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Fix for issue 119.

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This commit is contained in:
Mikko Mononen 2010-09-17 07:37:00 +00:00
parent e5f6b82c19
commit 8a2963bce0
6 changed files with 252 additions and 103 deletions
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4
Detour/Include/DetourNavMeshQuery.h
View File

@ -149,7 +149,7 @@ public:
// endPos[3] - (in) Path end location. // endPos[3] - (in) Path end location.
// filter - (in) path polygon filter. // filter - (in) path polygon filter.
// path - (out) array holding the search result. // path - (out) array holding the search result.
// maxPathSize - (in) The max number of polygons the path array can hold. // maxPathSize - (in) The max number of polygons the path array can hold. Must be at least 1.
// Returns: Number of polygons in search result array. // Returns: Number of polygons in search result array.
int findPath(dtPolyRef startRef, dtPolyRef endRef, int findPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos, const float* startPos, const float* endPos,
@ -198,7 +198,7 @@ public:
// straightPath - (out) Points describing the straight path. // straightPath - (out) Points describing the straight path.
// straightPathFlags - (out, opt) Flags describing each point type, see dtStraightPathFlags. // straightPathFlags - (out, opt) Flags describing each point type, see dtStraightPathFlags.
// straightPathRefs - (out, opt) References to polygons at point locations. // straightPathRefs - (out, opt) References to polygons at point locations.
// maxStraightPathSize - (in) The max number of points the straight path array can hold. // maxStraightPathSize - (in) The max number of points the straight path array can hold. Must be at least 1.
// Returns: Number of points in the path. // Returns: Number of points in the path.
int findStraightPath(const float* startPos, const float* endPos, int findStraightPath(const float* startPos, const float* endPos,
const dtPolyRef* path, const int pathSize, const dtPolyRef* path, const int pathSize,

47
Detour/Source/DetourNavMeshQuery.cpp
View File

@ -951,28 +951,37 @@ int dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, const int maxPathSiz
return 0; return 0;
} }
// Reverse the path.
dtAssert(m_query.lastBestNode);
dtNode* prev = 0;
dtNode* node = m_query.lastBestNode;
do
{
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
node->pidx = m_nodePool->getNodeIdx(prev);
prev = node;
node = next;
}
while (node);
// Store path
node = prev;
int n = 0; int n = 0;
do
if (m_query.startRef == m_query.endRef)
{ {
path[n++] = node->id; // Special case: the search starts and ends at same poly.
node = m_nodePool->getNodeAtIdx(node->pidx); path[n++] = m_query.startRef;
}
else
{
// Reverse the path.
dtAssert(m_query.lastBestNode);
dtNode* prev = 0;
dtNode* node = m_query.lastBestNode;
do
{
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
node->pidx = m_nodePool->getNodeIdx(prev);
prev = node;
node = next;
}
while (node);
// Store path
node = prev;
do
{
path[n++] = node->id;
node = m_nodePool->getNodeAtIdx(node->pidx);
}
while (node && n < maxPathSize);
} }
while (node && n < maxPathSize);
// Reset query. // Reset query.
memset(&m_query, 0, sizeof(dtQueryData)); memset(&m_query, 0, sizeof(dtQueryData));

BIN
RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
View File

Binary file not shown.

228
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
View File

@ -9,7 +9,7 @@
}; };
}; };
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addToTargets = ( addToTargets = (
@ -20,12 +20,13 @@
6B42164711806B2F006C347B /* DetourDebugDraw.cpp:360 */, 6B42164711806B2F006C347B /* DetourDebugDraw.cpp:360 */,
6B10014C11AD1C1E0098A59A /* RecastMesh.cpp:1306 */, 6B10014C11AD1C1E0098A59A /* RecastMesh.cpp:1306 */,
6BA687AC1222F7AC00730711 /* Sample_Debug.cpp:137 */, 6BA687AC1222F7AC00730711 /* Sample_Debug.cpp:137 */,
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@ -266,6 +267,17 @@
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@ -299,8 +311,8 @@
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6B1185F41006895B0018F96F /* DetourNode.cpp */ = { 6B1185F41006895B0018F96F /* DetourNode.cpp */ = {
@ -472,9 +484,9 @@
}; };
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@ -723,8 +735,8 @@
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@ -737,12 +749,12 @@
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@ -1457,16 +1469,16 @@
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8D1107260486CEB800E47090 /* Recast */ = { 8D1107260486CEB800E47090 /* Recast */ = {

