From 19af70846115da95b60e4b2da6af758e4919d7f7 Mon Sep 17 00:00:00 2001 From: ikpil Date: Tue, 14 Mar 2023 14:02:43 +0900 Subject: [PATCH] Initial commit" --- .gitignore | 399 + DotRecast.sln | 120 + README.dm | 1 - README.md | 1 + resources/all_tiles_navmesh.bin | Bin 0 -> 70980 bytes resources/all_tiles_tilecache.bin | Bin 0 -> 47643 bytes resources/annotation_test.obj | 3562 ++++ resources/bridge.obj | 87 + resources/convex.obj | 408 + resources/dungeon.obj | 15234 ++++++++++++++++ resources/dungeon_all_tiles_navmesh.bin | Bin 0 -> 36228 bytes resources/dungeon_all_tiles_navmesh_32bit.bin | Bin 0 -> 32460 bytes resources/dungeon_all_tiles_tilecache.bin | Bin 0 -> 18767 bytes resources/fonts/DroidSans.ttf | Bin 0 -> 190044 bytes resources/graph.zip | Bin 0 -> 12056 bytes resources/graph_v4_1_16.zip | Bin 0 -> 9049 bytes resources/house.obj | 7321 ++++++++ resources/nav_test.obj | 3506 ++++ resources/test.voxels | Bin 0 -> 9021169 bytes resources/test_boundstree.zip | Bin 0 -> 218183 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Backup files are not needed, +# because we have git ;-) +_UpgradeReport_Files/ +Backup*/ +UpgradeLog*.XML +UpgradeLog*.htm +ServiceFabricBackup/ +*.rptproj.bak + +# SQL Server files +*.mdf +*.ldf +*.ndf + +# Business Intelligence projects +*.rdl.data +*.bim.layout +*.bim_*.settings +*.rptproj.rsuser +*- [Bb]ackup.rdl +*- [Bb]ackup ([0-9]).rdl +*- [Bb]ackup ([0-9][0-9]).rdl + +# Microsoft Fakes +FakesAssemblies/ + +# GhostDoc plugin setting file +*.GhostDoc.xml + +# Node.js Tools for Visual Studio +.ntvs_analysis.dat +node_modules/ + +# Visual Studio 6 build log +*.plg + +# Visual Studio 6 workspace options file +*.opt + +# Visual Studio 6 auto-generated workspace file (contains which files were open etc.) +*.vbw + +# Visual Studio 6 auto-generated project file (contains which files were open etc.) +*.vbp + +# Visual Studio 6 workspace and project file (working project files containing files to include in project) +*.dsw +*.dsp + +# Visual Studio 6 technical files +*.ncb +*.aps + +# Visual Studio LightSwitch build output +**/*.HTMLClient/GeneratedArtifacts +**/*.DesktopClient/GeneratedArtifacts +**/*.DesktopClient/ModelManifest.xml +**/*.Server/GeneratedArtifacts +**/*.Server/ModelManifest.xml +_Pvt_Extensions + +# Paket dependency manager +.paket/paket.exe +paket-files/ + +# FAKE - F# Make +.fake/ + +# CodeRush personal settings +.cr/personal + +# Python Tools for Visual Studio (PTVS) +__pycache__/ +*.pyc + +# Cake - Uncomment if you are using it +# tools/** +# !tools/packages.config + +# Tabs Studio +*.tss + +# Telerik's JustMock configuration file +*.jmconfig + +# BizTalk build output +*.btp.cs +*.btm.cs +*.odx.cs +*.xsd.cs + +# OpenCover UI analysis results +OpenCover/ + +# Azure Stream Analytics local run output +ASALocalRun/ + +# MSBuild Binary and Structured Log +*.binlog + +# NVidia Nsight GPU debugger configuration file +*.nvuser + +# MFractors (Xamarin productivity tool) working folder +.mfractor/ + +# Local History for Visual Studio +.localhistory/ + +# Visual Studio History (VSHistory) files +.vshistory/ + +# BeatPulse healthcheck temp database +healthchecksdb + +# Backup folder for Package Reference Convert tool in Visual Studio 2017 +MigrationBackup/ + +# Ionide (cross platform F# VS Code tools) working folder +.ionide/ + +# Fody - auto-generated XML schema +FodyWeavers.xsd + +# VS Code files for those working on multiple tools +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json +*.code-workspace + +# Local History for Visual Studio Code +.history/ + +# Windows Installer files from build outputs +*.cab +*.msi +*.msix +*.msm +*.msp + +# JetBrains Rider +*.sln.iml +.idea/ \ No newline at end of file diff --git a/DotRecast.sln b/DotRecast.sln new file mode 100644 index 0000000..e07d120 --- /dev/null +++ b/DotRecast.sln @@ -0,0 +1,120 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 17 +VisualStudioVersion = 17.0.31903.59 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "src", "src", "{8ED75CF7-A3D6-423D-8499-9316DD413DAD}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Core", "src\DotRecast.Core\DotRecast.Core.csproj", "{C19E4BFA-63A0-4815-9815-869A9DC52DBC}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Recast", "src\DotRecast.Recast\DotRecast.Recast.csproj", "{38933A87-4568-40A5-A3DA-E2445E8C2B99}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour", "src\DotRecast.Detour\DotRecast.Detour.csproj", "{FFE40BBF-843B-41FA-8504-F4ABD166762E}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.Crowd", "src\DotRecast.Detour.Crowd\DotRecast.Detour.Crowd.csproj", "{FA7EF26A-BA47-43FD-86F8-0A33CFDF643F}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.Dynamic", "src\DotRecast.Detour.Dynamic\DotRecast.Detour.Dynamic.csproj", "{53AF87DA-37F8-4504-B623-B2113F4438CA}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.Extras", "src\DotRecast.Detour.Extras\DotRecast.Detour.Extras.csproj", "{17E4F2F0-FC27-416E-9CB6-9F2CAAC49C9D}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.TileCache", "src\DotRecast.Detour.TileCache\DotRecast.Detour.TileCache.csproj", "{DEB16B90-CCD4-497E-A2E9-4CC66FD7EF47}" +EndProject +Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "test", "test", "{A7CB8D8B-70DA-4567-8316-0659FCAE1C73}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Recast.Test", "test\DotRecast.Recast.Test\DotRecast.Recast.Test.csproj", "{88754FE2-A05A-4D4D-A81A-90418AD32362}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.Test", "test\DotRecast.Detour.Test\DotRecast.Detour.Test.csproj", "{554CB5BD-D58A-4856-BFE1-666A62C9BEA3}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.Crowd.Test", "test\DotRecast.Detour.Crowd.Test\DotRecast.Detour.Crowd.Test.csproj", "{F9C5B52E-C01D-4514-94E9-B1A6895352E2}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.Dynamic.Test", "test\DotRecast.Detour.Dynamic.Test\DotRecast.Detour.Dynamic.Test.csproj", "{67C68B34-118A-439C-88E1-D6D1ED78DC59}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.Extras.Test", "test\DotRecast.Detour.Extras.Test\DotRecast.Detour.Extras.Test.csproj", "{7BAA69B2-EDC7-4603-B16F-BC7B24353F81}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.TileCache.Test", "test\DotRecast.Detour.TileCache.Test\DotRecast.Detour.TileCache.Test.csproj", "{3CAA7306-088E-4373-A406-99755CC2B605}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Recast.Demo", "src\DotRecast.Recast.Demo\DotRecast.Recast.Demo.csproj", "{023E1E6A-4895-4573-89AE-3D5D8E0B39C8}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Any CPU = Debug|Any CPU + Release|Any CPU = Release|Any CPU + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {FFE40BBF-843B-41FA-8504-F4ABD166762E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {FFE40BBF-843B-41FA-8504-F4ABD166762E}.Debug|Any CPU.Build.0 = Debug|Any CPU + {FFE40BBF-843B-41FA-8504-F4ABD166762E}.Release|Any CPU.ActiveCfg = Release|Any CPU + {FFE40BBF-843B-41FA-8504-F4ABD166762E}.Release|Any CPU.Build.0 = Release|Any CPU + {38933A87-4568-40A5-A3DA-E2445E8C2B99}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {38933A87-4568-40A5-A3DA-E2445E8C2B99}.Debug|Any CPU.Build.0 = Debug|Any CPU + {38933A87-4568-40A5-A3DA-E2445E8C2B99}.Release|Any CPU.ActiveCfg = Release|Any CPU + {38933A87-4568-40A5-A3DA-E2445E8C2B99}.Release|Any CPU.Build.0 = Release|Any CPU + {C19E4BFA-63A0-4815-9815-869A9DC52DBC}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {C19E4BFA-63A0-4815-9815-869A9DC52DBC}.Debug|Any CPU.Build.0 = Debug|Any CPU + {C19E4BFA-63A0-4815-9815-869A9DC52DBC}.Release|Any CPU.ActiveCfg = Release|Any CPU + {C19E4BFA-63A0-4815-9815-869A9DC52DBC}.Release|Any CPU.Build.0 = Release|Any CPU + {88754FE2-A05A-4D4D-A81A-90418AD32362}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {88754FE2-A05A-4D4D-A81A-90418AD32362}.Debug|Any CPU.Build.0 = Debug|Any CPU + {88754FE2-A05A-4D4D-A81A-90418AD32362}.Release|Any CPU.ActiveCfg = Release|Any CPU + {88754FE2-A05A-4D4D-A81A-90418AD32362}.Release|Any CPU.Build.0 = Release|Any CPU + {554CB5BD-D58A-4856-BFE1-666A62C9BEA3}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {554CB5BD-D58A-4856-BFE1-666A62C9BEA3}.Debug|Any CPU.Build.0 = Debug|Any CPU + {554CB5BD-D58A-4856-BFE1-666A62C9BEA3}.Release|Any CPU.ActiveCfg = Release|Any CPU + {554CB5BD-D58A-4856-BFE1-666A62C9BEA3}.Release|Any CPU.Build.0 = Release|Any CPU + {FA7EF26A-BA47-43FD-86F8-0A33CFDF643F}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {FA7EF26A-BA47-43FD-86F8-0A33CFDF643F}.Debug|Any CPU.Build.0 = Debug|Any CPU + {FA7EF26A-BA47-43FD-86F8-0A33CFDF643F}.Release|Any CPU.ActiveCfg = Release|Any CPU + {FA7EF26A-BA47-43FD-86F8-0A33CFDF643F}.Release|Any CPU.Build.0 = Release|Any CPU + {F9C5B52E-C01D-4514-94E9-B1A6895352E2}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {F9C5B52E-C01D-4514-94E9-B1A6895352E2}.Debug|Any CPU.Build.0 = Debug|Any CPU + {F9C5B52E-C01D-4514-94E9-B1A6895352E2}.Release|Any CPU.ActiveCfg = Release|Any CPU + {F9C5B52E-C01D-4514-94E9-B1A6895352E2}.Release|Any CPU.Build.0 = Release|Any CPU + {53AF87DA-37F8-4504-B623-B2113F4438CA}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {53AF87DA-37F8-4504-B623-B2113F4438CA}.Debug|Any CPU.Build.0 = Debug|Any CPU + {53AF87DA-37F8-4504-B623-B2113F4438CA}.Release|Any CPU.ActiveCfg = Release|Any CPU + {53AF87DA-37F8-4504-B623-B2113F4438CA}.Release|Any CPU.Build.0 = Release|Any CPU + {67C68B34-118A-439C-88E1-D6D1ED78DC59}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {67C68B34-118A-439C-88E1-D6D1ED78DC59}.Debug|Any CPU.Build.0 = Debug|Any CPU + {67C68B34-118A-439C-88E1-D6D1ED78DC59}.Release|Any CPU.ActiveCfg = Release|Any CPU + {67C68B34-118A-439C-88E1-D6D1ED78DC59}.Release|Any CPU.Build.0 = Release|Any CPU + {17E4F2F0-FC27-416E-9CB6-9F2CAAC49C9D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {17E4F2F0-FC27-416E-9CB6-9F2CAAC49C9D}.Debug|Any CPU.Build.0 = Debug|Any CPU + {17E4F2F0-FC27-416E-9CB6-9F2CAAC49C9D}.Release|Any CPU.ActiveCfg = Release|Any CPU + {17E4F2F0-FC27-416E-9CB6-9F2CAAC49C9D}.Release|Any CPU.Build.0 = Release|Any CPU + {7BAA69B2-EDC7-4603-B16F-BC7B24353F81}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {7BAA69B2-EDC7-4603-B16F-BC7B24353F81}.Debug|Any CPU.Build.0 = Debug|Any CPU + {7BAA69B2-EDC7-4603-B16F-BC7B24353F81}.Release|Any CPU.ActiveCfg = Release|Any CPU + {7BAA69B2-EDC7-4603-B16F-BC7B24353F81}.Release|Any CPU.Build.0 = Release|Any CPU + {DEB16B90-CCD4-497E-A2E9-4CC66FD7EF47}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {DEB16B90-CCD4-497E-A2E9-4CC66FD7EF47}.Debug|Any CPU.Build.0 = Debug|Any CPU + {DEB16B90-CCD4-497E-A2E9-4CC66FD7EF47}.Release|Any CPU.ActiveCfg = Release|Any CPU + {DEB16B90-CCD4-497E-A2E9-4CC66FD7EF47}.Release|Any CPU.Build.0 = Release|Any CPU + {3CAA7306-088E-4373-A406-99755CC2B605}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {3CAA7306-088E-4373-A406-99755CC2B605}.Debug|Any CPU.Build.0 = Debug|Any CPU + {3CAA7306-088E-4373-A406-99755CC2B605}.Release|Any CPU.ActiveCfg = Release|Any CPU + {3CAA7306-088E-4373-A406-99755CC2B605}.Release|Any CPU.Build.0 = Release|Any CPU + {023E1E6A-4895-4573-89AE-3D5D8E0B39C8}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {023E1E6A-4895-4573-89AE-3D5D8E0B39C8}.Debug|Any CPU.Build.0 = Debug|Any CPU + {023E1E6A-4895-4573-89AE-3D5D8E0B39C8}.Release|Any CPU.ActiveCfg = Release|Any CPU + {023E1E6A-4895-4573-89AE-3D5D8E0B39C8}.Release|Any CPU.Build.0 = Release|Any CPU + EndGlobalSection + GlobalSection(NestedProjects) = preSolution + {FFE40BBF-843B-41FA-8504-F4ABD166762E} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD} + {38933A87-4568-40A5-A3DA-E2445E8C2B99} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD} + {C19E4BFA-63A0-4815-9815-869A9DC52DBC} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD} + {88754FE2-A05A-4D4D-A81A-90418AD32362} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73} + {554CB5BD-D58A-4856-BFE1-666A62C9BEA3} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73} + {FA7EF26A-BA47-43FD-86F8-0A33CFDF643F} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD} + {F9C5B52E-C01D-4514-94E9-B1A6895352E2} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73} + {53AF87DA-37F8-4504-B623-B2113F4438CA} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD} + {67C68B34-118A-439C-88E1-D6D1ED78DC59} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73} + {17E4F2F0-FC27-416E-9CB6-9F2CAAC49C9D} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD} + 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zYEdl8)l}VeCBhPx$ixYIrn}_ygq&Iwi*hwpcU_6Fge5X@!k+0aIXxk#7R91mP1Rjj zA}nEvOq{T1x=T(^$f-rKC|6T;*OdrMSRxZA?3wP8(-U%PQ7p>URNZwY!V;Fq#0h(* zyX5qQoLUr%ay3L2EMbXEoUmuQOHNP7sYS6U zS5tM@l?Y2%A`>U?NHMQO469EK% HE`k37uM5J6 literal 0 HcmV?d00001 diff --git a/src/DotRecast.Core/ArrayUtils.cs b/src/DotRecast.Core/ArrayUtils.cs new file mode 100644 index 0000000..ac9d224 --- /dev/null +++ b/src/DotRecast.Core/ArrayUtils.cs @@ -0,0 +1,41 @@ +using System; + +namespace DotRecast.Core; + +public static class ArrayUtils +{ + public static T[] CopyOf(T[] source, int startIdx, int length) + { + var deatArr = new T[length]; + for (int i = 0; i < length; ++i) + { + deatArr[i] = source[startIdx + i]; + } + + return deatArr; + } + + public static T[] CopyOf(T[] source, int length) + { + var deatArr = new T[length]; + var count = Math.Max(0, Math.Min(source.Length, length)); + for (int i = 0; i < count; ++i) + { + deatArr[i] = source[i]; + } + + return deatArr; + } + + public static T[][] Of(int len1, int len2) + { + var temp = new T[len1][]; + + for (int i = 0; i < len1; ++i) + { + temp[i] = new T[len2]; + } + + return temp; + } +} \ No newline at end of file diff --git a/src/DotRecast.Core/AtomicBoolean.cs b/src/DotRecast.Core/AtomicBoolean.cs new file mode 100644 index 0000000..19724e5 --- /dev/null +++ b/src/DotRecast.Core/AtomicBoolean.cs @@ -0,0 +1,18 @@ +using System.Threading; + +namespace DotRecast.Core; + +public class AtomicBoolean +{ + private volatile int _location; + + public bool set(bool v) + { + return 0 != Interlocked.Exchange(ref _location, v ? 1 : 0); + } + + public bool get() + { + return 0 != _location; + } +} \ No newline at end of file diff --git a/src/DotRecast.Core/AtomicFloat.cs b/src/DotRecast.Core/AtomicFloat.cs new file mode 100644 index 0000000..101a1bb --- /dev/null +++ b/src/DotRecast.Core/AtomicFloat.cs @@ -0,0 +1,28 @@ +using System.Threading; + +namespace DotRecast.Core; + +public class AtomicFloat +{ + private volatile float _location; + + public AtomicFloat(float location) + { + _location = location; + } + + public float Get() + { + return _location; + } + + public float Exchange(float exchange) + { + return Interlocked.Exchange(ref _location, exchange); + } + + public float CompareExchange(float value, float comparand) + { + return Interlocked.CompareExchange(ref _location, value, comparand); + } +} \ No newline at end of file diff --git a/src/DotRecast.Core/AtomicInteger.cs b/src/DotRecast.Core/AtomicInteger.cs new file mode 100644 index 0000000..0f09510 --- /dev/null +++ b/src/DotRecast.Core/AtomicInteger.cs @@ -0,0 +1,66 @@ +using System.Threading; + +namespace DotRecast.Core; + +public class AtomicInteger +{ + private volatile int _location; + + public AtomicInteger() : this(0) + { + + } + + public AtomicInteger(int location) + { + _location = location; + } + + public int IncrementAndGet() + { + return Interlocked.Increment(ref _location); + } + + public int GetAndIncrement() + { + var next = Interlocked.Increment(ref _location); + return next - 1; + } + + + public int DecrementAndGet() + { + return Interlocked.Decrement(ref _location); + } + + public int Read() + { + return _location; + } + + public int GetSoft() + { + return _location; + } + + public int Exchange(int exchange) + { + return Interlocked.Exchange(ref _location, exchange); + } + + public int Decrease(int value) + { + return Interlocked.Add(ref _location, -value); + } + + public int CompareExchange(int value, int comparand) + { + return Interlocked.CompareExchange(ref _location, value, comparand); + } + + public int Add(int value) + { + return Interlocked.Add(ref _location, value); + } + +} \ No newline at end of file diff --git a/src/DotRecast.Core/AtomicLong.cs b/src/DotRecast.Core/AtomicLong.cs new file mode 100644 index 0000000..b3103e1 --- /dev/null +++ b/src/DotRecast.Core/AtomicLong.cs @@ -0,0 +1,52 @@ +using System.Threading; + +namespace DotRecast.Core; + +public class AtomicLong +{ + private long _location; + + public AtomicLong() : this(0) + { + } + + public AtomicLong(long location) + { + _location = location; + } + + public long IncrementAndGet() + { + return Interlocked.Increment(ref _location); + } + + public long DecrementAndGet() + { + return Interlocked.Decrement(ref _location); + } + + public long Read() + { + return Interlocked.Read(ref _location); + } + + public long Exchange(long exchange) + { + return Interlocked.Exchange(ref _location, exchange); + } + + public long Decrease(long value) + { + return Interlocked.Add(ref _location, -value); + } + + public long CompareExchange(long value, long comparand) + { + return Interlocked.CompareExchange(ref _location, value, comparand); + } + + public long AddAndGet(long value) + { + return Interlocked.Add(ref _location, value); + } +} \ No newline at end of file diff --git a/src/DotRecast.Core/ByteBuffer.cs b/src/DotRecast.Core/ByteBuffer.cs new file mode 100644 index 0000000..96dc709 --- /dev/null +++ b/src/DotRecast.Core/ByteBuffer.cs @@ -0,0 +1,128 @@ +using System; +using System.Buffers.Binary; + +namespace DotRecast.Core; + +public class ByteBuffer +{ + private ByteOrder _order; + private byte[] _bytes; + private int _position; + + public ByteBuffer(byte[] bytes) + { + _order = BitConverter.IsLittleEndian + ? ByteOrder.LITTLE_ENDIAN + : ByteOrder.BIG_ENDIAN; + + _bytes = bytes; + _position = 0; + } + + public ByteOrder order() + { + return _order; + } + + public void order(ByteOrder order) + { + _order = order; + } + + public int limit() { + return _bytes.Length - _position; + } + + public int remaining() { + int rem = limit(); + return rem > 0 ? rem : 0; + } + + + public void position(int pos) + { + _position = pos; + } + + public int position() + { + return _position; + } + + public Span ReadBytes(int length) + { + var nextPos = _position + length; + (nextPos, _position) = (_position, nextPos); + + return _bytes.AsSpan(nextPos, length); + } + + public byte get() + { + var span = ReadBytes(1); + return span[0]; + } + + public short getShort() + { + var span = ReadBytes(2); + if (_order == ByteOrder.BIG_ENDIAN) + { + return BinaryPrimitives.ReadInt16BigEndian(span); + } + else + { + return BinaryPrimitives.ReadInt16LittleEndian(span); + } + } + + + public int getInt() + { + var span = ReadBytes(4); + if (_order == ByteOrder.BIG_ENDIAN) + { + return BinaryPrimitives.ReadInt32BigEndian(span); + } + else + { + return BinaryPrimitives.ReadInt32LittleEndian(span); + } + } + + public float getFloat() + { + var span = ReadBytes(4); + if (_order == ByteOrder.BIG_ENDIAN) + { + return BinaryPrimitives.ReadSingleBigEndian(span); + } + else + { + return BinaryPrimitives.ReadSingleLittleEndian(span); + } + } + + public long getLong() + { + var span = ReadBytes(8); + if (_order == ByteOrder.BIG_ENDIAN) + { + return BinaryPrimitives.ReadInt64BigEndian(span); + } + else + { + return BinaryPrimitives.ReadInt64LittleEndian(span); + } + } + + public void putFloat(float v) + { + // ? + } + + public void putInt(int v) + { + // ? + } +} \ No newline at end of file diff --git a/src/DotRecast.Core/ByteOrder.cs b/src/DotRecast.Core/ByteOrder.cs new file mode 100644 index 0000000..4526da6 --- /dev/null +++ b/src/DotRecast.Core/ByteOrder.cs @@ -0,0 +1,8 @@ +namespace DotRecast.Core; + +public enum ByteOrder +{ + ///

Default on most Windows systems + LITTLE_ENDIAN, + BIG_ENDIAN, +} \ No newline at end of file diff --git a/src/DotRecast.Core/CollectionExtensions.cs b/src/DotRecast.Core/CollectionExtensions.cs new file mode 100644 index 0000000..904c4e9 --- /dev/null +++ b/src/DotRecast.Core/CollectionExtensions.cs @@ -0,0 +1,29 @@ +using System; +using System.Collections.Generic; + +namespace DotRecast.Core; + +public static class CollectionExtensions +{ + public static void forEach(this IEnumerable collection, Action action) + { + foreach (var item in collection) + { + action.Invoke(item); + } + } + + public static void Shuffle(this IList list) + { + Random random = new Random(); + int n = list.Count; + while (n > 1) + { + n--; + int k = random.Next(n + 1); + T value = list[k]; + list[k] = list[n]; + list[n] = value; + } + } +} \ No newline at end of file diff --git a/src/DotRecast.Core/ConvexUtils.cs b/src/DotRecast.Core/ConvexUtils.cs new file mode 100644 index 0000000..7b9f5c3 --- /dev/null +++ b/src/DotRecast.Core/ConvexUtils.cs @@ -0,0 +1,85 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Core; + +public static class ConvexUtils { + + // Calculates convex hull on xz-plane of points on 'pts', + // stores the indices of the resulting hull in 'out' and + // returns number of points on hull. + public static List convexhull(List pts) { + int npts = pts.Count / 3; + List @out = new(); + // Find lower-leftmost point. + int hull = 0; + for (int i = 1; i < npts; ++i) { + float[] a = new float[] { pts[i * 3], pts[i * 3 + 1], pts[i * 3 + 2] }; + float[] b = new float[] { pts[hull * 3], pts[hull * 3 + 1], pts[hull * 3 + 2] }; + if (cmppt(a, b)) { + hull = i; + } + } + // Gift wrap hull. + int endpt = 0; + do { + @out.Add(hull); + endpt = 0; + for (int j = 1; j < npts; ++j) { + float[] a = new float[] { pts[hull * 3], pts[hull * 3 + 1], pts[hull * 3 + 2] }; + float[] b = new float[] { pts[endpt * 3], pts[endpt * 3 + 1], pts[endpt * 3 + 2] }; + float[] c = new float[] { pts[j * 3], pts[j * 3 + 1], pts[j * 3 + 2] }; + if (hull == endpt || left(a, b, c)) { + endpt = j; + } + } + hull = endpt; + } while (endpt != @out[0]); + + return @out; + } + + // Returns true if 'a' is more lower-left than 'b'. + private static bool cmppt(float[] a, float[] b) { + if (a[0] < b[0]) { + return true; + } + if (a[0] > b[0]) { + return false; + } + if (a[2] < b[2]) { + return true; + } + if (a[2] > b[2]) { + return false; + } + return false; + } + + // Returns true if 'c' is left of line 'a'-'b'. + private static bool left(float[] a, float[] b, float[] c) { + float u1 = b[0] - a[0]; + float v1 = b[2] - a[2]; + float u2 = c[0] - a[0]; + float v2 = c[2] - a[2]; + return u1 * v2 - v1 * u2 < 0; + } + +} diff --git a/src/DotRecast.Core/DemoMath.cs b/src/DotRecast.Core/DemoMath.cs new file mode 100644 index 0000000..5967903 --- /dev/null +++ b/src/DotRecast.Core/DemoMath.cs @@ -0,0 +1,78 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Core; + +public class DemoMath { + public static float vDistSqr(float[] v1, float[] v2, int i) { + float dx = v2[i] - v1[0]; + float dy = v2[i + 1] - v1[1]; + float dz = v2[i + 2] - v1[2]; + return dx * dx + dy * dy + dz * dz; + } + + public static float[] vCross(float[] v1, float[] v2) { + float[] dest = new float[3]; + dest[0] = v1[1] * v2[2] - v1[2] * v2[1]; + dest[1] = v1[2] * v2[0] - v1[0] * v2[2]; + dest[2] = v1[0] * v2[1] - v1[1] * v2[0]; + return dest; + } + + public static float vDot(float[] v1, float[] v2) { + return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2]; + } + + public static float sqr(float f) { + return f * f; + } + + public static float getPathLen(float[] path, int npath) { + float totd = 0; + for (int i = 0; i < npath - 1; ++i) { + totd += (float)Math.Sqrt(vDistSqr(path, i * 3, (i + 1) * 3)); + } + return totd; + } + + public static float vDistSqr(float[] v, int i, int j) { + float dx = v[i] - v[j]; + float dy = v[i + 1] - v[j + 1]; + float dz = v[i + 2] - v[j + 2]; + return dx * dx + dy * dy + dz * dz; + } + + public static float step(float threshold, float v) { + return v < threshold ? 0.0f : 1.0f; + } + + public static int clamp(int v, int min, int max) { + return Math.Max(Math.Min(v, max), min); + } + + public static float clamp(float v, float min, float max) { + return Math.Max(Math.Min(v, max), min); + } + + public static float lerp(float f, float g, float u) { + return u * g + (1f - u) * f; + } +} diff --git a/src/DotRecast.Core/DotRecast.Core.csproj b/src/DotRecast.Core/DotRecast.Core.csproj new file mode 100644 index 0000000..57bdec1 --- /dev/null +++ b/src/DotRecast.Core/DotRecast.Core.csproj @@ -0,0 +1,9 @@ + + + + net7.0 + + + + + diff --git a/src/DotRecast.Core/Loader.cs b/src/DotRecast.Core/Loader.cs new file mode 100644 index 0000000..2d40ccd --- /dev/null +++ b/src/DotRecast.Core/Loader.cs @@ -0,0 +1,32 @@ +using System.IO; + +namespace DotRecast.Core; + +public static class Loader +{ + public static byte[] ToBytes(string filename) + { + var filepath = ToRPath(filename); + using var fs = new FileStream(filepath, FileMode.Open); + byte[] buffer = new byte[fs.Length]; + fs.Read(buffer, 0, buffer.Length); + + return buffer; + } + + public static string ToRPath(string filename) + { + string filePath = Path.Combine("resources", filename); + for (int i = 0; i < 10; ++i) + { + if (File.Exists(filePath)) + { + return Path.GetFullPath(filePath); + } + + filePath = Path.Combine("..", filePath); + } + + return filename; + } +} \ No newline at end of file diff --git a/src/DotRecast.Core/NodeQueue.cs b/src/DotRecast.Core/NodeQueue.cs new file mode 100644 index 0000000..526e058 --- /dev/null +++ b/src/DotRecast.Core/NodeQueue.cs @@ -0,0 +1,72 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Core; + +using System.Collections.Generic; + +public class OrderedQueue +{ + + private readonly List _items; + private readonly Comparison _comparison; + + public OrderedQueue(Comparison comparison) + { + _items = new(); + _comparison = comparison; + } + + public int count() + { + return _items.Count; + } + + public void clear() { + _items.Clear(); + } + + public T top() + { + return _items[0]; + } + + public T Dequeue() + { + var node = top(); + _items.Remove(node); + return node; + } + + public void Enqueue(T item) { + _items.Add(item); + _items.Sort(_comparison); + } + + public void Remove(T item) { + _items.Remove(item); + } + + public bool isEmpty() + { + return 0 == _items.Count; + } +} diff --git a/src/DotRecast.Detour.Crowd/Crowd.cs b/src/DotRecast.Detour.Crowd/Crowd.cs new file mode 100644 index 0000000..912eb20 --- /dev/null +++ b/src/DotRecast.Detour.Crowd/Crowd.cs @@ -0,0 +1,1171 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Concurrent; +using System.Collections.Generic; +using System.Collections.ObjectModel; +using DotRecast.Core; +using DotRecast.Detour.Crowd.Tracking; + +namespace DotRecast.Detour.Crowd; + +using static DetourCommon; + +/** + * Members in this module implement local steering and dynamic avoidance features. + * + * The crowd is the big beast of the navigation features. It not only handles a lot of the path management for you, but + * also local steering and dynamic avoidance between members of the crowd. I.e. It can keep your agents from running + * into each other. + * + * Main class: Crowd + * + * The #dtNavMeshQuery and #dtPathCorridor classes provide perfectly good, easy to use path planning features. But in + * the end they only give you points that your navigation client should be moving toward. When it comes to deciding + * things like agent velocity and steering to avoid other agents, that is up to you to implement. Unless, of course, you + * decide to use Crowd. + * + * Basically, you add an agent to the crowd, providing various configuration settings such as maximum speed and + * acceleration. You also provide a local target to move toward. The crowd manager then provides, with every update, the + * new agent position and velocity for the frame. The movement will be constrained to the navigation mesh, and steering + * will be applied to ensure agents managed by the crowd do not collide with each other. + * + * This is very powerful feature set. But it comes with limitations. + * + * The biggest limitation is that you must give control of the agent's position completely over to the crowd manager. + * You can update things like maximum speed and acceleration. But in order for the crowd manager to do its thing, it + * can't allow you to constantly be giving it overrides to position and velocity. So you give up direct control of the + * agent's movement. It belongs to the crowd. + * + * The second biggest limitation revolves around the fact that the crowd manager deals with local planning. So the + * agent's target should never be more than 256 polygons away from its current position. If it is, you risk your agent + * failing to reach its target. So you may still need to do long distance planning and provide the crowd manager with + * intermediate targets. + * + * Other significant limitations: + * + * - All agents using the crowd manager will use the same #dtQueryFilter. - Crowd management is relatively expensive. + * The maximum agents under crowd management at any one time is between 20 and 30. A good place to start is a maximum of + * 25 agents for 0.5ms per frame. + * + * @note This is a summary list of members. Use the index or search feature to find minor members. + * + * @struct dtCrowdAgentParams + * @see CrowdAgent, Crowd::addAgent(), Crowd::updateAgentParameters() + * + * @var dtCrowdAgentParams::obstacleAvoidanceType + * @par + * + * #dtCrowd permits agents to use different avoidance configurations. This value is the index of the + * #dtObstacleAvoidanceParams within the crowd. + * + * @see dtObstacleAvoidanceParams, dtCrowd::setObstacleAvoidanceParams(), dtCrowd::getObstacleAvoidanceParams() + * + * @var dtCrowdAgentParams::collisionQueryRange + * @par + * + * Collision elements include other agents and navigation mesh boundaries. + * + * This value is often based on the agent radius and/or maximum speed. E.g. radius * 8 + * + * @var dtCrowdAgentParams::pathOptimizationRange + * @par + * + * Only applicalbe if #updateFlags includes the #DT_CROWD_OPTIMIZE_VIS flag. + * + * This value is often based on the agent radius. E.g. radius * 30 + * + * @see dtPathCorridor::optimizePathVisibility() + * + * @var dtCrowdAgentParams::separationWeight + * @par + * + * A higher value will result in agents trying to stay farther away from each other at the cost of more difficult + * steering in tight spaces. + * + */ +/** + * This is the core class of the refs crowd module. See the refs crowd documentation for a summary of the crowd + * features. A common method for setting up the crowd is as follows: -# Allocate the crowd -# Set the avoidance + * configurations using #setObstacleAvoidanceParams(). -# Add agents using #addAgent() and make an initial movement + * request using #requestMoveTarget(). A common process for managing the crowd is as follows: -# Call #update() to allow + * the crowd to manage its agents. -# Retrieve agent information using #getActiveAgents(). -# Make movement requests + * using #requestMoveTarget() when movement goal changes. -# Repeat every frame. Some agent configuration settings can + * be updated using #updateAgentParameters(). But the crowd owns the agent position. So it is not possible to update an + * active agent's position. If agent position must be fed back into the crowd, the agent must be removed and re-added. + * Notes: - Path related information is available for newly added agents only after an #update() has been performed. - + * Agent objects are kept in a pool and re-used. So it is important when using agent objects to check the value of + * #dtCrowdAgent::active to determine if the agent is actually in use or not. - This class is meant to provide 'local' + * movement. There is a limit of 256 polygons in the path corridor. So it is not meant to provide automatic pathfinding + * services over long distances. + * + * @see dtAllocCrowd(), dtFreeCrowd(), init(), dtCrowdAgent + */ +public class Crowd { + + /// The maximum number of corners a crowd agent will look ahead in the path. + /// This value is used for sizing the crowd agent corner buffers. + /// Due to the behavior of the crowd manager, the actual number of useful + /// corners will be one less than this number. + /// @ingroup crowd + public const int DT_CROWDAGENT_MAX_CORNERS = 4; + + /// The maximum number of crowd avoidance configurations supported by the + /// crowd manager. + /// @ingroup crowd + /// @see dtObstacleAvoidanceParams, dtCrowd::setObstacleAvoidanceParams(), dtCrowd::getObstacleAvoidanceParams(), + /// dtCrowdAgentParams::obstacleAvoidanceType + public const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8; + + /// The maximum number of query filter types supported by the crowd manager. + /// @ingroup crowd + /// @see dtQueryFilter, dtCrowd::getFilter() dtCrowd::getEditableFilter(), + /// dtCrowdAgentParams::queryFilterType + public const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16; + + private readonly AtomicInteger agentId = new AtomicInteger(); + private readonly HashSet m_agents; + private readonly PathQueue m_pathq; + private readonly ObstacleAvoidanceQuery.ObstacleAvoidanceParams[] m_obstacleQueryParams = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]; + private readonly ObstacleAvoidanceQuery m_obstacleQuery; + private ProximityGrid m_grid; + private readonly float[] m_ext = new float[3]; + private readonly QueryFilter[] m_filters = new QueryFilter[DT_CROWD_MAX_QUERY_FILTER_TYPE]; + private NavMeshQuery navQuery; + private NavMesh navMesh; + private readonly CrowdConfig _config; + private readonly CrowdTelemetry _telemetry = new CrowdTelemetry(); + int m_velocitySampleCount; + + public Crowd(CrowdConfig config, NavMesh nav) : + this(config, nav, i => new DefaultQueryFilter()) + { + } + + public Crowd(CrowdConfig config, NavMesh nav, Func queryFilterFactory) { + + _config = config; + vSet(m_ext, config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f); + + m_obstacleQuery = new ObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments); + + for (int i = 0; i < DT_CROWD_MAX_QUERY_FILTER_TYPE; i++) { + m_filters[i] = queryFilterFactory.Invoke(i); + } + // Init obstacle query option. + for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i) { + m_obstacleQueryParams[i] = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(); + } + + // Allocate temp buffer for merging paths. + m_pathq = new PathQueue(config); + m_agents = new(); + + // The navQuery is mostly used for local searches, no need for large node pool. + navMesh = nav; + navQuery = new NavMeshQuery(nav); + } + + public void setNavMesh(NavMesh nav) { + navMesh = nav; + navQuery = new NavMeshQuery(nav); + } + + /// Sets the shared avoidance configuration for the specified index. + /// @param[in] idx The index. [Limits: 0 <= value < + /// #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS] + /// @param[in] option The new configuration. + public void setObstacleAvoidanceParams(int idx, ObstacleAvoidanceQuery.ObstacleAvoidanceParams option) { + if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS) { + m_obstacleQueryParams[idx] = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(option); + } + } + + /// Gets the shared avoidance configuration for the specified index. + /// @param[in] idx The index of the configuration to retreive. + /// [Limits: 0 <= value < #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS] + /// @return The requested configuration. + public ObstacleAvoidanceQuery.ObstacleAvoidanceParams getObstacleAvoidanceParams(int idx) { + if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS) { + return m_obstacleQueryParams[idx]; + } + return null; + } + + /// Updates the specified agent's configuration. + /// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()] + /// @param[in] params The new agent configuration. + public void updateAgentParameters(CrowdAgent agent, CrowdAgentParams option) { + agent.option = option; + } + + /** + * Adds a new agent to the crowd. + * + * @param pos + * The requested position of the agent. [(x, y, z)] + * @param params + * The configutation of the agent. + * @return The newly created agent object + */ + public CrowdAgent addAgent(float[] pos, CrowdAgentParams option) { + CrowdAgent ag = new CrowdAgent(agentId.GetAndIncrement()); + m_agents.Add(ag); + updateAgentParameters(ag, option); + + // Find nearest position on navmesh and place the agent there. + Result nearestPoly = navQuery.findNearestPoly(pos, m_ext, m_filters[ag.option.queryFilterType]); + + float[] nearest = nearestPoly.succeeded() ? nearestPoly.result.getNearestPos() : pos; + long refs = nearestPoly.succeeded() ? nearestPoly.result.getNearestRef() : 0L; + ag.corridor.reset(refs, nearest); + ag.boundary.reset(); + ag.partial = false; + + ag.topologyOptTime = 0; + ag.targetReplanTime = 0; + + vSet(ag.dvel, 0, 0, 0); + vSet(ag.nvel, 0, 0, 0); + vSet(ag.vel, 0, 0, 0); + vCopy(ag.npos, nearest); + + ag.desiredSpeed = 0; + + if (refs != 0) { + ag.state = CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING; + } else { + ag.state = CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_INVALID; + } + + ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE; + + return ag; + } + + /** + * Removes the agent from the crowd. + * + * @param agent + * Agent to be removed + */ + public void removeAgent(CrowdAgent agent) { + m_agents.Remove(agent); + } + + private bool requestMoveTargetReplan(CrowdAgent ag, long refs, float[] pos) { + ag.setTarget(refs, pos); + ag.targetReplan = true; + return true; + } + + /// Submits a new move request for the specified agent. + /// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()] + /// @param[in] ref The position's polygon reference. + /// @param[in] pos The position within the polygon. [(x, y, z)] + /// @return True if the request was successfully submitted. + /// + /// This method is used when a new target is set. + /// + /// The position will be constrained to the surface of the navigation mesh. + /// + /// The request will be processed during the next #update(). + public bool requestMoveTarget(CrowdAgent agent, long refs, float[] pos) { + if (refs == 0) { + return false; + } + + // Initialize request. + agent.setTarget(refs, pos); + agent.targetReplan = false; + return true; + } + + /// Submits a new move request for the specified agent. + /// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()] + /// @param[in] vel The movement velocity. [(x, y, z)] + /// @return True if the request was successfully submitted. + public bool requestMoveVelocity(CrowdAgent agent, float[] vel) { + // Initialize request. + agent.targetRef = 0; + vCopy(agent.targetPos, vel); + agent.targetPathQueryResult = null; + agent.targetReplan = false; + agent.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY; + + return true; + } + + /// Resets any request for the specified agent. + /// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()] + /// @return True if the request was successfully reseted. + public bool resetMoveTarget(CrowdAgent agent) { + // Initialize request. + agent.targetRef = 0; + vSet(agent.targetPos, 0, 0, 0); + vSet(agent.dvel, 0, 0, 0); + agent.targetPathQueryResult = null; + agent.targetReplan = false; + agent.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE; + return true; + } + + /** + * Gets the active agents int the agent pool. + * + * @return List of active agents + */ + public List getActiveAgents() { + return new(m_agents); + } + + public float[] getQueryExtents() { + return m_ext; + } + + public QueryFilter getFilter(int i) { + return i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE ? m_filters[i] : null; + } + + public ProximityGrid getGrid() { + return m_grid; + } + + public PathQueue getPathQueue() { + return m_pathq; + } + + public CrowdTelemetry telemetry() { + return _telemetry; + } + + public CrowdConfig config() { + return _config; + } + + public CrowdTelemetry update(float dt, CrowdAgentDebugInfo debug) { + m_velocitySampleCount = 0; + + _telemetry.start(); + + ICollection agents = getActiveAgents(); + + // Check that all agents still have valid paths. + checkPathValidity(agents, dt); + + // Update async move request and path finder. + updateMoveRequest(agents, dt); + + // Optimize path topology. + updateTopologyOptimization(agents, dt); + + // Register agents to proximity grid. + buildProximityGrid(agents); + + // Get nearby navmesh segments and agents to collide with. + buildNeighbours(agents); + + // Find next corner to steer to. + findCorners(agents, debug); + + // Trigger off-mesh connections (depends on corners). + triggerOffMeshConnections(agents); + + // Calculate steering. + calculateSteering(agents); + + // Velocity planning. + planVelocity(debug, agents); + + // Integrate. + integrate(dt, agents); + + // Handle collisions. + handleCollisions(agents); + + moveAgents(agents); + + // Update agents using off-mesh connection. + updateOffMeshConnections(agents, dt); + return _telemetry; + } + + + private void checkPathValidity(ICollection agents, float dt) { + _telemetry.start("checkPathValidity"); + + foreach (CrowdAgent ag in agents) { + + if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) { + continue; + } + + ag.targetReplanTime += dt; + + bool replan = false; + + // First check that the current location is valid. + float[] agentPos = new float[3]; + long agentRef = ag.corridor.getFirstPoly(); + vCopy(agentPos, ag.npos); + if (!navQuery.isValidPolyRef(agentRef, m_filters[ag.option.queryFilterType])) { + // Current location is not valid, try to reposition. + // TODO: this can snap agents, how to handle that? + Result nearestPoly = navQuery.findNearestPoly(ag.npos, m_ext, + m_filters[ag.option.queryFilterType]); + agentRef = nearestPoly.succeeded() ? nearestPoly.result.getNearestRef() : 0L; + if (nearestPoly.succeeded()) { + vCopy(agentPos, nearestPoly.result.getNearestPos()); + } + + if (agentRef == 0) { + // Could not find location in navmesh, set state to invalid. + ag.corridor.reset(0, agentPos); + ag.partial = false; + ag.boundary.reset(); + ag.state = CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_INVALID; + continue; + } + + // Make sure the first polygon is valid, but leave other valid + // polygons in the path so that replanner can adjust the path + // better. + ag.corridor.fixPathStart(agentRef, agentPos); + // ag.corridor.trimInvalidPath(agentRef, agentPos, m_navquery, + // &m_filter); + ag.boundary.reset(); + vCopy(ag.npos, agentPos); + + replan = true; + } + + // If the agent does not have move target or is controlled by + // velocity, no need to recover the target nor replan. + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE + || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) { + continue; + } + + // Try to recover move request position. + if (ag.targetState != CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE + && ag.targetState != CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) { + if (!navQuery.isValidPolyRef(ag.targetRef, m_filters[ag.option.queryFilterType])) { + // Current target is not valid, try to reposition. + Result fnp = navQuery.findNearestPoly(ag.targetPos, m_ext, + m_filters[ag.option.queryFilterType]); + ag.targetRef = fnp.succeeded() ? fnp.result.getNearestRef() : 0L; + if (fnp.succeeded()) { + vCopy(ag.targetPos, fnp.result.getNearestPos()); + } + replan = true; + } + if (ag.targetRef == 0) { + // Failed to reposition target, fail moverequest. + ag.corridor.reset(agentRef, agentPos); + ag.partial = false; + ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE; + } + } + + // If nearby corridor is not valid, replan. + if (!ag.corridor.isValid(_config.checkLookAhead, navQuery, m_filters[ag.option.queryFilterType])) { + // Fix current path. + // ag.corridor.trimInvalidPath(agentRef, agentPos, m_navquery, + // &m_filter); + // ag.boundary.reset(); + replan = true; + } + + // If the end of the path is near and it is not the requested + // location, replan. + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VALID) { + if (ag.targetReplanTime > _config.targetReplanDelay && ag.corridor.getPathCount() < _config.checkLookAhead + && ag.corridor.getLastPoly() != ag.targetRef) { + replan = true; + } + } + + // Try to replan path to goal. + if (replan) { + if (ag.targetState != CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE) { + requestMoveTargetReplan(ag, ag.targetRef, ag.targetPos); + } + } + } + _telemetry.stop("checkPathValidity"); + } + + private void updateMoveRequest(ICollection agents, float dt) { + _telemetry.start("updateMoveRequest"); + + OrderedQueue queue = new((a1, a2) => a2.targetReplanTime.CompareTo(a1.targetReplanTime)); + + // Fire off new requests. + foreach (CrowdAgent ag in agents) { + if (ag.state == CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_INVALID) { + continue; + } + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE + || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) { + continue; + } + + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING) { + List path = ag.corridor.getPath(); + if (0 == path.Count) { + throw new ArgumentException("Empty path"); + } + // Quick search towards the goal. + navQuery.initSlicedFindPath(path[0], ag.targetRef, ag.npos, ag.targetPos, + m_filters[ag.option.queryFilterType], 0); + navQuery.updateSlicedFindPath(_config.maxTargetFindPathIterations); + Result> pathFound; + if (ag.targetReplan) // && npath > 10) + { + // Try to use existing steady path during replan if + // possible. + pathFound = navQuery.finalizeSlicedFindPathPartial(path); + } else { + // Try to move towards target when goal changes. + pathFound = navQuery.finalizeSlicedFindPath(); + } + List reqPath = pathFound.result; + float[] reqPos = new float[3]; + if (pathFound.succeeded() && reqPath.Count > 0) { + // In progress or succeed. + if (reqPath[reqPath.Count - 1] != ag.targetRef) { + // Partial path, constrain target position inside the + // last polygon. + Result cr = navQuery.closestPointOnPoly(reqPath[reqPath.Count - 1], + ag.targetPos); + if (cr.succeeded()) { + reqPos = cr.result.getClosest(); + } else { + reqPath = new(); + } + } else { + vCopy(reqPos, ag.targetPos); + } + } else { + // Could not find path, start the request from current + // location. + vCopy(reqPos, ag.npos); + reqPath = new(); + reqPath.Add(path[0]); + } + + ag.corridor.setCorridor(reqPos, reqPath); + ag.boundary.reset(); + ag.partial = false; + + if (reqPath[reqPath.Count - 1] == ag.targetRef) { + ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VALID; + ag.targetReplanTime = 0; + } else { + // The path is longer or potentially unreachable, full plan. + ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE; + } + ag.targetReplanWaitTime = 0; + } + + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE) { + queue.Enqueue(ag); + } + } + + while (!queue.isEmpty()) { + CrowdAgent ag = queue.Dequeue(); + ag.targetPathQueryResult = m_pathq.request(ag.corridor.getLastPoly(), ag.targetRef, ag.corridor.getTarget(), + ag.targetPos, m_filters[ag.option.queryFilterType]); + if (ag.targetPathQueryResult != null) { + ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH; + } else { + _telemetry.recordMaxTimeToEnqueueRequest(ag.targetReplanWaitTime); + ag.targetReplanWaitTime += dt; + } + } + + // Update requests. + _telemetry.start("pathQueueUpdate"); + m_pathq.update(navMesh); + _telemetry.stop("pathQueueUpdate"); + + // Process path results. + foreach (CrowdAgent ag in agents) { + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE + || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) { + continue; + } + + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH) { + // _telemetry.recordPathWaitTime(ag.targetReplanTime); + // Poll path queue. + Status status = ag.targetPathQueryResult.status; + if (status != null && status.isFailed()) { + // Path find failed, retry if the target location is still + // valid. + ag.targetPathQueryResult = null; + if (ag.targetRef != 0) { + ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING; + } else { + ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED; + } + ag.targetReplanTime = 0; + } else if (status != null && status.isSuccess()) { + List path = ag.corridor.getPath(); + if (0 == path.Count) { + throw new ArgumentException("Empty path"); + } + + // Apply results. + float[] targetPos = ag.targetPos; + + bool valid = true; + List res = ag.targetPathQueryResult.path; + if (status.isFailed() || 0 == res.Count) { + valid = false; + } + + if (status.isPartial()) { + ag.partial = true; + } else { + ag.partial = false; + } + + // Merge result and existing path. + // The agent might have moved whilst the request is + // being processed, so the path may have changed. + // We assume that the end of the path is at the same + // location + // where the request was issued. + + // The last ref in the old path should be the same as + // the location where the request was issued.. + if (valid && path[path.Count - 1] != res[0]) { + valid = false; + } + + if (valid) { + // Put the old path infront of the old path. + if (path.Count > 1) { + path.RemoveAt(path.Count - 1); + path.AddRange(res); + res = path; + // Remove trackbacks + for (int j = 1; j < res.Count - 1; ++j) { + if (j - 1 >= 0 && j + 1 < res.Count) { + if (res[j - 1] == res[j + 1]) { + res.RemoveAt(j + 1); + res.RemoveAt(j); + j -= 2; + } + } + } + } + + // Check for partial path. + if (res[res.Count - 1] != ag.targetRef) { + // Partial path, constrain target position inside + // the last polygon. + Result cr = navQuery.closestPointOnPoly(res[res.Count - 1], targetPos); + if (cr.succeeded()) { + targetPos = cr.result.getClosest(); + } else { + valid = false; + } + } + } + + if (valid) { + // Set current corridor. + ag.corridor.setCorridor(targetPos, res); + // Force to update boundary. + ag.boundary.reset(); + ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VALID; + } else { + // Something went wrong. + ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED; + } + + ag.targetReplanTime = 0; + } + _telemetry.recordMaxTimeToFindPath(ag.targetReplanWaitTime); + ag.targetReplanWaitTime += dt; + } + } + _telemetry.stop("updateMoveRequest"); + } + + private void updateTopologyOptimization(ICollection agents, float dt) { + _telemetry.start("updateTopologyOptimization"); + + OrderedQueue queue = new((a1, a2) => a2.topologyOptTime.CompareTo(a1.topologyOptTime)); + + foreach (CrowdAgent ag in agents) { + if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) { + continue; + } + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE + || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) { + continue; + } + if ((ag.option.updateFlags & CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO) == 0) { + continue; + } + ag.topologyOptTime += dt; + if (ag.topologyOptTime >= _config.topologyOptimizationTimeThreshold) { + queue.Enqueue(ag); + } + } + + while (!queue.isEmpty()) { + CrowdAgent ag = queue.Dequeue(); + ag.corridor.optimizePathTopology(navQuery, m_filters[ag.option.queryFilterType], _config.maxTopologyOptimizationIterations); + ag.topologyOptTime = 0; + } + _telemetry.stop("updateTopologyOptimization"); + + } + + private void buildProximityGrid(ICollection agents) { + _telemetry.start("buildProximityGrid"); + m_grid = new ProximityGrid(_config.maxAgentRadius * 3); + foreach (CrowdAgent ag in agents) { + float[] p = ag.npos; + float r = ag.option.radius; + m_grid.addItem(ag, p[0] - r, p[2] - r, p[0] + r, p[2] + r); + } + _telemetry.stop("buildProximityGrid"); + } + + private void buildNeighbours(ICollection agents) { + _telemetry.start("buildNeighbours"); + foreach (CrowdAgent ag in agents) { + if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) { + continue; + } + + // Update the collision boundary after certain distance has been passed or + // if it has become invalid. + float updateThr = ag.option.collisionQueryRange * 0.25f; + if (vDist2DSqr(ag.npos, ag.boundary.getCenter()) > sqr(updateThr) + || !ag.boundary.isValid(navQuery, m_filters[ag.option.queryFilterType])) { + ag.boundary.update(ag.corridor.getFirstPoly(), ag.npos, ag.option.collisionQueryRange, navQuery, + m_filters[ag.option.queryFilterType]); + } + // Query neighbour agents + ag.neis = getNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, m_grid); + } + _telemetry.stop("buildNeighbours"); + } + + private List getNeighbours(float[] pos, float height, float range, CrowdAgent skip, ProximityGrid grid) { + + List result = new(); + HashSet proxAgents = grid.queryItems(pos[0] - range, pos[2] - range, pos[0] + range, pos[2] + range); + + foreach (CrowdAgent ag in proxAgents) { + + if (ag == skip) { + continue; + } + + // Check for overlap. + float[] diff = vSub(pos, ag.npos); + if (Math.Abs(diff[1]) >= (height + ag.option.height) / 2.0f) { + continue; + } + diff[1] = 0; + float distSqr = vLenSqr(diff); + if (distSqr > sqr(range)) { + continue; + } + + result.Add(new CrowdNeighbour(ag, distSqr)); + } + result.Sort((o1, o2) => o1.dist.CompareTo(o2.dist)); + return result; + + } + + private void findCorners(ICollection agents, CrowdAgentDebugInfo debug) { + _telemetry.start("findCorners"); + CrowdAgent debugAgent = debug != null ? debug.agent : null; + foreach (CrowdAgent ag in agents) { + + if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) { + continue; + } + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE + || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) { + continue; + } + + // Find corners for steering + ag.corners = ag.corridor.findCorners(DT_CROWDAGENT_MAX_CORNERS, navQuery, m_filters[ag.option.queryFilterType]); + + // Check to see if the corner after the next corner is directly visible, + // and short cut to there. + if ((ag.option.updateFlags & CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.corners.Count > 0) { + float[] target = ag.corners[Math.Min(1, ag.corners.Count - 1)].getPos(); + ag.corridor.optimizePathVisibility(target, ag.option.pathOptimizationRange, navQuery, + m_filters[ag.option.queryFilterType]); + + // Copy data for debug purposes. + if (debugAgent == ag) { + vCopy(debug.optStart, ag.corridor.getPos()); + vCopy(debug.optEnd, target); + } + } else { + // Copy data for debug purposes. + if (debugAgent == ag) { + vSet(debug.optStart, 0, 0, 0); + vSet(debug.optEnd, 0, 0, 0); + } + } + } + _telemetry.stop("findCorners"); + } + + private void triggerOffMeshConnections(ICollection agents) { + _telemetry.start("triggerOffMeshConnections"); + foreach (CrowdAgent ag in agents) { + + if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) { + continue; + } + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE + || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) { + continue; + } + + // Check + float triggerRadius = ag.option.radius * 2.25f; + if (ag.overOffmeshConnection(triggerRadius)) { + // Prepare to off-mesh connection. + CrowdAgentAnimation anim = ag.animation; + + // Adjust the path over the off-mesh connection. + long[] refs = new long[2]; + if (ag.corridor.moveOverOffmeshConnection(ag.corners[ag.corners.Count - 1].getRef(), refs, anim.startPos, + anim.endPos, navQuery)) { + vCopy(anim.initPos, ag.npos); + anim.polyRef = refs[1]; + anim.active = true; + anim.t = 0.0f; + anim.tmax = (vDist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f; + + ag.state = CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_OFFMESH; + ag.corners.Clear(); + ag.neis.Clear(); + continue; + } else { + // Path validity check will ensure that bad/blocked connections will be replanned. + } + } + } + _telemetry.stop("triggerOffMeshConnections"); + } + + private void calculateSteering(ICollection agents) { + _telemetry.start("calculateSteering"); + foreach (CrowdAgent ag in agents) { + + if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) { + continue; + } + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE) { + continue; + } + + float[] dvel = new float[3]; + + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) { + vCopy(dvel, ag.targetPos); + ag.desiredSpeed = vLen(ag.targetPos); + } else { + // Calculate steering direction. + if ((ag.option.updateFlags & CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS) != 0) { + dvel = ag.calcSmoothSteerDirection(); + } else { + dvel = ag.calcStraightSteerDirection(); + } + // Calculate speed scale, which tells the agent to slowdown at the end of the path. + float slowDownRadius = ag.option.radius * 2; // TODO: make less hacky. + float speedScale = ag.getDistanceToGoal(slowDownRadius) / slowDownRadius; + + ag.desiredSpeed = ag.option.maxSpeed; + dvel = vScale(dvel, ag.desiredSpeed * speedScale); + } + + // Separation + if ((ag.option.updateFlags & CrowdAgentParams.DT_CROWD_SEPARATION) != 0) { + float separationDist = ag.option.collisionQueryRange; + float invSeparationDist = 1.0f / separationDist; + float separationWeight = ag.option.separationWeight; + + float w = 0; + float[] disp = new float[3]; + + for (int j = 0; j < ag.neis.Count; ++j) { + CrowdAgent nei = ag.neis[j].agent; + + float[] diff = vSub(ag.npos, nei.npos); + diff[1] = 0; + + float distSqr = vLenSqr(diff); + if (distSqr < 0.00001f) { + continue; + } + if (distSqr > sqr(separationDist)) { + continue; + } + float dist = (float) Math.Sqrt(distSqr); + float weight = separationWeight * (1.0f - sqr(dist * invSeparationDist)); + + disp = vMad(disp, diff, weight / dist); + w += 1.0f; + } + + if (w > 0.0001f) { + // Adjust desired velocity. + dvel = vMad(dvel, disp, 1.0f / w); + // Clamp desired velocity to desired speed. + float speedSqr = vLenSqr(dvel); + float desiredSqr = sqr(ag.desiredSpeed); + if (speedSqr > desiredSqr) { + dvel = vScale(dvel, desiredSqr / speedSqr); + } + } + } + + // Set the desired velocity. + vCopy(ag.dvel, dvel); + } + _telemetry.stop("calculateSteering"); + } + + private void planVelocity(CrowdAgentDebugInfo debug, ICollection agents) { + _telemetry.start("planVelocity"); + CrowdAgent debugAgent = debug != null ? debug.agent : null; + foreach (CrowdAgent ag in agents) { + + if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) { + continue; + } + + if ((ag.option.updateFlags & CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE) != 0) { + m_obstacleQuery.reset(); + + // Add neighbours as obstacles. + for (int j = 0; j < ag.neis.Count; ++j) { + CrowdAgent nei = ag.neis[j].agent; + m_obstacleQuery.addCircle(nei.npos, nei.option.radius, nei.vel, nei.dvel); + } + + // Append neighbour segments as obstacles. + for (int j = 0; j < ag.boundary.getSegmentCount(); ++j) { + float[] s = ag.boundary.getSegment(j); + float[] s3 = new float[3]; + Array.Copy(s, 3, s3, 0, 3); + if (triArea2D(ag.npos, s, s3) < 0.0f) { + continue; + } + m_obstacleQuery.addSegment(s, s3); + } + + ObstacleAvoidanceDebugData vod = null; + if (debugAgent == ag) { + vod = debug.vod; + } + + // Sample new safe velocity. + bool adaptive = true; + int ns = 0; + + ObstacleAvoidanceQuery.ObstacleAvoidanceParams option = m_obstacleQueryParams[ag.option.obstacleAvoidanceType]; + + if (adaptive) { + Tuple nsnvel = m_obstacleQuery.sampleVelocityAdaptive(ag.npos, ag.option.radius, + ag.desiredSpeed, ag.vel, ag.dvel, option, vod); + ns = nsnvel.Item1; + ag.nvel = nsnvel.Item2; + } else { + Tuple nsnvel = m_obstacleQuery.sampleVelocityGrid(ag.npos, ag.option.radius, + ag.desiredSpeed, ag.vel, ag.dvel, option, vod); + ns = nsnvel.Item1; + ag.nvel = nsnvel.Item2; + } + m_velocitySampleCount += ns; + } else { + // If not using velocity planning, new velocity is directly the desired velocity. + vCopy(ag.nvel, ag.dvel); + } + } + _telemetry.stop("planVelocity"); + } + + private void integrate(float dt, ICollection agents) { + _telemetry.start("integrate"); + foreach (CrowdAgent ag in agents) { + if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) { + continue; + } + ag.integrate(dt); + } + _telemetry.stop("integrate"); + } + + private void handleCollisions(ICollection agents) { + _telemetry.start("handleCollisions"); + for (int iter = 0; iter < 4; ++iter) { + foreach (CrowdAgent ag in agents) { + long idx0 = ag.idx; + if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) { + continue; + } + + vSet(ag.disp, 0, 0, 0); + + float w = 0; + + for (int j = 0; j < ag.neis.Count; ++j) { + CrowdAgent nei = ag.neis[j].agent; + long idx1 = nei.idx; + float[] diff = vSub(ag.npos, nei.npos); + diff[1] = 0; + + float dist = vLenSqr(diff); + if (dist > sqr(ag.option.radius + nei.option.radius)) { + continue; + } + dist = (float) Math.Sqrt(dist); + float pen = (ag.option.radius + nei.option.radius) - dist; + if (dist < 0.0001f) { + // Agents on top of each other, try to choose diverging separation directions. + if (idx0 > idx1) { + vSet(diff, -ag.dvel[2], 0, ag.dvel[0]); + } else { + vSet(diff, ag.dvel[2], 0, -ag.dvel[0]); + } + pen = 0.01f; + } else { + pen = (1.0f / dist) * (pen * 0.5f) * _config.collisionResolveFactor; + } + + ag.disp = vMad(ag.disp, diff, pen); + + w += 1.0f; + } + + if (w > 0.0001f) { + float iw = 1.0f / w; + ag.disp = vScale(ag.disp, iw); + } + } + + foreach (CrowdAgent ag in agents) { + if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) { + continue; + } + + ag.npos = vAdd(ag.npos, ag.disp); + } + } + + _telemetry.stop("handleCollisions"); + } + + private void moveAgents(ICollection agents) { + _telemetry.start("moveAgents"); + foreach (CrowdAgent ag in agents) { + if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) { + continue; + } + + // Move along navmesh. + ag.corridor.movePosition(ag.npos, navQuery, m_filters[ag.option.queryFilterType]); + // Get valid constrained position back. + vCopy(ag.npos, ag.corridor.getPos()); + + // If not using path, truncate the corridor to just one poly. + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE + || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) { + ag.corridor.reset(ag.corridor.getFirstPoly(), ag.npos); + ag.partial = false; + } + + } + _telemetry.stop("moveAgents"); + } + + private void updateOffMeshConnections(ICollection agents, float dt) { + _telemetry.start("updateOffMeshConnections"); + foreach (CrowdAgent ag in agents) { + CrowdAgentAnimation anim = ag.animation; + if (!anim.active) { + continue; + } + + anim.t += dt; + if (anim.t > anim.tmax) { + // Reset animation + anim.active = false; + // Prepare agent for walking. + ag.state = CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING; + continue; + } + + // Update position + float ta = anim.tmax * 0.15f; + float tb = anim.tmax; + if (anim.t < ta) { + float u = tween(anim.t, 0.0f, ta); + ag.npos = vLerp(anim.initPos, anim.startPos, u); + } else { + float u = tween(anim.t, ta, tb); + ag.npos = vLerp(anim.startPos, anim.endPos, u); + } + + // Update velocity. + vSet(ag.vel, 0, 0, 0); + vSet(ag.dvel, 0, 0, 0); + } + _telemetry.stop("updateOffMeshConnections"); + } + + private float tween(float t, float t0, float t1) { + return clamp((t - t0) / (t1 - t0), 0.0f, 1.0f); + } + + /// Provides neighbor data for agents managed by the crowd. + /// @ingroup crowd + /// @see dtCrowdAgent::neis, dtCrowd + public class CrowdNeighbour { + public readonly CrowdAgent agent; /// < The index of the neighbor in the crowd. + public readonly float dist; /// < The distance between the current agent and the neighbor. + + public CrowdNeighbour(CrowdAgent agent, float dist) { + this.agent = agent; + this.dist = dist; + } + }; + +} diff --git a/src/DotRecast.Detour.Crowd/CrowdAgent.cs b/src/DotRecast.Detour.Crowd/CrowdAgent.cs new file mode 100644 index 0000000..f5edefa --- /dev/null +++ b/src/DotRecast.Detour.Crowd/CrowdAgent.cs @@ -0,0 +1,191 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; + +namespace DotRecast.Detour.Crowd; + +using static DetourCommon; + +/// Represents an agent managed by a #dtCrowd object. +/// @ingroup crowd +public class CrowdAgent { + + /// The type of navigation mesh polygon the agent is currently traversing. + /// @ingroup crowd + public enum CrowdAgentState { + DT_CROWDAGENT_STATE_INVALID, /// < The agent is not in a valid state. + DT_CROWDAGENT_STATE_WALKING, /// < The agent is traversing a normal navigation mesh polygon. + DT_CROWDAGENT_STATE_OFFMESH, /// < The agent is traversing an off-mesh connection. + }; + + public enum MoveRequestState { + DT_CROWDAGENT_TARGET_NONE, + DT_CROWDAGENT_TARGET_FAILED, + DT_CROWDAGENT_TARGET_VALID, + DT_CROWDAGENT_TARGET_REQUESTING, + DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE, + DT_CROWDAGENT_TARGET_WAITING_FOR_PATH, + DT_CROWDAGENT_TARGET_VELOCITY, + }; + + public readonly long idx; + /// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState) + public CrowdAgentState state; + /// True if the agent has valid path (targetState == DT_CROWDAGENT_TARGET_VALID) and the path does not lead to the + /// requested position, else false. + public bool partial; + /// The path corridor the agent is using. + public PathCorridor corridor; + /// The local boundary data for the agent. + public LocalBoundary boundary; + /// Time since the agent's path corridor was optimized. + public float topologyOptTime; + /// The known neighbors of the agent. + public List neis = new(); + /// The desired speed. + public float desiredSpeed; + + public float[] npos = new float[3]; /// < The current agent position. [(x, y, z)] + public float[] disp = new float[3]; /// < A temporary value used to accumulate agent displacement during iterative + /// collision resolution. [(x, y, z)] + public float[] dvel = new float[3]; /// < The desired velocity of the agent. Based on the current path, calculated + /// from + /// scratch each frame. [(x, y, z)] + public float[] nvel = new float[3]; /// < The desired velocity adjusted by obstacle avoidance, calculated from scratch each + /// frame. [(x, y, z)] + public float[] vel = new float[3]; /// < The actual velocity of the agent. The change from nvel -> vel is + /// constrained by max acceleration. [(x, y, z)] + + /// The agent's configuration parameters. + public CrowdAgentParams option; + /// The local path corridor corners for the agent. + public List corners = new(); + + public MoveRequestState targetState; /// < State of the movement request. + public long targetRef; /// < Target polyref of the movement request. + public float[] targetPos = new float[3]; /// < Target position of the movement request (or velocity in case of + /// DT_CROWDAGENT_TARGET_VELOCITY). + public PathQueryResult targetPathQueryResult; /// < Path finder query + public bool targetReplan; /// < Flag indicating that the current path is being replanned. + public float targetReplanTime; /// jfastlz + * library written by William Kinney. + */ +public class FastLz { + + private static readonly int MAX_DISTANCE = 8191; + private static readonly int MAX_FARDISTANCE = 65535 + MAX_DISTANCE - 1; + + private static readonly int HASH_LOG = 13; + private static readonly int HASH_SIZE = 1 << HASH_LOG; // 8192 + private static readonly int HASH_MASK = HASH_SIZE - 1; + + private static readonly int MAX_COPY = 32; + private static readonly int MAX_LEN = 256 + 8; + + private static readonly int MIN_RECOMENDED_LENGTH_FOR_LEVEL_2 = 1024 * 64; + + static readonly int MAGIC_NUMBER = 'F' << 16 | 'L' << 8 | 'Z'; + + static readonly byte BLOCK_TYPE_NON_COMPRESSED = 0x00; + static readonly byte BLOCK_TYPE_COMPRESSED = 0x01; + static readonly byte BLOCK_WITHOUT_CHECKSUM = 0x00; + static readonly byte BLOCK_WITH_CHECKSUM = 0x10; + + static readonly int OPTIONS_OFFSET = 3; + static readonly int CHECKSUM_OFFSET = 4; + + static readonly int MAX_CHUNK_LENGTH = 0xFFFF; + + /** + * Do not call {@link #compress(byte[], int, int, byte[], int, int)} for input buffers + * which length less than this value. + */ + static readonly int MIN_LENGTH_TO_COMPRESSION = 32; + + /** + * In this case {@link #compress(byte[], int, int, byte[], int, int)} will choose level + * automatically depending on the length of the input buffer. If length less than + * {@link #MIN_RECOMENDED_LENGTH_FOR_LEVEL_2} {@link #LEVEL_1} will be choosen, + * otherwise {@link #LEVEL_2}. + */ + static readonly int LEVEL_AUTO = 0; + + /** + * Level 1 is the fastest compression and generally useful for short data. + */ + static readonly int LEVEL_1 = 1; + + /** + * Level 2 is slightly slower but it gives better compression ratio. + */ + static readonly int LEVEL_2 = 2; + + /** + * The output buffer must be at least 6% larger than the input buffer and can not be smaller than 66 bytes. + * @param inputLength length of input buffer + * @return Maximum output buffer length + */ + public static int calculateOutputBufferLength(int inputLength) { + int tempOutputLength = (int) (inputLength * 1.06); + return Math.Max(tempOutputLength, 66); + } + + /** + * Compress a block of data in the input buffer and returns the size of compressed block. + * The size of input buffer is specified by length. The minimum input buffer size is 32. + * + * If the input is not compressible, the return value might be larger than length (input buffer size). + */ + public static int compress(byte[] input, int inOffset, int inLength, + byte[] output, int outOffset, int proposedLevel) { + int level; + if (proposedLevel == LEVEL_AUTO) { + level = inLength < MIN_RECOMENDED_LENGTH_FOR_LEVEL_2 ? LEVEL_1 : LEVEL_2; + } else { + level = proposedLevel; + } + + int ip = 0; + int ipBound = ip + inLength - 2; + int ipLimit = ip + inLength - 12; + + int op = 0; + + // const flzuint8* htab[HASH_SIZE]; + int[] htab = new int[HASH_SIZE]; + // const flzuint8** hslot; + int hslot; + // flzuint32 hval; + // int OK b/c address starting from 0 + int hval; + // flzuint32 copy; + // int OK b/c address starting from 0 + int copy; + + /* sanity check */ + if (inLength < 4) { + if (inLength != 0) { + // *op++ = length-1; + output[outOffset + op++] = (byte) (inLength - 1); + ipBound++; + while (ip <= ipBound) { + output[outOffset + op++] = input[inOffset + ip++]; + } + return inLength + 1; + } + // else + return 0; + } + + /* initializes hash table */ + // for (hslot = htab; hslot < htab + HASH_SIZE; hslot++) + for (hslot = 0; hslot < HASH_SIZE; hslot++) { + //*hslot = ip; + htab[hslot] = ip; + } + + /* we start with literal copy */ + copy = 2; + output[outOffset + op++] = (byte)(MAX_COPY - 1); + output[outOffset + op++] = input[inOffset + ip++]; + output[outOffset + op++] = input[inOffset + ip++]; + + /* main loop */ + while (ip < ipLimit) { + int refs = 0; + + long distance = 0; + + /* minimum match length */ + // flzuint32 len = 3; + // int OK b/c len is 0 and octal based + int len = 3; + + /* comparison starting-point */ + int anchor = ip; + + bool matchLabel = false; + + /* check for a run */ + if (level == LEVEL_2) { + //if(ip[0] == ip[-1] && FASTLZ_READU16(ip-1)==FASTLZ_READU16(ip+1)) + if (input[inOffset + ip] == input[inOffset + ip - 1] && + readU16(input, inOffset + ip - 1) == readU16(input, inOffset + ip + 1)) { + distance = 1; + ip += 3; + refs = anchor - 1 + 3; + + /* + * goto match; + */ + matchLabel = true; + } + } + if (!matchLabel) { + /* find potential match */ + // HASH_FUNCTION(hval,ip); + hval = hashFunction(input, inOffset + ip); + // hslot = htab + hval; + hslot = hval; + // refs = htab[hval]; + refs = htab[hval]; + + /* calculate distance to the match */ + distance = anchor - refs; + + /* update hash table */ + //*hslot = anchor; + htab[hslot] = anchor; + + /* is this a match? check the first 3 bytes */ + if (distance == 0 + || (level == LEVEL_1 ? distance >= MAX_DISTANCE : distance >= MAX_FARDISTANCE) + || input[inOffset + refs++] != input[inOffset + ip++] + || input[inOffset + refs++] != input[inOffset + ip++] + || input[inOffset + refs++] != input[inOffset + ip++]) { + /* + * goto literal; + */ + output[outOffset + op++] = input[inOffset + anchor++]; + ip = anchor; + copy++; + if (copy == MAX_COPY) { + copy = 0; + output[outOffset + op++] = (byte)(MAX_COPY - 1); + } + continue; + } + + if (level == LEVEL_2) { + /* far, needs at least 5-byte match */ + if (distance >= MAX_DISTANCE) { + if (input[inOffset + ip++] != input[inOffset + refs++] + || input[inOffset + ip++] != input[inOffset + refs++]) { + /* + * goto literal; + */ + output[outOffset + op++] = input[inOffset + anchor++]; + ip = anchor; + copy++; + if (copy == MAX_COPY) { + copy = 0; + output[outOffset + op++] = (byte)(MAX_COPY - 1); + } + continue; + } + len += 2; + } + } + } // end if(!matchLabel) + /* + * match: + */ + /* last matched byte */ + ip = anchor + len; + + /* distance is biased */ + distance--; + + if (distance == 0) { + /* zero distance means a run */ + //flzuint8 x = ip[-1]; + byte x = input[inOffset + ip - 1]; + while (ip < ipBound) { + if (input[inOffset + refs++] != x) { + break; + } else { + ip++; + } + } + } else { + for (;;) { + /* safe because the outer check against ip limit */ + if (input[inOffset + refs++] != input[inOffset + ip++]) { + break; + } + if (input[inOffset + refs++] != input[inOffset + ip++]) { + break; + } + if (input[inOffset + refs++] != input[inOffset + ip++]) { + break; + } + if (input[inOffset + refs++] != input[inOffset + ip++]) { + break; + } + if (input[inOffset + refs++] != input[inOffset + ip++]) { + break; + } + if (input[inOffset + refs++] != input[inOffset + ip++]) { + break; + } + if (input[inOffset + refs++] != input[inOffset + ip++]) { + break; + } + if (input[inOffset + refs++] != input[inOffset + ip++]) { + break; + } + while (ip < ipBound) { + if (input[inOffset + refs++] != input[inOffset + ip++]) { + break; + } + } + break; + } + } + + /* if we have copied something, adjust the copy count */ + if (copy != 0) { + /* copy is biased, '0' means 1 byte copy */ + // *(op-copy-1) = copy-1; + output[outOffset + op - copy - 1] = (byte) (copy - 1); + } else { + /* back, to overwrite the copy count */ + op--; + } + + /* reset literal counter */ + copy = 0; + + /* length is biased, '1' means a match of 3 bytes */ + ip -= 3; + len = ip - anchor; + + /* encode the match */ + if (level == LEVEL_2) { + if (distance < MAX_DISTANCE) { + if (len < 7) { + output[outOffset + op++] = (byte) ((len << 5) + (distance >>> 8)); + output[outOffset + op++] = (byte) (distance & 255); + } else { + output[outOffset + op++] = (byte) ((7 << 5) + (distance >>> 8)); + for (len -= 7; len >= 255; len -= 255) { + output[outOffset + op++] = (byte) 255; + } + output[outOffset + op++] = (byte) len; + output[outOffset + op++] = (byte) (distance & 255); + } + } else { + /* far away, but not yet in the another galaxy... */ + if (len < 7) { + distance -= MAX_DISTANCE; + output[outOffset + op++] = (byte) ((len << 5) + 31); + output[outOffset + op++] = (byte) 255; + output[outOffset + op++] = (byte) (distance >>> 8); + output[outOffset + op++] = (byte) (distance & 255); + } else { + distance -= MAX_DISTANCE; + output[outOffset + op++] = (byte) ((7 << 5) + 31); + for (len -= 7; len >= 255; len -= 255) { + output[outOffset + op++] = (byte) 255; + } + output[outOffset + op++] = (byte) len; + output[outOffset + op++] = (byte) 255; + output[outOffset + op++] = (byte) (distance >>> 8); + output[outOffset + op++] = (byte) (distance & 255); + } + } + } else { + if (len > MAX_LEN - 2) { + while (len > MAX_LEN - 2) { + output[outOffset + op++] = (byte) ((7 << 5) + (distance >>> 8)); + output[outOffset + op++] = (byte) (MAX_LEN - 2 - 7 - 2); + output[outOffset + op++] = (byte) (distance & 255); + len -= MAX_LEN - 2; + } + } + + if (len < 7) { + output[outOffset + op++] = (byte) ((len << 5) + (distance >>> 8)); + output[outOffset + op++] = (byte) (distance & 255); + } else { + output[outOffset + op++] = (byte) ((7 << 5) + (distance >>> 8)); + output[outOffset + op++] = (byte) (len - 7); + output[outOffset + op++] = (byte) (distance & 255); + } + } + + /* update the hash at match boundary */ + //HASH_FUNCTION(hval,ip); + hval = hashFunction(input, inOffset + ip); + htab[hval] = ip++; + + //HASH_FUNCTION(hval,ip); + hval = hashFunction(input, inOffset + ip); + htab[hval] = ip++; + + /* assuming literal copy */ + output[outOffset + op++] = (byte)(MAX_COPY - 1); + + continue; + + // Moved to be inline, with a 'continue' + /* + * literal: + * + output[outOffset + op++] = input[inOffset + anchor++]; + ip = anchor; + copy++; + if(copy == MAX_COPY){ + copy = 0; + output[outOffset + op++] = MAX_COPY-1; + } + */ + } + + /* left-over as literal copy */ + ipBound++; + while (ip <= ipBound) { + output[outOffset + op++] = input[inOffset + ip++]; + copy++; + if (copy == MAX_COPY) { + copy = 0; + output[outOffset + op++] = (byte)(MAX_COPY - 1); + } + } + + /* if we have copied something, adjust the copy length */ + if (copy != 0) { + //*(op-copy-1) = copy-1; + output[outOffset + op - copy - 1] = (byte) (copy - 1); + } else { + op--; + } + + if (level == LEVEL_2) { + /* marker for fastlz2 */ + output[outOffset] |= 1 << 5; + } + + return op; + } + + /** + * Decompress a block of compressed data and returns the size of the decompressed block. + * If error occurs, e.g. the compressed data is corrupted or the output buffer is not large + * enough, then 0 (zero) will be returned instead. + * + * Decompression is memory safe and guaranteed not to write the output buffer + * more than what is specified in outLength. + */ + public static int decompress(byte[] input, int inOffset, int inLength, + byte[] output, int outOffset, int outLength) { + //int level = ((*(const flzuint8*)input) >> 5) + 1; + int level = (input[inOffset] >> 5) + 1; + if (level != LEVEL_1 && level != LEVEL_2) { + throw new Exception($"invalid level: {level} (expected: {LEVEL_1} or {LEVEL_2})"); + } + + // const flzuint8* ip = (const flzuint8*) input; + int ip = 0; + // flzuint8* op = (flzuint8*) output; + int op = 0; + // flzuint32 ctrl = (*ip++) & 31; + long ctrl = input[inOffset + ip++] & 31; + + int loop = 1; + do { + // const flzuint8* refs = op; + int refs = op; + // flzuint32 len = ctrl >> 5; + long len = ctrl >> 5; + // flzuint32 ofs = (ctrl & 31) << 8; + long ofs = (ctrl & 31) << 8; + + if (ctrl >= 32) { + len--; + // refs -= ofs; + refs -= (int)ofs; + + int code; + if (len == 6) { + if (level == LEVEL_1) { + // len += *ip++; + len += input[inOffset + ip++] & 0xFF; + } else { + do { + code = input[inOffset + ip++] & 0xFF; + len += code; + } while (code == 255); + } + } + if (level == LEVEL_1) { + // refs -= *ip++; + refs -= input[inOffset + ip++] & 0xFF; + } else { + code = input[inOffset + ip++] & 0xFF; + refs -= code; + + /* match from 16-bit distance */ + // if(FASTLZ_UNEXPECT_CONDITIONAL(code==255)) + // if(FASTLZ_EXPECT_CONDITIONAL(ofs==(31 << 8))) + if (code == 255 && ofs == 31 << 8) { + ofs = (input[inOffset + ip++] & 0xFF) << 8; + ofs += input[inOffset + ip++] & 0xFF; + + refs = (int) (op - ofs - MAX_DISTANCE); + } + } + + // if the output index + length of block(?) + 3(?) is over the output limit? + if (op + len + 3 > outLength) { + return 0; + } + + // if (FASTLZ_UNEXPECT_CONDITIONAL(refs-1 < (flzuint8 *)output)) + // if the address space of refs-1 is < the address of output? + // if we are still at the beginning of the output address? + if (refs - 1 < 0) { + return 0; + } + + if (ip < inLength) { + ctrl = input[inOffset + ip++] & 0xFF; + } else { + loop = 0; + } + + if (refs == op) { + /* optimize copy for a run */ + // flzuint8 b = refs[-1]; + byte b = output[outOffset + refs - 1]; + output[outOffset + op++] = b; + output[outOffset + op++] = b; + output[outOffset + op++] = b; + while (len != 0) { + output[outOffset + op++] = b; + --len; + } + } else { + /* copy from reference */ + refs--; + + // *op++ = *refs++; + output[outOffset + op++] = output[outOffset + refs++]; + output[outOffset + op++] = output[outOffset + refs++]; + output[outOffset + op++] = output[outOffset + refs++]; + + while (len != 0) { + output[outOffset + op++] = output[outOffset + refs++]; + --len; + } + } + } else { + ctrl++; + + if (op + ctrl > outLength) { + return 0; + } + if (ip + ctrl > inLength) { + return 0; + } + + //*op++ = *ip++; + output[outOffset + op++] = input[inOffset + ip++]; + + for (--ctrl; ctrl != 0; ctrl--) { + // *op++ = *ip++; + output[outOffset + op++] = input[inOffset + ip++]; + } + + loop = ip < inLength ? 1 : 0; + if (loop != 0) { + // ctrl = *ip++; + ctrl = input[inOffset + ip++] & 0xFF; + } + } + + // while(FASTLZ_EXPECT_CONDITIONAL(loop)); + } while (loop != 0); + + // return op - (flzuint8*)output; + return op; + } + + private static int hashFunction(byte[] p, int offset) { + int v = readU16(p, offset); + v ^= readU16(p, offset + 1) ^ v >> 16 - HASH_LOG; + v &= HASH_MASK; + return v; + } + + private static int readU16(byte[] data, int offset) { + if (offset + 1 >= data.Length) { + return data[offset] & 0xff; + } + return (data[offset + 1] & 0xff) << 8 | data[offset] & 0xff; + } + + private FastLz() { } +} \ No newline at end of file diff --git a/src/DotRecast.Detour.TileCache/Io/Compress/FastLzTileCacheCompressor.cs b/src/DotRecast.Detour.TileCache/Io/Compress/FastLzTileCacheCompressor.cs new file mode 100644 index 0000000..c5e522f --- /dev/null +++ b/src/DotRecast.Detour.TileCache/Io/Compress/FastLzTileCacheCompressor.cs @@ -0,0 +1,39 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Core; +using K4os.Compression.LZ4; + +namespace DotRecast.Detour.TileCache.Io.Compress; + +public class FastLzTileCacheCompressor : TileCacheCompressor { + + public byte[] decompress(byte[] buf, int offset, int len, int outputlen) { + byte[] output = new byte[outputlen]; + FastLz.decompress(buf, offset, len, output, 0, outputlen); + return output; + } + + public byte[] compress(byte[] buf) { + byte[] output = new byte[FastLz.calculateOutputBufferLength(buf.Length)]; + int len = FastLz.compress(buf, 0, buf.Length, output, 0, output.Length); + return ArrayUtils.CopyOf(output, len); + } + +} diff --git a/src/DotRecast.Detour.TileCache/Io/Compress/LZ4TileCacheCompressor.cs b/src/DotRecast.Detour.TileCache/Io/Compress/LZ4TileCacheCompressor.cs new file mode 100644 index 0000000..7e9e861 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/Io/Compress/LZ4TileCacheCompressor.cs @@ -0,0 +1,34 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using K4os.Compression.LZ4; + +namespace DotRecast.Detour.TileCache.Io.Compress; + +public class LZ4TileCacheCompressor : TileCacheCompressor { + + public byte[] decompress(byte[] buf, int offset, int len, int outputlen) { + return LZ4Pickler.Unpickle(buf, offset, len); + } + + public byte[] compress(byte[] buf) { + return LZ4Pickler.Pickle(buf); + } + +} diff --git a/src/DotRecast.Detour.TileCache/Io/Compress/TileCacheCompressorFactory.cs b/src/DotRecast.Detour.TileCache/Io/Compress/TileCacheCompressorFactory.cs new file mode 100644 index 0000000..0812fc4 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/Io/Compress/TileCacheCompressorFactory.cs @@ -0,0 +1,28 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache.Io.Compress; + + + +public class TileCacheCompressorFactory { + + public static TileCacheCompressor get(bool cCompatibility) { + return cCompatibility ? new FastLzTileCacheCompressor() : new LZ4TileCacheCompressor(); + } +} diff --git a/src/DotRecast.Detour.TileCache/Io/TileCacheLayerHeaderReader.cs b/src/DotRecast.Detour.TileCache/Io/TileCacheLayerHeaderReader.cs new file mode 100644 index 0000000..38da18e --- /dev/null +++ b/src/DotRecast.Detour.TileCache/Io/TileCacheLayerHeaderReader.cs @@ -0,0 +1,60 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.IO; +using DotRecast.Core; + +namespace DotRecast.Detour.TileCache.Io; + +public class TileCacheLayerHeaderReader { + + public TileCacheLayerHeader read(ByteBuffer data, bool cCompatibility) { + TileCacheLayerHeader header = new TileCacheLayerHeader(); + header.magic = data.getInt(); + header.version = data.getInt(); + + if (header.magic != TileCacheLayerHeader.DT_TILECACHE_MAGIC) + throw new IOException("Invalid magic"); + if (header.version != TileCacheLayerHeader.DT_TILECACHE_VERSION) + throw new IOException("Invalid version"); + + header.tx = data.getInt(); + header.ty = data.getInt(); + header.tlayer = data.getInt(); + for (int j = 0; j < 3; j++) { + header.bmin[j] = data.getFloat(); + } + for (int j = 0; j < 3; j++) { + header.bmax[j] = data.getFloat(); + } + header.hmin = data.getShort() & 0xFFFF; + header.hmax = data.getShort() & 0xFFFF; + header.width = data.get() & 0xFF; + header.height = data.get() & 0xFF; + header.minx = data.get() & 0xFF; + header.maxx = data.get() & 0xFF; + header.miny = data.get() & 0xFF; + header.maxy = data.get() & 0xFF; + if (cCompatibility) { + data.getShort(); // C struct padding + } + return header; + } + +} diff --git a/src/DotRecast.Detour.TileCache/Io/TileCacheLayerHeaderWriter.cs b/src/DotRecast.Detour.TileCache/Io/TileCacheLayerHeaderWriter.cs new file mode 100644 index 0000000..d48577e --- /dev/null +++ b/src/DotRecast.Detour.TileCache/Io/TileCacheLayerHeaderWriter.cs @@ -0,0 +1,53 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.Io; + +namespace DotRecast.Detour.TileCache.Io; + +public class TileCacheLayerHeaderWriter : DetourWriter { + + public void write(BinaryWriter stream, TileCacheLayerHeader header, ByteOrder order, bool cCompatibility) { + write(stream, header.magic, order); + write(stream, header.version, order); + write(stream, header.tx, order); + write(stream, header.ty, order); + write(stream, header.tlayer, order); + for (int j = 0; j < 3; j++) { + write(stream, header.bmin[j], order); + } + for (int j = 0; j < 3; j++) { + write(stream, header.bmax[j], order); + } + write(stream, (short) header.hmin, order); + write(stream, (short) header.hmax, order); + write(stream, (byte) header.width); + write(stream, (byte) header.height); + write(stream, (byte) header.minx); + write(stream, (byte) header.maxx); + write(stream, (byte) header.miny); + write(stream, (byte) header.maxy); + if (cCompatibility) { + write(stream, (short) 0, order); // C struct padding + } + } + +} diff --git a/src/DotRecast.Detour.TileCache/Io/TileCacheReader.cs b/src/DotRecast.Detour.TileCache/Io/TileCacheReader.cs new file mode 100644 index 0000000..a8e7120 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/Io/TileCacheReader.cs @@ -0,0 +1,94 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.Io; +using DotRecast.Detour.TileCache.Io.Compress; + +namespace DotRecast.Detour.TileCache.Io; + +public class TileCacheReader { + + private readonly NavMeshParamReader paramReader = new NavMeshParamReader(); + + public TileCache read(BinaryReader @is, int maxVertPerPoly, TileCacheMeshProcess meshProcessor) { + ByteBuffer bb = IOUtils.toByteBuffer(@is); + return read(bb, maxVertPerPoly, meshProcessor); + } + + public TileCache read(ByteBuffer bb, int maxVertPerPoly, TileCacheMeshProcess meshProcessor) { + TileCacheSetHeader header = new TileCacheSetHeader(); + header.magic = bb.getInt(); + if (header.magic != TileCacheSetHeader.TILECACHESET_MAGIC) { + header.magic = IOUtils.swapEndianness(header.magic); + if (header.magic != TileCacheSetHeader.TILECACHESET_MAGIC) { + throw new IOException("Invalid magic"); + } + bb.order(bb.order() == ByteOrder.BIG_ENDIAN ? ByteOrder.LITTLE_ENDIAN : ByteOrder.BIG_ENDIAN); + } + header.version = bb.getInt(); + if (header.version != TileCacheSetHeader.TILECACHESET_VERSION) { + if (header.version != TileCacheSetHeader.TILECACHESET_VERSION_RECAST4J) { + throw new IOException("Invalid version"); + } + } + bool cCompatibility = header.version == TileCacheSetHeader.TILECACHESET_VERSION; + header.numTiles = bb.getInt(); + header.meshParams = paramReader.read(bb); + header.cacheParams = readCacheParams(bb, cCompatibility); + NavMesh mesh = new NavMesh(header.meshParams, maxVertPerPoly); + TileCacheCompressor compressor = TileCacheCompressorFactory.get(cCompatibility); + TileCache tc = new TileCache(header.cacheParams, new TileCacheStorageParams(bb.order(), cCompatibility), mesh, + compressor, meshProcessor); + // Read tiles. + for (int i = 0; i < header.numTiles; ++i) { + long tileRef = bb.getInt(); + int dataSize = bb.getInt(); + if (tileRef == 0 || dataSize == 0) { + break; + } + + byte[] data = bb.ReadBytes(dataSize).ToArray(); + long tile = tc.addTile(data, 0); + if (tile != 0) { + tc.buildNavMeshTile(tile); + } + } + return tc; + } + + private TileCacheParams readCacheParams(ByteBuffer bb, bool cCompatibility) { + TileCacheParams option = new TileCacheParams(); + for (int i = 0; i < 3; i++) { + option.orig[i] = bb.getFloat(); + } + option.cs = bb.getFloat(); + option.ch = bb.getFloat(); + option.width = bb.getInt(); + option.height = bb.getInt(); + option.walkableHeight = bb.getFloat(); + option.walkableRadius = bb.getFloat(); + option.walkableClimb = bb.getFloat(); + option.maxSimplificationError = bb.getFloat(); + option.maxTiles = bb.getInt(); + option.maxObstacles = bb.getInt(); + return option; + } +} diff --git a/src/DotRecast.Detour.TileCache/Io/TileCacheSetHeader.cs b/src/DotRecast.Detour.TileCache/Io/TileCacheSetHeader.cs new file mode 100644 index 0000000..1bd9203 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/Io/TileCacheSetHeader.cs @@ -0,0 +1,33 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache.Io; + +public class TileCacheSetHeader { + + public const int TILECACHESET_MAGIC = 'T' << 24 | 'S' << 16 | 'E' << 8 | 'T'; // 'TSET'; + public const int TILECACHESET_VERSION = 1; + public const int TILECACHESET_VERSION_RECAST4J = 0x8801; + + public int magic; + public int version; + public int numTiles; + public NavMeshParams meshParams = new NavMeshParams(); + public TileCacheParams cacheParams = new TileCacheParams(); + +} diff --git a/src/DotRecast.Detour.TileCache/Io/TileCacheWriter.cs b/src/DotRecast.Detour.TileCache/Io/TileCacheWriter.cs new file mode 100644 index 0000000..11ea07d --- /dev/null +++ b/src/DotRecast.Detour.TileCache/Io/TileCacheWriter.cs @@ -0,0 +1,74 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.Io; + +namespace DotRecast.Detour.TileCache.Io; + +public class TileCacheWriter : DetourWriter { + + private readonly NavMeshParamWriter paramWriter = new NavMeshParamWriter(); + private readonly TileCacheBuilder builder = new TileCacheBuilder(); + + public void write(BinaryWriter stream, TileCache cache, ByteOrder order, bool cCompatibility) { + write(stream, TileCacheSetHeader.TILECACHESET_MAGIC, order); + write(stream, cCompatibility ? TileCacheSetHeader.TILECACHESET_VERSION + : TileCacheSetHeader.TILECACHESET_VERSION_RECAST4J, order); + int numTiles = 0; + for (int i = 0; i < cache.getTileCount(); ++i) { + CompressedTile tile = cache.getTile(i); + if (tile == null || tile.data == null) + continue; + numTiles++; + } + write(stream, numTiles, order); + paramWriter.write(stream, cache.getNavMesh().getParams(), order); + writeCacheParams(stream, cache.getParams(), order); + for (int i = 0; i < cache.getTileCount(); i++) { + CompressedTile tile = cache.getTile(i); + if (tile == null || tile.data == null) + continue; + write(stream, (int) cache.getTileRef(tile), order); + byte[] data = tile.data; + TileCacheLayer layer = cache.decompressTile(tile); + data = builder.compressTileCacheLayer(layer, order, cCompatibility); + write(stream, data.Length, order); + stream.Write(data); + } + } + + private void writeCacheParams(BinaryWriter stream, TileCacheParams option, ByteOrder order) { + for (int i = 0; i < 3; i++) { + write(stream, option.orig[i], order); + } + write(stream, option.cs, order); + write(stream, option.ch, order); + write(stream, option.width, order); + write(stream, option.height, order); + write(stream, option.walkableHeight, order); + write(stream, option.walkableRadius, order); + write(stream, option.walkableClimb, order); + write(stream, option.maxSimplificationError, order); + write(stream, option.maxTiles, order); + write(stream, option.maxObstacles, order); + } + +} diff --git a/src/DotRecast.Detour.TileCache/ObstacleRequest.cs b/src/DotRecast.Detour.TileCache/ObstacleRequest.cs new file mode 100644 index 0000000..3e84faa --- /dev/null +++ b/src/DotRecast.Detour.TileCache/ObstacleRequest.cs @@ -0,0 +1,24 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache; + +public class ObstacleRequest { + public ObstacleRequestAction action; + public long refs; +} diff --git a/src/DotRecast.Detour.TileCache/ObstacleRequestAction.cs b/src/DotRecast.Detour.TileCache/ObstacleRequestAction.cs new file mode 100644 index 0000000..e838b80 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/ObstacleRequestAction.cs @@ -0,0 +1,23 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache; + +public enum ObstacleRequestAction { + REQUEST_ADD, REQUEST_REMOVE +} diff --git a/src/DotRecast.Detour.TileCache/ObstacleState.cs b/src/DotRecast.Detour.TileCache/ObstacleState.cs new file mode 100644 index 0000000..961c20c --- /dev/null +++ b/src/DotRecast.Detour.TileCache/ObstacleState.cs @@ -0,0 +1,24 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache; + +public enum ObstacleState { + + DT_OBSTACLE_EMPTY, DT_OBSTACLE_PROCESSING, DT_OBSTACLE_PROCESSED, DT_OBSTACLE_REMOVING +} diff --git a/src/DotRecast.Detour.TileCache/TileCache.cs b/src/DotRecast.Detour.TileCache/TileCache.cs new file mode 100644 index 0000000..9e7b7b1 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCache.cs @@ -0,0 +1,604 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using DotRecast.Core; +using DotRecast.Detour.TileCache.Io; + +using static DotRecast.Detour.DetourCommon; + +namespace DotRecast.Detour.TileCache; + +public class TileCache { + + int m_tileLutSize; /// < Tile hash lookup size (must be pot). + int m_tileLutMask; /// < Tile hash lookup mask. + + private readonly CompressedTile[] m_posLookup; /// < Tile hash lookup. + private CompressedTile m_nextFreeTile; /// < Freelist of tiles. + private readonly CompressedTile[] m_tiles; /// < List of tiles. // TODO: (PP) replace with list + + private readonly int m_saltBits; /// < Number of salt bits in the tile ID. + private readonly int m_tileBits; /// < Number of tile bits in the tile ID. + + private readonly NavMesh m_navmesh; + private readonly TileCacheParams m_params; + private readonly TileCacheStorageParams m_storageParams; + + private readonly TileCacheCompressor m_tcomp; + private readonly TileCacheMeshProcess m_tmproc; + + private readonly List m_obstacles = new(); + private TileCacheObstacle m_nextFreeObstacle; + + private readonly List m_reqs = new(); + private readonly List m_update = new(); + + private readonly TileCacheBuilder builder = new TileCacheBuilder(); + private readonly TileCacheLayerHeaderReader tileReader = new TileCacheLayerHeaderReader(); + + private bool contains(List a, long v) { + return a.Contains(v); + } + + /// Encodes a tile id. + private long encodeTileId(int salt, int it) { + return ((long) salt << m_tileBits) | it; + } + + /// Decodes a tile salt. + private int decodeTileIdSalt(long refs) { + long saltMask = (1L << m_saltBits) - 1; + return (int) ((refs >> m_tileBits) & saltMask); + } + + /// Decodes a tile id. + private int decodeTileIdTile(long refs) { + long tileMask = (1L << m_tileBits) - 1; + return (int) (refs & tileMask); + } + + /// Encodes an obstacle id. + private long encodeObstacleId(int salt, int it) { + return ((long) salt << 16) | it; + } + + /// Decodes an obstacle salt. + private int decodeObstacleIdSalt(long refs) { + long saltMask = ((long) 1 << 16) - 1; + return (int) ((refs >> 16) & saltMask); + } + + /// Decodes an obstacle id. + private int decodeObstacleIdObstacle(long refs) { + long tileMask = ((long) 1 << 16) - 1; + return (int) (refs & tileMask); + } + + public TileCache(TileCacheParams option, TileCacheStorageParams storageParams, NavMesh navmesh, + TileCacheCompressor tcomp, TileCacheMeshProcess tmprocs) { + m_params = option; + m_storageParams = storageParams; + m_navmesh = navmesh; + m_tcomp = tcomp; + m_tmproc = tmprocs; + + m_tileLutSize = nextPow2(m_params.maxTiles / 4); + if (m_tileLutSize == 0) { + m_tileLutSize = 1; + } + m_tileLutMask = m_tileLutSize - 1; + m_tiles = new CompressedTile[m_params.maxTiles]; + m_posLookup = new CompressedTile[m_tileLutSize]; + for (int i = m_params.maxTiles - 1; i >= 0; --i) { + m_tiles[i] = new CompressedTile(i); + m_tiles[i].next = m_nextFreeTile; + m_nextFreeTile = m_tiles[i]; + } + m_tileBits = ilog2(nextPow2(m_params.maxTiles)); + m_saltBits = Math.Min(31, 32 - m_tileBits); + if (m_saltBits < 10) { + throw new Exception("Too few salt bits: " + m_saltBits); + } + } + + public CompressedTile getTileByRef(long refs) { + if (refs == 0) { + return null; + } + int tileIndex = decodeTileIdTile(refs); + int tileSalt = decodeTileIdSalt(refs); + if (tileIndex >= m_params.maxTiles) { + return null; + } + CompressedTile tile = m_tiles[tileIndex]; + if (tile.salt != tileSalt) { + return null; + } + return tile; + } + + public List getTilesAt(int tx, int ty) { + List tiles = new(); + + // Find tile based on hash. + int h = NavMesh.computeTileHash(tx, ty, m_tileLutMask); + CompressedTile tile = m_posLookup[h]; + while (tile != null) { + if (tile.header != null && tile.header.tx == tx && tile.header.ty == ty) { + tiles.Add(getTileRef(tile)); + } + tile = tile.next; + } + + return tiles; + } + + CompressedTile getTileAt(int tx, int ty, int tlayer) { + // Find tile based on hash. + int h = NavMesh.computeTileHash(tx, ty, m_tileLutMask); + CompressedTile tile = m_posLookup[h]; + while (tile != null) { + if (tile.header != null && tile.header.tx == tx && tile.header.ty == ty && tile.header.tlayer == tlayer) { + return tile; + } + tile = tile.next; + } + return null; + } + + public long getTileRef(CompressedTile tile) { + if (tile == null) { + return 0; + } + int it = tile.index; + return encodeTileId(tile.salt, it); + } + + public long getObstacleRef(TileCacheObstacle ob) { + if (ob == null) { + return 0; + } + int idx = ob.index; + return encodeObstacleId(ob.salt, idx); + } + + public TileCacheObstacle getObstacleByRef(long refs) { + if (refs == 0) { + return null; + } + int idx = decodeObstacleIdObstacle(refs); + if (idx >= m_obstacles.Count) { + return null; + } + + TileCacheObstacle ob = m_obstacles[idx]; + int salt = decodeObstacleIdSalt(refs); + if (ob.salt != salt) { + return null; + } + return ob; + } + + public long addTile(byte[] data, int flags) { + // Make sure the data is in right format. + ByteBuffer buf = new ByteBuffer(data); + buf.order(m_storageParams.byteOrder); + TileCacheLayerHeader header = tileReader.read(buf, m_storageParams.cCompatibility); + // Make sure the location is free. + if (getTileAt(header.tx, header.ty, header.tlayer) != null) { + return 0; + } + // Allocate a tile. + CompressedTile tile = null; + if (m_nextFreeTile != null) { + tile = m_nextFreeTile; + m_nextFreeTile = tile.next; + tile.next = null; + } + + // Make sure we could allocate a tile. + if (tile == null) { + throw new Exception("Out of storage"); + } + + // Insert tile into the position lut. + int h = NavMesh.computeTileHash(header.tx, header.ty, m_tileLutMask); + tile.next = m_posLookup[h]; + m_posLookup[h] = tile; + + // Init tile. + tile.header = header; + tile.data = data; + tile.compressed = align4(buf.position()); + tile.flags = flags; + + return getTileRef(tile); + } + + private int align4(int i) { + return (i + 3) & (~3); + } + + public void removeTile(long refs) { + if (refs == 0) { + throw new Exception("Invalid tile ref"); + } + int tileIndex = decodeTileIdTile(refs); + int tileSalt = decodeTileIdSalt(refs); + if (tileIndex >= m_params.maxTiles) { + throw new Exception("Invalid tile index"); + } + CompressedTile tile = m_tiles[tileIndex]; + if (tile.salt != tileSalt) { + throw new Exception("Invalid tile salt"); + } + + // Remove tile from hash lookup. + int h = NavMesh.computeTileHash(tile.header.tx, tile.header.ty, m_tileLutMask); + CompressedTile prev = null; + CompressedTile cur = m_posLookup[h]; + while (cur != null) { + if (cur == tile) { + if (prev != null) { + prev.next = cur.next; + } else { + m_posLookup[h] = cur.next; + } + break; + } + prev = cur; + cur = cur.next; + } + + tile.header = null; + tile.data = null; + tile.compressed = 0; + tile.flags = 0; + + // Update salt, salt should never be zero. + tile.salt = (tile.salt + 1) & ((1 << m_saltBits) - 1); + if (tile.salt == 0) { + tile.salt++; + } + + // Add to free list. + tile.next = m_nextFreeTile; + m_nextFreeTile = tile; + + } + + // Cylinder obstacle + public long addObstacle(float[] pos, float radius, float height) { + TileCacheObstacle ob = allocObstacle(); + ob.type = TileCacheObstacle.TileCacheObstacleType.CYLINDER; + + vCopy(ob.pos, pos); + ob.radius = radius; + ob.height = height; + + return addObstacleRequest(ob).refs; + } + + // Aabb obstacle + public long addBoxObstacle(float[] bmin, float[] bmax) { + TileCacheObstacle ob = allocObstacle(); + ob.type = TileCacheObstacle.TileCacheObstacleType.BOX; + + vCopy(ob.bmin, bmin); + vCopy(ob.bmax, bmax); + + return addObstacleRequest(ob).refs; + } + + // Box obstacle: can be rotated in Y + public long addBoxObstacle(float[] center, float[] extents, float yRadians) { + TileCacheObstacle ob = allocObstacle(); + ob.type = TileCacheObstacle.TileCacheObstacleType.ORIENTED_BOX; + vCopy(ob.center, center); + vCopy(ob.extents, extents); + float coshalf = (float) Math.Cos(0.5f * yRadians); + float sinhalf = (float) Math.Sin(-0.5f * yRadians); + ob.rotAux[0] = coshalf * sinhalf; + ob.rotAux[1] = coshalf * coshalf - 0.5f; + return addObstacleRequest(ob).refs; + } + + private ObstacleRequest