Merge branch 'master' of https://github.com/memononen/recastnavigation

DetourTileCache/Include/DetourTileCache.h

@@ -63,6 +63,8 @@ struct dtTileCacheParams
 
 struct dtTileCacheMeshProcess
 {
+	virtual ~dtTileCacheMeshProcess() { }
+
 	virtual void process(struct dtNavMeshCreateParams* params,
 						 unsigned char* polyAreas, unsigned short* polyFlags) = 0;
 };

DetourTileCache/Include/DetourTileCacheBuilder.h

@@ -78,6 +78,8 @@ struct dtTileCachePolyMesh
 
 struct dtTileCacheAlloc
 {
+	virtual ~dtTileCacheAlloc() { }
+
 	virtual void reset()
 	{
 	}
@@ -95,6 +97,8 @@ struct dtTileCacheAlloc
 
 struct dtTileCacheCompressor
 {
+	virtual ~dtTileCacheCompressor() { }
+
 	virtual int maxCompressedSize(const int bufferSize) = 0;
 	virtual dtStatus compress(const unsigned char* buffer, const int bufferSize,
 							  unsigned char* compressed, const int maxCompressedSize, int* compressedSize) = 0;

Recast/Source/RecastContour.cpp

@@ -188,27 +188,6 @@ static float distancePtSeg(const int x, const int z,
 						   const int px, const int pz,
 						   const int qx, const int qz)
 {
-/*	float pqx = (float)(qx - px);
-	float pqy = (float)(qy - py);
-	float pqz = (float)(qz - pz);
-	float dx = (float)(x - px);
-	float dy = (float)(y - py);
-	float dz = (float)(z - pz);
-	float d = pqx*pqx + pqy*pqy + pqz*pqz;
-	float t = pqx*dx + pqy*dy + pqz*dz;
-	if (d > 0)
-		t /= d;
-	if (t < 0)
-		t = 0;
-	else if (t > 1)
-		t = 1;
-	
-	dx = px + t*pqx - x;
-	dy = py + t*pqy - y;
-	dz = pz + t*pqz - z;
-	
-	return dx*dx + dy*dy + dz*dz;*/
-
 	float pqx = (float)(qx - px);
 	float pqz = (float)(qz - pz);
 	float dx = (float)(x - px);
@@ -1102,8 +1081,20 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
 			// Finally merge each regions holes into the outline.
 			for (int i = 0; i < nregions; i++)
 			{
-				if (regions[i].nholes > 0)
+				rcContourRegion& reg = regions[i];
-					mergeRegionHoles(ctx, regions[i]);
+				if (!reg.nholes) continue;
+				
+				if (reg.outline)
+				{
+					mergeRegionHoles(ctx, reg);
+				}
+				else
+				{
+					// The region does not have an outline.
+					// This can happen if the contour becaomes selfoverlapping because of
+					// too aggressive simplification settings.
+					ctx->log(RC_LOG_ERROR, "rcBuildContours: Bad outline for region %d, contour simplification is likely too aggressive.", i);
+				}
 			}
 		}
 		

Recast/Source/RecastMesh.cpp

@@ -1537,7 +1537,7 @@ bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst)
 		ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.flags' (%d).", src.npolys);
 		return false;
 	}
-	memcpy(dst.flags, src.flags, sizeof(unsigned char)*src.npolys);
+	memcpy(dst.flags, src.flags, sizeof(unsigned short)*src.npolys);
 	
 	return true;
 }

Recast/Source/RecastMeshDetail.cpp

@@ -68,21 +68,27 @@ static bool circumCircle(const float* p1, const float* p2, const float* p3,
 						 float* c, float& r)
 {
 	static const float EPS = 1e-6f;
+	// Calculate the circle relative to p1, to avoid some precision issues.
+	const float v1[3] = {0,0,0};
+	float v2[3], v3[3];
+	rcVsub(v2, p2,p1);
+	rcVsub(v3, p3,p1);
 	
