diff --git a/src/DotRecast.Detour.Dynamic/Io/VoxelFile.cs b/src/DotRecast.Detour.Dynamic/Io/VoxelFile.cs index 067ec90..098b725 100644 --- a/src/DotRecast.Detour.Dynamic/Io/VoxelFile.cs +++ b/src/DotRecast.Detour.Dynamic/Io/VoxelFile.cs @@ -75,26 +75,26 @@ namespace DotRecast.Detour.Dynamic.Io { VoxelFile f = new VoxelFile(); f.version = 1; - f.partition = config.partition; - f.filterLowHangingObstacles = config.filterLowHangingObstacles; - f.filterLedgeSpans = config.filterLedgeSpans; - f.filterWalkableLowHeightSpans = config.filterWalkableLowHeightSpans; - f.walkableRadius = config.walkableRadiusWorld; - f.walkableHeight = config.walkableHeightWorld; - f.walkableClimb = config.walkableClimbWorld; - f.walkableSlopeAngle = config.walkableSlopeAngle; - f.cellSize = config.cs; - f.maxSimplificationError = config.maxSimplificationError; - f.maxEdgeLen = config.maxEdgeLenWorld; - f.minRegionArea = config.minRegionAreaWorld; - f.regionMergeArea = config.mergeRegionAreaWorld; - f.vertsPerPoly = config.maxVertsPerPoly; - f.buildMeshDetail = config.buildMeshDetail; - f.detailSampleDistance = config.detailSampleDist; - f.detailSampleMaxError = config.detailSampleMaxError; - f.useTiles = config.useTiles; - f.tileSizeX = config.tileSizeX; - f.tileSizeZ = config.tileSizeZ; + f.partition = config.Partition; + f.filterLowHangingObstacles = config.FilterLowHangingObstacles; + f.filterLedgeSpans = config.FilterLedgeSpans; + f.filterWalkableLowHeightSpans = config.FilterWalkableLowHeightSpans; + f.walkableRadius = config.WalkableRadiusWorld; + f.walkableHeight = config.WalkableHeightWorld; + f.walkableClimb = config.WalkableClimbWorld; + f.walkableSlopeAngle = config.WalkableSlopeAngle; + f.cellSize = config.Cs; + f.maxSimplificationError = config.MaxSimplificationError; + f.maxEdgeLen = config.MaxEdgeLenWorld; + f.minRegionArea = config.MinRegionAreaWorld; + f.regionMergeArea = config.MergeRegionAreaWorld; + f.vertsPerPoly = config.MaxVertsPerPoly; + f.buildMeshDetail = config.BuildMeshDetail; + f.detailSampleDistance = config.DetailSampleDist; + f.detailSampleMaxError = config.DetailSampleMaxError; + f.useTiles = config.UseTiles; + f.tileSizeX = config.TileSizeX; + f.tileSizeZ = config.TileSizeZ; f.bounds = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity, diff --git a/src/DotRecast.Recast/RcConfig.cs b/src/DotRecast.Recast/RcConfig.cs index 8f22e89..30baf8a 100644 --- a/src/DotRecast.Recast/RcConfig.cs +++ b/src/DotRecast.Recast/RcConfig.cs @@ -22,96 +22,98 @@ using System; namespace DotRecast.Recast { + /// Specifies a configuration to use when performing Recast builds. + /// @ingroup recast public class RcConfig { - public readonly int partition; + public readonly int Partition; - public readonly bool useTiles; + public readonly bool UseTiles; /** The width/depth size of tile's on the xz-plane. [Limit: >= 0] [Units: vx] **/ - public readonly int tileSizeX; + public readonly int TileSizeX; - public readonly int tileSizeZ; + public readonly int TileSizeZ; /** The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu] **/ - public readonly float cs; + public readonly float Cs; /** The y-axis cell size to use for fields. [Limit: > 0] [Units: wu] **/ - public readonly float ch; + public readonly float Ch; /** The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees] **/ - public readonly float walkableSlopeAngle; + public readonly float WalkableSlopeAngle; /** * Minimum floor to 'ceiling' height that will still allow the floor area to be considered walkable. [Limit: >= 3] * [Units: vx] **/ - public readonly int walkableHeight; + public readonly int WalkableHeight; /** Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx] **/ - public readonly int walkableClimb; + public readonly int WalkableClimb; /** * The distance to erode/shrink the walkable area of the heightfield away from obstructions. [Limit: >=0] [Units: * vx] **/ - public readonly int walkableRadius; + public readonly int WalkableRadius; /** The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx] **/ - public readonly int maxEdgeLen; + public readonly int MaxEdgeLen; /** * The maximum distance a simplfied contour's