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

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This commit is contained in:
axelrodR 2014-04-23 14:53:04 +03:00
commit 9b73c5cf51
14 changed files with 4271 additions and 3149 deletions
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4
Detour/Source/DetourNavMeshQuery.cpp
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@ -662,8 +662,8 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h
{
const float* v0 = &tile->verts[poly->verts[0]*3];
const float* v1 = &tile->verts[poly->verts[1]*3];
const float d0 = dtVdist(pos, v0);
const float d1 = dtVdist(pos, v1);
const float d0 = dtVdist2D(pos, v0);
const float d1 = dtVdist2D(pos, v1);
const float u = d0 / (d0+d1);
if (height)
*height = v0[1] + (v1[1] - v0[1]) * u;

25
DetourCrowd/Include/DetourCrowd.h
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@ -45,6 +45,12 @@ static const int DT_CROWDAGENT_MAX_CORNERS = 4;
/// dtCrowdAgentParams::obstacleAvoidanceType
static const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8;
/// The maximum number of query filter types supported by the crowd manager.
/// @ingroup crowd
/// @see dtQueryFilter, dtCrowd::getFilter() dtCrowd::getEditableFilter(),
/// dtCrowdAgentParams::queryFilterType
static const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
/// Provides neighbor data for agents managed by the crowd.
/// @ingroup crowd
/// @see dtCrowdAgent::neis, dtCrowd
@ -87,6 +93,9 @@ struct dtCrowdAgentParams
/// [Limits: 0 <= value <= #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
unsigned char obstacleAvoidanceType;
/// The index of the query filter used by this agent.
unsigned char queryFilterType;
/// User defined data attached to the agent.
void* userData;
};
@ -206,8 +215,9 @@ class dtCrowd
int m_maxPathResult;
float m_ext[3];
dtQueryFilter m_filter;
dtQueryFilter m_filters[DT_CROWD_MAX_QUERY_FILTER_TYPE];
float m_maxAgentRadius;
int m_velocitySampleCount;
@ -251,6 +261,11 @@ public:
/// @return The requested agent.
const dtCrowdAgent* getAgent(const int idx);
/// Gets the specified agent from the pool.
/// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()]
/// @return The requested agent.
dtCrowdAgent* getEditableAgent(const int idx);
/// The maximum number of agents that can be managed by the object.
/// @return The maximum number of agents.
int getAgentCount() const;
@ -301,11 +316,11 @@ public:
/// Gets the filter used by the crowd.
/// @return The filter used by the crowd.
const dtQueryFilter* getFilter() const { return &m_filter; }
inline const dtQueryFilter* getFilter(const int i) const { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
/// Gets the filter used by the crowd.
/// @return The filter used by the crowd.
dtQueryFilter* getEditableFilter() { return &m_filter; }
inline dtQueryFilter* getEditableFilter(const int i) { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
/// Gets the search extents [(x, y, z)] used by the crowd for query operations.
/// @return The search extents used by the crowd. [(x, y, z)]

