Update Vmaps | Mmaps | Recastnav and fixed FleeingMovement

- Fixes getHeight collision (Map height is now calculated properly core-side, extraction of Maps, Vmaps is required)

- Fixes invisible walls causing LoS errores and wrong pathing in some zones.

- Mmaps update, padding is used, now to ensure proper binary-identical mmtiles

- Updated Recastnav to work properly with new updates

- Updated Area Storage

- Implement Map out of Bound (players will pop on closest graveyard if out of bounds)

- FleeingMovementGenerator updated, LoS calc to not go out of bounds or in/under textured when 
fleeing

- Added command .mmap, port from TC (info about mmaps)

modules/acore/extractors/map_extractor/CMakeLists.txt

@@ -12,8 +12,10 @@
 file(GLOB_RECURSE sources *.cpp *.h)
 
 set(include_Dirs
+    ${CMAKE_SOURCE_DIR}/modules/worldengine/nucleus/src/Utilities
     ${CMAKE_SOURCE_DIR}/modules/worldengine/nucleus/src
     ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/libmpq
+    ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/g3dlite/include
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${CMAKE_CURRENT_SOURCE_DIR}/loadlib
 )

modules/acore/extractors/map_extractor/System.cpp

@@ -20,9 +20,12 @@
 
 #include "dbcfile.h"
 #include "mpq_libmpq04.h"
+#include "StringFormat.h"
 
 #include "adt.h"
 #include "wdt.h"
+
+#include "G3D/Plane.h"
 #include <fcntl.h>
 
 #if defined( __GNUC__ )
@@ -49,11 +52,10 @@ typedef struct
 } map_id;
 
 map_id *map_ids;
-uint16 *areas;
 uint16 *LiqType;
-char output_path[128] = ".";
+#define MAX_PATH_LENGTH 128
-char input_path[128] = ".";
+char output_path[MAX_PATH_LENGTH] = ".";
-uint32 maxAreaId = 0;
+char input_path[MAX_PATH_LENGTH] = ".";
 
 // **************************************************
 // Extractor options
@@ -244,30 +246,6 @@ uint32 ReadMapDBC()
     return map_count;
 }
 
-void ReadAreaTableDBC()
-{
-    printf("Read AreaTable.dbc file...");
-    DBCFile dbc("DBFilesClient\\AreaTable.dbc");
-
-    if(!dbc.open())
-    {
-        printf("Fatal error: Invalid AreaTable.dbc file format!\n");
-        exit(1);
-    }
-
-    size_t area_count = dbc.getRecordCount();
-    size_t maxid = dbc.getMaxId();
-    areas = new uint16[maxid + 1];
-    memset(areas, 0xff, (maxid + 1) * sizeof(uint16));
-
-    for(uint32 x = 0; x < area_count; ++x)
-        areas[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3);
-
-    maxAreaId = dbc.getMaxId();
-
-    printf("Done! (%u areas loaded)\n", (uint32)area_count);
-}
-
 void ReadLiquidTypeTableDBC()
 {
     printf("Read LiquidType.dbc file...");
@@ -295,7 +273,7 @@ void ReadLiquidTypeTableDBC()
 
 // Map file format data
 static char const* MAP_MAGIC         = "MAPS";
-static char const* MAP_VERSION_MAGIC = "v1.3";
+static char const* MAP_VERSION_MAGIC = "v1.8";
 static char const* MAP_AREA_MAGIC    = "AREA";
 static char const* MAP_HEIGHT_MAGIC  = "MHGT";
 static char const* MAP_LIQUID_MAGIC  = "MLIQ";
@@ -324,9 +302,10 @@ struct map_areaHeader
     uint16 gridArea;
 };
 
-#define MAP_HEIGHT_NO_HEIGHT  0x0001
+#define MAP_HEIGHT_NO_HEIGHT            0x0001
-#define MAP_HEIGHT_AS_INT16   0x0002
+#define MAP_HEIGHT_AS_INT16             0x0002
-#define MAP_HEIGHT_AS_INT8    0x0004
+#define MAP_HEIGHT_AS_INT8              0x0004
+#define MAP_HEIGHT_HAS_FLIGHT_BOUNDS    0x0008
 
 struct map_heightHeader
 {
@@ -371,7 +350,7 @@ float selectUInt16StepStore(float maxDiff)
     return 65535 / maxDiff;
 }
 // Temporary grid data store
-uint16 area_flags[ADT_CELLS_PER_GRID][ADT_CELLS_PER_GRID];
+uint16 area_ids[ADT_CELLS_PER_GRID][ADT_CELLS_PER_GRID];
 
 float V8[ADT_GRID_SIZE][ADT_GRID_SIZE];
 float V9[ADT_GRID_SIZE+1][ADT_GRID_SIZE+1];
@@ -385,17 +364,20 @@ uint8 liquid_flags[ADT_CELLS_PER_GRID][ADT_CELLS_PER_GRID];
 bool  liquid_show[ADT_GRID_SIZE][ADT_GRID_SIZE];
 float liquid_height[ADT_GRID_SIZE+1][ADT_GRID_SIZE+1];
 
-bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/, uint32 build)
+int16 flight_box_max[3][3];
+int16 flight_box_min[3][3];
+
+bool ConvertADT(std::string const& inputPath, std::string const& outputPath, int /*cell_y*/, int /*cell_x*/, uint32 build)
 {
     ADT_file adt;
 
-    if (!adt.loadFile(filename))
+    if (!adt.loadFile(inputPath))
         return false;
 
     adt_MCIN *cells = adt.a_grid->getMCIN();
     if (!cells)
     {
-        printf("Can't find cells in '%s'\n", filename);
+        printf("Can't find cells in '%s'\n", inputPath.c_str());
         return false;
     }
 
@@ -405,39 +387,25 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
 
     // Prepare map header
     map_fileheader map;
-    map.mapMagic = *(uint32 const*)MAP_MAGIC;
+    map.mapMagic = *reinterpret_cast<uint32 const*>(MAP_MAGIC);
-    map.versionMagic = *(uint32 const*)MAP_VERSION_MAGIC;
+    map.versionMagic = *reinterpret_cast<uint32 const*>(MAP_VERSION_MAGIC);
     map.buildMagic = build;
 
     // Get area flags data
-    for (int i=0;i<ADT_CELLS_PER_GRID;i++)
+    for (int i = 0; i < ADT_CELLS_PER_GRID; i++)
-    {
+        for (int j = 0; j < ADT_CELLS_PER_GRID; j++)
-        for(int j=0;j<ADT_CELLS_PER_GRID;j++)
+            area_ids[i][j] = cells->getMCNK(i, j)->areaid;
-        {
+
-            adt_MCNK * cell = cells->getMCNK(i,j);
-            uint32 areaid = cell->areaid;
-            if(areaid && areaid <= maxAreaId)
-            {
-                if(areas[areaid] != 0xffff)
-                {
-                    area_flags[i][j] = areas[areaid];
-                    continue;
-                }
-                printf("File: %s\nCan't find area flag for areaid %u [%d, %d].\n", filename, areaid, cell->ix, cell->iy);
-            }
-            area_flags[i][j] = 0xffff;
-        }
-    }
     //============================================
     // Try pack area data
     //============================================
     bool fullAreaData = false;
-    uint32 areaflag = area_flags[0][0];
+    uint32 areaId = area_ids[0][0];
-    for (int y=0;y<ADT_CELLS_PER_GRID;y++)
+    for (int y = 0; y < ADT_CELLS_PER_GRID; ++y)
     {
-        for(int x=0;x<ADT_CELLS_PER_GRID;x++)
+        for (int x = 0; x < ADT_CELLS_PER_GRID; ++x)
         {
-            if(area_flags[y][x]!=areaflag)
+            if (area_ids[y][x] != areaId)
             {
                 fullAreaData = true;
                 break;
@@ -449,27 +417,27 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
     map.areaMapSize   = sizeof(map_areaHeader);
 
     map_areaHeader areaHeader;
-    areaHeader.fourcc = *(uint32 const*)MAP_AREA_MAGIC;
+    areaHeader.fourcc = *reinterpret_cast<uint32 const*>(MAP_AREA_MAGIC);
     areaHeader.flags = 0;
     if (fullAreaData)
     {
         areaHeader.gridArea = 0;
-        map.areaMapSize+=sizeof(area_flags);
+        map.areaMapSize += sizeof(area_ids);
     }
     else
     {
         areaHeader.flags |= MAP_AREA_NO_AREA;
-        areaHeader.gridArea = (uint16)areaflag;
+        areaHeader.gridArea = static_cast<uint16>(areaId);
     }
 
     //
     // Get Height map from grid
     //
-    for (int i=0;i<ADT_CELLS_PER_GRID;i++)
+    for (int i = 0; i<ADT_CELLS_PER_GRID; i++)
     {
-        for(int j=0;j<ADT_CELLS_PER_GRID;j++)
+        for (int j = 0; j<ADT_CELLS_PER_GRID; j++)
         {
-            adt_MCNK * cell = cells->getMCNK(i,j);
+            adt_MCNK * cell = cells->getMCNK(i, j);
             if (!cell)
                 continue;
             // Height values for triangles stored in order:
@@ -489,22 +457,22 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
             // . . . . . . . .
 
             // Set map height as grid height
-            for (int y=0; y <= ADT_CELL_SIZE; y++)
+            for (int y = 0; y <= ADT_CELL_SIZE; y++)
             {
                 int cy = i*ADT_CELL_SIZE + y;
-                for (int x=0; x <= ADT_CELL_SIZE; x++)
+                for (int x = 0; x <= ADT_CELL_SIZE; x++)
                 {
                     int cx = j*ADT_CELL_SIZE + x;
-                    V9[cy][cx]=cell->ypos;
+                    V9[cy][cx] = cell->ypos;
                 }
             }
-            for (int y=0; y < ADT_CELL_SIZE; y++)
+            for (int y = 0; y < ADT_CELL_SIZE; y++)
             {
                 int cy = i*ADT_CELL_SIZE + y;
-                for (int x=0; x < ADT_CELL_SIZE; x++)
+                for (int x = 0; x < ADT_CELL_SIZE; x++)
                 {
                     int cx = j*ADT_CELL_SIZE + x;
-                    V8[cy][cx]=cell->ypos;
+                    V8[cy][cx] = cell->ypos;
                 }
             }
             // Get custom height
@@ -512,23 +480,23 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
             if (!v)
                 continue;
             // get V9 height map
-            for (int y=0; y <= ADT_CELL_SIZE; y++)
+            for (int y = 0; y <= ADT_CELL_SIZE; y++)
             {
                 int cy = i*ADT_CELL_SIZE + y;
-                for (int x=0; x <= ADT_CELL_SIZE; x++)
+                for (int x = 0; x <= ADT_CELL_SIZE; x++)
                 {
                     int cx = j*ADT_CELL_SIZE + x;
-                    V9[cy][cx]+=v->height_map[y*(ADT_CELL_SIZE*2+1)+x];
+                    V9[cy][cx] += v->height_map[y*(ADT_CELL_SIZE * 2 + 1) + x];
                 }
             }
             // get V8 height map
-            for (int y=0; y < ADT_CELL_SIZE; y++)
+            for (int y = 0; y < ADT_CELL_SIZE; y++)
             {
                 int cy = i*ADT_CELL_SIZE + y;
-                for (int x=0; x < ADT_CELL_SIZE; x++)
+                for (int x = 0; x < ADT_CELL_SIZE; x++)
                 {
                     int cx = j*ADT_CELL_SIZE + x;
-                    V8[cy][cx]+=v->height_map[y*(ADT_CELL_SIZE*2+1)+ADT_CELL_SIZE+1+x];
+                    V8[cy][cx] += v->height_map[y*(ADT_CELL_SIZE * 2 + 1) + ADT_CELL_SIZE + 1 + x];
                 }
             }
         }
@@ -538,18 +506,18 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
     //============================================
     float maxHeight = -20000;
     float minHeight =  20000;
-    for (int y=0; y<ADT_GRID_SIZE; y++)
+    for (int y = 0; y<ADT_GRID_SIZE; y++)
     {
-        for(int x=0;x<ADT_GRID_SIZE;x++)
+        for (int x = 0; x<ADT_GRID_SIZE; x++)
         {
             float h = V8[y][x];
             if (maxHeight < h) maxHeight = h;
             if (minHeight > h) minHeight = h;
         }
     }
-    for (int y=0; y<=ADT_GRID_SIZE; y++)
+    for (int y = 0; y <= ADT_GRID_SIZE; y++)
     {
-        for(int x=0;x<=ADT_GRID_SIZE;x++)
+        for(int x = 0; x<= ADT_GRID_SIZE; x++)
         {
             float h = V9[y][x];
             if (maxHeight < h) maxHeight = h;
@@ -560,12 +528,12 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
     // Check for allow limit minimum height (not store height in deep ochean - allow save some memory)
     if (CONF_allow_height_limit && minHeight < CONF_use_minHeight)
     {
-        for (int y=0; y<ADT_GRID_SIZE; y++)
+        for (int y = 0; y<ADT_GRID_SIZE; y++)
-            for(int x=0;x<ADT_GRID_SIZE;x++)
+            for (int x = 0; x<ADT_GRID_SIZE; x++)
                 if (V8[y][x] < CONF_use_minHeight)
                     V8[y][x] = CONF_use_minHeight;
-        for (int y=0; y<=ADT_GRID_SIZE; y++)
+        for (int y = 0; y <= ADT_GRID_SIZE; y++)
-            for(int x=0;x<=ADT_GRID_SIZE;x++)
+            for (int x = 0; x <= ADT_GRID_SIZE; x++)
                 if (V9[y][x] < CONF_use_minHeight)
                     V9[y][x] = CONF_use_minHeight;
         if (minHeight < CONF_use_minHeight)
@@ -574,11 +542,19 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
             maxHeight = CONF_use_minHeight;
     }
 
+    bool hasFlightBox = false;
+    if (adt_MFBO* mfbo = adt.a_grid->getMFBO())
+    {
+        memcpy(flight_box_max, &mfbo->max, sizeof(flight_box_max));
+        memcpy(flight_box_min, &mfbo->min, sizeof(flight_box_min));
+        hasFlightBox = true;
+    }
+
     map.heightMapOffset = map.areaMapOffset + map.areaMapSize;
     map.heightMapSize = sizeof(map_heightHeader);
 
     map_heightHeader heightHeader;
-    heightHeader.fourcc = *(uint32 const*)MAP_HEIGHT_MAGIC;
+    heightHeader.fourcc = *reinterpret_cast<uint32 const*>(MAP_HEIGHT_MAGIC);
     heightHeader.flags = 0;
     heightHeader.gridHeight    = minHeight;
     heightHeader.gridMaxHeight = maxHeight;
@@ -590,6 +566,12 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
     if (CONF_allow_float_to_int && (maxHeight - minHeight) < CONF_flat_height_delta_limit)
         heightHeader.flags |= MAP_HEIGHT_NO_HEIGHT;
     
+    if (hasFlightBox)
+    {
+        heightHeader.flags |= MAP_HEIGHT_HAS_FLIGHT_BOUNDS;
+        map.heightMapSize += sizeof(flight_box_max) + sizeof(flight_box_min);
+    }
+
     // Try store as packed in uint16 or uint8 values
     if (!(heightHeader.flags & MAP_HEIGHT_NO_HEIGHT))
     {
@@ -600,12 +582,12 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
             float diff = maxHeight - minHeight;
             if (diff < CONF_float_to_int8_limit)      // As uint8 (max accuracy = CONF_float_to_int8_limit/256)
             {
-                heightHeader.flags|=MAP_HEIGHT_AS_INT8;
+                heightHeader.flags |= MAP_HEIGHT_AS_INT8;
                 step = selectUInt8StepStore(diff);
             }
             else if (diff<CONF_float_to_int16_limit)  // As uint16 (max accuracy = CONF_float_to_int16_limit/65536)
             {
-                heightHeader.flags|=MAP_HEIGHT_AS_INT16;
+                heightHeader.flags |= MAP_HEIGHT_AS_INT16;
                 step = selectUInt16StepStore(diff);
             }
         }
@@ -613,32 +595,32 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
         // Pack it to int values if need
         if (heightHeader.flags&MAP_HEIGHT_AS_INT8)
         {
-            for (int y=0; y<ADT_GRID_SIZE; y++)
+            for (int y = 0; y<ADT_GRID_SIZE; y++)
-                for(int x=0;x<ADT_GRID_SIZE;x++)
+                for (int x = 0; x<ADT_GRID_SIZE; x++)
                     uint8_V8[y][x] = uint8((V8[y][x] - minHeight) * step + 0.5f);
-            for (int y=0; y<=ADT_GRID_SIZE; y++)
+            for (int y = 0; y <= ADT_GRID_SIZE; y++)
-                for(int x=0;x<=ADT_GRID_SIZE;x++)
+                for (int x = 0; x <= ADT_GRID_SIZE; x++)
                     uint8_V9[y][x] = uint8((V9[y][x] - minHeight) * step + 0.5f);
-            map.heightMapSize+= sizeof(uint8_V9) + sizeof(uint8_V8);
+            map.heightMapSize += sizeof(uint8_V9) + sizeof(uint8_V8);
         }
         else if (heightHeader.flags&MAP_HEIGHT_AS_INT16)
         {
-            for (int y=0; y<ADT_GRID_SIZE; y++)
+            for (int y = 0; y<ADT_GRID_SIZE; y++)
-                for(int x=0;x<ADT_GRID_SIZE;x++)
+                for (int x = 0; x<ADT_GRID_SIZE; x++)
                     uint16_V8[y][x] = uint16((V8[y][x] - minHeight) * step + 0.5f);
-            for (int y=0; y<=ADT_GRID_SIZE; y++)
+            for (int y = 0; y <= ADT_GRID_SIZE; y++)
-                for(int x=0;x<=ADT_GRID_SIZE;x++)
+                for (int x = 0; x <= ADT_GRID_SIZE; x++)
                     uint16_V9[y][x] = uint16((V9[y][x] - minHeight) * step + 0.5f);
-            map.heightMapSize+= sizeof(uint16_V9) + sizeof(uint16_V8);
+            map.heightMapSize += sizeof(uint16_V9) + sizeof(uint16_V8);
         }
         else
-            map.heightMapSize+= sizeof(V9) + sizeof(V8);
+            map.heightMapSize += sizeof(V9) + sizeof(V8);
     }
 
     // Get from MCLQ chunk (old)
     for (int i = 0; i < ADT_CELLS_PER_GRID; i++)
     {
-        for(int j = 0; j < ADT_CELLS_PER_GRID; j++)
+        for (int j = 0; j < ADT_CELLS_PER_GRID; j++)
         {
             adt_MCNK *cell = cells->getMCNK(i, j);
             if (!cell)
@@ -658,7 +640,7 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
                     if (liquid->flags[y][x] != 0x0F)
                     {
                         liquid_show[cy][cx] = true;
-                        if (liquid->flags[y][x] & (1<<7))
+                        if (liquid->flags[y][x] & (1 << 7))
                             liquid_flags[i][j] |= MAP_LIQUID_TYPE_DARK_WATER;
                         ++count;
                     }
@@ -666,17 +648,17 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
             }
 
             uint32 c_flag = cell->flags;
-            if (c_flag & (1<<2))
+            if (c_flag & (1 << 2))
             {
                 liquid_entry[i][j] = 1;
                 liquid_flags[i][j] |= MAP_LIQUID_TYPE_WATER;            // water
             }
-            if (c_flag & (1<<3))
+            if (c_flag & (1 << 3))
             {
                 liquid_entry[i][j] = 2;
                 liquid_flags[i][j] |= MAP_LIQUID_TYPE_OCEAN;            // ocean
             }
-            if (c_flag & (1<<4))
+            if (c_flag & (1 << 4))
             {
                 liquid_entry[i][j] = 3;
                 liquid_flags[i][j] |= MAP_LIQUID_TYPE_MAGMA;            // magma/slime
@@ -734,7 +716,7 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
                     case LIQUID_TYPE_MAGMA: liquid_flags[i][j] |= MAP_LIQUID_TYPE_MAGMA; break;
                     case LIQUID_TYPE_SLIME: liquid_flags[i][j] |= MAP_LIQUID_TYPE_SLIME; break;
                     default:
-                        printf("\nCan't find Liquid type %u for map %s\nchunk %d,%d\n", h->liquidType, filename, i, j);
+                        printf("\nCan't find Liquid type %u for map %s\nchunk %d,%d\n", h->liquidType, inputPath.c_str(), i, j);
                         break;
                 }
                 // Dark water detect
@@ -877,17 +859,17 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
         map.holesSize = 0;
 
     // Ok all data prepared - store it
-    FILE* output = fopen(filename2, "wb");
+    FILE* output = fopen(outputPath.c_str(), "wb");
     if (!output)
     {
-        printf("Can't create the output file '%s'\n", filename2);
+        printf("Can't create the output file '%s'\n", outputPath.c_str());
         return false;
     }
     fwrite(&map, sizeof(map), 1, output);
     // Store area data
     fwrite(&areaHeader, sizeof(areaHeader), 1, output);
     if (!(areaHeader.flags&MAP_AREA_NO_AREA))
-        fwrite(area_flags, sizeof(area_flags), 1, output);
+        fwrite(area_ids, sizeof(area_ids), 1, output);
 
     // Store height data
     fwrite(&heightHeader, sizeof(heightHeader), 1, output);
@@ -910,6 +892,12 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
         }
     }
 
+    if (heightHeader.flags & MAP_HEIGHT_HAS_FLIGHT_BOUNDS)
+    {
+        fwrite(flight_box_max, sizeof(flight_box_max), 1, output);
+        fwrite(flight_box_min, sizeof(flight_box_min), 1, output);
+    }
+
     // Store liquid data if need
     if (map.liquidMapOffset)
     {
@@ -937,15 +925,14 @@ bool ConvertADT(char *filename, char *filename2, int /*cell_y*/, int /*cell_x*/,
 
 void ExtractMapsFromMpq(uint32 build)
 {
-    char mpq_filename[1024];
+    std::string mpqFileName;
-    char output_filename[1024];
+    std::string outputFileName;
-    char mpq_map_name[1024];
+    std::string mpqMapName;
 
     printf("Extracting maps...\n");
 
     uint32 map_count = ReadMapDBC();
 
-    ReadAreaTableDBC();
     ReadLiquidTypeTableDBC();
 
     std::string path = output_path;
@@ -957,9 +944,9 @@ void ExtractMapsFromMpq(uint32 build)
     {
         printf("Extract %s (%d/%u)                  \n", map_ids[z].name, z+1, map_count);
         // Loadup map grid data
-        sprintf(mpq_map_name, "World\\Maps\\%s\\%s.wdt", map_ids[z].name, map_ids[z].name);
+        mpqMapName = Trinity::StringFormat("World\\Maps\\%s\\%s.wdt", map_ids[z].name, map_ids[z].name);
         WDT_file wdt;
-        if (!wdt.loadFile(mpq_map_name, false))
+        if (!wdt.loadFile(mpqMapName, false))
         {
 //            printf("Error loading %s map wdt data\n", map_ids[z].name);
             continue;
@@ -971,17 +958,16 @@ void ExtractMapsFromMpq(uint32 build)
             {
                 if (!wdt.main->adt_list[y][x].exist)
                     continue;
-                sprintf(mpq_filename, "World\\Maps\\%s\\%s_%u_%u.adt", map_ids[z].name, map_ids[z].name, x, y);
+                mpqFileName = Trinity::StringFormat("World\\Maps\\%s\\%s_%u_%u.adt", map_ids[z].name, map_ids[z].name, x, y);
-                sprintf(output_filename, "%s/maps/%03u%02u%02u.map", output_path, map_ids[z].id, y, x);
+                outputFileName = Trinity::StringFormat("%s/maps/%03u%02u%02u.map", output_path, map_ids[z].id, y, x);
-                ConvertADT(mpq_filename, output_filename, y, x, build);
+                ConvertADT(mpqFileName, outputFileName, y, x, build);
             }
             // draw progress bar
             printf("Processing........................%d%%\r", (100 * (y+1)) / WDT_MAP_SIZE);
         }
     }
     printf("\n");
-    delete [] areas;
+    delete[] map_ids;
-    delete [] map_ids;
 }
 
 bool ExtractFile( char const* mpq_name, std::string const& filename )

modules/acore/extractors/map_extractor/adt.cpp

@@ -9,15 +9,16 @@
 #include "adt.h"
 
 // Helper
-int holetab_h[4] = {0x1111, 0x2222, 0x4444, 0x8888};
+int holetab_h[4] = { 0x1111, 0x2222, 0x4444, 0x8888 };
-int holetab_v[4] = {0x000F, 0x00F0, 0x0F00, 0xF000};
+int holetab_v[4] = { 0x000F, 0x00F0, 0x0F00, 0xF000 };
 
-u_map_fcc MHDRMagic = { {'R','D','H','M'} };
+u_map_fcc MHDRMagic = { { 'R','D','H','M' } };
-u_map_fcc MCINMagic = { {'N','I','C','M'} };
+u_map_fcc MCINMagic = { { 'N','I','C','M' } };
-u_map_fcc MH2OMagic = { {'O','2','H','M'} };
+u_map_fcc MH2OMagic = { { 'O','2','H','M' } };
-u_map_fcc MCNKMagic = { {'K','N','C','M'} };
+u_map_fcc MCNKMagic = { { 'K','N','C','M' } };
-u_map_fcc MCVTMagic = { {'T','V','C','M'} };
+u_map_fcc MCVTMagic = { { 'T','V','C','M' } };
-u_map_fcc MCLQMagic = { {'Q','L','C','M'} };
+u_map_fcc MCLQMagic = { { 'Q','L','C','M' } };
+u_map_fcc MFBOMagic = { { 'O','B','F','M' } };
 
 bool isHole(int holes, int i, int j)
 {
@@ -69,7 +70,7 @@ bool adt_MHDR::prepareLoadedData()
     if (fcc != MHDRMagic.fcc)
         return false;
 
-    if (size!=sizeof(adt_MHDR)-8)
+    if (size != sizeof(adt_MHDR) - 8)
         return false;
 
     // Check and prepare MCIN
@@ -80,6 +81,9 @@ bool adt_MHDR::prepareLoadedData()
     if (offsMH2O && !getMH2O()->prepareLoadedData())
         return false;
 
+    if (offsMFBO && flags & 1 && !getMFBO()->prepareLoadedData())
+        return false;
+
     return true;
 }
 
@@ -142,3 +146,8 @@ bool adt_MCLQ::prepareLoadedData()
 
     return true;
 }
+
+bool adt_MFBO::prepareLoadedData()
+{
+    return fcc == MFBOMagic.fcc;
+}

modules/acore/extractors/map_extractor/adt.h

@@ -248,6 +248,27 @@ public:
 
 };
 
+// Adt file min/max height chunk
+//
+class adt_MFBO
+{
+    union
+    {
+        uint32 fcc;
+        char   fcc_txt[4];
+    };
+public:
+    uint32 size;
+    struct plane
+    {
+        int16 coords[9];
+    };
+    plane max;
+    plane min;
+
+    bool prepareLoadedData();
+};
+
 //
 // Adt file header chunk
 //
@@ -260,12 +281,12 @@ class adt_MHDR
 public:
     uint32 size;
 
-    uint32 pad;
+    uint32 flags;
     uint32 offsMCIN;           // MCIN
-    uint32 offsTex;               // MTEX
+    uint32 offsTex;            // MTEX
-    uint32 offsModels;           // MMDX
+    uint32 offsModels;         // MMDX
-    uint32 offsModelsIds;       // MMID
+    uint32 offsModelsIds;      // MMID
-    uint32 offsMapObejcts;       // MWMO
+    uint32 offsMapObejcts;     // MWMO
     uint32 offsMapObejctsIds;  // MWID
     uint32 offsDoodsDef;       // MDDF
     uint32 offsObjectsDef;     // MODF
@@ -278,9 +299,22 @@ public:
     uint32 data5;
 public:
     bool prepareLoadedData();
-    adt_MCIN *getMCIN(){ return (adt_MCIN *)((uint8 *)&pad+offsMCIN);}
+    adt_MCIN* getMCIN()
-    adt_MH2O *getMH2O(){ return offsMH2O ? (adt_MH2O *)((uint8 *)&pad+offsMH2O) : 0;}
+    {
-
+        return reinterpret_cast<adt_MCIN*>(reinterpret_cast<uint8*>(&flags) + offsMCIN);
+    }
+    adt_MH2O* getMH2O()
+    {
+        if (offsMH2O)
+            return reinterpret_cast<adt_MH2O*>(reinterpret_cast<uint8*>(&flags) + offsMH2O);
+        return nullptr;
+    }
+    adt_MFBO* getMFBO()
+    {
+        if (flags & 1 && offsMFBO)
+            return reinterpret_cast<adt_MFBO*>(reinterpret_cast<uint8*>(&flags) + offsMFBO);
+        return nullptr;
+    }
 };
 
 class ADT_file : public FileLoader{

modules/acore/extractors/map_extractor/loadlib.cpp

@@ -26,14 +26,14 @@ FileLoader::~FileLoader()
     free();
 }
 
-bool FileLoader::loadFile(char *filename, bool log)
+bool FileLoader::loadFile(std::string const& fileName, bool log)
 {
     free();
-    MPQFile mf(filename);
+    MPQFile mf(fileName.c_str());
     if(mf.isEof())
     {
         if (log)
-            printf("No such file %s\n", filename);
+            printf("No such file %s\n", fileName.c_str());
         return false;
     }
 
@@ -45,7 +45,7 @@ bool FileLoader::loadFile(char *filename, bool log)
     if (prepareLoadedData())
         return true;
 
-    printf("Error loading %s", filename);
+    printf("Error loading %s", fileName.c_str());
     mf.close();
     free();
     return false;

modules/acore/extractors/map_extractor/loadlib/loadlib.h

@@ -7,6 +7,8 @@
 #ifndef LOAD_LIB_H
 #define LOAD_LIB_H
 
+#include <string>
+
 #ifdef _WIN32
 typedef __int64            int64;
 typedef __int32            int32;
@@ -65,7 +67,7 @@ public:
     file_MVER *version;
     FileLoader();
     ~FileLoader();
-    bool loadFile(char *filename, bool log = true);
+    bool loadFile(std::string const& filename, bool log = true);
     virtual void free();
 };
 #endif

modules/acore/extractors/mesh_extractor/Utils.h

@@ -341,7 +341,7 @@ public:
 };
 
 #define MMAP_MAGIC 0x4d4d4150   // 'MMAP'
-#define MMAP_VERSION 3
+#define MMAP_VERSION 6
 
 struct MmapTileHeader
 {

modules/acore/extractors/mmaps_generator/MapBuilder.cpp

@@ -24,7 +24,7 @@ namespace DisableMgr
 }
 
 #define MMAP_MAGIC 0x4d4d4150   // 'MMAP'
-#define MMAP_VERSION 3
+#define MMAP_VERSION 6
 
 struct MmapTileHeader
 {
@@ -32,12 +32,22 @@ struct MmapTileHeader
     uint32 dtVersion;
     uint32 mmapVersion;
     uint32 size;
-    bool usesLiquids : 1;
+    char usesLiquids;
+    char padding[3];
 
     MmapTileHeader() : mmapMagic(MMAP_MAGIC), dtVersion(DT_NAVMESH_VERSION),
-        mmapVersion(MMAP_VERSION), size(0), usesLiquids(true) {}
+        mmapVersion(MMAP_VERSION), size(0), usesLiquids(true), padding() {}
 };
 
+// All padding fields must be handled and initialized to ensure mmaps_generator will produce binary-identical *.mmtile files
+static_assert(sizeof(MmapTileHeader) == 20, "MmapTileHeader size is not correct, adjust the padding field size");
+static_assert(sizeof(MmapTileHeader) == (sizeof(MmapTileHeader::mmapMagic) +
+                                         sizeof(MmapTileHeader::dtVersion) +
+                                         sizeof(MmapTileHeader::mmapVersion) +
+                                         sizeof(MmapTileHeader::size) +
+                                         sizeof(MmapTileHeader::usesLiquids) +
+                                         sizeof(MmapTileHeader::padding)), "MmapTileHeader has uninitialized padding fields");
+
 namespace MMAP
 {
     MapBuilder::MapBuilder(float maxWalkableAngle, bool skipLiquid,
@@ -57,6 +67,10 @@ namespace MMAP
 
         m_rcContext = new rcContext(false);
 
+        // percentageDone - Initializing
+        m_totalTiles = 0;
+        m_totalTilesBuilt = 0;
+
         discoverTiles();
     }
 
@@ -65,8 +79,8 @@ namespace MMAP
     {
         for (TileList::iterator it = m_tiles.begin(); it != m_tiles.end(); ++it)
         {
-            (*it).second->clear();
+            (*it).m_tiles->clear();
-            delete (*it).second;
+            delete (*it).m_tiles;
         }
 
         delete m_terrainBuilder;
@@ -85,9 +99,9 @@ namespace MMAP
         for (uint32 i = 0; i < files.size(); ++i)
         {
             mapID = uint32(atoi(files[i].substr(0,3).c_str()));
-            if (m_tiles.find(mapID) == m_tiles.end())
+            if (std::find(m_tiles.begin(), m_tiles.end(), mapID) == m_tiles.end())
             {
-                m_tiles.insert(std::pair<uint32, std::set<uint32>*>(mapID, new std::set<uint32>));
+                m_tiles.emplace_back(MapTiles(mapID, new std::set<uint32>));
                 count++;
             }
         }
@@ -97,8 +111,11 @@ namespace MMAP
         for (uint32 i = 0; i < files.size(); ++i)
         {
             mapID = uint32(atoi(files[i].substr(0,3).c_str()));
-            m_tiles.insert(std::pair<uint32, std::set<uint32>*>(mapID, new std::set<uint32>));
+            if (std::find(m_tiles.begin(), m_tiles.end(), mapID) == m_tiles.end())
-            count++;
+            {
+                m_tiles.emplace_back(MapTiles(mapID, new std::set<uint32>));
+                count++;
+            }
         }
         printf("found %u.\n", count);
 
@@ -106,8 +123,8 @@ namespace MMAP
         printf("Discovering tiles... ");
         for (TileList::iterator itr = m_tiles.begin(); itr != m_tiles.end(); ++itr)
         {
-            std::set<uint32>* tiles = (*itr).second;
+            std::set<uint32>* tiles = (*itr).m_tiles;
-            mapID = (*itr).first;
+            mapID = (*itr).m_mapId;
 
             sprintf(filter, "%03u*.vmtile", mapID);
             files.clear();
@@ -136,17 +153,20 @@ namespace MMAP
             }
         }
         printf("found %u.\n\n", count);
+
+        // percentageDone - total tiles to process
+        m_totalTiles = count;
     }
 
     /**************************************************************************/
     std::set<uint32>* MapBuilder::getTileList(uint32 mapID)
     {
-        TileList::iterator itr = m_tiles.find(mapID);
+        TileList::iterator itr = std::find(m_tiles.begin(), m_tiles.end(), mapID);
         if (itr != m_tiles.end())
-            return (*itr).second;
+            return (*itr).m_tiles;
 
         std::set<uint32>* tiles = new std::set<uint32>();
-        m_tiles.insert(std::pair<uint32, std::set<uint32>*>(mapID, tiles));
+        m_tiles.emplace_back(MapTiles(mapID, tiles));
         return tiles;
     }
 
@@ -157,9 +177,14 @@ namespace MMAP
 
         BuilderThreadPool* pool = threads > 0 ? new BuilderThreadPool() : NULL;
 
+        m_tiles.sort([](MapTiles a, MapTiles b)
+        {
+            return a.m_tiles->size() > b.m_tiles->size();
+        });
+
         for (TileList::iterator it = m_tiles.begin(); it != m_tiles.end(); ++it)
         {
-            uint32 mapID = it->first;
+            uint32 mapID = it->m_mapId;
             if (!shouldSkipMap(mapID))
             {
                 if (threads > 0)
@@ -382,7 +407,8 @@ namespace MMAP
     /**************************************************************************/
     void MapBuilder::buildTile(uint32 mapID, uint32 tileX, uint32 tileY, dtNavMesh* navMesh)
     {
-        printf("[Map %03i] Building tile [%02u,%02u]\n", mapID, tileX, tileY);
+        // percentageDone - added, now it will show addional reference percentage done of the overall process
+        printf("%u%% [Map %03i] Building tile [%02u,%02u]\n", percentageDone(m_totalTiles, m_totalTilesBuilt), mapID, tileX, tileY);
 
         MeshData meshData;
 
@@ -416,6 +442,9 @@ namespace MMAP
 
         // build navmesh tile
         buildMoveMapTile(mapID, tileX, tileY, meshData, bmin, bmax, navMesh);
+
+        // percentageDone - increment tiles built
+        m_totalTilesBuilt++;
     }
 
     /**************************************************************************/
@@ -971,4 +1000,12 @@ namespace MMAP
         return true;
     }
     
+    /**************************************************************************/
+    uint32 MapBuilder::percentageDone(uint32 totalTiles, uint32 totalTilesBuilt)
+    {
+        if (totalTiles)
+            return totalTilesBuilt * 100 / totalTiles;
+
+        return 0;
+    }
 }

modules/acore/extractors/mmaps_generator/MapBuilder.h

@@ -9,7 +9,9 @@
 
 #include <vector>
 #include <set>
+#include <atomic>
 #include <map>
+#include <list>
 
 #include "TerrainBuilder.h"
 #include "IntermediateValues.h"
@@ -27,7 +29,24 @@ using namespace VMAP;
 
 namespace MMAP
 {
-    typedef std::map<uint32, std::set<uint32>*> TileList;
+    struct MapTiles
+    {
+        MapTiles() : m_mapId(uint32(-1)), m_tiles(NULL) {}
+
+        MapTiles(uint32 id, std::set<uint32>* tiles) : m_mapId(id), m_tiles(tiles) {}
+        ~MapTiles() {}
+
+        uint32 m_mapId;
+        std::set<uint32>* m_tiles;
+
+        bool operator==(uint32 id)
+        {
+            return m_mapId == id;
+        }
+    };
+
+    typedef std::list<MapTiles> TileList;
+
     struct Tile
     {
         Tile() : chf(NULL), solid(NULL), cset(NULL), pmesh(NULL), dmesh(NULL) {}
@@ -96,6 +115,8 @@ namespace MMAP
             bool shouldSkipMap(uint32 mapID);
             bool isTransportMap(uint32 mapID);
             bool shouldSkipTile(uint32 mapID, uint32 tileX, uint32 tileY);
+            // percentageDone - method to calculate percentage
+            uint32 percentageDone(uint32 totalTiles, uint32 totalTilesDone);
 
