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DotRecastNetSim
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remove VSub -> Vector3f.Subtract

This commit is contained in:
ikpil 2023-05-14 16:57:57 +09:00
parent cc6fde19bb
commit 0c37c9eedb
16 changed files with 63 additions and 57 deletions
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8
src/DotRecast.Core/Intersections.cs
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@ -27,9 +27,9 @@ namespace DotRecast.Core
public static float? IntersectSegmentTriangle(Vector3f sp, Vector3f sq, Vector3f a, Vector3f b, Vector3f c)
{
float v, w;
Vector3f ab = VSub(b, a);
Vector3f ac = VSub(c, a);
Vector3f qp = VSub(sp, sq);
Vector3f ab = b.Subtract(a);
Vector3f ac = c.Subtract(a);
Vector3f qp = sp.Subtract(sq);
// Compute triangle normal. Can be precalculated or cached if
// intersecting multiple segments against the same triangle
@ -46,7 +46,7 @@ namespace DotRecast.Core
// 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
Vector3f ap = VSub(sp, a);
Vector3f ap = sp.Subtract(a);
float t = VDot(ap, norm);
if (t < 0.0f)
{

28
src/DotRecast.Core/RcMath.cs
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@ -142,16 +142,6 @@ namespace DotRecast.Core
);
}
public static Vector3f VSub(Vector3f v1, Vector3f v2)
{
return new Vector3f(
v1.x - v2.x,
v1.y - v2.y,
v1.z - v2.z
);
}
public static Vector3f VAdd(Vector3f v1, Vector3f v2)
{
return new Vector3f(
@ -517,9 +507,9 @@ namespace DotRecast.Core
public static float? ClosestHeightPointTriangle(Vector3f p, Vector3f a, Vector3f b, Vector3f c)
{
Vector3f v0 = VSub(c, a);
Vector3f v1 = VSub(b, a);
Vector3f v2 = VSub(p, a);
Vector3f v0 = c.Subtract(a);
Vector3f v1 = b.Subtract(a);
Vector3f v2 = p.Subtract(a);
// Compute scaled barycentric coordinates
float denom = v0.x * v1.z - v0.z * v1.x;
@ -737,15 +727,15 @@ namespace DotRecast.Core
{
IntersectResult result = new IntersectResult();
float EPS = 0.000001f;
var dir = VSub(p1, p0);
var dir = p1.Subtract(p0);
var p0v = p0;
for (int i = 0, j = nverts - 1; i < nverts; j = i++)
{
Vector3f vpj = Vector3f.Of(verts, j * 3);
Vector3f vpi = Vector3f.Of(verts, i * 3);
var edge = VSub(vpi, vpj);
var diff = VSub(p0v, vpj);
var edge = vpi.Subtract(vpj);
var diff = p0v.Subtract(vpj);
float n = VPerp2D(edge, diff);
float d = VPerp2D(dir, edge);
if (Math.Abs(d) < EPS)
@ -868,9 +858,9 @@ namespace DotRecast.Core
public static Tuple<float, float>? IntersectSegSeg2D(Vector3f ap, Vector3f aq, Vector3f bp, Vector3f bq)
{
Vector3f u = VSub(aq, ap);
Vector3f v = VSub(bq, bp);
Vector3f w = VSub(ap, bp);
Vector3f u = aq.Subtract(ap);
Vector3f v = bq.Subtract(bp);
Vector3f w = ap.Subtract(bp);
float d = VperpXZ(u, v);
if (Math.Abs(d) < 1e-6f)
{

18
src/DotRecast.Core/Vector3f.cs
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@ -17,6 +17,7 @@ freely, subject to the following restrictions:
*/
using System;
using System.Runtime.CompilerServices;
namespace DotRecast.Core
{
@ -93,6 +94,16 @@ namespace DotRecast.Core
}
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public Vector3f Subtract(Vector3f right)
{
return new Vector3f(
x - right.x,
y - right.y,
z - right.z
);
}
public override bool Equals(object obj)
{
if (!(obj is Vector3f))
@ -126,6 +137,11 @@ namespace DotRecast.Core
{
return !left.Equals(right);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static Vector3f operator -(Vector3f left, Vector3f right)
{
return left.Subtract(right);
}
}
}

