Remove macroses to check recastnavigation functions result

components/detournavigator/dtstatus.hpp

@@ -1,8 +1,6 @@
 #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_DTSTATUS_H
 #define OPENMW_COMPONENTS_DETOURNAVIGATOR_DTSTATUS_H
 
-#include "exceptions.hpp"
-
 #include <DetourStatus.h>
 
 #include <sstream>
@@ -35,32 +33,6 @@ namespace DetourNavigator
                 stream << status.second << " ";
         return stream;
     }
-
-    inline void checkDtStatus(dtStatus status, const char* call, int line)
-    {
-        if (!dtStatusSucceed(status))
-        {
-            std::ostringstream message;
-            message << call << " failed with status=" << WriteDtStatus {status} << " at " __FILE__ ":" << line;
-            throw NavigatorException(message.str());
-        }
-    }
-
-    inline void checkDtResult(bool result, const char* call, int line)
-    {
-        if (!result)
-        {
-            std::ostringstream message;
-            message << call << " failed at " __FILE__ ":" << line;
-            throw NavigatorException(message.str());
-        }
-    }
 }
 
-#define OPENMW_CHECK_DT_STATUS(call) \
-    do { DetourNavigator::checkDtStatus((call), #call, __LINE__); } while (false)
-
-#define OPENMW_CHECK_DT_RESULT(call) \
-    do { DetourNavigator::checkDtResult((call), #call, __LINE__); } while (false)
-
 #endif

components/detournavigator/findsmoothpath.hpp

@@ -6,6 +6,7 @@
 #include "flags.hpp"
 #include "settings.hpp"
 #include "settingsutils.hpp"
+#include "debug.hpp"
 
 #include <DetourCommon.h>
 #include <DetourNavMesh.h>
@@ -97,6 +98,73 @@ namespace DetourNavigator
         const Settings& mSettings;
     };
 
+    inline void initNavMeshQuery(dtNavMeshQuery& value, const dtNavMesh& navMesh, const int maxNodes)
+    {
+        const auto status = value.init(&navMesh, maxNodes);
+        if (!dtStatusSucceed(status))
+            throw NavigatorException("Failed to init navmesh query");
+    }
+
+    struct MoveAlongSurfaceResult
+    {
+        osg::Vec3f mResultPos;
+        std::vector<dtPolyRef> mVisited;
+    };
+
+    inline MoveAlongSurfaceResult moveAlongSurface(const dtNavMeshQuery& navMeshQuery, const dtPolyRef startRef,
+        const osg::Vec3f& startPos, const osg::Vec3f& endPos, const dtQueryFilter& filter,
+        const std::size_t maxVisitedSize)
+    {
+        MoveAlongSurfaceResult result;
+        result.mVisited.resize(maxVisitedSize);
+        int visitedNumber = 0;
+        const auto status = navMeshQuery.moveAlongSurface(startRef, startPos.ptr(), endPos.ptr(),
+            &filter, result.mResultPos.ptr(), result.mVisited.data(), &visitedNumber, static_cast<int>(maxVisitedSize));
+        if (!dtStatusSucceed(status))
+        {
+            std::ostringstream message;
+            message << "Failed to move along surface from " << startPos << " to " << endPos;
+            throw NavigatorException(message.str());
+        }
+        assert(visitedNumber >= 0);
+        assert(visitedNumber <= static_cast<int>(maxVisitedSize));
+        result.mVisited.resize(static_cast<std::size_t>(visitedNumber));
+        return result;
+    }
+
+    inline std::vector<dtPolyRef> 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)
+    {
+        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));
+        if (!dtStatusSucceed(status))
+        {
+            std::ostringstream message;
+            message << "Failed to find path over polygons from " << startRef << " to " << endRef;
+            throw NavigatorException(message.str());
+        }
+        assert(pathLen >= 0);
+        assert(static_cast<std::size_t>(pathLen) <= maxSize);
+        result.resize(static_cast<std::size_t>(pathLen));
+        return result;
+    }
+
+    inline float getPolyHeight(const dtNavMeshQuery& navMeshQuery, const dtPolyRef ref, const osg::Vec3f& pos)
+    {
+        float result = 0.0f;
+        const auto status = navMeshQuery.getPolyHeight(ref, pos.ptr(), &result);
+        if (!dtStatusSucceed(status))
+        {
+            std::ostringstream message;
+            message << "Failed to get polygon height ref=" << ref << " pos=" << pos;
+            throw NavigatorException(message.str());
+        }
+        return result;
+    }
+
     template <class OutputIterator>
     OutputIterator makeSmoothPath(const dtNavMesh& navMesh, const dtNavMeshQuery& navMeshQuery,
             const dtQueryFilter& filter, const osg::Vec3f& start, const osg::Vec3f& end,
@@ -139,25 +207,15 @@ namespace DetourNavigator
                 len = STEP_SIZE / len;
 
             const osg::Vec3f moveTgt = iterPos + delta * len;
+            const auto result = moveAlongSurface(navMeshQuery, polygonPath.front(), iterPos, moveTgt, filter, 16);
 
