server_common/recastnavigation_v1.6.0
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Merge branch 'master' of https://github.com/axelrodR/recastnavigation

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axelrodR 2014-06-24 22:54:53 +03:00
commit 8b7eb9f05b
5 changed files with 35 additions and 24 deletions
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2
Detour/Include/DetourNavMesh.h
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@ -134,7 +134,7 @@ enum dtRaycastOptions
/// Limit raycasting during any angle pahfinding /// Limit raycasting during any angle pahfinding
/// The limit is given as a multiple of the character radius /// The limit is given as a multiple of the character radius
static const float RAY_CAST_LIMIT_PROPORTIONS = 50.0f; static const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
/// Flags representing the type of a navigation mesh polygon. /// Flags representing the type of a navigation mesh polygon.
enum dtPolyTypes enum dtPolyTypes

10
Detour/Include/DetourNavMeshQuery.h
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@ -124,7 +124,7 @@ public:
/// Provides information about raycast hit /// Provides information about raycast hit
/// filled by dtNavMeshQuery::raycast /// filled by dtNavMeshQuery::raycast
/// @ingroup detour /// @ingroup detour
struct RaycastHit struct dtRaycastHit
{ {
/// The hit parameter. (FLT_MAX if no wall hit.) /// The hit parameter. (FLT_MAX if no wall hit.)
float t; float t;
@ -132,7 +132,7 @@ struct RaycastHit
/// hitNormal The normal of the nearest wall hit. [(x, y, z)] /// hitNormal The normal of the nearest wall hit. [(x, y, z)]
float hitNormal[3]; float hitNormal[3];
/// The reference ids of the visited polygons. [opt] /// Pointer to an array of reference ids of the visited polygons. [opt]
dtPolyRef* path; dtPolyRef* path;
/// The number of visited polygons. [opt] /// The number of visited polygons. [opt]
@ -215,7 +215,7 @@ public:
/// @returns The status flags for the query. /// @returns The status flags for the query.
dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef, dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos, const float* startPos, const float* endPos,
const dtQueryFilter* filter, const unsigned int options=0/*DT_FINDPATH_ANY_ANGLE*/); const dtQueryFilter* filter, const unsigned int options = 0);
/// Updates an in-progress sliced path query. /// Updates an in-progress sliced path query.
/// @param[in] maxIter The maximum number of iterations to perform. /// @param[in] maxIter The maximum number of iterations to perform.
@ -365,12 +365,12 @@ public:
/// @param[in] endPos The position to cast the ray toward. [(x, y, z)] /// @param[in] endPos The position to cast the ray toward. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query. /// @param[in] filter The polygon filter to apply to the query.
/// @param[in] flags govern how the raycast behaves. See dtRaycastOptions /// @param[in] flags govern how the raycast behaves. See dtRaycastOptions
/// @param[out] hit The raycast hit structure. /// @param[out] hit Pointer to a raycast hit structure which will be filled by the results.
/// @param[in] prevRef parent of start ref. Used during for cost calculation [opt] /// @param[in] prevRef parent of start ref. Used during for cost calculation [opt]
/// @returns The status flags for the query. /// @returns The status flags for the query.
dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos, dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter, const unsigned int options, const dtQueryFilter* filter, const unsigned int options,
RaycastHit* hit, dtPolyRef prevRef=0) const; dtRaycastHit* hit, dtPolyRef prevRef = 0) const;
/// Finds the distance from the specified position to the nearest polygon wall. /// Finds the distance from the specified position to the nearest polygon wall.

