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Fix for Issue 81. Fixed getPolysAround() and findDistanceToWall() when using off-mesh connections.

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This commit is contained in:
Mikko Mononen 2010-05-26 09:46:02 +00:00
parent 11386cedcf
commit 2aa749c940
4 changed files with 354 additions and 70 deletions
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40
Detour/Source/DetourNavMesh.cpp
View File

@ -1413,7 +1413,7 @@ int dtNavMesh::findPath(dtPolyRef startRef, dtPolyRef endRef,
dtPolyRef neighbourRef = bestTile->links[i].ref;
// Skip invalid ids and do not expand back to where we came from.
if (!neighbourRef || neighbourRef == bestRef)
if (!neighbourRef || neighbourRef == parentRef)
continue;
// Get neighbour poly and tile.
@ -2254,9 +2254,16 @@ int dtNavMesh::findPolysAround(dtPolyRef centerRef, const float* centerPos, floa
if (!neighbourRef || neighbourRef == parentRef)
continue;
// Calc distance to the edge.
const float* va = &bestTile->verts[bestPoly->verts[link->edge]*3];
const float* vb = &bestTile->verts[bestPoly->verts[(link->edge+1) % bestPoly->vertCount]*3];
// Expand to neighbour
it = decodePolyIdTile(neighbourRef);
ip = decodePolyIdPoly(neighbourRef);
const dtMeshTile* neighbourTile = &m_tiles[it];
const dtPoly* neighbourPoly = &neighbourTile->polys[ip];
// Find edge and calc distance to the edge.
float va[3], vb[3];
if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
continue;
float tseg;
float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg);
@ -2264,12 +2271,6 @@ int dtNavMesh::findPolysAround(dtPolyRef centerRef, const float* centerPos, floa
if (distSqr > radiusSqr)
continue;
// Expand to neighbour
it = decodePolyIdTile(neighbourRef);
ip = decodePolyIdPoly(neighbourRef);
const dtMeshTile* neighbourTile = &m_tiles[it];
const dtPoly* neighbourPoly = &neighbourTile->polys[ip];
if (!passFilter(filter, neighbourPoly->flags))
continue;
@ -2279,8 +2280,7 @@ int dtNavMesh::findPolysAround(dtPolyRef centerRef, const float* centerPos, floa
// Cost
float edgeMidPoint[3];
getEdgeMidPoint(bestRef, bestPoly, bestTile,
neighbourRef, neighbourPoly, neighbourTile, edgeMidPoint);
dtVlerp(edgeMidPoint, va, vb, 0.5f);
newNode.total = bestNode->total + dtVdist(previousEdgeMidPoint, edgeMidPoint);
@ -2430,6 +2430,16 @@ float dtNavMesh::findDistanceToWall(dtPolyRef centerRef, const float* centerPos,
if (!neighbourRef || neighbourRef == parentRef)
continue;
// Expand to neighbour.
it = decodePolyIdTile(neighbourRef);
ip = decodePolyIdPoly(neighbourRef);
const dtMeshTile* neighbourTile = &m_tiles[it];
const dtPoly* neighbourPoly = &neighbourTile->polys[ip];
// Skip off-mesh connections.
if (neighbourPoly->type == DT_POLYTYPE_OFFMESH_CONNECTION)
continue;
// Calc distance to the edge.
const float* va = &bestTile->verts[bestPoly->verts[link->edge]*3];
const float* vb = &bestTile->verts[bestPoly->verts[(link->edge+1) % bestPoly->vertCount]*3];
@ -2440,12 +2450,6 @@ float dtNavMesh::findDistanceToWall(dtPolyRef centerRef, const float* centerPos,
if (distSqr > radiusSqr)
continue;
// Expand to neighbour.
it = decodePolyIdTile(neighbourRef);
ip = decodePolyIdPoly(neighbourRef);
const dtMeshTile* neighbourTile = &m_tiles[it];
const dtPoly* neighbourPoly = &neighbourTile->polys[ip];
if (!passFilter(filter, neighbourPoly->flags))
continue;