-            // Move
+            polygonPath = fixupCorridor(polygonPath, result.mVisited);
-            osg::Vec3f result;
-            std::vector<dtPolyRef> visited(16);
-            int nvisited = 0;
-            OPENMW_CHECK_DT_STATUS(navMeshQuery.moveAlongSurface(polygonPath.front(), iterPos.ptr(), moveTgt.ptr(),
-                    &filter, result.ptr(), visited.data(), &nvisited, int(visited.size())));
-
-            assert(nvisited >= 0);
-            assert(nvisited <= int(visited.size()));
-            visited.resize(static_cast<std::size_t>(nvisited));
-
-            polygonPath = fixupCorridor(polygonPath, visited);
             polygonPath = fixupShortcuts(polygonPath, navMeshQuery);
 
             float h = 0;
-            navMeshQuery.getPolyHeight(polygonPath.front(), result.ptr(), &h);
+            navMeshQuery.getPolyHeight(polygonPath.front(), result.mResultPos.ptr(), &h);
-            result.y() = h;
+            iterPos = result.mResultPos;
-            iterPos = result;
+            iterPos.y() = h;
 
             // Handle end of path and off-mesh links when close enough.
             if (endOfPath && inRange(iterPos, steerTarget->steerPos, SLOP, 1.0f))
@@ -203,9 +261,7 @@ namespace DetourNavigator
 
                     // Move position at the other side of the off-mesh link.
                     iterPos = endPos;
-                    float eh = 0.0f;
+                    iterPos.y() = getPolyHeight(navMeshQuery, polygonPath.front(), iterPos);
-                    OPENMW_CHECK_DT_STATUS(navMeshQuery.getPolyHeight(polygonPath.front(), iterPos.ptr(), &eh));
-                    iterPos.y() = eh;
                 }
             }
 
@@ -223,7 +279,7 @@ namespace DetourNavigator
             const Settings& settings, OutputIterator out)
     {
         dtNavMeshQuery navMeshQuery;
-        OPENMW_CHECK_DT_STATUS(navMeshQuery.init(&navMesh, settings.mMaxNavMeshQueryNodes));
+        initNavMeshQuery(navMeshQuery, navMesh, settings.mMaxNavMeshQueryNodes);
 
         dtQueryFilter queryFilter;
         queryFilter.setIncludeFlags(includeFlags);
@@ -239,7 +295,7 @@ namespace DetourNavigator
         }
 
         if (startRef == 0)
-            throw NavigatorException("start polygon is not found at " __FILE__ ":" + std::to_string(__LINE__));
+            throw NavigatorException("Navmesh polygon for start point is not found");
 
         dtPolyRef endRef = 0;
         osg::Vec3f endPolygonPosition;
@@ -252,16 +308,10 @@ namespace DetourNavigator
         }
 
         if (endRef == 0)
-            throw NavigatorException("end polygon is not found at " __FILE__ ":" + std::to_string(__LINE__));
+            throw NavigatorException("Navmesh polygon for end polygon is not found");
 
-        std::vector<dtPolyRef> polygonPath(settings.mMaxPolygonPathSize);
+        const auto polygonPath = findPath(navMeshQuery, startRef, endRef, start, end, queryFilter,
-        int pathLen = 0;
+                                          settings.mMaxPolygonPathSize);
-        OPENMW_CHECK_DT_STATUS(navMeshQuery.findPath(startRef, endRef, start.ptr(), end.ptr(), &queryFilter,
-            polygonPath.data(), &pathLen, static_cast<int>(polygonPath.size())));
-
-        assert(pathLen >= 0);
-
-        polygonPath.resize(static_cast<std::size_t>(pathLen));
 
         if (polygonPath.empty() || polygonPath.back() != endRef)
             return out;

