Merge branch 'navigator_cleanup' into 'master'

Navigator cleanup

See merge request OpenMW/openmw!612

components/detournavigator/findrandompointaroundcircle.cpp

@@ -20,16 +20,7 @@ namespace DetourNavigator
         dtQueryFilter queryFilter;
         queryFilter.setIncludeFlags(includeFlags);
 
-        dtPolyRef startRef = 0;
+        dtPolyRef startRef = findNearestPolyExpanding(navMeshQuery, queryFilter, start, halfExtents);
-        osg::Vec3f startPolygonPosition;
-        for (int i = 0; i < 3; ++i)
-        {
-            const auto status = navMeshQuery.findNearestPoly(start.ptr(), (halfExtents * (1 << i)).ptr(), &queryFilter,
-                &startRef, startPolygonPosition.ptr());
-            if (!dtStatusFailed(status) && startRef != 0)
-                break;
-        }
-
         if (startRef == 0)
             return std::optional<osg::Vec3f>();
 

components/detournavigator/findsmoothpath.cpp

@@ -108,13 +108,13 @@ namespace DetourNavigator
     {
         // Find steer target.
         SteerTarget result;
-        const int MAX_STEER_POINTS = 3;
+        constexpr int maxSteerPoints = 3;
-        std::array<float, MAX_STEER_POINTS * 3> steerPath;
+        std::array<float, maxSteerPoints * 3> steerPath;
-        std::array<unsigned char, MAX_STEER_POINTS> steerPathFlags;
+        std::array<unsigned char, maxSteerPoints> steerPathFlags;
-        std::array<dtPolyRef, MAX_STEER_POINTS> steerPathPolys;
+        std::array<dtPolyRef, maxSteerPoints> steerPathPolys;
         int nsteerPath = 0;
         navQuery.findStraightPath(startPos.ptr(), endPos.ptr(), path.data(), int(path.size()), steerPath.data(),
-                                    steerPathFlags.data(), steerPathPolys.data(), &nsteerPath, MAX_STEER_POINTS);
+            steerPathFlags.data(), steerPathPolys.data(), &nsteerPath, maxSteerPoints);
         assert(nsteerPath >= 0);
         if (!nsteerPath)
             return std::nullopt;
@@ -140,4 +140,17 @@ namespace DetourNavigator
 
         return result;
     }
+
+    dtPolyRef findNearestPolyExpanding(const dtNavMeshQuery& query, const dtQueryFilter& filter,
+            const osg::Vec3f& center, const osg::Vec3f& halfExtents)
+    {
+        dtPolyRef ref = 0;
+        for (int i = 0; i < 3; ++i)
+        {
+            const dtStatus status = query.findNearestPoly(center.ptr(), (halfExtents * (1 << i)).ptr(), &filter, &ref, nullptr);
+            if (!dtStatusFailed(status) && ref != 0)
+                break;
+        }
+        return ref;
+    }
 }

components/detournavigator/findsmoothpath.hpp

@@ -103,6 +103,9 @@ namespace DetourNavigator
         return dtStatusSucceed(status);
     }
 
+    dtPolyRef findNearestPolyExpanding(const dtNavMeshQuery& query, const dtQueryFilter& filter,
+            const osg::Vec3f& center, const osg::Vec3f& halfExtents);
+
     struct MoveAlongSurfaceResult
     {
         osg::Vec3f mResultPos;
@@ -163,7 +166,7 @@ namespace DetourNavigator
         osg::Vec3f targetPos;
         navMeshQuery.closestPointOnPoly(polygonPath.back(), end.ptr(), targetPos.ptr(), nullptr);
 
-        const float SLOP = 0.01f;
+        constexpr float slop = 0.01f;
 
         *out++ = iterPos;
 
@@ -174,7 +177,7 @@ namespace DetourNavigator
         while (!polygonPath.empty() && smoothPathSize < maxSmoothPathSize)
         {
             // Find location to steer towards.
-            const auto steerTarget = getSteerTarget(navMeshQuery, iterPos, targetPos, SLOP, polygonPath);
+            const auto steerTarget = getSteerTarget(navMeshQuery, iterPos, targetPos, slop, polygonPath);
 
             if (!steerTarget)
                 break;
@@ -206,7 +209,7 @@ namespace DetourNavigator
             iterPos.y() = h;
 