addObstacleRequest(TileCacheObstacle ob) { + ObstacleRequest req = new ObstacleRequest(); + req.action = ObstacleRequestAction.REQUEST_ADD; + req.refs = getObstacleRef(ob); + m_reqs.Add(req); + return req; + } + + public void removeObstacle(long refs) { + if (refs == 0) { + return; + } + + ObstacleRequest req = new ObstacleRequest(); + req.action = ObstacleRequestAction.REQUEST_REMOVE; + req.refs = refs; + m_reqs.Add(req); + } + + private TileCacheObstacle allocObstacle() { + TileCacheObstacle o = m_nextFreeObstacle; + if (o == null) { + o = new TileCacheObstacle(m_obstacles.Count); + m_obstacles.Add(o); + } else { + m_nextFreeObstacle = o.next; + } + o.state = ObstacleState.DT_OBSTACLE_PROCESSING; + o.touched.Clear(); + o.pending.Clear(); + o.next = null; + return o; + } + + List queryTiles(float[] bmin, float[] bmax) { + List results = new(); + float tw = m_params.width * m_params.cs; + float th = m_params.height * m_params.cs; + int tx0 = (int) Math.Floor((bmin[0] - m_params.orig[0]) / tw); + int tx1 = (int) Math.Floor((bmax[0] - m_params.orig[0]) / tw); + int ty0 = (int) Math.Floor((bmin[2] - m_params.orig[2]) / th); + int ty1 = (int) Math.Floor((bmax[2] - m_params.orig[2]) / th); + for (int ty = ty0; ty <= ty1; ++ty) { + for (int tx = tx0; tx <= tx1; ++tx) { + List tiles = getTilesAt(tx, ty); + foreach (long i in tiles) { + CompressedTile tile = m_tiles[decodeTileIdTile(i)]; + float[] tbmin = new float[3]; + float[] tbmax = new float[3]; + calcTightTileBounds(tile.header, tbmin, tbmax); + if (overlapBounds(bmin, bmax, tbmin, tbmax)) { + results.Add(i); + } + } + } + } + return results; + } + + /** + * Updates the tile cache by rebuilding tiles touched by unfinished obstacle requests. + * + * @return Returns true if the tile cache is fully up to date with obstacle requests and tile rebuilds. If the tile + * cache is up to date another (immediate) call to update will have no effect; otherwise another call will + * continue processing obstacle requests and tile rebuilds. + */ + public bool update() { + if (0 == m_update.Count) { + // Process requests. + foreach (ObstacleRequest req in m_reqs) { + int idx = decodeObstacleIdObstacle(req.refs); + if (idx >= m_obstacles.Count) { + continue; + } + TileCacheObstacle ob = m_obstacles[idx]; + int salt = decodeObstacleIdSalt(req.refs); + if (ob.salt != salt) { + continue; + } + + if (req.action == ObstacleRequestAction.REQUEST_ADD) { + // Find touched tiles. + float[] bmin = new float[3]; + float[] bmax = new float[3]; + getObstacleBounds(ob, bmin, bmax); + ob.touched = queryTiles(bmin, bmax); + // Add tiles to update list. + ob.pending.Clear(); + foreach (long j in ob.touched) { + if (!contains(m_update, j)) { + m_update.Add(j); + } + ob.pending.Add(j); + } + } else if (req.action == ObstacleRequestAction.REQUEST_REMOVE) { + // Prepare to remove obstacle. + ob.state = ObstacleState.DT_OBSTACLE_REMOVING; + // Add tiles to update list. + ob.pending.Clear(); + foreach (long j in ob.touched) { + if (!contains(m_update, j)) { + m_update.Add(j); + } + ob.pending.Add(j); + } + } + } + + m_reqs.Clear(); + } + + // Process updates + if (0 < m_update.Count) { + long refs = m_update[0]; + m_update.RemoveAt(0); + // Build mesh + buildNavMeshTile(refs); + + // Update obstacle states. + for (int i = 0; i < m_obstacles.Count; ++i) { + TileCacheObstacle ob = m_obstacles[i]; + if (ob.state == ObstacleState.DT_OBSTACLE_PROCESSING + || ob.state == ObstacleState.DT_OBSTACLE_REMOVING) { + // Remove handled tile from pending list. + ob.pending.Remove(refs); + + // If all pending tiles processed, change state. + if (0 == ob.pending.Count) { + if (ob.state == ObstacleState.DT_OBSTACLE_PROCESSING) { + ob.state = ObstacleState.DT_OBSTACLE_PROCESSED; + } else if (ob.state == ObstacleState.DT_OBSTACLE_REMOVING) { + ob.state = ObstacleState.DT_OBSTACLE_EMPTY; + // Update salt, salt should never be zero. + ob.salt = (ob.salt + 1) & ((1 << 16) - 1); + if (ob.salt == 0) { + ob.salt++; + } + // Return obstacle to free list. + ob.next = m_nextFreeObstacle; + m_nextFreeObstacle = ob; + } + } + } + } + } + + return 0 == m_update.Count && 0 == m_reqs.Count; + } + + public void buildNavMeshTile(long refs) { + int idx = decodeTileIdTile(refs); + if (idx > m_params.maxTiles) { + throw new Exception("Invalid tile index"); + } + CompressedTile tile = m_tiles[idx]; + int salt = decodeTileIdSalt(refs); + if (tile.salt != salt) { + throw new Exception("Invalid tile salt"); + } + int walkableClimbVx = (int) (m_params.walkableClimb / m_params.ch); + + // Decompress tile layer data. + TileCacheLayer layer = decompressTile(tile); + + // Rasterize obstacles. + for (int i = 0; i < m_obstacles.Count; ++i) { + TileCacheObstacle ob = m_obstacles[i]; + if (ob.state == ObstacleState.DT_OBSTACLE_EMPTY || ob.state == ObstacleState.DT_OBSTACLE_REMOVING) { + continue; + } + if (contains(ob.touched, refs)) { + if (ob.type == TileCacheObstacle.TileCacheObstacleType.CYLINDER) { + builder.markCylinderArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.pos, ob.radius, + ob.height, 0); + } else if (ob.type == TileCacheObstacle.TileCacheObstacleType.BOX) { + builder.markBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.bmin, ob.bmax, 0); + } else if (ob.type == TileCacheObstacle.TileCacheObstacleType.ORIENTED_BOX) { + builder.markBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.center, ob.extents, + ob.rotAux, 0); + } + } + } + // Build navmesh + builder.buildTileCacheRegions(layer, walkableClimbVx); + TileCacheContourSet lcset = builder.buildTileCacheContours(layer, walkableClimbVx, + m_params.maxSimplificationError); + TileCachePolyMesh polyMesh = builder.buildTileCachePolyMesh(lcset, m_navmesh.getMaxVertsPerPoly()); + // Early out if the mesh tile is empty. + if (polyMesh.npolys == 0) { + m_navmesh.removeTile(m_navmesh.getTileRefAt(tile.header.tx, tile.header.ty, tile.header.tlayer)); + return; + } + NavMeshDataCreateParams option = new NavMeshDataCreateParams(); + option.verts = polyMesh.verts; + option.vertCount = polyMesh.nverts; + option.polys = polyMesh.polys; + option.polyAreas = polyMesh.areas; + option.polyFlags = polyMesh.flags; + option.polyCount = polyMesh.npolys; + option.nvp = m_navmesh.getMaxVertsPerPoly(); + option.walkableHeight = m_params.walkableHeight; + option.walkableRadius = m_params.walkableRadius; + option.walkableClimb = m_params.walkableClimb; + option.tileX = tile.header.tx; + option.tileZ = tile.header.ty; + option.tileLayer = tile.header.tlayer; + option.cs = m_params.cs; + option.ch = m_params.ch; + option.buildBvTree = false; + option.bmin = tile.header.bmin; + option.bmax = tile.header.bmax; + if (m_tmproc != null) { + m_tmproc.process(option); + } + MeshData meshData = NavMeshBuilder.createNavMeshData(option); + // Remove existing tile. + m_navmesh.removeTile(m_navmesh.getTileRefAt(tile.header.tx, tile.header.ty, tile.header.tlayer)); + // Add new tile, or leave the location empty. if (navData) { // Let the + if (meshData != null) { + m_navmesh.addTile(meshData, 0, 0); + } + } + + public TileCacheLayer decompressTile(CompressedTile tile) { + TileCacheLayer layer = builder.decompressTileCacheLayer(m_tcomp, tile.data, m_storageParams.byteOrder, + m_storageParams.cCompatibility); + return layer; + } + + void calcTightTileBounds(TileCacheLayerHeader header, float[] bmin, float[] bmax) { + float cs = m_params.cs; + bmin[0] = header.bmin[0] + header.minx * cs; + bmin[1] = header.bmin[1]; + bmin[2] = header.bmin[2] + header.miny * cs; + bmax[0] = header.bmin[0] + (header.maxx + 1) * cs; + bmax[1] = header.bmax[1]; + bmax[2] = header.bmin[2] + (header.maxy + 1) * cs; + } + + void getObstacleBounds(TileCacheObstacle ob, float[] bmin, float[] bmax) { + if (ob.type == TileCacheObstacle.TileCacheObstacleType.CYLINDER) { + bmin[0] = ob.pos[0] - ob.radius; + bmin[1] = ob.pos[1]; + bmin[2] = ob.pos[2] - ob.radius; + bmax[0] = ob.pos[0] + ob.radius; + bmax[1] = ob.pos[1] + ob.height; + bmax[2] = ob.pos[2] + ob.radius; + } else if (ob.type == TileCacheObstacle.TileCacheObstacleType.BOX) { + vCopy(bmin, ob.bmin); + vCopy(bmax, ob.bmax); + } else if (ob.type == TileCacheObstacle.TileCacheObstacleType.ORIENTED_BOX) { + float maxr = 1.41f * Math.Max(ob.extents[0], ob.extents[2]); + bmin[0] = ob.center[0] - maxr; + bmax[0] = ob.center[0] + maxr; + bmin[1] = ob.center[1] - ob.extents[1]; + bmax[1] = ob.center[1] + ob.extents[1]; + bmin[2] = ob.center[2] - maxr; + bmax[2] = ob.center[2] + maxr; + } + } + + public TileCacheParams getParams() { + return m_params; + } + + public TileCacheCompressor getCompressor() { + return m_tcomp; + } + + public int getTileCount() { + return m_params.maxTiles; + } + + public CompressedTile getTile(int i) { + return m_tiles[i]; + } + + public NavMesh getNavMesh() { + return m_navmesh; + } +} diff --git a/src/DotRecast.Detour.TileCache/TileCacheBuilder.cs b/src/DotRecast.Detour.TileCache/TileCacheBuilder.cs new file mode 100644 index 0000000..4384cf3 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCacheBuilder.cs @@ -0,0 +1,1842 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.TileCache.Io; +using DotRecast.Detour.TileCache.Io.Compress; +using static DotRecast.Detour.DetourCommon; + +namespace DotRecast.Detour.TileCache; + +public class TileCacheBuilder { + + const int DT_TILECACHE_NULL_AREA = 0; + const int DT_TILECACHE_WALKABLE_AREA = 63; + const int DT_TILECACHE_NULL_IDX = 0xffff; + + public class LayerSweepSpan { + public int ns; // number samples + public int id; // region id + public int nei; // neighbour id + }; + + public class LayerMonotoneRegion { + public int area; + public List neis = new(16); + public int regId; + public int areaId; + }; + + public class TempContour { + public List verts; + public int nverts; + public List poly; + + public TempContour() { + verts = new(); + nverts = 0; + poly = new(); + } + + public int npoly() { + return poly.Count; + } + + public void clear() { + nverts = 0; + verts.Clear(); + } + }; + + public class Edge { + public int[] vert = new int[2]; + public int[] polyEdge = new int[2]; + public int[] poly = new int[2]; + }; + + private readonly TileCacheLayerHeaderReader reader = new TileCacheLayerHeaderReader(); + + public void buildTileCacheRegions(TileCacheLayer layer, int walkableClimb) { + + int w = layer.header.width; + int h = layer.header.height; + + Array.Fill(layer.regs, (short) 0x00FF); + int nsweeps = w; + LayerSweepSpan[] sweeps = new LayerSweepSpan[nsweeps]; + for (int i = 0; i < sweeps.Length; i++) { + sweeps[i] = new LayerSweepSpan(); + } + // Partition walkable area into monotone regions. + int[] prevCount = new int[256]; + int regId = 0; + + for (int y = 0; y < h; ++y) { + if (regId > 0) { + Array.Fill(prevCount, 0, 0, regId); + } + // memset(prevCount,0,sizeof(char)*regId); + int sweepId = 0; + + for (int x = 0; x < w; ++x) { + int idx = x + y * w; + if (layer.areas[idx] == DT_TILECACHE_NULL_AREA) + continue; + + int sid = 0xff; + + // -x + int xidx = (x - 1) + y * w; + if (x > 0 && isConnected(layer, idx, xidx, walkableClimb)) { + if (layer.regs[xidx] != 0xff) + sid = layer.regs[xidx]; + } + + if (sid == 0xff) { + sid = sweepId++; + sweeps[sid].nei = 0xff; + sweeps[sid].ns = 0; + } + + // -y + int yidx = x + (y - 1) * w; + if (y > 0 && isConnected(layer, idx, yidx, walkableClimb)) { + int nr = layer.regs[yidx]; + if (nr != 0xff) { + // Set neighbour when first valid neighbour is + // encoutered. + if (sweeps[sid].ns == 0) + sweeps[sid].nei = nr; + + if (sweeps[sid].nei == nr) { + // Update existing neighbour + sweeps[sid].ns++; + prevCount[nr]++; + } else { + // This is hit if there is nore than one neighbour. + // Invalidate the neighbour. + sweeps[sid].nei = 0xff; + } + } + } + + layer.regs[idx] = (byte) sid; + } + + // Create unique ID. + for (int i = 0; i < sweepId; ++i) { + // If the neighbour is set and there is only one continuous + // connection to it, + // the sweep will be merged with the previous one, else new + // region is created. + if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == sweeps[i].ns) { + sweeps[i].id = sweeps[i].nei; + } else { + if (regId == 255) { + // Region ID's overflow. + throw new Exception("Buffer too small"); + } + sweeps[i].id = regId++; + } + } + + // Remap local sweep ids to region ids. + for (int x = 0; x < w; ++x) { + int idx = x + y * w; + if (layer.regs[idx] != 0xff) + layer.regs[idx] = (short) sweeps[layer.regs[idx]].id; + } + } + + // Allocate and init layer regions. + int nregs = regId; + LayerMonotoneRegion[] regs = new LayerMonotoneRegion[nregs]; + + for (int i = 0; i < nregs; ++i) { + regs[i] = new LayerMonotoneRegion(); + regs[i].regId = 0xff; + } + + // Find region neighbours. + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + int idx = x + y * w; + int ri = layer.regs[idx]; + if (ri == 0xff) + continue; + + // Update area. + regs[ri].area++; + regs[ri].areaId = layer.areas[idx]; + + // Update neighbours + int ymi = x + (y - 1) * w; + if (y > 0 && isConnected(layer, idx, ymi, walkableClimb)) { + int rai = layer.regs[ymi]; + if (rai != 0xff && rai != ri) { + addUniqueLast(regs[ri].neis, rai); + addUniqueLast(regs[rai].neis, ri); + } + } + } + } + + for (int i = 0; i < nregs; ++i) + regs[i].regId = i; + + for (int i = 0; i < nregs; ++i) { + LayerMonotoneRegion reg = regs[i]; + + int merge = -1; + int mergea = 0; + foreach (int nei in reg.neis) { + LayerMonotoneRegion regn = regs[nei]; + if (reg.regId == regn.regId) + continue; + if (reg.areaId != regn.areaId) + continue; + if (regn.area > mergea) { + if (canMerge(reg.regId, regn.regId, regs, nregs)) { + mergea = regn.area; + merge = nei; + } + } + } + if (merge != -1) { + int oldId = reg.regId; + int newId = regs[merge].regId; + for (int j = 0; j < nregs; ++j) + if (regs[j].regId == oldId) + regs[j].regId = newId; + } + } + + // Compact ids. + int[] remap = new int[256]; + // Find number of unique regions. + regId = 0; + for (int i = 0; i < nregs; ++i) + remap[regs[i].regId] = 1; + for (int i = 0; i < 256; ++i) + if (remap[i] != 0) + remap[i] = regId++; + // Remap ids. + for (int i = 0; i < nregs; ++i) + regs[i].regId = remap[regs[i].regId]; + + layer.regCount = regId; + + for (int i = 0; i < w * h; ++i) { + if (layer.regs[i] != 0xff) + layer.regs[i] = (short) regs[layer.regs[i]].regId; + } + + } + + void addUniqueLast(List a, int v) { + int n = a.Count; + if (n > 0 && a[n - 1] == v) + return; + a.Add(v); + } + + bool isConnected(TileCacheLayer layer, int ia, int ib, int walkableClimb) { + if (layer.areas[ia] != layer.areas[ib]) + return false; + if (Math.Abs(layer.heights[ia] - layer.heights[ib]) > walkableClimb) + return false; + return true; + } + + bool canMerge(int oldRegId, int newRegId, LayerMonotoneRegion[] regs, int nregs) { + int count = 0; + for (int i = 0; i < nregs; ++i) { + LayerMonotoneRegion reg = regs[i]; + if (reg.regId != oldRegId) + continue; + foreach (int nei in reg.neis) { + if (regs[nei].regId == newRegId) + count++; + } + } + return count == 1; + } + + private void appendVertex(TempContour cont, int x, int y, int z, int r) { + // Try to merge with existing segments. + if (cont.nverts > 1) { + int pa = (cont.nverts - 2) * 4; + int pb = (cont.nverts - 1) * 4; + if (cont.verts[pb + 3] == r) { + if (cont.verts[pa] == cont.verts[pb] && cont.verts[pb] == x) { + // The verts are aligned aling x-axis, update z. + cont.verts[pb + 1] = y; + cont.verts[pb + 2] = z; + return; + } else if (cont.verts[pa + 2] == cont.verts[pb + 2] + && cont.verts[pb + 2] == z) { + // The verts are aligned aling z-axis, update x. + cont.verts[pb] = x; + cont.verts[pb + 1] = y; + return; + } + } + } + cont.verts.Add(x); + cont.verts.Add(y); + cont.verts.Add(z); + cont.verts.Add(r); + cont.nverts++; + } + + private int getNeighbourReg(TileCacheLayer layer, int ax, int ay, int dir) { + int w = layer.header.width; + int ia = ax + ay * w; + + int con = layer.cons[ia] & 0xf; + int portal = layer.cons[ia] >> 4; + int mask = 1 << dir; + + if ((con & mask) == 0) { + // No connection, return portal or hard edge. + if ((portal & mask) != 0) + return 0xf8 + dir; + return 0xff; + } + + int bx = ax + getDirOffsetX(dir); + int by = ay + getDirOffsetY(dir); + int ib = bx + by * w; + return layer.regs[ib]; + } + + private int getDirOffsetX(int dir) { + int[] offset = new int[] { -1, 0, 1, 0, }; + return offset[dir & 0x03]; + } + + private int getDirOffsetY(int dir) { + int[] offset = new int[] { 0, 1, 0, -1 }; + return offset[dir & 0x03]; + } + + private void walkContour(TileCacheLayer layer, int x, int y, TempContour cont) { + int w = layer.header.width; + int h = layer.header.height; + + cont.clear(); + + int startX = x; + int startY = y; + int startDir = -1; + + for (int i = 0; i < 4; ++i) { + int ndir = (i + 3) & 3; + int rn = getNeighbourReg(layer, x, y, ndir); + if (rn != layer.regs[x + y * w]) { + startDir = ndir; + break; + } + } + if (startDir == -1) + return; + + int dir = startDir; + int maxIter = w * h; + int iter = 0; + while (iter < maxIter) { + int rn = getNeighbourReg(layer, x, y, dir); + + int nx = x; + int ny = y; + int ndir = dir; + + if (rn != layer.regs[x + y * w]) { + // Solid edge. + int px = x; + int pz = y; + switch (dir) { + case 0: + pz++; + break; + case 1: + px++; + pz++; + break; + case 2: + px++; + break; + } + + // Try to merge with previous vertex. + appendVertex(cont, px, layer.heights[x + y * w], pz, rn); + ndir = (dir + 1) & 0x3; // Rotate CW + } else { + // Move to next. + nx = x + getDirOffsetX(dir); + ny = y + getDirOffsetY(dir); + ndir = (dir + 3) & 0x3; // Rotate CCW + } + + if (iter > 0 && x == startX && y == startY && dir == startDir) + break; + + x = nx; + y = ny; + dir = ndir; + + iter++; + } + + // Remove last vertex if it is duplicate of the first one. + int pa = (cont.nverts - 1) * 4; + int pb = 0; + if (cont.verts[pa] == cont.verts[pb] + && cont.verts[pa + 2] == cont.verts[pb + 2]) + cont.nverts--; + + } + + private float distancePtSeg(int x, int z, int px, int pz, int qx, int qz) { + float pqx = qx - px; + float pqz = qz - pz; + float dx = x - px; + float dz = z - pz; + float d = pqx * pqx + pqz * pqz; + float t = pqx * dx + pqz * dz; + if (d > 0) + t /= d; + if (t < 0) + t = 0; + else if (t > 1) + t = 1; + + dx = px + t * pqx - x; + dz = pz + t * pqz - z; + + return dx * dx + dz * dz; + } + + private void simplifyContour(TempContour cont, float maxError) { + cont.poly.Clear(); + + for (int i = 0; i < cont.nverts; ++i) { + int j = (i + 1) % cont.nverts; + // Check for start of a wall segment. + int ra = j * 4 + 3; + int rb = i * 4 + 3; + if (cont.verts[ra] != cont.verts[rb]) + cont.poly.Add(i); + } + if (cont.npoly() < 2) { + // If there is no transitions at all, + // create some initial points for the simplification process. + // Find lower-left and upper-right vertices of the contour. + int llx = cont.verts[0]; + int llz = cont.verts[2]; + int lli = 0; + int urx = cont.verts[0]; + int urz = cont.verts[2]; + int uri = 0; + for (int i = 1; i < cont.nverts; ++i) { + int x = cont.verts[i * 4 + 0]; + int z = cont.verts[i * 4 + 2]; + if (x < llx || (x == llx && z < llz)) { + llx = x; + llz = z; + lli = i; + } + if (x > urx || (x == urx && z > urz)) { + urx = x; + urz = z; + uri = i; + } + } + cont.poly.Clear(); + cont.poly.Add(lli); + cont.poly.Add(uri); + } + + // Add points until all raw points are within + // error tolerance to the simplified shape. + for (int i = 0; i < cont.npoly();) { + int ii = (i + 1) % cont.npoly(); + + int ai = cont.poly[i]; + int ax = cont.verts[ai * 4]; + int az = cont.verts[ai * 4 + 2]; + + int bi = cont.poly[ii]; + int bx = cont.verts[bi * 4]; + int bz = cont.verts[bi * 4 + 2]; + + // Find maximum deviation from the segment. + float maxd = 0; + int maxi = -1; + int ci, cinc, endi; + + // Traverse the segment in lexilogical order so that the + // max deviation is calculated similarly when traversing + // opposite segments. + if (bx > ax || (bx == ax && bz > az)) { + cinc = 1; + ci = (ai + cinc) % cont.nverts; + endi = bi; + } else { + cinc = cont.nverts - 1; + ci = (bi + cinc) % cont.nverts; + endi = ai; + } + + // Tessellate only outer edges or edges between areas. + while (ci != endi) { + float d = distancePtSeg(cont.verts[ci * 4], cont.verts[ci * 4 + 2], ax, az, bx, bz); + if (d > maxd) { + maxd = d; + maxi = ci; + } + ci = (ci + cinc) % cont.nverts; + } + + // If the max deviation is larger than accepted error, + // add new point, else continue to next segment. + if (maxi != -1 && maxd > (maxError * maxError)) { + cont.poly.Insert(i + 1, maxi); + } else { + ++i; + } + } + + // Remap vertices + int start = 0; + for (int i = 1; i < cont.npoly(); ++i) + if (cont.poly[i] < cont.poly[start]) + start = i; + + cont.nverts = 0; + for (int i = 0; i < cont.npoly(); ++i) { + int j = (start + i) % cont.npoly(); + int src = cont.poly[j] * 4; + int dst = cont.nverts * 4; + cont.verts[dst] = cont.verts[src]; + cont.verts[dst + 1] = cont.verts[src + 1]; + cont.verts[dst + 2] = cont.verts[src + 2]; + cont.verts[dst + 3] = cont.verts[src + 3]; + cont.nverts++; + } + } + + static Tuple getCornerHeight(TileCacheLayer layer, int x, int y, int z, int walkableClimb) { + int w = layer.header.width; + int h = layer.header.height; + + int n = 0; + + int portal = 0xf; + int height = 0; + int preg = 0xff; + bool allSameReg = true; + + for (int dz = -1; dz <= 0; ++dz) { + for (int dx = -1; dx <= 0; ++dx) { + int px = x + dx; + int pz = z + dz; + if (px >= 0 && pz >= 0 && px < w && pz < h) { + int idx = px + pz * w; + int lh = layer.heights[idx]; + if (Math.Abs(lh - y) <= walkableClimb && layer.areas[idx] != DT_TILECACHE_NULL_AREA) { + height = Math.Max(height, (char) lh); + portal &= (layer.cons[idx] >> 4); + if (preg != 0xff && preg != layer.regs[idx]) + allSameReg = false; + preg = layer.regs[idx]; + n++; + } + } + } + } + + int portalCount = 0; + for (int dir = 0; dir < 4; ++dir) + if ((portal & (1 << dir)) != 0) + portalCount++; + + bool shouldRemove = false; + if (n > 1 && portalCount == 1 && allSameReg) { + shouldRemove = true; + } + + return Tuple.Create(height, shouldRemove); + } + + // TODO: move this somewhere else, once the layer meshing is done. + public TileCacheContourSet buildTileCacheContours(TileCacheLayer layer, int walkableClimb, float maxError) { + int w = layer.header.width; + int h = layer.header.height; + + TileCacheContourSet lcset = new TileCacheContourSet(); + lcset.nconts = layer.regCount; + lcset.conts = new TileCacheContour[lcset.nconts]; + for (int i = 0; i < lcset.nconts; i++) { + lcset.conts[i] = new TileCacheContour(); + } + + // Allocate temp buffer for contour tracing. + TempContour temp = new TempContour(); + + // Find contours. + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + int idx = x + y * w; + int ri = layer.regs[idx]; + if (ri == 0xff) + continue; + + TileCacheContour cont = lcset.conts[ri]; + + if (cont.nverts > 0) + continue; + + cont.reg = ri; + cont.area = layer.areas[idx]; + + walkContour(layer, x, y, temp); + + simplifyContour(temp, maxError); + + // Store contour. + cont.nverts = temp.nverts; + if (cont.nverts > 0) { + cont.verts = new int[4 * temp.nverts]; + + for (int i = 0, j = temp.nverts - 1; i < temp.nverts; j = i++) { + int dst = j * 4; + int v = j * 4; + int vn = i * 4; + int nei = temp.verts[vn + 3]; // The neighbour reg + // is + // stored at segment + // vertex of a + // segment. + Tuple res = getCornerHeight(layer, temp.verts[v], temp.verts[v + 1], + temp.verts[v + 2], walkableClimb); + int lh = res.Item1; + bool shouldRemove = res.Item2; + cont.verts[dst + 0] = temp.verts[v]; + cont.verts[dst + 1] = lh; + cont.verts[dst + 2] = temp.verts[v + 2]; + + // Store portal direction and remove status to the + // fourth component. + cont.verts[dst + 3] = 0x0f; + if (nei != 0xff && nei >= 0xf8) + cont.verts[dst + 3] = nei - 0xf8; + if (shouldRemove) + cont.verts[dst + 3] |= 0x80; + } + } + } + } + return lcset; + + } + + const uint VERTEX_BUCKET_COUNT2 = (1 << 8); + + private int computeVertexHash2(int x, int y, int z) { + uint h1 = 0x8da6b343; // Large multiplicative constants; + uint h2 = 0xd8163841; // here arbitrarily chosen primes + uint h3 = 0xcb1ab31f; + uint n = h1 * (uint)x + h2 * (uint)y + h3 * (uint)z; + return (int)(n & (VERTEX_BUCKET_COUNT2 - 1)); + } + + private int addVertex(int x, int y, int z, int[] verts, int[] firstVert, int[] nextVert, int nv) { + int bucket = computeVertexHash2(x, 0, z); + int i = firstVert[bucket]; + while (i != DT_TILECACHE_NULL_IDX) { + int tv = i * 3; + if (verts[tv] == x && verts[tv + 2] == z && (Math.Abs(verts[tv + 1] - y) <= 2)) + return i; + i = nextVert[i]; // next + } + + // Could not find, create new. + i = nv; + int v = i * 3; + verts[v] = x; + verts[v + 1] = y; + verts[v + 2] = z; + nextVert[i] = firstVert[bucket]; + firstVert[bucket] = i; + return i; + } + + private void buildMeshAdjacency(int[] polys, int npolys, int[] verts, int nverts, TileCacheContourSet lcset, + int maxVertsPerPoly) { + // Based on code by Eric Lengyel from: + // http://www.terathon.com/code/edges.php + + int maxEdgeCount = npolys * maxVertsPerPoly; + + int[] firstEdge = new int[nverts + maxEdgeCount]; + int nextEdge = nverts; + int edgeCount = 0; + + Edge[] edges = new Edge[maxEdgeCount]; + for (int i = 0; i < maxEdgeCount; i++) { + edges[i] = new Edge(); + } + for (int i = 0; i < nverts; i++) + firstEdge[i] = DT_TILECACHE_NULL_IDX; + + for (int i = 0; i < npolys; ++i) { + int t = i * maxVertsPerPoly * 2; + for (int j = 0; j < maxVertsPerPoly; ++j) { + if (polys[t + j] == DT_TILECACHE_NULL_IDX) + break; + int v0 = polys[t + j]; + int v1 = (j + 1 >= maxVertsPerPoly || polys[t + j + 1] == DT_TILECACHE_NULL_IDX) ? polys[t] + : polys[t + j + 1]; + if (v0 < v1) { + Edge edge = edges[edgeCount]; + edge.vert[0] = v0; + edge.vert[1] = v1; + edge.poly[0] = i; + edge.polyEdge[0] = j; + edge.poly[1] = i; + edge.polyEdge[1] = 0xff; + // Insert edge + firstEdge[nextEdge + edgeCount] = firstEdge[v0]; + firstEdge[v0] = (short) edgeCount; + edgeCount++; + } + } + } + + for (int i = 0; i < npolys; ++i) { + int t = i * maxVertsPerPoly * 2; + for (int j = 0; j < maxVertsPerPoly; ++j) { + if (polys[t + j] == DT_TILECACHE_NULL_IDX) + break; + int v0 = polys[t + j]; + int v1 = (j + 1 >= maxVertsPerPoly || polys[t + j + 1] == DT_TILECACHE_NULL_IDX) ? polys[t] + : polys[t + j + 1]; + if (v0 > v1) { + bool found = false; + for (int e = firstEdge[v1]; e != DT_TILECACHE_NULL_IDX; e = firstEdge[nextEdge + e]) { + Edge edge = edges[e]; + if (edge.vert[1] == v0 && edge.poly[0] == edge.poly[1]) { + edge.poly[1] = i; + edge.polyEdge[1] = j; + found = true; + break; + } + } + if (!found) { + // Matching edge not found, it is an open edge, add it. + Edge edge = edges[edgeCount]; + edge.vert[0] = v1; + edge.vert[1] = v0; + edge.poly[0] = (short) i; + edge.polyEdge[0] = (short) j; + edge.poly[1] = (short) i; + edge.polyEdge[1] = 0xff; + // Insert edge + firstEdge[nextEdge + edgeCount] = firstEdge[v1]; + firstEdge[v1] = (short) edgeCount; + edgeCount++; + } + } + } + } + + // Mark portal edges. + for (int i = 0; i < lcset.nconts; ++i) { + TileCacheContour cont = lcset.conts[i]; + if (cont.nverts < 3) + continue; + + for (int j = 0, k = cont.nverts - 1; j < cont.nverts; k = j++) { + int va = k * 4; + int vb = j * 4; + int dir = cont.verts[va + 3] & 0xf; + if (dir == 0xf) + continue; + + if (dir == 0 || dir == 2) { + // Find matching vertical edge + int x = cont.verts[va]; + int zmin = cont.verts[va + 2]; + int zmax = cont.verts[vb + 2]; + if (zmin > zmax) { + int tmp = zmin; + zmin = zmax; + zmax = tmp; + } + + for (int m = 0; m < edgeCount; ++m) { + Edge e = edges[m]; + // Skip connected edges. + if (e.poly[0] != e.poly[1]) + continue; + int eva = e.vert[0] * 3; + int evb = e.vert[1] * 3; + if (verts[eva] == x && verts[evb] == x) { + int ezmin = verts[eva + 2]; + int ezmax = verts[evb + 2]; + if (ezmin > ezmax) { + int tmp = ezmin; + ezmin = ezmax; + ezmax = tmp; + } + if (overlapRangeExl(zmin, zmax, ezmin, ezmax)) { + // Reuse the other polyedge to store dir. + e.polyEdge[1] = dir; + } + } + } + } else { + // Find matching vertical edge + int z = cont.verts[va + 2]; + int xmin = cont.verts[va]; + int xmax = cont.verts[vb]; + if (xmin > xmax) { + int tmp = xmin; + xmin = xmax; + xmax = tmp; + } + for (int m = 0; m < edgeCount; ++m) { + Edge e = edges[m]; + // Skip connected edges. + if (e.poly[0] != e.poly[1]) + continue; + int eva = e.vert[0] * 3; + int evb = e.vert[1] * 3; + if (verts[eva + 2] == z && verts[evb + 2] == z) { + int exmin = verts[eva]; + int exmax = verts[evb]; + if (exmin > exmax) { + int tmp = exmin; + exmin = exmax; + exmax = tmp; + } + if (overlapRangeExl(xmin, xmax, exmin, exmax)) { + // Reuse the other polyedge to store dir. + e.polyEdge[1] = dir; + } + } + } + } + } + } + + // Store adjacency + for (int i = 0; i < edgeCount; ++i) { + Edge e = edges[i]; + if (e.poly[0] != e.poly[1]) { + int p0 = e.poly[0] * maxVertsPerPoly * 2; + int p1 = e.poly[1] * maxVertsPerPoly * 2; + polys[p0 + maxVertsPerPoly + e.polyEdge[0]] = e.poly[1]; + polys[p1 + maxVertsPerPoly + e.polyEdge[1]] = e.poly[0]; + } else if (e.polyEdge[1] != 0xff) { + int p0 = e.poly[0] * maxVertsPerPoly * 2; + polys[p0 + maxVertsPerPoly + e.polyEdge[0]] = 0x8000 | (short) e.polyEdge[1]; + } + + } + } + + private bool overlapRangeExl(int amin, int amax, int bmin, int bmax) { + return (amin >= bmax || amax <= bmin) ? false : true; + } + + private int prev(int i, int n) { + return i - 1 >= 0 ? i - 1 : n - 1; + } + + private int next(int i, int n) { + return i + 1 < n ? i + 1 : 0; + } + + private int area2(int[] verts, int a, int b, int c) { + return (verts[b] - verts[a]) * (verts[c + 2] - verts[a + 2]) + - (verts[c] - verts[a]) * (verts[b + 2] - verts[a + 2]); + } + + // Returns true iff c is strictly to the left of the directed + // line through a to b. + private bool left(int[] verts, int a, int b, int c) { + return area2(verts, a, b, c) < 0; + } + + private bool leftOn(int[] verts, int a, int b, int c) { + return area2(verts, a, b, c) <= 0; + } + + private bool collinear(int[] verts, int a, int b, int c) { + return area2(verts, a, b, c) == 0; + } + + // Returns true iff ab properly intersects cd: they share + // a point interior to both segments. The properness of the + // intersection is ensured by using strict leftness. + private bool intersectProp(int[] verts, int a, int b, int c, int d) { + // Eliminate improper cases. + if (collinear(verts, a, b, c) || collinear(verts, a, b, d) || collinear(verts, c, d, a) + || collinear(verts, c, d, b)) + return false; + + return (left(verts, a, b, c) ^ left(verts, a, b, d)) && (left(verts, c, d, a) ^ left(verts, c, d, b)); + } + + // Returns T iff (a,b,c) are collinear and point c lies + // on the closed segement ab. + private bool between(int[] verts, int a, int b, int c) { + if (!collinear(verts, a, b, c)) + return false; + // If ab not vertical, check betweenness on x; else on y. + if (verts[a] != verts[b]) + return ((verts[a] <= verts[c]) && (verts[c] <= verts[b])) + || ((verts[a] >= verts[c]) && (verts[c] >= verts[b])); + else + return ((verts[a + 2] <= verts[c + 2]) && (verts[c + 2] <= verts[b + 2])) + || ((verts[a + 2] >= verts[c + 2]) && (verts[c + 2] >= verts[b + 2])); + } + + // Returns true iff segments ab and cd intersect, properly or improperly. + private bool intersect(int[] verts, int a, int b, int c, int d) { + if (intersectProp(verts, a, b, c, d)) + return true; + else if (between(verts, a, b, c) || between(verts, a, b, d) || between(verts, c, d, a) + || between(verts, c, d, b)) + return true; + else + return false; + } + + private bool vequal(int[] verts, int a, int b) { + return verts[a] == verts[b] && verts[a + 2] == verts[b + 2]; + } + + // Returns T iff (v_i, v_j) is a proper internal *or* external + // diagonal of P, *ignoring edges incident to v_i and v_j*. + private bool diagonalie(int i, int j, int n, int[] verts, int[] indices) { + int d0 = (indices[i] & 0x7fff) * 4; + int d1 = (indices[j] & 0x7fff) * 4; + + // For each edge (k,k+1) of P + for (int k = 0; k < n; k++) { + int k1 = next(k, n); + // Skip edges incident to i or j + if (!((k == i) || (k1 == i) || (k == j) || (k1 == j))) { + int p0 = (indices[k] & 0x7fff) * 4; + int p1 = (indices[k1] & 0x7fff) * 4; + + if (vequal(verts, d0, p0) || vequal(verts, d1, p0) || vequal(verts, d0, p1) || vequal(verts, d1, p1)) + continue; + + if (intersect(verts, d0, d1, p0, p1)) + return false; + } + } + return true; + } + + // Returns true iff the diagonal (i,j) is strictly internal to the + // polygon P in the neighborhood of the i endpoint. + private bool inCone(int i, int j, int n, int[] verts, int[] indices) { + int pi = (indices[i] & 0x7fff) * 4; + int pj = (indices[j] & 0x7fff) * 4; + int pi1 = (indices[next(i, n)] & 0x7fff) * 4; + int pin1 = (indices[prev(i, n)] & 0x7fff) * 4; + + // If P[i] is a convex vertex [ i+1 left or on (i-1,i) ]. + if (leftOn(verts, pin1, pi, pi1)) + return left(verts, pi, pj, pin1) && left(verts, pj, pi, pi1); + // Assume (i-1,i,i+1) not collinear. + // else P[i] is reflex. + return !(leftOn(verts, pi, pj, pi1) && leftOn(verts, pj, pi, pin1)); + } + + // Returns T iff (v_i, v_j) is a proper internal + // diagonal of P. + private bool diagonal(int i, int j, int n, int[] verts, int[] indices) { + return inCone(i, j, n, verts, indices) && diagonalie(i, j, n, verts, indices); + } + + private int triangulate(int n, int[] verts, int[] indices, int[] tris) { + int ntris = 0; + int dst = 0;// tris; + // The last bit of the index is used to indicate if the vertex can be + // removed. + for (int i = 0; i < n; i++) { + int i1 = next(i, n); + int i2 = next(i1, n); + if (diagonal(i, i2, n, verts, indices)) + indices[i1] |= 0x8000; + } + + while (n > 3) { + int minLen = -1; + int mini = -1; + for (int mi = 0; mi < n; mi++) { + int mi1 = next(mi, n); + if ((indices[mi1] & 0x8000) != 0) { + int p0 = (indices[mi] & 0x7fff) * 4; + int p2 = (indices[next(mi1, n)] & 0x7fff) * 4; + + int dx = verts[p2] - verts[p0]; + int dz = verts[p2 + 2] - verts[p0 + 2]; + int len = dx * dx + dz * dz; + if (minLen < 0 || len < minLen) { + minLen = len; + mini = mi; + } + } + } + + if (mini == -1) { + // Should not happen. + /* + * printf("mini == -1 ntris=%d n=%d\n", ntris, n); for (int i = 0; i < n; i++) { printf("%d ", + * indices[i] & 0x0fffffff); } printf("\n"); + */ + return -ntris; + } + + int i = mini; + int i1 = next(i, n); + int i2 = next(i1, n); + + tris[dst++] = indices[i] & 0x7fff; + tris[dst++] = indices[i1] & 0x7fff; + tris[dst++] = indices[i2] & 0x7fff; + ntris++; + + // Removes P[i1] by copying P[i+1]...P[n-1] left one index. + n--; + for (int k = i1; k < n; k++) + indices[k] = indices[k + 1]; + + if (i1 >= n) + i1 = 0; + i = prev(i1, n); + // Update diagonal flags. + if (diagonal(prev(i, n), i1, n, verts, indices)) + indices[i] |= 0x8000; + else + indices[i] &= 0x7fff; + + if (diagonal(i, next(i1, n), n, verts, indices)) + indices[i1] |= 0x8000; + else + indices[i1] &= 0x7fff; + } + + // Append the remaining triangle. + tris[dst++] = indices[0] & 0x7fff; + tris[dst++] = indices[1] & 0x7fff; + tris[dst++] = indices[2] & 0x7fff; + ntris++; + + return ntris; + } + + private int countPolyVerts(int[] polys, int p, int maxVertsPerPoly) { + for (int i = 0; i < maxVertsPerPoly; ++i) + if (polys[p + i] == DT_TILECACHE_NULL_IDX) + return i; + return maxVertsPerPoly; + } + + private bool uleft(int[] verts, int a, int b, int c) { + return (verts[b] - verts[a]) * (verts[c + 2] - verts[a + 2]) + - (verts[c] - verts[a]) * (verts[b + 2] - verts[a + 2]) < 0; + } + + private int[] getPolyMergeValue(int[] polys, int pa, int pb, int[] verts, int maxVertsPerPoly) { + int na = countPolyVerts(polys, pa, maxVertsPerPoly); + int nb = countPolyVerts(polys, pb, maxVertsPerPoly); + + // If the merged polygon would be too big, do not merge. + if (na + nb - 2 > maxVertsPerPoly) + return new int[] { -1, 0, 0 }; + + // Check if the polygons share an edge. + int ea = -1; + int eb = -1; + + for (int i = 0; i < na; ++i) { + int va0 = polys[pa + i]; + int va1 = polys[pa + (i + 1) % na]; + if (va0 > va1) { + int tmp = va0; + va0 = va1; + va1 = tmp; + } + for (int j = 0; j < nb; ++j) { + int vb0 = polys[pb + j]; + int vb1 = polys[pb + (j + 1) % nb]; + if (vb0 > vb1) { + int tmp = vb0; + vb0 = vb1; + vb1 = tmp; + } + if (va0 == vb0 && va1 == vb1) { + ea = i; + eb = j; + break; + } + } + } + + // No common edge, cannot merge. + if (ea == -1 || eb == -1) + return new int[] { -1, ea, eb }; + + // Check to see if the merged polygon would be convex. + int va, vb, vc; + + va = polys[pa + (ea + na - 1) % na]; + vb = polys[pa + ea]; + vc = polys[pb + (eb + 2) % nb]; + if (!uleft(verts, va * 3, vb * 3, vc * 3)) + return new int[] { -1, ea, eb }; + + va = polys[pb + (eb + nb - 1) % nb]; + vb = polys[pb + eb]; + vc = polys[pa + (ea + 2) % na]; + if (!uleft(verts, va * 3, vb * 3, vc * 3)) + return new int[] { -1, ea, eb }; + + va = polys[pa + ea]; + vb = polys[pa + (ea + 1) % na]; + + int dx = verts[va * 3 + 0] - verts[vb * 3 + 0]; + int dy = verts[va * 3 + 2] - verts[vb * 3 + 2]; + + return new int[] { dx * dx + dy * dy, ea, eb }; + } + + private void mergePolys(int[] polys, int pa, int pb, int ea, int eb, int maxVertsPerPoly) { + int[] tmp = new int[maxVertsPerPoly * 2]; + + int na = countPolyVerts(polys, pa, maxVertsPerPoly); + int nb = countPolyVerts(polys, pb, maxVertsPerPoly); + + // Merge polygons. + Array.Fill(tmp, DT_TILECACHE_NULL_IDX); + int n = 0; + // Add pa + for (int i = 0; i < na - 1; ++i) + tmp[n++] = polys[pa + (ea + 1 + i) % na]; + // Add pb + for (int i = 0; i < nb - 1; ++i) + tmp[n++] = polys[pb + (eb + 1 + i) % nb]; + Array.Copy(tmp, 0, polys, pa, maxVertsPerPoly); + } + + private int pushFront(int v, List arr) { + arr.Insert(0, v); + return arr.Count; + } + + private int pushBack(int v, List arr) { + arr.Add(v); + return arr.Count; + } + + private bool canRemoveVertex(TileCachePolyMesh mesh, int rem) { + // Count number of polygons to remove. + int maxVertsPerPoly = mesh.nvp; + int numRemainingEdges = 0; + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * mesh.nvp * 2; + int nv = countPolyVerts(mesh.polys, p, maxVertsPerPoly); + int numRemoved = 0; + int numVerts = 0; + for (int j = 0; j < nv; ++j) { + if (mesh.polys[p + j] == rem) { + numRemoved++; + } + numVerts++; + } + if (numRemoved != 0) { + numRemainingEdges += numVerts - (numRemoved + 1); + } + } + + // There would be too few edges remaining to create a polygon. + // This can happen for example when a tip of a triangle is marked + // as deletion, but there are no other polys that share the vertex. + // In this case, the vertex should not be removed. + if (numRemainingEdges <= 2) + return false; + + // Find edges which share the removed vertex. + List edges = new(); + int nedges = 0; + + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * mesh.nvp * 2; + int nv = countPolyVerts(mesh.polys, p, maxVertsPerPoly); + + // Collect edges which touches the removed vertex. + for (int j = 0, k = nv - 1; j < nv; k = j++) { + if (mesh.polys[p + j] == rem || mesh.polys[p + k] == rem) { + // Arrange edge so that a=rem. + int a = mesh.polys[p + j], b = mesh.polys[p + k]; + if (b == rem) { + int tmp = a; + a = b; + b = tmp; + } + + // Check if the edge exists + bool exists = false; + for (int m = 0; m < nedges; ++m) { + int e = m * 3; + if (edges[e + 1] == b) { + // Exists, increment vertex share count. + edges[e + 2] = edges[e + 2] + 1; + exists = true; + } + } + // Add new edge. + if (!exists) { + edges.Add(a); + edges.Add(b); + edges.Add(1); + nedges++; + } + } + } + } + + // There should be no more than 2 open edges. + // This catches the case that two non-adjacent polygons + // share the removed vertex. In that case, do not remove the vertex. + int numOpenEdges = 0; + for (int i = 0; i < nedges; ++i) { + if (edges[i * 3 + 2] < 2) + numOpenEdges++; + } + if (numOpenEdges > 2) + return false; + + return true; + } + + private void removeVertex(TileCachePolyMesh mesh, int rem, int maxTris) { + // Count number of polygons to remove. + int maxVertsPerPoly = mesh.nvp; + int numRemovedVerts = 0; + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * maxVertsPerPoly * 2; + int nv = countPolyVerts(mesh.polys, p, maxVertsPerPoly); + for (int j = 0; j < nv; ++j) { + if (mesh.polys[p + j] == rem) + numRemovedVerts++; + } + } + + int nedges = 0; + List edges = new(); + int nhole = 0; + List hole = new(); + List harea = new(); + + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * maxVertsPerPoly * 2; + int nv = countPolyVerts(mesh.polys, p, maxVertsPerPoly); + bool hasRem = false; + for (int j = 0; j < nv; ++j) + if (mesh.polys[p + j] == rem) + hasRem = true; + if (hasRem) { + // Collect edges which does not touch the removed vertex. + for (int j = 0, k = nv - 1; j < nv; k = j++) { + if (mesh.polys[p + j] != rem && mesh.polys[p + k] != rem) { + edges.Add(mesh.polys[p + k]); + edges.Add(mesh.polys[p + j]); + edges.Add(mesh.areas[i]); + nedges++; + } + } + // Remove the polygon. + int p2 = (mesh.npolys - 1) * maxVertsPerPoly * 2; + Array.Copy(mesh.polys, p2, mesh.polys, p, maxVertsPerPoly); + Array.Fill(mesh.polys, DT_TILECACHE_NULL_IDX, p + maxVertsPerPoly, maxVertsPerPoly); + mesh.areas[i] = mesh.areas[mesh.npolys - 1]; + mesh.npolys--; + --i; + } + } + + // Remove vertex. + for (int i = rem; i < mesh.nverts; ++i) { + mesh.verts[i * 3 + 0] = mesh.verts[(i + 1) * 3 + 0]; + mesh.verts[i * 3 + 1] = mesh.verts[(i + 1) * 3 + 1]; + mesh.verts[i * 3 + 2] = mesh.verts[(i + 1) * 3 + 2]; + } + mesh.nverts--; + + // Adjust indices to match the removed vertex layout. + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * maxVertsPerPoly * 2; + int nv = countPolyVerts(mesh.polys, p, maxVertsPerPoly); + for (int j = 0; j < nv; ++j) + if (mesh.polys[p + j] > rem) + mesh.polys[p + j]--; + } + for (int i = 0; i < nedges; ++i) { + if (edges[i * 3] > rem) + edges[i * 3] = edges[i * 3] - 1; + if (edges[i * 3 + 1] > rem) + edges[i * 3 + 1] = edges[i * 3 + 1] - 1; + } + + if (nedges == 0) + return; + + // Start with one vertex, keep appending connected + // segments to the start and end of the hole. + nhole = pushBack(edges[0], hole); + pushBack(edges[2], harea); + + while (nedges != 0) { + bool match = false; + + for (int i = 0; i < nedges; ++i) { + int ea = edges[i * 3]; + int eb = edges[i * 3 + 1]; + int a = edges[i * 3 + 2]; + bool add = false; + if (hole[0] == eb) { + // The segment matches the beginning of the hole boundary. + nhole = pushFront(ea, hole); + pushFront(a, harea); + add = true; + } else if (hole[nhole - 1] == ea) { + // The segment matches the end of the hole boundary. + nhole = pushBack(eb, hole); + pushBack(a, harea); + add = true; + } + if (add) { + // The edge segment was added, remove it. + edges[i * 3] = edges[(nedges - 1) * 3]; + edges[i * 3 + 1] = edges[(nedges - 1) * 3] + 1; + edges[i * 3 + 2] = edges[(nedges - 1) * 3] + 2; + --nedges; + match = true; + --i; + } + } + + if (!match) + break; + } + + int[] tris = new int[nhole * 3]; + int[] tverts = new int[nhole * 4]; + int[] tpoly = new int[nhole]; + + // Generate temp vertex array for triangulation. + for (int i = 0; i < nhole; ++i) { + int pi = hole[i]; + tverts[i * 4 + 0] = mesh.verts[pi * 3 + 0]; + tverts[i * 4 + 1] = mesh.verts[pi * 3 + 1]; + tverts[i * 4 + 2] = mesh.verts[pi * 3 + 2]; + tverts[i * 4 + 3] = 0; + tpoly[i] = i; + } + + // Triangulate the hole. + int ntris = triangulate(nhole, tverts, tpoly, tris); + if (ntris < 0) { + // TODO: issue warning! + ntris = -ntris; + } + + int[] polys = new int[ntris * maxVertsPerPoly]; + int[] pareas = new int[ntris]; + + // Build initial polygons. + int npolys = 0; + Array.Fill(polys, DT_TILECACHE_NULL_IDX, 0, ntris * maxVertsPerPoly); + for (int j = 0; j < ntris; ++j) { + int t = j * 3; + if (tris[t] != tris[t + 1] && tris[t] != tris[t + 2] && tris[t + 1] != tris[t + 2]) { + polys[npolys * maxVertsPerPoly + 0] = hole[tris[t]]; + polys[npolys * maxVertsPerPoly + 1] = hole[tris[t + 1]]; + polys[npolys * maxVertsPerPoly + 2] = hole[tris[t + 2]]; + pareas[npolys] = harea[tris[t]]; + npolys++; + } + } + if (npolys == 0) + return; + + // Merge polygons. + if (maxVertsPerPoly > 3) { + for (;;) { + // Find best polygons to merge. + int bestMergeVal = 0; + int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0; + + for (int j = 0; j < npolys - 1; ++j) { + int pj = j * maxVertsPerPoly; + for (int k = j + 1; k < npolys; ++k) { + int pk = k * maxVertsPerPoly; + int[] pm = getPolyMergeValue(polys, pj, pk, mesh.verts, maxVertsPerPoly); + int v = pm[0]; + int ea = pm[1]; + int eb = pm[2]; + if (v > bestMergeVal) { + bestMergeVal = v; + bestPa = j; + bestPb = k; + bestEa = ea; + bestEb = eb; + } + } + } + + if (bestMergeVal > 0) { + // Found best, merge. + int pa = bestPa * maxVertsPerPoly; + int pb = bestPb * maxVertsPerPoly; + mergePolys(polys, pa, pb, bestEa, bestEb, maxVertsPerPoly); + Array.Copy(polys, (npolys - 1) * maxVertsPerPoly, polys, pb, maxVertsPerPoly); + pareas[bestPb] = pareas[npolys - 1]; + npolys--; + } else { + // Could not merge any polygons, stop. + break; + } + } + } + + // Store polygons. + for (int i = 0; i < npolys; ++i) { + if (mesh.npolys >= maxTris) + break; + int p = mesh.npolys * maxVertsPerPoly * 2; + Array.Fill(mesh.polys, DT_TILECACHE_NULL_IDX, p, maxVertsPerPoly * 2); + for (int j = 0; j < maxVertsPerPoly; ++j) + mesh.polys[p + j] = polys[i * maxVertsPerPoly + j]; + mesh.areas[mesh.npolys] = pareas[i]; + mesh.npolys++; + if (mesh.npolys > maxTris) { + throw new Exception("Buffer too small"); + } + } + + } + + public TileCachePolyMesh buildTileCachePolyMesh(TileCacheContourSet lcset, int maxVertsPerPoly) { + + int maxVertices = 0; + int maxTris = 0; + int maxVertsPerCont = 0; + for (int i = 0; i < lcset.nconts; ++i) { + // Skip null contours. + if (lcset.conts[i].nverts < 3) + continue; + maxVertices += lcset.conts[i].nverts; + maxTris += lcset.conts[i].nverts - 2; + maxVertsPerCont = Math.Max(maxVertsPerCont, lcset.conts[i].nverts); + } + + // TODO: warn about too many vertices? + + TileCachePolyMesh mesh = new TileCachePolyMesh(maxVertsPerPoly); + + int[] vflags = new int[maxVertices]; + + mesh.verts = new int[maxVertices * 3]; + mesh.polys = new int[maxTris * maxVertsPerPoly * 2]; + mesh.areas = new int[maxTris]; + // Just allocate and clean the mesh flags array. The user is resposible + // for filling it. + mesh.flags = new int[maxTris]; + + mesh.nverts = 0; + mesh.npolys = 0; + + Array.Fill(mesh.polys, DT_TILECACHE_NULL_IDX); + + int[] firstVert = new int[VERTEX_BUCKET_COUNT2]; + for (int i = 0; i < VERTEX_BUCKET_COUNT2; ++i) + firstVert[i] = DT_TILECACHE_NULL_IDX; + + int[] nextVert = new int[maxVertices]; + int[] indices = new int[maxVertsPerCont]; + int[] tris = new int[maxVertsPerCont * 3]; + int[] polys = new int[maxVertsPerCont * maxVertsPerPoly]; + + for (int i = 0; i < lcset.nconts; ++i) { + TileCacheContour cont = lcset.conts[i]; + + // Skip null contours. + if (cont.nverts < 3) + continue; + + // Triangulate contour + for (int j = 0; j < cont.nverts; ++j) + indices[j] = j; + + int ntris = triangulate(cont.nverts, cont.verts, indices, tris); + if (ntris <= 0) { + // TODO: issue warning! + ntris = -ntris; + } + + // Add and merge vertices. + for (int j = 0; j < cont.nverts; ++j) { + int v = j * 4; + indices[j] = addVertex(cont.verts[v], cont.verts[v + 1], cont.verts[v + 2], mesh.verts, firstVert, + nextVert, mesh.nverts); + mesh.nverts = Math.Max(mesh.nverts, indices[j] + 1); + if ((cont.verts[v + 3] & 0x80) != 0) { + // This vertex should be removed. + vflags[indices[j]] = 1; + } + } + + // Build initial polygons. + int npolys = 0; + Array.Fill(polys, DT_TILECACHE_NULL_IDX); + for (int j = 0; j < ntris; ++j) { + int t = j * 3; + if (tris[t] != tris[t + 1] && tris[t] != tris[t + 2] && tris[t + 1] != tris[t + 2]) { + polys[npolys * maxVertsPerPoly + 0] = indices[tris[t]]; + polys[npolys * maxVertsPerPoly + 1] = indices[tris[t + 1]]; + polys[npolys * maxVertsPerPoly + 2] = indices[tris[t + 2]]; + npolys++; + } + } + if (npolys == 0) + continue; + + // Merge polygons. + if (maxVertsPerPoly > 3) { + for (;;) { + // Find best polygons to merge. + int bestMergeVal = 0; + int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0; + + for (int j = 0; j < npolys - 1; ++j) { + int pj = j * maxVertsPerPoly; + for (int k = j + 1; k < npolys; ++k) { + int pk = k * maxVertsPerPoly; + int[] pm = getPolyMergeValue(polys, pj, pk, mesh.verts, maxVertsPerPoly); + int v = pm[0]; + int ea = pm[1]; + int eb = pm[2]; + if (v > bestMergeVal) { + bestMergeVal = v; + bestPa = j; + bestPb = k; + bestEa = ea; + bestEb = eb; + } + } + } + + if (bestMergeVal > 0) { + // Found best, merge. + int pa = bestPa * maxVertsPerPoly; + int pb = bestPb * maxVertsPerPoly; + mergePolys(polys, pa, pb, bestEa, bestEb, maxVertsPerPoly); + Array.Copy(polys, (npolys - 1) * maxVertsPerPoly, polys, pb, maxVertsPerPoly); + npolys--; + } else { + // Could not merge any polygons, stop. + break; + } + } + } + + // Store polygons. + for (int j = 0; j < npolys; ++j) { + int p = mesh.npolys * maxVertsPerPoly * 2; + int q = j * maxVertsPerPoly; + for (int k = 0; k < maxVertsPerPoly; ++k) + mesh.polys[p + k] = polys[q + k]; + mesh.areas[mesh.npolys] = cont.area; + mesh.npolys++; + if (mesh.npolys > maxTris) + throw new Exception("Buffer too small"); + } + } + + // Remove edge vertices. + for (int i = 0; i < mesh.nverts; ++i) { + if (vflags[i] != 0) { + if (!canRemoveVertex(mesh, i)) + continue; + removeVertex(mesh, i, maxTris); + // Remove vertex + // Note: mesh.nverts is already decremented inside + // removeVertex()! + for (int j = i; j < mesh.nverts; ++j) + vflags[j] = vflags[j + 1]; + --i; + } + } + + // Calculate adjacency. + buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.verts, mesh.nverts, lcset, maxVertsPerPoly); + + return mesh; + } + + public void markCylinderArea(TileCacheLayer layer, float[] orig, float cs, float ch, float[] pos, float radius, + float height, int areaId) { + float[] bmin = new float[3]; + float[] bmax = new float[3]; + bmin[0] = pos[0] - radius; + bmin[1] = pos[1]; + bmin[2] = pos[2] - radius; + bmax[0] = pos[0] + radius; + bmax[1] = pos[1] + height; + bmax[2] = pos[2] + radius; + float r2 = sqr(radius / cs + 0.5f); + + int w = layer.header.width; + int h = layer.header.height; + float ics = 1.0f / cs; + float ich = 1.0f / ch; + + float px = (pos[0] - orig[0]) * ics; + float pz = (pos[2] - orig[2]) * ics; + + int minx = (int) Math.Floor((bmin[0] - orig[0]) * ics); + int miny = (int) Math.Floor((bmin[1] - orig[1]) * ich); + int minz = (int) Math.Floor((bmin[2] - orig[2]) * ics); + int maxx = (int) Math.Floor((bmax[0] - orig[0]) * ics); + int maxy = (int) Math.Floor((bmax[1] - orig[1]) * ich); + int maxz = (int) Math.Floor((bmax[2] - orig[2]) * ics); + + if (maxx < 0) + return; + if (minx >= w) + return; + if (maxz < 0) + return; + if (minz >= h) + return; + + if (minx < 0) + minx = 0; + if (maxx >= w) + maxx = w - 1; + if (minz < 0) + minz = 0; + if (maxz >= h) + maxz = h - 1; + + for (int z = minz; z <= maxz; ++z) { + for (int x = minx; x <= maxx; ++x) { + float dx = x + 0.5f - px; + float dz = z + 0.5f - pz; + if (dx * dx + dz * dz > r2) + continue; + int y = layer.heights[x + z * w]; + if (y < miny || y > maxy) + continue; + layer.areas[x + z * w] = (short) areaId; + } + } + } + + public void markBoxArea(TileCacheLayer layer, float[] orig, float cs, float ch, float[] bmin, float[] bmax, + int areaId) { + int w = layer.header.width; + int h = layer.header.height; + float ics = 1.0f / cs; + float ich = 1.0f / ch; + + int minx = (int) Math.Floor((bmin[0] - orig[0]) * ics); + int miny = (int) Math.Floor((bmin[1] - orig[1]) * ich); + int minz = (int) Math.Floor((bmin[2] - orig[2]) * ics); + int maxx = (int) Math.Floor((bmax[0] - orig[0]) * ics); + int maxy = (int) Math.Floor((bmax[1] - orig[1]) * ich); + int maxz = (int) Math.Floor((bmax[2] - orig[2]) * ics); + + if (maxx < 0) + return; + if (minx >= w) + return; + if (maxz < 0) + return; + if (minz >= h) + return; + + if (minx < 0) + minx = 0; + if (maxx >= w) + maxx = w - 1; + if (minz < 0) + minz = 0; + if (maxz >= h) + maxz = h - 1; + + for (int z = minz; z <= maxz; ++z) { + for (int x = minx; x <= maxx; ++x) { + int y = layer.heights[x + z * w]; + if (y < miny || y > maxy) + continue; + layer.areas[x + z * w] = (short) areaId; + } + } + + } + + public byte[] compressTileCacheLayer(TileCacheLayer layer, ByteOrder order, bool cCompatibility) { + using var ms = new MemoryStream(); + using var baos = new BinaryWriter(ms); + TileCacheLayerHeaderWriter hw = new TileCacheLayerHeaderWriter(); + try { + hw.write(baos, layer.header, order, cCompatibility); + int gridSize = layer.header.width * layer.header.height; + byte[] buffer = new byte[gridSize * 3]; + for (int i = 0; i < gridSize; i++) { + buffer[i] = (byte) layer.heights[i]; + buffer[gridSize + i] = (byte) layer.areas[i]; + buffer[gridSize * 2 + i] = (byte) layer.cons[i]; + } + baos.Write(TileCacheCompressorFactory.get(cCompatibility).compress(buffer)); + return ms.ToArray(); + } catch (IOException e) { + throw new Exception(e.Message, e); + } + } + + public byte[] compressTileCacheLayer(TileCacheLayerHeader header, int[] heights, int[] areas, int[] cons, + ByteOrder order, bool cCompatibility) { + using var ms = new MemoryStream(); + using var baos = new BinaryWriter(ms); + TileCacheLayerHeaderWriter hw = new TileCacheLayerHeaderWriter(); + try { + hw.write(baos, header, order, cCompatibility); + int gridSize = header.width * header.height; + byte[] buffer = new byte[gridSize * 3]; + for (int i = 0; i < gridSize; i++) { + buffer[i] = (byte) heights[i]; + buffer[gridSize + i] = (byte) areas[i]; + buffer[gridSize * 2 + i] = (byte) cons[i]; + } + baos.Write(TileCacheCompressorFactory.get(cCompatibility).compress(buffer)); + return ms.ToArray(); + } catch (IOException e) { + throw new Exception(e.Message, e); + } + } + + public TileCacheLayer decompressTileCacheLayer(TileCacheCompressor comp, byte[] compressed, ByteOrder order, + bool cCompatibility) { + ByteBuffer buf = new ByteBuffer(compressed); + buf.order(order); + TileCacheLayer layer = new TileCacheLayer(); + try { + layer.header = reader.read(buf, cCompatibility); + } catch (IOException e) { + throw new Exception(e.Message, e); + } + + int gridSize = layer.header.width * layer.header.height; + byte[] grids = comp.decompress(compressed, buf.position(), compressed.Length - buf.position(), gridSize * 3); + layer.heights = new short[gridSize]; + layer.areas = new short[gridSize]; + layer.cons = new short[gridSize]; + layer.regs = new short[gridSize]; + for (int i = 0; i < gridSize; i++) { + layer.heights[i] = (short) (grids[i] & 0xFF); + layer.areas[i] = (short) (grids[i + gridSize] & 0xFF); + layer.cons[i] = (short) (grids[i + gridSize * 2] & 0xFF); + } + return layer; + + } + + public void markBoxArea(TileCacheLayer layer, float[] orig, float cs, float ch, float[] center, float[] extents, + float[] rotAux, int areaId) { + int w = layer.header.width; + int h = layer.header.height; + float ics = 1.0f / cs; + float ich = 1.0f / ch; + + float cx = (center[0] - orig[0]) * ics; + float cz = (center[2] - orig[2]) * ics; + + float maxr = 1.41f * Math.Max(extents[0], extents[2]); + int minx = (int) Math.Floor(cx - maxr * ics); + int maxx = (int) Math.Floor(cx + maxr * ics); + int minz = (int) Math.Floor(cz - maxr * ics); + int maxz = (int) Math.Floor(cz + maxr * ics); + int miny = (int) Math.Floor((center[1] - extents[1] - orig[1]) * ich); + int maxy = (int) Math.Floor((center[1] + extents[1] - orig[1]) * ich); + + if (maxx < 0) + return; + if (minx >= w) + return; + if (maxz < 0) + return; + if (minz >= h) + return; + + if (minx < 0) + minx = 0; + if (maxx >= w) + maxx = w - 1; + if (minz < 0) + minz = 0; + if (maxz >= h) + maxz = h - 1; + + float xhalf = extents[0] * ics + 0.5f; + float zhalf = extents[2] * ics + 0.5f; + for (int z = minz; z <= maxz; ++z) { + for (int x = minx; x <= maxx; ++x) { + float x2 = 2.0f * (x - cx); + float z2 = 2.0f * (z - cz); + float xrot = rotAux[1] * x2 + rotAux[0] * z2; + if (xrot > xhalf || xrot < -xhalf) + continue; + float zrot = rotAux[1] * z2 - rotAux[0] * x2; + if (zrot > zhalf || zrot < -zhalf) + continue; + int y = layer.heights[x + z * w]; + if (y < miny || y > maxy) + continue; + layer.areas[x + z * w] = (short) areaId; + } + } + + } + +} diff --git a/src/DotRecast.Detour.TileCache/TileCacheCompressor.cs b/src/DotRecast.Detour.TileCache/TileCacheCompressor.cs new file mode 100644 index 0000000..ef4d880 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCacheCompressor.cs @@ -0,0 +1,26 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache; + +public interface TileCacheCompressor { + + byte[] decompress(byte[] buf, int offset, int len, int outputlen); + + byte[] compress(byte[] buf); +} diff --git a/src/DotRecast.Detour.TileCache/TileCacheContour.cs b/src/DotRecast.Detour.TileCache/TileCacheContour.cs new file mode 100644 index 0000000..9b08dfc --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCacheContour.cs @@ -0,0 +1,26 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache; + +public class TileCacheContour { + public int nverts; + public int[] verts; + public int reg; + public int area; +} diff --git a/src/DotRecast.Detour.TileCache/TileCacheContourSet.cs b/src/DotRecast.Detour.TileCache/TileCacheContourSet.cs new file mode 100644 index 0000000..258e745 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCacheContourSet.cs @@ -0,0 +1,24 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache; + +public class TileCacheContourSet { + public int nconts; + public TileCacheContour[] conts; +} diff --git a/src/DotRecast.Detour.TileCache/TileCacheLayer.cs b/src/DotRecast.Detour.TileCache/TileCacheLayer.cs new file mode 100644 index 0000000..0378f98 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCacheLayer.cs @@ -0,0 +1,28 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache; + +public class TileCacheLayer { + public TileCacheLayerHeader header; + public int regCount; /// < Region count. + public short[] heights; // char + public short[] areas; // char + public short[] cons; // char + public short[] regs; // char +} diff --git a/src/DotRecast.Detour.TileCache/TileCacheLayerHeader.cs b/src/DotRecast.Detour.TileCache/TileCacheLayerHeader.cs new file mode 100644 index 0000000..c8b8b53 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCacheLayerHeader.cs @@ -0,0 +1,35 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache; + +public class TileCacheLayerHeader { + + public const int DT_TILECACHE_MAGIC = 'D' << 24 | 'T' << 16 | 'L' << 8 | 'R'; /// < 'DTLR'; + public const int DT_TILECACHE_VERSION = 1; + + public int magic; /// < Data magic + public int version; /// < Data version + public int tx, ty, tlayer; + public float[] bmin = new float[3]; + public float[] bmax = new float[3]; + public int hmin, hmax; /// < Height min/max range + public int width, height; /// < Dimension of the layer. + public int minx, maxx, miny, maxy; /// < Usable sub-region. + +} diff --git a/src/DotRecast.Detour.TileCache/TileCacheMeshProcess.cs b/src/DotRecast.Detour.TileCache/TileCacheMeshProcess.cs new file mode 100644 index 0000000..d66e92a --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCacheMeshProcess.cs @@ -0,0 +1,24 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache; + +public interface TileCacheMeshProcess { + + void process(NavMeshDataCreateParams option); +} diff --git a/src/DotRecast.Detour.TileCache/TileCacheObstacle.cs b/src/DotRecast.Detour.TileCache/TileCacheObstacle.cs new file mode 100644 index 0000000..9de9eba --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCacheObstacle.cs @@ -0,0 +1,50 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Detour.TileCache; + +public class TileCacheObstacle { + + public enum TileCacheObstacleType { + CYLINDER, BOX, ORIENTED_BOX + }; + + public readonly int index; + public TileCacheObstacleType type; + public readonly float[] pos = new float[3]; + public readonly float[] bmin = new float[3]; + public readonly float[] bmax = new float[3]; + public float radius, height; + public readonly float[] center = new float[3]; + public readonly float[] extents = new float[3]; + public readonly float[] rotAux = new float[2]; // { cos(0.5f*angle)*sin(-0.5f*angle); cos(0.5f*angle)*cos(0.5f*angle) - 0.5 } + public List touched = new(); + public readonly List pending = new(); + public int salt; + public ObstacleState state = ObstacleState.DT_OBSTACLE_EMPTY; + public TileCacheObstacle next; + + public TileCacheObstacle(int index) { + salt = 1; + this.index = index; + } + +} diff --git a/src/DotRecast.Detour.TileCache/TileCacheParams.cs b/src/DotRecast.Detour.TileCache/TileCacheParams.cs new file mode 100644 index 0000000..0681480 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCacheParams.cs @@ -0,0 +1,32 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache; + +public class TileCacheParams { + public readonly float[] orig = new float[3]; + public float cs, ch; + public int width, height; + public float walkableHeight; + public float walkableRadius; + public float walkableClimb; + public float maxSimplificationError; + public int maxTiles; + public int maxObstacles; + +} diff --git a/src/DotRecast.Detour.TileCache/TileCachePolyMesh.cs b/src/DotRecast.Detour.TileCache/TileCachePolyMesh.cs new file mode 100644 index 0000000..3034bf5 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCachePolyMesh.cs @@ -0,0 +1,33 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.TileCache; + +public class TileCachePolyMesh { + public int nvp; + public int nverts; /// < Number of vertices. + public int npolys; /// < Number of polygons. + public int[] verts; /// < Vertices of the mesh, 3 elements per vertex. + public int[] polys; /// < Polygons of the mesh, nvp*2 elements per polygon. + public int[] flags; /// < Per polygon flags. + public int[] areas; /// < Area ID of polygons. + + public TileCachePolyMesh(int nvp) { + this.nvp = nvp; + } +} diff --git a/src/DotRecast.Detour.TileCache/TileCacheStorageParams.cs b/src/DotRecast.Detour.TileCache/TileCacheStorageParams.cs new file mode 100644 index 0000000..77a7636 --- /dev/null +++ b/src/DotRecast.Detour.TileCache/TileCacheStorageParams.cs @@ -0,0 +1,34 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Core; + +namespace DotRecast.Detour.TileCache; + +public class TileCacheStorageParams { + + public readonly ByteOrder byteOrder; + public readonly bool cCompatibility; + + public TileCacheStorageParams(ByteOrder byteOrder, bool cCompatibility) { + this.byteOrder = byteOrder; + this.cCompatibility = cCompatibility; + } + +} diff --git a/src/DotRecast.Detour/BVNode.cs b/src/DotRecast.Detour/BVNode.cs new file mode 100644 index 0000000..2a807f5 --- /dev/null +++ b/src/DotRecast.Detour/BVNode.cs @@ -0,0 +1,34 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +/** + * Bounding volume node. + * + * @note This structure is rarely if ever used by the end user. + * @see MeshTile + */ +public class BVNode { + /** Minimum bounds of the node's AABB. [(x, y, z)] */ + public int[] bmin = new int[3]; + /** Maximum bounds of the node's AABB. [(x, y, z)] */ + public int[] bmax = new int[3]; + /** The node's index. (Negative for escape sequence.) */ + public int i; +} diff --git a/src/DotRecast.Detour/ClosestPointOnPolyResult.cs b/src/DotRecast.Detour/ClosestPointOnPolyResult.cs new file mode 100644 index 0000000..61fc153 --- /dev/null +++ b/src/DotRecast.Detour/ClosestPointOnPolyResult.cs @@ -0,0 +1,41 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +public class ClosestPointOnPolyResult { + + private readonly bool posOverPoly; + private readonly float[] closest; + + public ClosestPointOnPolyResult(bool posOverPoly, float[] closest) { + this.posOverPoly = posOverPoly; + this.closest = closest; + } + + /** Returns true if the position is over the polygon. */ + public bool isPosOverPoly() { + return posOverPoly; + } + + /** Returns the closest point on the polygon. [(x, y, z)] */ + public float[] getClosest() { + return closest; + } + +} diff --git a/src/DotRecast.Detour/ConvexConvexIntersection.cs b/src/DotRecast.Detour/ConvexConvexIntersection.cs new file mode 100644 index 0000000..fc05351 --- /dev/null +++ b/src/DotRecast.Detour/ConvexConvexIntersection.cs @@ -0,0 +1,237 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Detour; + +using static DetourCommon; + +/** + * Convex-convex intersection based on "Computational Geometry in C" by Joseph O'Rourke + */ +public static class ConvexConvexIntersection { + + private static readonly float EPSILON = 0.0001f; + + private enum InFlag { + Pin, Qin, Unknown, + } + + private enum Intersection { + None, Single, Overlap, + } + + public static float[] intersect(float[] p, float[] q) { + int n = p.Length / 3; + int m = q.Length / 3; + float[] inters = new float[Math.Max(m, n) * 3 * 3]; + int ii = 0; + /* Initialize variables. */ + float[] a = new float[3]; + float[] b = new float[3]; + float[] a1 = new float[3]; + float[] b1 = new float[3]; + + int aa = 0; + int ba = 0; + int ai = 0; + int bi = 0; + + InFlag f = InFlag.Unknown; + bool FirstPoint = true; + float[] ip = new float[3]; + float[] iq = new float[3]; + + do { + vCopy(a, p, 3 * (ai % n)); + vCopy(b, q, 3 * (bi % m)); + vCopy(a1, p, 3 * ((ai + n - 1) % n)); // prev a + vCopy(b1, q, 3 * ((bi + m - 1) % m)); // prev b + + float[] A = vSub(a, a1); + float[] B = vSub(b, b1); + + float cross = B[0] * A[2] - A[0] * B[2];// triArea2D({0, 0}, A, B); + float aHB = triArea2D(b1, b, a); + float bHA = triArea2D(a1, a, b); + if (Math.Abs(cross) < EPSILON) { + cross = 0f; + } + bool parallel = cross == 0f; + Intersection code = parallel ? parallelInt(a1, a, b1, b, ip, iq) : segSegInt(a1, a, b1, b, ip, iq); + + if (code == Intersection.Single) { + if (FirstPoint) { + FirstPoint = false; + aa = ba = 0; + } + ii = addVertex(inters, ii, ip); + f = inOut(f, aHB, bHA); + } + + /*-----Advance rules-----*/ + + /* Special case: A & B overlap and oppositely oriented. */ + if (code == Intersection.Overlap && vDot2D(A, B) < 0) { + ii = addVertex(inters, ii, ip); + ii = addVertex(inters, ii, iq); + break; + } + + /* Special case: A & B parallel and separated. */ + if (parallel && aHB < 0f && bHA < 0f) { + return null; + } + + /* Special case: A & B collinear. */ + else if (parallel && Math.Abs(aHB) < EPSILON && Math.Abs(bHA) < EPSILON) { + /* Advance but do not output point. */ + if (f == InFlag.Pin) { + ba++; + bi++; + } else { + aa++; + ai++; + } + } + + /* Generic cases. */ + else if (cross >= 0) { + if (bHA > 0) { + if (f == InFlag.Pin) { + ii = addVertex(inters, ii, a); + } + aa++; + ai++; + } else { + if (f == InFlag.Qin) { + ii = addVertex(inters, ii, b); + } + ba++; + bi++; + } + } else { + if (aHB > 0) { + if (f == InFlag.Qin) { + ii = addVertex(inters, ii, b); + } + ba++; + bi++; + } else { + if (f == InFlag.Pin) { + ii = addVertex(inters, ii, a); + } + aa++; + ai++; + } + } + /* Quit when both adv. indices have cycled, or one has cycled twice. */ + } while ((aa < n || ba < m) && aa < 2 * n && ba < 2 * m); + + /* Deal with special cases: not implemented. */ + if (f == InFlag.Unknown) { + return null; + } + + float[] copied = new float[ii]; + Array.Copy(inters, copied, ii); + return copied; + } + + private static int addVertex(float[] inters, int ii, float[] p) { + if (ii > 0) { + if (inters[ii - 3] == p[0] && inters[ii - 2] == p[1] && inters[ii - 1] == p[2]) { + return ii; + } + if (inters[0] == p[0] && inters[1] == p[1] && inters[2] == p[2]) { + return ii; + } + } + inters[ii] = p[0]; + inters[ii + 1] = p[1]; + inters[ii + 2] = p[2]; + return ii + 3; + } + + private static InFlag inOut(InFlag inflag, float aHB, float bHA) { + if (aHB > 0) { + return InFlag.Pin; + } else if (bHA > 0) { + return InFlag.Qin; + } + return inflag; + } + + private static Intersection segSegInt(float[] a, float[] b, float[] c, float[] d, float[] p, float[] q) { + var isec = intersectSegSeg2D(a, b, c, d); + if (null != isec) { + float s = isec.Item1; + float t = isec.Item2; + if (s >= 0.0f && s <= 1.0f && t >= 0.0f && t <= 1.0f) { + p[0] = a[0] + (b[0] - a[0]) * s; + p[1] = a[1] + (b[1] - a[1]) * s; + p[2] = a[2] + (b[2] - a[2]) * s; + return Intersection.Single; + } + } + return Intersection.None; + } + + private static Intersection parallelInt(float[] a, float[] b, float[] c, float[] d, float[] p, float[] q) { + if (between(a, b, c) && between(a, b, d)) { + vCopy(p, c); + vCopy(q, d); + return Intersection.Overlap; + } + if (between(c, d, a) && between(c, d, b)) { + vCopy(p, a); + vCopy(q, b); + return Intersection.Overlap; + } + if (between(a, b, c) && between(c, d, b)) { + vCopy(p, c); + vCopy(q, b); + return Intersection.Overlap; + } + if (between(a, b, c) && between(c, d, a)) { + vCopy(p, c); + vCopy(q, a); + return Intersection.Overlap; + } + if (between(a, b, d) && between(c, d, b)) { + vCopy(p, d); + vCopy(q, b); + return Intersection.Overlap; + } + if (between(a, b, d) && between(c, d, a)) { + vCopy(p, d); + vCopy(q, a); + return Intersection.Overlap; + } + return Intersection.None; + } + + private static bool between(float[] a, float[] b, float[] c) { + if (Math.Abs(a[0] - b[0]) > Math.Abs(a[2] - b[2])) { + return ((a[0] <= c[0]) && (c[0] <= b[0])) || ((a[0] >= c[0]) && (c[0] >= b[0])); + } else { + return ((a[2] <= c[2]) && (c[2] <= b[2])) || ((a[2] >= c[2]) && (c[2] >= b[2])); + } + } +} diff --git a/src/DotRecast.Detour/DefaultQueryFilter.cs b/src/DotRecast.Detour/DefaultQueryFilter.cs new file mode 100644 index 0000000..140cff0 --- /dev/null +++ b/src/DotRecast.Detour/DefaultQueryFilter.cs @@ -0,0 +1,101 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Detour; + +using static DetourCommon; + +/** + * The Default Implementation + * + * At construction: All area costs default to 1.0. All flags are included and none are excluded. + * + * If a polygon has both an include and an exclude flag, it will be excluded. + * + * The way filtering works, a navigation mesh polygon must have at least one flag set to ever be considered by a query. + * So a polygon with no flags will never be considered. + * + * Setting the include flags to 0 will result in all polygons being excluded. + * + * Custom Implementations + * + * Implement a custom query filter by overriding the virtual passFilter() and getCost() functions. If this is done, both + * functions should be as fast as possible. Use cached local copies of data rather than accessing your own objects where + * possible. + * + * Custom implementations do not need to adhere to the flags or cost logic used by the default implementation. + * + * In order for A* searches to work properly, the cost should be proportional to the travel distance. Implementing a + * cost modifier less than 1.0 is likely to lead to problems during pathfinding. + * + * @see NavMeshQuery + */ +public class DefaultQueryFilter : QueryFilter { + + private int m_excludeFlags; + private int m_includeFlags; + private readonly float[] m_areaCost = new float[NavMesh.DT_MAX_AREAS]; + + public DefaultQueryFilter() { + m_includeFlags = 0xffff; + m_excludeFlags = 0; + for (int i = 0; i < NavMesh.DT_MAX_AREAS; ++i) { + m_areaCost[i] = 1.0f; + } + } + + public DefaultQueryFilter(int includeFlags, int excludeFlags, float[] areaCost) { + m_includeFlags = includeFlags; + m_excludeFlags = excludeFlags; + for (int i = 0; i < Math.Min(NavMesh.DT_MAX_AREAS, areaCost.Length); ++i) { + m_areaCost[i] = areaCost[i]; + } + for (int i = areaCost.Length; i < NavMesh.DT_MAX_AREAS; ++i) { + m_areaCost[i] = 1.0f; + } + } + + public bool passFilter(long refs, MeshTile tile, Poly poly) { + return (poly.flags & m_includeFlags) != 0 && (poly.flags & m_excludeFlags) == 0; + } + + public float getCost(float[] pa, float[] pb, long prevRef, MeshTile prevTile, Poly prevPoly, long curRef, + MeshTile curTile, Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly) { + return vDist(pa, pb) * m_areaCost[curPoly.getArea()]; + } + + public int getIncludeFlags() { + return m_includeFlags; + } + + public void setIncludeFlags(int flags) { + m_includeFlags = flags; + } + + public int getExcludeFlags() { + return m_excludeFlags; + } + + public void setExcludeFlags(int flags) { + m_excludeFlags = flags; + } + +} diff --git a/src/DotRecast.Detour/DefaultQueryHeuristic.cs b/src/DotRecast.Detour/DefaultQueryHeuristic.cs new file mode 100644 index 0000000..ef66e25 --- /dev/null +++ b/src/DotRecast.Detour/DefaultQueryHeuristic.cs @@ -0,0 +1,39 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Detour; + +using static DetourCommon; + +public class DefaultQueryHeuristic : QueryHeuristic { + + private readonly float scale; + + public DefaultQueryHeuristic() : this(0.999f) + { + } + + public DefaultQueryHeuristic(float scale) { + this.scale = scale; + } + + public float getCost(float[] neighbourPos, float[] endPos) { + return vDist(neighbourPos, endPos) * scale; + } + +} diff --git a/src/DotRecast.Detour/DetourBuilder.cs b/src/DotRecast.Detour/DetourBuilder.cs new file mode 100644 index 0000000..41b5e55 --- /dev/null +++ b/src/DotRecast.Detour/DetourBuilder.cs @@ -0,0 +1,31 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +public class DetourBuilder { + + public MeshData build(NavMeshDataCreateParams option, int tileX, int tileY) { + MeshData data = NavMeshBuilder.createNavMeshData(option); + if (data != null) { + data.header.x = tileX; + data.header.y = tileY; + } + return data; + } +} diff --git a/src/DotRecast.Detour/DetourCommon.cs b/src/DotRecast.Detour/DetourCommon.cs new file mode 100644 index 0000000..b7ab979 --- /dev/null +++ b/src/DotRecast.Detour/DetourCommon.cs @@ -0,0 +1,636 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Detour; + +public static class DetourCommon { + + public const float EPS = 1e-4f; + + /// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s)) + /// @param[out] dest The result vector. [(x, y, z)] + /// @param[in] v1 The base vector. [(x, y, z)] + /// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)] + /// @param[in] s The amount to scale @p v2 by before adding to @p v1. + public static float[] vMad(float[] v1, float[] v2, float s) { + float[] dest = new float[3]; + dest[0] = v1[0] + v2[0] * s; + dest[1] = v1[1] + v2[1] * s; + dest[2] = v1[2] + v2[2] * s; + return dest; + } + + /// Performs a linear interpolation between two vectors. (@p v1 toward @p + /// v2) + /// @param[out] dest The result vector. [(x, y, x)] + /// @param[in] v1 The starting vector. + /// @param[in] v2 The destination vector. + /// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0] + public static float[] vLerp(float[] verts, int v1, int v2, float t) { + float[] dest = new float[3]; + dest[0] = verts[v1 + 0] + (verts[v2 + 0] - verts[v1 + 0]) * t; + dest[1] = verts[v1 + 1] + (verts[v2 + 1] - verts[v1 + 1]) * t; + dest[2] = verts[v1 + 2] + (verts[v2 + 2] - verts[v1 + 2]) * t; + return dest; + } + + public static float[] vLerp(float[] v1, float[] v2, float t) { + float[] dest = new float[3]; + dest[0] = v1[0] + (v2[0] - v1[0]) * t; + dest[1] = v1[1] + (v2[1] - v1[1]) * t; + dest[2] = v1[2] + (v2[2] - v1[2]) * t; + return dest; + } + + public static float[] vSub(VectorPtr v1, VectorPtr v2) { + float[] dest = new float[3]; + dest[0] = v1.get(0) - v2.get(0); + dest[1] = v1.get(1) - v2.get(1); + dest[2] = v1.get(2) - v2.get(2); + return dest; + } + + public static float[] vSub(float[] v1, float[] v2) { + float[] dest = new float[3]; + dest[0] = v1[0] - v2[0]; + dest[1] = v1[1] - v2[1]; + dest[2] = v1[2] - v2[2]; + return dest; + } + + public static float[] vAdd(float[] v1, float[] v2) { + float[] dest = new float[3]; + dest[0] = v1[0] + v2[0]; + dest[1] = v1[1] + v2[1]; + dest[2] = v1[2] + v2[2]; + return dest; + } + + public static float[] vCopy(float[] @in) { + float[] @out = new float[3]; + @out[0] = @in[0]; + @out[1] = @in[1]; + @out[2] = @in[2]; + return @out; + } + + public static void vSet(float[] @out, float a, float b, float c) { + @out[0] = a; + @out[1] = b; + @out[2] = c; + } + + public static void vCopy(float[] @out, float[] @in) { + @out[0] = @in[0]; + @out[1] = @in[1]; + @out[2] = @in[2]; + } + + public static void vCopy(float[] @out, float[] @in, int i) { + @out[0] = @in[i]; + @out[1] = @in[i + 1]; + @out[2] = @in[i + 2]; + } + + public static void vMin(float[] @out, float[] @in, int i) { + @out[0] = Math.Min(@out[0], @in[i]); + @out[1] = Math.Min(@out[1], @in[i + 1]); + @out[2] = Math.Min(@out[2], @in[i + 2]); + } + + public static void vMax(float[] @out, float[] @in, int i) { + @out[0] = Math.Max(@out[0], @in[i]); + @out[1] = Math.Max(@out[1], @in[i + 1]); + @out[2] = Math.Max(@out[2], @in[i + 2]); + } + + /// Returns the distance between two points. + /// @param[in] v1 A point. [(x, y, z)] + /// @param[in] v2 A point. [(x, y, z)] + /// @return The distance between the two points. + public static float vDist(float[] v1, float[] v2) { + float dx = v2[0] - v1[0]; + float dy = v2[1] - v1[1]; + float dz = v2[2] - v1[2]; + return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz); + } + + /// Returns the distance between two points. + /// @param[in] v1 A point. [(x, y, z)] + /// @param[in] v2 A point. [(x, y, z)] + /// @return The distance between the two points. + public static float vDistSqr(float[] v1, float[] v2) { + float dx = v2[0] - v1[0]; + float dy = v2[1] - v1[1]; + float dz = v2[2] - v1[2]; + return dx * dx + dy * dy + dz * dz; + } + + public static float sqr(float a) { + return a * a; + } + + /// Derives the square of the scalar length of the vector. (len * len) + /// @param[in] v The vector. [(x, y, z)] + /// @return The square of the scalar length of the vector. + public static float vLenSqr(float[] v) { + return v[0] * v[0] + v[1] * v[1] + v[2] * v[2]; + } + + public static float vLen(float[] v) { + return (float) Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]); + } + + public static float vDist(float[] v1, float[] verts, int i) { + float dx = verts[i] - v1[0]; + float dy = verts[i + 1] - v1[1]; + float dz = verts[i + 2] - v1[2]; + return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz); + } + + public static float clamp(float v, float min, float max) { + return Math.Max(Math.Min(v, max), min); + } + + public static int clamp(int v, int min, int max) { + return Math.Max(Math.Min(v, max), min); + } + + /// Derives the distance between the specified points on the xz-plane. + /// @param[in] v1 A point. [(x, y, z)] + /// @param[in] v2 A point. [(x, y, z)] + /// @return The distance between the point on the xz-plane. + /// + /// The vectors are projected onto the xz-plane, so the y-values are + /// ignored. + public static float vDist2D(float[] v1, float[] v2) { + float dx = v2[0] - v1[0]; + float dz = v2[2] - v1[2]; + return (float) Math.Sqrt(dx * dx + dz * dz); + } + + public static float vDist2DSqr(float[] v1, float[] v2) { + float dx = v2[0] - v1[0]; + float dz = v2[2] - v1[2]; + return dx * dx + dz * dz; + } + + public static float vDist2DSqr(float[] p, float[] verts, int i) { + float dx = verts[i] - p[0]; + float dz = verts[i + 2] - p[2]; + return dx * dx + dz * dz; + } + + /// Normalizes the vector. + /// @param[in,out] v The vector to normalize. [(x, y, z)] + public static void vNormalize(float[] v) { + float d = (float) (1.0f / Math.Sqrt(sqr(v[0]) + sqr(v[1]) + sqr(v[2]))); + if (d != 0) { + v[0] *= d; + v[1] *= d; + v[2] *= d; + } + } + + private static readonly float EQUAL_THRESHOLD = sqr(1.0f / 16384.0f); + + /// Performs a 'sloppy' colocation check of the specified points. + /// @param[in] p0 A point. [(x, y, z)] + /// @param[in] p1 A point. [(x, y, z)] + /// @return True if the points are considered to be at the same location. + /// + /// Basically, this function will return true if the specified points are + /// close enough to eachother to be considered colocated. + public static bool vEqual(float[] p0, float[] p1) { + return vEqual(p0, p1, EQUAL_THRESHOLD); + } + + public static bool vEqual(float[] p0, float[] p1, float thresholdSqr) { + float d = vDistSqr(p0, p1); + return d < thresholdSqr; + } + + /// Derives the dot product of two vectors on the xz-plane. (@p u . @p v) + /// @param[in] u A vector [(x, y, z)] + /// @param[in] v A vector [(x, y, z)] + /// @return The dot product on the xz-plane. + /// + /// The vectors are projected onto the xz-plane, so the y-values are + /// ignored. + public static float vDot2D(float[] u, float[] v) { + return u[0] * v[0] + u[2] * v[2]; + } + + public static float vDot2D(float[] u, float[] v, int vi) { + return u[0] * v[vi] + u[2] * v[vi + 2]; + } + + /// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz) + /// @param[in] u The LHV vector [(x, y, z)] + /// @param[in] v The RHV vector [(x, y, z)] + /// @return The dot product on the xz-plane. + /// + /// The vectors are projected onto the xz-plane, so the y-values are + /// ignored. + public static float vPerp2D(float[] u, float[] v) { + return u[2] * v[0] - u[0] * v[2]; + } + + /// @} + /// @name Computational geometry helper functions. + /// @{ + + /// Derives the signed xz-plane area of the triangle ABC, or the + /// relationship of line AB to point C. + /// @param[in] a Vertex A. [(x, y, z)] + /// @param[in] b Vertex B. [(x, y, z)] + /// @param[in] c Vertex C. [(x, y, z)] + /// @return The signed xz-plane area of the triangle. + public static float triArea2D(float[] verts, int a, int b, int c) { + float abx = verts[b] - verts[a]; + float abz = verts[b + 2] - verts[a + 2]; + float acx = verts[c] - verts[a]; + float acz = verts[c + 2] - verts[a + 2]; + return acx * abz - abx * acz; + } + + public static float triArea2D(float[] a, float[] b, float[] c) { + float abx = b[0] - a[0]; + float abz = b[2] - a[2]; + float acx = c[0] - a[0]; + float acz = c[2] - a[2]; + return acx * abz - abx * acz; + } + + /// Determines if two axis-aligned bounding boxes overlap. + /// @param[in] amin Minimum bounds of box A. [(x, y, z)] + /// @param[in] amax Maximum bounds of box A. [(x, y, z)] + /// @param[in] bmin Minimum bounds of box B. [(x, y, z)] + /// @param[in] bmax Maximum bounds of box B. [(x, y, z)] + /// @return True if the two AABB's overlap. + /// @see dtOverlapBounds + public static bool overlapQuantBounds(int[] amin, int[] amax, int[] bmin, int[] bmax) { + bool overlap = true; + overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; + overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; + overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; + return overlap; + } + + /// Determines if two axis-aligned bounding boxes overlap. + /// @param[in] amin Minimum bounds of box A. [(x, y, z)] + /// @param[in] amax Maximum bounds of box A. [(x, y, z)] + /// @param[in] bmin Minimum bounds of box B. [(x, y, z)] + /// @param[in] bmax Maximum bounds of box B. [(x, y, z)] + /// @return True if the two AABB's overlap. + /// @see dtOverlapQuantBounds + public static bool overlapBounds(float[] amin, float[] amax, float[] bmin, float[] bmax) { + bool overlap = true; + overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; + overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; + overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; + return overlap; + } + + public static Tuple distancePtSegSqr2D(float[] pt, float[] p, float[] q) { + float pqx = q[0] - p[0]; + float pqz = q[2] - p[2]; + float dx = pt[0] - p[0]; + float dz = pt[2] - p[2]; + float d = pqx * pqx + pqz * pqz; + float t = pqx * dx + pqz * dz; + if (d > 0) { + t /= d; + } + if (t < 0) { + t = 0; + } else if (t > 1) { + t = 1; + } + dx = p[0] + t * pqx - pt[0]; + dz = p[2] + t * pqz - pt[2]; + return Tuple.Create(dx * dx + dz * dz, t); + } + + public static float? closestHeightPointTriangle(float[] p, float[] a, float[] b, float[] c) { + float[] v0 = vSub(c, a); + float[] v1 = vSub(b, a); + float[] v2 = vSub(p, a); + + // Compute scaled barycentric coordinates + float denom = v0[0] * v1[2] - v0[2] * v1[0]; + if (Math.Abs(denom) < EPS) { + return null; + } + + float u = v1[2] * v2[0] - v1[0] * v2[2]; + float v = v0[0] * v2[2] - v0[2] * v2[0]; + + if (denom < 0) { + denom = -denom; + u = -u; + v = -v; + } + + // If point lies inside the triangle, return interpolated ycoord. + if (u >= 0.0f && v >= 0.0f && (u + v) <= denom) { + float h = a[1] + (v0[1] * u + v1[1] * v) / denom; + return h; + } + + return null; + } + + /// @par + /// + /// All points are projected onto the xz-plane, so the y-values are ignored. + public static bool pointInPolygon(float[] pt, float[] verts, int nverts) { + // TODO: Replace pnpoly with triArea2D tests? + int i, j; + bool c = false; + for (i = 0, j = nverts - 1; i < nverts; j = i++) { + int vi = i * 3; + int vj = j * 3; + if (((verts[vi + 2] > pt[2]) != (verts[vj + 2] > pt[2])) && (pt[0] < (verts[vj + 0] - verts[vi + 0]) + * (pt[2] - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + verts[vi + 0])) { + c = !c; + } + } + return c; + } + + public static bool distancePtPolyEdgesSqr(float[] pt, float[] verts, int nverts, float[] ed, float[] et) { + // TODO: Replace pnpoly with triArea2D tests? + int i, j; + bool c = false; + for (i = 0, j = nverts - 1; i < nverts; j = i++) { + int vi = i * 3; + int vj = j * 3; + if (((verts[vi + 2] > pt[2]) != (verts[vj + 2] > pt[2])) && (pt[0] < (verts[vj + 0] - verts[vi + 0]) + * (pt[2] - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + verts[vi + 0])) { + c = !c; + } + Tuple edet = distancePtSegSqr2D(pt, verts, vj, vi); + ed[j] = edet.Item1; + et[j] = edet.Item2; + } + return c; + } + + public static float[] projectPoly(float[] axis, float[] poly, int npoly) { + float rmin, rmax; + rmin = rmax = vDot2D(axis, poly, 0); + for (int i = 1; i < npoly; ++i) { + float d = vDot2D(axis, poly, i * 3); + rmin = Math.Min(rmin, d); + rmax = Math.Max(rmax, d); + } + return new float[] { rmin, rmax }; + } + + public static bool overlapRange(float amin, float amax, float bmin, float bmax, float eps) { + return ((amin + eps) > bmax || (amax - eps) < bmin) ? false : true; + } + + static float eps = 1e-4f; + + /// @par + /// + /// All vertices are projected onto the xz-plane, so the y-values are ignored. + public static bool overlapPolyPoly2D(float[] polya, int npolya, float[] polyb, int npolyb) { + + for (int i = 0, j = npolya - 1; i < npolya; j = i++) { + int va = j * 3; + int vb = i * 3; + + float[] n = new float[] { polya[vb + 2] - polya[va + 2], 0, -(polya[vb + 0] - polya[va + 0]) }; + + float[] aminmax = projectPoly(n, polya, npolya); + float[] bminmax = projectPoly(n, polyb, npolyb); + if (!overlapRange(aminmax[0], aminmax[1], bminmax[0], bminmax[1], eps)) { + // Found separating axis + return false; + } + } + for (int i = 0, j = npolyb - 1; i < npolyb; j = i++) { + int va = j * 3; + int vb = i * 3; + + float[] n = new float[] { polyb[vb + 2] - polyb[va + 2], 0, -(polyb[vb + 0] - polyb[va + 0]) }; + + float[] aminmax = projectPoly(n, polya, npolya); + float[] bminmax = projectPoly(n, polyb, npolyb); + if (!overlapRange(aminmax[0], aminmax[1], bminmax[0], bminmax[1], eps)) { + // Found separating axis + return false; + } + } + return true; + } + + // Returns a random point in a convex polygon. + // Adapted from Graphics Gems article. + public static float[] randomPointInConvexPoly(float[] pts, int npts, float[] areas, float s, float t) { + // Calc triangle araes + float areasum = 0.0f; + for (int i = 2; i < npts; i++) { + areas[i] = triArea2D(pts, 0, (i - 1) * 3, i * 3); + areasum += Math.Max(0.001f, areas[i]); + } + // Find sub triangle weighted by area. + float thr = s * areasum; + float acc = 0.0f; + float u = 1.0f; + int tri = npts - 1; + for (int i = 2; i < npts; i++) { + float dacc = areas[i]; + if (thr >= acc && thr < (acc + dacc)) { + u = (thr - acc) / dacc; + tri = i; + break; + } + acc += dacc; + } + + float v = (float) Math.Sqrt(t); + + float a = 1 - v; + float b = (1 - u) * v; + float c = u * v; + int pa = 0; + int pb = (tri - 1) * 3; + int pc = tri * 3; + + return new float[] { a * pts[pa] + b * pts[pb] + c * pts[pc], + a * pts[pa + 1] + b * pts[pb + 1] + c * pts[pc + 1], + a * pts[pa + 2] + b * pts[pb + 2] + c * pts[pc + 2] }; + } + + public static int nextPow2(int v) { + v--; + v |= v >> 1; + v |= v >> 2; + v |= v >> 4; + v |= v >> 8; + v |= v >> 16; + v++; + return v; + } + + public static int ilog2(int v) { + int r; + int shift; + r = (v > 0xffff ? 1 : 0) << 4; + v >>= r; + shift = (v > 0xff ? 1 : 0) << 3; + v >>= shift; + r |= shift; + shift = (v > 0xf ? 1 : 0) << 2; + v >>= shift; + r |= shift; + shift = (v > 0x3 ? 1 : 0) << 1; + v >>= shift; + r |= shift; + r |= (v >> 1); + return r; + } + + public class IntersectResult { + public bool intersects; + public float tmin; + public float tmax = 1f; + public int segMin = -1; + public int segMax = -1; + } + + public static IntersectResult intersectSegmentPoly2D(float[] p0, float[] p1, float[] verts, int nverts) { + + IntersectResult result = new IntersectResult(); + float EPS = 0.00000001f; + float[] dir = vSub(p1, p0); + + VectorPtr p0v = new VectorPtr(p0); + for (int i = 0, j = nverts - 1; i < nverts; j = i++) { + VectorPtr vpj = new VectorPtr(verts, j * 3); + float[] edge = vSub(new VectorPtr(verts, i * 3), vpj); + float[] diff = vSub(p0v, vpj); + float n = vPerp2D(edge, diff); + float d = vPerp2D(dir, edge); + if (Math.Abs(d) < EPS) { + // S is nearly parallel to this edge + if (n < 0) { + return result; + } else { + continue; + } + } + float t = n / d; + if (d < 0) { + // segment S is entering across this edge + if (t > result.tmin) { + result.tmin = t; + result.segMin = j; + // S enters after leaving polygon + if (result.tmin > result.tmax) { + return result; + } + } + } else { + // segment S is leaving across this edge + if (t < result.tmax) { + result.tmax = t; + result.segMax = j; + // S leaves before entering polygon + if (result.tmax < result.tmin) { + return result; + } + } + } + } + result.intersects = true; + return result; + } + + public static Tuple distancePtSegSqr2D(float[] pt, float[] verts, int p, int q) { + float pqx = verts[q + 0] - verts[p + 0]; + float pqz = verts[q + 2] - verts[p + 2]; + float dx = pt[0] - verts[p + 0]; + float dz = pt[2] - verts[p + 2]; + float d = pqx * pqx + pqz * pqz; + float t = pqx * dx + pqz * dz; + if (d > 0) { + t /= d; + } + if (t < 0) { + t = 0; + } else if (t > 1) { + t = 1; + } + dx = verts[p + 0] + t * pqx - pt[0]; + dz = verts[p + 2] + t * pqz - pt[2]; + return Tuple.Create(dx * dx + dz * dz, t); + } + + public static int oppositeTile(int side) { + return (side + 4) & 0x7; + } + + public static float vperpXZ(float[] a, float[] b) { + return a[0] * b[2] - a[2] * b[0]; + } + + public static Tuple? intersectSegSeg2D(float[] ap, float[] aq, float[] bp, float[] bq) { + float[] u = vSub(aq, ap); + float[] v = vSub(bq, bp); + float[] w = vSub(ap, bp); + float d = vperpXZ(u, v); + if (Math.Abs(d) < 1e-6f) + { + return null; + } + float s = vperpXZ(v, w) / d; + float t = vperpXZ(u, w) / d; + return Tuple.Create(s, t); + } + + public static float[] vScale(float[] @in, float scale) { + float[] @out = new float[3]; + @out[0] = @in[0] * scale; + @out[1] = @in[1] * scale; + @out[2] = @in[2] * scale; + return @out; + } + + /// Checks that the specified vector's components are all finite. + /// @param[in] v A point. [(x, y, z)] + /// @return True if all of the point's components are finite, i.e. not NaN + /// or any of the infinities. + public static bool vIsFinite(float[] v) { + return float.IsFinite(v[0]) && float.IsFinite(v[1]) && float.IsFinite(v[2]); + } + + /// Checks that the specified vector's 2D components are finite. + /// @param[in] v A point. [(x, y, z)] + public static bool vIsFinite2D(float[] v) { + return float.IsFinite(v[0]) && float.IsFinite(v[2]); + } + +} diff --git a/src/DotRecast.Detour/DotRecast.Detour.csproj b/src/DotRecast.Detour/DotRecast.Detour.csproj new file mode 100644 index 0000000..561560c --- /dev/null +++ b/src/DotRecast.Detour/DotRecast.Detour.csproj @@ -0,0 +1,12 @@ + + + + net7.0 + + + + + + + + diff --git a/src/DotRecast.Detour/FindDistanceToWallResult.cs b/src/DotRecast.Detour/FindDistanceToWallResult.cs new file mode 100644 index 0000000..c366b42 --- /dev/null +++ b/src/DotRecast.Detour/FindDistanceToWallResult.cs @@ -0,0 +1,45 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +//TODO: (PP) Add comments +public class FindDistanceToWallResult { + private readonly float distance; + private readonly float[] position; + private readonly float[] normal; + + public FindDistanceToWallResult(float distance, float[] position, float[] normal) { + this.distance = distance; + this.position = position; + this.normal = normal; + } + + public float getDistance() { + return distance; + } + + public float[] getPosition() { + return position; + } + + public float[] getNormal() { + return normal; + } + +} \ No newline at end of file diff --git a/src/DotRecast.Detour/FindLocalNeighbourhoodResult.cs b/src/DotRecast.Detour/FindLocalNeighbourhoodResult.cs new file mode 100644 index 0000000..8dacd07 --- /dev/null +++ b/src/DotRecast.Detour/FindLocalNeighbourhoodResult.cs @@ -0,0 +1,42 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Detour; + +//TODO: (PP) Add comments +public class FindLocalNeighbourhoodResult { + private readonly List refs; + private readonly List parentRefs; + + public FindLocalNeighbourhoodResult(List refs, List parentRefs) { + this.@refs = refs; + this.parentRefs = parentRefs; + } + + public List getRefs() { + return refs; + } + + public List getParentRefs() { + return parentRefs; + } + +} \ No newline at end of file diff --git a/src/DotRecast.Detour/FindNearestPolyQuery.cs b/src/DotRecast.Detour/FindNearestPolyQuery.cs new file mode 100644 index 0000000..c47f75a --- /dev/null +++ b/src/DotRecast.Detour/FindNearestPolyQuery.cs @@ -0,0 +1,53 @@ +using System; + +namespace DotRecast.Detour; + +using static DetourCommon; + +public class FindNearestPolyQuery : PolyQuery { + + private readonly NavMeshQuery query; + private readonly float[] center; + private long nearestRef; + private float[] nearestPt; + private bool overPoly; + private float nearestDistanceSqr; + + public FindNearestPolyQuery(NavMeshQuery query, float[] center) { + this.query = query; + this.center = center; + nearestDistanceSqr = float.MaxValue; + nearestPt = new float[] { center[0], center[1], center[2] }; + } + + public void process(MeshTile tile, Poly poly, long refs) { + // Find nearest polygon amongst the nearby polygons. + Result closest = query.closestPointOnPoly(refs, center); + bool posOverPoly = closest.result.isPosOverPoly(); + float[] closestPtPoly = closest.result.getClosest(); + + // If a point is directly over a polygon and closer than + // climb height, favor that instead of straight line nearest point. + float d = 0; + float[] diff = vSub(center, closestPtPoly); + if (posOverPoly) { + d = Math.Abs(diff[1]) - tile.data.header.walkableClimb; + d = d > 0 ? d * d : 0; + } else { + d = vLenSqr(diff); + } + + if (d < nearestDistanceSqr) { + nearestPt = closestPtPoly; + nearestDistanceSqr = d; + nearestRef = refs; + overPoly = posOverPoly; + } + + } + + public FindNearestPolyResult result() { + return new FindNearestPolyResult(nearestRef, nearestPt, overPoly); + } + +} diff --git a/src/DotRecast.Detour/FindNearestPolyResult.cs b/src/DotRecast.Detour/FindNearestPolyResult.cs new file mode 100644 index 0000000..47ae34d --- /dev/null +++ b/src/DotRecast.Detour/FindNearestPolyResult.cs @@ -0,0 +1,46 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +public class FindNearestPolyResult { + private readonly long nearestRef; + private readonly float[] nearestPos; + private readonly bool overPoly; + + public FindNearestPolyResult(long nearestRef, float[] nearestPos, bool overPoly) { + this.nearestRef = nearestRef; + this.nearestPos = nearestPos; + this.overPoly = overPoly; + } + + /** Returns the reference id of the nearest polygon. 0 if no polygon is found. */ + public long getNearestRef() { + return nearestRef; + } + + /** Returns the nearest point on the polygon. [opt] [(x, y, z)]. Unchanged if no polygon is found. */ + public float[] getNearestPos() { + return nearestPos; + } + + public bool isOverPoly() { + return overPoly; + } + +} diff --git a/src/DotRecast.Detour/FindPolysAroundResult.cs b/src/DotRecast.Detour/FindPolysAroundResult.cs new file mode 100644 index 0000000..ab82b84 --- /dev/null +++ b/src/DotRecast.Detour/FindPolysAroundResult.cs @@ -0,0 +1,49 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Detour; + + +// TODO: (PP) Add comments +public class FindPolysAroundResult { + private readonly List refs; + private readonly List parentRefs; + private readonly List costs; + + public FindPolysAroundResult(List refs, List parentRefs, List costs) { + this.@refs = refs; + this.parentRefs = parentRefs; + this.costs = costs; + } + + public List getRefs() { + return refs; + } + + public List getParentRefs() { + return parentRefs; + } + + public List getCosts() { + return costs; + } + +} \ No newline at end of file diff --git a/src/DotRecast.Detour/FindRandomPointResult.cs b/src/DotRecast.Detour/FindRandomPointResult.cs new file mode 100644 index 0000000..d8408ad --- /dev/null +++ b/src/DotRecast.Detour/FindRandomPointResult.cs @@ -0,0 +1,41 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +//TODO: (PP) Add comments +public class FindRandomPointResult { + private readonly long randomRef; + private readonly float[] randomPt; + + public FindRandomPointResult(long randomRef, float[] randomPt) { + this.randomRef = randomRef; + this.randomPt = randomPt; + } + + /// @param[out] randomRef The reference id of the random location. + public long getRandomRef() { + return randomRef; + } + + /// @param[out] randomPt The random location. + public float[] getRandomPt() { + return randomPt; + } + +} \ No newline at end of file diff --git a/src/DotRecast.Detour/GetPolyWallSegmentsResult.cs b/src/DotRecast.Detour/GetPolyWallSegmentsResult.cs new file mode 100644 index 0000000..8f98b36 --- /dev/null +++ b/src/DotRecast.Detour/GetPolyWallSegmentsResult.cs @@ -0,0 +1,43 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Detour; + + +public class GetPolyWallSegmentsResult { + + private readonly List segmentVerts; + private readonly List segmentRefs; + + public GetPolyWallSegmentsResult(List segmentVerts, List segmentRefs) { + this.segmentVerts = segmentVerts; + this.segmentRefs = segmentRefs; + } + + public List getSegmentVerts() { + return segmentVerts; + } + + public List getSegmentRefs() { + return segmentRefs; + } + +} diff --git a/src/DotRecast.Detour/Io/DetourWriter.cs b/src/DotRecast.Detour/Io/DetourWriter.cs new file mode 100644 index 0000000..6fb490b --- /dev/null +++ b/src/DotRecast.Detour/Io/DetourWriter.cs @@ -0,0 +1,82 @@ +/* +Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.IO; +using DotRecast.Core; + +namespace DotRecast.Detour.Io; + +public abstract class DetourWriter { + + protected void write(BinaryWriter stream, float value, ByteOrder order) { + byte[] bytes = BitConverter.GetBytes(value); + int i = BitConverter.ToInt32(bytes, 0); + write(stream, i, order); + } + + protected void write(BinaryWriter stream, short value, ByteOrder order) { + if (order == ByteOrder.BIG_ENDIAN) { + stream.Write((byte)((value >> 8) & 0xFF)); + stream.Write((byte)(value & 0xFF)); + } else { + stream.Write((byte)(value & 0xFF)); + stream.Write((byte)((value >> 8) & 0xFF)); + } + } + + protected void write(BinaryWriter stream, long value, ByteOrder order) { + if (order == ByteOrder.BIG_ENDIAN) { + write(stream, (int) (value >>> 32), order); + write(stream, (int) (value & 0xFFFFFFFF), order); + } else { + write(stream, (int) (value & 0xFFFFFFFF), order); + write(stream, (int) (value >>> 32), order); + } + } + + protected void write(BinaryWriter stream, int value, ByteOrder order) { + if (order == ByteOrder.BIG_ENDIAN) { + stream.Write((byte)((value >> 24) & 0xFF)); + stream.Write((byte)((value >> 16) & 0xFF)); + stream.Write((byte)((value >> 8) & 0xFF)); + stream.Write((byte)(value & 0xFF)); + } else { + stream.Write((byte)(value & 0xFF)); + stream.Write((byte)((value >> 8) & 0xFF)); + stream.Write((byte)((value >> 16) & 0xFF)); + stream.Write((byte)((value >> 24) & 0xFF)); + } + } + + protected void write(BinaryWriter stream, bool @bool) { + write(stream, (byte) (@bool ? 