 
             float[] dir = new float[3];
@@ -2925,7 +2826,10 @@ public static partial class Detour
             resultCount = 0;
 
             // Validate input
-            if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
+            if (!m_nav.isValidPolyRef(startRef) ||
+                centerPos == null || !dtVisfinite(centerPos) ||
+                radius < 0 || !float.IsFinite(radius) ||
+                filter == null || maxResult < 0)
                 return DT_FAILURE | DT_INVALID_PARAM;
 
             m_nodePool.clear();
@@ -3113,6 +3017,11 @@ public static partial class Detour
 
             resultCount = 0;
 
+            if (!m_nav.isValidPolyRef(startRef) ||
+                verts == null || nverts < 3 ||
+                filter == null || maxResult < 0)
+                return DT_FAILURE | DT_INVALID_PARAM;
+
             // Validate input
             if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
                 return DT_FAILURE | DT_INVALID_PARAM;
@@ -3305,8 +3214,10 @@ public static partial class Detour
 
             resultCount = 0;
 
-            // Validate input
+            if (!m_nav.isValidPolyRef(startRef) ||
-            if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
+                centerPos == null || !dtVisfinite(centerPos) ||
+                radius < 0 || !float.IsFinite(radius) ||
+                filter == null || maxResult < 0)
                 return DT_FAILURE | DT_INVALID_PARAM;
 
             const int MAX_STACK = 48;
@@ -3543,6 +3454,9 @@ public static partial class Detour
             if (dtStatusFailed(m_nav.getTileAndPolyByRef(polyRef, ref tile, ref poly)))
                 return DT_FAILURE | DT_INVALID_PARAM;
 
+            if (filter == null || segmentVerts == null || maxSegments < 0)
+                return DT_FAILURE | DT_INVALID_PARAM;
+
             int n = 0;
             const int MAX_INTERVAL = 16;
             dtSegInterval[] ints = new dtSegInterval[MAX_INTERVAL];
@@ -3705,7 +3619,10 @@ public static partial class Detour
             Debug.Assert(m_openList != null);
 
             // Validate input
-            if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
+            if (!m_nav.isValidPolyRef(startRef) ||
+                centerPos == null || !dtVisfinite(centerPos) ||
+                maxRadius < 0 || !float.IsFinite(maxRadius) ||
+                filter == null || hitPos == null || hitNormal == null)
                 return DT_FAILURE | DT_INVALID_PARAM;
 
             m_nodePool.clear();

Source/Framework/RecastDetour/Detour/DetourStatus.cs

@@ -16,7 +16,7 @@ public static partial class Detour
     public const uint DT_BUFFER_TOO_SMALL = 1 << 4;	// Result buffer for the query was too small to store all results.
     public const uint DT_OUT_OF_NODES = 1 << 5;		// Query ran out of nodes during search.
     public const uint DT_PARTIAL_RESULT = 1 << 6;	// Query did not reach the end location, returning best guess. 
-
+    public const uint DT_ALREADY_OCCUPIED = 1 << 7;	// A tile has already been assigned to the given x,y coordinate
 
     // Returns true of status is success.
     public static bool dtStatusSucceed(dtStatus status)

Source/Game/DataStorage/AreaTriggerDataStorage.cs

@@ -239,28 +239,28 @@ namespace Game.DataStorage
 
                     orbitInfo.StartDelay = circularMovementInfos.Read<uint>(1);
                     orbitInfo.Radius = circularMovementInfos.Read<float>(2);
-                    if (!float.IsInfinity(orbitInfo.Radius))
+                    if (!float.IsFinite(orbitInfo.Radius))
                     {
                         Log.outError(LogFilter.Sql, $"Table `areatrigger_create_properties_orbit` has listed areatrigger (AreaTriggerCreatePropertiesId: {areaTriggerCreatePropertiesId}) with invalid Radius ({orbitInfo.Radius}), set to 0!");
                         orbitInfo.Radius = 0.0f;
                     }
 
                     orbitInfo.BlendFromRadius = circularMovementInfos.Read<float>(3);
-                    if (!float.IsInfinity(orbitInfo.BlendFromRadius))
+                    if (!float.IsFinite(orbitInfo.BlendFromRadius))
                     {
                         Log.outError(LogFilter.Sql, $"Table `areatrigger_create_properties_orbit` has listed areatrigger (AreaTriggerCreatePropertiesId: {areaTriggerCreatePropertiesId}) with invalid BlendFromRadius ({orbitInfo.BlendFromRadius}), set to 0!");
                         orbitInfo.BlendFromRadius = 0.0f;
                     }
 
