Update Recastnavigation to 3a619d773deb7e3a15ee215217c825995fe71312

extern/recastnavigation/.travis.yml

@@ -1,36 +1,72 @@
-sudo: false
-
 language: cpp
+branches:
+  only:
+  - master
+  - coverity_scan
+  - /recast-.*$/
 
-# Build with gcc and clang.
-compiler:
-  - gcc
-  - clang
-
-# Build both debug and release configurations, through use of an environment variable in the build matrix.
-env:
-  - BUILD_TYPE=debug CMAKE_BUILD_TYPE=Debug
-  - BUILD_TYPE=release CMAKE_BUILD_TYPE=Release
+sudo: false
 
 addons:
   apt:
-    packages:
-      - libsdl2-dev
+    sources:
+      - ubuntu-toolchain-r-test
+      - llvm-toolchain-xenial-7
+    packages: [ cmake, clang-7, clang-tools-7, gcc-8, g++-8, libsdl2-dev ]
 
-install:
-  - wget https://github.com/premake/premake-core/releases/download/v5.0.0-alpha12/premake-5.0.0-alpha12-linux.tar.gz -O premake.tar.gz
-  - tar -xf premake.tar.gz
-  - rm premake.tar.gz
+matrix:
+  include:
+  - name: Recastnavigation (all) on MacOS xcode9.4
+    os: osx
+    osx_image: xcode9.4
+    before_install:
+      - brew update
+      - brew install sdl2
+    if: branch != coverity_scan
+  - name: Recastnavigation on Ubuntu Xenial GCC-5
+    os: linux
+    dist: xenial
+    sudo: required
+    if: branch != coverity_scan
+  - name: Recastnavigation on Ubuntu Xenial GCC-8
+    os: linux
+    dist: xenial
+    sudo: required
+    env:
+      - MATRIX_EVAL="CC=gcc-8 && CXX=g++-8"
+    if: branch != coverity_scan
+  - name: Recastnavigation on Ubuntu Xenial GCC-5 using Premake5
+    os: linux
+    dist: xenial
+    sudo: required
+    if: branch != coverity_scan
+    before_install:
+      - wget https://github.com/premake/premake-core/releases/download/v5.0.0-alpha12/premake-5.0.0-alpha12-linux.tar.gz -O premake.tar.gz
+      - tar -xf premake.tar.gz
+    env:
+      - PREMAKE=1
+  - name: Recastnavigation on Ubuntu Xenial Clang-7 with Static Analysis
+    os: linux
+    dist: xenial
+    sudo: required
+    env:
+      - MATRIX_EVAL="CC=clang-7 && CXX=clang++-7"
+      - ANALYZE="scan-build-7 --force-analyze-debug-code --use-cc clang-7 --use-c++ clang++-7"
+    if: branch != coverity_scan
+    compiler: clang
+  - name: Recastnavigation Coverity Scan
+    os: linux
+    dist: xenial
+    sudo: required
+    if: branch = coverity_scan
 
-# Run premake to generate makefiles.
-# Have to cd into directory and back out since premake5 doesn't appear to accept a directory argument.
 before_script:
-  - cd RecastDemo && ../premake5 gmake && cd ..
-  - mkdir build && cd build && cmake -D CMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} .. && cd ..
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then eval "${MATRIX_EVAL}"; fi
+  - if [ "${PREMAKE}" = "1" ]; then cd RecastDemo && ../premake5 gmake && cd ..; fi
+  - if [ "${PREMAKE}" != "1" ]; then mkdir -p build && cd build && ${ANALYZE} cmake ../ && cd ..; fi
 
-# Run make in the directory containing generated makefiles, on the configuration specified by the environment variable.
-script:
-  - make -C RecastDemo/Build/gmake -j$(nproc) config=${BUILD_TYPE}
-  - RecastDemo/Bin/Tests
-  - make -C build -j$(nproc)
-  - cd build && ctest
+script:  # 2 CPUs on Travis-CI + 1 extra for IO bound process
+  - if [ "${PREMAKE}" = "1" ]; then make -C RecastDemo/Build/gmake -j3; fi
+  - if [ "${PREMAKE}" != "1" ]; then make -C build -j3; fi
+  - if [ "${PREMAKE}" = "1" ]; then RecastDemo/Bin/Tests; fi
+  - if [ "${PREMAKE}" != "1" ]; then cd build && ctest; fi

extern/recastnavigation/Detour/Include/DetourCommon.h

@@ -283,6 +283,28 @@ inline bool dtVequal(const float* p0, const float* p1)
 	return d < thr;
 }
 