             TerrainBuilder* m_terrainBuilder;
             TileList m_tiles;
@@ -109,6 +130,9 @@ namespace MMAP
 
             float m_maxWalkableAngle;
             bool m_bigBaseUnit;
+            // percentageDone - variables to calculate percentage
+            uint32 m_totalTiles;
+            std::atomic<uint32> m_totalTilesBuilt;
 
             // build performance - not really used for now
             rcContext* m_rcContext;

modules/acore/extractors/mmaps_generator/PathCommon.h

@@ -9,9 +9,8 @@
 
 #include <string>
 #include <vector>
-#include <ace/OS_NS_sys_time.h>
 
-#include "Define.h"
+#include "Common.h"
 
 #ifndef _WIN32
     #include <stddef.h>
@@ -125,26 +124,6 @@ namespace MMAP
 
         return LISTFILE_OK;
     }
-
-    inline uint32 getMSTime()
-    {
-        static const ACE_Time_Value ApplicationStartTime = ACE_OS::gettimeofday();
-        return (ACE_OS::gettimeofday() - ApplicationStartTime).msec();
-    }
-
-    inline uint32 getMSTimeDiff(uint32 oldMSTime, uint32 newMSTime)
-    {
-        // getMSTime() have limited data range and this is case when it overflow in this tick
-        if (oldMSTime > newMSTime)
-            return (0xFFFFFFFF - oldMSTime) + newMSTime;
-        else
-            return newMSTime - oldMSTime;
-    }
-
-    inline uint32 GetMSTimeDiffToNow(uint32 oldMSTime)
-    {
-        return getMSTimeDiff(oldMSTime, getMSTime());
-    }
 }
 
 #endif

modules/acore/extractors/mmaps_generator/PathGenerator.cpp

@@ -6,6 +6,7 @@
 
 #include "PathCommon.h"
 #include "MapBuilder.h"
+#include "Timer.h"
 
 using namespace MMAP;
 

modules/acore/extractors/mmaps_generator/TerrainBuilder.cpp

@@ -70,7 +70,7 @@ struct map_liquidHeader
 namespace MMAP
 {
 
-    char const* MAP_VERSION_MAGIC = "v1.3";
+    char const* MAP_VERSION_MAGIC = "v1.8";
 
     TerrainBuilder::TerrainBuilder(bool skipLiquid) : m_skipLiquid (skipLiquid){ }
     TerrainBuilder::~TerrainBuilder() { }

modules/acore/extractors/vmap4_extractor/loadlib/loadlib.h

@@ -7,6 +7,8 @@
 #ifndef LOAD_LIB_H
 #define LOAD_LIB_H
 
+#include <string>
+
 #ifdef WIN32
 typedef __int64            int64;
 typedef __int32            int32;
@@ -59,7 +61,7 @@ public:
     file_MVER *version;
     FileLoader();
     ~FileLoader();
-    bool loadFile(char *filename, bool log = true);
+    bool loadFile(std::string const& filename, bool log = true);
     virtual void free();
 };
 #endif

modules/acore/extractors/vmap4_extractor/model.cpp

@@ -84,17 +84,31 @@ bool Model::ConvertToVMAPModel(const char * outfilename)
     wsize = sizeof(uint32) + sizeof(unsigned short) * nIndexes;
     fwrite(&wsize, sizeof(int), 1, output);
     fwrite(&nIndexes, sizeof(uint32), 1, output);
-    if (nIndexes >0)
+    if (nIndexes > 0)
+    {
+        for (uint32 i = 0; i < nIndexes; ++i)
+        {
+            if ((i % 3) - 1 == 0 && i + 1 < nIndexes)
+            {
+                uint16 tmp = indices[i];
+                indices[i] = indices[i + 1];
+                indices[i + 1] = tmp;
+            }
+        }
         fwrite(indices, sizeof(unsigned short), nIndexes, output);
-
+    }
     fwrite("VERT", 4, 1, output);
     wsize = sizeof(int) + sizeof(float) * 3 * nVertices;
     fwrite(&wsize, sizeof(int), 1, output);
     fwrite(&nVertices, sizeof(int), 1, output);
     if (nVertices >0)
     {
-        for(uint32 vpos=0; vpos <nVertices; ++vpos)
+        for (uint32 vpos = 0; vpos < nVertices; ++vpos)
-            std::swap(vertices[vpos].y, vertices[vpos].z);
+        {
+            float tmp = vertices[vpos].y;
+            vertices[vpos].y = -vertices[vpos].z;
+            vertices[vpos].z = tmp;
+        }
 
         fwrite(vertices, sizeof(float)*3, nVertices, output);
     }
@@ -169,7 +183,6 @@ ModelInstance::ModelInstance(MPQFile& f, char const* ModelInstName, uint32 mapID
     int realy1 = (int) ((float) pos.z / 533.333333f);
     int realx2 = (int) ((float) pos.x / 533.333333f);
     int realy2 = (int) ((float) pos.z / 533.333333f);
-
     fprintf(pDirfile,"%s/%s %f,%f,%f_%f,%f,%f %f %d %d %d,%d %d\n",
         MapName,
         ModelInstName,

modules/worldengine/deps/CMakeLists.txt

@@ -20,6 +20,10 @@ if(CMAKE_SYSTEM_NAME MATCHES "Linux")
   if(SERVERS AND NOT NOJEM)
     add_subdirectory(jemalloc)  
   endif()
+  if(TOOLS)
+    add_subdirectory(bzip2)
+  endif()
+  add_subdirectory(zlib)
 endif()
 
 if(CMAKE_SYSTEM_NAME MATCHES "Windows")

modules/worldengine/deps/recastnavigation/Detour/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C)
+# Copyright (C) 2008-2016 TrinityCore <http://www.trinitycore.org/>
 #
 # This file is free software; as a special exception the author gives
 # unlimited permission to copy and/or distribute it, with or without
@@ -9,20 +9,25 @@
 # implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 
 set(Detour_STAT_SRCS
-    DetourAlloc.cpp
+    Source/DetourAlloc.cpp 
-    DetourCommon.cpp
+    Source/DetourCommon.cpp 
-    DetourNavMesh.cpp
+    Source/DetourNavMesh.cpp 
-    DetourNavMeshBuilder.cpp
+    Source/DetourNavMeshBuilder.cpp 
-    DetourNavMeshQuery.cpp
+    Source/DetourNavMeshQuery.cpp 
-    DetourNode.cpp
+    Source/DetourNode.cpp 
 )
 
-if(WIN32)
-  include_directories(
-    ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/zlib
-  )
-endif()
-
 add_library(Detour STATIC ${Detour_STAT_SRCS})
 
-target_link_libraries(Detour ${ZLIB_LIBRARIES})
+target_include_directories(Detour
+  PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/Include)
+
+target_link_libraries(Detour
+  PUBLIC
+    zlib)
+
+set_target_properties(Detour
+    PROPERTIES
+      FOLDER
+        "dep")

modules/worldengine/deps/recastnavigation/Detour/DetourAlloc.h

@@ -1,36 +0,0 @@
-//
-// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-//
-// This software is provided 'as-is', without any express or implied
-// warranty.  In no event will the authors be held liable for any damages
-// arising from the use of this software.
-// Permission is granted to anyone to use this software for any purpose,
-// including commercial applications, and to alter it and redistribute it
-// freely, subject to the following restrictions:
-// 1. The origin of this software must not be misrepresented; you must not
-//    claim that you wrote the original software. If you use this software
-//    in a product, an acknowledgment in the product documentation would be
-//    appreciated but is not required.
-// 2. Altered source versions must be plainly marked as such, and must not be
-//    misrepresented as being the original software.
-// 3. This notice may not be removed or altered from any source distribution.
-//
-
-#ifndef DETOURALLOCATOR_H
-#define DETOURALLOCATOR_H
-
-enum dtAllocHint
-{
-	DT_ALLOC_PERM,		// Memory persist after a function call.
-	DT_ALLOC_TEMP		// Memory used temporarily within a function.
-};
-
-typedef void* (dtAllocFunc)(int size, dtAllocHint hint);
-typedef void (dtFreeFunc)(void* ptr);
-
-void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc);
-
-void* dtAlloc(int size, dtAllocHint hint);
-void dtFree(void* ptr);
-
-#endif

modules/worldengine/deps/recastnavigation/Detour/DetourCommon.h

@@ -1,248 +0,0 @@
-//
-// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-//
-// This software is provided 'as-is', without any express or implied
-// warranty.  In no event will the authors be held liable for any damages
-// arising from the use of this software.
-// Permission is granted to anyone to use this software for any purpose,
-// including commercial applications, and to alter it and redistribute it
-// freely, subject to the following restrictions:
-// 1. The origin of this software must not be misrepresented; you must not
-//    claim that you wrote the original software. If you use this software
-//    in a product, an acknowledgment in the product documentation would be
-//    appreciated but is not required.
-// 2. Altered source versions must be plainly marked as such, and must not be
-//    misrepresented as being the original software.
-// 3. This notice may not be removed or altered from any source distribution.
-//
-
-#ifndef DETOURCOMMON_H
-#define DETOURCOMMON_H
-
-template<class T> inline void dtSwap(T& a, T& b) { T t = a; a = b; b = t; }
-template<class T> inline T dtMin(T a, T b) { return a < b ? a : b; }
-template<class T> inline T dtMax(T a, T b) { return a > b ? a : b; }
-template<class T> inline T dtAbs(T a) { return a < 0 ? -a : a; }
-template<class T> inline T dtSqr(T a) { return a*a; }
-template<class T> inline T dtClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
-
-float dtSqrt(float x);
-
-inline void dtVcross(float* dest, const float* v1, const float* v2)
-{
-	dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
-	dest[1] = v1[2]*v2[0] - v1[0]*v2[2];
-	dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; 
-}
-
-inline float dtVdot(const float* v1, const float* v2)
-{
-	return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
-}
-
-inline void dtVmad(float* dest, const float* v1, const float* v2, const float s)
-{
-	dest[0] = v1[0]+v2[0]*s;
-	dest[1] = v1[1]+v2[1]*s;
-	dest[2] = v1[2]+v2[2]*s;
-}
-
-inline void dtVlerp(float* dest, const float* v1, const float* v2, const float t)
-{
-	dest[0] = v1[0]+(v2[0]-v1[0])*t;
-	dest[1] = v1[1]+(v2[1]-v1[1])*t;
-	dest[2] = v1[2]+(v2[2]-v1[2])*t;
-}
-
-inline void dtVadd(float* dest, const float* v1, const float* v2)
-{
-	dest[0] = v1[0]+v2[0];
-	dest[1] = v1[1]+v2[1];
-	dest[2] = v1[2]+v2[2];
-}
-
-inline void dtVsub(float* dest, const float* v1, const float* v2)
-{
-	dest[0] = v1[0]-v2[0];
-	dest[1] = v1[1]-v2[1];
-	dest[2] = v1[2]-v2[2];
-}
-
-inline void dtVscale(float* dest, const float* v, const float t)
-{
-	dest[0] = v[0]*t;
-	dest[1] = v[1]*t;
-	dest[2] = v[2]*t;
-}
-
-inline void dtVmin(float* mn, const float* v)
-{
-	mn[0] = dtMin(mn[0], v[0]);
-	mn[1] = dtMin(mn[1], v[1]);
-	mn[2] = dtMin(mn[2], v[2]);
-}
-
-inline void dtVmax(float* mx, const float* v)
-{
-	mx[0] = dtMax(mx[0], v[0]);
-	mx[1] = dtMax(mx[1], v[1]);
-	mx[2] = dtMax(mx[2], v[2]);
-}
-
-inline void dtVset(float* dest, const float x, const float y, const float z)
-{
-	dest[0] = x; dest[1] = y; dest[2] = z;
-}
-
-inline void dtVcopy(float* dest, const float* a)
-{
-	dest[0] = a[0];
-	dest[1] = a[1];
-	dest[2] = a[2];
-}
-
-inline float dtVlen(const float* v)
-{
-	return dtSqrt(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
-}
-
-inline float dtVlenSqr(const float* v)
-{
-	return v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
-}
-
-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);
-}
-
-inline float dtVdistSqr(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 dx*dx + dy*dy + dz*dz;
-}
-
-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);
-}
-
-inline float dtVdist2DSqr(const float* v1, const float* v2)
-{
-	const float dx = v2[0] - v1[0];
-	const float dz = v2[2] - v1[2];
-	return dx*dx + dz*dz;
-}
-
-inline void dtVnormalize(float* v)
-{
-	float d = 1.0f / dtSqrt(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2]));
-	v[0] *= d;
-	v[1] *= d;
-	v[2] *= d;
-}
-
-inline bool dtVequal(const float* p0, const float* p1)
-{
-	static const float thr = dtSqr(1.0f/16384.0f);
-	const float d = dtVdistSqr(p0, p1);
-	return d < thr;
-}
-
-inline unsigned int dtNextPow2(unsigned int v)
-{
-	v--;
-	v |= v >> 1;
-	v |= v >> 2;
-	v |= v >> 4;
-	v |= v >> 8;
-	v |= v >> 16;
-	v++;
-	return v;
-}
-
-inline unsigned int dtIlog2(unsigned int v)
-{
-	unsigned int r;
-	unsigned int shift;
-	r = (v > 0xffff) << 4; v >>= r;
-	shift = (v > 0xff) << 3; v >>= shift; r |= shift;
-	shift = (v > 0xf) << 2; v >>= shift; r |= shift;
-	shift = (v > 0x3) << 1; v >>= shift; r |= shift;
-	r |= (v >> 1);
-	return r;
-}
-
-inline int dtAlign4(int x) { return (x+3) & ~3; }
-
-inline int dtOppositeTile(int side) { return (side+4) & 0x7; }
-
-inline float dtVdot2D(const float* u, const float* v)
-{
-	return u[0]*v[0] + u[2]*v[2];
-}
-
-inline float dtVperp2D(const float* u, const float* v)
-{
-	return u[2]*v[0] - u[0]*v[2];
-}
-
-inline float dtTriArea2D(const float* a, const float* b, const float* c)
-{
-	const float abx = b[0] - a[0];
-	const float abz = b[2] - a[2];
-	const float acx = c[0] - a[0];
-	const float acz = c[2] - a[2];
-	return acx*abz - abx*acz;
-}
-
-inline bool dtOverlapQuantBounds(const unsigned short amin[3], const unsigned short amax[3],
-								 const unsigned short bmin[3], const unsigned short bmax[3])
-{
-	bool overlap = true;
-	overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
-	overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
-	overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
-	return overlap;
-}
-
-inline bool dtOverlapBounds(const float* amin, const float* amax,
-							const float* bmin, const float* bmax)
-{
-	bool overlap = true;
-	overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
-	overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
-	overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
-	return overlap;
-}
-
-void dtClosestPtPointTriangle(float* closest, const float* p,
-							  const float* a, const float* b, const float* c);
-
-bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h);
-
-bool dtIntersectSegmentPoly2D(const float* p0, const float* p1,
-							  const float* verts, int nverts,
-							  float& tmin, float& tmax,
-							  int& segMin, int& segMax);
-
-bool dtPointInPolygon(const float* pt, const float* verts, const int nverts);
-
-bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts,
-							float* ed, float* et);
-
-float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t);
-
-void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts);
-
-bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
-						 const float* polyb, const int npolyb);
-
-#endif // DETOURCOMMON_H

modules/worldengine/deps/recastnavigation/Detour/DetourNavMesh.h

@@ -1,428 +0,0 @@
-//
-// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-//
-// This software is provided 'as-is', without any express or implied
-// warranty.  In no event will the authors be held liable for any damages
-// arising from the use of this software.
-// Permission is granted to anyone to use this software for any purpose,
-// including commercial applications, and to alter it and redistribute it
-// freely, subject to the following restrictions:
-// 1. The origin of this software must not be misrepresented; you must not
-//    claim that you wrote the original software. If you use this software
-//    in a product, an acknowledgment in the product documentation would be
-//    appreciated but is not required.
-// 2. Altered source versions must be plainly marked as such, and must not be
-//    misrepresented as being the original software.
-// 3. This notice may not be removed or altered from any source distribution.
-//
-
-#ifndef DETOURNAVMESH_H
-#define DETOURNAVMESH_H
-
-#include "DetourAlloc.h"
-
-#ifdef WIN32
-    typedef unsigned __int64   uint64;
-#else
-#include <stdint.h>
-#ifndef uint64_t
-#ifdef __linux__
-#include <linux/types.h>
-#endif
-#endif
-    typedef uint64_t uint64;
-#endif
-
-// Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef.
-// It is also recommended to change dtHashRef() to proper 64-bit hash too.
-
-// Reference to navigation polygon.
-typedef uint64 dtPolyRef;
-
-// Reference to navigation mesh tile.
-typedef uint64 dtTileRef;
-
-// Maximum number of vertices per navigation polygon.
-static const int DT_VERTS_PER_POLYGON = 6;
-
-static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V'; //'DNAV';
-static const int DT_NAVMESH_VERSION = 6;
-
-static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S'; //'DNMS';
-static const int DT_NAVMESH_STATE_VERSION = 1;
-
-static const unsigned short DT_EXT_LINK = 0x8000;
-static const unsigned int DT_NULL_LINK = 0xffffffff;
-static const unsigned int DT_OFFMESH_CON_BIDIR = 1;
-
-static const int DT_MAX_AREAS = 64;
-
-static const int STATIC_SALT_BITS = 12;
-static const int STATIC_TILE_BITS = 21;
-static const int STATIC_POLY_BITS = 31;
-// we cannot have over 31 bits for either tile nor poly
-// without changing polyCount to use 64bits too.
-
-// Flags for addTile
-enum dtTileFlags
-{
-	DT_TILE_FREE_DATA = 0x01,					// Navmesh owns the tile memory and should free it.
-};
-
-// Flags returned by findStraightPath().
-enum dtStraightPathFlags
-{
-	DT_STRAIGHTPATH_START = 0x01,				// The vertex is the start position.
-	DT_STRAIGHTPATH_END = 0x02,					// The vertex is the end position.
-	DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04,	// The vertex is start of an off-mesh link.
-};
-
-// Flags describing polygon properties.
-enum dtPolyTypes
-{
-	DT_POLYTYPE_GROUND = 0,						// Regular ground polygons.
-	DT_POLYTYPE_OFFMESH_CONNECTION = 1,			// Off-mesh connections.
-};
-
-enum dtStatus
-{
-	DT_FAILURE = 0,								// Operation failed.
-	DT_FAILURE_DATA_MAGIC,
-	DT_FAILURE_DATA_VERSION,
-	DT_FAILURE_OUT_OF_MEMORY,
-	DT_SUCCESS,									// Operation succeed.
-	DT_IN_PROGRESS,								// Operation still in progress.
-};
-
-
-// Structure describing the navigation polygon data.
-struct dtPoly
-{
-	unsigned int firstLink;						// Index to first link in linked list. 
-	unsigned short verts[DT_VERTS_PER_POLYGON];	// Indices to vertices of the poly.
-	unsigned short neis[DT_VERTS_PER_POLYGON];	// Refs to neighbours of the poly.
-	unsigned short flags;						// Flags (see dtPolyFlags).
-	unsigned char vertCount;					// Number of vertices.
-	unsigned char areaAndtype;					// Bit packed: Area ID of the polygon, and Polygon type, see dtPolyTypes..
-	inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); }
-	inline void setType(unsigned char t) { areaAndtype = (areaAndtype & 0x3f) | (t << 6); }
-	inline unsigned char getArea() const { return areaAndtype & 0x3f; }
-	inline unsigned char getType() const { return areaAndtype >> 6; }
-};
-
-// Stucture describing polygon detail triangles.
-struct dtPolyDetail
-{
-	unsigned int vertBase;						// Offset to detail vertex array.
-	unsigned int triBase;						// Offset to detail triangle array.
-	unsigned char vertCount;					// Number of vertices in the detail mesh.
-	unsigned char triCount;						// Number of triangles.
-};
-
-// Stucture describing a link to another polygon.
-struct dtLink
-{
-	dtPolyRef ref;							// Neighbour reference.
-	unsigned int next;						// Index to next link.
-	unsigned char edge;						// Index to polygon edge which owns this link. 
-	unsigned char side;						// If boundary link, defines on which side the link is.
-	unsigned char bmin, bmax;				// If boundary link, defines the sub edge area.
-};
-
-struct dtBVNode
-{
-	unsigned short bmin[3], bmax[3];		// BVnode bounds
-	int i;									// Index to item or if negative, escape index.
-};
-
-struct dtOffMeshConnection
-{
-	float pos[6];							// Both end point locations.
-	float rad;								// Link connection radius.
-	unsigned short poly;					// Poly Id
-	unsigned char flags;					// Link flags
-	unsigned char side;						// End point side.
-	unsigned int userId;					// User ID to identify this connection.
-};
-
-struct dtMeshHeader
-{
-	int magic;								// Magic number, used to identify the data.
-	int version;							// Data version number.
-	int x, y;								// Location of the time on the grid.
-	unsigned int userId;					// User ID of the tile.
-	int polyCount;							// Number of polygons in the tile.
-	int vertCount;							// Number of vertices in the tile.
-	int maxLinkCount;						// Number of allocated links.
-	int detailMeshCount;					// Number of detail meshes.
-	int detailVertCount;					// Number of detail vertices.
-	int detailTriCount;						// Number of detail triangles.
-	int bvNodeCount;						// Number of BVtree nodes.
-	int offMeshConCount;					// Number of Off-Mesh links.
-	int offMeshBase;						// Index to first polygon which is Off-Mesh link.
-	float walkableHeight;					// Height of the agent.
-	float walkableRadius;					// Radius of the agent
-	float walkableClimb;					// Max climb height of the agent.
-	float bmin[3], bmax[3];					// Bounding box of the tile.
-	float bvQuantFactor;					// BVtree quantization factor (world to bvnode coords)
-};
-
-struct dtMeshTile
-{
-	unsigned int salt;						// Counter describing modifications to the tile.
-
-	unsigned int linksFreeList;				// Index to next free link.
-	dtMeshHeader* header;					// Pointer to tile header.
-	dtPoly* polys;							// Pointer to the polygons (will be updated when tile is added).
-	float* verts;							// Pointer to the vertices (will be updated when tile added).
-	dtLink* links;							// Pointer to the links (will be updated when tile added).
-	dtPolyDetail* detailMeshes;				// Pointer to detail meshes (will be updated when tile added).
-	float* detailVerts;						// Pointer to detail vertices (will be updated when tile added).
-	unsigned char* detailTris;				// Pointer to detail triangles (will be updated when tile added).
-	dtBVNode* bvTree;						// Pointer to BVtree nodes (will be updated when tile added).
-	dtOffMeshConnection* offMeshCons;		// Pointer to Off-Mesh links. (will be updated when tile added).
-		
-	unsigned char* data;					// Pointer to tile data.
-	int dataSize;							// Size of the tile data.
-	int flags;								// Tile flags, see dtTileFlags.
-	dtMeshTile* next;						// Next free tile or, next tile in spatial grid.
-};
-
-struct dtNavMeshParams
-{
-	float orig[3];					// Origin of the nav mesh tile space.
-	float tileWidth, tileHeight;	// Width and height of each tile.
-	int maxTiles;					// Maximum number of tiles the navmesh can contain.
-	int maxPolys;					// Maximum number of polygons each tile can contain.
-};
-
-
-class dtNavMesh
-{
-public:
-	dtNavMesh();
-	~dtNavMesh();
-
-	// Initializes the nav mesh for tiled use.
-	// Params:
-	//  params - (in) navmesh initialization params, see dtNavMeshParams.
-	// Returns: True if succeed, else false.
-	dtStatus init(const dtNavMeshParams* params);
-
-	// Initializes the nav mesh for single tile use.
-	// Params:
-	//  data - (in) Data of the new tile mesh.
-	//  dataSize - (in) Data size of the new tile mesh.
-	//	flags - (in) Tile flags, see dtTileFlags.
-	// Returns: True if succeed, else false.
-	dtStatus init(unsigned char* data, const int dataSize, const int flags);
-	
-	// Returns pointer to navmesh initialization params.
-	const dtNavMeshParams* getParams() const;
-	
-	// Adds new tile into the navmesh.
-	// The add will fail if the data is in wrong format,
-	// there is not enough tiles left, or if there is a tile already at the location.
-	// Params:
-	//  data - (in) Data of the new tile mesh.
-	//  dataSize - (in) Data size of the new tile mesh.
-	//	flags - (in) Tile flags, see dtTileFlags.
-	//  lastRef - (in,optional) Last tile ref, the tile will be restored so that
-	//            the reference (as well as poly references) will be the same. Default: 0.
-	//  result - (out,optional) tile ref if the tile was succesfully added.
-	dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result);
-	
-	// Removes specified tile.
-	// Params:
-	//  ref - (in) Reference to the tile to remove.
-	//  data - (out) Data associated with deleted tile.
-	//  dataSize - (out) Size of the data associated with deleted tile. 
-	dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
-
-	// Calculates tile location based in input world position.
-	// Params:
-	//  pos - (in) world position of the query.
-	//  tx - (out) tile x location.
-	//  ty - (out) tile y location.
-	void calcTileLoc(const float* pos, int* tx, int* ty) const;
-
-	// Returns pointer to tile at specified location.
-	// Params:
-	//  x,y - (in) Location of the tile to get.
-	// Returns: pointer to tile if tile exists or 0 tile does not exists.
-	const dtMeshTile* getTileAt(int x, int y) const;
-
-	// Returns reference to tile at specified location.
-	// Params:
-	//  x,y - (in) Location of the tile to get.
-	// Returns: reference to tile if tile exists or 0 tile does not exists.
-	dtTileRef getTileRefAt(int x, int y) const;
-	
-	// Returns tile references of a tile based on tile pointer.
-	dtTileRef getTileRef(const dtMeshTile* tile) const;
-
-	// Returns tile based on references.
-	const dtMeshTile* getTileByRef(dtTileRef ref) const;
-	
-	// Returns max number of tiles.
-	int getMaxTiles() const;
-	
-	// Returns pointer to tile in the tile array.
-	// Params:
-	//  i - (in) Index to the tile to retrieve, max index is getMaxTiles()-1.
-	// Returns: Pointer to specified tile.
-	const dtMeshTile* getTile(int i) const;
-
-	// Returns pointer to tile and polygon pointed by the polygon reference.
-	// Params:
-	//  ref - (in) reference to a polygon.
-	//  tile - (out) pointer to the tile containing the polygon.
-	//  poly - (out) pointer to the polygon.
-	dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
-	
-	// Returns pointer to tile and polygon pointed by the polygon reference.
-	// Note: this function does not check if 'ref' s valid, and is thus faster. Use only with valid refs!
-	// Params:
-	//  ref - (in) reference to a polygon.
-	//  tile - (out) pointer to the tile containing the polygon.
-	//  poly - (out) pointer to the polygon.
-	void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
-
-	// Returns true if polygon reference points to valid data.
-	bool isValidPolyRef(dtPolyRef ref) const;
-	
-	// Returns base poly id for specified tile, polygon refs can be deducted from this.
-	dtPolyRef getPolyRefBase(const dtMeshTile* tile) const;
-	
-	// Returns start and end location of an off-mesh link polygon.
-	// Params:
-	//	prevRef - (in) ref to the polygon before the link (used to select direction).
-	//	polyRef - (in) ref to the off-mesh link polygon.
-	//	startPos[3] - (out) start point of the link.
-	//	endPos[3] - (out) end point of the link.
-	// Returns: true if link is found.
-	dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
-
-	// Returns pointer to off-mesh connection based on polyref, or null if ref not valid.
-	const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const;
-	
-	// Sets polygon flags.
-	dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags);
-
-	// Return polygon flags.
-	dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const;
-
-	// Set polygon type.
-	dtStatus setPolyArea(dtPolyRef ref, unsigned char area);
-
-	// Return polygon area type.
-	dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const;
-
-
-	// Returns number of bytes required to store tile state.
-	int getTileStateSize(const dtMeshTile* tile) const;
-	
-	// Stores tile state to buffer.
-	dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const;
-	
-	// Restores tile state.
-	dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize);
-	
-
-	// Encodes a tile id.
-	inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const
-	{
-		return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip;
-	}
-	
-	// Decodes a tile id.
-	inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const
-	{
-		const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
-		const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
-		const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
-		salt = (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
-		it = (unsigned int)((ref >> m_polyBits) & tileMask);
-		ip = (unsigned int)(ref & polyMask);
-	}
-
-	// Decodes a tile salt.
-	inline unsigned int decodePolyIdSalt(dtPolyRef ref) const
-	{
-		const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
-		return (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
-	}
-	
-	// Decodes a tile id.
-	inline unsigned int decodePolyIdTile(dtPolyRef ref) const
-	{
-		const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
-		return (unsigned int)((ref >> m_polyBits) & tileMask);
-	}
-	
-	// Decodes a poly id.
-	inline unsigned int decodePolyIdPoly(dtPolyRef ref) const
-	{
-		const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
-		return (unsigned int)(ref & polyMask);
-	}
-	
-private:
-
-	// Returns pointer to tile in the tile array.
-	dtMeshTile* getTile(int i);
-
-	// Returns neighbour tile based on side. 
-	dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
-	// Returns all polygons in neighbour tile based on portal defined by the segment.
-	int findConnectingPolys(const float* va, const float* vb,
-							const dtMeshTile* tile, int side,
-							dtPolyRef* con, float* conarea, int maxcon) const;
-	
-	// Builds internal polygons links for a tile.
-	void connectIntLinks(dtMeshTile* tile);
-	// Builds internal polygons links for a tile.
-	void connectIntOffMeshLinks(dtMeshTile* tile);
-
-	// Builds external polygon links for a tile.
-	void connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);
-	// Builds external polygon links for a tile.
-	void connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side);
-	
-	// Removes external links at specified side.
-	void unconnectExtLinks(dtMeshTile* tile, int side);
-	
-
-	// TODO: These methods are duplicates from dtNavMeshQuery, but are needed for off-mesh connection finding.
-	
-	// Queries polygons within a tile.
-	int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
-							dtPolyRef* polys, const int maxPolys) const;
-	// Find nearest polygon within a tile.
-	dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center,
-									const float* extents, float* nearestPt) const;
-	// Returns closest point on polygon.
-	dtStatus closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
-									  const float* pos, float* closest) const;
-	
-	dtNavMeshParams m_params;			// Current initialization params. TODO: do not store this info twice.
-	float m_orig[3];					// Origin of the tile (0,0)
-	float m_tileWidth, m_tileHeight;	// Dimensions of each tile.
-	int m_maxTiles;						// Max number of tiles.
-	int m_tileLutSize;					// Tile hash lookup size (must be pot).
-	int m_tileLutMask;					// Tile hash lookup mask.
-
-	dtMeshTile** m_posLookup;			// Tile hash lookup.
-	dtMeshTile* m_nextFree;				// Freelist of tiles.
-	dtMeshTile* m_tiles;				// List of tiles.
-		
-	unsigned int m_saltBits;			// Number of salt bits in the tile ID.
-	unsigned int m_tileBits;			// Number of tile bits in the tile ID.
-	unsigned int m_polyBits;			// Number of poly bits in the tile ID.
-};
-
-// Helper function to allocate navmesh class using Detour allocator.
-dtNavMesh* dtAllocNavMesh();
-void dtFreeNavMesh(dtNavMesh* navmesh);
-
-#endif // DETOURNAVMESH_H

modules/worldengine/deps/recastnavigation/Detour/DetourNavMeshBuilder.h

@@ -1,79 +0,0 @@
-//
-// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-//
-// This software is provided 'as-is', without any express or implied
-// warranty.  In no event will the authors be held liable for any damages
-// arising from the use of this software.
-// Permission is granted to anyone to use this software for any purpose,
-// including commercial applications, and to alter it and redistribute it
-// freely, subject to the following restrictions:
-// 1. The origin of this software must not be misrepresented; you must not
-//    claim that you wrote the original software. If you use this software
-//    in a product, an acknowledgment in the product documentation would be
-//    appreciated but is not required.
-// 2. Altered source versions must be plainly marked as such, and must not be
-//    misrepresented as being the original software.
-// 3. This notice may not be removed or altered from any source distribution.
-//
-
-#ifndef DETOURNAVMESHBUILDER_H
-#define DETOURNAVMESHBUILDER_H
-
-#include "DetourAlloc.h"
-
-
-// The units of the parameters are specified in parenthesis as follows:
-// (vx) voxels, (wu) world units
-struct dtNavMeshCreateParams
-{
-	// Navmesh vertices.
-	const unsigned short* verts;			// Array of vertices, each vertex has 3 components. (vx).
-	int vertCount;							// Vertex count
-	// Navmesh polygons
-	const unsigned short* polys;			// Array of polygons, uses same format as rcPolyMesh. 
-	const unsigned short* polyFlags;		// Array of flags per polygon.
-	const unsigned char* polyAreas;			// Array of area ids per polygon.
-	int polyCount;							// Number of polygons
-	int nvp;								// Number of verts per polygon.
-	// Navmesh Detail
-	const unsigned int* detailMeshes;		// Detail meshes, uses same format as rcPolyMeshDetail.
-	const float* detailVerts;				// Detail mesh vertices, uses same format as rcPolyMeshDetail (wu).
-	int detailVertsCount;					// Total number of detail vertices
-	const unsigned char* detailTris;		// Array of detail tris per detail mesh.
-	int detailTriCount;						// Total number of detail triangles.
-	// Off-Mesh Connections.
-	const float* offMeshConVerts;			// Off-mesh connection vertices (wu).
-	const float* offMeshConRad;				// Off-mesh connection radii (wu).
-	const unsigned short* offMeshConFlags;	// Off-mesh connection flags.
-	const unsigned char* offMeshConAreas;	// Off-mesh connection area ids.
-	const unsigned char* offMeshConDir;		// Off-mesh connection direction flags (1 = bidir, 0 = oneway).
-	const unsigned int* offMeshConUserID;	// Off-mesh connection user id (optional).
-	int offMeshConCount;					// Number of off-mesh connections
-	// Tile location
-	unsigned int userId;					// User ID bound to the tile.
-	int tileX, tileY;						// Tile location (tile coords).
-	float bmin[3], bmax[3];					// Tile bounds (wu).
-	// Settings
-	float walkableHeight;					// Agent height (wu).
-	float walkableRadius;					// Agent radius (wu).
-	float walkableClimb;					// Agent max climb (wu).
-	float cs;								// Cell size (xz) (wu).
-	float ch;								// Cell height (y) (wu).
-	int tileSize;							// Tile size (width & height) (vx).
-    int tileLayer;
-    bool buildBvTree;   
-};
-
-// Build navmesh data from given input data.
-bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize);
-
-// Swaps endianess of navmesh header.
-bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int dataSize);
-
-// Swaps endianess of the navmesh data. This function assumes that the header is in correct
-// endianess already. Call dtNavMeshHeaderSwapEndian() first on the data if the data is
-// assumed to be in wrong endianess to start with. If converting from native endianess to foreign,
-// call dtNavMeshHeaderSwapEndian() after the data has been swapped.
-bool dtNavMeshDataSwapEndian(unsigned char* data, const int dataSize);
-
-#endif // DETOURNAVMESHBUILDER_H

