Updated Recast to 4fef044

In some cases Godot can generate input parameters to Recast that cause it to crash.  Specifically when baking NavigationMeshes for input meshes that have axis extents less than half the NavigationMesh CellSize.

This has been fixed upstream in Recast (in 3901c5854c).  Updating Godot's Recast integration fixes this crash issue in Godot as well.

thirdparty/recastnavigation/Recast/Source/Recast.cpp

@@ -94,6 +94,11 @@ void rcContext::log(const rcLogCategory category, const char* format, ...)
 	doLog(category, msg, len);
 }
 
+void rcContext::doResetLog()
+{
+	// Defined out of line to fix the weak v-tables warning
+}
+
 rcHeightfield* rcAllocHeightfield()
 {
 	return rcNew<rcHeightfield>(RC_ALLOC_PERM);

thirdparty/recastnavigation/Recast/Source/RecastMesh.cpp

@@ -566,7 +566,6 @@ static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned sho
 	const int nvp = mesh.nvp;
 	
 	// Count number of polygons to remove.
-	int numRemovedVerts = 0;
 	int numTouchedVerts = 0;
 	int numRemainingEdges = 0;
 	for (int i = 0; i < mesh.npolys; ++i)
@@ -586,7 +585,6 @@ static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned sho
 		}
 		if (numRemoved)
 		{
-			numRemovedVerts += numRemoved;
 			numRemainingEdges += numVerts-(numRemoved+1);
 		}
 	}

thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp

@@ -284,7 +284,7 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
 enum EdgeValues
 {
 	EV_UNDEF = -1,
-	EV_HULL = -2,
+	EV_HULL = -2
 };
 
 static int findEdge(const int* edges, int nedges, int s, int t)

thirdparty/recastnavigation/Recast/Source/RecastRasterization.cpp

@@ -264,7 +264,8 @@ static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
 	// Calculate the footprint of the triangle on the grid's y-axis
 	int y0 = (int)((tmin[2] - bmin[2])*ics);
 	int y1 = (int)((tmax[2] - bmin[2])*ics);
-	y0 = rcClamp(y0, 0, h-1);
+	// use -1 rather than 0 to cut the polygon properly at the start of the tile
+	y0 = rcClamp(y0, -1, h-1);
 	y1 = rcClamp(y1, 0, h-1);
 	
 	// Clip the triangle into all grid cells it touches.
@@ -283,7 +284,7 @@ static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
 		dividePoly(in, nvIn, inrow, &nvrow, p1, &nvIn, cz+cs, 2);
 		rcSwap(in, p1);
 		if (nvrow < 3) continue;
-		
+		if (y < 0) continue;
 		// find the horizontal bounds in the row
 		float minX = inrow[0], maxX = inrow[0];
 		for (int i=1; i<nvrow; ++i)
@@ -293,7 +294,10 @@ static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
 		}
 		int x0 = (int)((minX - bmin[0])*ics);
 		int x1 = (int)((maxX - bmin[0])*ics);
-		x0 = rcClamp(x0, 0, w-1);
+		if (x1 < 0 || x0 >= w) {
+			continue;
+		}
+		x0 = rcClamp(x0, -1, w-1);
 		x1 = rcClamp(x1, 0, w-1);
 
 		int nv, nv2 = nvrow;
@@ -305,7 +309,7 @@ static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
 			dividePoly(inrow, nv2, p1, &nv, p2, &nv2, cx+cs, 0);
 			rcSwap(inrow, p2);
 			if (nv < 3) continue;
-			
+			if (x < 0) continue;
 			// Calculate min and max of the span.
 			float smin = p1[1], smax = p1[1];
 			for (int i = 1; i < nv; ++i)