Update recast

recast/detour/src/DetourAlloc.cpp

@@ -19,7 +19,7 @@
 #include <stdlib.h>
 #include "DetourAlloc.h"
 
-static void *dtAllocDefault(int size, dtAllocHint)
+static void *dtAllocDefault(size_t size, dtAllocHint)
 {
 	return malloc(size);
 }
@@ -38,7 +38,7 @@ void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc)
 	sFreeFunc = freeFunc ? freeFunc : dtFreeDefault;
 }
 
-void* dtAlloc(int size, dtAllocHint hint)
+void* dtAlloc(size_t size, dtAllocHint hint)
 {
 	return sAllocFunc(size, hint);
 }

recast/detour/src/DetourNavMesh.cpp

@@ -350,7 +350,7 @@ int dtNavMesh::findConnectingPolys(const float* va, const float* vb,
 	return n;
 }
 
-void dtNavMesh::unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target)
+void dtNavMesh::unconnectLinks(dtMeshTile* tile, dtMeshTile* target)
 {
 	if (!tile || !target) return;
 
@@ -363,10 +363,9 @@ void dtNavMesh::unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target)
 		unsigned int pj = DT_NULL_LINK;
 		while (j != DT_NULL_LINK)
 		{
-			if (tile->links[j].side != 0xff &&
-				decodePolyIdTile(tile->links[j].ref) == targetNum)
+			if (decodePolyIdTile(tile->links[j].ref) == targetNum)
 			{
-				// Revove link.
+				// Remove link.
 				unsigned int nj = tile->links[j].next;
 				if (pj == DT_NULL_LINK)
 					poly->firstLink = nj;
@@ -838,6 +837,11 @@ int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, co
 /// tile will be restored to the same values they were before the tile was 
 /// removed.
 ///
+/// The nav mesh assumes exclusive access to the data passed and will make
+/// changes to the dynamic portion of the data. For that reason the data
+/// should not be reused in other nav meshes until the tile has been successfully
+/// removed from this nav mesh.
+///
 /// @see dtCreateNavMeshData, #removeTile
 dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
 							dtTileRef lastRef, dtTileRef* result)
@@ -1192,25 +1196,24 @@ dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSiz
 	}
 	
 	// Remove connections to neighbour tiles.
-	// Create connections with neighbour tiles.
 	static const int MAX_NEIS = 32;
 	dtMeshTile* neis[MAX_NEIS];
 	int nneis;
 	
-	// Connect with layers in current tile.
+	// Disconnect from other layers in current tile.
 	nneis = getTilesAt(tile->header->x, tile->header->y, neis, MAX_NEIS);
 	for (int j = 0; j < nneis; ++j)
 	{
 		if (neis[j] == tile) continue;
-		unconnectExtLinks(neis[j], tile);
+		unconnectLinks(neis[j], tile);
 	}
 	
-	// Connect with neighbour tiles.
+	// Disconnect from neighbour tiles.
 	for (int i = 0; i < 8; ++i)
 	{
 		nneis = getNeighbourTilesAt(tile->header->x, tile->header->y, i, neis, MAX_NEIS);
 		for (int j = 0; j < nneis; ++j)
-			unconnectExtLinks(neis[j], tile);
+			unconnectLinks(neis[j], tile);
 	}
 		
 	// Reset tile.

recast/detour/src/DetourNavMeshQuery.cpp

@@ -712,7 +712,8 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* exten
 {
 	dtAssert(m_nav);
 
-	*nearestRef = 0;
+	if (!nearestRef)
+		return DT_FAILURE | DT_INVALID_PARAM;
 	
 	// Get nearby polygons from proximity grid.
 	const int MAX_SEARCH = 128;
@@ -721,8 +722,15 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* exten
 	if (dtStatusFailed(queryPolygons(center, extents, filter, polys, &polyCount, MAX_SEARCH)))
 		return DT_FAILURE | DT_INVALID_PARAM;
 	
+	*nearestRef = 0;
+
+	if (polyCount == 0)
+		return DT_SUCCESS;
+	
 	// Find nearest polygon amongst the nearby polygons.
 	dtPolyRef nearest = 0;
+	float nearestPoint[3];
+
 	float nearestDistanceSqr = FLT_MAX;
 	for (int i = 0; i < polyCount; ++i)
 	{
@@ -751,15 +759,17 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* exten
 		
 		if (d < nearestDistanceSqr)
 		{
-			if (nearestPt)
-				dtVcopy(nearestPt, closestPtPoly);
+			dtVcopy(nearestPoint, closestPtPoly);
+
 			nearestDistanceSqr = d;
 			nearest = ref;
 		}
 	}
 	
-	if (nearestRef)
-		*nearestRef = nearest;
+	*nearestRef = nearest;
+
+	if (nearestPt)
+		dtVcopy(nearestPt, nearestPoint);
 	
 	return DT_SUCCESS;
 }
@@ -2420,6 +2430,9 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
 			hit->pathCount = n;
 			return status;
 		}
+
+		hit->hitEdgeIndex = segMax;
+
 		// Keep track of furthest t so far.
 		if (tmax > hit->t)
 			hit->t = tmax;