Recast: Update to upstream commit 5a870d4 (2022)

5 files changed, 51 insertions, 30 deletions

diff --git a/thirdparty/README.md b/thirdparty/README.md
index b147f9754f..ce36149b24 100644
--- a/thirdparty/README.md
+++ b/thirdparty/README.md
@@ -547,7 +547,7 @@ Files extracted from upstream source:
 ## recastnavigation
 
 - Upstream: https://github.com/recastnavigation/recastnavigation
-- Version: git (57610fa6ef31b39020231906f8c5d40eaa8294ae, 2019)
+- Version: git (5a870d427e47abd4a8e4ce58a95582ec049434d5, 2022)
 - License: zlib
 
 Files extracted from upstream source:
diff --git a/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h b/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h
index e436af9a01..071278d659 100644
--- a/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h
+++ b/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h
@@ -22,7 +22,7 @@
 #include <stddef.h>
 #include <stdint.h>
 
-#include <RecastAssert.h>
+#include "RecastAssert.h"
 
 /// Provides hint values to the memory allocator on how long the
 /// memory is expected to be used.
@@ -106,6 +106,8 @@ class rcVectorBase {
 	// Creates an array of the given size, copies all of this vector's data into it, and returns it.
 	T* allocate_and_copy(rcSizeType size);
 	void resize_impl(rcSizeType size, const T* value);
+	// Requires: min_capacity > m_cap.
+	rcSizeType get_new_capacity(rcSizeType min_capacity);
  public:
 	typedef rcSizeType size_type;
 	typedef T value_type;
@@ -196,8 +198,7 @@ void rcVectorBase<T, H>::push_back(const T& value) {
 		return;
 	}
 
-	rcAssert(RC_SIZE_MAX / 2 >= m_size);
-	rcSizeType new_cap = m_size ? 2*m_size : 1;
+	const rcSizeType new_cap = get_new_capacity(m_cap + 1);
 	T* data = allocate_and_copy(new_cap);
 	// construct between allocate and destroy+free in case value is
 	// in this vector.
@@ -208,25 +209,44 @@ void rcVectorBase<T, H>::push_back(const T& value) {
 	rcFree(m_data);
 	m_data = data;
 }
+
+template <typename T, rcAllocHint H>
+rcSizeType rcVectorBase<T, H>::get_new_capacity(rcSizeType min_capacity) {
+	rcAssert(min_capacity <= RC_SIZE_MAX);
+	if (rcUnlikely(m_cap >= RC_SIZE_MAX / 2))
+		return RC_SIZE_MAX;
+	return 2 * m_cap > min_capacity ? 2 * m_cap : min_capacity;
+}
+
 template <typename T, rcAllocHint H>
 void rcVectorBase<T, H>::resize_impl(rcSizeType size, const T* value) {
 	if (size < m_size) {
 		destroy_range(size, m_size);
 		m_size = size;
 	} else if (size > m_size) {
-		T* new_data = allocate_and_copy(size);
-		// We defer deconstructing/freeing old data until after constructing
-		// new elements in case "value" is there.
-		if (value) {
-			construct_range(new_data + m_size, new_data + size, *value);
+		if (size <= m_cap) {
+			if (value) {
+				construct_range(m_data + m_size, m_data + size, *value);
+			} else {
+				construct_range(m_data + m_size, m_data + size);
+			}
+			m_size = size;
 		} else {
-			construct_range(new_data + m_size, new_data + size);
+			const rcSizeType new_cap = get_new_capacity(size);
+			T* new_data = allocate_and_copy(new_cap);
+			// We defer deconstructing/freeing old data until after constructing
+			// new elements in case "value" is there.
+			if (value) {
+				construct_range(new_data + m_size, new_data + size, *value);
+			} else {
+				construct_range(new_data + m_size, new_data + size);
+			}
+			destroy_range(0, m_size);
+			rcFree(m_data);
+			m_data = new_data;
+			m_cap = new_cap;
+			m_size = size;
 		}
-		destroy_range(0, m_size);
-		rcFree(m_data);
-		m_data = new_data;
-		m_cap = size;
-		m_size = size;
 	}
 }
 template <typename T, rcAllocHint H>
@@ -303,6 +323,7 @@ public:
 	rcIntArray(int n) : m_impl(n, 0) {}
 	void push(int item) { m_impl.push_back(item); }
 	void resize(int size) { m_impl.resize(size); }
+	void clear() { m_impl.clear(); }
 	int pop()
 	{
 		int v = m_impl.back();
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp b/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp
index 6574c11b6b..1293d4fbde 100644
--- a/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp
+++ b/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp
@@ -921,8 +921,8 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
 					continue;
 				const unsigned char area = chf.areas[i];
 				
