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Recast: fix dtRandomPointInConvexPoly (XZY -> XYZ)

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Commit 11a827d54805b605a2500b4f6f13b8237bfffffd fixes 'dtNavMeshQuery::findRandomPoint' and 'dtNavMeshQuery::findRandomPointAroundCircle' never returning a poly as the vert indexing was inverted.

Although random positions are returned now, they are always either on a tile border, or a poly triangle.  This patch fixes the incorrect calculation of triangle area, and output position writing caused by a similar mixup of verts.
This commit is contained in:
Kawe Mazidjatari 2024-07-10 20:36:24 +02:00
parent 5cf3fd302f
commit eff312acf5
1 changed files with 4 additions and 4 deletions
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8
src/thirdparty/recast/Detour/Source/DetourCommon.cpp vendored
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@ -332,10 +332,10 @@ bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
const float s, const float t, float* out)
{
// Calc triangle araes
// Calc triangle areas
float areasum = 0.0f;
for (int i = 2; i < npts; i++) {
areas[i] = dtTriArea2D(&pts[0], &pts[(i-1)*3], &pts[i*3]);
areas[i] = dtTriArea2D(&pts[0], &pts[i*3], &pts[(i-1)*3]);
areasum += dtMax(0.001f, areas[i]);
}
// Find sub triangle weighted by area.
@ -360,8 +360,8 @@ void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
const float b = (1 - u) * v;
const float c = u * v;
const float* pa = &pts[0];
const float* pb = &pts[(tri-1)*3];
const float* pc = &pts[tri*3];
const float* pb = &pts[tri*3];
const float* pc = &pts[(tri-1)*3];
out[0] = a*pa[0] + b*pb[0] + c*pc[0];
out[1] = a*pa[1] + b*pb[1] + c*pc[1];