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DotRecastNetSim
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for unity3d

This commit is contained in:
ikpil 2023-07-28 21:01:22 +09:00
parent 2842c65bb7
commit 12dfb27538
11 changed files with 179 additions and 179 deletions
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40
src/DotRecast.Detour.Dynamic/Io/VoxelFile.cs
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@ -75,26 +75,26 @@ namespace DotRecast.Detour.Dynamic.Io
{ {
VoxelFile f = new VoxelFile(); VoxelFile f = new VoxelFile();
f.version = 1; f.version = 1;
f.partition = config.partition; f.partition = config.Partition;
f.filterLowHangingObstacles = config.filterLowHangingObstacles; f.filterLowHangingObstacles = config.FilterLowHangingObstacles;
f.filterLedgeSpans = config.filterLedgeSpans; f.filterLedgeSpans = config.FilterLedgeSpans;
f.filterWalkableLowHeightSpans = config.filterWalkableLowHeightSpans; f.filterWalkableLowHeightSpans = config.FilterWalkableLowHeightSpans;
f.walkableRadius = config.walkableRadiusWorld; f.walkableRadius = config.WalkableRadiusWorld;
f.walkableHeight = config.walkableHeightWorld; f.walkableHeight = config.WalkableHeightWorld;
f.walkableClimb = config.walkableClimbWorld; f.walkableClimb = config.WalkableClimbWorld;
f.walkableSlopeAngle = config.walkableSlopeAngle; f.walkableSlopeAngle = config.WalkableSlopeAngle;
f.cellSize = config.cs; f.cellSize = config.Cs;
f.maxSimplificationError = config.maxSimplificationError; f.maxSimplificationError = config.MaxSimplificationError;
f.maxEdgeLen = config.maxEdgeLenWorld; f.maxEdgeLen = config.MaxEdgeLenWorld;
f.minRegionArea = config.minRegionAreaWorld; f.minRegionArea = config.MinRegionAreaWorld;
f.regionMergeArea = config.mergeRegionAreaWorld; f.regionMergeArea = config.MergeRegionAreaWorld;
f.vertsPerPoly = config.maxVertsPerPoly; f.vertsPerPoly = config.MaxVertsPerPoly;
f.buildMeshDetail = config.buildMeshDetail; f.buildMeshDetail = config.BuildMeshDetail;
f.detailSampleDistance = config.detailSampleDist; f.detailSampleDistance = config.DetailSampleDist;
f.detailSampleMaxError = config.detailSampleMaxError; f.detailSampleMaxError = config.DetailSampleMaxError;
f.useTiles = config.useTiles; f.useTiles = config.UseTiles;
f.tileSizeX = config.tileSizeX; f.tileSizeX = config.TileSizeX;
f.tileSizeZ = config.tileSizeZ; f.tileSizeZ = config.TileSizeZ;
f.bounds = new float[] f.bounds = new float[]
{ {
float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,

