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Make closestPointOnPoly and getPolyHeight more robust

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* Make dtClosestHeightPointTriangle use no epsilon (except for checking
denominator)
* When point is outside poly, directly find closest height from boundary
detail edges instead of first interpolating and then finding height from
detail tris.
* When point is inside poly, if all dtClosestHeightPointTriangle queries
failed, then find height from detail edges. This should only happen if
the point is right on top of an internal detail tri edge.
This commit is contained in:
Jakob Botsch Nielsen
2019-03-16 15:03:50 +01:00
parent 33a9eb1cce
commit 54bb0943e5
4 changed files with 135 additions and 90 deletions
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45
Detour/Source/DetourNavMeshQuery.cpp
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@@ -588,7 +588,7 @@ dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float*
/// @par
///
/// Will return #DT_FAILURE if the provided position is outside the xz-bounds
/// Will return #DT_FAILURE | DT_INVALID_PARAM if the provided position is outside the xz-bounds
/// of the polygon.
///
dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* height) const
@@ -602,44 +602,25 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h
if (!pos || !dtVisfinite2D(pos))
return DT_FAILURE | DT_INVALID_PARAM;
// We used to return success for offmesh connections, but the
// getPolyHeight in DetourNavMesh does not do this, so special
// case it here.
if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
{
const float* v0 = &tile->verts[poly->verts[0]*3];
const float* v1 = &tile->verts[poly->verts[1]*3];
const float d0 = dtVdist2D(pos, v0);
const float d1 = dtVdist2D(pos, v1);
const float u = d0 / (d0+d1);
float t;
dtDistancePtSegSqr2D(pos, v0, v1, t);
if (height)
*height = v0[1] + (v1[1] - v0[1]) * u;
*height = v0[1] + (v1[1] - v0[1])*t;
return DT_SUCCESS;
}
else
{
const unsigned int ip = (unsigned int)(poly - tile->polys);
const dtPolyDetail* pd = &tile->detailMeshes[ip];
for (int j = 0; j < pd->triCount; ++j)
{
const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
const float* v[3];
for (int k = 0; k < 3; ++k)
{
if (t[k] < poly->vertCount)
v[k] = &tile->verts[poly->verts[t[k]]*3];
else
v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
}
float h;
if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
{
if (height)
*height = h;
return DT_SUCCESS;
}
}
}
return DT_FAILURE | DT_INVALID_PARAM;
return m_nav->getPolyHeight(tile, poly, pos, height)
? DT_SUCCESS
: DT_FAILURE | DT_INVALID_PARAM;
}
class dtFindNearestPolyQuery : public dtPolyQuery