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DotRecastNetSim
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refactoring new float[2] -> struct Vector2f

This commit is contained in:
ikpil 2023-04-16 12:19:41 +09:00
parent 52d7f63ebd
commit 0da362d2a9
2 changed files with 37 additions and 33 deletions
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2
src/DotRecast.Core/Vector2f.cs
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@ -7,6 +7,8 @@ namespace DotRecast.Core
public float x;
public float y;
public static readonly Vector2f Zero = new Vector2f { x = 0, y = 0 };
public float Get(int idx)
{
if (0 == idx)

68
src/DotRecast.Detour/NavMesh.cs
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@ -756,8 +756,7 @@ namespace DotRecast.Detour
// Create new links
int va = poly.verts[j] * 3;
int vb = poly.verts[(j + 1) % nv] * 3;
IList<Tuple<long, float, float>> connectedPolys = findConnectingPolys(tile.data.verts, va, vb, target,
oppositeTile(dir));
IList<Tuple<long, float, float>> connectedPolys = findConnectingPolys(tile.data.verts, va, vb, target, oppositeTile(dir));
foreach (Tuple<long, float, float> connectedPoly in connectedPolys)
{
int idx = allocLink(tile);
@ -904,14 +903,14 @@ namespace DotRecast.Detour
}
List<Tuple<long, float, float>> result = new List<Tuple<long, float, float>>();
float[] amin = new float[2];
float[] amax = new float[2];
calcSlabEndPoints(verts, va, vb, amin, amax, side);
Vector2f amin = Vector2f.Zero;
Vector2f amax = Vector2f.Zero;
calcSlabEndPoints(verts, va, vb, ref amin, ref amax, side);
float apos = getSlabCoord(verts, va, side);
// Remove links pointing to 'side' and compact the links array.
float[] bmin = new float[2];
float[] bmax = new float[2];
Vector2f bmin = Vector2f.Zero;
Vector2f bmax = Vector2f.Zero;
int m = DT_EXT_LINK | side;
long @base = getPolyRefBase(tile);
@ -937,7 +936,7 @@ namespace DotRecast.Detour
}
// Check if the segments touch.
calcSlabEndPoints(tile.data.verts, vc, vd, bmin, bmax, side);
calcSlabEndPoints(tile.data.verts, vc, vd, ref bmin, ref bmax, side);
if (!overlapSlabs(amin, amax, bmin, bmax, 0.01f, tile.data.header.walkableClimb))
{
@ -945,7 +944,10 @@ namespace DotRecast.Detour
}
// Add return value.
result.Add(Tuple.Create(@base | i, Math.Max(amin[0], bmin[0]), Math.Min(amax[0], bmax[0])));
long refs = @base | i;
float tmin = Math.Max(amin.x, bmin.x);
float tmax = Math.Min(amax.x, bmax.x);
result.Add(Tuple.Create(refs, tmin, tmax));
break;
}
}
@ -967,61 +969,61 @@ namespace DotRecast.Detour
return 0;
}
static void calcSlabEndPoints(float[] verts, int va, int vb, float[] bmin, float[] bmax, int side)
static void calcSlabEndPoints(float[] verts, int va, int vb, ref Vector2f bmin, ref Vector2f bmax, int side)
{
if (side == 0 || side == 4)
{
if (verts[va + 2] < verts[vb + 2])
{
bmin[0] = verts[va + 2];
bmin[1] = verts[va + 1];
bmax[0] = verts[vb + 2];
bmax[1] = verts[vb + 1];
bmin.x = verts[va + 2];
bmin.y = verts[va + 1];
bmax.x = verts[vb + 2];
bmax.y = verts[vb + 1];
}
else
{
bmin[0] = verts[vb + 2];
bmin[1] = verts[vb + 1];
bmax[0] = verts[va + 2];
bmax[1] = verts[va + 1];
bmin.x = verts[vb + 2];
bmin.y = verts[vb + 1];
bmax.x = verts[va + 2];
bmax.y = verts[va + 1];
}
}
else if (side == 2 || side == 6)
{
if (verts[va + 0] < verts[vb + 0])
{
bmin[0] = verts[va + 0];
bmin[1] = verts[va + 1];
bmax[0] = verts[vb + 0];
bmax[1] = verts[vb + 1];
bmin.x = verts[va + 0];
bmin.y = verts[va + 1];
bmax.x = verts[vb + 0];
bmax.y = verts[vb + 1];
}
else
{
bmin[0] = verts[vb + 0];
bmin[1] = verts[vb + 1];
bmax[0] = verts[va + 0];
bmax[1] = verts[va + 1];
bmin.x = verts[vb + 0];
bmin.y = verts[vb + 1];
bmax.x = verts[va + 0];
bmax.y = verts[va + 1];
}
}
}
bool overlapSlabs(float[] amin, float[] amax, float[] bmin, float[] bmax, float px, float py)
bool overlapSlabs(Vector2f amin, Vector2f amax, Vector2f bmin, Vector2f bmax, float px, float py)
{
// Check for horizontal overlap.
// The segment is shrunken a little so that slabs which touch
// at end points are not connected.
float minx = Math.Max(amin[0] + px, bmin[0] + px);
float maxx = Math.Min(amax[0] - px, bmax[0] - px);
float minx = Math.Max(amin.x + px, bmin.x + px);
float maxx = Math.Min(amax.x - px, bmax.x - px);
if (minx > maxx)
{
return false;
}
// Check vertical overlap.
float ad = (amax[1] - amin[1]) / (amax[0] - amin[0]);
float ak = amin[1] - ad * amin[0];
float bd = (bmax[1] - bmin[1]) / (bmax[0] - bmin[0]);
float bk = bmin[1] - bd * bmin[0];
float ad = (amax.y - amin.y) / (amax.x - amin.x);
float ak = amin.y - ad * amin.x;
float bd = (bmax.y - bmin.y) / (bmax.x - bmin.x);
float bk = bmin.y - bd * bmin.x;
float aminy = ad * minx + ak;
float amaxy = ad * maxx + ak;
float bminy = bd * minx + bk;