Bumped CMake version to 1.6.0

To track changelogs for releases

CHANGELOG.md

@@ -0,0 +1,59 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased]
+
+
+
+## [1.6.0] - 2023-05-21
+
+### Added
+- CMake build support
+- Unit testing with Catch2 (#147)
+- Support for AABB and OBB obstacles in `dtTileCache` (#215, #278)
+- `dtTileCache` supports timesliced updates (#203)
+- Support for custom assertion functions (#250)
+- Variant of `findNearestPoly` that exposes distance and isOverPoly (#448)
+- `dtNavMeshQuery::getPathFromDijkstraSearch` gets a path from the explored nodes in a navmesh search (#211)
+- A version of `dtPolyQuery::queryPolygon` that operates on batches of polygons rather than just 128 (#175) (Fixes #107)
+- `rcNew`/`rcDelete` to match `rcAlloc`/`rcFree` (#324)
+- Better error reporting and input sanitization (#179, #303)
+- Better debug draw (#253, #254, #255, #256)
+- Improved docstrings, documentation
+- (RecastDemo) Load/Save navmesh data (#258)
+
+### Fixed
+- Improved robustness, speed and accuracy of navmesh point queries (#205, #208, #228, #231, #364, #381, #560)
+- Incorrect rasterization at tile borders (#476)
+- Off-mesh links in tiles were sometimes added twice (#202)
+- Potential heap corruption when collecting region layers (#214)
+- `findPath` returns `DT_OUT_OF_NODES` appropriately (#222)
+- Spans are filtered if there is just enough height (#626)
+- Increased epsilon in detour common segment polygon intersection test (#612)
+- Array overrun in `removeVertex` in `DetourTileCacheBuilder` (#601)
+- Potential rounding error computing bounding box size in `dtNavMesh::connectExtLinks` (#428)
+- An indexing error in updating agents in `DetourCrowd` (#450)
+- Allocation perf issues in rcVectorBase (#467)
+- Dead website links in comments
+- RecastDemo bugs (#180, #184, #186, #187, #200)
+- Uninitialized class member values, small memory leaks, rule-of-three violations, other minor issues
+
+### Changed
+- Updated stb_image (#184)
+- Updated stb_truetype (#183)
+
+### Removed
+- Use of _USE_MATH_DEFINES directive (#596)
+
+
+## [1.5.1] - 2016-02-22
+
+
+
+[unreleased]: https://github.com/recastnavigation/recastnavigation/compare/1.6.0...HEAD
+[1.6.0]: https://github.com/recastnavigation/recastnavigation/compare/1.5.1...1.6.0
+[1.5.1]: https://github.com/recastnavigation/recastnavigation/compare/1.5.0...1.5.1

CMakeLists.txt

@@ -4,7 +4,7 @@ project(RecastNavigation)
 
 # lib versions
 SET(SOVERSION 1)
-set(LIB_VERSION 1.5.1)
+set(LIB_VERSION 1.6.0)
 string(REPLACE "." "," LIB_VERSION_NUM "${LIB_VERSION}.0")
 
 set_property(GLOBAL PROPERTY CXX_STANDARD 98)
@@ -12,6 +12,8 @@ set_property(GLOBAL PROPERTY CXX_STANDARD 98)
 option(RECASTNAVIGATION_DEMO "Build demo" ON)
 option(RECASTNAVIGATION_TESTS "Build tests" ON)
 option(RECASTNAVIGATION_EXAMPLES "Build examples" ON)
+option(RECASTNAVIGATION_DT_POLYREF64 "Use 64bit polyrefs instead of 32bit for Detour" OFF)
+option(RECASTNAVIGATION_DT_VIRTUAL_QUERYFILTER "Use dynamic dispatch for dtQueryFilter in Detour to allow for custom filters" OFF)
 
 if(MSVC AND BUILD_SHARED_LIBS)
     set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
@@ -33,6 +35,12 @@ set(libdir "\${exec_prefix}/${CMAKE_INSTALL_LIBDIR}")
 set(bindir "\${exec_prefix}/${CMAKE_INSTALL_BINDIR}")
 set(includedir "\${prefix}/${CMAKE_INSTALL_INCLUDEDIR}")
 set(PACKAGE_VERSION "${LIB_VERSION}")
+if(RECASTNAVIGATION_DT_POLYREF64)
+    set(PKG_CONFIG_CFLAGS "${PKG_CONFIG_CFLAGS} -DDT_POLYREF64")
+endif()
+if(RECASTNAVIGATION_DT_VIRTUAL_QUERYFILTER)
+    set(PKG_CONFIG_CFLAGS "${PKG_CONFIG_CFLAGS} -DDT_VIRTUAL_QUERYFILTER")
+endif()
 configure_file(
         "${RecastNavigation_SOURCE_DIR}/recastnavigation.pc.in"
         "${RecastNavigation_BINARY_DIR}/recastnavigation.pc"