border edges should deviate the original raw contour. [Limit: >=0] * [Units: vx] **/ - public readonly float maxSimplificationError; + public readonly float MaxSimplificationError; /** The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx] **/ - public readonly int minRegionArea; + public readonly int MinRegionArea; /** * Any regions with a span count smaller than this value will, if possible, be merged with larger regions. [Limit: * >=0] [Units: vx] **/ - public readonly int mergeRegionArea; + public readonly int MergeRegionArea; /** * The maximum number of vertices allowed for polygons generated during the contour to polygon conversion process. * [Limit: >= 3] **/ - public readonly int maxVertsPerPoly; + public readonly int MaxVertsPerPoly; /** * Sets the sampling distance to use when generating the detail mesh. (For height detail only.) [Limits: 0 or >= * 0.9] [Units: wu] **/ - public readonly float detailSampleDist; + public readonly float DetailSampleDist; /** * The maximum distance the detail mesh surface should deviate from heightfield data. (For height detail only.) * [Limit: >=0] [Units: wu] **/ - public readonly float detailSampleMaxError; + public readonly float DetailSampleMaxError; - public readonly RcAreaModification walkableAreaMod; - public readonly bool filterLowHangingObstacles; - public readonly bool filterLedgeSpans; - public readonly bool filterWalkableLowHeightSpans; + public readonly RcAreaModification WalkableAreaMod; + public readonly bool FilterLowHangingObstacles; + public readonly bool FilterLedgeSpans; + public readonly bool FilterWalkableLowHeightSpans; /** Set to false to disable building detailed mesh **/ - public readonly bool buildMeshDetail; + public readonly bool BuildMeshDetail; /** The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx] **/ - public readonly int borderSize; + public readonly int BorderSize; /** Set of original settings passed in world units */ - public readonly float minRegionAreaWorld; + public readonly float MinRegionAreaWorld; - public readonly float mergeRegionAreaWorld; - public readonly float walkableHeightWorld; - public readonly float walkableClimbWorld; - public readonly float walkableRadiusWorld; - public readonly float maxEdgeLenWorld; + public readonly float MergeRegionAreaWorld; + public readonly float WalkableHeightWorld; + public readonly float WalkableClimbWorld; + public readonly float WalkableRadiusWorld; + public readonly float MaxEdgeLenWorld; /** * Non-tiled build configuration @@ -146,35 +148,35 @@ namespace DotRecast.Recast float mergeRegionArea, float edgeMaxLen, float edgeMaxError, int vertsPerPoly, bool buildMeshDetail, float detailSampleDist, float detailSampleMaxError, RcAreaModification walkableAreaMod) { - this.useTiles = useTiles; - this.tileSizeX = tileSizeX; - this.tileSizeZ = tileSizeZ; - this.borderSize = borderSize; - this.partition = RcPartitionType.Of(partition).Value; - cs = cellSize; - ch = cellHeight; - walkableSlopeAngle = agentMaxSlope; - walkableHeight = (int)Math.Ceiling(agentHeight / ch); - walkableHeightWorld = agentHeight; - walkableClimb = (int)Math.Floor(agentMaxClimb / ch); - walkableClimbWorld = agentMaxClimb; - walkableRadius = (int)Math.Ceiling(agentRadius / cs); - walkableRadiusWorld = agentRadius; - this.minRegionArea = (int)Math.Round(minRegionArea / (cs * cs)); - minRegionAreaWorld = minRegionArea; - this.mergeRegionArea = (int)Math.Round(mergeRegionArea / (cs * cs)); - mergeRegionAreaWorld = mergeRegionArea; - maxEdgeLen = (int)(edgeMaxLen / cellSize); - maxEdgeLenWorld = edgeMaxLen; - maxSimplificationError = edgeMaxError; - maxVertsPerPoly = vertsPerPoly; - this.detailSampleDist = detailSampleDist < 0.9f ? 