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RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
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333
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@ -9,7 +9,7 @@
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</array>
</array>
<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
<string>{{0, 167}, {264, 643}}</string>
<string>{{0, 109}, {264, 643}}</string>
</dict>
<key>PBXTopSmartGroupGIDs</key>
<array/>
@ -324,7 +324,7 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A30F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>Sample_TileMesh.cpp</string>
<string>DetourNavMesh.cpp</string>
<key>PBXSplitModuleInNavigatorKey</key>
<dict>
<key>Split0</key>
@ -332,11 +332,11 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A40F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>Sample_TileMesh.cpp</string>
<string>DetourNavMesh.cpp</string>
<key>_historyCapacity</key>
<integer>0</integer>
<key>bookmark</key>
<string>6B10017F11AD1F0E0098A59A</string>
<string>6B1001B311AD24020098A59A</string>
<key>history</key>
<array>
<string>6BBB4A96115B4F3400CF791D</string>
@ -374,7 +374,6 @@
<string>6B4214D911803923006C347B</string>
<string>6B4215CB118066FE006C347B</string>
<string>6B6F8E2311837A7400A069D7</string>
<string>6B6F8E2411837A7400A069D7</string>
<string>6B6F8E2511837A7400A069D7</string>
<string>6B555F451191AA4400843384</string>
<string>6B55623D1193E79A00843384</string>
@ -396,7 +395,6 @@
<string>6B57E96B11A7695700614060</string>
<string>6B10000A11ACFFFB0098A59A</string>
<string>6B10003311AD03030098A59A</string>
<string>6B1000FB11AD16DC0098A59A</string>
<string>6B10011711AD19F90098A59A</string>
<string>6B10011811AD19F90098A59A</string>
<string>6B10011911AD19F90098A59A</string>
@ -404,7 +402,9 @@
<string>6B10017811AD1F0E0098A59A</string>
<string>6B10017911AD1F0E0098A59A</string>
<string>6B10017A11AD1F0E0098A59A</string>
<string>6B10017B11AD1F0E0098A59A</string>
<string>6B10018811AD204E0098A59A</string>
<string>6B1001A911AD23AA0098A59A</string>
<string>6B1001AA11AD23AA0098A59A</string>
</array>
<key>prevStack</key>
<array>
@ -498,6 +498,11 @@
<string>6B10017C11AD1F0E0098A59A</string>
<string>6B10017D11AD1F0E0098A59A</string>
<string>6B10017E11AD1F0E0098A59A</string>
<string>6B10018A11AD204E0098A59A</string>
<string>6B10019F11AD22CE0098A59A</string>
<string>6B1001A011AD22CE0098A59A</string>
<string>6B1001AB11AD23AA0098A59A</string>
<string>6B1001AC11AD23AA0098A59A</string>
</array>
</dict>
<key>SplitCount</key>
@ -511,18 +516,18 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {970, 460}}</string>
<string>{{0, 0}, {970, 545}}</string>
<key>RubberWindowFrame</key>
<string>13 75 1256 702 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXNavigatorGroup</string>
<key>Proportion</key>
<string>460pt</string>
<string>545pt</string>
</dict>
<dict>
<key>Proportion</key>
<string>196pt</string>
<string>111pt</string>
<key>Tabs</key>
<array>
<dict>
@ -590,7 +595,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {970, 169}}</string>
<string>{{10, 27}, {970, 84}}</string>
<key>RubberWindowFrame</key>
<string>13 75 1256 702 0 0 1280 778 </string>
</dict>
@ -675,12 +680,12 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {1256, 251}}</string>
<string>{{0, 0}, {1256, 73}}</string>
</dict>
<key>Module</key>
<string>PBXDebugCLIModule</string>
<key>Proportion</key>
<string>251pt</string>
<string>73pt</string>
</dict>
<dict>
<key>ContentConfiguration</key>
@ -699,8 +704,8 @@
<string>yes</string>
<key>sizes</key>
<array>
<string>{{0, 0}, {567, 93}}</string>
<string>{{567, 0}, {689, 93}}</string>
<string>{{0, 0}, {575, 85}}</string>
<string>{{575, 0}, {681, 85}}</string>
</array>
</dict>
<key>VerticalSplitView</key>
@ -715,8 +720,8 @@
<string>yes</string>
<key>sizes</key>
<array>
<string>{{0, 0}, {1256, 93}}</string>
<string>{{0, 93}, {1256, 312}}</string>
<string>{{0, 0}, {1256, 85}}</string>
<string>{{0, 85}, {1256, 498}}</string>
</array>
</dict>
</dict>
@ -736,7 +741,7 @@
<key>DebugSTDIOWindowFrame</key>
<string>{{200, 200}, {500, 300}}</string>
<key>Frame</key>
<string>{{0, 256}, {1256, 405}}</string>
<string>{{0, 78}, {1256, 583}}</string>
<key>PBXDebugSessionStackFrameViewKey</key>
<dict>
<key>DebugVariablesTableConfiguration</key>
@ -746,16 +751,16 @@
<string>Value</string>
<real>85</real>
<string>Summary</string>
<real>396</real>
<real>388</real>
</array>
<key>Frame</key>
<string>{{567, 0}, {689, 93}}</string>
<string>{{575, 0}, {681, 85}}</string>
</dict>
</dict>
<key>Module</key>
<string>PBXDebugSessionModule</string>
<key>Proportion</key>
<string>405pt</string>
<string>583pt</string>
</dict>
</array>
<key>Name</key>