+/// Checks that the specified vector's components are all finite.
+///  @param[in]		v	A point. [(x, y, z)]
+/// @return True if all of the point's components are finite, i.e. not NaN
+/// or any of the infinities.
+inline bool dtVisfinite(const float* v)
+{
+	bool result =
+		dtMathIsfinite(v[0]) &&
+		dtMathIsfinite(v[1]) &&
+		dtMathIsfinite(v[2]);
+
+	return result;
+}
+
+/// Checks that the specified vector's 2D components are finite.
+///  @param[in]		v	A point. [(x, y, z)]
+inline bool dtVisfinite2D(const float* v)
+{
+	bool result = dtMathIsfinite(v[0]) && dtMathIsfinite(v[2]);
+	return result;
+}
+
 /// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
 ///  @param[in]		u		A vector [(x, y, z)]
 ///  @param[in]		v		A vector [(x, y, z)]

extern/recastnavigation/Detour/Include/DetourMath.h

@@ -8,6 +8,9 @@ Members in this module are wrappers around the standard math library
 #define DETOURMATH_H
 
 #include <math.h>
+// This include is required because libstdc++ has problems with isfinite
+// if cmath is included before math.h.
+#include <cmath>
 
 inline float dtMathFabsf(float x) { return fabsf(x); }
 inline float dtMathSqrtf(float x) { return sqrtf(x); }
@@ -16,5 +19,6 @@ inline float dtMathCeilf(float x) { return ceilf(x); }
 inline float dtMathCosf(float x) { return cosf(x); }
 inline float dtMathSinf(float x) { return sinf(x); }
 inline float dtMathAtan2f(float y, float x) { return atan2f(y, x); }
+inline bool dtMathIsfinite(float x) { return std::isfinite(x); }
 
 #endif

extern/recastnavigation/Detour/Source/DetourCommon.cpp

@@ -204,32 +204,31 @@ 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)
 {
 	float v0[3], v1[3], v2[3];
+
 	dtVsub(v0, c,a);
 	dtVsub(v1, b,a);
 	dtVsub(v2, p,a);
-	
-	const float dot00 = dtVdot2D(v0, v0);
-	const float dot01 = dtVdot2D(v0, v1);
-	const float dot02 = dtVdot2D(v0, v2);
-	const float dot11 = dtVdot2D(v1, v1);
-	const float dot12 = dtVdot2D(v1, v2);
-	
-	// Compute barycentric coordinates
-	const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
-	const float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
-	const float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
+
+	// Compute scaled barycentric coordinates
+	float denom = v0[0] * v1[2] - v0[2] * v1[0];
+	float u = v1[2] * v2[0] - v1[0] * v2[2];
+	float v = v0[0] * v2[2] - v0[2] * v2[0];
+
+	if (denom < 0) {
+		denom = -denom;
+		u = -u;
+		v = -v;
+	}
 
 	// The (sloppy) epsilon is needed to allow to get height of points which
 	// are interpolated along the edges of the triangles.
-	static const float EPS = 1e-4f;
-	
+	float epsilon = - 1e-4f * denom;
+
 	// If point lies inside the triangle, return interpolated ycoord.
-	if (u >= -EPS && v >= -EPS && (u+v) <= 1+EPS)
-	{
-		h = a[1] + v0[1]*u + v1[1]*v;
+	if (u >= epsilon && v >= epsilon && (u+v) <= denom - epsilon) {
+		h = a[1] + (v0[1]*u + v1[1]*v) / denom;
 		return true;
 	}
-	
 	return false;
 }
 

extern/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp

@@ -222,7 +222,10 @@ dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*fr
 										 dtPolyRef* randomRef, float* randomPt) const
 {
 	dtAssert(m_nav);
-	
+
+	if (!filter || !frand || !randomRef || !randomPt)
+		return DT_FAILURE | DT_INVALID_PARAM;
+
 	// Randomly pick one tile. Assume that all tiles cover roughly the same area.
 	const dtMeshTile* tile = 0;
 	float tsum = 0.0f;
@@ -319,8 +322,13 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
 	dtAssert(m_openList);
 	