118
src/DotRecast.Recast/RcConfig.cs
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@ -22,96 +22,98 @@ using System;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
/// Specifies a configuration to use when performing Recast builds.
/// @ingroup recast
public class RcConfig 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] **/ /** 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] **/ /** 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] **/ /** 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] **/ /** 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] * Minimum floor to 'ceiling' height that will still allow the floor area to be considered walkable. [Limit: >= 3]
* [Units: vx] * [Units: vx]
**/ **/
public readonly int walkableHeight; public readonly int WalkableHeight;
/** Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx] **/ /** 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: * The distance to erode/shrink the walkable area of the heightfield away from obstructions. [Limit: >=0] [Units:
* vx] * 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] **/ /** 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] * The maximum distance a simplfied contour's border edges should deviate the original raw contour. [Limit: >=0]
* [Units: vx] * [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] **/ /** 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: * Any regions with a span count smaller than this value will, if possible, be merged with larger regions. [Limit:
* >=0] [Units: vx] * >=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. * The maximum number of vertices allowed for polygons generated during the contour to polygon conversion process.
* [Limit: >= 3] * [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 >= * Sets the sampling distance to use when generating the detail mesh. (For height detail only.) [Limits: 0 or >=
* 0.9] [Units: wu] * 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.) * The maximum distance the detail mesh surface should deviate from heightfield data. (For height detail only.)
* [Limit: >=0] [Units: wu] * [Limit: >=0] [Units: wu]
**/ **/
public readonly float detailSampleMaxError; public readonly float DetailSampleMaxError;
public readonly RcAreaModification walkableAreaMod; public readonly RcAreaModification WalkableAreaMod;
public readonly bool filterLowHangingObstacles; public readonly bool FilterLowHangingObstacles;
public readonly bool filterLedgeSpans; public readonly bool FilterLedgeSpans;
public readonly bool filterWalkableLowHeightSpans; public readonly bool FilterWalkableLowHeightSpans;
/** Set to false to disable building detailed mesh **/ /** 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] **/ /** 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 */ /** Set of original settings passed in world units */
public readonly float minRegionAreaWorld; public readonly float MinRegionAreaWorld;
public readonly float mergeRegionAreaWorld; public readonly float MergeRegionAreaWorld;
public readonly float walkableHeightWorld; public readonly float WalkableHeightWorld;
public readonly float walkableClimbWorld; public readonly float WalkableClimbWorld;
public readonly float walkableRadiusWorld; public readonly float WalkableRadiusWorld;
public readonly float maxEdgeLenWorld; public readonly float MaxEdgeLenWorld;
/** /**
* Non-tiled build configuration * Non-tiled build configuration
@ -146,35 +148,35 @@ namespace DotRecast.Recast
float mergeRegionArea, float edgeMaxLen, float edgeMaxError, int vertsPerPoly, bool buildMeshDetail, float mergeRegionArea, float edgeMaxLen, float edgeMaxError, int vertsPerPoly, bool buildMeshDetail,
float detailSampleDist, float detailSampleMaxError, RcAreaModification walkableAreaMod) float detailSampleDist, float detailSampleMaxError, RcAreaModification walkableAreaMod)
{ {
this.useTiles = useTiles; UseTiles = useTiles;
this.tileSizeX = tileSizeX; TileSizeX = tileSizeX;
this.tileSizeZ = tileSizeZ; TileSizeZ = tileSizeZ;
this.borderSize = borderSize; BorderSize = borderSize;
this.partition = RcPartitionType.Of(partition).Value; Partition = RcPartitionType.Of(partition).Value;
cs = cellSize; Cs = cellSize;
ch = cellHeight; Ch = cellHeight;
walkableSlopeAngle = agentMaxSlope; WalkableSlopeAngle = agentMaxSlope;
walkableHeight = (int)Math.Ceiling(agentHeight / ch); WalkableHeight = (int)Math.Ceiling(agentHeight / Ch);
walkableHeightWorld = agentHeight; WalkableHeightWorld = agentHeight;
walkableClimb = (int)Math.Floor(agentMaxClimb / ch); WalkableClimb = (int)Math.Floor(agentMaxClimb / Ch);
walkableClimbWorld = agentMaxClimb; WalkableClimbWorld = agentMaxClimb;
walkableRadius = (int)Math.Ceiling(agentRadius / cs); WalkableRadius = (int)Math.Ceiling(agentRadius / Cs);
walkableRadiusWorld = agentRadius; WalkableRadiusWorld = agentRadius;
this.minRegionArea = (int)Math.Round(minRegionArea / (cs * cs)); MinRegionArea = (int)Math.Round(minRegionArea / (Cs * Cs));
minRegionAreaWorld = minRegionArea; MinRegionAreaWorld = minRegionArea;
this.mergeRegionArea = (int)Math.Round(mergeRegionArea / (cs * cs)); MergeRegionArea = (int)Math.Round(mergeRegionArea / (Cs * Cs));
mergeRegionAreaWorld = mergeRegionArea; MergeRegionAreaWorld = mergeRegionArea;
maxEdgeLen = (int)(edgeMaxLen / cellSize); MaxEdgeLen = (int)(edgeMaxLen / cellSize);
maxEdgeLenWorld = edgeMaxLen; MaxEdgeLenWorld = edgeMaxLen;
maxSimplificationError = edgeMaxError; MaxSimplificationError = edgeMaxError;
maxVertsPerPoly = vertsPerPoly; MaxVertsPerPoly = vertsPerPoly;
this.detailSampleDist = detailSampleDist < 0.9f ? 0 : cellSize * detailSampleDist; DetailSampleDist = detailSampleDist < 0.9f ? 0 : cellSize * detailSampleDist;
this.detailSampleMaxError = cellHeight * detailSampleMaxError; DetailSampleMaxError = cellHeight * detailSampleMaxError;
this.walkableAreaMod = walkableAreaMod; WalkableAreaMod = walkableAreaMod;
this.filterLowHangingObstacles = filterLowHangingObstacles; FilterLowHangingObstacles = filterLowHangingObstacles;
this.filterLedgeSpans = filterLedgeSpans; FilterLedgeSpans = filterLedgeSpans;
this.filterWalkableLowHeightSpans = filterWalkableLowHeightSpans; FilterWalkableLowHeightSpans = filterWalkableLowHeightSpans;
this.buildMeshDetail = buildMeshDetail; BuildMeshDetail = buildMeshDetail;
} }
public static int CalcBorder(float agentRadius, float cs) public static int CalcBorder(float agentRadius, float cs)