29
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
View File

@ -284,13 +284,14 @@
<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key> <key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
<array> <array>
<array> <array>
<integer>60</integer> <integer>59</integer>
<integer>51</integer>
<integer>1</integer> <integer>1</integer>
<integer>0</integer> <integer>0</integer>
</array> </array>
</array> </array>
<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key> <key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
<string>{{0, 521}, {264, 607}}</string> <string>{{0, 451}, {264, 607}}</string>
</dict> </dict>
<key>PBXTopSmartGroupGIDs</key> <key>PBXTopSmartGroupGIDs</key>
<array/> <array/>
@ -325,7 +326,7 @@
<key>PBXProjectModuleGUID</key> <key>PBXProjectModuleGUID</key>
<string>6B8632A30F78115100E2684A</string> <string>6B8632A30F78115100E2684A</string>
<key>PBXProjectModuleLabel</key> <key>PBXProjectModuleLabel</key>
<string>main.cpp</string> <string>DetourNavMeshQuery.cpp</string>
<key>PBXSplitModuleInNavigatorKey</key> <key>PBXSplitModuleInNavigatorKey</key>
<dict> <dict>
<key>Split0</key> <key>Split0</key>
@ -333,11 +334,11 @@
<key>PBXProjectModuleGUID</key> <key>PBXProjectModuleGUID</key>
<string>6B8632A40F78115100E2684A</string> <string>6B8632A40F78115100E2684A</string>
<key>PBXProjectModuleLabel</key> <key>PBXProjectModuleLabel</key>
<string>main.cpp</string> <string>DetourNavMeshQuery.cpp</string>
<key>_historyCapacity</key> <key>_historyCapacity</key>
<integer>0</integer> <integer>0</integer>
<key>bookmark</key> <key>bookmark</key>
<string>6BD6684712434DE80021A7A4</string> <string>6BD66861124351D70021A7A4</string>
<key>history</key> <key>history</key>
<array> <array>
<string>6BBB4AA5115B4F3400CF791D</string> <string>6BBB4AA5115B4F3400CF791D</string>
@ -381,14 +382,12 @@
<string>6B920A6E1225C5DD00D5B5AD</string> <string>6B920A6E1225C5DD00D5B5AD</string>
<string>6B920A811225D2EC00D5B5AD</string> <string>6B920A811225D2EC00D5B5AD</string>
<string>6B920A8F1225D3C900D5B5AD</string> <string>6B920A8F1225D3C900D5B5AD</string>
<string>6B920AA71225DBCB00D5B5AD</string>
<string>6B920AA81225DBCB00D5B5AD</string> <string>6B920AA81225DBCB00D5B5AD</string>
<string>6BA7F8A81226EF0400C8C47A</string> <string>6BA7F8A81226EF0400C8C47A</string>
<string>6BA7F8AA1226EF0400C8C47A</string> <string>6BA7F8AA1226EF0400C8C47A</string>
<string>6BA7F8AC1226EF0400C8C47A</string> <string>6BA7F8AC1226EF0400C8C47A</string>
<string>6BA7F8B61226EF1100C8C47A</string> <string>6BA7F8B61226EF1100C8C47A</string>
<string>6BA7F8D01226EF9D00C8C47A</string> <string>6BA7F8D01226EF9D00C8C47A</string>
<string>6BA7F8E91227002300C8C47A</string>
<string>6BA7F8EB1227002300C8C47A</string> <string>6BA7F8EB1227002300C8C47A</string>
<string>6BA7F8EC1227002300C8C47A</string> <string>6BA7F8EC1227002300C8C47A</string>
<string>6BA7F8ED1227002300C8C47A</string> <string>6BA7F8ED1227002300C8C47A</string>
@ -406,7 +405,6 @@
<string>6B8477BB122D297200ADF63D</string> <string>6B8477BB122D297200ADF63D</string>
<string>6B8477E1122D2B9100ADF63D</string> <string>6B8477E1122D2B9100ADF63D</string>
<string>6B8477EE122D2CC900ADF63D</string> <string>6B8477EE122D2CC900ADF63D</string>
<string>6B8477FB122D2E2A00ADF63D</string>
<string>6B8477FC122D2E2A00ADF63D</string> <string>6B8477FC122D2E2A00ADF63D</string>
<string>6B8477FD122D2E2A00ADF63D</string> <string>6B8477FD122D2E2A00ADF63D</string>
<string>6B8477FE122D2E2A00ADF63D</string> <string>6B8477FE122D2E2A00ADF63D</string>
@ -421,10 +419,13 @@
<string>6BD6681812434B790021A7A4</string> <string>6BD6681812434B790021A7A4</string>
<string>6BD6683412434D9D0021A7A4</string> <string>6BD6683412434D9D0021A7A4</string>
<string>6BD6683512434D9D0021A7A4</string> <string>6BD6683512434D9D0021A7A4</string>
<string>6BD6683612434D9D0021A7A4</string>
<string>6BD6683712434D9D0021A7A4</string> <string>6BD6683712434D9D0021A7A4</string>
<string>6BD6684512434DE80021A7A4</string> <string>6BD6684512434DE80021A7A4</string>
<string>6BD6684612434DE80021A7A4</string> <string>6BD6684E124350B80021A7A4</string>
<string>6BD66855124350F80021A7A4</string>
<string>6BD6685E124351D70021A7A4</string>
<string>6BD6685F124351D70021A7A4</string>
<string>6BD66860124351D70021A7A4</string>
</array> </array>
</dict> </dict>
<key>SplitCount</key> <key>SplitCount</key>
@ -438,18 +439,18 @@
<key>GeometryConfiguration</key> <key>GeometryConfiguration</key>
<dict> <dict>
<key>Frame</key> <key>Frame</key>
<string>{{0, 0}, {994, 420}}</string> <string>{{0, 0}, {994, 518}}</string>
<key>RubberWindowFrame</key> <key>RubberWindowFrame</key>
<string>0 112 1280 666 0 0 1280 778 </string> <string>0 112 1280 666 0 0 1280 778 </string>
</dict> </dict>
<key>Module</key> <key>Module</key>
<string>PBXNavigatorGroup</string> <string>PBXNavigatorGroup</string>
<key>Proportion</key> <key>Proportion</key>
<string>420pt</string> <string>518pt</string>
</dict> </dict>
<dict> <dict>
<key>Proportion</key> <key>Proportion</key>
<string>200pt</string> <string>102pt</string>
<key>Tabs</key> <key>Tabs</key>
<array> <array>
<dict> <dict>
@ -517,7 +518,7 @@
<key>GeometryConfiguration</key> <key>GeometryConfiguration</key>
<dict> <dict>
<key>Frame</key> <key>Frame</key>
<string>{{10, 27}, {994, 173}}</string> <string>{{10, 27}, {994, 75}}</string>
<key>RubberWindowFrame</key> <key>RubberWindowFrame</key>
<string>0 112 1280 666 0 0 1280 778 </string> <string>0 112 1280 666 0 0 1280 778 </string>
</dict> </dict>