components/detournavigator/makenavmesh.cpp

@@ -102,6 +102,77 @@ namespace
         return result;
     }
 
+    void createHeightfield(rcContext& context, rcHeightfield& solid, int width, int height, const float* bmin,
+        const float* bmax, const float cs, const float ch)
+    {
+        const auto result = rcCreateHeightfield(&context, solid, width, height, bmin, bmax, cs, ch);
+
+        if (!result)
+            throw NavigatorException("Failed to create heightfield for navmesh");
+    }
+
+    void buildCompactHeightfield(rcContext& context, const int walkableHeight, const int walkableClimb,
+                                 rcHeightfield& solid, rcCompactHeightfield& compact)
+    {
+        const auto result = rcBuildCompactHeightfield(&context, walkableHeight,
+            walkableClimb, solid, compact);
+
+        if (!result)
+            throw NavigatorException("Failed to build compact heightfield for navmesh");
+    }
+
+    void erodeWalkableArea(rcContext& context, int walkableRadius, rcCompactHeightfield& compact)
+    {
+        const auto result = rcErodeWalkableArea(&context, walkableRadius, compact);
+
+        if (!result)
+            throw NavigatorException("Failed to erode walkable area for navmesh");
+    }
+
+    void buildDistanceField(rcContext& context, rcCompactHeightfield& compact)
+    {
+        const auto result = rcBuildDistanceField(&context, compact);
+
+        if (!result)
+            throw NavigatorException("Failed to build distance field for navmesh");
+    }
+
+    void buildRegions(rcContext& context, rcCompactHeightfield& compact, const int borderSize,
+        const int minRegionArea, const int mergeRegionArea)
+    {
+        const auto result = rcBuildRegions(&context, compact, borderSize, minRegionArea, mergeRegionArea);
+
+        if (!result)
+            throw NavigatorException("Failed to build distance field for navmesh");
+    }
+
+    void buildContours(rcContext& context, rcCompactHeightfield& compact, const float maxError, const int maxEdgeLen,
+        rcContourSet& contourSet, const int buildFlags = RC_CONTOUR_TESS_WALL_EDGES)
+    {
+        const auto result = rcBuildContours(&context, compact, maxError, maxEdgeLen, contourSet, buildFlags);
+
+        if (!result)
+            throw NavigatorException("Failed to build contours for navmesh");
+    }
+
+    void buildPolyMesh(rcContext& context, rcContourSet& contourSet, const int maxVertsPerPoly, rcPolyMesh& polyMesh)
+    {
+        const auto result = rcBuildPolyMesh(&context, contourSet, maxVertsPerPoly, polyMesh);
+
+        if (!result)
+            throw NavigatorException("Failed to build poly mesh for navmesh");
+    }
+
+    void buildPolyMeshDetail(rcContext& context, const rcPolyMesh& polyMesh, const rcCompactHeightfield& compact,
+        const float sampleDist, const float sampleMaxError, rcPolyMeshDetail& polyMeshDetail)
+    {
+        const auto result = rcBuildPolyMeshDetail(&context, polyMesh, compact, sampleDist, sampleMaxError,
+                                                  polyMeshDetail);
+
+        if (!result)
+            throw NavigatorException("Failed to build detail poly mesh for navmesh");
+    }
+
     NavMeshData makeNavMeshTileData(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh,
         const std::vector<OffMeshConnection>& offMeshConnections, const int tileX, const int tileY,
         const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax, const Settings& settings)
@@ -133,8 +204,7 @@ namespace
         config.bmax[2] += getBorderSize(settings);
 
         rcHeightfield solid;
-        OPENMW_CHECK_DT_RESULT(rcCreateHeightfield(nullptr, solid, config.width, config.height,
+        createHeightfield(context, solid, config.width, config.height, config.bmin, config.bmax, config.cs, config.ch);
-                config.bmin, config.bmax, config.cs, config.ch));
 
         {
             const auto& chunkyMesh = recastMesh.getChunkyTriMesh();
@@ -181,7 +251,7 @@ namespace
                     areas.data()
                 );
 
-                OPENMW_CHECK_DT_RESULT(rcRasterizeTriangles(
+                const auto trianglesRasterized = rcRasterizeTriangles(
                     &context,
                     recastMesh.getVertices().data(),
                     static_cast<int>(recastMesh.getVerticesCount()),
@@ -190,7 +260,10 @@ namespace
                     static_cast<int>(chunk.mSize),
                     solid,
                     config.walkableClimb
-                ));
+                );
+
+                if (!trianglesRasterized)
+                    throw NavigatorException("Failed to create rasterize triangles from recast mesh for navmesh");
             }
         }
 
@@ -231,7 +304,7 @@ namespace
                     0, 2, 3,
                 }};
 
