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Fix axis flip in navmesh world coordinates #179

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Merged
merged 1 commit into from
Aug 20, 2019
Merged

Fix axis flip in navmesh world coordinates #179

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24 changes: 12 additions & 12 deletions recastjs/src/recastjs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,7 @@ void NavMesh::build(const float* positions, const int positionCount, const int*
for (unsigned int i = 0; i<indexCount; i++)
{
int ind = (*t++) * 3;
Vec3 v( pv[ind+2], pv[ind+1], pv[ind] );
Vec3 v( pv[ind], pv[ind+1], pv[ind+2] );
bbMin.isMinOf( v );
bbMax.isMaxOf( v );
triangleIndices[i] = v;
Expand Down Expand Up @@ -445,7 +445,7 @@ void NavMesh::navMeshPoly(DebugNavMesh& debugNavMesh, const dtNavMesh& mesh, dtP
pf = &tile->detailVerts[(pd->vertBase+t[j]-poly->vertCount)*3];
}

triangle.mPoint[j] = Vec3(pf[2], pf[1], pf[0]);
triangle.mPoint[2-j] = Vec3(pf[0], pf[1], pf[2]);
}
debugNavMesh.mTriangles.push_back(triangle);
}
Expand Down Expand Up @@ -495,7 +495,7 @@ Vec3 NavMesh::getClosestPoint(const Vec3& position)
polyPickExt[1] = 4;
polyPickExt[2] = 2;

Vec3 pos(position.z, position.y, position.x);
Vec3 pos(position.x, position.y, position.z);
m_navQuery->findNearestPoly(&pos.x, polyPickExt, &filter, &polyRef, 0);


Expand All @@ -507,7 +507,7 @@ Vec3 NavMesh::getClosestPoint(const Vec3& position)
{
return Vec3(0.f, 0.f, 0.f);
}
return Vec3(resDetour.z, resDetour.y, resDetour.x);
return Vec3(resDetour.x, resDetour.y, resDetour.z);
}

Vec3 NavMesh::getRandomPointAround(const Vec3& position, float maxRadius)
Expand All @@ -523,7 +523,7 @@ Vec3 NavMesh::getRandomPointAround(const Vec3& position, float maxRadius)
polyPickExt[1] = 4;
polyPickExt[2] = 2;

Vec3 pos(position.z, position.y, position.x);
Vec3 pos(position.x, position.y, position.z);

m_navQuery->findNearestPoly(&pos.x, polyPickExt, &filter, &polyRef, 0);

Expand All @@ -537,7 +537,7 @@ Vec3 NavMesh::getRandomPointAround(const Vec3& position, float maxRadius)
return Vec3(0.f, 0.f, 0.f);
}

return Vec3(resDetour.z, resDetour.y, resDetour.x);
return Vec3(resDetour.x, resDetour.y, resDetour.z);
}

NavPath NavMesh::computePath(const Vec3& start, const Vec3& end) const
Expand All @@ -558,8 +558,8 @@ NavPath NavMesh::computePath(const Vec3& start, const Vec3& end) const
filter.setIncludeFlags(0xffff);
filter.setExcludeFlags(0);

Vec3 posStart(start.z, start.y, start.x);
Vec3 posEnd(end.z, end.y, end.x);
Vec3 posStart(start.x, start.y, start.z);
Vec3 posEnd(end.x, end.y, end.z);

m_navQuery->findNearestPoly(&posStart.x, polyPickExt, &filter, &startRef, 0);
m_navQuery->findNearestPoly(&posEnd.x, polyPickExt, &filter, &endRef, 0);
Expand Down Expand Up @@ -589,7 +589,7 @@ NavPath NavMesh::computePath(const Vec3& start, const Vec3& end) const
navpath.mPoints.resize(mNstraightPath);
for (int i = 0;i<mNstraightPath;i++)
{
navpath.mPoints[i] = Vec3(straightPath[i*3+2], straightPath[i*3+1], straightPath[i*3]);
navpath.mPoints[i] = Vec3(straightPath[i*3], straightPath[i*3+1], straightPath[i*3+2]);
}
}
return navpath;
Expand Down Expand Up @@ -628,13 +628,13 @@ void Crowd::update(const float dt)
Vec3 Crowd::getAgentPosition(int idx)
{
const dtCrowdAgent* agent = m_crowd->getAgent(idx);
return Vec3(agent->npos[2], agent->npos[1], agent->npos[0]);
return Vec3(agent->npos[0], agent->npos[1], agent->npos[2]);
}

Vec3 Crowd::getAgentVelocity(int idx)
{
const dtCrowdAgent* agent = m_crowd->getAgent(idx);
return Vec3(agent->vel[2], agent->vel[1], agent->vel[0]);
return Vec3(agent->vel[0], agent->vel[1], agent->vel[2]);
}

void Crowd::agentGoto(int idx, const Vec3& destination)
Expand All @@ -650,7 +650,7 @@ void Crowd::agentGoto(int idx, const Vec3& destination)
polyPickExt[1] = 4;
polyPickExt[2] = 2;

Vec3 pos(destination.z, destination.y, destination.x);
Vec3 pos(destination.x, destination.y, destination.z);
m_crowd->getNavMeshQuery()->findNearestPoly(&pos.x, polyPickExt, &filter, &polyRef, 0);

m_crowd->requestMoveTarget(idx, polyRef, &pos.x);
Expand Down