server_common/recastnavigation_v1.6.0
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bug fix in the original code (div by 0); minPenalty check missed rejecting states.

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axelrodR 2014-06-30 00:49:14 +03:00
parent 61f5e67f1b
commit 0122231ccf
1 changed files with 5 additions and 5 deletions
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10
DetourCrowd/Source/DetourObstacleAvoidance.cpp
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@ -327,13 +327,13 @@ float dtObstacleAvoidanceQuery::processSample(const float* vcand, const float cs
// penalty for straying away from the desired and current velocities // penalty for straying away from the desired and current velocities
const float vpen = m_params.weightDesVel * (dtVdist2D(vcand, dvel) * m_invVmax); const float vpen = m_params.weightDesVel * (dtVdist2D(vcand, dvel) * m_invVmax);
const float vcpen = m_params.weightCurVel * (dtVdist2D(vcand, vel) * m_invVmax); const float vcpen = m_params.weightCurVel * (dtVdist2D(vcand, vel) * m_invVmax);
if (vpen + vcpen > minPenalty)
return vpen + vcpen; // already too much.
// find the threshold hit time to bail out based on the early out penalty // find the threshold hit time to bail out based on the early out penalty
// (see how the penalty is calculated below to understnad) // (see how the penalty is calculated below to understnad)
float minPen = minPenalty - vpen - vcpen; float minPen = minPenalty - vpen - vcpen;
float tThresold = ((double)m_params.weightToi/(double)minPen - 0.1) / (double)m_invHorizTime; float tThresold = ((double)m_params.weightToi/(double)minPen - 0.1) * (double)m_params.horizTime;
if (tThresold - m_params.horizTime > -FLT_EPSILON)
return minPenalty; // already too much
// Find min time of impact and exit amongst all obstacles. // Find min time of impact and exit amongst all obstacles.
float tmin = m_params.horizTime; float tmin = m_params.horizTime;
@ -439,7 +439,7 @@ int dtObstacleAvoidanceQuery::sampleVelocityGrid(const float* pos, const float r
memcpy(&m_params, params, sizeof(dtObstacleAvoidanceParams)); memcpy(&m_params, params, sizeof(dtObstacleAvoidanceParams));
m_invHorizTime = 1.0f / m_params.horizTime; m_invHorizTime = 1.0f / m_params.horizTime;
m_vmax = vmax; m_vmax = vmax;
m_invVmax = 1.0f / vmax; m_invVmax = vmax > 0 ? 1.0f / vmax : FLT_MAX;
dtVset(nvel, 0,0,0); dtVset(nvel, 0,0,0);
@ -511,7 +511,7 @@ int dtObstacleAvoidanceQuery::sampleVelocityAdaptive(const float* pos, const flo
memcpy(&m_params, params, sizeof(dtObstacleAvoidanceParams)); memcpy(&m_params, params, sizeof(dtObstacleAvoidanceParams));
m_invHorizTime = 1.0f / m_params.horizTime; m_invHorizTime = 1.0f / m_params.horizTime;
m_vmax = vmax; m_vmax = vmax;
m_invVmax = 1.0f / vmax; m_invVmax = vmax > 0 ? 1.0f / vmax : FLT_MAX;
dtVset(nvel, 0,0,0); dtVset(nvel, 0,0,0);