11
Detour/Include/DetourNode.h
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@ -25,7 +25,7 @@ enum dtNodeFlags
{ {
DT_NODE_OPEN = 0x01, DT_NODE_OPEN = 0x01,
DT_NODE_CLOSED = 0x02, DT_NODE_CLOSED = 0x02,
DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not connected/adjacent. Found using raycast. DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not adjacent. Found using raycast.
}; };
typedef unsigned short dtNodeIndex; typedef unsigned short dtNodeIndex;
@ -37,12 +37,15 @@ struct dtNode
float cost; ///< Cost from previous node to current node. float cost; ///< Cost from previous node to current node.
float total; ///< Cost up to the node. float total; ///< Cost up to the node.
unsigned int pidx : 24; ///< Index to parent node. unsigned int pidx : 24; ///< Index to parent node.
unsigned int state : 2; ///< extra state information. A polyRef can have multiple nodes with different extra info. unsigned int state : 2; ///< extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE
unsigned int flags : 3; ///< Node flags 0/open/closed. unsigned int flags : 3; ///< Node flags. A combination of dtNodeFlags.
dtPolyRef id; ///< Polygon ref the node corresponds to. dtPolyRef id; ///< Polygon ref the node corresponds to.
}; };
static const int DT_MAX_STATES_PER_NODE = 4; // number of extra states per node. See dtNode::state
class dtNodePool class dtNodePool
{ {
@ -89,7 +92,7 @@ public:
inline int getHashSize() const { return m_hashSize; } inline int getHashSize() const { return m_hashSize; }
inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; } inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; }
inline dtNodeIndex getNext(int i) const { return m_next[i]; } inline dtNodeIndex getNext(int i) const { return m_next[i]; }
inline int getNodeCount() const { return m_nodeCount;} inline int getNodeCount() const { return m_nodeCount; }
private: private:

