Fix crash issue when navi-mesh seperated

[platform/core/uifw/dali-toolkit.git] / dali-scene3d / internal / algorithm / path-finder-spfa.cpp

diff --git a/dali-scene3d/internal/algorithm/path-finder-spfa.cpp b/dali-scene3d/internal/algorithm/path-finder-spfa.cpp
index 977eb90..02f308e 100644 (file)
--- a/dali-scene3d/internal/algorithm/path-finder-spfa.cpp
+++ b/dali-scene3d/internal/algorithm/path-finder-spfa.cpp
@@ -14,14 +14,16 @@
  * limitations under the License.
  */
 
-// INTERNAL INCLUDES
+// CLASS HEADER
 #include <dali-scene3d/internal/algorithm/path-finder-spfa.h>
-#include <dali-scene3d/internal/algorithm/path-finder-waypoint-data.h>
-#include <dali-scene3d/public-api/algorithm/path-finder-waypoint.h>
 
 // EXTERNAL INCLUDES
+#include <dali/public-api/common/vector-wrapper.h>
 #include <limits>
-#include <vector>
+
+// INTERNAL INCLUDES
+#include <dali-scene3d/internal/algorithm/path-finder-waypoint-data.h>
+#include <dali-scene3d/public-api/algorithm/path-finder-waypoint.h>
 
 using WayPointList = Dali::Scene3D::Algorithm::WayPointList;
 
@@ -38,7 +40,7 @@ PathFinderAlgorithmSPFA::~PathFinderAlgorithmSPFA() = default;
 Scene3D::Algorithm::WayPointList PathFinderAlgorithmSPFA::FindPath(const Dali::Vector3& positionFrom, const Dali::Vector3& positionTo)
 {
   Dali::Vector3 outPosFrom;
-  uint32_t      polyIndexFrom;
+  FaceIndex     polyIndexFrom;
   auto          result = mNavigationMesh->FindFloor(positionFrom, outPosFrom, polyIndexFrom);
 
   Scene3D::Algorithm::WayPointList waypoints;
@@ -46,7 +48,7 @@ Scene3D::Algorithm::WayPointList PathFinderAlgorithmSPFA::FindPath(const Dali::V
   if(result)
   {
     Dali::Vector3 outPosTo;
-    uint32_t      polyIndexTo;
+    FaceIndex     polyIndexTo;
     result = mNavigationMesh->FindFloor(positionTo, outPosTo, polyIndexTo);
 
     if(result)
@@ -54,18 +56,20 @@ Scene3D::Algorithm::WayPointList PathFinderAlgorithmSPFA::FindPath(const Dali::V
       // Get waypoints
       waypoints = FindPath(polyIndexFrom, polyIndexTo);
 
-      // replace first and last waypoint
-      auto& wpFrom = static_cast<WayPointData&>(waypoints[0]);
-      auto& wpTo   = static_cast<WayPointData&>(waypoints.back());
+      if(!waypoints.empty())
+      {
+        // replace first and last waypoint
+        auto& wpFrom = static_cast<WayPointData&>(waypoints[0]);
+        auto& wpTo   = static_cast<WayPointData&>(waypoints.back());
 
-      Vector2 fromCenter(wpFrom.point3d.x, wpFrom.point3d.y);
-      wpFrom.point3d = outPosFrom;
-      wpFrom.point2d = fromCenter - Vector2(outPosFrom.x, outPosFrom.y);
+        Vector2 fromCenter(wpFrom.point3d.x, wpFrom.point3d.y);
+        wpFrom.point3d = outPosFrom;
+        wpFrom.point2d = fromCenter - Vector2(outPosFrom.x, outPosFrom.y);
 
-      Vector2 toCenter(wpTo.point3d.x, wpTo.point3d.y);
-      wpTo.point3d = outPosTo;
-      wpTo.point2d = toCenter - Vector2(outPosTo.x, outPosTo.y);
-      wpTo.point3d = outPosTo;
+        Vector2 toCenter(wpTo.point3d.x, wpTo.point3d.y);
+        wpTo.point3d = outPosTo;
+        wpTo.point2d = toCenter - Vector2(outPosTo.x, outPosTo.y);
+      }
     }
   }
 
@@ -73,18 +77,18 @@ Scene3D::Algorithm::WayPointList PathFinderAlgorithmSPFA::FindPath(const Dali::V
   return waypoints;
 }
 
-Scene3D::Algorithm::WayPointList PathFinderAlgorithmSPFA::FindPath(uint32_t sourcePolyIndex, uint32_t targetPolyIndex)
+Scene3D::Algorithm::WayPointList PathFinderAlgorithmSPFA::FindPath(FaceIndex sourcePolyIndex, FaceIndex targetPolyIndex)
 {
-  auto                  nodeCount = uint32_t(mNodes.size());
-  std::vector<float>    dist;
-  std::vector<uint32_t> prev;
-  std::vector<bool>     queued;
+  auto                   nodeCount = uint32_t(mNodes.size());
+  std::vector<float>     dist;
+  std::vector<FaceIndex> prev;
+  std::vector<bool>      queued;
 
   dist.resize(mNodes.size());
   prev.resize(mNodes.size());
   queued.resize(mNodes.size());
 
-  std::list<uint32_t> nodeQueue;
+  std::list<FaceIndex> nodeQueue;
 
   [[maybe_unused]] auto sourcePos = Dali::Vector3(Face(sourcePolyIndex)->center);
 
@@ -143,8 +147,8 @@ Scene3D::Algorithm::WayPointList PathFinderAlgorithmSPFA::FindPath(uint32_t sour
   }
 
   // Compute distances for each node back to the source
-  auto                u = targetPolyIndex;
-  std::list<uint32_t> q;
+  auto                 u = targetPolyIndex;
+  std::list<FaceIndex> q;
   if(prev[u] != Scene3D::Algorithm::NavigationMesh::NULL_FACE || u == sourcePolyIndex)
   {
     while(u != Scene3D::Algorithm::NavigationMesh::NULL_FACE)
@@ -201,7 +205,8 @@ void PathFinderAlgorithmSPFA::PrepareData()
   mNodes.resize(faceCount);
 
   // for each face build the list
-  for(auto i = 0u; i < faceCount; ++i)
+  // TODO : Currently, we are assume that FaceNodeIndex is matched with FaceIndex 1:1. This might be changed in future.
+  for(FaceNodeIndex i = 0u; i < faceCount; ++i)
   {
     auto&       node = mNodes[i];
     const auto* face = mNavigationMesh->GetFace(i);