Updated recast to 1.5.1

Engine/lib/recast/DebugUtils/Include/DebugDraw.h

@@ -210,6 +210,10 @@ class duDisplayList : public duDebugDraw
 	virtual void end();
 	void clear();
 	void draw(struct duDebugDraw* dd);
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	duDisplayList(const duDisplayList&);
+	duDisplayList& operator=(const duDisplayList&);
 };
 
 

Engine/lib/recast/DebugUtils/Include/DetourDebugDraw.h

@@ -45,4 +45,4 @@ void duDebugDrawTileCacheContours(duDebugDraw* dd, const struct dtTileCacheConto
 void duDebugDrawTileCachePolyMesh(duDebugDraw* dd, const struct dtTileCachePolyMesh& lmesh,
 								  const float* orig, const float cs, const float ch);
 
-#endif // DETOURDEBUGDRAW_H
+#endif // DETOURDEBUGDRAW_H

Engine/lib/recast/DebugUtils/Include/RecastDebugDraw.h

@@ -33,10 +33,6 @@ void duDebugDrawHeightfieldLayer(duDebugDraw* dd, const struct rcHeightfieldLaye
 void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset);
 void duDebugDrawHeightfieldLayersRegions(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset);
 
-void duDebugDrawLayerContours(duDebugDraw* dd, const struct rcLayerContourSet& lcset);
-void duDebugDrawLayerPolyMesh(duDebugDraw* dd, const struct rcLayerPolyMesh& lmesh);
-
-
 void duDebugDrawRegionConnections(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
 void duDebugDrawRawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
 void duDebugDrawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);

Engine/lib/recast/DebugUtils/Source/DebugDraw.cpp

@@ -17,9 +17,9 @@
 //
 
 #define _USE_MATH_DEFINES
-#include <math.h>
 #include <string.h>
 #include "DebugDraw.h"
+#include "DetourMath.h"
 
 
 duDebugDraw::~duDebugDraw()
@@ -180,8 +180,8 @@ void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float
 		for (int i = 0; i < NUM_SEG; ++i)
 		{
 			const float a = (float)i/(float)NUM_SEG*DU_PI*2;
-			dir[i*2] = cosf(a);
-			dir[i*2+1] = sinf(a);
+			dir[i*2] = dtMathCosf(a);
+			dir[i*2+1] = dtMathSinf(a);
 		}
 	}
 

Engine/lib/recast/DebugUtils/Source/DetourDebugDraw.cpp

@@ -16,7 +16,6 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include "DebugDraw.h"
 #include "DetourDebugDraw.h"
 #include "DetourNavMesh.h"

Engine/lib/recast/DebugUtils/Source/RecastDump.cpp

@@ -350,7 +350,7 @@ bool duReadCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io)
 
 	io->read(&chf.walkableHeight, sizeof(chf.walkableHeight));
 	io->read(&chf.walkableClimb, sizeof(chf.walkableClimb));
-	io->write(&chf.borderSize, sizeof(chf.borderSize));
+	io->read(&chf.borderSize, sizeof(chf.borderSize));
 
 	io->read(&chf.maxDistance, sizeof(chf.maxDistance));
 	io->read(&chf.maxRegions, sizeof(chf.maxRegions));

Engine/lib/recast/Detour/Include/DetourAlloc.h

@@ -19,6 +19,8 @@
 #ifndef DETOURALLOCATOR_H
 #define DETOURALLOCATOR_H
 
+#include <stddef.h>
+
 /// Provides hint values to the memory allocator on how long the
 /// memory is expected to be used.
 enum dtAllocHint
@@ -32,7 +34,7 @@ enum dtAllocHint
 //  @param[in]		rcAllocHint	A hint to the allocator on how long the memory is expected to be in use.
 //  @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
 ///  @see dtAllocSetCustom
-typedef void* (dtAllocFunc)(int size, dtAllocHint hint);
+typedef void* (dtAllocFunc)(size_t size, dtAllocHint hint);
 
 /// A memory deallocation function.
 ///  @param[in]		ptr		A pointer to a memory block previously allocated using #dtAllocFunc.
@@ -49,7 +51,7 @@ void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc);
 ///  @param[in]		hint	A hint to the allocator on how long the memory is expected to be in use.
 ///  @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
 /// @see dtFree
-void* dtAlloc(int size, dtAllocHint hint);
+void* dtAlloc(size_t size, dtAllocHint hint);
 
 /// Deallocates a memory block.
 ///  @param[in]		ptr		A pointer to a memory block previously allocated using #dtAlloc.