-                OPENMW_CHECK_DT_RESULT(rcRasterizeTriangles(
+                const auto trianglesRasterized = rcRasterizeTriangles(
                     &context,
                     convertedVertices.data(),
                     static_cast<int>(convertedVertices.size() / 3),
@@ -240,7 +313,10 @@ namespace
                     static_cast<int>(areas.size()),
                     solid,
                     config.walkableClimb
-                ));
+                );
+
+                if (!trianglesRasterized)
+                    throw NavigatorException("Failed to create rasterize water triangles for navmesh");
             }
         }
 
@@ -254,24 +330,22 @@ namespace
         const PolyMeshDetailStackPtr polyMeshDetailPtr(&polyMeshDetail);
         {
             rcCompactHeightfield compact;
+            buildCompactHeightfield(context, config.walkableHeight, config.walkableClimb, solid, compact);
 
-            OPENMW_CHECK_DT_RESULT(rcBuildCompactHeightfield(&context, config.walkableHeight, config.walkableClimb,
+            erodeWalkableArea(context, config.walkableRadius, compact);
-                                                             solid, compact));
+            buildDistanceField(context, compact);
-            OPENMW_CHECK_DT_RESULT(rcErodeWalkableArea(&context, config.walkableRadius, compact));
+            buildRegions(context, compact, config.borderSize, config.minRegionArea, config.mergeRegionArea);
-            OPENMW_CHECK_DT_RESULT(rcBuildDistanceField(&context, compact));
-            OPENMW_CHECK_DT_RESULT(rcBuildRegions(&context, compact, config.borderSize, config.minRegionArea,
-                                                  config.mergeRegionArea));
 
             rcContourSet contourSet;
-            OPENMW_CHECK_DT_RESULT(rcBuildContours(&context, compact, config.maxSimplificationError, config.maxEdgeLen,
+            buildContours(context, compact, config.maxSimplificationError, config.maxEdgeLen, contourSet);
-                                                   contourSet));
 
             if (contourSet.nconts == 0)
                 return NavMeshData();
 
-            OPENMW_CHECK_DT_RESULT(rcBuildPolyMesh(&context, contourSet, config.maxVertsPerPoly, polyMesh));
+            buildPolyMesh(context, contourSet, config.maxVertsPerPoly, polyMesh);
-            OPENMW_CHECK_DT_RESULT(rcBuildPolyMeshDetail(&context, polyMesh, compact, config.detailSampleDist,
+
-                                                         config.detailSampleMaxError, polyMeshDetail));
+            buildPolyMeshDetail(context, polyMesh, compact, config.detailSampleDist, config.detailSampleMaxError,
+                                polyMeshDetail);
         }
 
         for (int i = 0; i < polyMesh.npolys; ++i)
@@ -323,7 +397,10 @@ namespace
 
         unsigned char* navMeshData;
         int navMeshDataSize;
-        OPENMW_CHECK_DT_RESULT(dtCreateNavMeshData(&params, &navMeshData, &navMeshDataSize));
+        const auto navMeshDataCreated = dtCreateNavMeshData(&params, &navMeshData, &navMeshDataSize);
+
+        if (!navMeshDataCreated)
+            throw NavigatorException("Failed to create navmesh tile data");
 
         return NavMeshData(navMeshData, navMeshDataSize);
     }
@@ -360,7 +437,10 @@ namespace DetourNavigator
         params.maxPolys = maxPolysPerTile;
 
         NavMeshPtr navMesh(dtAllocNavMesh(), &dtFreeNavMesh);
-        OPENMW_CHECK_DT_STATUS(navMesh->init(&params));
+        const auto status = navMesh->init(&params);
+
+        if (!dtStatusSucceed(status))
+            throw NavigatorException("Failed to init navmesh");
 
         return navMesh;
     }

components/detournavigator/recastmesh.cpp

@@ -14,7 +14,7 @@ namespace DetourNavigator
         , mChunkyTriMesh(mVertices, mIndices, mAreaTypes, trianglesPerChunk)
     {
         if (getTrianglesCount() != mAreaTypes.size())
-            throw InvalidArgument("number of flags doesn't match number of triangles: triangles="
+            throw InvalidArgument("Number of flags doesn't match number of triangles: triangles="
                 + std::to_string(getTrianglesCount()) + ", areaTypes=" + std::to_string(mAreaTypes.size()));
         if (getVerticesCount())
             rcCalcBounds(mVertices.data(), static_cast<int>(getVerticesCount()), mBoundsMin.ptr(), mBoundsMax.ptr());