0 : cellSize * detailSampleDist; - this.detailSampleMaxError = cellHeight * detailSampleMaxError; - this.walkableAreaMod = walkableAreaMod; - this.filterLowHangingObstacles = filterLowHangingObstacles; - this.filterLedgeSpans = filterLedgeSpans; - this.filterWalkableLowHeightSpans = filterWalkableLowHeightSpans; - this.buildMeshDetail = buildMeshDetail; + UseTiles = useTiles; + TileSizeX = tileSizeX; + TileSizeZ = tileSizeZ; + BorderSize = borderSize; + Partition = RcPartitionType.Of(partition).Value; + Cs = cellSize; + Ch = cellHeight; + WalkableSlopeAngle = agentMaxSlope; + WalkableHeight = (int)Math.Ceiling(agentHeight / Ch); + WalkableHeightWorld = agentHeight; + WalkableClimb = (int)Math.Floor(agentMaxClimb / Ch); + WalkableClimbWorld = agentMaxClimb; + WalkableRadius = (int)Math.Ceiling(agentRadius / Cs); + WalkableRadiusWorld = agentRadius; + MinRegionArea = (int)Math.Round(minRegionArea / (Cs * Cs)); + MinRegionAreaWorld = minRegionArea; + MergeRegionArea = (int)Math.Round(mergeRegionArea / (Cs * Cs)); + MergeRegionAreaWorld = mergeRegionArea; + MaxEdgeLen = (int)(edgeMaxLen / cellSize); + MaxEdgeLenWorld = edgeMaxLen; + MaxSimplificationError = edgeMaxError; + MaxVertsPerPoly = vertsPerPoly; + DetailSampleDist = detailSampleDist < 0.9f ? 0 : cellSize * detailSampleDist; + DetailSampleMaxError = cellHeight * detailSampleMaxError; + WalkableAreaMod = walkableAreaMod; + FilterLowHangingObstacles = filterLowHangingObstacles; + FilterLedgeSpans = filterLedgeSpans; + FilterWalkableLowHeightSpans = filterWalkableLowHeightSpans; + BuildMeshDetail = buildMeshDetail; } public static int CalcBorder(float agentRadius, float cs) diff --git a/src/DotRecast.Recast/RecastBuilder.cs b/src/DotRecast.Recast/RecastBuilder.cs index 4071a52..2308b46 100644 --- a/src/DotRecast.Recast/RecastBuilder.cs +++ b/src/DotRecast.Recast/RecastBuilder.cs @@ -45,7 +45,7 @@ namespace DotRecast.Recast { RcVec3f bmin = geom.GetMeshBoundsMin(); RcVec3f bmax = geom.GetMeshBoundsMax(); - Recast.CalcTileCount(bmin, bmax, cfg.cs, cfg.tileSizeX, cfg.tileSizeZ, out var tw, out var th); + Recast.CalcTileCount(bmin, bmax, cfg.Cs, cfg.TileSizeX, cfg.TileSizeZ, out var tw, out var th); List results = new List(); if (null != taskFactory) { @@ -64,7 +64,7 @@ namespace DotRecast.Recast { RcVec3f bmin = geom.GetMeshBoundsMin(); RcVec3f bmax = geom.GetMeshBoundsMax(); - Recast.CalcTileCount(bmin, bmax, cfg.cs, cfg.tileSizeX, cfg.tileSizeZ, out var tw, out var th); + Recast.CalcTileCount(bmin, bmax, cfg.Cs, cfg.TileSizeX, cfg.TileSizeZ, out var tw, out var th); Task task; if (1 < threads) { @@ -210,24 +210,24 @@ namespace DotRecast.Recast // * good choice to use for tiled navmesh with medium and small sized // tiles - if (cfg.partition == RcPartitionType.WATERSHED.Value) + if (cfg.Partition == RcPartitionType.WATERSHED.Value) { // Prepare for region partitioning, by calculating distance field // along the walkable surface. RecastRegion.BuildDistanceField(ctx, chf); // Partition the walkable surface into simple regions without holes. - RecastRegion.BuildRegions(ctx, chf, cfg.minRegionArea, cfg.mergeRegionArea); + RecastRegion.BuildRegions(ctx, chf, cfg.MinRegionArea, cfg.MergeRegionArea); } - else if (cfg.partition == RcPartitionType.MONOTONE.Value) + else if (cfg.Partition == RcPartitionType.MONOTONE.Value) { // Partition the walkable surface into simple regions without holes. // Monotone partitioning does not need distancefield. - RecastRegion.BuildRegionsMonotone(ctx, chf, cfg.minRegionArea, cfg.mergeRegionArea); + RecastRegion.BuildRegionsMonotone(ctx, chf, cfg.MinRegionArea, cfg.MergeRegionArea); } else { // Partition the walkable surface into simple regions without holes. - RecastRegion.BuildLayerRegions(ctx, chf, cfg.minRegionArea); + RecastRegion.BuildLayerRegions(ctx, chf, cfg.MinRegionArea); } // @@ -235,21 +235,21 @@ namespace DotRecast.Recast // // Create contours. - RcContourSet cset = RecastContour.BuildContours(ctx, chf, cfg.maxSimplificationError, cfg.maxEdgeLen, + RcContourSet cset = RecastContour.BuildContours(ctx, chf, cfg.MaxSimplificationError, cfg.MaxEdgeLen, RcConstants.RC_CONTOUR_TESS_WALL_EDGES); // // Step 6. Build polygons mesh from contours. // - RcPolyMesh pmesh = RecastMesh.BuildPolyMesh(ctx, cset, cfg.maxVertsPerPoly); + RcPolyMesh pmesh = RecastMesh.BuildPolyMesh(ctx, cset, cfg.MaxVertsPerPoly); // // Step 7. Create detail mesh which allows to access approximate height // on each polygon. // - RcPolyMeshDetail dmesh = cfg.buildMeshDetail - ? RecastMeshDetail.BuildPolyMeshDetail(ctx, pmesh, chf, cfg.detailSampleDist, cfg.detailSampleMaxError) + RcPolyMeshDetail