modules/worldengine/deps/recastnavigation/Detour/DetourNavMeshQuery.h

@@ -1,407 +0,0 @@
-//
-// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-//
-// This software is provided 'as-is', without any express or implied
-// warranty.  In no event will the authors be held liable for any damages
-// arising from the use of this software.
-// Permission is granted to anyone to use this software for any purpose,
-// including commercial applications, and to alter it and redistribute it
-// freely, subject to the following restrictions:
-// 1. The origin of this software must not be misrepresented; you must not
-//    claim that you wrote the original software. If you use this software
-//    in a product, an acknowledgment in the product documentation would be
-//    appreciated but is not required.
-// 2. Altered source versions must be plainly marked as such, and must not be
-//    misrepresented as being the original software.
-// 3. This notice may not be removed or altered from any source distribution.
-//
-
-#ifndef DETOURNAVMESHQUERY_H
-#define DETOURNAVMESHQUERY_H
-
-#include "DetourNavMesh.h"
-
-
-// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter.
-// On certain platforms indirect or virtual function call is expensive. The default
-// setting is to use non-virtual functions, the actualy implementations of the functions
-// are declared as inline for maximum speed. 
-
-//#define DT_VIRTUAL_QUERYFILTER 1
-
-// Class for polygon filtering and cost calculation during query operations.
-// - It is possible to derive a custom query filter from dtQueryFilter by overriding
-//   the virtual functions passFilter() and getCost().
-// - Both functions should be as fast as possible. Use cached local copy of data
-//   instead of accessing your own objects where possible.
-// - You do not need to adhere to the flags and cost logic provided by the default
-//   implementation.
-// - In order for the A* to work properly, the cost should be proportional to
-//   the travel distance. Using cost modifier less than 1.0 is likely to lead
-//   to problems during pathfinding.
-class dtQueryFilter
-{
-	float m_areaCost[DT_MAX_AREAS];		// Array storing cost per area type, used by default implementation.
-	unsigned short m_includeFlags;		// Include poly flags, used by default implementation.
-	unsigned short m_excludeFlags;		// Exclude poly flags, used by default implementation.
-	
-public:
-	dtQueryFilter();
-	
-	// Returns true if the polygon is can visited.
-	// Params:
-	//  ref - (in) reference to the polygon test.
-	//  tile - (in) pointer to the tile of the polygon test.
-	//  poly - (in) pointer to the polygon test.
-#ifdef DT_VIRTUAL_QUERYFILTER
-	virtual bool passFilter(const dtPolyRef ref,
-							const dtMeshTile* tile,
-							const dtPoly* poly) const;
-#else
-	bool passFilter(const dtPolyRef ref,
-					const dtMeshTile* tile,
-					const dtPoly* poly) const;
-#endif
-
-	// Returns cost to travel from 'pa' to 'pb'.'
-	// The segment is fully contained inside 'cur'.
-	// 'pa' lies on the edge between 'prev' and 'cur', 
-	// 'pb' lies on the edge between 'cur' and 'next'.
-	// Params:
-	//  pa - (in) segment start position.
-	//  pb - (in) segment end position.
-	//  prevRef, prevTile, prevPoly - (in) data describing the previous polygon, can be null.
-	//  curRef, curTile, curPoly - (in) data describing the current polygon.
-	//  nextRef, nextTile, nextPoly - (in) data describing the next polygon, can be null.
-#ifdef DT_VIRTUAL_QUERYFILTER
-	virtual float getCost(const float* pa, const float* pb,
-						  const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
-						  const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
-						  const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
-#else
-	float getCost(const float* pa, const float* pb,
-				  const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
-				  const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
-				  const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
-#endif
-	
-	// Getters and setters for the default implementation data.
-	inline float getAreaCost(const int i) const { return m_areaCost[i]; }
-	inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; } 
-
-	inline unsigned short getIncludeFlags() const { return m_includeFlags; }
-	inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; }
-
-	inline unsigned short getExcludeFlags() const { return m_excludeFlags; }
-	inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; }	
-};
-
-class dtNavMeshQuery
-{
-public:
-	dtNavMeshQuery();
-	~dtNavMeshQuery();
-	
-	// Initializes the nav mesh query.
-	// Params:
-	//  nav - (in) pointer to navigation mesh data.
-	//  maxNodes - (in) Maximum number of search nodes to use (max 65536).
-	// Returns: True if succeed, else false.
-	dtStatus init(const dtNavMesh* nav, const int maxNodes);
-	
-	// Finds the nearest navigation polygon around the center location.
-	// Params:
-	//	center[3] - (in) The center of the search box.
-	//	extents[3] - (in) The extents of the search box.
-	//  filter - (in) path polygon filter.
-	//  nearestRef - (out) Reference to the nearest polygon.
-	//  nearestPt[3] - (out, opt) The nearest point on found polygon, null if not needed.
-	// Returns: Reference identifier for the polygon, or 0 if no polygons found.
-	dtStatus findNearestPoly(const float* center, const float* extents,
-							 const dtQueryFilter* filter,
-							 dtPolyRef* nearestRef, float* nearestPt) const;
-	
-	// Returns polygons which overlap the query box.
-	// Params:
-	//	center[3] - (in) the center of the search box.
-	//	extents[3] - (in) the extents of the search box.
-	//  filter - (in) path polygon filter.
-	//	polys - (out) array holding the search result.
-	//  polyCount - (out) Number of polygons in search result array.
-	//	maxPolys - (in) The max number of polygons the polys array can hold.
-	dtStatus queryPolygons(const float* center, const float* extents,
-						   const dtQueryFilter* filter,
-						   dtPolyRef* polys, int* polyCount, const int maxPolys) const;
-	
-	// Finds path from start polygon to end polygon.
-	// If target polygon canno be reached through the navigation graph,
-	// the last node on the array is nearest node to the end polygon.
-	// Start end end positions are needed to calculate more accurate
-	// traversal cost at start end end polygons.
-	// Params:
-	//	startRef - (in) ref to path start polygon.
-	//	endRef - (in) ref to path end polygon.
-	//	startPos[3] - (in) Path start location.
-	//	endPos[3] - (in) Path end location.
-	//  filter - (in) path polygon filter.
-	//	path - (out) array holding the search result.
-	//  pathCount - (out) Number of polygons in search result array.
-	//	maxPath - (in) The max number of polygons the path array can hold. Must be at least 1.
-	dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef,
-					  const float* startPos, const float* endPos,
-					  const dtQueryFilter* filter,
-					  dtPolyRef* path, int* pathCount, const int maxPath) const;
-	
-	// Intializes sliced path find query.
-	// Note 1: calling any other dtNavMeshQuery method before calling findPathEnd()
-	// may results in corrupted data!
-	// Note 2: The pointer to filter is store, and used in subsequent
-	// calls to updateSlicedFindPath().
-	// Params:
-	//	startRef - (in) ref to path start polygon.
-	//	endRef - (in) ref to path end polygon.
-	//	startPos[3] - (in) Path start location.
-	//	endPos[3] - (in) Path end location.
-	//  filter - (in) path polygon filter.
-	dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
-								const float* startPos, const float* endPos,
-								const dtQueryFilter* filter);
-
-	// Updates sliced path find query.
-	// Params:
-	//  maxIter - (in) max number of iterations to update.
-	// Returns: Path query state.
-	dtStatus updateSlicedFindPath(const int maxIter);
-
-	// Finalizes sliced path find query and returns found path.
-	//	path - (out) array holding the search result.
-	//  pathCount - (out) Number of polygons in search result array.
-	//	maxPath - (in) The max number of polygons the path array can hold.
-	dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
-	
-	// Finalizes partial sliced path find query and returns path to the furthest
-	// polygon on the existing path that was visited during the search.
-	//	existing - (out) Array of polygons in the existing path.
-	//  existingSize - (out) Number of polygons in existing path array.
-	//	path - (out) array holding the search result.
-	//  pathCount - (out) Number of polygons in search result array.
-	//	maxPath - (in) The max number of polygons the path array can hold.
-	dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
-										   dtPolyRef* path, int* pathCount, const int maxPath);
-	
-	// Finds a straight path from start to end locations within the corridor
-	// described by the path polygons.
-	// Start and end locations will be clamped on the corridor.
-	// The returned polygon references are point to polygon which was entered when
-	// a path point was added. For the end point, zero will be returned. This allows
-	// to match for example off-mesh link points to their representative polygons.
-	// Params:
-	//	startPos[3] - (in) Path start location.
-	//	endPo[3] - (in) Path end location.
-	//	path - (in) Array of connected polygons describing the corridor.
-	//	pathSize - (in) Number of polygons in path array.
-	//	straightPath - (out) Points describing the straight path.
-	//  straightPathFlags - (out, opt) Flags describing each point type, see dtStraightPathFlags.
-	//  straightPathRefs - (out, opt) References to polygons at point locations.
-	//  straightPathCount - (out) Number of points in the path.
-	//	maxStraightPath - (in) The max number of points the straight path array can hold. Must be at least 1.
-	dtStatus findStraightPath(const float* startPos, const float* endPos,
-							  const dtPolyRef* path, const int pathSize,
-							  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
-							  int* straightPathCount, const int maxStraightPath) const;
-	
-	// Moves from startPos to endPos constrained to the navmesh.
-	// If the endPos is reachable, the resultPos will be endPos,
-	// or else the resultPos will be the nearest point in navmesh.
-	// Note: The resulting point is not projected to the ground, use getPolyHeight() to get height.
-	// Note: The algorithm is optimized for small delta movement and small number of polygons. 
-	// Params:
-	//  startRef - (in) ref to the polygon where startPos lies.
-	//  startPos[3] - (in) start position of the mover.
-	//  endPos[3] - (in) desired end position of the mover.
-	//  filter - (in) path polygon filter.
-	//  resultPos[3] - (out) new position of the mover.
-	//  visited - (out) array of visited polygons.
-	//  visitedCount - (out) Number of entries in the visited array.
-	//  maxVisitedSize - (in) max number of polygons in the visited array.
-	dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
-							  const dtQueryFilter* filter,
-							  float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const;
-	
-	// Casts 'walkability' ray along the navmesh surface from startPos towards the endPos.
-	// Params:
-	//	startRef - (in) ref to the polygon where the start lies.
-	//	startPos[3] - (in) start position of the query.
-	//	endPos[3] - (in) end position of the query.
-	//	t - (out) hit parameter along the segment, FLT_MAX if no hit.
-	//	hitNormal[3] - (out) normal of the nearest hit.
-	//  filter - (in) path polygon filter.
-	//  path - (out,opt) visited path polygons.
-	//  pathCount - (out,opt) Number of polygons visited.
-	//  maxPath - (in) max number of polygons in the path array.
-	dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
-					 const dtQueryFilter* filter,
-					 float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const;
-	
-	// Returns distance to nearest wall from the specified location.
-	// Params:
-	//	startRef - (in) ref to the polygon where the center lies.
-	//	centerPos[3] - (in) center if the query circle.
-	//	maxRadius - (in) max search radius.
-	//  filter - (in) path polygon filter.
-	//  hitDist - (out) distance to nearest wall from the test location.
-	//	hitPos[3] - (out) location of the nearest hit.
-	//	hitNormal[3] - (out) normal of the nearest hit.
-	dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
-								const dtQueryFilter* filter,
-								float* hitDist, float* hitPos, float* hitNormal) const;
-	
-	// Finds polygons found along the navigation graph which touch the specified circle.
-	// Params:
-	//	startRef - (in) ref to the polygon where the search starts.
-	//	centerPos[3] - (in) center if the query circle.
-	//	radius - (in) radius of the query circle.
-	//  filter - (in) path polygon filter.
-	//	resultRef - (out, opt) refs to the polygons touched by the circle.
-	//	resultParent - (out, opt) parent of each result polygon.
-	//	resultCost - (out, opt) search cost at each result polygon.
-	//  resultCount - (out, opt) Number of results.
-	//	maxResult - (int) maximum capacity of search results.
-	dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
-								   const dtQueryFilter* filter,
-								   dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
-								   int* resultCount, const int maxResult) const;
-	
-	// Finds polygons found along the navigation graph which touch the convex polygon shape.
-	// Params:
-	//	startRef - (in) ref to the polygon where the search starts.
-	//	verts[3*n] - (in) vertices describing convex polygon shape (CCW).
-	//	nverts - (in) number of vertices in the polygon.
-	//  filter - (in) path polygon filter.
-	//	resultRef - (out, opt) refs to the polygons touched by the circle.
-	//	resultParent - (out, opt) parent of each result polygon.
-	//	resultCost - (out, opt) search cost at each result polygon.
-	//  resultCount - (out) number of results.
-	//	maxResult - (int) maximum capacity of search results.
-	dtStatus findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
-								  const dtQueryFilter* filter,
-								  dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
-								  int* resultCount, const int maxResult) const;
-	
-	// Finds non-overlapping local neighbourhood around center location.
-	// Note: The algorithm is optimized for small query radius and small number of polygons. 
-	// Params:
-	//	startRef - (in) ref to the polygon where the search starts.
-	//	centerPos[3] - (in) center if the query circle.
-	//	radius - (in) radius of the query circle.
-	//  filter - (in) path polygon filter.
-	//	resultRef - (out) refs to the polygons touched by the circle.
-	//	resultParent - (out, opt) parent of each result polygon.
-	//  resultCount - (out) number of results.
-	//	maxResult - (int) maximum capacity of search results.
-	dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
-									const dtQueryFilter* filter,
-									dtPolyRef* resultRef, dtPolyRef* resultParent,
-									int* resultCount, const int maxResult) const;
-	
-	// Returns wall segments of specified polygon.
-	// Params:
-	//  ref - (in) ref to the polygon.
-	//  filter - (in) path polygon filter.
-	//  segments[6*maxSegments] - (out) wall segments (2 endpoints per segment).
-	//  segmentCount - (out) number of wall segments.
-	//  maxSegments - (in) max number of segments that can be stored in 'segments'.
-	dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
-								 float* segments, int* segmentCount, const int maxSegments) const;
-	
-	// Returns closest point on navigation polygon.
-	// Uses detail polygons to find the closest point to the navigation polygon surface. 
-	// Params:
-	//	ref - (in) ref to the polygon.
-	//	pos[3] - (in) the point to check.
-	//	closest[3] - (out) closest point.
-	// Returns: true if closest point found.
-	dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const;
-	
-	// Returns closest point on navigation polygon boundary.
-	// Uses the navigation polygon boundary to snap the point to poly boundary
-	// if it is outside the polygon. Much faster than closestPointToPoly. Does not affect height.
-	// Params:
-	//	ref - (in) ref to the polygon.
-	//	pos[3] - (in) the point to check.
-	//	closest[3] - (out) closest point.
-	// Returns: true if closest point found.
-	dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
-	
-	// Returns start and end location of an off-mesh link polygon.
-	// Params:
-	//	prevRef - (in) ref to the polygon before the link (used to select direction).
-	//	polyRef - (in) ref to the off-mesh link polygon.
-	//	startPos[3] - (out) start point of the link.
-	//	endPos[3] - (out) end point of the link.
-	// Returns: true if link is found.
-	dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
-	
-	// Returns height of the polygon at specified location.
-	// Params:
-	//	ref - (in) ref to the polygon.
-	//	pos[3] - (in) the point where to locate the height.
-	//	height - (out) height at the location.
-	// Returns: true if over polygon.
-	dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;
-		
-	// Returns true if poly reference ins in closed list.
-	bool isInClosedList(dtPolyRef ref) const;
-	
-	class dtNodePool* getNodePool() const { return m_nodePool; }
-	
-private:
-	
-	// Returns neighbour tile based on side. 
-	dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
-
-	// Queries polygons within a tile.
-	int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, const dtQueryFilter* filter,
-							dtPolyRef* polys, const int maxPolys) const;
-	// Find nearest polygon within a tile.
-	dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents,
-									const dtQueryFilter* filter, float* nearestPt) const;
-	// Returns closest point on polygon.
-	dtStatus closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) const;
-	
-	// Returns portal points between two polygons.
-	dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
-							 unsigned char& fromType, unsigned char& toType) const;
-	dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
-							 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
-							 float* left, float* right) const;
-	
-	// Returns edge mid point between two polygons.
-	dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
-	dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
-							 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
-							 float* mid) const;
-	
-	const dtNavMesh* m_nav;				// Pointer to navmesh data.
-
-	struct dtQueryData
-	{
-		dtStatus status;
-		struct dtNode* lastBestNode;
-		float lastBestNodeCost;
-		dtPolyRef startRef, endRef;
-		float startPos[3], endPos[3];
-		const dtQueryFilter* filter;
-	};
-	dtQueryData m_query;				// Sliced query state.
-
-	class dtNodePool* m_tinyNodePool;	// Pointer to small node pool.
-	class dtNodePool* m_nodePool;		// Pointer to node pool.
-	class dtNodeQueue* m_openList;		// Pointer to open list queue.
-};
-
-// Helper function to allocate navmesh query class using Detour allocator.
-dtNavMeshQuery* dtAllocNavMeshQuery();
-void dtFreeNavMeshQuery(dtNavMeshQuery* query);
-
-#endif // DETOURNAVMESHQUERY_H

modules/worldengine/deps/recastnavigation/Detour/DetourObstacleAvoidance.cpp

@@ -1,532 +0,0 @@
-//
-// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-//
-// This software is provided 'as-is', without any express or implied
-// warranty.  In no event will the authors be held liable for any damages
-// arising from the use of this software.
-// Permission is granted to anyone to use this software for any purpose,
-// including commercial applications, and to alter it and redistribute it
-// freely, subject to the following restrictions:
-// 1. The origin of this software must not be misrepresented; you must not
-//    claim that you wrote the original software. If you use this software
-//    in a product, an acknowledgment in the product documentation would be
-//    appreciated but is not required.
-// 2. Altered source versions must be plainly marked as such, and must not be
-//    misrepresented as being the original software.
-// 3. This notice may not be removed or altered from any source distribution.
-//
-
-#include "DetourObstacleAvoidance.h"
-#include "DetourCommon.h"
-#include "DetourAlloc.h"
-#include "DetourAssert.h"
-#include <string.h>
-#include <math.h>
-#include <float.h>
-#include <new>
-
-
-static int sweepCircleCircle(const float* c0, const float r0, const float* v,
-							 const float* c1, const float r1,
-							 float& tmin, float& tmax)
-{
-	static const float EPS = 0.0001f;
-	float s[3];
-	dtVsub(s,c1,c0);
-	float r = r0+r1;
-	float c = dtVdot2D(s,s) - r*r;
-	float a = dtVdot2D(v,v);
-	if (a < EPS) return 0;	// not moving
-	
-	// Overlap, calc time to exit.
-	float b = dtVdot2D(v,s);
-	float d = b*b - a*c;
-	if (d < 0.0f) return 0; // no intersection.
-	a = 1.0f / a;
-	const float rd = dtSqrt(d);
-	tmin = (b - rd) * a;
-	tmax = (b + rd) * a;
-	return 1;
-}
-
-static int isectRaySeg(const float* ap, const float* u,
-					   const float* bp, const float* bq,
-					   float& t)
-{
-	float v[3], w[3];
-	dtVsub(v,bq,bp);
-	dtVsub(w,ap,bp);
-	float d = dtVperp2D(u,v);
-	if (fabsf(d) < 1e-6f) return 0;
-	d = 1.0f/d;
-	t = dtVperp2D(v,w) * d;
-	if (t < 0 || t > 1) return 0;
-	float s = dtVperp2D(u,w) * d;
-	if (s < 0 || s > 1) return 0;
-	return 1;
-}
-
-
-
-dtObstacleAvoidanceDebugData* dtAllocObstacleAvoidanceDebugData()
-{
-	void* mem = dtAlloc(sizeof(dtObstacleAvoidanceDebugData), DT_ALLOC_PERM);
-	if (!mem) return 0;
-	return new(mem) dtObstacleAvoidanceDebugData;
-}
-
-void dtFreeObstacleAvoidanceDebugData(dtObstacleAvoidanceDebugData* ptr)
-{
-	if (!ptr) return;
-	ptr->~dtObstacleAvoidanceDebugData();
-	dtFree(ptr);
-}
-
-
-dtObstacleAvoidanceDebugData::dtObstacleAvoidanceDebugData() :
-	m_nsamples(0),
-	m_maxSamples(0),
-	m_vel(0),
-	m_ssize(0),
-	m_pen(0),
-	m_vpen(0),
-	m_vcpen(0),
-	m_spen(0),
-	m_tpen(0)
-{
-}
-
-dtObstacleAvoidanceDebugData::~dtObstacleAvoidanceDebugData()
-{
-	dtFree(m_vel);
-	dtFree(m_ssize);
-	dtFree(m_pen);
-	dtFree(m_vpen);
-	dtFree(m_vcpen);
-	dtFree(m_spen);
-	dtFree(m_tpen);
-}
-		
-bool dtObstacleAvoidanceDebugData::init(const int maxSamples)
-{
-	dtAssert(maxSamples);
-	m_maxSamples = maxSamples;
-
-	m_vel = (float*)dtAlloc(sizeof(float)*3*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_vel)
-		return false;
-	m_pen = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_pen)
-		return false;
-	m_ssize = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_ssize)
-		return false;
-	m_vpen = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_vpen)
-		return false;
-	m_vcpen = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_vcpen)
-		return false;
-	m_spen = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_spen)
-		return false;
-	m_tpen = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_tpen)
-		return false;
-	
-	return true;
-}
-
-void dtObstacleAvoidanceDebugData::reset()
-{
-	m_nsamples = 0;
-}
-
-void dtObstacleAvoidanceDebugData::addSample(const float* vel, const float ssize, const float pen,
-											 const float vpen, const float vcpen, const float spen, const float tpen)
-{
-	if (m_nsamples >= m_maxSamples)
-		return;
-	dtAssert(m_vel);
-	dtAssert(m_ssize);
-	dtAssert(m_pen);
-	dtAssert(m_vpen);
-	dtAssert(m_vcpen);
-	dtAssert(m_spen);
-	dtAssert(m_tpen);
-	dtVcopy(&m_vel[m_nsamples*3], vel);
-	m_ssize[m_nsamples] = ssize;
-	m_pen[m_nsamples] = pen;
-	m_vpen[m_nsamples] = vpen;
-	m_vcpen[m_nsamples] = vcpen;
-	m_spen[m_nsamples] = spen;
-	m_tpen[m_nsamples] = tpen;
-	m_nsamples++;
-}
-
-static void normalizeArray(float* arr, const int n)
-{
-	// Normalize penaly range.
-	float minPen = FLT_MAX;
-	float maxPen = -FLT_MAX;
-	for (int i = 0; i < n; ++i)
-	{
-		minPen = dtMin(minPen, arr[i]);
-		maxPen = dtMax(maxPen, arr[i]);
-	}
-	const float penRange = maxPen-minPen;
-	const float s = penRange > 0.001f ? (1.0f / penRange) : 1;
-	for (int i = 0; i < n; ++i)
-		arr[i] = dtClamp((arr[i]-minPen)*s, 0.0f, 1.0f);
-}
-
-void dtObstacleAvoidanceDebugData::normalizeSamples()
-{
-	normalizeArray(m_pen, m_nsamples);
-	normalizeArray(m_vpen, m_nsamples);
-	normalizeArray(m_vcpen, m_nsamples);
-	normalizeArray(m_spen, m_nsamples);
-	normalizeArray(m_tpen, m_nsamples);
-}
-
-
-dtObstacleAvoidanceQuery* dtAllocObstacleAvoidanceQuery()
-{
-	void* mem = dtAlloc(sizeof(dtObstacleAvoidanceQuery), DT_ALLOC_PERM);
-	if (!mem) return 0;
-	return new(mem) dtObstacleAvoidanceQuery;
-}
-
-void dtFreeObstacleAvoidanceQuery(dtObstacleAvoidanceQuery* ptr)
-{
-	if (!ptr) return;
-	ptr->~dtObstacleAvoidanceQuery();
-	dtFree(ptr);
-}
-
-
-dtObstacleAvoidanceQuery::dtObstacleAvoidanceQuery() :
-	m_velBias(0.0f),
-	m_weightDesVel(0.0f),
-	m_weightCurVel(0.0f),
-	m_weightSide(0.0f),
-	m_weightToi(0.0f),
-	m_horizTime(0.0f),
-	m_maxCircles(0),
-	m_circles(0),
-	m_ncircles(0),
-	m_maxSegments(0),
-	m_segments(0),
-	m_nsegments(0)
-{
-}
-
-dtObstacleAvoidanceQuery::~dtObstacleAvoidanceQuery()
-{
-	dtFree(m_circles);
-	dtFree(m_segments);
-}
-
-bool dtObstacleAvoidanceQuery::init(const int maxCircles, const int maxSegments)
-{
-	m_maxCircles = maxCircles;
-	m_ncircles = 0;
-	m_circles = (dtObstacleCircle*)dtAlloc(sizeof(dtObstacleCircle)*m_maxCircles, DT_ALLOC_PERM);
-	if (!m_circles)
-		return false;
-	memset(m_circles, 0, sizeof(dtObstacleCircle)*m_maxCircles);
-
-	m_maxSegments = maxSegments;
-	m_nsegments = 0;
-	m_segments = (dtObstacleSegment*)dtAlloc(sizeof(dtObstacleSegment)*m_maxSegments, DT_ALLOC_PERM);
-	if (!m_segments)
-		return false;
-	memset(m_segments, 0, sizeof(dtObstacleSegment)*m_maxSegments);
-	
-	return true;
-}
-
-void dtObstacleAvoidanceQuery::reset()
-{
-	m_ncircles = 0;
-	m_nsegments = 0;
-}
-
-void dtObstacleAvoidanceQuery::addCircle(const float* pos, const float rad,
-										 const float* vel, const float* dvel)
-{
-	if (m_ncircles >= m_maxCircles)
-		return;
-		
-	dtObstacleCircle* cir = &m_circles[m_ncircles++];
-	dtVcopy(cir->p, pos);
-	cir->rad = rad;
-	dtVcopy(cir->vel, vel);
-	dtVcopy(cir->dvel, dvel);
-}
-
-void dtObstacleAvoidanceQuery::addSegment(const float* p, const float* q)
-{
-	if (m_nsegments > m_maxSegments)
-		return;
-	
-	dtObstacleSegment* seg = &m_segments[m_nsegments++];
-	dtVcopy(seg->p, p);
-	dtVcopy(seg->q, q);
-}
-
-void dtObstacleAvoidanceQuery::prepare(const float* pos, const float* dvel)
-{
-	// Prepare obstacles
-	for (int i = 0; i < m_ncircles; ++i)
-	{
-		dtObstacleCircle* cir = &m_circles[i];
-		
-		// Side
-		const float* pa = pos;
-		const float* pb = cir->p;
-		
-		const float orig[3] = {0,0};
-		float dv[3];
-		dtVsub(cir->dp,pb,pa);
-		dtVnormalize(cir->dp);
-		dtVsub(dv, cir->dvel, dvel);
-		
-		const float a = dtTriArea2D(orig, cir->dp,dv);
-		if (a < 0.01f)
-		{
-			cir->np[0] = -cir->dp[2];
-			cir->np[2] = cir->dp[0];
-		}
-		else
-		{
-			cir->np[0] = cir->dp[2];
-			cir->np[2] = -cir->dp[0];
-		}
-	}	
-
-	for (int i = 0; i < m_nsegments; ++i)
-	{
-		dtObstacleSegment* seg = &m_segments[i];
-		
-		// Precalc if the agent is really close to the segment.
-		const float r = 0.01f;
-		float t;
-		seg->touch = dtDistancePtSegSqr2D(pos, seg->p, seg->q, t) < dtSqr(r);
-	}	
-}
-
-float dtObstacleAvoidanceQuery::processSample(const float* vcand, const float cs,
-											  const float* pos, const float rad,
-											  const float vmax, const float* vel, const float* dvel,
-											  dtObstacleAvoidanceDebugData* debug)
-{
-	// Find min time of impact and exit amongst all obstacles.
-	float tmin = m_horizTime;
-	float side = 0;
-	int nside = 0;
-	
-	for (int i = 0; i < m_ncircles; ++i)
-	{
-		const dtObstacleCircle* cir = &m_circles[i];
-			
-		// RVO
-		float vab[3];
-		dtVscale(vab, vcand, 2);
-		dtVsub(vab, vab, vel);
-		dtVsub(vab, vab, cir->vel);
-		
-		// Side
-		side += dtClamp(dtMin(dtVdot2D(cir->dp,vab)*0.5f+0.5f, dtVdot2D(cir->np,vab)*2), 0.0f, 1.0f);
-		nside++;
-		
-		float htmin = 0, htmax = 0;
-		if (!sweepCircleCircle(pos,rad, vab, cir->p,cir->rad, htmin, htmax))
-			continue;
-		
-		// Handle overlapping obstacles.
-		if (htmin < 0.0f && htmax > 0.0f)
-		{
-			// Avoid more when overlapped.
-			htmin = -htmin * 0.5f;
-		}
-		
-		if (htmin >= 0.0f)
-		{
-			// The closest obstacle is somewhere ahead of us, keep track of nearest obstacle.
-			if (htmin < tmin)
-				tmin = htmin;
-		}
-	}
-
-	for (int i = 0; i < m_nsegments; ++i)
-	{
-		const dtObstacleSegment* seg = &m_segments[i];
-		float htmin = 0;
-		
-		if (seg->touch)
-		{
-			// Special case when the agent is very close to the segment.
-			float sdir[3], snorm[3];
-			dtVsub(sdir, seg->q, seg->p);
-			snorm[0] = -sdir[2];
-			snorm[2] = sdir[0];
-			// If the velocity is pointing towards the segment, no collision.
-			if (dtVdot2D(snorm, vcand) < 0.0f)
-				continue;
-			// Else immediate collision.
-			htmin = 0.0f;
-		}
-		else
-		{
-			if (!isectRaySeg(pos, vcand, seg->p, seg->q, htmin))
-				continue;
-		}
-		
-		// Avoid less when facing walls.
-		htmin *= 2.0f;
-		
-		// The closest obstacle is somewhere ahead of us, keep track of nearest obstacle.
-		if (htmin < tmin)
-			tmin = htmin;
-	}
-	
-	// Normalize side bias, to prevent it dominating too much.
-	if (nside)
-		side /= nside;
-	
-	const float ivmax = 1.0f / vmax;
-	const float vpen = m_weightDesVel * (dtVdist2D(vcand, dvel) * ivmax);
-	const float vcpen = m_weightCurVel * (dtVdist2D(vcand, vel) * ivmax);
-	const float spen = m_weightSide * side;
-	const float tpen = m_weightToi * (1.0f/(0.1f+tmin / m_horizTime));
-	
-	const float penalty = vpen + vcpen + spen + tpen;
-	
-	// Store different penalties for debug viewing
-	if (debug)
-		debug->addSample(vcand, cs, penalty, vpen, vcpen, spen, tpen);
-	
-	return penalty;
-}
-
-void dtObstacleAvoidanceQuery::sampleVelocityGrid(const float* pos, const float rad, const float vmax,
-												  const float* vel, const float* dvel,
-												  float* nvel, const int gsize,
-												  dtObstacleAvoidanceDebugData* debug)
-{
-	prepare(pos, dvel);
-	
-	dtVset(nvel, 0,0,0);
-	
-	if (debug)
-		debug->reset();
-
-	const float cvx = dvel[0] * m_velBias;
-	const float cvz = dvel[2] * m_velBias;
-	const float cs = vmax * 2 * (1 - m_velBias) / (float)(gsize-1);
-	const float half = (gsize-1)*cs*0.5f;
-		
-	float minPenalty = FLT_MAX;
-		
-	for (int y = 0; y < gsize; ++y)
-	{
-		for (int x = 0; x < gsize; ++x)
-		{
-			float vcand[3];
-			vcand[0] = cvx + x*cs - half;
-			vcand[1] = 0;
-			vcand[2] = cvz + y*cs - half;
-			
-			if (dtSqr(vcand[0])+dtSqr(vcand[2]) > dtSqr(vmax+cs/2)) continue;
-			
-			const float penalty = processSample(vcand, cs, pos,rad,vmax,vel,dvel, debug);
-			if (penalty < minPenalty)
-			{
-				minPenalty = penalty;
-				dtVcopy(nvel, vcand);
-			}
-		}
-	}
-}
-
-
-static const float DT_PI = 3.14159265f;
-
-void dtObstacleAvoidanceQuery::sampleVelocityAdaptive(const float* pos, const float rad, const float vmax,
-													  const float* vel, const float* dvel, float* nvel,
-													  const int ndivs, const int nrings, const int depth,
-													  dtObstacleAvoidanceDebugData* debug)
-{
-	prepare(pos, dvel);
-	
-	dtVset(nvel, 0,0,0);
-	
-	if (debug)
-		debug->reset();
-	
-	// Build sampling pattern aligned to desired velocity.
-	static const int MAX_PATTERN_DIVS = 32;
-	static const int MAX_PATTERN_RINGS = 4;
-	float pat[(MAX_PATTERN_DIVS*MAX_PATTERN_RINGS+1)*2];
-	int npat = 0;
-
-	const int nd = dtClamp(ndivs, 1, MAX_PATTERN_DIVS);
-	const int nr = dtClamp(nrings, 1, MAX_PATTERN_RINGS);
-	const float da = (1.0f/nd) * DT_PI*2;
-	const float dang = atan2f(dvel[2], dvel[0]);
-	
-	// Always add sample at zero
-	pat[npat*2+0] = 0;
-	pat[npat*2+1] = 0;
-	npat++;
-	
-	for (int j = 0; j < nr; ++j)
-	{
-		const float rad = (float)(nr-j)/(float)nr;
-		float a = dang + (j&1)*0.5f*da;
-		for (int i = 0; i < nd; ++i)
-		{
-			pat[npat*2+0] = cosf(a)*rad;
-			pat[npat*2+1] = sinf(a)*rad;
-			npat++;
-			a += da;
-		}
-	}
-
-	// Start sampling.
-	float cr = vmax * (1.0f-m_velBias);
-	float res[3];
-	dtVset(res, dvel[0] * m_velBias, 0, dvel[2] * m_velBias);
-
-	for (int k = 0; k < depth; ++k)
-	{
-		float minPenalty = FLT_MAX;
-		float bvel[3];
-		dtVset(bvel, 0,0,0);
-		
-		for (int i = 0; i < npat; ++i)
-		{
-			float vcand[3];
-			vcand[0] = res[0] + pat[i*2+0]*cr;
-			vcand[1] = 0;
-			vcand[2] = res[2] + pat[i*2+1]*cr;
-			
-			if (dtSqr(vcand[0])+dtSqr(vcand[2]) > dtSqr(vmax+0.001f)) continue;
-			
-			const float penalty = processSample(vcand,cr/10, pos,rad,vmax,vel,dvel, debug);
-			if (penalty < minPenalty)
-			{
-				minPenalty = penalty;
-				dtVcopy(bvel, vcand);
-			}
-		}
-
-		dtVcopy(res, bvel);
-
-		cr *= 0.5f;
-	}	
-	
-	dtVcopy(nvel, res);
-}
-

modules/worldengine/deps/recastnavigation/Detour/DetourObstacleAvoidance.h

@@ -1,148 +0,0 @@
-//
-// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-//
-// This software is provided 'as-is', without any express or implied
-// warranty.  In no event will the authors be held liable for any damages
-// arising from the use of this software.
-// Permission is granted to anyone to use this software for any purpose,
-// including commercial applications, and to alter it and redistribute it
-// freely, subject to the following restrictions:
-// 1. The origin of this software must not be misrepresented; you must not
-//    claim that you wrote the original software. If you use this software
-//    in a product, an acknowledgment in the product documentation would be
-//    appreciated but is not required.
-// 2. Altered source versions must be plainly marked as such, and must not be
-//    misrepresented as being the original software.
-// 3. This notice may not be removed or altered from any source distribution.
-//
-
-#ifndef DETOUROBSTACLEAVOIDANCE_H
-#define DETOUROBSTACLEAVOIDANCE_H
-
-struct dtObstacleCircle
-{
-	float p[3];				// Position of the obstacle
-	float vel[3];			// Velocity of the obstacle
-	float dvel[3];			// Velocity of the obstacle
-	float rad;				// Radius of the obstacle
-	float dp[3], np[3];		// Use for side selection during sampling.
-};
-
-struct dtObstacleSegment
-{
-	float p[3], q[3];		// End points of the obstacle segment
-	bool touch;
-};
-
-static const int RVO_SAMPLE_RAD = 15;
-static const int MAX_RVO_SAMPLES = (RVO_SAMPLE_RAD*2+1)*(RVO_SAMPLE_RAD*2+1) + 100;
-
-class dtObstacleAvoidanceDebugData
-{
-public:
-	dtObstacleAvoidanceDebugData();
-	~dtObstacleAvoidanceDebugData();
-	
-	bool init(const int maxSamples);
-	void reset();
-	void addSample(const float* vel, const float ssize, const float pen,
-				   const float vpen, const float vcpen, const float spen, const float tpen);
-	
-	void normalizeSamples();
-	
-	inline int getSampleCount() const { return m_nsamples; }
-	inline const float* getSampleVelocity(const int i) const { return &m_vel[i*3]; }
-	inline float getSampleSize(const int i) const { return m_ssize[i]; }
-	inline float getSamplePenalty(const int i) const { return m_pen[i]; }
-	inline float getSampleDesiredVelocityPenalty(const int i) const { return m_vpen[i]; }
-	inline float getSampleCurrentVelocityPenalty(const int i) const { return m_vcpen[i]; }
-	inline float getSamplePreferredSidePenalty(const int i) const { return m_spen[i]; }
-	inline float getSampleCollisionTimePenalty(const int i) const { return m_tpen[i]; }
-
-private:
-	int m_nsamples;
-	int m_maxSamples;
-	float* m_vel;
-	float* m_ssize;
-	float* m_pen;
-	float* m_vpen;
-	float* m_vcpen;
-	float* m_spen;
-	float* m_tpen;
-};
-
-dtObstacleAvoidanceDebugData* dtAllocObstacleAvoidanceDebugData();
-void dtFreeObstacleAvoidanceDebugData(dtObstacleAvoidanceDebugData* ptr);
-
-
-class dtObstacleAvoidanceQuery
-{
-public:
-	dtObstacleAvoidanceQuery();
-	~dtObstacleAvoidanceQuery();
-	
-	bool init(const int maxCircles, const int maxSegments);
-	
-	void reset();
-
-	void addCircle(const float* pos, const float rad,
-				   const float* vel, const float* dvel);
-				   
-	void addSegment(const float* p, const float* q);
-
-	inline void setVelocitySelectionBias(float v) { m_velBias = v; }
-	inline void setDesiredVelocityWeight(float w) { m_weightDesVel = w; }
-	inline void setCurrentVelocityWeight(float w) { m_weightCurVel = w; }
-	inline void setPreferredSideWeight(float w) { m_weightSide = w; }
-	inline void setCollisionTimeWeight(float w) { m_weightToi = w; }
-	inline void setTimeHorizon(float t) { m_horizTime = t; }
-
-	void sampleVelocityGrid(const float* pos, const float rad, const float vmax,
-							const float* vel, const float* dvel, float* nvel,
-							const int gsize,
-							dtObstacleAvoidanceDebugData* debug = 0);
-
-	void sampleVelocityAdaptive(const float* pos, const float rad, const float vmax,
-								const float* vel, const float* dvel, float* nvel,
-								const int ndivs, const int nrings, const int depth, 
-								dtObstacleAvoidanceDebugData* debug = 0);
-	
-	inline int getObstacleCircleCount() const { return m_ncircles; }
-	const dtObstacleCircle* getObstacleCircle(const int i) { return &m_circles[i]; }
-
-	inline int getObstacleSegmentCount() const { return m_nsegments; }
-	const dtObstacleSegment* getObstacleSegment(const int i) { return &m_segments[i]; }
-
-private:
-
-	void prepare(const float* pos, const float* dvel);
-
-	float processSample(const float* vcand, const float cs,
-						const float* pos, const float rad,
-						const float vmax, const float* vel, const float* dvel,
-						dtObstacleAvoidanceDebugData* debug);
-
-	dtObstacleCircle* insertCircle(const float dist);
-	dtObstacleSegment* insertSegment(const float dist);
-
-	float m_velBias;
-	float m_weightDesVel;
-	float m_weightCurVel;
-	float m_weightSide;
-	float m_weightToi;
-	float m_horizTime;
-	
-	int m_maxCircles;
-	dtObstacleCircle* m_circles;
-	int m_ncircles;
-
-	int m_maxSegments;
-	dtObstacleSegment* m_segments;
-	int m_nsegments;
-};
-
-dtObstacleAvoidanceQuery* dtAllocObstacleAvoidanceQuery();
-void dtFreeObstacleAvoidanceQuery(dtObstacleAvoidanceQuery* ptr);
-
-
-#endif // DETOUROBSTACLEAVOIDANCE_H

