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DotRecastNetSim
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remove nullable float in IntersectSegmentTriangle

This commit is contained in:
ikpil 2023-07-30 11:27:10 +09:00
parent 8044b85ec5
commit 0614c040ba
4 changed files with 15 additions and 18 deletions
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17
src/DotRecast.Core/Intersections.cs
View File

@ -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)

3
src/DotRecast.Detour/NavMeshRaycast.cs
View File

@ -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;
}

7
src/DotRecast.Recast.DemoTool/Geom/DemoInputGeomProvider.cs
View File

@ -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;

4
src/DotRecast.Recast/PolyMeshRaycast.cs
View File

@ -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;
}