-	const float cp = vcross2(p1, p2, p3);
+	const float cp = vcross2(v1, v2, v3);
 	if (fabsf(cp) > EPS)
 	{
-		const float p1Sq = vdot2(p1,p1);
+		const float v1Sq = vdot2(v1,v1);
-		const float p2Sq = vdot2(p2,p2);
+		const float v2Sq = vdot2(v2,v2);
-		const float p3Sq = vdot2(p3,p3);
+		const float v3Sq = vdot2(v3,v3);
-		c[0] = (p1Sq*(p2[2]-p3[2]) + p2Sq*(p3[2]-p1[2]) + p3Sq*(p1[2]-p2[2])) / (2*cp);
+		c[0] = (v1Sq*(v2[2]-v3[2]) + v2Sq*(v3[2]-v1[2]) + v3Sq*(v1[2]-v2[2])) / (2*cp);
-		c[2] = (p1Sq*(p3[0]-p2[0]) + p2Sq*(p1[0]-p3[0]) + p3Sq*(p2[0]-p1[0])) / (2*cp);
+		c[1] = 0;
-		r = vdist2(c, p1);
+		c[2] = (v1Sq*(v3[0]-v2[0]) + v2Sq*(v1[0]-v3[0]) + v3Sq*(v2[0]-v1[0])) / (2*cp);
+		r = vdist2(c, v1);
+		rcVadd(c, c, p1);
 		return true;
 	}
 	
-	c[0] = p1[0];
+	rcVcopy(c, p1);
-	c[2] = p1[2];
 	r = 0;
 	return false;
 }
@@ -223,15 +229,6 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
 				h = nh;
 				dmin = d;
 			}
-			
-/*			const float dx = (nx+0.5f)*cs - fx; 
-			const float dz = (nz+0.5f)*cs - fz;
-			const float d = dx*dx+dz*dz;
-			if (d < dmin)
-			{
-				h = nh;
-				dmin = d;
-			} */
 		}
 	}
 	return h;
@@ -524,15 +521,17 @@ static void triangulateHull(const int nverts, const float* verts, const int nhul
 {
 	int start = 0, left = 1, right = nhull-1;
 	
-	// Start from shortest ear.
+	// Start from an ear with shortest perimeter.
-	float dmin = FLT_MAX;
+	// This tends to favor well formed triangles as starting point.
+	float dmin = 0;
 	for (int i = 0; i < nhull; i++)
 	{
 		int pi = prev(i, nhull);
 		int ni = next(i, nhull);
 		const float* pv = &verts[hull[pi]*3];
+		const float* cv = &verts[hull[i]*3];
 		const float* nv = &verts[hull[ni]*3];
-		const float d = vdistSq2(pv, nv);
+		const float d = vdist2(pv,cv) + vdist2(cv,nv) + vdist2(nv,pv);
 		if (d < dmin)
 		{
 			start = i;
@@ -548,8 +547,10 @@ static void triangulateHull(const int nverts, const float* verts, const int nhul
 	tris.push(hull[right]);
 	tris.push(0);
 	
-	// Triangulate the polygon by adding the shortest diagonal
+	// Triangulate the polygon by moving left or right,
-	// by moving left or right.
+	// depending on which triangle has shorter perimeter.
+	// This heuristic was chose emprically, since it seems
+	// handle tesselated straight edges well.
 	while (next(left, nhull) != right)
 	{
 		// Check to see if se should advance left or right.
@@ -560,9 +561,9 @@ static void triangulateHull(const int nverts, const float* verts, const int nhul
 		const float* nvleft = &verts[hull[nleft]*3];
 		const float* cvright = &verts[hull[right]*3];
 		const float* nvright = &verts[hull[nright]*3];
+		const float dleft = vdist2(cvleft, nvleft) + vdist2(nvleft, cvright);
+		const float dright = vdist2(cvright, nvright) + vdist2(cvleft, nvright);
 		
-		const float dleft = vdistSq2(nvleft, cvright);
-		const float dright = vdistSq2(cvleft, nvright);
 		if (dleft < dright)
 		{
 			tris.push(hull[left]);
@@ -1217,7 +1218,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
 		return false;
 	}
 	dmesh.ntris = 0;
-	dmesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char*)*tcap*4, RC_ALLOC_PERM);
+	dmesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*tcap*4, RC_ALLOC_PERM);
 	if (!dmesh.tris)
 	{
 		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", tcap*4);