modules/worldengine/deps/recastnavigation/Detour/Include/DetourAlloc.h

@@ -0,0 +1,59 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#ifndef DETOURALLOCATOR_H
+#define DETOURALLOCATOR_H
+
+/// Provides hint values to the memory allocator on how long the
+/// memory is expected to be used.
+enum dtAllocHint
+{
+	DT_ALLOC_PERM,		///< Memory persist after a function call.
+	DT_ALLOC_TEMP		///< Memory used temporarily within a function.
+};
+
+/// A memory allocation function.
+//  @param[in]		size			The size, in bytes of memory, to allocate.
+//  @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);
+
+/// A memory deallocation function.
+///  @param[in]		ptr		A pointer to a memory block previously allocated using #dtAllocFunc.
+/// @see dtAllocSetCustom
+typedef void (dtFreeFunc)(void* ptr);
+
+/// Sets the base custom allocation functions to be used by Detour.
+///  @param[in]		allocFunc	The memory allocation function to be used by #dtAlloc
+///  @param[in]		freeFunc	The memory de-allocation function to be used by #dtFree
+void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc);
+
+/// Allocates a memory block.
+///  @param[in]		size	The size, in bytes of memory, to allocate.
+///  @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);
+
+/// Deallocates a memory block.
+///  @param[in]		ptr		A pointer to a memory block previously allocated using #dtAlloc.
+/// @see dtAlloc
+void dtFree(void* ptr);
+
+#endif

modules/worldengine/deps/recastnavigation/Detour/Include/DetourCommon.h

@@ -0,0 +1,517 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#ifndef DETOURCOMMON_H
+#define DETOURCOMMON_H
+
+#include "DetourMath.h"
+
+/**
+@defgroup detour Detour
+Members in this module are used to create, manipulate, and query navigation 
+meshes.
+@note This is a summary list of members.  Use the index or search 
+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
+template<class T> inline void dtSwap(T& a, T& b) { T t = a; a = b; b = t; }
+
+/// Returns the minimum of two values.
+///  @param[in]		a	Value A
+///  @param[in]		b	Value B
+///  @return The minimum of the two values.
+template<class T> inline T dtMin(T a, T b) { return a < b ? a : b; }
+
+/// Returns the maximum of two values.
+///  @param[in]		a	Value A
+///  @param[in]		b	Value B
+///  @return The maximum of the two values.
+template<class T> inline T dtMax(T a, T b) { return a > b ? a : b; }
+
+/// Returns the absolute value.
+///  @param[in]		a	The value.
+///  @return The absolute value of the specified value.
+template<class T> inline T dtAbs(T a) { return a < 0 ? -a : a; }
+
+/// Returns the square of the value.
+///  @param[in]		a	The value.
+///  @return The square of the value.
+template<class T> inline T dtSqr(T a) { return a*a; }
+
+/// Clamps the value to the specified range.
+///  @param[in]		v	The value to clamp.
+///  @param[in]		mn	The minimum permitted return value.
+///  @param[in]		mx	The maximum permitted return value.
+///  @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); }
+
+/// @}
+/// @name Vector helper functions.
+/// @{
+
+/// Derives the cross product of two vectors. (@p v1 x @p v2)
+///  @param[out]	dest	The cross product. [(x, y, z)]
+///  @param[in]		v1		A Vector [(x, y, z)]
+///  @param[in]		v2		A vector [(x, y, z)]
+inline void dtVcross(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
+	dest[1] = v1[2]*v2[0] - v1[0]*v2[2];
+	dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; 
+}
+
+/// Derives the dot product of two vectors. (@p v1 . @p v2)
+///  @param[in]		v1	A Vector [(x, y, z)]
+///  @param[in]		v2	A vector [(x, y, z)]
+/// @return The dot product.
+inline float dtVdot(const float* v1, const float* v2)
+{
+	return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
+}
+
+/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to scale and add to @p v1. [(x, y, z)]
+///  @param[in]		s		The amount to scale @p v2 by before adding to @p v1.
+inline void dtVmad(float* dest, const float* v1, const float* v2, const float s)
+{
+	dest[0] = v1[0]+v2[0]*s;
+	dest[1] = v1[1]+v2[1]*s;
+	dest[2] = v1[2]+v2[2]*s;
+}
+
+/// Performs a linear interpolation between two vectors. (@p v1 toward @p v2)
+///  @param[out]	dest	The result vector. [(x, y, x)]
+///  @param[in]		v1		The starting vector.
+///  @param[in]		v2		The destination vector.
+///	 @param[in]		t		The interpolation factor. [Limits: 0 <= value <= 1.0]
+inline void dtVlerp(float* dest, const float* v1, const float* v2, const float t)
+{
+	dest[0] = v1[0]+(v2[0]-v1[0])*t;
+	dest[1] = v1[1]+(v2[1]-v1[1])*t;
+	dest[2] = v1[2]+(v2[2]-v1[2])*t;
+}
+
+/// Performs a vector addition. (@p v1 + @p v2)
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to add to @p v1. [(x, y, z)]
+inline void dtVadd(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[0]+v2[0];
+	dest[1] = v1[1]+v2[1];
+	dest[2] = v1[2]+v2[2];
+}
+
+/// Performs a vector subtraction. (@p v1 - @p v2)
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to subtract from @p v1. [(x, y, z)]
+inline void dtVsub(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[0]-v2[0];
+	dest[1] = v1[1]-v2[1];
+	dest[2] = v1[2]-v2[2];
+}
+
+/// Scales the vector by the specified value. (@p v * @p t)
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v		The vector to scale. [(x, y, z)]
+///  @param[in]		t		The scaling factor.
+inline void dtVscale(float* dest, const float* v, const float t)
+{
+	dest[0] = v[0]*t;
+	dest[1] = v[1]*t;
+	dest[2] = v[2]*t;
+}
+
+/// Selects the minimum value of each element from the specified vectors.
+///  @param[in,out]	mn	A vector.  (Will be updated with the result.) [(x, y, z)]
+///  @param[in]	v	A vector. [(x, y, z)]
+inline void dtVmin(float* mn, const float* v)
+{
+	mn[0] = dtMin(mn[0], v[0]);
+	mn[1] = dtMin(mn[1], v[1]);
+	mn[2] = dtMin(mn[2], v[2]);
+}
+
+/// Selects the maximum value of each element from the specified vectors.
+///  @param[in,out]	mx	A vector.  (Will be updated with the result.) [(x, y, z)]
+///  @param[in]		v	A vector. [(x, y, z)]
+inline void dtVmax(float* mx, const float* v)
+{
+	mx[0] = dtMax(mx[0], v[0]);
+	mx[1] = dtMax(mx[1], v[1]);
+	mx[2] = dtMax(mx[2], v[2]);
+}
+
+/// Sets the vector elements to the specified values.
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		x		The x-value of the vector.
+///  @param[in]		y		The y-value of the vector.
+///  @param[in]		z		The z-value of the vector.
+inline void dtVset(float* dest, const float x, const float y, const float z)
+{
+	dest[0] = x; dest[1] = y; dest[2] = z;
+}
+
+/// Performs a vector copy.
+///  @param[out]	dest	The result. [(x, y, z)]
+///  @param[in]		a		The vector to copy. [(x, y, z)]
+inline void dtVcopy(float* dest, const float* a)
+{
+	dest[0] = a[0];
+	dest[1] = a[1];
+	dest[2] = a[2];
+}
+
+/// Derives the scalar length of the vector.
+///  @param[in]		v The vector. [(x, y, z)]
+/// @return The scalar length of the vector.
+inline float dtVlen(const float* v)
+{
+	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)
+///  @param[in]		v The vector. [(x, y, z)]
+/// @return The square of the scalar length of the vector.
+inline float dtVlenSqr(const float* v)
+{
+	return v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
+}
+
+/// Returns the distance between two points.
+///  @param[in]		v1	A point. [(x, y, z)]
+///  @param[in]		v2	A point. [(x, y, z)]
+/// @return The distance between the two points.
+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 dtMathSqrtf(dx*dx + dy*dy + dz*dz);
+}
+
+/// Returns the square of the distance between two points.
+///  @param[in]		v1	A point. [(x, y, z)]
+///  @param[in]		v2	A point. [(x, y, z)]
+/// @return The square of the distance between the two points.
+inline float dtVdistSqr(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 dx*dx + dy*dy + dz*dz;
+}
+
+/// Derives the distance between the specified points on the xz-plane.
+///  @param[in]		v1	A point. [(x, y, z)]
+///  @param[in]		v2	A point. [(x, y, z)]
+/// @return The distance between the point on the xz-plane.
+///
+/// The vectors are projected onto the xz-plane, so the y-values are ignored.
+inline float dtVdist2D(const float* v1, const float* v2)
+{
+	const float dx = v2[0] - v1[0];
+	const float dz = v2[2] - v1[2];
+	return dtMathSqrtf(dx*dx + dz*dz);
+}
+
+/// Derives the square of the distance between the specified points on the xz-plane.
+///  @param[in]		v1	A point. [(x, y, z)]
+///  @param[in]		v2	A point. [(x, y, z)]
+/// @return The square of the distance between the point on the xz-plane.
+inline float dtVdist2DSqr(const float* v1, const float* v2)
+{
+	const float dx = v2[0] - v1[0];
+	const float dz = v2[2] - v1[2];
+	return dx*dx + dz*dz;
+}
+
+/// Normalizes the vector.
+///  @param[in,out]	v	The vector to normalize. [(x, y, z)]
+inline void dtVnormalize(float* v)
+{
+	float d = 1.0f / dtMathSqrtf(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2]));
+	v[0] *= d;
+	v[1] *= d;
+	v[2] *= d;
+}
+
+/// Performs a 'sloppy' colocation check of the specified points.
+///  @param[in]		p0	A point. [(x, y, z)]
+///  @param[in]		p1	A point. [(x, y, z)]
+/// @return True if the points are considered to be at the same location.
+///
+/// Basically, this function will return true if the specified points are 
+/// close enough to eachother to be considered colocated.
+inline bool dtVequal(const float* p0, const float* p1)
+{
+	static const float thr = dtSqr(1.0f/16384.0f);
+	const float d = dtVdistSqr(p0, p1);
+	return d < thr;
+}
+
+/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
+///  @param[in]		u		A vector [(x, y, z)]
+///  @param[in]		v		A vector [(x, y, z)]
+/// @return The dot product on the xz-plane.
+///
+/// The vectors are projected onto the xz-plane, so the y-values are ignored.
+inline float dtVdot2D(const float* u, const float* v)
+{
+	return u[0]*v[0] + u[2]*v[2];
+}
+
+/// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz)
+///  @param[in]		u		The LHV vector [(x, y, z)]
+///  @param[in]		v		The RHV vector [(x, y, z)]
+/// @return The dot product on the xz-plane.
+///
+/// The vectors are projected onto the xz-plane, so the y-values are ignored.
+inline float dtVperp2D(const float* u, const float* v)
+{
+	return u[2]*v[0] - u[0]*v[2];
+}
+
+/// @}
+/// @name Computational geometry helper functions.
+/// @{
+
+/// Derives the signed xz-plane area of the triangle ABC, or the relationship of line AB to point C.
+///  @param[in]		a		Vertex A. [(x, y, z)]
+///  @param[in]		b		Vertex B. [(x, y, z)]
+///  @param[in]		c		Vertex C. [(x, y, z)]
+/// @return The signed xz-plane area of the triangle.
+inline float dtTriArea2D(const float* a, const float* b, const float* c)
+{
+	const float abx = b[0] - a[0];
+	const float abz = b[2] - a[2];
+	const float acx = c[0] - a[0];
+	const float acz = c[2] - a[2];
+	return acx*abz - abx*acz;
+}
+
+/// Determines if two axis-aligned bounding boxes overlap.
+///  @param[in]		amin	Minimum bounds of box A. [(x, y, z)]
+///  @param[in]		amax	Maximum bounds of box A. [(x, y, z)]
+///  @param[in]		bmin	Minimum bounds of box B. [(x, y, z)]
+///  @param[in]		bmax	Maximum bounds of box B. [(x, y, z)]
+/// @return True if the two AABB's overlap.
+/// @see dtOverlapBounds
+inline bool dtOverlapQuantBounds(const unsigned short amin[3], const unsigned short amax[3],
+								 const unsigned short bmin[3], const unsigned short bmax[3])
+{
+	bool overlap = true;
+	overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
+	overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
+	overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
+	return overlap;
+}
+
+/// Determines if two axis-aligned bounding boxes overlap.
+///  @param[in]		amin	Minimum bounds of box A. [(x, y, z)]
+///  @param[in]		amax	Maximum bounds of box A. [(x, y, z)]
+///  @param[in]		bmin	Minimum bounds of box B. [(x, y, z)]
+///  @param[in]		bmax	Maximum bounds of box B. [(x, y, z)]
+/// @return True if the two AABB's overlap.
+/// @see dtOverlapQuantBounds
+inline bool dtOverlapBounds(const float* amin, const float* amax,
+							const float* bmin, const float* bmax)
+{
+	bool overlap = true;
+	overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
+	overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
+	overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
+	return overlap;
+}
+
+/// Derives the closest point on a triangle from the specified reference point.
+///  @param[out]	closest	The closest point on the triangle.	
+///  @param[in]		p		The reference point from which to test. [(x, y, z)]
+///  @param[in]		a		Vertex A of triangle ABC. [(x, y, z)]
+///  @param[in]		b		Vertex B of triangle ABC. [(x, y, z)]
+///  @param[in]		c		Vertex C of triangle ABC. [(x, y, z)]
+void dtClosestPtPointTriangle(float* closest, const float* p,
+							  const float* a, const float* b, const float* c);
+
+/// Derives the y-axis height of the closest point on the triangle from the specified reference point.
+///  @param[in]		p		The reference point from which to test. [(x, y, z)]
+///  @param[in]		a		Vertex A of triangle ABC. [(x, y, z)]
+///  @param[in]		b		Vertex B of triangle ABC. [(x, y, z)]
+///  @param[in]		c		Vertex C of triangle ABC. [(x, y, z)]
+///  @param[out]	h		The resulting height.
+bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h);
+
+bool dtIntersectSegmentPoly2D(const float* p0, const float* p1,
+							  const float* verts, int nverts,
+							  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]
+///  @param[in]		nverts	The number of vertices. [Limit: >= 3]
+/// @return True if the point is inside the polygon.
+bool dtPointInPolygon(const float* pt, const float* verts, const int nverts);
+
+bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts,
+							float* ed, float* et);
+
+float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t);
+
+/// Derives the centroid of a convex polygon.
+///  @param[out]	tc		The centroid of the polgyon. [(x, y, z)]
+///  @param[in]		idx		The polygon indices. [(vertIndex) * @p nidx]
+///  @param[in]		nidx	The number of indices in the polygon. [Limit: >= 3]
+///  @param[in]		verts	The polygon vertices. [(x, y, z) * vertCount]
+void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts);
+
+/// Determines if the two convex polygons overlap on the xz-plane.
+///  @param[in]		polya		Polygon A vertices.	[(x, y, z) * @p npolya]
+///  @param[in]		npolya		The number of vertices in polygon A.
+///  @param[in]		polyb		Polygon B vertices.	[(x, y, z) * @p npolyb]
+///  @param[in]		npolyb		The number of vertices in polygon B.
+/// @return True if the two polygons overlap.
+bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
+						 const float* polyb, const int npolyb);
+
+/// @}
+/// @name Miscellanious functions.
+/// @{
+
+inline unsigned int dtNextPow2(unsigned int v)
+{
+	v--;
+	v |= v >> 1;
+	v |= v >> 2;
+	v |= v >> 4;
+	v |= v >> 8;
+	v |= v >> 16;
+	v++;
+	return v;
+}
+
+inline unsigned int dtIlog2(unsigned int v)
+{
+	unsigned int r;
+	unsigned int shift;
+	r = (v > 0xffff) << 4; v >>= r;
+	shift = (v > 0xff) << 3; v >>= shift; r |= shift;
+	shift = (v > 0xf) << 2; v >>= shift; r |= shift;
+	shift = (v > 0x3) << 1; v >>= shift; r |= shift;
+	r |= (v >> 1);
+	return r;
+}
+
+inline int dtAlign4(int x) { return (x+3) & ~3; }
+
+inline int dtOppositeTile(int side) { return (side+4) & 0x7; }
+
+inline void dtSwapByte(unsigned char* a, unsigned char* b)
+{
+	unsigned char tmp = *a;
+	*a = *b;
+	*b = tmp;
+}
+
+inline void dtSwapEndian(unsigned short* v)
+{
+	unsigned char* x = (unsigned char*)v;
+	dtSwapByte(x+0, x+1);
+}
+
+inline void dtSwapEndian(short* v)
+{
+	unsigned char* x = (unsigned char*)v;
+	dtSwapByte(x+0, x+1);
+}
+
+inline void dtSwapEndian(unsigned int* v)
+{
+	unsigned char* x = (unsigned char*)v;
+	dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2);
+}
+
+inline void dtSwapEndian(int* v)
+{
+	unsigned char* x = (unsigned char*)v;
+	dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2);
+}
+
+inline void dtSwapEndian(float* v)
+{
+	unsigned char* x = (unsigned char*)v;
+	dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2);
+}
+
+void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
+							   const float s, const float t, float* out);
+
+/// @}
+
+#endif // DETOURCOMMON_H
+
+///////////////////////////////////////////////////////////////////////////
+
+// This section contains detailed documentation for members that don't have
+// a source file. It reduces clutter in the main section of the header.
+
+/**
+@fn float dtTriArea2D(const float* a, const float* b, const float* c)
+@par
+The vertices are projected onto the xz-plane, so the y-values are ignored.
+This is a low cost function than can be used for various purposes.  Its main purpose
+is for point/line relationship testing.
+In all cases: A value of zero indicates that all vertices are collinear or represent the same point.
+(On the xz-plane.)
+When used for point/line relationship tests, AB usually represents a line against which
+the C point is to be tested.  In this case:
+A positive value indicates that point C is to the left of line AB, looking from A toward B.<br/>
+A negative value indicates that point C is to the right of lineAB, looking from A toward B.
+When used for evaluating a triangle:
+The absolute value of the return value is two times the area of the triangle when it is
+projected onto the xz-plane.
+A positive return value indicates:
+<ul>
+<li>The vertices are wrapped in the normal Detour wrap direction.</li>
+<li>The triangle's 3D face normal is in the general up direction.</li>
+</ul>
+A negative return value indicates:
+<ul>
+<li>The vertices are reverse wrapped. (Wrapped opposite the normal Detour wrap direction.)</li>
+<li>The triangle's 3D face normal is in the general down direction.</li>
+</ul>
+*/

modules/worldengine/deps/recastnavigation/Detour/Include/DetourMath.h

@@ -0,0 +1,19 @@
+/**
+@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

modules/worldengine/deps/recastnavigation/Detour/Include/DetourNavMesh.h

@@ -0,0 +1,708 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#ifndef DETOURNAVMESH_H
+#define DETOURNAVMESH_H
+
+#include "DetourAlloc.h"
+#include "DetourStatus.h"
+
+
+// Edited by TC
+#if defined(WIN32) && !defined(__MINGW32__)
+/// Do not rename back to uint64. Otherwise mac complains about typedef redefinition
+typedef unsigned __int64    uint64_d;
+#else
+#include <stdint.h>
+#ifndef uint64_t
+#ifdef __linux__
+#include <linux/types.h>
+#endif
+#endif
+/// Do not rename back to uint64. Otherwise mac complains about typedef redefinition
+typedef uint64_t            uint64_d;
+#endif 
+
+// Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef.
+// It is also recommended that you change dtHashRef() to a proper 64-bit hash.
+
+// Edited by TC
+// We cannot have over 31 bits for either tile nor poly
+// without changing polyCount to use 64bits too.
+/// A handle to a polygon within a navigation mesh tile.
+/// @ingroup detour
+typedef uint64_d dtPolyRef; // Edited by TC
+
+/// A handle to a tile within a navigation mesh.
+/// @ingroup detour
+typedef uint64_d dtTileRef; // Edited by TC
+
+/// The maximum number of vertices per navigation polygon.
+/// @ingroup detour
+static const int DT_VERTS_PER_POLYGON = 6;
+
+/// @{
+/// @name Tile Serialization Constants
+/// These constants are used to detect whether a navigation tile's data
+/// and state format is compatible with the current build.
+///
+
+/// A magic number used to detect compatibility of navigation tile data.
+static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V';
+
+/// A version number used to detect compatibility of navigation tile data.
+static const int DT_NAVMESH_VERSION = 7;
+
+/// A magic number used to detect the compatibility of navigation tile states.
+static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S';
+
+/// A version number used to detect compatibility of navigation tile states.
+static const int DT_NAVMESH_STATE_VERSION = 1;
+
+/// @}
+
+/// A flag that indicates that an entity links to an external entity.
+/// (E.g. A polygon edge is a portal that links to another polygon.)
+static const unsigned short DT_EXT_LINK = 0x8000;
+
+/// A value that indicates the entity does not link to anything.
+static const unsigned int DT_NULL_LINK = 0xffffffff;
+
+/// A flag that indicates that an off-mesh connection can be traversed in both directions. (Is bidirectional.)
+static const unsigned int DT_OFFMESH_CON_BIDIR = 1;
+
+/// The maximum number of user defined area ids.
+/// @ingroup detour
+static const int DT_MAX_AREAS = 64;
+
+static const int STATIC_SALT_BITS = 12;
+static const int STATIC_TILE_BITS = 21;
+static const int STATIC_POLY_BITS = 31;
+// we cannot have over 31 bits for either tile nor poly
+// without changing polyCount to use 64bits too.
+
+/// Tile flags used for various functions and fields.
+/// For an example, see dtNavMesh::addTile().
+enum dtTileFlags
+{
+	/// The navigation mesh owns the tile memory and is responsible for freeing it.
+	DT_TILE_FREE_DATA = 0x01,
+};
+
+/// Vertex flags returned by dtNavMeshQuery::findStraightPath.
+enum dtStraightPathFlags
+{
+	DT_STRAIGHTPATH_START = 0x01,				///< The vertex is the start position in the path.
+	DT_STRAIGHTPATH_END = 0x02,					///< The vertex is the end position in the path.
+	DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04,	///< The vertex is the start of an off-mesh connection.
+};
+
+/// Options for dtNavMeshQuery::findStraightPath.
+enum dtStraightPathOptions
+{
+	DT_STRAIGHTPATH_AREA_CROSSINGS = 0x01,	///< Add a vertex at every polygon edge crossing where area changes.
+	DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02,	///< Add a vertex at every polygon edge crossing.
+};
+
+
+/// Options for dtNavMeshQuery::findPath
+enum dtFindPathOptions
+{
+	DT_FINDPATH_LOW_QUALITY_FAR = 0x01,		///< [provisional] trade quality for performance far from the origin. The idea is that by then a new query will be issued
+	DT_FINDPATH_ANY_ANGLE	= 0x02,			///< use raycasts during pathfind to "shortcut" (raycast still consider costs)
+};
+
+/// Options for dtNavMeshQuery::raycast
+enum dtRaycastOptions
+{
+	DT_RAYCAST_USE_COSTS = 0x01,		///< Raycast should calculate movement cost along the ray and fill RaycastHit::cost
+};
+
+
+/// Limit raycasting during any angle pahfinding
+/// The limit is given as a multiple of the character radius
+static const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
+
+/// Flags representing the type of a navigation mesh polygon.
+enum dtPolyTypes
+{
+	/// The polygon is a standard convex polygon that is part of the surface of the mesh.
+	DT_POLYTYPE_GROUND = 0,
+	/// The polygon is an off-mesh connection consisting of two vertices.
+	DT_POLYTYPE_OFFMESH_CONNECTION = 1,
+};
+
+
+/// Defines a polyogn within a dtMeshTile object.
+/// @ingroup detour
+struct dtPoly
+{
+	/// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.)
+	unsigned int firstLink;
+
+	/// The indices of the polygon's vertices.
+	/// The actual vertices are located in dtMeshTile::verts.
+	unsigned short verts[DT_VERTS_PER_POLYGON];
+
+	/// Packed data representing neighbor polygons references and flags for each edge.
+	unsigned short neis[DT_VERTS_PER_POLYGON];
+
+	/// The user defined polygon flags.
+	unsigned short flags;
+
+	/// The number of vertices in the polygon.
+	unsigned char vertCount;
+
+	/// The bit packed area id and polygon type.
+	/// @note Use the structure's set and get methods to acess this value.
+	unsigned char areaAndtype;
+
+	/// Sets the user defined area id. [Limit: < #DT_MAX_AREAS]
+	inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); }
+
+	/// Sets the polygon type. (See: #dtPolyTypes.)
+	inline void setType(unsigned char t) { areaAndtype = (areaAndtype & 0x3f) | (t << 6); }
+
+	/// Gets the user defined area id.
+	inline unsigned char getArea() const { return areaAndtype & 0x3f; }
+
+	/// Gets the polygon type. (See: #dtPolyTypes)
+	inline unsigned char getType() const { return areaAndtype >> 6; }
+};
+
+/// Defines the location of detail sub-mesh data within a dtMeshTile.
+struct dtPolyDetail
+{
+	unsigned int vertBase;			///< The offset of the vertices in the dtMeshTile::detailVerts array.
+	unsigned int triBase;			///< The offset of the triangles in the dtMeshTile::detailTris array.
+	unsigned char vertCount;		///< The number of vertices in the sub-mesh.
+	unsigned char triCount;			///< The number of triangles in the sub-mesh.
+};
+
+/// Defines a link between polygons.
+/// @note This structure is rarely if ever used by the end user.
+/// @see dtMeshTile
+struct dtLink
+{
+	dtPolyRef ref;					///< Neighbour reference. (The neighbor that is linked to.)
+	unsigned int next;				///< Index of the next link.
+	unsigned char edge;				///< Index of the polygon edge that owns this link.
+	unsigned char side;				///< If a boundary link, defines on which side the link is.
+	unsigned char bmin;				///< If a boundary link, defines the minimum sub-edge area.
+	unsigned char bmax;				///< If a boundary link, defines the maximum sub-edge area.
+};
+
+/// Bounding volume node.
+/// @note This structure is rarely if ever used by the end user.
+/// @see dtMeshTile
+struct dtBVNode
+{
+	unsigned short bmin[3];			///< Minimum bounds of the node's AABB. [(x, y, z)]
+	unsigned short bmax[3];			///< Maximum bounds of the node's AABB. [(x, y, z)]
+	int i;							///< The node's index. (Negative for escape sequence.)
+};
+
+/// Defines an navigation mesh off-mesh connection within a dtMeshTile object.
+/// An off-mesh connection is a user defined traversable connection made up to two vertices.
+struct dtOffMeshConnection
+{
+	/// The endpoints of the connection. [(ax, ay, az, bx, by, bz)]
+	float pos[6];
+
+	/// The radius of the endpoints. [Limit: >= 0]
+	float rad;		
+
+	/// The polygon reference of the connection within the tile.
+	unsigned short poly;
+
+	/// Link flags. 
+	/// @note These are not the connection's user defined flags. Those are assigned via the 
+	/// connection's dtPoly definition. These are link flags used for internal purposes.
+	unsigned char flags;
+
+	/// End point side.
+	unsigned char side;
+
+	/// The id of the offmesh connection. (User assigned when the navigation mesh is built.)
+	unsigned int userId;
+};
+
+/// Provides high level information related to a dtMeshTile object.
+/// @ingroup detour
+struct dtMeshHeader
+{
+	int magic;				///< Tile magic number. (Used to identify the data format.)
+	int version;			///< Tile data format version number.
+	int x;					///< The x-position of the tile within the dtNavMesh tile grid. (x, y, layer)
+	int y;					///< The y-position of the tile within the dtNavMesh tile grid. (x, y, layer)
+	int layer;				///< The layer of the tile within the dtNavMesh tile grid. (x, y, layer)
+	unsigned int userId;	///< The user defined id of the tile.
+	int polyCount;			///< The number of polygons in the tile.
+	int vertCount;			///< The number of vertices in the tile.
+	int maxLinkCount;		///< The number of allocated links.
+	int detailMeshCount;	///< The number of sub-meshes in the detail mesh.
+	
+	/// The number of unique vertices in the detail mesh. (In addition to the polygon vertices.)
+	int detailVertCount;
+	
+	int detailTriCount;			///< The number of triangles in the detail mesh.
+	int bvNodeCount;			///< The number of bounding volume nodes. (Zero if bounding volumes are disabled.)
+	int offMeshConCount;		///< The number of off-mesh connections.
+	int offMeshBase;			///< The index of the first polygon which is an off-mesh connection.
+	float walkableHeight;		///< The height of the agents using the tile.
+	float walkableRadius;		///< The radius of the agents using the tile.
+	float walkableClimb;		///< The maximum climb height of the agents using the tile.
+	float bmin[3];				///< The minimum bounds of the tile's AABB. [(x, y, z)]
+	float bmax[3];				///< The maximum bounds of the tile's AABB. [(x, y, z)]
+	
+	/// The bounding volume quantization factor. 
+	float bvQuantFactor;
+};
+
+/// Defines a navigation mesh tile.
+/// @ingroup detour
+struct dtMeshTile
+{
+	unsigned int salt;					///< Counter describing modifications to the tile.
+
+	unsigned int linksFreeList;			///< Index to the next free link.
+	dtMeshHeader* header;				///< The tile header.
+	dtPoly* polys;						///< The tile polygons. [Size: dtMeshHeader::polyCount]
+	float* verts;						///< The tile vertices. [Size: dtMeshHeader::vertCount]
+	dtLink* links;						///< The tile links. [Size: dtMeshHeader::maxLinkCount]
+	dtPolyDetail* detailMeshes;			///< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount]
+	
+	/// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount]
+	float* detailVerts;	
+
+	/// The detail mesh's triangles. [(vertA, vertB, vertC) * dtMeshHeader::detailTriCount]
+	unsigned char* detailTris;	
+
+	/// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount]
+	/// (Will be null if bounding volumes are disabled.)
+	dtBVNode* bvTree;
+
+	dtOffMeshConnection* offMeshCons;		///< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount]
+		
+	unsigned char* data;					///< The tile data. (Not directly accessed under normal situations.)
+	int dataSize;							///< Size of the tile data.
+	int flags;								///< Tile flags. (See: #dtTileFlags)
+	dtMeshTile* next;						///< The next free tile, or the next tile in the spatial grid.
+};
+
+/// Configuration parameters used to define multi-tile navigation meshes.
+/// The values are used to allocate space during the initialization of a navigation mesh.
+/// @see dtNavMesh::init()
+/// @ingroup detour
+struct dtNavMeshParams
+{
+	float orig[3];					///< The world space origin of the navigation mesh's tile space. [(x, y, z)]
+	float tileWidth;				///< The width of each tile. (Along the x-axis.)
+	float tileHeight;				///< The height of each tile. (Along the z-axis.)
+	int maxTiles;					///< The maximum number of tiles the navigation mesh can contain.
+	int maxPolys;					///< The maximum number of polygons each tile can contain.
+};
+
+/// A navigation mesh based on tiles of convex polygons.
+/// @ingroup detour
+class dtNavMesh
+{
+public:
+	dtNavMesh();
+	~dtNavMesh();
+
+	/// @{
+	/// @name Initialization and Tile Management
+
+	/// Initializes the navigation mesh for tiled use.
+	///  @param[in]	params		Initialization parameters.
+	/// @return The status flags for the operation.
+	dtStatus init(const dtNavMeshParams* params);
+
+	/// Initializes the navigation mesh for single tile use.
+	///  @param[in]	data		Data of the new tile. (See: #dtCreateNavMeshData)
+	///  @param[in]	dataSize	The data size of the new tile.
+	///  @param[in]	flags		The tile flags. (See: #dtTileFlags)
+	/// @return The status flags for the operation.
+	///  @see dtCreateNavMeshData
+	dtStatus init(unsigned char* data, const int dataSize, const int flags);
+	
+	/// The navigation mesh initialization params.
+	const dtNavMeshParams* getParams() const;
+
+	/// Adds a tile to the navigation mesh.
+	///  @param[in]		data		Data for the new tile mesh. (See: #dtCreateNavMeshData)
+	///  @param[in]		dataSize	Data size of the new tile mesh.
+	///  @param[in]		flags		Tile flags. (See: #dtTileFlags)
+	///  @param[in]		lastRef		The desired reference for the tile. (When reloading a tile.) [opt] [Default: 0]
+	///  @param[out]	result		The tile reference. (If the tile was succesfully added.) [opt]
+	/// @return The status flags for the operation.
+	dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result);
+	
+	/// Removes the specified tile from the navigation mesh.
+	///  @param[in]		ref			The reference of the tile to remove.
+	///  @param[out]	data		Data associated with deleted tile.
+	///  @param[out]	dataSize	Size of the data associated with deleted tile.
+	/// @return The status flags for the operation.
+	dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
+
+	/// @}
+
+	/// @{
+	/// @name Query Functions
+
+	/// Calculates the tile grid location for the specified world position.
+	///  @param[in]	pos  The world position for the query. [(x, y, z)]
+	///  @param[out]	tx		The tile's x-location. (x, y)
+	///  @param[out]	ty		The tile's y-location. (x, y)
+	void calcTileLoc(const float* pos, int* tx, int* ty) const;
+
+	/// Gets the tile at the specified grid location.
+	///  @param[in]	x		The tile's x-location. (x, y, layer)
+	///  @param[in]	y		The tile's y-location. (x, y, layer)
+	///  @param[in]	layer	The tile's layer. (x, y, layer)
+	/// @return The tile, or null if the tile does not exist.
+	const dtMeshTile* getTileAt(const int x, const int y, const int layer) const;
+
+	/// Gets all tiles at the specified grid location. (All layers.)
+	///  @param[in]		x			The tile's x-location. (x, y)
+	///  @param[in]		y			The tile's y-location. (x, y)
+	///  @param[out]	tiles		A pointer to an array of tiles that will hold the result.
+	///  @param[in]		maxTiles	The maximum tiles the tiles parameter can hold.
+	/// @return The number of tiles returned in the tiles array.
+	int getTilesAt(const int x, const int y,
+				   dtMeshTile const** tiles, const int maxTiles) const;
+	
+	/// Gets the tile reference for the tile at specified grid location.
+	///  @param[in]	x		The tile's x-location. (x, y, layer)
+	///  @param[in]	y		The tile's y-location. (x, y, layer)
+	///  @param[in]	layer	The tile's layer. (x, y, layer)
+	/// @return The tile reference of the tile, or 0 if there is none.
+	dtTileRef getTileRefAt(int x, int y, int layer) const;
+
+	/// Gets the tile reference for the specified tile.
+	///  @param[in]	tile	The tile.
+	/// @return The tile reference of the tile.
+	dtTileRef getTileRef(const dtMeshTile* tile) const;
+
+	/// Gets the tile for the specified tile reference.
+	///  @param[in]	ref		The tile reference of the tile to retrieve.
+	/// @return The tile for the specified reference, or null if the 
+	///		reference is invalid.
+	const dtMeshTile* getTileByRef(dtTileRef ref) const;
+	
+	/// The maximum number of tiles supported by the navigation mesh.
+	/// @return The maximum number of tiles supported by the navigation mesh.
+	int getMaxTiles() const;
+	
+	/// Gets the tile at the specified index.
+	///  @param[in]	i		The tile index. [Limit: 0 >= index < #getMaxTiles()]
+	/// @return The tile at the specified index.
+	const dtMeshTile* getTile(int i) const;
+
+	/// Gets the tile and polygon for the specified polygon reference.
+	///  @param[in]		ref		The reference for the a polygon.
+	///  @param[out]	tile	The tile containing the polygon.
+	///  @param[out]	poly	The polygon.
+	/// @return The status flags for the operation.
+	dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
+	
+	/// Returns the tile and polygon for the specified polygon reference.
+	///  @param[in]		ref		A known valid reference for a polygon.
+	///  @param[out]	tile	The tile containing the polygon.
+	///  @param[out]	poly	The polygon.
+	void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
+
+	/// Checks the validity of a polygon reference.
+	///  @param[in]	ref		The polygon reference to check.
+	/// @return True if polygon reference is valid for the navigation mesh.
+	bool isValidPolyRef(dtPolyRef ref) const;
+	
+	/// Gets the polygon reference for the tile's base polygon.
+	///  @param[in]	tile		The tile.
+	/// @return The polygon reference for the base polygon in the specified tile.
+	dtPolyRef getPolyRefBase(const dtMeshTile* tile) const;
+	
+	/// Gets the endpoints for an off-mesh connection, ordered by "direction of travel".
+	///  @param[in]		prevRef		The reference of the polygon before the connection.
+	///  @param[in]		polyRef		The reference of the off-mesh connection polygon.
+	///  @param[out]	startPos	The start position of the off-mesh connection. [(x, y, z)]
+	///  @param[out]	endPos		The end position of the off-mesh connection. [(x, y, z)]
+	/// @return The status flags for the operation.
+	dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
+
+	/// Gets the specified off-mesh connection.
+	///  @param[in]	ref		The polygon reference of the off-mesh connection.
+	/// @return The specified off-mesh connection, or null if the polygon reference is not valid.
+	const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const;
+	
+	/// @}
+
+	/// @{
+	/// @name State Management
+	/// These functions do not effect #dtTileRef or #dtPolyRef's. 
+
+	/// Sets the user defined flags for the specified polygon.
+	///  @param[in]	ref		The polygon reference.
+	///  @param[in]	flags	The new flags for the polygon.
+	/// @return The status flags for the operation.
+	dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags);
+
+	/// Gets the user defined flags for the specified polygon.
+	///  @param[in]		ref				The polygon reference.
+	///  @param[out]	resultFlags		The polygon flags.
+	/// @return The status flags for the operation.
+	dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const;
+
+	/// Sets the user defined area for the specified polygon.
+	///  @param[in]	ref		The polygon reference.
+	///  @param[in]	area	The new area id for the polygon. [Limit: < #DT_MAX_AREAS]
+	/// @return The status flags for the operation.
+	dtStatus setPolyArea(dtPolyRef ref, unsigned char area);
+
+	/// Gets the user defined area for the specified polygon.
+	///  @param[in]		ref			The polygon reference.
+	///  @param[out]	resultArea	The area id for the polygon.
+	/// @return The status flags for the operation.
+	dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const;
+
+	/// Gets the size of the buffer required by #storeTileState to store the specified tile's state.
+	///  @param[in]	tile	The tile.
+	/// @return The size of the buffer required to store the state.
+	int getTileStateSize(const dtMeshTile* tile) const;
+	
+	/// Stores the non-structural state of the tile in the specified buffer. (Flags, area ids, etc.)
+	///  @param[in]		tile			The tile.
+	///  @param[out]	data			The buffer to store the tile's state in.
+	///  @param[in]		maxDataSize		The size of the data buffer. [Limit: >= #getTileStateSize]
+	/// @return The status flags for the operation.
+	dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const;
+	
+	/// Restores the state of the tile.
+	///  @param[in]	tile			The tile.
+	///  @param[in]	data			The new state. (Obtained from #storeTileState.)
+	///  @param[in]	maxDataSize		The size of the state within the data buffer.
+	/// @return The status flags for the operation.
+	dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize);
+	
+	/// @}
+
+	/// @{
+	/// @name Encoding and Decoding
+	/// These functions are generally meant for internal use only.
+
+	/// Derives a standard polygon reference.
+	///  @note This function is generally meant for internal use only.
+	///  @param[in]	salt	The tile's salt value.
+	///  @param[in]	it		The index of the tile.
+	///  @param[in]	ip		The index of the polygon within the tile.
+	inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const
+	{
+		return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip;
+	}
+	
+	/// Decodes a standard polygon reference.
+	///  @note This function is generally meant for internal use only.
+	///  @param[in]	ref   The polygon reference to decode.
+	///  @param[out]	salt	The tile's salt value.
+	///  @param[out]	it		The index of the tile.
+	///  @param[out]	ip		The index of the polygon within the tile.
+	///  @see #encodePolyId
+	inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const
+	{
+		const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
+		const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
+		const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
+		salt = (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
+		it = (unsigned int)((ref >> m_polyBits) & tileMask);
+		ip = (unsigned int)(ref & polyMask);
+	}
+
+	/// Extracts a tile's salt value from the specified polygon reference.
+	///  @note This function is generally meant for internal use only.
+	///  @param[in]	ref		The polygon reference.
+	///  @see #encodePolyId
+	inline unsigned int decodePolyIdSalt(dtPolyRef ref) const
+	{
+		const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
+		return (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
+	}
+	
+	/// Extracts the tile's index from the specified polygon reference.
+	///  @note This function is generally meant for internal use only.
+	///  @param[in]	ref		The polygon reference.
+	///  @see #encodePolyId
+	inline unsigned int decodePolyIdTile(dtPolyRef ref) const
+	{
+		const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
+		return (unsigned int)((ref >> m_polyBits) & tileMask);
+	}
+	
+	/// Extracts the polygon's index (within its tile) from the specified polygon reference.
+	///  @note This function is generally meant for internal use only.
+	///  @param[in]	ref		The polygon reference.
+	///  @see #encodePolyId
+	inline unsigned int decodePolyIdPoly(dtPolyRef ref) const
+	{
+		const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
+		return (unsigned int)(ref & polyMask);
+	}
+
+	/// @}
+	
+private:
+
+	/// Returns pointer to tile in the tile array.
+	dtMeshTile* getTile(int i);
+
+	/// Returns neighbour tile based on side.
+	int getTilesAt(const int x, const int y,
+				   dtMeshTile** tiles, const int maxTiles) const;
+
+	/// Returns neighbour tile based on side.
+	int getNeighbourTilesAt(const int x, const int y, const int side,
+							dtMeshTile** tiles, const int maxTiles) const;
+	
+	/// Returns all polygons in neighbour tile based on portal defined by the segment.
+	int findConnectingPolys(const float* va, const float* vb,
+							const dtMeshTile* tile, int side,
+							dtPolyRef* con, float* conarea, int maxcon) const;
+	
+	/// Builds internal polygons links for a tile.
+	void connectIntLinks(dtMeshTile* tile);
+	/// Builds internal polygons links for a tile.
+	void baseOffMeshLinks(dtMeshTile* tile);
+
+	/// Builds external polygon links for a tile.
+	void connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);
+	/// Builds external polygon links for a tile.
+	void connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side);
+	
+	/// Removes external links at specified side.
+	void unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target);
+	
+
+	// TODO: These methods are duplicates from dtNavMeshQuery, but are needed for off-mesh connection finding.
+	
+	/// Queries polygons within a tile.
+	int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
+							dtPolyRef* polys, const int maxPolys) const;
+	/// Find nearest polygon within a tile.
+	dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center,
+									const float* extents, float* nearestPt) const;
+	/// Returns closest point on polygon.
+	void closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const;
+	
+	dtNavMeshParams m_params;			///< Current initialization params. TODO: do not store this info twice.
+	float m_orig[3];					///< Origin of the tile (0,0)
+	float m_tileWidth, m_tileHeight;	///< Dimensions of each tile.
+	int m_maxTiles;						///< Max number of tiles.
+	int m_tileLutSize;					///< Tile hash lookup size (must be pot).
+	int m_tileLutMask;					///< Tile hash lookup mask.
+
+	dtMeshTile** m_posLookup;			///< Tile hash lookup.
+	dtMeshTile* m_nextFree;				///< Freelist of tiles.
+	dtMeshTile* m_tiles;				///< List of tiles.
+		
+	unsigned int m_saltBits;			///< Number of salt bits in the tile ID.
+	unsigned int m_tileBits;			///< Number of tile bits in the tile ID.
+	unsigned int m_polyBits;			///< Number of poly bits in the tile ID.
+};
+
+/// Allocates a navigation mesh object using the Detour allocator.
+/// @return A navigation mesh that is ready for initialization, or null on failure.
+///  @ingroup detour
+dtNavMesh* dtAllocNavMesh();
+
+/// Frees the specified navigation mesh object using the Detour allocator.
+///  @param[in]	navmesh		A navigation mesh allocated using #dtAllocNavMesh
+///  @ingroup detour
+void dtFreeNavMesh(dtNavMesh* navmesh);
+
+#endif // DETOURNAVMESH_H
+
+///////////////////////////////////////////////////////////////////////////
+
+// This section contains detailed documentation for members that don't have
+// a source file. It reduces clutter in the main section of the header.
+
+/**
+@typedef dtPolyRef
+@par
+Polygon references are subject to the same invalidate/preserve/restore 
+rules that apply to #dtTileRef's.  If the #dtTileRef for the polygon's
+tile changes, the polygon reference becomes invalid.
+Changing a polygon's flags, area id, etc. does not impact its polygon
+reference.
+@typedef dtTileRef
+@par
+The following changes will invalidate a tile reference:
+- The referenced tile has been removed from the navigation mesh.
+- The navigation mesh has been initialized using a different set
+  of #dtNavMeshParams.
+A tile reference is preserved/restored if the tile is added to a navigation 
+mesh initialized with the original #dtNavMeshParams and is added at the
+original reference location. (E.g. The lastRef parameter is used with
+dtNavMesh::addTile.)
+Basically, if the storage structure of a tile changes, its associated
+tile reference changes.
+@var unsigned short dtPoly::neis[DT_VERTS_PER_POLYGON]
+@par
+Each entry represents data for the edge starting at the vertex of the same index. 
+E.g. The entry at index n represents the edge data for vertex[n] to vertex[n+1].
+A value of zero indicates the edge has no polygon connection. (It makes up the 
+border of the navigation mesh.)
+The information can be extracted as follows: 
+@code 
+neighborRef = neis[n] & 0xff; // Get the neighbor polygon reference.
+if (neis[n] & #DT_EX_LINK)
+{
+    // The edge is an external (portal) edge.
+}
+@endcode
+@var float dtMeshHeader::bvQuantFactor
+@par
+This value is used for converting between world and bounding volume coordinates.
+For example:
+@code
+const float cs = 1.0f / tile->header->bvQuantFactor;
+const dtBVNode* n = &tile->bvTree[i];
+if (n->i >= 0)
+{
+    // This is a leaf node.
+    float worldMinX = tile->header->bmin[0] + n->bmin[0]*cs;
+    float worldMinY = tile->header->bmin[0] + n->bmin[1]*cs;
+    // Etc...
+}
+@endcode
+@struct dtMeshTile
+@par
+Tiles generally only exist within the context of a dtNavMesh object.
+Some tile content is optional.  For example, a tile may not contain any
+off-mesh connections.  In this case the associated pointer will be null.
+If a detail mesh exists it will share vertices with the base polygon mesh.  
+Only the vertices unique to the detail mesh will be stored in #detailVerts.
+@warning Tiles returned by a dtNavMesh object are not guarenteed to be populated.
+For example: The tile at a location might not have been loaded yet, or may have been removed.
+In this case, pointers will be null.  So if in doubt, check the polygon count in the 
+tile's header to determine if a tile has polygons defined.
+@var float dtOffMeshConnection::pos[6]
+@par
+For a properly built navigation mesh, vertex A will always be within the bounds of the mesh. 
+Vertex B is not required to be within the bounds of the mesh.
+*/

