From afd6f0739ca4b30547daee82eca149ae73547357 Mon Sep 17 00:00:00 2001
From: elsid <elsid.mail@gmail.com>
Date: Sun, 26 Nov 2023 09:28:52 +0100
Subject: [PATCH 1/2] Format box shape indices grouping by triangle

---
 .../detournavigator/recastmeshbuilder.cpp     | 48 +++++--------------
 1 file changed, 12 insertions(+), 36 deletions(-)

diff --git a/components/detournavigator/recastmeshbuilder.cpp b/components/detournavigator/recastmeshbuilder.cpp
index 1684e3e542..6c15b441e7 100644
--- a/components/detournavigator/recastmeshbuilder.cpp
+++ b/components/detournavigator/recastmeshbuilder.cpp
@@ -189,42 +189,18 @@ namespace DetourNavigator
     void RecastMeshBuilder::addObject(const btBoxShape& shape, const btTransform& transform, const AreaType areaType)
     {
         constexpr std::array<int, 36> indices{ {
-            0,
-            2,
-            3,
-            3,
-            1,
-            0,
-            0,
-            4,
-            6,
-            6,
-            2,
-            0,
-            0,
-            1,
-            5,
-            5,
-            4,
-            0,
-            7,
-            5,
-            1,
-            1,
-            3,
-            7,
-            7,
-            3,
-            2,
-            2,
-            6,
-            7,
-            7,
-            6,
-            4,
-            4,
-            5,
-            7,
+            0, 2, 3, // triangle 0
+            3, 1, 0, // triangle 1
+            0, 4, 6, // triangle 2
+            6, 2, 0, // triangle 3
+            0, 1, 5, // triangle 4
+            5, 4, 0, // triangle 5
+            7, 5, 1, // triangle 6
+            1, 3, 7, // triangle 7
+            7, 3, 2, // triangle 8
+            2, 6, 7, // triangle 9
+            7, 6, 4, // triangle 10
+            4, 5, 7, // triangle 11
         } };
 
         for (std::size_t i = 0; i < indices.size(); i += 3)

From b0b6c48a8804c9d373d043140402745deb925b8c Mon Sep 17 00:00:00 2001
From: elsid <elsid.mail@gmail.com>
Date: Sun, 26 Nov 2023 10:28:39 +0100
Subject: [PATCH 2/2] Add clarifying comments to detournavigator coordinates
 conversion functions

---
 components/detournavigator/settingsutils.hpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/components/detournavigator/settingsutils.hpp b/components/detournavigator/settingsutils.hpp
index 10e99d002f..c9d8665d51 100644
--- a/components/detournavigator/settingsutils.hpp
+++ b/components/detournavigator/settingsutils.hpp
@@ -47,6 +47,7 @@ namespace DetourNavigator
         return position;
     }
 
+    // Returns value in NavMesh coordinates
     inline float getTileSize(const RecastSettings& settings)
     {
         return static_cast<float>(settings.mTileSize) * settings.mCellSize;
@@ -62,16 +63,19 @@ namespace DetourNavigator
         return static_cast<int>(v);
     }
 
+    // Returns integer tile position for position in navmesh coordinates
     inline TilePosition getTilePosition(const RecastSettings& settings, const osg::Vec2f& position)
     {
         return TilePosition(getTilePosition(settings, position.x()), getTilePosition(settings, position.y()));
     }
 
+    // Returns integer tile position for position in navmesh coordinates
     inline TilePosition getTilePosition(const RecastSettings& settings, const osg::Vec3f& position)
     {
         return getTilePosition(settings, osg::Vec2f(position.x(), position.z()));
     }
 
+    // Returns tile bounds in navmesh coordinates
     inline TileBounds makeTileBounds(const RecastSettings& settings, const TilePosition& tilePosition)
     {
         return TileBounds{
@@ -80,6 +84,7 @@ namespace DetourNavigator
         };
     }
 
+    // Returns border size relative to cell size
     inline float getBorderSize(const RecastSettings& settings)
     {
         return static_cast<float>(settings.mBorderSize) * settings.mCellSize;
@@ -95,6 +100,7 @@ namespace DetourNavigator
         return std::floor(std::sqrt(settings.mMaxTilesNumber / osg::PI)) - 1;
     }
 
+    // Returns tile bounds in real coordinates
     inline TileBounds makeRealTileBoundsWithBorder(const RecastSettings& settings, const TilePosition& tilePosition)
     {
         TileBounds result = makeTileBounds(settings, tilePosition);