6
src/DotRecast.Detour.Crowd/Crowd.cs
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@ -917,7 +917,7 @@ namespace DotRecast.Detour.Crowd
}
// Check for overlap.
Vector3f diff = VSub(pos, ag.npos);
Vector3f diff = pos.Subtract(ag.npos);
if (Math.Abs(diff.y) >= (height + ag.option.height) / 2.0f)
{
continue;
@ -1091,7 +1091,7 @@ namespace DotRecast.Detour.Crowd
{
CrowdAgent nei = ag.neis[j].agent;
Vector3f diff = VSub(ag.npos, nei.npos);
Vector3f diff = ag.npos.Subtract(nei.npos);
diff.y = 0;
float distSqr = VLenSqr(diff);
@ -1245,7 +1245,7 @@ namespace DotRecast.Detour.Crowd
{
CrowdAgent nei = ag.neis[j].agent;
long idx1 = nei.idx;
Vector3f diff = VSub(ag.npos, nei.npos);
Vector3f diff = ag.npos.Subtract(nei.npos);
diff.y = 0;
float dist = VLenSqr(diff);

8
src/DotRecast.Detour.Crowd/CrowdAgent.cs
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@ -115,7 +115,7 @@ namespace DotRecast.Detour.Crowd
{
// Fake dynamic constraint.
float maxDelta = option.maxAcceleration * dt;
Vector3f dv = VSub(nvel, vel);
Vector3f dv = nvel.Subtract(vel);
float ds = VLen(dv);
if (ds > maxDelta)
dv = VScale(dv, maxDelta / ds);
@ -169,8 +169,8 @@ namespace DotRecast.Detour.Crowd
var p0 = corners[ip0].GetPos();
var p1 = corners[ip1].GetPos();
var dir0 = VSub(p0, npos);
var dir1 = VSub(p1, npos);
var dir0 = p0.Subtract(npos);
var dir1 = p1.Subtract(npos);
dir0.y = 0;
dir1.y = 0;
@ -194,7 +194,7 @@ namespace DotRecast.Detour.Crowd
Vector3f dir = new Vector3f();
if (0 < corners.Count)
{
dir = VSub(corners[0].GetPos(), npos);
dir = corners[0].GetPos().Subtract(npos);
dir.y = 0;
VNormalize(ref dir);
}

16
src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs
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@ -127,9 +127,9 @@ namespace DotRecast.Detour.Crowd
Vector3f orig = new Vector3f();
Vector3f dv = new Vector3f();
cir.dp = VSub(pb, pa);
cir.dp = pb.Subtract(pa);
VNormalize(ref cir.dp);
dv = VSub(cir.dvel, dvel);
dv = cir.dvel.Subtract(dvel);
float a = TriArea2D(orig, cir.dp, dv);
if (a < 0.01f)
@ -158,7 +158,7 @@ namespace DotRecast.Detour.Crowd
SweepCircleCircleResult SweepCircleCircle(Vector3f c0, float r0, Vector3f v, Vector3f c1, float r1)
{
const float EPS = 0.0001f;
Vector3f s = VSub(c1, c0);
Vector3f s = c1.Subtract(c0);
float r = r0 + r1;
float c = VDot2D(s, s) - r * r;
float a = VDot2D(v, v);
@ -177,8 +177,8 @@ namespace DotRecast.Detour.Crowd
IsectRaySegResult IsectRaySeg(Vector3f ap, Vector3f u, Vector3f bp, Vector3f bq)
{
Vector3f v = VSub(bq, bp);
Vector3f w = VSub(ap, bp);
Vector3f v = bq.Subtract(bp);
Vector3f w = ap.Subtract(bp);
float d = VPerp2D(u, v);
if (Math.Abs(d) < 1e-6f)
return new IsectRaySegResult(false, 0f);
@ -230,8 +230,8 @@ namespace DotRecast.Detour.Crowd
// RVO
Vector3f vab = VScale(vcand, 2);
vab = VSub(vab, vel);
vab = VSub(vab, cir.vel);
vab = vab.Subtract(vel);
vab = vab.Subtract(cir.vel);
// Side
side += Clamp(Math.Min(VDot2D(cir.dp, vab) * 0.5f + 0.5f, VDot2D(cir.np, vab) * 2), 0.0f, 1.0f);
@ -269,7 +269,7 @@ namespace DotRecast.Detour.Crowd
if (seg.touch)
{
// Special case when the agent is very close to the segment.
Vector3f sdir = VSub(seg.q, seg.p);
Vector3f sdir = seg.q.Subtract(seg.p);
Vector3f snorm = new Vector3f();
snorm.x = -sdir.z;
snorm.z = sdir.x;