Engine/lib/recast/Detour/Include/DetourCommon.h

@@ -19,6 +19,8 @@
 #ifndef DETOURCOMMON_H
 #define DETOURCOMMON_H
 
+#include "DetourMath.h"
+
 /**
 @defgroup detour Detour
 
@@ -32,6 +34,11 @@ feature to find minor members.
 /// @name General helper functions
 /// @{
 
+/// Used to ignore a function parameter.  VS complains about unused parameters
+/// and this silences the warning.
+///  @param [in] _ Unused parameter
+template<class T> void dtIgnoreUnused(const T&) { }
+
 /// Swaps the values of the two parameters.
 ///  @param[in,out]	a	Value A
 ///  @param[in,out]	b	Value B
@@ -66,11 +73,6 @@ template<class T> inline T dtSqr(T a) { return a*a; }
 ///  @return The value, clamped to the specified range.
 template<class T> inline T dtClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
 
-/// Returns the square root of the value.
-///  @param[in]		x	The value.
-///  @return The square root of the vlaue.
-float dtSqrt(float x);
-
 /// @}
 /// @name Vector helper functions.
 /// @{
@@ -197,7 +199,7 @@ inline void dtVcopy(float* dest, const float* a)
 /// @return The scalar length of the vector.
 inline float dtVlen(const float* v)
 {
-	return dtSqrt(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
+	return dtMathSqrtf(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
 }
 
 /// Derives the square of the scalar length of the vector. (len * len)
@@ -217,7 +219,7 @@ inline float dtVdist(const float* v1, const float* v2)
 	const float dx = v2[0] - v1[0];
 	const float dy = v2[1] - v1[1];
 	const float dz = v2[2] - v1[2];
-	return dtSqrt(dx*dx + dy*dy + dz*dz);
+	return dtMathSqrtf(dx*dx + dy*dy + dz*dz);
 }
 
 /// Returns the square of the distance between two points.
@@ -242,7 +244,7 @@ inline float dtVdist2D(const float* v1, const float* v2)
 {
 	const float dx = v2[0] - v1[0];
 	const float dz = v2[2] - v1[2];
-	return dtSqrt(dx*dx + dz*dz);
+	return dtMathSqrtf(dx*dx + dz*dz);
 }
 
 /// Derives the square of the distance between the specified points on the xz-plane.
@@ -260,7 +262,7 @@ inline float dtVdist2DSqr(const float* v1, const float* v2)
 ///  @param[in,out]	v	The vector to normalize. [(x, y, z)]
 inline void dtVnormalize(float* v)
 {
-	float d = 1.0f / dtSqrt(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2]));
+	float d = 1.0f / dtMathSqrtf(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2]));
 	v[0] *= d;
 	v[1] *= d;
 	v[2] *= d;
@@ -376,6 +378,10 @@ bool dtIntersectSegmentPoly2D(const float* p0, const float* p1,
 							  float& tmin, float& tmax,
 							  int& segMin, int& segMax);
 
+bool dtIntersectSegSeg2D(const float* ap, const float* aq,
+						 const float* bp, const float* bq,
+						 float& s, float& t);
+
 /// Determines if the specified point is inside the convex polygon on the xz-plane.
 ///  @param[in]		pt		The point to check. [(x, y, z)]
 ///  @param[in]		verts	The polygon vertices. [(x, y, z) * @p nverts]

Engine/lib/recast/Detour/Include/DetourMath.h

@@ -0,0 +1,20 @@
+/**
+@defgroup detour Detour
+
+Members in this module are wrappers around the standard math library
+*/
+
+#ifndef DETOURMATH_H
+#define DETOURMATH_H
+
+#include <math.h>
+
+inline float dtMathFabsf(float x) { return fabsf(x); }
+inline float dtMathSqrtf(float x) { return sqrtf(x); }
+inline float dtMathFloorf(float x) { return floorf(x); }
+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); }
+
+#endif