diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp index ff609dc7f..94c38fa10 100644 --- a/modules/navigation/nav_map.cpp +++ b/modules/navigation/nav_map.cpp @@ -45,22 +45,22 @@ void NavMap::set_up(Vector3 p_up) { regenerate_polygons = true; } -void NavMap::set_cell_size(float p_cell_size) { +void NavMap::set_cell_size(real_t p_cell_size) { cell_size = p_cell_size; regenerate_polygons = true; } -void NavMap::set_cell_height(float p_cell_height) { +void NavMap::set_cell_height(real_t p_cell_height) { cell_height = p_cell_height; regenerate_polygons = true; } -void NavMap::set_edge_connection_margin(float p_edge_connection_margin) { +void NavMap::set_edge_connection_margin(real_t p_edge_connection_margin) { edge_connection_margin = p_edge_connection_margin; regenerate_links = true; } -void NavMap::set_link_connection_radius(float p_link_connection_radius) { +void NavMap::set_link_connection_radius(real_t p_link_connection_radius) { link_connection_radius = p_link_connection_radius; regenerate_links = true; } @@ -84,8 +84,8 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p const gd::Polygon *end_poly = nullptr; Vector3 begin_point; Vector3 end_point; - float begin_d = 1e20; - float end_d = 1e20; + real_t begin_d = FLT_MAX; + real_t end_d = FLT_MAX; // Find the initial poly and the end poly on this map. for (size_t i(0); i < polygons.size(); i++) { @@ -101,7 +101,7 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p const Face3 face(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos); Vector3 point = face.get_closest_point_to(p_origin); - float distance_to_point = point.distance_to(p_origin); + real_t distance_to_point = point.distance_to(p_origin); if (distance_to_point < begin_d) { begin_d = distance_to_point; begin_poly = &p; @@ -153,7 +153,7 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p bool found_route = false; const gd::Polygon *reachable_end = nullptr; - float reachable_d = 1e30; + real_t reachable_d = FLT_MAX; bool is_reachable = true; while (true) { @@ -171,8 +171,8 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p } const gd::NavigationPoly &least_cost_poly = navigation_polys[least_cost_id]; - float poly_enter_cost = 0.0; - float poly_travel_cost = least_cost_poly.poly->owner->get_travel_cost(); + real_t poly_enter_cost = 0.0; + real_t poly_travel_cost = least_cost_poly.poly->owner->get_travel_cost(); if (prev_least_cost_id != -1 && !(navigation_polys[prev_least_cost_id].poly->owner->get_self() == least_cost_poly.poly->owner->get_self())) { poly_enter_cost = least_cost_poly.poly->owner->get_enter_cost(); @@ -181,7 +181,7 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p Vector3 pathway[2] = { connection.pathway_start, connection.pathway_end }; const Vector3 new_entry = Geometry::get_closest_point_to_segment(least_cost_poly.entry, pathway); - const float new_distance = (least_cost_poly.entry.distance_to(new_entry) * poly_travel_cost) + poly_enter_cost + least_cost_poly.traveled_distance; + const real_t new_distance = (least_cost_poly.entry.distance_to(new_entry) * poly_travel_cost) + poly_enter_cost + least_cost_poly.traveled_distance; int64_t already_visited_polygon_index = navigation_polys.find(gd::NavigationPoly(connection.polygon)); @@ -229,11 +229,11 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p // Set as end point the furthest reachable point. end_poly = reachable_end; - end_d = 1e20; + end_d = FLT_MAX; for (size_t point_id = 2; point_id < end_poly->points.size(); point_id++) { Face3 f(end_poly->points[0].pos, end_poly->points[point_id - 1].pos, end_poly->points[point_id].pos); Vector3 spoint = f.get_closest_point_to(p_destination); - float dpoint = spoint.distance_to(p_destination); + real_t dpoint = spoint.distance_to(p_destination); if (dpoint < end_d) { end_point = spoint; end_d = dpoint; @@ -256,10 +256,10 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p // Find the polygon with the minimum cost from the list of polygons to visit. least_cost_id = -1; - float least_cost = 1e30; + real_t least_cost = FLT_MAX; for (List::Element *element = to_visit.front(); element != nullptr; element = element->next()) { gd::NavigationPoly *np = &navigation_polys[element->get()]; - float