dmesh = cfg.BuildMeshDetail + ? RecastMeshDetail.BuildPolyMeshDetail(ctx, pmesh, chf, cfg.DetailSampleDist, cfg.DetailSampleMaxError) : null; return new RecastBuilderResult(tileX, tileZ, solid, chf, cset, pmesh, dmesh, ctx); } @@ -262,19 +262,19 @@ namespace DotRecast.Recast // Once all geometry is rasterized, we do initial pass of filtering to // remove unwanted overhangs caused by the conservative rasterization // as well as filter spans where the character cannot possibly stand. - if (cfg.filterLowHangingObstacles) + if (cfg.FilterLowHangingObstacles) { - RecastFilter.FilterLowHangingWalkableObstacles(ctx, cfg.walkableClimb, solid); + RecastFilter.FilterLowHangingWalkableObstacles(ctx, cfg.WalkableClimb, solid); } - if (cfg.filterLedgeSpans) + if (cfg.FilterLedgeSpans) { - RecastFilter.FilterLedgeSpans(ctx, cfg.walkableHeight, cfg.walkableClimb, solid); + RecastFilter.FilterLedgeSpans(ctx, cfg.WalkableHeight, cfg.WalkableClimb, solid); } - if (cfg.filterWalkableLowHeightSpans) + if (cfg.FilterWalkableLowHeightSpans) { - RecastFilter.FilterWalkableLowHeightSpans(ctx, cfg.walkableHeight, solid); + RecastFilter.FilterWalkableLowHeightSpans(ctx, cfg.WalkableHeight, solid); } } @@ -287,10 +287,10 @@ namespace DotRecast.Recast // Compact the heightfield so that it is faster to handle from now on. // This will result more cache coherent data as well as the neighbours // between walkable cells will be calculated. - RcCompactHeightfield chf = RecastCompact.BuildCompactHeightfield(ctx, cfg.walkableHeight, cfg.walkableClimb, solid); + RcCompactHeightfield chf = RecastCompact.BuildCompactHeightfield(ctx, cfg.WalkableHeight, cfg.WalkableClimb, solid); // Erode the walkable area by agent radius. - RecastArea.ErodeWalkableArea(ctx, cfg.walkableRadius, chf); + RecastArea.ErodeWalkableArea(ctx, cfg.WalkableRadius, chf); // (Optional) Mark areas. if (volumeProvider != null) { @@ -309,7 +309,7 @@ namespace DotRecast.Recast RcHeightfield solid = RecastVoxelization.BuildSolidHeightfield(geom, builderCfg, ctx); FilterHeightfield(solid, builderCfg.cfg, ctx); RcCompactHeightfield chf = BuildCompactHeightfield(geom, builderCfg.cfg, ctx, solid); - return RecastLayers.BuildHeightfieldLayers(ctx, chf, builderCfg.cfg.walkableHeight); + return RecastLayers.BuildHeightfieldLayers(ctx, chf, builderCfg.cfg.WalkableHeight); } } } \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastBuilderConfig.cs b/src/DotRecast.Recast/RecastBuilderConfig.cs index 1407f81..8eb20df 100644 --- a/src/DotRecast.Recast/RecastBuilderConfig.cs +++ b/src/DotRecast.Recast/RecastBuilderConfig.cs @@ -52,10 +52,10 @@ namespace DotRecast.Recast this.cfg = cfg; this.bmin = bmin; this.bmax = bmax; - if (cfg.useTiles) + if (cfg.UseTiles) { - float tsx = cfg.tileSizeX * cfg.cs; - float tsz = cfg.tileSizeZ * cfg.cs; + float tsx = cfg.TileSizeX * cfg.Cs; + float tsz = cfg.TileSizeZ * cfg.Cs; this.bmin.x += tileX * tsx; this.bmin.z += tileZ * tsz; this.bmax.x = this.bmin.x + tsx; @@ -83,16 +83,16 @@ namespace DotRecast.Recast // you will need to pass in data from neighbour terrain tiles too! In a simple case, just pass in all the 8 // neighbours, // or use the bounding box below to only pass in a sliver of each of the 8 neighbours. - this.bmin.x -= cfg.borderSize * cfg.cs; - this.bmin.z -= cfg.borderSize * cfg.cs; - this.bmax.x += cfg.borderSize * cfg.cs; - this.bmax.z += cfg.borderSize * cfg.cs; - width = cfg.tileSizeX + cfg.borderSize * 2; - height = cfg.tileSizeZ + cfg.borderSize * 2; + this.bmin.x -= cfg.BorderSize * cfg.Cs; + this.bmin.z -= cfg.BorderSize * cfg.Cs; + this.bmax.x += cfg.BorderSize * cfg.Cs; + this.bmax.z += cfg.BorderSize * cfg.Cs; + width = cfg.TileSizeX + cfg.BorderSize * 2; + height = cfg.TileSizeZ + cfg.BorderSize * 2; } else { - Recast.CalcGridSize(this.bmin, this.bmax, cfg.cs, out width, out height); + Recast.CalcGridSize(this.bmin, this.bmax, cfg.Cs, out width, out height); } } } diff --git a/src/DotRecast.Recast/RecastVoxelization.cs b/src/DotRecast.Recast/RecastVoxelization.cs index 556289b..ae6074c 100644 --- a/src/DotRecast.Recast/RecastVoxelization.cs +++ b/src/DotRecast.Recast/RecastVoxelization.cs @@ -29,7 +29,7 @@ namespace DotRecast.Recast RcConfig cfg = builderCfg.cfg; // Allocate voxel heightfield where we rasterize our input data to. - RcHeightfield solid = new RcHeightfield(builderCfg.width, builderCfg.height, builderCfg.bmin, builderCfg.bmax, cfg.cs, cfg.ch, cfg.borderSize); + RcHeightfield solid = new RcHeightfield(builderCfg.width, builderCfg.height, builderCfg.bmin, builderCfg.bmax, cfg.Cs, cfg.Ch, cfg.BorderSize); // Allocate array that can hold triangle area types. // If you have multiple meshes you need to process, allocate @@ -44,7 +44,7 @@ namespace DotRecast.Recast foreach (RcTriMesh geom in geomProvider.Meshes()) { float[] verts = geom.GetVerts(); - if (cfg.useTiles) + if (cfg.UseTiles) { float[] tbmin = new float[2]; float[] tbmax = new float[2]; @@ -57,16 +57,16 @@ namespace DotRecast.Recast { int[] tris = node.tris; int ntris = tris.Length / 3; - int[] m_triareas = Recast.MarkWalkableTriangles(ctx, cfg.walkableSlopeAngle, verts, tris, ntris, cfg.walkableAreaMod); - RecastRasterization.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.walkableClimb, ctx); + int[] m_triareas = Recast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod); + RecastRasterization.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx); } } else { int[] tris = geom.GetTris(); int ntris = tris.Length / 3; - int[] m_triareas = Recast.MarkWalkableTriangles(ctx, cfg.walkableSlopeAngle, verts, tris, ntris, cfg.walkableAreaMod); - RecastRasterization.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.walkableClimb, ctx); + int[] m_triareas = Recast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod); + RecastRasterization.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx); } } diff --git a/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs b/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs index a28fda8..b6b3dd4 100644 --- a/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs +++ b/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs @@ -46,17 +46,17 @@ public class RecastTestMeshBuilder { } - public RecastTestMeshBuilder(IInputGeomProvider m_geom, RcPartition m_partitionType, float m_cellSize, - float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope, - int m_regionMinSize, int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly, - float m_detailSampleDist, float m_detailSampleMaxError) + public RecastTestMeshBuilder(IInputGeomProvider geom, RcPartition partitionType, float cellSize, + float cellHeight, float agentHeight, float agentRadius, float agentMaxClimb, float agentMaxSlope, + int regionMinSize, int regionMergeSize, float edgeMaxLen, float edgeMaxError, int vertsPerPoly, + float detailSampleDist, float detailSampleMaxError) { - RcConfig cfg = new RcConfig(m_partitionType, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius, - m_agentMaxClimb, m_agentMaxSlope, m_regionMinSize, m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError, - m_vertsPerPoly, m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND); - RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, m_geom.GetMeshBoundsMin(), m_geom.GetMeshBoundsMax()); + RcConfig cfg = new RcConfig(partitionType, cellSize, cellHeight, agentHeight, agentRadius, + agentMaxClimb, agentMaxSlope, regionMinSize, regionMergeSize, edgeMaxLen, edgeMaxError, + vertsPerPoly, detailSampleDist, detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND); + RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax()); RecastBuilder rcBuilder = new RecastBuilder(); - RecastBuilderResult rcResult = rcBuilder.Build(m_geom, bcfg); + RecastBuilderResult rcResult = rcBuilder.Build(geom, bcfg); RcPolyMesh m_pmesh = rcResult.GetMesh(); for (int i = 0; i < m_pmesh.npolys; ++i) { @@ -77,13 +77,13 @@ public class RecastTestMeshBuilder option.detailVertsCount = m_dmesh.nverts; option.detailTris = m_dmesh.tris; option.detailTriCount = m_dmesh.ntris; - option.walkableHeight = m_agentHeight; - option.walkableRadius = m_agentRadius; - option.walkableClimb = m_agentMaxClimb; + option.walkableHeight = agentHeight; + option.walkableRadius = agentRadius; + option.walkableClimb = agentMaxClimb; option.bmin = m_pmesh.bmin; option.bmax = m_pmesh.bmax; - option.cs = m_cellSize; - option.ch = m_cellHeight; + option.cs = cellSize; + option.ch = cellHeight; option.buildBvTree = true; option.offMeshConVerts = new float[6]; @@ -111,4 +111,4 @@ public class RecastTestMeshBuilder { return meshData; } -} +} \ No newline at end of file diff --git a/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs b/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs index 726b306..97ad483 100644 --- a/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs +++ b/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs @@ -47,17 +47,17 @@ public class RecastTestMeshBuilder { } - public RecastTestMeshBuilder(IInputGeomProvider m_geom, RcPartition m_partitionType, float m_cellSize, - float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope, - int m_regionMinSize, int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly, - float m_detailSampleDist, float m_detailSampleMaxError) + public RecastTestMeshBuilder(IInputGeomProvider geom, RcPartition partition, float cellSize, + float cellHeight, float agentHeight, float agentRadius, float agentMaxClimb, float agentMaxSlope, + int regionMinSize, int regionMergeSize, float edgeMaxLen, float edgeMaxError, int vertsPerPoly, + float detailSampleDist, float detailSampleMaxError) { - RcConfig cfg = new RcConfig(m_partitionType, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius, - m_agentMaxClimb, m_agentMaxSlope, m_regionMinSize, m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError, - m_vertsPerPoly, m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND); - RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, m_geom.GetMeshBoundsMin(), m_geom.GetMeshBoundsMax()); + RcConfig cfg = new RcConfig(partition, cellSize, cellHeight, agentHeight, agentRadius, + agentMaxClimb, agentMaxSlope, regionMinSize, regionMergeSize, edgeMaxLen, edgeMaxError, + vertsPerPoly, detailSampleDist, detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND); + RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax()); RecastBuilder rcBuilder = new RecastBuilder(); - RecastBuilderResult rcResult = rcBuilder.Build(m_geom, bcfg); + RecastBuilderResult rcResult = rcBuilder.Build(geom, bcfg); RcPolyMesh m_pmesh = rcResult.GetMesh(); for (int i = 0; i < m_pmesh.npolys; ++i) { @@ -78,13 +78,13 @@ public class RecastTestMeshBuilder option.detailVertsCount = m_dmesh.nverts; option.detailTris = m_dmesh.tris; option.detailTriCount = m_dmesh.ntris; - option.walkableHeight = m_agentHeight; - option.walkableRadius = m_agentRadius; - option.walkableClimb = m_agentMaxClimb; + option.walkableHeight = agentHeight; + option.walkableRadius = agentRadius; + option.walkableClimb = agentMaxClimb; option.bmin = m_pmesh.bmin; option.bmax = m_pmesh.bmax; - option.cs = m_cellSize; - option.ch = m_cellHeight; + option.cs = cellSize; + option.ch = cellHeight; option.buildBvTree = true; option.offMeshConVerts = new float[6]; diff --git a/test/DotRecast.Detour.Test/TestDetourBuilder.cs b/test/DotRecast.Detour.Test/TestDetourBuilder.cs index 55f22a5..8a50f65 100644 --- a/test/DotRecast.Detour.Test/TestDetourBuilder.cs +++ b/test/DotRecast.Detour.Test/TestDetourBuilder.cs @@ -89,8 +89,8 @@ public class TestDetourBuilder : DetourBuilder option.walkableClimb = agentMaxClimb; option.bmin = pmesh.bmin; option.bmax = pmesh.bmax; - option.cs = rcConfig.cs; - option.ch = rcConfig.ch; + option.cs = rcConfig.Cs; + option.ch = rcConfig.Ch; option.buildBvTree = true; /* * option.offMeshConVerts = m_geom->GetOffMeshConnectionVerts(); diff --git a/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs b/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs index 4c97930..35fca79 100644 --- a/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs +++ b/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs @@ -52,27 +52,27 @@ public class TestTiledNavMeshBuilder { } - public TestTiledNavMeshBuilder(IInputGeomProvider m_geom, RcPartition m_partitionType, float m_cellSize, float m_cellHeight, - float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope, int