34
Detour/Source/DetourNavMeshQuery.cpp
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@ -1159,7 +1159,7 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
dtVcopy(m_query.endPos, endPos); dtVcopy(m_query.endPos, endPos);
m_query.filter = filter; m_query.filter = filter;
m_query.options = options; m_query.options = options;
m_query.raycastLimitSqr = 1E37; m_query.raycastLimitSqr = FLT_MAX;
if (!startRef || !endRef) if (!startRef || !endRef)
return DT_FAILURE | DT_INVALID_PARAM; return DT_FAILURE | DT_INVALID_PARAM;
@ -1175,7 +1175,7 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
// so it is enough to compute it from the first tile. // so it is enough to compute it from the first tile.
const dtMeshTile* tile = m_nav->getTileByRef(startRef); const dtMeshTile* tile = m_nav->getTileByRef(startRef);
float agentRadius = tile->header->walkableRadius; float agentRadius = tile->header->walkableRadius;
m_query.raycastLimitSqr = dtSqr(agentRadius * RAY_CAST_LIMIT_PROPORTIONS); m_query.raycastLimitSqr = dtSqr(agentRadius * DT_RAY_CAST_LIMIT_PROPORTIONS);
} }
if (startRef == endRef) if (startRef == endRef)
@ -1215,7 +1215,7 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
return DT_FAILURE; return DT_FAILURE;
} }
RaycastHit rayHit; dtRaycastHit rayHit;
rayHit.maxPath = 0; rayHit.maxPath = 0;
int iter = 0; int iter = 0;
@ -1268,7 +1268,7 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
if (parentRef) if (parentRef)
{ {
bool invalidParent = dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly)); bool invalidParent = dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly));
if (invalidParent || (grandpaRef && dtStatusFailed(m_nav->isValidPolyRef(grandpaRef))) ) if (invalidParent || (grandpaRef && !m_nav->isValidPolyRef(grandpaRef)) )
{ {
// The polygon has disappeared during the sliced query, fail. // The polygon has disappeared during the sliced query, fail.
m_query.status = DT_FAILURE; m_query.status = DT_FAILURE;
@ -1332,15 +1332,23 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
float heuristic = 0; float heuristic = 0;
// raycast parent // raycast parent
rayHit.t = 0; bool foundShortCut = false;
rayHit.pathCost = rayHit.t = 0;
if (tryLOS) if (tryLOS)
{ {
raycast(parentRef, parentNode->pos, neighbourNode->pos, m_query.filter, DT_RAYCAST_USE_COSTS, &rayHit, grandpaRef); raycast(parentRef, parentNode->pos, neighbourNode->pos, m_query.filter, DT_RAYCAST_USE_COSTS, &rayHit, grandpaRef);
cost = parentNode->cost + rayHit.pathCost; foundShortCut = rayHit.t >= 1.0f;
} }
if (rayHit.t < 1.0f) // hit // update move cost
if (foundShortCut)
{ {
// shortcut found using raycast. Using shorter cost instead
cost = parentNode->cost + rayHit.pathCost;
}
else
{
// No shortcut found.
const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos, const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos,
parentRef, parentTile, parentPoly, parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly, bestRef, bestTile, bestPoly,
@ -1374,12 +1382,12 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
continue; continue;
// Add or update the node. // Add or update the node.
neighbourNode->pidx = rayHit.t < 1.0f ? m_nodePool->getNodeIdx(bestNode) : bestNode->pidx; neighbourNode->pidx = foundShortCut ? bestNode->pidx : m_nodePool->getNodeIdx(bestNode);
neighbourNode->id = neighbourRef; neighbourNode->id = neighbourRef;
neighbourNode->flags = (neighbourNode->flags & ~(DT_NODE_CLOSED | DT_NODE_PARENT_DETACHED)); neighbourNode->flags = (neighbourNode->flags & ~(DT_NODE_CLOSED | DT_NODE_PARENT_DETACHED));
neighbourNode->cost = cost; neighbourNode->cost = cost;
neighbourNode->total = total; neighbourNode->total = total;
if (rayHit.t >= 1.0f) if (foundShortCut)
neighbourNode->flags = (neighbourNode->flags | DT_NODE_PARENT_DETACHED); neighbourNode->flags = (neighbourNode->flags | DT_NODE_PARENT_DETACHED);
if (neighbourNode->flags & DT_NODE_OPEN) if (neighbourNode->flags & DT_NODE_OPEN)
@ -2301,7 +2309,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
const dtQueryFilter* filter, const dtQueryFilter* filter,
float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const
{ {
RaycastHit hit; dtRaycastHit hit;
hit.path = path; hit.path = path;
hit.maxPath = maxPath; hit.maxPath = maxPath;
@ -2357,7 +2365,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
/// ///
dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos, dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter, const unsigned int options, const dtQueryFilter* filter, const unsigned int options,
RaycastHit* hit, dtPolyRef prevRef) const dtRaycastHit* hit, dtPolyRef prevRef) const
{ {
dtAssert(m_nav); dtAssert(m_nav);
@ -3524,8 +3532,8 @@ bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const
{ {
if (!m_nodePool) return false; if (!m_nodePool) return false;
dtNode* nodes[4]; dtNode* nodes[DT_MAX_STATES_PER_NODE];
int n= m_nodePool->findNodes(ref, nodes, 4); int n= m_nodePool->findNodes(ref, nodes, DT_MAX_STATES_PER_NODE);
for (int i=0; i<n; i++) for (int i=0; i<n; i++)
{ {

2
DetourCrowd/Source/DetourCrowd.cpp
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@ -701,7 +701,7 @@ void dtCrowd::updateMoveRequest(const float /*dt*/)
dtPolyRef reqPath[MAX_RES]; // The path to the request location dtPolyRef reqPath[MAX_RES]; // The path to the request location
int reqPathCount = 0; int reqPathCount = 0;
// Quick seach towards the goal. // Quick search towards the goal.
static const int MAX_ITER = 20; static const int MAX_ITER = 20;
m_navquery->initSlicedFindPath(path[0], ag->targetRef, ag->npos, ag->targetPos, &m_filters[ag->params.queryFilterType]); m_navquery->initSlicedFindPath(path[0], ag->targetRef, ag->npos, ag->targetPos, &m_filters[ag->params.queryFilterType]);
m_navquery->updateSlicedFindPath(MAX_ITER, 0); m_navquery->updateSlicedFindPath(MAX_ITER, 0);