Update Recast version to 1.5.0

The version of Recast that Blender ships with is from 2009.  This patch updates the Recast version to the latest version, 1.5.0.  The Detour version remains untouched.

Reviewers: campbellbarton, moguri

Reviewed By: moguri

Projects: #bf_blender

Differential Revision: https://developer.blender.org/D1747

1 files changed, 19 insertions, 26 deletions

diff --git a/extern/recastnavigation/Recast/Source/RecastLayers.cpp b/extern/recastnavigation/Recast/Source/RecastLayers.cpp
index 2d9658b2bed..22a357effa1 100644
--- a/extern/recastnavigation/Recast/Source/RecastLayers.cpp
+++ b/extern/recastnavigation/Recast/Source/RecastLayers.cpp
@@ -38,7 +38,7 @@ struct rcLayerRegion
 	unsigned char layerId;		// Layer ID
 	unsigned char nlayers;		// Layer count
 	unsigned char nneis;		// Neighbour count
-	unsigned char base;			// Flag indicating if the region is hte base of merged regions.
+	unsigned char base;		// Flag indicating if the region is the base of merged regions.
 };
 
 
@@ -87,12 +87,12 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 {
 	rcAssert(ctx);
 	
-	ctx->startTimer(RC_TIMER_BUILD_LAYERS);
+	rcScopedTimer timer(ctx, RC_TIMER_BUILD_LAYERS);
 	
 	const int w = chf.width;
 	const int h = chf.height;
 	
-	rcScopedDelete<unsigned char> srcReg = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
+	rcScopedDelete<unsigned char> srcReg((unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP));
 	if (!srcReg)
 	{
 		ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' (%d).", chf.spanCount);
@@ -101,7 +101,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 	memset(srcReg,0xff,sizeof(unsigned char)*chf.spanCount);
 	
 	const int nsweeps = chf.width;
-	rcScopedDelete<rcLayerSweepSpan> sweeps = (rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP);
+	rcScopedDelete<rcLayerSweepSpan> sweeps((rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP));
 	if (!sweeps)
 	{
 		ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps);
@@ -212,7 +212,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 
 	// Allocate and init layer regions.
 	const int nregs = (int)regId;
-	rcScopedDelete<rcLayerRegion> regs = (rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP);
+	rcScopedDelete<rcLayerRegion> regs((rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP));
 	if (!regs)
 	{
 		ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs);
@@ -258,7 +258,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 						const int ay = y + rcGetDirOffsetY(dir);
 						const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
 						const unsigned char rai = srcReg[ai];
-						if (rai != 0xff && rai != ri)
+						if (rai != 0xff && rai != ri && regs[ri].nneis < RC_MAX_NEIS)
 							addUnique(regs[ri].neis, regs[ri].nneis, rai);
 					}
 				}
@@ -293,7 +293,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 	for (int i = 0; i < nregs; ++i)
 	{
 		rcLayerRegion& root = regs[i];
-		// Skip alreadu visited.
+		// Skip already visited.
 		if (root.layerId != 0xff)
 			continue;
 
@@ -325,7 +325,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 					continue;
 				// Skip if the height range would become too large.
 				const int ymin = rcMin(root.ymin, regn.ymin);
-				const int ymax = rcMin(root.ymax, regn.ymax);
+				const int ymax = rcMax(root.ymax, regn.ymax);
 				if ((ymax - ymin) >= 255)
 					 continue;
 
@@ -373,11 +373,11 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 					continue;
 				// Skip if the height range would become too large.
 				const int ymin = rcMin(ri.ymin, rj.ymin);
-				const int ymax = rcMin(ri.ymax, rj.ymax);
+				const int ymax = rcMax(ri.ymax, rj.ymax);
 				if ((ymax - ymin) >= 255)
 				  continue;
 						  
-				// Make sure that there is no overlap when mergin 'ri' and 'rj'.
+				// Make sure that there is no overlap when merging 'ri' and 'rj'.
 				bool overlap = false;
 				// Iterate over all regions which have the same layerId as 'rj'
 				for (int k = 0; k < nregs; ++k)
@@ -417,7 +417,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 					// Add overlaid layers from 'rj' to 'ri'.
 					for (int k = 0; k < rj.nlayers; ++k)
 						addUnique(ri.layers, ri.nlayers, rj.layers[k]);
-					// Update heigh bounds.
+					// Update height bounds.
 					ri.ymin = rcMin(ri.ymin, rj.ymin);
 					ri.ymax = rcMax(ri.ymax, rj.ymax);
 				}
@@ -446,10 +446,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 	
 	// No layers, return empty.
 	if (layerId == 0)
-	{
-		ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
 		return true;
-	}
 	
 	// Create layers.
 	rcAssert(lset.layers == 0);
@@ -481,10 +478,8 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 	for (int i = 0; i < lset.nlayers; ++i)
 	{
 		unsigned char curId = (unsigned char)i;
-		
-		// Allocate memory for the current layer.
+
 		rcHeightfieldLayer* layer = &lset.layers[i];
-		memset(layer, 0, sizeof(rcHeightfieldLayer));
 
 		const int gridSize = sizeof(unsigned char)*lw*lh;
 
@@ -528,7 +523,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 		layer->cs = chf.cs;
 		layer->ch = chf.ch;
 		
-		// Adjust the bbox to fit the heighfield.
+		// Adjust the bbox to fit the heightfield.
 		rcVcopy(layer->bmin, bmin);
 		rcVcopy(layer->bmax, bmax);
 		layer->bmin[1] = bmin[1] + hmin*chf.ch;
@@ -542,7 +537,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 		layer->miny = layer->height;
 		layer->maxy = 0;
 		
-		// Copy height and area from compact heighfield. 
+		// Copy height and area from compact heightfield. 
 		for (int y = 0; y < lh; ++y)
 		{
 			for (int x = 0; x < lw; ++x)
@@ -550,14 +545,14 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 				const int cx = borderSize+x;
 				const int cy = borderSize+y;
 				const rcCompactCell& c = chf.cells[cx+cy*w];
-				for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+				for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
 				{
-					const rcCompactSpan& s = chf.spans[i];
+					const rcCompactSpan& s = chf.spans[j];
 					// Skip unassigned regions.
-					if (srcReg[i] == 0xff)
+					if (srcReg[j] == 0xff)
 						continue;
 					// Skip of does nto belong to current layer.
-					unsigned char lid = regs[srcReg[i]].layerId;
+					unsigned char lid = regs[srcReg[j]].layerId;
 					if (lid != curId)
 						continue;
 					
@@ -570,7 +565,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 					// Store height and area type.
 					const int idx = x+y*lw;
 					layer->heights[idx] = (unsigned char)(s.y - hmin);
-					layer->areas[idx] = chf.areas[i];
+					layer->areas[idx] = chf.areas[j];
 					
 					// Check connection.
 					unsigned char portal = 0;
@@ -614,7 +609,5 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 			layer->miny = layer->maxy = 0;
 	}
 	
-	ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
-	
 	return true;
 }