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Update Recast navigation lib to e75adf86f91eb3082220085e42dda62679f9a3ea

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This commit is contained in:
Wojtek Figat
2021-03-01 14:31:28 +01:00
parent 21d96c6baf
commit 8f633523cd
12 changed files with 416 additions and 252 deletions
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18
Source/ThirdParty/recastnavigation/DetourCommon.cpp vendored
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@@ -203,14 +203,18 @@ void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const floa
bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h)
{
const float EPS = 1e-6f;
float v0[3], v1[3], v2[3];
dtVsub(v0, c,a);
dtVsub(v1, b,a);
dtVsub(v2, p,a);
dtVsub(v0, c, a);
dtVsub(v1, b, a);
dtVsub(v2, p, a);
// Compute scaled barycentric coordinates
float denom = v0[0] * v1[2] - v0[2] * v1[0];
if (fabsf(denom) < EPS)
return false;
float u = v1[2] * v2[0] - v1[0] * v2[2];
float v = v0[0] * v2[2] - v0[2] * v2[0];
@@ -220,13 +224,9 @@ bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b
v = -v;
}
// The (sloppy) epsilon is needed to allow to get height of points which
// are interpolated along the edges of the triangles.
float epsilon = - 1e-4f * denom;
// If point lies inside the triangle, return interpolated ycoord.
if (u >= epsilon && v >= epsilon && (u+v) <= denom - epsilon) {
h = a[1] + (v0[1]*u + v1[1]*v) / denom;
if (u >= 0.0f && v >= 0.0f && (u + v) <= denom) {
h = a[1] + (v0[1] * u + v1[1] * v) / denom;
return true;
}
return false;