1 : 0)); + } + + protected void write(BinaryWriter stream, byte value) { + stream.Write(value); + } + + protected void write(BinaryWriter stream, MemoryStream data) { + data.Position = 0; + byte[] buffer = new byte[data.Length]; + data.Read(buffer, 0, buffer.Length); + stream.Write(buffer); + } + +} diff --git a/src/DotRecast.Detour/Io/IOUtils.cs b/src/DotRecast.Detour/Io/IOUtils.cs new file mode 100644 index 0000000..76a65ad --- /dev/null +++ b/src/DotRecast.Detour/Io/IOUtils.cs @@ -0,0 +1,58 @@ +/* +Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.IO; +using DotRecast.Core; + +namespace DotRecast.Detour.Io; + +public static class IOUtils { + + public static ByteBuffer toByteBuffer(BinaryReader @is, bool direct) { + byte[] data = toByteArray(@is); + if (direct) { + Array.Reverse(data); + } + + return new ByteBuffer(data); + } + + public static byte[] toByteArray(BinaryReader inputStream) { + using var baos = new MemoryStream(); + byte[] buffer = new byte[4096]; + int l; + while ((l = inputStream.Read(buffer)) > 0) { + baos.Write(buffer, 0, l); + } + + return baos.ToArray(); + } + + + public static ByteBuffer toByteBuffer(BinaryReader inputStream) + { + var bytes = toByteArray(inputStream); + return new ByteBuffer(bytes); + } + + public static int swapEndianness(int i) { + var s = ((i >>> 24) & 0xFF) | ((i>>8) & 0xFF00) | ((i<<8) & 0xFF0000) | ((i << 24) & 0xFF000000); + return (int)s; + } +} diff --git a/src/DotRecast.Detour/Io/MeshDataReader.cs b/src/DotRecast.Detour/Io/MeshDataReader.cs new file mode 100644 index 0000000..75654a3 --- /dev/null +++ b/src/DotRecast.Detour/Io/MeshDataReader.cs @@ -0,0 +1,201 @@ +/* +Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.IO; +using DotRecast.Core; + +namespace DotRecast.Detour.Io; + +public class MeshDataReader { + + public const int DT_POLY_DETAIL_SIZE = 10; + + public MeshData read(BinaryReader stream, int maxVertPerPoly) { + ByteBuffer buf = IOUtils.toByteBuffer(stream); + return read(buf, maxVertPerPoly, false); + } + + public MeshData read(ByteBuffer buf, int maxVertPerPoly) { + return read(buf, maxVertPerPoly, false); + } + + public MeshData read32Bit(BinaryReader stream, int maxVertPerPoly) { + ByteBuffer buf = IOUtils.toByteBuffer(stream); + return read(buf, maxVertPerPoly, true); + } + + public MeshData read32Bit(ByteBuffer buf, int maxVertPerPoly) { + return read(buf, maxVertPerPoly, true); + } + + public MeshData read(ByteBuffer buf, int maxVertPerPoly, bool is32Bit) + { + MeshData data = new MeshData(); + MeshHeader header = new MeshHeader(); + data.header = header; + header.magic = buf.getInt(); + if (header.magic != MeshHeader.DT_NAVMESH_MAGIC) { + header.magic = IOUtils.swapEndianness(header.magic); + if (header.magic != MeshHeader.DT_NAVMESH_MAGIC) { + throw new IOException("Invalid magic"); + } + buf.order(buf.order() == ByteOrder.BIG_ENDIAN ? ByteOrder.LITTLE_ENDIAN : ByteOrder.BIG_ENDIAN); + } + header.version = buf.getInt(); + if (header.version != MeshHeader.DT_NAVMESH_VERSION) { + if (header.version < MeshHeader.DT_NAVMESH_VERSION_RECAST4J_FIRST + || header.version > MeshHeader.DT_NAVMESH_VERSION_RECAST4J_LAST) { + throw new IOException("Invalid version " + header.version); + } + } + bool cCompatibility = header.version == MeshHeader.DT_NAVMESH_VERSION; + header.x = buf.getInt(); + header.y = buf.getInt(); + header.layer = buf.getInt(); + header.userId = buf.getInt(); + header.polyCount = buf.getInt(); + header.vertCount = buf.getInt(); + header.maxLinkCount = buf.getInt(); + header.detailMeshCount = buf.getInt(); + header.detailVertCount = buf.getInt(); + header.detailTriCount = buf.getInt(); + header.bvNodeCount = buf.getInt(); + header.offMeshConCount = buf.getInt(); + header.offMeshBase = buf.getInt(); + header.walkableHeight = buf.getFloat(); + header.walkableRadius = buf.getFloat(); + header.walkableClimb = buf.getFloat(); + for (int j = 0; j < 3; j++) { + header.bmin[j] = buf.getFloat(); + } + for (int j = 0; j < 3; j++) { + header.bmax[j] = buf.getFloat(); + } + header.bvQuantFactor = buf.getFloat(); + data.verts = readVerts(buf, header.vertCount); + data.polys = readPolys(buf, header, maxVertPerPoly); + if (cCompatibility) { + buf.position(buf.position() + header.maxLinkCount * getSizeofLink(is32Bit)); + } + data.detailMeshes = readPolyDetails(buf, header, cCompatibility); + data.detailVerts = readVerts(buf, header.detailVertCount); + data.detailTris = readDTris(buf, header); + data.bvTree = readBVTree(buf, header); + data.offMeshCons = readOffMeshCons(buf, header); + return data; + } + + public const int LINK_SIZEOF = 16; + public const int LINK_SIZEOF32BIT = 12; + + public static int getSizeofLink(bool is32Bit) { + return is32Bit ? LINK_SIZEOF32BIT : LINK_SIZEOF; + } + + private float[] readVerts(ByteBuffer buf, int count) { + float[] verts = new float[count * 3]; + for (int i = 0; i < verts.Length; i++) { + verts[i] = buf.getFloat(); + } + return verts; + } + + private Poly[] readPolys(ByteBuffer buf, MeshHeader header, int maxVertPerPoly) { + Poly[] polys = new Poly[header.polyCount]; + for (int i = 0; i < polys.Length; i++) { + polys[i] = new Poly(i, maxVertPerPoly); + if (header.version < MeshHeader.DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK) { + buf.getInt(); // polys[i].firstLink + } + for (int j = 0; j < polys[i].verts.Length; j++) { + polys[i].verts[j] = buf.getShort() & 0xFFFF; + } + for (int j = 0; j < polys[i].neis.Length; j++) { + polys[i].neis[j] = buf.getShort() & 0xFFFF; + } + polys[i].flags = buf.getShort() & 0xFFFF; + polys[i].vertCount = buf.get() & 0xFF; + polys[i].areaAndtype = buf.get() & 0xFF; + } + return polys; + } + + private PolyDetail[] readPolyDetails(ByteBuffer buf, MeshHeader header, bool cCompatibility) { + PolyDetail[] polys = new PolyDetail[header.detailMeshCount]; + for (int i = 0; i < polys.Length; i++) { + polys[i] = new PolyDetail(); + polys[i].vertBase = buf.getInt(); + polys[i].triBase = buf.getInt(); + polys[i].vertCount = buf.get() & 0xFF; + polys[i].triCount = buf.get() & 0xFF; + if (cCompatibility) { + buf.getShort(); // C struct padding + } + } + return polys; + } + + private int[] readDTris(ByteBuffer buf, MeshHeader header) { + int[] tris = new int[4 * header.detailTriCount]; + for (int i = 0; i < tris.Length; i++) { + tris[i] = buf.get() & 0xFF; + } + return tris; + } + + private BVNode[] readBVTree(ByteBuffer buf, MeshHeader header) { + BVNode[] nodes = new BVNode[header.bvNodeCount]; + for (int i = 0; i < nodes.Length; i++) { + nodes[i] = new BVNode(); + if (header.version < MeshHeader.DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE) { + for (int j = 0; j < 3; j++) { + nodes[i].bmin[j] = buf.getShort() & 0xFFFF; + } + for (int j = 0; j < 3; j++) { + nodes[i].bmax[j] = buf.getShort() & 0xFFFF; + } + } else { + for (int j = 0; j < 3; j++) { + nodes[i].bmin[j] = buf.getInt(); + } + for (int j = 0; j < 3; j++) { + nodes[i].bmax[j] = buf.getInt(); + } + } + nodes[i].i = buf.getInt(); + } + return nodes; + } + + private OffMeshConnection[] readOffMeshCons(ByteBuffer buf, MeshHeader header) { + OffMeshConnection[] cons = new OffMeshConnection[header.offMeshConCount]; + for (int i = 0; i < cons.Length; i++) { + cons[i] = new OffMeshConnection(); + for (int j = 0; j < 6; j++) { + cons[i].pos[j] = buf.getFloat(); + } + cons[i].rad = buf.getFloat(); + cons[i].poly = buf.getShort() & 0xFFFF; + cons[i].flags = buf.get() & 0xFF; + cons[i].side = buf.get() & 0xFF; + cons[i].userId = buf.getInt(); + } + return cons; + } + +} diff --git a/src/DotRecast.Detour/Io/MeshDataWriter.cs b/src/DotRecast.Detour/Io/MeshDataWriter.cs new file mode 100644 index 0000000..0416eee --- /dev/null +++ b/src/DotRecast.Detour/Io/MeshDataWriter.cs @@ -0,0 +1,142 @@ +/* +Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.IO; +using DotRecast.Core; + +namespace DotRecast.Detour.Io; + +public class MeshDataWriter : DetourWriter { + + public void write(BinaryWriter stream, MeshData data, ByteOrder order, bool cCompatibility) { + MeshHeader header = data.header; + write(stream, header.magic, order); + write(stream, cCompatibility ? MeshHeader.DT_NAVMESH_VERSION : MeshHeader.DT_NAVMESH_VERSION_RECAST4J_LAST, order); + write(stream, header.x, order); + write(stream, header.y, order); + write(stream, header.layer, order); + write(stream, header.userId, order); + write(stream, header.polyCount, order); + write(stream, header.vertCount, order); + write(stream, header.maxLinkCount, order); + write(stream, header.detailMeshCount, order); + write(stream, header.detailVertCount, order); + write(stream, header.detailTriCount, order); + write(stream, header.bvNodeCount, order); + write(stream, header.offMeshConCount, order); + write(stream, header.offMeshBase, order); + write(stream, header.walkableHeight, order); + write(stream, header.walkableRadius, order); + write(stream, header.walkableClimb, order); + write(stream, header.bmin[0], order); + write(stream, header.bmin[1], order); + write(stream, header.bmin[2], order); + write(stream, header.bmax[0], order); + write(stream, header.bmax[1], order); + write(stream, header.bmax[2], order); + write(stream, header.bvQuantFactor, order); + writeVerts(stream, data.verts, header.vertCount, order); + writePolys(stream, data, order, cCompatibility); + if (cCompatibility) { + byte[] linkPlaceholder = new byte[header.maxLinkCount * MeshDataReader.getSizeofLink(false)]; + stream.Write(linkPlaceholder); + } + writePolyDetails(stream, data, order, cCompatibility); + writeVerts(stream, data.detailVerts, header.detailVertCount, order); + writeDTris(stream, data); + writeBVTree(stream, data, order, cCompatibility); + writeOffMeshCons(stream, data, order); + } + + private void writeVerts(BinaryWriter stream, float[] verts, int count, ByteOrder order) { + for (int i = 0; i < count * 3; i++) { + write(stream, verts[i], order); + } + } + + private void writePolys(BinaryWriter stream, MeshData data, ByteOrder order, bool cCompatibility) { + for (int i = 0; i < data.header.polyCount; i++) { + if (cCompatibility) { + write(stream, 0xFFFF, order); + } + for (int j = 0; j < data.polys[i].verts.Length; j++) { + write(stream, (short) data.polys[i].verts[j], order); + } + for (int j = 0; j < data.polys[i].neis.Length; j++) { + write(stream, (short) data.polys[i].neis[j], order); + } + write(stream, (short) data.polys[i].flags, order); + write(stream, (byte)data.polys[i].vertCount); + write(stream, (byte)data.polys[i].areaAndtype); + } + } + + private void writePolyDetails(BinaryWriter stream, MeshData data, ByteOrder order, bool cCompatibility) + { + for (int i = 0; i < data.header.detailMeshCount; i++) { + write(stream, data.detailMeshes[i].vertBase, order); + write(stream, data.detailMeshes[i].triBase, order); + write(stream, (byte)data.detailMeshes[i].vertCount); + write(stream, (byte)data.detailMeshes[i].triCount); + if (cCompatibility) { + write(stream, (short) 0, order); + } + } + } + + private void writeDTris(BinaryWriter stream, MeshData data) { + for (int i = 0; i < data.header.detailTriCount * 4; i++) { + write(stream, (byte)data.detailTris[i]); + } + } + + private void writeBVTree(BinaryWriter stream, MeshData data, ByteOrder order, bool cCompatibility) { + for (int i = 0; i < data.header.bvNodeCount; i++) { + if (cCompatibility) { + for (int j = 0; j < 3; j++) { + write(stream, (short) data.bvTree[i].bmin[j], order); + } + for (int j = 0; j < 3; j++) { + write(stream, (short) data.bvTree[i].bmax[j], order); + } + } else { + for (int j = 0; j < 3; j++) { + write(stream, data.bvTree[i].bmin[j], order); + } + for (int j = 0; j < 3; j++) { + write(stream, data.bvTree[i].bmax[j], order); + } + } + write(stream, data.bvTree[i].i, order); + } + } + + private void writeOffMeshCons(BinaryWriter stream, MeshData data, ByteOrder order) { + for (int i = 0; i < data.header.offMeshConCount; i++) { + for (int j = 0; j < 6; j++) { + write(stream, data.offMeshCons[i].pos[j], order); + } + write(stream, data.offMeshCons[i].rad, order); + write(stream, (short) data.offMeshCons[i].poly, order); + write(stream, (byte) data.offMeshCons[i].flags); + write(stream, (byte) data.offMeshCons[i].side); + write(stream, data.offMeshCons[i].userId, order); + } + } + +} diff --git a/src/DotRecast.Detour/Io/MeshSetReader.cs b/src/DotRecast.Detour/Io/MeshSetReader.cs new file mode 100644 index 0000000..1dc92d0 --- /dev/null +++ b/src/DotRecast.Detour/Io/MeshSetReader.cs @@ -0,0 +1,127 @@ +/* +Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.IO; +using DotRecast.Core; + +namespace DotRecast.Detour.Io; + +using static DetourCommon; + + +public class MeshSetReader { + + private readonly MeshDataReader meshReader = new MeshDataReader(); + private readonly NavMeshParamReader paramReader = new NavMeshParamReader(); + + public NavMesh read(BinaryReader @is, int maxVertPerPoly) { + return read(IOUtils.toByteBuffer(@is), maxVertPerPoly, false); + } + + public NavMesh read(ByteBuffer bb, int maxVertPerPoly) { + return read(bb, maxVertPerPoly, false); + } + + public NavMesh read32Bit(BinaryReader @is, int maxVertPerPoly) { + return read(IOUtils.toByteBuffer(@is), maxVertPerPoly, true); + } + + public NavMesh read32Bit(ByteBuffer bb, int maxVertPerPoly) { + return read(bb, maxVertPerPoly, true); + } + + public NavMesh read(BinaryReader @is) { + return read(IOUtils.toByteBuffer(@is)); + } + + public NavMesh read(ByteBuffer bb) { + return read(bb, -1, false); + } + + NavMesh read(ByteBuffer bb, int maxVertPerPoly, bool is32Bit) { + NavMeshSetHeader header = readHeader(bb, maxVertPerPoly); + if (header.maxVertsPerPoly <= 0) { + throw new IOException("Invalid number of verts per poly " + header.maxVertsPerPoly); + } + bool cCompatibility = header.version == NavMeshSetHeader.NAVMESHSET_VERSION; + NavMesh mesh = new NavMesh(header.option, header.maxVertsPerPoly); + readTiles(bb, is32Bit, header, cCompatibility, mesh); + return mesh; + } + + private NavMeshSetHeader readHeader(ByteBuffer bb, int maxVertsPerPoly) { + NavMeshSetHeader header = new NavMeshSetHeader(); + header.magic = bb.getInt(); + if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC) { + header.magic = IOUtils.swapEndianness(header.magic); + if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC) { + throw new IOException("Invalid magic " + header.magic); + } + bb.order(bb.order() == ByteOrder.BIG_ENDIAN ? ByteOrder.LITTLE_ENDIAN : ByteOrder.BIG_ENDIAN); + } + header.version = bb.getInt(); + if (header.version != NavMeshSetHeader.NAVMESHSET_VERSION && header.version != NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J_1 + && header.version != NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J) { + throw new IOException("Invalid version " + header.version); + } + header.numTiles = bb.getInt(); + header.option = paramReader.read(bb); + header.maxVertsPerPoly = maxVertsPerPoly; + if (header.version == NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J) { + header.maxVertsPerPoly = bb.getInt(); + } + return header; + } + + private void readTiles(ByteBuffer bb, bool is32Bit, NavMeshSetHeader header, bool cCompatibility, NavMesh mesh) + { + // Read tiles. + for (int i = 0; i < header.numTiles; ++i) { + NavMeshTileHeader tileHeader = new NavMeshTileHeader(); + if (is32Bit) { + tileHeader.tileRef = convert32BitRef(bb.getInt(), header.option); + } else { + tileHeader.tileRef = bb.getLong(); + } + tileHeader.dataSize = bb.getInt(); + if (tileHeader.tileRef == 0 || tileHeader.dataSize == 0) { + break; + } + if (cCompatibility && !is32Bit) { + bb.getInt(); // C struct padding + } + MeshData data = meshReader.read(bb, mesh.getMaxVertsPerPoly(), is32Bit); + mesh.addTile(data, i, tileHeader.tileRef); + } + } + + private long convert32BitRef(int refs, NavMeshParams option) { + int m_tileBits = ilog2(nextPow2(option.maxTiles)); + int m_polyBits = ilog2(nextPow2(option.maxPolys)); + // Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow. + int m_saltBits = Math.Min(31, 32 - m_tileBits - m_polyBits); + int saltMask = (1 << m_saltBits) - 1; + int tileMask = (1 << m_tileBits) - 1; + int polyMask = (1 << m_polyBits) - 1; + int salt = ((refs >> (m_polyBits + m_tileBits)) & saltMask); + int it = ((refs >> m_polyBits) & tileMask); + int ip = refs & polyMask; + return NavMesh.encodePolyId(salt, it, ip); + } +} diff --git a/src/DotRecast.Detour/Io/MeshSetWriter.cs b/src/DotRecast.Detour/Io/MeshSetWriter.cs new file mode 100644 index 0000000..d0135d0 --- /dev/null +++ b/src/DotRecast.Detour/Io/MeshSetWriter.cs @@ -0,0 +1,78 @@ +/* +Recast4J Copyright (c) 2015-2018 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.IO; +using DotRecast.Core; + +namespace DotRecast.Detour.Io; + +public class MeshSetWriter : DetourWriter { + + private readonly MeshDataWriter writer = new MeshDataWriter(); + private readonly NavMeshParamWriter paramWriter = new NavMeshParamWriter(); + + public void write(BinaryWriter stream, NavMesh mesh, ByteOrder order, bool cCompatibility) { + writeHeader(stream, mesh, order, cCompatibility); + writeTiles(stream, mesh, order, cCompatibility); + } + + private void writeHeader(BinaryWriter stream, NavMesh mesh, ByteOrder order, bool cCompatibility) { + write(stream, NavMeshSetHeader.NAVMESHSET_MAGIC, order); + write(stream, cCompatibility ? NavMeshSetHeader.NAVMESHSET_VERSION : NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J, order); + int numTiles = 0; + for (int i = 0; i < mesh.getMaxTiles(); ++i) { + MeshTile tile = mesh.getTile(i); + if (tile == null || tile.data == null || tile.data.header == null) { + continue; + } + numTiles++; + } + write(stream, numTiles, order); + paramWriter.write(stream, mesh.getParams(), order); + if (!cCompatibility) { + write(stream, mesh.getMaxVertsPerPoly(), order); + } + } + + private void writeTiles(BinaryWriter stream, NavMesh mesh, ByteOrder order, bool cCompatibility) { + for (int i = 0; i < mesh.getMaxTiles(); ++i) { + MeshTile tile = mesh.getTile(i); + if (tile == null || tile.data == null || tile.data.header == null) { + continue; + } + + NavMeshTileHeader tileHeader = new NavMeshTileHeader(); + tileHeader.tileRef = mesh.getTileRef(tile); + using MemoryStream bb = new MemoryStream(); + using BinaryWriter baos = new BinaryWriter(bb); + writer.write(baos, tile.data, order, cCompatibility); + baos.Flush(); + baos.Close(); + + byte[] ba = bb.ToArray(); + tileHeader.dataSize = ba.Length; + write(stream, tileHeader.tileRef, order); + write(stream, tileHeader.dataSize, order); + if (cCompatibility) { + write(stream, 0, order); // C struct padding + } + stream.Write(ba); + } + } + +} diff --git a/src/DotRecast.Detour/Io/NavMeshParamReader.cs b/src/DotRecast.Detour/Io/NavMeshParamReader.cs new file mode 100644 index 0000000..54e39a9 --- /dev/null +++ b/src/DotRecast.Detour/Io/NavMeshParamReader.cs @@ -0,0 +1,19 @@ +using DotRecast.Core; + +namespace DotRecast.Detour.Io; + +public class NavMeshParamReader { + + public NavMeshParams read(ByteBuffer bb) { + NavMeshParams option = new NavMeshParams(); + option.orig[0] = bb.getFloat(); + option.orig[1] = bb.getFloat(); + option.orig[2] = bb.getFloat(); + option.tileWidth = bb.getFloat(); + option.tileHeight = bb.getFloat(); + option.maxTiles = bb.getInt(); + option.maxPolys = bb.getInt(); + return option; + } + +} diff --git a/src/DotRecast.Detour/Io/NavMeshParamWriter.cs b/src/DotRecast.Detour/Io/NavMeshParamWriter.cs new file mode 100644 index 0000000..8fac183 --- /dev/null +++ b/src/DotRecast.Detour/Io/NavMeshParamWriter.cs @@ -0,0 +1,18 @@ +using System.IO; +using DotRecast.Core; + +namespace DotRecast.Detour.Io; + +public class NavMeshParamWriter : DetourWriter { + + public void write(BinaryWriter stream, NavMeshParams option, ByteOrder order) { + write(stream, option.orig[0], order); + write(stream, option.orig[1], order); + write(stream, option.orig[2], order); + write(stream, option.tileWidth, order); + write(stream, option.tileHeight, order); + write(stream, option.maxTiles, order); + write(stream, option.maxPolys, order); + } + +} diff --git a/src/DotRecast.Detour/Io/NavMeshSetHeader.cs b/src/DotRecast.Detour/Io/NavMeshSetHeader.cs new file mode 100644 index 0000000..ab2fc44 --- /dev/null +++ b/src/DotRecast.Detour/Io/NavMeshSetHeader.cs @@ -0,0 +1,33 @@ +/* +Recast4J Copyright (c) 2015-2018 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour.Io; + +public class NavMeshSetHeader { + + public const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; // 'MSET'; + public const int NAVMESHSET_VERSION = 1; + public const int NAVMESHSET_VERSION_RECAST4J_1 = 0x8801; + public const int NAVMESHSET_VERSION_RECAST4J = 0x8802; + + public int magic; + public int version; + public int numTiles; + public NavMeshParams option = new NavMeshParams(); + public int maxVertsPerPoly; + +} diff --git a/src/DotRecast.Detour/Io/NavMeshTileHeader.cs b/src/DotRecast.Detour/Io/NavMeshTileHeader.cs new file mode 100644 index 0000000..3613c3f --- /dev/null +++ b/src/DotRecast.Detour/Io/NavMeshTileHeader.cs @@ -0,0 +1,6 @@ +namespace DotRecast.Detour.Io; + +public class NavMeshTileHeader { + public long tileRef; + public int dataSize; +} diff --git a/src/DotRecast.Detour/LegacyNavMeshQuery.cs b/src/DotRecast.Detour/LegacyNavMeshQuery.cs new file mode 100644 index 0000000..e11bc0a --- /dev/null +++ b/src/DotRecast.Detour/LegacyNavMeshQuery.cs @@ -0,0 +1,730 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; + +namespace DotRecast.Detour; + +using static DetourCommon; + + +public class LegacyNavMeshQuery : NavMeshQuery { + + private static float H_SCALE = 0.999f; // Search heuristic scale. + + public LegacyNavMeshQuery(NavMesh nav) : base(nav) { + } + + public override Result> findPath(long startRef, long endRef, float[] startPos, float[] endPos, QueryFilter filter, + int options, float raycastLimit) { + return findPath(startRef, endRef, startPos, endPos, filter); + } + + public override Result> findPath(long startRef, long endRef, float[] startPos, float[] endPos, + QueryFilter filter) { + // Validate input + if (!m_nav.isValidPolyRef(startRef) || !m_nav.isValidPolyRef(endRef) || null == startPos + || !vIsFinite(startPos) || null == endPos || !vIsFinite(endPos) || null == filter) { + return Results.invalidParam>(); + } + + if (startRef == endRef) { + List singlePath = new(1); + singlePath.Add(startRef); + return Results.success(singlePath); + } + + m_nodePool.clear(); + m_openList.clear(); + + Node startNode = m_nodePool.getNode(startRef); + vCopy(startNode.pos, startPos); + startNode.pidx = 0; + startNode.cost = 0; + startNode.total = vDist(startPos, endPos) * H_SCALE; + startNode.id = startRef; + startNode.flags = Node.DT_NODE_OPEN; + m_openList.push(startNode); + + Node lastBestNode = startNode; + float lastBestNodeCost = startNode.total; + + Status status = Status.SUCCSESS; + + while (!m_openList.isEmpty()) { + // Remove node from open list and put it in closed list. + Node bestNode = m_openList.pop(); + bestNode.flags &= ~Node.DT_NODE_OPEN; + bestNode.flags |= Node.DT_NODE_CLOSED; + + // Reached the goal, stop searching. + if (bestNode.id == endRef) { + lastBestNode = bestNode; + break; + } + + // Get current poly and tile. + // The API input has been cheked already, skip checking internal data. + long bestRef = bestNode.id; + Tuple tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(bestRef); + MeshTile bestTile = tileAndPoly.Item1; + Poly bestPoly = tileAndPoly.Item2; + + // Get parent poly and tile. + long parentRef = 0; + MeshTile parentTile = null; + Poly parentPoly = null; + if (bestNode.pidx != 0) { + parentRef = m_nodePool.getNodeAtIdx(bestNode.pidx).id; + } + if (parentRef != 0) { + tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(parentRef); + parentTile = tileAndPoly.Item1; + parentPoly = tileAndPoly.Item2; + } + + for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) { + long neighbourRef = bestTile.links[i].refs; + + // Skip invalid ids and do not expand back to where we came from. + if (neighbourRef == 0 || neighbourRef == parentRef) { + continue; + } + + // Get neighbour poly and tile. + // The API input has been cheked already, skip checking internal data. + tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(neighbourRef); + MeshTile neighbourTile = tileAndPoly.Item1; + Poly neighbourPoly = tileAndPoly.Item2; + + if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) { + continue; + } + + // deal explicitly with crossing tile boundaries + int crossSide = 0; + if (bestTile.links[i].side != 0xff) { + crossSide = bestTile.links[i].side >> 1; + } + + // get the node + Node neighbourNode = m_nodePool.getNode(neighbourRef, crossSide); + + // If the node is visited the first time, calculate node position. + if (neighbourNode.flags == 0) { + Result midpod = getEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, + neighbourTile); + if (!midpod.failed()) { + neighbourNode.pos = midpod.result; + } + } + + // Calculate cost and heuristic. + float cost = 0; + float heuristic = 0; + + // Special case for last node. + if (neighbourRef == endRef) { + // Cost + float curCost = filter.getCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly, + bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly); + float endCost = filter.getCost(neighbourNode.pos, endPos, bestRef, bestTile, bestPoly, neighbourRef, + neighbourTile, neighbourPoly, 0L, null, null); + + cost = bestNode.cost + curCost + endCost; + heuristic = 0; + } else { + // Cost + float curCost = filter.getCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly, + bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly); + cost = bestNode.cost + curCost; + heuristic = vDist(neighbourNode.pos, endPos) * H_SCALE; + } + + float total = cost + heuristic; + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { + continue; + } + // The node is already visited and process, and the new result is worse, skip. + if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total) { + continue; + } + + // Add or update the node. + neighbourNode.pidx = m_nodePool.getNodeIdx(bestNode); + neighbourNode.id = neighbourRef; + neighbourNode.flags = (neighbourNode.flags & ~Node.DT_NODE_CLOSED); + neighbourNode.cost = cost; + neighbourNode.total = total; + + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) { + // Already in open, update node location. + m_openList.modify(neighbourNode); + } else { + // Put the node in open list. + neighbourNode.flags |= Node.DT_NODE_OPEN; + m_openList.push(neighbourNode); + } + + // Update nearest node to target so far. + if (heuristic < lastBestNodeCost) { + lastBestNodeCost = heuristic; + lastBestNode = neighbourNode; + } + } + } + + List path = getPathToNode(lastBestNode); + + if (lastBestNode.id != endRef) { + status = Status.PARTIAL_RESULT; + } + + return Results.of(status, path); + } + + /** + * Updates an in-progress sliced path query. + * + * @param maxIter + * The maximum number of iterations to perform. + * @return The status flags for the query. + */ + public override Result updateSlicedFindPath(int maxIter) { + if (!m_query.status.isInProgress()) { + return Results.of(m_query.status, 0); + } + + // Make sure the request is still valid. + if (!m_nav.isValidPolyRef(m_query.startRef) || !m_nav.isValidPolyRef(m_query.endRef)) { + m_query.status = Status.FAILURE; + return Results.of(m_query.status, 0); + } + + int iter = 0; + while (iter < maxIter && !m_openList.isEmpty()) { + iter++; + + // Remove node from open list and put it in closed list. + Node bestNode = m_openList.pop(); + bestNode.flags &= ~Node.DT_NODE_OPEN; + bestNode.flags |= Node.DT_NODE_CLOSED; + + // Reached the goal, stop searching. + if (bestNode.id == m_query.endRef) { + m_query.lastBestNode = bestNode; + m_query.status = Status.SUCCSESS; + return Results.of(m_query.status, iter); + } + + // Get current poly and tile. + // The API input has been cheked already, skip checking internal + // data. + long bestRef = bestNode.id; + Result> tileAndPoly = m_nav.getTileAndPolyByRef(bestRef); + if (tileAndPoly.failed()) { + m_query.status = Status.FAILURE; + // The polygon has disappeared during the sliced query, fail. + return Results.of(m_query.status, iter); + } + MeshTile bestTile = tileAndPoly.result.Item1; + Poly bestPoly = tileAndPoly.result.Item2; + // Get parent and grand parent poly and tile. + long parentRef = 0, grandpaRef = 0; + MeshTile parentTile = null; + Poly parentPoly = null; + Node parentNode = null; + if (bestNode.pidx != 0) { + parentNode = m_nodePool.getNodeAtIdx(bestNode.pidx); + parentRef = parentNode.id; + if (parentNode.pidx != 0) { + grandpaRef = m_nodePool.getNodeAtIdx(parentNode.pidx).id; + } + } + if (parentRef != 0) { + bool invalidParent = false; + tileAndPoly = m_nav.getTileAndPolyByRef(parentRef); + invalidParent = tileAndPoly.failed(); + if (invalidParent || (grandpaRef != 0 && !m_nav.isValidPolyRef(grandpaRef))) { + // The polygon has disappeared during the sliced query, + // fail. + m_query.status = Status.FAILURE; + return Results.of(m_query.status, iter); + } + parentTile = tileAndPoly.result.Item1; + parentPoly = tileAndPoly.result.Item2; + } + + // decide whether to test raycast to previous nodes + bool tryLOS = false; + if ((m_query.options & DT_FINDPATH_ANY_ANGLE) != 0) { + if ((parentRef != 0) && (vDistSqr(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr)) { + tryLOS = true; + } + } + + for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) { + long neighbourRef = bestTile.links[i].refs; + + // Skip invalid ids and do not expand back to where we came + // from. + if (neighbourRef == 0 || neighbourRef == parentRef) { + continue; + } + + // Get neighbour poly and tile. + // The API input has been cheked already, skip checking internal + // data. + Tuple tileAndPolyUns = m_nav.getTileAndPolyByRefUnsafe(neighbourRef); + MeshTile neighbourTile = tileAndPolyUns.Item1; + Poly neighbourPoly = tileAndPolyUns.Item2; + + if (!m_query.filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) { + continue; + } + + // get the neighbor node + Node neighbourNode = m_nodePool.getNode(neighbourRef, 0); + + // do not expand to nodes that were already visited from the + // same parent + if (neighbourNode.pidx != 0 && neighbourNode.pidx == bestNode.pidx) { + continue; + } + + // If the node is visited the first time, calculate node + // position. + if (neighbourNode.flags == 0) { + Result midpod = getEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, + neighbourTile); + if (!midpod.failed()) { + neighbourNode.pos = midpod.result; + } + } + + // Calculate cost and heuristic. + float cost = 0; + float heuristic = 0; + + // raycast parent + bool foundShortCut = false; + if (tryLOS) { + Result rayHit = raycast(parentRef, parentNode.pos, neighbourNode.pos, m_query.filter, + DT_RAYCAST_USE_COSTS, grandpaRef); + if (rayHit.succeeded()) { + foundShortCut = rayHit.result.t >= 1.0f; + if (foundShortCut) { + // shortcut found using raycast. Using shorter cost + // instead + cost = parentNode.cost + rayHit.result.pathCost; + } + } + } + + // update move cost + if (!foundShortCut) { + // No shortcut found. + float curCost = m_query.filter.getCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, + parentPoly, bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly); + cost = bestNode.cost + curCost; + } + + // Special case for last node. + if (neighbourRef == m_query.endRef) { + float endCost = m_query.filter.getCost(neighbourNode.pos, m_query.endPos, bestRef, bestTile, + bestPoly, neighbourRef, neighbourTile, neighbourPoly, 0, null, null); + + cost = cost + endCost; + heuristic = 0; + } else { + heuristic = vDist(neighbourNode.pos, m_query.endPos) * H_SCALE; + } + + float total = cost + heuristic; + + // The node is already in open list and the new result is worse, + // skip. + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { + continue; + } + // The node is already visited and process, and the new result + // is worse, skip. + if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total) { + continue; + } + + // Add or update the node. + neighbourNode.pidx = foundShortCut ? bestNode.pidx : m_nodePool.getNodeIdx(bestNode); + neighbourNode.id = neighbourRef; + neighbourNode.flags = (neighbourNode.flags & ~(Node.DT_NODE_CLOSED | Node.DT_NODE_PARENT_DETACHED)); + neighbourNode.cost = cost; + neighbourNode.total = total; + if (foundShortCut) { + neighbourNode.flags = (neighbourNode.flags | Node.DT_NODE_PARENT_DETACHED); + } + + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) { + // Already in open, update node location. + m_openList.modify(neighbourNode); + } else { + // Put the node in open list. + neighbourNode.flags |= Node.DT_NODE_OPEN; + m_openList.push(neighbourNode); + } + + // Update nearest node to target so far. + if (heuristic < m_query.lastBestNodeCost) { + m_query.lastBestNodeCost = heuristic; + m_query.lastBestNode = neighbourNode; + } + } + } + + // Exhausted all nodes, but could not find path. + if (m_openList.isEmpty()) { + m_query.status = Status.PARTIAL_RESULT; + } + + return Results.of(m_query.status, iter); + } + + /// Finalizes and returns the results of a sliced path query. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @returns The status flags for the query. + public override Result> finalizeSlicedFindPath() { + + List path = new(64); + if (m_query.status.isFailed()) { + // Reset query. + m_query = new QueryData(); + return Results.failure(path); + } + + if (m_query.startRef == m_query.endRef) { + // Special case: the search starts and ends at same poly. + path.Add(m_query.startRef); + } else { + // Reverse the path. + if (m_query.lastBestNode.id != m_query.endRef) { + m_query.status = Status.PARTIAL_RESULT; + } + + Node prev = null; + Node node = m_query.lastBestNode; + int prevRay = 0; + do { + Node next = m_nodePool.getNodeAtIdx(node.pidx); + node.pidx = m_nodePool.getNodeIdx(prev); + prev = node; + int nextRay = node.flags & Node.DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent + // (i.e. due to raycast shortcut) + node.flags = (node.flags & ~Node.DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed + // path's node + prevRay = nextRay; + node = next; + } while (node != null); + + // Store path + node = prev; + do { + Node next = m_nodePool.getNodeAtIdx(node.pidx); + if ((node.flags & Node.DT_NODE_PARENT_DETACHED) != 0) { + Result iresult = raycast(node.id, node.pos, next.pos, m_query.filter, 0, 0); + if (iresult.succeeded()) { + path.AddRange(iresult.result.path); + } + // raycast ends on poly boundary and the path might include the next poly boundary. + if (path[path.Count - 1] == next.id) { + path.RemoveAt(path.Count - 1); // remove to avoid duplicates + } + } else { + path.Add(node.id); + } + + node = next; + } while (node != null); + } + + Status status = m_query.status; + // Reset query. + m_query = new QueryData(); + + return Results.of(status, path); + } + + /// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest + /// polygon on the existing path that was visited during the search. + /// @param[in] existing An array of polygon references for the existing path. + /// @param[in] existingSize The number of polygon in the @p existing array. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @returns The status flags for the query. + public override Result> finalizeSlicedFindPathPartial(List existing) { + + List path = new(64); + if (null == existing || existing.Count <= 0) { + return Results.failure(path); + } + if (m_query.status.isFailed()) { + // Reset query. + m_query = new QueryData(); + return Results.failure(path); + } + if (m_query.startRef == m_query.endRef) { + // Special case: the search starts and ends at same poly. + path.Add(m_query.startRef); + } else { + // Find furthest existing node that was visited. + Node prev = null; + Node node = null; + for (int i = existing.Count - 1; i >= 0; --i) { + node = m_nodePool.findNode(existing[i]); + if (node != null) { + break; + } + } + + if (node == null) { + m_query.status = Status.PARTIAL_RESULT; + node = m_query.lastBestNode; + } + + // Reverse the path. + int prevRay = 0; + do { + Node next = m_nodePool.getNodeAtIdx(node.pidx); + node.pidx = m_nodePool.getNodeIdx(prev); + prev = node; + int nextRay = node.flags & Node.DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent + // (i.e. due to raycast shortcut) + node.flags = (node.flags & ~Node.DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed + // path's node + prevRay = nextRay; + node = next; + } while (node != null); + + // Store path + node = prev; + do { + Node next = m_nodePool.getNodeAtIdx(node.pidx); + if ((node.flags & Node.DT_NODE_PARENT_DETACHED) != 0) { + Result iresult = raycast(node.id, node.pos, next.pos, m_query.filter, 0, 0); + if (iresult.succeeded()) { + path.AddRange(iresult.result.path); + } + // raycast ends on poly boundary and the path might include the next poly boundary. + if (path[path.Count - 1] == next.id) { + path.RemoveAt(path.Count - 1); // remove to avoid duplicates + } + } else { + path.Add(node.id); + } + + node = next; + } while (node != null); + } + Status status = m_query.status; + // Reset query. + m_query = new QueryData(); + + return Results.of(status, path); + } + + public override Result findDistanceToWall(long startRef, float[] centerPos, float maxRadius, + QueryFilter filter) { + + // Validate input + if (!m_nav.isValidPolyRef(startRef) || null == centerPos || !vIsFinite(centerPos) || maxRadius < 0 + || !float.IsFinite(maxRadius) || null == filter) { + return Results.invalidParam(); + } + + m_nodePool.clear(); + m_openList.clear(); + + Node startNode = m_nodePool.getNode(startRef); + vCopy(startNode.pos, centerPos); + startNode.pidx = 0; + startNode.cost = 0; + startNode.total = 0; + startNode.id = startRef; + startNode.flags = Node.DT_NODE_OPEN; + m_openList.push(startNode); + + float radiusSqr = sqr(maxRadius); + float[] hitPos = new float[3]; + VectorPtr bestvj = null; + VectorPtr bestvi = null; + while (!m_openList.isEmpty()) { + Node bestNode = m_openList.pop(); + bestNode.flags &= ~Node.DT_NODE_OPEN; + bestNode.flags |= Node.DT_NODE_CLOSED; + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + long bestRef = bestNode.id; + Tuple tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(bestRef); + MeshTile bestTile = tileAndPoly.Item1; + Poly bestPoly = tileAndPoly.Item2; + + // Get parent poly and tile. + long parentRef = 0; + if (bestNode.pidx != 0) { + parentRef = m_nodePool.getNodeAtIdx(bestNode.pidx).id; + } + + // Hit test walls. + for (int i = 0, j = bestPoly.vertCount - 1; i < bestPoly.vertCount; j = i++) { + // Skip non-solid edges. + if ((bestPoly.neis[j] & NavMesh.DT_EXT_LINK) != 0) { + // Tile border. + bool solid = true; + for (int k = bestTile.polyLinks[bestPoly.index]; k != NavMesh.DT_NULL_LINK; k = bestTile.links[k].next) { + Link link = bestTile.links[k]; + if (link.edge == j) { + if (link.refs != 0) { + Tuple linkTileAndPoly = m_nav.getTileAndPolyByRefUnsafe(link.refs); + MeshTile neiTile = linkTileAndPoly.Item1; + Poly neiPoly = linkTileAndPoly.Item2; + if (filter.passFilter(link.refs, neiTile, neiPoly)) { + solid = false; + } + } + break; + } + } + if (!solid) { + continue; + } + } else if (bestPoly.neis[j] != 0) { + // Internal edge + int idx = (bestPoly.neis[j] - 1); + long refs = m_nav.getPolyRefBase(bestTile) | idx; + if (filter.passFilter(refs, bestTile, bestTile.data.polys[idx])) { + continue; + } + } + + // Calc distance to the edge. + int vj = bestPoly.verts[j] * 3; + int vi = bestPoly.verts[i] * 3; + Tuple distseg = distancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi); + float distSqr = distseg.Item1; + float tseg = distseg.Item2; + + // Edge is too far, skip. + if (distSqr > radiusSqr) { + continue; + } + + // Hit wall, update radius. + radiusSqr = distSqr; + // Calculate hit pos. + hitPos[0] = bestTile.data.verts[vj] + (bestTile.data.verts[vi] - bestTile.data.verts[vj]) * tseg; + hitPos[1] = bestTile.data.verts[vj + 1] + + (bestTile.data.verts[vi + 1] - bestTile.data.verts[vj + 1]) * tseg; + hitPos[2] = bestTile.data.verts[vj + 2] + + (bestTile.data.verts[vi + 2] - bestTile.data.verts[vj + 2]) * tseg; + bestvj = new VectorPtr(bestTile.data.verts, vj); + bestvi = new VectorPtr(bestTile.data.verts, vi); + } + + for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) { + Link link = bestTile.links[i]; + long neighbourRef = link.refs; + // Skip invalid neighbours and do not follow back to parent. + if (neighbourRef == 0 || neighbourRef == parentRef) { + continue; + } + + // Expand to neighbour. + Tuple neighbourTileAndPoly = m_nav.getTileAndPolyByRefUnsafe(neighbourRef); + MeshTile neighbourTile = neighbourTileAndPoly.Item1; + Poly neighbourPoly = neighbourTileAndPoly.Item2; + + // Skip off-mesh connections. + if (neighbourPoly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + continue; + } + + // Calc distance to the edge. + int va = bestPoly.verts[link.edge] * 3; + int vb = bestPoly.verts[(link.edge + 1) % bestPoly.vertCount] * 3; + Tuple distseg = distancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb); + float distSqr = distseg.Item1; + // If the circle is not touching the next polygon, skip it. + if (distSqr > radiusSqr) { + continue; + } + + if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) { + continue; + } + + Node neighbourNode = m_nodePool.getNode(neighbourRef); + + if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0) { + continue; + } + + // Cost + if (neighbourNode.flags == 0) { + Result midPoint = getEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, + neighbourTile); + if (midPoint.succeeded()) { + neighbourNode.pos = midPoint.result; + } + } + + float total = bestNode.total + vDist(bestNode.pos, neighbourNode.pos); + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { + continue; + } + + neighbourNode.id = neighbourRef; + neighbourNode.flags = (neighbourNode.flags & ~Node.DT_NODE_CLOSED); + neighbourNode.pidx = m_nodePool.getNodeIdx(bestNode); + neighbourNode.total = total; + + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) { + m_openList.modify(neighbourNode); + } else { + neighbourNode.flags |= Node.DT_NODE_OPEN; + m_openList.push(neighbourNode); + } + } + } + + // Calc hit normal. + float[] hitNormal = new float[3]; + if (bestvi != null && bestvj != null) { + float[] tangent = vSub(bestvi, bestvj); + hitNormal[0] = tangent[2]; + hitNormal[1] = 0; + hitNormal[2] = -tangent[0]; + vNormalize(hitNormal); + } + return Results.success(new FindDistanceToWallResult((float) Math.Sqrt(radiusSqr), hitPos, hitNormal)); + } +} diff --git a/src/DotRecast.Detour/Link.cs b/src/DotRecast.Detour/Link.cs new file mode 100644 index 0000000..0ae0f23 --- /dev/null +++ b/src/DotRecast.Detour/Link.cs @@ -0,0 +1,41 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +/** + * Defines a link between polygons. + * + * @note This structure is rarely if ever used by the end user. + * @see MeshTile + */ +public class Link { + /** Neighbour reference. (The neighbor that is linked to.) */ + public long refs; + /** Index of the next link. */ + public int next; + /** Index of the polygon edge that owns this link. */ + public int edge; + /** If a boundary link, defines on which side the link is. */ + public int side; + /** If a boundary link, defines the minimum sub-edge area. */ + public int bmin; + /** If a boundary link, defines the maximum sub-edge area. */ + public int bmax; + +} diff --git a/src/DotRecast.Detour/MeshData.cs b/src/DotRecast.Detour/MeshData.cs new file mode 100644 index 0000000..f6967b5 --- /dev/null +++ b/src/DotRecast.Detour/MeshData.cs @@ -0,0 +1,45 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +public class MeshData { + + /** The tile header. */ + public MeshHeader header; + /** The tile vertices. [Size: MeshHeader::vertCount] */ + public float[] verts; + /** The tile polygons. [Size: MeshHeader::polyCount] */ + public Poly[] polys; + /** The tile's detail sub-meshes. [Size: MeshHeader::detailMeshCount] */ + public PolyDetail[] detailMeshes; + /** The detail mesh's unique vertices. [(x, y, z) * MeshHeader::detailVertCount] */ + public float[] detailVerts; + /** + * The detail mesh's triangles. [(vertA, vertB, vertC) * MeshHeader::detailTriCount] See DetailTriEdgeFlags and + * NavMesh::getDetailTriEdgeFlags. + */ + public int[] detailTris; + /** + * The tile bounding volume nodes. [Size: MeshHeader::bvNodeCount] (Will be null if bounding volumes are disabled.) + */ + public BVNode[] bvTree; + /** The tile off-mesh connections. [Size: MeshHeader::offMeshConCount] */ + public OffMeshConnection[] offMeshCons; + +} \ No newline at end of file diff --git a/src/DotRecast.Detour/MeshHeader.cs b/src/DotRecast.Detour/MeshHeader.cs new file mode 100644 index 0000000..2563d2e --- /dev/null +++ b/src/DotRecast.Detour/MeshHeader.cs @@ -0,0 +1,78 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +/** Provides high level information related to a dtMeshTile object. */ +public class MeshHeader { + /** A magic number used to detect compatibility of navigation tile data. */ + public const int DT_NAVMESH_MAGIC = 'D' << 24 | 'N' << 16 | 'A' << 8 | 'V'; + /** A version number used to detect compatibility of navigation tile data. */ + public const int DT_NAVMESH_VERSION = 7; + public const int DT_NAVMESH_VERSION_RECAST4J_FIRST = 0x8807; + public const int DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK = 0x8808; + public const int DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE = 0x8809; + public const int DT_NAVMESH_VERSION_RECAST4J_LAST = 0x8809; + /** A magic number used to detect the compatibility of navigation tile states. */ + public const int DT_NAVMESH_STATE_MAGIC = 'D' << 24 | 'N' << 16 | 'M' << 8 | 'S'; + /** A version number used to detect compatibility of navigation tile states. */ + public const int DT_NAVMESH_STATE_VERSION = 1; + + /** Tile magic number. (Used to identify the data format.) */ + public int magic; + /** Tile data format version number. */ + public int version; + /** The x-position of the tile within the dtNavMesh tile grid. (x, y, layer) */ + public int x; + /** The y-position of the tile within the dtNavMesh tile grid. (x, y, layer) */ + public int y; + /** The layer of the tile within the dtNavMesh tile grid. (x, y, layer) */ + public int layer; + /** The user defined id of the tile. */ + public int userId; + /** The number of polygons in the tile. */ + public int polyCount; + /** The number of vertices in the tile. */ + public int vertCount; + /** The number of allocated links. */ + public int maxLinkCount; + /** The number of sub-meshes in the detail mesh. */ + public int detailMeshCount; + /** The number of unique vertices in the detail mesh. (In addition to the polygon vertices.) */ + public int detailVertCount; + /** The number of triangles in the detail mesh. */ + public int detailTriCount; + /** The number of bounding volume nodes. (Zero if bounding volumes are disabled.) */ + public int bvNodeCount; + /** The number of off-mesh connections. */ + public int offMeshConCount; + /** The index of the first polygon which is an off-mesh connection. */ + public int offMeshBase; + /** The height of the agents using the tile. */ + public float walkableHeight; + /** The radius of the agents using the tile. */ + public float walkableRadius; + /** The maximum climb height of the agents using the tile. */ + public float walkableClimb; + /** The minimum bounds of the tile's AABB. [(x, y, z)] */ + public readonly float[] bmin = new float[3]; + /** The maximum bounds of the tile's AABB. [(x, y, z)] */ + public readonly float[] bmax = new float[3]; + /** The bounding volume quantization factor. */ + public float bvQuantFactor; +} diff --git a/src/DotRecast.Detour/MeshTile.cs b/src/DotRecast.Detour/MeshTile.cs new file mode 100644 index 0000000..aba3dfc --- /dev/null +++ b/src/DotRecast.Detour/MeshTile.cs @@ -0,0 +1,45 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Detour; + +/** + * Defines a navigation mesh tile. + */ +public class MeshTile { + public readonly int index; + /** Counter describing modifications to the tile. */ + public int salt; + /** The tile data. */ + public MeshData data; + public int[] polyLinks; + /** The tile links. */ + public readonly List links = new(); + /** Index to the next free link. */ + public int linksFreeList = NavMesh.DT_NULL_LINK; // FIXME: Remove + /** Tile flags. (See: #dtTileFlags) */ + public int flags; + + public MeshTile(int index) { + this.index = index; + } + +} diff --git a/src/DotRecast.Detour/MoveAlongSurfaceResult.cs b/src/DotRecast.Detour/MoveAlongSurfaceResult.cs new file mode 100644 index 0000000..cad392e --- /dev/null +++ b/src/DotRecast.Detour/MoveAlongSurfaceResult.cs @@ -0,0 +1,45 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Detour; + + +public class MoveAlongSurfaceResult { + + /** The result position of the mover. [(x, y, z)] */ + private readonly float[] resultPos; + /** The reference ids of the polygons visited during the move. */ + private readonly List visited; + + public MoveAlongSurfaceResult(float[] resultPos, List visited) { + this.resultPos = resultPos; + this.visited = visited; + } + + public float[] getResultPos() { + return resultPos; + } + + public List getVisited() { + return visited; + } + +} diff --git a/src/DotRecast.Detour/NavMesh.cs b/src/DotRecast.Detour/NavMesh.cs new file mode 100644 index 0000000..41793cb --- /dev/null +++ b/src/DotRecast.Detour/NavMesh.cs @@ -0,0 +1,1426 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Collections.Immutable; +using DotRecast.Core; + +namespace DotRecast.Detour; + +using static DetourCommon; + +public class NavMesh { + + public const int DT_SALT_BITS = 16; + public const int DT_TILE_BITS = 28; + public const int DT_POLY_BITS = 20; + public const int DT_DETAIL_EDGE_BOUNDARY = 0x01; + + /// A flag that indicates that an entity links to an external entity. + /// (E.g. A polygon edge is a portal that links to another polygon.) + public const int DT_EXT_LINK = 0x8000; + + /// A value that indicates the entity does not link to anything. + public const int DT_NULL_LINK = unchecked((int)0xffffffff); + + /// A flag that indicates that an off-mesh connection can be traversed in + /// both directions. (Is bidirectional.) + public const int DT_OFFMESH_CON_BIDIR = 1; + + /// The maximum number of user defined area ids. + public const int DT_MAX_AREAS = 64; + + /// Limit raycasting during any angle pahfinding + /// The limit is given as a multiple of the character radius + public const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f; + + private readonly NavMeshParams m_params; /// < Current initialization params. TODO: do not store this info twice. + private readonly float[] m_orig; /// < Origin of the tile (0,0) + // float m_orig[3]; ///< Origin of the tile (0,0) + float m_tileWidth, m_tileHeight; /// < Dimensions of each tile. + int m_maxTiles; /// < Max number of tiles. + private readonly int m_tileLutMask; /// < Tile hash lookup mask. + private readonly Dictionary> posLookup = new(); + private readonly LinkedList availableTiles = new(); + private readonly MeshTile[] m_tiles; /// < List of tiles. + /** The maximum number of vertices per navigation polygon. */ + private readonly int m_maxVertPerPoly; + private int m_tileCount; + + /** + * The maximum number of tiles supported by the navigation mesh. + * + * @return The maximum number of tiles supported by the navigation mesh. + */ + public int getMaxTiles() { + return m_maxTiles; + } + + /** + * Returns tile in the tile array. + */ + public MeshTile getTile(int i) { + return m_tiles[i]; + } + + /** + * Gets the polygon reference for the tile's base polygon. + * + * @param tile + * The tile. + * @return The polygon reference for the base polygon in the specified tile. + */ + public long getPolyRefBase(MeshTile tile) { + if (tile == null) { + return 0; + } + int it = tile.index; + return encodePolyId(tile.salt, it, 0); + } + + /** + * Derives a standard polygon reference. + * + * @note This function is generally meant for internal use only. + * @param salt + * The tile's salt value. + * @param it + * The index of the tile. + * @param ip + * The index of the polygon within the tile. + * @return encoded polygon reference + */ + public static long encodePolyId(int salt, int it, int ip) { + return (((long) salt) << (DT_POLY_BITS + DT_TILE_BITS)) | ((long) it << DT_POLY_BITS) | ip; + } + + /// Decodes a standard polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference to decode. + /// @param[out] salt The tile's salt value. + /// @param[out] it The index of the tile. + /// @param[out] ip The index of the polygon within the tile. + /// @see #encodePolyId + static int[] decodePolyId(long refs) { + int salt; + int it; + int ip; + long saltMask = (1L << DT_SALT_BITS) - 1; + long tileMask = (1L << DT_TILE_BITS) - 1; + long polyMask = (1L << DT_POLY_BITS) - 1; + salt = (int) ((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask); + it = (int) ((refs >> DT_POLY_BITS) & tileMask); + ip = (int) (refs & polyMask); + return new int[] { salt, it, ip }; + } + + /// Extracts a tile's salt value from the specified polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference. + /// @see #encodePolyId + static int decodePolyIdSalt(long refs) { + long saltMask = (1L << DT_SALT_BITS) - 1; + return (int) ((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask); + } + + /// Extracts the tile's index from the specified polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference. + /// @see #encodePolyId + public static int decodePolyIdTile(long refs) { + long tileMask = (1L << DT_TILE_BITS) - 1; + return (int) ((refs >> DT_POLY_BITS) & tileMask); + } + + /// Extracts the polygon's index (within its tile) from the specified + /// polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference. + /// @see #encodePolyId + static int decodePolyIdPoly(long refs) { + long polyMask = (1L << DT_POLY_BITS) - 1; + return (int) (refs & polyMask); + } + + private int allocLink(MeshTile tile) { + if (tile.linksFreeList == DT_NULL_LINK) { + Link link = new Link(); + link.next = DT_NULL_LINK; + tile.links.Add(link); + return tile.links.Count - 1; + } + int linkIdx = tile.linksFreeList; + tile.linksFreeList = tile.links[linkIdx].next; + return linkIdx; + } + + private void freeLink(MeshTile tile, int link) { + tile.links[link].next = tile.linksFreeList; + tile.linksFreeList = link; + } + + /** + * Calculates the tile grid location for the specified world position. + * + * @param pos + * The world position for the query. [(x, y, z)] + * @return 2-element int array with (tx,ty) tile location + */ + public int[] calcTileLoc(float[] pos) { + int tx = (int) Math.Floor((pos[0] - m_orig[0]) / m_tileWidth); + int ty = (int) Math.Floor((pos[2] - m_orig[2]) / m_tileHeight); + return new int[] { tx, ty }; + } + + public Result> getTileAndPolyByRef(long refs) { + if (refs == 0) { + return Results.invalidParam>("ref = 0"); + } + int[] saltitip = decodePolyId(refs); + int salt = saltitip[0]; + int it = saltitip[1]; + int ip = saltitip[2]; + if (it >= m_maxTiles) { + return Results.invalidParam>("tile > m_maxTiles"); + } + if (m_tiles[it].salt != salt || m_tiles[it].data.header == null) { + return Results.invalidParam>("Invalid salt or header"); + } + if (ip >= m_tiles[it].data.header.polyCount) { + return Results.invalidParam>("poly > polyCount"); + } + return Results.success(Tuple.Create(m_tiles[it], m_tiles[it].data.polys[ip])); + } + + /// @par + /// + /// @warning Only use this function if it is known that the provided polygon + /// reference is valid. This function is faster than #getTileAndPolyByRef, + /// but + /// it does not validate the reference. + public Tuple getTileAndPolyByRefUnsafe(long refs) { + int[] saltitip = decodePolyId(refs); + int it = saltitip[1]; + int ip = saltitip[2]; + return Tuple.Create(m_tiles[it], m_tiles[it].data.polys[ip]); + } + + public bool isValidPolyRef(long refs) { + if (refs == 0) { + return false; + } + int[] saltitip = decodePolyId(refs); + int salt = saltitip[0]; + int it = saltitip[1]; + int ip = saltitip[2]; + if (it >= m_maxTiles) { + return false; + } + if (m_tiles[it].salt != salt || m_tiles[it].data == null) { + return false; + } + if (ip >= m_tiles[it].data.header.polyCount) { + return false; + } + return true; + } + + public NavMeshParams getParams() { + return m_params; + } + + public NavMesh(MeshData data, int maxVertsPerPoly, int flags) + : this(getNavMeshParams(data), maxVertsPerPoly) + { + addTile(data, flags, 0); + } + + public NavMesh(NavMeshParams option, int maxVertsPerPoly) { + m_params = option; + m_orig = option.orig; + m_tileWidth = option.tileWidth; + m_tileHeight = option.tileHeight; + // Init tiles + m_maxTiles = option.maxTiles; + m_maxVertPerPoly = maxVertsPerPoly; + m_tileLutMask = Math.Max(1, nextPow2(option.maxTiles)) - 1; + m_tiles = new MeshTile[m_maxTiles]; + for (int i = 0; i < m_maxTiles; i++) { + m_tiles[i] = new MeshTile(i); + m_tiles[i].salt = 1; + availableTiles.AddLast(m_tiles[i]); + } + + } + + private static NavMeshParams getNavMeshParams(MeshData data) { + NavMeshParams option = new NavMeshParams(); + vCopy(option.orig, data.header.bmin); + option.tileWidth = data.header.bmax[0] - data.header.bmin[0]; + option.tileHeight = data.header.bmax[2] - data.header.bmin[2]; + option.maxTiles = 1; + option.maxPolys = data.header.polyCount; + return option; + } + + // TODO: These methods are duplicates from dtNavMeshQuery, but are needed + // for off-mesh connection finding. + + List queryPolygonsInTile(MeshTile tile, float[] qmin, float[] qmax) { + List polys = new(); + if (tile.data.bvTree != null) { + int nodeIndex = 0; + float[] tbmin = tile.data.header.bmin; + float[] tbmax = tile.data.header.bmax; + float qfac = tile.data.header.bvQuantFactor; + // Calculate quantized box + int[] bmin = new int[3]; + int[] bmax = new int[3]; + // dtClamp query box to world box. + float minx = clamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0]; + float miny = clamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1]; + float minz = clamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2]; + float maxx = clamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0]; + float maxy = clamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1]; + float maxz = clamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2]; + // Quantize + bmin[0] = (int) (qfac * minx) & 0x7ffffffe; + bmin[1] = (int) (qfac * miny) & 0x7ffffffe; + bmin[2] = (int) (qfac * minz) & 0x7ffffffe; + bmax[0] = (int) (qfac * maxx + 1) | 1; + bmax[1] = (int) (qfac * maxy + 1) | 1; + bmax[2] = (int) (qfac * maxz + 1) | 1; + + // Traverse tree + long @base = getPolyRefBase(tile); + int end = tile.data.header.bvNodeCount; + while (nodeIndex < end) { + BVNode node = tile.data.bvTree[nodeIndex]; + bool overlap = overlapQuantBounds(bmin, bmax, node.bmin, node.bmax); + bool isLeafNode = node.i >= 0; + + if (isLeafNode && overlap) { + polys.Add(@base | node.i); + } + + if (overlap || isLeafNode) { + nodeIndex++; + } else { + int escapeIndex = -node.i; + nodeIndex += escapeIndex; + } + } + + return polys; + } else { + float[] bmin = new float[3]; + float[] bmax = new float[3]; + long @base = getPolyRefBase(tile); + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly p = tile.data.polys[i]; + // Do not return off-mesh connection polygons. + if (p.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + continue; + } + // Calc polygon bounds. + int v = p.verts[0] * 3; + vCopy(bmin, tile.data.verts, v); + vCopy(bmax, tile.data.verts, v); + for (int j = 1; j < p.vertCount; ++j) { + v = p.verts[j] * 3; + vMin(bmin, tile.data.verts, v); + vMax(bmax, tile.data.verts, v); + } + if (overlapBounds(qmin, qmax, bmin, bmax)) { + polys.Add(@base | i); + } + } + return polys; + } + } + + public long updateTile(MeshData data, int flags) { + long refs = getTileRefAt(data.header.x, data.header.y, data.header.layer); + refs = removeTile(refs); + return addTile(data, flags, refs); + } + + /// Adds a tile to the navigation mesh. + /// @param[in] data Data for the new tile mesh. (See: #dtCreateNavMeshData) + /// @param[in] dataSize Data size of the new tile mesh. + /// @param[in] flags Tile flags. (See: #dtTileFlags) + /// @param[in] lastRef The desired reference for the tile. (When reloading a + /// tile.) [opt] [Default: 0] + /// @param[out] result The tile reference. (If the tile was succesfully + /// added.) [opt] + /// @return The status flags for the operation. + /// @par + /// + /// The add operation will fail if the data is in the wrong format, the + /// allocated tile + /// space is full, or there is a tile already at the specified reference. + /// + /// The lastRef parameter is used to restore a tile with the same tile + /// reference it had previously used. In this case the #long's for the + /// tile will be restored to the same values they were before the tile was + /// removed. + /// + /// The nav mesh assumes exclusive access to the data passed and will make + /// changes to the dynamic portion of the data. For that reason the data + /// should not be reused in other nav meshes until the tile has been successfully + /// removed from this nav mesh. + /// + /// @see dtCreateNavMeshData, #removeTile + public long addTile(MeshData data, int flags, long lastRef) { + // Make sure the data is in right format. + MeshHeader header = data.header; + + // Make sure the location is free. + if (getTileAt(header.x, header.y, header.layer) != null) { + throw new Exception("Tile already exists"); + } + + // Allocate a tile. + MeshTile tile = null; + if (lastRef == 0) { + // Make sure we could allocate a tile. + if (0 == availableTiles.Count) { + throw new Exception("Could not allocate a tile"); + } + + tile = availableTiles.First?.Value; + availableTiles.RemoveFirst(); + m_tileCount++; + } else { + // Try to relocate the tile to specific index with same salt. + int tileIndex = decodePolyIdTile(lastRef); + if (tileIndex >= m_maxTiles) { + throw new Exception("Tile index too high"); + } + // Try to find the specific tile id from the free list. + MeshTile target = m_tiles[tileIndex]; + // Remove from freelist + if (!availableTiles.Remove(target)) { + // Could not find the correct location. + throw new Exception("Could not find tile"); + } + tile = target; + // Restore salt. + tile.salt = decodePolyIdSalt(lastRef); + } + + tile.data = data; + tile.flags = flags; + tile.links.Clear(); + tile.polyLinks = new int[data.polys.Length]; + Array.Fill(tile.polyLinks, NavMesh.DT_NULL_LINK); + + // Insert tile into the position lut. + getTileListByPos(header.x, header.y).Add(tile); + + // Patch header pointers. + + // If there are no items in the bvtree, reset the tree pointer. + if (tile.data.bvTree != null && tile.data.bvTree.Length == 0) { + tile.data.bvTree = null; + } + + // Init tile. + + connectIntLinks(tile); + // Base off-mesh connections to their starting polygons and connect connections inside the tile. + baseOffMeshLinks(tile); + connectExtOffMeshLinks(tile, tile, -1); + + // Connect with layers in current tile. + List neis = getTilesAt(header.x, header.y); + for (int j = 0; j < neis.Count; ++j) { + if (neis[j] == tile) { + continue; + } + connectExtLinks(tile, neis[j], -1); + connectExtLinks(neis[j], tile, -1); + connectExtOffMeshLinks(tile, neis[j], -1); + connectExtOffMeshLinks(neis[j], tile, -1); + } + + // Connect with neighbour tiles. + for (int i = 0; i < 8; ++i) { + neis = getNeighbourTilesAt(header.x, header.y, i); + for (int j = 0; j < neis.Count; ++j) { + connectExtLinks(tile, neis[j], i); + connectExtLinks(neis[j], tile, oppositeTile(i)); + connectExtOffMeshLinks(tile, neis[j], i); + connectExtOffMeshLinks(neis[j], tile, oppositeTile(i)); + } + } + + return getTileRef(tile); + } + + /// Removes the specified tile from the navigation mesh. + /// @param[in] ref The reference of the tile to remove. + /// @param[out] data Data associated with deleted tile. + /// @param[out] dataSize Size of the data associated with deleted tile. + /// + /// This function returns the data for the tile so that, if desired, + /// it can be added back to the navigation mesh at a later point. + /// + /// @see #addTile + public long removeTile(long refs) { + if (refs == 0) { + return 0; + } + int tileIndex = decodePolyIdTile(refs); + int tileSalt = decodePolyIdSalt(refs); + if (tileIndex >= m_maxTiles) { + throw new Exception("Invalid tile index"); + } + MeshTile tile = m_tiles[tileIndex]; + if (tile.salt != tileSalt) { + throw new Exception("Invalid tile salt"); + } + + // Remove tile from hash lookup. + getTileListByPos(tile.data.header.x, tile.data.header.y).Remove(tile); + + // Remove connections to neighbour tiles. + // Create connections with neighbour tiles. + + // Disconnect from other layers in current tile. + List nneis = getTilesAt(tile.data.header.x, tile.data.header.y); + foreach (MeshTile j in nneis) { + if (j == tile) { + continue; + } + unconnectLinks(j, tile); + } + + // Disconnect from neighbour tiles. + for (int i = 0; i < 8; ++i) { + nneis = getNeighbourTilesAt(tile.data.header.x, tile.data.header.y, i); + foreach (MeshTile j in nneis) { + unconnectLinks(j, tile); + } + } + // Reset tile. + tile.data = null; + + tile.flags = 0; + tile.links.Clear(); + tile.linksFreeList=NavMesh.DT_NULL_LINK; + + // Update salt, salt should never be zero. + tile.salt = (tile.salt + 1) & ((1 << DT_SALT_BITS) - 1); + if (tile.salt == 0) { + tile.salt++; + } + + // Add to free list. + availableTiles.AddFirst(tile); + m_tileCount--; + return getTileRef(tile); + } + + /// Builds internal polygons links for a tile. + void connectIntLinks(MeshTile tile) { + if (tile == null) { + return; + } + + long @base = getPolyRefBase(tile); + + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly poly = tile.data.polys[i]; + tile.polyLinks[poly.index] = DT_NULL_LINK; + + if (poly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + continue; + } + + // Build edge links backwards so that the links will be + // in the linked list from lowest index to highest. + for (int j = poly.vertCount - 1; j >= 0; --j) { + // Skip hard and non-internal edges. + if (poly.neis[j] == 0 || (poly.neis[j] & DT_EXT_LINK) != 0) { + continue; + } + + int idx = allocLink(tile); + Link link = tile.links[idx]; + link.refs = @base | (poly.neis[j] - 1); + link.edge = j; + link.side = 0xff; + link.bmin = link.bmax = 0; + // Add to linked list. + link.next = tile.polyLinks[poly.index]; + tile.polyLinks[poly.index] = idx; + } + } + } + + void unconnectLinks(MeshTile tile, MeshTile target) { + if (tile == null || target == null) { + return; + } + + int targetNum = decodePolyIdTile(getTileRef(target)); + + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly poly = tile.data.polys[i]; + int j = tile.polyLinks[poly.index]; + int pj = DT_NULL_LINK; + while (j != DT_NULL_LINK) { + if (decodePolyIdTile(tile.links[j].refs) == targetNum) { + // Remove link. + int nj = tile.links[j].next; + if (pj == DT_NULL_LINK) { + tile.polyLinks[poly.index] = nj; + } else { + tile.links[pj].next = nj; + } + freeLink(tile, j); + j = nj; + } else { + // Advance + pj = j; + j = tile.links[j].next; + } + } + } + } + + void connectExtLinks(MeshTile tile, MeshTile target, int side) { + if (tile == null) { + return; + } + + // Connect border links. + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly poly = tile.data.polys[i]; + + // Create new links. + // short m = DT_EXT_LINK | (short)side; + + int nv = poly.vertCount; + for (int j = 0; j < nv; ++j) { + // Skip non-portal edges. + if ((poly.neis[j] & DT_EXT_LINK) == 0) { + continue; + } + + int dir = poly.neis[j] & 0xff; + if (side != -1 && dir != side) { + continue; + } + + // Create new links + int va = poly.verts[j] * 3; + int vb = poly.verts[(j + 1) % nv] * 3; + IList> connectedPolys = findConnectingPolys(tile.data.verts, va, vb, target, + oppositeTile(dir)); + foreach (Tuple connectedPoly in connectedPolys) { + int idx = allocLink(tile); + Link link = tile.links[idx]; + link.refs = connectedPoly.Item1; + link.edge = j; + link.side = dir; + + link.next = tile.polyLinks[poly.index]; + tile.polyLinks[poly.index] = idx; + + // Compress portal limits to a byte value. + if (dir == 0 || dir == 4) { + float tmin = (connectedPoly.Item2 - tile.data.verts[va + 2]) + / (tile.data.verts[vb + 2] - tile.data.verts[va + 2]); + float tmax = (connectedPoly.Item3 - tile.data.verts[va + 2]) + / (tile.data.verts[vb + 2] - tile.data.verts[va + 2]); + if (tmin > tmax) { + float temp = tmin; + tmin = tmax; + tmax = temp; + } + link.bmin = (int)Math.Round(clamp(tmin, 0.0f, 1.0f) * 255.0f); + link.bmax = (int)Math.Round(clamp(tmax, 0.0f, 1.0f) * 255.0f); + } else if (dir == 2 || dir == 6) { + float tmin = (connectedPoly.Item2 - tile.data.verts[va]) + / (tile.data.verts[vb] - tile.data.verts[va]); + float tmax = (connectedPoly.Item3 - tile.data.verts[va]) + / (tile.data.verts[vb] - tile.data.verts[va]); + if (tmin > tmax) { + float temp = tmin; + tmin = tmax; + tmax = temp; + } + link.bmin = (int)Math.Round(clamp(tmin, 0.0f, 1.0f) * 255.0f); + link.bmax = (int)Math.Round(clamp(tmax, 0.0f, 1.0f) * 255.0f); + } + } + } + } + } + + void connectExtOffMeshLinks(MeshTile tile, MeshTile target, int side) { + if (tile == null) { + return; + } + + // Connect off-mesh links. + // We are interested on links which land from target tile to this tile. + int oppositeSide = (side == -1) ? 0xff : oppositeTile(side); + + for (int i = 0; i < target.data.header.offMeshConCount; ++i) { + OffMeshConnection targetCon = target.data.offMeshCons[i]; + if (targetCon.side != oppositeSide) { + continue; + } + + Poly targetPoly = target.data.polys[targetCon.poly]; + // Skip off-mesh connections which start location could not be + // connected at all. + if (target.polyLinks[targetPoly.index] == DT_NULL_LINK) { + continue; + } + + float[] ext = new float[] { targetCon.rad, target.data.header.walkableClimb, targetCon.rad }; + + // Find polygon to connect to. + float[] p = new float[3]; + p[0] = targetCon.pos[3]; + p[1] = targetCon.pos[4]; + p[2] = targetCon.pos[5]; + FindNearestPolyResult nearest = findNearestPolyInTile(tile, p, ext); + long refs = nearest.getNearestRef(); + if (refs == 0) { + continue; + } + float[] nearestPt = nearest.getNearestPos(); + // findNearestPoly may return too optimistic results, further check + // to make sure. + + if (sqr(nearestPt[0] - p[0]) + sqr(nearestPt[2] - p[2]) > sqr(targetCon.rad)) { + continue; + } + // Make sure the location is on current mesh. + target.data.verts[targetPoly.verts[1] * 3] = nearestPt[0]; + target.data.verts[targetPoly.verts[1] * 3 + 1] = nearestPt[1]; + target.data.verts[targetPoly.verts[1] * 3 + 2] = nearestPt[2]; + + // Link off-mesh connection to target poly. + int idx = allocLink(target); + Link link = target.links[idx]; + link.refs = refs; + link.edge = 1; + link.side = oppositeSide; + link.bmin = link.bmax = 0; + // Add to linked list. + link.next = target.polyLinks[targetPoly.index]; + target.polyLinks[targetPoly.index] = idx; + + // Link target poly to off-mesh connection. + if ((targetCon.flags & DT_OFFMESH_CON_BIDIR) != 0) { + int tidx = allocLink(tile); + int landPolyIdx = decodePolyIdPoly(refs); + Poly landPoly = tile.data.polys[landPolyIdx]; + link = tile.links[tidx]; + link.refs = getPolyRefBase(target) | (targetCon.poly); + link.edge = 0xff; + link.side = (side == -1 ? 0xff : side); + link.bmin = link.bmax = 0; + // Add to linked list. + link.next = tile.polyLinks[landPoly.index]; + tile.polyLinks[landPoly.index] = tidx; + } + } + } + + private IList> findConnectingPolys(float[] verts, int va, int vb, MeshTile tile, int side) { + if (tile == null) { + return ImmutableArray>.Empty; + } + List> result = new(); + float[] amin = new float[2]; + float[] amax = new float[2]; + calcSlabEndPoints(verts, va, vb, amin, 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]; + int m = DT_EXT_LINK | side; + long @base = getPolyRefBase(tile); + + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly poly = tile.data.polys[i]; + int nv = poly.vertCount; + for (int j = 0; j < nv; ++j) { + // Skip edges which do not point to the right side. + if (poly.neis[j] != m) { + continue; + } + int vc = poly.verts[j] * 3; + int vd = poly.verts[(j + 1) % nv] * 3; + float bpos = getSlabCoord(tile.data.verts, vc, side); + // Segments are not close enough. + if (Math.Abs(apos - bpos) > 0.01f) { + continue; + } + + // Check if the segments touch. + calcSlabEndPoints(tile.data.verts, vc, vd, bmin, bmax, side); + + if (!overlapSlabs(amin, amax, bmin, bmax, 0.01f, tile.data.header.walkableClimb)) { + continue; + } + + // Add return value. + result.Add(Tuple.Create(@base | i, Math.Max(amin[0], bmin[0]), Math.Min(amax[0], bmax[0]))); + break; + } + } + return result; + } + + static float getSlabCoord(float[] verts, int va, int side) { + if (side == 0 || side == 4) { + return verts[va]; + } else if (side == 2 || side == 6) { + return verts[va + 2]; + } + return 0; + } + + static void calcSlabEndPoints(float[] verts, int va, int vb, float[] bmin, float[] 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]; + } else { + bmin[0] = verts[vb + 2]; + bmin[1] = verts[vb + 1]; + bmax[0] = verts[va + 2]; + bmax[1] = 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]; + } else { + bmin[0] = verts[vb + 0]; + bmin[1] = verts[vb + 1]; + bmax[0] = verts[va + 0]; + bmax[1] = verts[va + 1]; + } + } + } + + bool overlapSlabs(float[] amin, float[] amax, float[] bmin, float[] 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); + 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 aminy = ad * minx + ak; + float amaxy = ad * maxx + ak; + float bminy = bd * minx + bk; + float bmaxy = bd * maxx + bk; + float dmin = bminy - aminy; + float dmax = bmaxy - amaxy; + + // Crossing segments always overlap. + if (dmin * dmax < 0) { + return true; + } + + // Check for overlap at endpoints. + float thr = (py * 2) * (py * 2); + if (dmin * dmin <= thr || dmax * dmax <= thr) { + return true; + } + + return false; + } + + /** + * Builds internal polygons links for a tile. + * + * @param tile + */ + void baseOffMeshLinks(MeshTile tile) { + if (tile == null) { + return; + } + + long @base = getPolyRefBase(tile); + + // Base off-mesh connection start points. + for (int i = 0; i < tile.data.header.offMeshConCount; ++i) { + OffMeshConnection con = tile.data.offMeshCons[i]; + Poly poly = tile.data.polys[con.poly]; + + float[] ext = new float[] { con.rad, tile.data.header.walkableClimb, con.rad }; + + // Find polygon to connect to. + FindNearestPolyResult nearestPoly = findNearestPolyInTile(tile, con.pos, ext); + long refs = nearestPoly.getNearestRef(); + if (refs == 0) { + continue; + } + float[] p = con.pos; // First vertex + float[] nearestPt = nearestPoly.getNearestPos(); + // findNearestPoly may return too optimistic results, further check + // to make sure. + if (sqr(nearestPt[0] - p[0]) + sqr(nearestPt[2] - p[2]) > sqr(con.rad)) { + continue; + } + // Make sure the location is on current mesh. + tile.data.verts[poly.verts[0] * 3] = nearestPt[0]; + tile.data.verts[poly.verts[0] * 3 + 1] = nearestPt[1]; + tile.data.verts[poly.verts[0] * 3 + 2] = nearestPt[2]; + + // Link off-mesh connection to target poly. + int idx = allocLink(tile); + Link link = tile.links[idx]; + link.refs = refs; + link.edge = 0; + link.side = 0xff; + link.bmin = link.bmax = 0; + // Add to linked list. + link.next = tile.polyLinks[poly.index]; + tile.polyLinks[poly.index] = idx; + + // Start end-point is always connect back to off-mesh connection. + int tidx = allocLink(tile); + int landPolyIdx = decodePolyIdPoly(refs); + Poly landPoly = tile.data.polys[landPolyIdx]; + link = tile.links[tidx]; + link.refs = @base | (con.poly); + link.edge = 0xff; + link.side = 0xff; + link.bmin = link.bmax = 0; + // Add to linked list. + link.next = tile.polyLinks[landPoly.index]; + tile.polyLinks[landPoly.index] = tidx; + } + } + + /** + * Returns closest point on polygon. + * + * @param ref + * @param pos + * @return + */ + float[] closestPointOnDetailEdges(MeshTile tile, Poly poly, float[] pos, bool onlyBoundary) { + int ANY_BOUNDARY_EDGE = (DT_DETAIL_EDGE_BOUNDARY << 0) | (DT_DETAIL_EDGE_BOUNDARY << 2) + | (DT_DETAIL_EDGE_BOUNDARY << 4); + int ip = poly.index; + float dmin = float.MaxValue; + float tmin = 0; + float[] pmin = null; + float[] pmax = null; + + if (tile.data.detailMeshes != null) { + + PolyDetail pd = tile.data.detailMeshes[ip]; + for (int i = 0; i < pd.triCount; i++) { + int ti = (pd.triBase + i) * 4; + int[] tris = tile.data.detailTris; + if (onlyBoundary && (tris[ti + 3] & ANY_BOUNDARY_EDGE) == 0) { + continue; + } + + float[][] v = new float[3][]; + for (int j = 0; j < 3; ++j) { + if (tris[ti + j] < poly.vertCount) { + int index = poly.verts[tris[ti + j]] * 3; + v[j] = new float[] { tile.data.verts[index], tile.data.verts[index + 1], + tile.data.verts[index + 2] }; + } else { + int index = (pd.vertBase + (tris[ti + j] - poly.vertCount)) * 3; + v[j] = new float[] { tile.data.detailVerts[index], tile.data.detailVerts[index + 1], + tile.data.detailVerts[index + 2] }; + } + } + + for (int k = 0, j = 2; k < 3; j = k++) { + if ((getDetailTriEdgeFlags(tris[ti + 3], j) & DT_DETAIL_EDGE_BOUNDARY) == 0 + && (onlyBoundary || tris[ti + j] < tris[ti + k])) { + // Only looking at boundary edges and this is internal, or + // this is an inner edge that we will see again or have already seen. + continue; + } + + Tuple dt = distancePtSegSqr2D(pos, v[j], v[k]); + float d = dt.Item1; + float t = dt.Item2; + if (d < dmin) { + dmin = d; + tmin = t; + pmin = v[j]; + pmax = v[k]; + } + } + } + } else { + float[][] v = ArrayUtils.Of(2, 3); + for (int j = 0; j < poly.vertCount; ++j) { + int k = (j + 1) % poly.vertCount; + v[0][0] = tile.data.verts[poly.verts[j] * 3]; + v[0][1] = tile.data.verts[poly.verts[j] * 3 + 1]; + v[0][2] = tile.data.verts[poly.verts[j] * 3 + 2]; + v[1][0] = tile.data.verts[poly.verts[k] * 3]; + v[1][1] = tile.data.verts[poly.verts[k] * 3 + 1]; + v[1][2] = tile.data.verts[poly.verts[k] * 3 + 2]; + + Tuple dt = distancePtSegSqr2D(pos, v[0], v[1]); + float d = dt.Item1; + float t = dt.Item2; + if (d < dmin) { + dmin = d; + tmin = t; + pmin = v[0]; + pmax = v[1]; + } + } + } + + return vLerp(pmin, pmax, tmin); + } + + public float? getPolyHeight(MeshTile tile, Poly poly, float[] pos) { + // Off-mesh connections do not have detail polys and getting height + // over them does not make sense. + if (poly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + return null; + } + + int ip = poly.index; + + float[] verts = new float[m_maxVertPerPoly * 3]; + int nv = poly.vertCount; + for (int i = 0; i < nv; ++i) { + Array.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3); + } + + if (!pointInPolygon(pos, verts, nv)) { + return null; + } + + // Find height at the location. + if (tile.data.detailMeshes != null) { + PolyDetail pd = tile.data.detailMeshes[ip]; + for (int j = 0; j < pd.triCount; ++j) { + int t = (pd.triBase + j) * 4; + float[][] v = new float[3][]; + for (int k = 0; k < 3; ++k) { + if (tile.data.detailTris[t + k] < poly.vertCount) { + int index = poly.verts[tile.data.detailTris[t + k]] * 3; + v[k] = new float[] { tile.data.verts[index], tile.data.verts[index + 1], + tile.data.verts[index + 2] }; + } else { + int index = (pd.vertBase + (tile.data.detailTris[t + k] - poly.vertCount)) * 3; + v[k] = new float[] { tile.data.detailVerts[index], tile.data.detailVerts[index + 1], + tile.data.detailVerts[index + 2] }; + } + } + float? h = closestHeightPointTriangle(pos, v[0], v[1], v[2]); + if (null != h) { + return h; + } + } + } else { + float[][] v = ArrayUtils.Of(3, 3); + v[0][0] = tile.data.verts[poly.verts[0] * 3]; + v[0][1] = tile.data.verts[poly.verts[0] * 3 + 1]; + v[0][2] = tile.data.verts[poly.verts[0] * 3 + 2]; + for (int j = 1; j < poly.vertCount - 1; ++j) { + for (int k = 0; k < 2; ++k) { + v[k + 1][0] = tile.data.verts[poly.verts[j + k] * 3]; + v[k + 1][1] = tile.data.verts[poly.verts[j + k] * 3 + 1]; + v[k + 1][2] = tile.data.verts[poly.verts[j + k] * 3 + 2]; + } + float? h = closestHeightPointTriangle(pos, v[0], v[1], v[2]); + if (null != h) { + return h; + } + } + } + + // If all triangle checks failed above (can happen with degenerate triangles + // or larger floating point values) the point is on an edge, so just select + // closest. This should almost never happen so the extra iteration here is + // ok. + float[] closest = closestPointOnDetailEdges(tile, poly, pos, false); + return closest[1]; + } + + public ClosestPointOnPolyResult closestPointOnPoly(long refs, float[] pos) { + Tuple tileAndPoly = getTileAndPolyByRefUnsafe(refs); + MeshTile tile = tileAndPoly.Item1; + Poly poly = tileAndPoly.Item2; + float[] closest = new float[3]; + vCopy(closest, pos); + float? h = getPolyHeight(tile, poly, pos); + if (null != h) { + closest[1] = h.Value; + return new ClosestPointOnPolyResult(true, closest); + } + + // Off-mesh connections don't have detail polygons. + if (poly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + int i = poly.verts[0] * 3; + float[] v0 = new float[] { tile.data.verts[i], tile.data.verts[i + 1], tile.data.verts[i + 2] }; + i = poly.verts[1] * 3; + float[] v1 = new float[] { tile.data.verts[i], tile.data.verts[i + 1], tile.data.verts[i + 2] }; + Tuple dt = distancePtSegSqr2D(pos, v0, v1); + return new ClosestPointOnPolyResult(false, vLerp(v0, v1, dt.Item2)); + } + // Outside poly that is not an offmesh connection. + return new ClosestPointOnPolyResult(false, closestPointOnDetailEdges(tile, poly, pos, true)); + } + + FindNearestPolyResult findNearestPolyInTile(MeshTile tile, float[] center, float[] extents) { + float[] nearestPt = null; + bool overPoly = false; + float[] bmin = vSub(center, extents); + float[] bmax = vAdd(center, extents); + + // Get nearby polygons from proximity grid. + List polys = queryPolygonsInTile(tile, bmin, bmax); + + // Find nearest polygon amongst the nearby polygons. + long nearest = 0; + float nearestDistanceSqr = float.MaxValue; + for (int i = 0; i < polys.Count; ++i) { + long refs = polys[i]; + float d; + ClosestPointOnPolyResult cpp = closestPointOnPoly(refs, center); + bool posOverPoly = cpp.isPosOverPoly(); + float[] closestPtPoly = cpp.getClosest(); + + // If a point is directly over a polygon and closer than + // climb height, favor that instead of straight line nearest point. + float[] diff = vSub(center, closestPtPoly); + if (posOverPoly) { + d = Math.Abs(diff[1]) - tile.data.header.walkableClimb; + d = d > 0 ? d * d : 0; + } else { + d = vLenSqr(diff); + } + if (d < nearestDistanceSqr) { + nearestPt = closestPtPoly; + nearestDistanceSqr = d; + nearest = refs; + overPoly = posOverPoly; + } + } + return new FindNearestPolyResult(nearest, nearestPt, overPoly); + } + + MeshTile getTileAt(int x, int y, int layer) { + foreach (MeshTile tile in getTileListByPos(x, y)) { + if (tile.data.header != null && tile.data.header.x == x && tile.data.header.y == y + && tile.data.header.layer == layer) { + return tile; + } + } + return null; + } + + List getNeighbourTilesAt(int x, int y, int side) { + int nx = x, ny = y; + switch (side) { + case 0: + nx++; + break; + case 1: + nx++; + ny++; + break; + case 2: + ny++; + break; + case 3: + nx--; + ny++; + break; + case 4: + nx--; + break; + case 5: + nx--; + ny--; + break; + case 6: + ny--; + break; + case 7: + nx++; + ny--; + break; + } + return getTilesAt(nx, ny); + } + + public List getTilesAt(int x, int y) { + List tiles = new(); + foreach (MeshTile tile in getTileListByPos(x, y)) { + if (tile.data.header != null && tile.data.header.x == x && tile.data.header.y == y) { + tiles.Add(tile); + } + } + return tiles; + } + + public long getTileRefAt(int x, int y, int layer) { + return getTileRef(getTileAt(x, y, layer)); + } + + public MeshTile getTileByRef(long refs) { + if (refs == 0) { + return null; + } + int tileIndex = decodePolyIdTile(refs); + int tileSalt = decodePolyIdSalt(refs); + if (tileIndex >= m_maxTiles) { + return null; + } + MeshTile tile = m_tiles[tileIndex]; + if (tile.salt != tileSalt) { + return null; + } + return tile; + } + + public long getTileRef(MeshTile tile) { + if (tile == null) { + return 0; + } + return encodePolyId(tile.salt, tile.index, 0); + } + + public static int computeTileHash(int x, int y, int mask) { + uint h1 = 0x8da6b343; // Large multiplicative constants; + uint h2 = 0xd8163841; // here arbitrarily chosen primes + uint n = h1 * (uint)x + h2 * (uint)y; + return (int)(n & mask); + } + + /// @par + /// + /// Off-mesh connections are stored in the navigation mesh as special + /// 2-vertex + /// polygons with a single edge. At least one of the vertices is expected to + /// be + /// inside a normal polygon. So an off-mesh connection is "entered" from a + /// normal polygon at one of its endpoints. This is the polygon identified + /// by + /// the prevRef parameter. + public Result> getOffMeshConnectionPolyEndPoints(long prevRef, long polyRef) { + if (polyRef == 0) { + return Results.invalidParam>("polyRef = 0"); + } + + // Get current polygon + int[] saltitip = decodePolyId(polyRef); + int salt = saltitip[0]; + int it = saltitip[1]; + int ip = saltitip[2]; + if (it >= m_maxTiles) { + return Results.invalidParam>("Invalid tile ID > max tiles"); + } + if (m_tiles[it].salt != salt || m_tiles[it].data.header == null) { + return Results.invalidParam>("Invalid salt or missing tile header"); + } + MeshTile tile = m_tiles[it]; + if (ip >= tile.data.header.polyCount) { + return Results.invalidParam>("Invalid poly ID > poly count"); + } + Poly poly = tile.data.polys[ip]; + + // Make sure that the current poly is indeed off-mesh link. + if (poly.getType() != Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + return Results.invalidParam>("Invalid poly type"); + } + + // Figure out which way to hand out the vertices. + int idx0 = 0, idx1 = 1; + + // Find link that points to first vertex. + for (int i = tile.polyLinks[poly.index]; i != DT_NULL_LINK; i = tile.links[i].next) { + if (tile.links[i].edge == 0) { + if (tile.links[i].refs != prevRef) { + idx0 = 1; + idx1 = 0; + } + break; + } + } + float[] startPos = new float[3]; + float[] endPos = new float[3]; + vCopy(startPos, tile.data.verts, poly.verts[idx0] * 3); + vCopy(endPos, tile.data.verts, poly.verts[idx1] * 3); + return Results.success(Tuple.Create(startPos, endPos)); + + } + + public int getMaxVertsPerPoly() { + return m_maxVertPerPoly; + } + + public int getTileCount() { + return m_tileCount; + } + + public Status setPolyFlags(long refs, int flags) { + if (refs == 0) { + return Status.FAILURE; + } + int[] saltTilePoly = decodePolyId(refs); + int salt = saltTilePoly[0]; + int it = saltTilePoly[1]; + int ip = saltTilePoly[2]; + if (it >= m_maxTiles) { + return Status.FAILURE_INVALID_PARAM; + } + if (m_tiles[it].salt != salt || m_tiles[it].data == null || m_tiles[it].data.header == null) { + return Status.FAILURE_INVALID_PARAM; + } + MeshTile tile = m_tiles[it]; + if (ip >= tile.data.header.polyCount) { + return Status.FAILURE_INVALID_PARAM; + } + Poly poly = tile.data.polys[ip]; + + // Change flags. + poly.flags = flags; + return Status.SUCCSESS; + } + + public Result getPolyFlags(long refs) { + if (refs == 0) { + return Results.failure(); + } + int[] saltTilePoly = decodePolyId(refs); + int salt = saltTilePoly[0]; + int it = saltTilePoly[1]; + int ip = saltTilePoly[2]; + if (it >= m_maxTiles) { + return Results.invalidParam(); + } + if (m_tiles[it].salt != salt || m_tiles[it].data == null || m_tiles[it].data.header == null) { + return Results.invalidParam(); + } + MeshTile tile = m_tiles[it]; + if (ip >= tile.data.header.polyCount) { + return Results.invalidParam(); + } + Poly poly = tile.data.polys[ip]; + + return Results.success(poly.flags); + } + + public Status setPolyArea(long refs, char area) { + if (refs == 0) { + return Status.FAILURE; + } + int[] saltTilePoly = decodePolyId(refs); + int salt = saltTilePoly[0]; + int it = saltTilePoly[1]; + int ip = saltTilePoly[2]; + if (it >= m_maxTiles) { + return Status.FAILURE; + } + if (m_tiles[it].salt != salt || m_tiles[it].data == null || m_tiles[it].data.header == null) { + return Status.FAILURE_INVALID_PARAM; + } + MeshTile tile = m_tiles[it]; + if (ip >= tile.data.header.polyCount) { + return Status.FAILURE_INVALID_PARAM; + } + Poly poly = tile.data.polys[ip]; + + poly.setArea(area); + + return Status.SUCCSESS; + } + + public Result getPolyArea(long refs) { + if (refs == 0) { + return Results.failure(); + } + int[] saltTilePoly = decodePolyId(refs); + int salt = saltTilePoly[0]; + int it = saltTilePoly[1]; + int ip = saltTilePoly[2]; + if (it >= m_maxTiles) { + return Results.invalidParam(); + } + if (m_tiles[it].salt != salt || m_tiles[it].data == null || m_tiles[it].data.header == null) { + return Results.invalidParam(); + } + MeshTile tile = m_tiles[it]; + if (ip >= tile.data.header.polyCount) { + return Results.invalidParam(); + } + Poly poly = tile.data.polys[ip]; + + return Results.success(poly.getArea()); + } + + /** + * Get flags for edge in detail triangle. + * + * @param triFlags + * The flags for the triangle (last component of detail vertices above). + * @param edgeIndex + * The index of the first vertex of the edge. For instance, if 0, + * @return flags for edge AB. + */ + public static int getDetailTriEdgeFlags(int triFlags, int edgeIndex) { + return (triFlags >> (edgeIndex * 2)) & 0x3; + } + + private List getTileListByPos(int x, int z) + { + var tileHash = computeTileHash(x, z, m_tileLutMask); + if (!posLookup.TryGetValue(tileHash, out var tiles)) + { + tiles = new(); + posLookup.Add(tileHash, tiles); + } + + return tiles; + } +} diff --git a/src/DotRecast.Detour/NavMeshBuilder.cs b/src/DotRecast.Detour/NavMeshBuilder.cs new file mode 100644 index 0000000..9f2e71a --- /dev/null +++ b/src/DotRecast.Detour/NavMeshBuilder.cs @@ -0,0 +1,601 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; + +namespace DotRecast.Detour; + +using static DetourCommon; + +public class NavMeshBuilder { + + const int MESH_NULL_IDX = 0xffff; + + public class BVItem { + public readonly int[] bmin = new int[3]; + public readonly int[] bmax = new int[3]; + public int i; + }; + + private class CompareItemX : IComparer { + + public int Compare(BVItem a, BVItem b) { + return a.bmin[0].CompareTo(b.bmin[0]); + } + + } + + private class CompareItemY : IComparer { + + public int Compare(BVItem a, BVItem b) { + return a.bmin[1].CompareTo(b.bmin[1]); + } + + } + + private class CompareItemZ : IComparer { + + public int Compare(BVItem a, BVItem b) { + return a.bmin[2].CompareTo(b.bmin[2]); + } + + } + + private static int[][] calcExtends(BVItem[] items, int nitems, int imin, int imax) { + int[] bmin = new int[3]; + int[] bmax = new int[3]; + bmin[0] = items[imin].bmin[0]; + bmin[1] = items[imin].bmin[1]; + bmin[2] = items[imin].bmin[2]; + + bmax[0] = items[imin].bmax[0]; + bmax[1] = items[imin].bmax[1]; + bmax[2] = items[imin].bmax[2]; + + for (int i = imin + 1; i < imax; ++i) { + BVItem it = items[i]; + if (it.bmin[0] < bmin[0]) + bmin[0] = it.bmin[0]; + if (it.bmin[1] < bmin[1]) + bmin[1] = it.bmin[1]; + if (it.bmin[2] < bmin[2]) + bmin[2] = it.bmin[2]; + + if (it.bmax[0] > bmax[0]) + bmax[0] = it.bmax[0]; + if (it.bmax[1] > bmax[1]) + bmax[1] = it.bmax[1]; + if (it.bmax[2] > bmax[2]) + bmax[2] = it.bmax[2]; + } + return new int[][] { bmin, bmax }; + } + + private static int longestAxis(int x, int y, int z) { + int axis = 0; + int maxVal = x; + if (y > maxVal) { + axis = 1; + maxVal = y; + } + if (z > maxVal) { + axis = 2; + maxVal = z; + } + return axis; + } + + public static int subdivide(BVItem[] items, int nitems, int imin, int imax, int curNode, BVNode[] nodes) { + int inum = imax - imin; + int icur = curNode; + + BVNode node = new BVNode(); + nodes[curNode++] = node; + + if (inum == 1) { + // Leaf + node.bmin[0] = items[imin].bmin[0]; + node.bmin[1] = items[imin].bmin[1]; + node.bmin[2] = items[imin].bmin[2]; + + node.bmax[0] = items[imin].bmax[0]; + node.bmax[1] = items[imin].bmax[1]; + node.bmax[2] = items[imin].bmax[2]; + + node.i = items[imin].i; + } else { + // Split + int[][] minmax = calcExtends(items, nitems, imin, imax); + node.bmin = minmax[0]; + node.bmax = minmax[1]; + + int axis = longestAxis(node.bmax[0] - node.bmin[0], node.bmax[1] - node.bmin[1], + node.bmax[2] - node.bmin[2]); + + if (axis == 0) { + // Sort along x-axis + Array.Sort(items, imin, inum, new CompareItemX()); + } else if (axis == 1) { + // Sort along y-axis + Array.Sort(items, imin, inum, new CompareItemY()); + } else { + // Sort along z-axis + Array.Sort(items, imin, inum, new CompareItemZ()); + } + + int isplit = imin + inum / 2; + + // Left + curNode = subdivide(items, nitems, imin, isplit, curNode, nodes); + // Right + curNode = subdivide(items, nitems, isplit, imax, curNode, nodes); + + int iescape = curNode - icur; + // Negative index means escape. + node.i = -iescape; + } + return curNode; + } + + private static int createBVTree(NavMeshDataCreateParams option, BVNode[] nodes) { + // Build tree + float quantFactor = 1 / option.cs; + BVItem[] items = new BVItem[option.polyCount]; + for (int i = 0; i < option.polyCount; i++) { + BVItem it = new BVItem(); + items[i] = it; + it.i = i; + // Calc polygon bounds. Use detail meshes if available. + if (option.detailMeshes != null) { + int vb = option.detailMeshes[i * 4 + 0]; + int ndv = option.detailMeshes[i * 4 + 1]; + float[] bmin = new float[3]; + float[] bmax = new float[3]; + int dv = vb * 3; + vCopy(bmin, option.detailVerts, dv); + vCopy(bmax, option.detailVerts, dv); + for (int j = 1; j < ndv; j++) { + vMin(bmin, option.detailVerts, dv + j * 3); + vMax(bmax, option.detailVerts, dv + j * 3); + } + + // BV-tree uses cs for all dimensions + it.bmin[0] = clamp((int) ((bmin[0] - option.bmin[0]) * quantFactor), 0, int.MaxValue); + it.bmin[1] = clamp((int) ((bmin[1] - option.bmin[1]) * quantFactor), 0, int.MaxValue); + it.bmin[2] = clamp((int) ((bmin[2] - option.bmin[2]) * quantFactor), 0, int.MaxValue); + + it.bmax[0] = clamp((int) ((bmax[0] - option.bmin[0]) * quantFactor), 0, int.MaxValue); + it.bmax[1] = clamp((int) ((bmax[1] - option.bmin[1]) * quantFactor), 0, int.MaxValue); + it.bmax[2] = clamp((int) ((bmax[2] - option.bmin[2]) * quantFactor), 0, int.MaxValue); + } else { + int p = i * option.nvp * 2; + it.bmin[0] = it.bmax[0] = option.verts[option.polys[p] * 3 + 0]; + it.bmin[1] = it.bmax[1] = option.verts[option.polys[p] * 3 + 1]; + it.bmin[2] = it.bmax[2] = option.verts[option.polys[p] * 3 + 2]; + + for (int j = 1; j < option.nvp; ++j) { + if (option.polys[p + j] == MESH_NULL_IDX) + break; + int x = option.verts[option.polys[p + j] * 3 + 0]; + int y = option.verts[option.polys[p + j] * 3 + 1]; + int z = option.verts[option.polys[p + j] * 3 + 2]; + + if (x < it.bmin[0]) + it.bmin[0] = x; + if (y < it.bmin[1]) + it.bmin[1] = y; + if (z < it.bmin[2]) + it.bmin[2] = z; + + if (x > it.bmax[0]) + it.bmax[0] = x; + if (y > it.bmax[1]) + it.bmax[1] = y; + if (z > it.bmax[2]) + it.bmax[2] = z; + } + // Remap y + it.bmin[1] = (int) Math.Floor(it.bmin[1] * option.ch * quantFactor); + it.bmax[1] = (int) Math.Ceiling(it.bmax[1] * option.ch * quantFactor); + } + } + + return subdivide(items, option.polyCount, 0, option.polyCount, 0, nodes); + } + + const int XP = 1 << 0; + const int ZP = 1 << 1; + const int XM = 1 << 2; + const int ZM = 1 << 3; + + public static int classifyOffMeshPoint(VectorPtr pt, float[] bmin, float[] bmax) { + + int outcode = 0; + outcode |= (pt.get(0) >= bmax[0]) ? XP : 0; + outcode |= (pt.get(2) >= bmax[2]) ? ZP : 0; + outcode |= (pt.get(0) < bmin[0]) ? XM : 0; + outcode |= (pt.get(2) < bmin[2]) ? ZM : 0; + + switch (outcode) { + case XP: + return 0; + case XP | ZP: + return 1; + case ZP: + return 2; + case XM | ZP: + return 3; + case XM: + return 4; + case XM | ZM: + return 5; + case ZM: + return 6; + case XP | ZM: + return 7; + } + + return 0xff; + } + + /** + * Builds navigation mesh tile data from the provided tile creation data. + * + * @param option + * Tile creation data. + * + * @return created tile data + */ + public static MeshData createNavMeshData(NavMeshDataCreateParams option) { + if (option.vertCount >= 0xffff) + return null; + if (option.vertCount == 0 || option.verts == null) + return null; + if (option.polyCount == 0 || option.polys == null) + return null; + + int nvp = option.nvp; + + // Classify off-mesh connection points. We store only the connections + // whose start point is inside the tile. + int[] offMeshConClass = null; + int storedOffMeshConCount = 0; + int offMeshConLinkCount = 0; + + if (option.offMeshConCount > 0) { + offMeshConClass = new int[option.offMeshConCount * 2]; + + // Find tight heigh bounds, used for culling out off-mesh start + // locations. + float hmin = float.MaxValue; + float hmax = -float.MaxValue; + + if (option.detailVerts != null && option.detailVertsCount != 0) { + for (int i = 0; i < option.detailVertsCount; ++i) { + float h = option.detailVerts[i * 3 + 1]; + hmin = Math.Min(hmin, h); + hmax = Math.Max(hmax, h); + } + } else { + for (int i = 0; i < option.vertCount; ++i) { + int iv = i * 3; + float h = option.bmin[1] + option.verts[iv + 1] * option.ch; + hmin = Math.Min(hmin, h); + hmax = Math.Max(hmax, h); + } + } + hmin -= option.walkableClimb; + hmax += option.walkableClimb; + float[] bmin = new float[3]; + float[] bmax = new float[3]; + vCopy(bmin, option.bmin); + vCopy(bmax, option.bmax); + bmin[1] = hmin; + bmax[1] = hmax; + + for (int i = 0; i < option.offMeshConCount; ++i) { + VectorPtr p0 = new VectorPtr(option.offMeshConVerts, (i * 2 + 0) * 3); + VectorPtr p1 = new VectorPtr(option.offMeshConVerts, (i * 2 + 1) * 3); + + offMeshConClass[i * 2 + 0] = classifyOffMeshPoint(p0, bmin, bmax); + offMeshConClass[i * 2 + 1] = classifyOffMeshPoint(p1, bmin, bmax); + + // Zero out off-mesh start positions which are not even + // potentially touching the mesh. + if (offMeshConClass[i * 2 + 0] == 0xff) { + if (p0.get(1) < bmin[1] || p0.get(1) > bmax[1]) + offMeshConClass[i * 2 + 0] = 0; + } + + // Count how many links should be allocated for off-mesh + // connections. + if (offMeshConClass[i * 2 + 0] == 0xff) + offMeshConLinkCount++; + if (offMeshConClass[i * 2 + 1] == 0xff) + offMeshConLinkCount++; + + if (offMeshConClass[i * 2 + 0] == 0xff) + storedOffMeshConCount++; + } + } + + // Off-mesh connectionss are stored as polygons, adjust values. + int totPolyCount = option.polyCount + storedOffMeshConCount; + int totVertCount = option.vertCount + storedOffMeshConCount * 2; + + // Find portal edges which are at tile borders. + int edgeCount = 0; + int portalCount = 0; + for (int i = 0; i < option.polyCount; ++i) { + int p = i * 2 * nvp; + for (int j = 0; j < nvp; ++j) { + if (option.polys[p + j] == MESH_NULL_IDX) + break; + edgeCount++; + + if ((option.polys[p + nvp + j] & 0x8000) != 0) { + int dir = option.polys[p + nvp + j] & 0xf; + if (dir != 0xf) + portalCount++; + } + } + } + + int maxLinkCount = edgeCount + portalCount * 2 + offMeshConLinkCount * 2; + + // Find unique detail vertices. + int uniqueDetailVertCount = 0; + int detailTriCount = 0; + if (option.detailMeshes != null) { + // Has detail mesh, count unique detail vertex count and use input + // detail tri count. + detailTriCount = option.detailTriCount; + for (int i = 0; i < option.polyCount; ++i) { + int p = i * nvp * 2; + int ndv = option.detailMeshes[i * 4 + 1]; + int nv = 0; + for (int j = 0; j < nvp; ++j) { + if (option.polys[p + j] == MESH_NULL_IDX) + break; + nv++; + } + ndv -= nv; + uniqueDetailVertCount += ndv; + } + } else { + // No input detail mesh, build detail mesh from nav polys. + uniqueDetailVertCount = 0; // No extra detail verts. + detailTriCount = 0; + for (int i = 0; i < option.polyCount; ++i) { + int p = i * nvp * 2; + int nv = 0; + for (int j = 0; j < nvp; ++j) { + if (option.polys[p + j] == MESH_NULL_IDX) + break; + nv++; + } + detailTriCount += nv - 2; + } + } + + int bvTreeSize = option.buildBvTree ? option.polyCount * 2 : 0; + MeshHeader header = new MeshHeader(); + float[] navVerts = new float[3 * totVertCount]; + Poly[] navPolys = new Poly[totPolyCount]; + PolyDetail[] navDMeshes = new PolyDetail[option.polyCount]; + float[] navDVerts = new float[3 * uniqueDetailVertCount]; + int[] navDTris = new int[4 * detailTriCount]; + BVNode[] navBvtree = new BVNode[bvTreeSize]; + OffMeshConnection[] offMeshCons = new OffMeshConnection[storedOffMeshConCount]; + + // Store header + header.magic = MeshHeader.DT_NAVMESH_MAGIC; + header.version = MeshHeader.DT_NAVMESH_VERSION; + header.x = option.tileX; + header.y = option.tileZ; + header.layer = option.tileLayer; + header.userId = option.userId; + header.polyCount = totPolyCount; + header.vertCount = totVertCount; + header.maxLinkCount = maxLinkCount; + vCopy(header.bmin, option.bmin); + vCopy(header.bmax, option.bmax); + header.detailMeshCount = option.polyCount; + header.detailVertCount = uniqueDetailVertCount; + header.detailTriCount = detailTriCount; + header.bvQuantFactor = 1.0f / option.cs; + header.offMeshBase = option.polyCount; + header.walkableHeight = option.walkableHeight; + header.walkableRadius = option.walkableRadius; + header.walkableClimb = option.walkableClimb; + header.offMeshConCount = storedOffMeshConCount; + header.bvNodeCount = bvTreeSize; + + int offMeshVertsBase = option.vertCount; + int offMeshPolyBase = option.polyCount; + + // Store vertices + // Mesh vertices + for (int i = 0; i < option.vertCount; ++i) { + int iv = i * 3; + int v = i * 3; + navVerts[v] = option.bmin[0] + option.verts[iv] * option.cs; + navVerts[v + 1] = option.bmin[1] + option.verts[iv + 1] * option.ch; + navVerts[v + 2] = option.bmin[2] + option.verts[iv + 2] * option.cs; + } + // Off-mesh link vertices. + int n = 0; + for (int i = 0; i < option.offMeshConCount; ++i) { + // Only store connections which start from this tile. + if (offMeshConClass[i * 2 + 0] == 0xff) { + int linkv = i * 2 * 3; + int v = (offMeshVertsBase + n * 2) * 3; + Array.Copy(option.offMeshConVerts, linkv, navVerts, v, 6); + n++; + } + } + + // Store polygons + // Mesh polys + int src = 0; + for (int i = 0; i < option.polyCount; ++i) { + Poly p = new Poly(i, nvp); + navPolys[i] = p; + p.vertCount = 0; + p.flags = option.polyFlags[i]; + p.setArea(option.polyAreas[i]); + p.setType(Poly.DT_POLYTYPE_GROUND); + for (int j = 0; j < nvp; ++j) { + if (option.polys[src + j] == MESH_NULL_IDX) + break; + p.verts[j] = option.polys[src + j]; + if ((option.polys[src + nvp + j] & 0x8000) != 0) { + // Border or portal edge. + int dir = option.polys[src + nvp + j] & 0xf; + if (dir == 0xf) // Border + p.neis[j] = 0; + else if (dir == 0) // Portal x- + p.neis[j] = NavMesh.DT_EXT_LINK | 4; + else if (dir == 1) // Portal z+ + p.neis[j] = NavMesh.DT_EXT_LINK | 2; + else if (dir == 2) // Portal x+ + p.neis[j] = NavMesh.DT_EXT_LINK | 0; + else if (dir == 3) // Portal z- + p.neis[j] = NavMesh.DT_EXT_LINK | 6; + } else { + // Normal connection + p.neis[j] = option.polys[src + nvp + j] + 1; + } + + p.vertCount++; + } + src += nvp * 2; + } + // Off-mesh connection vertices. + n = 0; + for (int i = 0; i < option.offMeshConCount; ++i) { + // Only store connections which start from this tile. + if (offMeshConClass[i * 2 + 0] == 0xff) { + Poly p = new Poly(offMeshPolyBase + n, nvp); + navPolys[offMeshPolyBase + n] = p; + p.vertCount = 2; + p.verts[0] = offMeshVertsBase + n * 2; + p.verts[1] = offMeshVertsBase + n * 2 + 1; + p.flags = option.offMeshConFlags[i]; + p.setArea(option.offMeshConAreas[i]); + p.setType(Poly.DT_POLYTYPE_OFFMESH_CONNECTION); + n++; + } + } + + // Store detail meshes and vertices. + // The nav polygon vertices are stored as the first vertices on each + // mesh. + // We compress the mesh data by skipping them and using the navmesh + // coordinates. + if (option.detailMeshes != null) { + int vbase = 0; + for (int i = 0; i < option.polyCount; ++i) { + PolyDetail dtl = new PolyDetail(); + navDMeshes[i] = dtl; + int vb = option.detailMeshes[i * 4 + 0]; + int ndv = option.detailMeshes[i * 4 + 1]; + int nv = navPolys[i].vertCount; + dtl.vertBase = vbase; + dtl.vertCount = (ndv - nv); + dtl.triBase = option.detailMeshes[i * 4 + 2]; + dtl.triCount = option.detailMeshes[i * 4 + 3]; + // Copy vertices except the first 'nv' verts which are equal to + // nav poly verts. + if (ndv - nv != 0) { + Array.Copy(option.detailVerts, (vb + nv) * 3, navDVerts, vbase * 3, 3 * (ndv - nv)); + vbase += ndv - nv; + } + } + // Store triangles. + Array.Copy(option.detailTris, 0, navDTris, 0, 4 * option.detailTriCount); + } else { + // Create dummy detail mesh by triangulating polys. + int tbase = 0; + for (int i = 0; i < option.polyCount; ++i) { + PolyDetail dtl = new PolyDetail(); + navDMeshes[i] = dtl; + int nv = navPolys[i].vertCount; + dtl.vertBase = 0; + dtl.vertCount = 0; + dtl.triBase = tbase; + dtl.triCount = (nv - 2); + // Triangulate polygon (local indices). + for (int j = 2; j < nv; ++j) { + int t = tbase * 4; + navDTris[t + 0] = 0; + navDTris[t + 1] = (j - 1); + navDTris[t + 2] = j; + // Bit for each edge that belongs to poly boundary. + navDTris[t + 3] = (1 << 2); + if (j == 2) + navDTris[t + 3] |= (1 << 0); + if (j == nv - 1) + navDTris[t + 3] |= (1 << 4); + tbase++; + } + } + } + + // Store and create BVtree. + // TODO: take detail mesh into account! use byte per bbox extent? + if (option.buildBvTree) { + // Do not set header.bvNodeCount set to make it work look exactly the same as in original Detour + header.bvNodeCount = createBVTree(option, navBvtree); + } + + // Store Off-Mesh connections. + n = 0; + for (int i = 0; i < option.offMeshConCount; ++i) { + // Only store connections which start from this tile. + if (offMeshConClass[i * 2 + 0] == 0xff) { + OffMeshConnection con = new OffMeshConnection(); + offMeshCons[n] = con; + con.poly = (offMeshPolyBase + n); + // Copy connection end-points. + int endPts = i * 2 * 3; + Array.Copy(option.offMeshConVerts, endPts, con.pos, 0, 6); + con.rad = option.offMeshConRad[i]; + con.flags = option.offMeshConDir[i] != 0 ? NavMesh.DT_OFFMESH_CON_BIDIR : 0; + con.side = offMeshConClass[i * 2 + 1]; + if (option.offMeshConUserID != null) + con.userId = option.offMeshConUserID[i]; + n++; + } + } + + MeshData nmd = new MeshData(); + nmd.header = header; + nmd.verts = navVerts; + nmd.polys = navPolys; + nmd.detailMeshes = navDMeshes; + nmd.detailVerts = navDVerts; + nmd.detailTris = navDTris; + nmd.bvTree = navBvtree; + nmd.offMeshCons = offMeshCons; + return nmd; + } + +} diff --git a/src/DotRecast.Detour/NavMeshDataCreateParams.cs b/src/DotRecast.Detour/NavMeshDataCreateParams.cs new file mode 100644 index 0000000..05a4b1c --- /dev/null +++ b/src/DotRecast.Detour/NavMeshDataCreateParams.cs @@ -0,0 +1,101 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +/// Represents the source data used to build an navigation mesh tile. +public class NavMeshDataCreateParams { + + /// @name Polygon Mesh Attributes + /// Used to create the base navigation graph. + /// See #rcPolyMesh for details related to these attributes. + /// @{ + + public int[] verts; /// < The polygon mesh vertices. [(x, y, z) * #vertCount] [Unit: vx] + public int vertCount; /// < The number vertices in the polygon mesh. [Limit: >= 3] + public int[] polys; /// < The polygon data. [Size: #polyCount * 2 * #nvp] + public int[] polyFlags; /// < The user defined flags assigned to each polygon. [Size: #polyCount] + public int[] polyAreas; /// < The user defined area ids assigned to each polygon. [Size: #polyCount] + public int polyCount; /// < Number of polygons in the mesh. [Limit: >= 1] + public int nvp; /// < Number maximum number of vertices per polygon. [Limit: >= 3] + + /// @} + /// @name Height Detail Attributes (Optional) + /// See #rcPolyMeshDetail for details related to these attributes. + /// @{ + + public int[] detailMeshes; /// < The height detail sub-mesh data. [Size: 4 * #polyCount] + public float[] detailVerts; /// < The detail mesh vertices. [Size: 3 * #detailVertsCount] [Unit: wu] + public int detailVertsCount; /// < The number of vertices in the detail mesh. + public int[] detailTris; /// < The detail mesh triangles. [Size: 4 * #detailTriCount] + public int detailTriCount; /// < The number of triangles in the detail mesh. + + /// @} + /// @name Off-Mesh Connections Attributes (Optional) + /// Used to define a custom point-to-point edge within the navigation graph, an + /// off-mesh connection is a user defined traversable connection made up to two vertices, + /// at least one of which resides within a navigation mesh polygon. + /// @{ + + /// Off-mesh connection vertices. [(ax, ay, az, bx, by, bz) * #offMeshConCount] [Unit: wu] + public float[] offMeshConVerts; + /// Off-mesh connection radii. [Size: #offMeshConCount] [Unit: wu] + public float[] offMeshConRad; + /// User defined flags assigned to the off-mesh connections. [Size: #offMeshConCount] + public int[] offMeshConFlags; + /// User defined area ids assigned to the off-mesh connections. [Size: #offMeshConCount] + public int[] offMeshConAreas; + /// The permitted travel direction of the off-mesh connections. [Size: #offMeshConCount] + /// + /// 0 = Travel only from endpoint A to endpoint B.