                     orbitInfo.InitialAngle = circularMovementInfos.Read<float>(4);
-                    if (!float.IsInfinity(orbitInfo.InitialAngle))
+                    if (!float.IsFinite(orbitInfo.InitialAngle))
                     {
                         Log.outError(LogFilter.Sql, $"Table `areatrigger_create_properties_orbit` has listed areatrigger (AreaTriggerCreatePropertiesId: {areaTriggerCreatePropertiesId}) with invalid InitialAngle ({orbitInfo.InitialAngle}), set to 0!");
                         orbitInfo.InitialAngle = 0.0f;
                     }
 
                     orbitInfo.ZOffset = circularMovementInfos.Read<float>(5);
-                    if (!float.IsInfinity(orbitInfo.ZOffset))
+                    if (!float.IsFinite(orbitInfo.ZOffset))
                     {
                         Log.outError(LogFilter.Sql, $"Table `spell_areatrigger_circular` has listed areatrigger (MiscId: {areaTriggerCreatePropertiesId}) with invalid ZOffset ({orbitInfo.ZOffset}), set to 0!");
                         orbitInfo.ZOffset = 0.0f;

Source/Game/Entities/Player/Player.DB.cs

@@ -3377,7 +3377,7 @@ namespace Game.Entities
             stmt.AddValue(0, GetGUID().GetCounter());
             characterTransaction.Append(stmt);
 
-            static float finiteAlways(float f) { return !float.IsInfinity(f) ? f : 0.0f; };
+            static float finiteAlways(float f) { return !float.IsFinite(f) ? f : 0.0f; };
 
             if (create)
             {

Source/Game/Maps/GridDefines.cs

@@ -25,7 +25,7 @@ namespace Game.Maps
     {
         public static bool IsValidMapCoord(float c)
         {
-            return !float.IsInfinity(c) && (Math.Abs(c) <= (MapConst.MapHalfSize - 0.5f));
+            return !float.IsFinite(c) && (Math.Abs(c) <= (MapConst.MapHalfSize - 0.5f));
         }
 
         public static bool IsValidMapCoord(float x, float y)
@@ -40,7 +40,7 @@ namespace Game.Maps
 
         public static bool IsValidMapCoord(float x, float y, float z, float o)
         {
-            return IsValidMapCoord(x, y, z) && !float.IsInfinity(o);
+            return IsValidMapCoord(x, y, z) && float.IsFinite(o);
         }
 
         public static bool IsValidMapCoord(uint mapid, float x, float y)

Source/Game/Movement/Generators/PathGenerator.cs

@@ -703,10 +703,14 @@ namespace Game.Movement
                 ulong[] visited = new ulong[MAX_VISIT_POLY];
 
                 int nvisited = 0;
-                _navMeshQuery.moveAlongSurface(polys[0], iterPos, moveTgt, _filter, result, visited, ref nvisited, MAX_VISIT_POLY);
+                if (Detour.dtStatusFailed(_navMeshQuery.moveAlongSurface(polys[0], iterPos, moveTgt, _filter, result, visited, ref nvisited, MAX_VISIT_POLY)))
+                    return Detour.DT_FAILURE;
+
                 npolys = FixupCorridor(polys, npolys, 74, visited, nvisited);
 
-                _navMeshQuery.getPolyHeight(polys[0], result, ref result[1]);
+                if (Detour.dtStatusFailed(_navMeshQuery.getPolyHeight(polys[0], result, ref result[1])))
+                    return Detour.DT_FAILURE;
+
                 result[1] += 0.5f;
                 Detour.dtVcopy(iterPos, result);
 
@@ -752,7 +756,9 @@ namespace Game.Movement
                         }
                         // Move position at the other side of the off-mesh link.
                         Detour.dtVcopy(iterPos, connectionEndPos);
-                        _navMeshQuery.getPolyHeight(polys[0], iterPos, ref iterPos[1]);
+                        if (Detour.dtStatusFailed(_navMeshQuery.getPolyHeight(polys[0], iterPos, ref iterPos[1])))
+                            return Detour.DT_FAILURE;
+
                         iterPos[1] += 0.5f;
                     }
                 }