40
src/DotRecast.Recast/RecastBuilder.cs
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@ -45,7 +45,7 @@ namespace DotRecast.Recast
{ {
RcVec3f bmin = geom.GetMeshBoundsMin(); RcVec3f bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); 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<RecastBuilderResult> results = new List<RecastBuilderResult>(); List<RecastBuilderResult> results = new List<RecastBuilderResult>();
if (null != taskFactory) if (null != taskFactory)
{ {
@ -64,7 +64,7 @@ namespace DotRecast.Recast
{ {
RcVec3f bmin = geom.GetMeshBoundsMin(); RcVec3f bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); 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; Task task;
if (1 < threads) if (1 < threads)
{ {
@ -210,24 +210,24 @@ namespace DotRecast.Recast
// * good choice to use for tiled navmesh with medium and small sized // * good choice to use for tiled navmesh with medium and small sized
// tiles // tiles
if (cfg.partition == RcPartitionType.WATERSHED.Value) if (cfg.Partition == RcPartitionType.WATERSHED.Value)
{ {
// Prepare for region partitioning, by calculating distance field // Prepare for region partitioning, by calculating distance field
// along the walkable surface. // along the walkable surface.
RecastRegion.BuildDistanceField(ctx, chf); RecastRegion.BuildDistanceField(ctx, chf);
// Partition the walkable surface into simple regions without holes. // 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. // Partition the walkable surface into simple regions without holes.
// Monotone partitioning does not need distancefield. // Monotone partitioning does not need distancefield.
RecastRegion.BuildRegionsMonotone(ctx, chf, cfg.minRegionArea, cfg.mergeRegionArea); RecastRegion.BuildRegionsMonotone(ctx, chf, cfg.MinRegionArea, cfg.MergeRegionArea);
} }
else else
{ {
// Partition the walkable surface into simple regions without holes. // 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. // 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); RcConstants.RC_CONTOUR_TESS_WALL_EDGES);
// //
// Step 6. Build polygons mesh from contours. // 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 // Step 7. Create detail mesh which allows to access approximate height
// on each polygon. // on each polygon.
// //
RcPolyMeshDetail dmesh = cfg.buildMeshDetail RcPolyMeshDetail dmesh = cfg.BuildMeshDetail
? RecastMeshDetail.BuildPolyMeshDetail(ctx, pmesh, chf, cfg.detailSampleDist, cfg.detailSampleMaxError) ? RecastMeshDetail.BuildPolyMeshDetail(ctx, pmesh, chf, cfg.DetailSampleDist, cfg.DetailSampleMaxError)
: null; : null;
return new RecastBuilderResult(tileX, tileZ, solid, chf, cset, pmesh, dmesh, ctx); 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 // Once all geometry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization // remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand. // 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. // 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 // This will result more cache coherent data as well as the neighbours
// between walkable cells will be calculated. // 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. // Erode the walkable area by agent radius.
RecastArea.ErodeWalkableArea(ctx, cfg.walkableRadius, chf); RecastArea.ErodeWalkableArea(ctx, cfg.WalkableRadius, chf);
// (Optional) Mark areas. // (Optional) Mark areas.
if (volumeProvider != null) if (volumeProvider != null)
{ {
@ -309,7 +309,7 @@ namespace DotRecast.Recast
RcHeightfield solid = RecastVoxelization.BuildSolidHeightfield(geom, builderCfg, ctx); RcHeightfield solid = RecastVoxelization.BuildSolidHeightfield(geom, builderCfg, ctx);
FilterHeightfield(solid, builderCfg.cfg, ctx); FilterHeightfield(solid, builderCfg.cfg, ctx);
RcCompactHeightfield chf = BuildCompactHeightfield(geom, builderCfg.cfg, ctx, solid); RcCompactHeightfield chf = BuildCompactHeightfield(geom, builderCfg.cfg, ctx, solid);
return RecastLayers.BuildHeightfieldLayers(ctx, chf, builderCfg.cfg.walkableHeight); return RecastLayers.BuildHeightfieldLayers(ctx, chf, builderCfg.cfg.WalkableHeight);
} }
} }
} }

