From 0614c040bac49fcfce51c87fb1622187e48ea50e Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 30 Jul 2023 11:27:10 +0900
Subject: [PATCH] remove nullable float in IntersectSegmentTriangle

---
 src/DotRecast.Core/Intersections.cs             | 17 +++++++++--------
 src/DotRecast.Detour/NavMeshRaycast.cs          |  3 +--
 .../Geom/DemoInputGeomProvider.cs               |  7 +++----
 src/DotRecast.Recast/PolyMeshRaycast.cs         |  6 ++----
 4 files changed, 15 insertions(+), 18 deletions(-)

diff --git a/src/DotRecast.Core/Intersections.cs b/src/DotRecast.Core/Intersections.cs
index 6779bda..62d2d97 100644
--- a/src/DotRecast.Core/Intersections.cs
+++ b/src/DotRecast.Core/Intersections.cs
@@ -22,8 +22,9 @@ namespace DotRecast.Core
 {
     public static class Intersections
     {
-        public static float? IntersectSegmentTriangle(RcVec3f sp, RcVec3f sq, RcVec3f a, RcVec3f b, RcVec3f c)
+        public static bool IntersectSegmentTriangle(RcVec3f sp, RcVec3f sq, RcVec3f a, RcVec3f b, RcVec3f c, out float t)
         {
+            t = 0;
             float v, w;
             RcVec3f ab = b.Subtract(a);
             RcVec3f ac = c.Subtract(a);
@@ -38,22 +39,22 @@ namespace DotRecast.Core
             float d = RcVec3f.Dot(qp, norm);
             if (d <= 0.0f)
             {
-                return null;
+                return false;
             }
 
             // Compute intersection t value of pq with plane of triangle. A ray
             // intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
             // dividing by d until intersection has been found to pierce triangle
             RcVec3f ap = sp.Subtract(a);
-            float t = RcVec3f.Dot(ap, norm);
+            t = RcVec3f.Dot(ap, norm);
             if (t < 0.0f)
             {
-                return null;
+                return false;
             }
 
             if (t > d)
             {
-                return null; // For segment; exclude this code line for a ray test
+                return false; // For segment; exclude this code line for a ray test
             }
 
             // Compute barycentric coordinate components and test if within bounds
@@ -61,19 +62,19 @@ namespace DotRecast.Core
             v = RcVec3f.Dot(ac, e);
             if (v < 0.0f || v > d)
             {
-                return null;
+                return false;
             }
 
             w = -RcVec3f.Dot(ab, e);
             if (w < 0.0f || v + w > d)
             {
-                return null;
+                return false;
             }
 
             // Segment/ray intersects triangle. Perform delayed division
             t /= d;
 
-            return t;
+            return true;
         }
 
         public static bool IsectSegAABB(RcVec3f sp, RcVec3f sq, RcVec3f amin, RcVec3f amax, out float tmin, out float tmax)
diff --git a/src/DotRecast.Detour/NavMeshRaycast.cs b/src/DotRecast.Detour/NavMeshRaycast.cs
index 0bea893..b6c2f40 100644
--- a/src/DotRecast.Detour/NavMeshRaycast.cs
+++ b/src/DotRecast.Detour/NavMeshRaycast.cs
@@ -79,8 +79,7 @@ namespace DotRecast.Detour
                             }
                         }
 
-                        float? intersection = Intersections.IntersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2]);
-                        if (null != intersection)
+                        if (Intersections.IntersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2], out var intersection))
                         {
                             return intersection;
                         }
diff --git a/src/DotRecast.Recast.DemoTool/Geom/DemoInputGeomProvider.cs b/src/DotRecast.Recast.DemoTool/Geom/DemoInputGeomProvider.cs
index df97561..21292bf 100644
--- a/src/DotRecast.Recast.DemoTool/Geom/DemoInputGeomProvider.cs
+++ b/src/DotRecast.Recast.DemoTool/Geom/DemoInputGeomProvider.cs
@@ -169,12 +169,11 @@ namespace DotRecast.Recast.DemoTool.Geom
                         vertices[tris[j + 2] * 3 + 1],
                         vertices[tris[j + 2] * 3 + 2]
                     );
-                    float? t = Intersections.IntersectSegmentTriangle(src, dst, v1, v2, v3);
-                    if (null != t)
+                    if (Intersections.IntersectSegmentTriangle(src, dst, v1, v2, v3, out var t))
                     {
-                        if (t.Value < tmin)
+                        if (t < tmin)
                         {
-                            tmin = t.Value;
+                            tmin = t;
                         }
 
                         hit = true;
diff --git a/src/DotRecast.Recast/PolyMeshRaycast.cs b/src/DotRecast.Recast/PolyMeshRaycast.cs
index eeb43ac..ac7e7b2 100644
--- a/src/DotRecast.Recast/PolyMeshRaycast.cs
+++ b/src/DotRecast.Recast/PolyMeshRaycast.cs
@@ -21,7 +21,6 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-
     public static class PolyMeshRaycast
     {
         public static float? Raycast(IList<RecastBuilderResult> results, RcVec3f src, RcVec3f dst)
@@ -63,8 +62,7 @@ namespace DotRecast.Recast
                             vs[k].z = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 2];
                         }
 
-                        float? intersection = Intersections.IntersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2]);
-                        if (null != intersection)
+                        if (Intersections.IntersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2], out var intersection))
                         {
                             return intersection;
                         }
@@ -79,4 +77,4 @@ namespace DotRecast.Recast
             return null;
         }
     }
-}
+}
\ No newline at end of file