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

Detour/Source/DetourNavMeshQuery.cpp

@@ -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 d0 = dtVdist2D(pos, v0);
-		const float d1 = dtVdist(pos, v1);
+		const float d1 = dtVdist2D(pos, v1);
 		const float u = d0 / (d0+d1);
 		if (height)
 			*height = v0[1] + (v1[1] - v0[1]) * u;

DetourCrowd/Include/DetourCrowd.h

@@ -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)]

DetourCrowd/Source/DetourCrowd.cpp

@@ -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)
 	}
 	
 }
-
-

Recast/Source/RecastMesh.cpp

@@ -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;
+						}
+					}
+				}
+			}
 		}
 	}
 

Recast/Source/RecastMeshDetail.cpp

@@ -1317,4 +1317,3 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
 	
 	return true;
 }
-

RecastDemo/Source/InputGeom.cpp

@@ -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;

RecastDemo/Source/MeshLoaderObj.cpp

@@ -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];

RecastDemo/Source/SampleInterfaces.cpp

@@ -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);
+	size_t readLen = fread(ptr, size, 1, m_fp);
-	return true;
+	return readLen == 1;
 }
 
 

RecastDemo/Source/Sample_TileMesh.cpp

@@ -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);
 	}
 	

RecastDemo/Source/TestCase.cpp

@@ -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;

RecastDemo/Source/imguiRenderGL.cpp

@@ -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);

RecastDemo/Source/main.cpp

@@ -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);
 	}