m_regionMinSize, - int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly, float m_detailSampleDist, - float m_detailSampleMaxError, int m_tileSize) + public TestTiledNavMeshBuilder(IInputGeomProvider geom, RcPartition partitionType, float cellSize, float cellHeight, + float agentHeight, float agentRadius, float agentMaxClimb, float agentMaxSlope, int regionMinSize, + int regionMergeSize, float edgeMaxLen, float edgeMaxError, int vertsPerPoly, float detailSampleDist, + float detailSampleMaxError, int tileSize) { // Create empty nav mesh DtNavMeshParams navMeshParams = new DtNavMeshParams(); - navMeshParams.orig = m_geom.GetMeshBoundsMin(); - navMeshParams.tileWidth = m_tileSize * m_cellSize; - navMeshParams.tileHeight = m_tileSize * m_cellSize; + navMeshParams.orig = geom.GetMeshBoundsMin(); + navMeshParams.tileWidth = tileSize * cellSize; + navMeshParams.tileHeight = tileSize * cellSize; navMeshParams.maxTiles = 128; navMeshParams.maxPolys = 32768; navMesh = new DtNavMesh(navMeshParams, 6); // Build all tiles - RcConfig cfg = new RcConfig(true, m_tileSize, m_tileSize, RcConfig.CalcBorder(m_agentRadius, m_cellSize), - m_partitionType, m_cellSize, m_cellHeight, m_agentMaxSlope, true, true, true, m_agentHeight, m_agentRadius, - m_agentMaxClimb, m_regionMinArea, m_regionMergeArea, m_edgeMaxLen, m_edgeMaxError, m_vertsPerPoly, true, - m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND); + RcConfig cfg = new RcConfig(true, tileSize, tileSize, RcConfig.CalcBorder(agentRadius, cellSize), + partitionType, cellSize, cellHeight, agentMaxSlope, true, true, true, agentHeight, agentRadius, + agentMaxClimb, m_regionMinArea, m_regionMergeArea, edgeMaxLen, edgeMaxError, vertsPerPoly, true, + detailSampleDist, detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND); RecastBuilder rcBuilder = new RecastBuilder(); - List rcResult = rcBuilder.BuildTiles(m_geom, cfg, null); + List rcResult = rcBuilder.BuildTiles(geom, cfg, null); // Add tiles to nav mesh @@ -103,13 +103,13 @@ public class TestTiledNavMeshBuilder option.detailVertsCount = dmesh.nverts; option.detailTris = dmesh.tris; option.detailTriCount = dmesh.ntris; - option.walkableHeight = m_agentHeight; - option.walkableRadius = m_agentRadius; - option.walkableClimb = m_agentMaxClimb; + option.walkableHeight = agentHeight; + option.walkableRadius = agentRadius; + option.walkableClimb = agentMaxClimb; option.bmin = pmesh.bmin; option.bmax = pmesh.bmax; - option.cs = m_cellSize; - option.ch = m_cellHeight; + option.cs = cellSize; + option.ch = cellHeight; option.tileX = result.tileX; option.tileZ = result.tileZ; option.buildBvTree = true; diff --git a/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs index 06d3d59..e47acee 100644 --- a/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs +++ b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs @@ -116,7 +116,7 @@ public class RecastSoloMeshTest // // Allocate voxel heightfield where we rasterize our input data to. - RcHeightfield m_solid = new RcHeightfield(bcfg.width, bcfg.height, bcfg.bmin, bcfg.bmax, cfg.cs, cfg.ch, cfg.borderSize); + RcHeightfield m_solid = new RcHeightfield(bcfg.width, bcfg.height, bcfg.bmin, bcfg.bmax, cfg.Cs, cfg.Ch, cfg.BorderSize); foreach (RcTriMesh geom in geomProvider.Meshes()) { @@ -131,8 +131,8 @@ public class RecastSoloMeshTest // Find triangles which are walkable based on their slope and rasterize them. // If your input data is multiple meshes, you can transform them here, calculate // the are type for each of the meshes and rasterize them. - int[] m_triareas = Recast.MarkWalkableTriangles(m_ctx, cfg.walkableSlopeAngle, verts, tris, ntris, cfg.walkableAreaMod); - RecastRasterization.RasterizeTriangles(m_solid, verts, tris, m_triareas, ntris, cfg.walkableClimb, m_ctx); + int[] m_triareas = Recast.