Detour/CMakeLists.txt

@@ -6,6 +6,13 @@ set_target_properties(Detour PROPERTIES DEBUG_POSTFIX -d)
 
 set(Detour_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Include")
 
+if(RECASTNAVIGATION_DT_POLYREF64)
+    target_compile_definitions(Detour PUBLIC DT_POLYREF64)
+endif()
+if(RECASTNAVIGATION_DT_VIRTUAL_QUERYFILTER)
+    target_compile_definitions(Detour PUBLIC DT_VIRTUAL_QUERYFILTER)
+endif()
+
 target_include_directories(Detour PUBLIC
     "$<BUILD_INTERFACE:${Detour_INCLUDE_DIR}>"
 )

Detour/Include/DetourAssert.h

@@ -24,7 +24,7 @@
 
 #ifdef NDEBUG
 
-// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
+// From https://web.archive.org/web/20210117002833/http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
 #	define dtAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false)  
 
 #else

DetourTileCache/Source/DetourTileCacheBuilder.cpp

@@ -890,7 +890,7 @@ static bool buildMeshAdjacency(dtTileCacheAlloc* alloc,
 							   const dtTileCacheContourSet& lcset)
 {
 	// Based on code by Eric Lengyel from:
-	// http://www.terathon.com/code/edges.php
+	// https://web.archive.org/web/20080704083314/http://www.terathon.com/code/edges.php
 	
 	const int maxEdgeCount = npolys*MAX_VERTS_PER_POLY;
 	dtFixedArray<unsigned short> firstEdge(alloc, nverts + maxEdgeCount);

Recast/Include/Recast.h

@@ -1083,7 +1083,7 @@ int rcGetHeightFieldSpanCount(rcContext* context, const rcHeightfield& heightfie
 /// @param[out]		compactHeightfield	The resulting compact heightfield. (Must be pre-allocated.)
 /// @returns True if the operation completed successfully.
 bool rcBuildCompactHeightfield(rcContext* context, int walkableHeight, int walkableClimb,
-							   rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield);
+							   const rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield);
 
 /// Erodes the walkable area within the heightfield by the specified radius. 
 /// @ingroup recast
@@ -1256,7 +1256,7 @@ inline int rcGetDirForOffset(int offsetX, int offsetZ)
 ///  								to be considered walkable. [Limit: >= 3] [Units: vx]
 /// @param[out]		lset			The resulting layer set. (Must be pre-allocated.)
 /// @returns True if the operation completed successfully.
-bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, 
+bool rcBuildHeightfieldLayers(rcContext* ctx, const rcCompactHeightfield& chf, 
 							  int borderSize, int walkableHeight,
 							  rcHeightfieldLayerSet& lset);
 
@@ -1271,7 +1271,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 /// @param[out]		cset		The resulting contour set. (Must be pre-allocated.)
 /// @param[in]		buildFlags	The build flags. (See: #rcBuildContoursFlags)
 /// @returns True if the operation completed successfully.
-bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
+bool rcBuildContours(rcContext* ctx, const rcCompactHeightfield& chf,
 					 float maxError, int maxEdgeLen,
 					 rcContourSet& cset, int buildFlags = RC_CONTOUR_TESS_WALL_EDGES);
 
@@ -1283,7 +1283,7 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
 /// 						contour to polygon conversion process. [Limit: >= 3] 
 /// @param[out]		mesh	The resulting polygon mesh. (Must be re-allocated.)
 /// @returns True if the operation completed successfully.
-bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh);
+bool rcBuildPolyMesh(rcContext* ctx, const rcContourSet& cset, const int nvp, rcPolyMesh& mesh);
 
 /// Merges multiple polygon meshes into a single mesh.
 ///  @ingroup recast

Recast/Include/RecastAssert.h

@@ -21,7 +21,7 @@
 
 #ifdef NDEBUG
 
-// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
+// From https://web.archive.org/web/20210117002833/http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
 #	define rcAssert(x) do { (void)sizeof(x); } while ((void)(__LINE__==-1), false)
 