+ /// #DT_OFFMESH_CON_BIDIR = Bidirectional travel. + public int[] offMeshConDir; + /// The user defined ids of the off-mesh connection. [Size: #offMeshConCount] + public int[] offMeshConUserID; + /// The number of off-mesh connections. [Limit: >= 0] + public int offMeshConCount; + + /// @} + /// @name Tile Attributes + /// @note The tile grid/layer data can be left at zero if the destination is a single tile mesh. + /// @{ + + public int userId; /// < The user defined id of the tile. + public int tileX; /// < The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.) + public int tileZ; /// < The tile's y-grid location within the multi-tile desitation mesh. (Along the z-axis.) + public int tileLayer; /// < The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.) + public float[] bmin; /// < The minimum bounds of the tile. [(x, y, z)] [Unit: wu] + public float[] bmax; /// < The maximum bounds of the tile. [(x, y, z)] [Unit: wu] + + /// @} + /// @name General Configuration Attributes + /// @{ + + public float walkableHeight; /// < The agent height. [Unit: wu] + public float walkableRadius; /// < The agent radius. [Unit: wu] + public float walkableClimb; /// < The agent maximum traversable ledge. (Up/Down) [Unit: wu] + public float cs; /// < The xz-plane cell size of the polygon mesh. [Limit: > 0] [Unit: wu] + public float ch; /// < The y-axis cell height of the polygon mesh. [Limit: > 0] [Unit: wu] + + /// True if a bounding volume tree should be built for the tile. + /// @note The BVTree is not normally needed for layered navigation meshes. + public bool buildBvTree; + + /// @} + +} \ No newline at end of file diff --git a/src/DotRecast.Detour/NavMeshParams.cs b/src/DotRecast.Detour/NavMeshParams.cs new file mode 100644 index 0000000..324fab9 --- /dev/null +++ b/src/DotRecast.Detour/NavMeshParams.cs @@ -0,0 +1,38 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +/** + * Configuration parameters used to define multi-tile navigation meshes. The values are used to allocate space during + * the initialization of a navigation mesh. + * + * @see NavMesh + */ +public class NavMeshParams { + /** The world space origin of the navigation mesh's tile space. [(x, y, z)] */ + public readonly float[] orig = new float[3]; + /** The width of each tile. (Along the x-axis.) */ + public float tileWidth; + /** The height of each tile. (Along the z-axis.) */ + public float tileHeight; + /** The maximum number of tiles the navigation mesh can contain. */ + public int maxTiles; + /** The maximum number of polygons each tile can contain. */ + public int maxPolys; +} diff --git a/src/DotRecast.Detour/NavMeshQuery.cs b/src/DotRecast.Detour/NavMeshQuery.cs new file mode 100644 index 0000000..b521fc1 --- /dev/null +++ b/src/DotRecast.Detour/NavMeshQuery.cs @@ -0,0 +1,3055 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Collections.Immutable; + +namespace DotRecast.Detour; + +using static DetourCommon; +using static Node; + +public class NavMeshQuery { + + /** + * Use raycasts during pathfind to "shortcut" (raycast still consider costs) Options for + * NavMeshQuery::initSlicedFindPath and updateSlicedFindPath + */ + public const int DT_FINDPATH_ANY_ANGLE = 0x02; + + /** Raycast should calculate movement cost along the ray and fill RaycastHit::cost */ + public const int DT_RAYCAST_USE_COSTS = 0x01; + + /// Vertex flags returned by findStraightPath. + /** The vertex is the start position in the path. */ + public const int DT_STRAIGHTPATH_START = 0x01; + /** The vertex is the end position in the path. */ + public const int DT_STRAIGHTPATH_END = 0x02; + /** The vertex is the start of an off-mesh connection. */ + public const int DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04; + + /// Options for findStraightPath. + public const int DT_STRAIGHTPATH_AREA_CROSSINGS = 0x01; /// < Add a vertex at every polygon edge crossing + /// where area changes. + public const int DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02; /// < Add a vertex at every polygon edge crossing. + + protected readonly NavMesh m_nav; + protected readonly NodePool m_nodePool; + protected readonly NodeQueue m_openList; + protected QueryData m_query; /// < Sliced query state. + + public NavMeshQuery(NavMesh nav) { + m_nav = nav; + m_nodePool = new NodePool(); + m_openList = new NodeQueue(); + } + + public class FRand { + + private readonly Random r; + + public FRand() { + r = new Random(); + } + + public FRand(long seed) { + r = new Random((int)seed); // TODO : 랜덤 시드 확인 필요 + } + + public float frand() + { + return (float)r.NextDouble(); + } + } + + /** + * Returns random location on navmesh. Polygons are chosen weighted by area. The search runs in linear related to + * number of polygon. + * + * @param filter + * The polygon filter to apply to the query. + * @param frand + * Function returning a random number [0..1). + * @return Random location + */ + public Result findRandomPoint(QueryFilter filter, FRand frand) { + // Randomly pick one tile. Assume that all tiles cover roughly the same area. + if (null == filter || null == frand) { + return Results.invalidParam(); + } + MeshTile tile = null; + float tsum = 0.0f; + for (int i = 0; i < m_nav.getMaxTiles(); i++) { + MeshTile mt = m_nav.getTile(i); + if (mt == null || mt.data == null || mt.data.header == null) { + continue; + } + + // Choose random tile using reservoi sampling. + float area = 1.0f; // Could be tile area too. + tsum += area; + float u = frand.frand(); + if (u * tsum <= area) { + tile = mt; + } + } + if (tile == null) { + return Results.invalidParam("Tile not found"); + } + + // Randomly pick one polygon weighted by polygon area. + Poly poly = null; + long polyRef = 0; + long @base = m_nav.getPolyRefBase(tile); + + float areaSum = 0.0f; + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly p = tile.data.polys[i]; + // Do not return off-mesh connection polygons. + if (p.getType() != Poly.DT_POLYTYPE_GROUND) { + continue; + } + // Must pass filter + long refs = @base | i; + if (!filter.passFilter(refs, tile, p)) { + continue; + } + + // Calc area of the polygon. + float polyArea = 0.0f; + for (int j = 2; j < p.vertCount; ++j) { + int va = p.verts[0] * 3; + int vb = p.verts[j - 1] * 3; + int vc = p.verts[j] * 3; + polyArea += triArea2D(tile.data.verts, va, vb, vc); + } + + // Choose random polygon weighted by area, using reservoi sampling. + areaSum += polyArea; + float u = frand.frand(); + if (u * areaSum <= polyArea) { + poly = p; + polyRef = refs; + } + } + + if (poly == null) { + return Results.invalidParam("Poly not found"); + } + + // Randomly pick point on polygon. + float[] verts = new float[3 * m_nav.getMaxVertsPerPoly()]; + float[] areas = new float[m_nav.getMaxVertsPerPoly()]; + Array.Copy(tile.data.verts, poly.verts[0] * 3, verts, 0, 3); + for (int j = 1; j < poly.vertCount; ++j) { + Array.Copy(tile.data.verts, poly.verts[j] * 3, verts, j * 3, 3); + } + + float s = frand.frand(); + float t = frand.frand(); + + float[] pt = randomPointInConvexPoly(verts, poly.vertCount, areas, s, t); + ClosestPointOnPolyResult closest = closestPointOnPoly(polyRef, pt).result; + return Results.success(new FindRandomPointResult(polyRef, closest.getClosest())); + } + + /** + * Returns random location on navmesh within the reach of specified location. Polygons are chosen weighted by area. + * The search runs in linear related to number of polygon. The location is not exactly constrained by the circle, + * but it limits the visited polygons. + * + * @param startRef + * The reference id of the polygon where the search starts. + * @param centerPos + * The center of the search circle. [(x, y, z)] + * @param maxRadius + * @param filter + * The polygon filter to apply to the query. + * @param frand + * Function returning a random number [0..1). + * @return Random location + */ + public Result findRandomPointAroundCircle(long startRef, float[] centerPos, float maxRadius, + QueryFilter filter, FRand frand) { + return findRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, PolygonByCircleConstraint.noop()); + } + + /** + * Returns random location on navmesh within the reach of specified location. Polygons are chosen weighted by area. + * The search runs in linear related to number of polygon. The location is strictly constrained by the circle. + * + * @param startRef + * The reference id of the polygon where the search starts. + * @param centerPos + * The center of the search circle. [(x, y, z)] + * @param maxRadius + * @param filter + * The polygon filter to apply to the query. + * @param frand + * Function returning a random number [0..1). + * @return Random location + */ + public Result findRandomPointWithinCircle(long startRef, float[] centerPos, float maxRadius, + QueryFilter filter, FRand frand) { + return findRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, PolygonByCircleConstraint.strict()); + } + + public Result findRandomPointAroundCircle(long startRef, float[] centerPos, float maxRadius, + QueryFilter filter, FRand frand, PolygonByCircleConstraint constraint) { + + // Validate input + if (!m_nav.isValidPolyRef(startRef) || null == centerPos || !vIsFinite(centerPos) || maxRadius < 0 + || !float.IsFinite(maxRadius) || null == filter || null == frand) { + return Results.invalidParam(); + } + + Tuple tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(startRef); + MeshTile startTile = tileAndPoly.Item1; + Poly startPoly = tileAndPoly.Item2; + if (!filter.passFilter(startRef, startTile, startPoly)) { + return Results.invalidParam("Invalid start ref"); + } + + m_nodePool.clear(); + m_openList.clear(); + + Node startNode = m_nodePool.getNode(startRef); + vCopy(startNode.pos, centerPos); + startNode.pidx = 0; + startNode.cost = 0; + startNode.total = 0; + startNode.id = startRef; + startNode.flags = DT_NODE_OPEN; + m_openList.push(startNode); + + float radiusSqr = maxRadius * maxRadius; + float areaSum = 0.0f; + + Poly randomPoly = null; + long randomPolyRef = 0; + float[] randomPolyVerts = null; + + while (!m_openList.isEmpty()) { + Node bestNode = m_openList.pop(); + bestNode.flags &= ~DT_NODE_OPEN; + bestNode.flags |= DT_NODE_CLOSED; + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + long bestRef = bestNode.id; + Tuple bestTilePoly = m_nav.getTileAndPolyByRefUnsafe(bestRef); + MeshTile bestTile = bestTilePoly.Item1; + Poly bestPoly = bestTilePoly.Item2; + + // Place random locations on on ground. + if (bestPoly.getType() == Poly.DT_POLYTYPE_GROUND) { + // Calc area of the polygon. + float polyArea = 0.0f; + float[] polyVerts = new float[bestPoly.vertCount * 3]; + for (int j = 0; j < bestPoly.vertCount; ++j) { + Array.Copy(bestTile.data.verts, bestPoly.verts[j] * 3, polyVerts, j * 3, 3); + } + float[] constrainedVerts = constraint.aply(polyVerts, centerPos, maxRadius); + if (constrainedVerts != null) { + int vertCount = constrainedVerts.Length / 3; + for (int j = 2; j < vertCount; ++j) { + int va = 0; + int vb = (j - 1) * 3; + int vc = j * 3; + polyArea += triArea2D(constrainedVerts, va, vb, vc); + } + // Choose random polygon weighted by area, using reservoi sampling. + areaSum += polyArea; + float u = frand.frand(); + if (u * areaSum <= polyArea) { + randomPoly = bestPoly; + randomPolyRef = bestRef; + randomPolyVerts = constrainedVerts; + } + } + } + + // Get parent poly and tile. + long parentRef = 0; + if (bestNode.pidx != 0) { + parentRef = m_nodePool.getNodeAtIdx(bestNode.pidx).id; + } + + for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) { + Link link = bestTile.links[i]; + long neighbourRef = link.refs; + // Skip invalid neighbours and do not follow back to parent. + if (neighbourRef == 0 || neighbourRef == parentRef) { + continue; + } + + // Expand to neighbour + Tuple neighbourTilePoly = m_nav.getTileAndPolyByRefUnsafe(neighbourRef); + MeshTile neighbourTile = neighbourTilePoly.Item1; + Poly neighbourPoly = neighbourTilePoly.Item2; + + // Do not advance if the polygon is excluded by the filter. + if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) { + continue; + } + + // Find edge and calc distance to the edge. + Result portalpoints = getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, + neighbourPoly, neighbourTile, 0, 0); + if (portalpoints.failed()) { + continue; + } + float[] va = portalpoints.result.left; + float[] vb = portalpoints.result.right; + + // If the circle is not touching the next polygon, skip it. + Tuple distseg = distancePtSegSqr2D(centerPos, va, vb); + float distSqr = distseg.Item1; + if (distSqr > radiusSqr) { + continue; + } + + Node neighbourNode = m_nodePool.getNode(neighbourRef); + + if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0) { + continue; + } + + // Cost + if (neighbourNode.flags == 0) { + neighbourNode.pos = vLerp(va, vb, 0.5f); + } + + float total = bestNode.total + vDist(bestNode.pos, neighbourNode.pos); + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { + continue; + } + + neighbourNode.id = neighbourRef; + neighbourNode.flags = (neighbourNode.flags & ~Node.DT_NODE_CLOSED); + neighbourNode.pidx = m_nodePool.getNodeIdx(bestNode); + neighbourNode.total = total; + + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) { + m_openList.modify(neighbourNode); + } else { + neighbourNode.flags = Node.DT_NODE_OPEN; + m_openList.push(neighbourNode); + } + } + } + + if (randomPoly == null) { + return Results.failure(); + } + + // Randomly pick point on polygon. + float s = frand.frand(); + float t = frand.frand(); + + float[] areas = new float[randomPolyVerts.Length / 3]; + float[] pt = randomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t); + ClosestPointOnPolyResult closest = closestPointOnPoly(randomPolyRef, pt).result; + return Results.success(new FindRandomPointResult(randomPolyRef, closest.getClosest())); + } + + ////////////////////////////////////////////////////////////////////////////////////////// + /// @par + /// + /// Uses the detail polygons to find the surface height. (Most accurate.) + /// + /// @p pos does not have to be within the bounds of the polygon or navigation mesh. + /// + /// See closestPointOnPolyBoundary() for a limited but faster option. + /// + /// Finds the closest point on the specified polygon. + /// @param[in] ref The reference id of the polygon. + /// @param[in] pos The position to check. [(x, y, z)] + /// @param[out] closest + /// @param[out] posOverPoly + /// @returns The status flags for the query. + public Result closestPointOnPoly(long refs, float[] pos) { + if (!m_nav.isValidPolyRef(refs) || null == pos || !vIsFinite(pos)) { + return Results.invalidParam(); + } + return Results.success(m_nav.closestPointOnPoly(refs, pos)); + } + + /// @par + /// + /// Much faster than closestPointOnPoly(). + /// + /// If the provided position lies within the polygon's xz-bounds (above or below), + /// then @p pos and @p closest will be equal. + /// + /// The height of @p closest will be the polygon boundary. The height detail is not used. + /// + /// @p pos does not have to be within the bounds of the polybon or the navigation mesh. + /// + /// Returns a point on the boundary closest to the source point if the source point is outside the + /// polygon's xz-bounds. + /// @param[in] ref The reference id to the polygon. + /// @param[in] pos The position to check. [(x, y, z)] + /// @param[out] closest The closest point. [(x, y, z)] + /// @returns The status flags for the query. + public Result closestPointOnPolyBoundary(long refs, float[] pos) { + + Result> tileAndPoly = m_nav.getTileAndPolyByRef(refs); + if (tileAndPoly.failed()) { + return Results.of(tileAndPoly.status, tileAndPoly.message); + } + MeshTile tile = tileAndPoly.result.Item1; + Poly poly = tileAndPoly.result.Item2; + if (tile == null) { + return Results.invalidParam("Invalid tile"); + } + + if (null == pos || !vIsFinite(pos)) { + return Results.invalidParam(); + } + // Collect vertices. + float[] verts = new float[m_nav.getMaxVertsPerPoly() * 3]; + float[] edged = new float[m_nav.getMaxVertsPerPoly()]; + float[] edget = new float[m_nav.getMaxVertsPerPoly()]; + int nv = poly.vertCount; + for (int i = 0; i < nv; ++i) { + Array.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3); + } + + float[] closest; + if (distancePtPolyEdgesSqr(pos, verts, nv, edged, edget)) { + closest = vCopy(pos); + } else { + // Point is outside the polygon, dtClamp to nearest edge. + float dmin = edged[0]; + int imin = 0; + for (int i = 1; i < nv; ++i) { + if (edged[i] < dmin) { + dmin = edged[i]; + imin = i; + } + } + int va = imin * 3; + int vb = ((imin + 1) % nv) * 3; + closest = vLerp(verts, va, vb, edget[imin]); + } + return Results.success(closest); + } + + /// @par + /// + /// Will return #DT_FAILURE if the provided position is outside the xz-bounds + /// of the polygon. + /// + /// Gets the height of the polygon at the provided position using the height detail. (Most accurate.) + /// @param[in] ref The reference id of the polygon. + /// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)] + /// @param[out] height The height at the surface of the polygon. + /// @returns The status flags for the query. + public Result getPolyHeight(long refs, float[] pos) { + + Result> tileAndPoly = m_nav.getTileAndPolyByRef(refs); + if (tileAndPoly.failed()) { + return Results.of(tileAndPoly.status, tileAndPoly.message); + } + MeshTile tile = tileAndPoly.result.Item1; + Poly poly = tileAndPoly.result.Item2; + + if (null == pos || !vIsFinite2D(pos)) { + return Results.invalidParam(); + } + + // We used to return success for offmesh connections, but the + // getPolyHeight in DetourNavMesh does not do this, so special + // case it here. + if (poly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + int i = poly.verts[0] * 3; + float[] v0 = new float[] { tile.data.verts[i], tile.data.verts[i + 1], tile.data.verts[i + 2] }; + i = poly.verts[1] * 3; + float[] v1 = new float[] { tile.data.verts[i], tile.data.verts[i + 1], tile.data.verts[i + 2] }; + Tuple dt = distancePtSegSqr2D(pos, v0, v1); + return Results.success(v0[1] + (v1[1] - v0[1]) * dt.Item2); + } + float? height = m_nav.getPolyHeight(tile, poly, pos); + return null != height ? Results.success(height.Value) : Results.invalidParam(); + } + + /** + * Finds the polygon nearest to the specified center point. If center and nearestPt point to an equal position, + * isOverPoly will be true; however there's also a special case of climb height inside the polygon + * + * @param center + * The center of the search box. [(x, y, z)] + * @param halfExtents + * The search distance along each axis. [(x, y, z)] + * @param filter + * The polygon filter to apply to the query. + * @return FindNearestPolyResult containing nearestRef, nearestPt and overPoly + */ + public Result findNearestPoly(float[] center, float[] halfExtents, QueryFilter filter) { + + // Get nearby polygons from proximity grid. + FindNearestPolyQuery query = new FindNearestPolyQuery(this, center); + Status status = queryPolygons(center, halfExtents, filter, query); + if (status.isFailed()) { + return Results.of(status, ""); + } + + return Results.success(query.result()); + } + + // FIXME: (PP) duplicate? + protected void queryPolygonsInTile(MeshTile tile, float[] qmin, float[] qmax, QueryFilter filter, PolyQuery query) { + if (tile.data.bvTree != null) { + int nodeIndex = 0; + float[] tbmin = tile.data.header.bmin; + float[] tbmax = tile.data.header.bmax; + float qfac = tile.data.header.bvQuantFactor; + // Calculate quantized box + int[] bmin = new int[3]; + int[] bmax = new int[3]; + // dtClamp query box to world box. + float minx = clamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0]; + float miny = clamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1]; + float minz = clamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2]; + float maxx = clamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0]; + float maxy = clamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1]; + float maxz = clamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2]; + // Quantize + bmin[0] = (int) (qfac * minx) & 0x7ffffffe; + bmin[1] = (int) (qfac * miny) & 0x7ffffffe; + bmin[2] = (int) (qfac * minz) & 0x7ffffffe; + bmax[0] = (int) (qfac * maxx + 1) | 1; + bmax[1] = (int) (qfac * maxy + 1) | 1; + bmax[2] = (int) (qfac * maxz + 1) | 1; + + // Traverse tree + long @base = m_nav.getPolyRefBase(tile); + int end = tile.data.header.bvNodeCount; + while (nodeIndex < end) { + BVNode node = tile.data.bvTree[nodeIndex]; + bool overlap = overlapQuantBounds(bmin, bmax, node.bmin, node.bmax); + bool isLeafNode = node.i >= 0; + + if (isLeafNode && overlap) { + long refs = @base | node.i; + if (filter.passFilter(refs, tile, tile.data.polys[node.i])) { + query.process(tile, tile.data.polys[node.i], refs); + } + } + + if (overlap || isLeafNode) { + nodeIndex++; + } else { + int escapeIndex = -node.i; + nodeIndex += escapeIndex; + } + } + } else { + float[] bmin = new float[3]; + float[] bmax = new float[3]; + long @base = m_nav.getPolyRefBase(tile); + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly p = tile.data.polys[i]; + // Do not return off-mesh connection polygons. + if (p.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + continue; + } + long refs = @base | i; + if (!filter.passFilter(refs, tile, p)) { + continue; + } + // Calc polygon bounds. + int v = p.verts[0] * 3; + vCopy(bmin, tile.data.verts, v); + vCopy(bmax, tile.data.verts, v); + for (int j = 1; j < p.vertCount; ++j) { + v = p.verts[j] * 3; + vMin(bmin, tile.data.verts, v); + vMax(bmax, tile.data.verts, v); + } + if (overlapBounds(qmin, qmax, bmin, bmax)) { + query.process(tile, p, refs); + } + } + } + } + + /** + * Finds polygons that overlap the search box. + * + * If no polygons are found, the function will return with a polyCount of zero. + * + * @param center + * The center of the search box. [(x, y, z)] + * @param halfExtents + * The search distance along each axis. [(x, y, z)] + * @param filter + * The polygon filter to apply to the query. + * @return The reference ids of the polygons that overlap the query box. + */ + public Status queryPolygons(float[] center, float[] halfExtents, QueryFilter filter, PolyQuery query) { + if (null == center || !vIsFinite(center) || null == halfExtents || !vIsFinite(halfExtents) + || null == filter) { + return Status.FAILURE_INVALID_PARAM; + } + // Find tiles the query touches. + float[] bmin = vSub(center, halfExtents); + float[] bmax = vAdd(center, halfExtents); + foreach (var t in queryTiles(center, halfExtents)) { + queryPolygonsInTile(t, bmin, bmax, filter, query); + } + return Status.SUCCSESS; + } + + /** + * Finds tiles that overlap the search box. + */ + public IList queryTiles(float[] center, float[] halfExtents) { + if (null == center || !vIsFinite(center) || null == halfExtents || !vIsFinite(halfExtents)) { + return ImmutableArray.Empty; + } + float[] bmin = vSub(center, halfExtents); + float[] bmax = vAdd(center, halfExtents); + int[] minxy = m_nav.calcTileLoc(bmin); + int minx = minxy[0]; + int miny = minxy[1]; + int[] maxxy = m_nav.calcTileLoc(bmax); + int maxx = maxxy[0]; + int maxy = maxxy[1]; + List tiles = new(); + for (int y = miny; y <= maxy; ++y) { + for (int x = minx; x <= maxx; ++x) { + tiles.AddRange(m_nav.getTilesAt(x, y)); + } + } + return tiles; + } + /** + * Finds a path from the start polygon to the end polygon. + * + * If the end polygon cannot be reached through the navigation graph, the last polygon in the path will be the + * nearest the end polygon. + * + * The start and end positions are used to calculate traversal costs. (The y-values impact the result.) + * + * @param startRef + * The refrence id of the start polygon. + * @param endRef + * The reference id of the end polygon. + * @param startPos + * A position within the start polygon. [(x, y, z)] + * @param endPos + * A position within the end polygon. [(x, y, z)] + * @param filter + * The polygon filter to apply to the query. + * @return Found path + */ + public virtual Result> findPath(long startRef, long endRef, float[] startPos, float[] endPos, + QueryFilter filter) { + return findPath(startRef, endRef, startPos, endPos, filter, new DefaultQueryHeuristic(), 0, 0); + } + + public virtual Result> findPath(long startRef, long endRef, float[] startPos, float[] endPos, QueryFilter filter, + int options, float raycastLimit) { + return findPath(startRef, endRef, startPos, endPos, filter, new DefaultQueryHeuristic(), options, raycastLimit); + } + + public Result> findPath(long startRef, long endRef, float[] startPos, float[] endPos, QueryFilter filter, + QueryHeuristic heuristic, int options, float raycastLimit) { + // Validate input + if (!m_nav.isValidPolyRef(startRef) || !m_nav.isValidPolyRef(endRef) || null == startPos + || !vIsFinite(startPos) || null == endPos || !vIsFinite(endPos) || null == filter) { + return Results.invalidParam>(); + } + + float raycastLimitSqr = sqr(raycastLimit); + + // trade quality with performance? + if ((options & DT_FINDPATH_ANY_ANGLE) != 0 && raycastLimit < 0f) { + // limiting to several times the character radius yields nice results. It is not sensitive + // so it is enough to compute it from the first tile. + MeshTile tile = m_nav.getTileByRef(startRef); + float agentRadius = tile.data.header.walkableRadius; + raycastLimitSqr = sqr(agentRadius * NavMesh.DT_RAY_CAST_LIMIT_PROPORTIONS); + } + + if (startRef == endRef) { + List singlePath = new(1); + singlePath.Add(startRef); + return Results.success(singlePath); + } + + m_nodePool.clear(); + m_openList.clear(); + + Node startNode = m_nodePool.getNode(startRef); + vCopy(startNode.pos, startPos); + startNode.pidx = 0; + startNode.cost = 0; + startNode.total = heuristic.getCost(startPos, endPos); + startNode.id = startRef; + startNode.flags = Node.DT_NODE_OPEN; + m_openList.push(startNode); + + Node lastBestNode = startNode; + float lastBestNodeCost = startNode.total; + + Status status = Status.SUCCSESS; + + while (!m_openList.isEmpty()) { + // Remove node from open list and put it in closed list. + Node bestNode = m_openList.pop(); + bestNode.flags &= ~Node.DT_NODE_OPEN; + bestNode.flags |= Node.DT_NODE_CLOSED; + + // Reached the goal, stop searching. + if (bestNode.id == endRef) { + lastBestNode = bestNode; + break; + } + + // Get current poly and tile. + // The API input has been cheked already, skip checking internal data. + long bestRef = bestNode.id; + Tuple tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(bestRef); + MeshTile bestTile = tileAndPoly.Item1; + Poly bestPoly = tileAndPoly.Item2; + + // Get parent poly and tile. + long parentRef = 0, grandpaRef = 0; + MeshTile parentTile = null; + Poly parentPoly = null; + Node parentNode = null; + if (bestNode.pidx != 0) { + parentNode = m_nodePool.getNodeAtIdx(bestNode.pidx); + parentRef = parentNode.id; + if (parentNode.pidx != 0) { + grandpaRef = m_nodePool.getNodeAtIdx(parentNode.pidx).id; + } + } + if (parentRef != 0) { + tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(parentRef); + parentTile = tileAndPoly.Item1; + parentPoly = tileAndPoly.Item2; + } + + // decide whether to test raycast to previous nodes + bool tryLOS = false; + if ((options & DT_FINDPATH_ANY_ANGLE) != 0) { + if ((parentRef != 0) && (raycastLimitSqr >= float.MaxValue + || vDistSqr(parentNode.pos, bestNode.pos) < raycastLimitSqr)) { + tryLOS = true; + } + } + + for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) { + long neighbourRef = bestTile.links[i].refs; + + // Skip invalid ids and do not expand back to where we came from. + if (neighbourRef == 0 || neighbourRef == parentRef) { + continue; + } + + // Get neighbour poly and tile. + // The API input has been cheked already, skip checking internal data. + tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(neighbourRef); + MeshTile neighbourTile = tileAndPoly.Item1; + Poly neighbourPoly = tileAndPoly.Item2; + + if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) { + continue; + } + + // get the node + Node neighbourNode = m_nodePool.getNode(neighbourRef, 0); + + // do not expand to nodes that were already visited from the + // same parent + if (neighbourNode.pidx != 0 && neighbourNode.pidx == bestNode.pidx) { + continue; + } + + // If the node is visited the first time, calculate node position. + float[] neighbourPos = neighbourNode.pos; + Result midpod = neighbourRef == endRef + ? getEdgeIntersectionPoint(bestNode.pos, bestRef, bestPoly, bestTile, endPos, neighbourRef, + neighbourPoly, neighbourTile) + : getEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile); + if (!midpod.failed()) { + neighbourPos = midpod.result; + } + + // Calculate cost and heuristic. + float cost = 0; + float heuristicCost = 0; + + // raycast parent + bool foundShortCut = false; + List shortcut = null; + if (tryLOS) { + Result rayHit = raycast(parentRef, parentNode.pos, neighbourPos, filter, + DT_RAYCAST_USE_COSTS, grandpaRef); + if (rayHit.succeeded()) { + foundShortCut = rayHit.result.t >= 1.0f; + if (foundShortCut) { + shortcut = rayHit.result.path; + // shortcut found using raycast. Using shorter cost + // instead + cost = parentNode.cost + rayHit.result.pathCost; + } + } + } + + // update move cost + if (!foundShortCut) { + float curCost = filter.getCost(bestNode.pos, neighbourPos, parentRef, parentTile, + parentPoly, bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly); + cost = bestNode.cost + curCost; + } + + // Special case for last node. + if (neighbourRef == endRef) { + // Cost + float endCost = filter.getCost(neighbourPos, endPos, bestRef, bestTile, bestPoly, neighbourRef, + neighbourTile, neighbourPoly, 0L, null, null); + cost = cost + endCost; + } else { + // Cost + heuristicCost = heuristic.getCost(neighbourPos, endPos); + } + + float total = cost + heuristicCost; + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { + continue; + } + // The node is already visited and process, and the new result is worse, skip. + if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total) { + continue; + } + + // Add or update the node. + neighbourNode.pidx = foundShortCut ? bestNode.pidx : m_nodePool.getNodeIdx(bestNode); + neighbourNode.id = neighbourRef; + neighbourNode.flags = (neighbourNode.flags & ~Node.DT_NODE_CLOSED); + neighbourNode.cost = cost; + neighbourNode.total = total; + neighbourNode.pos = neighbourPos; + neighbourNode.shortcut = shortcut; + + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) { + // Already in open, update node location. + m_openList.modify(neighbourNode); + } else { + // Put the node in open list. + neighbourNode.flags |= Node.DT_NODE_OPEN; + m_openList.push(neighbourNode); + } + + // Update nearest node to target so far. + if (heuristicCost < lastBestNodeCost) { + lastBestNodeCost = heuristicCost; + lastBestNode = neighbourNode; + } + } + } + + List path = getPathToNode(lastBestNode); + + if (lastBestNode.id != endRef) { + status = Status.PARTIAL_RESULT; + } + + return Results.of(status, path); + } + + /** + * Intializes a sliced path query. + * + * Common use case: -# Call initSlicedFindPath() to initialize the sliced path query. -# Call updateSlicedFindPath() + * until it returns complete. -# Call finalizeSlicedFindPath() to get the path. + * + * @param startRef + * The reference id of the start polygon. + * @param endRef + * The reference id of the end polygon. + * @param startPos + * A position within the start polygon. [(x, y, z)] + * @param endPos + * A position within the end polygon. [(x, y, z)] + * @param filter + * The polygon filter to apply to the query. + * @param options + * query options (see: #FindPathOptions) + * @return + */ + public Status initSlicedFindPath(long startRef, long endRef, float[] startPos, float[] endPos, QueryFilter filter, + int options) { + return initSlicedFindPath(startRef, endRef, startPos, endPos, filter, options, new DefaultQueryHeuristic(), -1.0f); + } + + public Status initSlicedFindPath(long startRef, long endRef, float[] startPos, float[] endPos, QueryFilter filter, + int options, float raycastLimit) { + return initSlicedFindPath(startRef, endRef, startPos, endPos, filter, options, new DefaultQueryHeuristic(), raycastLimit); + } + + public Status initSlicedFindPath(long startRef, long endRef, float[] startPos, float[] endPos, QueryFilter filter, + int options, QueryHeuristic heuristic, float raycastLimit) { + // Init path state. + m_query = new QueryData(); + m_query.status = Status.FAILURE; + m_query.startRef = startRef; + m_query.endRef = endRef; + vCopy(m_query.startPos, startPos); + vCopy(m_query.endPos, endPos); + m_query.filter = filter; + m_query.options = options; + m_query.heuristic = heuristic; + m_query.raycastLimitSqr = sqr(raycastLimit); + + // Validate input + if (!m_nav.isValidPolyRef(startRef) || !m_nav.isValidPolyRef(endRef) || null == startPos + || !vIsFinite(startPos) || null == endPos || !vIsFinite(endPos) || null == filter) { + return Status.FAILURE_INVALID_PARAM; + } + + // trade quality with performance? + if ((options & DT_FINDPATH_ANY_ANGLE) != 0 && raycastLimit < 0f) { + // limiting to several times the character radius yields nice results. It is not sensitive + // so it is enough to compute it from the first tile. + MeshTile tile = m_nav.getTileByRef(startRef); + float agentRadius = tile.data.header.walkableRadius; + m_query.raycastLimitSqr = sqr(agentRadius * NavMesh.DT_RAY_CAST_LIMIT_PROPORTIONS); + } + + if (startRef == endRef) { + m_query.status = Status.SUCCSESS; + return Status.SUCCSESS; + } + + m_nodePool.clear(); + m_openList.clear(); + + Node startNode = m_nodePool.getNode(startRef); + vCopy(startNode.pos, startPos); + startNode.pidx = 0; + startNode.cost = 0; + startNode.total = heuristic.getCost(startPos, endPos); + startNode.id = startRef; + startNode.flags = Node.DT_NODE_OPEN; + m_openList.push(startNode); + + m_query.status = Status.IN_PROGRESS; + m_query.lastBestNode = startNode; + m_query.lastBestNodeCost = startNode.total; + + return m_query.status; + } + + /** + * Updates an in-progress sliced path query. + * + * @param maxIter + * The maximum number of iterations to perform. + * @return The status flags for the query. + */ + public virtual Result updateSlicedFindPath(int maxIter) { + if (!m_query.status.isInProgress()) { + return Results.of(m_query.status, 0); + } + + // Make sure the request is still valid. + if (!m_nav.isValidPolyRef(m_query.startRef) || !m_nav.isValidPolyRef(m_query.endRef)) { + m_query.status = Status.FAILURE; + return Results.of(m_query.status, 0); + } + + int iter = 0; + while (iter < maxIter && !m_openList.isEmpty()) { + iter++; + + // Remove node from open list and put it in closed list. + Node bestNode = m_openList.pop(); + bestNode.flags &= ~Node.DT_NODE_OPEN; + bestNode.flags |= Node.DT_NODE_CLOSED; + + // Reached the goal, stop searching. + if (bestNode.id == m_query.endRef) { + m_query.lastBestNode = bestNode; + m_query.status = Status.SUCCSESS; + return Results.of(m_query.status, iter); + } + + // Get current poly and tile. + // The API input has been cheked already, skip checking internal + // data. + long bestRef = bestNode.id; + Result> tileAndPoly = m_nav.getTileAndPolyByRef(bestRef); + if (tileAndPoly.failed()) { + m_query.status = Status.FAILURE; + // The polygon has disappeared during the sliced query, fail. + return Results.of(m_query.status, iter); + } + MeshTile bestTile = tileAndPoly.result.Item1; + Poly bestPoly = tileAndPoly.result.Item2; + // Get parent and grand parent poly and tile. + long parentRef = 0, grandpaRef = 0; + MeshTile parentTile = null; + Poly parentPoly = null; + Node parentNode = null; + if (bestNode.pidx != 0) { + parentNode = m_nodePool.getNodeAtIdx(bestNode.pidx); + parentRef = parentNode.id; + if (parentNode.pidx != 0) { + grandpaRef = m_nodePool.getNodeAtIdx(parentNode.pidx).id; + } + } + if (parentRef != 0) { + bool invalidParent = false; + tileAndPoly = m_nav.getTileAndPolyByRef(parentRef); + invalidParent = tileAndPoly.failed(); + if (invalidParent || (grandpaRef != 0 && !m_nav.isValidPolyRef(grandpaRef))) { + // The polygon has disappeared during the sliced query, + // fail. + m_query.status = Status.FAILURE; + return Results.of(m_query.status, iter); + } + parentTile = tileAndPoly.result.Item1; + parentPoly = tileAndPoly.result.Item2; + } + + // decide whether to test raycast to previous nodes + bool tryLOS = false; + if ((m_query.options & DT_FINDPATH_ANY_ANGLE) != 0) { + if ((parentRef != 0) && (m_query.raycastLimitSqr >= float.MaxValue + || vDistSqr(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr)) { + tryLOS = true; + } + } + + for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) { + long neighbourRef = bestTile.links[i].refs; + + // Skip invalid ids and do not expand back to where we came + // from. + if (neighbourRef == 0 || neighbourRef == parentRef) { + continue; + } + + // Get neighbour poly and tile. + // The API input has been cheked already, skip checking internal + // data. + Tuple tileAndPolyUns = m_nav.getTileAndPolyByRefUnsafe(neighbourRef); + MeshTile neighbourTile = tileAndPolyUns.Item1; + Poly neighbourPoly = tileAndPolyUns.Item2; + + if (!m_query.filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) { + continue; + } + + // get the neighbor node + Node neighbourNode = m_nodePool.getNode(neighbourRef, 0); + + // do not expand to nodes that were already visited from the + // same parent + if (neighbourNode.pidx != 0 && neighbourNode.pidx == bestNode.pidx) { + continue; + } + + // If the node is visited the first time, calculate node + // position. + float[] neighbourPos = neighbourNode.pos; + Result midpod = neighbourRef == m_query.endRef + ? getEdgeIntersectionPoint(bestNode.pos, bestRef, bestPoly, bestTile, m_query.endPos, + neighbourRef, neighbourPoly, neighbourTile) + : getEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile); + if (!midpod.failed()) { + neighbourPos = midpod.result; + } + + // Calculate cost and heuristic. + float cost = 0; + float heuristic = 0; + + // raycast parent + bool foundShortCut = false; + List shortcut = null; + if (tryLOS) { + Result rayHit = raycast(parentRef, parentNode.pos, neighbourPos, m_query.filter, + DT_RAYCAST_USE_COSTS, grandpaRef); + if (rayHit.succeeded()) { + foundShortCut = rayHit.result.t >= 1.0f; + if (foundShortCut) { + shortcut = rayHit.result.path; + // shortcut found using raycast. Using shorter cost + // instead + cost = parentNode.cost + rayHit.result.pathCost; + } + } + } + + // update move cost + if (!foundShortCut) { + // No shortcut found. + float curCost = m_query.filter.getCost(bestNode.pos, neighbourPos, parentRef, parentTile, + parentPoly, bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly); + cost = bestNode.cost + curCost; + } + + // Special case for last node. + if (neighbourRef == m_query.endRef) { + float endCost = m_query.filter.getCost(neighbourPos, m_query.endPos, bestRef, bestTile, + bestPoly, neighbourRef, neighbourTile, neighbourPoly, 0, null, null); + + cost = cost + endCost; + heuristic = 0; + } else { + heuristic = m_query.heuristic.getCost(neighbourPos, m_query.endPos); + } + + float total = cost + heuristic; + + // The node is already in open list and the new result is worse, + // skip. + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { + continue; + } + // The node is already visited and process, and the new result + // is worse, skip. + if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total) { + continue; + } + + // Add or update the node. + neighbourNode.pidx = foundShortCut ? bestNode.pidx : m_nodePool.getNodeIdx(bestNode); + neighbourNode.id = neighbourRef; + neighbourNode.flags = (neighbourNode.flags & ~Node.DT_NODE_CLOSED); + neighbourNode.cost = cost; + neighbourNode.total = total; + neighbourNode.pos = neighbourPos; + neighbourNode.shortcut = shortcut; + + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) { + // Already in open, update node location. + m_openList.modify(neighbourNode); + } else { + // Put the node in open list. + neighbourNode.flags |= Node.DT_NODE_OPEN; + m_openList.push(neighbourNode); + } + + // Update nearest node to target so far. + if (heuristic < m_query.lastBestNodeCost) { + m_query.lastBestNodeCost = heuristic; + m_query.lastBestNode = neighbourNode; + } + } + } + + // Exhausted all nodes, but could not find path. + if (m_openList.isEmpty()) { + m_query.status = Status.PARTIAL_RESULT; + } + + return Results.of(m_query.status, iter); + } + + /// Finalizes and returns the results of a sliced path query. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @returns The status flags for the query. + public virtual Result> finalizeSlicedFindPath() { + + List path = new(64); + if (m_query.status.isFailed()) { + // Reset query. + m_query = new QueryData(); + return Results.failure(path); + } + + if (m_query.startRef == m_query.endRef) { + // Special case: the search starts and ends at same poly. + path.Add(m_query.startRef); + } else { + // Reverse the path. + if (m_query.lastBestNode.id != m_query.endRef) { + m_query.status = Status.PARTIAL_RESULT; + } + path = getPathToNode(m_query.lastBestNode); + } + + Status status = m_query.status; + // Reset query. + m_query = new QueryData(); + + return Results.of(status, path); + } + + /// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest + /// polygon on the existing path that was visited during the search. + /// @param[in] existing An array of polygon references for the existing path. + /// @param[in] existingSize The number of polygon in the @p existing array. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @returns The status flags for the query. + public virtual Result> finalizeSlicedFindPathPartial(List existing) { + + List path = new(64); + if (null == existing || existing.Count <= 0) { + return Results.failure(path); + } + if (m_query.status.isFailed()) { + // Reset query. + m_query = new QueryData(); + return Results.failure(path); + } + if (m_query.startRef == m_query.endRef) { + // Special case: the search starts and ends at same poly. + path.Add(m_query.startRef); + } else { + // Find furthest existing node that was visited. + Node node = null; + for (int i = existing.Count - 1; i >= 0; --i) { + node = m_nodePool.findNode(existing[i]); + if (node != null) { + break; + } + } + + if (node == null) { + m_query.status = Status.PARTIAL_RESULT; + node = m_query.lastBestNode; + } + + path = getPathToNode(node); + + } + Status status = m_query.status; + // Reset query. + m_query = new QueryData(); + + return Results.of(status, path); + } + + protected Status appendVertex(float[] pos, int flags, long refs, List straightPath, + int maxStraightPath) { + if (straightPath.Count > 0 && vEqual(straightPath[straightPath.Count - 1].pos, pos)) { + // The vertices are equal, update flags and poly. + straightPath[straightPath.Count - 1].flags = flags; + straightPath[straightPath.Count - 1].refs = refs; + } else { + if (straightPath.Count < maxStraightPath) { + // Append new vertex. + straightPath.Add(new StraightPathItem(pos, flags, refs)); + } + // If reached end of path or there is no space to append more vertices, return. + if (flags == DT_STRAIGHTPATH_END || straightPath.Count >= maxStraightPath) { + return Status.SUCCSESS; + } + } + return Status.IN_PROGRESS; + } + + protected Status appendPortals(int startIdx, int endIdx, float[] endPos, List path, + List straightPath, int maxStraightPath, int options) { + float[] startPos = straightPath[straightPath.Count - 1].pos; + // Append or update last vertex + Status stat; + for (int i = startIdx; i < endIdx; i++) { + // Calculate portal + long from = path[i]; + Result> tileAndPoly = m_nav.getTileAndPolyByRef(from); + if (tileAndPoly.failed()) { + return Status.FAILURE; + } + MeshTile fromTile = tileAndPoly.result.Item1; + Poly fromPoly = tileAndPoly.result.Item2; + + long to = path[i + 1]; + tileAndPoly = m_nav.getTileAndPolyByRef(to); + if (tileAndPoly.failed()) { + return Status.FAILURE; + } + MeshTile toTile = tileAndPoly.result.Item1; + Poly toPoly = tileAndPoly.result.Item2; + + Result portals = getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, 0, 0); + if (portals.failed()) { + break; + } + float[] left = portals.result.left; + float[] right = portals.result.right; + + if ((options & DT_STRAIGHTPATH_AREA_CROSSINGS) != 0) { + // Skip intersection if only area crossings are requested. + if (fromPoly.getArea() == toPoly.getArea()) { + continue; + } + } + + // Append intersection + Tuple interect = intersectSegSeg2D(startPos, endPos, left, right); + if (null != interect) { + float t = interect.Item2; + float[] pt = vLerp(left, right, t); + stat = appendVertex(pt, 0, path[i + 1], straightPath, maxStraightPath); + if (!stat.isInProgress()) { + return stat; + } + } + } + return Status.IN_PROGRESS; + } + + /// @par + /// Finds the straight path from the start to the end position within the polygon corridor. + /// + /// This method peforms what is often called 'string pulling'. + /// + /// The start position is clamped to the first polygon in the path, and the + /// end position is clamped to the last. So the start and end positions should + /// normally be within or very near the first and last polygons respectively. + /// + /// The returned polygon references represent the reference id of the polygon + /// that is entered at the associated path position. The reference id associated + /// with the end point will always be zero. This allows, for example, matching + /// off-mesh link points to their representative polygons. + /// + /// If the provided result buffers are too small for the entire result set, + /// they will be filled as far as possible from the start toward the end + /// position. + /// + /// @param[in] startPos Path start position. [(x, y, z)] + /// @param[in] endPos Path end position. [(x, y, z)] + /// @param[in] path An array of polygon references that represent the path corridor. + /// @param[out] straightPath Points describing the straight path. [(x, y, z) * @p straightPathCount]. + /// @param[in] maxStraightPath The maximum number of points the straight path arrays can hold. [Limit: > 0] + /// @param[in] options Query options. (see: #dtStraightPathOptions) + /// @returns The status flags for the query. + public virtual Result> findStraightPath(float[] startPos, float[] endPos, List path, + int maxStraightPath, int options) { + + List straightPath = new(); + if (null == startPos || !vIsFinite(startPos) || null == endPos || !vIsFinite(endPos) + || null == path || 0 == path.Count || path[0] == 0 || maxStraightPath <= 0) { + return Results.invalidParam>(); + } + // TODO: Should this be callers responsibility? + Result closestStartPosRes = closestPointOnPolyBoundary(path[0], startPos); + if (closestStartPosRes.failed()) { + return Results.invalidParam>("Cannot find start position"); + } + float[] closestStartPos = closestStartPosRes.result; + Result closestEndPosRes = closestPointOnPolyBoundary(path[path.Count - 1], endPos); + if (closestEndPosRes.failed()) { + return Results.invalidParam>("Cannot find end position"); + } + float[] closestEndPos = closestEndPosRes.result; + // Add start point. + Status stat = appendVertex(closestStartPos, DT_STRAIGHTPATH_START, path[0], straightPath, maxStraightPath); + if (!stat.isInProgress()) { + return Results.success(straightPath); + } + + if (path.Count > 1) { + float[] portalApex = vCopy(closestStartPos); + float[] portalLeft = vCopy(portalApex); + float[] portalRight = vCopy(portalApex); + int apexIndex = 0; + int leftIndex = 0; + int rightIndex = 0; + + int leftPolyType = 0; + int rightPolyType = 0; + + long leftPolyRef = path[0]; + long rightPolyRef = path[0]; + + for (int i = 0; i < path.Count; ++i) { + float[] left; + float[] right; + int toType; + + if (i + 1 < path.Count) { + // Next portal. + Result portalPoints = getPortalPoints(path[i], path[i + 1]); + if (portalPoints.failed()) { + closestEndPosRes = closestPointOnPolyBoundary(path[i], endPos); + if (closestEndPosRes.failed()) { + return Results.invalidParam>(); + } + closestEndPos = closestEndPosRes.result; + // Append portals along the current straight path segment. + if ((options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) != 0) { + // Ignore status return value as we're just about to return anyway. + appendPortals(apexIndex, i, closestEndPos, path, straightPath, maxStraightPath, options); + } + // Ignore status return value as we're just about to return anyway. + appendVertex(closestEndPos, 0, path[i], straightPath, maxStraightPath); + return Results.success(straightPath); + } + left = portalPoints.result.left; + right = portalPoints.result.right; + toType = portalPoints.result.toType; + + // If starting really close the portal, advance. + if (i == 0) { + Tuple dt = distancePtSegSqr2D(portalApex, left, right); + if (dt.Item1 < sqr(0.001f)) { + continue; + } + } + } else { + // End of the path. + left = vCopy(closestEndPos); + right = vCopy(closestEndPos); + toType = Poly.DT_POLYTYPE_GROUND; + } + + // Right vertex. + if (triArea2D(portalApex, portalRight, right) <= 0.0f) { + if (vEqual(portalApex, portalRight) || triArea2D(portalApex, portalLeft, right) > 0.0f) { + portalRight = vCopy(right); + rightPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0; + rightPolyType = toType; + rightIndex = i; + } else { + // Append portals along the current straight path segment. + if ((options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) != 0) { + stat = appendPortals(apexIndex, leftIndex, portalLeft, path, straightPath, maxStraightPath, + options); + if (!stat.isInProgress()) { + return Results.success(straightPath); + } + } + + portalApex = vCopy(portalLeft); + apexIndex = leftIndex; + + int flags = 0; + if (leftPolyRef == 0) { + flags = DT_STRAIGHTPATH_END; + } else if (leftPolyType == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION; + } + long refs = leftPolyRef; + + // Append or update vertex + stat = appendVertex(portalApex, flags, refs, straightPath, maxStraightPath); + if (!stat.isInProgress()) { + return Results.success(straightPath); + } + + portalLeft = vCopy(portalApex); + portalRight = vCopy(portalApex); + leftIndex = apexIndex; + rightIndex = apexIndex; + + // Restart + i = apexIndex; + + continue; + } + } + + // Left vertex. + if (triArea2D(portalApex, portalLeft, left) >= 0.0f) { + if (vEqual(portalApex, portalLeft) || triArea2D(portalApex, portalRight, left) < 0.0f) { + portalLeft = vCopy(left); + leftPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0; + leftPolyType = toType; + leftIndex = i; + } else { + // Append portals along the current straight path segment. + if ((options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) != 0) { + stat = appendPortals(apexIndex, rightIndex, portalRight, path, straightPath, + maxStraightPath, options); + if (!stat.isInProgress()) { + return Results.success(straightPath); + } + } + + portalApex = vCopy(portalRight); + apexIndex = rightIndex; + + int flags = 0; + if (rightPolyRef == 0) { + flags = DT_STRAIGHTPATH_END; + } else if (rightPolyType == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION; + } + long refs = rightPolyRef; + + // Append or update vertex + stat = appendVertex(portalApex, flags, refs, straightPath, maxStraightPath); + if (!stat.isInProgress()) { + return Results.success(straightPath); + } + + portalLeft = vCopy(portalApex); + portalRight = vCopy(portalApex); + leftIndex = apexIndex; + rightIndex = apexIndex; + + // Restart + i = apexIndex; + + continue; + } + } + } + + // Append portals along the current straight path segment. + if ((options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) != 0) { + stat = appendPortals(apexIndex, path.Count - 1, closestEndPos, path, straightPath, maxStraightPath, + options); + if (!stat.isInProgress()) { + return Results.success(straightPath); + } + } + } + + // Ignore status return value as we're just about to return anyway. + appendVertex(closestEndPos, DT_STRAIGHTPATH_END, 0, straightPath, maxStraightPath); + return Results.success(straightPath); + } + + /// @par + /// + /// This method is optimized for small delta movement and a small number of + /// polygons. If used for too great a distance, the result set will form an + /// incomplete path. + /// + /// @p resultPos will equal the @p endPos if the end is reached. + /// Otherwise the closest reachable position will be returned. + /// + /// @p resultPos is not projected onto the surface of the navigation + /// mesh. Use #getPolyHeight if this is needed. + /// + /// This method treats the end position in the same manner as + /// the #raycast method. (As a 2D point.) See that method's documentation + /// for details. + /// + /// If the @p visited array is too small to hold the entire result set, it will + /// be filled as far as possible from the start position toward the end + /// position. + /// + /// Moves from the start to the end position constrained to the navigation mesh. + /// @param[in] startRef The reference id of the start polygon. + /// @param[in] startPos A position of the mover within the start polygon. [(x, y, x)] + /// @param[in] endPos The desired end position of the mover. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @returns Path + public Result moveAlongSurface(long startRef, float[] startPos, float[] endPos, + QueryFilter filter) { + + // Validate input + if (!m_nav.isValidPolyRef(startRef) || null == startPos || !vIsFinite(startPos) + || null == endPos || !vIsFinite(endPos) || null == filter) { + return Results.invalidParam(); + } + + NodePool tinyNodePool = new NodePool(); + + Node startNode = tinyNodePool.getNode(startRef); + startNode.pidx = 0; + startNode.cost = 0; + startNode.total = 0; + startNode.id = startRef; + startNode.flags = Node.DT_NODE_CLOSED; + LinkedList stack = new(); + stack.AddLast(startNode); + + float[] bestPos = new float[3]; + float bestDist = float.MaxValue; + Node bestNode = null; + vCopy(bestPos, startPos); + + // Search constraints + float[] searchPos = vLerp(startPos, endPos, 0.5f); + float searchRadSqr = sqr(vDist(startPos, endPos) / 2.0f + 0.001f); + + float[] verts = new float[m_nav.getMaxVertsPerPoly() * 3]; + + while (0 < stack.Count) { + // Pop front. + Node curNode = stack.First?.Value; + stack.RemoveFirst(); + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + long curRef = curNode.id; + Tuple tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(curRef); + MeshTile curTile = tileAndPoly.Item1; + Poly curPoly = tileAndPoly.Item2; + + // Collect vertices. + int nverts = curPoly.vertCount; + for (int i = 0; i < nverts; ++i) { + Array.Copy(curTile.data.verts, curPoly.verts[i] * 3, verts, i * 3, 3); + } + + // If target is inside the poly, stop search. + if (pointInPolygon(endPos, verts, nverts)) { + bestNode = curNode; + vCopy(bestPos, endPos); + break; + } + + // Find wall edges and find nearest point inside the walls. + for (int i = 0, j = curPoly.vertCount - 1; i < curPoly.vertCount; j = i++) { + // Find links to neighbours. + int MAX_NEIS = 8; + int nneis = 0; + long[] neis = new long[MAX_NEIS]; + + if ((curPoly.neis[j] & NavMesh.DT_EXT_LINK) != 0) { + // Tile border. + for (int k = curTile.polyLinks[curPoly.index]; k != NavMesh.DT_NULL_LINK; k = curTile.links[k].next) { + Link link = curTile.links[k]; + if (link.edge == j) { + if (link.refs != 0) { + tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(link.refs); + MeshTile neiTile = tileAndPoly.Item1; + Poly neiPoly = tileAndPoly.Item2; + if (filter.passFilter(link.refs, neiTile, neiPoly)) { + if (nneis < MAX_NEIS) { + neis[nneis++] = link.refs; + } + } + } + } + } + } else if (curPoly.neis[j] != 0) { + int idx = curPoly.neis[j] - 1; + long refs = m_nav.getPolyRefBase(curTile) | idx; + if (filter.passFilter(refs, curTile, curTile.data.polys[idx])) { + // Internal edge, encode id. + neis[nneis++] = refs; + } + } + + if (nneis == 0) { + // Wall edge, calc distance. + int vj = j * 3; + int vi = i * 3; + Tuple distSeg = distancePtSegSqr2D(endPos, verts, vj, vi); + float distSqr = distSeg.Item1; + float tseg = distSeg.Item2; + if (distSqr < bestDist) { + // Update nearest distance. + bestPos = vLerp(verts, vj, vi, tseg); + bestDist = distSqr; + bestNode = curNode; + } + } else { + for (int k = 0; k < nneis; ++k) { + Node neighbourNode = tinyNodePool.getNode(neis[k]); + // Skip if already visited. + if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0) { + continue; + } + + // Skip the link if it is too far from search constraint. + // TODO: Maybe should use getPortalPoints(), but this one is way faster. + int vj = j * 3; + int vi = i * 3; + Tuple distseg = distancePtSegSqr2D(searchPos, verts, vj, vi); + float distSqr = distseg.Item1; + if (distSqr > searchRadSqr) { + continue; + } + + // Mark as the node as visited and push to queue. + neighbourNode.pidx = tinyNodePool.getNodeIdx(curNode); + neighbourNode.flags |= Node.DT_NODE_CLOSED; + stack.AddLast(neighbourNode); + } + } + } + } + + List visited = new(); + if (bestNode != null) { + // Reverse the path. + Node prev = null; + Node node = bestNode; + do { + Node next = tinyNodePool.getNodeAtIdx(node.pidx); + node.pidx = tinyNodePool.getNodeIdx(prev); + prev = node; + node = next; + } while (node != null); + + // Store result + node = prev; + do { + visited.Add(node.id); + node = tinyNodePool.getNodeAtIdx(node.pidx); + } while (node != null); + } + return Results.success(new MoveAlongSurfaceResult(bestPos, visited)); + } + + public class PortalResult { + public readonly float[] left; + public readonly float[] right; + public readonly int fromType; + public readonly int toType; + + public PortalResult(float[] left, float[] right, int fromType, int toType) { + this.left = left; + this.right = right; + this.fromType = fromType; + this.toType = toType; + } + + } + + protected Result getPortalPoints(long from, long to) { + Result> tileAndPolyResult = m_nav.getTileAndPolyByRef(from); + if (tileAndPolyResult.failed()) { + return Results.of(tileAndPolyResult.status, tileAndPolyResult.message); + } + Tuple tileAndPoly = tileAndPolyResult.result; + MeshTile fromTile = tileAndPoly.Item1; + Poly fromPoly = tileAndPoly.Item2; + int fromType = fromPoly.getType(); + + tileAndPolyResult = m_nav.getTileAndPolyByRef(to); + if (tileAndPolyResult.failed()) { + return Results.of(tileAndPolyResult.status, tileAndPolyResult.message); + } + tileAndPoly = tileAndPolyResult.result; + MeshTile toTile = tileAndPoly.Item1; + Poly toPoly = tileAndPoly.Item2; + int toType = toPoly.getType(); + + return getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, fromType, toType); + } + + // Returns portal points between two polygons. + protected Result getPortalPoints(long from, Poly fromPoly, MeshTile fromTile, long to, Poly toPoly, + MeshTile toTile, int fromType, int toType) { + float[] left = new float[3]; + float[] right = new float[3]; + // Find the link that points to the 'to' polygon. + Link link = null; + for (int i = fromTile.polyLinks[fromPoly.index]; i != NavMesh.DT_NULL_LINK; i = fromTile.links[i].next) { + if (fromTile.links[i].refs == to) { + link = fromTile.links[i]; + break; + } + } + if (link == null) { + return Results.invalidParam("No link found"); + } + + // Handle off-mesh connections. + if (fromPoly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + // Find link that points to first vertex. + for (int i = fromTile.polyLinks[fromPoly.index]; i != NavMesh.DT_NULL_LINK; i = fromTile.links[i].next) { + if (fromTile.links[i].refs == to) { + int v = fromTile.links[i].edge; + Array.Copy(fromTile.data.verts, fromPoly.verts[v] * 3, left, 0, 3); + Array.Copy(fromTile.data.verts, fromPoly.verts[v] * 3, right, 0, 3); + return Results.success(new PortalResult(left, right, fromType, toType)); + } + } + return Results.invalidParam("Invalid offmesh from connection"); + } + + if (toPoly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + for (int i = toTile.polyLinks[toPoly.index]; i != NavMesh.DT_NULL_LINK; i = toTile.links[i].next) { + if (toTile.links[i].refs == from) { + int v = toTile.links[i].edge; + Array.Copy(toTile.data.verts, toPoly.verts[v] * 3, left, 0, 3); + Array.Copy(toTile.data.verts, toPoly.verts[v] * 3, right, 0, 3); + return Results.success(new PortalResult(left, right, fromType, toType)); + } + } + return Results.invalidParam("Invalid offmesh to connection"); + } + + // Find portal vertices. + int v0 = fromPoly.verts[link.edge]; + int v1 = fromPoly.verts[(link.edge + 1) % fromPoly.vertCount]; + Array.Copy(fromTile.data.verts, v0 * 3, left, 0, 3); + Array.Copy(fromTile.data.verts, v1 * 3, right, 0, 3); + + // If the link is at tile boundary, dtClamp the vertices to + // the link width. + if (link.side != 0xff) { + // Unpack portal limits. + if (link.bmin != 0 || link.bmax != 255) { + float s = 1.0f / 255.0f; + float tmin = link.bmin * s; + float tmax = link.bmax * s; + left = vLerp(fromTile.data.verts, v0 * 3, v1 * 3, tmin); + right = vLerp(fromTile.data.verts, v0 * 3, v1 * 3, tmax); + } + } + + return Results.success(new PortalResult(left, right, fromType, toType)); + } + + protected Result getEdgeMidPoint(long from, Poly fromPoly, MeshTile fromTile, long to, + Poly toPoly, MeshTile toTile) { + Result ppoints = getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, 0, 0); + if (ppoints.failed()) { + return Results.of(ppoints.status, ppoints.message); + } + float[] left = ppoints.result.left; + float[] right = ppoints.result.right; + float[] mid = new float[3]; + mid[0] = (left[0] + right[0]) * 0.5f; + mid[1] = (left[1] + right[1]) * 0.5f; + mid[2] = (left[2] + right[2]) * 0.5f; + return Results.success(mid); + } + + protected Result getEdgeIntersectionPoint(float[] fromPos, long from, Poly fromPoly, MeshTile fromTile, + float[] toPos, long to, Poly toPoly, MeshTile toTile) { + Result ppoints = getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, 0, 0); + if (ppoints.failed()) { + return Results.of(ppoints.status, ppoints.message); + } + float[] left = ppoints.result.left; + float[] right = ppoints.result.right; + float t = 0.5f; + Tuple interect = intersectSegSeg2D(fromPos, toPos, left, right); + if (null != interect) { + t = clamp(interect.Item2, 0.1f, 0.9f); + } + float[] pt = vLerp(left, right, t); + return Results.success(pt); + } + + private static float s = 1.0f / 255.0f; + + /// @par + /// + /// This method is meant to be used for quick, short distance checks. + /// + /// If the path array is too small to hold the result, it will be filled as + /// far as possible from the start postion toward the end position. + /// + /// Using the Hit Parameter t of RaycastHit + /// + /// If the hit parameter is a very high value (FLT_MAX), then the ray has hit + /// the end position. In this case the path represents a valid corridor to the + /// end position and the value of @p hitNormal is undefined. + /// + /// If the hit parameter is zero, then the start position is on the wall that + /// was hit and the value of @p hitNormal is undefined. + /// + /// If 0 < t < 1.0 then the following applies: + /// + /// @code + /// distanceToHitBorder = distanceToEndPosition * t + /// hitPoint = startPos + (endPos - startPos) * t + /// @endcode + /// + /// Use Case Restriction + /// + /// The raycast ignores the y-value of the end position. (2D check.) This + /// places significant limits on how it can be used. For example: + /// + /// Consider a scene where there is a main floor with a second floor balcony + /// that hangs over the main floor. So the first floor mesh extends below the + /// balcony mesh. The start position is somewhere on the first floor. The end + /// position is on the balcony. + /// + /// The raycast will search toward the end position along the first floor mesh. + /// If it reaches the end position's xz-coordinates it will indicate FLT_MAX + /// (no wall hit), meaning it reached the end position. This is one example of why + /// this method is meant for short distance checks. + /// + /// Casts a 'walkability' ray along the surface of the navigation mesh from + /// the start position toward the end position. + /// @note A wrapper around raycast(..., RaycastHit*). Retained for backward compatibility. + /// @param[in] startRef The reference id of the start polygon. + /// @param[in] startPos A position within the start polygon representing + /// the start of the ray. [(x, y, z)] + /// @param[in] endPos The position to cast the ray toward. [(x, y, z)] + /// @param[out] t The hit parameter. (FLT_MAX if no wall hit.) + /// @param[out] hitNormal The normal of the nearest wall hit. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] path The reference ids of the visited polygons. [opt] + /// @param[out] pathCount The number of visited polygons. [opt] + /// @param[in] maxPath The maximum number of polygons the @p path array can hold. + /// @returns The status flags for the query. + public Result raycast(long startRef, float[] startPos, float[] endPos, QueryFilter filter, int options, + long prevRef) { + // Validate input + if (!m_nav.isValidPolyRef(startRef) || null == startPos || !vIsFinite(startPos) + || null == endPos || !vIsFinite(endPos) || null == filter + || (prevRef != 0 && !m_nav.isValidPolyRef(prevRef))) { + return Results.invalidParam(); + } + + RaycastHit hit = new RaycastHit(); + + float[] verts = new float[m_nav.getMaxVertsPerPoly() * 3 + 3]; + + float[] curPos = new float[3], lastPos = new float[3]; + + vCopy(curPos, startPos); + float[] dir = vSub(endPos, startPos); + + MeshTile prevTile, tile, nextTile; + Poly prevPoly, poly, nextPoly; + + // The API input has been checked already, skip checking internal data. + long curRef = startRef; + Tuple tileAndPolyUns = m_nav.getTileAndPolyByRefUnsafe(curRef); + tile = tileAndPolyUns.Item1; + poly = tileAndPolyUns.Item2; + nextTile = prevTile = tile; + nextPoly = prevPoly = poly; + if (prevRef != 0) { + tileAndPolyUns = m_nav.getTileAndPolyByRefUnsafe(prevRef); + prevTile = tileAndPolyUns.Item1; + prevPoly = tileAndPolyUns.Item2; + } + while (curRef != 0) { + // Cast ray against current polygon. + + // Collect vertices. + int nv = 0; + for (int i = 0; i < poly.vertCount; ++i) { + Array.Copy(tile.data.verts, poly.verts[i] * 3, verts, nv * 3, 3); + nv++; + } + + IntersectResult iresult = intersectSegmentPoly2D(startPos, endPos, verts, nv); + if (!iresult.intersects) { + // Could not hit the polygon, keep the old t and report hit. + return Results.success(hit); + } + + hit.hitEdgeIndex = iresult.segMax; + + // Keep track of furthest t so far. + if (iresult.tmax > hit.t) { + hit.t = iresult.tmax; + } + + // Store visited polygons. + hit.path.Add(curRef); + + // Ray end is completely inside the polygon. + if (iresult.segMax == -1) { + hit.t = float.MaxValue; + + // add the cost + if ((options & DT_RAYCAST_USE_COSTS) != 0) { + hit.pathCost += filter.getCost(curPos, endPos, prevRef, prevTile, prevPoly, curRef, tile, poly, + curRef, tile, poly); + } + return Results.success(hit); + } + + // Follow neighbours. + long nextRef = 0; + + for (int i = tile.polyLinks[poly.index]; i != NavMesh.DT_NULL_LINK; i = tile.links[i].next) { + Link link = tile.links[i]; + + // Find link which contains this edge. + if (link.edge != iresult.segMax) { + continue; + } + + // Get pointer to the next polygon. + tileAndPolyUns = m_nav.getTileAndPolyByRefUnsafe(link.refs); + nextTile = tileAndPolyUns.Item1; + nextPoly = tileAndPolyUns.Item2; + // Skip off-mesh connections. + if (nextPoly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + continue; + } + + // Skip links based on filter. + if (!filter.passFilter(link.refs, nextTile, nextPoly)) { + continue; + } + + // If the link is internal, just return the ref. + if (link.side == 0xff) { + nextRef = link.refs; + break; + } + + // If the link is at tile boundary, + + // Check if the link spans the whole edge, and accept. + if (link.bmin == 0 && link.bmax == 255) { + nextRef = link.refs; + break; + } + + // Check for partial edge links. + int v0 = poly.verts[link.edge]; + int v1 = poly.verts[(link.edge + 1) % poly.vertCount]; + int left = v0 * 3; + int right = v1 * 3; + + // Check that the intersection lies inside the link portal. + if (link.side == 0 || link.side == 4) { + // Calculate link size. + float lmin = tile.data.verts[left + 2] + + (tile.data.verts[right + 2] - tile.data.verts[left + 2]) * (link.bmin * s); + float lmax = tile.data.verts[left + 2] + + (tile.data.verts[right + 2] - tile.data.verts[left + 2]) * (link.bmax * s); + if (lmin > lmax) { + float temp = lmin; + lmin = lmax; + lmax = temp; + } + + // Find Z intersection. + float z = startPos[2] + (endPos[2] - startPos[2]) * iresult.tmax; + if (z >= lmin && z <= lmax) { + nextRef = link.refs; + break; + } + } else if (link.side == 2 || link.side == 6) { + // Calculate link size. + float lmin = tile.data.verts[left] + + (tile.data.verts[right] - tile.data.verts[left]) * (link.bmin * s); + float lmax = tile.data.verts[left] + + (tile.data.verts[right] - tile.data.verts[left]) * (link.bmax * s); + if (lmin > lmax) { + float temp = lmin; + lmin = lmax; + lmax = temp; + } + + // Find X intersection. + float x = startPos[0] + (endPos[0] - startPos[0]) * iresult.tmax; + if (x >= lmin && x <= lmax) { + nextRef = link.refs; + break; + } + } + } + + // add the cost + if ((options & DT_RAYCAST_USE_COSTS) != 0) { + // compute the intersection point at the furthest end of the polygon + // and correct the height (since the raycast moves in 2d) + vCopy(lastPos, curPos); + curPos = vMad(startPos, dir, hit.t); + VectorPtr e1 = new VectorPtr(verts, iresult.segMax * 3); + VectorPtr e2 = new VectorPtr(verts, ((iresult.segMax + 1) % nv) * 3); + float[] eDir = vSub(e2, e1); + float[] diff = vSub(new VectorPtr(curPos), e1); + float s = sqr(eDir[0]) > sqr(eDir[2]) ? diff[0] / eDir[0] : diff[2] / eDir[2]; + curPos[1] = e1.get(1) + eDir[1] * s; + + hit.pathCost += filter.getCost(lastPos, curPos, prevRef, prevTile, prevPoly, curRef, tile, poly, + nextRef, nextTile, nextPoly); + } + + if (nextRef == 0) { + // No neighbour, we hit a wall. + + // Calculate hit normal. + int a = iresult.segMax; + int b = iresult.segMax + 1 < nv ? iresult.segMax + 1 : 0; + int va = a * 3; + int vb = b * 3; + float dx = verts[vb] - verts[va]; + float dz = verts[vb + 2] - verts[va + 2]; + hit.hitNormal[0] = dz; + hit.hitNormal[1] = 0; + hit.hitNormal[2] = -dx; + vNormalize(hit.hitNormal); + return Results.success(hit); + } + + // No hit, advance to neighbour polygon. + prevRef = curRef; + curRef = nextRef; + prevTile = tile; + tile = nextTile; + prevPoly = poly; + poly = nextPoly; + } + + return Results.success(hit); + } + + /// @par + /// + /// At least one result array must be provided. + /// + /// The order of the result set is from least to highest cost to reach the polygon. + /// + /// A common use case for this method is to perform Dijkstra searches. + /// Candidate polygons are found by searching the graph beginning at the start polygon. + /// + /// If a polygon is not found via the graph search, even if it intersects the + /// search circle, it will not be included in the result set. For example: + /// + /// polyA is the start polygon. + /// polyB shares an edge with polyA. (Is adjacent.) + /// polyC shares an edge with polyB, but not with polyA + /// Even if the search circle overlaps polyC, it will not be included in the + /// result set unless polyB is also in the set. + /// + /// The value of the center point is used as the start position for cost + /// calculations. It is not projected onto the surface of the mesh, so its + /// y-value will effect the costs. + /// + /// Intersection tests occur in 2D. All polygons and the search circle are + /// projected onto the xz-plane. So the y-value of the center point does not + /// effect intersection tests. + /// + /// If the result arrays are to small to hold the entire result set, they will be + /// filled to capacity. + /// + /// @} + /// @name Dijkstra Search Functions + /// @{ + + /// Finds the polygons along the navigation graph that touch the specified circle. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] centerPos The center of the search circle. [(x, y, z)] + /// @param[in] radius The radius of the search circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt] + /// @param[out] resultParent The reference ids of the parent polygons for each result. + /// Zero if a result polygon has no parent. [opt] + /// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt] + /// @param[out] resultCount The number of polygons found. [opt] + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. + public Result findPolysAroundCircle(long startRef, float[] centerPos, float radius, + QueryFilter filter) { + + // Validate input + + if (!m_nav.isValidPolyRef(startRef) || null == centerPos || !vIsFinite(centerPos) || radius < 0 + || !float.IsFinite(radius) || null == filter) { + return Results.invalidParam(); + } + + List resultRef = new(); + List resultParent = new(); + List resultCost = new(); + + m_nodePool.clear(); + m_openList.clear(); + + Node startNode = m_nodePool.getNode(startRef); + vCopy(startNode.pos, centerPos); + startNode.pidx = 0; + startNode.cost = 0; + startNode.total = 0; + startNode.id = startRef; + startNode.flags = Node.DT_NODE_OPEN; + m_openList.push(startNode); + + float radiusSqr = sqr(radius); + + while (!m_openList.isEmpty()) { + Node bestNode = m_openList.pop(); + bestNode.flags &= ~Node.DT_NODE_OPEN; + bestNode.flags |= Node.DT_NODE_CLOSED; + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + long bestRef = bestNode.id; + Tuple tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(bestRef); + MeshTile bestTile = tileAndPoly.Item1; + Poly bestPoly = tileAndPoly.Item2; + + // Get parent poly and tile. + long parentRef = 0; + MeshTile parentTile = null; + Poly parentPoly = null; + if (bestNode.pidx != 0) { + parentRef = m_nodePool.getNodeAtIdx(bestNode.pidx).id; + } + if (parentRef != 0) { + tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(parentRef); + parentTile = tileAndPoly.Item1; + parentPoly = tileAndPoly.Item2; + } + + resultRef.Add(bestRef); + resultParent.Add(parentRef); + resultCost.Add(bestNode.total); + + for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) { + Link link = bestTile.links[i]; + long neighbourRef = link.refs; + // Skip invalid neighbours and do not follow back to parent. + if (neighbourRef == 0 || neighbourRef == parentRef) { + continue; + } + + // Expand to neighbour + tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(neighbourRef); + MeshTile neighbourTile = tileAndPoly.Item1; + Poly neighbourPoly = tileAndPoly.Item2; + + // Do not advance if the polygon is excluded by the filter. + if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) { + continue; + } + + // Find edge and calc distance to the edge. + Result pp = getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, + neighbourTile, 0, 0); + if (pp.failed()) { + continue; + } + float[] va = pp.result.left; + float[] vb = pp.result.right; + + // If the circle is not touching the next polygon, skip it. + Tuple distseg = distancePtSegSqr2D(centerPos, va, vb); + float distSqr = distseg.Item1; + if (distSqr > radiusSqr) { + continue; + } + + Node neighbourNode = m_nodePool.getNode(neighbourRef); + + if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0) { + continue; + } + + // Cost + if (neighbourNode.flags == 0) { + neighbourNode.pos = vLerp(va, vb, 0.5f); + } + + float cost = filter.getCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly, bestRef, + bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly); + + float total = bestNode.total + cost; + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { + continue; + } + + neighbourNode.id = neighbourRef; + neighbourNode.pidx = m_nodePool.getNodeIdx(bestNode); + neighbourNode.total = total; + + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) { + m_openList.modify(neighbourNode); + } else { + neighbourNode.flags = Node.DT_NODE_OPEN; + m_openList.push(neighbourNode); + } + } + } + + return Results.success(new FindPolysAroundResult(resultRef, resultParent, resultCost)); + } + + /// @par + /// + /// The order of the result set is from least to highest cost. + /// + /// At least one result array must be provided. + /// + /// A common use case for this method is to perform Dijkstra searches. + /// Candidate polygons are found by searching the graph beginning at the start + /// polygon. + /// + /// The same intersection test restrictions that apply to findPolysAroundCircle() + /// method apply to this method. + /// + /// The 3D centroid of the search polygon is used as the start position for cost + /// calculations. + /// + /// Intersection tests occur in 2D. All polygons are projected onto the + /// xz-plane. So the y-values of the vertices do not effect intersection tests. + /// + /// If the result arrays are is too small to hold the entire result set, they will + /// be filled to capacity. + /// + /// Finds the polygons along the naviation graph that touch the specified convex polygon. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] verts The vertices describing the convex polygon. (CCW) + /// [(x, y, z) * @p nverts] + /// @param[in] nverts The number of vertices in the polygon. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt] + /// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a + /// result polygon has no parent. [opt] + /// @param[out] resultCost The search cost from the centroid point to the polygon. [opt] + /// @param[out] resultCount The number of polygons found. + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. + public Result findPolysAroundShape(long startRef, float[] verts, QueryFilter filter) { + // Validate input + int nverts = verts.Length / 3; + if (!m_nav.isValidPolyRef(startRef) || null == verts || nverts < 3 || null == filter) { + return Results.invalidParam(); + } + + List resultRef = new(); + List resultParent = new(); + List resultCost = new(); + + m_nodePool.clear(); + m_openList.clear(); + + float[] centerPos = new float[] { 0, 0, 0 }; + for (int i = 0; i < nverts; ++i) { + centerPos[0] += verts[i * 3]; + centerPos[1] += verts[i * 3 + 1]; + centerPos[2] += verts[i * 3 + 2]; + } + float scale = 1.0f / nverts; + centerPos[0] *= scale; + centerPos[1] *= scale; + centerPos[2] *= scale; + + Node startNode = m_nodePool.getNode(startRef); + vCopy(startNode.pos, centerPos); + startNode.pidx = 0; + startNode.cost = 0; + startNode.total = 0; + startNode.id = startRef; + startNode.flags = Node.DT_NODE_OPEN; + m_openList.push(startNode); + + while (!m_openList.isEmpty()) { + Node bestNode = m_openList.pop(); + bestNode.flags &= ~Node.DT_NODE_OPEN; + bestNode.flags |= Node.DT_NODE_CLOSED; + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + long bestRef = bestNode.id; + Tuple tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(bestRef); + MeshTile bestTile = tileAndPoly.Item1; + Poly bestPoly = tileAndPoly.Item2; + + // Get parent poly and tile. + long parentRef = 0; + MeshTile parentTile = null; + Poly parentPoly = null; + if (bestNode.pidx != 0) { + parentRef = m_nodePool.getNodeAtIdx(bestNode.pidx).id; + } + if (parentRef != 0) { + tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(parentRef); + parentTile = tileAndPoly.Item1; + parentPoly = tileAndPoly.Item2; + } + + resultRef.Add(bestRef); + resultParent.Add(parentRef); + resultCost.Add(bestNode.total); + + for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) { + Link link = bestTile.links[i]; + long neighbourRef = link.refs; + // Skip invalid neighbours and do not follow back to parent. + if (neighbourRef == 0 || neighbourRef == parentRef) { + continue; + } + + // Expand to neighbour + tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(neighbourRef); + MeshTile neighbourTile = tileAndPoly.Item1; + Poly neighbourPoly = tileAndPoly.Item2; + + // Do not advance if the polygon is excluded by the filter. + if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) { + continue; + } + + // Find edge and calc distance to the edge. + Result pp = getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, + neighbourTile, 0, 0); + if (pp.failed()) { + continue; + } + float[] va = pp.result.left; + float[] vb = pp.result.right; + + // If the poly is not touching the edge to the next polygon, skip the connection it. + IntersectResult ir = intersectSegmentPoly2D(va, vb, verts, nverts); + if (!ir.intersects) { + continue; + } + if (ir.tmin > 1.0f || ir.tmax < 0.0f) { + continue; + } + + Node neighbourNode = m_nodePool.getNode(neighbourRef); + + if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0) { + continue; + } + + // Cost + if (neighbourNode.flags == 0) { + neighbourNode.pos = vLerp(va, vb, 0.5f); + } + + float cost = filter.getCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly, bestRef, + bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly); + + float total = bestNode.total + cost; + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { + continue; + } + + neighbourNode.id = neighbourRef; + neighbourNode.pidx = m_nodePool.getNodeIdx(bestNode); + neighbourNode.total = total; + + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) { + m_openList.modify(neighbourNode); + } else { + neighbourNode.flags = Node.DT_NODE_OPEN; + m_openList.push(neighbourNode); + } + + } + } + + return Results.success(new FindPolysAroundResult(resultRef, resultParent, resultCost)); + } + + /// @par + /// + /// This method is optimized for a small search radius and small number of result + /// polygons. + /// + /// Candidate polygons are found by searching the navigation graph beginning at + /// the start polygon. + /// + /// The same intersection test restrictions that apply to the findPolysAroundCircle + /// mehtod applies to this method. + /// + /// The value of the center point is used as the start point for cost calculations. + /// It is not projected onto the surface of the mesh, so its y-value will effect + /// the costs. + /// + /// Intersection tests occur in 2D. All polygons and the search circle are + /// projected onto the xz-plane. So the y-value of the center point does not + /// effect intersection tests. + /// + /// If the result arrays are is too small to hold the entire result set, they will + /// be filled to capacity. + /// + /// Finds the non-overlapping navigation polygons in the local neighbourhood around the center position. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] centerPos The center of the query circle. [(x, y, z)] + /// @param[in] radius The radius of the query circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the circle. + /// @param[out] resultParent The reference ids of the parent polygons for each result. + /// Zero if a result polygon has no parent. [opt] + /// @param[out] resultCount The number of polygons found. + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. + public Result findLocalNeighbourhood(long startRef, float[] centerPos, float radius, + QueryFilter filter) { + + // Validate input + if (!m_nav.isValidPolyRef(startRef) || null == centerPos || !vIsFinite(centerPos) || radius < 0 + || !float.IsFinite(radius) || null == filter) { + return Results.invalidParam(); + } + + List resultRef = new(); + List resultParent = new(); + + NodePool tinyNodePool = new NodePool(); + + Node startNode = tinyNodePool.getNode(startRef); + startNode.pidx = 0; + startNode.id = startRef; + startNode.flags = Node.DT_NODE_CLOSED; + LinkedList stack = new(); + stack.AddLast(startNode); + + resultRef.Add(startNode.id); + resultParent.Add(0L); + + float radiusSqr = sqr(radius); + + float[] pa = new float[m_nav.getMaxVertsPerPoly() * 3]; + float[] pb = new float[m_nav.getMaxVertsPerPoly() * 3]; + + while (0 < stack.Count) { + // Pop front. + Node curNode = stack.First?.Value; + stack.RemoveFirst(); + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + long curRef = curNode.id; + Tuple tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(curRef); + MeshTile curTile = tileAndPoly.Item1; + Poly curPoly = tileAndPoly.Item2; + + for (int i = curTile.polyLinks[curPoly.index]; i != NavMesh.DT_NULL_LINK; i = curTile.links[i].next) { + Link link = curTile.links[i]; + long neighbourRef = link.refs; + // Skip invalid neighbours. + if (neighbourRef == 0) { + continue; + } + + Node neighbourNode = tinyNodePool.getNode(neighbourRef); + // Skip visited. + if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0) { + continue; + } + + // Expand to neighbour + tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(neighbourRef); + MeshTile neighbourTile = tileAndPoly.Item1; + Poly neighbourPoly = tileAndPoly.Item2; + + // Skip off-mesh connections. + if (neighbourPoly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + continue; + } + + // Do not advance if the polygon is excluded by the filter. + if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) { + continue; + } + + // Find edge and calc distance to the edge. + Result pp = getPortalPoints(curRef, curPoly, curTile, neighbourRef, neighbourPoly, + neighbourTile, 0, 0); + if (pp.failed()) { + continue; + } + float[] va = pp.result.left; + float[] vb = pp.result.right; + + // If the circle is not touching the next polygon, skip it. + Tuple distseg = distancePtSegSqr2D(centerPos, va, vb); + float distSqr = distseg.Item1; + if (distSqr > radiusSqr) { + continue; + } + + // Mark node visited, this is done before the overlap test so that + // we will not visit the poly again if the test fails. + neighbourNode.flags |= Node.DT_NODE_CLOSED; + neighbourNode.pidx = tinyNodePool.getNodeIdx(curNode); + + // Check that the polygon does not collide with existing polygons. + + // Collect vertices of the neighbour poly. + int npa = neighbourPoly.vertCount; + for (int k = 0; k < npa; ++k) { + Array.Copy(neighbourTile.data.verts, neighbourPoly.verts[k] * 3, pa, k * 3, 3); + } + + bool overlap = false; + for (int j = 0; j < resultRef.Count; ++j) { + long pastRef = resultRef[j]; + + // Connected polys do not overlap. + bool connected = false; + for (int k = curTile.polyLinks[curPoly.index]; k != NavMesh.DT_NULL_LINK; k = curTile.links[k].next) { + if (curTile.links[k].refs == pastRef) { + connected = true; + break; + } + } + if (connected) { + continue; + } + + // Potentially overlapping. + tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(pastRef); + MeshTile pastTile = tileAndPoly.Item1; + Poly pastPoly = tileAndPoly.Item2; + + // Get vertices and test overlap + int npb = pastPoly.vertCount; + for (int k = 0; k < npb; ++k) { + Array.Copy(pastTile.data.verts, pastPoly.verts[k] * 3, pb, k * 3, 3); + } + + if (overlapPolyPoly2D(pa, npa, pb, npb)) { + overlap = true; + break; + } + } + if (overlap) { + continue; + } + + resultRef.Add(neighbourRef); + resultParent.Add(curRef); + stack.AddLast(neighbourNode); + } + } + + return Results.success(new FindLocalNeighbourhoodResult(resultRef, resultParent)); + } + + public class SegInterval { + public long refs; + public int tmin, tmax; + + public SegInterval(long refs, int tmin, int tmax) { + this.refs = refs; + this.tmin = tmin; + this.tmax = tmax; + } + + } + + protected void insertInterval(List ints, int tmin, int tmax, long refs) { + // Find insertion point. + int idx = 0; + while (idx < ints.Count) { + if (tmax <= ints[idx].tmin) { + break; + } + idx++; + } + // Store + ints.Insert(idx, new SegInterval(refs, tmin, tmax)); + } + + /// @par + /// + /// If the @p segmentRefs parameter is provided, then all polygon segments will be returned. + /// Otherwise only the wall segments are returned. + /// + /// A segment that is normally a portal will be included in the result set as a + /// wall if the @p filter results in the neighbor polygon becoomming impassable. + /// + /// The @p segmentVerts and @p segmentRefs buffers should normally be sized for the + /// maximum segments per polygon of the source navigation mesh. + /// + /// Returns the segments for the specified polygon, optionally including portals. + /// @param[in] ref The reference id of the polygon. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] segmentVerts The segments. [(ax, ay, az, bx, by, bz) * segmentCount] + /// @param[out] segmentRefs The reference ids of each segment's neighbor polygon. + /// Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount] + /// @param[out] segmentCount The number of segments returned. + /// @param[in] maxSegments The maximum number of segments the result arrays can hold. + /// @returns The status flags for the query. + public Result getPolyWallSegments(long refs, bool storePortals, QueryFilter filter) { + Result> tileAndPoly = m_nav.getTileAndPolyByRef(refs); + if (tileAndPoly.failed()) { + return Results.of(tileAndPoly.status, tileAndPoly.message); + } + if (null == filter) { + return Results.invalidParam(); + } + MeshTile tile = tileAndPoly.result.Item1; + Poly poly = tileAndPoly.result.Item2; + + List segmentRefs = new(); + List segmentVerts = new(); + List ints = new(16); + + for (int i = 0, j = poly.vertCount - 1; i < poly.vertCount; j = i++) { + // Skip non-solid edges. + ints.Clear(); + if ((poly.neis[j] & NavMesh.DT_EXT_LINK) != 0) { + // Tile border. + for (int k = tile.polyLinks[poly.index]; k != NavMesh.DT_NULL_LINK; k = tile.links[k].next) { + Link link = tile.links[k]; + if (link.edge == j) { + if (link.refs != 0) { + Tuple tileAndPolyUnsafe = m_nav.getTileAndPolyByRefUnsafe(link.refs); + MeshTile neiTile = tileAndPolyUnsafe.Item1; + Poly neiPoly = tileAndPolyUnsafe.Item2; + if (filter.passFilter(link.refs, neiTile, neiPoly)) { + insertInterval(ints, link.bmin, link.bmax, link.refs); + } + } + } + } + } else { + // Internal edge + long neiRef = 0; + if (poly.neis[j] != 0) { + int idx = (poly.neis[j] - 1); + neiRef = m_nav.getPolyRefBase(tile) | idx; + if (!filter.passFilter(neiRef, tile, tile.data.polys[idx])) { + neiRef = 0; + } + } + // If the edge leads to another polygon and portals are not stored, skip. + if (neiRef != 0 && !storePortals) { + continue; + } + + int ivj = poly.verts[j] * 3; + int ivi = poly.verts[i] * 3; + float[] seg = new float[6]; + Array.Copy(tile.data.verts, ivj, seg, 0, 3); + Array.Copy(tile.data.verts, ivi, seg, 3, 3); + segmentVerts.Add(seg); + segmentRefs.Add(neiRef); + continue; + } + + // Add sentinels + insertInterval(ints, -1, 0, 0); + insertInterval(ints, 255, 256, 0); + + // Store segments. + int vj = poly.verts[j] * 3; + int vi = poly.verts[i] * 3; + for (int k = 1; k < ints.Count; ++k) { + // Portal segment. + if (storePortals && ints[k].refs != 0) { + float tmin = ints[k].tmin / 255.0f; + float tmax = ints[k].tmax / 255.0f; + float[] seg = new float[6]; + Array.Copy(vLerp(tile.data.verts, vj, vi, tmin), 0, seg, 0, 3); + Array.Copy(vLerp(tile.data.verts, vj, vi, tmax), 0, seg, 3, 3); + segmentVerts.Add(seg); + segmentRefs.Add(ints[k].refs); + } + + // Wall segment. + int imin = ints[k - 1].tmax; + int imax = ints[k].tmin; + if (imin != imax) { + float tmin = imin / 255.0f; + float tmax = imax / 255.0f; + float[] seg = new float[6]; + Array.Copy(vLerp(tile.data.verts, vj, vi, tmin), 0, seg, 0, 3); + Array.Copy(vLerp(tile.data.verts, vj, vi, tmax), 0, seg, 3, 3); + segmentVerts.Add(seg); + segmentRefs.Add(0L); + } + } + } + + return Results.success(new GetPolyWallSegmentsResult(segmentVerts, segmentRefs)); + } + + /// @par + /// + /// @p hitPos is not adjusted using the height detail data. + /// + /// @p hitDist will equal the search radius if there is no wall within the + /// radius. In this case the values of @p hitPos and @p hitNormal are + /// undefined. + /// + /// The normal will become unpredicable if @p hitDist is a very small number. + /// + /// Finds the distance from the specified position to the nearest polygon wall. + /// @param[in] startRef The reference id of the polygon containing @p centerPos. + /// @param[in] centerPos The center of the search circle. [(x, y, z)] + /// @param[in] maxRadius The radius of the search circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] hitDist The distance to the nearest wall from @p centerPos. + /// @param[out] hitPos The nearest position on the wall that was hit. [(x, y, z)] + /// @param[out] hitNormal The normalized ray formed from the wall point to the + /// source point. [(x, y, z)] + /// @returns The status flags for the query. + public virtual Result findDistanceToWall(long startRef, float[] centerPos, float maxRadius, + QueryFilter filter) { + + // Validate input + if (!m_nav.isValidPolyRef(startRef) || null == centerPos || !vIsFinite(centerPos) || maxRadius < 0 + || !float.IsFinite(maxRadius) || null == filter) { + return Results.invalidParam(); + } + + m_nodePool.clear(); + m_openList.clear(); + + Node startNode = m_nodePool.getNode(startRef); + vCopy(startNode.pos, centerPos); + startNode.pidx = 0; + startNode.cost = 0; + startNode.total = 0; + startNode.id = startRef; + startNode.flags = Node.DT_NODE_OPEN; + m_openList.push(startNode); + + float radiusSqr = sqr(maxRadius); + float[] hitPos = new float[3]; + VectorPtr bestvj = null; + VectorPtr bestvi = null; + while (!m_openList.isEmpty()) { + Node bestNode = m_openList.pop(); + bestNode.flags &= ~Node.DT_NODE_OPEN; + bestNode.flags |= Node.DT_NODE_CLOSED; + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + long bestRef = bestNode.id; + Tuple tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(bestRef); + MeshTile bestTile = tileAndPoly.Item1; + Poly bestPoly = tileAndPoly.Item2; + + // Get parent poly and tile. + long parentRef = 0; + if (bestNode.pidx != 0) { + parentRef = m_nodePool.getNodeAtIdx(bestNode.pidx).id; + } + + // Hit test walls. + for (int i = 0, j = bestPoly.vertCount - 1; i < bestPoly.vertCount; j = i++) { + // Skip non-solid edges. + if ((bestPoly.neis[j] & NavMesh.DT_EXT_LINK) != 0) { + // Tile border. + bool solid = true; + for (int k = bestTile.polyLinks[bestPoly.index]; k != NavMesh.DT_NULL_LINK; k = bestTile.links[k].next) { + Link link = bestTile.links[k]; + if (link.edge == j) { + if (link.refs != 0) { + Tuple linkTileAndPoly = m_nav.getTileAndPolyByRefUnsafe(link.refs); + MeshTile neiTile = linkTileAndPoly.Item1; + Poly neiPoly = linkTileAndPoly.Item2; + if (filter.passFilter(link.refs, neiTile, neiPoly)) { + solid = false; + } + } + break; + } + } + if (!solid) { + continue; + } + } else if (bestPoly.neis[j] != 0) { + // Internal edge + int idx = (bestPoly.neis[j] - 1); + long refs = m_nav.getPolyRefBase(bestTile) | idx; + if (filter.passFilter(refs, bestTile, bestTile.data.polys[idx])) { + continue; + } + } + + // Calc distance to the edge. + int vj = bestPoly.verts[j] * 3; + int vi = bestPoly.verts[i] * 3; + Tuple distseg = distancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi); + float distSqr = distseg.Item1; + float tseg = distseg.Item2; + + // Edge is too far, skip. + if (distSqr > radiusSqr) { + continue; + } + + // Hit wall, update radius. + radiusSqr = distSqr; + // Calculate hit pos. + hitPos[0] = bestTile.data.verts[vj] + (bestTile.data.verts[vi] - bestTile.data.verts[vj]) * tseg; + hitPos[1] = bestTile.data.verts[vj + 1] + + (bestTile.data.verts[vi + 1] - bestTile.data.verts[vj + 1]) * tseg; + hitPos[2] = bestTile.data.verts[vj + 2] + + (bestTile.data.verts[vi + 2] - bestTile.data.verts[vj + 2]) * tseg; + bestvj = new VectorPtr(bestTile.data.verts, vj); + bestvi = new VectorPtr(bestTile.data.verts, vi); + } + + for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) { + Link link = bestTile.links[i]; + long neighbourRef = link.refs; + // Skip invalid neighbours and do not follow back to parent. + if (neighbourRef == 0 || neighbourRef == parentRef) { + continue; + } + + // Expand to neighbour. + Tuple neighbourTileAndPoly = m_nav.getTileAndPolyByRefUnsafe(neighbourRef); + MeshTile neighbourTile = neighbourTileAndPoly.Item1; + Poly neighbourPoly = neighbourTileAndPoly.Item2; + + // Skip off-mesh connections. + if (neighbourPoly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + continue; + } + + // Calc distance to the edge. + int va = bestPoly.verts[link.edge] * 3; + int vb = bestPoly.verts[(link.edge + 1) % bestPoly.vertCount] * 3; + Tuple distseg = distancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb); + float distSqr = distseg.Item1; + // If the circle is not touching the next polygon, skip it. + if (distSqr > radiusSqr) { + continue; + } + + if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) { + continue; + } + + Node neighbourNode = m_nodePool.getNode(neighbourRef); + + if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0) { + continue; + } + + // Cost + if (neighbourNode.flags == 0) { + Result midPoint = getEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, + neighbourTile); + if (midPoint.succeeded()) { + neighbourNode.pos = midPoint.result; + } + } + + float total = bestNode.total + vDist(bestNode.pos, neighbourNode.pos); + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) { + continue; + } + + neighbourNode.id = neighbourRef; + neighbourNode.flags = (neighbourNode.flags & ~Node.DT_NODE_CLOSED); + neighbourNode.pidx = m_nodePool.getNodeIdx(bestNode); + neighbourNode.total = total; + + if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) { + m_openList.modify(neighbourNode); + } else { + neighbourNode.flags |= Node.DT_NODE_OPEN; + m_openList.push(neighbourNode); + } + } + } + + // Calc hit normal. + float[] hitNormal = new float[3]; + if (bestvi != null && bestvj != null) { + float[] tangent = vSub(bestvi, bestvj); + hitNormal[0] = tangent[2]; + hitNormal[1] = 0; + hitNormal[2] = -tangent[0]; + vNormalize(hitNormal); + } + return Results.success(new FindDistanceToWallResult((float) Math.Sqrt(radiusSqr), hitPos, hitNormal)); + } + + /// Returns true if the polygon reference is valid and passes the filter restrictions. + /// @param[in] ref The polygon reference to check. + /// @param[in] filter The filter to apply. + public bool isValidPolyRef(long refs, QueryFilter filter) { + Result> tileAndPolyResult = m_nav.getTileAndPolyByRef(refs); + if (tileAndPolyResult.failed()) { + return false; + } + Tuple tileAndPoly = tileAndPolyResult.result; + // If cannot pass filter, assume flags has changed and boundary is invalid. + if (!filter.passFilter(refs, tileAndPoly.Item1, tileAndPoly.Item2)) { + return false; + } + return true; + } + + /// Gets the navigation mesh the query object is using. + /// @return The navigation mesh the query object is using. + public NavMesh getAttachedNavMesh() { + return m_nav; + } + + /** + * Gets a path from the explored nodes in the previous search. + * + * @param endRef + * The reference id of the end polygon. + * @returns An ordered list of polygon references representing the path. (Start to end.) + * @remarks The result of this function depends on the state of the query object. For that reason it should only be + * used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape. + */ + public Result> getPathFromDijkstraSearch(long endRef) { + if (!m_nav.isValidPolyRef(endRef)) { + return Results.invalidParam>("Invalid end ref"); + } + List nodes = m_nodePool.findNodes(endRef); + if (nodes.Count != 1) { + return Results.invalidParam>("Invalid end ref"); + } + Node endNode = nodes[0]; + if ((endNode.flags & DT_NODE_CLOSED) == 0) { + return Results.invalidParam>("Invalid end ref"); + } + return Results.success(getPathToNode(endNode)); + } + + /** + * Gets the path leading to the specified end node. + */ + protected List getPathToNode(Node endNode) { + List path = new(); + // Reverse the path. + Node curNode = endNode; + do { + path.Insert(0, curNode.id); + Node nextNode = m_nodePool.getNodeAtIdx(curNode.pidx); + if (curNode.shortcut != null) { + // remove potential duplicates from shortcut path + for (int i = curNode.shortcut.Count - 1; i >=0; i--) { + long id = curNode.shortcut[i]; + if (id != curNode.id && id != nextNode.id) { + path.Insert(0, id); + } + } + } + curNode = nextNode; + } while (curNode != null); + + return path; + } + + /** + * The closed list is the list of polygons that were fully evaluated during the last navigation graph search. (A* or + * Dijkstra) + */ + public bool isInClosedList(long refs) { + if (m_nodePool == null) { + return false; + } + foreach (Node n in m_nodePool.findNodes(refs)) { + if ((n.flags & DT_NODE_CLOSED) != 0) { + return true; + } + } + return false; + } + + public NodePool getNodePool() { + return m_nodePool; + } + +} \ No newline at end of file diff --git a/src/DotRecast.Detour/Node.cs b/src/DotRecast.Detour/Node.cs new file mode 100644 index 0000000..b59a1be --- /dev/null +++ b/src/DotRecast.Detour/Node.cs @@ -0,0 +1,61 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Detour; + + +public class Node { + + public const int DT_NODE_OPEN = 0x01; + public const int DT_NODE_CLOSED = 0x02; + /** parent of the node is not adjacent. Found using raycast. */ + public const int DT_NODE_PARENT_DETACHED = 0x04; + + public readonly int index; + + /** Position of the node. */ + public float[] pos = new float[3]; + /** Cost of reaching the given node. */ + public float cost; + /** Total cost of reaching the goal via the given node including heuristics. */ + public float total; + /** Index to parent node. */ + public int pidx; + /** + * extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE + */ + public int state; + /** Node flags. A combination of dtNodeFlags. */ + public int flags; + /** Polygon ref the node corresponds to. */ + public long id; + /** Shortcut found by raycast. */ + public List shortcut; + + public Node(int index) { + this.index = index; + } + + public override string ToString() { + return "Node [id=" + id + "]"; + } + +} diff --git a/src/DotRecast.Detour/NodePool.cs b/src/DotRecast.Detour/NodePool.cs new file mode 100644 index 0000000..d0a3062 --- /dev/null +++ b/src/DotRecast.Detour/NodePool.cs @@ -0,0 +1,98 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Detour; + + +public class NodePool +{ + + private readonly Dictionary> m_map = new(); + private readonly List m_nodes = new(); + + public NodePool() { + + } + + public void clear() { + m_nodes.Clear(); + m_map.Clear(); + } + + public List findNodes(long id) { + var hasNode = m_map.TryGetValue(id, out var nodes);; + if (nodes == null) { + nodes = new(); + } + return nodes; + } + + public Node findNode(long id) { + var hasNode = m_map.TryGetValue(id, out var nodes);; + if (nodes != null && 0 != nodes.Count) { + return nodes[0]; + } + return null; + } + + public Node getNode(long id, int state) { + var hasNode = m_map.TryGetValue(id, out var nodes);; + if (nodes != null) { + foreach (Node node in nodes) { + if (node.state == state) { + return node; + } + } + } + return create(id, state); + } + + protected Node create(long id, int state) { + Node node = new Node(m_nodes.Count + 1); + node.id = id; + node.state = state; + m_nodes.Add(node); + var hasNode = m_map.TryGetValue(id, out var nodes);; + if (nodes == null) { + nodes = new(); + m_map.Add(id, nodes); + } + nodes.Add(node); + return node; + } + + public int getNodeIdx(Node node) { + return node != null ? node.index : 0; + } + + public Node getNodeAtIdx(int idx) { + return idx != 0 ? m_nodes[idx - 1] : null; + } + + public Node getNode(long refs) { + return getNode(refs, 0); + } + + public Dictionary> getNodeMap() { + return m_map; + } + +} diff --git a/src/DotRecast.Detour/NodeQueue.cs b/src/DotRecast.Detour/NodeQueue.cs new file mode 100644 index 0000000..9c7af75 --- /dev/null +++ b/src/DotRecast.Detour/NodeQueue.cs @@ -0,0 +1,62 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +using System.Collections.Generic; + +public class NodeQueue { + + private readonly List m_heap = new(); + + public int count() + { + return m_heap.Count; + } + + public void clear() { + m_heap.Clear(); + } + + public Node top() + { + return m_heap[0]; + } + + public Node pop() + { + var node = top(); + m_heap.Remove(node); + return node; + } + + public void push(Node node) { + m_heap.Add(node); + m_heap.Sort((x, y) => x.total.CompareTo(y.total)); + } + + public void modify(Node node) { + m_heap.Remove(node); + push(node); + } + + public bool isEmpty() + { + return 0 == m_heap.Count; + } +} diff --git a/src/DotRecast.Detour/OffMeshConnection.cs b/src/DotRecast.Detour/OffMeshConnection.cs new file mode 100644 index 0000000..7bb70e3 --- /dev/null +++ b/src/DotRecast.Detour/OffMeshConnection.cs @@ -0,0 +1,43 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +/** + * Defines an navigation mesh off-mesh connection within a dtMeshTile object. An off-mesh connection is a user defined + * traversable connection made up to two vertices. + */ +public class OffMeshConnection { + /** The endpoints of the connection. [(ax, ay, az, bx, by, bz)] */ + public float[] pos = new float[6]; + /** The radius of the endpoints. [Limit: >= 0] */ + public float rad; + /** The polygon reference of the connection within the tile. */ + public int poly; + /** + * Link flags. + * + * @note These are not the connection's user defined flags. Those are assigned via the connection's Poly definition. + * These are link flags used for internal purposes. + */ + public int flags; + /** End point side. */ + public int side; + /** The id of the offmesh connection. (User assigned when the navigation mesh is built.) */ + public int userId; +} \ No newline at end of file diff --git a/src/DotRecast.Detour/Poly.cs b/src/DotRecast.Detour/Poly.cs new file mode 100644 index 0000000..7e78e88 --- /dev/null +++ b/src/DotRecast.Detour/Poly.cs @@ -0,0 +1,70 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +/** Defines a polygon within a MeshTile object. */ +public class Poly { + + public readonly int index; + /** The polygon is a standard convex polygon that is part of the surface of the mesh. */ + public const int DT_POLYTYPE_GROUND = 0; + /** The polygon is an off-mesh connection consisting of two vertices. */ + public const int DT_POLYTYPE_OFFMESH_CONNECTION = 1; + /** The indices of the polygon's vertices. The actual vertices are located in MeshTile::verts. */ + public readonly int[] verts; + /** Packed data representing neighbor polygons references and flags for each edge. */ + public readonly int[] neis; + /** The user defined polygon flags. */ + public int flags; + /** The number of vertices in the polygon. */ + public int vertCount; + /** + * The bit packed area id and polygon type. + * + * @note Use the structure's set and get methods to access this value. + */ + public int areaAndtype; + + public Poly(int index, int maxVertsPerPoly) { + this.index = index; + verts = new int[maxVertsPerPoly]; + neis = new int[maxVertsPerPoly]; + } + + /** Sets the user defined area id. [Limit: < {@link org.recast4j.detour.NavMesh#DT_MAX_AREAS}] */ + public void setArea(int a) { + areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); + } + + /** Sets the polygon type. (See: #dtPolyTypes.) */ + public void setType(int t) { + areaAndtype = (areaAndtype & 0x3f) | (t << 6); + } + + /** Gets the user defined area id. */ + public int getArea() { + return areaAndtype & 0x3f; + } + + /** Gets the polygon type. (See: #dtPolyTypes) */ + public int getType() { + return areaAndtype >> 6; + } + +} diff --git a/src/DotRecast.Detour/PolyDetail.cs b/src/DotRecast.Detour/PolyDetail.cs new file mode 100644 index 0000000..1306202 --- /dev/null +++ b/src/DotRecast.Detour/PolyDetail.cs @@ -0,0 +1,31 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +/** Defines the location of detail sub-mesh data within a dtMeshTile. */ +public class PolyDetail { + /** The offset of the vertices in the MeshTile::detailVerts array. */ + public int vertBase; + /** The offset of the triangles in the MeshTile::detailTris array. */ + public int triBase; + /** The number of vertices in the sub-mesh. */ + public int vertCount; + /** The number of triangles in the sub-mesh. */ + public int triCount; +} diff --git a/src/DotRecast.Detour/PolyQuery.cs b/src/DotRecast.Detour/PolyQuery.cs new file mode 100644 index 0000000..c99a430 --- /dev/null +++ b/src/DotRecast.Detour/PolyQuery.cs @@ -0,0 +1,6 @@ +namespace DotRecast.Detour; + +public interface PolyQuery { + + void process(MeshTile tile, Poly poly, long refs); +} diff --git a/src/DotRecast.Detour/PolygonByCircleConstraint.cs b/src/DotRecast.Detour/PolygonByCircleConstraint.cs new file mode 100644 index 0000000..6ae4420 --- /dev/null +++ b/src/DotRecast.Detour/PolygonByCircleConstraint.cs @@ -0,0 +1,94 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Detour; + +using static DetourCommon; + +public interface PolygonByCircleConstraint { + + float[] aply(float[] polyVerts, float[] circleCenter, float radius); + + public static PolygonByCircleConstraint noop() { + return new NoOpPolygonByCircleConstraint(); + } + + public static PolygonByCircleConstraint strict() { + return new StrictPolygonByCircleConstraint(); + } + + public class NoOpPolygonByCircleConstraint : PolygonByCircleConstraint { + + public float[] aply(float[] polyVerts, float[] circleCenter, float radius) { + return polyVerts; + } + + } + + /** + * Calculate the intersection between a polygon and a circle. A dodecagon is used as an approximation of the circle. + */ + public class StrictPolygonByCircleConstraint : PolygonByCircleConstraint { + + private const int CIRCLE_SEGMENTS = 12; + private static float[] unitCircle; + + public float[] aply(float[] verts, float[] center, float radius) { + float radiusSqr = radius * radius; + int outsideVertex = -1; + for (int pv = 0; pv < verts.Length; pv += 3) { + if (vDist2DSqr(center, verts, pv) > radiusSqr) { + outsideVertex = pv; + break; + } + } + if (outsideVertex == -1) { + // polygon inside circle + return verts; + } + float[] qCircle = circle(center, radius); + float[] intersection = ConvexConvexIntersection.intersect(verts, qCircle); + if (intersection == null && pointInPolygon(center, verts, verts.Length / 3)) { + // circle inside polygon + return qCircle; + } + return intersection; + } + + private float[] circle(float[] center, float radius) { + if (unitCircle == null) { + unitCircle = new float[CIRCLE_SEGMENTS * 3]; + for (int i = 0; i < CIRCLE_SEGMENTS; i++) { + double a = i * Math.PI * 2 / CIRCLE_SEGMENTS; + unitCircle[3 * i] = (float) Math.Cos(a); + unitCircle[3 * i + 1] = 0; + unitCircle[3 * i + 2] = (float) -Math.Sin(a); + } + } + float[] circle = new float[12 * 3]; + for (int i = 0; i < CIRCLE_SEGMENTS * 3; i += 3) { + circle[i] = unitCircle[i] * radius + center[0]; + circle[i + 1] = center[1]; + circle[i + 2] = unitCircle[i + 2] * radius + center[2]; + } + return circle; + } + } +} diff --git a/src/DotRecast.Detour/QueryData.cs b/src/DotRecast.Detour/QueryData.cs new file mode 100644 index 0000000..a5c17b0 --- /dev/null +++ b/src/DotRecast.Detour/QueryData.cs @@ -0,0 +1,32 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +public class QueryData { + public Status status; + public Node lastBestNode; + public float lastBestNodeCost; + public long startRef, endRef; + public float[] startPos = new float[3]; + public float[] endPos = new float[3]; + public QueryFilter filter; + public int options; + public float raycastLimitSqr; + public QueryHeuristic heuristic; +} \ No newline at end of file diff --git a/src/DotRecast.Detour/QueryFilter.cs b/src/DotRecast.Detour/QueryFilter.cs new file mode 100644 index 0000000..7263215 --- /dev/null +++ b/src/DotRecast.Detour/QueryFilter.cs @@ -0,0 +1,28 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +public interface QueryFilter { + + bool passFilter(long refs, MeshTile tile, Poly poly); + + float getCost(float[] pa, float[] pb, long prevRef, MeshTile prevTile, Poly prevPoly, long curRef, MeshTile curTile, + Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly); +} + diff --git a/src/DotRecast.Detour/QueryHeuristic.cs b/src/DotRecast.Detour/QueryHeuristic.cs new file mode 100644 index 0000000..5106d88 --- /dev/null +++ b/src/DotRecast.Detour/QueryHeuristic.cs @@ -0,0 +1,25 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Detour; + +public interface QueryHeuristic { + + float getCost(float[] neighbourPos, float[] endPos); + +} diff --git a/src/DotRecast.Detour/RaycastHit.cs b/src/DotRecast.Detour/RaycastHit.cs new file mode 100644 index 0000000..c242bbf --- /dev/null +++ b/src/DotRecast.Detour/RaycastHit.cs @@ -0,0 +1,39 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Detour; + + +/** + * Provides information about raycast hit. Filled by NavMeshQuery::raycast + */ +public class RaycastHit { + /** The hit parameter. (float.MaxValue if no wall hit.) */ + public float t; + /** hitNormal The normal of the nearest wall hit. [(x, y, z)] */ + public readonly float[] hitNormal = new float[3]; + /** Visited polygons. */ + public readonly List path = new(); + /** The cost of the path until hit. */ + public float pathCost; + /** The index of the edge on the readonly polygon where the wall was hit. */ + public int hitEdgeIndex; +} diff --git a/src/DotRecast.Detour/Result.cs b/src/DotRecast.Detour/Result.cs new file mode 100644 index 0000000..7ac1db6 --- /dev/null +++ b/src/DotRecast.Detour/Result.cs @@ -0,0 +1,82 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +public static class Results +{ + public static Result success(T result) { + return new Result(result, Status.SUCCSESS, null); + } + + public static Result failure() { + return new Result(default, Status.FAILURE, null); + } + + public static Result invalidParam() { + return new Result(default, Status.FAILURE_INVALID_PARAM, null); + } + + public static Result failure(string message) { + return new Result(default, Status.FAILURE, message); + } + + public static Result invalidParam(string message) { + return new Result(default, Status.FAILURE_INVALID_PARAM, message); + } + + public static Result failure(T result) { + return new Result(result, Status.FAILURE, null); + } + + public static Result partial(T result) { + return new Result(default, Status.PARTIAL_RESULT, null); + } + + public static Result of(Status status, string message) { + return new Result(default, status, message); + } + + public static Result of(Status status, T result) { + return new Result(result, status, null); + } + +} + +public class Result { + + public readonly T result; + public readonly Status status; + public readonly string message; + + internal Result(T result, Status status, string message) { + this.result = result; + this.status = status; + this.message = message; + } + + + public bool failed() { + return status.isFailed(); + } + + public bool succeeded() { + return status.isSuccess(); + } + +} diff --git a/src/DotRecast.Detour/Status.cs b/src/DotRecast.Detour/Status.cs new file mode 100644 index 0000000..71d1daa --- /dev/null +++ b/src/DotRecast.Detour/Status.cs @@ -0,0 +1,54 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +public class Status { + public static Status FAILURE = new(0); + public static Status SUCCSESS = new(1); + public static Status IN_PROGRESS = new(2); + public static Status PARTIAL_RESULT = new(3); + public static Status FAILURE_INVALID_PARAM = new(4); + + public int Value { get; } + + private Status(int vlaue) + { + Value = vlaue; + } +} + +public static class StatusEx +{ + public static bool isFailed(this Status @this) { + return @this == Status.FAILURE || @this == Status.FAILURE_INVALID_PARAM; + } + + public static bool isInProgress(this Status @this) { + return @this == Status.IN_PROGRESS; + } + + public static bool isSuccess(this Status @this) { + return @this == Status.SUCCSESS || @this == Status.PARTIAL_RESULT; + } + + public static bool isPartial(this Status @this) { + return @this == Status.PARTIAL_RESULT; + } + +} diff --git a/src/DotRecast.Detour/StraightPathItem.cs b/src/DotRecast.Detour/StraightPathItem.cs new file mode 100644 index 0000000..9578efb --- /dev/null +++ b/src/DotRecast.Detour/StraightPathItem.cs @@ -0,0 +1,47 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Detour; + +using static DetourCommon; + +//TODO: (PP) Add comments +public class StraightPathItem { + public float[] pos; + public int flags; + public long refs; + + public StraightPathItem(float[] pos, int flags, long refs) { + this.pos = vCopy(pos); + this.flags = flags; + this.refs = refs; + } + + public float[] getPos() { + return pos; + } + + public int getFlags() { + return flags; + } + + public long getRef() { + return refs; + } + +} \ No newline at end of file diff --git a/src/DotRecast.Detour/VectorPtr.cs b/src/DotRecast.Detour/VectorPtr.cs new file mode 100644 index 0000000..c4457f3 --- /dev/null +++ b/src/DotRecast.Detour/VectorPtr.cs @@ -0,0 +1,46 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Detour; + +/** + * Wrapper for 3-element pieces (3D vectors) of a bigger float array. + * + */ +public class VectorPtr +{ + private readonly float[] array; + private readonly int index; + + public VectorPtr(float[] array) : + this(array, 0) + { + } + + public VectorPtr(float[] array, int index) + { + this.array = array; + this.index = index; + } + + public float get(int offset) + { + return array[index + offset]; + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast.Demo/Builder/AbstractNavMeshBuilder.cs b/src/DotRecast.Recast.Demo/Builder/AbstractNavMeshBuilder.cs new file mode 100644 index 0000000..5e578ab --- /dev/null +++ b/src/DotRecast.Recast.Demo/Builder/AbstractNavMeshBuilder.cs @@ -0,0 +1,78 @@ +using DotRecast.Detour; +using DotRecast.Recast.Demo.Geom; + +namespace DotRecast.Recast.Demo.Builder; + +public abstract class AbstractNavMeshBuilder { + + protected NavMeshDataCreateParams getNavMeshCreateParams(DemoInputGeomProvider m_geom, float m_cellSize, + float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, + RecastBuilderResult rcResult) { + PolyMesh m_pmesh = rcResult.getMesh(); + PolyMeshDetail m_dmesh = rcResult.getMeshDetail(); + NavMeshDataCreateParams option = new NavMeshDataCreateParams(); + for (int i = 0; i < m_pmesh.npolys; ++i) { + m_pmesh.flags[i] = 1; + } + option.verts = m_pmesh.verts; + option.vertCount = m_pmesh.nverts; + option.polys = m_pmesh.polys; + option.polyAreas = m_pmesh.areas; + option.polyFlags = m_pmesh.flags; + option.polyCount = m_pmesh.npolys; + option.nvp = m_pmesh.nvp; + if (m_dmesh != null) { + option.detailMeshes = m_dmesh.meshes; + option.detailVerts = m_dmesh.verts; + 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.bmin = m_pmesh.bmin; + option.bmax = m_pmesh.bmax; + option.cs = m_cellSize; + option.ch = m_cellHeight; + option.buildBvTree = true; + + option.offMeshConCount = m_geom.getOffMeshConnections().Count; + option.offMeshConVerts = new float[option.offMeshConCount * 6]; + option.offMeshConRad = new float[option.offMeshConCount]; + option.offMeshConDir = new int[option.offMeshConCount]; + option.offMeshConAreas = new int[option.offMeshConCount]; + option.offMeshConFlags = new int[option.offMeshConCount]; + option.offMeshConUserID = new int[option.offMeshConCount]; + for (int i = 0; i < option.offMeshConCount; i++) { + DemoOffMeshConnection offMeshCon = m_geom.getOffMeshConnections()[i]; + for (int j = 0; j < 6; j++) { + option.offMeshConVerts[6 * i + j] = offMeshCon.verts[j]; + } + option.offMeshConRad[i] = offMeshCon.radius; + option.offMeshConDir[i] = offMeshCon.bidir ? 1 : 0; + option.offMeshConAreas[i] = offMeshCon.area; + option.offMeshConFlags[i] = offMeshCon.flags; + } + return option; + } + + protected MeshData updateAreaAndFlags(MeshData meshData) { + // Update poly flags from areas. + for (int i = 0; i < meshData.polys.Length; ++i) { + if (meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WALKABLE) { + meshData.polys[i].setArea(SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND); + } + if (meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND + || meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS + || meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD) { + meshData.polys[i].flags = SampleAreaModifications.SAMPLE_POLYFLAGS_WALK; + } else if (meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER) { + meshData.polys[i].flags = SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM; + } else if (meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_DOOR) { + meshData.polys[i].flags = SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR; + } + } + return meshData; + } +} diff --git a/src/DotRecast.Recast.Demo/Builder/SampleAreaModifications.cs b/src/DotRecast.Recast.Demo/Builder/SampleAreaModifications.cs new file mode 100644 index 0000000..16f2cfd --- /dev/null +++ b/src/DotRecast.Recast.Demo/Builder/SampleAreaModifications.cs @@ -0,0 +1,46 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Recast.Demo.Builder; + +public class SampleAreaModifications { + + public const int SAMPLE_POLYAREA_TYPE_GROUND = 0x0; + public const int SAMPLE_POLYAREA_TYPE_WATER = 0x1; + public const int SAMPLE_POLYAREA_TYPE_ROAD = 0x2; + public const int SAMPLE_POLYAREA_TYPE_DOOR = 0x3; + public const int SAMPLE_POLYAREA_TYPE_GRASS = 0x4; + public const int SAMPLE_POLYAREA_TYPE_JUMP = 0x5; + public const int SAMPLE_POLYAREA_TYPE_JUMP_AUTO = 0x6; + public const int SAMPLE_POLYAREA_TYPE_WALKABLE = 0x3f; + + public static AreaModification SAMPLE_AREAMOD_WALKABLE = new AreaModification(SAMPLE_POLYAREA_TYPE_WALKABLE); + public static AreaModification SAMPLE_AREAMOD_GROUND = new AreaModification(SAMPLE_POLYAREA_TYPE_GROUND); + public static AreaModification SAMPLE_AREAMOD_WATER = new AreaModification(SAMPLE_POLYAREA_TYPE_WATER); + public static AreaModification SAMPLE_AREAMOD_ROAD = new AreaModification(SAMPLE_POLYAREA_TYPE_ROAD); + public static AreaModification SAMPLE_AREAMOD_GRASS = new AreaModification(SAMPLE_POLYAREA_TYPE_GRASS); + public static AreaModification SAMPLE_AREAMOD_DOOR = new AreaModification(SAMPLE_POLYAREA_TYPE_DOOR); + public static AreaModification SAMPLE_AREAMOD_JUMP = new AreaModification(SAMPLE_POLYAREA_TYPE_JUMP); + + public static readonly int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road) + public static readonly int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water). + public static readonly int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors. + public static readonly int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump. + public static readonly int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon + public static readonly int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities. +} diff --git a/src/DotRecast.Recast.Demo/Builder/SoloNavMeshBuilder.cs b/src/DotRecast.Recast.Demo/Builder/SoloNavMeshBuilder.cs new file mode 100644 index 0000000..914dcb3 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Builder/SoloNavMeshBuilder.cs @@ -0,0 +1,70 @@ +/* +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Collections.Immutable; +using DotRecast.Detour; +using DotRecast.Recast.Demo.Geom; + +namespace DotRecast.Recast.Demo.Builder; + +public class SoloNavMeshBuilder : AbstractNavMeshBuilder { + + public Tuple, NavMesh> build(DemoInputGeomProvider m_geom, PartitionType 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, bool filterLowHangingObstacles, + bool filterLedgeSpans, bool filterWalkableLowHeightSpans) { + + RecastBuilderResult rcResult = buildRecastResult(m_geom, 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, filterLowHangingObstacles, filterLedgeSpans, + filterWalkableLowHeightSpans); + return Tuple.Create(ImmutableArray.Create(rcResult) as IList, + buildNavMesh( + buildMeshData(m_geom, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius, m_agentMaxClimb, rcResult), + m_vertsPerPoly)); + } + + private NavMesh buildNavMesh(MeshData meshData, int m_vertsPerPoly) { + return new NavMesh(meshData, m_vertsPerPoly, 0); + } + + private RecastBuilderResult buildRecastResult(DemoInputGeomProvider m_geom, PartitionType 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, bool filterLowHangingObstacles, bool filterLedgeSpans, + bool filterWalkableLowHeightSpans) { + RecastConfig cfg = new RecastConfig(m_partitionType, m_cellSize, m_cellHeight, m_agentMaxSlope, filterLowHangingObstacles, + filterLedgeSpans, filterWalkableLowHeightSpans, m_agentHeight, m_agentRadius, m_agentMaxClimb, m_regionMinSize, + m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError, m_vertsPerPoly, m_detailSampleDist, m_detailSampleMaxError, + SampleAreaModifications.SAMPLE_AREAMOD_WALKABLE, true); + RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, m_geom.getMeshBoundsMin(), m_geom.getMeshBoundsMax()); + RecastBuilder rcBuilder = new RecastBuilder(); + return rcBuilder.build(m_geom, bcfg); + } + + private MeshData buildMeshData(DemoInputGeomProvider m_geom, float m_cellSize, float m_cellHeight, float m_agentHeight, + float m_agentRadius, float m_agentMaxClimb, RecastBuilderResult rcResult) { + NavMeshDataCreateParams option = getNavMeshCreateParams(m_geom, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius, + m_agentMaxClimb, rcResult); + return updateAreaAndFlags(NavMeshBuilder.createNavMeshData(option)); + } + +} diff --git a/src/DotRecast.Recast.Demo/Builder/TileNavMeshBuilder.cs b/src/DotRecast.Recast.Demo/Builder/TileNavMeshBuilder.cs new file mode 100644 index 0000000..26b87da --- /dev/null +++ b/src/DotRecast.Recast.Demo/Builder/TileNavMeshBuilder.cs @@ -0,0 +1,127 @@ +/* +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Threading.Tasks; +using DotRecast.Core; +using DotRecast.Detour; +using DotRecast.Recast.Demo.Geom; + +namespace DotRecast.Recast.Demo.Builder; + +public class TileNavMeshBuilder : AbstractNavMeshBuilder { + + public TileNavMeshBuilder() { + } + + public Tuple, NavMesh> build(DemoInputGeomProvider m_geom, PartitionType 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, bool filterLowHangingObstacles, + bool filterLedgeSpans, bool filterWalkableLowHeightSpans, int tileSize) { + + List rcResult = buildRecastResult(m_geom, 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, filterLowHangingObstacles, filterLedgeSpans, + filterWalkableLowHeightSpans, tileSize); + return Tuple.Create((IList) rcResult, + buildNavMesh(m_geom, + buildMeshData(m_geom, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius, m_agentMaxClimb, rcResult), + m_cellSize, tileSize, m_vertsPerPoly)); + } + + private List buildRecastResult(DemoInputGeomProvider m_geom, PartitionType 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, bool filterLowHangingObstacles, + bool filterLedgeSpans, bool filterWalkableLowHeightSpans, int tileSize) { + RecastConfig cfg = new RecastConfig(true, tileSize, tileSize, RecastConfig.calcBorder(m_agentRadius, m_cellSize), + m_partitionType, m_cellSize, m_cellHeight, m_agentMaxSlope, filterLowHangingObstacles, filterLedgeSpans, + filterWalkableLowHeightSpans, m_agentHeight, m_agentRadius, m_agentMaxClimb, + m_regionMinSize * m_regionMinSize * m_cellSize * m_cellSize, + m_regionMergeSize * m_regionMergeSize * m_cellSize * m_cellSize, m_edgeMaxLen, m_edgeMaxError, m_vertsPerPoly, + true, m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_WALKABLE); + RecastBuilder rcBuilder = new RecastBuilder(); + return rcBuilder.buildTiles(m_geom, cfg, Task.Factory); + } + + private NavMesh buildNavMesh(DemoInputGeomProvider geom, List meshData, float cellSize, int tileSize, + int vertsPerPoly) { + NavMeshParams navMeshParams = new NavMeshParams(); + navMeshParams.orig[0] = geom.getMeshBoundsMin()[0]; + navMeshParams.orig[1] = geom.getMeshBoundsMin()[1]; + navMeshParams.orig[2] = geom.getMeshBoundsMin()[2]; + navMeshParams.tileWidth = tileSize * cellSize; + navMeshParams.tileHeight = tileSize * cellSize; + + // snprintf(text, 64, "Tiles %d x %d", tw, th); + + navMeshParams.maxTiles = getMaxTiles(geom, cellSize, tileSize); + navMeshParams.maxPolys = getMaxPolysPerTile(geom, cellSize, tileSize); + NavMesh navMesh = new NavMesh(navMeshParams, vertsPerPoly); + meshData.forEach(md => navMesh.addTile(md, 0, 0)); + return navMesh; + } + + public int getMaxTiles(DemoInputGeomProvider geom, float cellSize, int tileSize) { + int tileBits = getTileBits(geom, cellSize, tileSize); + return 1 << tileBits; + } + + public int getMaxPolysPerTile(DemoInputGeomProvider geom, float cellSize, int tileSize) { + int polyBits = 22 - getTileBits(geom, cellSize, tileSize); + return 1 << polyBits; + } + + private int getTileBits(DemoInputGeomProvider geom, float cellSize, int tileSize) { + int[] wh = Recast.calcGridSize(geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), cellSize); + int tw = (wh[0] + tileSize - 1) / tileSize; + int th = (wh[1] + tileSize - 1) / tileSize; + int tileBits = Math.Min(DetourCommon.ilog2(DetourCommon.nextPow2(tw * th)), 14); + return tileBits; + } + + public int[] getTiles(DemoInputGeomProvider geom, float cellSize, int tileSize) { + int[] wh = Recast.calcGridSize(geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), cellSize); + int tw = (wh[0] + tileSize - 1) / tileSize; + int th = (wh[1] + tileSize - 1) / tileSize; + return new int[] { tw, th }; + } + + private List buildMeshData(DemoInputGeomProvider m_geom, float m_cellSize, float m_cellHeight, float m_agentHeight, + float m_agentRadius, float m_agentMaxClimb, List rcResult) { + + // Add tiles to nav mesh + List meshData = new(); + foreach (RecastBuilderResult result in rcResult) { + int x = result.tileX; + int z = result.tileZ; + NavMeshDataCreateParams option = getNavMeshCreateParams(m_geom, m_cellSize, m_cellHeight, m_agentHeight, + m_agentRadius, m_agentMaxClimb, result); + option.tileX = x; + option.tileZ = z; + MeshData md = NavMeshBuilder.createNavMeshData(option); + if (md != null) { + meshData.Add(updateAreaAndFlags(md)); + } + } + return meshData; + } + +} diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj new file mode 100644 index 0000000..059e5da --- /dev/null +++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj @@ -0,0 +1,24 @@ + + + + Exe + net7.0 + true + + + + + + + + + + + + + + + + + + diff --git a/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs new file mode 100644 index 0000000..a2283e6 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs @@ -0,0 +1,603 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using DotRecast.Core; +using DotRecast.Recast.Demo.Builder; +using Silk.NET.OpenGL; + +namespace DotRecast.Recast.Demo.Draw; + +public class DebugDraw { + + private readonly GLCheckerTexture g_tex = new GLCheckerTexture(); + private readonly OpenGLDraw openGlDraw = new ModernOpenGLDraw(); + private readonly int[] boxIndices = { 7, 6, 5, 4, 0, 1, 2, 3, 1, 5, 6, 2, 3, 7, 4, 0, 2, 6, 7, 3, 0, 4, 5, 1, }; + + private readonly float[][] frustumPlanes = + { + new[] { 0f, 0f, 0f, 0f }, + new[] { 0f, 0f, 0f, 0f }, + new[] { 0f, 0f, 0f, 0f }, + new[] { 0f, 0f, 0f, 0f }, + new[] { 0f, 0f, 0f, 0f }, + new[] { 0f, 0f, 0f, 0f }, + }; + + + public void begin(DebugDrawPrimitives prim) { + begin(prim, 1f); + } + + public void debugDrawCylinderWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col, + float lineWidth) { + begin(DebugDrawPrimitives.LINES, lineWidth); + appendCylinderWire(minx, miny, minz, maxx, maxy, maxz, col); + end(); + } + + private const int CYLINDER_NUM_SEG = 16; + private readonly float[] cylinderDir = new float[CYLINDER_NUM_SEG * 2]; + private bool cylinderInit = false; + + private void initCylinder() { + if (!cylinderInit) { + cylinderInit = true; + for (int i = 0; i < CYLINDER_NUM_SEG; ++i) { + float a = (float) (i * Math.PI * 2 / CYLINDER_NUM_SEG); + cylinderDir[i * 2] = (float) Math.Cos(a); + cylinderDir[i * 2 + 1] = (float) Math.Sin(a); + } + } + } + + void appendCylinderWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col) { + + initCylinder(); + + float cx = (maxx + minx) / 2; + float cz = (maxz + minz) / 2; + float rx = (maxx - minx) / 2; + float rz = (maxz - minz) / 2; + + for (int i = 0, j = CYLINDER_NUM_SEG - 1; i < CYLINDER_NUM_SEG; j = i++) { + vertex(cx + cylinderDir[j * 2 + 0] * rx, miny, cz + cylinderDir[j * 2 + 1] * rz, col); + vertex(cx + cylinderDir[i * 2 + 0] * rx, miny, cz + cylinderDir[i * 2 + 1] * rz, col); + vertex(cx + cylinderDir[j * 2 + 0] * rx, maxy, cz + cylinderDir[j * 2 + 1] * rz, col); + vertex(cx + cylinderDir[i * 2 + 0] * rx, maxy, cz + cylinderDir[i * 2 + 1] * rz, col); + } + for (int i = 0; i < CYLINDER_NUM_SEG; i += CYLINDER_NUM_SEG / 4) { + vertex(cx + cylinderDir[i * 2 + 0] * rx, miny, cz + cylinderDir[i * 2 + 1] * rz, col); + vertex(cx + cylinderDir[i * 2 + 0] * rx, maxy, cz + cylinderDir[i * 2 + 1] * rz, col); + } + } + + public void debugDrawBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col, + float lineWidth) { + + begin(DebugDrawPrimitives.LINES, lineWidth); + appendBoxWire(minx, miny, minz, maxx, maxy, maxz, col); + end(); + } + + public void appendBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col) { + // Top + vertex(minx, miny, minz, col); + vertex(maxx, miny, minz, col); + vertex(maxx, miny, minz, col); + vertex(maxx, miny, maxz, col); + vertex(maxx, miny, maxz, col); + vertex(minx, miny, maxz, col); + vertex(minx, miny, maxz, col); + vertex(minx, miny, minz, col); + + // bottom + vertex(minx, maxy, minz, col); + vertex(maxx, maxy, minz, col); + vertex(maxx, maxy, minz, col); + vertex(maxx, maxy, maxz, col); + vertex(maxx, maxy, maxz, col); + vertex(minx, maxy, maxz, col); + vertex(minx, maxy, maxz, col); + vertex(minx, maxy, minz, col); + + // Sides + vertex(minx, miny, minz, col); + vertex(minx, maxy, minz, col); + vertex(maxx, miny, minz, col); + vertex(maxx, maxy, minz, col); + vertex(maxx, miny, maxz, col); + vertex(maxx, maxy, maxz, col); + vertex(minx, miny, maxz, col); + vertex(minx, maxy, maxz, col); + } + + public void appendBox(float minx, float miny, float minz, float maxx, float maxy, float maxz, int[] fcol) { + float[][] verts = { + new[] { minx, miny, minz }, + new[] { maxx, miny, minz }, + new[] { maxx, miny, maxz }, + new[] { minx, miny, maxz }, + new[] { minx, maxy, minz }, + new[] { maxx, maxy, minz }, + new[] { maxx, maxy, maxz }, + new[] { minx, maxy, maxz } }; + + int idx = 0; + for (int i = 0; i < 6; ++i) { + vertex(verts[boxIndices[idx]], fcol[i]); + idx++; + vertex(verts[boxIndices[idx]], fcol[i]); + idx++; + vertex(verts[boxIndices[idx]], fcol[i]); + idx++; + vertex(verts[boxIndices[idx]], fcol[i]); + idx++; + } + } + + public void debugDrawArc(float x0, float y0, float z0, float x1, float y1, float z1, float h, float as0, float as1, int col, + float lineWidth) { + begin(DebugDrawPrimitives.LINES, lineWidth); + appendArc(x0, y0, z0, x1, y1, z1, h, as0, as1, col); + end(); + } + + public void begin(DebugDrawPrimitives prim, float size) { + getOpenGlDraw().begin(prim, size); + } + + public void vertex(float[] pos, int color) { + getOpenGlDraw().vertex(pos, color); + } + + public void vertex(float x, float y, float z, int color) { + getOpenGlDraw().vertex(x, y, z, color); + } + + public void vertex(float[] pos, int color, float[] uv) { + getOpenGlDraw().vertex(pos, color, uv); + } + + public void vertex(float x, float y, float z, int color, float u, float v) { + getOpenGlDraw().vertex(x, y, z, color, u, v); + } + + public void end() { + getOpenGlDraw().end(); + } + + public void debugDrawCircle(float x, float y, float z, float r, int col, float lineWidth) { + begin(DebugDrawPrimitives.LINES, lineWidth); + appendCircle(x, y, z, r, col); + end(); + } + + private bool circleInit = false; + private const int CIRCLE_NUM_SEG = 40; + private readonly float[] circeDir = new float[CIRCLE_NUM_SEG * 2]; + private float[] _viewMatrix = new float[16]; + private readonly float[] _projectionMatrix = new float[16]; + + public void appendCircle(float x, float y, float z, float r, int col) { + if (!circleInit) { + circleInit = true; + for (int i = 0; i < CIRCLE_NUM_SEG; ++i) { + float a = (float) (i * Math.PI * 2 / CIRCLE_NUM_SEG); + circeDir[i * 2] = (float) Math.Cos(a); + circeDir[i * 2 + 1] = (float) Math.Sin(a); + } + } + for (int i = 0, j = CIRCLE_NUM_SEG - 1; i < CIRCLE_NUM_SEG; j = i++) { + vertex(x + circeDir[j * 2 + 0] * r, y, z + circeDir[j * 2 + 1] * r, col); + vertex(x + circeDir[i * 2 + 0] * r, y, z + circeDir[i * 2 + 1] * r, col); + } + } + + private static readonly int NUM_ARC_PTS = 8; + private static readonly float PAD = 0.05f; + private static readonly float ARC_PTS_SCALE = (1.0f - PAD * 2) / NUM_ARC_PTS; + + public void appendArc(float x0, float y0, float z0, float x1, float y1, float z1, float h, float as0, float as1, int col) { + float dx = x1 - x0; + float dy = y1 - y0; + float dz = z1 - z0; + float len = (float) Math.Sqrt(dx * dx + dy * dy + dz * dz); + float[] prev = new float[3]; + evalArc(x0, y0, z0, dx, dy, dz, len * h, PAD, prev); + for (int i = 1; i <= NUM_ARC_PTS; ++i) { + float u = PAD + i * ARC_PTS_SCALE; + float[] pt = new float[3]; + evalArc(x0, y0, z0, dx, dy, dz, len * h, u, pt); + vertex(prev[0], prev[1], prev[2], col); + vertex(pt[0], pt[1], pt[2], col); + prev[0] = pt[0]; + prev[1] = pt[1]; + prev[2] = pt[2]; + } + + // End arrows + if (as0 > 0.001f) { + float[] p = new float[3], q = new float[3]; + evalArc(x0, y0, z0, dx, dy, dz, len * h, PAD, p); + evalArc(x0, y0, z0, dx, dy, dz, len * h, PAD + 0.05f, q); + appendArrowHead(p, q, as0, col); + } + + if (as1 > 0.001f) { + float[] p = new float[3], q = new float[3]; + evalArc(x0, y0, z0, dx, dy, dz, len * h, 1 - PAD, p); + evalArc(x0, y0, z0, dx, dy, dz, len * h, 1 - (PAD + 0.05f), q); + appendArrowHead(p, q, as1, col); + } + } + + private void evalArc(float x0, float y0, float z0, float dx, float dy, float dz, float h, float u, float[] res) { + res[0] = x0 + dx * u; + res[1] = y0 + dy * u + h * (1 - (u * 2 - 1) * (u * 2 - 1)); + res[2] = z0 + dz * u; + } + + public void debugDrawCross(float x, float y, float z, float size, int col, float lineWidth) { + begin(DebugDrawPrimitives.LINES, lineWidth); + appendCross(x, y, z, size, col); + end(); + } + + private void appendCross(float x, float y, float z, float s, int col) { + vertex(x - s, y, z, col); + vertex(x + s, y, z, col); + vertex(x, y - s, z, col); + vertex(x, y + s, z, col); + vertex(x, y, z - s, col); + vertex(x, y, z + s, col); + } + + public void debugDrawBox(float minx, float miny, float minz, float maxx, float maxy, float maxz, int[] fcol) { + begin(DebugDrawPrimitives.QUADS); + appendBox(minx, miny, minz, maxx, maxy, maxz, fcol); + end(); + } + + public void debugDrawCylinder(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col) { + begin(DebugDrawPrimitives.TRIS); + appendCylinder(minx, miny, minz, maxx, maxy, maxz, col); + end(); + } + + public void appendCylinder(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col) { + initCylinder(); + + int col2 = duMultCol(col, 160); + + float cx = (maxx + minx) / 2; + float cz = (maxz + minz) / 2; + float rx = (maxx - minx) / 2; + float rz = (maxz - minz) / 2; + + for (int i = 2; i < CYLINDER_NUM_SEG; ++i) { + int a = 0, b = i - 1, c = i; + vertex(cx + cylinderDir[a * 2 + 0] * rx, miny, cz + cylinderDir[a * 2 + 1] * rz, col2); + vertex(cx + cylinderDir[b * 2 + 0] * rx, miny, cz + cylinderDir[b * 2 + 1] * rz, col2); + vertex(cx + cylinderDir[c * 2 + 0] * rx, miny, cz + cylinderDir[c * 2 + 1] * rz, col2); + } + for (int i = 2; i < CYLINDER_NUM_SEG; ++i) { + int a = 0, b = i, c = i - 1; + vertex(cx + cylinderDir[a * 2 + 0] * rx, maxy, cz + cylinderDir[a * 2 + 1] * rz, col); + vertex(cx + cylinderDir[b * 2 + 0] * rx, maxy, cz + cylinderDir[b * 2 + 1] * rz, col); + vertex(cx + cylinderDir[c * 2 + 0] * rx, maxy, cz + cylinderDir[c * 2 + 1] * rz, col); + } + for (int i = 0, j = CYLINDER_NUM_SEG - 1; i < CYLINDER_NUM_SEG; j = i++) { + vertex(cx + cylinderDir[i * 2 + 0] * rx, miny, cz + cylinderDir[i * 2 + 1] * rz, col2); + vertex(cx + cylinderDir[j * 2 + 0] * rx, miny, cz + cylinderDir[j * 2 + 1] * rz, col2); + vertex(cx + cylinderDir[j * 2 + 0] * rx, maxy, cz + cylinderDir[j * 2 + 1] * rz, col); + + vertex(cx + cylinderDir[i * 2 + 0] * rx, miny, cz + cylinderDir[i * 2 + 1] * rz, col2); + vertex(cx + cylinderDir[j * 2 + 0] * rx, maxy, cz + cylinderDir[j * 2 + 1] * rz, col); + vertex(cx + cylinderDir[i * 2 + 0] * rx, maxy, cz + cylinderDir[i * 2 + 1] * rz, col); + } + } + + public void debugDrawArrow(float x0, float y0, float z0, float x1, float y1, float z1, float as0, float as1, int col, + float lineWidth) { + + begin(DebugDrawPrimitives.LINES, lineWidth); + appendArrow(x0, y0, z0, x1, y1, z1, as0, as1, col); + end(); + } + + public void appendArrow(float x0, float y0, float z0, float x1, float y1, float z1, float as0, float as1, int col) { + + vertex(x0, y0, z0, col); + vertex(x1, y1, z1, col); + + // End arrows + float[] p = new float[] { x0, y0, z0 }; + float[] q = new float[] { x1, y1, z1 }; + if (as0 > 0.001f) + appendArrowHead(p, q, as0, col); + if (as1 > 0.001f) + appendArrowHead(q, p, as1, col); + } + + void appendArrowHead(float[] p, float[] q, float s, int col) { + float eps = 0.001f; + if (vdistSqr(p, q) < eps * eps) { + return; + } + float[] ax = new float[3], ay = { 0, 1, 0 }, az = new float[3]; + vsub(az, q, p); + vnormalize(az); + vcross(ax, ay, az); + vcross(ay, az, ax); + vnormalize(ay); + + vertex(p, col); + // vertex(p[0]+az[0]*s+ay[0]*s/2, p[1]+az[1]*s+ay[1]*s/2, p[2]+az[2]*s+ay[2]*s/2, col); + vertex(p[0] + az[0] * s + ax[0] * s / 3, p[1] + az[1] * s + ax[1] * s / 3, p[2] + az[2] * s + ax[2] * s / 3, col); + + vertex(p, col); + // vertex(p[0]+az[0]*s-ay[0]*s/2, p[1]+az[1]*s-ay[1]*s/2, p[2]+az[2]*s-ay[2]*s/2, col); + vertex(p[0] + az[0] * s - ax[0] * s / 3, p[1] + az[1] * s - ax[1] * s / 3, p[2] + az[2] * s - ax[2] * s / 3, col); + + } + + public void vcross(float[] dest, float[] v1, float[] v2) { + dest[0] = v1[1] * v2[2] - v1[2] * v2[1]; + dest[1] = v1[2] * v2[0] - v1[0] * v2[2]; + dest[2] = v1[0] * v2[1] - v1[1] * v2[0]; + } + + public void vnormalize(float[] v) { + float d = (float) (1.0f / Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2])); + v[0] *= d; + v[1] *= d; + v[2] *= d; + } + + public void vsub(float[] dest, float[] v1, float[] v2) { + dest[0] = v1[0] - v2[0]; + dest[1] = v1[1] - v2[1]; + dest[2] = v1[2] - v2[2]; + } + + public float vdistSqr(float[] v1, float[] v2) { + float x = v1[0] - v2[0]; + float y = v1[1] - v2[1]; + float z = v1[2] - v2[2]; + return x * x + y * y + z * z; + } + +// public static int areaToCol(int area) { +// if (area == 0) { +// return duRGBA(0, 192, 255, 255); +// } else { +// return duIntToCol(area, 255); +// } +// } + + public static int areaToCol(int area) { + switch (area) { + // Ground (0) : light blue + case SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WALKABLE: + case SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND: + return duRGBA(0, 192, 255, 255); + // Water : blue + case SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER: + return duRGBA(0, 0, 255, 255); + // Road : brown + case SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD: + return duRGBA(50, 20, 12, 255); + // Door : cyan + case SampleAreaModifications.SAMPLE_POLYAREA_TYPE_DOOR: + return duRGBA(0, 255, 255, 255); + // Grass : green + case SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS: + return duRGBA(0, 255, 0, 255); + // Jump : yellow + case SampleAreaModifications.SAMPLE_POLYAREA_TYPE_JUMP: + return duRGBA(255, 255, 0, 255); + // Unexpected : red + default: + return duRGBA(255, 0, 0, 255); + } + } + + public static int duRGBA(int r, int g, int b, int a) { + return (r) | (g << 8) | (b << 16) | (a << 24); + } + + public static int duLerpCol(int ca, int cb, int u) { + int ra = ca & 0xff; + int ga = (ca >> 8) & 0xff; + int ba = (ca >> 16) & 0xff; + int aa = (ca >> 24) & 0xff; + int rb = cb & 0xff; + int gb = (cb >> 8) & 0xff; + int bb = (cb >> 16) & 0xff; + int ab = (cb >> 24) & 0xff; + + int r = (ra * (255 - u) + rb * u) / 255; + int g = (ga * (255 - u) + gb * u) / 255; + int b = (ba * (255 - u) + bb * u) / 255; + int a = (aa * (255 - u) + ab * u) / 255; + return duRGBA(r, g, b, a); + } + + public static int bit(int a, int b) { + return (a & (1 << b)) >>> b; + } + + public static int duIntToCol(int i, int a) { + int r = bit(i, 1) + bit(i, 3) * 2 + 1; + int g = bit(i, 2) + bit(i, 4) * 2 + 1; + int b = bit(i, 0) + bit(i, 5) * 2 + 1; + return duRGBA(r * 63, g * 63, b * 63, a); + } + + public static void duCalcBoxColors(int[] colors, int colTop, int colSide) { + colors[0] = duMultCol(colTop, 250); + colors[1] = duMultCol(colSide, 140); + colors[2] = duMultCol(colSide, 165); + colors[3] = duMultCol(colSide, 165); + colors[4] = duMultCol(colSide, 217); + colors[5] = duMultCol(colSide, 217); + } + + public static int duMultCol(int col, int d) { + int r = col & 0xff; + int g = (col >> 8) & 0xff; + int b = (col >> 16) & 0xff; + int a = (col >> 24) & 0xff; + return duRGBA((r * d) >> 8, (g * d) >> 8, (b * d) >> 8, a); + } + + public static int duTransCol(int c, int a) { + return (a << 24) | (c & 0x00ffffff); + } + + public static int duDarkenCol(int col) { + return (int)(((col >> 1) & 0x007f7f7f) | (col & 0xff000000)); + } + + public void fog(float start, float end) { + getOpenGlDraw().fog(start, end); + } + + public void fog(bool state) { + getOpenGlDraw().fog(state); + } + + public void depthMask(bool state) { + getOpenGlDraw().depthMask(state); + } + + public void texture(bool state) { + getOpenGlDraw().texture(g_tex, state); + } + + public void init(GL gl, float fogDistance) { + getOpenGlDraw().init(gl); + } + + public void clear() { + getOpenGlDraw().clear(); + } + + public float[] projectionMatrix(float fovy, float aspect, float near, float far) { + GLU.glhPerspectivef2(_projectionMatrix, fovy, aspect, near, far); + getOpenGlDraw().projectionMatrix(_projectionMatrix); + updateFrustum(); + return _projectionMatrix; + } + + public float[] viewMatrix(float[] cameraPos, float[] cameraEulers) { + float[] rx = GLU.build_4x4_rotation_matrix(cameraEulers[0], 1, 0, 0); + float[] ry = GLU.build_4x4_rotation_matrix(cameraEulers[1], 0, 1, 0); + float[] r = GLU.mul(rx, ry); + float[] t = new float[16]; + t[0] = t[5] = t[10] = t[15] = 1; + t[12] = -cameraPos[0]; + t[13] = -cameraPos[1]; + t[14] = -cameraPos[2]; + _viewMatrix = GLU.mul(r, t); + getOpenGlDraw().viewMatrix(_viewMatrix); + updateFrustum(); + return _viewMatrix; + } + + private OpenGLDraw getOpenGlDraw() { + return openGlDraw; + } + + private void updateFrustum() { + float[] vpm = GLU.mul(_projectionMatrix, _viewMatrix); + // left + frustumPlanes[0] = normalizePlane(vpm[0 + 3] + vpm[0 + 0], vpm[4 + 3] + vpm[4 + 0], vpm[8 + 3] + vpm[8 + 0], + vpm[12 + 3] + vpm[12 + 0]); + // right + frustumPlanes[1] = normalizePlane(vpm[0 + 3] - vpm[0 + 0], vpm[4 + 3] - vpm[4 + 0], vpm[8 + 3] - vpm[8 + 0], + vpm[12 + 3] - vpm[12 + 0]); + // top + frustumPlanes[2] = normalizePlane(vpm[0 + 3] - vpm[0 + 1], vpm[4 + 3] - vpm[4 + 1], vpm[8 + 3] - vpm[8 + 1], + vpm[12 + 3] - vpm[12 + 1]); + // bottom + frustumPlanes[3] = normalizePlane(vpm[0 + 3] + vpm[0 + 1], vpm[4 + 3] + vpm[4 + 1], vpm[8 + 3] + vpm[8 + 1], + vpm[12 + 3] + vpm[12 + 1]); + // near + frustumPlanes[4] = normalizePlane(vpm[0 + 3] + vpm[0 + 2], vpm[4 + 3] + vpm[4 + 2], vpm[8 + 3] + vpm[8 + 2], + vpm[12 + 3] + vpm[12 + 2]); + // far + frustumPlanes[5] = normalizePlane(vpm[0 + 3] - vpm[0 + 2], vpm[4 + 3] - vpm[4 + 2], vpm[8 + 3] - vpm[8 + 2], + vpm[12 + 3] - vpm[12 + 2]); + } + + private float[] normalizePlane(float px, float py, float pz, float pw) { + float length = (float) Math.Sqrt(px * px + py * py + pz * pz); + if (length != 0) { + length = 1f / length; + px *= length; + py *= length; + pz *= length; + pw *= length; + } + return new float[] { px, py, pz, pw }; + } + + public bool frustumTest(float[] bmin, float[] bmax) { + return frustumTest(new float[] { bmin[0], bmin[1], bmin[2], bmax[0], bmax[1], bmax[2] }); + } + + public bool frustumTest(float[] bounds) { + foreach (float[] plane in frustumPlanes) { + float p_x; + float p_y; + float p_z; + float n_x; + float n_y; + float n_z; + if (plane[0] >= 0) { + p_x = bounds[3]; + n_x = bounds[0]; + } else { + p_x = bounds[0]; + n_x = bounds[3]; + } + if (plane[1] >= 0) { + p_y = bounds[4]; + n_y = bounds[1]; + } else { + p_y = bounds[1]; + n_y = bounds[4]; + } + if (plane[2] >= 0) { + p_z = bounds[5]; + n_z = bounds[2]; + } else { + p_z = bounds[2]; + n_z = bounds[5]; + } + if (plane[0] * p_x + plane[1] * p_y + plane[2] * p_z + plane[3] < 0) { + return false; + } + } + return true; + } + +} diff --git a/src/DotRecast.Recast.Demo/Draw/DebugDrawPrimitives.cs b/src/DotRecast.Recast.Demo/Draw/DebugDrawPrimitives.cs new file mode 100644 index 0000000..185dd7e --- /dev/null +++ b/src/DotRecast.Recast.Demo/Draw/DebugDrawPrimitives.cs @@ -0,0 +1,27 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Recast.Demo.Draw; + +public enum DebugDrawPrimitives { + + POINTS, + LINES, + TRIS, + QUADS +} diff --git a/src/DotRecast.Recast.Demo/Draw/DrawMode.cs b/src/DotRecast.Recast.Demo/Draw/DrawMode.cs new file mode 100644 index 0000000..ecfb260 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Draw/DrawMode.cs @@ -0,0 +1,50 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Recast.Demo.Draw; + +public class DrawMode { + public static readonly DrawMode DRAWMODE_MESH = new("Input Mesh"); + public static readonly DrawMode DRAWMODE_NAVMESH = new("Navmesh"); + public static readonly DrawMode DRAWMODE_NAVMESH_INVIS = new("Navmesh Invis"); + public static readonly DrawMode DRAWMODE_NAVMESH_TRANS = new("Navmesh Trans"); + public static readonly DrawMode DRAWMODE_NAVMESH_BVTREE = new("Navmesh BVTree"); + public static readonly DrawMode DRAWMODE_NAVMESH_NODES = new("Navmesh Nodes"); + public static readonly DrawMode DRAWMODE_NAVMESH_PORTALS = new("Navmesh Portals"); + public static readonly DrawMode DRAWMODE_VOXELS = new("Voxels"); + public static readonly DrawMode DRAWMODE_VOXELS_WALKABLE = new("Walkable Voxels"); + public static readonly DrawMode DRAWMODE_COMPACT = new("Compact"); + public static readonly DrawMode DRAWMODE_COMPACT_DISTANCE = new("Compact Distance"); + public static readonly DrawMode DRAWMODE_COMPACT_REGIONS = new("Compact Regions"); + public static readonly DrawMode DRAWMODE_REGION_CONNECTIONS = new("Region Connections"); + public static readonly DrawMode DRAWMODE_RAW_CONTOURS = new("Raw Contours"); + public static readonly DrawMode DRAWMODE_BOTH_CONTOURS = new("Both Contours"); + public static readonly DrawMode DRAWMODE_CONTOURS = new("Contours"); + public static readonly DrawMode DRAWMODE_POLYMESH = new("Poly Mesh"); + public static readonly DrawMode DRAWMODE_POLYMESH_DETAIL = new("Poly Mesh Detils"); + + private readonly string text; + + private DrawMode(string text) { + this.text = text; + } + + public override string ToString() { + return text; + } +} diff --git a/src/DotRecast.Recast.Demo/Draw/GLCheckerTexture.cs b/src/DotRecast.Recast.Demo/Draw/GLCheckerTexture.cs new file mode 100644 index 0000000..13d65c8 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Draw/GLCheckerTexture.cs @@ -0,0 +1,62 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using Silk.NET.OpenGL; + +namespace DotRecast.Recast.Demo.Draw; + +public class GLCheckerTexture { + + int m_texId; + + public void release() { + // if (m_texId != 0) { + // glDeleteTextures(m_texId); + // } + } + + public void bind() { + // if (m_texId == 0) { + // // Create checker pattern. + // int col0 = DebugDraw.duRGBA(215, 215, 215, 255); + // int col1 = DebugDraw.duRGBA(255, 255, 255, 255); + // int TSIZE = 64; + // int[] data = new int[TSIZE * TSIZE]; + // + // m_texId = glGenTextures(); + // glBindTexture(GL_TEXTURE_2D, m_texId); + // + // int level = 0; + // int size = TSIZE; + // while (size > 0) { + // for (int y = 0; y < size; ++y) + // for (int x = 0; x < size; ++x) + // data[x + y * size] = (x == 0 || y == 0) ? col0 : col1; + // glTexImage2D(GL_TEXTURE_2D, level, GL_RGBA, size, size, 0, GL_RGBA, GL_UNSIGNED_BYTE, data); + // size /= 2; + // level++; + // } + // + // glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_NEAREST); + // glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + // } else { + // glBindTexture(GL_TEXTURE_2D, m_texId); + // } + } +} diff --git a/src/DotRecast.Recast.Demo/Draw/GLU.cs b/src/DotRecast.Recast.Demo/Draw/GLU.cs new file mode 100644 index 0000000..a4112a9 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Draw/GLU.cs @@ -0,0 +1,432 @@ +/* +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using DotRecast.Core; + +namespace DotRecast.Recast.Demo.Draw; + + + +public class GLU { + + public static float[] gluPerspective(float fovy, float aspect, float near, float far) { + float[] projectionMatrix = new float[16]; + glhPerspectivef2(projectionMatrix, fovy, aspect, near, far); + //glLoadMatrixf(projectionMatrix); + return projectionMatrix; + } + + public static void glhPerspectivef2(float[] matrix, float fovyInDegrees, float aspectRatio, float znear, + float zfar) { + float ymax, xmax; + ymax = (float) (znear * Math.Tan(fovyInDegrees * Math.PI / 360.0)); + xmax = ymax * aspectRatio; + glhFrustumf2(matrix, -xmax, xmax, -ymax, ymax, znear, zfar); + } + + private static void glhFrustumf2(float[] matrix, float left, float right, float bottom, float top, float znear, + float zfar) { + float temp, temp2, temp3, temp4; + temp = 2.0f * znear; + temp2 = right - left; + temp3 = top - bottom; + temp4 = zfar - znear; + matrix[0] = temp / temp2; + matrix[1] = 0.0f; + matrix[2] = 0.0f; + matrix[3] = 0.0f; + matrix[4] = 0.0f; + matrix[5] = temp / temp3; + matrix[6] = 0.0f; + matrix[7] = 0.0f; + matrix[8] = (right + left) / temp2; + matrix[9] = (top + bottom) / temp3; + matrix[10] = (-zfar - znear) / temp4; + matrix[11] = -1.0f; + matrix[12] = 0.0f; + matrix[13] = 0.0f; + matrix[14] = (-temp * zfar) / temp4; + matrix[15] = 0.0f; + } + + public static int glhUnProjectf(float winx, float winy, float winz, float[] modelview, float[] projection, + int[] viewport, float[] objectCoordinate) { + // Transformation matrices + float[] m = new float[16], A = new float[16]; + float[] @in = new float[4], @out = new float[4]; + // Calculation for inverting a matrix, compute projection x modelview + // and store in A[16] + MultiplyMatrices4by4OpenGL_FLOAT(A, projection, modelview); + // Now compute the inverse of matrix A + if (glhInvertMatrixf2(A, m) == 0) + return 0; + // Transformation of normalized coordinates between -1 and 1 + @in[0] = (winx - viewport[0]) / viewport[2] * 2.0f - 1.0f; + @in[1] = (winy - viewport[1]) / viewport[3] * 2.0f - 1.0f; + @in[2] = 2.0f * winz - 1.0f; + @in[3] = 1.0f; + // Objects coordinates + MultiplyMatrixByVector4by4OpenGL_FLOAT(@out, m, @in); + if (@out[3] == 0.0) + return 0; + @out[3] = 1.0f / @out[3]; + objectCoordinate[0] = @out[0] * @out[3]; + objectCoordinate[1] = @out[1] * @out[3]; + objectCoordinate[2] = @out[2] * @out[3]; + return 1; + } + + static void MultiplyMatrices4by4OpenGL_FLOAT(float[] result, float[] matrix1, float[] matrix2) { + result[0] = matrix1[0] * matrix2[0] + matrix1[4] * matrix2[1] + matrix1[8] * matrix2[2] + + matrix1[12] * matrix2[3]; + result[4] = matrix1[0] * matrix2[4] + matrix1[4] * matrix2[5] + matrix1[8] * matrix2[6] + + matrix1[12] * matrix2[7]; + result[8] = matrix1[0] * matrix2[8] + matrix1[4] * matrix2[9] + matrix1[8] * matrix2[10] + + matrix1[12] * matrix2[11]; + result[12] = matrix1[0] * matrix2[12] + matrix1[4] * matrix2[13] + matrix1[8] * matrix2[14] + + matrix1[12] * matrix2[15]; + result[1] = matrix1[1] * matrix2[0] + matrix1[5] * matrix2[1] + matrix1[9] * matrix2[2] + + matrix1[13] * matrix2[3]; + result[5] = matrix1[1] * matrix2[4] + matrix1[5] * matrix2[5] + matrix1[9] * matrix2[6] + + matrix1[13] * matrix2[7]; + result[9] = matrix1[1] * matrix2[8] + matrix1[5] * matrix2[9] + matrix1[9] * matrix2[10] + + matrix1[13] * matrix2[11]; + result[13] = matrix1[1] * matrix2[12] + matrix1[5] * matrix2[13] + matrix1[9] * matrix2[14] + + matrix1[13] * matrix2[15]; + result[2] = matrix1[2] * matrix2[0] + matrix1[6] * matrix2[1] + matrix1[10] * matrix2[2] + + matrix1[14] * matrix2[3]; + result[6] = matrix1[2] * matrix2[4] + matrix1[6] * matrix2[5] + matrix1[10] * matrix2[6] + + matrix1[14] * matrix2[7]; + result[10] = matrix1[2] * matrix2[8] + matrix1[6] * matrix2[9] + matrix1[10] * matrix2[10] + + matrix1[14] * matrix2[11]; + result[14] = matrix1[2] * matrix2[12] + matrix1[6] * matrix2[13] + matrix1[10] * matrix2[14] + + matrix1[14] * matrix2[15]; + result[3] = matrix1[3] * matrix2[0] + matrix1[7] * matrix2[1] + matrix1[11] * matrix2[2] + + matrix1[15] * matrix2[3]; + result[7] = matrix1[3] * matrix2[4] + matrix1[7] * matrix2[5] + matrix1[11] * matrix2[6] + + matrix1[15] * matrix2[7]; + result[11] = matrix1[3] * matrix2[8] + matrix1[7] * matrix2[9] + matrix1[11] * matrix2[10] + + matrix1[15] * matrix2[11]; + result[15] = matrix1[3] * matrix2[12] + matrix1[7] * matrix2[13] + matrix1[11] * matrix2[14] + + matrix1[15] * matrix2[15]; + } + + static void MultiplyMatrixByVector4by4OpenGL_FLOAT(float[] resultvector, float[] matrix, float[] pvector) { + resultvector[0] = matrix[0] * pvector[0] + matrix[4] * pvector[1] + matrix[8] * pvector[2] + + matrix[12] * pvector[3]; + resultvector[1] = matrix[1] * pvector[0] + matrix[5] * pvector[1] + matrix[9] * pvector[2] + + matrix[13] * pvector[3]; + resultvector[2] = matrix[2] * pvector[0] + matrix[6] * pvector[1] + matrix[10] * pvector[2] + + matrix[14] * pvector[3]; + resultvector[3] = matrix[3] * pvector[0] + matrix[7] * pvector[1] + matrix[11] * pvector[2] + + matrix[15] * pvector[3]; + } + + // This code comes directly from GLU except that it is for float + static int glhInvertMatrixf2(float[] m, float[] @out) { + float[][] wtmp = ArrayUtils.Of(4, 8); + float m0, m1, m2, m3, s; + float[] r0, r1, r2, r3; + r0 = wtmp[0]; + r1 = wtmp[1]; + r2 = wtmp[2]; + r3 = wtmp[3]; + r0[0] = MAT(m, 0, 0); + r0[1] = MAT(m, 0, 1); + r0[2] = MAT(m, 0, 2); + r0[3] = MAT(m, 0, 3); + r0[4] = 1.0f; + r0[5] = r0[6] = r0[7] = 0.0f; + r1[0] = MAT(m, 1, 0); + r1[1] = MAT(m, 1, 1); + r1[2] = MAT(m, 1, 2); + r1[3] = MAT(m, 1, 3); + r1[5] = 1.0f; + r1[4] = r1[6] = r1[7] = 0.0f; + r2[0] = MAT(m, 2, 0); + r2[1] = MAT(m, 2, 1); + r2[2] = MAT(m, 2, 2); + r2[3] = MAT(m, 2, 3); + r2[6] = 1.0f; + r2[4] = r2[5] = r2[7] = 0.0f; + r3[0] = MAT(m, 3, 0); + r3[1] = MAT(m, 3, 1); + r3[2] = MAT(m, 3, 2); + r3[3] = MAT(m, 3, 3); + r3[7] = 1.0f; + r3[4] = r3[5] = r3[6] = 0.0f; + /* choose pivot - or die */ + if (Math.Abs(r3[0]) > Math.Abs(r2[0])) { + float[] r = r2; + r2 = r3; + r3 = r; + } + if (Math.Abs(r2[0]) > Math.Abs(r1[0])) { + float[] r = r2; + r2 = r1; + r1 = r; + } + if (Math.Abs(r1[0]) > Math.Abs(r0[0])) { + float[] r = r1; + r1 = r0; + r0 = r; + } + if (0.0 == r0[0]) + return 0; + /* eliminate first variable */ + m1 = r1[0] / r0[0]; + m2 = r2[0] / r0[0]; + m3 = r3[0] / r0[0]; + s = r0[1]; + r1[1] -= m1 * s; + r2[1] -= m2 * s; + r3[1] -= m3 * s; + s = r0[2]; + r1[2] -= m1 * s; + r2[2] -= m2 * s; + r3[2] -= m3 * s; + s = r0[3]; + r1[3] -= m1 * s; + r2[3] -= m2 * s; + r3[3] -= m3 * s; + s = r0[4]; + if (s != 0.0) { + r1[4] -= m1 * s; + r2[4] -= m2 * s; + r3[4] -= m3 * s; + } + s = r0[5]; + if (s != 0.0) { + r1[5] -= m1 * s; + r2[5] -= m2 * s; + r3[5] -= m3 * s; + } + s = r0[6]; + if (s != 0.0) { + r1[6] -= m1 * s; + r2[6] -= m2 * s; + r3[6] -= m3 * s; + } + s = r0[7]; + if (s != 0.0) { + r1[7] -= m1 * s; + r2[7] -= m2 * s; + r3[7] -= m3 * s; + } + /* choose pivot - or die */ + if (Math.Abs(r3[1]) > Math.Abs(r2[1])) { + float[] r = r2; + r2 = r3; + r3 = r; + } + if (Math.Abs(r2[1]) > Math.Abs(r1[1])) { + float[] r = r2; + r2 = r1; + r1 = r; + } + if (0.0 == r1[1]) + return 0; + /* eliminate second variable */ + m2 = r2[1] / r1[1]; + m3 = r3[1] / r1[1]; + r2[2] -= m2 * r1[2]; + r3[2] -= m3 * r1[2]; + r2[3] -= m2 * r1[3]; + r3[3] -= m3 * r1[3]; + s = r1[4]; + if (0.0 != s) { + r2[4] -= m2 * s; + r3[4] -= m3 * s; + } + s = r1[5]; + if (0.0 != s) { + r2[5] -= m2 * s; + r3[5] -= m3 * s; + } + s = r1[6]; + if (0.0 != s) { + r2[6] -= m2 * s; + r3[6] -= m3 * s; + } + s = r1[7]; + if (0.0 != s) { + r2[7] -= m2 * s; + r3[7] -= m3 * s; + } + /* choose pivot - or die */ + if (Math.Abs(r3[2]) > Math.Abs(r2[2])) { + float[] r = r2; + r2 = r3; + r3 = r; + } + if (0.0 == r2[2]) + return 0; + /* eliminate third variable */ + m3 = r3[2] / r2[2]; + r3[3] -= m3 * r2[3]; + r3[4] -= m3 * r2[4]; + r3[5] -= m3 * r2[5]; + r3[6] -= m3 * r2[6]; + r3[7] -= m3 * r2[7]; + /* last check */ + if (0.0 == r3[3]) + return 0; + s = 1.0f / r3[3]; /* now back substitute row 3 */ + r3[4] *= s; + r3[5] *= s; + r3[6] *= s; + r3[7] *= s; + m2 = r2[3]; /* now back substitute row 2 */ + s = 1.0f / r2[2]; + r2[4] = s * (r2[4] - r3[4] * m2); + r2[5] = s * (r2[5] - r3[5] * m2); + r2[6] = s * (r2[6] - r3[6] * m2); + r2[7] = s * (r2[7] - r3[7] * m2); + m1 = r1[3]; + r1[4] -= r3[4] * m1; + r1[5] -= r3[5] * m1; + r1[6] -= r3[6] * m1; + r1[7] -= r3[7] * m1; + m0 = r0[3]; + r0[4] -= r3[4] * m0; + r0[5] -= r3[5] * m0; + r0[6] -= r3[6] * m0; + r0[7] -= r3[7] * m0; + m1 = r1[2]; /* now back substitute row 1 */ + s = 1.0f / r1[1]; + r1[4] = s * (r1[4] - r2[4] * m1); + r1[5] = s * (r1[5] - r2[5] * m1); + r1[6] = s * (r1[6] - r2[6] * m1); + r1[7] = s * (r1[7] - r2[7] * m1); + m0 = r0[2]; + r0[4] -= r2[4] * m0; + r0[5] -= r2[5] * m0; + r0[6] -= r2[6] * m0; + r0[7] -= r2[7] * m0; + m0 = r0[1]; /* now back substitute row 0 */ + s = 1.0f / r0[0]; + r0[4] = s * (r0[4] - r1[4] * m0); + r0[5] = s * (r0[5] - r1[5] * m0); + r0[6] = s * (r0[6] - r1[6] * m0); + r0[7] = s * (r0[7] - r1[7] * m0); + MAT(@out, 0, 0, r0[4]); + MAT(@out, 0, 1, r0[5]); + MAT(@out, 0, 2, r0[6]); + MAT(@out, 0, 3, r0[7]); + MAT(@out, 1, 0, r1[4]); + MAT(@out, 1, 1, r1[5]); + MAT(@out, 1, 2, r1[6]); + MAT(@out, 1, 3, r1[7]); + MAT(@out, 2, 0, r2[4]); + MAT(@out, 2, 1, r2[5]); + MAT(@out, 2, 2, r2[6]); + MAT(@out, 2, 3, r2[7]); + MAT(@out, 3, 0, r3[4]); + MAT(@out, 3, 1, r3[5]); + MAT(@out, 3, 2, r3[6]); + MAT(@out, 3, 3, r3[7]); + return 1; + } + + static float MAT(float[] m, int r, int c) { + return m[(c) * 4 + (r)]; + } + + static void MAT(float[] m, int r, int c, float v) { + m[(c) * 4 + (r)] = v; + } + + public static float[] build_4x4_rotation_matrix(float a, float x, float y, float z) { + float[] matrix = new float[16]; + a = (float) (a * Math.PI / 180.0); // convert to radians + float s = (float) Math.Sin(a); + float c = (float) Math.Cos(a); + float t = 1.0f - c; + + float tx = t * x; + float ty = t * y; + float tz = t * z; + + float sz = s * z; + float sy = s * y; + float sx = s * x; + + matrix[0] = tx * x + c; + matrix[1] = tx * y + sz; + matrix[2] = tx * z - sy; + matrix[3] = 0; + + matrix[4] = tx * y - sz; + matrix[5] = ty * y + c; + matrix[6] = ty * z + sx; + matrix[7] = 0; + + matrix[8] = tx * z + sy; + matrix[9] = ty * z - sx; + matrix[10] = tz * z + c; + matrix[11] = 0; + + matrix[12] = 0; + matrix[13] = 0; + matrix[14] = 0; + matrix[15] = 1; + return matrix; + + } + + public static float[] mul(float[] left, float[] right) { + float m00 = left[0] * right[0] + left[4] * right[1] + left[8] * right[2] + left[12] * right[3]; + float m01 = left[1] * right[0] + left[5] * right[1] + left[9] * right[2] + left[13] * right[3]; + float m02 = left[2] * right[0] + left[6] * right[1] + left[10] * right[2] + left[14] * right[3]; + float m03 = left[3] * right[0] + left[7] * right[1] + left[11] * right[2] + left[15] * right[3]; + float m10 = left[0] * right[4] + left[4] * right[5] + left[8] * right[6] + left[12] * right[7]; + float m11 = left[1] * right[4] + left[5] * right[5] + left[9] * right[6] + left[13] * right[7]; + float m12 = left[2] * right[4] + left[6] * right[5] + left[10] * right[6] + left[14] * right[7]; + float m13 = left[3] * right[4] + left[7] * right[5] + left[11] * right[6] + left[15] * right[7]; + float m20 = left[0] * right[8] + left[4] * right[9] + left[8] * right[10] + left[12] * right[11]; + float m21 = left[1] * right[8] + left[5] * right[9] + left[9] * right[10] + left[13] * right[11]; + float m22 = left[2] * right[8] + left[6] * right[9] + left[10] * right[10] + left[14] * right[11]; + float m23 = left[3] * right[8] + left[7] * right[9] + left[11] * right[10] + left[15] * right[11]; + float m30 = left[0] * right[12] + left[4] * right[13] + left[8] * right[14] + left[12] * right[15]; + float m31 = left[1] * right[12] + left[5] * right[13] + left[9] * right[14] + left[13] * right[15]; + float m32 = left[2] * right[12] + left[6] * right[13] + left[10] * right[14] + left[14] * right[15]; + float m33 = left[3] * right[12] + left[7] * right[13] + left[11] * right[14] + left[15] * right[15]; + + float[] dest = new float[16]; + dest[0] = m00; + dest[1] = m01; + dest[2] = m02; + dest[3] = m03; + dest[4] = m10; + dest[5] = m11; + dest[6] = m12; + dest[7] = m13; + dest[8] = m20; + dest[9] = m21; + dest[10] = m22; + dest[11] = m23; + dest[12] = m30; + dest[13] = m31; + dest[14] = m32; + dest[15] = m33; + + return dest; + } + +} diff --git a/src/DotRecast.Recast.Demo/Draw/LegacyOpenGLDraw.cs b/src/DotRecast.Recast.Demo/Draw/LegacyOpenGLDraw.cs new file mode 100644 index 0000000..8068667 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Draw/LegacyOpenGLDraw.cs @@ -0,0 +1,123 @@ +using Silk.NET.OpenGL; + +namespace DotRecast.Recast.Demo.Draw; + +public class LegacyOpenGLDraw : OpenGLDraw +{ + + private GL _gl; + + public void fog(bool state) { + // if (state) { + // _gl.Enable(GL_FOG); + // } else { + // _gl.Disable(GL_FOG); + // } + } + + public void init(GL gl) + { + _gl = gl; + + // // Fog. + // float fogDistance = 1000f; + // float fogColor[] = { 0.32f, 0.31f, 0.30f, 1.0f }; + // glEnable(GL_FOG); + // glFogi(GL_FOG_MODE, GL_LINEAR); + // glFogf(GL_FOG_START, fogDistance * 0.1f); + // glFogf(GL_FOG_END, fogDistance * 1.25f); + // glFogfv(GL_FOG_COLOR, fogColor); + // glDepthFunc(GL_LEQUAL); + } + + public void clear() { + // glClearColor(0.3f, 0.3f, 0.32f, 1.0f); + // glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + // glEnable(GL_BLEND); + // glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + // glDisable(GL_TEXTURE_2D); + // glEnable(GL_DEPTH_TEST); + // glEnable(GL_CULL_FACE); + } + + public void projectionMatrix(float[] matrix) { + // glMatrixMode(GL_PROJECTION); + // glLoadMatrixf(matrix); + } + + public void viewMatrix(float[] matrix) { + // glMatrixMode(GL_MODELVIEW); + // glLoadMatrixf(matrix); + } + + public void begin(DebugDrawPrimitives prim, float size) { + // switch (prim) { + // case POINTS: + // glPointSize(size); + // glBegin(GL_POINTS); + // break; + // case LINES: + // glLineWidth(size); + // glBegin(GL_LINES); + // break; + // case TRIS: + // glBegin(GL_TRIANGLES); + // break; + // case QUADS: + // glBegin(GL_QUADS); + // break; + // } + } + + public void vertex(float[] pos, int color) { + // glColor4ubv(color); + // glVertex3fv(pos); + } + + public void vertex(float x, float y, float z, int color) { + // glColor4ubv(color); + // glVertex3f(x, y, z); + } + + public void vertex(float[] pos, int color, float[] uv) { + // glColor4ubv(color); + // glTexCoord2fv(uv); + // glVertex3fv(pos); + } + + public void vertex(float x, float y, float z, int color, float u, float v) { + // glColor4ubv(color); + // glTexCoord2f(u, v); + // glVertex3f(x, y, z); + } + + private void glColor4ubv(int color) { + // glColor4ub((byte) (color & 0xFF), (byte) ((color >> 8) & 0xFF), (byte) ((color >> 16) & 0xFF), + // (byte) ((color >> 24) & 0xFF)); + } + + public void depthMask(bool state) { + // glDepthMask(state); + } + + public void texture(GLCheckerTexture g_tex, bool state) { + // if (state) { + // glEnable(GL_TEXTURE_2D); + // g_tex.bind(); + // } else { + // glDisable(GL_TEXTURE_2D); + // } + } + + public void end() { + // glEnd(); + // glLineWidth(1.0f); + // glPointSize(1.0f); + } + + public void fog(float start, float end) { + // glFogf(GL_FOG_START, start); + // glFogf(GL_FOG_END, end); + } + +} diff --git a/src/DotRecast.Recast.Demo/Draw/ModernOpenGLDraw.cs b/src/DotRecast.Recast.Demo/Draw/ModernOpenGLDraw.cs new file mode 100644 index 0000000..992cd19 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Draw/ModernOpenGLDraw.cs @@ -0,0 +1,264 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using Microsoft.DotNet.PlatformAbstractions; +using Silk.NET.OpenGL; +using Silk.NET.Windowing; + +namespace DotRecast.Recast.Demo.Draw; + +public class ModernOpenGLDraw : OpenGLDraw { + private GL _gl; + private uint program; + private int uniformTexture; + private int uniformProjectionMatrix; + private uint vbo; + private uint ebo; + private uint vao; + private DebugDrawPrimitives currentPrim; + private float fogStart; + private float fogEnd; + private bool fogEnabled; + private int uniformViewMatrix; + private readonly List vertices = new(); + private GLCheckerTexture _texture; + private float[] _viewMatrix; + private float[] _projectionMatrix; + private int uniformUseTexture; + private int uniformFog; + private int uniformFogStart; + private int uniformFogEnd; + + public void init(GL gl) + { + _gl = gl; + string NK_SHADER_VERSION = PlatformID.MacOSX == Environment.OSVersion.Platform ? "#version 150\n" : "#version 300 es\n"; + string vertex_shader = NK_SHADER_VERSION + "uniform mat4 ProjMtx;\n"// + + "uniform mat4 ViewMtx;\n"// + + "in vec3 Position;\n"// + + "in vec2 TexCoord;\n"// + + "in vec4 Color;\n"// + + "out vec2 Frag_UV;\n"// + + "out vec4 Frag_Color;\n"// + + "out float Frag_Depth;\n"// + + "void main() {\n"// + + " Frag_UV = TexCoord;\n"// + + " Frag_Color = Color;\n"// + + " vec4 VSPosition = ViewMtx * vec4(Position, 1);\n"// + + " Frag_Depth = -VSPosition.z;\n"// + + " gl_Position = ProjMtx * VSPosition;\n"// + + "}\n"; + string fragment_shader = NK_SHADER_VERSION + "precision mediump float;\n"// + + "uniform sampler2D Texture;\n"// + + "uniform float UseTexture;\n"// + + "uniform float EnableFog;\n"// + + "uniform float FogStart;\n"// + + "uniform float FogEnd;\n"// + + "const vec4 FogColor = vec4(0.3f, 0.3f, 0.32f, 1.0f);\n"// + + "in vec2 Frag_UV;\n"// + + "in vec4 Frag_Color;\n"// + + "in float Frag_Depth;\n"// + + "out vec4 Out_Color;\n"// + + "void main(){\n"// + + " Out_Color = mix(FogColor, Frag_Color * mix(vec4(1), texture(Texture, Frag_UV.st), UseTexture), 1.0 - EnableFog * clamp( (Frag_Depth - FogStart) / (FogEnd - FogStart), 0.0, 1.0) );\n"// + + "}\n"; + + program = _gl.CreateProgram(); + uint vert_shdr = _gl.CreateShader(GLEnum.VertexShader); + uint frag_shdr = _gl.CreateShader(GLEnum.FragmentShader); + _gl.ShaderSource(vert_shdr, vertex_shader); + _gl.ShaderSource(frag_shdr, fragment_shader); + _gl.CompileShader(vert_shdr); + _gl.CompileShader(frag_shdr); + gl.GetShader(vert_shdr, GLEnum.CompileStatus, out var status); + if (status != (int) GLEnum.True) { + throw new InvalidOperationException(); + } + gl.GetShader(frag_shdr, GLEnum.CompileStatus, out status); + if (status != (int) GLEnum.True) { + throw new InvalidOperationException(); + } + _gl.AttachShader(program, vert_shdr); + _gl.AttachShader(program, frag_shdr); + _gl.LinkProgram(program); + _gl.GetProgram(program, GLEnum.LinkStatus, out status); + if (status != (int) GLEnum.True) { + throw new InvalidOperationException(); + } + uniformTexture = _gl.GetUniformLocation(program, "Texture"); + uniformUseTexture = _gl.GetUniformLocation(program, "UseTexture"); + uniformFog = _gl.GetUniformLocation(program, "EnableFog"); + uniformFogStart = _gl.GetUniformLocation(program, "FogStart"); + uniformFogEnd = _gl.GetUniformLocation(program, "FogEnd"); + uniformProjectionMatrix = _gl.GetUniformLocation(program, "ProjMtx"); + uniformViewMatrix = _gl.GetUniformLocation(program, "ViewMtx"); + uint attrib_pos = (uint) _gl.GetAttribLocation(program, "Position"); + uint attrib_uv = (uint) _gl.GetAttribLocation(program, "TexCoord"); + uint attrib_col = (uint) _gl.GetAttribLocation(program, "Color"); + + // buffer setup + _gl.GenBuffers(1, out vbo); + _gl.GenBuffers(1, out ebo); + _gl.GenVertexArrays(1, out vao); + + _gl.BindVertexArray(vao); + _gl.BindBuffer(GLEnum.ArrayBuffer, vbo); + _gl.BindBuffer(GLEnum.ElementArrayBuffer, ebo); + + _gl.EnableVertexAttribArray(attrib_pos); + _gl.EnableVertexAttribArray(attrib_uv); + _gl.EnableVertexAttribArray(attrib_col); + + // _gl.VertexAttribPointer(attrib_pos, 3, GLEnum.Float, false, 24, 0); + // _gl.VertexAttribPointer(attrib_uv, 2, GLEnum.Float, false, 24, 12); + // _gl.VertexAttribPointer(attrib_col, 4, GLEnum.UnsignedByte, true, 24, 20); + + _gl.VertexAttribP3(attrib_pos, GLEnum.Float, false, 0); + _gl.VertexAttribP2(attrib_uv, GLEnum.Float, false, 12); + _gl.VertexAttribP4(attrib_col, GLEnum.UnsignedByte, true, 20); + + _gl.BindTexture(GLEnum.Texture2D, 0); + _gl.BindBuffer(GLEnum.ArrayBuffer, 0); + _gl.BindBuffer(GLEnum.ElementArrayBuffer, 0); + _gl.BindVertexArray(0); + } + + public void clear() { + _gl.ClearColor(0.3f, 0.3f, 0.32f, 1.0f); + _gl.Clear((uint)GLEnum.ColorBufferBit | (uint)GLEnum.DepthBufferBit); + _gl.Enable(GLEnum.Blend); + _gl.BlendFunc(GLEnum.SrcAlpha, GLEnum.OneMinusSrcAlpha); + _gl.Disable(GLEnum.Texture2D); + _gl.Enable(GLEnum.DepthTest); + _gl.Enable(GLEnum.CullFace); + } + + public void begin(DebugDrawPrimitives prim, float size) { + currentPrim = prim; + vertices.Clear(); + _gl.LineWidth(size); + _gl.PointSize(size); + } + + public void end() { + // if (vertices.isEmpty()) { + // return; + // } + // glUseProgram(program); + // glUniform1i(uniformTexture, 0); + // glUniformMatrix4fv(uniformViewMatrix, false, viewMatrix); + // glUniformMatrix4fv(uniformProjectionMatrix, false, projectionMatrix); + // glUniform1f(uniformFogStart, fogStart); + // glUniform1f(uniformFogEnd, fogEnd); + // glUniform1f(uniformFog, fogEnabled ? 1.0f : 0.0f); + // glBindVertexArray(vao); + // glBindBuffer(GL_ARRAY_BUFFER, vbo); + // glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ebo); + // // glBufferData(GL_ARRAY_BUFFER, MAX_VERTEX_BUFFER, GL_STREAM_DRAW); + // // glBufferData(GL_ELEMENT_ARRAY_BUFFER, MAX_ELEMENT_BUFFER, GL_STREAM_DRAW); + // + // int vboSize = vertices.size() * 24; + // int eboSize = currentPrim == DebugDrawPrimitives.QUADS ? vertices.size() * 6 : vertices.size() * 4; + // + // glBufferData(GL_ARRAY_BUFFER, vboSize, GL_STREAM_DRAW); + // glBufferData(GL_ELEMENT_ARRAY_BUFFER, eboSize, GL_STREAM_DRAW); + // // load draw vertices & elements directly into vertex + element buffer + // ByteBuffer verts = glMapBuffer(GL_ARRAY_BUFFER, GL_WRITE_ONLY, vboSize, null); + // ByteBuffer elems = glMapBuffer(GL_ELEMENT_ARRAY_BUFFER, GL_WRITE_ONLY, eboSize, null); + // vertices.forEach(v => v.store(verts)); + // if (currentPrim == DebugDrawPrimitives.QUADS) { + // for (int i = 0; i < vertices.size(); i += 4) { + // elems.putInt(i); + // elems.putInt(i + 1); + // elems.putInt(i + 2); + // elems.putInt(i); + // elems.putInt(i + 2); + // elems.putInt(i + 3); + // } + // + // } else { + // for (int i = 0; i < vertices.size(); i++) { + // elems.putInt(i); + // } + // } + // + // glUnmapBuffer(GL_ELEMENT_ARRAY_BUFFER); + // glUnmapBuffer(GL_ARRAY_BUFFER); + // if (texture != null) { + // texture.bind(); + // glUniform1f(uniformUseTexture, 1.0f); + // } else { + // glUniform1f(uniformUseTexture, 0.0f); + // } + // + // switch (currentPrim) { + // case POINTS: + // glDrawElements(GL_POINTS, vertices.size(), GL_UNSIGNED_INT, 0); + // break; + // case LINES: + // glDrawElements(GL_LINES, vertices.size(), GL_UNSIGNED_INT, 0); + // break; + // case TRIS: + // glDrawElements(GL_TRIANGLES, vertices.size(), GL_UNSIGNED_INT, 0); + // break; + // case QUADS: + // glDrawElements(GL_TRIANGLES, vertices.size() * 6 / 4, GL_UNSIGNED_INT, 0); + // break; + // default: + // break; + // } + // + // glUseProgram(0); + // glBindBuffer(GL_ARRAY_BUFFER, 0); + // glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); + // glBindVertexArray(0); + // vertices.clear(); + // glLineWidth(1.0f); + // glPointSize(1.0f); + } + + public void vertex(float x, float y, float z, int color) { + vertices.Add(new OpenGLVertex(x, y, z, color)); + } + + public void vertex(float[] pos, int color) { + vertices.Add(new OpenGLVertex(pos, color)); + } + + public void vertex(float[] pos, int color, float[] uv) { + vertices.Add(new OpenGLVertex(pos, uv, color)); + } + + public void vertex(float x, float y, float z, int color, float u, float v) { + vertices.Add(new OpenGLVertex(x, y, z, u, v, color)); + } + + public void depthMask(bool state) { + _gl.DepthMask(state); + } + + public void texture(GLCheckerTexture g_tex, bool state) { + _texture = state ? g_tex : null; + if (_texture != null) { + _texture.bind(); + } + } + + public void projectionMatrix(float[] projectionMatrix) { + this._projectionMatrix = projectionMatrix; + } + + public void viewMatrix(float[] viewMatrix) { + this._viewMatrix = viewMatrix; + } + + public void fog(float start, float end) { + fogStart = start; + fogEnd = end; + } + + public void fog(bool state) { + fogEnabled = state; + } + +} diff --git a/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs b/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs new file mode 100644 index 0000000..c7633c3 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs @@ -0,0 +1,254 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using System.Linq; +using DotRecast.Detour; +using DotRecast.Recast.Demo.Builder; +using DotRecast.Recast.Demo.Geom; +using DotRecast.Recast.Demo.Settings; + +namespace DotRecast.Recast.Demo.Draw; + +public class NavMeshRenderer { + + private readonly RecastDebugDraw debugDraw; + + private readonly int navMeshDrawFlags = RecastDebugDraw.DRAWNAVMESH_OFFMESHCONS + | RecastDebugDraw.DRAWNAVMESH_CLOSEDLIST; + + public NavMeshRenderer(RecastDebugDraw debugDraw) { + this.debugDraw = debugDraw; + } + + public RecastDebugDraw getDebugDraw() { + return debugDraw; + } + + public void render(Sample sample) { + if (sample == null) { + return; + } + NavMeshQuery navQuery = sample.getNavMeshQuery(); + DemoInputGeomProvider geom = sample.getInputGeom(); + IList rcBuilderResults = sample.getRecastResults(); + NavMesh navMesh = sample.getNavMesh(); + SettingsUI settingsUI = sample.getSettingsUI(); + debugDraw.fog(true); + debugDraw.depthMask(true); + DrawMode drawMode = settingsUI.getDrawMode(); + + float texScale = 1.0f / (settingsUI.getCellSize() * 10.0f); + float m_agentMaxSlope = settingsUI.getAgentMaxSlope(); + + if (drawMode != DrawMode.DRAWMODE_NAVMESH_TRANS) { + // Draw mesh + if (geom != null) { + debugDraw.debugDrawTriMeshSlope(geom.vertices, geom.faces, geom.normals, m_agentMaxSlope, texScale); + drawOffMeshConnections(geom, false); + } + } + + debugDraw.fog(false); + debugDraw.depthMask(false); + if (geom != null) { + drawGeomBounds(geom); + } + + if (navMesh != null && navQuery != null + && (drawMode == DrawMode.DRAWMODE_NAVMESH || drawMode == DrawMode.DRAWMODE_NAVMESH_TRANS + || drawMode == DrawMode.DRAWMODE_NAVMESH_BVTREE || drawMode == DrawMode.DRAWMODE_NAVMESH_NODES + || drawMode == DrawMode.DRAWMODE_NAVMESH_INVIS + || drawMode == DrawMode.DRAWMODE_NAVMESH_PORTALS)) { + if (drawMode != DrawMode.DRAWMODE_NAVMESH_INVIS) { + debugDraw.debugDrawNavMeshWithClosedList(navMesh, navQuery, navMeshDrawFlags); + } + if (drawMode == DrawMode.DRAWMODE_NAVMESH_BVTREE) { + debugDraw.debugDrawNavMeshBVTree(navMesh); + } + if (drawMode == DrawMode.DRAWMODE_NAVMESH_PORTALS) { + debugDraw.debugDrawNavMeshPortals(navMesh); + } + if (drawMode == DrawMode.DRAWMODE_NAVMESH_NODES) { + debugDraw.debugDrawNavMeshNodes(navQuery); + debugDraw.debugDrawNavMeshPolysWithFlags(navMesh, SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED, + DebugDraw.duRGBA(0, 0, 0, 128)); + } + } + + debugDraw.depthMask(true); + + foreach (RecastBuilderResult rcBuilderResult in rcBuilderResults) { + if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT) { + debugDraw.debugDrawCompactHeightfieldSolid(rcBuilderResult.getCompactHeightfield()); + } + if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_DISTANCE) { + debugDraw.debugDrawCompactHeightfieldDistance(rcBuilderResult.getCompactHeightfield()); + } + if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_REGIONS) { + debugDraw.debugDrawCompactHeightfieldRegions(rcBuilderResult.getCompactHeightfield()); + } + if (rcBuilderResult.getSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS) { + debugDraw.fog(true); + debugDraw.debugDrawHeightfieldSolid(rcBuilderResult.getSolidHeightfield()); + debugDraw.fog(false); + } + if (rcBuilderResult.getSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS_WALKABLE) { + debugDraw.fog(true); + debugDraw.debugDrawHeightfieldWalkable(rcBuilderResult.getSolidHeightfield()); + debugDraw.fog(false); + } + if (rcBuilderResult.getContourSet() != null && drawMode == DrawMode.DRAWMODE_RAW_CONTOURS) { + debugDraw.depthMask(false); + debugDraw.debugDrawRawContours(rcBuilderResult.getContourSet(), 1f); + debugDraw.depthMask(true); + } + if (rcBuilderResult.getContourSet() != null && drawMode == DrawMode.DRAWMODE_BOTH_CONTOURS) { + debugDraw.depthMask(false); + debugDraw.debugDrawRawContours(rcBuilderResult.getContourSet(), 0.5f); + debugDraw.debugDrawContours(rcBuilderResult.getContourSet()); + debugDraw.depthMask(true); + } + if (rcBuilderResult.getContourSet() != null && drawMode == DrawMode.DRAWMODE_CONTOURS) { + debugDraw.depthMask(false); + debugDraw.debugDrawContours(rcBuilderResult.getContourSet()); + debugDraw.depthMask(true); + } + if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_REGION_CONNECTIONS) { + debugDraw.debugDrawCompactHeightfieldRegions(rcBuilderResult.getCompactHeightfield()); + debugDraw.depthMask(false); + if (rcBuilderResult.getContourSet() != null) { + debugDraw.debugDrawRegionConnections(rcBuilderResult.getContourSet()); + } + debugDraw.depthMask(true); + } + if (rcBuilderResult.getMesh() != null && drawMode == DrawMode.DRAWMODE_POLYMESH) { + debugDraw.depthMask(false); + debugDraw.debugDrawPolyMesh(rcBuilderResult.getMesh()); + debugDraw.depthMask(true); + } + if (rcBuilderResult.getMeshDetail() != null && drawMode == DrawMode.DRAWMODE_POLYMESH_DETAIL) { + debugDraw.depthMask(false); + debugDraw.debugDrawPolyMeshDetail(rcBuilderResult.getMeshDetail()); + debugDraw.depthMask(true); + } + } + + if (geom != null) { + drawConvexVolumes(geom); + } + } + + private void drawGeomBounds(DemoInputGeomProvider geom) { + // Draw bounds + float[] bmin = geom.getMeshBoundsMin(); + float[] bmax = geom.getMeshBoundsMax(); + debugDraw.debugDrawBoxWire(bmin[0], bmin[1], bmin[2], bmax[0], bmax[1], bmax[2], + DebugDraw.duRGBA(255, 255, 255, 128), 1.0f); + debugDraw.begin(DebugDrawPrimitives.POINTS, 5.0f); + debugDraw.vertex(bmin[0], bmin[1], bmin[2], DebugDraw.duRGBA(255, 255, 255, 128)); + debugDraw.end(); + } + + public void drawOffMeshConnections(DemoInputGeomProvider geom, bool hilight) { + int conColor = DebugDraw.duRGBA(192, 0, 128, 192); + int baseColor = DebugDraw.duRGBA(0, 0, 0, 64); + debugDraw.depthMask(false); + + debugDraw.begin(DebugDrawPrimitives.LINES, 2.0f); + foreach (DemoOffMeshConnection con in geom.getOffMeshConnections()) { + + float[] v = con.verts; + debugDraw.vertex(v[0], v[1], v[2], baseColor); + debugDraw.vertex(v[0], v[1] + 0.2f, v[2], baseColor); + + debugDraw.vertex(v[3], v[4], v[5], baseColor); + debugDraw.vertex(v[3], v[4] + 0.2f, v[5], baseColor); + + debugDraw.appendCircle(v[0], v[1] + 0.1f, v[2], con.radius, baseColor); + debugDraw.appendCircle(v[3], v[4] + 0.1f, v[5], con.radius, baseColor); + + if (hilight) { + debugDraw.appendArc(v[0], v[1], v[2], v[3], v[4], v[5], 0.25f, con.bidir ? 0.6f : 0.0f, 0.6f, conColor); + } + } + debugDraw.end(); + + debugDraw.depthMask(true); + } + + void drawConvexVolumes(DemoInputGeomProvider geom) { + debugDraw.depthMask(false); + + debugDraw.begin(DebugDrawPrimitives.TRIS); + + foreach (ConvexVolume vol in geom.convexVolumes()) { + int col = DebugDraw.duTransCol(DebugDraw.areaToCol(vol.areaMod.getMaskedValue()), 32); + for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3) { + float[] va = new float[] { vol.verts[k], vol.verts[k + 1], vol.verts[k + 2] }; + float[] vb = new float[] { vol.verts[j], vol.verts[j + 1], vol.verts[j + 2] }; + + debugDraw.vertex(vol.verts[0], vol.hmax, vol.verts[2], col); + debugDraw.vertex(vb[0], vol.hmax, vb[2], col); + debugDraw.vertex(va[0], vol.hmax, va[2], col); + + debugDraw.vertex(va[0], vol.hmin, va[2], DebugDraw.duDarkenCol(col)); + debugDraw.vertex(va[0], vol.hmax, va[2], col); + debugDraw.vertex(vb[0], vol.hmax, vb[2], col); + + debugDraw.vertex(va[0], vol.hmin, va[2], DebugDraw.duDarkenCol(col)); + debugDraw.vertex(vb[0], vol.hmax, vb[2], col); + debugDraw.vertex(vb[0], vol.hmin, vb[2], DebugDraw.duDarkenCol(col)); + } + } + + debugDraw.end(); + + debugDraw.begin(DebugDrawPrimitives.LINES, 2.0f); + foreach (ConvexVolume vol in geom.convexVolumes()) { + int col = DebugDraw.duTransCol(DebugDraw.areaToCol(vol.areaMod.getMaskedValue()), 220); + for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3) { + float[] va = new float[] { vol.verts[k], vol.verts[k + 1], vol.verts[k + 2] }; + float[] vb = new float[] { vol.verts[j], vol.verts[j + 1], vol.verts[j + 2] }; + debugDraw.vertex(va[0], vol.hmin, va[2], DebugDraw.duDarkenCol(col)); + debugDraw.vertex(vb[0], vol.hmin, vb[2], DebugDraw.duDarkenCol(col)); + debugDraw.vertex(va[0], vol.hmax, va[2], col); + debugDraw.vertex(vb[0], vol.hmax, vb[2], col); + debugDraw.vertex(va[0], vol.hmin, va[2], DebugDraw.duDarkenCol(col)); + debugDraw.vertex(va[0], vol.hmax, va[2], col); + } + } + debugDraw.end(); + + debugDraw.begin(DebugDrawPrimitives.POINTS, 3.0f); + foreach (ConvexVolume vol in geom.convexVolumes()) { + int col = DebugDraw + .duDarkenCol(DebugDraw.duTransCol(DebugDraw.areaToCol(vol.areaMod.getMaskedValue()), 220)); + for (int j = 0; j < vol.verts.Length; j += 3) { + debugDraw.vertex(vol.verts[j + 0], vol.verts[j + 1] + 0.1f, vol.verts[j + 2], col); + debugDraw.vertex(vol.verts[j + 0], vol.hmin, vol.verts[j + 2], col); + debugDraw.vertex(vol.verts[j + 0], vol.hmax, vol.verts[j + 2], col); + } + } + debugDraw.end(); + + debugDraw.depthMask(true); + } + +} diff --git a/src/DotRecast.Recast.Demo/Draw/OpenGLDraw.cs b/src/DotRecast.Recast.Demo/Draw/OpenGLDraw.cs new file mode 100644 index 0000000..23c1c00 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Draw/OpenGLDraw.cs @@ -0,0 +1,35 @@ +using Silk.NET.OpenGL; + +namespace DotRecast.Recast.Demo.Draw; + +public interface OpenGLDraw { + + void init(GL gl); + + void clear(); + + void begin(DebugDrawPrimitives prim, float size); + + void end(); + + void vertex(float x, float y, float z, int color); + + void vertex(float[] pos, int color); + + void vertex(float[] pos, int color, float[] uv); + + void vertex(float x, float y, float z, int color, float u, float v); + + void fog(bool state); + + void depthMask(bool state); + + void texture(GLCheckerTexture g_tex, bool state); + + void projectionMatrix(float[] projectionMatrix); + + void viewMatrix(float[] viewMatrix); + + void fog(float start, float end); + +} diff --git a/src/DotRecast.Recast.Demo/Draw/OpenGLVertex.cs b/src/DotRecast.Recast.Demo/Draw/OpenGLVertex.cs new file mode 100644 index 0000000..74ac0c8 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Draw/OpenGLVertex.cs @@ -0,0 +1,43 @@ +using DotRecast.Core; + +namespace DotRecast.Recast.Demo.Draw; + +public class OpenGLVertex { + + private readonly float x; + private readonly float y; + private readonly float z; + private readonly int color; + private readonly float u; + private readonly float v; + + public OpenGLVertex(float[] pos, float[] uv, int color) : + this(pos[0], pos[1], pos[2], uv[0], uv[1], color) { + } + + public OpenGLVertex(float[] pos, int color) : + this(pos[0], pos[1], pos[2], 0f, 0f, color) { + } + + public OpenGLVertex(float x, float y, float z, int color) : + this(x, y, z, 0f, 0f, color) { + } + + public OpenGLVertex(float x, float y, float z, float u, float v, int color) { + this.x = x; + this.y = y; + this.z = z; + this.u = u; + this.v = v; + this.color = color; + } + + public void store(ByteBuffer buffer) { + buffer.putFloat(x); + buffer.putFloat(y); + buffer.putFloat(z); + buffer.putFloat(u); + buffer.putFloat(v); + buffer.putInt(color); + } +} diff --git a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs new file mode 100644 index 0000000..2b951c6 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs @@ -0,0 +1,1136 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using DotRecast.Detour; +using DotRecast.Recast.Demo.Builder; + +namespace DotRecast.Recast.Demo.Draw; + +public class RecastDebugDraw : DebugDraw { + + public static readonly int DRAWNAVMESH_OFFMESHCONS = 0x01; + public static readonly int DRAWNAVMESH_CLOSEDLIST = 0x02; + public static readonly int DRAWNAVMESH_COLOR_TILES = 0x04; + + public void debugDrawTriMeshSlope(float[] verts, int[] tris, float[] normals, float walkableSlopeAngle, + float texScale) { + + float walkableThr = (float) Math.Cos(walkableSlopeAngle / 180.0f * Math.PI); + + float[] uva = new float[2]; + float[] uvb = new float[2]; + float[] uvc = new float[2]; + + texture(true); + + int unwalkable = duRGBA(192, 128, 0, 255); + begin(DebugDrawPrimitives.TRIS); + for (int i = 0; i < tris.Length; i += 3) { + float[] norm = new float[] { normals[i], normals[i + 1], normals[i + 2] }; + + int color; + char a = (char) (220 * (2 + norm[0] + norm[1]) / 4); + if (norm[1] < walkableThr) { + color = duLerpCol(duRGBA(a, a, a, 255), unwalkable, 64); + } else { + color = duRGBA(a, a, a, 255); + } + + float[] va = new float[] { verts[tris[i] * 3], verts[tris[i] * 3 + 1], verts[tris[i] * 3 + 2] }; + float[] vb = new float[] { verts[tris[i + 1] * 3], verts[tris[i + 1] * 3 + 1], verts[tris[i + 1] * 3 + 2] }; + float[] vc = new float[] { verts[tris[i + 2] * 3], verts[tris[i + 2] * 3 + 1], verts[tris[i + 2] * 3 + 2] }; + + int ax = 0, ay = 0; + if (Math.Abs(norm[1]) > Math.Abs(norm[ax])) { + ax = 1; + } + if (Math.Abs(norm[2]) > Math.Abs(norm[ax])) { + ax = 2; + } + ax = (1 << ax) & 3; // +1 mod 3 + ay = (1 << ax) & 3; // +1 mod 3 + + uva[0] = va[ax] * texScale; + uva[1] = va[ay] * texScale; + uvb[0] = vb[ax] * texScale; + uvb[1] = vb[ay] * texScale; + uvc[0] = vc[ax] * texScale; + uvc[1] = vc[ay] * texScale; + + vertex(va, color, uva); + vertex(vb, color, uvb); + vertex(vc, color, uvc); + } + end(); + + texture(false); + } + + public void debugDrawNavMeshWithClosedList(NavMesh mesh, NavMeshQuery query, int flags) { + NavMeshQuery q = (flags & DRAWNAVMESH_CLOSEDLIST) != 0 ? query : null; + for (int i = 0; i < mesh.getMaxTiles(); ++i) { + MeshTile tile = mesh.getTile(i); + if (tile != null && tile.data != null) { + drawMeshTile(mesh, q, tile, flags); + } + } + } + + private void drawMeshTile(NavMesh mesh, NavMeshQuery query, MeshTile tile, int flags) { + long @base = mesh.getPolyRefBase(tile); + + int tileNum = NavMesh.decodePolyIdTile(@base); + int tileColor = duIntToCol(tileNum, 128); + depthMask(false); + begin(DebugDrawPrimitives.TRIS); + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly p = tile.data.polys[i]; + if (p.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + continue; + } + int col; + if (query != null && query.isInClosedList(@base | i)) { + col = duRGBA(255, 196, 0, 64); + } else { + if ((flags & DRAWNAVMESH_COLOR_TILES) != 0) { + col = tileColor; + } else { + if ((p.flags & SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED) != 0) { + col = duRGBA(64, 64, 64, 64); + } else { + col = duTransCol(areaToCol(p.getArea()), 64); + } + } + } + + drawPoly(tile, i, col); + + } + end(); + + // Draw inter poly boundaries + drawPolyBoundaries(tile, duRGBA(0, 48, 64, 32), 1.5f, true); + + // Draw outer poly boundaries + drawPolyBoundaries(tile, duRGBA(0, 48, 64, 220), 2.5f, false); + + if ((flags & DRAWNAVMESH_OFFMESHCONS) != 0) { + begin(DebugDrawPrimitives.LINES, 2.0f); + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly p = tile.data.polys[i]; + + if (p.getType() != Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + continue; + } + + int col, col2; + if (query != null && query.isInClosedList(@base | i)) { + col = duRGBA(255, 196, 0, 220); + } else { + col = duDarkenCol(duTransCol(areaToCol(p.getArea()), 220)); + } + + OffMeshConnection con = tile.data.offMeshCons[i - tile.data.header.offMeshBase]; + float[] va = new float[] { tile.data.verts[p.verts[0] * 3], tile.data.verts[p.verts[0] * 3 + 1], + tile.data.verts[p.verts[0] * 3 + 2] }; + float[] vb = new float[] { tile.data.verts[p.verts[1] * 3], tile.data.verts[p.verts[1] * 3 + 1], + tile.data.verts[p.verts[1] * 3 + 2] }; + + // Check to see if start and end end-points have links. + bool startSet = false; + bool endSet = false; + for (int k = tile.polyLinks[p.index]; k != NavMesh.DT_NULL_LINK; k = tile.links[k].next) { + if (tile.links[k].edge == 0) { + startSet = true; + } + if (tile.links[k].edge == 1) { + endSet = true; + } + } + + // End points and their on-mesh locations. + vertex(va[0], va[1], va[2], col); + vertex(con.pos[0], con.pos[1], con.pos[2], col); + col2 = startSet ? col : duRGBA(220, 32, 16, 196); + appendCircle(con.pos[0], con.pos[1] + 0.1f, con.pos[2], con.rad, col2); + + vertex(vb[0], vb[1], vb[2], col); + vertex(con.pos[3], con.pos[4], con.pos[5], col); + col2 = endSet ? col : duRGBA(220, 32, 16, 196); + appendCircle(con.pos[3], con.pos[4] + 0.1f, con.pos[5], con.rad, col2); + + // End point vertices. + vertex(con.pos[0], con.pos[1], con.pos[2], duRGBA(0, 48, 64, 196)); + vertex(con.pos[0], con.pos[1] + 0.2f, con.pos[2], duRGBA(0, 48, 64, 196)); + + vertex(con.pos[3], con.pos[4], con.pos[5], duRGBA(0, 48, 64, 196)); + vertex(con.pos[3], con.pos[4] + 0.2f, con.pos[5], duRGBA(0, 48, 64, 196)); + + // Connection arc. + appendArc(con.pos[0], con.pos[1], con.pos[2], con.pos[3], con.pos[4], con.pos[5], 0.25f, + (con.flags & 1) != 0 ? 0.6f : 0, 0.6f, col); + + } + + end(); + } + + int vcol = duRGBA(0, 0, 0, 196); + begin(DebugDrawPrimitives.POINTS, 3.0f); + for (int i = 0; i < tile.data.header.vertCount; i++) { + int v = i * 3; + vertex(tile.data.verts[v], tile.data.verts[v + 1], tile.data.verts[v + 2], vcol); + } + end(); + + depthMask(true); + } + + private void drawPoly(MeshTile tile, int index, int col) { + Poly p = tile.data.polys[index]; + if (tile.data.detailMeshes != null) { + PolyDetail pd = tile.data.detailMeshes[index]; + if (pd != null) { + for (int j = 0; j < pd.triCount; ++j) { + int t = (pd.triBase + j) * 4; + for (int k = 0; k < 3; ++k) { + int v = tile.data.detailTris[t + k]; + if (v < p.vertCount) { + vertex(tile.data.verts[p.verts[v] * 3], tile.data.verts[p.verts[v] * 3 + 1], + tile.data.verts[p.verts[v] * 3 + 2], col); + } else { + vertex(tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3], + tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 1], + tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 2], col); + } + } + } + } + } else { + for (int j = 1; j < p.vertCount - 1; ++j) { + vertex(tile.data.verts[p.verts[0] * 3], tile.data.verts[p.verts[0] * 3 + 1], + tile.data.verts[p.verts[0] * 3 + 2], col); + for (int k = 0; k < 2; ++k) { + vertex(tile.data.verts[p.verts[j + k] * 3], tile.data.verts[p.verts[j + k] * 3 + 1], + tile.data.verts[p.verts[j + k] * 3 + 2], col); + } + } + } + } + + void drawPolyBoundaries(MeshTile tile, int col, float linew, bool inner) { + float thr = 0.01f * 0.01f; + + begin(DebugDrawPrimitives.LINES, linew); + + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly p = tile.data.polys[i]; + + if (p.