20
src/DotRecast.Recast/RecastBuilderConfig.cs
View File

@ -52,10 +52,10 @@ namespace DotRecast.Recast
this.cfg = cfg; this.cfg = cfg;
this.bmin = bmin; this.bmin = bmin;
this.bmax = bmax; this.bmax = bmax;
if (cfg.useTiles) if (cfg.UseTiles)
{ {
float tsx = cfg.tileSizeX * cfg.cs; float tsx = cfg.TileSizeX * cfg.Cs;
float tsz = cfg.tileSizeZ * cfg.cs; float tsz = cfg.TileSizeZ * cfg.Cs;
this.bmin.x += tileX * tsx; this.bmin.x += tileX * tsx;
this.bmin.z += tileZ * tsz; this.bmin.z += tileZ * tsz;
this.bmax.x = this.bmin.x + tsx; 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 // you will need to pass in data from neighbour terrain tiles too! In a simple case, just pass in all the 8
// neighbours, // neighbours,
// or use the bounding box below to only pass in a sliver of each of 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.x -= cfg.BorderSize * cfg.Cs;
this.bmin.z -= cfg.borderSize * cfg.cs; this.bmin.z -= cfg.BorderSize * cfg.Cs;
this.bmax.x += cfg.borderSize * cfg.cs; this.bmax.x += cfg.BorderSize * cfg.Cs;
this.bmax.z += cfg.borderSize * cfg.cs; this.bmax.z += cfg.BorderSize * cfg.Cs;
width = cfg.tileSizeX + cfg.borderSize * 2; width = cfg.TileSizeX + cfg.BorderSize * 2;
height = cfg.tileSizeZ + cfg.borderSize * 2; height = cfg.TileSizeZ + cfg.BorderSize * 2;
} }
else 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);
} }
} }
} }

