server_common/recastnavigation_v1.6.0
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changed the search pattern order

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from: 1,2,3,4,5...   o'clock
to:   1,11,2,10,3,9  o'clock
This commit is contained in:
axelrodR 2014-06-29 15:37:32 +03:00
parent 14c8703dbd
commit 61f5e67f1b
1 changed files with 20 additions and 8 deletions
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28
DetourCrowd/Source/DetourObstacleAvoidance.cpp
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@ -549,17 +549,30 @@ int dtObstacleAvoidanceQuery::sampleVelocityAdaptive(const float* pos, const flo
const float r = (float)(nr-j)/(float)nr;
pat[npat*2+0] = ddir[(j%1)*3] * r;
pat[npat*2+1] = ddir[(j%1)*3+2] * r;
float* last = pat + npat*2;
float* last1 = pat + npat*2;
float* last2 = last1;
npat++;
for (int i = 1; i < nd; i++)
for (int i = 1; i < nd-1; i+=2)
{
pat[npat*2+0] = last[0]*ca - last[1]*sa;
pat[npat*2+1] = last[0]*sa + last[1]*ca;
last = pat + npat*2;
npat++;
// get next point on the "right" (rotate CW)
pat[npat*2+0] = last1[0]*ca + last1[1]*sa;
pat[npat*2+1] = -last1[0]*sa + last1[1]*ca;
// get next point on the "left" (rotate CCW)
pat[npat*2+2] = last2[0]*ca - last2[1]*sa;
pat[npat*2+3] = last2[0]*sa + last2[1]*ca;
last1 = pat + npat*2;
last2 = last1 + 2;
npat += 2;
}
if ((nd&1) == 0)
{
pat[npat*2+2] = last2[0]*ca - last2[1]*sa;
pat[npat*2+3] = last2[0]*sa + last2[1]*ca;
npat++;
}
}
@ -601,5 +614,4 @@ int dtObstacleAvoidanceQuery::sampleVelocityAdaptive(const float* pos, const flo
dtVcopy(nvel, res);
return ns;
}
}