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Fix crash in DetourNavigator::fixupCorridor

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Handle situation when resulting path does not fit into destination vector.
pull/3185/head
elsid 3 years ago
parent b1fdc0eb8a
commit 06ea47f74b
No known key found for this signature in database
GPG Key ID: B845CB9FEE18AB40
2 changed files with 23 additions and 24 deletions
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15
components/detournavigator/findsmoothpath.cpp
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@ -7,13 +7,13 @@
namespace DetourNavigator
{
std::size_t fixupCorridor(dtPolyRef* path, std::size_t pathSize, const std::vector<dtPolyRef>& visited)
std::size_t fixupCorridor(std::vector<dtPolyRef>& path, std::size_t pathSize, const std::vector<dtPolyRef>& visited)
{
std::vector<dtPolyRef>::const_reverse_iterator furthestVisited;
// Find furthest common polygon.
const auto begin = path;
const auto end = path + pathSize;
const auto begin = path.begin();
const auto end = path.begin() + pathSize;
const std::reverse_iterator rbegin(end);
const std::reverse_iterator rend(begin);
const auto it = std::find_if(rbegin, rend, [&] (dtPolyRef pathValue)
@ -34,12 +34,13 @@ namespace DetourNavigator
// visited: a_1 ... a_n x b_1 ... b_n
// furthestVisited ^
// path: C x D
// ^ furthestPath
// path: C x D E
// ^ furthestPath ^ path.size() - (furthestVisited + 1 - visited.rbegin())
// result: x b_n ... b_1 D
auto newEnd = std::copy(visited.rbegin(), furthestVisited + 1, begin);
newEnd = std::copy(furthestPath + 1, end, newEnd);
const std::size_t required = static_cast<std::size_t>(furthestVisited + 1 - visited.rbegin());
const auto newEnd = std::copy(furthestPath + 1, std::min(begin + path.size(), end), begin + required);
std::copy(visited.rbegin(), furthestVisited + 1, begin);
return static_cast<std::size_t>(newEnd - begin);
}

32
components/detournavigator/findsmoothpath.hpp
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@ -30,7 +30,7 @@ namespace DetourNavigator
return (osg::Vec2f(v1.x(), v1.z()) - osg::Vec2f(v2.x(), v2.z())).length() < r;
}
std::size_t fixupCorridor(dtPolyRef* path, std::size_t pathSize, const std::vector<dtPolyRef>& visited);
std::size_t fixupCorridor(std::vector<dtPolyRef>& path, std::size_t pathSize, const std::vector<dtPolyRef>& visited);
// This function checks if the path has a small U-turn, that is,
// a polygon further in the path is adjacent to the first polygon
@ -125,40 +125,37 @@ namespace DetourNavigator
return {std::move(result)};
}
inline std::optional<std::vector<dtPolyRef>> findPath(const dtNavMeshQuery& navMeshQuery, const dtPolyRef startRef,
inline std::optional<std::size_t> findPath(const dtNavMeshQuery& navMeshQuery, const dtPolyRef startRef,
const dtPolyRef endRef, const osg::Vec3f& startPos, const osg::Vec3f& endPos, const dtQueryFilter& queryFilter,
const std::size_t maxSize)
dtPolyRef* path, const std::size_t maxSize)
{
int pathLen = 0;
std::vector<dtPolyRef> result(maxSize);
const auto status = navMeshQuery.findPath(startRef, endRef, startPos.ptr(), endPos.ptr(), &queryFilter,
result.data(), &pathLen, static_cast<int>(maxSize));
path, &pathLen, static_cast<int>(maxSize));
if (!dtStatusSucceed(status))
return {};
assert(pathLen >= 0);
assert(static_cast<std::size_t>(pathLen) <= maxSize);
result.resize(static_cast<std::size_t>(pathLen));
return {std::move(result)};
return static_cast<std::size_t>(pathLen);
}
template <class OutputIterator>
Status makeSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery,
const dtQueryFilter& filter, const osg::Vec3f& start, const osg::Vec3f& end, const float stepSize,
std::vector<dtPolyRef> polygonPath, std::size_t maxSmoothPathSize, OutputIterator& out)
std::vector<dtPolyRef>& polygonPath, std::size_t polygonPathSize, std::size_t maxSmoothPathSize, OutputIterator& out)
{
// Iterate over the path to find smooth path on the detail mesh surface.
osg::Vec3f iterPos;
navMeshQuery.closestPointOnPoly(polygonPath.front(), start.ptr(), iterPos.ptr(), nullptr);
osg::Vec3f targetPos;
navMeshQuery.closestPointOnPoly(polygonPath.back(), end.ptr(), targetPos.ptr(), nullptr);
navMeshQuery.closestPointOnPoly(polygonPath[polygonPathSize - 1], end.ptr(), targetPos.ptr(), nullptr);
constexpr float slop = 0.01f;
*out++ = iterPos;
std::size_t smoothPathSize = 1;
std::size_t polygonPathSize = polygonPath.size();
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
@ -188,7 +185,7 @@ namespace DetourNavigator
if (!result)
return Status::MoveAlongSurfaceFailed;
polygonPathSize = fixupCorridor(polygonPath.data(), polygonPathSize, result->mVisited);
polygonPathSize = fixupCorridor(polygonPath, polygonPathSize, result->mVisited);
polygonPathSize = fixupShortcuts(polygonPath.data(), polygonPathSize, navMeshQuery);
// Handle end of path and off-mesh links when close enough.
@ -285,19 +282,20 @@ namespace DetourNavigator
if (endRef == 0)
return Status::EndPolygonNotFound;
const auto polygonPath = findPath(navMeshQuery, startRef, endRef, start, end, queryFilter,
settings.mMaxPolygonPathSize);
std::vector<dtPolyRef> polygonPath(settings.mMaxPolygonPathSize);
const auto polygonPathSize = findPath(navMeshQuery, startRef, endRef, start, end, queryFilter,
polygonPath.data(), polygonPath.size());
if (!polygonPath)
if (!polygonPathSize.has_value())
return Status::FindPathOverPolygonsFailed;
if (polygonPath->empty())
if (*polygonPathSize == 0)
return Status::Success;
const bool partialPath = polygonPath->back() != endRef;
const bool partialPath = polygonPath[*polygonPathSize - 1] != endRef;
auto outTransform = OutputTransformIterator<OutputIterator>(out, settings);
const Status smoothStatus = makeSmoothPath(navMesh, navMeshQuery, queryFilter, start, end, stepSize,
std::move(*polygonPath), settings.mMaxSmoothPathSize, outTransform);
polygonPath, *polygonPathSize, settings.mMaxSmoothPathSize, outTransform);
if (smoothStatus != Status::Success)
return smoothStatus;

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