-				verts.resize(0);
-				simplified.resize(0);
+				verts.clear();
+				simplified.clear();
 				
 				ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
 				walkContour(x, y, i, chf, flags, verts);
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp b/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp
index 9a423cab8a..1999200c1a 100644
--- a/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp
+++ b/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp
@@ -653,8 +653,8 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
 	for (int i = 0; i < nin; ++i)
 		rcVcopy(&verts[i*3], &in[i*3]);
 	
-	edges.resize(0);
-	tris.resize(0);
+	edges.clear();
+	tris.clear();
 	
 	const float cs = chf.cs;
 	const float ics = 1.0f/cs;
@@ -803,7 +803,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
 		int x1 = (int)ceilf(bmax[0]/sampleDist);
 		int z0 = (int)floorf(bmin[2]/sampleDist);
 		int z1 = (int)ceilf(bmax[2]/sampleDist);
-		samples.resize(0);
+		samples.clear();
 		for (int z = z0; z < z1; ++z)
 		{
 			for (int x = x0; x < x1; ++x)
@@ -864,8 +864,8 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
 			
 			// Create new triangulation.
 			// TODO: Incremental add instead of full rebuild.
-			edges.resize(0);
-			tris.resize(0);
+			edges.clear();
+			tris.clear();
 			delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges);
 		}
 	}
@@ -935,7 +935,7 @@ static void seedArrayWithPolyCenter(rcContext* ctx, const rcCompactHeightfield&
 	pcy /= npoly;
 	
 	// Use seeds array as a stack for DFS
-	array.resize(0);
+	array.clear();
 	array.push(startCellX);
 	array.push(startCellY);
 	array.push(startSpanIndex);
@@ -1001,7 +1001,7 @@ static void seedArrayWithPolyCenter(rcContext* ctx, const rcCompactHeightfield&
 		rcSwap(dirs[directDir], dirs[3]);
 	}
 
-	array.resize(0);
+	array.clear();
 	// getHeightData seeds are given in coordinates with borders
 	array.push(cx+bs);
 	array.push(cy+bs);
@@ -1030,7 +1030,7 @@ static void getHeightData(rcContext* ctx, const rcCompactHeightfield& chf,
 	// Note: Reads to the compact heightfield are offset by border size (bs)
 	// since border size offset is already removed from the polymesh vertices.
 	
-	queue.resize(0);
+	queue.clear();
 	// Set all heights to RC_UNSET_HEIGHT.
 	memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
 
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp b/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp
index e1fc0ee788..48318688bc 100644
--- a/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp
+++ b/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp
@@ -650,7 +650,7 @@ static bool mergeRegions(rcRegion& rega, rcRegion& regb)
 		return false;
 	
 	// Merge neighbours.
-	rega.connections.resize(0);
+	rega.connections.clear();
 	for (int i = 0, ni = acon.size(); i < ni-1; ++i)
 		rega.connections.push(acon[(insa+1+i) % ni]);
 		
@@ -876,8 +876,8 @@ static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRe
 		// Also keep track of the regions connects to a tile border.
 		bool connectsToBorder = false;
 		int spanCount = 0;
-		stack.resize(0);
-		trace.resize(0);
+		stack.clear();
+		trace.clear();
 
 		reg.visited = true;
 		stack.push(i);
@@ -1068,7 +1068,7 @@ static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
 		{
 			const rcCompactCell& c = chf.cells[x+y*w];
 
-			lregs.resize(0);
+			lregs.clear();
 			
 			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
 			{
@@ -1139,7 +1139,7 @@ static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
 		// Start search.
 		root.id = layerId;
 
-		stack.resize(0);
+		stack.clear();
 		stack.push(i);
 		
 		while (stack.size() > 0)