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + continue; + } + + for (int j = 0, nj = p.vertCount; j < nj; ++j) { + int c = col; + if (inner) { + if (p.neis[j] == 0) { + continue; + } + if ((p.neis[j] & NavMesh.DT_EXT_LINK) != 0) { + bool con = false; + for (int k = tile.polyLinks[p.index]; k != NavMesh.DT_NULL_LINK; k = tile.links[k].next) { + if (tile.links[k].edge == j) { + con = true; + break; + } + } + if (con) { + c = duRGBA(255, 255, 255, 48); + } else { + c = duRGBA(0, 0, 0, 48); + } + } else { + c = duRGBA(0, 48, 64, 32); + } + } else { + if (p.neis[j] != 0) { + continue; + } + } + + float[] v0 = new float[] { tile.data.verts[p.verts[j] * 3], tile.data.verts[p.verts[j] * 3 + 1], + tile.data.verts[p.verts[j] * 3 + 2] }; + float[] v1 = new float[] { tile.data.verts[p.verts[(j + 1) % nj] * 3], + tile.data.verts[p.verts[(j + 1) % nj] * 3 + 1], + tile.data.verts[p.verts[(j + 1) % nj] * 3 + 2] }; + + // Draw detail mesh edges which align with the actual poly edge. + // This is really slow. + if (tile.data.detailMeshes != null) { + PolyDetail pd = tile.data.detailMeshes[i]; + for (int k = 0; k < pd.triCount; ++k) { + int t = (pd.triBase + k) * 4; + float[][] tv = new float[3][]; + for (int m = 0; m < 3; ++m) { + int v = tile.data.detailTris[t + m]; + if (v < p.vertCount) { + tv[m] = new float[] { tile.data.verts[p.verts[v] * 3], tile.data.verts[p.verts[v] * 3 + 1], + tile.data.verts[p.verts[v] * 3 + 2] }; + } else { + tv[m] = new float[] { tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3], + tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3 + 1], + tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3 + 2] }; + } + } + for (int m = 0, n = 2; m < 3; n = m++) { + if ((NavMesh.getDetailTriEdgeFlags(tile.data.detailTris[t + 3], n) & NavMesh.DT_DETAIL_EDGE_BOUNDARY) == 0) + continue; + + if (((tile.data.detailTris[t + 3] >> (n * 2)) & 0x3) == 0) { + continue; // Skip inner detail edges. + } + if (distancePtLine2d(tv[n], v0, v1) < thr && distancePtLine2d(tv[m], v0, v1) < thr) { + vertex(tv[n], c); + vertex(tv[m], c); + } + } + } + } else { + vertex(v0, c); + vertex(v1, c); + } + } + } + end(); + } + + static float distancePtLine2d(float[] pt, float[] p, float[] q) { + float pqx = q[0] - p[0]; + float pqz = q[2] - p[2]; + float dx = pt[0] - p[0]; + float dz = pt[2] - p[2]; + float d = pqx * pqx + pqz * pqz; + float t = pqx * dx + pqz * dz; + if (d != 0) { + t /= d; + } + dx = p[0] + t * pqx - pt[0]; + dz = p[2] + t * pqz - pt[2]; + return dx * dx + dz * dz; + } + + public void debugDrawNavMeshBVTree(NavMesh mesh) { + + for (int i = 0; i < mesh.getMaxTiles(); ++i) { + MeshTile tile = mesh.getTile(i); + if (tile != null && tile.data != null && tile.data.header != null) { + drawMeshTileBVTree(tile); + } + } + } + + private void drawMeshTileBVTree(MeshTile tile) { + // Draw BV nodes. + float cs = 1.0f / tile.data.header.bvQuantFactor; + begin(DebugDrawPrimitives.LINES, 1.0f); + for (int i = 0; i < tile.data.header.bvNodeCount; ++i) { + BVNode n = tile.data.bvTree[i]; + if (n.i < 0) { + continue; + } + appendBoxWire(tile.data.header.bmin[0] + n.bmin[0] * cs, tile.data.header.bmin[1] + n.bmin[1] * cs, + tile.data.header.bmin[2] + n.bmin[2] * cs, tile.data.header.bmin[0] + n.bmax[0] * cs, + tile.data.header.bmin[1] + n.bmax[1] * cs, tile.data.header.bmin[2] + n.bmax[2] * cs, + duRGBA(255, 255, 255, 128)); + } + end(); + } + + public void debugDrawCompactHeightfieldSolid(CompactHeightfield chf) { + float cs = chf.cs; + float ch = chf.ch; + + begin(DebugDrawPrimitives.QUADS); + + for (int y = 0; y < chf.height; ++y) { + for (int x = 0; x < chf.width; ++x) { + float fx = chf.bmin[0] + x * cs; + float fz = chf.bmin[2] + y * cs; + CompactCell c = chf.cells[x + y * chf.width]; + + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + + int area = chf.areas[i]; + int color; + if (area == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WALKABLE) { + color = duRGBA(0, 192, 255, 64); + } else if (area == RecastConstants.RC_NULL_AREA) { + color = duRGBA(0, 0, 0, 64); + } else { + color = areaToCol(area); + } + + float fy = chf.bmin[1] + (s.y + 1) * ch; + vertex(fx, fy, fz, color); + vertex(fx, fy, fz + cs, color); + vertex(fx + cs, fy, fz + cs, color); + vertex(fx + cs, fy, fz, color); + } + } + } + end(); + } + + public void debugDrawRegionConnections(ContourSet cset) { + float alpha = 1f; + + float[] orig = cset.bmin; + float cs = cset.cs; + float ch = cset.ch; + + int color = duRGBA(0, 0, 0, 196); + + begin(DebugDrawPrimitives.LINES, 2.0f); + + for (int i = 0; i < cset.conts.Count; ++i) { + Contour cont = cset.conts[i]; + float[] pos = getContourCenter(cont, orig, cs, ch); + for (int j = 0; j < cont.nverts; ++j) { + int v = j * 4; + if (cont.verts[v + 3] == 0 || (short) cont.verts[v + 3] < cont.reg) { + continue; + } + Contour cont2 = findContourFromSet(cset, (short) cont.verts[v + 3]); + if (cont2 != null) { + float[] pos2 = getContourCenter(cont2, orig, cs, ch); + appendArc(pos[0], pos[1], pos[2], pos2[0], pos2[1], pos2[2], 0.25f, 0.6f, 0.6f, color); + } + } + } + + end(); + + char a = (char) (alpha * 255.0f); + + begin(DebugDrawPrimitives.POINTS, 7.0f); + + for (int i = 0; i < cset.conts.Count; ++i) { + Contour cont = cset.conts[i]; + int col = duDarkenCol(duIntToCol(cont.reg, a)); + float[] pos = getContourCenter(cont, orig, cs, ch); + vertex(pos, col); + } + end(); + } + + private float[] getContourCenter(Contour cont, float[] orig, float cs, float ch) { + float[] center = new float[3]; + center[0] = 0; + center[1] = 0; + center[2] = 0; + if (cont.nverts == 0) { + return center; + } + for (int i = 0; i < cont.nverts; ++i) { + int v = i * 4; + center[0] += cont.verts[v + 0]; + center[1] += cont.verts[v + 1]; + center[2] += cont.verts[v + 2]; + } + float s = 1.0f / cont.nverts; + center[0] *= s * cs; + center[1] *= s * ch; + center[2] *= s * cs; + center[0] += orig[0]; + center[1] += orig[1] + 4 * ch; + center[2] += orig[2]; + return center; + } + + private Contour findContourFromSet(ContourSet cset, int reg) { + for (int i = 0; i < cset.conts.Count; ++i) { + if (cset.conts[i].reg == reg) { + return cset.conts[i]; + } + } + return null; + } + + public void debugDrawRawContours(ContourSet cset, float alpha) { + + float[] orig = cset.bmin; + float cs = cset.cs; + float ch = cset.ch; + + char a = (char) (alpha * 255.0f); + + begin(DebugDrawPrimitives.LINES, 2.0f); + + for (int i = 0; i < cset.conts.Count; ++i) { + Contour c = cset.conts[i]; + int color = duIntToCol(c.reg, a); + + for (int j = 0; j < c.nrverts; ++j) { + int v0 = c.rverts[j * 4]; + int v1 = c.rverts[j * 4 + 1]; + int v2 = c.rverts[j * 4 + 2]; + float fx = orig[0] + v0 * cs; + float fy = orig[1] + (v1 + 1 + (i & 1)) * ch; + float fz = orig[2] + v2 * cs; + vertex(fx, fy, fz, color); + if (j > 0) { + vertex(fx, fy, fz, color); + } + } + + // Loop last segment. + { + int v0 = c.rverts[0]; + int v1 = c.rverts[1]; + int v2 = c.rverts[2]; + float fx = orig[0] + v0 * cs; + float fy = orig[1] + (v1 + 1 + (i & 1)) * ch; + float fz = orig[2] + v2 * cs; + vertex(fx, fy, fz, color); + } + } + end(); + + begin(DebugDrawPrimitives.POINTS, 2.0f); + + for (int i = 0; i < cset.conts.Count; ++i) { + Contour c = cset.conts[i]; + int color = duDarkenCol(duIntToCol(c.reg, a)); + + for (int j = 0; j < c.nrverts; ++j) { + int v0 = c.rverts[j * 4]; + int v1 = c.rverts[j * 4 + 1]; + int v2 = c.rverts[j * 4 + 2]; + int v3 = c.rverts[j * 4 + 3]; + float off = 0; + int colv = color; + if ((v3 & RecastConstants.RC_BORDER_VERTEX) != 0) { + colv = duRGBA(255, 255, 255, a); + off = ch * 2; + } + + float fx = orig[0] + v0 * cs; + float fy = orig[1] + (v1 + 1 + (i & 1)) * ch + off; + float fz = orig[2] + v2 * cs; + vertex(fx, fy, fz, colv); + } + } + end(); + } + + public void debugDrawContours(ContourSet cset) { + float alpha = 1f; + float[] orig = cset.bmin; + float cs = cset.cs; + float ch = cset.ch; + + char a = (char) (alpha * 255.0f); + + begin(DebugDrawPrimitives.LINES, 2.5f); + + for (int i = 0; i < cset.conts.Count; ++i) { + Contour c = cset.conts[i]; + if (c.nverts == 0) { + continue; + } + int color = duIntToCol(c.reg, a); + int bcolor = duLerpCol(color, duRGBA(255, 255, 255, a), 128); + + for (int j = 0, k = c.nverts - 1; j < c.nverts; k = j++) { + int va0 = c.verts[k * 4]; + int va1 = c.verts[k * 4 + 1]; + int va2 = c.verts[k * 4 + 2]; + int va3 = c.verts[k * 4 + 3]; + int vb0 = c.verts[j * 4]; + int vb1 = c.verts[j * 4 + 1]; + int vb2 = c.verts[j * 4 + 2]; + int col = (va3 & RecastConstants.RC_AREA_BORDER) != 0 ? bcolor : color; + + float fx = orig[0] + va0 * cs; + float fy = orig[1] + (va1 + 1 + (i & 1)) * ch; + float fz = orig[2] + va2 * cs; + vertex(fx, fy, fz, col); + + fx = orig[0] + vb0 * cs; + fy = orig[1] + (vb1 + 1 + (i & 1)) * ch; + fz = orig[2] + vb2 * cs; + vertex(fx, fy, fz, col); + } + } + end(); + + begin(DebugDrawPrimitives.POINTS, 3.0f); + + for (int i = 0; i < cset.conts.Count; ++i) { + Contour c = cset.conts[i]; + int color = duDarkenCol(duIntToCol(c.reg, a)); + + for (int j = 0; j < c.nverts; ++j) { + int v0 = c.verts[j * 4]; + int v1 = c.verts[j * 4 + 1]; + int v2 = c.verts[j * 4 + 2]; + int v3 = c.verts[j * 4 + 3]; + float off = 0; + int colv = color; + if ((v3 & RecastConstants.RC_BORDER_VERTEX) != 0) { + colv = duRGBA(255, 255, 255, a); + off = ch * 2; + } + + float fx = orig[0] + v0 * cs; + float fy = orig[1] + (v1 + 1 + (i & 1)) * ch + off; + float fz = orig[2] + v2 * cs; + vertex(fx, fy, fz, colv); + } + } + end(); + } + + public void debugDrawHeightfieldSolid(Heightfield hf) { + + if (!frustumTest(hf.bmin, hf.bmax)) { + return; + } + + float[] orig = hf.bmin; + float cs = hf.cs; + float ch = hf.ch; + + int w = hf.width; + int h = hf.height; + + int[] fcol = new int[6]; + duCalcBoxColors(fcol, duRGBA(255, 255, 255, 255), duRGBA(255, 255, 255, 255)); + + begin(DebugDrawPrimitives.QUADS); + + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + float fx = orig[0] + x * cs; + float fz = orig[2] + y * cs; + Span s = hf.spans[x + y * w]; + while (s != null) { + appendBox(fx, orig[1] + s.smin * ch, fz, fx + cs, orig[1] + s.smax * ch, fz + cs, fcol); + s = s.next; + } + } + } + end(); + } + + public void debugDrawHeightfieldWalkable(Heightfield hf) { + float[] orig = hf.bmin; + float cs = hf.cs; + float ch = hf.ch; + + int w = hf.width; + int h = hf.height; + + int[] fcol = new int[6]; + duCalcBoxColors(fcol, duRGBA(255, 255, 255, 255), duRGBA(217, 217, 217, 255)); + + begin(DebugDrawPrimitives.QUADS); + + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + float fx = orig[0] + x * cs; + float fz = orig[2] + y * cs; + Span s = hf.spans[x + y * w]; + while (s != null) { + if (s.area == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WALKABLE) { + fcol[0] = duRGBA(64, 128, 160, 255); + } else if (s.area == RecastConstants.RC_NULL_AREA) { + fcol[0] = duRGBA(64, 64, 64, 255); + } else { + fcol[0] = duMultCol(areaToCol(s.area), 200); + } + + appendBox(fx, orig[1] + s.smin * ch, fz, fx + cs, orig[1] + s.smax * ch, fz + cs, fcol); + s = s.next; + } + } + } + + end(); + } + + public void debugDrawCompactHeightfieldRegions(CompactHeightfield chf) { + float cs = chf.cs; + float ch = chf.ch; + + begin(DebugDrawPrimitives.QUADS); + + for (int y = 0; y < chf.height; ++y) { + for (int x = 0; x < chf.width; ++x) { + float fx = chf.bmin[0] + x * cs; + float fz = chf.bmin[2] + y * cs; + CompactCell c = chf.cells[x + y * chf.width]; + + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + float fy = chf.bmin[1] + (s.y) * ch; + int color; + if (s.reg != 0) { + color = duIntToCol(s.reg, 192); + } else { + color = duRGBA(0, 0, 0, 64); + } + + vertex(fx, fy, fz, color); + vertex(fx, fy, fz + cs, color); + vertex(fx + cs, fy, fz + cs, color); + vertex(fx + cs, fy, fz, color); + } + } + } + + end(); + } + + public void debugDrawCompactHeightfieldDistance(CompactHeightfield chf) { + if (chf.dist == null) { + return; + } + + float cs = chf.cs; + float ch = chf.ch; + + float maxd = chf.maxDistance; + if (maxd < 1.0f) { + maxd = 1; + } + float dscale = 255.0f / maxd; + + begin(DebugDrawPrimitives.QUADS); + + for (int y = 0; y < chf.height; ++y) { + for (int x = 0; x < chf.width; ++x) { + float fx = chf.bmin[0] + x * cs; + float fz = chf.bmin[2] + y * cs; + CompactCell c = chf.cells[x + y * chf.width]; + + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + float fy = chf.bmin[1] + (s.y + 1) * ch; + char cd = (char) (chf.dist[i] * dscale); + int color = duRGBA(cd, cd, cd, 255); + vertex(fx, fy, fz, color); + vertex(fx, fy, fz + cs, color); + vertex(fx + cs, fy, fz + cs, color); + vertex(fx + cs, fy, fz, color); + } + } + } + end(); + } + + public void debugDrawPolyMesh(PolyMesh mesh) { + int nvp = mesh.nvp; + float cs = mesh.cs; + float ch = mesh.ch; + float[] orig = mesh.bmin; + + begin(DebugDrawPrimitives.TRIS); + + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * nvp * 2; + int area = mesh.areas[i]; + + int color; + if (area == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WALKABLE) { + color = duRGBA(0, 192, 255, 64); + } else if (area == RecastConstants.RC_NULL_AREA) { + color = duRGBA(0, 0, 0, 64); + } else { + color = areaToCol(area); + } + + int[] vi = new int[3]; + for (int j = 2; j < nvp; ++j) { + if (mesh.polys[p + j] == RecastConstants.RC_MESH_NULL_IDX) { + break; + } + vi[0] = mesh.polys[p + 0]; + vi[1] = mesh.polys[p + j - 1]; + vi[2] = mesh.polys[p + j]; + for (int k = 0; k < 3; ++k) { + int v0 = mesh.verts[vi[k] * 3]; + int v1 = mesh.verts[vi[k] * 3 + 1]; + int v2 = mesh.verts[vi[k] * 3 + 2]; + float x = orig[0] + v0 * cs; + float y = orig[1] + (v1 + 1) * ch; + float z = orig[2] + v2 * cs; + vertex(x, y, z, color); + } + } + } + end(); + + // Draw neighbours edges + int coln = duRGBA(0, 48, 64, 32); + begin(DebugDrawPrimitives.LINES, 1.5f); + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * nvp * 2; + for (int j = 0; j < nvp; ++j) { + if (mesh.polys[p + j] == RecastConstants.RC_MESH_NULL_IDX) { + break; + } + if ((mesh.polys[p + nvp + j] & 0x8000) != 0) { + continue; + } + int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RecastConstants.RC_MESH_NULL_IDX) ? 0 : j + 1; + int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] }; + + for (int k = 0; k < 2; ++k) { + int v = vi[k] * 3; + float x = orig[0] + mesh.verts[v] * cs; + float y = orig[1] + (mesh.verts[v + 1] + 1) * ch + 0.1f; + float z = orig[2] + mesh.verts[v + 2] * cs; + vertex(x, y, z, coln); + } + } + } + end(); + + // Draw boundary edges + int colb = duRGBA(0, 48, 64, 220); + begin(DebugDrawPrimitives.LINES, 2.5f); + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * nvp * 2; + for (int j = 0; j < nvp; ++j) { + if (mesh.polys[p + j] == RecastConstants.RC_MESH_NULL_IDX) { + break; + } + if ((mesh.polys[p + nvp + j] & 0x8000) == 0) { + continue; + } + int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RecastConstants.RC_MESH_NULL_IDX) ? 0 : j + 1; + int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] }; + + int col = colb; + if ((mesh.polys[p + nvp + j] & 0xf) != 0xf) { + col = duRGBA(255, 255, 255, 128); + } + for (int k = 0; k < 2; ++k) { + int v = vi[k] * 3; + float x = orig[0] + mesh.verts[v] * cs; + float y = orig[1] + (mesh.verts[v + 1] + 1) * ch + 0.1f; + float z = orig[2] + mesh.verts[v + 2] * cs; + vertex(x, y, z, col); + } + } + } + end(); + + begin(DebugDrawPrimitives.POINTS, 3.0f); + int colv = duRGBA(0, 0, 0, 220); + for (int i = 0; i < mesh.nverts; ++i) { + int v = i * 3; + float x = orig[0] + mesh.verts[v] * cs; + float y = orig[1] + (mesh.verts[v + 1] + 1) * ch + 0.1f; + float z = orig[2] + mesh.verts[v + 2] * cs; + vertex(x, y, z, colv); + } + end(); + } + + public void debugDrawPolyMeshDetail(PolyMeshDetail dmesh) { + + begin(DebugDrawPrimitives.TRIS); + + for (int i = 0; i < dmesh.nmeshes; ++i) { + int m = i * 4; + int bverts = dmesh.meshes[m]; + int btris = dmesh.meshes[m + 2]; + int ntris = dmesh.meshes[m + 3]; + int verts = bverts * 3; + int tris = btris * 4; + + int color = duIntToCol(i, 192); + + for (int j = 0; j < ntris; ++j) { + vertex(dmesh.verts[verts + dmesh.tris[tris + j * 4 + 0] * 3], + dmesh.verts[verts + dmesh.tris[tris + j * 4 + 0] * 3 + 1], + dmesh.verts[verts + dmesh.tris[tris + j * 4 + 0] * 3 + 2], color); + vertex(dmesh.verts[verts + dmesh.tris[tris + j * 4 + 1] * 3], + dmesh.verts[verts + dmesh.tris[tris + j * 4 + 1] * 3 + 1], + dmesh.verts[verts + dmesh.tris[tris + j * 4 + 1] * 3 + 2], color); + vertex(dmesh.verts[verts + dmesh.tris[tris + j * 4 + 2] * 3], + dmesh.verts[verts + dmesh.tris[tris + j * 4 + 2] * 3 + 1], + dmesh.verts[verts + dmesh.tris[tris + j * 4 + 2] * 3 + 2], color); + } + } + end(); + + // Internal edges. + begin(DebugDrawPrimitives.LINES, 1.0f); + int coli = duRGBA(0, 0, 0, 64); + for (int i = 0; i < dmesh.nmeshes; ++i) { + int m = i * 4; + int bverts = dmesh.meshes[m]; + int btris = dmesh.meshes[m + 2]; + int ntris = dmesh.meshes[m + 3]; + int verts = bverts * 3; + int tris = btris * 4; + + for (int j = 0; j < ntris; ++j) { + int t = tris + j * 4; + for (int k = 0, kp = 2; k < 3; kp = k++) { + int ef = (dmesh.tris[t + 3] >> (kp * 2)) & 0x3; + if (ef == 0) { + // Internal edge + if (dmesh.tris[t + kp] < dmesh.tris[t + k]) { + vertex(dmesh.verts[verts + dmesh.tris[t + kp] * 3], + dmesh.verts[verts + dmesh.tris[t + kp] * 3 + 1], + dmesh.verts[verts + dmesh.tris[t + kp] * 3 + 2], coli); + vertex(dmesh.verts[verts + dmesh.tris[t + k] * 3], + dmesh.verts[verts + dmesh.tris[t + k] * 3 + 1], + dmesh.verts[verts + dmesh.tris[t + k] * 3 + 2], coli); + } + } + } + } + } + end(); + + // External edges. + begin(DebugDrawPrimitives.LINES, 2.0f); + int cole = duRGBA(0, 0, 0, 64); + for (int i = 0; i < dmesh.nmeshes; ++i) { + int m = i * 4; + int bverts = dmesh.meshes[m]; + int btris = dmesh.meshes[m + 2]; + int ntris = dmesh.meshes[m + 3]; + int verts = bverts * 3; + int tris = btris * 4; + + for (int j = 0; j < ntris; ++j) { + int t = tris + j * 4; + for (int k = 0, kp = 2; k < 3; kp = k++) { + int ef = (dmesh.tris[t + 3] >> (kp * 2)) & 0x3; + if (ef != 0) { + // Ext edge + vertex(dmesh.verts[verts + dmesh.tris[t + kp] * 3], + dmesh.verts[verts + dmesh.tris[t + kp] * 3 + 1], + dmesh.verts[verts + dmesh.tris[t + kp] * 3 + 2], cole); + vertex(dmesh.verts[verts + dmesh.tris[t + k] * 3], + dmesh.verts[verts + dmesh.tris[t + k] * 3 + 1], + dmesh.verts[verts + dmesh.tris[t + k] * 3 + 2], cole); + } + } + } + } + end(); + + begin(DebugDrawPrimitives.POINTS, 3.0f); + int colv = duRGBA(0, 0, 0, 64); + for (int i = 0; i < dmesh.nmeshes; ++i) { + int m = i * 4; + int bverts = dmesh.meshes[m]; + int nverts = dmesh.meshes[m + 1]; + int verts = bverts * 3; + for (int j = 0; j < nverts; ++j) { + vertex(dmesh.verts[verts + j * 3], dmesh.verts[verts + j * 3 + 1], dmesh.verts[verts + j * 3 + 2], + colv); + } + } + end(); + } + + public void debugDrawNavMeshNodes(NavMeshQuery query) { + NodePool pool = query.getNodePool(); + if (pool != null) { + float off = 0.5f; + begin(DebugDrawPrimitives.POINTS, 4.0f); + + foreach (List nodes in pool.getNodeMap().Values) { + + foreach (Node node in nodes) { + if (node == null) { + continue; + } + vertex(node.pos[0], node.pos[1] + off, node.pos[2], duRGBA(255, 192, 0, 255)); + } + } + end(); + + begin(DebugDrawPrimitives.LINES, 2.0f); + foreach (List nodes in pool.getNodeMap().Values) { + + foreach (Node node in nodes) { + if (node == null) { + continue; + } + if (node.pidx == 0) { + continue; + } + Node parent = pool.getNodeAtIdx(node.pidx); + if (parent == null) { + continue; + } + vertex(node.pos[0], node.pos[1] + off, node.pos[2], duRGBA(255, 192, 0, 128)); + vertex(parent.pos[0], parent.pos[1] + off, parent.pos[2], duRGBA(255, 192, 0, 128)); + } + } + end(); + } + } + + public void debugDrawNavMeshPolysWithFlags(NavMesh mesh, int polyFlags, int col) { + + for (int i = 0; i < mesh.getMaxTiles(); ++i) { + MeshTile tile = mesh.getTile(i); + if (tile == null || tile.data == null || tile.data.header == null) { + continue; + } + long @base = mesh.getPolyRefBase(tile); + + for (int j = 0; j < tile.data.header.polyCount; ++j) { + Poly p = tile.data.polys[j]; + if ((p.flags & polyFlags) == 0) { + continue; + } + debugDrawNavMeshPoly(mesh, @base | j, col); + } + } + } + + public void debugDrawNavMeshPoly(NavMesh mesh, long refs, int col) { + if (refs == 0) { + return; + } + Result> tileAndPolyResult = mesh.getTileAndPolyByRef(refs); + if (tileAndPolyResult.failed()) { + return; + } + Tuple tileAndPoly = tileAndPolyResult.result; + MeshTile tile = tileAndPoly.Item1; + Poly poly = tileAndPoly.Item2; + + depthMask(false); + + int c = duTransCol(col, 64); + int ip = poly.index; + + if (poly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + OffMeshConnection con = tile.data.offMeshCons[ip - tile.data.header.offMeshBase]; + + begin(DebugDrawPrimitives.LINES, 2.0f); + + // Connection arc. + appendArc(con.pos[0], con.pos[1], con.pos[2], con.pos[3], con.pos[4], con.pos[5], 0.25f, + (con.flags & 1) != 0 ? 0.6f : 0.0f, 0.6f, c); + + end(); + } else { + begin(DebugDrawPrimitives.TRIS); + drawPoly(tile, ip, col); + end(); + } + + depthMask(true); + + } + + public void debugDrawNavMeshPortals(NavMesh mesh) { + for (int i = 0; i < mesh.getMaxTiles(); ++i) { + MeshTile tile = mesh.getTile(i); + if (tile.data != null && tile.data.header != null) { + drawMeshTilePortal(tile); + } + } + } + + private void drawMeshTilePortal(MeshTile tile) { + float padx = 0.04f; + float pady = tile.data.header.walkableClimb; + + begin(DebugDrawPrimitives.LINES, 2.0f); + + for (int side = 0; side < 8; ++side) { + int m = NavMesh.DT_EXT_LINK | (short) side; + + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly poly = tile.data.polys[i]; + + // Create new links. + int nv = poly.vertCount; + for (int j = 0; j < nv; ++j) { + // Skip edges which do not point to the right side. + if (poly.neis[j] != m) + continue; + + // Create new links + float[] va = new float[] { tile.data.verts[poly.verts[j] * 3], + tile.data.verts[poly.verts[j] * 3 + 1], tile.data.verts[poly.verts[j] * 3 + 2] }; + float[] vb = new float[] { tile.data.verts[poly.verts[(j + 1) % nv] * 3], + tile.data.verts[poly.verts[(j + 1) % nv] * 3 + 1], + tile.data.verts[poly.verts[(j + 1) % nv] * 3 + 2] }; + + if (side == 0 || side == 4) { + int col = side == 0 ? duRGBA(128, 0, 0, 128) : duRGBA(128, 0, 128, 128); + + float x = va[0] + ((side == 0) ? -padx : padx); + + vertex(x, va[1] - pady, va[2], col); + vertex(x, va[1] + pady, va[2], col); + + vertex(x, va[1] + pady, va[2], col); + vertex(x, vb[1] + pady, vb[2], col); + + vertex(x, vb[1] + pady, vb[2], col); + vertex(x, vb[1] - pady, vb[2], col); + + vertex(x, vb[1] - pady, vb[2], col); + vertex(x, va[1] - pady, va[2], col); + } else if (side == 2 || side == 6) { + int col = side == 2 ? duRGBA(0, 128, 0, 128) : duRGBA(0, 128, 128, 128); + + float z = va[2] + ((side == 2) ? -padx : padx); + + vertex(va[0], va[1] - pady, z, col); + vertex(va[0], va[1] + pady, z, col); + + vertex(va[0], va[1] + pady, z, col); + vertex(vb[0], vb[1] + pady, z, col); + + vertex(vb[0], vb[1] + pady, z, col); + vertex(vb[0], vb[1] - pady, z, col); + + vertex(vb[0], vb[1] - pady, z, col); + vertex(va[0], va[1] - pady, z, col); + } + + } + } + } + + end(); + + } + +} diff --git a/src/DotRecast.Recast.Demo/Geom/ChunkyTriMesh.cs b/src/DotRecast.Recast.Demo/Geom/ChunkyTriMesh.cs new file mode 100644 index 0000000..a86c9e8 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Geom/ChunkyTriMesh.cs @@ -0,0 +1,263 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using DotRecast.Recast.Geom; + +namespace DotRecast.Recast.Demo.Geom; + +public class ChunkyTriMesh { + + private class BoundsItem { + public readonly float[] bmin = new float[2]; + public readonly float[] bmax = new float[2]; + public int i; + } + + private class CompareItemX : IComparer { + public int Compare(BoundsItem a, BoundsItem b) { + return a.bmin[0].CompareTo(b.bmin[0]); + } + } + + private class CompareItemY : IComparer { + public int Compare(BoundsItem a, BoundsItem b) { + return a.bmin[1].CompareTo(b.bmin[1]); + } + } + + List nodes; + int ntris; + int maxTrisPerChunk; + + private void calcExtends(BoundsItem[] items, int imin, int imax, float[] bmin, float[] bmax) { + bmin[0] = items[imin].bmin[0]; + bmin[1] = items[imin].bmin[1]; + + bmax[0] = items[imin].bmax[0]; + bmax[1] = items[imin].bmax[1]; + + for (int i = imin + 1; i < imax; ++i) { + BoundsItem it = items[i]; + if (it.bmin[0] < bmin[0]) { + bmin[0] = it.bmin[0]; + } + if (it.bmin[1] < bmin[1]) { + bmin[1] = it.bmin[1]; + } + + if (it.bmax[0] > bmax[0]) { + bmax[0] = it.bmax[0]; + } + if (it.bmax[1] > bmax[1]) { + bmax[1] = it.bmax[1]; + } + } + } + + private int longestAxis(float x, float y) { + return y > x ? 1 : 0; + } + + private void subdivide(BoundsItem[] items, int imin, int imax, int trisPerChunk, List nodes, + int[] inTris) { + int inum = imax - imin; + + ChunkyTriMeshNode node = new ChunkyTriMeshNode(); + nodes.Add(node); + + if (inum <= trisPerChunk) { + // Leaf + calcExtends(items, imin, imax, node.bmin, node.bmax); + + // Copy triangles. + node.i = nodes.Count; + node.tris = new int[inum * 3]; + + int dst = 0; + for (int i = imin; i < imax; ++i) { + int src = items[i].i * 3; + node.tris[dst++] = inTris[src]; + node.tris[dst++] = inTris[src + 1]; + node.tris[dst++] = inTris[src + 2]; + } + } else { + // Split + calcExtends(items, imin, imax, node.bmin, node.bmax); + + int axis = longestAxis(node.bmax[0] - node.bmin[0], node.bmax[1] - node.bmin[1]); + + if (axis == 0) { + Array.Sort(items, imin, imax - imax, new CompareItemX()); + // Sort along x-axis + } else if (axis == 1) { + Array.Sort(items, imin, imax - imin, new CompareItemY()); + // Sort along y-axis + } + + int isplit = imin + inum / 2; + + // Left + subdivide(items, imin, isplit, trisPerChunk, nodes, inTris); + // Right + subdivide(items, isplit, imax, trisPerChunk, nodes, inTris); + + // Negative index means escape. + node.i = -nodes.Count; + } + } + + public ChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk) { + int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk; + + nodes = new(nchunks); + this.ntris = ntris; + + // Build tree + BoundsItem[] items = new BoundsItem[ntris]; + + for (int i = 0; i < ntris; i++) { + int t = i * 3; + BoundsItem it = items[i] = new BoundsItem(); + it.i = i; + // Calc triangle XZ bounds. + it.bmin[0] = it.bmax[0] = verts[tris[t] * 3 + 0]; + it.bmin[1] = it.bmax[1] = verts[tris[t] * 3 + 2]; + for (int j = 1; j < 3; ++j) { + int v = tris[t + j] * 3; + if (verts[v] < it.bmin[0]) { + it.bmin[0] = verts[v]; + } + if (verts[v + 2] < it.bmin[1]) { + it.bmin[1] = verts[v + 2]; + } + + if (verts[v] > it.bmax[0]) { + it.bmax[0] = verts[v]; + } + if (verts[v + 2] > it.bmax[1]) { + it.bmax[1] = verts[v + 2]; + } + } + } + + subdivide(items, 0, ntris, trisPerChunk, nodes, tris); + + // Calc max tris per node. + maxTrisPerChunk = 0; + foreach (ChunkyTriMeshNode node in nodes) { + bool isLeaf = node.i >= 0; + if (!isLeaf) { + continue; + } + if (node.tris.Length / 3 > maxTrisPerChunk) { + maxTrisPerChunk = node.tris.Length / 3; + } + } + + } + + public List getChunksOverlappingRect(float[] bmin, float[] bmax) { + // Traverse tree + List ids = new(); + int i = 0; + while (i < nodes.Count) { + ChunkyTriMeshNode node = nodes[i]; + bool overlap = checkOverlapRect(bmin, bmax, node.bmin, node.bmax); + bool isLeafNode = node.i >= 0; + + if (isLeafNode && overlap) { + ids.Add(node); + } + + if (overlap || isLeafNode) { + i++; + } else { + i = -node.i; + } + } + return ids; + } + + private bool checkOverlapRect(float[] amin, float[] amax, float[] bmin, float[] bmax) { + bool overlap = true; + overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; + overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; + return overlap; + } + + public List getChunksOverlappingSegment(float[] p, float[] q) { + // Traverse tree + List ids = new(); + int i = 0; + while (i < nodes.Count) { + ChunkyTriMeshNode node = nodes[i]; + bool overlap = checkOverlapSegment(p, q, node.bmin, node.bmax); + bool isLeafNode = node.i >= 0; + + if (isLeafNode && overlap) { + ids.Add(node); + } + + if (overlap || isLeafNode) { + i++; + } else { + i = -node.i; + } + } + return ids; + } + + private bool checkOverlapSegment(float[] p, float[] q, float[] bmin, float[] bmax) { + float EPSILON = 1e-6f; + + float tmin = 0; + float tmax = 1; + float[] d = new float[2]; + d[0] = q[0] - p[0]; + d[1] = q[1] - p[1]; + + for (int i = 0; i < 2; i++) { + if (Math.Abs(d[i]) < EPSILON) { + // Ray is parallel to slab. No hit if origin not within slab + if (p[i] < bmin[i] || p[i] > bmax[i]) + return false; + } else { + // Compute intersection t value of ray with near and far plane of slab + float ood = 1.0f / d[i]; + float t1 = (bmin[i] - p[i]) * ood; + float t2 = (bmax[i] - p[i]) * ood; + if (t1 > t2) { + float tmp = t1; + t1 = t2; + t2 = tmp; + } + if (t1 > tmin) + tmin = t1; + if (t2 < tmax) + tmax = t2; + if (tmin > tmax) + return false; + } + } + return true; + } + +} diff --git a/src/DotRecast.Recast.Demo/Geom/DemoInputGeomProvider.cs b/src/DotRecast.Recast.Demo/Geom/DemoInputGeomProvider.cs new file mode 100644 index 0000000..ec61aee --- /dev/null +++ b/src/DotRecast.Recast.Demo/Geom/DemoInputGeomProvider.cs @@ -0,0 +1,185 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Collections.Immutable; +using System.Linq; +using DotRecast.Recast.Geom; + +namespace DotRecast.Recast.Demo.Geom; + +public class DemoInputGeomProvider : InputGeomProvider { + + public readonly float[] vertices; + public readonly int[] faces; + public readonly float[] normals; + private readonly float[] bmin; + private readonly float[] bmax; + private readonly List _convexVolumes = new(); + private readonly List offMeshConnections = new(); + private readonly ChunkyTriMesh chunkyTriMesh; + + public DemoInputGeomProvider(List vertexPositions, List meshFaces) : + this(mapVertices(vertexPositions), mapFaces(meshFaces)) { + } + + private static int[] mapFaces(List meshFaces) { + int[] faces = new int[meshFaces.Count]; + for (int i = 0; i < faces.Length; i++) { + faces[i] = meshFaces[i]; + } + return faces; + } + + private static float[] mapVertices(List vertexPositions) { + float[] vertices = new float[vertexPositions.Count]; + for (int i = 0; i < vertices.Length; i++) { + vertices[i] = vertexPositions[i]; + } + return vertices; + } + + public DemoInputGeomProvider(float[] vertices, int[] faces) { + this.vertices = vertices; + this.faces = faces; + normals = new float[faces.Length]; + calculateNormals(); + bmin = new float[3]; + bmax = new float[3]; + RecastVectors.copy(bmin, vertices, 0); + RecastVectors.copy(bmax, vertices, 0); + for (int i = 1; i < vertices.Length / 3; i++) { + RecastVectors.min(bmin, vertices, i * 3); + RecastVectors.max(bmax, vertices, i * 3); + } + chunkyTriMesh = new ChunkyTriMesh(vertices, faces, faces.Length / 3, 256); + } + + public float[] getMeshBoundsMin() { + return bmin; + } + + public float[] getMeshBoundsMax() { + return bmax; + } + + public void calculateNormals() { + for (int i = 0; i < faces.Length; i += 3) { + int v0 = faces[i] * 3; + int v1 = faces[i + 1] * 3; + int v2 = faces[i + 2] * 3; + float[] e0 = new float[3], e1 = new float[3]; + for (int j = 0; j < 3; ++j) { + e0[j] = vertices[v1 + j] - vertices[v0 + j]; + e1[j] = vertices[v2 + j] - vertices[v0 + j]; + } + normals[i] = e0[1] * e1[2] - e0[2] * e1[1]; + normals[i + 1] = e0[2] * e1[0] - e0[0] * e1[2]; + normals[i + 2] = e0[0] * e1[1] - e0[1] * e1[0]; + float d = (float) Math.Sqrt(normals[i] * normals[i] + normals[i + 1] * normals[i + 1] + normals[i + 2] * normals[i + 2]); + if (d > 0) { + d = 1.0f / d; + normals[i] *= d; + normals[i + 1] *= d; + normals[i + 2] *= d; + } + } + } + + public IList convexVolumes() { + return _convexVolumes; + } + + public IEnumerable meshes() { + return ImmutableArray.Create(new TriMesh(vertices, faces)); + } + + public List getOffMeshConnections() { + return offMeshConnections; + } + + public void addOffMeshConnection(float[] start, float[] end, float radius, bool bidir, int area, int flags) { + offMeshConnections.Add(new DemoOffMeshConnection(start, end, radius, bidir, area, flags)); + } + + public void removeOffMeshConnections(Predicate filter) { + //offMeshConnections.retainAll(offMeshConnections.stream().filter(c -> !filter.test(c)).collect(toList())); + offMeshConnections.RemoveAll(filter); // TODO : 확인 필요 + } + + public float? raycastMesh(float[] src, float[] dst) { + + // Prune hit ray. + float[] btminmax = Intersections.intersectSegmentAABB(src, dst, bmin, bmax); + if (null == btminmax) { + return null; + } + float btmin = btminmax[0]; + float btmax = btminmax[1]; + float[] p = new float[2], q = new float[2]; + p[0] = src[0] + (dst[0] - src[0]) * btmin; + p[1] = src[2] + (dst[2] - src[2]) * btmin; + q[0] = src[0] + (dst[0] - src[0]) * btmax; + q[1] = src[2] + (dst[2] - src[2]) * btmax; + + List chunks = chunkyTriMesh.getChunksOverlappingSegment(p, q); + if (0 == chunks.Count) { + return null; + } + + float tmin = 1.0f; + bool hit = false; + foreach (ChunkyTriMeshNode chunk in chunks) { + int[] tris = chunk.tris; + for (int j = 0; j < chunk.tris.Length; j += 3) { + float[] v1 = new float[] { vertices[tris[j] * 3], vertices[tris[j] * 3 + 1], + vertices[tris[j] * 3 + 2] }; + float[] v2 = new float[] { vertices[tris[j + 1] * 3], vertices[tris[j + 1] * 3 + 1], + vertices[tris[j + 1] * 3 + 2] }; + float[] v3 = new float[] { vertices[tris[j + 2] * 3], vertices[tris[j + 2] * 3 + 1], + vertices[tris[j + 2] * 3 + 2] }; + float? t = Intersections.intersectSegmentTriangle(src, dst, v1, v2, v3); + if (null != t) { + if (t.Value < tmin) { + tmin = t.Value; + } + hit = true; + } + } + } + + return hit ? tmin : null; + } + + + public void addConvexVolume(float[] verts, float minh, float maxh, AreaModification areaMod) { + ConvexVolume volume = new ConvexVolume(); + volume.verts = verts; + volume.hmin = minh; + volume.hmax = maxh; + volume.areaMod = areaMod; + _convexVolumes.Add(volume); + } + + public void clearConvexVolumes() { + _convexVolumes.Clear(); + } + +} diff --git a/src/DotRecast.Recast.Demo/Geom/DemoOffMeshConnection.cs b/src/DotRecast.Recast.Demo/Geom/DemoOffMeshConnection.cs new file mode 100644 index 0000000..138c759 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Geom/DemoOffMeshConnection.cs @@ -0,0 +1,43 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Recast.Demo.Geom; + +public class DemoOffMeshConnection { + + public readonly float[] verts; + public readonly float radius; + public readonly bool bidir; + public readonly int area; + public readonly int flags; + + public DemoOffMeshConnection(float[] start, float[] end, float radius, bool bidir, int area, int flags) { + verts = new float[6]; + verts[0] = start[0]; + verts[1] = start[1]; + verts[2] = start[2]; + verts[3] = end[0]; + verts[4] = end[1]; + verts[5] = end[2]; + this.radius = radius; + this.bidir = bidir; + this.area = area; + this.flags = flags; + } + +} diff --git a/src/DotRecast.Recast.Demo/Geom/Intersections.cs b/src/DotRecast.Recast.Demo/Geom/Intersections.cs new file mode 100644 index 0000000..2df0de4 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Geom/Intersections.cs @@ -0,0 +1,113 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using DotRecast.Core; +using static DotRecast.Detour.DetourCommon; + +namespace DotRecast.Recast.Demo.Geom; + +public class Intersections { + + public static float? intersectSegmentTriangle(float[] sp, float[] sq, float[] a, float[] b, float[] c) { + float v, w; + float[] ab = vSub(b, a); + float[] ac = vSub(c, a); + float[] qp = vSub(sp, sq); + + // Compute triangle normal. Can be precalculated or cached if + // intersecting multiple segments against the same triangle + float[] norm = DemoMath.vCross(ab, ac); + + // Compute denominator d. If d <= 0, segment is parallel to or points + // away from triangle, so exit early + float d = DemoMath.vDot(qp, norm); + if (d <= 0.0f) { + return null; + } + + // Compute intersection t value of pq with plane of triangle. A ray + // intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay + // dividing by d until intersection has been found to pierce triangle + float[] ap = vSub(sp, a); + float t = DemoMath.vDot(ap, norm); + if (t < 0.0f) { + return null; + } + if (t > d) { + return null; // For segment; exclude this code line for a ray test + } + + // Compute barycentric coordinate components and test if within bounds + float[] e = DemoMath.vCross(qp, ap); + v = DemoMath.vDot(ac, e); + if (v < 0.0f || v > d) { + return null; + } + w = -DemoMath.vDot(ab, e); + if (w < 0.0f || v + w > d) { + return null; + } + + // Segment/ray intersects triangle. Perform delayed division + t /= d; + + return t; + } + + public static float[] intersectSegmentAABB(float[] sp, float[] sq, float[] amin, float[] amax) { + + float EPS = 1e-6f; + + float[] d = new float[3]; + d[0] = sq[0] - sp[0]; + d[1] = sq[1] - sp[1]; + d[2] = sq[2] - sp[2]; + float tmin = 0.0f; + float tmax = 1.0f; + + for (int i = 0; i < 3; i++) { + if (Math.Abs(d[i]) < EPS) { + if (sp[i] < amin[i] || sp[i] > amax[i]) { + return null; + } + } else { + float ood = 1.0f / d[i]; + float t1 = (amin[i] - sp[i]) * ood; + float t2 = (amax[i] - sp[i]) * ood; + if (t1 > t2) { + float tmp = t1; + t1 = t2; + t2 = tmp; + } + if (t1 > tmin) { + tmin = t1; + } + if (t2 < tmax) { + tmax = t2; + } + if (tmin > tmax) { + return null; + } + } + } + + return new float[] { tmin, tmax }; + } + +} diff --git a/src/DotRecast.Recast.Demo/Geom/NavMeshRaycast.cs b/src/DotRecast.Recast.Demo/Geom/NavMeshRaycast.cs new file mode 100644 index 0000000..f9fd26f --- /dev/null +++ b/src/DotRecast.Recast.Demo/Geom/NavMeshRaycast.cs @@ -0,0 +1,79 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Core; +using DotRecast.Detour; + +namespace DotRecast.Recast.Demo.Geom; + +/** + * Simple helper to find an intersection between a ray and a nav mesh + */ +public class NavMeshRaycast { + + public static float? raycast(NavMesh mesh, float[] src, float[]dst) { + for (int t = 0; t < mesh.getMaxTiles(); ++t) { + MeshTile tile = mesh.getTile(t); + if (tile != null && tile.data != null) { + float? intersection = raycast(tile, src, dst); + if (null != intersection) { + return intersection; + } + } + } + + return null; + } + + private static float? raycast(MeshTile tile, float[] sp, float[]sq) { + for (int i = 0; i < tile.data.header.polyCount; ++i) { + Poly p = tile.data.polys[i]; + if (p.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) { + continue; + } + PolyDetail pd = tile.data.detailMeshes[i]; + + if (pd != null) { + float[][] verts = ArrayUtils.Of(3, 3); + for (int j = 0; j < pd.triCount; ++j) { + int t = (pd.triBase + j) * 4; + for (int k = 0; k < 3; ++k) { + int v = tile.data.detailTris[t + k]; + if (v < p.vertCount) { + verts[k][0] = tile.data.verts[p.verts[v] * 3]; + verts[k][1] = tile.data.verts[p.verts[v] * 3 + 1]; + verts[k][2] = tile.data.verts[p.verts[v] * 3 + 2]; + } else { + verts[k][0] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3]; + verts[k][1] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 1]; + verts[k][2] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 2]; + } + } + float? intersection = Intersections.intersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2]); + if (null != intersection) { + return intersection; + } + } + } else { + // FIXME: Use Poly if PolyDetail is unavailable + } + } + + return null; + } +} diff --git a/src/DotRecast.Recast.Demo/Geom/NavMeshUtils.cs b/src/DotRecast.Recast.Demo/Geom/NavMeshUtils.cs new file mode 100644 index 0000000..e02dc99 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Geom/NavMeshUtils.cs @@ -0,0 +1,44 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using DotRecast.Detour; + +namespace DotRecast.Recast.Demo.Geom; + +public class NavMeshUtils { + + public static float[][] getNavMeshBounds(NavMesh mesh) { + float[] bmin = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity }; + float[] bmax = new float[] { float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity }; + for (int t = 0; t < mesh.getMaxTiles(); ++t) { + MeshTile tile = mesh.getTile(t); + if (tile != null && tile.data != null) { + for (int i = 0; i < tile.data.verts.Length; i += 3) { + bmin[0] = Math.Min(bmin[0], tile.data.verts[i]); + bmin[1] = Math.Min(bmin[1], tile.data.verts[i + 1]); + bmin[2] = Math.Min(bmin[2], tile.data.verts[i + 2]); + bmax[0] = Math.Max(bmax[0], tile.data.verts[i]); + bmax[1] = Math.Max(bmax[1], tile.data.verts[i + 1]); + bmax[2] = Math.Max(bmax[2], tile.data.verts[i + 2]); + } + } + } + return new float[][] { bmin, bmax }; + } +} diff --git a/src/DotRecast.Recast.Demo/Geom/PolyMeshRaycast.cs b/src/DotRecast.Recast.Demo/Geom/PolyMeshRaycast.cs new file mode 100644 index 0000000..1c9deb1 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Geom/PolyMeshRaycast.cs @@ -0,0 +1,67 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using DotRecast.Core; + +namespace DotRecast.Recast.Demo.Geom; + +public class PolyMeshRaycast { + + public static float? raycast(IList results, float[] src, float[] dst) { + foreach (RecastBuilderResult result in results) { + if (result.getMeshDetail() != null) { + float? intersection = raycast(result.getMesh(), result.getMeshDetail(), src, dst); + if (null != intersection) { + return intersection; + } + } + } + + return null; + } + + private static float? raycast(PolyMesh poly, PolyMeshDetail meshDetail, float[] sp, float[] sq) { + if (meshDetail != null) { + for (int i = 0; i < meshDetail.nmeshes; ++i) { + int m = i * 4; + int bverts = meshDetail.meshes[m]; + int btris = meshDetail.meshes[m + 2]; + int ntris = meshDetail.meshes[m + 3]; + int verts = bverts * 3; + int tris = btris * 4; + for (int j = 0; j < ntris; ++j) { + float[][] vs = ArrayUtils.Of(3, 3); + for (int k = 0; k < 3; ++k) { + vs[k][0] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3]; + vs[k][1] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 1]; + vs[k][2] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 2]; + } + float? intersection = Intersections.intersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2]); + if (null != intersection) { + return intersection; + } + } + } + } else { + // TODO: check PolyMesh instead + } + + return null; + } +} diff --git a/src/DotRecast.Recast.Demo/RecastDemo.cs b/src/DotRecast.Recast.Demo/RecastDemo.cs new file mode 100644 index 0000000..4eff934 --- /dev/null +++ b/src/DotRecast.Recast.Demo/RecastDemo.cs @@ -0,0 +1,687 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Collections.Immutable; +using System.Diagnostics; +using System.IO; +using System.Linq; +using Serilog; +using Silk.NET.GLFW; +using Silk.NET.Input; +using Silk.NET.Maths; +using Silk.NET.OpenGL; +using Silk.NET.OpenGL.Extensions.ImGui; +using Silk.NET.Windowing; +using DotRecast.Core; +using DotRecast.Detour; +using DotRecast.Detour.Extras.Unity.Astar; +using DotRecast.Detour.Io; +using DotRecast.Recast.Demo.Builder; +using DotRecast.Recast.Demo.Draw; +using DotRecast.Recast.Demo.Geom; +using DotRecast.Recast.Demo.Settings; +using DotRecast.Recast.Demo.Tools; +using DotRecast.Recast.Demo.UI; +using ImGuiNET; +using Silk.NET.SDL; +using Silk.NET.Windowing.Sdl; +using static DotRecast.Detour.DetourCommon; +using Window = Silk.NET.Windowing.Window; + +namespace DotRecast.Recast.Demo; + +public class RecastDemo : MouseListener +{ + private readonly ILogger logger = Log.ForContext(); + private NuklearUI nuklearUI; + private IWindow window; + private IInputContext _input; + private ImGuiController _imgui; + private GL _gl; + private int width = 1000; + private int height = 900; + private readonly string title = "DotRecast Demo"; + //private readonly RecastDebugDraw dd; + private readonly NavMeshRenderer renderer; + private bool building = false; + private float timeAcc = 0; + private float camr = 1000; + + private readonly SoloNavMeshBuilder soloNavMeshBuilder = new SoloNavMeshBuilder(); + private readonly TileNavMeshBuilder tileNavMeshBuilder = new TileNavMeshBuilder(); + + //private Sample sample; + + private bool processHitTest = false; + private bool processHitTestShift; + private int modState; + + private readonly float[] mousePos = new float[2]; + + private bool mouseOverMenu; + private bool pan; + private bool movedDuringPan; + private bool rotate; + private bool movedDuringRotate; + private float scrollZoom; + private readonly float[] origMousePos = new float[2]; + private readonly float[] origCameraEulers = new float[2]; + private readonly float[] origCameraPos = new float[3]; + + private readonly float[] cameraEulers = { 45, -45 }; + private readonly float[] cameraPos = { 0, 0, 0 }; + + private readonly float[] rayStart = new float[3]; + private readonly float[] rayEnd = new float[3]; + + private bool markerPositionSet; + private readonly float[] markerPosition = new float[3]; + private ToolsUI toolsUI; + private SettingsUI settingsUI; + private long prevFrameTime; + + public RecastDemo() + { + // dd = new RecastDebugDraw(); + // renderer = new NavMeshRenderer(dd); + } + + public void start() + { + window = CreateWindow(); + window.Run(); + } + + private Mouse createMouse(IInputContext input) + { + Mouse mouse = new Mouse(input); + mouse.addListener(this); + return mouse; + } + + public void scroll(double xoffset, double yoffset) + { + if (yoffset < 0) + { + // wheel down + if (!mouseOverMenu) + { + scrollZoom += 1.0f; + } + } + else + { + if (!mouseOverMenu) + { + scrollZoom -= 1.0f; + } + } + + // float[] modelviewMatrix = dd.viewMatrix(cameraPos, cameraEulers); + // cameraPos[0] += scrollZoom * 2.0f * modelviewMatrix[2]; + // cameraPos[1] += scrollZoom * 2.0f * modelviewMatrix[6]; + // cameraPos[2] += scrollZoom * 2.0f * modelviewMatrix[10]; + scrollZoom = 0; + } + + public void position(double x, double y) + { + mousePos[0] = (float)x; + mousePos[1] = (float)y; + int dx = (int)(mousePos[0] - origMousePos[0]); + int dy = (int)(mousePos[1] - origMousePos[1]); + if (rotate) + { + cameraEulers[0] = origCameraEulers[0] + dy * 0.25f; + cameraEulers[1] = origCameraEulers[1] + dx * 0.25f; + if (dx * dx + dy * dy > 3 * 3) + { + movedDuringRotate = true; + } + } + + // if (pan) + // { + // float[] modelviewMatrix = dd.viewMatrix(cameraPos, cameraEulers); + // cameraPos[0] = origCameraPos[0]; + // cameraPos[1] = origCameraPos[1]; + // cameraPos[2] = origCameraPos[2]; + // + // cameraPos[0] -= 0.1f * dx * modelviewMatrix[0]; + // cameraPos[1] -= 0.1f * dx * modelviewMatrix[4]; + // cameraPos[2] -= 0.1f * dx * modelviewMatrix[8]; + // + // cameraPos[0] += 0.1f * dy * modelviewMatrix[1]; + // cameraPos[1] += 0.1f * dy * modelviewMatrix[5]; + // cameraPos[2] += 0.1f * dy * modelviewMatrix[9]; + // if (dx * dx + dy * dy > 3 * 3) + // { + // movedDuringPan = true; + // } + // } + } + + public void button(int button, int mods, bool down) + { + modState = mods; + if (down) + { + if (button == 1) + { + if (!mouseOverMenu) + { + // Rotate view + rotate = true; + movedDuringRotate = false; + origMousePos[0] = mousePos[0]; + origMousePos[1] = mousePos[1]; + origCameraEulers[0] = cameraEulers[0]; + origCameraEulers[1] = cameraEulers[1]; + } + } + else if (button == 2) + { + if (!mouseOverMenu) + { + // Pan view + pan = true; + movedDuringPan = false; + origMousePos[0] = mousePos[0]; + origMousePos[1] = mousePos[1]; + origCameraPos[0] = cameraPos[0]; + origCameraPos[1] = cameraPos[1]; + origCameraPos[2] = cameraPos[2]; + } + } + } + else + { + // Handle mouse clicks here. + if (button == 1) + { + rotate = false; + if (!mouseOverMenu) + { + if (!movedDuringRotate) + { + processHitTest = true; + processHitTestShift = true; + } + } + } + else if (button == 0) + { + if (!mouseOverMenu) + { + processHitTest = true; + //processHitTestShift = (mods & Keys.GLFW_MOD_SHIFT) != 0 ? true : false; + //processHitTestShift = (mods & Keys.) != 0 ? true : false; + } + } + else if (button == 2) + { + pan = false; + } + } + } + + private IWindow CreateWindow() + { + SdlWindowing.Use(); + //var glfw = GlfwProvider.GLFW.Value; + + // glfw.SetErrorCallback(ErrorCallback); + // if (!glfw.Init()) + // { + // throw new InvalidOperationException("Unable to initialize GLFW"); + // } + + // glfw.DefaultWindowHints(); + // glfw.WindowHint(WindowHintBool.Visible, false); + // glfw.WindowHint(WindowHintBool.Resizable, false); + // glfw.WindowHint(WindowHintBool.SrgbCapable, true); + // glfw.WindowHint(WindowHintInt.RedBits, 8); + // glfw.WindowHint(WindowHintInt.GreenBits, 8); + // glfw.WindowHint(WindowHintInt.BlueBits, 8); + // glfw.WindowHint(WindowHintInt.Samples, 4); + // glfw.WindowHint(WindowHintBool.DoubleBuffer, true); + // glfw.WindowHint(WindowHintInt.DepthBits, 24); + // + // glfw.WindowHint(WindowHintInt.ContextVersionMajor, 3); + // glfw.WindowHint(WindowHintInt.ContextVersionMinor, 2); + // glfw.WindowHint(WindowHintBool.OpenGLForwardCompat, true); + // glfw.WindowHint(WindowHintOpenGlProfile.OpenGlProfile, OpenGlProfile.Core); + // glfw.WindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3); + // glfw.WindowHint(GLFW_CONTEXT_VERSION_MINOR, 1); + + var monitor = Window.Platforms.First().GetMainMonitor(); + // // if (monitors.limit() > 1) { + // // monitor = monitors[1]; + // // } + var resolution = monitor.VideoMode.Resolution.Value; + + float aspect = 16.0f / 9.0f; + width = Math.Min(resolution.X, (int)(resolution.Y * aspect)) - 100; + height = resolution.Y - 100; + + // glfwWindowHint(GLFW_RED_BITS, mode.redBits()); + // glfwWindowHint(GLFW_GREEN_BITS, mode.greenBits()); + // glfwWindowHint(GLFW_BLUE_BITS, mode.blueBits()); + // glfwWindowHint(GLFW_REFRESH_RATE, mode.refreshRate()); + + var options = WindowOptions.Default; + options.Title = title; + options.Size = new Vector2D(width, height); + options.Position = new Vector2D((resolution.X - width) / 2, (resolution.Y - height) / 2); + window = Window.Create(options); + + if (window == null) + { + throw new Exception("Failed to create the GLFW window"); + } + + window.Load += OnWindowOnLoad; + window.Update += OnWindowOnUpdate; + window.Render += OnWindowOnRender; + + + // // -- move somewhere else: + // glfw.SetWindowPos(window, (mode->Width - width) / 2, (mode->Height - height) / 2); + // // glfwSetWindowMonitor(window.getWindow(), monitor, 0, 0, mode.width(), mode.height(), mode.refreshRate()); + // glfw.ShowWindow(window); + // glfw.MakeContextCurrent(window); + //} + + //glfw.SwapInterval(1); + + return window; + } + + private DemoInputGeomProvider loadInputMesh(byte[] stream) + { + DemoInputGeomProvider geom = DemoObjImporter.load(stream); + //sample = new Sample(geom, ImmutableArray.Empty, null, settingsUI, dd); + toolsUI.setEnabled(true); + return geom; + } + + private void loadNavMesh(FileStream file, string filename) + { + NavMesh mesh = null; + if (filename.EndsWith(".zip") || filename.EndsWith(".bytes")) + { + UnityAStarPathfindingImporter importer = new UnityAStarPathfindingImporter(); + mesh = importer.load(file)[0]; + } + else if (filename.EndsWith(".bin") || filename.EndsWith(".navmesh")) + { + MeshSetReader reader = new MeshSetReader(); + using (var fis = new BinaryReader(file)) + { + mesh = reader.read(fis, 6); + } + } + + if (mesh != null) + { + //sample = new Sample(null, ImmutableArray.Empty, mesh, settingsUI, dd); + toolsUI.setEnabled(true); + } + } + + private void OnWindowOnLoad() + { + _input = window.CreateInput(); + _gl = window.CreateOpenGL(); + _imgui = new ImGuiController(_gl, window, _input); + + //dd.init(_gl, camr); + + // // if (capabilities.OpenGL43) { + // // GL43.glDebugMessageControl(GL43.GL_DEBUG_SOURCE_API, GL43.GL_DEBUG_TYPE_OTHER, + // // GL43.GL_DEBUG_SEVERITY_NOTIFICATION, + // // (int[]) null, false); + // // } else if (capabilities.GL_ARB_debug_output) { + // // ARBDebugOutput.glDebugMessageControlARB(ARBDebugOutput.GL_DEBUG_SOURCE_API_ARB, + // // ARBDebugOutput.GL_DEBUG_TYPE_OTHER_ARB, ARBDebugOutput.GL_DEBUG_SEVERITY_LOW_ARB, (int[]) null, false); + // // } + var vendor = _gl.GetStringS(GLEnum.Vendor); + logger.Debug(vendor); + + var version = _gl.GetStringS(GLEnum.Version); + logger.Debug(version); + + var renderGl = _gl.GetStringS(GLEnum.Renderer); + logger.Debug(renderGl); + + var glslString = _gl.GetStringS(GLEnum.ShadingLanguageVersion); + logger.Debug(glslString); + + window.CreateInput(); + + + settingsUI = new SettingsUI(); + toolsUI = new ToolsUI( + new TestNavmeshTool(), + new OffMeshConnectionTool(), + new ConvexVolumeTool(), + new CrowdTool(), + new JumpLinkBuilderTool(), + new DynamicUpdateTool()); + + nuklearUI = new NuklearUI(window, _input, settingsUI, toolsUI); + + DemoInputGeomProvider geom = loadInputMesh(Loader.ToBytes("nav_test.obj")); + //sample = new Sample(geom, ImmutableArray.Empty, null, settingsUI, dd); + } + + private void OnWindowOnUpdate(double dt) + { + /* + * try (MemoryStack stack = stackPush()) { int[] w = stack.mallocInt(1); int[] h = + * stack.mallocInt(1); glfwGetWindowSize(win, w, h); width = w[0]; height = h[0]; } + */ + // if (sample.getInputGeom() != null) + // { + // float[] bmin = sample.getInputGeom().getMeshBoundsMin(); + // float[] bmax = sample.getInputGeom().getMeshBoundsMax(); + // int[] voxels = Recast.calcGridSize(bmin, bmax, settingsUI.getCellSize()); + // settingsUI.setVoxels(voxels); + // settingsUI.setTiles(tileNavMeshBuilder.getTiles(sample.getInputGeom(), settingsUI.getCellSize(), settingsUI.getTileSize())); + // settingsUI.setMaxTiles(tileNavMeshBuilder.getMaxTiles(sample.getInputGeom(), settingsUI.getCellSize(), settingsUI.getTileSize())); + // settingsUI.setMaxPolys(tileNavMeshBuilder.getMaxPolysPerTile(sample.getInputGeom(), settingsUI.getCellSize(), settingsUI.getTileSize())); + // } + + nuklearUI.inputBegin(); + window.DoEvents(); + nuklearUI.inputEnd(window); + + long time = Stopwatch.GetTimestamp() / 1000; + //float dt = (time - prevFrameTime) / 1000000.0f; + prevFrameTime = time; + + // Update sample simulation. + float SIM_RATE = 20; + float DELTA_TIME = 1.0f / SIM_RATE; + timeAcc = clamp((float)(timeAcc + dt), -1.0f, 1.0f); + int simIter = 0; + // while (timeAcc > DELTA_TIME) + // { + // timeAcc -= DELTA_TIME; + // if (simIter < 5 && sample != null) + // { + // toolsUI.handleUpdate(DELTA_TIME); + // } + // + // simIter++; + // } + + // Set the viewport. + // glViewport(0, 0, width, height); + int[] viewport = new int[] { 0, 0, width, height }; + // glGetIntegerv(GL_VIEWPORT, viewport); + + // Clear the screen + // dd.clear(); + // float[] projectionMatrix = dd.projectionMatrix(50f, (float)width / (float)height, 1.0f, camr); + // float[] modelviewMatrix = dd.viewMatrix(cameraPos, cameraEulers); + + //mouseOverMenu = nuklearUI.layout(window, 0, 0, width, height, (int)mousePos[0], (int)mousePos[1]); + + if (settingsUI.isMeshInputTrigerred()) + { + // aFilterPatterns.put(stack.UTF8("*.obj")); + // aFilterPatterns.flip(); + // string filename = TinyFileDialogs.tinyfd_openFileDialog("Open Mesh File", "", aFilterPatterns, + // "Mesh File (*.obj)", false); + // if (filename != null) { + // try (InputStream stream = new FileInputStream(filename)) { + // sample.update(loadInputMesh(stream), null, null); + // } catch (IOException e) { + // Console.WriteLine(e).printStackTrace(); + // } + // } + } + else if (settingsUI.isNavMeshInputTrigerred()) + { + // try (MemoryStack stack = stackPush()) { + // PointerBuffer aFilterPatterns = stack.mallocPointer(4); + // aFilterPatterns.put(stack.UTF8("*.bin")); + // aFilterPatterns.put(stack.UTF8("*.zip")); + // aFilterPatterns.put(stack.UTF8("*.bytes")); + // aFilterPatterns.put(stack.UTF8("*.navmesh")); + // aFilterPatterns.flip(); + // string filename = TinyFileDialogs.tinyfd_openFileDialog("Open Nav Mesh File", "", aFilterPatterns, + // "Nav Mesh File", false); + // if (filename != null) { + // File file = new File(filename); + // if (file.exists()) { + // try { + // loadNavMesh(file, filename); + // geom = null; + // } catch (Exception e) { + // Console.WriteLine(e); + // } + // } + // } + // } + } + // else if (settingsUI.isBuildTriggered() && sample.getInputGeom() != null) + // { + // if (!building) + // { + // float m_cellSize = settingsUI.getCellSize(); + // float m_cellHeight = settingsUI.getCellHeight(); + // float m_agentHeight = settingsUI.getAgentHeight(); + // float m_agentRadius = settingsUI.getAgentRadius(); + // float m_agentMaxClimb = settingsUI.getAgentMaxClimb(); + // float m_agentMaxSlope = settingsUI.getAgentMaxSlope(); + // int m_regionMinSize = settingsUI.getMinRegionSize(); + // int m_regionMergeSize = settingsUI.getMergedRegionSize(); + // float m_edgeMaxLen = settingsUI.getEdgeMaxLen(); + // float m_edgeMaxError = settingsUI.getEdgeMaxError(); + // int m_vertsPerPoly = settingsUI.getVertsPerPoly(); + // float m_detailSampleDist = settingsUI.getDetailSampleDist(); + // float m_detailSampleMaxError = settingsUI.getDetailSampleMaxError(); + // int m_tileSize = settingsUI.getTileSize(); + // long t = Stopwatch.GetTimestamp(); + // + // Tuple, NavMesh> buildResult; + // if (settingsUI.isTiled()) + // { + // buildResult = tileNavMeshBuilder.build(sample.getInputGeom(), settingsUI.getPartitioning(), 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, settingsUI.isFilterLowHangingObstacles(), settingsUI.isFilterLedgeSpans(), + // settingsUI.isFilterWalkableLowHeightSpans(), m_tileSize); + // } + // else + // { + // buildResult = soloNavMeshBuilder.build(sample.getInputGeom(), settingsUI.getPartitioning(), 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, settingsUI.isFilterLowHangingObstacles(), settingsUI.isFilterLedgeSpans(), + // settingsUI.isFilterWalkableLowHeightSpans()); + // } + // + // sample.update(sample.getInputGeom(), buildResult.Item1, buildResult.Item2); + // sample.setChanged(false); + // settingsUI.setBuildTime((Stopwatch.GetTimestamp() - t) / 1_000_000); + // toolsUI.setSample(sample); + // } + // } + else + { + building = false; + } + + if (!mouseOverMenu) + { + // GLU.glhUnProjectf(mousePos[0], viewport[3] - 1 - mousePos[1], 0.0f, modelviewMatrix, projectionMatrix, viewport, + // rayStart); + // GLU.glhUnProjectf(mousePos[0], viewport[3] - 1 - mousePos[1], 1.0f, modelviewMatrix, projectionMatrix, viewport, + // rayEnd); + + // Hit test mesh. + // DemoInputGeomProvider inputGeom = sample.getInputGeom(); + // if (processHitTest && sample != null) + // { + // float? hit = null; + // if (inputGeom != null) + // { + // hit = inputGeom.raycastMesh(rayStart, rayEnd); + // } + // + // if (!hit.HasValue && sample.getNavMesh() != null) + // { + // hit = NavMeshRaycast.raycast(sample.getNavMesh(), rayStart, rayEnd); + // } + // + // if (!hit.HasValue && sample.getRecastResults() != null) + // { + // hit = PolyMeshRaycast.raycast(sample.getRecastResults(), rayStart, rayEnd); + // } + // + // float[] rayDir = new float[] { rayEnd[0] - rayStart[0], rayEnd[1] - rayStart[1], rayEnd[2] - rayStart[2] }; + // Tool rayTool = toolsUI.getTool(); + // vNormalize(rayDir); + // if (rayTool != null) + // { + // rayTool.handleClickRay(rayStart, rayDir, processHitTestShift); + // } + // // TODO : 잠시 주석 + // // if (hit.HasValue) { + // // float hitTime = hit.Value; + // // if ((modState & GLFW_MOD_CONTROL) != 0) { + // // // Marker + // // markerPositionSet = true; + // // markerPosition[0] = rayStart[0] + (rayEnd[0] - rayStart[0]) * hitTime; + // // markerPosition[1] = rayStart[1] + (rayEnd[1] - rayStart[1]) * hitTime; + // // markerPosition[2] = rayStart[2] + (rayEnd[2] - rayStart[2]) * hitTime; + // // } else { + // // float[] pos = new float[3]; + // // pos[0] = rayStart[0] + (rayEnd[0] - rayStart[0]) * hitTime; + // // pos[1] = rayStart[1] + (rayEnd[1] - rayStart[1]) * hitTime; + // // pos[2] = rayStart[2] + (rayEnd[2] - rayStart[2]) * hitTime; + // // if (rayTool != null) { + // // rayTool.handleClick(rayStart, pos, processHitTestShift); + // // } + // // } + // // } else { + // // if ((modState & GLFW_MOD_CONTROL) != 0) { + // // // Marker + // // markerPositionSet = false; + // // } + // // } + // } + + processHitTest = false; + } + + // if (sample.isChanged()) + // { + // float[] bmin = null; + // float[] bmax = null; + // if (sample.getInputGeom() != null) + // { + // bmin = sample.getInputGeom().getMeshBoundsMin(); + // bmax = sample.getInputGeom().getMeshBoundsMax(); + // } + // else if (sample.getNavMesh() != null) + // { + // float[][] bounds = NavMeshUtils.getNavMeshBounds(sample.getNavMesh()); + // bmin = bounds[0]; + // bmax = bounds[1]; + // } + // else if (0 < sample.getRecastResults().Count) + // { + // foreach (RecastBuilderResult result in sample.getRecastResults()) + // { + // if (result.getSolidHeightfield() != null) + // { + // if (bmin == null) + // { + // bmin = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity }; + // bmax = new float[] { float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity }; + // } + // + // for (int i = 0; i < 3; i++) + // { + // bmin[i] = Math.Min(bmin[i], result.getSolidHeightfield().bmin[i]); + // bmax[i] = Math.Max(bmax[i], result.getSolidHeightfield().bmax[i]); + // } + // } + // } + // } + // + // if (bmin != null && bmax != null) + // { + // camr = (float)(Math.Sqrt( + // DemoMath.sqr(bmax[0] - bmin[0]) + DemoMath.sqr(bmax[1] - bmin[1]) + DemoMath.sqr(bmax[2] - bmin[2])) + // / 2); + // cameraPos[0] = (bmax[0] + bmin[0]) / 2 + camr; + // cameraPos[1] = (bmax[1] + bmin[1]) / 2 + camr; + // cameraPos[2] = (bmax[2] + bmin[2]) / 2 + camr; + // camr *= 3; + // cameraEulers[0] = 45; + // cameraEulers[1] = -45; + // } + // + // sample.setChanged(false); + // toolsUI.setSample(sample); + // } + + // dd.fog(camr * 0.1f, camr * 1.25f); + // renderer.render(sample); + // Tool tool = toolsUI.getTool(); + // if (tool != null) + // { + // tool.handleRender(renderer); + // } + // + // dd.fog(false); + _imgui.Update((float)dt); + } + + private unsafe void OnWindowOnRender(double dt) + { + _gl.Clear(ClearBufferMask.ColorBufferBit); + // Render GUI + //mouseOverMenu = nuklearUI.layout(window, 0, 0, width, height, (int)mousePos[0], (int)mousePos[1]); + //nuklearUI.render(); + ImGui.Button("hello"); + ImGui.Button("world"); + + _imgui.Render(); + } + + + public static void Main(string[] args) + { + var demo = new RecastDemo(); + demo.start(); + } + + private static void ErrorCallback(Silk.NET.GLFW.ErrorCode code, string message) + { + Console.WriteLine($"GLFW error [{code}]: {message}"); + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast.Demo/Sample.cs b/src/DotRecast.Recast.Demo/Sample.cs new file mode 100644 index 0000000..c9e95bc --- /dev/null +++ b/src/DotRecast.Recast.Demo/Sample.cs @@ -0,0 +1,86 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using DotRecast.Detour; +using DotRecast.Recast.Demo.Draw; +using DotRecast.Recast.Demo.Geom; +using DotRecast.Recast.Demo.Settings; + +namespace DotRecast.Recast.Demo; + +public class Sample { + + private DemoInputGeomProvider inputGeom; + private NavMesh navMesh; + private NavMeshQuery navMeshQuery; + private readonly SettingsUI settingsUI; + private IList recastResults; + private bool changed; + + public Sample(DemoInputGeomProvider inputGeom, IList recastResults, NavMesh navMesh, + SettingsUI settingsUI, RecastDebugDraw debugDraw) { + this.inputGeom = inputGeom; + this.recastResults = recastResults; + this.navMesh = navMesh; + this.settingsUI = settingsUI; + setQuery(navMesh); + changed = true; + } + + private void setQuery(NavMesh navMesh) { + navMeshQuery = navMesh != null ? new NavMeshQuery(navMesh) : null; + } + + public DemoInputGeomProvider getInputGeom() { + return inputGeom; + } + + public IList getRecastResults() { + return recastResults; + } + + public NavMesh getNavMesh() { + return navMesh; + } + + public SettingsUI getSettingsUI() { + return settingsUI; + } + + public NavMeshQuery getNavMeshQuery() { + return navMeshQuery; + } + + public bool isChanged() { + return changed; + } + + public void setChanged(bool changed) { + this.changed = changed; + } + + public void update(DemoInputGeomProvider geom, IList recastResults, NavMesh navMesh) { + inputGeom = geom; + this.recastResults = recastResults; + this.navMesh = navMesh; + setQuery(navMesh); + changed = true; + } +} diff --git a/src/DotRecast.Recast.Demo/Settings/SettingsUI.cs b/src/DotRecast.Recast.Demo/Settings/SettingsUI.cs new file mode 100644 index 0000000..0c1f054 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Settings/SettingsUI.cs @@ -0,0 +1,336 @@ +/* +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using DotRecast.Recast.Demo.Draw; +using DotRecast.Recast.Demo.UI; +using ImGuiNET; +using Silk.NET.OpenGL.Extensions.ImGui; +using Silk.NET.Windowing; + +namespace DotRecast.Recast.Demo.Settings; + +public class SettingsUI : NuklearUIModule { + + private readonly float[] cellSize = new[] { 0.3f }; + private readonly float[] cellHeight = new[] { 0.2f }; + + private readonly float[] agentHeight = new[] { 2f }; + private readonly float[] agentRadius = new[] { 0.6f }; + private readonly float[] agentMaxClimb = new[] { 0.9f }; + private readonly float[] agentMaxSlope = new[] { 45f }; + + private readonly int[] minRegionSize = new[] { 8 }; + private readonly int[] mergedRegionSize = new[] { 20 }; + + private PartitionType partitioning = PartitionType.WATERSHED; + + private bool filterLowHangingObstacles = true; + private bool filterLedgeSpans = true; + private bool filterWalkableLowHeightSpans = true; + + private readonly float[] edgeMaxLen = new[] { 12f }; + private readonly float[] edgeMaxError = new[] { 1.3f }; + private readonly int[] vertsPerPoly = new[] { 6 }; + + private readonly float[] detailSampleDist = new[] { 6f }; + private readonly float[] detailSampleMaxError = new[] { 1f }; + + private bool tiled = false; + private readonly int[] tileSize = new[] { 32 }; + + // public readonly NkColor white = NkColor.create(); + // public readonly NkColor background = NkColor.create(); + // public readonly NkColor transparent = NkColor.create(); + private bool buildTriggered; + private long buildTime; + private readonly int[] voxels = new int[2]; + private readonly int[] tiles = new int[2]; + private int maxTiles; + private int maxPolys; + + private DrawMode drawMode = DrawMode.DRAWMODE_NAVMESH; + private bool meshInputTrigerred; + private bool navMeshInputTrigerred; + + public bool layout(IWindow i, int x, int y, int width, int height, int mouseX, int mouseY) { + bool mouseInside = false; + // nk_rgb(255, 255, 255, white); + // nk_rgba(0, 0, 0, 192, background); + // nk_rgba(255, 0, 0, 0, transparent); + // try (MemoryStack stack = stackPush()) { + // ctx.style().text().color().set(white); + // ctx.style().option().text_normal().set(white); + // ctx.style().property().label_normal().set(white); + // ctx.style().window().background().set(background); + // NkStyleItem styleItem = NkStyleItem.mallocStack(stack); + // nk_style_item_color(background, styleItem); + // ctx.style().window().fixed_background().set(styleItem); + // nk_style_item_color(white, styleItem); + // ctx.style().option().cursor_hover().set(styleItem); + // ctx.style().option().cursor_normal().set(styleItem); + // nk_style_item_color(transparent, styleItem); + // ctx.style().tab().node_minimize_button().normal().set(styleItem); + // ctx.style().tab().node_minimize_button().active().set(styleItem); + // ctx.style().tab().node_maximize_button().normal().set(styleItem); + // ctx.style().tab().node_maximize_button().active().set(styleItem); + // } + // try (MemoryStack stack = stackPush()) { + // NkRect rect = NkRect.mallocStack(stack); + // if (nk_begin(ctx, "Properties", nk_rect(width - 255, 5, 250, height - 10, rect), + // NK_WINDOW_BORDER | NK_WINDOW_MOVABLE | NK_WINDOW_TITLE)) { + // + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Input Mesh", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // meshInputTrigerred = nk_button_text(ctx, "Load Source Geom..."); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Verts: %d Tris: %d", 0, 0), NK_TEXT_ALIGN_RIGHT); + // + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Rasterization", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Cell Size", 0.1f, cellSize, 1f, 0.01f, 0.01f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Cell Height", 0.1f, cellHeight, 1f, 0.01f, 0.01f); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Voxels %d x %d", voxels[0], voxels[1]), NK_TEXT_ALIGN_RIGHT); + // + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Agent", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Height", 0.1f, agentHeight, 5f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Radius", 0.0f, agentRadius, 5f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Climb", 0.1f, agentMaxClimb, 5f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Slope", 0f, agentMaxSlope, 90f, 1f, 1f); + // + // nk_layout_row_dynamic(ctx, 3, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Region", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_int(ctx, "Min Region Size", 0, minRegionSize, 150, 1, 1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_int(ctx, "Merged Region Size", 0, mergedRegionSize, 150, 1, 1f); + // + // nk_layout_row_dynamic(ctx, 3, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Partitioning", NK_TEXT_ALIGN_LEFT); + // partitioning = NuklearUIHelper.nk_radio(ctx, PartitionType.values(), partitioning, + // p => p.name().substring(0, 1) + p.name().substring(1).toLowerCase()); + // + // nk_layout_row_dynamic(ctx, 3, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Filtering", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // filterLowHangingObstacles = nk_option_text(ctx, "Low Hanging Obstacles", filterLowHangingObstacles); + // nk_layout_row_dynamic(ctx, 20, 1); + // filterLedgeSpans = nk_option_text(ctx, "Ledge Spans", filterLedgeSpans); + // nk_layout_row_dynamic(ctx, 20, 1); + // filterWalkableLowHeightSpans = nk_option_text(ctx, "Walkable Low Height Spans", + // filterWalkableLowHeightSpans); + // + // nk_layout_row_dynamic(ctx, 3, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Polygonization", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Edge Length", 0f, edgeMaxLen, 50f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Edge Error", 0.1f, edgeMaxError, 3f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_int(ctx, "Vert Per Poly", 3, vertsPerPoly, 12, 1, 1); + // + // nk_layout_row_dynamic(ctx, 3, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Detail Mesh", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Sample Distance", 0f, detailSampleDist, 16f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Sample Error", 0f, detailSampleMaxError, 16f, 0.1f, 0.1f); + // + // nk_layout_row_dynamic(ctx, 3, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Tiling", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // tiled = nk_check_text(ctx, "Enable", tiled); + // if (tiled) { + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_int(ctx, "Tile Size", 16, tileSize, 1024, 16, 16); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Tiles %d x %d", tiles[0], tiles[1]), NK_TEXT_ALIGN_RIGHT); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Max Tiles %d", maxTiles), NK_TEXT_ALIGN_RIGHT); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Max Polys %d", maxPolys), NK_TEXT_ALIGN_RIGHT); + // } + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Build Time: %d ms", buildTime), NK_TEXT_ALIGN_LEFT); + // + // nk_layout_row_dynamic(ctx, 20, 1); + // buildTriggered = nk_button_text(ctx, "Build"); + // nk_layout_row_dynamic(ctx, 3, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // navMeshInputTrigerred = nk_button_text(ctx, "Load Nav Mesh..."); + // + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Draw", NK_TEXT_ALIGN_LEFT); + // drawMode = NuklearUIHelper.nk_radio(ctx, DrawMode.values(), drawMode, dm => dm.toString()); + // + // nk_window_get_bounds(ctx, rect); + // if (mouseX >= rect.x() && mouseX <= rect.x() + rect.w() && mouseY >= rect.y() + // && mouseY <= rect.y() + rect.h()) { + // mouseInside = true; + // } + // } + // nk_end(ctx); + // } + return mouseInside; + } + + public float getCellSize() { + //return cellSize[0]; + return 0; + } + + public float getCellHeight() { + //return cellHeight[0]; + return 0; + } + + public float getAgentHeight() { + //return agentHeight[0]; + return 0; + } + + public float getAgentRadius() { + //return agentRadius[0]; + return 0; + } + + public float getAgentMaxClimb() { + //return agentMaxClimb[0]; + return 0; + } + + public float getAgentMaxSlope() { + //return agentMaxSlope[0]; + return 0; + } + + public int getMinRegionSize() { + //return minRegionSize[0]; + return 0; + } + + public int getMergedRegionSize() { + //return mergedRegionSize[0]; + return 0; + } + + public PartitionType getPartitioning() { + return partitioning; + } + + public bool isBuildTriggered() { + return buildTriggered; + } + + public bool isFilterLowHangingObstacles() { + return filterLowHangingObstacles; + } + + public bool isFilterLedgeSpans() { + return filterLedgeSpans; + } + + public bool isFilterWalkableLowHeightSpans() { + return filterWalkableLowHeightSpans; + } + + public void setBuildTime(long buildTime) { + this.buildTime = buildTime; + } + + public DrawMode getDrawMode() { + return drawMode; + } + + public float getEdgeMaxLen() { + return edgeMaxLen[0]; + } + + public float getEdgeMaxError() { + return edgeMaxError[0]; + } + + public int getVertsPerPoly() { + return vertsPerPoly[0]; + } + + public float getDetailSampleDist() { + return detailSampleDist[0]; + } + + public float getDetailSampleMaxError() { + return detailSampleMaxError[0]; + } + + public void setVoxels(int[] voxels) { + this.voxels[0] = voxels[0]; + this.voxels[1] = voxels[1]; + } + + public bool isTiled() { + return tiled; + } + + public int getTileSize() { + return tileSize[0]; + } + + public void setTiles(int[] tiles) { + this.tiles[0] = tiles[0]; + this.tiles[1] = tiles[1]; + } + + public void setMaxTiles(int maxTiles) { + this.maxTiles = maxTiles; + } + + public void setMaxPolys(int maxPolys) { + this.maxPolys = maxPolys; + } + + public bool isMeshInputTrigerred() { + return meshInputTrigerred; + } + + public bool isNavMeshInputTrigerred() { + return navMeshInputTrigerred; + } + +} diff --git a/src/DotRecast.Recast.Demo/Tools/ConvexVolumeTool.cs b/src/DotRecast.Recast.Demo/Tools/ConvexVolumeTool.cs new file mode 100644 index 0000000..4749262 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/ConvexVolumeTool.cs @@ -0,0 +1,204 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using Silk.NET.Windowing; + +using DotRecast.Core; +using DotRecast.Recast.Demo.Builder; +using DotRecast.Recast.Demo.Draw; +using DotRecast.Recast.Demo.Geom; + +using static DotRecast.Recast.Demo.Draw.DebugDraw; +using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives; + +namespace DotRecast.Recast.Demo.Tools; + +public class ConvexVolumeTool : Tool { + + private Sample sample; + private AreaModification areaType = SampleAreaModifications.SAMPLE_AREAMOD_GRASS; + private readonly float[] boxHeight = new[] { 6f }; + private readonly float[] boxDescent = new[] { 1f }; + private readonly float[] polyOffset = new[] { 0f }; + private readonly List pts = new(); + private readonly List hull = new(); + + public override void setSample(Sample m_sample) { + sample = m_sample; + } + + public override void handleClick(float[] s, float[] p, bool shift) { + DemoInputGeomProvider geom = sample.getInputGeom(); + if (geom == null) { + return; + } + + if (shift) { + // Delete + int nearestIndex = -1; + IList vols = geom.convexVolumes(); + for (int i = 0; i < vols.Count; ++i) { + if (PolyUtils.pointInPoly(vols[i].verts, p) && p[1] >= vols[i].hmin + && p[1] <= vols[i].hmax) { + nearestIndex = i; + } + } + // If end point close enough, delete it. + if (nearestIndex != -1) { + geom.convexVolumes().RemoveAt(nearestIndex); + } + } else { + // Create + + // If clicked on that last pt, create the shape. + if (pts.Count > 0 && DemoMath.vDistSqr(p, + new float[] { pts[pts.Count - 3], pts[pts.Count - 2], pts[pts.Count - 1] }, + 0) < 0.2f * 0.2f) { + if (hull.Count > 2) { + // Create shape. + float[] verts = new float[hull.Count * 3]; + for (int i = 0; i < hull.Count; ++i) { + verts[i * 3] = pts[hull[i] * 3]; + verts[i * 3 + 1] = pts[hull[i] * 3 + 1]; + verts[i * 3 + 2] = pts[hull[i] * 3 + 2]; + } + + float minh = float.MaxValue, maxh = 0; + for (int i = 0; i < hull.Count; ++i) { + minh = Math.Min(minh, verts[i * 3 + 1]); + } + minh -= boxDescent[0]; + maxh = minh + boxHeight[0]; + + if (polyOffset[0] > 0.01f) { + float[] offset = new float[verts.Length * 2]; + int noffset = PolyUtils.offsetPoly(verts, hull.Count, polyOffset[0], offset, + offset.Length); + if (noffset > 0) { + geom.addConvexVolume(ArrayUtils.CopyOf(offset, 0, noffset * 3), minh, maxh, areaType); + } + } else { + geom.addConvexVolume(verts, minh, maxh, areaType); + } + } + pts.Clear(); + hull.Clear(); + } else { + // Add new point + pts.Add(p[0]); + pts.Add(p[1]); + pts.Add(p[2]); + // Update hull. + if (pts.Count > 3) { + hull.Clear(); + hull.AddRange(ConvexUtils.convexhull(pts)); + } else { + hull.Clear(); + } + } + } + + } + + public override void handleRender(NavMeshRenderer renderer) { + RecastDebugDraw dd = renderer.getDebugDraw(); + // Find height extent of the shape. + float minh = float.MaxValue, maxh = 0; + for (int i = 0; i < pts.Count; i += 3) { + minh = Math.Min(minh, pts[i + 1]); + } + minh -= boxDescent[0]; + maxh = minh + boxHeight[0]; + + dd.begin(POINTS, 4.0f); + for (int i = 0; i < pts.Count; i += 3) { + int col = duRGBA(255, 255, 255, 255); + if (i == pts.Count - 3) { + col = duRGBA(240, 32, 16, 255); + } + dd.vertex(pts[i + 0], pts[i + 1] + 0.1f, pts[i + 2], col); + } + dd.end(); + + dd.begin(LINES, 2.0f); + for (int i = 0, j = hull.Count - 1; i < hull.Count; j = i++) { + int vi = hull[j] * 3; + int vj = hull[i] * 3; + dd.vertex(pts[vj + 0], minh, pts[vj + 2], duRGBA(255, 255, 255, 64)); + dd.vertex(pts[vi + 0], minh, pts[vi + 2], duRGBA(255, 255, 255, 64)); + dd.vertex(pts[vj + 0], maxh, pts[vj + 2], duRGBA(255, 255, 255, 64)); + dd.vertex(pts[vi + 0], maxh, pts[vi + 2], duRGBA(255, 255, 255, 64)); + dd.vertex(pts[vj + 0], minh, pts[vj + 2], duRGBA(255, 255, 255, 64)); + dd.vertex(pts[vj + 0], maxh, pts[vj + 2], duRGBA(255, 255, 255, 64)); + } + dd.end(); + } + + public override void layout(IWindow ctx) { + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Shape Height", 0.1f, boxHeight, 20f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Shape Descent", 0.1f, boxDescent, 20f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Poly Offset", 0.1f, polyOffset, 10f, 0.1f, 0.1f); + // nk_label(ctx, "Area Type", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Ground", areaType == SampleAreaModifications.SAMPLE_AREAMOD_GROUND)) { + // areaType = SampleAreaModifications.SAMPLE_AREAMOD_GROUND; + // } + // if (nk_option_label(ctx, "Water", areaType == SampleAreaModifications.SAMPLE_AREAMOD_WATER)) { + // areaType = SampleAreaModifications.SAMPLE_AREAMOD_WATER; + // } + // if (nk_option_label(ctx, "Road", areaType == SampleAreaModifications.SAMPLE_AREAMOD_ROAD)) { + // areaType = SampleAreaModifications.SAMPLE_AREAMOD_ROAD; + // } + // if (nk_option_label(ctx, "Door", areaType == SampleAreaModifications.SAMPLE_AREAMOD_DOOR)) { + // areaType = SampleAreaModifications.SAMPLE_AREAMOD_DOOR; + // } + // if (nk_option_label(ctx, "Grass", areaType == SampleAreaModifications.SAMPLE_AREAMOD_GRASS)) { + // areaType = SampleAreaModifications.SAMPLE_AREAMOD_GRASS; + // } + // if (nk_option_label(ctx, "Jump", areaType == SampleAreaModifications.SAMPLE_AREAMOD_JUMP)) { + // areaType = SampleAreaModifications.SAMPLE_AREAMOD_JUMP; + // } + // if (nk_button_text(ctx, "Clear Shape")) { + // hull.clear(); + // pts.clear(); + // } + // if (nk_button_text(ctx, "Remove All")) { + // hull.clear(); + // pts.clear(); + // DemoInputGeomProvider geom = sample.getInputGeom(); + // if (geom != null) { + // geom.clearConvexVolumes(); + // } + // } + } + + public override string getName() { + return "Create Convex Volumes"; + } + + public override void handleUpdate(float dt) { + // TODO Auto-generated method stub + } + +} diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs b/src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs new file mode 100644 index 0000000..21da13f --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs @@ -0,0 +1,393 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Diagnostics; +using DotRecast.Core; +using DotRecast.Detour; +using DotRecast.Detour.Crowd; +using DotRecast.Recast.Demo.Builder; +using DotRecast.Recast.Demo.Draw; +using Silk.NET.Windowing; + +using static DotRecast.Recast.Demo.Draw.DebugDraw; + +namespace DotRecast.Recast.Demo.Tools; + +public class CrowdProfilingTool { + + private readonly Func agentParamsSupplier; + private readonly int[] expandSimOptions = new[] { 1 }; + private readonly int[] expandCrowdOptions = new[] { 1 }; + private readonly int[] agents = new[] { 1000 }; + private readonly int[] randomSeed = new[] { 270 }; + private readonly int[] numberOfZones = new[] { 4 }; + private readonly float[] zoneRadius = new[] { 20f }; + private readonly float[] percentMobs = new[] { 80f }; + private readonly float[] percentTravellers = new[] { 15f }; + private readonly int[] pathQueueSize = new[] { 32 }; + private readonly int[] maxIterations = new[] { 300 }; + private Crowd crowd; + private NavMesh navMesh; + private CrowdConfig config; + private NavMeshQuery.FRand rnd; + private readonly List zones = new(); + private long crowdUpdateTime; + + public CrowdProfilingTool(Func agentParamsSupplier) { + this.agentParamsSupplier = agentParamsSupplier; + } + + public void layout(IWindow ctx) { + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // if (nk_tree_state_push(ctx, 0, "Simulation Options", expandSimOptions)) { + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_int(ctx, "Agents", 0, agents, 10000, 1, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_int(ctx, "Random Seed", 0, randomSeed, 1024, 1, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_int(ctx, "Number of Zones", 0, numberOfZones, 10, 1, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Zone Radius", 0, zoneRadius, 100, 1, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Mobs %", 0, percentMobs, 100, 1, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Travellers %", 0, percentTravellers, 100, 1, 1); + // nk_tree_state_pop(ctx); + // } + // if (nk_tree_state_push(ctx, 0, "Crowd Options", expandCrowdOptions)) { + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_int(ctx, "Path Queue Size", 0, pathQueueSize, 1024, 1, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_int(ctx, "Max Iterations", 0, maxIterations, 4000, 1, 1); + // nk_tree_state_pop(ctx); + // } + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_button_text(ctx, "Start")) { + // if (navMesh != null) { + // rnd = new NavMeshQuery.FRand(randomSeed[0]); + // createCrowd(); + // createZones(); + // NavMeshQuery navquery = new NavMeshQuery(navMesh); + // QueryFilter filter = new DefaultQueryFilter(); + // for (int i = 0; i < agents[0]; i++) { + // float tr = rnd.frand(); + // AgentType type = AgentType.MOB; + // float mobsPcnt = percentMobs[0] / 100f; + // if (tr > mobsPcnt) { + // tr = rnd.frand(); + // float travellerPcnt = percentTravellers[0] / 100f; + // if (tr > travellerPcnt) { + // type = AgentType.VILLAGER; + // } else { + // type = AgentType.TRAVELLER; + // } + // } + // float[] pos = null; + // switch (type) { + // case MOB: + // pos = getMobPosition(navquery, filter, pos); + // break; + // case VILLAGER: + // pos = getVillagerPosition(navquery, filter, pos); + // break; + // case TRAVELLER: + // pos = getVillagerPosition(navquery, filter, pos); + // break; + // } + // if (pos != null) { + // addAgent(pos, type); + // } + // } + // } + // } + // if (crowd != null) { + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Max time to enqueue request: %.3f s", crowd.telemetry().maxTimeToEnqueueRequest()), + // NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Max time to find path: %.3f s", crowd.telemetry().maxTimeToFindPath()), + // NK_TEXT_ALIGN_LEFT); + // List> timings = crowd.telemetry().executionTimings().entrySet().stream() + // .map(e => Tuple.Create(e.getKey(), e.getValue())).sorted((t1, t2) => long.compare(t2.Item2, t1.Item2)) + // .collect(toList()); + // foreach (Tuple e in timings) { + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("%s: %d us", e.Item1, e.Item2 / 1_000), NK_TEXT_ALIGN_LEFT); + // } + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Update Time: %d ms", crowdUpdateTime), NK_TEXT_ALIGN_LEFT); + // } + } + + private float[] getMobPosition(NavMeshQuery navquery, QueryFilter filter, float[] pos) { + Result result = navquery.findRandomPoint(filter, rnd); + if (result.succeeded()) { + pos = result.result.getRandomPt(); + } + return pos; + } + + private float[] getVillagerPosition(NavMeshQuery navquery, QueryFilter filter, float[] pos) { + if (0 < zones.Count) { + int zone = (int) (rnd.frand() * zones.Count); + Result result = navquery.findRandomPointWithinCircle(zones[zone].getRandomRef(), + zones[zone].getRandomPt(), zoneRadius[0], filter, rnd); + if (result.succeeded()) { + pos = result.result.getRandomPt(); + } + } + return pos; + } + + private void createZones() { + zones.Clear(); + QueryFilter filter = new DefaultQueryFilter(); + NavMeshQuery navquery = new NavMeshQuery(navMesh); + for (int i = 0; i < numberOfZones[0]; i++) { + float zoneSeparation = zoneRadius[0] * zoneRadius[0] * 16; + for (int k = 0; k < 100; k++) { + Result result = navquery.findRandomPoint(filter, rnd); + if (result.succeeded()) { + bool valid = true; + foreach (FindRandomPointResult zone in zones) { + if (DemoMath.vDistSqr(zone.getRandomPt(), result.result.getRandomPt(), 0) < zoneSeparation) { + valid = false; + break; + } + } + if (valid) { + zones.Add(result.result); + break; + } + } + } + } + } + + private void createCrowd() { + crowd = new Crowd(config, navMesh, __ => new DefaultQueryFilter(SampleAreaModifications.SAMPLE_POLYFLAGS_ALL, + SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED, new float[] { 1f, 10f, 1f, 1f, 2f, 1.5f })); + + ObstacleAvoidanceQuery.ObstacleAvoidanceParams option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(crowd.getObstacleAvoidanceParams(0)); + // Low (11) + option.velBias = 0.5f; + option.adaptiveDivs = 5; + option.adaptiveRings = 2; + option.adaptiveDepth = 1; + crowd.setObstacleAvoidanceParams(0, option); + // Medium (22) + option.velBias = 0.5f; + option.adaptiveDivs = 5; + option.adaptiveRings = 2; + option.adaptiveDepth = 2; + crowd.setObstacleAvoidanceParams(1, option); + // Good (45) + option.velBias = 0.5f; + option.adaptiveDivs = 7; + option.adaptiveRings = 2; + option.adaptiveDepth = 3; + crowd.setObstacleAvoidanceParams(2, option); + // High (66) + option.velBias = 0.5f; + option.adaptiveDivs = 7; + option.adaptiveRings = 3; + option.adaptiveDepth = 3; + crowd.setObstacleAvoidanceParams(3, option); + } + + public void update(float dt) { + long startTime = Stopwatch.GetTimestamp(); + if (crowd != null) { + crowd.config().pathQueueSize = pathQueueSize[0]; + crowd.config().maxFindPathIterations = maxIterations[0]; + crowd.update(dt, null); + } + long endTime = Stopwatch.GetTimestamp(); + if (crowd != null) { + + NavMeshQuery navquery = new NavMeshQuery(navMesh); + QueryFilter filter = new DefaultQueryFilter(); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + if (needsNewTarget(ag)) { + AgentData agentData = (AgentData) ag.option.userData; + switch (agentData.type) { + case AgentType.MOB: + moveMob(navquery, filter, ag, agentData); + break; + case AgentType.VILLAGER: + moveVillager(navquery, filter, ag, agentData); + break; + case AgentType.TRAVELLER: + moveTraveller(navquery, filter, ag, agentData); + break; + } + } + } + } + crowdUpdateTime = (endTime - startTime) / 1_000_000; + } + + private void moveMob(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData) { + // Move somewhere + Result nearestPoly = navquery.findNearestPoly(ag.npos, crowd.getQueryExtents(), filter); + if (nearestPoly.succeeded()) { + Result result = navquery.findRandomPointAroundCircle(nearestPoly.result.getNearestRef(), + agentData.home, zoneRadius[0] * 2f, filter, rnd); + if (result.succeeded()) { + crowd.requestMoveTarget(ag, result.result.getRandomRef(), result.result.getRandomPt()); + } + } + } + + private void moveVillager(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData) { + // Move somewhere close + Result nearestPoly = navquery.findNearestPoly(ag.npos, crowd.getQueryExtents(), filter); + if (nearestPoly.succeeded()) { + Result result = navquery.findRandomPointAroundCircle(nearestPoly.result.getNearestRef(), + agentData.home, zoneRadius[0] * 0.2f, filter, rnd); + if (result.succeeded()) { + crowd.requestMoveTarget(ag, result.result.getRandomRef(), result.result.getRandomPt()); + } + } + } + + private void moveTraveller(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData) { + // Move to another zone + List potentialTargets = new(); + foreach (FindRandomPointResult zone in zones) { + if (DemoMath.vDistSqr(zone.getRandomPt(), ag.npos, 0) > zoneRadius[0] * zoneRadius[0]) { + potentialTargets.Add(zone); + } + } + if (0 < potentialTargets.Count) { + potentialTargets.Shuffle(); + crowd.requestMoveTarget(ag, potentialTargets[0].getRandomRef(), potentialTargets[0].getRandomPt()); + } + } + + private bool needsNewTarget(CrowdAgent ag) { + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE + || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) { + return true; + } + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VALID) { + float dx = ag.targetPos[0] - ag.npos[0]; + float dy = ag.targetPos[1] - ag.npos[1]; + float dz = ag.targetPos[2] - ag.npos[2]; + return dx * dx + dy * dy + dz * dz < 0.3f; + } + return false; + } + + public void setup(float maxAgentRadius, NavMesh nav) { + navMesh = nav; + if (nav != null) { + config = new CrowdConfig(maxAgentRadius); + } + } + + public void handleRender(NavMeshRenderer renderer) { + RecastDebugDraw dd = renderer.getDebugDraw(); + dd.depthMask(false); + if (crowd != null) { + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + float radius = ag.option.radius; + float[] pos = ag.npos; + dd.debugDrawCircle(pos[0], pos[1], pos[2], radius, duRGBA(0, 0, 0, 32), 2.0f); + } + + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + AgentData agentData = (AgentData) ag.option.userData; + + float height = ag.option.height; + float radius = ag.option.radius; + float[] pos = ag.npos; + + int col = duRGBA(220, 220, 220, 128); + if (agentData.type == AgentType.TRAVELLER) { + col = duRGBA(100, 160, 100, 128); + } + if (agentData.type == AgentType.VILLAGER) { + col = duRGBA(120, 80, 160, 128); + } + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING + || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE) + col = duLerpCol(col, duRGBA(255, 255, 32, 128), 128); + else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH) + col = duLerpCol(col, duRGBA(255, 64, 32, 128), 128); + else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) + col = duRGBA(255, 32, 16, 128); + else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) + col = duLerpCol(col, duRGBA(64, 255, 0, 128), 128); + + dd.debugDrawCylinder(pos[0] - radius, pos[1] + radius * 0.1f, pos[2] - radius, pos[0] + radius, pos[1] + height, + pos[2] + radius, col); + } + } + + dd.depthMask(true); + } + + private CrowdAgent addAgent(float[] p, AgentType type) { + CrowdAgentParams ap = agentParamsSupplier.Invoke(); + ap.userData = new AgentData(type, p); + return crowd.addAgent(p, ap); + } + + public enum AgentType { + VILLAGER, TRAVELLER, MOB, + } + + private class AgentData { + public readonly AgentType type; + public readonly float[] home = new float[3]; + + public AgentData(AgentType type, float[] home) { + this.type = type; + RecastVectors.copy(this.home, home); + } + + } + + public void updateAgentParams(int updateFlags, int obstacleAvoidanceType, float separationWeight) { + if (crowd != null) { + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + CrowdAgentParams option = new CrowdAgentParams(); + option.radius = ag.option.radius; + option.height = ag.option.height; + option.maxAcceleration = ag.option.maxAcceleration; + option.maxSpeed = ag.option.maxSpeed; + option.collisionQueryRange = ag.option.collisionQueryRange; + option.pathOptimizationRange = ag.option.pathOptimizationRange; + option.queryFilterType = ag.option.queryFilterType; + option.userData = ag.option.userData; + option.updateFlags = updateFlags; + option.obstacleAvoidanceType = obstacleAvoidanceType; + option.separationWeight = separationWeight; + crowd.updateAgentParameters(ag, option); + } + } + } +} diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdTool.cs b/src/DotRecast.Recast.Demo/Tools/CrowdTool.cs new file mode 100644 index 0000000..bbd039d --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/CrowdTool.cs @@ -0,0 +1,735 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Diagnostics; +using Silk.NET.Windowing; +using DotRecast.Detour; +using DotRecast.Detour.Crowd; +using DotRecast.Detour.Crowd.Tracking; +using DotRecast.Recast.Demo.Builder; +using DotRecast.Recast.Demo.Draw; +using DotRecast.Recast.Demo.Geom; + +using static DotRecast.Recast.Demo.Draw.DebugDraw; +using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives; + +namespace DotRecast.Recast.Demo.Tools; + +public class CrowdTool : Tool { + + private enum ToolMode { + CREATE, MOVE_TARGET, SELECT, TOGGLE_POLYS, PROFILING + } + + private readonly CrowdToolParams toolParams = new CrowdToolParams(); + private Sample sample; + private NavMesh m_nav; + private Crowd crowd; + private readonly CrowdProfilingTool profilingTool; + private readonly CrowdAgentDebugInfo m_agentDebug = new CrowdAgentDebugInfo(); + + private static readonly int AGENT_MAX_TRAIL = 64; + + private class AgentTrail { + public float[] trail = new float[AGENT_MAX_TRAIL * 3]; + public int htrail; + }; + + private readonly Dictionary m_trails = new(); + private float[] m_targetPos; + private long m_targetRef; + private ToolMode m_mode = ToolMode.CREATE; + private long crowdUpdateTime; + + public CrowdTool() { + m_agentDebug.vod = new ObstacleAvoidanceDebugData(2048); + profilingTool = new CrowdProfilingTool(getAgentParams); + } + + public override void setSample(Sample psample) { + if (sample != psample) { + sample = psample; + } + + NavMesh nav = sample.getNavMesh(); + + if (nav != null && m_nav != nav) { + m_nav = nav; + + CrowdConfig config = new CrowdConfig(sample.getSettingsUI().getAgentRadius()); + + crowd = new Crowd(config, nav, __ => new DefaultQueryFilter(SampleAreaModifications.SAMPLE_POLYFLAGS_ALL, + SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED, new float[] { 1f, 10f, 1f, 1f, 2f, 1.5f })); + + // Setup local avoidance option to different qualities. + // Use mostly default settings, copy from dtCrowd. + ObstacleAvoidanceQuery.ObstacleAvoidanceParams option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(crowd.getObstacleAvoidanceParams(0)); + + // Low (11) + option.velBias = 0.5f; + option.adaptiveDivs = 5; + option.adaptiveRings = 2; + option.adaptiveDepth = 1; + crowd.setObstacleAvoidanceParams(0, option); + + // Medium (22) + option.velBias = 0.5f; + option.adaptiveDivs = 5; + option.adaptiveRings = 2; + option.adaptiveDepth = 2; + crowd.setObstacleAvoidanceParams(1, option); + + // Good (45) + option.velBias = 0.5f; + option.adaptiveDivs = 7; + option.adaptiveRings = 2; + option.adaptiveDepth = 3; + crowd.setObstacleAvoidanceParams(2, option); + + // High (66) + option.velBias = 0.5f; + option.adaptiveDivs = 7; + option.adaptiveRings = 3; + option.adaptiveDepth = 3; + + crowd.setObstacleAvoidanceParams(3, option); + + profilingTool.setup(sample.getSettingsUI().getAgentRadius(), m_nav); + } + } + + public override void handleClick(float[] s, float[] p, bool shift) { + if (m_mode == ToolMode.PROFILING) { + return; + } + if (crowd == null) { + return; + } + if (m_mode == ToolMode.CREATE) { + if (shift) { + // Delete + CrowdAgent ahit = hitTestAgents(s, p); + if (ahit != null) { + removeAgent(ahit); + } + } else { + // Add + addAgent(p); + } + } else if (m_mode == ToolMode.MOVE_TARGET) { + setMoveTarget(p, shift); + } else if (m_mode == ToolMode.SELECT) { + // Highlight + CrowdAgent ahit = hitTestAgents(s, p); + hilightAgent(ahit); + } else if (m_mode == ToolMode.TOGGLE_POLYS) { + NavMesh nav = sample.getNavMesh(); + NavMeshQuery navquery = sample.getNavMeshQuery(); + if (nav != null && navquery != null) { + QueryFilter filter = new DefaultQueryFilter(); + float[] halfExtents = crowd.getQueryExtents(); + Result result = navquery.findNearestPoly(p, halfExtents, filter); + long refs = result.result.getNearestRef(); + if (refs != 0) { + Result flags = nav.getPolyFlags(refs); + if (flags.succeeded()) { + nav.setPolyFlags(refs, flags.result ^ SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED); + } + } + } + } + } + + private void removeAgent(CrowdAgent agent) { + crowd.removeAgent(agent); + if (agent == m_agentDebug.agent) { + m_agentDebug.agent = null; + } + } + + private void addAgent(float[] p) { + CrowdAgentParams ap = getAgentParams(); + CrowdAgent ag = crowd.addAgent(p, ap); + if (ag != null) { + if (m_targetRef != 0) + crowd.requestMoveTarget(ag, m_targetRef, m_targetPos); + + // Init trail + if (!m_trails.TryGetValue(ag.idx, out var trail)) + { + trail = new AgentTrail(); + m_trails.Add(ag.idx, trail); + } + for (int i = 0; i < AGENT_MAX_TRAIL; ++i) { + trail.trail[i * 3] = p[0]; + trail.trail[i * 3 + 1] = p[1]; + trail.trail[i * 3 + 2] = p[2]; + } + trail.htrail = 0; + } + + } + + private CrowdAgentParams getAgentParams() { + CrowdAgentParams ap = new CrowdAgentParams(); + ap.radius = sample.getSettingsUI().getAgentRadius(); + ap.height = sample.getSettingsUI().getAgentHeight(); + ap.maxAcceleration = 8.0f; + ap.maxSpeed = 3.5f; + ap.collisionQueryRange = ap.radius * 12.0f; + ap.pathOptimizationRange = ap.radius * 30.0f; + ap.updateFlags = getUpdateFlags(); + ap.obstacleAvoidanceType = toolParams.m_obstacleAvoidanceType[0]; + ap.separationWeight = toolParams.m_separationWeight[0]; + return ap; + } + + private CrowdAgent hitTestAgents(float[] s, float[] p) { + + CrowdAgent isel = null; + float tsel = float.MaxValue; + + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + float[] bmin = new float[3], bmax = new float[3]; + getAgentBounds(ag, bmin, bmax); + float[] isect = Intersections.intersectSegmentAABB(s, p, bmin, bmax); + if (null != isect) { + float tmin = isect[0]; + if (tmin > 0 && tmin < tsel) { + isel = ag; + tsel = tmin; + } + } + } + + return isel; + } + + private void getAgentBounds(CrowdAgent ag, float[] bmin, float[] bmax) { + float[] p = ag.npos; + float r = ag.option.radius; + float h = ag.option.height; + bmin[0] = p[0] - r; + bmin[1] = p[1]; + bmin[2] = p[2] - r; + bmax[0] = p[0] + r; + bmax[1] = p[1] + h; + bmax[2] = p[2] + r; + } + + private void setMoveTarget(float[] p, bool adjust) { + if (sample == null || crowd == null) + return; + + // Find nearest point on navmesh and set move request to that location. + NavMeshQuery navquery = sample.getNavMeshQuery(); + QueryFilter filter = crowd.getFilter(0); + float[] halfExtents = crowd.getQueryExtents(); + + if (adjust) { + // Request velocity + if (m_agentDebug.agent != null) { + float[] vel = calcVel(m_agentDebug.agent.npos, p, m_agentDebug.agent.option.maxSpeed); + crowd.requestMoveVelocity(m_agentDebug.agent, vel); + } else { + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + float[] vel = calcVel(ag.npos, p, ag.option.maxSpeed); + crowd.requestMoveVelocity(ag, vel); + } + } + } else { + Result result = navquery.findNearestPoly(p, halfExtents, filter); + m_targetRef = result.result.getNearestRef(); + m_targetPos = result.result.getNearestPos(); + if (m_agentDebug.agent != null) { + crowd.requestMoveTarget(m_agentDebug.agent, m_targetRef, m_targetPos); + } else { + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + crowd.requestMoveTarget(ag, m_targetRef, m_targetPos); + } + } + } + } + + private float[] calcVel(float[] pos, float[] tgt, float speed) { + float[] vel = DetourCommon.vSub(tgt, pos); + vel[1] = 0.0f; + DetourCommon.vNormalize(vel); + return DetourCommon.vScale(vel, speed); + } + + public override void handleRender(NavMeshRenderer renderer) { + if (m_mode == ToolMode.PROFILING) { + profilingTool.handleRender(renderer); + return; + } + RecastDebugDraw dd = renderer.getDebugDraw(); + float rad = sample.getSettingsUI().getAgentRadius(); + NavMesh nav = sample.getNavMesh(); + if (nav == null || crowd == null) + return; + + if (toolParams.m_showNodes && crowd.getPathQueue() != null) { +// NavMeshQuery navquery = crowd.getPathQueue().getNavQuery(); +// if (navquery != null) { +// dd.debugDrawNavMeshNodes(navquery); +// } + } + dd.depthMask(false); + + // Draw paths + if (toolParams.m_showPath) { + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + if (!toolParams.m_showDetailAll && ag != m_agentDebug.agent) + continue; + List path = ag.corridor.getPath(); + int npath = ag.corridor.getPathCount(); + for (int j = 0; j < npath; ++j) { + dd.debugDrawNavMeshPoly(nav, path[j], duRGBA(255, 255, 255, 24)); + } + } + } + + if (m_targetRef != 0) + dd.debugDrawCross(m_targetPos[0], m_targetPos[1] + 0.1f, m_targetPos[2], rad, duRGBA(255, 255, 255, 192), 2.0f); + + // Occupancy grid. + if (toolParams.m_showGrid) { + float gridy = -float.MaxValue; + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + float[] pos = ag.corridor.getPos(); + gridy = Math.Max(gridy, pos[1]); + } + gridy += 1.0f; + + dd.begin(QUADS); + ProximityGrid grid = crowd.getGrid(); + float cs = grid.getCellSize(); + foreach (int[] ic in grid.getItemCounts()) { + int x = ic[0]; + int y = ic[1]; + int count = ic[2]; + if (count != 0) { + int col = duRGBA(128, 0, 0, Math.Min(count * 40, 255)); + dd.vertex(x * cs, gridy, y * cs, col); + dd.vertex(x * cs, gridy, y * cs + cs, col); + dd.vertex(x * cs + cs, gridy, y * cs + cs, col); + dd.vertex(x * cs + cs, gridy, y * cs, col); + } + } + dd.end(); + } + + // Trail + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + + AgentTrail trail = m_trails[ag.idx]; + float[] pos = ag.npos; + + dd.begin(LINES, 3.0f); + float[] prev = new float[3]; + float preva = 1; + DetourCommon.vCopy(prev, pos); + for (int j = 0; j < AGENT_MAX_TRAIL - 1; ++j) { + int idx = (trail.htrail + AGENT_MAX_TRAIL - j) % AGENT_MAX_TRAIL; + int v = idx * 3; + float a = 1 - j / (float) AGENT_MAX_TRAIL; + dd.vertex(prev[0], prev[1] + 0.1f, prev[2], duRGBA(0, 0, 0, (int) (128 * preva))); + dd.vertex(trail.trail[v], trail.trail[v + 1] + 0.1f, trail.trail[v + 2], duRGBA(0, 0, 0, (int) (128 * a))); + preva = a; + DetourCommon.vCopy(prev, trail.trail, v); + } + dd.end(); + + } + + // Corners & co + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + if (toolParams.m_showDetailAll == false && ag != m_agentDebug.agent) + continue; + + float radius = ag.option.radius; + float[] pos = ag.npos; + + if (toolParams.m_showCorners) { + if (0 < ag.corners.Count) { + dd.begin(LINES, 2.0f); + for (int j = 0; j < ag.corners.Count; ++j) { + float[] va = j == 0 ? pos : ag.corners[j - 1].getPos(); + float[] vb = ag.corners[j].getPos(); + dd.vertex(va[0], va[1] + radius, va[2], duRGBA(128, 0, 0, 192)); + dd.vertex(vb[0], vb[1] + radius, vb[2], duRGBA(128, 0, 0, 192)); + } + if ((ag.corners[ag.corners.Count - 1].getFlags() + & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0) { + float[] v = ag.corners[ag.corners.Count - 1].getPos(); + dd.vertex(v[0], v[1], v[2], duRGBA(192, 0, 0, 192)); + dd.vertex(v[0], v[1] + radius * 2, v[2], duRGBA(192, 0, 0, 192)); + } + + dd.end(); + + if (toolParams.m_anticipateTurns) { + /* float dvel[3], pos[3]; + calcSmoothSteerDirection(ag.pos, ag.cornerVerts, ag.ncorners, dvel); + pos[0] = ag.pos[0] + dvel[0]; + pos[1] = ag.pos[1] + dvel[1]; + pos[2] = ag.pos[2] + dvel[2]; + + float off = ag.radius+0.1f; + float[] tgt = &ag.cornerVerts[0]; + float y = ag.pos[1]+off; + + dd.begin(DU_DRAW_LINES, 2.0f); + + dd.vertex(ag.pos[0],y,ag.pos[2], duRGBA(255,0,0,192)); + dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192)); + + dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192)); + dd.vertex(tgt[0],y,tgt[2], duRGBA(255,0,0,192)); + + dd.end();*/ + } + } + } + + if (toolParams.m_showCollisionSegments) { + float[] center = ag.boundary.getCenter(); + dd.debugDrawCross(center[0], center[1] + radius, center[2], 0.2f, duRGBA(192, 0, 128, 255), 2.0f); + dd.debugDrawCircle(center[0], center[1] + radius, center[2], ag.option.collisionQueryRange, + duRGBA(192, 0, 128, 128), 2.0f); + + dd.begin(LINES, 3.0f); + for (int j = 0; j < ag.boundary.getSegmentCount(); ++j) { + int col = duRGBA(192, 0, 128, 192); + float[] s = ag.boundary.getSegment(j); + float[] s0 = new float[] { s[0], s[1], s[2] }; + float[] s3 = new float[] { s[3], s[4], s[5] }; + if (DetourCommon.triArea2D(pos, s0, s3) < 0.0f) + col = duDarkenCol(col); + + dd.appendArrow(s[0], s[1] + 0.2f, s[2], s[3], s[4] + 0.2f, s[5], 0.0f, 0.3f, col); + } + dd.end(); + } + + if (toolParams.m_showNeis) { + dd.debugDrawCircle(pos[0], pos[1] + radius, pos[2], ag.option.collisionQueryRange, duRGBA(0, 192, 128, 128), + 2.0f); + + dd.begin(LINES, 2.0f); + for (int j = 0; j < ag.neis.Count; ++j) { + CrowdAgent nei = ag.neis[j].agent; + if (nei != null) { + dd.vertex(pos[0], pos[1] + radius, pos[2], duRGBA(0, 192, 128, 128)); + dd.vertex(nei.npos[0], nei.npos[1] + radius, nei.npos[2], duRGBA(0, 192, 128, 128)); + } + } + dd.end(); + } + + if (toolParams.m_showOpt) { + dd.begin(LINES, 2.0f); + dd.vertex(m_agentDebug.optStart[0], m_agentDebug.optStart[1] + 0.3f, m_agentDebug.optStart[2], + duRGBA(0, 128, 0, 192)); + dd.vertex(m_agentDebug.optEnd[0], m_agentDebug.optEnd[1] + 0.3f, m_agentDebug.optEnd[2], duRGBA(0, 128, 0, 192)); + dd.end(); + } + } + + // Agent cylinders. + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + + float radius = ag.option.radius; + float[] pos = ag.npos; + + int col = duRGBA(0, 0, 0, 32); + if (m_agentDebug.agent == ag) + col = duRGBA(255, 0, 0, 128); + + dd.debugDrawCircle(pos[0], pos[1], pos[2], radius, col, 2.0f); + } + + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + + float height = ag.option.height; + float radius = ag.option.radius; + float[] pos = ag.npos; + + int col = duRGBA(220, 220, 220, 128); + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING + || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE) + col = duLerpCol(col, duRGBA(128, 0, 255, 128), 32); + else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH) + col = duLerpCol(col, duRGBA(128, 0, 255, 128), 128); + else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) + col = duRGBA(255, 32, 16, 128); + else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) + col = duLerpCol(col, duRGBA(64, 255, 0, 128), 128); + + dd.debugDrawCylinder(pos[0] - radius, pos[1] + radius * 0.1f, pos[2] - radius, pos[0] + radius, pos[1] + height, + pos[2] + radius, col); + } + + if (toolParams.m_showVO) { + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + if (toolParams.m_showDetailAll == false && ag != m_agentDebug.agent) + continue; + + // Draw detail about agent sela + ObstacleAvoidanceDebugData vod = m_agentDebug.vod; + + float dx = ag.npos[0]; + float dy = ag.npos[1] + ag.option.height; + float dz = ag.npos[2]; + + dd.debugDrawCircle(dx, dy, dz, ag.option.maxSpeed, duRGBA(255, 255, 255, 64), 2.0f); + + dd.begin(QUADS); + for (int j = 0; j < vod.getSampleCount(); ++j) { + float[] p = vod.getSampleVelocity(j); + float sr = vod.getSampleSize(j); + float pen = vod.getSamplePenalty(j); + float pen2 = vod.getSamplePreferredSidePenalty(j); + int col = duLerpCol(duRGBA(255, 255, 255, 220), duRGBA(128, 96, 0, 220), (int) (pen * 255)); + col = duLerpCol(col, duRGBA(128, 0, 0, 220), (int) (pen2 * 128)); + dd.vertex(dx + p[0] - sr, dy, dz + p[2] - sr, col); + dd.vertex(dx + p[0] - sr, dy, dz + p[2] + sr, col); + dd.vertex(dx + p[0] + sr, dy, dz + p[2] + sr, col); + dd.vertex(dx + p[0] + sr, dy, dz + p[2] - sr, col); + } + dd.end(); + } + } + + // Velocity stuff. + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + + float radius = ag.option.radius; + float height = ag.option.height; + float[] pos = ag.npos; + float[] vel = ag.vel; + float[] dvel = ag.dvel; + + int col = duRGBA(220, 220, 220, 192); + if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING + || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE) + col = duLerpCol(col, duRGBA(128, 0, 255, 192), 48); + else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH) + col = duLerpCol(col, duRGBA(128, 0, 255, 192), 128); + else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) + col = duRGBA(255, 32, 16, 192); + else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) + col = duLerpCol(col, duRGBA(64, 255, 0, 192), 128); + + dd.debugDrawCircle(pos[0], pos[1] + height, pos[2], radius, col, 2.0f); + + dd.debugDrawArrow(pos[0], pos[1] + height, pos[2], pos[0] + dvel[0], pos[1] + height + dvel[1], pos[2] + dvel[2], + 0.0f, 0.4f, duRGBA(0, 192, 255, 192), m_agentDebug.agent == ag ? 