server_common/recastnavigation_v1.6.0
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Raycast does not try to follow off-mesh links (Issue 64), use references instead of pointers in debugdraw api (Issue 62, Issue 63)

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This commit is contained in:
Mikko Mononen 2010-04-15 07:22:47 +00:00
parent 10b330ffb4
commit 6f1e34e9fe
1 changed files with 60 additions and 44 deletions
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104
Detour/Source/DetourNavMesh.cpp
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@ -405,7 +405,7 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
dtPoly* landPoly = &tile->polys[landPolyIdx];
dtLink* link = &tile->links[idx];
link->ref = getTilePolyRefBase(target) | (unsigned int)(targetCon->poly);
link->edge = 0;
link->edge = 0xff;
link->side = (unsigned char)side;
link->bmin = link->bmax = 0;
// Add to linked list.
@ -513,7 +513,7 @@ void dtNavMesh::connectIntOffMeshLinks(dtMeshTile* tile)
dtPoly* landPoly = &tile->polys[landPolyIdx];
dtLink* link = &tile->links[idx];
link->ref = base | (unsigned int)(con->poly);
link->edge = 0;
link->edge = 0xff;
link->side = 0xff;
link->bmin = link->bmax = 0;
// Add to linked list.
@ -2028,58 +2028,74 @@ int dtNavMesh::raycast(dtPolyRef centerRef, const float* startPos, const float*
for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next)
{
const dtLink* link = &tile->links[i];
if ((int)link->edge == segMax)
// Find link which contains this edge.
if ((int)link->edge != segMax)
continue;
// Get pointer to the next polygon.
it = decodePolyIdTile(link->ref);
ip = decodePolyIdPoly(link->ref);
const dtMeshTile* nextTile = &m_tiles[it];
const dtPoly* nextPoly = &nextTile->polys[ip];
// Skip off-mesh connections.
if (nextPoly->type == DT_POLYTYPE_OFFMESH_CONNECTION)
continue;
// Skip links based on filter.
if (!passFilter(filter, nextPoly->flags))
continue;
// If the link is internal, just return the ref.
if (link->side == 0xff)
{
// If the link is internal, just return the ref.
if (link->side == 0xff)
nextRef = link->ref;
break;
}
// If the link is at tile boundary,
const int v0 = poly->verts[link->edge];
const int v1 = poly->verts[(link->edge+1) % poly->vertCount];
const float* left = &tile->verts[v0*3];
const float* right = &tile->verts[v1*3];
// Check that the intersection lies inside the link portal.
if (link->side == 0 || link->side == 4)
{
// Calculate link size.
const float smin = dtMin(left[2],right[2]);
const float smax = dtMax(left[2],right[2]);
const float s = (smax-smin) / 255.0f;
const float lmin = smin + link->bmin*s;
const float lmax = smin + link->bmax*s;
// Find Z intersection.
float z = startPos[2] + (endPos[2]-startPos[2])*tmax;
if (z >= lmin && z <= lmax)
{
nextRef = link->ref;
break;
}
// If the link is at tile boundary,
const int v0 = poly->verts[link->edge];
const int v1 = poly->verts[(link->edge+1) % poly->vertCount];
const float* left = &tile->verts[v0*3];
const float* right = &tile->verts[v1*3];
// Check that the intersection lies inside the link portal.
if (link->side == 0 || link->side == 4)
}
else if (link->side == 2 || link->side == 6)
{
// Calculate link size.
const float smin = dtMin(left[0],right[0]);
const float smax = dtMax(left[0],right[0]);
const float s = (smax-smin) / 255.0f;
const float lmin = smin + link->bmin*s;
const float lmax = smin + link->bmax*s;
// Find X intersection.
float x = startPos[0] + (endPos[0]-startPos[0])*tmax;
if (x >= lmin && x <= lmax)
{
// Calculate link size.
const float smin = dtMin(left[2],right[2]);
const float smax = dtMax(left[2],right[2]);
const float s = (smax-smin) / 255.0f;
const float lmin = smin + link->bmin*s;
const float lmax = smin + link->bmax*s;
// Find Z intersection.
float z = startPos[2] + (endPos[2]-startPos[2])*tmax;
if (z >= lmin && z <= lmax)
{
nextRef = link->ref;
break;
}
}
else if (link->side == 2 || link->side == 6)
{
// Calculate link size.
const float smin = dtMin(left[0],right[0]);
const float smax = dtMax(left[0],right[0]);
const float s = (smax-smin) / 255.0f;
const float lmin = smin + link->bmin*s;
const float lmax = smin + link->bmax*s;
// Find X intersection.
float x = startPos[0] + (endPos[0]-startPos[0])*tmax;
if (x >= lmin && x <= lmax)
{
nextRef = link->ref;
break;
}
nextRef = link->ref;
break;
}
}
}
if (!nextRef || !passFilter(filter, getPolyFlags(nextRef)))
if (!nextRef)
{
// No neighbour, we hit a wall.