 #else

Recast/Source/Recast.cpp

@@ -401,7 +401,7 @@ int rcGetHeightFieldSpanCount(rcContext* context, const rcHeightfield& heightfie
 }
 
 bool rcBuildCompactHeightfield(rcContext* context, const int walkableHeight, const int walkableClimb,
-                               rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield)
+                               const rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield)
 {
 	rcAssert(context);
 

Recast/Source/RecastContour.cpp

@@ -101,7 +101,7 @@ static int getCornerHeight(int x, int y, int i, int dir,
 }
 
 static void walkContour(int x, int y, int i,
-						rcCompactHeightfield& chf,
+						const rcCompactHeightfield& chf,
 						unsigned char* flags, rcIntArray& points)
 {
 	// Choose the first non-connected edge
@@ -820,7 +820,7 @@ static void mergeRegionHoles(rcContext* ctx, rcContourRegion& region)
 /// See the #rcConfig documentation for more information on the configuration parameters.
 ///
 /// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
-bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
+bool rcBuildContours(rcContext* ctx, const rcCompactHeightfield& chf,
 					 const float maxError, const int maxEdgeLen,
 					 rcContourSet& cset, const int buildFlags)
 {

Recast/Source/RecastFilter.cpp

@@ -174,7 +174,7 @@ void rcFilterWalkableLowHeightSpans(rcContext* context, const int walkableHeight
 			{
 				const int bot = (int)(span->smax);
 				const int top = span->next ? (int)(span->next->smin) : MAX_HEIGHT;
-				if ((top - bot) <= walkableHeight)
+				if ((top - bot) < walkableHeight)
 				{
 					span->area = RC_NULL_AREA;
 				}

Recast/Source/RecastLayers.cpp

@@ -28,8 +28,21 @@
 
 // Must be 255 or smaller (not 256) because layer IDs are stored as
 // a byte where 255 is a special value.
-static const int RC_MAX_LAYERS = 63;
+#ifndef RC_MAX_LAYERS_DEF
-static const int RC_MAX_NEIS = 16;
+#define RC_MAX_LAYERS_DEF 63
+#endif
+
+#if RC_MAX_LAYERS_DEF > 255
+#error RC_MAX_LAYERS_DEF must be 255 or smaller
+#endif
+
+#ifndef RC_MAX_NEIS_DEF
+#define RC_MAX_NEIS_DEF 16
+#endif
+
+// Keep type checking.
+static const int RC_MAX_LAYERS = RC_MAX_LAYERS_DEF;
+static const int RC_MAX_NEIS = RC_MAX_NEIS_DEF;
 
 struct rcLayerRegion
 {
@@ -88,7 +101,7 @@ struct rcLayerSweepSpan
 /// See the #rcConfig documentation for more information on the configuration parameters.
 /// 
 /// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
-bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
+bool rcBuildHeightfieldLayers(rcContext* ctx, const rcCompactHeightfield& chf,
 							  const int borderSize, const int walkableHeight,
 							  rcHeightfieldLayerSet& lset)
 {

Recast/Source/RecastMesh.cpp

@@ -34,7 +34,7 @@ static bool buildMeshAdjacency(unsigned short* polys, const int npolys,
 							   const int nverts, const int vertsPerPoly)
 {
 	// Based on code by Eric Lengyel from:
-	// http://www.terathon.com/code/edges.php
+	// https://web.archive.org/web/20080704083314/http://www.terathon.com/code/edges.php
 	
 	int maxEdgeCount = npolys*vertsPerPoly;
 	unsigned short* firstEdge = (unsigned short*)rcAlloc(sizeof(unsigned short)*(nverts + maxEdgeCount), RC_ALLOC_TEMP);
@@ -986,7 +986,7 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
 /// limit must be retricted to <= #DT_VERTS_PER_POLYGON.
 ///
 /// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig
-bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh)
+bool rcBuildPolyMesh(rcContext* ctx, const rcContourSet& cset, const int nvp, rcPolyMesh& mesh)
 {
 	rcAssert(ctx);
 	

RecastDemo/premake5.lua

@@ -238,6 +238,11 @@ project "Tests"
 	-- distribute executable in RecastDemo/Bin directory
 	targetdir "Bin"
 
+	-- enable ubsan and asan when compiling with clang
+	filter "toolset:clang"
+			buildoptions { "-fsanitize=undefined", "-fsanitize=address" } -- , "-fsanitize=memory" }
+			linkoptions { "-fsanitize=undefined", "-fsanitize=address" } --, "-fsanitize=memory" }
+
 	-- linux library cflags and libs
 	filter "system:linux"
 		buildoptions {