12
src/DotRecast.Recast/RecastVoxelization.cs
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@ -29,7 +29,7 @@ namespace DotRecast.Recast
RcConfig cfg = builderCfg.cfg; RcConfig cfg = builderCfg.cfg;
// Allocate voxel heightfield where we rasterize our input data to. // 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. // Allocate array that can hold triangle area types.
// If you have multiple meshes you need to process, allocate // If you have multiple meshes you need to process, allocate
@ -44,7 +44,7 @@ namespace DotRecast.Recast
foreach (RcTriMesh geom in geomProvider.Meshes()) foreach (RcTriMesh geom in geomProvider.Meshes())
{ {
float[] verts = geom.GetVerts(); float[] verts = geom.GetVerts();
if (cfg.useTiles) if (cfg.UseTiles)
{ {
float[] tbmin = new float[2]; float[] tbmin = new float[2];
float[] tbmax = new float[2]; float[] tbmax = new float[2];
@ -57,16 +57,16 @@ namespace DotRecast.Recast
{ {
int[] tris = node.tris; int[] tris = node.tris;
int ntris = tris.Length / 3; int ntris = tris.Length / 3;
int[] m_triareas = Recast.MarkWalkableTriangles(ctx, cfg.walkableSlopeAngle, verts, tris, ntris, cfg.walkableAreaMod); int[] m_triareas = Recast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
RecastRasterization.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.walkableClimb, ctx); RecastRasterization.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx);
} }
} }
else else
{ {
int[] tris = geom.GetTris(); int[] tris = geom.GetTris();
int ntris = tris.Length / 3; int ntris = tris.Length / 3;
int[] m_triareas = Recast.MarkWalkableTriangles(ctx, cfg.walkableSlopeAngle, verts, tris, ntris, cfg.walkableAreaMod); int[] m_triareas = Recast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
RecastRasterization.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.walkableClimb, ctx); RecastRasterization.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx);
} }
} }

28
test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs
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@ -46,17 +46,17 @@ public class RecastTestMeshBuilder
{ {
} }
public RecastTestMeshBuilder(IInputGeomProvider m_geom, RcPartition m_partitionType, float m_cellSize, public RecastTestMeshBuilder(IInputGeomProvider geom, RcPartition partitionType, float cellSize,
float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope, float cellHeight, float agentHeight, float agentRadius, float agentMaxClimb, float agentMaxSlope,
int m_regionMinSize, int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly, int regionMinSize, int regionMergeSize, float edgeMaxLen, float edgeMaxError, int vertsPerPoly,
float m_detailSampleDist, float m_detailSampleMaxError) float detailSampleDist, float detailSampleMaxError)
{ {
RcConfig cfg = new RcConfig(m_partitionType, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius, RcConfig cfg = new RcConfig(partitionType, cellSize, cellHeight, agentHeight, agentRadius,
m_agentMaxClimb, m_agentMaxSlope, m_regionMinSize, m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError, agentMaxClimb, agentMaxSlope, regionMinSize, regionMergeSize, edgeMaxLen, edgeMaxError,
m_vertsPerPoly, m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND); vertsPerPoly, detailSampleDist, detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND);
RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, m_geom.GetMeshBoundsMin(), m_geom.GetMeshBoundsMax()); RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
RecastBuilder rcBuilder = new RecastBuilder(); RecastBuilder rcBuilder = new RecastBuilder();
RecastBuilderResult rcResult = rcBuilder.Build(m_geom, bcfg); RecastBuilderResult rcResult = rcBuilder.Build(geom, bcfg);
RcPolyMesh m_pmesh = rcResult.GetMesh(); RcPolyMesh m_pmesh = rcResult.GetMesh();
for (int i = 0; i < m_pmesh.npolys; ++i) for (int i = 0; i < m_pmesh.npolys; ++i)
{ {
@ -77,13 +77,13 @@ public class RecastTestMeshBuilder
option.detailVertsCount = m_dmesh.nverts; option.detailVertsCount = m_dmesh.nverts;
option.detailTris = m_dmesh.tris; option.detailTris = m_dmesh.tris;
option.detailTriCount = m_dmesh.ntris; option.detailTriCount = m_dmesh.ntris;
option.walkableHeight = m_agentHeight; option.walkableHeight = agentHeight;
option.walkableRadius = m_agentRadius; option.walkableRadius = agentRadius;
option.walkableClimb = m_agentMaxClimb; option.walkableClimb = agentMaxClimb;
option.bmin = m_pmesh.bmin; option.bmin = m_pmesh.bmin;
option.bmax = m_pmesh.bmax; option.bmax = m_pmesh.bmax;
option.cs = m_cellSize; option.cs = cellSize;
option.ch = m_cellHeight; option.ch = cellHeight;
option.buildBvTree = true; option.buildBvTree = true;
option.offMeshConVerts = new float[6]; option.offMeshConVerts = new float[6];

