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DotRecastNetSim
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non allocate

This commit is contained in:
ikpil 2023-06-23 07:36:22 +09:00
parent 05c50e8d12
commit 0d7cbb5502
1 changed files with 10 additions and 10 deletions
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20
test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs
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@ -36,9 +36,10 @@ public class UnityAStarPathfindingImporterTest
DtNavMesh mesh = LoadNavMesh("graph.zip"); DtNavMesh mesh = LoadNavMesh("graph.zip");
RcVec3f startPos = RcVec3f.Of(8.200293f, 2.155071f, -26.176147f); RcVec3f startPos = RcVec3f.Of(8.200293f, 2.155071f, -26.176147f);
RcVec3f endPos = RcVec3f.Of(11.971109f, 0.000000f, 8.663261f); RcVec3f endPos = RcVec3f.Of(11.971109f, 0.000000f, 8.663261f);
Result<List<long>> path = FindPath(mesh, startPos, endPos); var path = new List<long>();
Assert.That(path.status, Is.EqualTo(DtStatus.DT_SUCCSESS)); var status = FindPath(mesh, startPos, endPos, ref path);
Assert.That(path.result.Count, Is.EqualTo(57)); Assert.That(status, Is.EqualTo(DtStatus.DT_SUCCSESS));
Assert.That(path.Count, Is.EqualTo(57));
SaveMesh(mesh, "v4_0_6"); SaveMesh(mesh, "v4_0_6");
} }
@ -48,9 +49,10 @@ public class UnityAStarPathfindingImporterTest
DtNavMesh mesh = LoadNavMesh("graph_v4_1_16.zip"); DtNavMesh mesh = LoadNavMesh("graph_v4_1_16.zip");
RcVec3f startPos = RcVec3f.Of(22.93f, -2.37f, -5.11f); RcVec3f startPos = RcVec3f.Of(22.93f, -2.37f, -5.11f);
RcVec3f endPos = RcVec3f.Of(16.81f, -2.37f, 25.52f); RcVec3f endPos = RcVec3f.Of(16.81f, -2.37f, 25.52f);
Result<List<long>> path = FindPath(mesh, startPos, endPos); var path = new List<long>();
Assert.That(path.status.Succeeded(), Is.True); var status = FindPath(mesh, startPos, endPos, ref path);
Assert.That(path.result.Count, Is.EqualTo(15)); Assert.That(status.Succeeded(), Is.True);
Assert.That(path.Count, Is.EqualTo(15));
SaveMesh(mesh, "v4_1_16"); SaveMesh(mesh, "v4_1_16");
} }
@ -89,16 +91,14 @@ public class UnityAStarPathfindingImporterTest
return meshes[0]; return meshes[0];
} }
private Result<List<long>> FindPath(DtNavMesh mesh, RcVec3f startPos, RcVec3f endPos) private DtStatus FindPath(DtNavMesh mesh, RcVec3f startPos, RcVec3f endPos, ref List<long> path)
{ {
// Perform a simple pathfinding // Perform a simple pathfinding
DtNavMeshQuery query = new DtNavMeshQuery(mesh); DtNavMeshQuery query = new DtNavMeshQuery(mesh);
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
var polys = GetNearestPolys(mesh, startPos, endPos); var polys = GetNearestPolys(mesh, startPos, endPos);
var path = new List<long>(); return query.FindPath(polys[0].refs, polys[1].refs, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
var status = query.FindPath(polys[0].refs, polys[1].refs, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
return Results.Of(status, path);
} }
private DtPolyPoint[] GetNearestPolys(DtNavMesh mesh, params RcVec3f[] positions) private DtPolyPoint[] GetNearestPolys(DtNavMesh mesh, params RcVec3f[] positions)