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DotRecastNetSim
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move RcMath.VDot2D -> Vector3f.Dot2D

This commit is contained in:
ikpil 2023-05-14 17:09:37 +09:00
parent 0c37c9eedb
commit 0cdf8c67b4
4 changed files with 28 additions and 32 deletions
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29
src/DotRecast.Core/RcMath.cs
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@ -349,30 +349,7 @@ namespace DotRecast.Core
return d < thresholdSqr;
}
/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
/// @param[in] u A vector [(x, y, z)]
/// @param[in] v A vector [(x, y, z)]
/// @return The dot product on the xz-plane.
///
/// The vectors are projected onto the xz-plane, so the y-values are
/// ignored.
public static float VDot2D(float[] u, float[] v)
{
return u[0] * v[0] + u[2] * v[2];
}
public static float VDot2D(Vector3f u, Vector3f v)
{
return u.x * v.x + u.z * v.z;
}
public static float VDot2D(Vector3f u, float[] v, int vi)
{
return u.x * v[vi] + u.z * v[vi + 2];
}
/// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz)
/// @param[in] u The LHV vector [(x, y, z)]
/// @param[in] v The RHV vector [(x, y, z)]
@ -586,10 +563,10 @@ namespace DotRecast.Core
public static float[] ProjectPoly(Vector3f axis, float[] poly, int npoly)
{
float rmin, rmax;
rmin = rmax = VDot2D(axis, poly, 0);
rmin = rmax = axis.Dot2D(poly, 0);
for (int i = 1; i < npoly; ++i)
{
float d = VDot2D(axis, poly, i * 3);
float d = axis.Dot2D(poly, i * 3);
rmin = Math.Min(rmin, d);
rmax = Math.Max(rmax, d);
}

19
src/DotRecast.Core/Vector3f.cs
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@ -104,6 +104,25 @@ namespace DotRecast.Core
);
}
/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
/// @param[in] u A vector [(x, y, z)]
/// @param[in] v A vector [(x, y, z)]
/// @return The dot product on the xz-plane.
///
/// The vectors are projected onto the xz-plane, so the y-values are
/// ignored.
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public float Dot2D(Vector3f v)
{
return x * v.x + z * v.z;
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public float Dot2D(float[] v, int vi)
{
return x * v[vi] + z * v[vi + 2];
}
public override bool Equals(object obj)
{
if (!(obj is Vector3f))

10
src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs
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@ -160,13 +160,13 @@ namespace DotRecast.Detour.Crowd
const float EPS = 0.0001f;
Vector3f s = c1.Subtract(c0);
float r = r0 + r1;
float c = VDot2D(s, s) - r * r;
float a = VDot2D(v, v);
float c = s.Dot2D(s) - r * r;
float a = v.Dot2D(v);
if (a < EPS)
return new SweepCircleCircleResult(false, 0f, 0f); // not moving
// Overlap, calc time to exit.
float b = VDot2D(v, s);
float b = v.Dot2D(s);
float d = b * b - a * c;
if (d < 0.0f)
return new SweepCircleCircleResult(false, 0f, 0f); // no intersection.
@ -234,7 +234,7 @@ namespace DotRecast.Detour.Crowd
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);
side += Clamp(Math.Min(cir.dp.Dot2D(vab) * 0.5f + 0.5f, cir.np.Dot2D(vab) * 2), 0.0f, 1.0f);
nside++;
SweepCircleCircleResult sres = SweepCircleCircle(pos, rad, vab, cir.p, cir.rad);
@ -274,7 +274,7 @@ namespace DotRecast.Detour.Crowd
snorm.x = -sdir.z;
snorm.z = sdir.x;
// If the velocity is pointing towards the segment, no collision.
if (VDot2D(snorm, vcand) < 0.0f)
if (snorm.Dot2D(vcand) < 0.0f)
continue;
// Else immediate collision.
htmin = 0.0f;

2
src/DotRecast.Detour/ConvexConvexIntersection.cs
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@ -88,7 +88,7 @@ namespace DotRecast.Detour
/*-----Advance rules-----*/
/* Special case: A & B overlap and oppositely oriented. */
if (code == Intersection.Overlap && VDot2D(A, B) < 0)
if (code == Intersection.Overlap && A.Dot2D(B) < 0)
{
ii = AddVertex(inters, ii, ip);
ii = AddVertex(inters, ii, iq);