From d2c287bef7c999e9df0e79e45927aa815f843de5 Mon Sep 17 00:00:00 2001
From: Kawe Mazidjatari <48657826+Mauler125@users.noreply.github.com>
Date: Tue, 20 Aug 2024 10:56:21 +0200
Subject: [PATCH] Recast: add options for traverse ray offsets

---
 src/naveditor/Editor.cpp                          | 15 +++++++++++++--
 src/naveditor/include/Editor.h                    |  2 ++
 .../recast/DebugUtils/Include/DetourDebugDraw.h   |  7 ++++++-
 .../recast/DebugUtils/Source/DetourDebugDraw.cpp  |  8 ++++++--
 4 files changed, 27 insertions(+), 5 deletions(-)

diff --git a/src/naveditor/Editor.cpp b/src/naveditor/Editor.cpp
index 55b8d3ac..e506890a 100644
--- a/src/naveditor/Editor.cpp
+++ b/src/naveditor/Editor.cpp
@@ -134,6 +134,7 @@ Editor::Editor() :
 	m_filterLowHangingObstacles(true),
 	m_filterLedgeSpans(true),
 	m_filterWalkableLowHeightSpans(true),
+	m_traverseRayDynamicOffset(true),
 	m_selectedNavMeshType(NAVMESH_SMALL),
 	m_loadedNavMeshType(NAVMESH_SMALL),
 	m_navmeshName(NavMesh_GetNameForType(NAVMESH_SMALL)),
@@ -268,6 +269,8 @@ void Editor::resetCommonSettings()
 	// https://developer.valvesoftware.com/wiki/Pl/Dimensions
 	m_agentMaxSlope = 45.573f;
 
+	m_traverseRayExtraOffset = 0.0f;
+
 	m_regionMinSize = 8;
 	m_regionMergeSize = 20;
 	m_edgeMaxLen = 12;
@@ -552,6 +555,12 @@ void Editor::handleCommonSettings()
 	if (ImGui::Button("Reset Traverse Table Masks"))
 		initTraverseMasks();
 
+	if (ImGui::Checkbox("Dynamic Traverse Ray Offset", &m_traverseRayDynamicOffset))
+		m_traverseLinkParams.dynamicOffset = m_traverseRayDynamicOffset;
+
+	if (ImGui::SliderFloat("Extra Offset", &m_traverseRayExtraOffset, 0, 128))
+		m_traverseLinkParams.extraOffset = m_traverseRayExtraOffset;
+
 	ImGui::Separator();
 }
 
@@ -801,7 +810,7 @@ void Editor::connectTileTraverseLinks(dtMeshTile* const baseTile, const bool lin
 				neis[0] = baseTile;
 			}
 
-			for (int k = 0; k < nneis; ++k)
+			for (int k = nneis-1; k >= 0; --k)
 			{
 				dtMeshTile* landTile = neis[k];
 				const bool sameTile = baseTile == landTile;
@@ -921,7 +930,9 @@ void Editor::connectTileTraverseLinks(dtMeshTile* const baseTile, const bool lin
 
 						const float slopeAngle = rdMathFabsf(rdCalcSlopeAngle(basePolyEdgeMid, landPolyEdgeMid));
 						const float maxAngle = rdCalcMaxLOSAngle(walkableRadius, m_cellHeight);
-						const float offsetAmount = rdCalcLedgeSpanOffsetAmount(walkableRadius, slopeAngle, maxAngle);
+						const float offsetAmount = m_traverseRayDynamicOffset
+							? rdCalcLedgeSpanOffsetAmount(walkableRadius, slopeAngle, maxAngle) + m_traverseRayExtraOffset
+							: walkableRadius + m_traverseRayExtraOffset;
 
 						if (!traverseLinkInLOS(m_geom, lowerEdgeMid, higherEdgeMid, lowerEdgeDir, higherEdgeDir, offsetAmount))
 							continue;
diff --git a/src/naveditor/include/Editor.h b/src/naveditor/include/Editor.h
index 6e43821c..91d3ee67 100644
--- a/src/naveditor/include/Editor.h
+++ b/src/naveditor/include/Editor.h
@@ -240,6 +240,7 @@ protected:
 	bool m_filterLowHangingObstacles;
 	bool m_filterLedgeSpans;
 	bool m_filterWalkableLowHeightSpans;
+	bool m_traverseRayDynamicOffset;
 
 	int m_minTileBits;
 	int m_maxTileBits;
@@ -250,6 +251,7 @@ protected:
 	float m_agentRadius;
 	float m_agentMaxClimb;
 	float m_agentMaxSlope;
+	float m_traverseRayExtraOffset;
 	int m_regionMinSize;
 	int m_regionMergeSize;
 	int m_edgeMaxLen;
diff --git a/src/thirdparty/recast/DebugUtils/Include/DetourDebugDraw.h b/src/thirdparty/recast/DebugUtils/Include/DetourDebugDraw.h
index 1927b33a..d0dfab90 100644
--- a/src/thirdparty/recast/DebugUtils/Include/DetourDebugDraw.h
+++ b/src/thirdparty/recast/DebugUtils/Include/DetourDebugDraw.h
@@ -50,7 +50,9 @@ struct duDrawTraverseLinkParams
 		traverseLinkType(-1),
 		traverseLinkDistance(-1),
 		traverseAnimType(-2),
-		cellHeight(0.0f)
+		cellHeight(0.0f),
+		extraOffset(0.0f),
+		dynamicOffset(false)
 	{}
 
 	int traverseLinkType;
@@ -63,6 +65,9 @@ struct duDrawTraverseLinkParams
 	// Used to determine the max LOS angle, this information is lost after
 	// the mesh tile has been build so we have to cache it from the editor.
 	float cellHeight;
+
+	float extraOffset;
+	bool dynamicOffset;
 };
 
 void duDebugDrawNavMesh(struct duDebugDraw* dd, const dtNavMesh& mesh, const float* offset, unsigned int flags, const duDrawTraverseLinkParams& traverseLinkParams);
diff --git a/src/thirdparty/recast/DebugUtils/Source/DetourDebugDraw.cpp b/src/thirdparty/recast/DebugUtils/Source/DetourDebugDraw.cpp
index 274e82f4..49bfd846 100644
--- a/src/thirdparty/recast/DebugUtils/Source/DetourDebugDraw.cpp
+++ b/src/thirdparty/recast/DebugUtils/Source/DetourDebugDraw.cpp
@@ -212,9 +212,13 @@ static void drawTraverseLinks(duDebugDraw* dd, const dtNavMesh& mesh, const dtNa
 			query->getEdgeMidPoint(basePolyRef, link->ref, startPos);
 			query->getEdgeMidPoint(link->ref, basePolyRef, endPos);
 
+			const float walkableRadius = tile->header->walkableRadius;
+
 			const float slopeAngle = rdMathFabsf(rdCalcSlopeAngle(startPos, endPos));
-			const float offsetAmount = rdCalcLedgeSpanOffsetAmount(tile->header->walkableRadius, 
-				slopeAngle, rdCalcMaxLOSAngle(tile->header->walkableRadius, traverseLinkParams.cellHeight));
+			const float offsetAmount = traverseLinkParams.dynamicOffset 
+				? rdCalcLedgeSpanOffsetAmount(walkableRadius, slopeAngle, 
+				  rdCalcMaxLOSAngle(walkableRadius, traverseLinkParams.cellHeight)) + traverseLinkParams.extraOffset
+				: walkableRadius + traverseLinkParams.extraOffset;
 
 			const bool startPointHighest = startPos[2] > endPos[2];
 			float* highestPos = startPointHighest ? startPos : endPos;