Fix bug in AssemblyScript version of the baker

.gitignore

@@ -13,6 +13,7 @@ assemblyscript/grid_graph_test.js
 assemblyscript/bvh_test.js
 *.js
 *.nm
+*.obj
 python/issues
 python/map_benchmark.py
 python/navmeshdata.txt

assemblyscript/assembly/baker/rc_area.ts

@@ -462,7 +462,7 @@ function box_blur(chf: CompactHeightfield,
                             }
                         }
                     }
-                    dst[i] = (d + 5) // 9
+                    dst[i] = (d + 5) / 9;
                 }
             }
         }
@@ -599,7 +599,7 @@ function expand_regions(max_iter: int,
     let dirty_entries: List<DirtyEntry> = new List<DirtyEntry>();
     let iter: int = 0;
     while(stack.length > 0){
-        let failed: int  = 0;
+        let failed: int = 0;
         dirty_entries.reset();
 
         for(let j = 0; j < stack.length; j++){
@@ -645,10 +645,10 @@ function expand_regions(max_iter: int,
                 failed += 1;
             }
         }
-        for(let i = 0; i < dirty_entries.length; i++){
-            const idx: int = dirty_entries[i].index;
-            buf[src_reg + idx] = dirty_entries[i].region;
-            buf[src_dist + idx] = dirty_entries[i].distance2;
+        for(let i_for = 0; i_for < dirty_entries.length; i_for++){
+            const idx: int = dirty_entries[i_for].index;
+            buf[src_reg + idx] = dirty_entries[i_for].region;
+            buf[src_dist + idx] = dirty_entries[i_for].distance2;
         }
 
         if(failed == stack.length){
@@ -1261,8 +1261,14 @@ export function build_regions(chf: CompactHeightfield,
     let lvl_stacks: StaticArray<List<LevelStackEntry>> = new StaticArray<List<LevelStackEntry>>(NB_STACKS);
     for(let i = 0; i < NB_STACKS; i++){
         lvl_stacks[i] = new List<LevelStackEntry>();
+        for(let j = 0; j < 256; j++) {
+            lvl_stacks[i].push(new LevelStackEntry());
+        }
     }
     let stack: List<LevelStackEntry> = new List<LevelStackEntry>();
+    for(let i = 0; i < 256; i++) {
+        stack.push(new LevelStackEntry());
+    }
 
     let src_reg: int = 0;
     let src_dist: int = chf.span_count;

assemblyscript/assembly/baker/rc_classes.ts

@@ -81,6 +81,10 @@ export class LevelStackEntry{
         this.y = _y;
         this.index = _index;
     }
+
+    toString(): string {
+        return "LS[" + this.x.toString() + ", " + this.y.toString() + ", " + this.index.toString() + "]";
+    }
 }
 
 export class DirtyEntry{

assemblyscript/assembly/baker/rc_contour.ts

@@ -214,10 +214,14 @@ function distance_pt_seg(x: int,
                          pz: int,
                          qx: int,
                          qz: int): float{
-    const pqx: float = <f64>(qx - px);
-    const pqz: float = <f64>(qz - pz);
-    let dx: float = <f64>(x - px);
-    let dz: float = <f64>(z - pz);
+    const pqx_int = qx - px;
+    const pqx: float = <f64>pqx_int;
+    const pqz_int = qz - pz;
+    const pqz: float = <f64>pqz_int;
+    const dx_int = x - px;
+    let dx: float = <f64>dx_int;
+    const dz_int = z - pz;
+    let dz: float = <f64>dz_int;
     const d: float = pqx*pqx + pqz*pqz;
     let t: float = pqx*dx + pqz*dz;
     if(d > 0.0){
@@ -230,8 +234,8 @@ function distance_pt_seg(x: int,
         t = 1.0;
     }
 
-    dx = <f64>(px) + t*pqx - <f64>(x);
-    dz = <f64>(pz) + t*pqz - <f64>(z);
+    dx = <f64>px + t*pqx - <f64>x;
+    dz = <f64>pz + t*pqz - <f64>z;
 
     return dx*dx + dz*dz;
 }
@@ -812,7 +816,7 @@ function merge_region_holes(region: ContourRegion, holes: StaticArray<ContourHol
                     }
                     bestVertex = (bestVertex + 1) % hole.nverts;
                 }
-            
+
                 if(index == -1){
                     let region_outline = region.outline;
                     if(region_outline){

assemblyscript/assembly/common/utilities.ts

@@ -1,4 +1,3 @@
-//import "wasi";
 import { Vector2, abs_sq, dot } from "./vector2";
 import { List } from "./list";
 import { Serializable, SD_TYPE } from "./binary_io";

python/pathfinder/navmesh_baker/rc_area.py

@@ -500,7 +500,7 @@ def expand_regions(max_iter: int,
                         ai: int = c.index + get_con(s, dir)
                         if chf.areas[ai] != area:
                             continue
-                        if (buf[src_reg + ai] > 0) and (buf[src_reg + ai] & RC_BORDER_REG == 0):
+                        if (buf[src_reg + ai] > 0) and ((buf[src_reg + ai] & RC_BORDER_REG) == 0):
                             if buf[src_dist + ai] + 2 < d2:
                                 r = buf[src_reg + ai]
                                 d2 = buf[src_dist + ai] + 2
@@ -510,10 +510,10 @@ def expand_regions(max_iter: int,
             else:
                 failed += 1
         # Copy entries that differ between src and dst to keep them in sync
-        for i in range(len(dirty_entries)):
-            idx: int = dirty_entries[i].index
-            buf[src_reg + idx] = dirty_entries[i].region
-            buf[src_dist + idx] = dirty_entries[i].distance2
+        for i_for in range(len(dirty_entries)):
+            idx: int = dirty_entries[i_for].index
+            buf[src_reg + idx] = dirty_entries[i_for].region
+            buf[src_dist + idx] = dirty_entries[i_for].distance2
 
         if failed == len(stack):
             break

python/pathfinder/navmesh_baker/rc_classes.py

@@ -66,6 +66,9 @@ def __init__(self, _x: int = 0, _y: int = 0, _index: int = 0):
         self.y = _y
         self.index = _index
 
+    def __repr__(self):
+        return "LS[" + str(self.x) + ", " + str(self.y) + ", " + str(self.index) + "]"
+
 class DirtyEntry:
     def __init__(self, _index: int = 0,
                        _region: int = 0,  # 2 bytes

python/pathfinder/navmesh_baker/rc_contour.py

@@ -700,7 +700,7 @@ def merge_region_holes(region: ContourRegion, holes: List[ContourHole]):
                         break
                     # All the potential diagonals for the current vertex were intersecting, try next vertex
                     bestVertex = (bestVertex + 1) % hole.nverts
-            
+
                 if index == -1:
                     print("[Navmesh Baker] merge_holes: Failed to find merge points for " + str(region.outline) + " and " + str(hole) +".")
                     continue