2
src/DotRecast.Detour.Crowd/PathCorridor.cs
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@ -315,7 +315,7 @@ namespace DotRecast.Detour.Crowd
dist = Math.Min(dist + 0.01f, pathOptimizationRange);
// Adjust ray length.
var delta = VSub(next, m_pos);
var delta = next.Subtract(m_pos);
Vector3f goal = VMad(m_pos, delta, pathOptimizationRange / dist);
Result<RaycastHit> rc = navquery.Raycast(m_path[0], m_pos, goal, filter, 0, 0);

2
src/DotRecast.Detour.Extras/Jumplink/EdgeSampler.cs
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@ -17,7 +17,7 @@ namespace DotRecast.Detour.Extras.Jumplink
public EdgeSampler(JumpEdge edge, Trajectory trajectory)
{
this.trajectory = trajectory;
ax = VSub(edge.sq, edge.sp);
ax = edge.sq.Subtract(edge.sp);
VNormalize(ref ax);
VSet(ref az, ax.z, 0, -ax.x);
VNormalize(ref az);

4
src/DotRecast.Detour/ConvexConvexIntersection.cs
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@ -59,8 +59,8 @@ namespace DotRecast.Detour
VCopy(ref a1, p, 3 * ((ai + n - 1) % n)); // prev a
VCopy(ref b1, q, 3 * ((bi + m - 1) % m)); // prev b
Vector3f A = VSub(a, a1);
Vector3f B = VSub(b, b1);
Vector3f A = a.Subtract(a1);
Vector3f B = b.Subtract(b1);
float cross = B.x * A.z - A.x * B.z; // TriArea2D({0, 0}, A, B);
float aHB = TriArea2D(b1, b, a);

2
src/DotRecast.Detour/FindNearestPolyQuery.cs
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@ -33,7 +33,7 @@ namespace DotRecast.Detour
// If a point is directly over a polygon and closer than
// climb height, favor that instead of straight line nearest point.
float d = 0;
Vector3f diff = VSub(center, closestPtPoly);
Vector3f diff = center.Subtract(closestPtPoly);
if (posOverPoly)
{
d = Math.Abs(diff.y) - tile.data.header.walkableClimb;

2
src/DotRecast.Detour/LegacyNavMeshQuery.cs
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@ -844,7 +844,7 @@ namespace DotRecast.Detour
Vector3f hitNormal = new Vector3f();
if (bestvi != null && bestvj != null)
{
var tangent = VSub(bestvi.Value, bestvj.Value);
var tangent = bestvi.Value.Subtract(bestvj.Value);
hitNormal.x = tangent.z;
hitNormal.y = 0;
hitNormal.z = -tangent.x;

4
src/DotRecast.Detour/NavMesh.cs
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@ -1355,7 +1355,7 @@ namespace DotRecast.Detour
{
Vector3f nearestPt = new Vector3f();
bool overPoly = false;
Vector3f bmin = VSub(center, extents);
Vector3f bmin = center.Subtract(extents);
Vector3f bmax = VAdd(center, extents);
// Get nearby polygons from proximity grid.
@ -1374,7 +1374,7 @@ namespace DotRecast.Detour
// If a point is directly over a polygon and closer than
// climb height, favor that instead of straight line nearest point.
Vector3f diff = VSub(center, closestPtPoly);
Vector3f diff = center.Subtract(closestPtPoly);
if (posOverPoly)
{
d = Math.Abs(diff.y) - tile.data.header.walkableClimb;