modules/worldengine/deps/recastnavigation/Detour/Include/DetourNavMeshBuilder.h

@@ -0,0 +1,141 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#ifndef DETOURNAVMESHBUILDER_H
+#define DETOURNAVMESHBUILDER_H
+
+#include "DetourAlloc.h"
+
+/// Represents the source data used to build an navigation mesh tile.
+/// @ingroup detour
+struct dtNavMeshCreateParams
+{
+
+	/// @name Polygon Mesh Attributes
+	/// Used to create the base navigation graph.
+	/// See #rcPolyMesh for details related to these attributes.
+	/// @{
+
+	const unsigned short* verts;			///< The polygon mesh vertices. [(x, y, z) * #vertCount] [Unit: vx]
+	int vertCount;							///< The number vertices in the polygon mesh. [Limit: >= 3]
+	const unsigned short* polys;			///< The polygon data. [Size: #polyCount * 2 * #nvp]
+	const unsigned short* polyFlags;		///< The user defined flags assigned to each polygon. [Size: #polyCount]
+	const unsigned char* polyAreas;			///< The user defined area ids assigned to each polygon. [Size: #polyCount]
+	int polyCount;							///< Number of polygons in the mesh. [Limit: >= 1]
+	int nvp;								///< Number maximum number of vertices per polygon. [Limit: >= 3]
+
+	/// @}
+	/// @name Height Detail Attributes (Optional)
+	/// See #rcPolyMeshDetail for details related to these attributes.
+	/// @{
+
+	const unsigned int* detailMeshes;		///< The height detail sub-mesh data. [Size: 4 * #polyCount]
+	const float* detailVerts;				///< The detail mesh vertices. [Size: 3 * #detailVertsCount] [Unit: wu]
+	int detailVertsCount;					///< The number of vertices in the detail mesh.
+	const unsigned char* detailTris;		///< The detail mesh triangles. [Size: 4 * #detailTriCount]
+	int detailTriCount;						///< The number of triangles in the detail mesh.
+
+	/// @}
+	/// @name Off-Mesh Connections Attributes (Optional)
+	/// Used to define a custom point-to-point edge within the navigation graph, an 
+	/// off-mesh connection is a user defined traversable connection made up to two vertices, 
+	/// at least one of which resides within a navigation mesh polygon.
+	/// @{
+
+	/// Off-mesh connection vertices. [(ax, ay, az, bx, by, bz) * #offMeshConCount] [Unit: wu]
+	const float* offMeshConVerts;
+	/// Off-mesh connection radii. [Size: #offMeshConCount] [Unit: wu]
+	const float* offMeshConRad;
+	/// User defined flags assigned to the off-mesh connections. [Size: #offMeshConCount]
+	const unsigned short* offMeshConFlags;
+	/// User defined area ids assigned to the off-mesh connections. [Size: #offMeshConCount]
+	const unsigned char* offMeshConAreas;
+	/// The permitted travel direction of the off-mesh connections. [Size: #offMeshConCount]
+	///
+	/// 0 = Travel only from endpoint A to endpoint B.<br/>
+	/// #DT_OFFMESH_CON_BIDIR = Bidirectional travel.
+	const unsigned char* offMeshConDir;	
+	/// The user defined ids of the off-mesh connection. [Size: #offMeshConCount]
+	const unsigned int* offMeshConUserID;
+	/// The number of off-mesh connections. [Limit: >= 0]
+	int offMeshConCount;
+
+	/// @}
+	/// @name Tile Attributes
+	/// @note The tile grid/layer data can be left at zero if the destination is a single tile mesh.
+	/// @{
+
+	unsigned int userId;	///< The user defined id of the tile.
+	int tileX;				///< The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.)
+	int tileY;				///< The tile's y-grid location within the multi-tile desitation mesh. (Along the z-axis.)
+	int tileLayer;			///< The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.)
+	float bmin[3];			///< The minimum bounds of the tile. [(x, y, z)] [Unit: wu]
+	float bmax[3];			///< The maximum bounds of the tile. [(x, y, z)] [Unit: wu]
+
+	/// @}
+	/// @name General Configuration Attributes
+	/// @{
+
+	float walkableHeight;	///< The agent height. [Unit: wu]
+	float walkableRadius;	///< The agent radius. [Unit: wu]
+	float walkableClimb;	///< The agent maximum traversable ledge. (Up/Down) [Unit: wu]
+	float cs;				///< The xz-plane cell size of the polygon mesh. [Limit: > 0] [Unit: wu]
+	float ch;				///< The y-axis cell height of the polygon mesh. [Limit: > 0] [Unit: wu]
+
+	/// True if a bounding volume tree should be built for the tile.
+	/// @note The BVTree is not normally needed for layered navigation meshes.
+	bool buildBvTree;
+
+	/// @}
+};
+
+/// Builds navigation mesh tile data from the provided tile creation data.
+/// @ingroup detour
+///  @param[in]		params		Tile creation data.
+///  @param[out]	outData		The resulting tile data.
+///  @param[out]	outDataSize	The size of the tile data array.
+/// @return True if the tile data was successfully created.
+bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize);
+
+/// Swaps the endianess of the tile data's header (#dtMeshHeader).
+///  @param[in,out]	data		The tile data array.
+///  @param[in]		dataSize	The size of the data array.
+bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int dataSize);
+
+/// Swaps endianess of the tile data.
+///  @param[in,out]	data		The tile data array.
+///  @param[in]		dataSize	The size of the data array.
+bool dtNavMeshDataSwapEndian(unsigned char* data, const int dataSize);
+
+#endif // DETOURNAVMESHBUILDER_H
+
+// This section contains detailed documentation for members that don't have
+// a source file. It reduces clutter in the main section of the header.
+
+/**
+@struct dtNavMeshCreateParams
+@par
+This structure is used to marshal data between the Recast mesh generation pipeline and Detour navigation components.
+See the rcPolyMesh and rcPolyMeshDetail documentation for detailed information related to mesh structure.
+Units are usually in voxels (vx) or world units (wu). The units for voxels, grid size, and cell size 
+are all based on the values of #cs and #ch.
+The standard navigation mesh build process is to create tile data using dtCreateNavMeshData, then add the tile 
+to a navigation mesh using either the dtNavMesh single tile <tt>init()</tt> function or the dtNavMesh::addTile()
+function.
+@see dtCreateNavMeshData
+*/

modules/worldengine/deps/recastnavigation/Detour/Include/DetourNavMeshQuery.h

@@ -0,0 +1,536 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#ifndef DETOURNAVMESHQUERY_H
+#define DETOURNAVMESHQUERY_H
+
+#include "DetourNavMesh.h"
+#include "DetourStatus.h"
+
+
+// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter.
+// On certain platforms indirect or virtual function call is expensive. The default
+// setting is to use non-virtual functions, the actual implementations of the functions
+// are declared as inline for maximum speed. 
+
+//#define DT_VIRTUAL_QUERYFILTER 1
+
+/// Defines polygon filtering and traversal costs for navigation mesh query operations.
+/// @ingroup detour
+class dtQueryFilter
+{
+	float m_areaCost[DT_MAX_AREAS];		///< Cost per area type. (Used by default implementation.)
+	unsigned short m_includeFlags;		///< Flags for polygons that can be visited. (Used by default implementation.)
+	unsigned short m_excludeFlags;		///< Flags for polygons that should not be visted. (Used by default implementation.)
+	
+public:
+	dtQueryFilter();
+	
+#ifdef DT_VIRTUAL_QUERYFILTER
+	virtual ~dtQueryFilter() { }
+#endif
+	
+	/// Returns true if the polygon can be visited.  (I.e. Is traversable.)
+	///  @param[in]		ref		The reference id of the polygon test.
+	///  @param[in]		tile	The tile containing the polygon.
+	///  @param[in]		poly  The polygon to test.
+#ifdef DT_VIRTUAL_QUERYFILTER
+	virtual bool passFilter(const dtPolyRef ref,
+							const dtMeshTile* tile,
+							const dtPoly* poly) const;
+#else
+	bool passFilter(const dtPolyRef ref,
+					const dtMeshTile* tile,
+					const dtPoly* poly) const;
+#endif
+
+	/// Returns cost to move from the beginning to the end of a line segment
+	/// that is fully contained within a polygon.
+	///  @param[in]		pa			The start position on the edge of the previous and current polygon. [(x, y, z)]
+	///  @param[in]		pb			The end position on the edge of the current and next polygon. [(x, y, z)]
+	///  @param[in]		prevRef		The reference id of the previous polygon. [opt]
+	///  @param[in]		prevTile	The tile containing the previous polygon. [opt]
+	///  @param[in]		prevPoly	The previous polygon. [opt]
+	///  @param[in]		curRef		The reference id of the current polygon.
+	///  @param[in]		curTile		The tile containing the current polygon.
+	///  @param[in]		curPoly		The current polygon.
+	///  @param[in]		nextRef		The refernece id of the next polygon. [opt]
+	///  @param[in]		nextTile	The tile containing the next polygon. [opt]
+	///  @param[in]		nextPoly	The next polygon. [opt]
+#ifdef DT_VIRTUAL_QUERYFILTER
+	virtual float getCost(const float* pa, const float* pb,
+						  const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
+						  const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
+						  const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
+#else
+	float getCost(const float* pa, const float* pb,
+				  const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
+				  const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
+				  const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
+#endif
+
+	/// @name Getters and setters for the default implementation data.
+	///@{
+
+	/// Returns the traversal cost of the area.
+	///  @param[in]		i		The id of the area.
+	/// @returns The traversal cost of the area.
+	inline float getAreaCost(const int i) const { return m_areaCost[i]; }
+
+	/// Sets the traversal cost of the area.
+	///  @param[in]		i		The id of the area.
+	///  @param[in]		cost	The new cost of traversing the area.
+	inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; } 
+
+	/// Returns the include flags for the filter.
+	/// Any polygons that include one or more of these flags will be
+	/// included in the operation.
+	inline unsigned short getIncludeFlags() const { return m_includeFlags; }
+
+	/// Sets the include flags for the filter.
+	/// @param[in]		flags	The new flags.
+	inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; }
+
+	/// Returns the exclude flags for the filter.
+	/// Any polygons that include one ore more of these flags will be
+	/// excluded from the operation.
+	inline unsigned short getExcludeFlags() const { return m_excludeFlags; }
+
+	/// Sets the exclude flags for the filter.
+	/// @param[in]		flags		The new flags.
+	inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; }	
+
+	///@}
+
+};
+
+
+
+/// Provides information about raycast hit
+/// filled by dtNavMeshQuery::raycast
+/// @ingroup detour
+struct dtRaycastHit
+{
+	/// The hit parameter. (FLT_MAX if no wall hit.)
+	float t; 
+	
+	/// hitNormal	The normal of the nearest wall hit. [(x, y, z)]
+	float hitNormal[3];
+	
+	/// Pointer to an array of reference ids of the visited polygons. [opt]
+	dtPolyRef* path;
+	
+	/// The number of visited polygons. [opt]
+	int pathCount;
+
+	/// The maximum number of polygons the @p path array can hold.
+	int maxPath;
+
+	///  The cost of the path until hit.
+	float pathCost;
+};
+
+
+
+/// Provides the ability to perform pathfinding related queries against
+/// a navigation mesh.
+/// @ingroup detour
+class dtNavMeshQuery
+{
+public:
+	dtNavMeshQuery();
+	~dtNavMeshQuery();
+	
+	/// Initializes the query object.
+	///  @param[in]		nav			Pointer to the dtNavMesh object to use for all queries.
+	///  @param[in]		maxNodes	Maximum number of search nodes. [Limits: 0 < value <= 65536]
+	/// @returns The status flags for the query.
+	dtStatus init(const dtNavMesh* nav, const int maxNodes);
+	
+	/// @name Standard Pathfinding Functions
+	// /@{
+
+	/// Finds a path from the start polygon to the end polygon.
+	///  @param[in]		startRef	The refrence id of the start polygon.
+	///  @param[in]		endRef		The reference id of the end polygon.
+	///  @param[in]		startPos	A position within the start polygon. [(x, y, z)]
+	///  @param[in]		endPos		A position within the end polygon. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[out]	path		An ordered list of polygon references representing the path. (Start to end.) 
+	///  							[(polyRef) * @p pathCount]
+	///  @param[out]	pathCount	The number of polygons returned in the @p path array.
+	///  @param[in]		maxPath		The maximum number of polygons the @p path array can hold. [Limit: >= 1]
+	dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef,
+					  const float* startPos, const float* endPos,
+					  const dtQueryFilter* filter,
+					  dtPolyRef* path, int* pathCount, const int maxPath) const;
+	
+	/// Finds the straight path from the start to the end position within the polygon corridor.
+	///  @param[in]		startPos			Path start position. [(x, y, z)]
+	///  @param[in]		endPos				Path end position. [(x, y, z)]
+	///  @param[in]		path				An array of polygon references that represent the path corridor.
+	///  @param[in]		pathSize			The number of polygons in the @p path array.
+	///  @param[out]	straightPath		Points describing the straight path. [(x, y, z) * @p straightPathCount].
+	///  @param[out]	straightPathFlags	Flags describing each point. (See: #dtStraightPathFlags) [opt]
+	///  @param[out]	straightPathRefs	The reference id of the polygon that is being entered at each point. [opt]
+	///  @param[out]	straightPathCount	The number of points in the straight path.
+	///  @param[in]		maxStraightPath		The maximum number of points the straight path arrays can hold.  [Limit: > 0]
+	///  @param[in]		options				Query options. (see: #dtStraightPathOptions)
+	/// @returns The status flags for the query.
+	dtStatus findStraightPath(const float* startPos, const float* endPos,
+							  const dtPolyRef* path, const int pathSize,
+							  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
+							  int* straightPathCount, const int maxStraightPath, const int options = 0) const;
+
+	///@}
+	/// @name Sliced Pathfinding Functions
+	/// Common use case:
+	///	-# Call initSlicedFindPath() to initialize the sliced path query.
+	///	-# Call updateSlicedFindPath() until it returns complete.
+	///	-# Call finalizeSlicedFindPath() to get the path.
+	///@{ 
+
+	/// Intializes a sliced path query.
+	///  @param[in]		startRef	The refrence id of the start polygon.
+	///  @param[in]		endRef		The reference id of the end polygon.
+	///  @param[in]		startPos	A position within the start polygon. [(x, y, z)]
+	///  @param[in]		endPos		A position within the end polygon. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[in]		options		query options (see: #dtFindPathOptions)
+	/// @returns The status flags for the query.
+	dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
+								const float* startPos, const float* endPos,
+								const dtQueryFilter* filter, const unsigned int options = 0);
+
+	/// Updates an in-progress sliced path query.
+	///  @param[in]		maxIter		The maximum number of iterations to perform.
+	///  @param[out]	doneIters	The actual number of iterations completed. [opt]
+	/// @returns The status flags for the query.
+	dtStatus updateSlicedFindPath(const int maxIter, int* doneIters);
+
+	/// Finalizes and returns the results of a sliced path query.
+	///  @param[out]	path		An ordered list of polygon references representing the path. (Start to end.) 
+	///  							[(polyRef) * @p pathCount]
+	///  @param[out]	pathCount	The number of polygons returned in the @p path array.
+	///  @param[in]		maxPath		The max number of polygons the path array can hold. [Limit: >= 1]
+	/// @returns The status flags for the query.
+	dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
+	
+	/// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest
+	/// polygon on the existing path that was visited during the search.
+	///  @param[in]		existing		An array of polygon references for the existing path.
+	///  @param[in]		existingSize	The number of polygon in the @p existing array.
+	///  @param[out]	path			An ordered list of polygon references representing the path. (Start to end.) 
+	///  								[(polyRef) * @p pathCount]
+	///  @param[out]	pathCount		The number of polygons returned in the @p path array.
+	///  @param[in]		maxPath			The max number of polygons the @p path array can hold. [Limit: >= 1]
+	/// @returns The status flags for the query.
+	dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
+										   dtPolyRef* path, int* pathCount, const int maxPath);
+
+	///@}
+	/// @name Dijkstra Search Functions
+	/// @{ 
+
+	/// Finds the polygons along the navigation graph that touch the specified circle.
+	///  @param[in]		startRef		The reference id of the polygon where the search starts.
+	///  @param[in]		centerPos		The center of the search circle. [(x, y, z)]
+	///  @param[in]		radius			The radius of the search circle.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	resultRef		The reference ids of the polygons touched by the circle. [opt]
+	///  @param[out]	resultParent	The reference ids of the parent polygons for each result. 
+	///  								Zero if a result polygon has no parent. [opt]
+	///  @param[out]	resultCost		The search cost from @p centerPos to the polygon. [opt]
+	///  @param[out]	resultCount		The number of polygons found. [opt]
+	///  @param[in]		maxResult		The maximum number of polygons the result arrays can hold.
+	/// @returns The status flags for the query.
+	dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
+								   const dtQueryFilter* filter,
+								   dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
+								   int* resultCount, const int maxResult) const;
+	
+	/// Finds the polygons along the naviation graph that touch the specified convex polygon.
+	///  @param[in]		startRef		The reference id of the polygon where the search starts.
+	///  @param[in]		verts			The vertices describing the convex polygon. (CCW) 
+	///  								[(x, y, z) * @p nverts]
+	///  @param[in]		nverts			The number of vertices in the polygon.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	resultRef		The reference ids of the polygons touched by the search polygon. [opt]
+	///  @param[out]	resultParent	The reference ids of the parent polygons for each result. Zero if a 
+	///  								result polygon has no parent. [opt]
+	///  @param[out]	resultCost		The search cost from the centroid point to the polygon. [opt]
+	///  @param[out]	resultCount		The number of polygons found.
+	///  @param[in]		maxResult		The maximum number of polygons the result arrays can hold.
+	/// @returns The status flags for the query.
+	dtStatus findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
+								  const dtQueryFilter* filter,
+								  dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
+								  int* resultCount, const int maxResult) const;
+	
+	/// @}
+	/// @name Local Query Functions
+	///@{
+
+	/// Finds the polygon nearest to the specified center point.
+	///  @param[in]		center		The center of the search box. [(x, y, z)]
+	///  @param[in]		extents		The search distance along each axis. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[out]	nearestRef	The reference id of the nearest polygon.
+	///  @param[out]	nearestPt	The nearest point on the polygon. [opt] [(x, y, z)]
+	/// @returns The status flags for the query.
+	dtStatus findNearestPoly(const float* center, const float* extents,
+							 const dtQueryFilter* filter,
+							 dtPolyRef* nearestRef, float* nearestPt) const;
+	
+	/// Finds polygons that overlap the search box.
+	///  @param[in]		center		The center of the search box. [(x, y, z)]
+	///  @param[in]		extents		The search distance along each axis. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[out]	polys		The reference ids of the polygons that overlap the query box.
+	///  @param[out]	polyCount	The number of polygons in the search result.
+	///  @param[in]		maxPolys	The maximum number of polygons the search result can hold.
+	/// @returns The status flags for the query.
+	dtStatus queryPolygons(const float* center, const float* extents,
+						   const dtQueryFilter* filter,
+						   dtPolyRef* polys, int* polyCount, const int maxPolys) const;
+
+	/// Finds the non-overlapping navigation polygons in the local neighbourhood around the center position.
+	///  @param[in]		startRef		The reference id of the polygon where the search starts.
+	///  @param[in]		centerPos		The center of the query circle. [(x, y, z)]
+	///  @param[in]		radius			The radius of the query circle.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	resultRef		The reference ids of the polygons touched by the circle.
+	///  @param[out]	resultParent	The reference ids of the parent polygons for each result. 
+	///  								Zero if a result polygon has no parent. [opt]
+	///  @param[out]	resultCount		The number of polygons found.
+	///  @param[in]		maxResult		The maximum number of polygons the result arrays can hold.
+	/// @returns The status flags for the query.
+	dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
+									const dtQueryFilter* filter,
+									dtPolyRef* resultRef, dtPolyRef* resultParent,
+									int* resultCount, const int maxResult) const;
+
+	/// Moves from the start to the end position constrained to the navigation mesh.
+	///  @param[in]		startRef		The reference id of the start polygon.
+	///  @param[in]		startPos		A position of the mover within the start polygon. [(x, y, x)]
+	///  @param[in]		endPos			The desired end position of the mover. [(x, y, z)]
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	resultPos		The result position of the mover. [(x, y, z)]
+	///  @param[out]	visited			The reference ids of the polygons visited during the move.
+	///  @param[out]	visitedCount	The number of polygons visited during the move.
+	///  @param[in]		maxVisitedSize	The maximum number of polygons the @p visited array can hold.
+	/// @returns The status flags for the query.
+	dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
+							  const dtQueryFilter* filter,
+							  float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const;
+	
+	/// Casts a 'walkability' ray along the surface of the navigation mesh from 
+	/// the start position toward the end position.
+	/// @note A wrapper around raycast(..., RaycastHit*). Retained for backward compatibility.
+	///  @param[in]		startRef	The reference id of the start polygon.
+	///  @param[in]		startPos	A position within the start polygon representing 
+	///  							the start of the ray. [(x, y, z)]
+	///  @param[in]		endPos		The position to cast the ray toward. [(x, y, z)]
+	///  @param[out]	t			The hit parameter. (FLT_MAX if no wall hit.)
+	///  @param[out]	hitNormal	The normal of the nearest wall hit. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[out]	path		The reference ids of the visited polygons. [opt]
+	///  @param[out]	pathCount	The number of visited polygons. [opt]
+	///  @param[in]		maxPath		The maximum number of polygons the @p path array can hold.
+	/// @returns The status flags for the query.
+	dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
+					 const dtQueryFilter* filter,
+					 float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const;
+	
+	/// Casts a 'walkability' ray along the surface of the navigation mesh from 
+	/// the start position toward the end position.
+	///  @param[in]		startRef	The reference id of the start polygon.
+	///  @param[in]		startPos	A position within the start polygon representing 
+	///  							the start of the ray. [(x, y, z)]
+	///  @param[in]		endPos		The position to cast the ray toward. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[in]		flags		govern how the raycast behaves. See dtRaycastOptions
+	///  @param[out]	hit			Pointer to a raycast hit structure which will be filled by the results.
+	///  @param[in]		prevRef		parent of start ref. Used during for cost calculation [opt]
+	/// @returns The status flags for the query.
+	dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
+					 const dtQueryFilter* filter, const unsigned int options,
+					 dtRaycastHit* hit, dtPolyRef prevRef = 0) const;
+
+
+	/// Finds the distance from the specified position to the nearest polygon wall.
+	///  @param[in]		startRef		The reference id of the polygon containing @p centerPos.
+	///  @param[in]		centerPos		The center of the search circle. [(x, y, z)]
+	///  @param[in]		maxRadius		The radius of the search circle.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	hitDist			The distance to the nearest wall from @p centerPos.
+	///  @param[out]	hitPos			The nearest position on the wall that was hit. [(x, y, z)]
+	///  @param[out]	hitNormal		The normalized ray formed from the wall point to the 
+	///  								source point. [(x, y, z)]
+	/// @returns The status flags for the query.
+	dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
+								const dtQueryFilter* filter,
+								float* hitDist, float* hitPos, float* hitNormal) const;
+	
+	/// Returns the segments for the specified polygon, optionally including portals.
+	///  @param[in]		ref				The reference id of the polygon.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	segmentVerts	The segments. [(ax, ay, az, bx, by, bz) * segmentCount]
+	///  @param[out]	segmentRefs		The reference ids of each segment's neighbor polygon. 
+	///  								Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount] 
+	///  @param[out]	segmentCount	The number of segments returned.
+	///  @param[in]		maxSegments		The maximum number of segments the result arrays can hold.
+	/// @returns The status flags for the query.
+	dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
+								 float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount,
+								 const int maxSegments) const;
+
+	/// Returns random location on navmesh.
+	/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[in]		frand			Function returning a random number [0..1).
+	///  @param[out]	randomRef		The reference id of the random location.
+	///  @param[out]	randomPt		The random location. 
+	/// @returns The status flags for the query.
+	dtStatus findRandomPoint(const dtQueryFilter* filter, float (*frand)(),
+							 dtPolyRef* randomRef, float* randomPt) const;
+
+	/// Returns random location on navmesh within the reach of specified location.
+	/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
+	/// The location is not exactly constrained by the circle, but it limits the visited polygons.
+	///  @param[in]		startRef		The reference id of the polygon where the search starts.
+	///  @param[in]		centerPos		The center of the search circle. [(x, y, z)]
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[in]		frand			Function returning a random number [0..1).
+	///  @param[out]	randomRef		The reference id of the random location.
+	///  @param[out]	randomPt		The random location. [(x, y, z)]
+	/// @returns The status flags for the query.
+	dtStatus findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius,
+										 const dtQueryFilter* filter, float (*frand)(),
+										 dtPolyRef* randomRef, float* randomPt) const;
+	
+	/// Finds the closest point on the specified polygon.
+	///  @param[in]		ref			The reference id of the polygon.
+	///  @param[in]		pos			The position to check. [(x, y, z)]
+	///  @param[out]	closest		The closest point on the polygon. [(x, y, z)]
+	///  @param[out]	posOverPoly	True of the position is over the polygon.
+	/// @returns The status flags for the query.
+	dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const;
+	
+	/// Returns a point on the boundary closest to the source point if the source point is outside the 
+	/// polygon's xz-bounds.
+	///  @param[in]		ref			The reference id to the polygon.
+	///  @param[in]		pos			The position to check. [(x, y, z)]
+	///  @param[out]	closest		The closest point. [(x, y, z)]
+	/// @returns The status flags for the query.
+	dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
+	
+	/// Gets the height of the polygon at the provided position using the height detail. (Most accurate.)
+	///  @param[in]		ref			The reference id of the polygon.
+	///  @param[in]		pos			A position within the xz-bounds of the polygon. [(x, y, z)]
+	///  @param[out]	height		The height at the surface of the polygon.
+	/// @returns The status flags for the query.
+	dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;
+
+	/// @}
+	/// @name Miscellaneous Functions
+	/// @{
+
+	/// Returns true if the polygon reference is valid and passes the filter restrictions.
+	///  @param[in]		ref			The polygon reference to check.
+	///  @param[in]		filter		The filter to apply.
+	bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const;
+
+	/// Returns true if the polygon reference is in the closed list. 
+	///  @param[in]		ref		The reference id of the polygon to check.
+	/// @returns True if the polygon is in closed list.
+	bool isInClosedList(dtPolyRef ref) const;
+	
+	/// Gets the node pool.
+	/// @returns The node pool.
+	class dtNodePool* getNodePool() const { return m_nodePool; }
+	
+	/// Gets the navigation mesh the query object is using.
+	/// @return The navigation mesh the query object is using.
+	const dtNavMesh* getAttachedNavMesh() const { return m_nav; }
+
+	/// @}
+	
+private:
+	
+	/// Returns neighbour tile based on side.
+	dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
+
+	/// Queries polygons within a tile.
+	int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, const dtQueryFilter* filter,
+							dtPolyRef* polys, const int maxPolys) const;
+
+	/// Returns portal points between two polygons.
+	dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
+							 unsigned char& fromType, unsigned char& toType) const;
+	dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
+							 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
+							 float* left, float* right) const;
+	
+	/// Returns edge mid point between two polygons.
+	dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
+	dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
+							 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
+							 float* mid) const;
+	
+	// Appends vertex to a straight path
+	dtStatus appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref,
+						  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
+						  int* straightPathCount, const int maxStraightPath) const;
+
+	// Appends intermediate portal points to a straight path.
+	dtStatus appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path,
+						   float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
+						   int* straightPathCount, const int maxStraightPath, const int options) const;
+	
+	const dtNavMesh* m_nav;				///< Pointer to navmesh data.
+
+	struct dtQueryData
+	{
+		dtStatus status;
+		struct dtNode* lastBestNode;
+		float lastBestNodeCost;
+		dtPolyRef startRef, endRef;
+		float startPos[3], endPos[3];
+		const dtQueryFilter* filter;
+		unsigned int options;
+		float raycastLimitSqr;
+	};
+	dtQueryData m_query;				///< Sliced query state.
+
+	class dtNodePool* m_tinyNodePool;	///< Pointer to small node pool.
+	class dtNodePool* m_nodePool;		///< Pointer to node pool.
+	class dtNodeQueue* m_openList;		///< Pointer to open list queue.
+};
+
+/// Allocates a query object using the Detour allocator.
+/// @return An allocated query object, or null on failure.
+/// @ingroup detour
+dtNavMeshQuery* dtAllocNavMeshQuery();
+
+/// Frees the specified query object using the Detour allocator.
+///  @param[in]		query		A query object allocated using #dtAllocNavMeshQuery
+/// @ingroup detour
+void dtFreeNavMeshQuery(dtNavMeshQuery* query);
+
+#endif // DETOURNAVMESHQUERY_H

modules/worldengine/deps/recastnavigation/Detour/Include/DetourNode.h

@@ -25,22 +25,28 @@ enum dtNodeFlags
 {
 	DT_NODE_OPEN = 0x01,
 	DT_NODE_CLOSED = 0x02,
+	DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not adjacent. Found using raycast.
 };
 
 typedef unsigned short dtNodeIndex;
-static const dtNodeIndex DT_NULL_IDX = ~0;
+static const dtNodeIndex DT_NULL_IDX = (dtNodeIndex)~0;
 
 struct dtNode
 {
-	float pos[3];				// Position of the node.
+	float pos[3];				///< Position of the node.
-	float cost;					// Cost from previous node to current node.
+	float cost;					///< Cost from previous node to current node.
-	float total;				// Cost up to the node.
+	float total;				///< Cost up to the node.
-	unsigned int pidx : 30;		// Index to parent node.
+	unsigned int pidx : 24;		///< Index to parent node.
-	unsigned int flags : 2;		// Node flags 0/open/closed.
+	unsigned int state : 2;		///< extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE
-	dtPolyRef id;				// Polygon ref the node corresponds to.
+	unsigned int flags : 3;		///< Node flags. A combination of dtNodeFlags.
+	dtPolyRef id;				///< Polygon ref the node corresponds to.
 };
 