 	// Validate input
-	if (!startRef || !m_nav->isValidPolyRef(startRef))
+	if (!m_nav->isValidPolyRef(startRef) ||
+		!centerPos || !dtVisfinite(centerPos) ||
+		maxRadius < 0 || !dtMathIsfinite(maxRadius) ||
+		!filter || !frand || !randomRef || !randomPt)
+	{
 		return DT_FAILURE | DT_INVALID_PARAM;
+	}
 	
 	const dtMeshTile* startTile = 0;
 	const dtPoly* startPoly = 0;
@@ -512,6 +520,9 @@ dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, flo
 		return DT_FAILURE | DT_INVALID_PARAM;
 	if (!tile)
 		return DT_FAILURE | DT_INVALID_PARAM;
+
+	if (!pos || !dtVisfinite(pos) || !closest)
+		return DT_FAILURE | DT_INVALID_PARAM;
 	
 	// Off-mesh connections don't have detail polygons.
 	if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
@@ -607,6 +618,9 @@ dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float*
 	const dtPoly* poly = 0;
 	if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
 		return DT_FAILURE | DT_INVALID_PARAM;
+
+	if (!pos || !dtVisfinite(pos) || !closest)
+		return DT_FAILURE | DT_INVALID_PARAM;
 	
 	// Collect vertices.
 	float verts[DT_VERTS_PER_POLYGON*3];	
@@ -659,6 +673,9 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h
 	const dtPoly* poly = 0;
 	if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
 		return DT_FAILURE | DT_INVALID_PARAM;
+
+	if (!pos || !dtVisfinite2D(pos))
+		return DT_FAILURE | DT_INVALID_PARAM;
 	
 	if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
 	{
@@ -767,6 +784,8 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* halfE
 
 	if (!nearestRef)
 		return DT_FAILURE | DT_INVALID_PARAM;
+
+	// queryPolygons below will check rest of params
 	
 	dtFindNearestPolyQuery query(this, center);
 
@@ -972,8 +991,12 @@ dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* halfExt
 {
 	dtAssert(m_nav);
 
-	if (!center || !halfExtents || !filter || !query)
+	if (!center || !dtVisfinite(center) ||
+		!halfExtents || !dtVisfinite(halfExtents) ||
+		!filter || !query)
+	{
 		return DT_FAILURE | DT_INVALID_PARAM;
+	}
 
 	float bmin[3], bmax[3];
 	dtVsub(bmin, center, halfExtents);
@@ -1021,14 +1044,20 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
 	dtAssert(m_nav);
 	dtAssert(m_nodePool);
 	dtAssert(m_openList);
-	
-	if (pathCount)
-		*pathCount = 0;
+
+	if (!pathCount)
+		return DT_FAILURE | DT_INVALID_PARAM;
+
+	*pathCount = 0;
 	
 	// Validate input
 	if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) ||
-		!startPos || !endPos || !filter || maxPath <= 0 || !path || !pathCount)
+		!startPos || !dtVisfinite(startPos) ||
+		!endPos || !dtVisfinite(endPos) ||
+		!filter || !path || maxPath <= 0)
+	{
 		return DT_FAILURE | DT_INVALID_PARAM;
+	}
 
 	if (startRef == endRef)
 	{
@@ -1263,18 +1292,21 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
 	m_query.status = DT_FAILURE;
 	m_query.startRef = startRef;
 	m_query.endRef = endRef;
-	dtVcopy(m_query.startPos, startPos);
-	dtVcopy(m_query.endPos, endPos);
+	if (startPos)
+		dtVcopy(m_query.startPos, startPos);
+	if (endPos)
+		dtVcopy(m_query.endPos, endPos);
 	m_query.filter = filter;
 	m_query.options = options;
 	m_query.raycastLimitSqr = FLT_MAX;
 	
