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DotRecastNetSim
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remove nullable float at DtUtils.ClosestHeightPointTriangle

This commit is contained in:
ikpil 2023-07-31 10:38:14 +09:00
parent 71838af06c
commit 123640627a
2 changed files with 8 additions and 9 deletions
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6
src/DotRecast.Detour/DtNavMesh.cs
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@ -1276,8 +1276,7 @@ namespace DotRecast.Detour
}
}
float? h = DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
if (null != h)
if (DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2], out var h))
{
return h;
}
@ -1298,8 +1297,7 @@ namespace DotRecast.Detour
v[k + 1].z = tile.data.verts[poly.verts[j + k] * 3 + 2];
}
float? h = DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
if (null != h)
if (DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2], out var h))
{
return h;
}

11
src/DotRecast.Detour/DtUtils.cs
View File

@ -209,10 +209,11 @@ namespace DotRecast.Detour
};
}
public static float? ClosestHeightPointTriangle(RcVec3f p, RcVec3f a, RcVec3f b, RcVec3f c)
public static bool ClosestHeightPointTriangle(RcVec3f p, RcVec3f a, RcVec3f b, RcVec3f c, out float h)
{
const float EPS = 1e-6f;
h = 0;
RcVec3f v0 = c.Subtract(a);
RcVec3f v1 = b.Subtract(a);
RcVec3f v2 = p.Subtract(a);
@ -221,7 +222,7 @@ namespace DotRecast.Detour
float denom = v0.x * v1.z - v0.z * v1.x;
if (Math.Abs(denom) < EPS)
{
return null;
return false;
}
float u = v1.z * v2.x - v1.x * v2.z;
@ -237,11 +238,11 @@ namespace DotRecast.Detour
// If point lies inside the triangle, return interpolated ycoord.
if (u >= 0.0f && v >= 0.0f && (u + v) <= denom)
{
float h = a.y + (v0.y * u + v1.y * v) / denom;
return h;
h = a.y + (v0.y * u + v1.y * v) / denom;
return true;
}
return null;
return false;
}
public static RcVec2f ProjectPoly(RcVec3f axis, float[] poly, int npoly)