12
src/DotRecast.Detour/NavMeshQuery.cs
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@ -690,7 +690,7 @@ namespace DotRecast.Detour
}
// Find tiles the query touches.
Vector3f bmin = VSub(center, halfExtents);
Vector3f bmin = center.Subtract(halfExtents);
Vector3f bmax = VAdd(center, halfExtents);
foreach (var t in QueryTiles(center, halfExtents))
{
@ -710,7 +710,7 @@ namespace DotRecast.Detour
return ImmutableArray<MeshTile>.Empty;
}
Vector3f bmin = VSub(center, halfExtents);
Vector3f bmin = center.Subtract(halfExtents);
Vector3f bmax = VAdd(center, halfExtents);
int[] minxy = m_nav.CalcTileLoc(bmin);
int minx = minxy[0];
@ -2210,7 +2210,7 @@ namespace DotRecast.Detour
Vector3f lastPos = Vector3f.Zero;
curPos = startPos;
var dir = VSub(endPos, startPos);
var dir = endPos.Subtract(startPos);
MeshTile prevTile, tile, nextTile;
Poly prevPoly, poly, nextPoly;
@ -2377,8 +2377,8 @@ namespace DotRecast.Detour
curPos = VMad(startPos, dir, hit.t);
var e1 = Vector3f.Of(verts, iresult.segMax * 3);
var e2 = Vector3f.Of(verts, ((iresult.segMax + 1) % nv) * 3);
var eDir = VSub(e2, e1);
var diff = VSub(curPos, e1);
var eDir = e2.Subtract(e1);
var diff = curPos.Subtract(e1);
float s = Sqr(eDir.x) > Sqr(eDir.z) ? diff.x / eDir.x : diff.z / eDir.z;
curPos.y = e1.y + eDir.y * s;
@ -3368,7 +3368,7 @@ namespace DotRecast.Detour
Vector3f hitNormal = new Vector3f();
if (bestvi != null && bestvj != null)
{
var tangent = VSub(bestvi.Value, bestvj.Value);
var tangent = bestvi.Value.Subtract(bestvj.Value);
hitNormal.x = tangent.z;
hitNormal.y = 0;
hitNormal.z = -tangent.x;

2
src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
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@ -312,7 +312,7 @@ public class CrowdTool : Tool
private Vector3f CalcVel(Vector3f pos, Vector3f tgt, float speed)
{
Vector3f vel = VSub(tgt, pos);
Vector3f vel = tgt.Subtract(pos);
vel.y = 0.0f;
VNormalize(ref vel);
return VScale(vel, speed);

4
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
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@ -225,7 +225,7 @@ public class TestNavmeshTool : Tool
: false;
// Find movement delta.
Vector3f delta = VSub(steerTarget.steerPos, iterPos);
Vector3f delta = steerTarget.steerPos.Subtract(iterPos);
float len = (float)Math.Sqrt(VDot(delta, delta));
// If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
@ -855,7 +855,7 @@ public class TestNavmeshTool : Tool
continue;
}
Vector3f delta = VSub(s3, s.vmin);
Vector3f delta = s3.Subtract(s.vmin);
Vector3f p0 = VMad(s.vmin, delta, 0.5f);
Vector3f norm = Vector3f.Of(delta.z, 0, -delta.x);
VNormalize(ref norm);

2
test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
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@ -153,7 +153,7 @@ public class AbstractCrowdTest
protected Vector3f CalcVel(Vector3f pos, Vector3f tgt, float speed)
{
Vector3f vel = VSub(tgt, pos);
Vector3f vel = tgt.Subtract(pos);
vel.y = 0.0f;
VNormalize(ref vel);
vel = VScale(vel, speed);