52
DetourCrowd/Source/DetourCrowd.cpp
View File

@ -484,6 +484,17 @@ int dtCrowd::getAgentCount() const
/// Agents in the pool may not be in use. Check #dtCrowdAgent.active before using the returned object.
const dtCrowdAgent* dtCrowd::getAgent(const int idx)
{
if (idx < 0 || idx >= m_maxAgents)
return 0;
return &m_agents[idx];
}
///
/// Agents in the pool may not be in use. Check #dtCrowdAgent.active before using the returned object.
dtCrowdAgent* dtCrowd::getEditableAgent(const int idx)
{
if (idx < 0 || idx >= m_maxAgents)
return 0;
return &m_agents[idx];
}
@ -512,13 +523,13 @@ int dtCrowd::addAgent(const float* pos, const dtCrowdAgentParams* params)
if (idx == -1)
return -1;
dtCrowdAgent* ag = &m_agents[idx];
dtCrowdAgent* ag = &m_agents[idx];
// Find nearest position on navmesh and place the agent there.
float nearest[3];
dtPolyRef ref = 0;
dtVcopy(nearest, pos);
dtStatus status = m_navquery->findNearestPoly(pos, m_ext, &m_filter, &ref, nearest);
dtStatus status = m_navquery->findNearestPoly(pos, m_ext, &m_filters[ag->params.queryFilterType], &ref, nearest);
if (dtStatusFailed(status))
{
dtVcopy(nearest, pos);
@ -691,7 +702,7 @@ void dtCrowd::updateMoveRequest(const float /*dt*/)
// Quick search towards the goal.
static const int MAX_ITER = 20;
m_navquery->initSlicedFindPath(path[0], ag->targetRef, ag->npos, ag->targetPos, &m_filter);
m_navquery->initSlicedFindPath(path[0], ag->targetRef, ag->npos, ag->targetPos, &m_filters[ag->params.queryFilterType]);
m_navquery->updateSlicedFindPath(MAX_ITER, 0);
dtStatus status = 0;
if (ag->targetReplan) // && npath > 10)
@ -758,7 +769,7 @@ void dtCrowd::updateMoveRequest(const float /*dt*/)
{
dtCrowdAgent* ag = queue[i];
ag->targetPathqRef = m_pathq.request(ag->corridor.getLastPoly(), ag->targetRef,
ag->corridor.getTarget(), ag->targetPos, &m_filter);
ag->corridor.getTarget(), ag->targetPos, &m_filters[ag->params.queryFilterType]);
if (ag->targetPathqRef != DT_PATHQ_INVALID)
ag->targetState = DT_CROWDAGENT_TARGET_WAITING_FOR_PATH;
}
@ -912,7 +923,7 @@ void dtCrowd::updateTopologyOptimization(dtCrowdAgent** agents, const int nagent
for (int i = 0; i < nqueue; ++i)
{
dtCrowdAgent* ag = queue[i];
ag->corridor.optimizePathTopology(m_navquery, &m_filter);
ag->corridor.optimizePathTopology(m_navquery, &m_filters[ag->params.queryFilterType]);
ag->topologyOptTime = 0;
}
@ -929,9 +940,6 @@ void dtCrowd::checkPathValidity(dtCrowdAgent** agents, const int nagents, const
if (ag->state != DT_CROWDAGENT_STATE_WALKING)
continue;
if (ag->targetState == DT_CROWDAGENT_TARGET_NONE || ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
continue;
ag->targetReplanTime += dt;
@ -942,14 +950,14 @@ void dtCrowd::checkPathValidity(dtCrowdAgent** agents, const int nagents, const
float agentPos[3];
dtPolyRef agentRef = ag->corridor.getFirstPoly();
dtVcopy(agentPos, ag->npos);
if (!m_navquery->isValidPolyRef(agentRef, &m_filter))
if (!m_navquery->isValidPolyRef(agentRef, &m_filters[ag->params.queryFilterType]))
{
// Current location is not valid, try to reposition.
// TODO: this can snap agents, how to handle that?
float nearest[3];
dtVcopy(nearest, agentPos);
agentRef = 0;
m_navquery->findNearestPoly(ag->npos, m_ext, &m_filter, &agentRef, nearest);
m_navquery->findNearestPoly(ag->npos, m_ext, &m_filters[ag->params.queryFilterType], &agentRef, nearest);
dtVcopy(agentPos, nearest);
if (!agentRef)
@ -971,16 +979,20 @@ void dtCrowd::checkPathValidity(dtCrowdAgent** agents, const int nagents, const
replan = true;
}
// If the agent does not have move target or is controlled by velocity, no need to recover the target nor replan.
if (ag->targetState == DT_CROWDAGENT_TARGET_NONE || ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
continue;
// Try to recover move request position.
if (ag->targetState != DT_CROWDAGENT_TARGET_NONE && ag->targetState != DT_CROWDAGENT_TARGET_FAILED)
{
if (!m_navquery->isValidPolyRef(ag->targetRef, &m_filter))
if (!m_navquery->isValidPolyRef(ag->targetRef, &m_filters[ag->params.queryFilterType]))
{
// Current target is not valid, try to reposition.
float nearest[3];
dtVcopy(nearest, ag->targetPos);
ag->targetRef = 0;
m_navquery->findNearestPoly(ag->targetPos, m_ext, &m_filter, &ag->targetRef, nearest);
m_navquery->findNearestPoly(ag->targetPos, m_ext, &m_filters[ag->params.queryFilterType], &ag->targetRef, nearest);
dtVcopy(ag->targetPos, nearest);
replan = true;
}
@ -993,7 +1005,7 @@ void dtCrowd::checkPathValidity(dtCrowdAgent** agents, const int nagents, const
}
// If nearby corridor is not valid, replan.
if (!ag->corridor.isValid(CHECK_LOOKAHEAD, m_navquery, &m_filter))
if (!ag->corridor.isValid(CHECK_LOOKAHEAD, m_navquery, &m_filters[ag->params.queryFilterType]))
{
// Fix current path.
// ag->corridor.trimInvalidPath(agentRef, agentPos, m_navquery, &m_filter);
@ -1029,7 +1041,7 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
dtCrowdAgent** agents = m_activeAgents;
int nagents = getActiveAgents(agents, m_maxAgents);
// Check that all agents still have valid paths.
checkPathValidity(agents, nagents, dt);
@ -1060,10 +1072,10 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
// if it has become invalid.
const float updateThr = ag->params.collisionQueryRange*0.25f;
if (dtVdist2DSqr(ag->npos, ag->boundary.getCenter()) > dtSqr(updateThr) ||
!ag->boundary.isValid(m_navquery, &m_filter))
!ag->boundary.isValid(m_navquery, &m_filters[ag->params.queryFilterType]))
{
ag->boundary.update(ag->corridor.getFirstPoly(), ag->npos, ag->params.collisionQueryRange,
m_navquery, &m_filter);
m_navquery, &m_filters[ag->params.queryFilterType]);
}
// Query neighbour agents
ag->nneis = getNeighbours(ag->npos, ag->params.height, ag->params.collisionQueryRange,
@ -1085,14 +1097,14 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
// Find corners for steering
ag->ncorners = ag->corridor.findCorners(ag->cornerVerts, ag->cornerFlags, ag->cornerPolys,
DT_CROWDAGENT_MAX_CORNERS, m_navquery, &m_filter);
DT_CROWDAGENT_MAX_CORNERS, m_navquery, &m_filters[ag->params.queryFilterType]);
// Check to see if the corner after the next corner is directly visible,
// and short cut to there.
if ((ag->params.updateFlags & DT_CROWD_OPTIMIZE_VIS) && ag->ncorners > 0)
{
const float* target = &ag->cornerVerts[dtMin(1,ag->ncorners-1)*3];
ag->corridor.optimizePathVisibility(target, ag->params.pathOptimizationRange, m_navquery, &m_filter);
ag->corridor.optimizePathVisibility(target, ag->params.pathOptimizationRange, m_navquery, &m_filters[ag->params.queryFilterType]);
// Copy data for debug purposes.
if (debugIdx == i)
@ -1372,7 +1384,7 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
continue;
// Move along navmesh.
ag->corridor.movePosition(ag->npos, m_navquery, &m_filter);
ag->corridor.movePosition(ag->npos, m_navquery, &m_filters[ag->params.queryFilterType]);
// Get valid constrained position back.
dtVcopy(ag->npos, ag->corridor.getPos());
@ -1422,5 +1434,3 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
}
}