-	if (!startRef || !endRef)
-		return DT_FAILURE | DT_INVALID_PARAM;
-	
 	// Validate input
-	if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef))
+	if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) ||
+		!startPos || !dtVisfinite(startPos) ||
+		!endPos || !dtVisfinite(endPos) || !filter)
+	{
 		return DT_FAILURE | DT_INVALID_PARAM;
+	}
 
 	// trade quality with performance?
 	if (options & DT_FINDPATH_ANY_ANGLE)
@@ -1530,7 +1562,13 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
 
 dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath)
 {
+	if (!pathCount)
+		return DT_FAILURE | DT_INVALID_PARAM;
+
 	*pathCount = 0;
+
+	if (!path || maxPath <= 0)
+		return DT_FAILURE | DT_INVALID_PARAM;
 	
 	if (dtStatusFailed(m_query.status))
 	{
@@ -1615,12 +1653,13 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
 dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
 													   dtPolyRef* path, int* pathCount, const int maxPath)
 {
+	if (!pathCount)
+		return DT_FAILURE | DT_INVALID_PARAM;
+
 	*pathCount = 0;
-	
-	if (existingSize == 0)
-	{
-		return DT_FAILURE;
-	}
+
+	if (!existing || existingSize <= 0 || !path || !pathCount || maxPath <= 0)
+		return DT_FAILURE | DT_INVALID_PARAM;
 	
 	if (dtStatusFailed(m_query.status))
 	{
@@ -1823,14 +1862,19 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
 										  int* straightPathCount, const int maxStraightPath, const int options) const
 {
 	dtAssert(m_nav);
-	
-	*straightPathCount = 0;
-	
-	if (!maxStraightPath)
+
+	if (!straightPathCount)
 		return DT_FAILURE | DT_INVALID_PARAM;
-	
-	if (!path[0])
+
+	*straightPathCount = 0;
+
+	if (!startPos || !dtVisfinite(startPos) ||
+		!endPos || !dtVisfinite(endPos) ||
+		!path || pathSize <= 0 || !path[0] ||
+		maxStraightPath <= 0)
+	{
 		return DT_FAILURE | DT_INVALID_PARAM;
+	}
 	
 	dtStatus stat = 0;
 	
@@ -2070,13 +2114,19 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
 	dtAssert(m_nav);
 	dtAssert(m_tinyNodePool);
 
-	*visitedCount = 0;
-	
-	// Validate input
-	if (!startRef)
+	if (!visitedCount)
 		return DT_FAILURE | DT_INVALID_PARAM;
-	if (!m_nav->isValidPolyRef(startRef))
+
+	*visitedCount = 0;
+
+	if (!m_nav->isValidPolyRef(startRef) ||
+		!startPos || !dtVisfinite(startPos) ||
+		!endPos || !dtVisfinite(endPos) ||
+		!filter || !resultPos || !visited ||
+		maxVisitedSize <= 0)
+	{
 		return DT_FAILURE | DT_INVALID_PARAM;
+	}
 	
 	dtStatus status = DT_SUCCESS;
 	
@@ -2484,16 +2534,23 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
 								 dtRaycastHit* hit, dtPolyRef prevRef) const
 {
 	dtAssert(m_nav);
-	
+
+	if (!hit)
+		return DT_FAILURE | DT_INVALID_PARAM;
+
 	hit->t = 0;
 	hit->pathCount = 0;
 	hit->pathCost = 0;
 
 	// Validate input
-	if (!startRef || !m_nav->isValidPolyRef(startRef))
-		return DT_FAILURE | DT_INVALID_PARAM;
-	if (prevRef && !m_nav->isValidPolyRef(prevRef))
+	if (!m_nav->isValidPolyRef(startRef) ||
+		!startPos || !dtVisfinite(startPos) ||
+		!endPos || !dtVisfinite(endPos) ||
+		!filter ||
+		(prevRef && !m_nav->isValidPolyRef(prevRef)))
+	{
 		return DT_FAILURE | DT_INVALID_PARAM;
+	}
 	
 	float dir[3], curPos[3], lastPos[3];
 	float verts[DT_VERTS_PER_POLYGON*3+3];	
@@ -2735,11 +2792,18 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
 	dtAssert(m_nodePool);
 	dtAssert(m_openList);
 