             // Handle end of path and off-mesh links when close enough.
-            if (endOfPath && inRange(iterPos, steerTarget->steerPos, SLOP, 1.0f))
+            if (endOfPath && inRange(iterPos, steerTarget->steerPos, slop, 1.0f))
             {
                 // Reached end of path.
                 iterPos = targetPos;
@@ -214,7 +217,7 @@ namespace DetourNavigator
                 ++smoothPathSize;
                 break;
             }
-            else if (offMeshConnection && inRange(iterPos, steerTarget->steerPos, SLOP, 1.0f))
+            else if (offMeshConnection && inRange(iterPos, steerTarget->steerPos, slop, 1.0f))
             {
                 // Advance the path up to and over the off-mesh connection.
                 dtPolyRef prevRef = 0;
@@ -282,29 +285,11 @@ namespace DetourNavigator
         queryFilter.setAreaCost(AreaType_pathgrid, areaCosts.mPathgrid);
         queryFilter.setAreaCost(AreaType_ground, areaCosts.mGround);
 
-        dtPolyRef startRef = 0;
+        dtPolyRef startRef = findNearestPolyExpanding(navMeshQuery, queryFilter, start, halfExtents);
-        osg::Vec3f startPolygonPosition;
-        for (int i = 0; i < 3; ++i)
-        {
-            const auto status = navMeshQuery.findNearestPoly(start.ptr(), (halfExtents * (1 << i)).ptr(), &queryFilter,
-                &startRef, startPolygonPosition.ptr());
-            if (!dtStatusFailed(status) && startRef != 0)
-                break;
-        }
-
         if (startRef == 0)
             return Status::StartPolygonNotFound;
 
-        dtPolyRef endRef = 0;
+        dtPolyRef endRef = findNearestPolyExpanding(navMeshQuery, queryFilter, end, halfExtents);
-        osg::Vec3f endPolygonPosition;
-        for (int i = 0; i < 3; ++i)
-        {
-            const auto status = navMeshQuery.findNearestPoly(end.ptr(), (halfExtents * (1 << i)).ptr(), &queryFilter,
-                &endRef, endPolygonPosition.ptr());
-            if (!dtStatusFailed(status) && endRef != 0)
-                break;
-        }
-
         if (endRef == 0)
             return Status::EndPolygonNotFound;
 

components/detournavigator/navigatorstub.hpp

@@ -66,7 +66,7 @@ namespace DetourNavigator
 
         void update(const osg::Vec3f& /*playerPosition*/) override {}
 
-        void setUpdatesEnabled(bool enabled) override {}
+        void setUpdatesEnabled(bool /*enabled*/) override {}
 
         void wait() override {}
 

components/detournavigator/recastglobalallocator.hpp

@@ -3,6 +3,8 @@
 
 #include "recasttempallocator.hpp"
 
+#include <cstdlib>
+
 namespace DetourNavigator
 {
     class RecastGlobalAllocator
@@ -32,7 +34,7 @@ namespace DetourNavigator
             else
             {
                 assert(BufferType_perm == getDataPtrBufferType(ptr));
-                ::free(getPermDataPtrHeapPtr(ptr));
+                std::free(getPermDataPtrHeapPtr(ptr));
             }
         }
 
@@ -56,7 +58,7 @@ namespace DetourNavigator
 
         static void* allocPerm(size_t size)
         {
-            const auto ptr = ::malloc(size + sizeof(std::size_t));
+            const auto ptr = std::malloc(size + sizeof(std::size_t));
             if (rcUnlikely(!ptr))
                 return ptr;
             setPermPtrBufferType(ptr, BufferType_perm);

components/detournavigator/settingsutils.hpp

@@ -52,7 +52,7 @@ namespace DetourNavigator
 
     inline float getTileSize(const Settings& settings)
     {
-        return settings.mTileSize * settings.mCellSize;
+        return static_cast<float>(settings.mTileSize) * settings.mCellSize;
     }
 
     inline TilePosition getTilePosition(const Settings& settings, const osg::Vec3f& position)
@@ -73,7 +73,7 @@ namespace DetourNavigator
 
     inline float getBorderSize(const Settings& settings)
     {
-        return settings.mBorderSize * settings.mCellSize;
+        return static_cast<float>(settings.mBorderSize) * settings.mCellSize;
     }
 
     inline float getSwimLevel(const Settings& settings, const float agentHalfExtentsZ)