47
RecastDemo/Source/NavMeshTesterTool.cpp
View File

@ -507,34 +507,33 @@ void NavMeshTesterTool::handleStep()
void NavMeshTesterTool::handleUpdate(const float /*dt*/) void NavMeshTesterTool::handleUpdate(const float /*dt*/)
{ {
if (m_pathFindState == DT_QUERY_RUNNING) if (m_toolMode == TOOLMODE_PATHFIND_SLICED)
{ {
m_pathFindState = m_navQuery->updateSlicedFindPath(1); if (m_pathFindState == DT_QUERY_RUNNING)
}
if (m_pathFindState == DT_QUERY_READY)
{
m_npolys = m_navQuery->finalizeSlicedFindPath(m_polys, MAX_POLYS);
m_nstraightPath = 0;
if (m_npolys)
{ {
// In case of partial path, make sure the end point is clamped to the last polygon. m_pathFindState = m_navQuery->updateSlicedFindPath(1);
float epos[3]; }
dtVcopy(epos, m_epos);
if (m_polys[m_npolys-1] != m_endRef) if (m_pathFindState == DT_QUERY_READY)
m_navQuery->closestPointOnPoly(m_polys[m_npolys-1], m_epos, epos); {
m_npolys = m_navQuery->finalizeSlicedFindPath(m_polys, MAX_POLYS);
m_nstraightPath = m_navQuery->findStraightPath(m_spos, epos, m_polys, m_npolys, m_nstraightPath = 0;
m_straightPath, m_straightPathFlags, if (m_npolys)
m_straightPathPolys, MAX_POLYS); {
// In case of partial path, make sure the end point is clamped to the last polygon.
float epos[3];
dtVcopy(epos, m_epos);
if (m_polys[m_npolys-1] != m_endRef)
m_navQuery->closestPointOnPoly(m_polys[m_npolys-1], m_epos, epos);
m_nstraightPath = m_navQuery->findStraightPath(m_spos, epos, m_polys, m_npolys,
m_straightPath, m_straightPathFlags,
m_straightPathPolys, MAX_POLYS);
}
m_pathFindState = DT_QUERY_FAILED;
} }
m_pathFindState = DT_QUERY_FAILED;
} }
} }
void NavMeshTesterTool::reset() void NavMeshTesterTool::reset()