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fixes following mikko's comments from 11/4/14

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axelrodR
2014-04-23 16:24:36 +03:00
parent 9b73c5cf51
commit 27ffa5b4d3
4 changed files with 32 additions and 21 deletions
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32
Detour/Source/DetourNavMeshQuery.cpp
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@@ -1159,7 +1159,7 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
dtVcopy(m_query.endPos, endPos);
m_query.filter = filter;
m_query.options = options;
m_query.raycastLimitSqr = 1E37;
m_query.raycastLimitSqr = FLT_MAX;
if (!startRef || !endRef)
return DT_FAILURE | DT_INVALID_PARAM;
@@ -1175,7 +1175,7 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
// so it is enough to compute it from the first tile.
const dtMeshTile* tile = m_nav->getTileByRef(startRef);
float agentRadius = tile->header->walkableRadius;
m_query.raycastLimitSqr = dtSqr(agentRadius * RAY_CAST_LIMIT_PROPORTIONS);
m_query.raycastLimitSqr = dtSqr(agentRadius * DT_RAY_CAST_LIMIT_PROPORTIONS);
}
if (startRef == endRef)
@@ -1215,7 +1215,7 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
return DT_FAILURE;
}
RaycastHit rayHit;
dtRaycastHit rayHit;
rayHit.maxPath = 0;
int iter = 0;
@@ -1332,15 +1332,23 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
float heuristic = 0;
// raycast parent
rayHit.t = 0;
bool foundShortCut = false;
rayHit.pathCost = rayHit.t = 0;
if (tryLOS)
{
raycast(parentRef, parentNode->pos, neighbourNode->pos, m_query.filter, DT_RAYCAST_USE_COSTS, &rayHit, grandpaRef);
cost = parentNode->cost + rayHit.pathCost;
foundShortCut = rayHit.t >= 1.0f;
}
if (rayHit.t < 1.0f) // hit
// update move cost
if (foundShortCut)
{
// shortcut found using raycast. Using shorter cost instead
cost = parentNode->cost + rayHit.pathCost;
}
else
{
// No shortcut found.
const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
@@ -1374,12 +1382,12 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
continue;
// Add or update the node.
neighbourNode->pidx = rayHit.t < 1.0f ? m_nodePool->getNodeIdx(bestNode) : bestNode->pidx;
neighbourNode->pidx = foundShortCut ? bestNode->pidx : m_nodePool->getNodeIdx(bestNode);
neighbourNode->id = neighbourRef;
neighbourNode->flags = (neighbourNode->flags & ~(DT_NODE_CLOSED | DT_NODE_PARENT_DETACHED));
neighbourNode->cost = cost;
neighbourNode->total = total;
if (rayHit.t >= 1.0f)
if (foundShortCut)
neighbourNode->flags = (neighbourNode->flags | DT_NODE_PARENT_DETACHED);
if (neighbourNode->flags & DT_NODE_OPEN)
@@ -2301,7 +2309,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
const dtQueryFilter* filter,
float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const
{
RaycastHit hit;
dtRaycastHit hit;
hit.path = path;
hit.maxPath = maxPath;
@@ -2357,7 +2365,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
///
dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter, const unsigned int options,
RaycastHit* hit, dtPolyRef prevRef) const
dtRaycastHit* hit, dtPolyRef prevRef) const
{
dtAssert(m_nav);
@@ -3524,8 +3532,8 @@ bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const
{
if (!m_nodePool) return false;
dtNode* nodes[4];
int n= m_nodePool->findNodes(ref, nodes, 4);
dtNode* nodes[DT_MAX_STATES_PER_NODE];
int n= m_nodePool->findNodes(ref, nodes, DT_MAX_STATES_PER_NODE);
for (int i=0; i<n; i++)
{