cost = np->traveled_distance; + real_t cost = np->traveled_distance; cost += (np->entry.distance_to(end_point) * np->poly->owner->get_travel_cost()); if (cost < least_cost) { least_cost_id = np->self_id; @@ -271,7 +271,7 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p // Stores the further reachable end polygon, in case our goal is not reachable. if (is_reachable) { - float d = navigation_polys[least_cost_id].entry.distance_to(p_destination) * navigation_polys[least_cost_id].poly->owner->get_travel_cost(); + real_t d = navigation_polys[least_cost_id].entry.distance_to(p_destination) * navigation_polys[least_cost_id].poly->owner->get_travel_cost(); if (reachable_d > d) { reachable_d = d; reachable_end = navigation_polys[least_cost_id].poly; @@ -396,7 +396,7 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const { bool use_collision = p_use_collision; Vector3 closest_point; - real_t closest_point_d = 1e20; + real_t closest_point_d = FLT_MAX; for (size_t i(0); i < polygons.size(); i++) { const gd::Polygon &p = polygons[i]; @@ -459,7 +459,7 @@ RID NavMap::get_closest_point_owner(const Vector3 &p_point) const { gd::ClosestPointQueryResult NavMap::get_closest_point_info(const Vector3 &p_point) const { gd::ClosestPointQueryResult result; - real_t closest_point_ds = 1e20; + real_t closest_point_ds = FLT_MAX; for (size_t i(0); i < polygons.size(); i++) { const gd::Polygon &p = polygons[i]; @@ -661,8 +661,8 @@ void NavMap::sync() { // Compute the projection of the opposite edge on the current one Vector3 edge_vector = edge_p2 - edge_p1; - float projected_p1_ratio = edge_vector.dot(other_edge_p1 - edge_p1) / (edge_vector.length_squared()); - float projected_p2_ratio = edge_vector.dot(other_edge_p2 - edge_p1) / (edge_vector.length_squared()); + real_t projected_p1_ratio = edge_vector.dot(other_edge_p1 - edge_p1) / (edge_vector.length_squared()); + real_t projected_p2_ratio = edge_vector.dot(other_edge_p2 - edge_p1) / (edge_vector.length_squared()); if ((projected_p1_ratio < 0.0 && projected_p2_ratio < 0.0) || (projected_p1_ratio > 1.0 && projected_p2_ratio > 1.0)) { continue; } diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h index f370ce020..fdcd8a6de 100644 --- a/modules/navigation/nav_map.h +++ b/modules/navigation/nav_map.h @@ -105,23 +105,23 @@ public: return up; } - void set_cell_size(float p_cell_size); - float get_cell_size() const { + void set_cell_size(real_t p_cell_size); + real_t get_cell_size() const { return cell_size; } - void set_cell_height(float p_cell_height); - float get_cell_height() const { + void set_cell_height(real_t p_cell_height); + real_t get_cell_height() const { return cell_height; } - void set_edge_connection_margin(float p_edge_connection_margin); - float get_edge_connection_margin() const { + void set_edge_connection_margin(real_t p_edge_connection_margin); + real_t get_edge_connection_margin() const { return edge_connection_margin; } - void set_link_connection_radius(float p_link_connection_radius); - float get_link_connection_radius() const { + void set_link_connection_radius(real_t p_link_connection_radius); + real_t get_link_connection_radius() const { return link_connection_radius; } diff --git a/modules/navigation/nav_region.cpp b/modules/navigation/nav_region.cpp index a40975d6b..4114dbce0 100644 --- a/modules/navigation/nav_region.cpp +++ b/modules/navigation/nav_region.cpp @@ -115,7 +115,7 @@ void NavRegion::update_polygons() { p.edges.resize(mesh_poly.size()); Vector3 center; - float sum(0); + real_t sum(0); for (int j(0); j < mesh_poly.size(); j++) { int idx = indices[j]; @@ -144,7 +144,7 @@ void NavRegion::update_polygons() { p.clockwise = sum > 0; if (mesh_poly.size() != 0) { - p.center = center / float(mesh_poly.size()); + p.center = center / real_t(mesh_poly.size()); } } } diff --git a/modules/navigation/nav_utils.h b/modules/navigation/nav_utils.h index c5af8ca5a..6c91b23f7 100644 --- a/modules/navigation/nav_utils.h +++ b/modules/navigation/nav_utils.h @@ -133,7 +133,7 @@ struct NavigationPoly { /// The entry location of this poly. Vector3 entry; /// The distance to the destination. - float traveled_distance; + real_t traveled_distance; NavigationPoly() { poly = nullptr; }