28
test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs
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@ -47,17 +47,17 @@ public class RecastTestMeshBuilder
{ {
} }
public RecastTestMeshBuilder(IInputGeomProvider m_geom, RcPartition m_partitionType, float m_cellSize, public RecastTestMeshBuilder(IInputGeomProvider geom, RcPartition partition, float cellSize,
float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope, float cellHeight, float agentHeight, float agentRadius, float agentMaxClimb, float agentMaxSlope,
int m_regionMinSize, int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly, int regionMinSize, int regionMergeSize, float edgeMaxLen, float edgeMaxError, int vertsPerPoly,
float m_detailSampleDist, float m_detailSampleMaxError) float detailSampleDist, float detailSampleMaxError)
{ {
RcConfig cfg = new RcConfig(m_partitionType, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius, RcConfig cfg = new RcConfig(partition, cellSize, cellHeight, agentHeight, agentRadius,
m_agentMaxClimb, m_agentMaxSlope, m_regionMinSize, m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError, agentMaxClimb, agentMaxSlope, regionMinSize, regionMergeSize, edgeMaxLen, edgeMaxError,
m_vertsPerPoly, m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND); vertsPerPoly, detailSampleDist, detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND);
RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, m_geom.GetMeshBoundsMin(), m_geom.GetMeshBoundsMax()); RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
RecastBuilder rcBuilder = new RecastBuilder(); RecastBuilder rcBuilder = new RecastBuilder();
RecastBuilderResult rcResult = rcBuilder.Build(m_geom, bcfg); RecastBuilderResult rcResult = rcBuilder.Build(geom, bcfg);
RcPolyMesh m_pmesh = rcResult.GetMesh(); RcPolyMesh m_pmesh = rcResult.GetMesh();
for (int i = 0; i < m_pmesh.npolys; ++i) for (int i = 0; i < m_pmesh.npolys; ++i)
{ {
@ -78,13 +78,13 @@ public class RecastTestMeshBuilder
option.detailVertsCount = m_dmesh.nverts; option.detailVertsCount = m_dmesh.nverts;
option.detailTris = m_dmesh.tris; option.detailTris = m_dmesh.tris;
option.detailTriCount = m_dmesh.ntris; option.detailTriCount = m_dmesh.ntris;
option.walkableHeight = m_agentHeight; option.walkableHeight = agentHeight;
option.walkableRadius = m_agentRadius; option.walkableRadius = agentRadius;
option.walkableClimb = m_agentMaxClimb; option.walkableClimb = agentMaxClimb;
option.bmin = m_pmesh.bmin; option.bmin = m_pmesh.bmin;
option.bmax = m_pmesh.bmax; option.bmax = m_pmesh.bmax;
option.cs = m_cellSize; option.cs = cellSize;
option.ch = m_cellHeight; option.ch = cellHeight;
option.buildBvTree = true; option.buildBvTree = true;
option.offMeshConVerts = new float[6]; option.offMeshConVerts = new float[6];

4
test/DotRecast.Detour.Test/TestDetourBuilder.cs
View File

@ -89,8 +89,8 @@ public class TestDetourBuilder : DetourBuilder
option.walkableClimb = agentMaxClimb; option.walkableClimb = agentMaxClimb;
option.bmin = pmesh.bmin; option.bmin = pmesh.bmin;
option.bmax = pmesh.bmax; option.bmax = pmesh.bmax;
option.cs = rcConfig.cs; option.cs = rcConfig.Cs;
option.ch = rcConfig.ch; option.ch = rcConfig.Ch;
option.buildBvTree = true; option.buildBvTree = true;
/* /*
* option.offMeshConVerts = m_geom->GetOffMeshConnectionVerts(); * option.offMeshConVerts = m_geom->GetOffMeshConnectionVerts();