+	if (!resultCount)
+		return DT_FAILURE | DT_INVALID_PARAM;
+
 	*resultCount = 0;
-	
-	// Validate input
-	if (!startRef || !m_nav->isValidPolyRef(startRef))
+
+	if (!m_nav->isValidPolyRef(startRef) ||
+		!centerPos || !dtVisfinite(centerPos) ||
+		radius < 0 || !dtMathIsfinite(radius) ||
+		!filter || maxResult < 0)
+	{
 		return DT_FAILURE | DT_INVALID_PARAM;
+	}
 	
 	m_nodePool->clear();
 	m_openList->clear();
@@ -2901,8 +2965,18 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
 	dtAssert(m_nav);
 	dtAssert(m_nodePool);
 	dtAssert(m_openList);
-	
+
+	if (!resultCount)
+		return DT_FAILURE | DT_INVALID_PARAM;
+
 	*resultCount = 0;
+
+	if (!m_nav->isValidPolyRef(startRef) ||
+		!verts || nverts < 3 ||
+		!filter || maxResult < 0)
+	{
+		return DT_FAILURE | DT_INVALID_PARAM;
+	}
 	
 	// Validate input
 	if (!startRef || !m_nav->isValidPolyRef(startRef))
@@ -3088,13 +3162,20 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
 {
 	dtAssert(m_nav);
 	dtAssert(m_tinyNodePool);
-	
+
+	if (!resultCount)
+		return DT_FAILURE | DT_INVALID_PARAM;
+
 	*resultCount = 0;
 
-	// Validate input
-	if (!startRef || !m_nav->isValidPolyRef(startRef))
+	if (!m_nav->isValidPolyRef(startRef) ||
+		!centerPos || !dtVisfinite(centerPos) ||
+		radius < 0 || !dtMathIsfinite(radius) ||
+		!filter || maxResult < 0)
+	{
 		return DT_FAILURE | DT_INVALID_PARAM;
-	
+	}
+
 	static const int MAX_STACK = 48;
 	dtNode* stack[MAX_STACK];
 	int nstack = 0;
@@ -3301,13 +3382,19 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter*
 											 const int maxSegments) const
 {
 	dtAssert(m_nav);
+
+	if (!segmentCount)
+		return DT_FAILURE | DT_INVALID_PARAM;
 	
 	*segmentCount = 0;
-	
+
 	const dtMeshTile* tile = 0;
 	const dtPoly* poly = 0;
 	if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
 		return DT_FAILURE | DT_INVALID_PARAM;
+
+	if (!filter || !segmentVerts || maxSegments < 0)
+		return DT_FAILURE | DT_INVALID_PARAM;
 	
 	int n = 0;
 	static const int MAX_INTERVAL = 16;
@@ -3455,8 +3542,13 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
 	dtAssert(m_openList);
 	
 	// Validate input
-	if (!startRef || !m_nav->isValidPolyRef(startRef))
+	if (!m_nav->isValidPolyRef(startRef) ||
+		!centerPos || !dtVisfinite(centerPos) ||
+		maxRadius < 0 || !dtMathIsfinite(maxRadius) ||
+		!filter || !hitDist || !hitPos || !hitNormal)
+	{
 		return DT_FAILURE | DT_INVALID_PARAM;
+	}
 	
 	m_nodePool->clear();
 	m_openList->clear();

extern/recastnavigation/RecastDemo/CMakeLists.txt

@@ -38,11 +38,13 @@ endif()
 add_dependencies(RecastDemo DebugUtils Detour DetourCrowd DetourTileCache Recast)
 target_link_libraries(RecastDemo ${OPENGL_LIBRARIES} SDL2::SDL2main DebugUtils Detour DetourCrowd DetourTileCache Recast)
 
-install(TARGETS RecastDemo RUNTIME DESTINATION bin)
+install(TARGETS RecastDemo
+        RUNTIME DESTINATION bin
+        BUNDLE DESTINATION bin)
 install(DIRECTORY Bin/Meshes DESTINATION bin)
 install(DIRECTORY Bin/TestCases DESTINATION bin)
 install(FILES Bin/DroidSans.ttf DESTINATION bin)
 
 if (WIN32)
     install(FILES "${SDL2_RUNTIME_LIBRARY}" DESTINATION bin)
-endif()
+endif()