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod); + RecastRasterization.RasterizeTriangles(m_solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, m_ctx); } @@ -143,9 +143,9 @@ public class RecastSoloMeshTest // Once all geometry is rasterized, we do initial pass of filtering to // remove unwanted overhangs caused by the conservative rasterization // as well as filter spans where the character cannot possibly stand. - RecastFilter.FilterLowHangingWalkableObstacles(m_ctx, cfg.walkableClimb, m_solid); - RecastFilter.FilterLedgeSpans(m_ctx, cfg.walkableHeight, cfg.walkableClimb, m_solid); - RecastFilter.FilterWalkableLowHeightSpans(m_ctx, cfg.walkableHeight, m_solid); + RecastFilter.FilterLowHangingWalkableObstacles(m_ctx, cfg.WalkableClimb, m_solid); + RecastFilter.FilterLedgeSpans(m_ctx, cfg.WalkableHeight, cfg.WalkableClimb, m_solid); + RecastFilter.FilterWalkableLowHeightSpans(m_ctx, cfg.WalkableHeight, m_solid); // // Step 4. Partition walkable surface to simple regions. @@ -154,11 +154,11 @@ public class RecastSoloMeshTest // Compact the heightfield so that it is faster to handle from now on. // This will result more cache coherent data as well as the neighbours // between walkable cells will be calculated. - RcCompactHeightfield m_chf = RecastCompact.BuildCompactHeightfield(m_ctx, cfg.walkableHeight, cfg.walkableClimb, + RcCompactHeightfield m_chf = RecastCompact.BuildCompactHeightfield(m_ctx, cfg.WalkableHeight, cfg.WalkableClimb, m_solid); // Erode the walkable area by agent radius. - RecastArea.ErodeWalkableArea(m_ctx, cfg.walkableRadius, m_chf); + RecastArea.ErodeWalkableArea(m_ctx, cfg.WalkableRadius, m_chf); // (Optional) Mark areas. /* @@ -212,18 +212,18 @@ public class RecastSoloMeshTest // along the walkable surface. RecastRegion.BuildDistanceField(m_ctx, m_chf); // Partition the walkable surface into simple regions without holes. - RecastRegion.BuildRegions(m_ctx, m_chf, cfg.minRegionArea, cfg.mergeRegionArea); + RecastRegion.BuildRegions(m_ctx, m_chf, cfg.MinRegionArea, cfg.MergeRegionArea); } else if (m_partitionType == RcPartition.MONOTONE) { // Partition the walkable surface into simple regions without holes. // Monotone partitioning does not need distancefield. - RecastRegion.BuildRegionsMonotone(m_ctx, m_chf, cfg.minRegionArea, cfg.mergeRegionArea); + RecastRegion.BuildRegionsMonotone(m_ctx, m_chf, cfg.MinRegionArea, cfg.MergeRegionArea); } else { // Partition the walkable surface into simple regions without holes. - RecastRegion.BuildLayerRegions(m_ctx, m_chf, cfg.minRegionArea); + RecastRegion.BuildLayerRegions(m_ctx, m_chf, cfg.MinRegionArea); } Assert.That(m_chf.maxDistance, Is.EqualTo(expDistance), "maxDistance"); @@ -233,7 +233,7 @@ public class RecastSoloMeshTest // // Create contours. - RcContourSet m_cset = RecastContour.BuildContours(m_ctx, m_chf, cfg.maxSimplificationError, cfg.maxEdgeLen, + RcContourSet m_cset = RecastContour.BuildContours(m_ctx, m_chf, cfg.MaxSimplificationError, cfg.MaxEdgeLen, RcConstants.RC_CONTOUR_TESS_WALL_EDGES); Assert.That(m_cset.conts.Count, Is.EqualTo(expContours), "Contours"); @@ -242,7 +242,7 @@ public class RecastSoloMeshTest // // Build polygon navmesh from the contours. - RcPolyMesh m_pmesh = RecastMesh.BuildPolyMesh(m_ctx, m_cset, cfg.maxVertsPerPoly); + RcPolyMesh m_pmesh = RecastMesh.BuildPolyMesh(m_ctx, m_cset, cfg.MaxVertsPerPoly); Assert.That(m_pmesh.nverts, Is.EqualTo(expVerts), "Mesh Verts"); Assert.That(m_pmesh.npolys, Is.EqualTo(expPolys), "Mesh Polys"); @@ -251,8 +251,8 @@ public class RecastSoloMeshTest // on each polygon. // - RcPolyMeshDetail m_dmesh = RecastMeshDetail.BuildPolyMeshDetail(m_ctx, m_pmesh, m_chf, cfg.detailSampleDist, - cfg.detailSampleMaxError); + RcPolyMeshDetail m_dmesh = RecastMeshDetail.BuildPolyMeshDetail(m_ctx, m_pmesh, m_chf, cfg.DetailSampleDist, + cfg.DetailSampleMaxError); Assert.That(m_dmesh.nmeshes, Is.EqualTo(expDetMeshes), "Mesh Detail Meshes"); Assert.That(m_dmesh.nverts, Is.EqualTo(expDetVerts), "Mesh Detail Verts"); Assert.That(m_dmesh.ntris, Is.EqualTo(expDetTris), "Mesh Detail Tris"); diff --git a/test/DotRecast.Recast.Test/RecastTileMeshTest.cs b/test/DotRecast.Recast.Test/RecastTileMeshTest.cs index 9039b90..6c5690e 100644 --- a/test/DotRecast.Recast.Test/RecastTileMeshTest.cs +++ b/test/DotRecast.Recast.Test/RecastTileMeshTest.cs @@ -29,8 +29,6 @@ using NUnit.Framework; namespace DotRecast.Recast.Test; -using static RcConstants; - [Parallelizable] public class RecastTileMeshTest {