34
test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs
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@ -52,27 +52,27 @@ public class TestTiledNavMeshBuilder
{ {
} }
public TestTiledNavMeshBuilder(IInputGeomProvider m_geom, RcPartition m_partitionType, float m_cellSize, float m_cellHeight, public TestTiledNavMeshBuilder(IInputGeomProvider geom, RcPartition partitionType, float cellSize, float cellHeight,
float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope, int m_regionMinSize, float agentHeight, float agentRadius, float agentMaxClimb, float agentMaxSlope, int regionMinSize,
int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly, float m_detailSampleDist, int regionMergeSize, float edgeMaxLen, float edgeMaxError, int vertsPerPoly, float detailSampleDist,
float m_detailSampleMaxError, int m_tileSize) float detailSampleMaxError, int tileSize)
{ {
// Create empty nav mesh // Create empty nav mesh
DtNavMeshParams navMeshParams = new DtNavMeshParams(); DtNavMeshParams navMeshParams = new DtNavMeshParams();
navMeshParams.orig = m_geom.GetMeshBoundsMin(); navMeshParams.orig = geom.GetMeshBoundsMin();
navMeshParams.tileWidth = m_tileSize * m_cellSize; navMeshParams.tileWidth = tileSize * cellSize;
navMeshParams.tileHeight = m_tileSize * m_cellSize; navMeshParams.tileHeight = tileSize * cellSize;
navMeshParams.maxTiles = 128; navMeshParams.maxTiles = 128;
navMeshParams.maxPolys = 32768; navMeshParams.maxPolys = 32768;
navMesh = new DtNavMesh(navMeshParams, 6); navMesh = new DtNavMesh(navMeshParams, 6);
// Build all tiles // Build all tiles
RcConfig cfg = new RcConfig(true, m_tileSize, m_tileSize, RcConfig.CalcBorder(m_agentRadius, m_cellSize), RcConfig cfg = new RcConfig(true, tileSize, tileSize, RcConfig.CalcBorder(agentRadius, cellSize),
m_partitionType, m_cellSize, m_cellHeight, m_agentMaxSlope, true, true, true, m_agentHeight, m_agentRadius, partitionType, cellSize, cellHeight, agentMaxSlope, true, true, true, agentHeight, agentRadius,
m_agentMaxClimb, m_regionMinArea, m_regionMergeArea, m_edgeMaxLen, m_edgeMaxError, m_vertsPerPoly, true, agentMaxClimb, m_regionMinArea, m_regionMergeArea, edgeMaxLen, edgeMaxError, vertsPerPoly, true,
m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND); detailSampleDist, detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND);
RecastBuilder rcBuilder = new RecastBuilder(); RecastBuilder rcBuilder = new RecastBuilder();
List<RecastBuilderResult> rcResult = rcBuilder.BuildTiles(m_geom, cfg, null); List<RecastBuilderResult> rcResult = rcBuilder.BuildTiles(geom, cfg, null);
// Add tiles to nav mesh // Add tiles to nav mesh
@ -103,13 +103,13 @@ public class TestTiledNavMeshBuilder
option.detailVertsCount = dmesh.nverts; option.detailVertsCount = dmesh.nverts;
option.detailTris = dmesh.tris; option.detailTris = dmesh.tris;
option.detailTriCount = dmesh.ntris; option.detailTriCount = dmesh.ntris;
option.walkableHeight = m_agentHeight; option.walkableHeight = agentHeight;
option.walkableRadius = m_agentRadius; option.walkableRadius = agentRadius;
option.walkableClimb = m_agentMaxClimb; option.walkableClimb = agentMaxClimb;
option.bmin = pmesh.bmin; option.bmin = pmesh.bmin;
option.bmax = pmesh.bmax; option.bmax = pmesh.bmax;
option.cs = m_cellSize; option.cs = cellSize;
option.ch = m_cellHeight; option.ch = cellHeight;
option.tileX = result.tileX; option.tileX = result.tileX;
option.tileZ = result.tileZ; option.tileZ = result.tileZ;
option.buildBvTree = true; option.buildBvTree = true;