 
+static const int DT_MAX_STATES_PER_NODE = 4;	// number of extra states per node. See dtNode::state
+
+
+
 class dtNodePool
 {
 public:
@@ -48,8 +54,12 @@ public:
 	~dtNodePool();
 	inline void operator=(const dtNodePool&) {}
 	void clear();
-	dtNode* getNode(dtPolyRef id);
+
-	dtNode* findNode(dtPolyRef id);
+	// Get a dtNode by ref and extra state information. If there is none then - allocate
+	// There can be more than one node for the same polyRef but with different extra state information
+	dtNode* getNode(dtPolyRef id, unsigned char state=0);	
+	dtNode* findNode(dtPolyRef id, unsigned char state);
+	unsigned int findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes);
 
 	inline unsigned int getNodeIdx(const dtNode* node) const
 	{
@@ -82,6 +92,7 @@ public:
 	inline int getHashSize() const { return m_hashSize; }
 	inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; }
 	inline dtNodeIndex getNext(int i) const { return m_next[i]; }
+	inline int getNodeCount() const { return m_nodeCount; }
 	
 private:
 	

modules/worldengine/deps/recastnavigation/Detour/Include/DetourStatus.h

@@ -0,0 +1,64 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#ifndef DETOURSTATUS_H
+#define DETOURSTATUS_H
+
+typedef unsigned int dtStatus;
+
+// High level status.
+static const unsigned int DT_FAILURE = 1u << 31;			// Operation failed.
+static const unsigned int DT_SUCCESS = 1u << 30;			// Operation succeed.
+static const unsigned int DT_IN_PROGRESS = 1u << 29;		// Operation still in progress.
+
+// Detail information for status.
+static const unsigned int DT_STATUS_DETAIL_MASK = 0x0ffffff;
+static const unsigned int DT_WRONG_MAGIC = 1 << 0;		// Input data is not recognized.
+static const unsigned int DT_WRONG_VERSION = 1 << 1;	// Input data is in wrong version.
+static const unsigned int DT_OUT_OF_MEMORY = 1 << 2;	// Operation ran out of memory.
+static const unsigned int DT_INVALID_PARAM = 1 << 3;	// An input parameter was invalid.
+static const unsigned int DT_BUFFER_TOO_SMALL = 1 << 4;	// Result buffer for the query was too small to store all results.
+static const unsigned int DT_OUT_OF_NODES = 1 << 5;		// Query ran out of nodes during search.
+static const unsigned int DT_PARTIAL_RESULT = 1 << 6;	// Query did not reach the end location, returning best guess. 
+
+
+// Returns true of status is success.
+inline bool dtStatusSucceed(dtStatus status)
+{
+	return (status & DT_SUCCESS) != 0;
+}
+
+// Returns true of status is failure.
+inline bool dtStatusFailed(dtStatus status)
+{
+	return (status & DT_FAILURE) != 0;
+}
+
+// Returns true of status is in progress.
+inline bool dtStatusInProgress(dtStatus status)
+{
+	return (status & DT_IN_PROGRESS) != 0;
+}
+
+// Returns true if specific detail is set.
+inline bool dtStatusDetail(dtStatus status, unsigned int detail)
+{
+	return (status & detail) != 0;
+}
+
+#endif // DETOURSTATUS_H

modules/worldengine/deps/recastnavigation/Detour/Source/DetourCommon.cpp

@@ -16,16 +16,11 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include "DetourCommon.h"
+#include "DetourMath.h"
 
 //////////////////////////////////////////////////////////////////////////////////////////
 
-float dtSqrt(float x)
-{
-	return sqrtf(x);
-}
-
 void dtClosestPtPointTriangle(float* closest, const float* p,
 							  const float* a, const float* b, const float* c)
 {
@@ -238,6 +233,9 @@ bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b
 	return false;
 }
 
+/// @par
+///
+/// All points are projected onto the xz-plane, so the y-values are ignored.
 bool dtPointInPolygon(const float* pt, const float* verts, const int nverts)
 {
 	// TODO: Replace pnpoly with triArea2D tests?
@@ -291,6 +289,9 @@ inline bool overlapRange(const float amin, const float amax,
 	return ((amin+eps) > bmax || (amax-eps) < bmin) ? false : true;
 }
 
+/// @par
+///
+/// All vertices are projected onto the xz-plane, so the y-values are ignored.
 bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
 						 const float* polyb, const int npolyb)
 {
@@ -327,3 +328,60 @@ bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
 	return true;
 }
 
+// Returns a random point in a convex polygon.
+// Adapted from Graphics Gems article.
+void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
+							   const float s, const float t, float* out)
+{
+	// Calc triangle araes
+	float areasum = 0.0f;
+	for (int i = 2; i < npts; i++) {
+		areas[i] = dtTriArea2D(&pts[0], &pts[(i-1)*3], &pts[i*3]);
+		areasum += dtMax(0.001f, areas[i]);
+	}
+	// Find sub triangle weighted by area.
+	const float thr = s*areasum;
+	float acc = 0.0f;
+	float u = 0.0f;
+	int tri = 0;
+	for (int i = 2; i < npts; i++) {
+		const float dacc = areas[i];
+		if (thr >= acc && thr < (acc+dacc))
+		{
+			u = (thr - acc) / dacc;
+			tri = i;
+			break;
+		}
+		acc += dacc;
+	}
+	
+	float v = dtMathSqrtf(t);
+	
+	const float a = 1 - v;
+	const float b = (1 - u) * v;
+	const float c = u * v;
+	const float* pa = &pts[0];
+	const float* pb = &pts[(tri-1)*3];
+	const float* pc = &pts[tri*3];
+	
+	out[0] = a*pa[0] + b*pb[0] + c*pc[0];
+	out[1] = a*pa[1] + b*pb[1] + c*pc[1];
+	out[2] = a*pa[2] + b*pb[2] + c*pc[2];
+}
+
+inline float vperpXZ(const float* a, const float* b) { return a[0]*b[2] - a[2]*b[0]; }
+
+bool dtIntersectSegSeg2D(const float* ap, const float* aq,
+						 const float* bp, const float* bq,
+						 float& s, float& t)
+{
+	float u[3], v[3], w[3];
+	dtVsub(u,aq,ap);
+	dtVsub(v,bq,bp);
+	dtVsub(w,ap,bp);
+	float d = vperpXZ(u,v);
+	if (fabsf(d) < 1e-6f) return false;
+	s = vperpXZ(v,w) / d;
+	t = vperpXZ(u,w) / d;
+	return true;
+}

modules/worldengine/deps/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp

@@ -16,12 +16,13 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+#include <float.h>
 #include "DetourNavMesh.h"
 #include "DetourCommon.h"
+#include "DetourMath.h"
 #include "DetourNavMeshBuilder.h"
 #include "DetourAlloc.h"
 #include "DetourAssert.h"
@@ -201,8 +202,8 @@ static int createBVTree(const unsigned short* verts, const int /*nverts*/,
 			if (z > it.bmax[2]) it.bmax[2] = z;
 		}
 		// Remap y
-		it.bmin[1] = (unsigned short)floorf((float)it.bmin[1]*ch/cs);
+		it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1]*ch/cs);
-		it.bmax[1] = (unsigned short)ceilf((float)it.bmax[1]*ch/cs);
+		it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1]*ch/cs);
 	}
 	
 	int curNode = 0;
@@ -237,11 +238,19 @@ static unsigned char classifyOffMeshPoint(const float* pt, const float* bmin, co
 	case ZM: return 6;
 	case XP|ZM: return 7;
 	};
+
 	return 0xff;	
 }
 
 // TODO: Better error handling.
 
+/// @par
+/// 
+/// The output data array is allocated using the detour allocator (dtAlloc()).  The method
+/// used to free the memory will be determined by how the tile is added to the navigation
+/// mesh.
+///
+/// @see dtNavMesh, dtNavMesh::addTile()
 bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize)
 {
 	if (params->nvp > DT_VERTS_PER_POLYGON)
@@ -252,8 +261,6 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
 		return false;
 	if (!params->polyCount || !params->polys)
 		return false;
-	//if (!params->detailMeshes || !params->detailVerts || !params->detailTris)
-	//	return false;
 
 	const int nvp = params->nvp;
 	
@@ -269,10 +276,50 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
 		if (!offMeshConClass)
 			return false;
 
+		// Find tight heigh bounds, used for culling out off-mesh start locations.
+		float hmin = FLT_MAX;
+		float hmax = -FLT_MAX;
+		
+		if (params->detailVerts && params->detailVertsCount)
+		{
+			for (int i = 0; i < params->detailVertsCount; ++i)
+			{
+				const float h = params->detailVerts[i*3+1];
+				hmin = dtMin(hmin,h);
+				hmax = dtMax(hmax,h);
+			}
+		}
+		else
+		{
+			for (int i = 0; i < params->vertCount; ++i)
+			{
+				const unsigned short* iv = &params->verts[i*3];
+				const float h = params->bmin[1] + iv[1] * params->ch;
+				hmin = dtMin(hmin,h);
+				hmax = dtMax(hmax,h);
+			}
+		}
+		hmin -= params->walkableClimb;
+		hmax += params->walkableClimb;
+		float bmin[3], bmax[3];
+		dtVcopy(bmin, params->bmin);
+		dtVcopy(bmax, params->bmax);
+		bmin[1] = hmin;
+		bmax[1] = hmax;
+
 		for (int i = 0; i < params->offMeshConCount; ++i)
 		{
-			offMeshConClass[i*2+0] = classifyOffMeshPoint(&params->offMeshConVerts[(i*2+0)*3], params->bmin, params->bmax);
+			const float* p0 = &params->offMeshConVerts[(i*2+0)*3];
-			offMeshConClass[i*2+1] = classifyOffMeshPoint(&params->offMeshConVerts[(i*2+1)*3], params->bmin, params->bmax);
+			const float* p1 = &params->offMeshConVerts[(i*2+1)*3];
+			offMeshConClass[i*2+0] = classifyOffMeshPoint(p0, bmin, bmax);
+			offMeshConClass[i*2+1] = classifyOffMeshPoint(p1, bmin, bmax);
+
+			// Zero out off-mesh start positions which are not even potentially touching the mesh.
+			if (offMeshConClass[i*2+0] == 0xff)
+			{
+				if (p0[1] < bmin[1] || p0[1] > bmax[1])
+					offMeshConClass[i*2+0] = 0;
+			}
 
 			// Cound how many links should be allocated for off-mesh connections.
 			if (offMeshConClass[i*2+0] == 0xff)
@@ -298,23 +345,13 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
 		for (int j = 0; j < nvp; ++j)
 		{
 			if (p[j] == MESH_NULL_IDX) break;
-			int nj = j+1;
-			if (nj >= nvp || p[nj] == MESH_NULL_IDX) nj = 0;
-			const unsigned short* va = &params->verts[p[j]*3];
-			const unsigned short* vb = &params->verts[p[nj]*3];
-			
 			edgeCount++;
 			
-			if (params->tileSize > 0)
+			if (p[nvp+j] & 0x8000)
 			{
-				if (va[0] == params->tileSize && vb[0] == params->tileSize)
+				unsigned short dir = p[nvp+j] & 0xf;
-					portalCount++; // x+
+				if (dir != 0xf)
-				else if (va[2] == params->tileSize && vb[2] == params->tileSize)
+					portalCount++;
-					portalCount++; // z+
-				else if (va[0] == 0 && vb[0] == 0)
-					portalCount++; // x-
-				else if (va[2] == 0 && vb[2] == 0)
-					portalCount++; // z-
 			}
 		}
 	}
@@ -368,7 +405,7 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
 	const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*params->polyCount);
 	const int detailVertsSize = dtAlign4(sizeof(float)*3*uniqueDetailVertCount);
 	const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*detailTriCount);
-	const int bvTreeSize = dtAlign4(sizeof(dtBVNode)*params->polyCount*2);
+	const int bvTreeSize = params->buildBvTree ? dtAlign4(sizeof(dtBVNode)*params->polyCount*2) : 0;
 	const int offMeshConsSize = dtAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount);
 	
 	const int dataSize = headerSize + vertsSize + polysSize + linksSize +
@@ -400,6 +437,7 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
 	header->version = DT_NAVMESH_VERSION;
 	header->x = params->tileX;
 	header->y = params->tileY;
+	header->layer = params->tileLayer;
 	header->userId = params->userId;
 	header->polyCount = totPolyCount;
 	header->vertCount = totVertCount;
@@ -415,7 +453,7 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
 	header->walkableRadius = params->walkableRadius;
 	header->walkableClimb = params->walkableClimb;
 	header->offMeshConCount = storedOffMeshConCount;
-	header->bvNodeCount = params->polyCount*2;
+	header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0;
 	
 	const int offMeshVertsBase = params->vertCount;
 	const int offMeshPolyBase = params->polyCount;
@@ -459,7 +497,27 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
 		{
 			if (src[j] == MESH_NULL_IDX) break;
 			p->verts[j] = src[j];
-			p->neis[j] = (src[nvp+j]+1) & 0xffff;
+			if (src[nvp+j] & 0x8000)
+			{
+				// Border or portal edge.
+				unsigned short dir = src[nvp+j] & 0xf;
+				if (dir == 0xf) // Border
+					p->neis[j] = 0;
+				else if (dir == 0) // Portal x-
+					p->neis[j] = DT_EXT_LINK | 4;
+				else if (dir == 1) // Portal z+
+					p->neis[j] = DT_EXT_LINK | 2;
+				else if (dir == 2) // Portal x+
+					p->neis[j] = DT_EXT_LINK | 0;
+				else if (dir == 3) // Portal z-
+					p->neis[j] = DT_EXT_LINK | 6;
+			}
+			else
+			{
+				// Normal connection
+				p->neis[j] = src[nvp+j]+1;
+			}
+			
 			p->vertCount++;
 		}
 		src += nvp*2;
@@ -482,32 +540,6 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
 		}
 	}
 
-	// Store portal edges.
-	if (params->tileSize > 0)
-	{
-		for (int i = 0; i < params->polyCount; ++i)
-		{
-			dtPoly* poly = &navPolys[i];
-			for (int j = 0; j < poly->vertCount; ++j)
-			{
-				int nj = j+1;
-				if (nj >= poly->vertCount) nj = 0;
-
-				const unsigned short* va = &params->verts[poly->verts[j]*3];
-				const unsigned short* vb = &params->verts[poly->verts[nj]*3];
-							
-				if (va[0] == params->tileSize && vb[0] == params->tileSize) // x+
-					poly->neis[j] = DT_EXT_LINK | 0;
-				else if (va[2] == params->tileSize && vb[2]  == params->tileSize) // z+
-					poly->neis[j] = DT_EXT_LINK | 2;
-				else if (va[0] == 0 && vb[0] == 0) // x-
-					poly->neis[j] = DT_EXT_LINK | 4;
-				else if (va[2] == 0 && vb[2] == 0) // z-
-					poly->neis[j] = DT_EXT_LINK | 6;
-			}
-		}
-	}
-
 	// Store detail meshes and vertices.
 	// The nav polygon vertices are stored as the first vertices on each mesh.
 	// We compress the mesh data by skipping them and using the navmesh coordinates.
@@ -564,8 +596,11 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
 
 	// Store and create BVtree.
 	// TODO: take detail mesh into account! use byte per bbox extent?
-	createBVTree(params->verts, params->vertCount, params->polys, params->polyCount,
+	if (params->buildBvTree)
-				 nvp, params->cs, params->ch, params->polyCount*2, navBvtree);
+	{
+		createBVTree(params->verts, params->vertCount, params->polys, params->polyCount,
+					 nvp, params->cs, params->ch, params->polyCount*2, navBvtree);
+	}
 	
 	// Store Off-Mesh connections.
 	n = 0;
@@ -597,51 +632,14 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
 	return true;
 }
 
-inline void swapByte(unsigned char* a, unsigned char* b)
-{
-	unsigned char tmp = *a;
-	*a = *b;
-	*b = tmp;
-}
-
-inline void swapEndian(unsigned short* v)
-{
-	unsigned char* x = (unsigned char*)v;
-	swapByte(x+0, x+1);
-}
-
-inline void swapEndian(short* v)
-{
-	unsigned char* x = (unsigned char*)v;
-	swapByte(x+0, x+1);
-}
-
-inline void swapEndian(unsigned int* v)
-{
-	unsigned char* x = (unsigned char*)v;
-	swapByte(x+0, x+3); swapByte(x+1, x+2);
-}
-
-inline void swapEndian(int* v)
-{
-	unsigned char* x = (unsigned char*)v;
-	swapByte(x+0, x+3); swapByte(x+1, x+2);
-}
-
-inline void swapEndian(float* v)
-{
-	unsigned char* x = (unsigned char*)v;
-	swapByte(x+0, x+3); swapByte(x+1, x+2);
-}
-
 bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int /*dataSize*/)
 {
 	dtMeshHeader* header = (dtMeshHeader*)data;
 	
 	int swappedMagic = DT_NAVMESH_MAGIC;
 	int swappedVersion = DT_NAVMESH_VERSION;
-	swapEndian(&swappedMagic);
+	dtSwapEndian(&swappedMagic);
-	swapEndian(&swappedVersion);
+	dtSwapEndian(&swappedVersion);
 	
 	if ((header->magic != DT_NAVMESH_MAGIC || header->version != DT_NAVMESH_VERSION) &&
 		(header->magic != swappedMagic || header->version != swappedVersion))
@@ -649,36 +647,43 @@ bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int /*dataSize*/)
 		return false;
 	}
 		
-	swapEndian(&header->magic);
+	dtSwapEndian(&header->magic);
-	swapEndian(&header->version);
+	dtSwapEndian(&header->version);
-	swapEndian(&header->x);
+	dtSwapEndian(&header->x);
-	swapEndian(&header->y);
+	dtSwapEndian(&header->y);
-	swapEndian(&header->userId);
+	dtSwapEndian(&header->layer);
-	swapEndian(&header->polyCount);
+	dtSwapEndian(&header->userId);
-	swapEndian(&header->vertCount);
+	dtSwapEndian(&header->polyCount);
-	swapEndian(&header->maxLinkCount);
+	dtSwapEndian(&header->vertCount);
-	swapEndian(&header->detailMeshCount);
+	dtSwapEndian(&header->maxLinkCount);
-	swapEndian(&header->detailVertCount);
+	dtSwapEndian(&header->detailMeshCount);
-	swapEndian(&header->detailTriCount);
+	dtSwapEndian(&header->detailVertCount);
-	swapEndian(&header->bvNodeCount);
+	dtSwapEndian(&header->detailTriCount);
-	swapEndian(&header->offMeshConCount);
+	dtSwapEndian(&header->bvNodeCount);
-	swapEndian(&header->offMeshBase);
+	dtSwapEndian(&header->offMeshConCount);
-	swapEndian(&header->walkableHeight);
+	dtSwapEndian(&header->offMeshBase);
-	swapEndian(&header->walkableRadius);
+	dtSwapEndian(&header->walkableHeight);
-	swapEndian(&header->walkableClimb);
+	dtSwapEndian(&header->walkableRadius);
-	swapEndian(&header->bmin[0]);
+	dtSwapEndian(&header->walkableClimb);
-	swapEndian(&header->bmin[1]);
+	dtSwapEndian(&header->bmin[0]);
-	swapEndian(&header->bmin[2]);
+	dtSwapEndian(&header->bmin[1]);
-	swapEndian(&header->bmax[0]);
+	dtSwapEndian(&header->bmin[2]);
-	swapEndian(&header->bmax[1]);
+	dtSwapEndian(&header->bmax[0]);
-	swapEndian(&header->bmax[2]);
+	dtSwapEndian(&header->bmax[1]);
-	swapEndian(&header->bvQuantFactor);
+	dtSwapEndian(&header->bmax[2]);
+	dtSwapEndian(&header->bvQuantFactor);
 
 	// Freelist index and pointers are updated when tile is added, no need to swap.
 
 	return true;
 }
 
+/// @par
+///
+/// @warning This function assumes that the header is in the correct endianess already. 
+/// Call #dtNavMeshHeaderSwapEndian() first on the data if the data is expected to be in wrong endianess 
+/// to start with. Call #dtNavMeshHeaderSwapEndian() after the data has been swapped if converting from 
+/// native to foreign endianess.
 bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
 {
 	// Make sure the data is in right format.
@@ -712,7 +717,7 @@ bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
 	// Vertices
 	for (int i = 0; i < header->vertCount*3; ++i)
 	{
-		swapEndian(&verts[i]);
+		dtSwapEndian(&verts[i]);
 	}
 
 	// Polys
@@ -722,10 +727,10 @@ bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
 		// poly->firstLink is update when tile is added, no need to swap.
 		for (int j = 0; j < DT_VERTS_PER_POLYGON; ++j)
 		{
-			swapEndian(&p->verts[j]);
+			dtSwapEndian(&p->verts[j]);
-			swapEndian(&p->neis[j]);
+			dtSwapEndian(&p->neis[j]);
 		}
-		swapEndian(&p->flags);
+		dtSwapEndian(&p->flags);
 	}
 
 	// Links are rebuild when tile is added, no need to swap.
@@ -734,14 +739,14 @@ bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
 	for (int i = 0; i < header->detailMeshCount; ++i)
 	{
 		dtPolyDetail* pd = &detailMeshes[i];
-		swapEndian(&pd->vertBase);
+		dtSwapEndian(&pd->vertBase);
-		swapEndian(&pd->triBase);
+		dtSwapEndian(&pd->triBase);
 	}
 	
 	// Detail verts
 	for (int i = 0; i < header->detailVertCount*3; ++i)
 	{
-		swapEndian(&detailVerts[i]);
+		dtSwapEndian(&detailVerts[i]);
 	}
 
 	// BV-tree
@@ -750,10 +755,10 @@ bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
 		dtBVNode* node = &bvTree[i];
 		for (int j = 0; j < 3; ++j)
 		{
-			swapEndian(&node->bmin[j]);
+			dtSwapEndian(&node->bmin[j]);
-			swapEndian(&node->bmax[j]);
+			dtSwapEndian(&node->bmax[j]);
 		}
-		swapEndian(&node->i);
+		dtSwapEndian(&node->i);
 	}
 
 	// Off-mesh Connections.
@@ -761,9 +766,9 @@ bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
 	{
 		dtOffMeshConnection* con = &offMeshCons[i];
 		for (int j = 0; j < 6; ++j)
-			swapEndian(&con->pos[j]);
+			dtSwapEndian(&con->pos[j]);
-		swapEndian(&con->rad);
+		dtSwapEndian(&con->rad);
-		swapEndian(&con->poly);
+		dtSwapEndian(&con->poly);
 	}
 	
 	return true;

modules/worldengine/deps/recastnavigation/Detour/Source/DetourNode.cpp

@@ -24,6 +24,7 @@
 
 inline unsigned int dtHashRef(dtPolyRef a)
 {
+    // Edited by TC
     a = (~a) + (a << 18);
     a = a ^ (a >> 31);
     a = a * 21;
@@ -70,27 +71,46 @@ void dtNodePool::clear()
 	m_nodeCount = 0;
 }
 
-dtNode* dtNodePool::findNode(dtPolyRef id)
+unsigned int dtNodePool::findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes)
 {
+	int n = 0;
 	unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
 	dtNodeIndex i = m_first[bucket];
 	while (i != DT_NULL_IDX)
 	{
 		if (m_nodes[i].id == id)
+		{
+			if (n >= maxNodes)
+				return n;
+			nodes[n++] = &m_nodes[i];
+		}
+		i = m_next[i];
+	}
+
+	return n;
+}
+
+dtNode* dtNodePool::findNode(dtPolyRef id, unsigned char state)
+{
+	unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
+	dtNodeIndex i = m_first[bucket];
+	while (i != DT_NULL_IDX)
+	{
+		if (m_nodes[i].id == id && m_nodes[i].state == state)
 			return &m_nodes[i];
 		i = m_next[i];
 	}
 	return 0;
 }
 
-dtNode* dtNodePool::getNode(dtPolyRef id)
+dtNode* dtNodePool::getNode(dtPolyRef id, unsigned char state)
 {
 	unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
 	dtNodeIndex i = m_first[bucket];
 	dtNode* node = 0;
 	while (i != DT_NULL_IDX)
 	{
-		if (m_nodes[i].id == id)
+		if (m_nodes[i].id == id && m_nodes[i].state == state)
 			return &m_nodes[i];
 		i = m_next[i];
 	}
@@ -107,6 +127,7 @@ dtNode* dtNodePool::getNode(dtPolyRef id)
 	node->cost = 0;
 	node->total = 0;
 	node->id = id;
+	node->state = state;
 	node->flags = 0;
 	
 	m_next[i] = m_first[bucket];

modules/worldengine/lib-collision/src/CMakeLists.txt

@@ -33,7 +33,7 @@ set(collision_STAT_SRCS
 include_directories(
   ${CMAKE_BINARY_DIR}
   ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/g3dlite/include
-  ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/recastnavigation/Detour
+  ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/recastnavigation/Detour/Include
   ${CMAKE_SOURCE_DIR}/modules/worldengine/nucleus/src
   ${CMAKE_SOURCE_DIR}/modules/worldengine/nucleus/src/Configuration
   ${CMAKE_SOURCE_DIR}/modules/worldengine/nucleus/src/Debugging

modules/worldengine/lib-collision/src/Maps/TileAssembler.h

@@ -34,7 +34,7 @@ namespace VMAP
             float iScale;
             void init()
             {
-                iRotation = G3D::Matrix3::fromEulerAnglesZYX(G3D::pi()*iDir.y/180.f, G3D::pi()*iDir.x/180.f, G3D::pi()*iDir.z/180.f);
+                iRotation = G3D::Matrix3::fromEulerAnglesZYX(G3D::pif()*iDir.y/180.f, G3D::pif()*iDir.x/180.f, G3D::pif()*iDir.z/180.f);
             }
             G3D::Vector3 transform(const G3D::Vector3& pIn) const;
             void moveToBasePos(const G3D::Vector3& pBasePos) { iPos -= pBasePos; }

modules/worldengine/nucleus/src/Utilities/StringFormat.h

@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2008-2016 TrinityCore <http://www.trinitycore.org/>
+ * Copyright (C) 2005-2009 MaNGOS <http://getmangos.com/>
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation; either version 2 of the License, or (at your
+ * option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ * more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __STRING_FORMAT_H__
+#define __STRING_FORMAT_H__
+
+#include <memory>
+#include <iostream>
+#include <string>
+#include <cstdio>
+
+namespace Trinity
+{
+    /// Default TC string format function.
+    template<typename... Args>
+    inline std::string StringFormat(const std::string& format, Args const&... args)
+    {
+        size_t size = std::snprintf(nullptr, 0, format.c_str(), args ...) + 1; // Extra space for '\0'
+        unique_ptr<char[]> buf(new char[size]);
+        std::snprintf(buf.get(), size, format.c_str(), args ...);
+        return std::string(buf.get(), buf.get() + size - 1); // We don
+    }
+
+    /// Returns true if the given char pointer is null.
+    inline bool IsFormatEmptyOrNull(const char* fmt)
+    {
+        return fmt == nullptr;
+    }
+
+    /// Returns true if the given std::string is empty.
+    inline bool IsFormatEmptyOrNull(std::string const& fmt)
+    {
+        return fmt.empty();
+    }
+}
+
+#endif

src/game/AI/SmartScripts/SmartScriptMgr.cpp

@@ -429,7 +429,7 @@ bool SmartAIMgr::IsEventValid(SmartScriptHolder& e)
                     sLog->outErrorDb("SmartAIMgr: Entry %d SourceType %u Event %u Action %u uses non-existent Map entry %u, skipped.", e.entryOrGuid, e.GetScriptType(), e.event_id, e.GetActionType(), e.event.respawn.map);
                     return false;
                 }
-                if (e.event.respawn.type == SMART_SCRIPT_RESPAWN_CONDITION_AREA && !GetAreaEntryByAreaID(e.event.respawn.area))
+                if (e.event.respawn.type == SMART_SCRIPT_RESPAWN_CONDITION_AREA && !sAreaTableStore.LookupEntry(e.event.respawn.area))
                 {
                     sLog->outErrorDb("SmartAIMgr: Entry %d SourceType %u Event %u Action %u uses non-existent Area entry %u, skipped.", e.entryOrGuid, e.GetScriptType(), e.event_id, e.GetActionType(), e.event.respawn.area);
                     return false;

src/game/Achievements/AchievementMgr.cpp

@@ -167,7 +167,7 @@ bool AchievementCriteriaData::IsValid(AchievementCriteriaEntry const* criteria)
             return true;
         }
         case ACHIEVEMENT_CRITERIA_DATA_TYPE_S_AREA:
-            if (!GetAreaEntryByAreaID(area.id))
+            if (!sAreaTableStore.LookupEntry(area.id))
             {
                 sLog->outErrorDb("Table `achievement_criteria_data` (Entry: %u Type: %u) for data type ACHIEVEMENT_CRITERIA_DATA_TYPE_S_AREA (%u) has wrong area id in value1 (%u), ignored.",
                     criteria->ID, criteria->requiredType, dataType, area.id);
@@ -1277,17 +1277,15 @@ void AchievementMgr::UpdateAchievementCriteria(AchievementCriteriaTypes type, ui
                 bool matchFound = false;
                 for (int j = 0; j < MAX_WORLD_MAP_OVERLAY_AREA_IDX; ++j)
                 {
-                    uint32 area_id = worldOverlayEntry->areatableID[j];
+                    AreaTableEntry const* area = sAreaTableStore.LookupEntry(worldOverlayEntry->areatableID[j]);
-                    if (!area_id)                            // array have 0 only in empty tail
+                    if (!area)
                         break;
 
-                    int32 exploreFlag = GetAreaFlagByAreaID(area_id);
+                    uint32 playerIndexOffset = uint32(area->exploreFlag) / 32;
-                    if (exploreFlag < 0)
+                    if (playerIndexOffset >= PLAYER_EXPLORED_ZONES_SIZE)
                         continue;
 
-                    uint32 playerIndexOffset = uint32(exploreFlag) / 32;
+                    uint32 mask = 1 << (uint32(area->exploreFlag) % 32);
-                    uint32 mask = 1<< (uint32(exploreFlag) % 32);
-
                     if (GetPlayer()->GetUInt32Value(PLAYER_EXPLORED_ZONES_1 + playerIndexOffset) & mask)
                     {
                         matchFound = true;

src/game/CMakeLists.txt

@@ -111,7 +111,7 @@ set(game_STAT_SRCS
 include_directories(
   ${game_INCLUDE_DIRS}
   ${CMAKE_BINARY_DIR}
-  ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/recastnavigation/Detour
+  ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/recastnavigation/Detour/Include
   ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/recastnavigation/Recast
   ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/g3dlite/include
   ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/SFMT

src/game/Chat/Chat.cpp

@@ -301,11 +301,11 @@ bool ChatHandler::ExecuteCommandInTable(std::vector<ChatCommand> const& table, c
                 uint32 areaId = player->GetAreaId();
                 std::string areaName = "Unknown";
                 std::string zoneName = "Unknown";
-                if (AreaTableEntry const* area = GetAreaEntryByAreaID(areaId))
+                if (AreaTableEntry const* area = sAreaTableStore.LookupEntry(areaId))
                 {
                     int locale = GetSessionDbcLocale();
                     areaName = area->area_name[locale];
-                    if (AreaTableEntry const* zone = GetAreaEntryByAreaID(area->zone))
+                    if (AreaTableEntry const* zone = sAreaTableStore.LookupEntry(area->zone))
                         zoneName = zone->area_name[locale];
                 }
 

src/game/Conditions/ConditionMgr.cpp

@@ -1658,7 +1658,7 @@ bool ConditionMgr::isConditionTypeValid(Condition* cond)
         }
         case CONDITION_ZONEID:
         {
-            AreaTableEntry const* areaEntry = GetAreaEntryByAreaID(cond->ConditionValue1);
+            AreaTableEntry const* areaEntry = sAreaTableStore.LookupEntry(cond->ConditionValue1);
             if (!areaEntry)
             {
                 sLog->outErrorDb("ZoneID condition has non existing area (%u), skipped", cond->ConditionValue1);

src/game/DataStores/DBCStores.cpp

@@ -38,11 +38,9 @@ struct WMOAreaTableTripple
 
 typedef std::map<WMOAreaTableTripple, WMOAreaTableEntry const*> WMOAreaInfoByTripple;
 
-DBCStorage <AreaTableEntry> sAreaStore(AreaTableEntryfmt);
+DBCStorage <AreaTableEntry> sAreaTableStore(AreaTableEntryfmt);
 DBCStorage <AreaGroupEntry> sAreaGroupStore(AreaGroupEntryfmt);
 DBCStorage <AreaPOIEntry> sAreaPOIStore(AreaPOIEntryfmt);
-static AreaFlagByAreaID sAreaFlagByAreaID;
-static AreaFlagByMapID sAreaFlagByMapID;                    // for instances without generated *.map files
 
 static WMOAreaInfoByTripple sWMOAreaInfoByTripple;
 
@@ -255,21 +253,7 @@ void LoadDBCStores(const std::string& dataPath)
     StoreProblemList bad_dbc_files;
     uint32 availableDbcLocales = 0xFFFFFFFF;
 
-    LoadDBC(availableDbcLocales, bad_dbc_files, sAreaStore,                   dbcPath, "AreaTable.dbc");
+    LoadDBC(availableDbcLocales, bad_dbc_files, sAreaTableStore, dbcPath, "AreaTable.dbc");
-
-    // must be after sAreaStore loading
-    for (uint32 i = 0; i < sAreaStore.GetNumRows(); ++i)           // areaflag numbered from 0
-    {
-        if (AreaTableEntry const* area = sAreaStore.LookupEntry(i))
-        {
-            // fill AreaId->DBC records
-            sAreaFlagByAreaID.insert(AreaFlagByAreaID::value_type(uint16(area->ID), area->exploreFlag));
-
-            // fill MapId->DBC records (skip sub zones and continents)
-            if (area->zone == 0 && area->mapid != 0 && area->mapid != 1 && area->mapid != 530 && area->mapid != 571)
-                sAreaFlagByMapID.insert(AreaFlagByMapID::value_type(area->mapid, area->exploreFlag));
-        }
-    }
 
     LoadDBC(availableDbcLocales, bad_dbc_files, sAchievementStore,            dbcPath, "Achievement.dbc", &CustomAchievementfmt, &CustomAchievementIndex);
     LoadDBC(availableDbcLocales, bad_dbc_files, sAchievementCriteriaStore,    dbcPath, "Achievement_Criteria.dbc");
@@ -626,7 +610,7 @@ void LoadDBCStores(const std::string& dataPath)
     }
 
     // Check loaded DBC files proper version
-    if (!sAreaStore.LookupEntry(3617)              ||       // last area (areaflag) added in 3.3.5a
+    if (!sAreaTableStore.LookupEntry(4987)         ||       // last area added in 3.3.5a
         !sCharTitlesStore.LookupEntry(177)         ||       // last char title added in 3.3.5a
         !sGemPropertiesStore.LookupEntry(1629)     ||       // last added spell in 3.3.5a
         !sItemStore.LookupEntry(56806)             ||       // last gem property added in 3.3.5a
@@ -678,50 +662,12 @@ uint32 GetTalentSpellCost(uint32 spellId)
     return 0;
 }
 
-int32 GetAreaFlagByAreaID(uint32 area_id)
-{
-    AreaFlagByAreaID::iterator i = sAreaFlagByAreaID.find(area_id);
-    if (i == sAreaFlagByAreaID.end())
-        return -1;
-
-    return i->second;
-}
-
 WMOAreaTableEntry const* GetWMOAreaTableEntryByTripple(int32 rootid, int32 adtid, int32 groupid)
 {
     WMOAreaInfoByTripple::iterator i = sWMOAreaInfoByTripple.find(WMOAreaTableTripple(rootid, adtid, groupid));
-        if (i == sWMOAreaInfoByTripple.end())
+    if (i == sWMOAreaInfoByTripple.end())
-            return NULL;
-        return i->second;
-}
-
-AreaTableEntry const* GetAreaEntryByAreaID(uint32 area_id)
-{
-    int32 areaflag = GetAreaFlagByAreaID(area_id);
-    if (areaflag < 0)
         return NULL;
-
+    return i->second;
-    return sAreaStore.LookupEntry(areaflag);
-}
-
-AreaTableEntry const* GetAreaEntryByAreaFlagAndMap(uint32 area_flag, uint32 map_id)
-{
-    if (area_flag)
-        return sAreaStore.LookupEntry(area_flag);
-
-    if (MapEntry const* mapEntry = sMapStore.LookupEntry(map_id))
-        return GetAreaEntryByAreaID(mapEntry->linked_zone);
-
-    return NULL;
-}
-
-uint32 GetAreaFlagByMapId(uint32 mapid)
-{
-    AreaFlagByMapID::iterator i = sAreaFlagByMapID.find(mapid);
-    if (i == sAreaFlagByMapID.end())
-        return 0;
-    else
-        return i->second;
 }
 
 uint32 GetVirtualMapForMapAndZone(uint32 mapid, uint32 zoneId)

src/game/DataStores/DBCStores.h

@@ -20,11 +20,6 @@ char* GetPetName(uint32 petfamily, uint32 dbclang);
 uint32 GetTalentSpellCost(uint32 spellId);
 TalentSpellPos const* GetTalentSpellPos(uint32 spellId);
 
