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mcpplibs.mwrap.recastnavigation 1.6.0.1: the crowd's obstacle avoidance the same on every platform - #797
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…ce the same on every platform (deterministic trigonometry; the even-count adaptive pattern fixed)
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Adds recastnavigation-m 1.6.0.1, the wrapper's first revision (docs/mwrap.md: upstream 1.6.0, revision 1). A crowd with
DT_CROWD_OBSTACLE_AVOIDANCEnow walks to the same places on every platform. In 1.6.0, DetourCrowd's obstacle avoidance and DetourTileCache's oriented boxes called the C library'scosf/sinfdirectly, bypassing Detour's own hooks, and the hooks themselves forwarded to libm, whose results differ by an ulp between glibc, macOS, the Windows UCRT and emscripten.Three patches, pre-applied in
upstream/, with each file's tarball and patched sha256 recorded inupstream/documents.json:dtMathCosf/dtMathSinf(worth sending upstream).cosfcallport/DeterministicMath.cpp. It uses IEEE arithmetic only. Against long double over every finite float its error is at most 0.500000001 ulp.adaptiveDivs(upstream issues index out of bound when build sampling pattern in dtObstacleAvoidanceQuery::sampleVelocityAdaptive recastnavigation/recastnavigation#496 and openkal-image 0.6.4; openkal-macos 0.23.4 #798). It sampled an uninitialised direction, and with 32 divisions and 4 rings it wrote past the end of a stack array.The wrapper's CI rows (Linux x86-64/arm64 GCC and LLVM, macOS, Windows, wasm32, each in dev and release) give the same pinned hashes: avoiding crowd 0x96c1d5d10d964de3, trig fingerprints, and the unchanged mesh and crowd hashes. The GitHub release and the GitCode mirror have the same bytes (sha256 5dd92b2…8fbc9). The consumer test
tests/mwrap/recastnavigation-pathnow uses 1.6.0.1 and passes locally through the candidate index.