server_common/recastnavigation_v1.6.0
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Fixed hadling of negative tile indices. Made findStraightPath a tiny bit simpler.

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This commit is contained in:
Mikko Mononen 2010-03-08 09:43:16 +00:00
parent d9d9fa85a5
commit 21f76bc0a5
1 changed files with 84 additions and 104 deletions
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188
Detour/Source/DetourNavMesh.cpp
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@ -1078,10 +1078,10 @@ int dtNavMesh::queryPolygons(const float* center, const float* extents, dtQueryF
vadd(bmax, center, extents);
// Find tiles the query touches.
const int minx = (int)((bmin[0]-m_orig[0]) / m_tileWidth);
const int maxx = (int)((bmax[0]-m_orig[0]) / m_tileWidth);
const int miny = (int)((bmin[2]-m_orig[2]) / m_tileHeight);
const int maxy = (int)((bmax[2]-m_orig[2]) / m_tileHeight);
const int minx = (int)floorf((bmin[0]-m_orig[0]) / m_tileWidth);
const int maxx = (int)floorf((bmax[0]-m_orig[0]) / m_tileWidth);
const int miny = (int)floorf((bmin[2]-m_orig[2]) / m_tileHeight);
const int maxy = (int)floorf((bmax[2]-m_orig[2]) / m_tileHeight);
int n = 0;
for (int y = miny; y <= maxy; ++y)
@ -1385,124 +1385,104 @@ int dtNavMesh::findStraightPath(const float* startPos, const float* endPos,
}
// Right vertex.
if (vequal(portalApex, portalRight))
if (triArea2D(portalApex, portalRight, right) <= 0.0f)
{
vcopy(portalRight, right);
rightPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
rightPolyType = toType;
rightIndex = i;
}
else
{
if (triArea2D(portalApex, portalRight, right) <= 0.0f)
if (vequal(portalApex, portalRight) || triArea2D(portalApex, portalLeft, right) > 0.0f)
{
if (triArea2D(portalApex, portalLeft, right) > 0.0f)
vcopy(portalRight, right);
rightPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
rightPolyType = toType;
rightIndex = i;
}
else
{
vcopy(portalApex, portalLeft);
apexIndex = leftIndex;
unsigned char flags = (leftPolyType == DT_POLYTYPE_OFFMESH_CONNECTION) ? DT_STRAIGHTPATH_OFFMESH_CONNECTION : 0;
dtPolyRef ref = leftPolyRef;
if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex))
{
vcopy(portalRight, right);
rightPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
rightPolyType = toType;
rightIndex = i;
vcopy(&straightPath[straightPathSize*3], portalApex);
if (straightPathFlags)
straightPathFlags[straightPathSize] = flags;
if (straightPathRefs)
straightPathRefs[straightPathSize] = ref;
straightPathSize++;
if (straightPathSize >= maxStraightPathSize)
return straightPathSize;
}
else
{
vcopy(portalApex, portalLeft);
apexIndex = leftIndex;
unsigned char flags = (leftPolyType == DT_POLYTYPE_OFFMESH_CONNECTION) ? DT_STRAIGHTPATH_OFFMESH_CONNECTION : 0;
dtPolyRef ref = leftPolyRef;
if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex))
{
vcopy(&straightPath[straightPathSize*3], portalApex);
if (straightPathFlags)
straightPathFlags[straightPathSize] = flags;
if (straightPathRefs)
straightPathRefs[straightPathSize] = ref;
straightPathSize++;
if (straightPathSize >= maxStraightPathSize)
return straightPathSize;
}
else
{
// The vertices are equal, update flags and poly.
if (straightPathFlags)
straightPathFlags[straightPathSize-1] = flags;
if (straightPathRefs)
straightPathRefs[straightPathSize-1] = ref;
}
vcopy(portalLeft, portalApex);
vcopy(portalRight, portalApex);
leftIndex = apexIndex;
rightIndex = apexIndex;
// Restart
i = apexIndex;
continue;
// The vertices are equal, update flags and poly.
if (straightPathFlags)
straightPathFlags[straightPathSize-1] = flags;
if (straightPathRefs)
straightPathRefs[straightPathSize-1] = ref;
}
vcopy(portalLeft, portalApex);
vcopy(portalRight, portalApex);
leftIndex = apexIndex;
rightIndex = apexIndex;
// Restart
i = apexIndex;
continue;
}
}
// Left vertex.
if (vequal(portalApex, portalLeft))
if (triArea2D(portalApex, portalLeft, left) >= 0.0f)
{
vcopy(portalLeft, left);
leftPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
leftPolyType = toType;
leftIndex = i;
}
else
{
if (triArea2D(portalApex, portalLeft, left) >= 0.0f)
if (vequal(portalApex, portalLeft) || triArea2D(portalApex, portalRight, left) < 0.0f)
{
if (triArea2D(portalApex, portalRight, left) < 0.0f)
vcopy(portalLeft, left);
leftPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
leftPolyType = toType;
leftIndex = i;
}
else
{
vcopy(portalApex, portalRight);
apexIndex = rightIndex;
unsigned char flags = (rightPolyType == DT_POLYTYPE_OFFMESH_CONNECTION) ? DT_STRAIGHTPATH_OFFMESH_CONNECTION : 0;
dtPolyRef ref = rightPolyRef;
if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex))
{
vcopy(portalLeft, left);
leftPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
leftPolyType = toType;
leftIndex = i;
vcopy(&straightPath[straightPathSize*3], portalApex);
if (straightPathFlags)
straightPathFlags[straightPathSize] = flags;
if (straightPathRefs)
straightPathRefs[straightPathSize] = ref;
straightPathSize++;
if (straightPathSize >= maxStraightPathSize)
return straightPathSize;
}
else
{
vcopy(portalApex, portalRight);
apexIndex = rightIndex;
unsigned char flags = (rightPolyType == DT_POLYTYPE_OFFMESH_CONNECTION) ? DT_STRAIGHTPATH_OFFMESH_CONNECTION : 0;
dtPolyRef ref = rightPolyRef;
if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex))
{
vcopy(&straightPath[straightPathSize*3], portalApex);
if (straightPathFlags)
straightPathFlags[straightPathSize] = flags;
if (straightPathRefs)
straightPathRefs[straightPathSize] = ref;
straightPathSize++;
if (straightPathSize >= maxStraightPathSize)
return straightPathSize;
}
else
{
// The vertices are equal, update flags and poly.
if (straightPathFlags)
straightPathFlags[straightPathSize-1] = flags;
if (straightPathRefs)
straightPathRefs[straightPathSize-1] = ref;
}
vcopy(portalLeft, portalApex);
vcopy(portalRight, portalApex);
leftIndex = apexIndex;
rightIndex = apexIndex;
// Restart
i = apexIndex;
continue;
// The vertices are equal, update flags and poly.
if (straightPathFlags)
straightPathFlags[straightPathSize-1] = flags;
if (straightPathRefs)
straightPathRefs[straightPathSize-1] = ref;
}
vcopy(portalLeft, portalApex);
vcopy(portalRight, portalApex);
leftIndex = apexIndex;
rightIndex = apexIndex;
// Restart
i = apexIndex;
continue;
}
}
}