-int32 GetAreaFlagByAreaID(uint32 area_id);                  // -1 if not found
-AreaTableEntry const* GetAreaEntryByAreaID(uint32 area_id);
-AreaTableEntry const* GetAreaEntryByAreaFlagAndMap(uint32 area_flag, uint32 map_id);
-uint32 GetAreaFlagByMapId(uint32 mapid);
-
 WMOAreaTableEntry const* GetWMOAreaTableEntryByTripple(int32 rootid, int32 adtid, int32 groupid);
 
 uint32 GetVirtualMapForMapAndZone(uint32 mapid, uint32 zoneId);
@@ -58,7 +53,7 @@ uint32 GetDefaultMapLight(uint32 mapId);
 
 extern DBCStorage <AchievementEntry>             sAchievementStore;
 extern DBCStorage <AchievementCriteriaEntry>     sAchievementCriteriaStore;
-extern DBCStorage <AreaTableEntry>               sAreaStore;// recommend access using functions
+extern DBCStorage <AreaTableEntry>               sAreaTableStore;
 extern DBCStorage <AreaGroupEntry>               sAreaGroupStore;
 extern DBCStorage <AreaPOIEntry>                 sAreaPOIStore;
 extern DBCStorage <AreaTriggerEntry>             sAreaTriggerStore;

src/game/DataStores/DBCfmt.h

@@ -11,7 +11,7 @@ char const Achievementfmt[] = "niixssssssssssssssssxxxxxxxxxxxxxxxxxxiixixxxxxxx
 const std::string CustomAchievementfmt="pppaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaapapaaaaaaaaaaaaaaaaaapp";
 const std::string CustomAchievementIndex = "ID";
 char const AchievementCriteriafmt[] = "niiiiiiiixxxxxxxxxxxxxxxxxiiiix";
-char const AreaTableEntryfmt[] = "iiinixxxxxissssssssssssssssxiiiiixxx";
+char const AreaTableEntryfmt[] = "niiiixxxxxissssssssssssssssxiiiiixxx";
 char const AreaGroupEntryfmt[] = "niiiiiii";
 char const AreaPOIEntryfmt[] = "niiiiiiiiiiifffixixxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxix";
 char const AreaTriggerEntryfmt[] = "niffffffff";

src/game/Entities/Player/Player.cpp

@@ -5577,11 +5577,11 @@ void Player::RepopAtGraveyard()
     // note: this can be called also when the player is alive
     // for example from WorldSession::HandleMovementOpcodes
 
-    AreaTableEntry const* zone = GetAreaEntryByAreaID(GetAreaId());
+    AreaTableEntry const* zone = sAreaTableStore.LookupEntry(GetAreaId());
 
     // Such zones are considered unreachable as a ghost and the player must be automatically revived
     // Xinef: Get Transport Check is not needed
-    if ((!IsAlive() && zone && zone->flags & AREA_FLAG_NEED_FLY) /*|| GetTransport()*/ || GetPositionZ() < -500.0f)
+    if ((!IsAlive() && zone && zone->flags & AREA_FLAG_NEED_FLY) /*|| GetTransport()*/ || GetPositionZ() < GetMap()->GetMinHeight(GetPositionX(), GetPositionY()))
     {
         ResurrectPlayer(0.5f);
         SpawnCorpseBones();
@@ -5618,8 +5618,10 @@ void Player::RepopAtGraveyard()
             GetSession()->SendPacket(&data);
         }
     }
-    else if (GetPositionZ() < -500.0f)
+    else if (GetPositionZ() < GetMap()->GetMinHeight(GetPositionX(), GetPositionY()))
         TeleportTo(m_homebindMapId, m_homebindX, m_homebindY, m_homebindZ, GetOrientation());
+
+    RemoveFlag(PLAYER_FLAGS, PLAYER_FLAGS_IS_OUT_OF_BOUNDS);
 }
 
 bool Player::CanJoinConstantChannelInZone(ChatChannelsEntry const* channel, AreaTableEntry const* zone)
@@ -5671,7 +5673,7 @@ void Player::UpdateLocalChannels(uint32 newZone)
     if (GetSession()->PlayerLoading() && !IsBeingTeleportedFar())
         return;                                              // The client handles it automatically after loading, but not after teleporting
 
-    AreaTableEntry const* current_zone = GetAreaEntryByAreaID(newZone);
+    AreaTableEntry const* current_zone = sAreaTableStore.LookupEntry(newZone);
     if (!current_zone)
         return;
 
@@ -6894,24 +6896,33 @@ void Player::CheckAreaExploreAndOutdoor()
         return;
 
     bool isOutdoor = IsOutdoors();
-    uint32 areaFlag = GetAreaFlagByAreaID(GetAreaId());
+    uint32 areaId = GetBaseMap()->GetAreaId(GetPositionX(), GetPositionY(), GetPositionZ(), &isOutdoor);
+    AreaTableEntry const* areaEntry = sAreaTableStore.LookupEntry(areaId);
  
     if (sWorld->getBoolConfig(CONFIG_VMAP_INDOOR_CHECK) && !isOutdoor)
         RemoveAurasWithAttribute(SPELL_ATTR0_OUTDOORS_ONLY);
 
-    if (areaFlag == 0xffff)
+    if (!areaId)
         return;
-    int offset = areaFlag / 32;
+
+    if (!areaEntry)
+    {
+     sLog->outError("Player '%s' (%u) discovered unknown area (x: %f y: %f z: %f map: %u)",
+            GetName().c_str(), GetGUIDLow(), GetPositionX(), GetPositionY(), GetPositionZ(), GetMapId());
+        return;
+    }
+
+    uint32 offset = areaEntry->exploreFlag / 32;
 
     if (offset >= PLAYER_EXPLORED_ZONES_SIZE)
     {
 #if defined(ENABLE_EXTRAS) && defined(ENABLE_EXTRA_LOGS)
-        sLog->outError("Wrong area flag %u in map data for (X: %f Y: %f) point to field PLAYER_EXPLORED_ZONES_1 + %u ( %u must be < %u ).", areaFlag, GetPositionX(), GetPositionY(), offset, offset, PLAYER_EXPLORED_ZONES_SIZE);
+        sLog->outError("Wrong area flag %u in map data for (X: %f Y: %f) point to field PLAYER_EXPLORED_ZONES_1 + %u ( %u must be < %u ).", areaEntry->flags, GetPositionX(), GetPositionY(), offset, offset, PLAYER_EXPLORED_ZONES_SIZE);
 #endif
         return;
     }
 
-    uint32 val = (uint32)(1 << (areaFlag % 32));
+    uint32 val = (uint32)(1 << (areaEntry->exploreFlag % 32));
     uint32 currFields = GetUInt32Value(PLAYER_EXPLORED_ZONES_1 + offset);
 
     if (!(currFields & val))
@@ -6920,19 +6931,11 @@ void Player::CheckAreaExploreAndOutdoor()
 
         UpdateAchievementCriteria(ACHIEVEMENT_CRITERIA_TYPE_EXPLORE_AREA, GetAreaId());
 
-        AreaTableEntry const* areaEntry = GetAreaEntryByAreaFlagAndMap(areaFlag, GetMapId());
-        if (!areaEntry)
-        {
-            sLog->outError("Player %u discovered unknown area (x: %f y: %f z: %f map: %u", GetGUIDLow(), GetPositionX(), GetPositionY(), GetPositionZ(), GetMapId());
-            return;
-        }
-
         if (areaEntry->area_level > 0)
         {
-            uint32 area = areaEntry->ID;
             if (getLevel() >= sWorld->getIntConfig(CONFIG_MAX_PLAYER_LEVEL))
             {
-                SendExplorationExperience(area, 0);
+                SendExplorationExperience(areaId, 0);
             }
             else
             {
@@ -6958,10 +6961,10 @@ void Player::CheckAreaExploreAndOutdoor()
                 }
 
                 GiveXP(XP, NULL);
-                SendExplorationExperience(area, XP);
+                SendExplorationExperience(areaId, XP);
             }
 #if defined(ENABLE_EXTRAS) && defined(ENABLE_EXTRA_LOGS)
-            sLog->outDetail("Player %u discovered a new area: %u", GetGUIDLow(), area);
+            sLog->outDetail("Player %u discovered a new area: %u", GetGUIDLow(), areaId);
 #endif
         }
     }
@@ -7533,7 +7536,7 @@ void Player::UpdateArea(uint32 newArea)
     // so apply them accordingly
     m_areaUpdateId = newArea;
 
-    AreaTableEntry const* area = GetAreaEntryByAreaID(newArea);
+    AreaTableEntry const* area = sAreaTableStore.LookupEntry(newArea);
     bool oldFFAPvPArea = pvpInfo.IsInFFAPvPArea;
     pvpInfo.IsInFFAPvPArea = area && (area->flags & AREA_FLAG_ARENA);
     UpdatePvPState(true);
@@ -7568,7 +7571,7 @@ void Player::UpdateArea(uint32 newArea)
     }
 
     // Xinef: area should inherit zone flags
-    AreaTableEntry const* zone = GetAreaEntryByAreaID(area->zone);
+    AreaTableEntry const* zone = sAreaTableStore.LookupEntry(area->zone);
     uint32 areaFlags = area->flags;
     bool isSanctuary = area->IsSanctuary();
     bool isInn = area->IsInn(GetTeamId(true));
@@ -7656,7 +7659,7 @@ void Player::UpdateZone(uint32 newZone, uint32 newArea)
     // zone changed, so area changed as well, update it
     UpdateArea(newArea);
 
-    AreaTableEntry const* zone = GetAreaEntryByAreaID(newZone);
+    AreaTableEntry const* zone = sAreaTableStore.LookupEntry(newZone);
     if (!zone)
         return;
 

src/game/Entities/Unit/Unit.cpp

@@ -3395,6 +3395,15 @@ int32 Unit::GetCurrentSpellCastTime(uint32 spell_id) const
     return 0;
 }
 
+bool Unit::CanMoveDuringChannel() const
+{
+    if (Spell* spell = m_currentSpells[CURRENT_CHANNELED_SPELL])
+        if (spell->getState() != SPELL_STATE_FINISHED)
+            return spell->GetSpellInfo()->HasAttribute(SPELL_ATTR5_CAN_CHANNEL_WHEN_MOVING) && spell->IsChannelActive();
+
+    return false;
+}
+
 bool Unit::isInFrontInMap(Unit const* target, float distance,  float arc) const
 {
     return IsWithinDistInMap(target, distance) && HasInArc(arc, target);

src/game/Entities/Unit/Unit.h

@@ -2048,6 +2048,9 @@ class Unit : public WorldObject
         // delayed+channeled spells are always interrupted
         void InterruptNonMeleeSpells(bool withDelayed, uint32 spellid = 0, bool withInstant = true, bool bySelf = false);
 
+        // Check if our current channel spell has attribute SPELL_ATTR5_CAN_CHANNEL_WHEN_MOVING
+        bool CanMoveDuringChannel() const;
+
         Spell* GetCurrentSpell(CurrentSpellTypes spellType) const { return m_currentSpells[spellType]; }
         Spell* GetCurrentSpell(uint32 spellType) const { return m_currentSpells[spellType]; }
         Spell* FindCurrentSpellBySpellId(uint32 spell_id) const;

src/game/Globals/ObjectMgr.cpp

@@ -2720,7 +2720,7 @@ void ObjectMgr::LoadItemTemplates()
             itemTemplate.ItemSet = 0;
         }
 
-        if (itemTemplate.Area && !GetAreaEntryByAreaID(itemTemplate.Area))
+        if (itemTemplate.Area && !sAreaTableStore.LookupEntry(itemTemplate.Area))
             sLog->outErrorDb("Item (Entry: %u) has wrong Area (%u)", entry, itemTemplate.Area);
 
         if (itemTemplate.Map && !sMapStore.LookupEntry(itemTemplate.Map))
@@ -4022,7 +4022,7 @@ void ObjectMgr::LoadQuests()
         // client quest log visual (area case)
         if (qinfo->ZoneOrSort > 0)
         {
-            if (!GetAreaEntryByAreaID(qinfo->ZoneOrSort))
+            if (!sAreaTableStore.LookupEntry(qinfo->ZoneOrSort))
             {
                 sLog->outErrorDb("Quest %u has `ZoneOrSort` = %u (zone case) but zone with this id does not exist.",
                     qinfo->GetQuestId(), qinfo->ZoneOrSort);
@@ -5845,7 +5845,7 @@ void ObjectMgr::LoadGraveyardZones()
             continue;
         }
 
-        AreaTableEntry const* areaEntry = GetAreaEntryByAreaID(zoneId);
+        AreaTableEntry const* areaEntry = sAreaTableStore.LookupEntry(zoneId);
         if (!areaEntry)
         {
             sLog->outErrorDb("Table `game_graveyard_zone` has a record for not existing zone id (%u), skipped.", zoneId);
@@ -7893,7 +7893,7 @@ void ObjectMgr::LoadFishingBaseSkillLevel()
         uint32 entry  = fields[0].GetUInt32();
         int32 skill   = fields[1].GetInt16();
 
-        AreaTableEntry const* fArea = GetAreaEntryByAreaID(entry);
+        AreaTableEntry const* fArea = sAreaTableStore.LookupEntry(entry);
         if (!fArea)
         {
             sLog->outErrorDb("AreaId %u defined in `skill_fishing_base_level` does not exist", entry);

src/game/Grids/GridDefines.h

@@ -23,7 +23,7 @@ class Player;
 
 #define MAX_NUMBER_OF_GRIDS      64
 
-#define SIZE_OF_GRIDS            533.33333f
+#define SIZE_OF_GRIDS            533.3333f
 #define CENTER_GRID_ID           (MAX_NUMBER_OF_GRIDS/2)
 
 #define CENTER_GRID_OFFSET      (SIZE_OF_GRIDS/2)

src/game/Handlers/ChannelHandler.cpp

@@ -27,7 +27,7 @@ void WorldSession::HandleJoinChannel(WorldPacket& recvPacket)
         if (!channel)
             return;
 
-        AreaTableEntry const* zone = GetAreaEntryByAreaID(GetPlayer()->GetZoneId());
+        AreaTableEntry const* zone = sAreaTableStore.LookupEntry(GetPlayer()->GetZoneId());
         if (!zone || !GetPlayer()->CanJoinConstantChannelInZone(channel, zone))
             return;
     }

src/game/Handlers/MiscHandler.cpp

@@ -360,7 +360,7 @@ void WorldSession::HandleWhoOpcode(WorldPacket& recvData)
             continue;
 
         std::string aname;
-        if (AreaTableEntry const* areaEntry = GetAreaEntryByAreaID(itr->second->GetZoneId()))
+        if (AreaTableEntry const* areaEntry = sAreaTableStore.LookupEntry(itr->second->GetZoneId()))
             aname = areaEntry->area_name[GetSessionDbcLocale()];
 
         bool s_show = true;
@@ -1934,7 +1934,7 @@ void WorldSession::HandleHearthAndResurrect(WorldPacket& /*recv_data*/)
         return;
     }
 
-    AreaTableEntry const* atEntry = GetAreaEntryByAreaID(_player->GetAreaId());
+    AreaTableEntry const* atEntry = sAreaTableStore.LookupEntry(_player->GetAreaId());
     if (!atEntry || !(atEntry->flags & AREA_FLAG_WINTERGRASP_2))
         return;
 

src/game/Handlers/MovementHandler.cpp

@@ -474,16 +474,26 @@ void WorldSession::HandleMovementOpcodes(WorldPacket & recvData)
 
         plrMover->UpdateFallInformationIfNeed(movementInfo, opcode);
 
-        if (movementInfo.pos.GetPositionZ() < -500.0f)
+        if (movementInfo.pos.GetPositionZ() < plrMover->GetMap()->GetMinHeight(movementInfo.pos.GetPositionX(), movementInfo.pos.GetPositionY()))
             if (!plrMover->GetBattleground() || !plrMover->GetBattleground()->HandlePlayerUnderMap(_player))
             {
                 if (plrMover->IsAlive())
                 {
+                    plrMover->SetFlag(PLAYER_FLAGS, PLAYER_FLAGS_IS_OUT_OF_BOUNDS);
                     plrMover->EnvironmentalDamage(DAMAGE_FALL_TO_VOID, GetPlayer()->GetMaxHealth());
                     // player can be alive if GM
                     if (plrMover->IsAlive())
                         plrMover->KillPlayer();
                 }
+                else if (!plrMover->HasFlag(PLAYER_FLAGS, PLAYER_FLAGS_IS_OUT_OF_BOUNDS))
+                {
+                    WorldSafeLocsEntry const* grave = sObjectMgr->GetClosestGraveyard(plrMover->GetPositionX(), plrMover->GetPositionY(), plrMover->GetPositionZ(), plrMover->GetMapId(), plrMover->GetTeamId());
+
+                    if ( grave)
+                        plrMover->TeleportTo(grave->map_id, grave->x, grave->y, grave->z, plrMover->GetOrientation());
+                    plrMover->Relocate(grave->x, grave->y, grave->z, plrMover->GetOrientation());
+                }
+
                 plrMover->StopMovingOnCurrentPos(); // pussywizard: moving corpse can't release spirit
             }
     }

src/game/Loot/LootMgr.cpp

@@ -1598,8 +1598,8 @@ void LoadLootTemplates_Fishing()
     uint32 count = LootTemplates_Fishing.LoadAndCollectLootIds(lootIdSet);
 
     // remove real entries and check existence loot
-    for (uint32 i = 1; i < sAreaStore.GetNumRows(); ++i)
+    for (uint32 i = 1; i < sAreaTableStore.GetNumRows(); ++i)
-        if (AreaTableEntry const* areaEntry = sAreaStore.LookupEntry(i))
+        if (AreaTableEntry const* areaEntry = sAreaTableStore.LookupEntry(i))
             if (lootIdSet.find(areaEntry->ID) != lootIdSet.end())
                 lootIdSet.erase(areaEntry->ID);
 
@@ -1784,8 +1784,8 @@ void LoadLootTemplates_Mail()
     uint32 count = LootTemplates_Mail.LoadAndCollectLootIds(lootIdSet);
 
     // remove real entries and check existence loot
-    for (uint32 i = 1; i < sMailTemplateStore.GetNumRows(); ++i)
+    for (uint32 i = 1; i < sAreaTableStore.GetNumRows(); ++i)
-        if (sMailTemplateStore.LookupEntry(i))
+        if (sAreaTableStore.LookupEntry(i))
             if (lootIdSet.find(i) != lootIdSet.end())
                 lootIdSet.erase(i);
 

src/game/Maps/Map.cpp

@@ -32,7 +32,7 @@ union u_map_magic
 };
 
 u_map_magic MapMagic        = { {'M','A','P','S'} };
-u_map_magic MapVersionMagic = { {'v','1','.','3'} };
+u_map_magic MapVersionMagic = { {'v','1','.','8'} };
 u_map_magic MapAreaMagic    = { {'A','R','E','A'} };
 u_map_magic MapHeightMagic  = { {'M','H','G','T'} };
 u_map_magic MapLiquidMagic  = { {'M','L','I','Q'} };
@@ -1200,13 +1200,15 @@ GridMap::GridMap()
     _flags = 0;
     // Area data
     _gridArea = 0;
-    _areaMap = NULL;
+    _areaMap = nullptr;
     // Height level data
     _gridHeight = INVALID_HEIGHT;
     _gridGetHeight = &GridMap::getHeightFromFlat;
     _gridIntHeightMultiplier = 0;
-    m_V9 = NULL;
+    m_V9 = nullptr;
-    m_V8 = NULL;
+    m_V8 = nullptr;
+    _maxHeight = nullptr;
+    _minHeight = nullptr;
     // Liquid data
     _liquidType    = 0;
     _liquidOffX   = 0;
@@ -1214,9 +1216,9 @@ GridMap::GridMap()
     _liquidWidth  = 0;
     _liquidHeight = 0;
     _liquidLevel = INVALID_HEIGHT;
-    _liquidEntry = NULL;
+    _liquidEntry = nullptr;
-    _liquidFlags = NULL;
+    _liquidFlags = nullptr;
-    _liquidMap  = NULL;
+    _liquidMap  = nullptr;
 }
 
 GridMap::~GridMap()
@@ -1277,15 +1279,19 @@ void GridMap::unloadData()
     delete[] _areaMap;
     delete[] m_V9;
     delete[] m_V8;
+    delete[] _maxHeight;
+    delete[] _minHeight;
     delete[] _liquidEntry;
     delete[] _liquidFlags;
     delete[] _liquidMap;
-    _areaMap = NULL;
+    _areaMap = nullptr;
-    m_V9 = NULL;
+    m_V9 = nullptr;
-    m_V8 = NULL;
+    m_V8 = nullptr;
-    _liquidEntry = NULL;
+    _maxHeight = nullptr;
-    _liquidFlags = NULL;
+    _minHeight = nullptr;
-    _liquidMap  = NULL;
+    _liquidEntry = nullptr;
+    _liquidFlags = nullptr;
+    _liquidMap  = nullptr;
     _gridGetHeight = &GridMap::getHeightFromFlat;
 }
 
@@ -1350,6 +1356,16 @@ bool GridMap::loadHeightData(FILE* in, uint32 offset, uint32 /*size*/)
     }
     else
         _gridGetHeight = &GridMap::getHeightFromFlat;
+
+    if (header.flags & MAP_HEIGHT_HAS_FLIGHT_BOUNDS)
+    {
+        _maxHeight = new int16[3 * 3];
+        _minHeight = new int16[3 * 3];
+        if (fread(_maxHeight, sizeof(int16), 3 * 3, in) != 3 * 3 ||
+            fread(_minHeight, sizeof(int16), 3 * 3, in) != 3 * 3)
+            return false;
+    }
+
     return true;
 }
 
@@ -1620,6 +1636,66 @@ float GridMap::getHeightFromUint16(float x, float y) const
     return (float)((a * x) + (b * y) + c)*_gridIntHeightMultiplier + _gridHeight;
 }
 
+float GridMap::getMinHeight(float x, float y) const
+{
+    if (!_minHeight)
+        return -500.0f;
+
+    static uint32 const indices[] =
+    {
+        3, 0, 4,
+        0, 1, 4,
+        1, 2, 4,
+        2, 5, 4,
+        5, 8, 4,
+        8, 7, 4,
+        7, 6, 4,
+        6, 3, 4
+    };
+
+    static float const boundGridCoords[] =
+    {
+        0.0f, 0.0f,
+        0.0f, -266.66666f,
+        0.0f, -533.33331f,
+        -266.66666f, 0.0f,
+        -266.66666f, -266.66666f,
+        -266.66666f, -533.33331f,
+        -533.33331f, 0.0f,
+        -533.33331f, -266.66666f,
+        -533.33331f, -533.33331f
+    };
+
+    Cell cell(x, y);
+    float gx = x - (int32(cell.GridX()) - CENTER_GRID_ID + 1) * SIZE_OF_GRIDS;
+    float gy = y - (int32(cell.GridY()) - CENTER_GRID_ID + 1) * SIZE_OF_GRIDS;
+
+    uint32 quarterIndex = 0;
+    if (cell.CellY() < MAX_NUMBER_OF_CELLS / 2)
+    {
+        if (cell.CellX() < MAX_NUMBER_OF_CELLS / 2)
+        {
+            quarterIndex = 4 + (gy > gx);
+        }
+        else
+            quarterIndex = 2 + ((-SIZE_OF_GRIDS - gx) > gy);
+    }
+    else if (cell.CellX() < MAX_NUMBER_OF_CELLS / 2)
+    {
+        quarterIndex = 6 + ((-SIZE_OF_GRIDS - gx) <= gy);
+    }
+    else
+        quarterIndex = gx > gy;
+
+    quarterIndex *= 3;
+
+    return G3D::Plane(
+        G3D::Vector3(boundGridCoords[indices[quarterIndex + 0] * 2 + 0], boundGridCoords[indices[quarterIndex + 0] * 2 + 1], _minHeight[indices[quarterIndex + 0]]),
+        G3D::Vector3(boundGridCoords[indices[quarterIndex + 1] * 2 + 0], boundGridCoords[indices[quarterIndex + 1] * 2 + 1], _minHeight[indices[quarterIndex + 1]]),
+        G3D::Vector3(boundGridCoords[indices[quarterIndex + 2] * 2 + 0], boundGridCoords[indices[quarterIndex + 2] * 2 + 1], _minHeight[indices[quarterIndex + 2]])
+    ).distance(G3D::Vector3(gx, gy, 0.0f));
+}
+
 float GridMap::getLiquidLevel(float x, float y) const
 {
     if (!_liquidMap)
@@ -1679,12 +1755,12 @@ inline ZLiquidStatus GridMap::getLiquidStatus(float x, float y, float z, uint8 R
             uint32 liqTypeIdx = liquidEntry->Type;
             if (entry < 21)
             {
-                if (AreaTableEntry const* area = GetAreaEntryByAreaFlagAndMap(getArea(x, y), MAPID_INVALID))
+                if (AreaTableEntry const* area = sAreaTableStore.LookupEntry(getArea(x, y)))
                 {
                     uint32 overrideLiquid = area->LiquidTypeOverride[liquidEntry->Type];
                     if (!overrideLiquid && area->zone)
                     {
-                        area = GetAreaEntryByAreaID(area->zone);
+                        area = sAreaTableStore.LookupEntry(area->zone);
                         if (area)
                             overrideLiquid = area->LiquidTypeOverride[liquidEntry->Type];
                     }
@@ -1835,7 +1911,7 @@ float Map::GetHeight(float x, float y, float z, bool checkVMap /*= true*/, float
 
             // we are already under the surface or vmap height above map heigt
             // or if the distance of the vmap height is less the land height distance
-            if (vmapHeight > mapHeight || std::fabs(mapHeight - z) > std::fabs(vmapHeight - z))
+            if (vmapHeight > mapHeight || fabs(mapHeight-z) > fabs(vmapHeight-z))
                 return vmapHeight;
             else
                 return mapHeight;                           // better use .map surface height
@@ -1847,6 +1923,15 @@ float Map::GetHeight(float x, float y, float z, bool checkVMap /*= true*/, float
     return mapHeight;                               // explicitly use map data
 }
 
+float Map::GetMinHeight(float x, float y) const
+{
+    if (GridMap const* grid = const_cast<Map*>(this)->GetGrid(x, y))
+        return grid->getMinHeight(x, y);
+
+    return -500.0f;
+}
+
+
 inline bool IsOutdoorWMO(uint32 mogpFlags, int32 /*adtId*/, int32 /*rootId*/, int32 /*groupId*/, WMOAreaTableEntry const* wmoEntry, AreaTableEntry const* atEntry)
 {
     bool outdoor = true;
@@ -1887,7 +1972,7 @@ bool Map::IsOutdoors(float x, float y, float z) const
 #if defined(ENABLE_EXTRAS) && defined(ENABLE_EXTRA_LOGS)
         sLog->outStaticDebug("Got WMOAreaTableEntry! flag %u, areaid %u", wmoEntry->Flags, wmoEntry->areaId);
 #endif
-        atEntry = GetAreaEntryByAreaID(wmoEntry->areaId);
+        atEntry = sAreaTableStore.LookupEntry(wmoEntry->areaId);
     }
     return IsOutdoorWMO(mogpFlags, adtId, rootId, groupId, wmoEntry, atEntry);
 }
@@ -1911,7 +1996,7 @@ bool Map::GetAreaInfo(float x, float y, float z, uint32 &flags, int32 &adtId, in
     return false;
 }
 
-uint16 Map::GetAreaFlag(float x, float y, float z, bool *isOutdoors) const
+uint32 Map::GetAreaId(float x, float y, float z, bool *isOutdoors) const
 { 
     uint32 mogpFlags;
     int32 adtId, rootId, groupId;
@@ -1924,20 +2009,20 @@ uint16 Map::GetAreaFlag(float x, float y, float z, bool *isOutdoors) const
         haveAreaInfo = true;
         wmoEntry = GetWMOAreaTableEntryByTripple(rootId, adtId, groupId);
         if (wmoEntry)
-            atEntry = GetAreaEntryByAreaID(wmoEntry->areaId);
+            atEntry = sAreaTableStore.LookupEntry(wmoEntry->areaId);
     }
 
-    uint16 areaflag;
+    uint16 areaId;
 
     if (atEntry)
-        areaflag = atEntry->exploreFlag;
+        areaId = atEntry->ID;
     else
     {
         if (GridMap* gmap = const_cast<Map*>(this)->GetGrid(x, y))
-            areaflag = gmap->getArea(x, y);
+            areaId = gmap->getArea(x, y);
         // this used while not all *.map files generated (instances)
         else
-            areaflag = GetAreaFlagByMapId(i_mapEntry->MapID);
+            areaId = i_mapEntry->linked_zone;
     }
 
     if (isOutdoors)
@@ -1947,8 +2032,31 @@ uint16 Map::GetAreaFlag(float x, float y, float z, bool *isOutdoors) const
         else
             *isOutdoors = true;
     }
-    return areaflag;
+    return areaId;
- }
+}
+
+uint32 Map::GetAreaId(float x, float y, float z) const
+{
+    return GetAreaId(x, y, z, nullptr);
+}
+
+uint32 Map::GetZoneId(float x, float y, float z) const
+{
+    uint32 areaId = GetAreaId(x, y, z);
+    if (AreaTableEntry const* area = sAreaTableStore.LookupEntry(areaId))
+        if (area->zone)
+            return area->zone;
+
+    return areaId;
+}
+
+void Map::GetZoneAndAreaId(uint32& zoneid, uint32& areaid, float x, float y, float z) const
+{
+    areaid = zoneid = GetAreaId(x, y, z);
+    if (AreaTableEntry const* area = sAreaTableStore.LookupEntry(areaid))
+        if (area->zone)
+            zoneid = area->zone;
+}
 
 uint8 Map::GetTerrainType(float x, float y) const
 { 
@@ -1986,12 +2094,12 @@ ZLiquidStatus Map::getLiquidStatus(float x, float y, float z, uint8 ReqLiquidTyp
 
                 if (liquid_type && liquid_type < 21)
                 {
-                    if (AreaTableEntry const* area = GetAreaEntryByAreaFlagAndMap(GetAreaFlag(x, y, z), GetId()))
+                    if (AreaTableEntry const* area = sAreaTableStore.LookupEntry(GetAreaId(x, y, z)))
                     {
                         uint32 overrideLiquid = area->LiquidTypeOverride[liquidFlagType];
                         if (!overrideLiquid && area->zone)
                         {
-                            area = GetAreaEntryByAreaID(area->zone);
+                            area = sAreaTableStore.LookupEntry(area->zone);
                             if (area)
                                 overrideLiquid = area->LiquidTypeOverride[liquidFlagType];
                         }
@@ -2053,34 +2161,6 @@ float Map::GetWaterLevel(float x, float y) const
         return 0;
 }
 
-uint32 Map::GetAreaIdByAreaFlag(uint16 areaflag, uint32 map_id)
-{
-    AreaTableEntry const* entry = GetAreaEntryByAreaFlagAndMap(areaflag, map_id);
-
-    if (entry)
-        return entry->ID;
-    else
-        return 0;
-}
-
-uint32 Map::GetZoneIdByAreaFlag(uint16 areaflag, uint32 map_id)
-{
-    AreaTableEntry const* entry = GetAreaEntryByAreaFlagAndMap(areaflag, map_id);
-
-    if (entry)
-        return (entry->zone != 0) ? entry->zone : entry->ID;
-    else
-        return 0;
-}
-
-void Map::GetZoneAndAreaIdByAreaFlag(uint32& zoneid, uint32& areaid, uint16 areaflag, uint32 map_id)
-{
-    AreaTableEntry const* entry = GetAreaEntryByAreaFlagAndMap(areaflag, map_id);
-
-    areaid = entry ? entry->ID : 0;
-    zoneid = entry ? ((entry->zone != 0) ? entry->zone : entry->ID) : 0;
-}
-
 bool Map::isInLineOfSight(float x1, float y1, float z1, float x2, float y2, float z2, uint32 phasemask) const
 { 
     return VMAP::VMapFactory::createOrGetVMapManager()->isInLineOfSight(GetId(), x1, y1, z1, x2, y2, z2)

src/game/Maps/Map.h

@@ -85,9 +85,10 @@ struct map_areaHeader
     uint16 gridArea;
 };
 
-#define MAP_HEIGHT_NO_HEIGHT  0x0001
+#define MAP_HEIGHT_NO_HEIGHT            0x0001
-#define MAP_HEIGHT_AS_INT16   0x0002
+#define MAP_HEIGHT_AS_INT16             0x0002
-#define MAP_HEIGHT_AS_INT8    0x0004
+#define MAP_HEIGHT_AS_INT8              0x0004
+#define MAP_HEIGHT_HAS_FLIGHT_BOUNDS    0x0008
 
 struct map_heightHeader
 {
@@ -153,6 +154,8 @@ class GridMap
         uint16* m_uint16_V8;
         uint8* m_uint8_V8;
     };
+    int16* _maxHeight;
+    int16* _minHeight;
     // Height level data
     float _gridHeight;
     float _gridIntHeightMultiplier;
@@ -193,6 +196,7 @@ public:
 
     uint16 getArea(float x, float y) const;
     inline float getHeight(float x, float y) const {return (this->*_gridGetHeight)(x, y);}
+    float getMinHeight(float x, float y) const;
     float getLiquidLevel(float x, float y) const;
     uint8 getTerrainType(float x, float y) const;
     ZLiquidStatus getLiquidStatus(float x, float y, float z, uint8 ReqLiquidType, LiquidData* data = 0);
@@ -327,12 +331,16 @@ class Map : public GridRefManager<NGridType>
         // some calls like isInWater should not use vmaps due to processor power
         // can return INVALID_HEIGHT if under z+2 z coord not found height
         float GetHeight(float x, float y, float z, bool checkVMap = true, float maxSearchDist = DEFAULT_HEIGHT_SEARCH) const;
+        float GetMinHeight(float x, float y) const;
         Transport* GetTransportForPos(uint32 phase, float x, float y, float z, WorldObject* worldobject = NULL);
 
         ZLiquidStatus getLiquidStatus(float x, float y, float z, uint8 ReqLiquidType, LiquidData* data = 0) const;
 
-        uint16 GetAreaFlag(float x, float y, float z, bool *isOutdoors=0) const;
+        uint32 GetAreaId(float x, float y, float z, bool *isOutdoors) const;
-        bool GetAreaInfo(float x, float y, float z, uint32 &mogpflags, int32 &adtId, int32 &rootId, int32 &groupId) const;
+        bool GetAreaInfo(float x, float y, float z, uint32& mogpflags, int32& adtId, int32& rootId, int32& groupId) const;
+        uint32 GetAreaId(float x, float y, float z) const;
+        uint32 GetZoneId(float x, float y, float z) const;
+        void GetZoneAndAreaId(uint32& zoneid, uint32& areaid, float x, float y, float z) const;
 
         bool IsOutdoors(float x, float y, float z) const;
 
@@ -341,25 +349,6 @@ class Map : public GridRefManager<NGridType>
         bool IsInWater(float x, float y, float z, LiquidData* data = 0) const;
         bool IsUnderWater(float x, float y, float z) const;
 
-        static uint32 GetAreaIdByAreaFlag(uint16 areaflag, uint32 map_id);
-        static uint32 GetZoneIdByAreaFlag(uint16 areaflag, uint32 map_id);
-        static void GetZoneAndAreaIdByAreaFlag(uint32& zoneid, uint32& areaid, uint16 areaflag, uint32 map_id);
-
-        uint32 GetAreaId(float x, float y, float z) const
-        {
-            return GetAreaIdByAreaFlag(GetAreaFlag(x, y, z), GetId());
-        }
-
-        uint32 GetZoneId(float x, float y, float z) const
-        {
-            return GetZoneIdByAreaFlag(GetAreaFlag(x, y, z), GetId());
-        }
-
-        void GetZoneAndAreaId(uint32& zoneid, uint32& areaid, float x, float y, float z) const
-        {
-            GetZoneAndAreaIdByAreaFlag(zoneid, areaid, GetAreaFlag(x, y, z), GetId());
-        }
-
         void MoveAllCreaturesInMoveList();
         void MoveAllGameObjectsInMoveList();
         void MoveAllDynamicObjectsInMoveList();

src/game/Maps/MapManager.h

@@ -36,22 +36,20 @@ class MapManager
             return (iter == i_maps.end() ? NULL : iter->second);
         }
 
-        uint16 GetAreaFlag(uint32 mapid, float x, float y, float z) const
-        {
-            Map const* m = const_cast<MapManager*>(this)->CreateBaseMap(mapid);
-            return m->GetAreaFlag(x, y, z);
-        }
         uint32 GetAreaId(uint32 mapid, float x, float y, float z) const
         {
-            return Map::GetAreaIdByAreaFlag(GetAreaFlag(mapid, x, y, z), mapid);
+            Map const* m = const_cast<MapManager*>(this)->CreateBaseMap(mapid);
+            return m->GetAreaId(x, y, z);
         }
         uint32 GetZoneId(uint32 mapid, float x, float y, float z) const
         {
-            return Map::GetZoneIdByAreaFlag(GetAreaFlag(mapid, x, y, z), mapid);
+            Map const* m = const_cast<MapManager*>(this)->CreateBaseMap(mapid);
+            return m->GetZoneId(x, y, z);
         }
         void GetZoneAndAreaId(uint32& zoneid, uint32& areaid, uint32 mapid, float x, float y, float z)
         {
-            Map::GetZoneAndAreaIdByAreaFlag(zoneid, areaid, GetAreaFlag(mapid, x, y, z), mapid);
+            Map const* m = const_cast<MapManager*>(this)->CreateBaseMap(mapid);
+            m->GetZoneAndAreaId(zoneid, areaid, x, y, z);
         }
 
         void Initialize(void);

src/game/Misc/WhoListCache.cpp

@@ -35,7 +35,7 @@ void WhoListCacheMgr::Update()
         wstrToLower(wgname);
 
         std::string aname;
-        if (AreaTableEntry const* areaEntry = GetAreaEntryByAreaID(itr->second->GetZoneId()))
+        if (AreaTableEntry const* areaEntry = sAreaTableStore.LookupEntry(itr->second->GetZoneId()))
             aname = areaEntry->area_name[sWorld->GetDefaultDbcLocale()];
 
         if (itr->second->IsSpectator())

src/game/Miscellaneous/SharedDefines.h

@@ -444,7 +444,7 @@ enum SpellAttr4
 
 enum SpellAttr5
 {
-    SPELL_ATTR5_UNK0                             = 0x00000001, //  0
+    SPELL_ATTR5_CAN_CHANNEL_WHEN_MOVING          = 0x00000001, //  0
     SPELL_ATTR5_NO_REAGENT_WHILE_PREP            = 0x00000002, //  1 not need reagents if UNIT_FLAG_PREPARATION
     SPELL_ATTR5_REMOVE_ON_ARENA_ENTER            = 0x00000004, //  2 xinef: remove this aura on arena enter
     SPELL_ATTR5_USABLE_WHILE_STUNNED             = 0x00000008, //  3 usable while stunned
@@ -3531,7 +3531,7 @@ enum PartyResult
 };
 