36
Recast/Source/RecastMesh.cpp
View File

@ -1324,6 +1324,12 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
const unsigned short ox = (unsigned short)floorf((pmesh->bmin[0]-mesh.bmin[0])/mesh.cs+0.5f);
const unsigned short oz = (unsigned short)floorf((pmesh->bmin[2]-mesh.bmin[2])/mesh.cs+0.5f);
bool isMinX = (ox == 0);
bool isMinZ = (oz == 0);
bool isMaxX = ((unsigned short)floorf((mesh.bmax[0] - pmesh->bmax[0]) / mesh.cs + 0.5f)) == 0;
bool isMaxZ = ((unsigned short)floorf((mesh.bmax[2] - pmesh->bmax[2]) / mesh.cs + 0.5f)) == 0;
bool isOnBorder = (isMinX || isMinZ || isMaxX || isMaxZ);
for (int j = 0; j < pmesh->nverts; ++j)
{
unsigned short* v = &pmesh->verts[j*3];
@ -1344,6 +1350,36 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
if (src[k] == RC_MESH_NULL_IDX) break;
tgt[k] = vremap[src[k]];
}
if (isOnBorder)
{
for (int k = mesh.nvp; k < mesh.nvp * 2; ++k)
{
if (src[k] & 0x8000 && src[k] != 0xffff)
{
unsigned short dir = src[k] & 0xf;
switch (dir)
{
case 0: // Portal x-
if (isMinX)
tgt[k] = src[k];
break;
case 1: // Portal z+
if (isMaxZ)
tgt[k] = src[k];
break;
case 2: // Portal x+
if (isMaxX)
tgt[k] = src[k];
break;
case 3: // Portal z-
if (isMinZ)
tgt[k] = src[k];
break;
}
}
}
}
}
}

1
Recast/Source/RecastMeshDetail.cpp
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@ -1317,4 +1317,3 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
return true;
}

3377
RecastDemo/Contrib/stb_image.h
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File diff suppressed because it is too large Load Diff

3869
RecastDemo/Contrib/stb_truetype.h
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File diff suppressed because it is too large Load Diff

6
RecastDemo/Source/InputGeom.cpp
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@ -174,8 +174,12 @@ bool InputGeom::load(rcContext* ctx, const char* filePath)
fclose(fp);
return false;
}
fread(buf, bufSize, 1, fp);
size_t readLen = fread(buf, bufSize, 1, fp);
fclose(fp);
if (readLen != 1)
{
return false;
}
m_offMeshConCount = 0;
m_volumeCount = 0;