30
test/DotRecast.Recast.Test/RecastSoloMeshTest.cs
View File

@ -116,7 +116,7 @@ public class RecastSoloMeshTest
// //
// Allocate voxel heightfield where we rasterize our input data to. // 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()) 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. // 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 // If your input data is multiple meshes, you can transform them here, calculate
// the are type for each of the meshes and rasterize them. // 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); 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); 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 // Once all geometry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization // remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand. // as well as filter spans where the character cannot possibly stand.
RecastFilter.FilterLowHangingWalkableObstacles(m_ctx, cfg.walkableClimb, m_solid); RecastFilter.FilterLowHangingWalkableObstacles(m_ctx, cfg.WalkableClimb, m_solid);
RecastFilter.FilterLedgeSpans(m_ctx, cfg.walkableHeight, cfg.walkableClimb, m_solid); RecastFilter.FilterLedgeSpans(m_ctx, cfg.WalkableHeight, cfg.WalkableClimb, m_solid);
RecastFilter.FilterWalkableLowHeightSpans(m_ctx, cfg.walkableHeight, m_solid); RecastFilter.FilterWalkableLowHeightSpans(m_ctx, cfg.WalkableHeight, m_solid);
// //
// Step 4. Partition walkable surface to simple regions. // 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. // 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 // This will result more cache coherent data as well as the neighbours
// between walkable cells will be calculated. // 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); m_solid);
// Erode the walkable area by agent radius. // 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. // (Optional) Mark areas.
/* /*
@ -212,18 +212,18 @@ public class RecastSoloMeshTest
// along the walkable surface. // along the walkable surface.
RecastRegion.BuildDistanceField(m_ctx, m_chf); RecastRegion.BuildDistanceField(m_ctx, m_chf);
// Partition the walkable surface into simple regions without holes. // 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) else if (m_partitionType == RcPartition.MONOTONE)
{ {
// Partition the walkable surface into simple regions without holes. // Partition the walkable surface into simple regions without holes.
// Monotone partitioning does not need distancefield. // 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 else
{ {
// Partition the walkable surface into simple regions without holes. // 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"); Assert.That(m_chf.maxDistance, Is.EqualTo(expDistance), "maxDistance");
@ -233,7 +233,7 @@ public class RecastSoloMeshTest
// //
// Create contours. // 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); RcConstants.RC_CONTOUR_TESS_WALL_EDGES);
Assert.That(m_cset.conts.Count, Is.EqualTo(expContours), "Contours"); Assert.That(m_cset.conts.Count, Is.EqualTo(expContours), "Contours");
@ -242,7 +242,7 @@ public class RecastSoloMeshTest
// //
// Build polygon navmesh from the contours. // 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.nverts, Is.EqualTo(expVerts), "Mesh Verts");
Assert.That(m_pmesh.npolys, Is.EqualTo(expPolys), "Mesh Polys"); Assert.That(m_pmesh.npolys, Is.EqualTo(expPolys), "Mesh Polys");
@ -251,8 +251,8 @@ public class RecastSoloMeshTest
// on each polygon. // on each polygon.
// //
RcPolyMeshDetail m_dmesh = RecastMeshDetail.BuildPolyMeshDetail(m_ctx, m_pmesh, m_chf, cfg.detailSampleDist, RcPolyMeshDetail m_dmesh = RecastMeshDetail.BuildPolyMeshDetail(m_ctx, m_pmesh, m_chf, cfg.DetailSampleDist,
cfg.detailSampleMaxError); cfg.DetailSampleMaxError);
Assert.That(m_dmesh.nmeshes, Is.EqualTo(expDetMeshes), "Mesh Detail Meshes"); 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.nverts, Is.EqualTo(expDetVerts), "Mesh Detail Verts");
Assert.That(m_dmesh.ntris, Is.EqualTo(expDetTris), "Mesh Detail Tris"); Assert.That(m_dmesh.ntris, Is.EqualTo(expDetTris), "Mesh Detail Tris");

2
test/DotRecast.Recast.Test/RecastTileMeshTest.cs
View File

@ -29,8 +29,6 @@ using NUnit.Framework;
namespace DotRecast.Recast.Test; namespace DotRecast.Recast.Test;
using static RcConstants;
[Parallelizable] [Parallelizable]
public class RecastTileMeshTest public class RecastTileMeshTest
{ {