 #define MMAP_MAGIC 0x4d4d4150   // 'MMAP'
-#define MMAP_VERSION 3
+#define MMAP_VERSION 6
 
 struct MmapTileHeader
 {
@@ -3539,12 +3539,23 @@ struct MmapTileHeader
     uint32 dtVersion;
     uint32 mmapVersion;
     uint32 size;
-    bool usesLiquids : 1;
+    char usesLiquids;
+    char padding[3];
 
     MmapTileHeader() : mmapMagic(MMAP_MAGIC), dtVersion(DT_NAVMESH_VERSION),
-                       mmapVersion(MMAP_VERSION), size(0), usesLiquids(true) {}
+                       mmapVersion(MMAP_VERSION), size(0), usesLiquids(true), padding() { }
 };
 
+// All padding fields must be handled and initialized to ensure mmaps_generator will produce binary-identical *.mmtile files
+static_assert(sizeof(MmapTileHeader) == 20, "MmapTileHeader size is not correct, adjust the padding field size");
+static_assert(sizeof(MmapTileHeader) == (sizeof(MmapTileHeader::mmapMagic) +
+                                         sizeof(MmapTileHeader::dtVersion) +
+                                         sizeof(MmapTileHeader::mmapVersion) +
+                                         sizeof(MmapTileHeader::size) +
+                                         sizeof(MmapTileHeader::usesLiquids) +
+                                         sizeof(MmapTileHeader::padding)), "MmapTileHeader has uninitialized padding fields");
+
+
 enum NavTerrain
 {
     NAV_EMPTY   = 0x00,

src/game/Movement/MovementGenerators/FleeingMovementGenerator.cpp

@@ -12,6 +12,7 @@
 #include "MoveSplineInit.h"
 #include "MoveSpline.h"
 #include "Player.h"
+#include "VMapFactory.h"
 
 #define MIN_QUIET_DISTANCE 28.0f
 #define MAX_QUIET_DISTANCE 43.0f
@@ -32,6 +33,19 @@ void FleeingMovementGenerator<T>::_setTargetLocation(T* owner)
     if (!_getPoint(owner, x, y, z))
         return;
 
+    // Add LOS check for target point
+    bool isInLOS = VMAP::VMapFactory::createOrGetVMapManager()->isInLineOfSight(owner->GetMapId(),
+        owner->GetPositionX(),
+        owner->GetPositionY(),
+        owner->GetPositionZ() + 2.0f,
+        x, y, z + 2.0f);
+
+    if (!isInLOS)
+    {
+        i_nextCheckTime.Reset(500);
+        return;
+    }
+
     owner->AddUnitState(UNIT_STATE_FLEEING_MOVE);
 
     Movement::MoveSplineInit init(owner);

src/game/Movement/MovementGenerators/PathGenerator.cpp

@@ -152,9 +152,10 @@ dtPolyRef PathGenerator::GetPolyByLocation(float* point, float* distance) const
 
     // still nothing ..
     // try with bigger search box
-    extents[1] = 80.0f;
+    // Note that the extent should not overlap more than 128 polygons in the navmesh (see dtNavMeshQuery::findNearestPoly)
-    result = _navMeshQuery->findNearestPoly(point, extents, &_filter, &polyRef, closestPoint);
+    extents[1] = 50.0f;
-    if (DT_SUCCESS == result && polyRef != INVALID_POLYREF)
+
+    if (dtStatusSucceed(_navMeshQuery->findNearestPoly(point, extents, &_filter, &polyRef, closestPoint)) && polyRef != INVALID_POLYREF)
     {
         *distance = dtVdist(closestPoint, point);
         return polyRef;
@@ -339,7 +340,7 @@ void PathGenerator::BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 con
         if (startPoly != endPoly || !endInWaterFar)
         {
             float closestPoint[VERTEX_SIZE];
-            if (DT_SUCCESS == _navMeshQuery->closestPointOnPoly(endPoly, endPoint, closestPoint))
+            if (dtStatusSucceed(_navMeshQuery->closestPointOnPoly(endPoly, endPoint, closestPoint, NULL)))
             {
                 dtVcopy(endPoint, closestPoint);
                 SetActualEndPosition(G3D::Vector3(endPoint[2], endPoint[0], endPoint[1]));
@@ -416,7 +417,7 @@ void PathGenerator::BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 con
 
         // we need any point on our suffix start poly to generate poly-path, so we need last poly in prefix data
         float suffixEndPoint[VERTEX_SIZE];
-        if (DT_SUCCESS != _navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint))
+        if (dtStatusFailed(_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint, NULL)))
         {
             // we can hit offmesh connection as last poly - closestPointOnPoly() don't like that
             // try to recover by using prev polyref
@@ -424,7 +425,7 @@ void PathGenerator::BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 con
             if (prefixPolyLength)
             {
                 suffixStartPoly = _pathPolyRefs[prefixPolyLength-1];
-                if (DT_SUCCESS != _navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint))
+                if (dtStatusFailed(_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint,NULL)))
                     error = true;
             }
             else
@@ -445,7 +446,7 @@ void PathGenerator::BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 con
                                     (int*)&suffixPolyLength,
                                     MAX_PATH_LENGTH-prefixPolyLength);   // max number of polygons in output path
 
-            if (!suffixPolyLength || dtResult != DT_SUCCESS)
+            if (!_polyLength || dtStatusFailed(dtResult))
             {
                 // this is probably an error state, but we'll leave it
                 // and hopefully recover on the next Update
@@ -470,7 +471,7 @@ void PathGenerator::BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 con
                     (int*)&_polyLength,
                     MAX_PATH_LENGTH);   // max number of polygons in output path
 
-            if (!_polyLength || dtResult != DT_SUCCESS)
+            if (!_polyLength || dtStatusFailed(dtResult))
             {
                 // only happens if we passed bad data to findPath(), or navmesh is messed up
                 BuildShortcut();
@@ -499,7 +500,7 @@ void PathGenerator::BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 con
                 (int*)&_polyLength,
                 MAX_PATH_LENGTH);   // max number of polygons in output path
 
-        if (!_polyLength || dtResult != DT_SUCCESS)
+        if (!_polyLength || dtStatusFailed(dtResult))
         {
             // only happens if we passed bad data to findPath(), or navmesh is messed up
             BuildShortcut();
@@ -658,7 +659,7 @@ void PathGenerator::BuildPointPath(const float *startPoint, const float *endPoin
                 _pointPathLimit);    // maximum number of points
     }
 
-    if (pointCount < 2 || dtResult != DT_SUCCESS)
+    if (pointCount < 2 || dtStatusFailed(dtResult))
     {
         // only happens if pass bad data to findStraightPath or navmesh is broken
         // single point paths can be generated here
@@ -784,7 +785,7 @@ bool PathGenerator::HaveTile(const G3D::Vector3& p) const
     if (tx < 0 || ty < 0)
         return false;
 
-    return (_navMesh->getTileAt(tx, ty) != NULL);
+    return (_navMesh->getTileAt(tx, ty, 0) != NULL);
 }
 
 uint32 PathGenerator::FixupCorridor(dtPolyRef* path, uint32 npath, uint32 maxPath, dtPolyRef const* visited, uint32 nvisited)
@@ -844,7 +845,7 @@ bool PathGenerator::GetSteerTarget(float const* startPos, float const* endPos,
     uint32 nsteerPath = 0;
     dtStatus dtResult = _navMeshQuery->findStraightPath(startPos, endPos, path, pathSize,
                                                 steerPath, steerPathFlags, steerPathPolys, (int*)&nsteerPath, MAX_STEER_POINTS);
-    if (!nsteerPath || DT_SUCCESS != dtResult)
+    if (!nsteerPath || dtStatusFailed(dtResult))
         return false;
 
     // Find vertex far enough to steer to.
@@ -908,7 +909,7 @@ dtStatus PathGenerator::FindSmoothPath(float const* startPos, float const* endPo
         // Find movement delta.
         float delta[VERTEX_SIZE];
         dtVsub(delta, steerPos, iterPos);
-        float len = dtSqrt(dtVdot(delta,delta));
+        float len = dtMathSqrtf(dtVdot(delta,delta));
         // If the steer target is end of path or off-mesh link, do not move past the location.
         if ((endOfPath || offMeshConnection) && len < SMOOTH_PATH_STEP_SIZE)
             len = 1.0f;

src/game/Movement/MovementGenerators/PathGenerator.h

@@ -38,7 +38,7 @@ class Unit;
 #define ALLOWED_DIST_FROM_POLY      2.5f
 #define ADDED_Z_FOR_POLY_LOOKUP     0.3f
 #define DISALLOW_TIME_AFTER_FAIL    3 // secs
-#define MAX_FIXABLE_Z_ERROR         12.0f
+#define MAX_FIXABLE_Z_ERROR         7.0f
 
 #define VERTEX_SIZE       3
 #define INVALID_POLYREF   0

src/game/Movement/MovementGenerators/TargetedMovementGenerator.cpp

@@ -30,6 +30,9 @@ void TargetedMovementGeneratorMedium<T,D>::_setTargetLocation(T* owner, bool ini
     if (owner->HasUnitState(UNIT_STATE_NOT_MOVE))
         return;
 
+    if (owner->HasUnitState(UNIT_STATE_CASTING) && !owner->CanMoveDuringChannel())
+        return;
+
     float x, y, z;
     bool isPlayerPet = owner->IsPet() && IS_PLAYER_GUID(owner->GetOwnerGUID());
     bool sameTransport = owner->GetTransport() && owner->GetTransport() ==  i_target->GetTransport();
@@ -44,6 +47,9 @@ void TargetedMovementGeneratorMedium<T,D>::_setTargetLocation(T* owner, bool ini
                      (i_target->GetTypeId() == TYPEID_PLAYER && i_target->ToPlayer()->IsGameMaster()); // for .npc follow
     bool forcePoint = ((!isPlayerPet || owner->GetMapId() == 618) && (forceDest || !useMMaps)) || sameTransport;
 
+    if (owner->GetTypeId() == TYPEID_UNIT && !i_target->isInAccessiblePlaceFor(owner->ToCreature()) && !sameTransport && !forceDest && !forcePoint)
+        return;
+
     lastOwnerXYZ.Relocate(owner->GetPositionX(), owner->GetPositionY(), owner->GetPositionZ());
     lastTargetXYZ.Relocate(i_target->GetPositionX(), i_target->GetPositionY(), i_target->GetPositionZ());
 
@@ -60,6 +66,9 @@ void TargetedMovementGeneratorMedium<T,D>::_setTargetLocation(T* owner, bool ini
             owner->m_targetsNotAcceptable[i_target->GetGUID()] = MMapTargetData(sWorld->GetGameTime()+DISALLOW_TIME_AFTER_FAIL, owner, i_target.getTarget());
             return;
         }
+
+        // to nearest contact position
+        i_target->GetContactPoint(owner, x, y, z);
     }
     else
     {
@@ -167,6 +176,7 @@ void TargetedMovementGeneratorMedium<T,D>::_setTargetLocation(T* owner, bool ini
             else
             {
                 owner->m_targetsNotAcceptable.erase(i_target->GetGUID());
+                owner->AddUnitState(UNIT_STATE_CHASE);
 
                 init.MovebyPath(i_path->GetPath());
                 if (i_angle == 0.f)
@@ -180,6 +190,8 @@ void TargetedMovementGeneratorMedium<T,D>::_setTargetLocation(T* owner, bool ini
         // if failed to generate, just use normal MoveTo
     }
 
+    owner->AddUnitState(UNIT_STATE_CHASE);
+
     init.MoveTo(x,y,z);
     // Using the same condition for facing target as the one that is used for SetInFront on movement end
     // - applies to ChaseMovementGenerator mostly
@@ -206,7 +218,7 @@ bool TargetedMovementGeneratorMedium<T,D>::DoUpdate(T* owner, uint32 time_diff)
     }
 
     // prevent movement while casting spells with cast time or channel time
-    if (owner->HasUnitState(UNIT_STATE_CASTING))
+    if (owner->HasUnitState(UNIT_STATE_CASTING) && !owner->CanMoveDuringChannel())
     {
         bool stop = true;
         if (Spell* spell = owner->GetCurrentSpell(CURRENT_CHANNELED_SPELL))

src/game/Spells/Spell.cpp

@@ -6200,7 +6200,7 @@ SpellCastResult Spell::CheckCast(bool strict)
                 if (m_originalCaster && m_originalCaster->GetTypeId() == TYPEID_PLAYER && m_originalCaster->IsAlive())
                 {
                     Battlefield* Bf = sBattlefieldMgr->GetBattlefieldToZoneId(m_originalCaster->GetZoneId());
-                    if (AreaTableEntry const* pArea = GetAreaEntryByAreaID(m_originalCaster->GetAreaId()))
+                    if (AreaTableEntry const* pArea = sAreaTableStore.LookupEntry(m_originalCaster->GetAreaId()))
                         if ((pArea->flags & AREA_FLAG_NO_FLY_ZONE) || (Bf && !Bf->CanFlyIn()))
                             return SPELL_FAILED_NOT_HERE;
                 }

src/game/Spells/SpellEffects.cpp

@@ -4241,14 +4241,14 @@ void Spell::EffectDuel(SpellEffIndex effIndex)
         return;
 
     // Players can only fight a duel in zones with this flag
-    AreaTableEntry const* casterAreaEntry = GetAreaEntryByAreaID(caster->GetAreaId());
+    AreaTableEntry const* casterAreaEntry = sAreaTableStore.LookupEntry(caster->GetAreaId());
     if (casterAreaEntry && !(casterAreaEntry->flags & AREA_FLAG_ALLOW_DUELS))
     {
         SendCastResult(SPELL_FAILED_NO_DUELING);            // Dueling isn't allowed here
         return;
     }
 
-    AreaTableEntry const* targetAreaEntry = GetAreaEntryByAreaID(target->GetAreaId());
+    AreaTableEntry const* targetAreaEntry = sAreaTableStore.LookupEntry(target->GetAreaId());
     if (targetAreaEntry && !(targetAreaEntry->flags & AREA_FLAG_ALLOW_DUELS))
     {
         SendCastResult(SPELL_FAILED_NO_DUELING);            // Dueling isn't allowed here

src/game/Spells/SpellMgr.cpp

@@ -1069,7 +1069,7 @@ bool SpellArea::IsFitToRequirements(Player const* player, uint32 newZone, uint32
             if (!player)
                 return false;
 
-            AreaTableEntry const* pArea = GetAreaEntryByAreaID(player->GetAreaId());
+            AreaTableEntry const* pArea = sAreaTableStore.LookupEntry(player->GetAreaId());
             if (!(pArea && pArea->flags & AREA_FLAG_NO_FLY_ZONE))
                 return false;
             if (!player->HasAuraType(SPELL_AURA_MOD_INCREASE_MOUNTED_FLIGHT_SPEED) && !player->HasAuraType(SPELL_AURA_FLY))
@@ -2513,7 +2513,7 @@ void SpellMgr::LoadSpellAreas()
             }
         }
 
-        if (spellArea.areaId && !GetAreaEntryByAreaID(spellArea.areaId))
+        if (spellArea.areaId && !sAreaTableStore.LookupEntry(spellArea.areaId))
         {
             sLog->outErrorDb("Spell %u listed in `spell_area` have wrong area (%u) requirement", spell, spellArea.areaId);
             continue;
@@ -6243,8 +6243,8 @@ void SpellMgr::LoadDbcDataCorrections()
     }
 
     // Xinef: The Veiled Sea area in outlands (Draenei zone), client blocks casting flying mounts
-    for (uint32 i = 0; i < sAreaStore.GetNumRows(); ++i)
+    for (uint32 i = 0; i < sAreaTableStore.GetNumRows(); ++i)
-        if (AreaTableEntry* areaEntry = const_cast<AreaTableEntry*>(sAreaStore.LookupEntry(i)))
+        if (AreaTableEntry* areaEntry = const_cast<AreaTableEntry*>(sAreaTableStore.LookupEntry(i)))
         {
             if (areaEntry->ID == 3479)
                 areaEntry->flags |= AREA_FLAG_NO_FLY_ZONE;

src/scripts/CMakeLists.txt

@@ -78,7 +78,7 @@ message("")
 include_directories(
   ${scripts_INCLUDE_DIRS}
   ${CMAKE_BINARY_DIR}
-  ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/recastnavigation/Detour
+  ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/recastnavigation/Detour/Include
   ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/recastnavigation/Recast
   ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/g3dlite/include
   ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/SFMT

src/scripts/Commands/CMakeLists.txt

@@ -31,6 +31,7 @@ set(scripts_STAT_SRCS
   Commands/cs_lookup.cpp
   Commands/cs_message.cpp
   Commands/cs_misc.cpp
+  Commands/cs_mmaps.cpp
   Commands/cs_modify.cpp
   Commands/cs_npc.cpp
   Commands/cs_quest.cpp

src/scripts/Commands/cs_go.cpp

@@ -417,7 +417,7 @@ public:
 
         uint32 areaId = id ? (uint32)atoi(id) : player->GetZoneId();
 
-        AreaTableEntry const* areaEntry = GetAreaEntryByAreaID(areaId);
+        AreaTableEntry const* areaEntry = sAreaTableStore.LookupEntry(areaId);
 
         if (x < 0 || x > 100 || y < 0 || y > 100 || !areaEntry)
         {
@@ -427,7 +427,7 @@ public:
         }
 
         // update to parent zone if exist (client map show only zones without parents)
-        AreaTableEntry const* zoneEntry = areaEntry->zone ? GetAreaEntryByAreaID(areaEntry->zone) : areaEntry;
+        AreaTableEntry const* zoneEntry = areaEntry->zone ? sAreaTableStore.LookupEntry(areaEntry->zone) : areaEntry;
 
         Map const* map = sMapMgr->CreateBaseMap(zoneEntry->mapid);
 

src/scripts/Commands/cs_lookup.cpp

@@ -86,9 +86,9 @@ public:
         wstrToLower(wNamePart);
 
         // Search in AreaTable.dbc
-        for (uint32 areaflag = 0; areaflag < sAreaStore.GetNumRows(); ++areaflag)
+        for (uint32 i = 0; i < sAreaTableStore.GetNumRows(); ++i)
         {
-            AreaTableEntry const* areaEntry = sAreaStore.LookupEntry(areaflag);
+            AreaTableEntry const* areaEntry = sAreaTableStore.LookupEntry(i);
             if (areaEntry)
             {
                 int locale = handler->GetSessionDbcLocale();

src/scripts/Commands/cs_misc.cpp

@@ -400,8 +400,8 @@ public:
         object->GetZoneAndAreaId(zoneId, areaId);
 
         MapEntry const* mapEntry = sMapStore.LookupEntry(object->GetMapId());
-        AreaTableEntry const* zoneEntry = GetAreaEntryByAreaID(zoneId);
+        AreaTableEntry const* zoneEntry = sAreaTableStore.LookupEntry(zoneId);
-        AreaTableEntry const* areaEntry = GetAreaEntryByAreaID(areaId);
+        AreaTableEntry const* areaEntry = sAreaTableStore.LookupEntry(areaId);
 
         float zoneX = object->GetPositionX();
         float zoneY = object->GetPositionY();
@@ -1280,7 +1280,7 @@ public:
 
         uint32 zoneId = player->GetZoneId();
 
-        AreaTableEntry const* areaEntry = GetAreaEntryByAreaID(zoneId);
+        AreaTableEntry const* areaEntry = sAreaTableStore.LookupEntry(zoneId);
         if (!areaEntry || areaEntry->zone !=0)
         {
             handler->PSendSysMessage(LANG_COMMAND_GRAVEYARDWRONGZONE, graveyardId, zoneId);
@@ -1411,17 +1411,23 @@ public:
             return false;
         }
 
-        int32 area = GetAreaFlagByAreaID(atoi((char*)args));
+        AreaTableEntry const* area = sAreaTableStore.LookupEntry(atoi(args));
-        int32 offset = area / 32;
+        if (!area)
-        uint32 val = uint32((1 << (area % 32)));
-
-        if (area<0 || offset >= PLAYER_EXPLORED_ZONES_SIZE)
         {
             handler->SendSysMessage(LANG_BAD_VALUE);
             handler->SetSentErrorMessage(true);
             return false;
         }
 
+        int32 offset = area->exploreFlag / 32;
+        if (offset >= PLAYER_EXPLORED_ZONES_SIZE)
+        {
+            handler->SendSysMessage(LANG_BAD_VALUE);
+            handler->SetSentErrorMessage(true);
+            return false;
+        }
+
+        uint32 val = uint32((1 << (area->exploreFlag % 32)));
         uint32 currFields = playerTarget->GetUInt32Value(PLAYER_EXPLORED_ZONES_1 + offset);
         playerTarget->SetUInt32Value(PLAYER_EXPLORED_ZONES_1 + offset, uint32((currFields | val)));
 
@@ -1442,17 +1448,23 @@ public:
             return false;
         }
 
-        int32 area = GetAreaFlagByAreaID(atoi((char*)args));
+        AreaTableEntry const* area = sAreaTableStore.LookupEntry(atoi(args));
-        int32 offset = area / 32;
+        if (!area)
-        uint32 val = uint32((1 << (area % 32)));
-
-        if (area < 0 || offset >= PLAYER_EXPLORED_ZONES_SIZE)
         {
             handler->SendSysMessage(LANG_BAD_VALUE);
             handler->SetSentErrorMessage(true);
             return false;
         }
 
+        int32 offset = area->exploreFlag / 32;
+        if (offset >= PLAYER_EXPLORED_ZONES_SIZE)
+        {
+            handler->SendSysMessage(LANG_BAD_VALUE);
+            handler->SetSentErrorMessage(true);
+            return false;
+        }
+
+        uint32 val = uint32((1 << (area->exploreFlag % 32)));
         uint32 currFields = playerTarget->GetUInt32Value(PLAYER_EXPLORED_ZONES_1 + offset);
         playerTarget->SetUInt32Value(PLAYER_EXPLORED_ZONES_1 + offset, uint32((currFields ^ val)));
 
@@ -2025,12 +2037,12 @@ public:
 
         MapEntry const* map = sMapStore.LookupEntry(mapId);
 
-        AreaTableEntry const* area = GetAreaEntryByAreaID(areaId);
+        AreaTableEntry const* area = sAreaTableStore.LookupEntry(areaId);
         if (area)
         {
             areaName = area->area_name[locale];
 
-            AreaTableEntry const* zone = GetAreaEntryByAreaID(area->zone);
+            AreaTableEntry const* zone = sAreaTableStore.LookupEntry(area->zone);
             if (zone)
                 zoneName = zone->area_name[locale];
         }

src/scripts/Commands/cs_mmaps.cpp

@@ -0,0 +1,305 @@
+/*
+ * Copyright (C) 2008-2016 TrinityCore <http://www.trinitycore.org/>
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation; either version 2 of the License, or (at your
+ * option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ * more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/**
+* @file cs_mmaps.cpp
+* @brief .mmap related commands
+*
+* This file contains the CommandScripts for all
+* mmap sub-commands
+*/
+
+#include "ScriptMgr.h"
+#include "Chat.h"
+#include "DisableMgr.h"
+#include "ObjectMgr.h"
+#include "Player.h"
+#include "PointMovementGenerator.h"
+#include "PathGenerator.h"
+#include "MMapFactory.h"
+#include "Map.h"
+#include "TargetedMovementGenerator.h"
+#include "GridNotifiers.h"
+#include "GridNotifiersImpl.h"
+#include "CellImpl.h"
+
+class mmaps_commandscript : public CommandScript
+{
+public:
+    mmaps_commandscript() : CommandScript("mmaps_commandscript") { }
+
+    std::vector<ChatCommand> GetCommands() const override
+    {
+        static std::vector<ChatCommand> mmapCommandTable =
+        {
+            { "loadedtiles", SEC_ADMINISTRATOR, false, &HandleMmapLoadedTilesCommand, "" },
+            { "loc",         SEC_ADMINISTRATOR,         false, &HandleMmapLocCommand,         "" },
+            { "path",        SEC_ADMINISTRATOR,        false, &HandleMmapPathCommand,        "" },
+            { "stats",       SEC_ADMINISTRATOR,       false, &HandleMmapStatsCommand,       "" },
+            { "testarea",    SEC_ADMINISTRATOR,    false, &HandleMmapTestArea,           "" },
+        };
+
+        static std::vector<ChatCommand> commandTable =
+        {
+            { "mmap", SEC_ADMINISTRATOR, true, NULL, "", mmapCommandTable },
+        };
+        return commandTable;
+    }
+
+    static bool HandleMmapPathCommand(ChatHandler* handler, char const* args)
+    {
+        if (!MMAP::MMapFactory::createOrGetMMapManager()->GetNavMesh(handler->GetSession()->GetPlayer()->GetMapId()))
+        {
+            handler->PSendSysMessage("NavMesh not loaded for current map.");
+            return true;
+        }
+
+        handler->PSendSysMessage("mmap path:");
+
+        // units
+        Player* player = handler->GetSession()->GetPlayer();
+        Unit* target = handler->getSelectedUnit();
+        if (!player || !target)
+        {
+            handler->PSendSysMessage("Invalid target/source selection.");
+            return true;
+        }
+
+        char* para = strtok((char*)args, " ");
+
+        bool useStraightPath = false;
+        if (para && strcmp(para, "true") == 0)
+            useStraightPath = true;
+
+        bool useStraightLine = false;
+        if (para && strcmp(para, "line") == 0)
+            useStraightLine = true;
+
+        // unit locations
+        float x, y, z;
+        player->GetPosition(x, y, z);
+
+        // path
+        PathGenerator path(target);
+        path.SetUseStraightPath(useStraightPath);
+        bool result = path.CalculatePath(x, y, z, false);
+
+        Movement::PointsArray const& pointPath = path.GetPath();
+        handler->PSendSysMessage("%s's path to %s:", target->GetName().c_str(), player->GetName().c_str());
+        handler->PSendSysMessage("Building: %s", useStraightPath ? "StraightPath" : useStraightLine ? "Raycast" : "SmoothPath");
+        handler->PSendSysMessage("Result: %s - Length: %zu - Type: %u", (result ? "true" : "false"), pointPath.size(), path.GetPathType());
+
+        G3D::Vector3 const &start = path.GetStartPosition();
+        G3D::Vector3 const &end = path.GetEndPosition();
+        G3D::Vector3 const &actualEnd = path.GetActualEndPosition();
+
+        handler->PSendSysMessage("StartPosition     (%.3f, %.3f, %.3f)", start.x, start.y, start.z);
+        handler->PSendSysMessage("EndPosition       (%.3f, %.3f, %.3f)", end.x, end.y, end.z);
+        handler->PSendSysMessage("ActualEndPosition (%.3f, %.3f, %.3f)", actualEnd.x, actualEnd.y, actualEnd.z);
+
+        if (!player->IsGameMaster())
+            handler->PSendSysMessage("Enable GM mode to see the path points.");
+
+        for (uint32 i = 0; i < pointPath.size(); ++i)
+            player->SummonCreature(VISUAL_WAYPOINT, pointPath[i].x, pointPath[i].y, pointPath[i].z, 0, TEMPSUMMON_TIMED_DESPAWN, 9000);
+
+        return true;
+    }
+
+    static bool HandleMmapLocCommand(ChatHandler* handler, char const* /*args*/)
+    {
+        handler->PSendSysMessage("mmap tileloc:");
+
+        // grid tile location
+        Player* player = handler->GetSession()->GetPlayer();
+
+        int32 gx = 32 - player->GetPositionX() / SIZE_OF_GRIDS;
+        int32 gy = 32 - player->GetPositionY() / SIZE_OF_GRIDS;
+
+        handler->PSendSysMessage("%03u%02i%02i.mmtile", player->GetMapId(), gx, gy);
+        handler->PSendSysMessage("gridloc [%i, %i]", gy, gx);
+
+        // calculate navmesh tile location
+        dtNavMesh const* navmesh = MMAP::MMapFactory::createOrGetMMapManager()->GetNavMesh(handler->GetSession()->GetPlayer()->GetMapId());
+        dtNavMeshQuery const* navmeshquery = MMAP::MMapFactory::createOrGetMMapManager()->GetNavMeshQuery(handler->GetSession()->GetPlayer()->GetMapId(), player->GetInstanceId());
+        if (!navmesh || !navmeshquery)
+        {
+            handler->PSendSysMessage("NavMesh not loaded for current map.");
+            return true;
+        }
+
+        float const* min = navmesh->getParams()->orig;
+        float x, y, z;
+        player->GetPosition(x, y, z);
+        float location[VERTEX_SIZE] = {y, z, x};
+        float extents[VERTEX_SIZE] = {3.0f, 5.0f, 3.0f};
+
+        int32 tilex = int32((y - min[0]) / SIZE_OF_GRIDS);
+        int32 tiley = int32((x - min[2]) / SIZE_OF_GRIDS);
+
+        handler->PSendSysMessage("Calc   [%02i, %02i]", tilex, tiley);
+
+        // navmesh poly -> navmesh tile location
+        dtQueryFilter filter = dtQueryFilter();
+        dtPolyRef polyRef = INVALID_POLYREF;
+        if (dtStatusFailed(navmeshquery->findNearestPoly(location, extents, &filter, &polyRef, NULL)))
+        {
+            handler->PSendSysMessage("Dt     [??,??] (invalid poly, probably no tile loaded)");
+            return true;
+        }
+
+        if (polyRef == INVALID_POLYREF)
+            handler->PSendSysMessage("Dt     [??, ??] (invalid poly, probably no tile loaded)");
+        else
+        {
+            dtMeshTile const* tile;
+            dtPoly const* poly;
+            if (dtStatusSucceed(navmesh->getTileAndPolyByRef(polyRef, &tile, &poly)))
+            {
+                if (tile)
+                {
+                    handler->PSendSysMessage("Dt     [%02i,%02i]", tile->header->x, tile->header->y);
+                    return false;
+                }
+            }
+
+            handler->PSendSysMessage("Dt     [??,??] (no tile loaded)");
+        }
+
+        return true;
+    }
+
+    static bool HandleMmapLoadedTilesCommand(ChatHandler* handler, char const* /*args*/)
+    {
+        uint32 mapid = handler->GetSession()->GetPlayer()->GetMapId();
+        dtNavMesh const* navmesh = MMAP::MMapFactory::createOrGetMMapManager()->GetNavMesh(mapid);
+        dtNavMeshQuery const* navmeshquery = MMAP::MMapFactory::createOrGetMMapManager()->GetNavMeshQuery(mapid, handler->GetSession()->GetPlayer()->GetInstanceId());
+        if (!navmesh || !navmeshquery)
+        {
+            handler->PSendSysMessage("NavMesh not loaded for current map.");
+            return true;
+        }
+
+        handler->PSendSysMessage("mmap loadedtiles:");
+
+        for (int32 i = 0; i < navmesh->getMaxTiles(); ++i)
+        {
+            dtMeshTile const* tile = navmesh->getTile(i);
+            if (!tile || !tile->header)
+                continue;
+
+            handler->PSendSysMessage("[%02i, %02i]", tile->header->x, tile->header->y);
+        }
+
+        return true;
+    }
+
+    static bool HandleMmapStatsCommand(ChatHandler* handler, char const* /*args*/)
+    {
+        handler->PSendSysMessage("mmap stats:");
+        //handler->PSendSysMessage("  global mmap pathfinding is %sabled", DisableMgr::IsPathfindingEnabled(mapId) ? "en" : "dis");
+
+        MMAP::MMapManager* manager = MMAP::MMapFactory::createOrGetMMapManager();
+        handler->PSendSysMessage(" %u maps loaded with %u tiles overall", manager->getLoadedMapsCount(), manager->getLoadedTilesCount());
+
+        dtNavMesh const* navmesh = manager->GetNavMesh(handler->GetSession()->GetPlayer()->GetMapId());
+        if (!navmesh)
+        {
+            handler->PSendSysMessage("NavMesh not loaded for current map.");
+            return true;
+        }
+
+        uint32 tileCount = 0;
+        uint32 nodeCount = 0;
+        uint32 polyCount = 0;
+        uint32 vertCount = 0;
+        uint32 triCount = 0;
+        uint32 triVertCount = 0;
+        uint32 dataSize = 0;
+        for (int32 i = 0; i < navmesh->getMaxTiles(); ++i)
+        {
+            dtMeshTile const* tile = navmesh->getTile(i);
+            if (!tile || !tile->header)
+                continue;
+
+            tileCount++;
+            nodeCount += tile->header->bvNodeCount;
+            polyCount += tile->header->polyCount;
+            vertCount += tile->header->vertCount;
+            triCount += tile->header->detailTriCount;
+            triVertCount += tile->header->detailVertCount;
+            dataSize += tile->dataSize;
+        }
+
+        handler->PSendSysMessage("Navmesh stats:");
+        handler->PSendSysMessage(" %u tiles loaded", tileCount);
+        handler->PSendSysMessage(" %u BVTree nodes", nodeCount);
+        handler->PSendSysMessage(" %u polygons (%u vertices)", polyCount, vertCount);
+        handler->PSendSysMessage(" %u triangles (%u vertices)", triCount, triVertCount);
+        handler->PSendSysMessage(" %.2f MB of data (not including pointers)", ((float)dataSize / sizeof(unsigned char)) / 1048576);
+
+        return true;
+    }
+
+    static bool HandleMmapTestArea(ChatHandler* handler, char const* /*args*/)
+    {
+        float radius = 40.0f;
+        WorldObject* object = handler->GetSession()->GetPlayer();
+
+        CellCoord pair(Trinity::ComputeCellCoord(object->GetPositionX(), object->GetPositionY()));
+        Cell cell(pair);
+        cell.SetNoCreate();
+
+        std::list<Creature*> creatureList;
+
+        Trinity::AnyUnitInObjectRangeCheck go_check(object, radius);
+        Trinity::CreatureListSearcher<Trinity::AnyUnitInObjectRangeCheck> go_search(object, creatureList, go_check);
+        TypeContainerVisitor<Trinity::CreatureListSearcher<Trinity::AnyUnitInObjectRangeCheck>, GridTypeMapContainer> go_visit(go_search);
+
+        // Get Creatures
+        cell.Visit(pair, go_visit, *(object->GetMap()), *object, radius);
+
+        if (!creatureList.empty())
+        {
+            handler->PSendSysMessage("Found %zu Creatures.", creatureList.size());
+
+            uint32 paths = 0;
+            uint32 uStartTime = getMSTime();
+
+            float gx, gy, gz;
+            object->GetPosition(gx, gy, gz);
+            for (std::list<Creature*>::iterator itr = creatureList.begin(); itr != creatureList.end(); ++itr)
+            {
+                PathGenerator path(*itr);
+                path.CalculatePath(gx, gy, gz);
+                ++paths;
+            }
+
+            uint32 uPathLoadTime = getMSTimeDiff(uStartTime, getMSTime());
+            handler->PSendSysMessage("Generated %i paths in %i ms", paths, uPathLoadTime);
+        }
+        else
+            handler->PSendSysMessage("No creatures in %f yard range.", radius);
+
+        return true;
+    }
+};
+
+void AddSC_mmaps_commandscript()
+{
+    new mmaps_commandscript();
+}

src/scripts/ScriptLoader.cpp

@@ -46,6 +46,7 @@ void AddSC_list_commandscript();
 void AddSC_lookup_commandscript();
 void AddSC_message_commandscript();
 void AddSC_misc_commandscript();
+void AddSC_mmaps_commandscript();
 void AddSC_modify_commandscript();
 void AddSC_npc_commandscript();
 void AddSC_quest_commandscript();
@@ -616,6 +617,7 @@ void AddCommandScripts()
     AddSC_lookup_commandscript();
     AddSC_message_commandscript();
     AddSC_misc_commandscript();
+    AddSC_mmaps_commandscript();
     AddSC_modify_commandscript();
     AddSC_npc_commandscript();
     AddSC_quest_commandscript();

src/scripts/Spells/spell_generic.cpp

@@ -4431,10 +4431,7 @@ class spell_gen_mount : public SpellScriptLoader
                     if (map == 530 || (map == 571 && target->HasSpell(SPELL_COLD_WEATHER_FLYING)))
                         canFly = true;
 
-                    float x, y, z;
+                    AreaTableEntry const* area = sAreaTableStore.LookupEntry(target->GetAreaId());
-                    target->GetPosition(x, y, z);
-                    uint32 areaFlag = target->GetBaseMap()->GetAreaFlag(x, y, z);
-                    AreaTableEntry const* area = sAreaStore.LookupEntry(areaFlag);
                     // Xinef: add battlefield check
                     Battlefield* Bf = sBattlefieldMgr->GetBattlefieldToZoneId(target->GetZoneId());
                     if (!area || (canFly && ((area->flags & AREA_FLAG_NO_FLY_ZONE) || (Bf && !Bf->CanFlyIn()))))

src/worldserver/CMakeLists.txt

@@ -44,7 +44,7 @@ endif()
 include_directories(
   ${CMAKE_BINARY_DIR}
   ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/g3dlite/include
-  ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/recastnavigation/Detour
+  ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/recastnavigation/Detour/Include
   ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/gsoap
   ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/sockets/include
   ${CMAKE_SOURCE_DIR}/modules/worldengine/deps/SFMT