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Recast: use the correct vertex order instead of flipping them

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Instead of flipping them in dtNavMeshQuery::getPortalPoints, check them in the right order in dtNavMeshQuery::findStraightPath since other code depend on getPortalPoints's results not being flipped. Also fixed some types in comments.
This commit is contained in:
Kawe Mazidjatari 2024-07-10 17:52:12 +02:00
parent 63d85f0db5
commit 5cf3fd302f
1 changed files with 36 additions and 36 deletions
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72
src/thirdparty/recast/Detour/Source/DetourNavMeshQuery.cpp vendored
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@ -1860,7 +1860,7 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
return DT_FAILURE | DT_INVALID_PARAM;
}
// Apeend portals along the current straight path segment.
// Append portals along the current straight path segment.
if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS))
{
// Ignore status return value as we're just about to return anyway.
@ -1894,37 +1894,37 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
toType = DT_POLYTYPE_GROUND;
}
// Right vertex.
if (dtTriArea2D(portalApex, portalRight, right) <= 0.0f)
// Left vertex.
if (dtTriArea2D(portalApex, portalLeft, left) <= 0.0f)
{
if (dtVequal(portalApex, portalRight) || dtTriArea2D(portalApex, portalLeft, right) > 0.0f)
if (dtVequal(portalApex, portalLeft) || dtTriArea2D(portalApex, portalRight, left) > 0.0f)
{
dtVcopy(portalRight, right);
rightPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
rightPolyType = toType;
rightIndex = i;
dtVcopy(portalLeft, left);
leftPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
leftPolyType = toType;
leftIndex = i;
}
else
{
// Append portals along the current straight path segment.
if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS))
{
stat = appendPortals(apexIndex, leftIndex, portalLeft, path,
stat = appendPortals(apexIndex, rightIndex, portalRight, path,
straightPath, straightPathFlags, straightPathRefs,
straightPathCount, maxStraightPath, options);
if (stat != DT_IN_PROGRESS)
return stat;
}
dtVcopy(portalApex, portalLeft);
apexIndex = leftIndex;
dtVcopy(portalApex, portalRight);
apexIndex = rightIndex;
unsigned char flags = 0;
if (!leftPolyRef)
if (!rightPolyRef)
flags = DT_STRAIGHTPATH_END;
else if (leftPolyType == DT_POLYTYPE_OFFMESH_CONNECTION)
else if (rightPolyType == DT_POLYTYPE_OFFMESH_CONNECTION)
flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION;
dtPolyRef ref = leftPolyRef;
dtPolyRef ref = rightPolyRef;
// Append or update vertex
stat = appendVertex(portalApex, flags, ref,
@ -1945,37 +1945,37 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
}
}
// Left vertex.
if (dtTriArea2D(portalApex, portalLeft, left) >= 0.0f)
// Right vertex.
if (dtTriArea2D(portalApex, portalRight, right) >= 0.0f)
{
if (dtVequal(portalApex, portalLeft) || dtTriArea2D(portalApex, portalRight, left) < 0.0f)
if (dtVequal(portalApex, portalRight) || dtTriArea2D(portalApex, portalLeft, right) < 0.0f)
{
dtVcopy(portalLeft, left);
leftPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
leftPolyType = toType;
leftIndex = i;
dtVcopy(portalRight, right);
rightPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
rightPolyType = toType;
rightIndex = i;
}
else
{
// Append portals along the current straight path segment.
if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS))
{
stat = appendPortals(apexIndex, rightIndex, portalRight, path,
stat = appendPortals(apexIndex, leftIndex, portalLeft, path,
straightPath, straightPathFlags, straightPathRefs,
straightPathCount, maxStraightPath, options);
if (stat != DT_IN_PROGRESS)
return stat;
}
dtVcopy(portalApex, portalRight);
apexIndex = rightIndex;
dtVcopy(portalApex, portalLeft);
apexIndex = leftIndex;
unsigned char flags = 0;
if (!rightPolyRef)
if (!leftPolyRef)
flags = DT_STRAIGHTPATH_END;
else if (rightPolyType == DT_POLYTYPE_OFFMESH_CONNECTION)
else if (leftPolyType == DT_POLYTYPE_OFFMESH_CONNECTION)
flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION;
dtPolyRef ref = rightPolyRef;
dtPolyRef ref = leftPolyRef;
// Append or update vertex
stat = appendVertex(portalApex, flags, ref,
@ -2313,8 +2313,8 @@ dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly,
// Find portal vertices.
const int v0 = fromPoly->verts[link->edge];
const int v1 = fromPoly->verts[(link->edge+1) % (int)fromPoly->vertCount];
dtVcopy(left, &fromTile->verts[v1*3]);
dtVcopy(right, &fromTile->verts[v0*3]);
dtVcopy(left, &fromTile->verts[v0*3]);
dtVcopy(right, &fromTile->verts[v1*3]);
// If the link is at tile boundary, dtClamp the vertices to
// the link width.
@ -2326,8 +2326,8 @@ dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly,
const float s = 1.0f/255.0f;
const float tmin = link->bmin*s;
const float tmax = link->bmax*s;
dtVlerp(left, &fromTile->verts[v1*3], &fromTile->verts[v0*3], tmin);
dtVlerp(right, &fromTile->verts[v1*3], &fromTile->verts[v0*3], tmax);
dtVlerp(left, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmin);
dtVlerp(right, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmax);
}
}
@ -2591,8 +2591,8 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
}
// Check for partial edge links.
const int v0 = poly->verts[link->edge];
const int v1 = poly->verts[(link->edge+1) % poly->vertCount];
const int v1 = poly->verts[link->edge];
const int v0 = poly->verts[(link->edge+1) % poly->vertCount];
const float* left = &tile->verts[v0*3];
const float* right = &tile->verts[v1*3];
@ -3146,7 +3146,7 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
nstack--;
// Get poly and tile.
// The API input has been cheked already, skip checking internal data.
// The API input has been checked already, skip checking internal data.
const dtPolyRef curRef = curNode->id;
const dtMeshTile* curTile = 0;
const dtPoly* curPoly = 0;
@ -3160,7 +3160,7 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
if (!neighbourRef)
continue;
// Skip if cannot alloca more nodes.
// Skip if cannot allocate more nodes.
dtNode* neighbourNode = m_tinyNodePool->getNode(neighbourRef);
if (!neighbourNode)
continue;
@ -3301,7 +3301,7 @@ static void insertInterval(dtSegInterval* ints, int& nints, const int maxInts,
/// Otherwise only the wall segments are returned.
///
/// A segment that is normally a portal will be included in the result set as a
/// wall if the @p filter results in the neighbor polygon becoomming impassable.
/// wall if the @p filter results in the neighbor polygon becoming impassable.
///
/// The @p segmentVerts and @p segmentRefs buffers should normally be sized for the
/// maximum segments per polygon of the source navigation mesh.