10
RecastDemo/Source/MeshLoaderObj.cpp
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@ -78,7 +78,6 @@ void rcMeshLoaderObj::addTriangle(int a, int b, int c, int& cap)
static char* parseRow(char* buf, char* bufEnd, char* row, int len)
{
bool cont = false;
bool start = true;
bool done = false;
int n = 0;
@ -90,7 +89,6 @@ static char* parseRow(char* buf, char* bufEnd, char* row, int len)
switch (c)
{
case '\\':
cont = true; // multirow
break;
case '\n':
if (start) break;
@ -103,7 +101,6 @@ static char* parseRow(char* buf, char* bufEnd, char* row, int len)
if (start) break;
default:
start = false;
cont = false;
row[n++] = c;
if (n >= len-1)
done = true;
@ -153,9 +150,14 @@ bool rcMeshLoaderObj::load(const char* filename)
fclose(fp);
return false;
}
fread(buf, bufSize, 1, fp);
size_t readLen = fread(buf, bufSize, 1, fp);
fclose(fp);
if (readLen != 1)
{
return false;
}
char* src = buf;
char* srcEnd = buf + bufSize;
char row[512];

4
RecastDemo/Source/SampleInterfaces.cpp
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@ -312,8 +312,8 @@ bool FileIO::write(const void* ptr, const size_t size)
bool FileIO::read(void* ptr, const size_t size)
{
if (!m_fp || m_mode != 2) return false;
fread(ptr, size, 1, m_fp);
return true;
size_t readLen = fread(ptr, size, 1, m_fp);
return readLen == 1;
}

18
RecastDemo/Source/Sample_TileMesh.cpp
View File

@ -285,7 +285,12 @@ dtNavMesh* Sample_TileMesh::loadAll(const char* path)
// Read header.
NavMeshSetHeader header;
fread(&header, sizeof(NavMeshSetHeader), 1, fp);
size_t readLen = fread(&header, sizeof(NavMeshSetHeader), 1, fp);
if (readLen != 1)
{
fclose(fp);
return 0;
}
if (header.magic != NAVMESHSET_MAGIC)
{
fclose(fp);
@ -314,15 +319,20 @@ dtNavMesh* Sample_TileMesh::loadAll(const char* path)
for (int i = 0; i < header.numTiles; ++i)
{
NavMeshTileHeader tileHeader;
fread(&tileHeader, sizeof(tileHeader), 1, fp);
readLen = fread(&tileHeader, sizeof(tileHeader), 1, fp);
if (readLen != 1)
return 0;
if (!tileHeader.tileRef || !tileHeader.dataSize)
break;
unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
if (!data) break;
memset(data, 0, tileHeader.dataSize);
fread(data, tileHeader.dataSize, 1, fp);
readLen = fread(data, tileHeader.dataSize, 1, fp);
if (readLen != 1)
return 0;
mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
}

6
RecastDemo/Source/TestCase.cpp
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@ -106,8 +106,12 @@ bool TestCase::load(const char* filePath)
fclose(fp);
return false;
}
fread(buf, bufSize, 1, fp);
size_t readLen = fread(buf, bufSize, 1, fp);
fclose(fp);
if (readLen != 1)
{
return false;
}
char* src = buf;
char* srcEnd = buf + bufSize;

9
RecastDemo/Source/imguiRenderGL.cpp
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@ -247,7 +247,7 @@ bool imguiRenderGLInit(const char* fontpath)
FILE* fp = fopen(fontpath, "rb");
if (!fp) return false;
fseek(fp, 0, SEEK_END);
int size = ftell(fp);
size_t size = ftell(fp);
fseek(fp, 0, SEEK_SET);
unsigned char* ttfBuffer = (unsigned char*)malloc(size);
@ -257,8 +257,13 @@ bool imguiRenderGLInit(const char* fontpath)
return false;
}
fread(ttfBuffer, 1, size, fp);
size_t readLen = fread(ttfBuffer, 1, size, fp);
fclose(fp);
if (readLen != size)
{
return false;
}
fp = 0;
unsigned char* bmap = (unsigned char*)malloc(512*512);

3
RecastDemo/Source/main.cpp
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@ -101,7 +101,8 @@ int main(int /*argc*/, char** /*argv*/)
}
else
{
width = vi->current_w - 20;
width = rcMin(vi->current_w, (int)(vi->current_h * 16.0 / 9.0));
width = width - 80;
height = vi->current_h - 80;
screen = SDL_SetVideoMode(width, height, 0, SDL_OPENGL);
}