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Recast: ensure polygon is always within bounding volume

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In recastnavigation/recastnavigation@15ebb8bd25 the change was made to use detail polygons, but it appears that after this change, the bounding volume gets build under the polygons, especially if the polygons's Z are equal on all vertices. Flooring the mins and ceiling the maxs appears to yield correct behavior in all scenarios by making sure the bounding volume always encases its respective polygon.
This commit is contained in:
Kawe Mazidjatari 2024-10-25 00:51:54 +02:00
parent 563427ae63
commit 6451405fba
1 changed files with 15 additions and 15 deletions
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30
src/thirdparty/recast/Detour/Source/DetourNavMeshBuilder.cpp vendored
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@ -163,7 +163,19 @@ static void subdivide(BVItem* items, int nitems, int imin, int imax, rdTempVecto
}
}
static bool createBVTree(dtNavMeshCreateParams* params, rdTempVector<BVItem>& nodes)
inline static void quantItem(BVItem& it, const float* tileBmin, const float* tileBmax,
const float* polyBmin, const float* polyBmax, const float quantFactor)
{
it.bmin[0] = (unsigned short)rdClamp((int)rdMathFloorf((tileBmax[0] - polyBmax[0])*quantFactor), 0, 0xffff);
it.bmin[1] = (unsigned short)rdClamp((int)rdMathFloorf((polyBmin[1] - tileBmin[1])*quantFactor), 0, 0xffff);
it.bmin[2] = (unsigned short)rdClamp((int)rdMathFloorf((polyBmin[2] - tileBmin[2])*quantFactor), 0, 0xffff);
it.bmax[0] = (unsigned short)rdClamp((int)rdMathCeilf((tileBmax[0] - polyBmin[0])*quantFactor), 0, 0xffff);
it.bmax[1] = (unsigned short)rdClamp((int)rdMathCeilf((polyBmax[1] - tileBmin[1])*quantFactor), 0, 0xffff);
it.bmax[2] = (unsigned short)rdClamp((int)rdMathCeilf((polyBmax[2] - tileBmin[2])*quantFactor), 0, 0xffff);
}
static bool createBVTree(const dtNavMeshCreateParams* params, rdTempVector<BVItem>& nodes)
{
BVItem* items = (BVItem*)rdAlloc(sizeof(BVItem)*params->polyCount, RD_ALLOC_TEMP);
@ -227,13 +239,7 @@ static bool createBVTree(dtNavMeshCreateParams* params, rdTempVector<BVItem>& no
}
// BV-tree uses cs for all dimensions
it.bmin[0] = (unsigned short)rdClamp((int)((params->bmax[0] - bmax[0])*quantFactor), 0, 0xffff);
it.bmin[1] = (unsigned short)rdClamp((int)((bmin[1] - params->bmin[1])*quantFactor), 0, 0xffff);
it.bmin[2] = (unsigned short)rdClamp((int)((bmin[2] - params->bmin[2])*quantFactor), 0, 0xffff);
it.bmax[0] = (unsigned short)rdClamp((int)((params->bmax[0] - bmin[0])*quantFactor), 0, 0xffff);
it.bmax[1] = (unsigned short)rdClamp((int)((bmax[1] - params->bmin[1])*quantFactor), 0, 0xffff);
it.bmax[2] = (unsigned short)rdClamp((int)((bmax[2] - params->bmin[2])*quantFactor), 0, 0xffff);
quantItem(it, params->bmin, params->bmax, bmin, bmax, quantFactor);
}
subdivide(items, params->polyCount, 0, params->polyCount, nodes);
@ -295,13 +301,7 @@ static bool rebuildBVTree(dtMeshTile* tile, const unsigned short* oldPolyIndices
}
// BV-tree uses cs for all dimensions
it.bmin[0] = (unsigned short)rdClamp((int)((header->bmax[0] - bmax[0]) * quantFactor), 0, 0xffff);
it.bmin[1] = (unsigned short)rdClamp((int)((bmin[1] - header->bmin[1]) * quantFactor), 0, 0xffff);
it.bmin[2] = (unsigned short)rdClamp((int)((bmin[2] - header->bmin[2]) * quantFactor), 0, 0xffff);
it.bmax[0] = (unsigned short)rdClamp((int)((header->bmax[0] - bmin[0]) * quantFactor), 0, 0xffff);
it.bmax[1] = (unsigned short)rdClamp((int)((bmax[1] - header->bmin[1]) * quantFactor), 0, 0xffff);
it.bmax[2] = (unsigned short)rdClamp((int)((bmax[2] - header->bmin[2]) * quantFactor), 0, 0xffff);
quantItem(it, header->bmin, header->bmax, bmin, bmax, quantFactor);
}
subdivide(items, polyCount, 0, polyCount, nodes);