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Fix FindRandomPointAroundCircle to always find a valid point on a NavMesh in the radius

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#2398
This commit is contained in:
Wojtek Figat
2024-04-20 15:01:27 +02:00
parent 560cf65121
commit 41ffc16b66
5 changed files with 54 additions and 76 deletions
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27
Source/ThirdParty/recastnavigation/DetourNavMeshQuery.cpp vendored
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@@ -487,14 +487,37 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
int checksLimit = 100;
do
{
// Loop until finds a point on a random poly that is in the radius
const float s = frand();
const float t = frand();
dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt);
}
while (dtDistancePtPtSqr2D(centerPos, pt) > radiusSqr && checksLimit-- > 0);
if (checksLimit <= 0)
return DT_FAILURE;
{
// Check nearby polygons
float halfExtents[3] = { maxRadius, maxRadius, maxRadius };
dtPolyRef polys[32];
int polyCount;
queryPolygons(centerPos, halfExtents, filter, polys, &polyCount, 32);
for (int i = 0; i < polyCount && checksLimit <= 0; i++)
{
checksLimit = 100;
randomPolyRef = polys[i];
m_nav->getTileAndPolyByRefUnsafe(randomPolyRef, &randomTile, &randomPoly);
do
{
// Loop until finds a point on a random poly that is in the radius
const float s = frand();
const float t = frand();
dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt);
}
while (dtDistancePtPtSqr2D(centerPos, pt) > radiusSqr && checksLimit-- > 0);
}
if (checksLimit <= 0)
return DT_FAILURE;
}
closestPointOnPoly(randomPolyRef, pt, pt, NULL);
dtVcopy(randomPt, pt);