2.0f : 1.0f); + + dd.debugDrawArrow(pos[0], pos[1] + height, pos[2], pos[0] + vel[0], pos[1] + height + vel[1], pos[2] + vel[2], 0.0f, + 0.4f, duRGBA(0, 0, 0, 160), 2.0f); + } + + dd.depthMask(true); + } + + public override void handleUpdate(float dt) { + updateTick(dt); + } + + private void updateTick(float dt) { + if (m_mode == ToolMode.PROFILING) { + profilingTool.update(dt); + return; + } + if (crowd == null) + return; + NavMesh nav = sample.getNavMesh(); + if (nav == null) + return; + + long startTime = Stopwatch.GetTimestamp(); + crowd.update(dt, m_agentDebug); + long endTime = Stopwatch.GetTimestamp(); + + // Update agent trails + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + AgentTrail trail = m_trails[ag.idx]; + // Update agent movement trail. + trail.htrail = (trail.htrail + 1) % AGENT_MAX_TRAIL; + trail.trail[trail.htrail * 3] = ag.npos[0]; + trail.trail[trail.htrail * 3 + 1] = ag.npos[1]; + trail.trail[trail.htrail * 3 + 2] = ag.npos[2]; + } + + m_agentDebug.vod.normalizeSamples(); + + // m_crowdSampleCount.addSample((float) crowd.getVelocitySampleCount()); + crowdUpdateTime = (endTime - startTime) / 1_000_000; + } + + private void hilightAgent(CrowdAgent agent) { + m_agentDebug.agent = agent; + } + + public override void layout(IWindow ctx) { + // ToolMode previousToolMode = m_mode; + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Create Agents", m_mode == ToolMode.CREATE)) { + // m_mode = ToolMode.CREATE; + // } + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Move Target", m_mode == ToolMode.MOVE_TARGET)) { + // m_mode = ToolMode.MOVE_TARGET; + // } + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Select Agent", m_mode == ToolMode.SELECT)) { + // m_mode = ToolMode.SELECT; + // } + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Toggle Polys", m_mode == ToolMode.TOGGLE_POLYS)) { + // m_mode = ToolMode.TOGGLE_POLYS; + // } + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Profiling", m_mode == ToolMode.PROFILING)) { + // m_mode = ToolMode.PROFILING; + // } + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // if (nk_tree_state_push(ctx, 0, "Options", toolParams.m_expandOptions)) { + // bool m_optimizeVis = toolParams.m_optimizeVis; + // bool m_optimizeTopo = toolParams.m_optimizeTopo; + // bool m_anticipateTurns = toolParams.m_anticipateTurns; + // bool m_obstacleAvoidance = toolParams.m_obstacleAvoidance; + // bool m_separation = toolParams.m_separation; + // int m_obstacleAvoidanceType = toolParams.m_obstacleAvoidanceType[0]; + // float m_separationWeight = toolParams.m_separationWeight[0]; + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_optimizeVis = nk_option_text(ctx, "Optimize Visibility", toolParams.m_optimizeVis); + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_optimizeTopo = nk_option_text(ctx, "Optimize Topology", toolParams.m_optimizeTopo); + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_anticipateTurns = nk_option_text(ctx, "Anticipate Turns", toolParams.m_anticipateTurns); + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_obstacleAvoidance = nk_option_text(ctx, "Obstacle Avoidance", toolParams.m_obstacleAvoidance); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_int(ctx, "Avoidance Quality", 0, toolParams.m_obstacleAvoidanceType, 3, 1, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_separation = nk_option_text(ctx, "Separation", toolParams.m_separation); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Separation Weight", 0f, toolParams.m_separationWeight, 20f, 0.01f, 0.01f); + // if (m_optimizeVis != toolParams.m_optimizeVis || m_optimizeTopo != toolParams.m_optimizeTopo + // || m_anticipateTurns != toolParams.m_anticipateTurns || m_obstacleAvoidance != toolParams.m_obstacleAvoidance + // || m_separation != toolParams.m_separation + // || m_obstacleAvoidanceType != toolParams.m_obstacleAvoidanceType[0] + // || m_separationWeight != toolParams.m_separationWeight[0]) { + // updateAgentParams(); + // } + // nk_tree_state_pop(ctx); + // } + // if (m_mode == ToolMode.PROFILING) { + // profilingTool.layout(ctx); + // } + // if (m_mode != ToolMode.PROFILING) { + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // if (nk_tree_state_push(ctx, 0, "Selected Debug Draw", toolParams.m_expandSelectedDebugDraw)) { + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_showCorners = nk_option_text(ctx, "Show Corners", toolParams.m_showCorners); + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_showCollisionSegments = nk_option_text(ctx, "Show Collision Segs", toolParams.m_showCollisionSegments); + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_showPath = nk_option_text(ctx, "Show Path", toolParams.m_showPath); + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_showVO = nk_option_text(ctx, "Show VO", toolParams.m_showVO); + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_showOpt = nk_option_text(ctx, "Show Path Optimization", toolParams.m_showOpt); + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_showNeis = nk_option_text(ctx, "Show Neighbours", toolParams.m_showNeis); + // nk_tree_state_pop(ctx); + // } + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // if (nk_tree_state_push(ctx, 0, "Debug Draw", toolParams.m_expandDebugDraw)) { + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_showGrid = nk_option_text(ctx, "Show Prox Grid", toolParams.m_showGrid); + // nk_layout_row_dynamic(ctx, 20, 1); + // toolParams.m_showNodes = nk_option_text(ctx, "Show Nodes", toolParams.m_showNodes); + // nk_tree_state_pop(ctx); + // } + // nk_layout_row_dynamic(ctx, 2, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Update Time: %d ms", crowdUpdateTime), NK_TEXT_ALIGN_LEFT); + // } + } + + private void updateAgentParams() { + if (crowd == null) { + return; + } + + int updateFlags = getUpdateFlags(); + profilingTool.updateAgentParams(updateFlags, toolParams.m_obstacleAvoidanceType[0], toolParams.m_separationWeight[0]); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + CrowdAgentParams option = new CrowdAgentParams(); + option.radius = ag.option.radius; + option.height = ag.option.height; + option.maxAcceleration = ag.option.maxAcceleration; + option.maxSpeed = ag.option.maxSpeed; + option.collisionQueryRange = ag.option.collisionQueryRange; + option.pathOptimizationRange = ag.option.pathOptimizationRange; + option.obstacleAvoidanceType = ag.option.obstacleAvoidanceType; + option.queryFilterType = ag.option.queryFilterType; + option.userData = ag.option.userData; + option.updateFlags = updateFlags; + option.obstacleAvoidanceType = toolParams.m_obstacleAvoidanceType[0]; + option.separationWeight = toolParams.m_separationWeight[0]; + crowd.updateAgentParameters(ag, option); + } + } + + private int getUpdateFlags() { + int updateFlags = 0; + if (toolParams.m_anticipateTurns) { + updateFlags |= CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS; + } + if (toolParams.m_optimizeVis) { + updateFlags |= CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS; + } + if (toolParams.m_optimizeTopo) { + updateFlags |= CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO; + } + if (toolParams.m_obstacleAvoidance) { + updateFlags |= CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE; + } + if (toolParams.m_separation) { + updateFlags |= CrowdAgentParams.DT_CROWD_SEPARATION; + } + return updateFlags; + } + + public override string getName() { + return "Crowd"; + } + +} diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdToolParams.cs b/src/DotRecast.Recast.Demo/Tools/CrowdToolParams.cs new file mode 100644 index 0000000..3a2c644 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/CrowdToolParams.cs @@ -0,0 +1,46 @@ +/* +recast4j copyright (c) 2020-2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Recast.Demo.Tools; + + +public class CrowdToolParams { + + public readonly int[] m_expandSelectedDebugDraw = new[] { 1 }; + public bool m_showCorners; + public bool m_showCollisionSegments; + public bool m_showPath; + public bool m_showVO; + public bool m_showOpt; + public bool m_showNeis; + + public readonly int[] m_expandDebugDraw = new[] { 0 }; + public bool m_showLabels; + public bool m_showGrid; + public bool m_showNodes; + public bool m_showPerfGraph; + public bool m_showDetailAll; + + public readonly int[] m_expandOptions = new[] { 1 }; + public bool m_anticipateTurns = true; + public bool m_optimizeVis = true; + public bool m_optimizeTopo = true; + public bool m_obstacleAvoidance = true; + public readonly int[] m_obstacleAvoidanceType = new[] { 3 }; + public bool m_separation; + public readonly float[] m_separationWeight = new[] { 2f }; +} diff --git a/src/DotRecast.Recast.Demo/Tools/DemoObjImporter.cs b/src/DotRecast.Recast.Demo/Tools/DemoObjImporter.cs new file mode 100644 index 0000000..1df84d9 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/DemoObjImporter.cs @@ -0,0 +1,14 @@ +using System; +using System.IO; +using DotRecast.Recast.Demo.Geom; + +namespace DotRecast.Recast.Demo.Tools; + +public static class DemoObjImporter +{ + public static DemoInputGeomProvider load(byte[] chunk) { + var context = ObjImporter.loadContext(chunk); + return new DemoInputGeomProvider(context.vertexPositions, context.meshFaces); + + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs new file mode 100644 index 0000000..9b25fd3 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs @@ -0,0 +1,675 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Diagnostics; +using System.Threading.Tasks; +using DotRecast.Core; +using DotRecast.Detour.Dynamic; +using DotRecast.Detour.Dynamic.Colliders; +using DotRecast.Detour.Dynamic.Io; +using DotRecast.Recast.Demo.Builder; +using DotRecast.Recast.Demo.Draw; +using DotRecast.Recast.Demo.Geom; +using DotRecast.Recast.Demo.Tools.Gizmos; +using DotRecast.Recast.Demo.UI; +using Silk.NET.Windowing; + +using static DotRecast.Recast.Demo.Draw.DebugDraw; +using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives; +using static DotRecast.Detour.DetourCommon; + +namespace DotRecast.Recast.Demo.Tools; +public class DynamicUpdateTool : Tool { + + private enum ToolMode { + BUILD, COLLIDERS, RAYCAST + } + + private enum ColliderShape { + SPHERE, CAPSULE, BOX, CYLINDER, COMPOSITE, CONVEX, TRIMESH_BRIDGE, TRIMESH_HOUSE + } + + private Sample sample; + private ToolMode mode = ToolMode.BUILD; + private readonly float[] cellSize = new[] { 0.3f }; + private PartitionType partitioning = PartitionType.WATERSHED; + private bool filterLowHangingObstacles = true; + private bool filterLedgeSpans = true; + private bool filterWalkableLowHeightSpans = true; + private readonly float[] walkableHeight = new[] { 2f }; + private readonly float[] walkableRadius = new[] { 0.6f }; + private readonly float[] walkableClimb = new[] { 0.9f }; + private readonly float[] walkableSlopeAngle = new[] { 45f }; + private readonly float[] minRegionArea = new[] { 6f }; + private readonly float[] regionMergeSize = new[] { 36f }; + private readonly float[] maxEdgeLen = new[] { 12f }; + private readonly float[] maxSimplificationError = new[] { 1.3f }; + private readonly int[] vertsPerPoly = new[] { 6 }; + private bool buildDetailMesh = true; + private bool compression = true; + private readonly float[] detailSampleDist = new[] { 6f }; + private readonly float[] detailSampleMaxError = new[] { 1f }; + private bool showColliders = false; + private long buildTime; + private long raycastTime; + private ColliderShape colliderShape = ColliderShape.SPHERE; + + private DynamicNavMesh dynaMesh; + private readonly TaskFactory executor; + private readonly Dictionary colliders = new(); + private readonly Dictionary colliderGizmos = new(); + private readonly Random random = Random.Shared; + private readonly DemoInputGeomProvider bridgeGeom; + private readonly DemoInputGeomProvider houseGeom; + private readonly DemoInputGeomProvider convexGeom; + private bool sposSet; + private bool eposSet; + private float[] spos; + private float[] epos; + private bool raycastHit; + private float[] raycastHitPos; + + public DynamicUpdateTool() + { + executor = Task.Factory; + bridgeGeom = DemoObjImporter.load(Loader.ToBytes("bridge.obj")); + houseGeom = DemoObjImporter.load(Loader.ToBytes("house.obj")); + convexGeom = DemoObjImporter.load(Loader.ToBytes("convex.obj")); + } + + public override void setSample(Sample sample) { + this.sample = sample; + } + + public override void handleClick(float[] s, float[] p, bool shift) { + if (mode == ToolMode.COLLIDERS) { + if (!shift) { + Tuple colliderWithGizmo = null; + if (dynaMesh != null) { + if (colliderShape == ColliderShape.SPHERE) { + colliderWithGizmo = sphereCollider(p); + } else if (colliderShape == ColliderShape.CAPSULE) { + colliderWithGizmo = capsuleCollider(p); + } else if (colliderShape == ColliderShape.BOX) { + colliderWithGizmo = boxCollider(p); + } else if (colliderShape == ColliderShape.CYLINDER) { + colliderWithGizmo = cylinderCollider(p); + } else if (colliderShape == ColliderShape.COMPOSITE) { + colliderWithGizmo = compositeCollider(p); + } else if (colliderShape == ColliderShape.TRIMESH_BRIDGE) { + colliderWithGizmo = trimeshBridge(p); + } else if (colliderShape == ColliderShape.TRIMESH_HOUSE) { + colliderWithGizmo = trimeshHouse(p); + } else if (colliderShape == ColliderShape.CONVEX) { + colliderWithGizmo = convexTrimesh(p); + } + } + if (colliderWithGizmo != null) { + long id = dynaMesh.addCollider(colliderWithGizmo.Item1); + colliders.Add(id, colliderWithGizmo.Item1); + colliderGizmos.Add(id, colliderWithGizmo.Item2); + } + } + } + if (mode == ToolMode.RAYCAST) { + if (shift) { + sposSet = true; + spos = ArrayUtils.CopyOf(p, p.Length); + } else { + eposSet = true; + epos = ArrayUtils.CopyOf(p, p.Length); + } + if (sposSet && eposSet && dynaMesh != null) { + float[] sp = { spos[0], spos[1] + 1.3f, spos[2] }; + float[] ep = { epos[0], epos[1] + 1.3f, epos[2] }; + long t1 = Stopwatch.GetTimestamp(); + float? hitPos = dynaMesh.voxelQuery().raycast(sp, ep); + long t2 = Stopwatch.GetTimestamp(); + raycastTime = (t2 - t1) / 1_000_000L; + raycastHit = hitPos.HasValue; + raycastHitPos = hitPos.HasValue + ? new float[] { sp[0] + hitPos.Value * (ep[0] - sp[0]), sp[1] + hitPos.Value * (ep[1] - sp[1]), sp[2] + hitPos.Value * (ep[2] - sp[2]) } + : ep; + } + } + } + + private Tuple sphereCollider(float[] p) { + float radius = 1 + (float)random.NextDouble() * 10; + return Tuple.Create( + new SphereCollider(p, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb), + GizmoFactory.sphere(p, radius)); + } + + private Tuple capsuleCollider(float[] p) { + float radius = 0.4f + (float)random.NextDouble() * 4f; + float[] a = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) }; + vNormalize(a); + float len = 1f + (float)random.NextDouble() * 20f; + a[0] *= len; + a[1] *= len; + a[2] *= len; + float[] start = new float[] { p[0], p[1], p[2] }; + float[] end = new float[] { p[0] + a[0], p[1] + a[1], p[2] + a[2] }; + return Tuple.Create(new CapsuleCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, + dynaMesh.config.walkableClimb), GizmoFactory.capsule(start, end, radius)); + } + + private Tuple boxCollider(float[] p) { + float[] extent = new float[] { 0.5f + (float)random.NextDouble() * 6f, 0.5f + (float)random.NextDouble() * 6f, + 0.5f + (float)random.NextDouble() * 6f }; + float[] forward = new float[] { (1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()) }; + float[] up = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) }; + float[][] halfEdges = BoxCollider.getHalfEdges(up, forward, extent); + return Tuple.Create( + new BoxCollider(p, halfEdges, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb), + GizmoFactory.box(p, halfEdges)); + } + + private Tuple cylinderCollider(float[] p) { + float radius = 0.7f + (float)random.NextDouble() * 4f; + float[] a = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) }; + vNormalize(a); + float len = 2f + (float)random.NextDouble() * 20f; + a[0] *= len; + a[1] *= len; + a[2] *= len; + float[] start = new float[] { p[0], p[1], p[2] }; + float[] end = new float[] { p[0] + a[0], p[1] + a[1], p[2] + a[2] }; + return Tuple.Create(new CylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, + dynaMesh.config.walkableClimb), GizmoFactory.cylinder(start, end, radius)); + } + + private Tuple compositeCollider(float[] p) { + float[] baseExtent = new float[] { 5, 3, 8 }; + float[] baseCenter = new float[] { p[0], p[1] + 3, p[2] }; + float[] baseUp = new float[] { 0, 1, 0 }; + float[] forward = new float[] { (1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()) }; + vNormalize(forward); + float[] side = DemoMath.vCross(forward, baseUp); + BoxCollider @base = new BoxCollider(baseCenter, BoxCollider.getHalfEdges(baseUp, forward, baseExtent), + SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb); + float[] roofExtent = new float[] { 4.5f, 4.5f, 8f }; + float[] rx = GLU.build_4x4_rotation_matrix(45, forward[0], forward[1], forward[2]); + float[] roofUp = mulMatrixVector(new float[3], rx, baseUp); + float[] roofCenter = new float[] { p[0], p[1] + 6, p[2] }; + BoxCollider roof = new BoxCollider(roofCenter, BoxCollider.getHalfEdges(roofUp, forward, roofExtent), + SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb); + float[] trunkStart = new float[] { baseCenter[0] - forward[0] * 15 + side[0] * 6, p[1], + baseCenter[2] - forward[2] * 15 + side[2] * 6 }; + float[] trunkEnd = new float[] { trunkStart[0], trunkStart[1] + 10, trunkStart[2] }; + CapsuleCollider trunk = new CapsuleCollider(trunkStart, trunkEnd, 0.5f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, + dynaMesh.config.walkableClimb); + float[] crownCenter = new float[] { baseCenter[0] - forward[0] * 15 + side[0] * 6, p[1] + 10, + baseCenter[2] - forward[2] * 15 + side[2] * 6 }; + SphereCollider crown = new SphereCollider(crownCenter, 4f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS, + dynaMesh.config.walkableClimb); + CompositeCollider collider = new CompositeCollider(@base, roof, trunk, crown); + ColliderGizmo baseGizmo = GizmoFactory.box(baseCenter, BoxCollider.getHalfEdges(baseUp, forward, baseExtent)); + ColliderGizmo roofGizmo = GizmoFactory.box(roofCenter, BoxCollider.getHalfEdges(roofUp, forward, roofExtent)); + ColliderGizmo trunkGizmo = GizmoFactory.capsule(trunkStart, trunkEnd, 0.5f); + ColliderGizmo crownGizmo = GizmoFactory.sphere(crownCenter, 4f); + ColliderGizmo gizmo = GizmoFactory.composite(baseGizmo, roofGizmo, trunkGizmo, crownGizmo); + return Tuple.Create(collider, gizmo); + } + + private Tuple trimeshBridge(float[] p) { + return trimeshCollider(p, bridgeGeom); + } + + private Tuple trimeshHouse(float[] p) { + return trimeshCollider(p, houseGeom); + } + + private Tuple convexTrimesh(float[] p) { + float[] verts = transformVertices(p, convexGeom, 360); + ConvexTrimeshCollider collider = new ConvexTrimeshCollider(verts, convexGeom.faces, + SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb * 10); + return Tuple.Create(collider, GizmoFactory.trimesh(verts, convexGeom.faces)); + } + + private Tuple trimeshCollider(float[] p, DemoInputGeomProvider geom) { + float[] verts = transformVertices(p, geom, 0); + TrimeshCollider collider = new TrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, + dynaMesh.config.walkableClimb * 10); + return Tuple.Create(collider, GizmoFactory.trimesh(verts, geom.faces)); + } + + private float[] transformVertices(float[] p, DemoInputGeomProvider geom, float ax) { + float[] rx = GLU.build_4x4_rotation_matrix((float)random.NextDouble() * ax, 1, 0, 0); + float[] ry = GLU.build_4x4_rotation_matrix((float)random.NextDouble() * 360, 0, 1, 0); + float[] m = GLU.mul(rx, ry); + float[] verts = new float[geom.vertices.Length]; + float[] v = new float[3]; + float[] vr = new float[3]; + for (int i = 0; i < geom.vertices.Length; i += 3) { + v[0] = geom.vertices[i]; + v[1] = geom.vertices[i + 1]; + v[2] = geom.vertices[i + 2]; + mulMatrixVector(vr, m, v); + vr[0] += p[0]; + vr[1] += p[1] - 0.1f; + vr[2] += p[2]; + verts[i] = vr[0]; + verts[i + 1] = vr[1]; + verts[i + 2] = vr[2]; + } + return verts; + } + + private float[] mulMatrixVector(float[] resultvector, float[] matrix, float[] pvector) { + resultvector[0] = matrix[0] * pvector[0] + matrix[4] * pvector[1] + matrix[8] * pvector[2]; + resultvector[1] = matrix[1] * pvector[0] + matrix[5] * pvector[1] + matrix[9] * pvector[2]; + resultvector[2] = matrix[2] * pvector[0] + matrix[6] * pvector[1] + matrix[10] * pvector[2]; + return resultvector; + } + + public override void handleClickRay(float[] start, float[] dir, bool shift) { + if (mode == ToolMode.COLLIDERS) { + if (shift) { + foreach (var e in colliders) { + if (hit(start, dir, e.Value.bounds())) { + dynaMesh.removeCollider(e.Key); + colliders.Remove(e.Key); + colliderGizmos.Remove(e.Key); + break; + } + } + } + } + } + + private bool hit(float[] point, float[] dir, float[] bounds) { + float cx = 0.5f * (bounds[0] + bounds[3]); + float cy = 0.5f * (bounds[1] + bounds[4]); + float cz = 0.5f * (bounds[2] + bounds[5]); + float dx = 0.5f * (bounds[3] - bounds[0]); + float dy = 0.5f * (bounds[4] - bounds[1]); + float dz = 0.5f * (bounds[5] - bounds[2]); + float rSqr = dx * dx + dy * dy + dz * dz; + float mx = point[0] - cx; + float my = point[1] - cy; + float mz = point[2] - cz; + float c = mx * mx + my * my + mz * mz - rSqr; + if (c <= 0.0f) { + return true; + } + float b = mx * dir[0] + my * dir[1] + mz * dir[2]; + if (b > 0.0f) { + return false; + } + float disc = b * b - c; + return disc >= 0.0f; + } + + public override void handleRender(NavMeshRenderer renderer) { + if (mode == ToolMode.COLLIDERS) { + if (showColliders) { + colliderGizmos.Values.forEach(g => g.render(renderer.getDebugDraw())); + } + } + if (mode == ToolMode.RAYCAST) { + RecastDebugDraw dd = renderer.getDebugDraw(); + int startCol = duRGBA(128, 25, 0, 192); + int endCol = duRGBA(51, 102, 0, 129); + if (sposSet) { + drawAgent(dd, spos, startCol); + } + if (eposSet) { + drawAgent(dd, epos, endCol); + } + dd.depthMask(false); + if (raycastHitPos != null) { + int spathCol = raycastHit ? duRGBA(128, 32, 16, 220) : duRGBA(64, 128, 240, 220); + dd.begin(LINES, 2.0f); + dd.vertex(spos[0], spos[1] + 1.3f, spos[2], spathCol); + dd.vertex(raycastHitPos[0], raycastHitPos[1], raycastHitPos[2], spathCol); + dd.end(); + } + dd.depthMask(true); + } + } + + private void drawAgent(RecastDebugDraw dd, float[] pos, int col) { + float r = sample.getSettingsUI().getAgentRadius(); + float h = sample.getSettingsUI().getAgentHeight(); + float c = sample.getSettingsUI().getAgentMaxClimb(); + dd.depthMask(false); + // Agent dimensions. + dd.debugDrawCylinderWire(pos[0] - r, pos[1] + 0.02f, pos[2] - r, pos[0] + r, pos[1] + h, pos[2] + r, col, 2.0f); + dd.debugDrawCircle(pos[0], pos[1] + c, pos[2], r, duRGBA(0, 0, 0, 64), 1.0f); + int colb = duRGBA(0, 0, 0, 196); + dd.begin(LINES); + dd.vertex(pos[0], pos[1] - c, pos[2], colb); + dd.vertex(pos[0], pos[1] + c, pos[2], colb); + dd.vertex(pos[0] - r / 2, pos[1] + 0.02f, pos[2], colb); + dd.vertex(pos[0] + r / 2, pos[1] + 0.02f, pos[2], colb); + dd.vertex(pos[0], pos[1] + 0.02f, pos[2] - r / 2, colb); + dd.vertex(pos[0], pos[1] + 0.02f, pos[2] + r / 2, colb); + dd.end(); + dd.depthMask(true); + } + + public override void handleUpdate(float dt) { + if (dynaMesh != null) { + updateDynaMesh(); + } + } + + private void updateDynaMesh() { + long t = Stopwatch.GetTimestamp(); + try + { + bool updated = dynaMesh.update(executor).Result; + if (updated) { + buildTime = (Stopwatch.GetTimestamp() - t) / 1_000_000; + sample.update(null, dynaMesh.recastResults(), dynaMesh.navMesh()); + sample.setChanged(false); + } + } catch (Exception e) { + Console.WriteLine(e); + } + } + + public override void layout(IWindow ctx) { + + // nk_layout_row_dynamic(ctx, 18, 1); + // if (nk_option_label(ctx, "Build", mode == ToolMode.BUILD)) { + // mode = ToolMode.BUILD; + // } + // nk_layout_row_dynamic(ctx, 18, 1); + // if (nk_option_label(ctx, "Colliders", mode == ToolMode.COLLIDERS)) { + // mode = ToolMode.COLLIDERS; + // } + // nk_layout_row_dynamic(ctx, 18, 1); + // if (nk_option_label(ctx, "Raycast", mode == ToolMode.RAYCAST)) { + // mode = ToolMode.RAYCAST; + // } + // + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // if (mode == ToolMode.BUILD) { + // nk_layout_row_dynamic(ctx, 18, 1); + // if (nk_button_text(ctx, "Load Voxels...")) { + // load(); + // } + // if (dynaMesh != null) { + // nk_layout_row_dynamic(ctx, 18, 1); + // compression = nk_check_text(ctx, "Compression", compression); + // if (nk_button_text(ctx, "Save Voxels...")) { + // save(); + // } + // } + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Rasterization", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 18, 2); + // nk_label(ctx, "Cell Size", NK_TEXT_ALIGN_LEFT); + // nk_label(ctx, string.format("%.2f", cellSize[0]), NK_TEXT_ALIGN_RIGHT); + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Agent", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Height", 0f, walkableHeight, 5f, 0.01f, 0.01f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Radius", 0f, walkableRadius, 10f, 0.01f, 0.01f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Climb", 0f, walkableClimb, 10f, 0.01f, 0.01f); + // nk_layout_row_dynamic(ctx, 18, 2); + // nk_label(ctx, "Max Slope", NK_TEXT_ALIGN_LEFT); + // nk_label(ctx, string.format("%.0f", walkableSlopeAngle[0]), NK_TEXT_ALIGN_RIGHT); + // + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Partitioning", NK_TEXT_ALIGN_LEFT); + // partitioning = NuklearUIHelper.nk_radio(ctx, PartitionType.values(), partitioning, + // p => p.name().substring(0, 1) + p.name().substring(1).toLowerCase()); + // + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Filtering", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 18, 1); + // filterLowHangingObstacles = nk_option_text(ctx, "Low Hanging Obstacles", filterLowHangingObstacles); + // nk_layout_row_dynamic(ctx, 18, 1); + // filterLedgeSpans = nk_option_text(ctx, "Ledge Spans", filterLedgeSpans); + // nk_layout_row_dynamic(ctx, 18, 1); + // filterWalkableLowHeightSpans = nk_option_text(ctx, "Walkable Low Height Spans", filterWalkableLowHeightSpans); + // + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Region", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Min Region Size", 0, minRegionArea, 150, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Merged Region Size", 0, regionMergeSize, 400, 0.1f, 0.1f); + // + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Polygonization", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Edge Length", 0f, maxEdgeLen, 50f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Edge Error", 0.1f, maxSimplificationError, 10f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_int(ctx, "Verts Per Poly", 3, vertsPerPoly, 12, 1, 1); + // + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Detail Mesh", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // buildDetailMesh = nk_check_text(ctx, "Enable", buildDetailMesh); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Sample Distance", 0f, detailSampleDist, 16f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Sample Error", 0f, detailSampleMaxError, 16f, 0.1f, 0.1f); + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_button_text(ctx, "Build")) { + // if (dynaMesh != null) { + // buildDynaMesh(); + // sample.setChanged(false); + // } + // } + // } + // if (mode == ToolMode.COLLIDERS) { + // nk_layout_row_dynamic(ctx, 1, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Colliders", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // showColliders = nk_check_text(ctx, "Show", showColliders); + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Sphere", colliderShape == ColliderShape.SPHERE)) { + // colliderShape = ColliderShape.SPHERE; + // } + // nk_layout_row_dynamic(ctx, 18, 1); + // if (nk_option_label(ctx, "Capsule", colliderShape == ColliderShape.CAPSULE)) { + // colliderShape = ColliderShape.CAPSULE; + // } + // nk_layout_row_dynamic(ctx, 18, 1); + // if (nk_option_label(ctx, "Box", colliderShape == ColliderShape.BOX)) { + // colliderShape = ColliderShape.BOX; + // } + // nk_layout_row_dynamic(ctx, 18, 1); + // if (nk_option_label(ctx, "Cylinder", colliderShape == ColliderShape.CYLINDER)) { + // colliderShape = ColliderShape.CYLINDER; + // } + // nk_layout_row_dynamic(ctx, 18, 1); + // if (nk_option_label(ctx, "Composite", colliderShape == ColliderShape.COMPOSITE)) { + // colliderShape = ColliderShape.COMPOSITE; + // } + // nk_layout_row_dynamic(ctx, 18, 1); + // if (nk_option_label(ctx, "Convex Trimesh", colliderShape == ColliderShape.CONVEX)) { + // colliderShape = ColliderShape.CONVEX; + // } + // nk_layout_row_dynamic(ctx, 18, 1); + // if (nk_option_label(ctx, "Trimesh Bridge", colliderShape == ColliderShape.TRIMESH_BRIDGE)) { + // colliderShape = ColliderShape.TRIMESH_BRIDGE; + // } + // nk_layout_row_dynamic(ctx, 18, 1); + // if (nk_option_label(ctx, "Trimesh House", colliderShape == ColliderShape.TRIMESH_HOUSE)) { + // colliderShape = ColliderShape.TRIMESH_HOUSE; + // } + // } + // nk_layout_row_dynamic(ctx, 2, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // if (mode == ToolMode.RAYCAST) { + // nk_label(ctx, string.format("Raycast Time: %d ms", raycastTime), NK_TEXT_ALIGN_LEFT); + // if (sposSet) { + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Start: %.3f, %.3f, %.3f", spos[0], spos[1] + 1.3f, spos[2]), NK_TEXT_ALIGN_LEFT); + // } + // if (eposSet) { + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("End: %.3f, %.3f, %.3f", epos[0], epos[1] + 1.3f, epos[2]), NK_TEXT_ALIGN_LEFT); + // } + // if (raycastHit) { + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, string.format("Hit: %.3f, %.3f, %.3f", raycastHitPos[0], raycastHitPos[1], raycastHitPos[2]), + // NK_TEXT_ALIGN_LEFT); + // } + // } else { + // nk_label(ctx, string.format("Build Time: %d ms", buildTime), NK_TEXT_ALIGN_LEFT); + // } + + } + + private void load() { + // try (MemoryStack stack = stackPush()) { + // PointerBuffer aFilterPatterns = stack.mallocPointer(1); + // aFilterPatterns.put(stack.UTF8("*.voxels")); + // aFilterPatterns.flip(); + // string filename = TinyFileDialogs.tinyfd_openFileDialog("Open Voxel File", "", aFilterPatterns, "Voxel File", false); + // if (filename != null) { + // load(filename); + // } + // } + + } + + private void load(string filename) { + // File file = new File(filename); + // if (file.exists()) { + // VoxelFileReader reader = new VoxelFileReader(); + // try (FileInputStream fis = new FileInputStream(file)) { + // VoxelFile voxelFile = reader.read(fis); + // dynaMesh = new DynamicNavMesh(voxelFile); + // dynaMesh.config.keepIntermediateResults = true; + // updateUI(); + // buildDynaMesh(); + // colliders.clear(); + // } catch (Exception e) { + // Console.WriteLine(e); + // dynaMesh = null; + // } + // } + } + + private void save() { + // try (MemoryStack stack = stackPush()) { + // PointerBuffer aFilterPatterns = stack.mallocPointer(1); + // aFilterPatterns.put(stack.UTF8("*.voxels")); + // aFilterPatterns.flip(); + // string filename = TinyFileDialogs.tinyfd_saveFileDialog("Save Voxel File", "", aFilterPatterns, "Voxel File"); + // if (filename != null) { + // save(filename); + // } + // } + + } + + private void save(string filename) { + // File file = new File(filename); + // try (FileOutputStream fos = new FileOutputStream(file)) { + // VoxelFile voxelFile = VoxelFile.from(dynaMesh); + // VoxelFileWriter writer = new VoxelFileWriter(); + // writer.write(fos, voxelFile, compression); + // } catch (Exception e) { + // Console.WriteLine(e); + // } + + } + + private void buildDynaMesh() { + configDynaMesh(); + long t = Stopwatch.GetTimestamp(); + try + { + var _ = dynaMesh.build(executor).Result; + } catch (Exception e) { + Console.WriteLine(e); + } + buildTime = (Stopwatch.GetTimestamp() - t) / 1_000_000; + sample.update(null, dynaMesh.recastResults(), dynaMesh.navMesh()); + } + + private void configDynaMesh() { + dynaMesh.config.partitionType = partitioning; + dynaMesh.config.walkableHeight = walkableHeight[0]; + dynaMesh.config.walkableSlopeAngle = walkableSlopeAngle[0]; + dynaMesh.config.walkableRadius = walkableRadius[0]; + dynaMesh.config.walkableClimb = walkableClimb[0]; + dynaMesh.config.filterLowHangingObstacles = filterLowHangingObstacles; + dynaMesh.config.filterLedgeSpans = filterLedgeSpans; + dynaMesh.config.filterWalkableLowHeightSpans = filterWalkableLowHeightSpans; + dynaMesh.config.minRegionArea = minRegionArea[0]; + dynaMesh.config.regionMergeArea = regionMergeSize[0]; + dynaMesh.config.maxEdgeLen = maxEdgeLen[0]; + dynaMesh.config.maxSimplificationError = maxSimplificationError[0]; + dynaMesh.config.vertsPerPoly = vertsPerPoly[0]; + dynaMesh.config.buildDetailMesh = buildDetailMesh; + dynaMesh.config.detailSampleDistance = detailSampleDist[0]; + dynaMesh.config.detailSampleMaxError = detailSampleMaxError[0]; + } + + private void updateUI() { + cellSize[0] = dynaMesh.config.cellSize; + partitioning = dynaMesh.config.partitionType; + walkableHeight[0] = dynaMesh.config.walkableHeight; + walkableSlopeAngle[0] = dynaMesh.config.walkableSlopeAngle; + walkableRadius[0] = dynaMesh.config.walkableRadius; + walkableClimb[0] = dynaMesh.config.walkableClimb; + minRegionArea[0] = dynaMesh.config.minRegionArea; + regionMergeSize[0] = dynaMesh.config.regionMergeArea; + maxEdgeLen[0] = dynaMesh.config.maxEdgeLen; + maxSimplificationError[0] = dynaMesh.config.maxSimplificationError; + vertsPerPoly[0] = dynaMesh.config.vertsPerPoly; + buildDetailMesh = dynaMesh.config.buildDetailMesh; + detailSampleDist[0] = dynaMesh.config.detailSampleDistance; + detailSampleMaxError[0] = dynaMesh.config.detailSampleMaxError; + filterLowHangingObstacles = dynaMesh.config.filterLowHangingObstacles; + filterLedgeSpans = dynaMesh.config.filterLedgeSpans; + filterWalkableLowHeightSpans = dynaMesh.config.filterWalkableLowHeightSpans; + } + + public override string getName() { + return "Dynamic Updates"; + } + +} diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/BoxGizmo.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/BoxGizmo.cs new file mode 100644 index 0000000..5316fd0 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/BoxGizmo.cs @@ -0,0 +1,68 @@ +using DotRecast.Detour.Dynamic.Colliders; +using DotRecast.Recast.Demo.Draw; + +namespace DotRecast.Recast.Demo.Tools.Gizmos; + + +public class BoxGizmo : ColliderGizmo { + private static readonly int[] TRIANLGES = { 0, 1, 2, 0, 2, 3, 4, 7, 6, 4, 6, 5, 0, 4, 5, 0, 5, 1, 1, 5, 6, 1, 6, 2, + 2, 6, 7, 2, 7, 3, 4, 0, 3, 4, 3, 7 }; + private static readonly float[][] VERTS = { + new[] { -1f, -1f, -1f, }, + new[] { 1f, -1f, -1f, }, + new[] { 1f, -1f, 1f, }, + new[] { -1f, -1f, 1f, }, + new[] { -1f, 1f, -1f, }, + new[] { 1f, 1f, -1f, }, + new[] { 1f, 1f, 1f, }, + new[] { -1f, 1f, 1f, }, + }; + + private readonly float[] vertices = new float[8 * 3]; + private readonly float[] center; + private readonly float[][] halfEdges; + + public BoxGizmo(float[] center, float[] extent, float[] forward, float[] up) : + this(center, BoxCollider.getHalfEdges(up, forward, extent)) + { + } + + public BoxGizmo(float[] center, float[][] halfEdges) { + this.center = center; + this.halfEdges = halfEdges; + for (int i = 0; i < 8; ++i) { + float s0 = (i & 1) != 0 ? 1f : -1f; + float s1 = (i & 2) != 0 ? 1f : -1f; + float s2 = (i & 4) != 0 ? 1f : -1f; + vertices[i * 3 + 0] = center[0] + s0 * halfEdges[0][0] + s1 * halfEdges[1][0] + s2 * halfEdges[2][0]; + vertices[i * 3 + 1] = center[1] + s0 * halfEdges[0][1] + s1 * halfEdges[1][1] + s2 * halfEdges[2][1]; + vertices[i * 3 + 2] = center[2] + s0 * halfEdges[0][2] + s1 * halfEdges[1][2] + s2 * halfEdges[2][2]; + } + } + + public void render(RecastDebugDraw debugDraw) { + float[] trX = new float[] { halfEdges[0][0], halfEdges[1][0], halfEdges[2][0] }; + float[] trY = new float[] { halfEdges[0][1], halfEdges[1][1], halfEdges[2][1] }; + float[] trZ = new float[] { halfEdges[0][2], halfEdges[1][2], halfEdges[2][2] }; + float[] vertices = new float[8 * 3]; + for (int i = 0; i < 8; i++) { + vertices[i * 3 + 0] = RecastVectors.dot(VERTS[i], trX) + center[0]; + vertices[i * 3 + 1] = RecastVectors.dot(VERTS[i], trY) + center[1]; + vertices[i * 3 + 2] = RecastVectors.dot(VERTS[i], trZ) + center[2]; + } + debugDraw.begin(DebugDrawPrimitives.TRIS); + for (int i = 0; i < 12; i++) { + int col = DebugDraw.duRGBA(200, 200, 50, 160); + if (i == 4 || i == 5 || i == 8 || i == 9) { + col = DebugDraw.duRGBA(160, 160, 40, 160); + } else if (i > 4) { + col = DebugDraw.duRGBA(120, 120, 30, 160); + } + for (int j = 0; j < 3; j++) { + int v = TRIANLGES[i * 3 + j] * 3; + debugDraw.vertex(vertices[v], vertices[v + 1], vertices[v + 2], col); + } + } + debugDraw.end(); + } +} diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs new file mode 100644 index 0000000..ece480c --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs @@ -0,0 +1,80 @@ +using DotRecast.Recast.Demo.Draw; + +using static DotRecast.Recast.RecastVectors; +using static DotRecast.Detour.DetourCommon; +using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper; + +namespace DotRecast.Recast.Demo.Tools.Gizmos; + + +public class CapsuleGizmo : ColliderGizmo { + private readonly float[] vertices; + private readonly int[] triangles; + private readonly float[] center; + private readonly float[] gradient; + + public CapsuleGizmo(float[] start, float[] end, float radius) { + center = new float[] { 0.5f * (start[0] + end[0]), 0.5f * (start[1] + end[1]), + 0.5f * (start[2] + end[2]) }; + float[] axis = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] }; + float[][] normals = new float[3][]; + normals[1] = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] }; + normalize(normals[1]); + normals[0] = getSideVector(axis); + normals[2] = new float[3]; + cross(normals[2], normals[0], normals[1]); + normalize(normals[2]); + triangles = generateSphericalTriangles(); + float[] trX = new float[] { normals[0][0], normals[1][0], normals[2][0] }; + float[] trY = new float[] { normals[0][1], normals[1][1], normals[2][1] }; + float[] trZ = new float[] { normals[0][2], normals[1][2], normals[2][2] }; + float[] spVertices = generateSphericalVertices(); + float halfLength = 0.5f * vLen(axis); + vertices = new float[spVertices.Length]; + gradient = new float[spVertices.Length / 3]; + float[] v = new float[3]; + for (int i = 0; i < spVertices.Length; i += 3) { + float offset = (i >= spVertices.Length / 2) ? -halfLength : halfLength; + float x = radius * spVertices[i]; + float y = radius * spVertices[i + 1] + offset; + float z = radius * spVertices[i + 2]; + vertices[i] = x * trX[0] + y * trX[1] + z * trX[2] + center[0]; + vertices[i + 1] = x * trY[0] + y * trY[1] + z * trY[2] + center[1]; + vertices[i + 2] = x * trZ[0] + y * trZ[1] + z * trZ[2] + center[2]; + v[0] = vertices[i] - center[0]; + v[1] = vertices[i + 1] - center[1]; + v[2] = vertices[i + 2] - center[2]; + normalize(v); + gradient[i / 3] = clamp(0.57735026f * (v[0] + v[1] + v[2]), -1, 1); + } + + } + + private float[] getSideVector(float[] axis) { + float[] side = { 1, 0, 0 }; + if (axis[0] > 0.8) { + side = new float[] { 0, 0, 1 }; + } + float[] forward = new float[3]; + cross(forward, side, axis); + cross(side, axis, forward); + normalize(side); + return side; + } + + public void render(RecastDebugDraw debugDraw) { + + debugDraw.begin(DebugDrawPrimitives.TRIS); + for (int i = 0; i < triangles.Length; i += 3) { + for (int j = 0; j < 3; j++) { + int v = triangles[i + j] * 3; + float c = gradient[triangles[i + j]]; + int col = DebugDraw.duLerpCol(DebugDraw.duRGBA(32, 32, 0, 160), DebugDraw.duRGBA(220, 220, 0, 160), + (int) (127 * (1 + c))); + debugDraw.vertex(vertices[v], vertices[v + 1], vertices[v + 2], col); + } + } + debugDraw.end(); + } + +} \ No newline at end of file diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/ColliderGizmo.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/ColliderGizmo.cs new file mode 100644 index 0000000..2b0f3f6 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/ColliderGizmo.cs @@ -0,0 +1,8 @@ +using DotRecast.Recast.Demo.Draw; + +namespace DotRecast.Recast.Demo.Tools.Gizmos; + +public interface ColliderGizmo { + + void render(RecastDebugDraw debugDraw); +} diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/CompositeGizmo.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/CompositeGizmo.cs new file mode 100644 index 0000000..0bcb805 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/CompositeGizmo.cs @@ -0,0 +1,17 @@ +using DotRecast.Core; +using DotRecast.Recast.Demo.Draw; + +namespace DotRecast.Recast.Demo.Tools.Gizmos; + +public class CompositeGizmo : ColliderGizmo { + + private readonly ColliderGizmo[] gizmos; + + public CompositeGizmo(params ColliderGizmo[] gizmos) { + this.gizmos = gizmos; + } + + public void render(RecastDebugDraw debugDraw) { + gizmos.forEach(g => g.render(debugDraw)); + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/CylinderGizmo.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/CylinderGizmo.cs new file mode 100644 index 0000000..c79938a --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/CylinderGizmo.cs @@ -0,0 +1,82 @@ +using DotRecast.Recast.Demo.Draw; +using static DotRecast.Recast.RecastVectors; +using static DotRecast.Detour.DetourCommon; +using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper; + + +namespace DotRecast.Recast.Demo.Tools.Gizmos; + + +public class CylinderGizmo : ColliderGizmo { + private readonly float[] vertices; + private readonly int[] triangles; + private readonly float[] center; + private readonly float[] gradient; + + public CylinderGizmo(float[] start, float[] end, float radius) { + center = new float[] { 0.5f * (start[0] + end[0]), 0.5f * (start[1] + end[1]), + 0.5f * (start[2] + end[2]) }; + float[] axis = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] }; + float[][] normals = new float[3][]; + normals[1] = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] }; + normalize(normals[1]); + normals[0] = getSideVector(axis); + normals[2] = new float[3]; + cross(normals[2], normals[0], normals[1]); + normalize(normals[2]); + triangles = generateCylindricalTriangles(); + float[] trX = new float[] { normals[0][0], normals[1][0], normals[2][0] }; + float[] trY = new float[] { normals[0][1], normals[1][1], normals[2][1] }; + float[] trZ = new float[] { normals[0][2], normals[1][2], normals[2][2] }; + vertices = generateCylindricalVertices(); + float halfLength = 0.5f * vLen(axis); + gradient = new float[vertices.Length / 3]; + float[] v = new float[3]; + for (int i = 0; i < vertices.Length; i += 3) { + float offset = (i >= vertices.Length / 2) ? -halfLength : halfLength; + float x = radius * vertices[i]; + float y = vertices[i + 1] + offset; + float z = radius * vertices[i + 2]; + vertices[i] = x * trX[0] + y * trX[1] + z * trX[2] + center[0]; + vertices[i + 1] = x * trY[0] + y * trY[1] + z * trY[2] + center[1]; + vertices[i + 2] = x * trZ[0] + y * trZ[1] + z * trZ[2] + center[2]; + if (i < vertices.Length / 4 || i >= 3 * vertices.Length / 4) { + gradient[i / 3] = 1; + } else { + v[0] = vertices[i] - center[0]; + v[1] = vertices[i + 1] - center[1]; + v[2] = vertices[i + 2] - center[2]; + normalize(v); + gradient[i / 3] = clamp(0.57735026f * (v[0] + v[1] + v[2]), -1, 1); + } + } + } + + private float[] getSideVector(float[] axis) { + float[] side = { 1, 0, 0 }; + if (axis[0] > 0.8) { + side = new float[] { 0, 0, 1 }; + } + float[] forward = new float[3]; + cross(forward, side, axis); + cross(side, axis, forward); + normalize(side); + return side; + } + + public void render(RecastDebugDraw debugDraw) { + + debugDraw.begin(DebugDrawPrimitives.TRIS); + for (int i = 0; i < triangles.Length; i += 3) { + for (int j = 0; j < 3; j++) { + int v = triangles[i + j] * 3; + float c = gradient[triangles[i + j]]; + int col = DebugDraw.duLerpCol(DebugDraw.duRGBA(32, 32, 0, 160), DebugDraw.duRGBA(220, 220, 0, 160), + (int) (127 * (1 + c))); + debugDraw.vertex(vertices[v], vertices[v + 1], vertices[v + 2], col); + } + } + debugDraw.end(); + } + +} diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoFactory.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoFactory.cs new file mode 100644 index 0000000..644f053 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoFactory.cs @@ -0,0 +1,28 @@ +namespace DotRecast.Recast.Demo.Tools.Gizmos; + +public static class GizmoFactory +{ + public static ColliderGizmo box(float[] center, float[][] halfEdges) { + return new BoxGizmo(center, halfEdges); + } + + public static ColliderGizmo sphere(float[] center, float radius) { + return new SphereGizmo(center, radius); + } + + public static ColliderGizmo capsule(float[] start, float[] end, float radius) { + return new CapsuleGizmo(start, end, radius); + } + + public static ColliderGizmo cylinder(float[] start, float[] end, float radius) { + return new CylinderGizmo(start, end, radius); + } + + public static ColliderGizmo trimesh(float[] verts, int[] faces) { + return new TrimeshGizmo(verts, faces); + } + + public static ColliderGizmo composite(params ColliderGizmo[] gizmos) { + return new CompositeGizmo(gizmos); + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoHelper.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoHelper.cs new file mode 100644 index 0000000..033d44f --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoHelper.cs @@ -0,0 +1,162 @@ +using System; +using DotRecast.Recast.Demo.Draw; +using static DotRecast.Detour.DetourCommon; + +namespace DotRecast.Recast.Demo.Tools.Gizmos; + +public class GizmoHelper { + + private static readonly int SEGMENTS = 16; + private static readonly int RINGS = 8; + + private static float[] sphericalVertices; + + public static float[] generateSphericalVertices() { + if (sphericalVertices == null) { + sphericalVertices = generateSphericalVertices(SEGMENTS, RINGS); + } + return sphericalVertices; + } + + private static float[] generateSphericalVertices(int segments, int rings) { + float[] vertices = new float[6 + 3 * (segments + 1) * (rings + 1)]; + // top + int vi = 0; + vertices[vi++] = 0; + vertices[vi++] = 1; + vertices[vi++] = 0; + for (int r = 0; r <= rings; r++) { + double theta = Math.PI * (r + 1) / (rings + 2); + vi = generateRingVertices(segments, vertices, vi, theta); + } + // bottom + vertices[vi++] = 0; + vertices[vi++] = -1; + vertices[vi++] = 0; + return vertices; + } + + public static float[] generateCylindricalVertices() { + return generateCylindricalVertices(SEGMENTS); + } + + private static float[] generateCylindricalVertices(int segments) { + float[] vertices = new float[3 * (segments + 1) * 4]; + int vi = 0; + for (int r = 0; r < 4; r++) { + vi = generateRingVertices(segments, vertices, vi, Math.PI * 0.5); + } + return vertices; + + } + + private static int generateRingVertices(int segments, float[] vertices, int vi, double theta) { + double cosTheta = Math.Cos(theta); + double sinTheta = Math.Sin(theta); + for (int p = 0; p <= segments; p++) { + double phi = 2 * Math.PI * p / segments; + double cosPhi = Math.Cos(phi); + double sinPhi = Math.Sin(phi); + vertices[vi++] = (float) (sinTheta * cosPhi); + vertices[vi++] = (float) cosTheta; + vertices[vi++] = (float) (sinTheta * sinPhi); + } + return vi; + } + + public static int[] generateSphericalTriangles() { + return generateSphericalTriangles(SEGMENTS, RINGS); + } + + private static int[] generateSphericalTriangles(int segments, int rings) { + int[] triangles = new int[6 * (segments + rings * (segments + 1))]; + int ti = generateSphereUpperCapTriangles(segments, triangles, 0); + ti = generateRingTriangles(segments, rings, triangles, 1, ti); + generateSphereLowerCapTriangles(segments, rings, triangles, ti); + return triangles; + } + + public static int generateRingTriangles(int segments, int rings, int[] triangles, int vertexOffset, int ti) { + for (int r = 0; r < rings; r++) { + for (int p = 0; p < segments; p++) { + int current = p + r * (segments + 1) + vertexOffset; + int next = p + 1 + r * (segments + 1) + vertexOffset; + int currentBottom = p + (r + 1) * (segments + 1) + vertexOffset; + int nextBottom = p + 1 + (r + 1) * (segments + 1) + vertexOffset; + triangles[ti++] = current; + triangles[ti++] = next; + triangles[ti++] = nextBottom; + triangles[ti++] = current; + triangles[ti++] = nextBottom; + triangles[ti++] = currentBottom; + } + } + return ti; + } + + private static int generateSphereUpperCapTriangles(int segments, int[] triangles, int ti) { + for (int p = 0; p < segments; p++) { + triangles[ti++] = p + 2; + triangles[ti++] = p + 1; + triangles[ti++] = 0; + } + return ti; + } + + private static void generateSphereLowerCapTriangles(int segments, int rings, int[] triangles, int ti) { + int lastVertex = 1 + (segments + 1) * (rings + 1); + for (int p = 0; p < segments; p++) { + triangles[ti++] = lastVertex; + triangles[ti++] = lastVertex - (p + 2); + triangles[ti++] = lastVertex - (p + 1); + } + } + + public static int[] generateCylindricalTriangles() { + return generateCylindricalTriangles(SEGMENTS); + } + + private static int[] generateCylindricalTriangles(int segments) { + int circleTriangles = segments - 2; + int[] triangles = new int[6 * (circleTriangles + (segments + 1))]; + int vi = 0; + int ti = generateCircleTriangles(segments, triangles, vi, 0, false); + ti = generateRingTriangles(segments, 1, triangles, segments + 1, ti); + int vertexCount = (segments + 1) * 4; + ti = generateCircleTriangles(segments, triangles, vertexCount - segments, ti, true); + return triangles; + } + + private static int generateCircleTriangles(int segments, int[] triangles, int vi, int ti, bool invert) { + for (int p = 0; p < segments - 2; p++) { + if (invert) { + triangles[ti++] = vi; + triangles[ti++] = vi + p + 1; + triangles[ti++] = vi + p + 2; + } else { + triangles[ti++] = vi + p + 2; + triangles[ti++] = vi + p + 1; + triangles[ti++] = vi; + } + } + return ti; + } + + public static int getColorByNormal(float[] vertices, int v0, int v1, int v2) { + float[] e0 = new float[3], e1 = new float[3]; + float[] normal = new float[3]; + for (int j = 0; j < 3; ++j) { + e0[j] = vertices[v1 + j] - vertices[v0 + j]; + e1[j] = vertices[v2 + j] - vertices[v0 + j]; + } + normal[0] = e0[1] * e1[2] - e0[2] * e1[1]; + normal[1] = e0[2] * e1[0] - e0[0] * e1[2]; + normal[2] = e0[0] * e1[1] - e0[1] * e1[0]; + RecastVectors.normalize(normal); + float c = clamp(0.57735026f * (normal[0] + normal[1] + normal[2]), -1, 1); + int col = DebugDraw.duLerpCol(DebugDraw.duRGBA(32, 32, 0, 160), DebugDraw.duRGBA(220, 220, 0, 160), + (int) (127 * (1 + c))); + return col; + } + +} diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/SphereGizmo.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/SphereGizmo.cs new file mode 100644 index 0000000..69ba71e --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/SphereGizmo.cs @@ -0,0 +1,38 @@ +using DotRecast.Recast.Demo.Draw; + +using static DotRecast.Detour.DetourCommon; +using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper; + + +namespace DotRecast.Recast.Demo.Tools.Gizmos; + + +public class SphereGizmo : ColliderGizmo { + private readonly float[] vertices; + private readonly int[] triangles; + private readonly float radius; + private readonly float[] center; + + public SphereGizmo(float[] center, float radius) { + this.center = center; + this.radius = radius; + vertices = generateSphericalVertices(); + triangles = generateSphericalTriangles(); + } + + public void render(RecastDebugDraw debugDraw) { + debugDraw.begin(DebugDrawPrimitives.TRIS); + for (int i = 0; i < triangles.Length; i += 3) { + for (int j = 0; j < 3; j++) { + int v = triangles[i + j] * 3; + float c = clamp(0.57735026f * (vertices[v] + vertices[v + 1] + vertices[v + 2]), -1, 1); + int col = DebugDraw.duLerpCol(DebugDraw.duRGBA(32, 32, 0, 160), DebugDraw.duRGBA(220, 220, 0, 160), + (int) (127 * (1 + c))); + debugDraw.vertex(radius * vertices[v] + center[0], radius * vertices[v + 1] + center[1], + radius * vertices[v + 2] + center[2], col); + } + } + debugDraw.end(); + } + +} \ No newline at end of file diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/TrimeshGizmo.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/TrimeshGizmo.cs new file mode 100644 index 0000000..1cd32a6 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/TrimeshGizmo.cs @@ -0,0 +1,28 @@ +using DotRecast.Recast.Demo.Draw; + +namespace DotRecast.Recast.Demo.Tools.Gizmos; + +public class TrimeshGizmo : ColliderGizmo { + private readonly float[] vertices; + private readonly int[] triangles; + + public TrimeshGizmo(float[] vertices, int[] triangles) { + this.vertices = vertices; + this.triangles = triangles; + } + + public void render(RecastDebugDraw debugDraw) { + debugDraw.begin(DebugDrawPrimitives.TRIS); + for (int i = 0; i < triangles.Length; i += 3) { + int v0 = 3 * triangles[i]; + int v1 = 3 * triangles[i + 1]; + int v2 = 3 * triangles[i + 2]; + int col = GizmoHelper.getColorByNormal(vertices, v0, v1, v2); + debugDraw.vertex(vertices[v0], vertices[v0 + 1], vertices[v0 + 2], col); + debugDraw.vertex(vertices[v1], vertices[v1 + 1], vertices[v1 + 2], col); + debugDraw.vertex(vertices[v2], vertices[v2 + 1], vertices[v2 + 2], col); + } + debugDraw.end(); + } + +} \ No newline at end of file diff --git a/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderTool.cs b/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderTool.cs new file mode 100644 index 0000000..547272c --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderTool.cs @@ -0,0 +1,427 @@ +/* +recast4j copyright (c) 2020-2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using Silk.NET.Windowing; +using DotRecast.Detour.Extras.Jumplink; +using DotRecast.Recast.Demo.Builder; +using DotRecast.Recast.Demo.Draw; +using DotRecast.Recast.Demo.Geom; + +using static DotRecast.Detour.DetourCommon; +using static DotRecast.Recast.Demo.Draw.DebugDraw; +using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives; + +namespace DotRecast.Recast.Demo.Tools; + +public class JumpLinkBuilderTool : Tool { + + private readonly List links = new(); + private Sample sample; + private JumpLinkBuilder annotationBuilder; + private readonly int selEdge = -1; + private readonly JumpLinkBuilderToolParams option = new JumpLinkBuilderToolParams(); + + public override void setSample(Sample sample) { + this.sample = sample; + annotationBuilder = null; + } + + public override void handleClick(float[] s, float[] p, bool shift) { + + } + + public override void handleRender(NavMeshRenderer renderer) { + int col0 = duLerpCol(duRGBA(32, 255, 96, 255), duRGBA(255, 255, 255, 255), 200); + int col1 = duRGBA(32, 255, 96, 255); + RecastDebugDraw dd = renderer.getDebugDraw(); + dd.depthMask(false); + + if ((option.flags & JumpLinkBuilderToolParams.DRAW_WALKABLE_BORDER) != 0) { + if (annotationBuilder != null) { + foreach (Edge[] edges in annotationBuilder.getEdges()) { + dd.begin(LINES, 3.0f); + for (int i = 0; i < edges.Length; ++i) { + int col = duRGBA(0, 96, 128, 255); + if (i == selEdge) + continue; + dd.vertex(edges[i].sp, col); + dd.vertex(edges[i].sq, col); + } + dd.end(); + + dd.begin(POINTS, 8.0f); + for (int i = 0; i < edges.Length; ++i) { + int col = duRGBA(0, 96, 128, 255); + if (i == selEdge) + continue; + dd.vertex(edges[i].sp, col); + dd.vertex(edges[i].sq, col); + } + dd.end(); + + if (selEdge >= 0 && selEdge < edges.Length) { + int col = duRGBA(48, 16, 16, 255); // duRGBA(255,192,0,255); + dd.begin(LINES, 3.0f); + dd.vertex(edges[selEdge].sp, col); + dd.vertex(edges[selEdge].sq, col); + dd.end(); + dd.begin(POINTS, 8.0f); + dd.vertex(edges[selEdge].sp, col); + dd.vertex(edges[selEdge].sq, col); + dd.end(); + } + + dd.begin(POINTS, 4.0f); + for (int i = 0; i < edges.Length; ++i) { + int col = duRGBA(190, 190, 190, 255); + dd.vertex(edges[i].sp, col); + dd.vertex(edges[i].sq, col); + } + dd.end(); + } + } + } + + if ((option.flags & JumpLinkBuilderToolParams.DRAW_ANNOTATIONS) != 0) { + dd.begin(QUADS); + foreach (JumpLink link in links) { + for (int j = 0; j < link.nspine - 1; ++j) { + int u = (j * 255) / link.nspine; + int col = duTransCol(duLerpCol(col0, col1, u), 128); + dd.vertex(link.spine1[j * 3], link.spine1[j * 3 + 1], link.spine1[j * 3 + 2], col); + dd.vertex(link.spine1[(j + 1) * 3], link.spine1[(j + 1) * 3 + 1], link.spine1[(j + 1) * 3 + 2], + col); + dd.vertex(link.spine0[(j + 1) * 3], link.spine0[(j + 1) * 3 + 1], link.spine0[(j + 1) * 3 + 2], + col); + dd.vertex(link.spine0[j * 3], link.spine0[j * 3 + 1], link.spine0[j * 3 + 2], col); + } + } + dd.end(); + dd.begin(LINES, 3.0f); + foreach (JumpLink link in links) { + for (int j = 0; j < link.nspine - 1; ++j) { + // int u = (j*255)/link.nspine; + int col = duTransCol(duDarkenCol(col1)/*duDarkenCol(duLerpCol(col0,col1,u))*/, 128); + + dd.vertex(link.spine0[j * 3], link.spine0[j * 3 + 1], link.spine0[j * 3 + 2], col); + dd.vertex(link.spine0[(j + 1) * 3], link.spine0[(j + 1) * 3 + 1], link.spine0[(j + 1) * 3 + 2], + col); + dd.vertex(link.spine1[j * 3], link.spine1[j * 3 + 1], link.spine1[j * 3 + 2], col); + dd.vertex(link.spine1[(j + 1) * 3], link.spine1[(j + 1) * 3 + 1], link.spine1[(j + 1) * 3 + 2], + col); + } + + dd.vertex(link.spine0[0], link.spine0[1], link.spine0[2], duDarkenCol(col1)); + dd.vertex(link.spine1[0], link.spine1[1], link.spine1[2], duDarkenCol(col1)); + + dd.vertex(link.spine0[(link.nspine - 1) * 3], link.spine0[(link.nspine - 1) * 3 + 1], + link.spine0[(link.nspine - 1) * 3 + 2], duDarkenCol(col1)); + dd.vertex(link.spine1[(link.nspine - 1) * 3], link.spine1[(link.nspine - 1) * 3 + 1], + link.spine1[(link.nspine - 1) * 3 + 2], duDarkenCol(col1)); + } + dd.end(); + } + if (annotationBuilder != null) { + foreach (JumpLink link in links) { + if ((option.flags & JumpLinkBuilderToolParams.DRAW_ANIM_TRAJECTORY) != 0) { + float r = link.start.height; + + int col = duLerpCol(duRGBA(255, 192, 0, 255), + duRGBA(255, 255, 255, 255), 64); + int cola = duTransCol(col, 192); + int colb = duRGBA(255, 255, 255, 255); + + // Start segment. + dd.begin(LINES, 3.0f); + dd.vertex(link.start.p, col); + dd.vertex(link.start.q, col); + dd.end(); + + dd.begin(LINES, 1.0f); + dd.vertex(link.start.p[0], link.start.p[1], link.start.p[2], colb); + dd.vertex(link.start.p[0], link.start.p[1] + r, link.start.p[2], colb); + dd.vertex(link.start.p[0], link.start.p[1] + r, link.start.p[2], colb); + dd.vertex(link.start.q[0], link.start.q[1] + r, link.start.q[2], colb); + dd.vertex(link.start.q[0], link.start.q[1] + r, link.start.q[2], colb); + dd.vertex(link.start.q[0], link.start.q[1], link.start.q[2], colb); + dd.vertex(link.start.q[0], link.start.q[1], link.start.q[2], colb); + dd.vertex(link.start.p[0], link.start.p[1], link.start.p[2], colb); + dd.end(); + + GroundSegment end = link.end; + r = end.height; + // End segment. + dd.begin(LINES, 3.0f); + dd.vertex(end.p, col); + dd.vertex(end.q, col); + dd.end(); + + dd.begin(LINES, 1.0f); + dd.vertex(end.p[0], end.p[1], end.p[2], colb); + dd.vertex(end.p[0], end.p[1] + r, end.p[2], colb); + dd.vertex(end.p[0], end.p[1] + r, end.p[2], colb); + dd.vertex(end.q[0], end.q[1] + r, end.q[2], colb); + dd.vertex(end.q[0], end.q[1] + r, end.q[2], colb); + dd.vertex(end.q[0], end.q[1], end.q[2], colb); + dd.vertex(end.q[0], end.q[1], end.q[2], colb); + dd.vertex(end.p[0], end.p[1], end.p[2], colb); + dd.end(); + + dd.begin(LINES, 4.0f); + drawTrajectory(dd, link, link.start.p, end.p, link.trajectory, cola); + drawTrajectory(dd, link, link.start.q, end.q, link.trajectory, cola); + dd.end(); + + dd.begin(LINES, 8.0f); + dd.vertex(link.start.p, duDarkenCol(col)); + dd.vertex(link.start.q, duDarkenCol(col)); + dd.vertex(end.p, duDarkenCol(col)); + dd.vertex(end.q, duDarkenCol(col)); + dd.end(); + + int colm = duRGBA(255, 255, 255, 255); + dd.begin(LINES, 3.0f); + dd.vertex(link.start.p, colm); + dd.vertex(link.start.q, colm); + dd.vertex(end.p, colm); + dd.vertex(end.q, colm); + dd.end(); + } + if ((option.flags & JumpLinkBuilderToolParams.DRAW_LAND_SAMPLES) != 0) { + dd.begin(POINTS, 8.0f); + for (int i = 0; i < link.start.gsamples.Length; ++i) { + GroundSample s = link.start.gsamples[i]; + float u = i / (float) (link.start.gsamples.Length - 1); + float[] spt = vLerp(link.start.p, link.start.q, u); + int col = duRGBA(48, 16, 16, 255); // duRGBA(255,(s->flags & 4)?255:0,0,255); + float off = 0.1f; + if (!s.validHeight) { + off = 0; + col = duRGBA(220, 32, 32, 255); + } + spt[1] = s.p[1] + off; + dd.vertex(spt, col); + } + dd.end(); + + dd.begin(POINTS, 4.0f); + for (int i = 0; i < link.start.gsamples.Length; ++i) { + GroundSample s = link.start.gsamples[i]; + float u = i / (float) (link.start.gsamples.Length - 1); + float[] spt = vLerp(link.start.p, link.start.q, u); + int col = duRGBA(255, 255, 255, 255); + float off = 0; + if (s.validHeight) { + off = 0.1f; + } + spt[1] = s.p[1] + off; + dd.vertex(spt, col); + } + dd.end(); + { + GroundSegment end = link.end; + dd.begin(POINTS, 8.0f); + for (int i = 0; i < end.gsamples.Length; ++i) { + GroundSample s = end.gsamples[i]; + float u = i / (float) (end.gsamples.Length - 1); + float[] spt = vLerp(end.p, end.q, u); + int col = duRGBA(48, 16, 16, 255); // duRGBA(255,(s->flags & 4)?255:0,0,255); + float off = 0.1f; + if (!s.validHeight) { + off = 0; + col = duRGBA(220, 32, 32, 255); + } + spt[1] = s.p[1] + off; + dd.vertex(spt, col); + } + dd.end(); + dd.begin(POINTS, 4.0f); + for (int i = 0; i < end.gsamples.Length; ++i) { + GroundSample s = end.gsamples[i]; + float u = i / (float) (end.gsamples.Length - 1); + float[] spt = vLerp(end.p, end.q, u); + int col = duRGBA(255, 255, 255, 255); + float off = 0; + if (s.validHeight) { + off = 0.1f; + } + spt[1] = s.p[1] + off; + dd.vertex(spt, col); + } + dd.end(); + } + } + } + } + dd.depthMask(true); + } + + private void drawTrajectory(RecastDebugDraw dd, JumpLink link, float[] pa, float[] pb, Trajectory tra, int cola) { + + } + + public override void handleUpdate(float dt) { + + } + + public override void layout(IWindow ctx) { + // if (!sample.getRecastResults().isEmpty()) { + // + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Options", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Ground Tolerance", 0f, option.groundTolerance, 2f, 0.05f, 0.01f); + // nk_layout_row_dynamic(ctx, 5, 1); + // nk_spacing(ctx, 1); + // + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Climb Down", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Distance", 0f, option.climbDownDistance, 5f, 0.05f, 0.01f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Min Cliff Height", 0f, option.climbDownMinHeight, 10f, 0.05f, 0.01f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Cliff Height", 0f, option.climbDownMaxHeight, 10f, 0.05f, 0.01f); + // nk_layout_row_dynamic(ctx, 5, 1); + // nk_spacing(ctx, 1); + // + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Jump Down", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Distance", 0f, option.edgeJumpEndDistance, 10f, 0.05f, 0.01f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Jump Height", 0f, option.edgeJumpHeight, 10f, 0.05f, 0.01f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Jump Down", 0f, option.edgeJumpDownMaxHeight, 10f, 0.05f, 0.01f); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_property_float(ctx, "Max Jump Up", 0f, option.edgeJumpUpMaxHeight, 10f, 0.05f, 0.01f); + // nk_layout_row_dynamic(ctx, 5, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Mode", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // int buildTypes = 0; + // buildTypes |= nk_option_text(ctx, "Climb Down", + // (option.buildTypes & (1 << JumpLinkType.EDGE_CLIMB_DOWN.ordinal())) != 0) + // ? (1 << JumpLinkType.EDGE_CLIMB_DOWN.ordinal()) + // : 0; + // nk_layout_row_dynamic(ctx, 20, 1); + // buildTypes |= nk_option_text(ctx, "Edge Jump", + // (option.buildTypes & (1 << JumpLinkType.EDGE_JUMP.ordinal())) != 0) + // ? (1 << JumpLinkType.EDGE_JUMP.ordinal()) + // : 0; + // option.buildTypes = buildTypes; + // bool build = false; + // bool buildOffMeshConnections = false; + // if (nk_button_text(ctx, "Build")) { + // build = true; + // } + // if (nk_button_text(ctx, "Build Off-Mesh Links")) { + // buildOffMeshConnections = true; + // } + // if (build || buildOffMeshConnections) { + // if (annotationBuilder == null) { + // if (sample != null && !sample.getRecastResults().isEmpty()) { + // annotationBuilder = new JumpLinkBuilder(sample.getRecastResults()); + // } + // } + // links.clear(); + // if (annotationBuilder != null) { + // float cellSize = sample.getSettingsUI().getCellSize(); + // float agentHeight = sample.getSettingsUI().getAgentHeight(); + // float agentRadius = sample.getSettingsUI().getAgentRadius(); + // float agentClimb = sample.getSettingsUI().getAgentMaxClimb(); + // float cellHeight = sample.getSettingsUI().getCellHeight(); + // if ((buildTypes & (1 << JumpLinkType.EDGE_CLIMB_DOWN.ordinal())) != 0) { + // JumpLinkBuilderConfig config = new JumpLinkBuilderConfig(cellSize, cellHeight, agentRadius, + // agentHeight, agentClimb, option.groundTolerance[0], -agentRadius * 0.2f, + // cellSize + 2 * agentRadius + option.climbDownDistance[0], + // -option.climbDownMaxHeight[0], -option.climbDownMinHeight[0], 0); + // links.addAll(annotationBuilder.build(config, JumpLinkType.EDGE_CLIMB_DOWN)); + // } + // if ((buildTypes & (1 << JumpLinkType.EDGE_JUMP.ordinal())) != 0) { + // JumpLinkBuilderConfig config = new JumpLinkBuilderConfig(cellSize, cellHeight, agentRadius, + // agentHeight, agentClimb, option.groundTolerance[0], -agentRadius * 0.2f, + // option.edgeJumpEndDistance[0], -option.edgeJumpDownMaxHeight[0], + // option.edgeJumpUpMaxHeight[0], option.edgeJumpHeight[0]); + // links.addAll(annotationBuilder.build(config, JumpLinkType.EDGE_JUMP)); + // } + // if (buildOffMeshConnections) { + // DemoInputGeomProvider geom = sample.getInputGeom(); + // if (geom != null) { + // int area = SampleAreaModifications.SAMPLE_POLYAREA_TYPE_JUMP_AUTO; + // geom.removeOffMeshConnections(c => c.area == area); + // links.forEach(l => addOffMeshLink(l, geom, agentRadius)); + // } + // } + // } + // } + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 18, 1); + // nk_label(ctx, "Debug Draw Options", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // int newFlags = 0; + // newFlags |= nk_option_text(ctx, "Walkable Border", + // (params.flags & JumpLinkBuilderToolParams.DRAW_WALKABLE_BORDER) != 0) + // ? JumpLinkBuilderToolParams.DRAW_WALKABLE_BORDER + // : 0; + // nk_layout_row_dynamic(ctx, 20, 1); + // newFlags |= nk_option_text(ctx, "Selected Edge", + // (params.flags & JumpLinkBuilderToolParams.DRAW_SELECTED_EDGE) != 0) + // ? JumpLinkBuilderToolParams.DRAW_SELECTED_EDGE + // : 0; + // nk_layout_row_dynamic(ctx, 20, 1); + // newFlags |= nk_option_text(ctx, "Anim Trajectory", + // (params.flags & JumpLinkBuilderToolParams.DRAW_ANIM_TRAJECTORY) != 0) + // ? JumpLinkBuilderToolParams.DRAW_ANIM_TRAJECTORY + // : 0; + // nk_layout_row_dynamic(ctx, 20, 1); + // newFlags |= nk_option_text(ctx, "Land Samples", + // (params.flags & JumpLinkBuilderToolParams.DRAW_LAND_SAMPLES) != 0) + // ? JumpLinkBuilderToolParams.DRAW_LAND_SAMPLES + // : 0; + // nk_layout_row_dynamic(ctx, 20, 1); + // newFlags |= nk_option_text(ctx, "All Annotations", + // (params.flags & JumpLinkBuilderToolParams.DRAW_ANNOTATIONS) != 0) + // ? JumpLinkBuilderToolParams.DRAW_ANNOTATIONS + // : 0; + // params.flags = newFlags; + // } + + } + + private void addOffMeshLink(JumpLink link, DemoInputGeomProvider geom, float agentRadius) { + int area = SampleAreaModifications.SAMPLE_POLYAREA_TYPE_JUMP_AUTO; + int flags = SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP; + float[] prev = new float[3]; + for (int i = 0; i < link.startSamples.Length; i++) { + float[] p = link.startSamples[i].p; + float[] q = link.endSamples[i].p; + if (i == 0 || vDist2D(prev, p) > agentRadius) { + geom.addOffMeshConnection(p, q, agentRadius, false, area, flags); + prev = p; + } + } + } + + public override string getName() { + return "Annotation Builder"; + } + +} diff --git a/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderToolParams.cs b/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderToolParams.cs new file mode 100644 index 0000000..50626a3 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderToolParams.cs @@ -0,0 +1,45 @@ +/* +recast4j copyright (c) 2020-2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Detour.Extras.Jumplink; + +namespace DotRecast.Recast.Demo.Tools; + + +public class JumpLinkBuilderToolParams { + + public const int DRAW_WALKABLE_SURFACE = 1 << 0; + public const int DRAW_WALKABLE_BORDER = 1 << 1; + public const int DRAW_SELECTED_EDGE = 1 << 2; + public const int DRAW_ANIM_TRAJECTORY = 1 << 3; + public const int DRAW_LAND_SAMPLES = 1 << 4; + public const int DRAW_COLLISION_SLICES = 1 << 5; + public const int DRAW_ANNOTATIONS = 1 << 6; + + public int flags = DRAW_WALKABLE_SURFACE | DRAW_WALKABLE_BORDER | DRAW_SELECTED_EDGE | DRAW_ANIM_TRAJECTORY | DRAW_LAND_SAMPLES | DRAW_ANNOTATIONS; + public readonly float[] groundTolerance = new[] { 0.3f }; + public readonly float[] climbDownDistance = new[] { 0.4f }; + public readonly float[] climbDownMaxHeight = new[] { 3.2f }; + public readonly float[] climbDownMinHeight = new[] { 1.5f }; + public readonly float[] edgeJumpEndDistance = new[] { 2f }; + public readonly float[] edgeJumpHeight = new[] { 0.4f }; + public readonly float[] edgeJumpDownMaxHeight = new[] { 2.5f }; + public readonly float[] edgeJumpUpMaxHeight = new[] { 0.3f }; + public int buildTypes = (1 << (int)JumpLinkType.EDGE_CLIMB_DOWN) | (1 << (int)JumpLinkType.EDGE_JUMP); + +} diff --git a/src/DotRecast.Recast.Demo/Tools/OffMeshConnectionTool.cs b/src/DotRecast.Recast.Demo/Tools/OffMeshConnectionTool.cs new file mode 100644 index 0000000..970ba90 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/OffMeshConnectionTool.cs @@ -0,0 +1,109 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using Silk.NET.Windowing; +using DotRecast.Core; +using DotRecast.Recast.Demo.Builder; +using DotRecast.Recast.Demo.Draw; +using DotRecast.Recast.Demo.Geom; + +using static DotRecast.Recast.Demo.Draw.DebugDraw; + +namespace DotRecast.Recast.Demo.Tools; +public class OffMeshConnectionTool : Tool { + + private Sample sample; + private bool hitPosSet; + private float[] hitPos; + private bool bidir; + + public override void setSample(Sample m_sample) { + sample = m_sample; + } + + public override void handleClick(float[] s, float[] p, bool shift) { + DemoInputGeomProvider geom = sample.getInputGeom(); + if (geom == null) { + return; + } + + if (shift) { + // Delete + // Find nearest link end-point + float nearestDist = float.MaxValue; + DemoOffMeshConnection nearestConnection = null; + foreach (DemoOffMeshConnection offMeshCon in geom.getOffMeshConnections()) { + float d = Math.Min(DemoMath.vDistSqr(p, offMeshCon.verts, 0), DemoMath.vDistSqr(p, offMeshCon.verts, 3)); + if (d < nearestDist && Math.Sqrt(d) < sample.getSettingsUI().getAgentRadius()) { + nearestDist = d; + nearestConnection = offMeshCon; + } + } + if (nearestConnection != null) { + geom.getOffMeshConnections().Remove(nearestConnection); + } + } else { + // Create + if (!hitPosSet) { + hitPos = ArrayUtils.CopyOf(p, p.Length); + hitPosSet = true; + } else { + int area = SampleAreaModifications.SAMPLE_POLYAREA_TYPE_JUMP; + int flags = SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP; + geom.addOffMeshConnection(hitPos, p, sample.getSettingsUI().getAgentRadius(), bidir, area, flags); + hitPosSet = false; + } + } + + } + + public override void handleRender(NavMeshRenderer renderer) { + if (sample == null) { + return; + } + RecastDebugDraw dd = renderer.getDebugDraw(); + float s = sample.getSettingsUI().getAgentRadius(); + + if (hitPosSet) { + dd.debugDrawCross(hitPos[0], hitPos[1] + 0.1f, hitPos[2], s, duRGBA(0, 0, 0, 128), 2.0f); + } + DemoInputGeomProvider geom = sample.getInputGeom(); + if (geom != null) { + renderer.drawOffMeshConnections(geom, true); + } + } + + public override void layout(IWindow ctx) { + // nk_layout_row_dynamic(ctx, 20, 1); + // bidir = !nk_option_label(ctx, "One Way", !bidir); + // nk_layout_row_dynamic(ctx, 20, 1); + // bidir = nk_option_label(ctx, "Bidirectional", bidir); + } + + public override string getName() { + return "Create Off-Mesh Links"; + } + + public override void handleUpdate(float dt) { + // TODO Auto-generated method stub + + } + +} diff --git a/src/DotRecast.Recast.Demo/Tools/PathUtils.cs b/src/DotRecast.Recast.Demo/Tools/PathUtils.cs new file mode 100644 index 0000000..002f593 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/PathUtils.cs @@ -0,0 +1,171 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using DotRecast.Detour; + +namespace DotRecast.Recast.Demo.Tools; + + +public static class PathUtils { + + private readonly static int MAX_STEER_POINTS = 3; + + + public static SteerTarget getSteerTarget(NavMeshQuery navQuery, float[] startPos, float[] endPos, + float minTargetDist, List path) { + // Find steer target. + Result> result = navQuery.findStraightPath(startPos, endPos, path, MAX_STEER_POINTS, 0); + if (result.failed()) { + return null; + } + List straightPath = result.result; + float[] steerPoints = new float[straightPath.Count * 3]; + for (int i = 0; i < straightPath.Count; i++) { + steerPoints[i * 3] = straightPath[i].getPos()[0]; + steerPoints[i * 3 + 1] = straightPath[i].getPos()[1]; + steerPoints[i * 3 + 2] = straightPath[i].getPos()[2]; + } + + // Find vertex far enough to steer to. + int ns = 0; + while (ns < straightPath.Count) { + // Stop at Off-Mesh link or when point is further than slop away. + if (((straightPath[ns].getFlags() & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0) + || !inRange(straightPath[ns].getPos(), startPos, minTargetDist, 1000.0f)) + break; + ns++; + } + // Failed to find good point to steer to. + if (ns >= straightPath.Count) + return null; + + float[] steerPos = new float[] { straightPath[ns].getPos()[0], startPos[1], + straightPath[ns].getPos()[2] }; + int steerPosFlag = straightPath[ns].getFlags(); + long steerPosRef = straightPath[ns].getRef(); + + SteerTarget target = new SteerTarget(steerPos, steerPosFlag, steerPosRef, steerPoints); + return target; + + } + + public static bool inRange(float[] v1, float[] v2, float r, float h) { + float dx = v2[0] - v1[0]; + float dy = v2[1] - v1[1]; + float dz = v2[2] - v1[2]; + return (dx * dx + dz * dz) < r * r && Math.Abs(dy) < h; + } + + public static List fixupCorridor(List path, List visited) { + int furthestPath = -1; + int furthestVisited = -1; + + // Find furthest common polygon. + for (int i = path.Count - 1; i >= 0; --i) { + bool found = false; + for (int j = visited.Count - 1; j >= 0; --j) { + if (path[i] == visited[j]) { + furthestPath = i; + furthestVisited = j; + found = true; + } + } + if (found) + break; + } + + // If no intersection found just return current path. + if (furthestPath == -1 || furthestVisited == -1) + return path; + + // Concatenate paths. + + // Adjust beginning of the buffer to include the visited. + int req = visited.Count - furthestVisited; + int orig = Math.Min(furthestPath + 1, path.Count); + int size = Math.Max(0, path.Count - orig); + List fixupPath = new(); + // Store visited + for (int i = 0; i < req; ++i) { + fixupPath.Add(visited[(visited.Count - 1) - i]); + } + for (int i = 0; i < size; i++) { + fixupPath.Add(path[orig + i]); + } + + return fixupPath; + } + + // This function checks if the path has a small U-turn, that is, + // a polygon further in the path is adjacent to the first polygon + // in the path. If that happens, a shortcut is taken. + // This can happen if the target (T) location is at tile boundary, + // and we're (S) approaching it parallel to the tile edge. + // The choice at the vertex can be arbitrary, + // +---+---+ + // |:::|:::| + // +-S-+-T-+ + // |:::| | <-- the step can end up in here, resulting U-turn path. + // +---+---+ + public static List fixupShortcuts(List path, NavMeshQuery navQuery) { + if (path.Count < 3) { + return path; + } + + // Get connected polygons + List neis = new(); + + Result> tileAndPoly = navQuery.getAttachedNavMesh().getTileAndPolyByRef(path[0]); + if (tileAndPoly.failed()) { + return path; + } + MeshTile tile = tileAndPoly.result.Item1; + Poly poly = tileAndPoly.result.Item2; + + for (int k = tile.polyLinks[poly.index]; k != NavMesh.DT_NULL_LINK; k = tile.links[k].next) { + Link link = tile.links[k]; + if (link.refs != 0) { + neis.Add(link.refs); + } + } + + // If any of the neighbour polygons is within the next few polygons + // in the path, short cut to that polygon directly. + int maxLookAhead = 6; + int cut = 0; + for (int i = Math.Min(maxLookAhead, path.Count) - 1; i > 1 && cut == 0; i--) { + for (int j = 0; j < neis.Count; j++) { + if (path[i] == neis[j]) { + cut = i; + break; + } + } + } + if (cut > 1) { + List shortcut = new(); + shortcut.Add(path[0]); + shortcut.AddRange(path.GetRange(cut, path.Count - cut)); + return shortcut; + } + return path; + } + +} diff --git a/src/DotRecast.Recast.Demo/Tools/PolyUtils.cs b/src/DotRecast.Recast.Demo/Tools/PolyUtils.cs new file mode 100644 index 0000000..790ef13 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/PolyUtils.cs @@ -0,0 +1,110 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Recast.Demo.Tools; + +public class PolyUtils { + + public static bool pointInPoly(float[] verts, float[] p) { + int i, j; + bool c = false; + for (i = 0, j = verts.Length / 3 - 1; i < verts.Length / 3; j = i++) { + float[] vi = new float[] { verts[i * 3], verts[i * 3 + 1], verts[i * 3 + 2] }; + float[] vj = new float[] { verts[j * 3], verts[j * 3 + 1], verts[j * 3 + 2] }; + if (((vi[2] > p[2]) != (vj[2] > p[2])) + && (p[0] < (vj[0] - vi[0]) * (p[2] - vi[2]) / (vj[2] - vi[2]) + vi[0])) { + c = !c; + } + } + return c; + } + + public static int offsetPoly(float[] verts, int nverts, float offset, float[] outVerts, int maxOutVerts) { + float MITER_LIMIT = 1.20f; + + int n = 0; + + for (int i = 0; i < nverts; i++) { + int a = (i + nverts - 1) % nverts; + int b = i; + int c = (i + 1) % nverts; + int va = a * 3; + int vb = b * 3; + int vc = c * 3; + float dx0 = verts[vb] - verts[va]; + float dy0 = verts[vb + 2] - verts[va + 2]; + float d0 = dx0 * dx0 + dy0 * dy0; + if (d0 > 1e-6f) { + d0 = (float) (1.0f / Math.Sqrt(d0)); + dx0 *= d0; + dy0 *= d0; + } + float dx1 = verts[vc] - verts[vb]; + float dy1 = verts[vc + 2] - verts[vb + 2]; + float d1 = dx1 * dx1 + dy1 * dy1; + if (d1 > 1e-6f) { + d1 = (float) (1.0f / Math.Sqrt(d1)); + dx1 *= d1; + dy1 *= d1; + } + float dlx0 = -dy0; + float dly0 = dx0; + float dlx1 = -dy1; + float dly1 = dx1; + float cross = dx1 * dy0 - dx0 * dy1; + float dmx = (dlx0 + dlx1) * 0.5f; + float dmy = (dly0 + dly1) * 0.5f; + float dmr2 = dmx * dmx + dmy * dmy; + bool bevel = dmr2 * MITER_LIMIT * MITER_LIMIT < 1.0f; + if (dmr2 > 1e-6f) { + float scale = 1.0f / dmr2; + dmx *= scale; + dmy *= scale; + } + + if (bevel && cross < 0.0f) { + if (n + 2 >= maxOutVerts) { + return 0; + } + float d = (1.0f - (dx0 * dx1 + dy0 * dy1)) * 0.5f; + outVerts[n * 3 + 0] = verts[vb] + (-dlx0 + dx0 * d) * offset; + outVerts[n * 3 + 1] = verts[vb + 1]; + outVerts[n * 3 + 2] = verts[vb + 2] + (-dly0 + dy0 * d) * offset; + n++; + outVerts[n * 3 + 0] = verts[vb] + (-dlx1 - dx1 * d) * offset; + outVerts[n * 3 + 1] = verts[vb + 1]; + outVerts[n * 3 + 2] = verts[vb + 2] + (-dly1 - dy1 * d) * offset; + n++; + } else { + if (n + 1 >= maxOutVerts) { + return 0; + } + outVerts[n * 3 + 0] = verts[vb] - dmx * offset; + outVerts[n * 3 + 1] = verts[vb + 1]; + outVerts[n * 3 + 2] = verts[vb + 2] - dmy * offset; + n++; + } + } + + return n; + } + +} diff --git a/src/DotRecast.Recast.Demo/Tools/SteerTarget.cs b/src/DotRecast.Recast.Demo/Tools/SteerTarget.cs new file mode 100644 index 0000000..ffe9950 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/SteerTarget.cs @@ -0,0 +1,15 @@ +namespace DotRecast.Recast.Demo.Tools; + +public class SteerTarget { + public readonly float[] steerPos; + public readonly int steerPosFlag; + public readonly long steerPosRef; + public readonly float[] steerPoints; + + public SteerTarget(float[] steerPos, int steerPosFlag, long steerPosRef, float[] steerPoints) { + this.steerPos = steerPos; + this.steerPosFlag = steerPosFlag; + this.steerPosRef = steerPosRef; + this.steerPoints = steerPoints; + } +} diff --git a/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs new file mode 100644 index 0000000..a3c3b15 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs @@ -0,0 +1,880 @@ +using System; +using System.Collections.Generic; +using Silk.NET.Windowing; + +using DotRecast.Core; +using DotRecast.Detour; +using DotRecast.Recast.Demo.Builder; +using DotRecast.Recast.Demo.Draw; + +using static DotRecast.Detour.DetourCommon; +using static DotRecast.Recast.Demo.Draw.DebugDraw; +using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives; + +namespace DotRecast.Recast.Demo.Tools; + + +public class TestNavmeshTool : Tool { + + private readonly static int MAX_POLYS = 256; + private readonly static int MAX_SMOOTH = 2048; + private Sample m_sample; + private ToolMode m_toolMode = ToolMode.PATHFIND_FOLLOW; + private bool m_sposSet; + private bool m_eposSet; + private float[] m_spos; + private float[] m_epos; + private readonly DefaultQueryFilter m_filter; + private readonly float[] m_polyPickExt = new float[] { 2, 4, 2 }; + private long m_startRef; + private long m_endRef; + private float[] m_hitPos; + private float m_distanceToWall; + private float[] m_hitNormal; + private List m_straightPath; + private int m_straightPathOptions; + private List m_polys; + private bool m_hitResult; + private List m_parent; + private float m_neighbourhoodRadius; + private readonly float[] m_queryPoly = new float[12]; + private List m_smoothPath; + private Status m_pathFindStatus = Status.FAILURE; + private bool enableRaycast = true; + private readonly List randomPoints = new(); + private bool constrainByCircle; + + private enum ToolMode { + PATHFIND_FOLLOW, + PATHFIND_STRAIGHT, + PATHFIND_SLICED, + DISTANCE_TO_WALL, + RAYCAST, + FIND_POLYS_IN_CIRCLE, + FIND_POLYS_IN_SHAPE, + FIND_LOCAL_NEIGHBOURHOOD, + RANDOM_POINTS_IN_CIRCLE + } + + public TestNavmeshTool() { + m_filter = new DefaultQueryFilter(SampleAreaModifications.SAMPLE_POLYFLAGS_ALL, + SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED, new float[] { 1f, 1f, 1f, 1f, 2f, 1.5f }); + } + + public override void setSample(Sample m_sample) { + this.m_sample = m_sample; + } + + public override void handleClick(float[] s, float[] p, bool shift) { + if (shift) { + m_sposSet = true; + m_spos = ArrayUtils.CopyOf(p, p.Length); + } else { + m_eposSet = true; + m_epos = ArrayUtils.CopyOf(p, p.Length); + } + recalc(); + } + + public override void layout(IWindow ctx) { + ToolMode previousToolMode = m_toolMode; + int previousStraightPathOptions = m_straightPathOptions; + int previousIncludeFlags = m_filter.getIncludeFlags(); + int previousExcludeFlags = m_filter.getExcludeFlags(); + bool previousConstrainByCircle = constrainByCircle; + + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Pathfind Follow", m_toolMode == ToolMode.PATHFIND_FOLLOW)) { + // m_toolMode = ToolMode.PATHFIND_FOLLOW; + // } + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Pathfind Straight", m_toolMode == ToolMode.PATHFIND_STRAIGHT)) { + // m_toolMode = ToolMode.PATHFIND_STRAIGHT; + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_label(ctx, "Vertices at crossings", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "None", m_straightPathOptions == 0)) { + // m_straightPathOptions = 0; + // } + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Area", m_straightPathOptions == NavMeshQuery.DT_STRAIGHTPATH_AREA_CROSSINGS)) { + // m_straightPathOptions = NavMeshQuery.DT_STRAIGHTPATH_AREA_CROSSINGS; + // } + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "All", m_straightPathOptions == NavMeshQuery.DT_STRAIGHTPATH_ALL_CROSSINGS)) { + // m_straightPathOptions = NavMeshQuery.DT_STRAIGHTPATH_ALL_CROSSINGS; + // } + // nk_layout_row_dynamic(ctx, 5, 1); + // nk_spacing(ctx, 1); + // } + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Pathfind Sliced", m_toolMode == ToolMode.PATHFIND_SLICED)) { + // m_toolMode = ToolMode.PATHFIND_SLICED; + // } + // nk_layout_row_dynamic(ctx, 5, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Distance to Wall", m_toolMode == ToolMode.DISTANCE_TO_WALL)) { + // m_toolMode = ToolMode.DISTANCE_TO_WALL; + // } + // nk_layout_row_dynamic(ctx, 5, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Raycast", m_toolMode == ToolMode.RAYCAST)) { + // m_toolMode = ToolMode.RAYCAST; + // } + // nk_layout_row_dynamic(ctx, 5, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Find Polys in Circle", m_toolMode == ToolMode.FIND_POLYS_IN_CIRCLE)) { + // m_toolMode = ToolMode.FIND_POLYS_IN_CIRCLE; + // } + // if (nk_option_label(ctx, "Find Polys in Shape", m_toolMode == ToolMode.FIND_POLYS_IN_SHAPE)) { + // m_toolMode = ToolMode.FIND_POLYS_IN_SHAPE; + // } + // nk_layout_row_dynamic(ctx, 5, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, "Find Local Neighbourhood", m_toolMode == ToolMode.FIND_LOCAL_NEIGHBOURHOOD)) { + // m_toolMode = ToolMode.FIND_LOCAL_NEIGHBOURHOOD; + // } + // if (nk_option_label(ctx, "Random Points in Circle", m_toolMode == ToolMode.RANDOM_POINTS_IN_CIRCLE)) { + // m_toolMode = ToolMode.RANDOM_POINTS_IN_CIRCLE; + // nk_layout_row_dynamic(ctx, 20, 1); + // constrainByCircle = nk_check_text(ctx, "Constrained", constrainByCircle); + // } + // + // nk_layout_row_dynamic(ctx, 5, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_label(ctx, "Include Flags", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // int includeFlags = 0; + // if (nk_option_label(ctx, "Walk", + // (m_filter.getIncludeFlags() & SampleAreaModifications.SAMPLE_POLYFLAGS_WALK) != 0)) { + // includeFlags |= SampleAreaModifications.SAMPLE_POLYFLAGS_WALK; + // } + // if (nk_option_label(ctx, "Swim", + // (m_filter.getIncludeFlags() & SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM) != 0)) { + // includeFlags |= SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM; + // } + // if (nk_option_label(ctx, "Door", + // (m_filter.getIncludeFlags() & SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR) != 0)) { + // includeFlags |= SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR; + // } + // if (nk_option_label(ctx, "Jump", + // (m_filter.getIncludeFlags() & SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP) != 0)) { + // includeFlags |= SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP; + // } + // m_filter.setIncludeFlags(includeFlags); + // + // nk_layout_row_dynamic(ctx, 5, 1); + // nk_spacing(ctx, 1); + // nk_layout_row_dynamic(ctx, 20, 1); + // nk_label(ctx, "Exclude Flags", NK_TEXT_ALIGN_LEFT); + // nk_layout_row_dynamic(ctx, 20, 1); + // int excludeFlags = 0; + // if (nk_option_label(ctx, "Walk", + // (m_filter.getExcludeFlags() & SampleAreaModifications.SAMPLE_POLYFLAGS_WALK) != 0)) { + // excludeFlags |= SampleAreaModifications.SAMPLE_POLYFLAGS_WALK; + // } + // if (nk_option_label(ctx, "Swim", + // (m_filter.getExcludeFlags() & SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM) != 0)) { + // excludeFlags |= SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM; + // } + // if (nk_option_label(ctx, "Door", + // (m_filter.getExcludeFlags() & SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR) != 0)) { + // excludeFlags |= SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR; + // } + // if (nk_option_label(ctx, "Jump", + // (m_filter.getExcludeFlags() & SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP) != 0)) { + // excludeFlags |= SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP; + // } + // m_filter.setExcludeFlags(excludeFlags); + // + // nk_layout_row_dynamic(ctx, 30, 1); + // bool previousEnableRaycast = enableRaycast; + // enableRaycast = nk_check_label(ctx, "Raycast shortcuts", enableRaycast); + // + // if (previousToolMode != m_toolMode || m_straightPathOptions != previousStraightPathOptions + // || previousIncludeFlags != includeFlags || previousExcludeFlags != excludeFlags + // || previousEnableRaycast != enableRaycast || previousConstrainByCircle != constrainByCircle) { + // recalc(); + // } + } + + public override string getName() { + return "Test Navmesh"; + } + + private void recalc() { + if (m_sample.getNavMesh() == null) { + return; + } + NavMeshQuery m_navQuery = m_sample.getNavMeshQuery(); + if (m_sposSet) { + m_startRef = m_navQuery.findNearestPoly(m_spos, m_polyPickExt, m_filter).result.getNearestRef(); + } else { + m_startRef = 0; + } + if (m_eposSet) { + m_endRef = m_navQuery.findNearestPoly(m_epos, m_polyPickExt, m_filter).result.getNearestRef(); + } else { + m_endRef = 0; + } + NavMesh m_navMesh = m_sample.getNavMesh(); + if (m_toolMode == ToolMode.PATHFIND_FOLLOW) { + if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0) { + m_polys = m_navQuery.findPath(m_startRef, m_endRef, m_spos, m_epos, m_filter, + enableRaycast ? NavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue).result; + if (0 < m_polys.Count) { + List polys = new(m_polys); + // Iterate over the path to find smooth path on the detail mesh surface. + float[] iterPos = m_navQuery.closestPointOnPoly(m_startRef, m_spos).result.getClosest(); + float[] targetPos = m_navQuery.closestPointOnPoly(polys[polys.Count - 1], m_epos).result + .getClosest(); + + float STEP_SIZE = 0.5f; + float SLOP = 0.01f; + + m_smoothPath = new(); + m_smoothPath.Add(iterPos); + + // Move towards target a small advancement at a time until target reached or + // when ran out of memory to store the path. + while (0 < polys.Count && m_smoothPath.Count < MAX_SMOOTH) { + // Find location to steer towards. + SteerTarget steerTarget = PathUtils.getSteerTarget(m_navQuery, iterPos, targetPos, + SLOP, polys); + if (null == steerTarget) { + break; + } + bool endOfPath = (steerTarget.steerPosFlag & NavMeshQuery.DT_STRAIGHTPATH_END) != 0 + ? true + : false; + bool offMeshConnection = (steerTarget.steerPosFlag + & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0 ? true : false; + + // Find movement delta. + float[] delta = vSub(steerTarget.steerPos, iterPos); + float len = (float) Math.Sqrt(DemoMath.vDot(delta, delta)); + // If the steer target is end of path or off-mesh link, do not move past the location. + if ((endOfPath || offMeshConnection) && len < STEP_SIZE) { + len = 1; + } else { + len = STEP_SIZE / len; + } + float[] moveTgt = vMad(iterPos, delta, len); + // Move + Result result = m_navQuery.moveAlongSurface(polys[0], iterPos, + moveTgt, m_filter); + MoveAlongSurfaceResult moveAlongSurface = result.result; + + iterPos = new float[3]; + iterPos[0] = moveAlongSurface.getResultPos()[0]; + iterPos[1] = moveAlongSurface.getResultPos()[1]; + iterPos[2] = moveAlongSurface.getResultPos()[2]; + + List visited = result.result.getVisited(); + polys = PathUtils.fixupCorridor(polys, visited); + polys = PathUtils.fixupShortcuts(polys, m_navQuery); + + Result polyHeight = m_navQuery.getPolyHeight(polys[0], moveAlongSurface.getResultPos()); + if (polyHeight.succeeded()) { + iterPos[1] = polyHeight.result; + } + + // Handle end of path and off-mesh links when close enough. + if (endOfPath && PathUtils.inRange(iterPos, steerTarget.steerPos, SLOP, 1.0f)) { + // Reached end of path. + vCopy(iterPos, targetPos); + if (m_smoothPath.Count < MAX_SMOOTH) { + m_smoothPath.Add(iterPos); + } + break; + } else if (offMeshConnection + && PathUtils.inRange(iterPos, steerTarget.steerPos, SLOP, 1.0f)) { + // Reached off-mesh connection. + // Advance the path up to and over the off-mesh connection. + long prevRef = 0; + long polyRef = polys[0]; + int npos = 0; + while (npos < polys.Count && polyRef != steerTarget.steerPosRef) { + prevRef = polyRef; + polyRef = polys[npos]; + npos++; + } + polys = polys.GetRange(npos, polys.Count - npos); + + // Handle the connection. + Result> offMeshCon = m_navMesh + .getOffMeshConnectionPolyEndPoints(prevRef, polyRef); + if (offMeshCon.succeeded()) { + float[] startPos = offMeshCon.result.Item1; + float[] endPos = offMeshCon.result.Item2; + if (m_smoothPath.Count < MAX_SMOOTH) { + m_smoothPath.Add(startPos); + // Hack to make the dotted path not visible during off-mesh connection. + if ((m_smoothPath.Count & 1) != 0) { + m_smoothPath.Add(startPos); + } + } + // Move position at the other side of the off-mesh link. + vCopy(iterPos, endPos); + iterPos[1] = m_navQuery.getPolyHeight(polys[0], iterPos).result; + } + } + + // Store results. + if (m_smoothPath.Count < MAX_SMOOTH) { + m_smoothPath.Add(iterPos); + } + } + } + } else { + m_polys = null; + m_smoothPath = null; + } + } else if (m_toolMode == ToolMode.PATHFIND_STRAIGHT) { + if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0) { + m_polys = m_navQuery.findPath(m_startRef, m_endRef, m_spos, m_epos, m_filter, + enableRaycast ? NavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue).result; + if (0 < m_polys.Count) { + // In case of partial path, make sure the end point is clamped to the last polygon. + float[] epos = new float[] { m_epos[0], m_epos[1], m_epos[2] }; + if (m_polys[m_polys.Count - 1] != m_endRef) { + Result result = m_navQuery + .closestPointOnPoly(m_polys[m_polys.Count - 1], m_epos); + if (result.succeeded()) { + epos = result.result.getClosest(); + } + } + m_straightPath = m_navQuery.findStraightPath(m_spos, epos, m_polys, MAX_POLYS, + m_straightPathOptions).result; + } + } else { + m_straightPath = null; + } + } else if (m_toolMode == ToolMode.PATHFIND_SLICED) { + m_polys = null; + m_straightPath = null; + if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0) { + m_pathFindStatus = m_navQuery.initSlicedFindPath(m_startRef, m_endRef, m_spos, m_epos, m_filter, + enableRaycast ? NavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue); + } + } else if (m_toolMode == ToolMode.RAYCAST) { + m_straightPath = null; + if (m_sposSet && m_eposSet && m_startRef != 0) { + { + Result hit = m_navQuery.raycast(m_startRef, m_spos, m_epos, m_filter, 0, 0); + if (hit.succeeded()) { + m_polys = hit.result.path; + if (hit.result.t > 1) { + // No hit + m_hitPos = ArrayUtils.CopyOf(m_epos, m_epos.Length); + m_hitResult = false; + } else { + // Hit + m_hitPos = vLerp(m_spos, m_epos, hit.result.t); + m_hitNormal = ArrayUtils.CopyOf(hit.result.hitNormal, hit.result.hitNormal.Length); + m_hitResult = true; + } + // Adjust height. + if (hit.result.path.Count > 0) { + Result result = m_navQuery + .getPolyHeight(hit.result.path[hit.result.path.Count - 1], m_hitPos); + if (result.succeeded()) { + m_hitPos[1] = result.result; + } + } + } + m_straightPath = new(); + m_straightPath.Add(new StraightPathItem(m_spos, 0, 0)); + m_straightPath.Add(new StraightPathItem(m_hitPos, 0, 0)); + } + } + } else if (m_toolMode == ToolMode.DISTANCE_TO_WALL) { + m_distanceToWall = 0; + if (m_sposSet && m_startRef != 0) { + m_distanceToWall = 0.0f; + Result result = m_navQuery.findDistanceToWall(m_startRef, m_spos, 100.0f, + m_filter); + if (result.succeeded()) { + m_distanceToWall = result.result.getDistance(); + m_hitPos = result.result.getPosition(); + m_hitNormal = result.result.getNormal(); + } + } + } else if (m_toolMode == ToolMode.FIND_POLYS_IN_CIRCLE) { + if (m_sposSet && m_startRef != 0 && m_eposSet) { + float dx = m_epos[0] - m_spos[0]; + float dz = m_epos[2] - m_spos[2]; + float dist = (float) Math.Sqrt(dx * dx + dz * dz); + Result result = m_navQuery.findPolysAroundCircle(m_startRef, m_spos, dist, + m_filter); + if (result.succeeded()) { + m_polys = result.result.getRefs(); + m_parent = result.result.getParentRefs(); + } + } + } else if (m_toolMode == ToolMode.FIND_POLYS_IN_SHAPE) { + if (m_sposSet && m_startRef != 0 && m_eposSet) { + float nx = (m_epos[2] - m_spos[2]) * 0.25f; + float nz = -(m_epos[0] - m_spos[0]) * 0.25f; + float agentHeight = m_sample != null ? m_sample.getSettingsUI().getAgentHeight() : 0; + + m_queryPoly[0] = m_spos[0] + nx * 1.2f; + m_queryPoly[1] = m_spos[1] + agentHeight / 2; + m_queryPoly[2] = m_spos[2] + nz * 1.2f; + + m_queryPoly[3] = m_spos[0] - nx * 1.3f; + m_queryPoly[4] = m_spos[1] + agentHeight / 2; + m_queryPoly[5] = m_spos[2] - nz * 1.3f; + + m_queryPoly[6] = m_epos[0] - nx * 0.8f; + m_queryPoly[7] = m_epos[1] + agentHeight / 2; + m_queryPoly[8] = m_epos[2] - nz * 0.8f; + + m_queryPoly[9] = m_epos[0] + nx; + m_queryPoly[10] = m_epos[1] + agentHeight / 2; + m_queryPoly[11] = m_epos[2] + nz; + + Result result = m_navQuery.findPolysAroundShape(m_startRef, m_queryPoly, m_filter); + if (result.succeeded()) { + m_polys = result.result.getRefs(); + m_parent = result.result.getParentRefs(); + } + } + } else if (m_toolMode == ToolMode.FIND_LOCAL_NEIGHBOURHOOD) { + if (m_sposSet && m_startRef != 0) { + m_neighbourhoodRadius = m_sample.getSettingsUI().getAgentRadius() * 20.0f; + Result result = m_navQuery.findLocalNeighbourhood(m_startRef, m_spos, + m_neighbourhoodRadius, m_filter); + if (result.succeeded()) { + m_polys = result.result.getRefs(); + m_parent = result.result.getParentRefs(); + } + } + } else if (m_toolMode == ToolMode.RANDOM_POINTS_IN_CIRCLE) { + randomPoints.Clear(); + if (m_sposSet && m_startRef != 0 && m_eposSet) { + float dx = m_epos[0] - m_spos[0]; + float dz = m_epos[2] - m_spos[2]; + float dist = (float) Math.Sqrt(dx * dx + dz * dz); + PolygonByCircleConstraint constraint = constrainByCircle ? PolygonByCircleConstraint.strict() + : PolygonByCircleConstraint.noop(); + for (int i = 0; i < 200; i++) { + Result result = m_navQuery.findRandomPointAroundCircle(m_startRef, m_spos, dist, + m_filter, new NavMeshQuery.FRand(), constraint); + if (result.succeeded()) { + randomPoints.Add(result.result.getRandomPt()); + } + } + } + } + } + + public override void handleRender(NavMeshRenderer renderer) { + if (m_sample == null) { + return; + } + RecastDebugDraw dd = renderer.getDebugDraw(); + int startCol = duRGBA(128, 25, 0, 192); + int endCol = duRGBA(51, 102, 0, 129); + int pathCol = duRGBA(0, 0, 0, 64); + + float agentRadius = m_sample.getSettingsUI().getAgentRadius(); + float agentHeight = m_sample.getSettingsUI().getAgentHeight(); + float agentClimb = m_sample.getSettingsUI().getAgentMaxClimb(); + + if (m_sposSet) { + drawAgent(dd, m_spos, startCol); + } + if (m_eposSet) { + drawAgent(dd, m_epos, endCol); + } + dd.depthMask(true); + + NavMesh m_navMesh = m_sample.getNavMesh(); + if (m_navMesh == null) { + return; + } + + if (m_toolMode == ToolMode.PATHFIND_FOLLOW) { + dd.debugDrawNavMeshPoly(m_navMesh, m_startRef, startCol); + dd.debugDrawNavMeshPoly(m_navMesh, m_endRef, endCol); + + if (m_polys != null) { + foreach (long poly in m_polys) { + if (poly == m_startRef || poly == m_endRef) { + continue; + } + dd.debugDrawNavMeshPoly(m_navMesh, poly, pathCol); + } + } + if (m_smoothPath != null) { + dd.depthMask(false); + int spathCol = duRGBA(0, 0, 0, 220); + dd.begin(LINES, 3.0f); + for (int i = 0; i < m_smoothPath.Count; ++i) { + dd.vertex(m_smoothPath[i][0], m_smoothPath[i][1] + 0.1f, m_smoothPath[i][2], spathCol); + } + dd.end(); + dd.depthMask(true); + } + /* + if (m_pathIterNum) + { + duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_pathIterPolys[0], DebugDraw.duRGBA(255,255,255,128)); + + dd.depthMask(false); + dd.begin(DebugDrawPrimitives.LINES, 1.0f); + + int prevCol = DebugDraw.duRGBA(255,192,0,220); + int curCol = DebugDraw.duRGBA(255,255,255,220); + int steerCol = DebugDraw.duRGBA(0,192,255,220); + + dd.vertex(m_prevIterPos[0],m_prevIterPos[1]-0.3f,m_prevIterPos[2], prevCol); + dd.vertex(m_prevIterPos[0],m_prevIterPos[1]+0.3f,m_prevIterPos[2], prevCol); + + dd.vertex(m_iterPos[0],m_iterPos[1]-0.3f,m_iterPos[2], curCol); + dd.vertex(m_iterPos[0],m_iterPos[1]+0.3f,m_iterPos[2], curCol); + + dd.vertex(m_prevIterPos[0],m_prevIterPos[1]+0.3f,m_prevIterPos[2], prevCol); + dd.vertex(m_iterPos[0],m_iterPos[1]+0.3f,m_iterPos[2], prevCol); + + dd.vertex(m_prevIterPos[0],m_prevIterPos[1]+0.3f,m_prevIterPos[2], steerCol); + dd.vertex(m_steerPos[0],m_steerPos[1]+0.3f,m_steerPos[2], steerCol); + + for (int i = 0; i < m_steerPointCount-1; ++i) + { + dd.vertex(m_steerPoints[i*3+0],m_steerPoints[i*3+1]+0.2f,m_steerPoints[i*3+2], duDarkenCol(steerCol)); + dd.vertex(m_steerPoints[(i+1)*3+0],m_steerPoints[(i+1)*3+1]+0.2f,m_steerPoints[(i+1)*3+2], duDarkenCol(steerCol)); + } + + dd.end(); + dd.depthMask(true); + } + */ + } else if (m_toolMode == ToolMode.PATHFIND_STRAIGHT || m_toolMode == ToolMode.PATHFIND_SLICED) { + dd.debugDrawNavMeshPoly(m_navMesh, m_startRef, startCol); + dd.debugDrawNavMeshPoly(m_navMesh, m_endRef, endCol); + + if (m_polys != null) { + foreach (long poly in m_polys) { + dd.debugDrawNavMeshPoly(m_navMesh, poly, pathCol); + } + } + if (m_straightPath != null) { + dd.depthMask(false); + int spathCol = duRGBA(64, 16, 0, 220); + int offMeshCol = duRGBA(128, 96, 0, 220); + dd.begin(LINES, 2.0f); + for (int i = 0; i < m_straightPath.Count - 1; ++i) { + StraightPathItem straightPathItem = m_straightPath[i]; + StraightPathItem straightPathItem2 = m_straightPath[i + 1]; + int col; + if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0) { + col = offMeshCol; + } else { + col = spathCol; + } + dd.vertex(straightPathItem.getPos()[0], straightPathItem.getPos()[1] + 0.4f, + straightPathItem.getPos()[2], col); + dd.vertex(straightPathItem2.getPos()[0], straightPathItem2.getPos()[1] + 0.4f, + straightPathItem2.getPos()[2], col); + } + dd.end(); + dd.begin(POINTS, 6.0f); + for (int i = 0; i < m_straightPath.Count; ++i) { + StraightPathItem straightPathItem = m_straightPath[i]; + int col; + if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_START) != 0) { + col = startCol; + } else if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_END) != 0) { + col = endCol; + } else if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0) { + col = offMeshCol; + } else { + col = spathCol; + } + dd.vertex(straightPathItem.getPos()[0], straightPathItem.getPos()[1] + 0.4f, + straightPathItem.getPos()[2], col); + } + dd.end(); + dd.depthMask(true); + } + } else if (m_toolMode == ToolMode.RAYCAST) { + dd.debugDrawNavMeshPoly(m_navMesh, m_startRef, startCol); + + if (m_straightPath != null) { + if (m_polys != null) { + foreach (long poly in m_polys) { + dd.debugDrawNavMeshPoly(m_navMesh, poly, pathCol); + } + } + + dd.depthMask(false); + int spathCol = m_hitResult ? duRGBA(64, 16, 0, 220) : duRGBA(240, 240, 240, 220); + dd.begin(LINES, 2.0f); + for (int i = 0; i < m_straightPath.Count - 1; ++i) { + StraightPathItem straightPathItem = m_straightPath[i]; + StraightPathItem straightPathItem2 = m_straightPath[i + 1]; + dd.vertex(straightPathItem.getPos()[0], straightPathItem.getPos()[1] + 0.4f, + straightPathItem.getPos()[2], spathCol); + dd.vertex(straightPathItem2.getPos()[0], straightPathItem2.getPos()[1] + 0.4f, + straightPathItem2.getPos()[2], spathCol); + } + dd.end(); + dd.begin(POINTS, 4.0f); + for (int i = 0; i < m_straightPath.Count; ++i) { + StraightPathItem straightPathItem = m_straightPath[i]; + dd.vertex(straightPathItem.getPos()[0], straightPathItem.getPos()[1] + 0.4f, + straightPathItem.getPos()[2], spathCol); + } + dd.end(); + + if (m_hitResult) { + int hitCol = duRGBA(0, 0, 0, 128); + dd.begin(LINES, 2.0f); + dd.vertex(m_hitPos[0], m_hitPos[1] + 0.4f, m_hitPos[2], hitCol); + dd.vertex(m_hitPos[0] + m_hitNormal[0] * agentRadius, + m_hitPos[1] + 0.4f + m_hitNormal[1] * agentRadius, + m_hitPos[2] + m_hitNormal[2] * agentRadius, hitCol); + dd.end(); + } + dd.depthMask(true); + } + } else if (m_toolMode == ToolMode.DISTANCE_TO_WALL) { + dd.debugDrawNavMeshPoly(m_navMesh, m_startRef, startCol); + dd.depthMask(false); + if (m_spos != null) { + dd.debugDrawCircle(m_spos[0], m_spos[1] + agentHeight / 2, m_spos[2], m_distanceToWall, + duRGBA(64, 16, 0, 220), 2.0f); + } + if (m_hitPos != null) { + dd.begin(LINES, 3.0f); + dd.vertex(m_hitPos[0], m_hitPos[1] + 0.02f, m_hitPos[2], duRGBA(0, 0, 0, 192)); + dd.vertex(m_hitPos[0], m_hitPos[1] + agentHeight, m_hitPos[2], duRGBA(0, 0, 0, 192)); + dd.end(); + } + dd.depthMask(true); + } else if (m_toolMode == ToolMode.FIND_POLYS_IN_CIRCLE) { + if (m_polys != null) { + for (int i = 0; i < m_polys.Count; i++) { + dd.debugDrawNavMeshPoly(m_navMesh, m_polys[i], pathCol); + dd.depthMask(false); + if (m_parent[i] != 0) { + dd.depthMask(false); + float[] p0 = getPolyCenter(m_navMesh, m_parent[i]); + float[] p1 = getPolyCenter(m_navMesh, m_polys[i]); + dd.debugDrawArc(p0[0], p0[1], p0[2], p1[0], p1[1], p1[2], 0.25f, 0.0f, 0.4f, + duRGBA(0, 0, 0, 128), 2.0f); + dd.depthMask(true); + } + dd.depthMask(true); + } + } + + if (m_sposSet && m_eposSet) { + dd.depthMask(false); + float dx = m_epos[0] - m_spos[0]; + float dz = m_epos[2] - m_spos[2]; + float dist = (float) Math.Sqrt(dx * dx + dz * dz); + dd.debugDrawCircle(m_spos[0], m_spos[1] + agentHeight / 2, m_spos[2], dist, duRGBA(64, 16, 0, 220), + 2.0f); + dd.depthMask(true); + } + } else if (m_toolMode == ToolMode.FIND_POLYS_IN_SHAPE) { + if (m_polys != null) { + for (int i = 0; i < m_polys.Count; i++) { + dd.debugDrawNavMeshPoly(m_navMesh, m_polys[i], pathCol); + dd.depthMask(false); + if (m_parent[i] != 0) { + dd.depthMask(false); + float[] p0 = getPolyCenter(m_navMesh, m_parent[i]); + float[] p1 = getPolyCenter(m_navMesh, m_polys[i]); + dd.debugDrawArc(p0[0], p0[1], p0[2], p1[0], p1[1], p1[2], 0.25f, 0.0f, 0.4f, + duRGBA(0, 0, 0, 128), 2.0f); + dd.depthMask(true); + } + dd.depthMask(true); + } + } + + if (m_sposSet && m_eposSet) { + dd.depthMask(false); + int col = duRGBA(64, 16, 0, 220); + dd.begin(LINES, 2.0f); + for (int i = 0, j = 3; i < 4; j = i++) { + dd.vertex(m_queryPoly[j * 3], m_queryPoly[j * 3 + 1], m_queryPoly[j * 3 + 2], col); + dd.vertex(m_queryPoly[i * 3], m_queryPoly[i * 3 + 1], m_queryPoly[i * 3 + 2], col); + } + dd.end(); + dd.depthMask(true); + } + } else if (m_toolMode == ToolMode.FIND_LOCAL_NEIGHBOURHOOD) { + if (m_polys != null) { + for (int i = 0; i < m_polys.Count; i++) { + dd.debugDrawNavMeshPoly(m_navMesh, m_polys[i], pathCol); + dd.depthMask(false); + if (m_parent[i] != 0) { + dd.depthMask(false); + float[] p0 = getPolyCenter(m_navMesh, m_parent[i]); + float[] p1 = getPolyCenter(m_navMesh, m_polys[i]); + dd.debugDrawArc(p0[0], p0[1], p0[2], p1[0], p1[1], p1[2], 0.25f, 0.0f, 0.4f, + duRGBA(0, 0, 0, 128), 2.0f); + dd.depthMask(true); + } + dd.depthMask(true); + if (m_sample.getNavMeshQuery() != null) { + Result result = m_sample.getNavMeshQuery() + .getPolyWallSegments(m_polys[i], false, m_filter); + if (result.succeeded()) { + dd.begin(LINES, 2.0f); + GetPolyWallSegmentsResult wallSegments = result.result; + for (int j = 0; j < wallSegments.getSegmentVerts().Count; ++j) { + float[] s = wallSegments.getSegmentVerts()[j]; + float[] s3 = new float[] { s[3], s[4], s[5] }; + // Skip too distant segments. + Tuple distSqr = DetourCommon.distancePtSegSqr2D(m_spos, s, 0, 3); + if (distSqr.Item1 > DemoMath.sqr(m_neighbourhoodRadius)) { + continue; + } + float[] delta = vSub(s3, s); + float[] p0 = vMad(s, delta, 0.5f); + float[] norm = new float[] { delta[2], 0, -delta[0] }; + vNormalize(norm); + float[] p1 = vMad(p0, norm, agentRadius * 0.5f); + // Skip backfacing segments. + if (wallSegments.getSegmentRefs()[j] != 0) { + int col = duRGBA(255, 255, 255, 32); + dd.vertex(s[0], s[1] + agentClimb, s[2], col); + dd.vertex(s[3], s[4] + agentClimb, s[5], col); + } else { + int col = duRGBA(192, 32, 16, 192); + if (DetourCommon.triArea2D(m_spos, s, s3) < 0.0f) { + col = duRGBA(96, 32, 16, 192); + } + dd.vertex(p0[0], p0[1] + agentClimb, p0[2], col); + dd.vertex(p1[0], p1[1] + agentClimb, p1[2], col); + + dd.vertex(s[0], s[1] + agentClimb, s[2], col); + dd.vertex(s[3], s[4] + agentClimb, s[5], col); + } + } + dd.end(); + } + } + + dd.depthMask(true); + } + + if (m_sposSet) { + dd.depthMask(false); + dd.debugDrawCircle(m_spos[0], m_spos[1] + agentHeight / 2, m_spos[2], m_neighbourhoodRadius, + duRGBA(64, 16, 0, 220), 2.0f); + dd.depthMask(true); + } + } + } else if (m_toolMode == ToolMode.RANDOM_POINTS_IN_CIRCLE) { + dd.depthMask(false); + dd.begin(POINTS, 4.0f); + int col = duRGBA(64, 16, 0, 220); + foreach (float[] point in randomPoints) { + dd.vertex(point[0], point[1] + 0.1f, point[2], col); + } + dd.end(); + if (m_sposSet && m_eposSet) { + dd.depthMask(false); + float dx = m_epos[0] - m_spos[0]; + float dz = m_epos[2] - m_spos[2]; + float dist = (float) Math.Sqrt(dx * dx + dz * dz); + dd.debugDrawCircle(m_spos[0], m_spos[1] + agentHeight / 2, m_spos[2], dist, duRGBA(64, 16, 0, 220), + 2.0f); + dd.depthMask(true); + } + dd.depthMask(true); + } + } + + private void drawAgent(RecastDebugDraw dd, float[] pos, int col) { + float r = m_sample.getSettingsUI().getAgentRadius(); + float h = m_sample.getSettingsUI().getAgentHeight(); + float c = m_sample.getSettingsUI().getAgentMaxClimb(); + dd.depthMask(false); + // Agent dimensions. + dd.debugDrawCylinderWire(pos[0] - r, pos[1] + 0.02f, pos[2] - r, pos[0] + r, pos[1] + h, pos[2] + r, col, 2.0f); + dd.debugDrawCircle(pos[0], pos[1] + c, pos[2], r, duRGBA(0, 0, 0, 64), 1.0f); + int colb = duRGBA(0, 0, 0, 196); + dd.begin(LINES); + dd.vertex(pos[0], pos[1] - c, pos[2], colb); + dd.vertex(pos[0], pos[1] + c, pos[2], colb); + dd.vertex(pos[0] - r / 2, pos[1] + 0.02f, pos[2], colb); + dd.vertex(pos[0] + r / 2, pos[1] + 0.02f, pos[2], colb); + dd.vertex(pos[0], pos[1] + 0.02f, pos[2] - r / 2, colb); + dd.vertex(pos[0], pos[1] + 0.02f, pos[2] + r / 2, colb); + dd.end(); + dd.depthMask(true); + } + + private float[] getPolyCenter(NavMesh navMesh, long refs) { + float[] center = new float[3]; + center[0] = 0; + center[1] = 0; + center[2] = 0; + Result> tileAndPoly = navMesh.getTileAndPolyByRef(refs); + if (tileAndPoly.succeeded()) { + MeshTile tile = tileAndPoly.result.Item1; + Poly poly = tileAndPoly.result.Item2; + for (int i = 0; i < poly.vertCount; ++i) { + int v = poly.verts[i] * 3; + center[0] += tile.data.verts[v]; + center[1] += tile.data.verts[v + 1]; + center[2] += tile.data.verts[v + 2]; + } + float s = 1.0f / poly.vertCount; + center[0] *= s; + center[1] *= s; + center[2] *= s; + } + return center; + } + + public override void handleUpdate(float dt) { + // TODO Auto-generated method stub + if (m_toolMode == ToolMode.PATHFIND_SLICED) { + NavMeshQuery m_navQuery = m_sample.getNavMeshQuery(); + if (m_pathFindStatus.isInProgress()) { + m_pathFindStatus = m_navQuery.updateSlicedFindPath(1).status; + } + if (m_pathFindStatus.isSuccess()) { + m_polys = m_navQuery.finalizeSlicedFindPath().result; + m_straightPath = null; + if (m_polys != null) { + // In case of partial path, make sure the end point is clamped to the last polygon. + float[] epos = new float[3]; + DetourCommon.vCopy(epos, m_epos); + if (m_polys[m_polys.Count - 1] != m_endRef) { + Result result = m_navQuery + .closestPointOnPoly(m_polys[m_polys.Count - 1], m_epos); + if (result.succeeded()) { + epos = result.result.getClosest(); + } + } + + { + Result> result = m_navQuery.findStraightPath(m_spos, epos, m_polys, + MAX_POLYS, NavMeshQuery.DT_STRAIGHTPATH_ALL_CROSSINGS); + if (result.succeeded()) + { + m_straightPath = result.result; + } + } + } + m_pathFindStatus = Status.FAILURE; + } + + } + } +} diff --git a/src/DotRecast.Recast.Demo/Tools/Tool.cs b/src/DotRecast.Recast.Demo/Tools/Tool.cs new file mode 100644 index 0000000..e6812fb --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/Tool.cs @@ -0,0 +1,43 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Recast.Demo.Draw; +using Silk.NET.Windowing; + +namespace DotRecast.Recast.Demo.Tools; + +public abstract class Tool { + + public abstract void setSample(Sample m_sample); + + public abstract void handleClick(float[] s, float[] p, bool shift); + + public abstract void handleRender(NavMeshRenderer renderer); + + public abstract void handleUpdate(float dt); + + public abstract void layout(IWindow ctx); + + public abstract string getName(); + + public virtual void handleClickRay(float[] start, float[] direction, bool shift) + { + // ... + } +} diff --git a/src/DotRecast.Recast.Demo/Tools/ToolUIModule.cs b/src/DotRecast.Recast.Demo/Tools/ToolUIModule.cs new file mode 100644 index 0000000..315f679 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/ToolUIModule.cs @@ -0,0 +1,26 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using Silk.NET.Windowing; + +namespace DotRecast.Recast.Demo.Tools; + +public interface ToolUIModule { + + void layout(IWindow ctx); +} diff --git a/src/DotRecast.Recast.Demo/Tools/ToolsUI.cs b/src/DotRecast.Recast.Demo/Tools/ToolsUI.cs new file mode 100644 index 0000000..377d7b8 --- /dev/null +++ b/src/DotRecast.Recast.Demo/Tools/ToolsUI.cs @@ -0,0 +1,82 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Core; +using DotRecast.Recast.Demo.UI; +using Silk.NET.Windowing; + +namespace DotRecast.Recast.Demo.Tools; + +public class ToolsUI : NuklearUIModule { + + //private readonly NkColor white = NkColor.create(); + private Tool currentTool; + private bool enabled; + private readonly Tool[] tools; + + public ToolsUI(params Tool[] tools) { + this.tools = tools; + } + + public bool layout(IWindow ctx, int x, int y, int width, int height, int mouseX, int mouseY) { + bool mouseInside = false; + // nk_rgb(255, 255, 255, white); + // try (MemoryStack stack = stackPush()) { + // NkRect rect = NkRect.mallocStack(stack); + // if (nk_begin(ctx, "Tools", nk_rect(5, 5, 250, height - 10, rect), NK_WINDOW_BORDER | NK_WINDOW_MOVABLE | NK_WINDOW_TITLE)) { + // if (enabled) { + // foreach (Tool tool in tools) { + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_label(ctx, tool.getName(), tool == currentTool)) { + // currentTool = tool; + // } + // } + // nk_layout_row_dynamic(ctx, 3, 1); + // nk_spacing(ctx, 1); + // if (currentTool != null) { + // currentTool.layout(ctx); + // } + // } + // nk_window_get_bounds(ctx, rect); + // if (mouseX >= rect.x() && mouseX <= rect.x() + rect.w() && mouseY >= rect.y() && mouseY <= rect.y() + rect.h()) { + // mouseInside = true; + // } + // } + // nk_end(ctx); + // } + return mouseInside; + } + + public void setEnabled(bool enabled) { + this.enabled = enabled; + } + + public Tool getTool() { + return currentTool; + } + + public void setSample(Sample sample) { + tools.forEach(t => t.setSample(sample)); + } + + public void handleUpdate(float dt) { + tools.forEach(t => t.handleUpdate(dt)); + } + +} diff --git a/src/DotRecast.Recast.Demo/UI/Mouse.cs b/src/DotRecast.Recast.Demo/UI/Mouse.cs new file mode 100644 index 0000000..1147a8c --- /dev/null +++ b/src/DotRecast.Recast.Demo/UI/Mouse.cs @@ -0,0 +1,131 @@ +/* +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using Silk.NET.Input; +using Silk.NET.Windowing; + +namespace DotRecast.Recast.Demo.UI; + +public class Mouse { + + private double x; + private double y; + private double scrollX; + private double scrollY; + + private double px; + private double py; + private double pScrollX; + private double pScrollY; + private readonly HashSet pressed = new(); + private readonly List listeners = new(); + + public Mouse(IInputContext input) + { + foreach (IMouse mouse in input.Mice) + { + mouse.MouseDown += (mouse, button) => buttonPress((int)button, 0); + mouse.MouseUp += (mouse, button) => buttonRelease((int)button, 0); + // if (action == GLFW_PRESS) { + // buttonPress(button, mods); + // } else if (action == GLFW_RELEASE) { + // buttonRelease(button, mods); + // } + } + // glfwSetCursorPosCallback(window, (win, x, y) => cursorPos(x, y)); + // glfwSetScrollCallback(window, (win, x, y) => scroll(x, y)); + } + + public void cursorPos(double x, double y) { + foreach (MouseListener l in listeners) { + l.position(x, y); + } + this.x = x; + this.y = y; + } + + public void scroll(double xoffset, double yoffset) { + foreach (MouseListener l in listeners) { + l.scroll(xoffset, yoffset); + } + scrollX += xoffset; + scrollY += yoffset; + } + + public double getDX() { + return x - px; + } + + public double getDY() { + return y - py; + } + + public double getDScrollX() { + return scrollX - pScrollX; + } + + public double getDScrollY() { + return scrollY - pScrollY; + } + + public double getX() { + return x; + } + + public void setX(double x) { + this.x = x; + } + + public double getY() { + return y; + } + + public void setY(double y) { + this.y = y; + } + + public void setDelta() { + px = x; + py = y; + pScrollX = scrollX; + pScrollY = scrollY; + } + + public void buttonPress(int button, int mods) { + foreach (MouseListener l in listeners) { + l.button(button, mods, true); + } + pressed.Add(button); + } + + public void buttonRelease(int button, int mods) { + foreach (MouseListener l in listeners) { + l.button(button, mods, false); + } + pressed.Remove(button); + } + + public bool isPressed(int button) { + return pressed.Contains(button); + } + + public void addListener(MouseListener listener) { + listeners.Add(listener); + } +} diff --git a/src/DotRecast.Recast.Demo/UI/MouseListener.cs b/src/DotRecast.Recast.Demo/UI/MouseListener.cs new file mode 100644 index 0000000..79f482a --- /dev/null +++ b/src/DotRecast.Recast.Demo/UI/MouseListener.cs @@ -0,0 +1,28 @@ +/* +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Recast.Demo.UI; + +public interface MouseListener { + + void button(int button, int mods, bool down); + + void scroll(double xoffset, double yoffset); + + void position(double x, double y); + +} diff --git a/src/DotRecast.Recast.Demo/UI/NuklearGL.cs b/src/DotRecast.Recast.Demo/UI/NuklearGL.cs new file mode 100644 index 0000000..d5cdd22 --- /dev/null +++ b/src/DotRecast.Recast.Demo/UI/NuklearGL.cs @@ -0,0 +1,333 @@ +/* +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.Io; +using Microsoft.DotNet.PlatformAbstractions; + +namespace DotRecast.Recast.Demo.UI; + + +public class NuklearGL { + + private static readonly int BUFFER_INITIAL_SIZE = 4 * 1024; + private static readonly int MAX_VERTEX_BUFFER = 512 * 1024; + private static readonly int MAX_ELEMENT_BUFFER = 128 * 1024; + private static readonly int FONT_BITMAP_W = 1024; + private static readonly int FONT_BITMAP_H = 1024; + private static readonly int FONT_HEIGHT = 15; + + private readonly NuklearUI context; + // private readonly NkDrawNullTexture null_texture = NkDrawNullTexture.create(); + // private readonly NkBuffer cmds = NkBuffer.create(); + // private readonly NkUserFont default_font; + private readonly int program; + private readonly int uniform_tex; + private readonly int uniform_proj; + private readonly int vbo; + private readonly int ebo; + private readonly int vao; + //private readonly Buffer vertexLayout; + + public NuklearGL(NuklearUI context) { + this.context = context; + // nk_buffer_init(cmds, context.allocator, BUFFER_INITIAL_SIZE); + // vertexLayout = NkDrawVertexLayoutElement.create(4)// + // .position(0).attribute(NK_VERTEX_POSITION).format(NK_FORMAT_FLOAT).offset(0)// + // .position(1).attribute(NK_VERTEX_TEXCOORD).format(NK_FORMAT_FLOAT).offset(8)// + // .position(2).attribute(NK_VERTEX_COLOR).format(NK_FORMAT_R8G8B8A8).offset(16)// + // .position(3).attribute(NK_VERTEX_ATTRIBUTE_COUNT).format(NK_FORMAT_COUNT).offset(0)// + // .flip(); + // string NK_SHADER_VERSION = Platform.get() == Platform.MACOSX ? "#version 150\n" : "#version 300 es\n"; + // string vertex_shader = NK_SHADER_VERSION + "uniform mat4 ProjMtx;\n" + "in vec2 Position;\n" + // + "in vec2 TexCoord;\n" + "in vec4 Color;\n" + "out vec2 Frag_UV;\n" + "out vec4 Frag_Color;\n" + // + "void main() {\n" + " Frag_UV = TexCoord;\n" + " Frag_Color = Color;\n" + // + " gl_Position = ProjMtx * vec4(Position.xy, 0, 1);\n" + "}\n"; + // string fragment_shader = NK_SHADER_VERSION + "precision mediump float;\n" + "uniform sampler2D Texture;\n" + // + "in vec2 Frag_UV;\n" + "in vec4 Frag_Color;\n" + "out vec4 Out_Color;\n" + "void main(){\n" + // + " Out_Color = Frag_Color * texture(Texture, Frag_UV.st);\n" + "}\n"; + // + // program = glCreateProgram(); + // int vert_shdr = glCreateShader(GL_VERTEX_SHADER); + // int frag_shdr = glCreateShader(GL_FRAGMENT_SHADER); + // glShaderSource(vert_shdr, vertex_shader); + // glShaderSource(frag_shdr, fragment_shader); + // glCompileShader(vert_shdr); + // glCompileShader(frag_shdr); + // if (glGetShaderi(vert_shdr, GL_COMPILE_STATUS) != GL_TRUE) { + // throw new IllegalStateException(); + // } + // if (glGetShaderi(frag_shdr, GL_COMPILE_STATUS) != GL_TRUE) { + // throw new IllegalStateException(); + // } + // glAttachShader(program, vert_shdr); + // glAttachShader(program, frag_shdr); + // glLinkProgram(program); + // if (glGetProgrami(program, GL_LINK_STATUS) != GL_TRUE) { + // throw new IllegalStateException(); + // } + // + // uniform_tex = glGetUniformLocation(program, "Texture"); + // uniform_proj = glGetUniformLocation(program, "ProjMtx"); + // int attrib_pos = glGetAttribLocation(program, "Position"); + // int attrib_uv = glGetAttribLocation(program, "TexCoord"); + // int attrib_col = glGetAttribLocation(program, "Color"); + // + // // buffer setup + // vbo = glGenBuffers(); + // ebo = glGenBuffers(); + // vao = glGenVertexArrays(); + // + // glBindVertexArray(vao); + // glBindBuffer(GL_ARRAY_BUFFER, vbo); + // glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ebo); + // + // glEnableVertexAttribArray(attrib_pos); + // glEnableVertexAttribArray(attrib_uv); + // glEnableVertexAttribArray(attrib_col); + // + // glVertexAttribPointer(attrib_pos, 2, GL_FLOAT, false, 20, 0); + // glVertexAttribPointer(attrib_uv, 2, GL_FLOAT, false, 20, 8); + // glVertexAttribPointer(attrib_col, 4, GL_UNSIGNED_BYTE, true, 20, 16); + // + // // null texture setup + // int nullTexID = glGenTextures(); + // + // null_texture.texture().id(nullTexID); + // null_texture.uv().set(0.5f, 0.5f); + // + // glBindTexture(GL_TEXTURE_2D, nullTexID); + // try (MemoryStack stack = stackPush()) { + // glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, 1, 1, 0, GL_RGBA, GL_UNSIGNED_INT_8_8_8_8_REV, + // stack.ints(0xFFFFFFFF)); + // } + // glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); + // glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); + // + // glBindTexture(GL_TEXTURE_2D, 0); + // glBindBuffer(GL_ARRAY_BUFFER, 0); + // glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); + // glBindVertexArray(0); + // default_font = setupFont(); + // nk_style_set_font(context.ctx, default_font); + } + + private long setupFont() { + return 0; + // NkUserFont font = NkUserFont.create(); + // ByteBuffer ttf; + // try { + // ttf = IOUtils.toByteBuffer(Loader.ToBytes("fonts/DroidSans.ttf"), true); + // } catch (IOException e) { + // throw new RuntimeException(e); + // } + // + // int fontTexID = glGenTextures(); + // + // STBTTFontinfo fontInfo = STBTTFontinfo.malloc(); + // STBTTPackedchar.Buffer cdata = STBTTPackedchar.create(95); + // + // float scale; + // float descent; + // + // try (MemoryStack stack = stackPush()) { + // stbtt_InitFont(fontInfo, ttf); + // scale = stbtt_ScaleForPixelHeight(fontInfo, FONT_HEIGHT); + // + // int[] d = stack.mallocInt(1); + // stbtt_GetFontVMetrics(fontInfo, null, d, null); + // descent = d[0] * scale; + // + // ByteBuffer bitmap = memAlloc(FONT_BITMAP_W * FONT_BITMAP_H); + // + // STBTTPackContext pc = STBTTPackContext.mallocStack(stack); + // stbtt_PackBegin(pc, bitmap, FONT_BITMAP_W, FONT_BITMAP_H, 0, 1); + // stbtt_PackSetOversampling(pc, 1, 1); + // stbtt_PackFontRange(pc, ttf, 0, FONT_HEIGHT, 32, cdata); + // stbtt_PackEnd(pc); + // + // // Convert R8 to RGBA8 + // ByteBuffer texture = memAlloc(FONT_BITMAP_W * FONT_BITMAP_H * 4); + // for (int i = 0; i < bitmap.capacity(); i++) { + // texture.putInt((bitmap[i] << 24) | 0x00FFFFFF); + // } + // texture.flip(); + // + // glBindTexture(GL_TEXTURE_2D, fontTexID); + // glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, FONT_BITMAP_W, FONT_BITMAP_H, 0, GL_RGBA, + // GL_UNSIGNED_INT_8_8_8_8_REV, texture); + // glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + // glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + // + // memFree(texture); + // memFree(bitmap); + // } + // int[] cache = new int[1024]; + // try (MemoryStack stack = stackPush()) { + // int[] advance = stack.mallocInt(1); + // for (int i = 0; i < 1024; i++) { + // stbtt_GetCodepointHMetrics(fontInfo, i, advance, null); + // cache[i] = advance[0]; + // } + // } + // font.width((handle, h, text, len) => { + // float text_width = 0; + // try (MemoryStack stack = stackPush()) { + // int[] unicode = stack.mallocInt(1); + // + // int glyph_len = nnk_utf_decode(text, memAddress(unicode), len); + // int text_len = glyph_len; + // + // if (glyph_len == 0) { + // return 0; + // } + // + // int[] advance = stack.mallocInt(1); + // while (text_len <= len && glyph_len != 0) { + // if (unicode[0] == NK_UTF_INVALID) { + // break; + // } + // + // /* query currently drawn glyph information */ + // // stbtt_GetCodepointHMetrics(fontInfo, unicode[0], advance, null); + // // text_width += advance[0] * scale; + // + // text_width += cache[unicode[0]] * scale; + // /* offset next glyph */ + // glyph_len = nnk_utf_decode(text + text_len, memAddress(unicode), len - text_len); + // text_len += glyph_len; + // } + // } + // return text_width; + // }).height(FONT_HEIGHT).query((handle, font_height, glyph, codepoint, next_codepoint) => { + // try (MemoryStack stack = stackPush()) { + // float[] x = stack.floats(0.0f); + // float[] y = stack.floats(0.0f); + // + // STBTTAlignedQuad q = STBTTAlignedQuad.mallocStack(stack); + // // int[] advance = stack.mallocInt(1); + // + // stbtt_GetPackedQuad(cdata, FONT_BITMAP_W, FONT_BITMAP_H, codepoint - 32, x, y, q, false); + // // stbtt_GetCodepointHMetrics(fontInfo, codepoint, advance, null); + // + // NkUserFontGlyph ufg = NkUserFontGlyph.create(glyph); + // + // ufg.width(q.x1() - q.x0()); + // ufg.height(q.y1() - q.y0()); + // ufg.offset().set(q.x0(), q.y0() + (FONT_HEIGHT + descent)); + // // ufg.xadvance(advance[0] * scale); + // ufg.xadvance(cache[codepoint] * scale); + // ufg.uv(0).set(q.s0(), q.t0()); + // ufg.uv(1).set(q.s1(), q.t1()); + // } + // }).texture().id(fontTexID); + // return font; + } + + void render(long win, int AA) { + // int width; + // int height; + // int display_width; + // int display_height; + // try (MemoryStack stack = stackPush()) { + // int[] w = stack.mallocInt(1); + // int[] h = stack.mallocInt(1); + // + // glfwGetWindowSize(win, w, h); + // width = w[0]; + // height = h[0]; + // + // glfwGetFramebufferSize(win, w, h); + // display_width = w[0]; + // display_height = h[0]; + // } + // + // try (MemoryStack stack = stackPush()) { + // // setup global state + // glEnable(GL_BLEND); + // glBlendEquation(GL_FUNC_ADD); + // glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + // glDisable(GL_CULL_FACE); + // glDisable(GL_DEPTH_TEST); + // glEnable(GL_SCISSOR_TEST); + // glActiveTexture(GL_TEXTURE0); + // + // glUseProgram(program); + // // setup program + // glUniform1i(uniform_tex, 0); + // glUniformMatrix4fv(uniform_proj, false, stack.floats(2.0f / width, 0.0f, 0.0f, 0.0f, 0.0f, -2.0f / height, + // 0.0f, 0.0f, 0.0f, 0.0f, -1.0f, 0.0f, -1.0f, 1.0f, 0.0f, 1.0f)); + // glViewport(0, 0, display_width, display_height); + // } + // // allocate vertex and element buffer + // glBindVertexArray(vao); + // glBindBuffer(GL_ARRAY_BUFFER, vbo); + // glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ebo); + // + // glBufferData(GL_ARRAY_BUFFER, MAX_VERTEX_BUFFER, GL_STREAM_DRAW); + // glBufferData(GL_ELEMENT_ARRAY_BUFFER, MAX_ELEMENT_BUFFER, GL_STREAM_DRAW); + // + // // load draw vertices & elements directly into vertex + element buffer + // ByteBuffer vertices = glMapBuffer(GL_ARRAY_BUFFER, GL_WRITE_ONLY, MAX_VERTEX_BUFFER, null); + // ByteBuffer elements = glMapBuffer(GL_ELEMENT_ARRAY_BUFFER, GL_WRITE_ONLY, MAX_ELEMENT_BUFFER, null); + // + // try (MemoryStack stack = stackPush()) { + // // fill convert configuration + // NkConvertConfig config = NkConvertConfig.callocStack(stack).vertex_layout(vertexLayout).vertex_size(20) + // .vertex_alignment(4).null_texture(null_texture).circle_segment_count(22).curve_segment_count(22) + // .arc_segment_count(22).global_alpha(1f).shape_AA(AA).line_AA(AA); + // + // // setup buffers to load vertices and elements + // NkBuffer vbuf = NkBuffer.mallocStack(stack); + // NkBuffer ebuf = NkBuffer.mallocStack(stack); + // + // nk_buffer_init_fixed(vbuf, vertices/* , max_vertex_buffer */); + // nk_buffer_init_fixed(ebuf, elements/* , max_element_buffer */); + // nk_convert(context.ctx, cmds, vbuf, ebuf, config); + // } + // glUnmapBuffer(GL_ELEMENT_ARRAY_BUFFER); + // glUnmapBuffer(GL_ARRAY_BUFFER); + // + // // iterate over and execute each draw command + // float fb_scale_x = (float) display_width / (float) width; + // float fb_scale_y = (float) display_height / (float) height; + // + // long offset = NULL; + // for (NkDrawCommand cmd = nk__draw_begin(context.ctx, cmds); cmd != null; cmd = nk__draw_next(cmd, cmds, + // context.ctx)) { + // if (cmd.elem_count() == 0) { + // continue; + // } + // glBindTexture(GL_TEXTURE_2D, cmd.texture().id()); + // glScissor((int) (cmd.clip_rect().x() * fb_scale_x), + // (int) ((height - (int) (cmd.clip_rect().y() + cmd.clip_rect().h())) * fb_scale_y), + // (int) (cmd.clip_rect().w() * fb_scale_x), (int) (cmd.clip_rect().h() * fb_scale_y)); + // glDrawElements(GL_TRIANGLES, cmd.elem_count(), GL_UNSIGNED_SHORT, offset); + // offset += cmd.elem_count() * 2; + // } + // nk_clear(context.ctx); + // glUseProgram(0); + // glBindTexture(GL_TEXTURE_2D, 0); + // glBindBuffer(GL_ARRAY_BUFFER, 0); + // glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); + // glBindVertexArray(0); + // glDisable(GL_BLEND); + // glDisable(GL_SCISSOR_TEST); + } +} diff --git a/src/DotRecast.Recast.Demo/UI/NuklearUI.cs b/src/DotRecast.Recast.Demo/UI/NuklearUI.cs new file mode 100644 index 0000000..6627804 --- /dev/null +++ b/src/DotRecast.Recast.Demo/UI/NuklearUI.cs @@ -0,0 +1,150 @@ +/* +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using Silk.NET.Input; +using Silk.NET.OpenGL; +using Silk.NET.OpenGL.Extensions.ImGui; +using Silk.NET.Windowing; + +namespace DotRecast.Recast.Demo.UI; + +public class NuklearUI { + + // readonly NkAllocator allocator; + private readonly IWindow _window; + private readonly GL _gl; + // readonly NkColor background; + // readonly NkColor white; + private readonly NuklearUIModule[] _modules; + private readonly NuklearGL glContext; + private bool mouseOverUI; + + public NuklearUI(IWindow window, IInputContext input, params NuklearUIModule[] modules) + { + var mouse = new Mouse(input); + _window = window; + _gl = GL.GetApi(window); + // allocator = NkAllocator.create(); + // allocator.alloc((handle, old, size) => { + // long mem = nmemAlloc(size); + // if (mem == NULL) { + // throw new OutOfMemoryError(); + // } + // return mem; + // + // }); + // allocator.mfree((handle, ptr) => nmemFree(ptr)); + // background = NkColor.create(); + // nk_rgb(28, 48, 62, background); + // white = NkColor.create(); + // nk_rgb(255, 255, 255, white); + // nk_init(ctx, allocator, null); + setupMouse(mouse); + // setupClipboard(window); + // glfwSetCharCallback(window, (w, codepoint) => nk_input_unicode(ctx, codepoint)); + // glContext = new NuklearGL(this); + _modules = modules; + } + + private void setupMouse(Mouse mouse) { + // mouse.addListener(new MouseListener() { + // + // @Override + // public void scroll(double xoffset, double yoffset) { + // if (mouseOverUI) { + // try (MemoryStack stack = stackPush()) { + // NkVec2 scroll = NkVec2.mallocStack(stack).x((float) xoffset).y((float) yoffset); + // nk_input_scroll(ctx, scroll); + // } + // } + // } + // + // @Override + // public void button(int button, int mods, bool down) { + // try (MemoryStack stack = stackPush()) { + // int nkButton; + // switch (button) { + // case GLFW_MOUSE_BUTTON_RIGHT: + // nkButton = NK_BUTTON_RIGHT; + // break; + // case GLFW_MOUSE_BUTTON_MIDDLE: + // nkButton = NK_BUTTON_MIDDLE; + // break; + // default: + // nkButton = NK_BUTTON_LEFT; + // } + // nk_input_button(ctx, nkButton, (int) mouse.getX(), (int) mouse.getY(), down); + // } + // } + // + // @Override + // public void position(double x, double y) { + // nk_input_motion(ctx, (int) x, (int) y); + // } + // }); + } + + private void setupClipboard(long window) { + // ctx.clip().copy((handle, text, len) => { + // if (len == 0) { + // return; + // } + // + // try (MemoryStack stack = stackPush()) { + // ByteBuffer str = stack.malloc(len + 1); + // memCopy(text, memAddress(str), len); + // str.put(len, (byte) 0); + // glfwSetClipboardString(window, str); + // } + // }); + // ctx.clip().paste((handle, edit) => { + // long text = nglfwGetClipboardString(window); + // if (text != NULL) { + // nnk_textedit_paste(edit, text, nnk_strlen(text)); + // } + // }); + } + + public void inputBegin() { + //nk_input_begin(ctx); + } + + public void inputEnd(IWindow win) { + // NkMouse mouse = ctx.input().mouse(); + // if (mouse.grab()) { + // glfwSetInputMode(win, GLFW_CURSOR, GLFW_CURSOR_HIDDEN); + // } else if (mouse.grabbed()) { + // float prevX = mouse.prev().x(); + // float prevY = mouse.prev().y(); + // glfwSetCursorPos(win, prevX, prevY); + // mouse.pos().x(prevX); + // mouse.pos().y(prevY); + // } else if (mouse.ungrab()) { + // glfwSetInputMode(win, GLFW_CURSOR, GLFW_CURSOR_NORMAL); + // } + // nk_input_end(ctx); + } + + public bool layout(IWindow ctx, int x, int y, int width, int height, int mouseX, int mouseY) { + mouseOverUI = false; + foreach (NuklearUIModule m in _modules) { + mouseOverUI = m.layout(ctx, x, y, width, height, mouseX, mouseY) | mouseOverUI; + } + return mouseOverUI; + } +} diff --git a/src/DotRecast.Recast.Demo/UI/NuklearUIHelper.cs b/src/DotRecast.Recast.Demo/UI/NuklearUIHelper.cs new file mode 100644 index 0000000..efda347 --- /dev/null +++ b/src/DotRecast.Recast.Demo/UI/NuklearUIHelper.cs @@ -0,0 +1,74 @@ +/* +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Runtime.InteropServices.JavaScript; + +namespace DotRecast.Recast.Demo.UI; + +public class NuklearUIHelper { + + // public static void nk_color_rgb(IWindow ctx, NkColorf color) { + // try (MemoryStack stack = stackPush()) { + // if (nk_combo_begin_color(ctx, nk_rgb_cf(color, NkColor.mallocStack(stack)), + // NkVec2.mallocStack(stack).set(nk_widget_width(ctx), 400))) { + // nk_layout_row_dynamic(ctx, 120, 1); + // nk_color_picker(ctx, color, NK_RGB); + // nk_layout_row_dynamic(ctx, 20, 1); + // color.r(nk_propertyf(ctx, "#R:", 0, color.r(), 1f, 0.01f, 0.005f)); + // color.g(nk_propertyf(ctx, "#G:", 0, color.g(), 1f, 0.01f, 0.005f)); + // color.b(nk_propertyf(ctx, "#B:", 0, color.b(), 1f, 0.01f, 0.005f)); + // nk_combo_end(ctx); + // } + // } + // } + // + // public static > T nk_radio(IWindow ctx, T[] values, T currentValue, JSType.Function nameFormatter) { + // try (MemoryStack stack = stackPush()) { + // foreach (T v in values) { + // nk_layout_row_dynamic(ctx, 20, 1); + // if (nk_option_text(ctx, nameFormatter.apply(v), currentValue == v)) { + // currentValue = v; + // } + // } + // } + // return currentValue; + // } + // + // public static > T nk_combo(IWindow ctx, T[] values, T currentValue) { + // try (MemoryStack stack = stackPush()) { + // if (nk_combo_begin_label(ctx, currentValue.toString(), NkVec2.mallocStack(stack).set(nk_widget_width(ctx), 200))) { + // nk_layout_row_dynamic(ctx, 20, 1); + // foreach (T v in values) { + // if (nk_combo_item_label(ctx, v.toString(), NK_TEXT_LEFT)) { + // currentValue = v; + // } + // } + // nk_combo_end(ctx); + // } + // } + // return currentValue; + // } + // + // public static NkColorf nk_colorf(int r, int g, int b) { + // NkColorf color = NkColorf.create(); + // color.r(r / 255f); + // color.g(g / 255f); + // color.b(b / 255f); + // return color; + // } +} diff --git a/src/DotRecast.Recast.Demo/UI/NuklearUIModule.cs b/src/DotRecast.Recast.Demo/UI/NuklearUIModule.cs new file mode 100644 index 0000000..854c5f9 --- /dev/null +++ b/src/DotRecast.Recast.Demo/UI/NuklearUIModule.cs @@ -0,0 +1,29 @@ +/* +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using Silk.NET.Windowing; + +namespace DotRecast.Recast.Demo.UI; + + + +public interface NuklearUIModule { + + bool layout(IWindow ctx, int x, int y, int width, int height, int mouseX, int mouseY); + +} diff --git a/src/DotRecast.Recast.Demo/imgui.ini b/src/DotRecast.Recast.Demo/imgui.ini new file mode 100644 index 0000000..7e8c982 --- /dev/null +++ b/src/DotRecast.Recast.Demo/imgui.ini @@ -0,0 +1,5 @@ +[Window][Debug##Default] +Pos=280,129 +Size=400,400 +Collapsed=0 + diff --git a/src/DotRecast.Recast/AreaModification.cs b/src/DotRecast.Recast/AreaModification.cs new file mode 100644 index 0000000..a9fd498 --- /dev/null +++ b/src/DotRecast.Recast/AreaModification.cs @@ -0,0 +1,69 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +public class AreaModification +{ + public readonly int RC_AREA_FLAGS_MASK = 0x3F; + + private readonly int value; + private readonly int mask; + + /** + * Mask is set to all available bits, which means value is fully applied + * + * @param value + * The area id to apply. [Limit: <= #RC_AREA_FLAGS_MASK] + */ + public AreaModification(int value) + { + this.value = value; + mask = RC_AREA_FLAGS_MASK; + } + + /** + * + * @param value + * The area id to apply. [Limit: <= #RC_AREA_FLAGS_MASK] + * @param mask + * Bitwise mask used when applying value. [Limit: <= #RC_AREA_FLAGS_MASK] + */ + public AreaModification(int value, int mask) + { + this.value = value; + this.mask = mask; + } + + public AreaModification(AreaModification other) + { + value = other.value; + mask = other.mask; + } + + public int getMaskedValue() + { + return value & mask; + } + + public int apply(int area) + { + return ((value & mask) | (area & ~mask)); + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/CompactCell.cs b/src/DotRecast.Recast/CompactCell.cs new file mode 100644 index 0000000..c2fbef0 --- /dev/null +++ b/src/DotRecast.Recast/CompactCell.cs @@ -0,0 +1,30 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +/** Provides information on the content of a cell column in a compact heightfield. */ +public class CompactCell +{ + /** Index to the first span in the column. */ + public int index; + + /** Number of spans in the column. */ + public int count; +} \ No newline at end of file diff --git a/src/DotRecast.Recast/CompactHeightfield.cs b/src/DotRecast.Recast/CompactHeightfield.cs new file mode 100644 index 0000000..2dcc49f --- /dev/null +++ b/src/DotRecast.Recast/CompactHeightfield.cs @@ -0,0 +1,72 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +/** A compact, static heightfield representing unobstructed space. */ +public class CompactHeightfield +{ + /** The width of the heightfield. (Along the x-axis in cell units.) */ + public int width; + + /** The height of the heightfield. (Along the z-axis in cell units.) */ + public int height; + + /** The number of spans in the heightfield. */ + public int spanCount; + + /** The walkable height used during the build of the field. (See: RecastConfig::walkableHeight) */ + public int walkableHeight; + + /** The walkable climb used during the build of the field. (See: RecastConfig::walkableClimb) */ + public int walkableClimb; + + /** The AABB border size used during the build of the field. (See: RecastConfig::borderSize) */ + public int borderSize; + + /** The maximum distance value of any span within the field. */ + public int maxDistance; + + /** The maximum region id of any span within the field. */ + public int maxRegions; + + /** The minimum bounds in world space. [(x, y, z)] */ + public float[] bmin = new float[3]; + + /** The maximum bounds in world space. [(x, y, z)] */ + public float[] bmax = new float[3]; + + /** The size of each cell. (On the xz-plane.) */ + public float cs; + + /** The height of each cell. (The minimum increment along the y-axis.) */ + public float ch; + + /** Array of cells. [Size: #width*#height] */ + public CompactCell[] cells; + + /** Array of spans. [Size: #spanCount] */ + public CompactSpan[] spans; + + /** Array containing border distance data. [Size: #spanCount] */ + public int[] dist; + + /** Array containing area id data. [Size: #spanCount] */ + public int[] areas; +} \ No newline at end of file diff --git a/src/DotRecast.Recast/CompactSpan.cs b/src/DotRecast.Recast/CompactSpan.cs new file mode 100644 index 0000000..5e43ec2 --- /dev/null +++ b/src/DotRecast.Recast/CompactSpan.cs @@ -0,0 +1,36 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +/** Represents a span of unobstructed space within a compact heightfield. */ +public class CompactSpan +{ + /** The lower extent of the span. (Measured from the heightfield's base.) */ + public int y; + + /** The id of the region the span belongs to. (Or zero if not in a region.) */ + public int reg; + + /** Packed neighbor connection data. */ + public int con; + + /** The height of the span. (Measured from #y.) */ + public int h; +} \ No newline at end of file diff --git a/src/DotRecast.Recast/Contour.cs b/src/DotRecast.Recast/Contour.cs new file mode 100644 index 0000000..7712bfd --- /dev/null +++ b/src/DotRecast.Recast/Contour.cs @@ -0,0 +1,42 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +/** Represents a simple, non-overlapping contour in field space. */ +public class Contour +{ + /** Simplified contour vertex and connection data. [Size: 4 * #nverts] */ + public int[] verts; + + /** The number of vertices in the simplified contour. */ + public int nverts; + + /** Raw contour vertex and connection data. [Size: 4 * #nrverts] */ + public int[] rverts; + + /** The number of vertices in the raw contour. */ + public int nrverts; + + /** The region id of the contour. */ + public int area; + + /** The area id of the contour. */ + public int reg; +} \ No newline at end of file diff --git a/src/DotRecast.Recast/ContourSet.cs b/src/DotRecast.Recast/ContourSet.cs new file mode 100644 index 0000000..928e689 --- /dev/null +++ b/src/DotRecast.Recast/ContourSet.cs @@ -0,0 +1,53 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Recast; + +/** Represents a group of related contours. */ +public class ContourSet +{ + /** A list of the contours in the set. */ + public List conts = new(); + + /** The minimum bounds in world space. [(x, y, z)] */ + public float[] bmin = new float[3]; + + /** The maximum bounds in world space. [(x, y, z)] */ + public float[] bmax = new float[3]; + + /** The size of each cell. (On the xz-plane.) */ + public float cs; + + /** The height of each cell. (The minimum increment along the y-axis.) */ + public float ch; + + /** The width of the set. (Along the x-axis in cell units.) */ + public int width; + + /** The height of the set. (Along the z-axis in cell units.) */ + public int height; + + /** The AABB border size used to generate the source data from which the contours were derived. */ + public int borderSize; + + /** The max edge error that this contour set was simplified with. */ + public float maxError; +} \ No newline at end of file diff --git a/src/DotRecast.Recast/ConvexVolume.cs b/src/DotRecast.Recast/ConvexVolume.cs new file mode 100644 index 0000000..1bafe70 --- /dev/null +++ b/src/DotRecast.Recast/ConvexVolume.cs @@ -0,0 +1,28 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +public class ConvexVolume +{ + public float[] verts; + public float hmin; + public float hmax; + public AreaModification areaMod; +} \ No newline at end of file diff --git a/src/DotRecast.Recast/DotRecast.Recast.csproj b/src/DotRecast.Recast/DotRecast.Recast.csproj new file mode 100644 index 0000000..561560c --- /dev/null +++ b/src/DotRecast.Recast/DotRecast.Recast.csproj @@ -0,0 +1,12 @@ + + + + net7.0 + + + + + + + + diff --git a/src/DotRecast.Recast/Geom/ChunkyTriMesh.cs b/src/DotRecast.Recast/Geom/ChunkyTriMesh.cs new file mode 100644 index 0000000..ee36195 --- /dev/null +++ b/src/DotRecast.Recast/Geom/ChunkyTriMesh.cs @@ -0,0 +1,246 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; + +namespace DotRecast.Recast.Geom; + +public class ChunkyTriMesh +{ + private class BoundsItem + { + public readonly float[] bmin = new float[2]; + public readonly float[] bmax = new float[2]; + public int i; + } + + private class CompareItemX : IComparer + { + public int Compare(BoundsItem? a, BoundsItem? b) + { + return a.bmin[0].CompareTo(b.bmin[0]); + } + } + + private class CompareItemY : IComparer + { + public int Compare(BoundsItem? a, BoundsItem? b) + { + return a.bmin[1].CompareTo(b.bmin[1]); + } + } + + List nodes; + int ntris; + int maxTrisPerChunk; + + private void calcExtends(BoundsItem[] items, int imin, int imax, float[] bmin, float[] bmax) + { + bmin[0] = items[imin].bmin[0]; + bmin[1] = items[imin].bmin[1]; + + bmax[0] = items[imin].bmax[0]; + bmax[1] = items[imin].bmax[1]; + + for (int i = imin + 1; i < imax; ++i) + { + BoundsItem it = items[i]; + if (it.bmin[0] < bmin[0]) + { + bmin[0] = it.bmin[0]; + } + + if (it.bmin[1] < bmin[1]) + { + bmin[1] = it.bmin[1]; + } + + if (it.bmax[0] > bmax[0]) + { + bmax[0] = it.bmax[0]; + } + + if (it.bmax[1] > bmax[1]) + { + bmax[1] = it.bmax[1]; + } + } + } + + private int longestAxis(float x, float y) + { + return y > x ? 1 : 0; + } + + private void subdivide(BoundsItem[] items, int imin, int imax, int trisPerChunk, List nodes, + int[] inTris) + { + int inum = imax - imin; + + ChunkyTriMeshNode node = new ChunkyTriMeshNode(); + nodes.Add(node); + + if (inum <= trisPerChunk) + { + // Leaf + calcExtends(items, imin, imax, node.bmin, node.bmax); + + // Copy triangles. + node.i = nodes.Count; + node.tris = new int[inum * 3]; + + int dst = 0; + for (int i = imin; i < imax; ++i) + { + int src = items[i].i * 3; + node.tris[dst++] = inTris[src]; + node.tris[dst++] = inTris[src + 1]; + node.tris[dst++] = inTris[src + 2]; + } + } + else + { + // Split + calcExtends(items, imin, imax, node.bmin, node.bmax); + + int axis = longestAxis(node.bmax[0] - node.bmin[0], node.bmax[1] - node.bmin[1]); + + if (axis == 0) + { + Array.Sort(items, imin, imax - imin, new CompareItemX()); + // Sort along x-axis + } + else if (axis == 1) + { + Array.Sort(items, imin, imax - imin, new CompareItemY()); + // Sort along y-axis + } + + int isplit = imin + inum / 2; + + // Left + subdivide(items, imin, isplit, trisPerChunk, nodes, inTris); + // Right + subdivide(items, isplit, imax, trisPerChunk, nodes, inTris); + + // Negative index means escape. + node.i = -nodes.Count; + } + } + + public ChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk) + { + int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk; + + nodes = new(nchunks); + this.ntris = ntris; + + // Build tree + BoundsItem[] items = new BoundsItem[ntris]; + + for (int i = 0; i < ntris; i++) + { + int t = i * 3; + BoundsItem it = items[i] = new BoundsItem(); + it.i = i; + // Calc triangle XZ bounds. + it.bmin[0] = it.bmax[0] = verts[tris[t] * 3 + 0]; + it.bmin[1] = it.bmax[1] = verts[tris[t] * 3 + 2]; + for (int j = 1; j < 3; ++j) + { + int v = tris[t + j] * 3; + if (verts[v] < it.bmin[0]) + { + it.bmin[0] = verts[v]; + } + + if (verts[v + 2] < it.bmin[1]) + { + it.bmin[1] = verts[v + 2]; + } + + if (verts[v] > it.bmax[0]) + { + it.bmax[0] = verts[v]; + } + + if (verts[v + 2] > it.bmax[1]) + { + it.bmax[1] = verts[v + 2]; + } + } + } + + subdivide(items, 0, ntris, trisPerChunk, nodes, tris); + + // Calc max tris per node. + maxTrisPerChunk = 0; + foreach (ChunkyTriMeshNode node in nodes) + { + bool isLeaf = node.i >= 0; + if (!isLeaf) + { + continue; + } + + if (node.tris.Length / 3 > maxTrisPerChunk) + { + maxTrisPerChunk = node.tris.Length / 3; + } + } + } + + private bool checkOverlapRect(float[] amin, float[] amax, float[] bmin, float[] bmax) + { + bool overlap = true; + overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; + overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; + return overlap; + } + + public List getChunksOverlappingRect(float[] bmin, float[] bmax) + { + // Traverse tree + List ids = new(); + int i = 0; + while (i < nodes.Count) + { + ChunkyTriMeshNode node = nodes[i]; + bool overlap = checkOverlapRect(bmin, bmax, node.bmin, node.bmax); + bool isLeafNode = node.i >= 0; + + if (isLeafNode && overlap) + { + ids.Add(node); + } + + if (overlap || isLeafNode) + { + i++; + } + else + { + i = -node.i; + } + } + + return ids; + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/Geom/ChunkyTriMeshNode.cs b/src/DotRecast.Recast/Geom/ChunkyTriMeshNode.cs new file mode 100644 index 0000000..c822707 --- /dev/null +++ b/src/DotRecast.Recast/Geom/ChunkyTriMeshNode.cs @@ -0,0 +1,9 @@ +namespace DotRecast.Recast.Geom; + +public class ChunkyTriMeshNode +{ + public readonly float[] bmin = new float[2]; + public readonly float[] bmax = new float[2]; + public int i; + public int[] tris; +} diff --git a/src/DotRecast.Recast/Geom/ConvexVolumeProvider.cs b/src/DotRecast.Recast/Geom/ConvexVolumeProvider.cs new file mode 100644 index 0000000..70140c9 --- /dev/null +++ b/src/DotRecast.Recast/Geom/ConvexVolumeProvider.cs @@ -0,0 +1,26 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Recast.Geom; + +public interface ConvexVolumeProvider +{ + IList convexVolumes(); +} \ No newline at end of file diff --git a/src/DotRecast.Recast/Geom/InputGeomProvider.cs b/src/DotRecast.Recast/Geom/InputGeomProvider.cs new file mode 100644 index 0000000..41579de --- /dev/null +++ b/src/DotRecast.Recast/Geom/InputGeomProvider.cs @@ -0,0 +1,31 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Recast.Geom; + +public interface InputGeomProvider : ConvexVolumeProvider +{ + float[] getMeshBoundsMin(); + + float[] getMeshBoundsMax(); + + IEnumerable meshes(); +} \ No newline at end of file diff --git a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs new file mode 100644 index 0000000..e89494d --- /dev/null +++ b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs @@ -0,0 +1,136 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Collections.Immutable; + +namespace DotRecast.Recast.Geom; + +public class SimpleInputGeomProvider : InputGeomProvider +{ + public readonly float[] vertices; + public readonly int[] faces; + public readonly float[] normals; + readonly float[] bmin; + readonly float[] bmax; + readonly List volumes = new(); + + public SimpleInputGeomProvider(List vertexPositions, List meshFaces) + : this(mapVertices(vertexPositions), mapFaces(meshFaces)) + { + } + + private static int[] mapFaces(List meshFaces) + { + int[] faces = new int[meshFaces.Count]; + for (int i = 0; i < faces.Length; i++) + { + faces[i] = meshFaces[i]; + } + + return faces; + } + + private static float[] mapVertices(List vertexPositions) + { + float[] vertices = new float[vertexPositions.Count]; + for (int i = 0; i < vertices.Length; i++) + { + vertices[i] = vertexPositions[i]; + } + + return vertices; + } + + public SimpleInputGeomProvider(float[] vertices, int[] faces) + { + this.vertices = vertices; + this.faces = faces; + normals = new float[faces.Length]; + calculateNormals(); + bmin = new float[3]; + bmax = new float[3]; + RecastVectors.copy(bmin, vertices, 0); + RecastVectors.copy(bmax, vertices, 0); + for (int i = 1; i < vertices.Length / 3; i++) + { + RecastVectors.min(bmin, vertices, i * 3); + RecastVectors.max(bmax, vertices, i * 3); + } + } + + public float[] getMeshBoundsMin() + { + return bmin; + } + + public float[] getMeshBoundsMax() + { + return bmax; + } + + public IList convexVolumes() + { + return volumes; + } + + public void addConvexVolume(float[] verts, float minh, float maxh, AreaModification areaMod) + { + ConvexVolume vol = new ConvexVolume(); + vol.hmin = minh; + vol.hmax = maxh; + vol.verts = verts; + vol.areaMod = areaMod; + volumes.Add(vol); + } + + public IEnumerable meshes() + { + return ImmutableArray.Create(new TriMesh(vertices, faces)); + } + + public void calculateNormals() + { + for (int i = 0; i < faces.Length; i += 3) + { + int v0 = faces[i] * 3; + int v1 = faces[i + 1] * 3; + int v2 = faces[i + 2] * 3; + float[] e0 = new float[3], e1 = new float[3]; + for (int j = 0; j < 3; ++j) + { + e0[j] = vertices[v1 + j] - vertices[v0 + j]; + e1[j] = vertices[v2 + j] - vertices[v0 + j]; + } + + normals[i] = e0[1] * e1[2] - e0[2] * e1[1]; + normals[i + 1] = e0[2] * e1[0] - e0[0] * e1[2]; + normals[i + 2] = e0[0] * e1[1] - e0[1] * e1[0]; + float d = (float)Math.Sqrt(normals[i] * normals[i] + normals[i + 1] * normals[i + 1] + normals[i + 2] * normals[i + 2]); + if (d > 0) + { + d = 1.0f / d; + normals[i] *= d; + normals[i + 1] *= d; + normals[i + 2] *= d; + } + } + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/Geom/SingleTrimeshInputGeomProvider.cs b/src/DotRecast.Recast/Geom/SingleTrimeshInputGeomProvider.cs new file mode 100644 index 0000000..e060cec --- /dev/null +++ b/src/DotRecast.Recast/Geom/SingleTrimeshInputGeomProvider.cs @@ -0,0 +1,64 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using System.Collections.Immutable; + +namespace DotRecast.Recast.Geom; + +public class SingleTrimeshInputGeomProvider : InputGeomProvider +{ + private readonly float[] bmin; + private readonly float[] bmax; + private readonly ImmutableArray _meshes; + + public SingleTrimeshInputGeomProvider(float[] vertices, int[] faces) + { + bmin = new float[3]; + bmax = new float[3]; + RecastVectors.copy(bmin, vertices, 0); + RecastVectors.copy(bmax, vertices, 0); + for (int i = 1; i < vertices.Length / 3; i++) + { + RecastVectors.min(bmin, vertices, i * 3); + RecastVectors.max(bmax, vertices, i * 3); + } + + _meshes = ImmutableArray.Create(new TriMesh(vertices, faces)); + } + + public float[] getMeshBoundsMin() + { + return bmin; + } + + public float[] getMeshBoundsMax() + { + return bmax; + } + + public IEnumerable meshes() + { + return _meshes; + } + + public IList convexVolumes() + { + return ImmutableArray.Empty; + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/Geom/TriMesh.cs b/src/DotRecast.Recast/Geom/TriMesh.cs new file mode 100644 index 0000000..a9102eb --- /dev/null +++ b/src/DotRecast.Recast/Geom/TriMesh.cs @@ -0,0 +1,51 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; + +namespace DotRecast.Recast.Geom; + +public class TriMesh +{ + private readonly float[] vertices; + private readonly int[] faces; + private readonly ChunkyTriMesh chunkyTriMesh; + + public TriMesh(float[] vertices, int[] faces) + { + this.vertices = vertices; + this.faces = faces; + chunkyTriMesh = new ChunkyTriMesh(vertices, faces, faces.Length / 3, 32); + } + + public int[] getTris() + { + return faces; + } + + public float[] getVerts() + { + return vertices; + } + + public List getChunksOverlappingRect(float[] bmin, float[] bmax) + { + return chunkyTriMesh.getChunksOverlappingRect(bmin, bmax); + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/Heightfield.cs b/src/DotRecast.Recast/Heightfield.cs new file mode 100644 index 0000000..2a406f8 --- /dev/null +++ b/src/DotRecast.Recast/Heightfield.cs @@ -0,0 +1,60 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +/** Represents a heightfield layer within a layer set. */ +public class Heightfield +{ + /** The width of the heightfield. (Along the x-axis in cell units.) */ + public readonly int width; + + /** The height of the heightfield. (Along the z-axis in cell units.) */ + public readonly int height; + + /** The minimum bounds in world space. [(x, y, z)] */ + public readonly float[] bmin; + + /** The maximum bounds in world space. [(x, y, z)] */ + public readonly float[] bmax; + + /** The size of each cell. (On the xz-plane.) */ + public readonly float cs; + + /** The height of each cell. (The minimum increment along the y-axis.) */ + public readonly float ch; + + /** Heightfield of spans (width*height). */ + public readonly Span[] spans; + + /** Border size in cell units */ + public readonly int borderSize; + + public Heightfield(int width, int height, float[] bmin, float[] bmax, float cs, float ch, int borderSize) + { + this.width = width; + this.height = height; + this.bmin = bmin; + this.bmax = bmax; + this.cs = cs; + this.ch = ch; + this.borderSize = borderSize; + spans = new Span[width * height]; + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/HeightfieldLayerSet.cs b/src/DotRecast.Recast/HeightfieldLayerSet.cs new file mode 100644 index 0000000..f038825 --- /dev/null +++ b/src/DotRecast.Recast/HeightfieldLayerSet.cs @@ -0,0 +1,77 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +/// Represents a set of heightfield layers. +/// @ingroup recast +/// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet +public class HeightfieldLayerSet +{ + /// Represents a heightfield layer within a layer set. + /// @see rcHeightfieldLayerSet + public class HeightfieldLayer + { + public readonly float[] bmin = new float[3]; + + /// < The minimum bounds in world space. [(x, y, z)] + public readonly float[] bmax = new float[3]; + + /// < The maximum bounds in world space. [(x, y, z)] + public float cs; + + /// < The size of each cell. (On the xz-plane.) + public float ch; + + /// < The height of each cell. (The minimum increment along the y-axis.) + public int width; + + /// < The width of the heightfield. (Along the x-axis in cell units.) + public int height; + + /// < The height of the heightfield. (Along the z-axis in cell units.) + public int minx; + + /// < The minimum x-bounds of usable data. + public int maxx; + + /// < The maximum x-bounds of usable data. + public int miny; + + /// < The minimum y-bounds of usable data. (Along the z-axis.) + public int maxy; + + /// < The maximum y-bounds of usable data. (Along the z-axis.) + public int hmin; + + /// < The minimum height bounds of usable data. (Along the y-axis.) + public int hmax; + + /// < The maximum height bounds of usable data. (Along the y-axis.) + public int[] heights; + + /// < The heightfield. [Size: width * height] + public int[] areas; + + /// < Area ids. [Size: Same as #heights] + public int[] cons; /// < Packed neighbor connection information. [Size: Same as #heights] + } + + public HeightfieldLayer[] layers; /// < The layers in the set. [Size: #nlayers] +} \ No newline at end of file diff --git a/src/DotRecast.Recast/InputGeomReader.cs b/src/DotRecast.Recast/InputGeomReader.cs new file mode 100644 index 0000000..b77afae --- /dev/null +++ b/src/DotRecast.Recast/InputGeomReader.cs @@ -0,0 +1,5 @@ +namespace DotRecast.Recast; + +public class InputGeomReader +{ +} \ No newline at end of file diff --git a/src/DotRecast.Recast/ObjImporter.cs b/src/DotRecast.Recast/ObjImporter.cs new file mode 100644 index 0000000..cfe552d --- /dev/null +++ b/src/DotRecast.Recast/ObjImporter.cs @@ -0,0 +1,138 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.IO; +using DotRecast.Recast.Geom; + +namespace DotRecast.Recast; + +public static class ObjImporter +{ + public class ObjImporterContext + { + public List vertexPositions = new(); + public List meshFaces = new(); + } + + public static InputGeomProvider load(byte[] chunck) + { + var context = loadContext(chunck); + return new SimpleInputGeomProvider(context.vertexPositions, context.meshFaces); + } + + public static ObjImporterContext loadContext(byte[] chunck) + { + ObjImporterContext context = new ObjImporterContext(); + try + { + using StreamReader reader = new StreamReader(new MemoryStream(chunck)); + string line; + while ((line = reader.ReadLine()) != null) + { + line = line.Trim(); + readLine(line, context); + } + } + catch (Exception e) + { + throw new Exception(e.Message, e); + } + + return context; + } + + + public static void readLine(string line, ObjImporterContext context) + { + if (line.StartsWith("v")) + { + readVertex(line, context); + } + else if (line.StartsWith("f")) + { + readFace(line, context); + } + } + + private static void readVertex(string line, ObjImporterContext context) + { + if (line.StartsWith("v ")) + { + float[] vert = readVector3f(line); + foreach (float vp in vert) + { + context.vertexPositions.Add(vp); + } + } + } + + private static float[] readVector3f(string line) + { + string[] v = line.Split(' ', StringSplitOptions.RemoveEmptyEntries); + if (v.Length < 4) + { + throw new Exception("Invalid vector, expected 3 coordinates, found " + (v.Length - 1)); + } + + return new float[] { float.Parse(v[1]), float.Parse(v[2]), float.Parse(v[3]) }; + } + + private static void readFace(string line, ObjImporterContext context) + { + string[] v = line.Split(' ', StringSplitOptions.RemoveEmptyEntries); + if (v.Length < 4) + { + throw new Exception("Invalid number of face vertices: 3 coordinates expected, found " + v.Length); + } + + for (int j = 0; j < v.Length - 3; j++) + { + context.meshFaces.Add(readFaceVertex(v[1], context)); + for (int i = 0; i < 2; i++) + { + context.meshFaces.Add(readFaceVertex(v[2 + j + i], context)); + } + } + } + + private static int readFaceVertex(string face, ObjImporterContext context) + { + string[] v = face.Split("/"); + return getIndex(int.Parse(v[0]), context.vertexPositions.Count); + } + + private static int getIndex(int posi, int size) + { + if (posi > 0) + { + posi--; + } + else if (posi < 0) + { + posi = size + posi; + } + else + { + throw new Exception("0 vertex index"); + } + + return posi; + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/PartitionType.cs b/src/DotRecast.Recast/PartitionType.cs new file mode 100644 index 0000000..9b944b7 --- /dev/null +++ b/src/DotRecast.Recast/PartitionType.cs @@ -0,0 +1,10 @@ +namespace DotRecast.Recast; + +/// < Tessellate edges between areas during contour +/// simplification. +public enum PartitionType +{ + WATERSHED, + MONOTONE, + LAYERS +} \ No newline at end of file diff --git a/src/DotRecast.Recast/PolyMesh.cs b/src/DotRecast.Recast/PolyMesh.cs new file mode 100644 index 0000000..c7fa513 --- /dev/null +++ b/src/DotRecast.Recast/PolyMesh.cs @@ -0,0 +1,69 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +/** Represents a polygon mesh suitable for use in building a navigation mesh. */ +public class PolyMesh +{ + /** The mesh vertices. [Form: (x, y, z) coordinates * #nverts] */ + public int[] verts; + + /** Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp] */ + public int[] polys; + + /** The region id assigned to each polygon. [Length: #maxpolys] */ + public int[] regs; + + /** The area id assigned to each polygon. [Length: #maxpolys] */ + public int[] areas; + + /** The number of vertices. */ + public int nverts; + + /** The number of polygons. */ + public int npolys; + + /** The maximum number of vertices per polygon. */ + public int nvp; + + /** The number of allocated polygons. */ + public int maxpolys; + + /** The user defined flags for each polygon. [Length: #maxpolys] */ + public int[] flags; + + /** The minimum bounds in world space. [(x, y, z)] */ + public readonly float[] bmin = new float[3]; + + /** The maximum bounds in world space. [(x, y, z)] */ + public readonly float[] bmax = new float[3]; + + /** The size of each cell. (On the xz-plane.) */ + public float cs; + + /** The height of each cell. (The minimum increment along the y-axis.) */ + public float ch; + + /** The AABB border size used to generate the source data from which the mesh was derived. */ + public int borderSize; + + /** The max error of the polygon edges in the mesh. */ + public float maxEdgeError; +} \ No newline at end of file diff --git a/src/DotRecast.Recast/PolyMeshDetail.cs b/src/DotRecast.Recast/PolyMeshDetail.cs new file mode 100644 index 0000000..2fe31fb --- /dev/null +++ b/src/DotRecast.Recast/PolyMeshDetail.cs @@ -0,0 +1,45 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +/** + * Contains triangle meshes that represent detailed height data associated with the polygons in its associated polygon + * mesh object. + */ +public class PolyMeshDetail +{ + /** The sub-mesh data. [Size: 4*#nmeshes] */ + public int[] meshes; + + /** The mesh vertices. [Size: 3*#nverts] */ + public float[] verts; + + /** The mesh triangles. [Size: 4*#ntris] */ + public int[] tris; + + /** The number of sub-meshes defined by #meshes. */ + public int nmeshes; + + /** The number of vertices in #verts. */ + public int nverts; + + /** The number of triangles in #tris. */ + public int ntris; +} \ No newline at end of file diff --git a/src/DotRecast.Recast/Recast.cs b/src/DotRecast.Recast/Recast.cs new file mode 100644 index 0000000..421f048 --- /dev/null +++ b/src/DotRecast.Recast/Recast.cs @@ -0,0 +1,121 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Recast; + +using static RecastConstants; + +public class Recast +{ + void calcBounds(float[] verts, int nv, float[] bmin, float[] bmax) + { + for (int i = 0; i < 3; i++) + { + bmin[i] = verts[i]; + bmax[i] = verts[i]; + } + + for (int i = 1; i < nv; ++i) + { + for (int j = 0; j < 3; j++) + { + bmin[j] = Math.Min(bmin[j], verts[i * 3 + j]); + bmax[j] = Math.Max(bmax[j], verts[i * 3 + j]); + } + } + // Calculate bounding box. + } + + public static int[] calcGridSize(float[] bmin, float[] bmax, float cs) + { + return new int[] { (int)((bmax[0] - bmin[0]) / cs + 0.5f), (int)((bmax[2] - bmin[2]) / cs + 0.5f) }; + } + + public static int[] calcTileCount(float[] bmin, float[] bmax, float cs, int tileSizeX, int tileSizeZ) + { + int[] gwd = Recast.calcGridSize(bmin, bmax, cs); + int gw = gwd[0]; + int gd = gwd[1]; + int tw = (gw + tileSizeX - 1) / tileSizeX; + int td = (gd + tileSizeZ - 1) / tileSizeZ; + return new int[] { tw, td }; + } + + /// @par + /// + /// Modifies the area id of all triangles with a slope below the specified value. + /// + /// See the #rcConfig documentation for more information on the configuration parameters. + /// + /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles + public static int[] markWalkableTriangles(Telemetry ctx, float walkableSlopeAngle, float[] verts, int[] tris, int nt, + AreaModification areaMod) + { + int[] areas = new int[nt]; + float walkableThr = (float)Math.Cos(walkableSlopeAngle / 180.0f * Math.PI); + float[] norm = new float[3]; + for (int i = 0; i < nt; ++i) + { + int tri = i * 3; + calcTriNormal(verts, tris[tri], tris[tri + 1], tris[tri + 2], norm); + // Check if the face is walkable. + if (norm[1] > walkableThr) + areas[i] = areaMod.apply(areas[i]); + } + + return areas; + } + + static void calcTriNormal(float[] verts, int v0, int v1, int v2, float[] norm) + { + float[] e0 = new float[3]; + float[] e1 = new float[3]; + RecastVectors.sub(e0, verts, v1 * 3, v0 * 3); + RecastVectors.sub(e1, verts, v2 * 3, v0 * 3); + RecastVectors.cross(norm, e0, e1); + RecastVectors.normalize(norm); + } + + /// @par + /// + /// Only sets the area id's for the unwalkable triangles. Does not alter the + /// area id's for walkable triangles. + /// + /// See the #rcConfig documentation for more information on the configuration parameters. + /// + /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles + public static void clearUnwalkableTriangles(Telemetry ctx, float walkableSlopeAngle, float[] verts, int nv, + int[] tris, int nt, int[] areas) + { + float walkableThr = (float)Math.Cos(walkableSlopeAngle / 180.0f * Math.PI); + + float[] norm = new float[3]; + + for (int i = 0; i < nt; ++i) + { + int tri = i * 3; + calcTriNormal(verts, tris[tri], tris[tri + 1], tris[tri + 2], norm); + // Check if the face is walkable. + if (norm[1] <= walkableThr) + areas[i] = RC_NULL_AREA; + } + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastArea.cs b/src/DotRecast.Recast/RecastArea.cs new file mode 100644 index 0000000..3a02d50 --- /dev/null +++ b/src/DotRecast.Recast/RecastArea.cs @@ -0,0 +1,584 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4J Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Recast; + +using static RecastConstants; + +public class RecastArea +{ + /// @par + /// + /// Basically, any spans that are closer to a boundary or obstruction than the specified radius + /// are marked as unwalkable. + /// + /// This method is usually called immediately after the heightfield has been built. + /// + /// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius + public static void erodeWalkableArea(Telemetry ctx, int radius, CompactHeightfield chf) + { + int w = chf.width; + int h = chf.height; + ctx.startTimer("ERODE_AREA"); + + int[] dist = new int[chf.spanCount]; + Array.Fill(dist, 255); + // Mark boundary cells. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) + { + if (chf.areas[i] == RC_NULL_AREA) + { + dist[i] = 0; + } + else + { + CompactSpan s = chf.spans[i]; + int nc = 0; + for (int dir = 0; dir < 4; ++dir) + { + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) + { + int nx = x + RecastCommon.GetDirOffsetX(dir); + int ny = y + RecastCommon.GetDirOffsetY(dir); + int nidx = chf.cells[nx + ny * w].index + RecastCommon.GetCon(s, dir); + if (chf.areas[nidx] != RC_NULL_AREA) + { + nc++; + } + } + } + + // At least one missing neighbour. + if (nc != 4) + dist[i] = 0; + } + } + } + } + + int nd; + + // Pass 1 + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) + { + CompactSpan s = chf.spans[i]; + + if (RecastCommon.GetCon(s, 0) != RC_NOT_CONNECTED) + { + // (-1,0) + int ax = x + RecastCommon.GetDirOffsetX(0); + int ay = y + RecastCommon.GetDirOffsetY(0); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 0); + CompactSpan @as = chf.spans[ai]; + nd = Math.Min(dist[ai] + 2, 255); + if (nd < dist[i]) + dist[i] = nd; + + // (-1,-1) + if (RecastCommon.GetCon(@as, 3) != RC_NOT_CONNECTED) + { + int aax = ax + RecastCommon.GetDirOffsetX(3); + int aay = ay + RecastCommon.GetDirOffsetY(3); + int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 3); + nd = Math.Min(dist[aai] + 3, 255); + if (nd < dist[i]) + dist[i] = nd; + } + } + + if (RecastCommon.GetCon(s, 3) != RC_NOT_CONNECTED) + { + // (0,-1) + int ax = x + RecastCommon.GetDirOffsetX(3); + int ay = y + RecastCommon.GetDirOffsetY(3); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 3); + CompactSpan @as = chf.spans[ai]; + nd = Math.Min(dist[ai] + 2, 255); + if (nd < dist[i]) + dist[i] = nd; + + // (1,-1) + if (RecastCommon.GetCon(@as, 2) != RC_NOT_CONNECTED) + { + int aax = ax + RecastCommon.GetDirOffsetX(2); + int aay = ay + RecastCommon.GetDirOffsetY(2); + int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 2); + nd = Math.Min(dist[aai] + 3, 255); + if (nd < dist[i]) + dist[i] = nd; + } + } + } + } + } + + // Pass 2 + for (int y = h - 1; y >= 0; --y) + { + for (int x = w - 1; x >= 0; --x) + { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) + { + CompactSpan s = chf.spans[i]; + + if (RecastCommon.GetCon(s, 2) != RC_NOT_CONNECTED) + { + // (1,0) + int ax = x + RecastCommon.GetDirOffsetX(2); + int ay = y + RecastCommon.GetDirOffsetY(2); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 2); + CompactSpan @as = chf.spans[ai]; + nd = Math.Min(dist[ai] + 2, 255); + if (nd < dist[i]) + dist[i] = nd; + + // (1,1) + if (RecastCommon.GetCon(@as, 1) != RC_NOT_CONNECTED) + { + int aax = ax + RecastCommon.GetDirOffsetX(1); + int aay = ay + RecastCommon.GetDirOffsetY(1); + int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 1); + nd = Math.Min(dist[aai] + 3, 255); + if (nd < dist[i]) + dist[i] = nd; + } + } + + if (RecastCommon.GetCon(s, 1) != RC_NOT_CONNECTED) + { + // (0,1) + int ax = x + RecastCommon.GetDirOffsetX(1); + int ay = y + RecastCommon.GetDirOffsetY(1); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 1); + CompactSpan @as = chf.spans[ai]; + nd = Math.Min(dist[ai] + 2, 255); + if (nd < dist[i]) + dist[i] = nd; + + // (-1,1) + if (RecastCommon.GetCon(@as, 0) != RC_NOT_CONNECTED) + { + int aax = ax + RecastCommon.GetDirOffsetX(0); + int aay = ay + RecastCommon.GetDirOffsetY(0); + int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 0); + nd = Math.Min(dist[aai] + 3, 255); + if (nd < dist[i]) + dist[i] = nd; + } + } + } + } + } + + int thr = radius * 2; + for (int i = 0; i < chf.spanCount; ++i) + if (dist[i] < thr) + chf.areas[i] = RC_NULL_AREA; + + ctx.stopTimer("ERODE_AREA"); + } + + /// @par + /// + /// This filter is usually applied after applying area id's using functions + /// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea. + /// + /// @see rcCompactHeightfield + public bool medianFilterWalkableArea(Telemetry ctx, CompactHeightfield chf) + { + int w = chf.width; + int h = chf.height; + + ctx.startTimer("MEDIAN_AREA"); + + int[] areas = new int[chf.spanCount]; + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) + { + CompactSpan s = chf.spans[i]; + if (chf.areas[i] == RC_NULL_AREA) + { + areas[i] = chf.areas[i]; + continue; + } + + int[] nei = new int[9]; + for (int j = 0; j < 9; ++j) + nei[j] = chf.areas[i]; + + for (int dir = 0; dir < 4; ++dir) + { + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) + { + int ax = x + RecastCommon.GetDirOffsetX(dir); + int ay = y + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, dir); + if (chf.areas[ai] != RC_NULL_AREA) + nei[dir * 2 + 0] = chf.areas[ai]; + + CompactSpan @as = chf.spans[ai]; + int dir2 = (dir + 1) & 0x3; + if (RecastCommon.GetCon(@as, dir2) != RC_NOT_CONNECTED) + { + int ax2 = ax + RecastCommon.GetDirOffsetX(dir2); + int ay2 = ay + RecastCommon.GetDirOffsetY(dir2); + int ai2 = chf.cells[ax2 + ay2 * w].index + RecastCommon.GetCon(@as, dir2); + if (chf.areas[ai2] != RC_NULL_AREA) + nei[dir * 2 + 1] = chf.areas[ai2]; + } + } + } + + Array.Sort(nei); + areas[i] = nei[4]; + } + } + } + + chf.areas = areas; + + ctx.stopTimer("MEDIAN_AREA"); + + return true; + } + + /// @par + /// + /// The value of spacial parameters are in world units. + /// + /// @see rcCompactHeightfield, rcMedianFilterWalkableArea + public void markBoxArea(Telemetry ctx, float[] bmin, float[] bmax, AreaModification areaMod, CompactHeightfield chf) + { + ctx.startTimer("MARK_BOX_AREA"); + + int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs); + int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch); + int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs); + int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs); + int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch); + int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs); + + if (maxx < 0) + return; + if (minx >= chf.width) + return; + if (maxz < 0) + return; + if (minz >= chf.height) + return; + + if (minx < 0) + minx = 0; + if (maxx >= chf.width) + maxx = chf.width - 1; + if (minz < 0) + minz = 0; + if (maxz >= chf.height) + maxz = chf.height - 1; + + for (int z = minz; z <= maxz; ++z) + { + for (int x = minx; x <= maxx; ++x) + { + CompactCell c = chf.cells[x + z * chf.width]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) + { + CompactSpan s = chf.spans[i]; + if (s.y >= miny && s.y <= maxy) + { + if (chf.areas[i] != RC_NULL_AREA) + chf.areas[i] = areaMod.apply(chf.areas[i]); + } + } + } + } + + ctx.stopTimer("MARK_BOX_AREA"); + } + + static bool pointInPoly(float[] verts, float[] p) + { + bool c = false; + int i, j; + for (i = 0, j = verts.Length - 3; i < verts.Length; j = i, i += 3) + { + int vi = i; + int vj = j; + if (((verts[vi + 2] > p[2]) != (verts[vj + 2] > p[2])) + && (p[0] < (verts[vj] - verts[vi]) * (p[2] - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + + verts[vi])) + c = !c; + } + + return c; + } + + /// @par + /// + /// The value of spacial parameters are in world units. + /// + /// The y-values of the polygon vertices are ignored. So the polygon is effectively + /// projected onto the xz-plane at @p hmin, then extruded to @p hmax. + /// + /// @see rcCompactHeightfield, rcMedianFilterWalkableArea + public static void markConvexPolyArea(Telemetry ctx, float[] verts, float hmin, float hmax, AreaModification areaMod, + CompactHeightfield chf) + { + ctx.startTimer("MARK_CONVEXPOLY_AREA"); + + float[] bmin = new float[3]; + float[] bmax = new float[3]; + RecastVectors.copy(bmin, verts, 0); + RecastVectors.copy(bmax, verts, 0); + for (int i = 3; i < verts.Length; i += 3) + { + RecastVectors.min(bmin, verts, i); + RecastVectors.max(bmax, verts, i); + } + + bmin[1] = hmin; + bmax[1] = hmax; + + int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs); + int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch); + int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs); + int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs); + int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch); + int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs); + + if (maxx < 0) + return; + if (minx >= chf.width) + return; + if (maxz < 0) + return; + if (minz >= chf.height) + return; + + if (minx < 0) + minx = 0; + if (maxx >= chf.width) + maxx = chf.width - 1; + if (minz < 0) + minz = 0; + if (maxz >= chf.height) + maxz = chf.height - 1; + + // TODO: Optimize. + for (int z = minz; z <= maxz; ++z) + { + for (int x = minx; x <= maxx; ++x) + { + CompactCell c = chf.cells[x + z * chf.width]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) + { + CompactSpan s = chf.spans[i]; + if (chf.areas[i] == RC_NULL_AREA) + continue; + if (s.y >= miny && s.y <= maxy) + { + float[] p = new float[3]; + p[0] = chf.bmin[0] + (x + 0.5f) * chf.cs; + p[1] = 0; + p[2] = chf.bmin[2] + (z + 0.5f) * chf.cs; + + if (pointInPoly(verts, p)) + { + chf.areas[i] = areaMod.apply(chf.areas[i]); + } + } + } + } + } + + ctx.stopTimer("MARK_CONVEXPOLY_AREA"); + } + + int offsetPoly(float[] verts, int nverts, float offset, float[] outVerts, int maxOutVerts) + { + float MITER_LIMIT = 1.20f; + + int n = 0; + + for (int i = 0; i < nverts; i++) + { + int a = (i + nverts - 1) % nverts; + int b = i; + int c = (i + 1) % nverts; + int va = a * 3; + int vb = b * 3; + int vc = c * 3; + float dx0 = verts[vb] - verts[va]; + float dy0 = verts[vb + 2] - verts[va + 2]; + float d0 = dx0 * dx0 + dy0 * dy0; + if (d0 > 1e-6f) + { + d0 = (float)(1.0f / Math.Sqrt(d0)); + dx0 *= d0; + dy0 *= d0; + } + + float dx1 = verts[vc] - verts[vb]; + float dy1 = verts[vc + 2] - verts[vb + 2]; + float d1 = dx1 * dx1 + dy1 * dy1; + if (d1 > 1e-6f) + { + d1 = (float)(1.0f / Math.Sqrt(d1)); + dx1 *= d1; + dy1 *= d1; + } + + float dlx0 = -dy0; + float dly0 = dx0; + float dlx1 = -dy1; + float dly1 = dx1; + float cross = dx1 * dy0 - dx0 * dy1; + float dmx = (dlx0 + dlx1) * 0.5f; + float dmy = (dly0 + dly1) * 0.5f; + float dmr2 = dmx * dmx + dmy * dmy; + bool bevel = dmr2 * MITER_LIMIT * MITER_LIMIT < 1.0f; + if (dmr2 > 1e-6f) + { + float scale = 1.0f / dmr2; + dmx *= scale; + dmy *= scale; + } + + if (bevel && cross < 0.0f) + { + if (n + 2 >= maxOutVerts) + return 0; + float d = (1.0f - (dx0 * dx1 + dy0 * dy1)) * 0.5f; + outVerts[n * 3 + 0] = verts[vb] + (-dlx0 + dx0 * d) * offset; + outVerts[n * 3 + 1] = verts[vb + 1]; + outVerts[n * 3 + 2] = verts[vb + 2] + (-dly0 + dy0 * d) * offset; + n++; + outVerts[n * 3 + 0] = verts[vb] + (-dlx1 - dx1 * d) * offset; + outVerts[n * 3 + 1] = verts[vb + 1]; + outVerts[n * 3 + 2] = verts[vb + 2] + (-dly1 - dy1 * d) * offset; + n++; + } + else + { + if (n + 1 >= maxOutVerts) + return 0; + outVerts[n * 3 + 0] = verts[vb] - dmx * offset; + outVerts[n * 3 + 1] = verts[vb + 1]; + outVerts[n * 3 + 2] = verts[vb + 2] - dmy * offset; + n++; + } + } + + return n; + } + + /// @par + /// + /// The value of spacial parameters are in world units. + /// + /// @see rcCompactHeightfield, rcMedianFilterWalkableArea + public void markCylinderArea(Telemetry ctx, float[] pos, float r, float h, AreaModification areaMod, + CompactHeightfield chf) + { + ctx.startTimer("MARK_CYLINDER_AREA"); + + float[] bmin = new float[3]; + float[] bmax = new float[3]; + bmin[0] = pos[0] - r; + bmin[1] = pos[1]; + bmin[2] = pos[2] - r; + bmax[0] = pos[0] + r; + bmax[1] = pos[1] + h; + bmax[2] = pos[2] + r; + float r2 = r * r; + + int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs); + int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch); + int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs); + int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs); + int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch); + int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs); + + if (maxx < 0) + return; + if (minx >= chf.width) + return; + if (maxz < 0) + return; + if (minz >= chf.height) + return; + + if (minx < 0) + minx = 0; + if (maxx >= chf.width) + maxx = chf.width - 1; + if (minz < 0) + minz = 0; + if (maxz >= chf.height) + maxz = chf.height - 1; + + for (int z = minz; z <= maxz; ++z) + { + for (int x = minx; x <= maxx; ++x) + { + CompactCell c = chf.cells[x + z * chf.width]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) + { + CompactSpan s = chf.spans[i]; + + if (chf.areas[i] == RC_NULL_AREA) + continue; + + if (s.y >= miny && s.y <= maxy) + { + float sx = chf.bmin[0] + (x + 0.5f) * chf.cs; + float sz = chf.bmin[2] + (z + 0.5f) * chf.cs; + float dx = sx - pos[0]; + float dz = sz - pos[2]; + + if (dx * dx + dz * dz < r2) + { + chf.areas[i] = areaMod.apply(chf.areas[i]); + } + } + } + } + } + + ctx.stopTimer("MARK_CYLINDER_AREA"); + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastBuilder.cs b/src/DotRecast.Recast/RecastBuilder.cs new file mode 100644 index 0000000..4656e9c --- /dev/null +++ b/src/DotRecast.Recast/RecastBuilder.cs @@ -0,0 +1,319 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Threading; +using System.Threading.Tasks; +using DotRecast.Core; +using DotRecast.Recast.Geom; + +namespace DotRecast.Recast; + +public class RecastBuilder +{ + public interface RecastBuilderProgressListener + { + void onProgress(int completed, int total); + } + + private readonly RecastBuilderProgressListener progressListener; + + public RecastBuilder() + { + progressListener = null; + } + + public RecastBuilder(RecastBuilderProgressListener progressListener) + { + this.progressListener = progressListener; + } + + public List buildTiles(InputGeomProvider geom, RecastConfig cfg, TaskFactory taskFactory) { + float[] bmin = geom.getMeshBoundsMin(); + float[] bmax = geom.getMeshBoundsMax(); + int[] twh = Recast.calcTileCount(bmin, bmax, cfg.cs, cfg.tileSizeX, cfg.tileSizeZ); + int tw = twh[0]; + int th = twh[1]; + List results = new(); + if (null != taskFactory) + { + buildMultiThreadAsync(geom, cfg, bmin, bmax, tw, th, results, taskFactory, default); + } else { + buildSingleThreadAsync(geom, cfg, bmin, bmax, tw, th, results); + } + + return results; + } + + + public Task buildTilesAsync(InputGeomProvider geom, RecastConfig cfg, int threads, List results, TaskFactory taskFactory, CancellationToken cancellationToken) + { + float[] bmin = geom.getMeshBoundsMin(); + float[] bmax = geom.getMeshBoundsMax(); + int[] twh = Recast.calcTileCount(bmin, bmax, cfg.cs, cfg.tileSizeX, cfg.tileSizeZ); + int tw = twh[0]; + int th = twh[1]; + Task task; + if (1 < threads) + { + task = buildMultiThreadAsync(geom, cfg, bmin, bmax, tw, th, results, taskFactory, cancellationToken); + } + else + { + task = buildSingleThreadAsync(geom, cfg, bmin, bmax, tw, th, results); + } + + return task; + } + + private Task buildSingleThreadAsync(InputGeomProvider geom, RecastConfig cfg, float[] bmin, float[] bmax, + int tw, int th, List results) + { + AtomicInteger counter = new AtomicInteger(0); + for (int y = 0; y < th; ++y) + { + for (int x = 0; x < tw; ++x) + { + results.Add(buildTile(geom, cfg, bmin, bmax, x, y, counter, tw * th)); + } + } + + return Task.CompletedTask; + } + + private Task buildMultiThreadAsync(InputGeomProvider geom, RecastConfig cfg, float[] bmin, float[] bmax, + int tw, int th, List results, TaskFactory taskFactory, CancellationToken cancellationToken) + { + AtomicInteger counter = new AtomicInteger(0); + CountdownEvent latch = new CountdownEvent(tw * th); + List tasks = new(); + + for (int x = 0; x < tw; ++x) + { + for (int y = 0; y < th; ++y) + { + int tx = x; + int ty = y; + var task = taskFactory.StartNew(() => + { + if (cancellationToken.IsCancellationRequested) + return; + + try + { + RecastBuilderResult tile = buildTile(geom, cfg, bmin, bmax, tx, ty, counter, tw * th); + lock (results) + { + results.Add(tile); + } + } + catch (Exception e) + { + Console.WriteLine(e); + } + + + latch.Signal(); + }, cancellationToken); + + tasks.Add(task); + } + } + + try + { + latch.Wait(); + } + catch (ThreadInterruptedException e) + { + } + + return Task.WhenAll(tasks.ToArray()); + } + + private RecastBuilderResult buildTile(InputGeomProvider geom, RecastConfig cfg, float[] bmin, float[] bmax, int tx, + int ty, AtomicInteger counter, int total) + { + RecastBuilderResult result = build(geom, new RecastBuilderConfig(cfg, bmin, bmax, tx, ty)); + if (progressListener != null) + { + progressListener.onProgress(counter.IncrementAndGet(), total); + } + + return result; + } + + public RecastBuilderResult build(InputGeomProvider geom, RecastBuilderConfig builderCfg) + { + RecastConfig cfg = builderCfg.cfg; + Telemetry ctx = new Telemetry(); + // + // Step 1. Rasterize input polygon soup. + // + Heightfield solid = RecastVoxelization.buildSolidHeightfield(geom, builderCfg, ctx); + return build(builderCfg.tileX, builderCfg.tileZ, geom, cfg, solid, ctx); + } + + public RecastBuilderResult build(int tileX, int tileZ, ConvexVolumeProvider geom, RecastConfig cfg, Heightfield solid, + Telemetry ctx) + { + filterHeightfield(solid, cfg, ctx); + CompactHeightfield chf = buildCompactHeightfield(geom, cfg, ctx, solid); + + // Partition the heightfield so that we can use simple algorithm later + // to triangulate the walkable areas. + // There are 3 martitioning methods, each with some pros and cons: + // 1) Watershed partitioning + // - the classic Recast partitioning + // - creates the nicest tessellation + // - usually slowest + // - partitions the heightfield into nice regions without holes or + // overlaps + // - the are some corner cases where this method creates produces holes + // and overlaps + // - holes may appear when a small obstacles is close to large open area + // (triangulation can handle this) + // - overlaps may occur if you have narrow spiral corridors (i.e + // stairs), this make triangulation to fail + // * generally the best choice if you precompute the nacmesh, use this + // if you have large open areas + // 2) Monotone partioning + // - fastest + // - partitions the heightfield into regions without holes and overlaps + // (guaranteed) + // - creates long thin polygons, which sometimes causes paths with + // detours + // * use this if you want fast navmesh generation + // 3) Layer partitoining + // - quite fast + // - partitions the heighfield into non-overlapping regions + // - relies on the triangulation code to cope with holes (thus slower + // than monotone partitioning) + // - produces better triangles than monotone partitioning + // - does not have the corner cases of watershed partitioning + // - can be slow and create a bit ugly tessellation (still better than + // monotone) + // if you have large open areas with small obstacles (not a problem if + // you use tiles) + // * good choice to use for tiled navmesh with medium and small sized + // tiles + + if (cfg.partitionType == PartitionType.WATERSHED) + { + // 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); + } + else if (cfg.partitionType == PartitionType.MONOTONE) + { + // Partition the walkable surface into simple regions without holes. + // Monotone partitioning does not need distancefield. + RecastRegion.buildRegionsMonotone(ctx, chf, cfg.minRegionArea, cfg.mergeRegionArea); + } + else + { + // Partition the walkable surface into simple regions without holes. + RecastRegion.buildLayerRegions(ctx, chf, cfg.minRegionArea); + } + + // + // Step 5. Trace and simplify region contours. + // + + // Create contours. + ContourSet cset = RecastContour.buildContours(ctx, chf, cfg.maxSimplificationError, cfg.maxEdgeLen, + RecastConstants.RC_CONTOUR_TESS_WALL_EDGES); + + // + // Step 6. Build polygons mesh from contours. + // + + PolyMesh pmesh = RecastMesh.buildPolyMesh(ctx, cset, cfg.maxVertsPerPoly); + + // + // Step 7. Create detail mesh which allows to access approximate height + // on each polygon. + // + PolyMeshDetail dmesh = cfg.buildMeshDetail + ? RecastMeshDetail.buildPolyMeshDetail(ctx, pmesh, chf, cfg.detailSampleDist, cfg.detailSampleMaxError) + : null; + return new RecastBuilderResult(tileX, tileZ, solid, chf, cset, pmesh, dmesh, ctx); + } + + /* + * Step 2. Filter walkable surfaces. + */ + private void filterHeightfield(Heightfield solid, RecastConfig cfg, Telemetry ctx) + { + // 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) + { + RecastFilter.filterLowHangingWalkableObstacles(ctx, cfg.walkableClimb, solid); + } + + if (cfg.filterLedgeSpans) + { + RecastFilter.filterLedgeSpans(ctx, cfg.walkableHeight, cfg.walkableClimb, solid); + } + + if (cfg.filterWalkableLowHeightSpans) + { + RecastFilter.filterWalkableLowHeightSpans(ctx, cfg.walkableHeight, solid); + } + } + + /* + * Step 3. Partition walkable surface to simple regions. + */ + private CompactHeightfield buildCompactHeightfield(ConvexVolumeProvider volumeProvider, RecastConfig cfg, Telemetry ctx, + Heightfield solid) + { + // 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. + CompactHeightfield chf = RecastCompact.buildCompactHeightfield(ctx, cfg.walkableHeight, cfg.walkableClimb, solid); + + // Erode the walkable area by agent radius. + RecastArea.erodeWalkableArea(ctx, cfg.walkableRadius, chf); + // (Optional) Mark areas. + if (volumeProvider != null) + { + foreach (ConvexVolume vol in volumeProvider.convexVolumes()) + { + RecastArea.markConvexPolyArea(ctx, vol.verts, vol.hmin, vol.hmax, vol.areaMod, chf); + } + } + + return chf; + } + + public HeightfieldLayerSet buildLayers(InputGeomProvider geom, RecastBuilderConfig builderCfg) + { + Telemetry ctx = new Telemetry(); + Heightfield solid = RecastVoxelization.buildSolidHeightfield(geom, builderCfg, ctx); + filterHeightfield(solid, builderCfg.cfg, ctx); + CompactHeightfield chf = buildCompactHeightfield(geom, builderCfg.cfg, ctx, solid); + 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 new file mode 100644 index 0000000..2669493 --- /dev/null +++ b/src/DotRecast.Recast/RecastBuilderConfig.cs @@ -0,0 +1,99 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +using static RecastVectors; + +public class RecastBuilderConfig +{ + public readonly RecastConfig cfg; + + public readonly int tileX; + public readonly int tileZ; + + /** The width of the field along the x-axis. [Limit: >= 0] [Units: vx] **/ + public readonly int width; + + /** The height of the field along the z-axis. [Limit: >= 0] [Units: vx] **/ + public readonly int height; + + /** The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] **/ + public readonly float[] bmin = new float[3]; + + /** The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] **/ + public readonly float[] bmax = new float[3]; + + public RecastBuilderConfig(RecastConfig cfg, float[] bmin, float[] bmax) : this(cfg, bmin, bmax, 0, 0) + { + } + + public RecastBuilderConfig(RecastConfig cfg, float[] bmin, float[] bmax, int tileX, int tileZ) + { + this.tileX = tileX; + this.tileZ = tileZ; + this.cfg = cfg; + copy(this.bmin, bmin); + copy(this.bmax, bmax); + if (cfg.useTiles) + { + float tsx = cfg.tileSizeX * cfg.cs; + float tsz = cfg.tileSizeZ * cfg.cs; + this.bmin[0] += tileX * tsx; + this.bmin[2] += tileZ * tsz; + this.bmax[0] = this.bmin[0] + tsx; + this.bmax[2] = this.bmin[2] + tsz; + // Expand the heighfield bounding box by border size to find the extents of geometry we need to build this + // tile. + // + // This is done in order to make sure that the navmesh tiles connect correctly at the borders, + // and the obstacles close to the border work correctly with the dilation process. + // No polygons (or contours) will be created on the border area. + // + // IMPORTANT! + // + // :''''''''': + // : +-----+ : + // : | | : + // : | |<--- tile to build + // : | | : + // : +-----+ :<-- geometry needed + // :.........: + // + // You should use this bounding box to query your input geometry. + // + // For example if you build a navmesh for terrain, and want the navmesh tiles to match the terrain tile size + // 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[0] -= cfg.borderSize * cfg.cs; + this.bmin[2] -= cfg.borderSize * cfg.cs; + this.bmax[0] += cfg.borderSize * cfg.cs; + this.bmax[2] += cfg.borderSize * cfg.cs; + width = cfg.tileSizeX + cfg.borderSize * 2; + height = cfg.tileSizeZ + cfg.borderSize * 2; + } + else + { + int[] wh = Recast.calcGridSize(this.bmin, this.bmax, cfg.cs); + width = wh[0]; + height = wh[1]; + } + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastBuilderResult.cs b/src/DotRecast.Recast/RecastBuilderResult.cs new file mode 100644 index 0000000..deb7c18 --- /dev/null +++ b/src/DotRecast.Recast/RecastBuilderResult.cs @@ -0,0 +1,56 @@ +namespace DotRecast.Recast; + +public class RecastBuilderResult +{ + public readonly int tileX; + public readonly int tileZ; + private readonly CompactHeightfield chf; + private readonly ContourSet cs; + private readonly PolyMesh pmesh; + private readonly PolyMeshDetail dmesh; + private readonly Heightfield solid; + private readonly Telemetry telemetry; + + public RecastBuilderResult(int tileX, int tileZ, Heightfield solid, CompactHeightfield chf, ContourSet cs, PolyMesh pmesh, + PolyMeshDetail dmesh, Telemetry ctx) + { + this.tileX = tileX; + this.tileZ = tileZ; + this.solid = solid; + this.chf = chf; + this.cs = cs; + this.pmesh = pmesh; + this.dmesh = dmesh; + telemetry = ctx; + } + + public PolyMesh getMesh() + { + return pmesh; + } + + public PolyMeshDetail getMeshDetail() + { + return dmesh; + } + + public CompactHeightfield getCompactHeightfield() + { + return chf; + } + + public ContourSet getContourSet() + { + return cs; + } + + public Heightfield getSolidHeightfield() + { + return solid; + } + + public Telemetry getTelemetry() + { + return telemetry; + } +} diff --git a/src/DotRecast.Recast/RecastCommon.cs b/src/DotRecast.Recast/RecastCommon.cs new file mode 100644 index 0000000..fffb438 --- /dev/null +++ b/src/DotRecast.Recast/RecastCommon.cs @@ -0,0 +1,84 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Recast; + +public class RecastCommon +{ + /// Gets neighbor connection data for the specified direction. + /// @param[in] s The span to check. + /// @param[in] dir The direction to check. [Limits: 0 <= value < 4] + /// @return The neighbor connection data for the specified direction, + /// or #RC_NOT_CONNECTED if there is no connection. + public static int GetCon(CompactSpan s, int dir) + { + int shift = dir * 6; + return (s.con >> shift) & 0x3f; + } + + /// Gets the standard width (x-axis) offset for the specified direction. + /// @param[in] dir The direction. [Limits: 0 <= value < 4] + /// @return The width offset to apply to the current cell position to move + /// in the direction. + public static int GetDirOffsetX(int dir) + { + int[] offset = { -1, 0, 1, 0, }; + return offset[dir & 0x03]; + } + + /// Gets the standard height (z-axis) offset for the specified direction. + /// @param[in] dir The direction. [Limits: 0 <= value < 4] + /// @return The height offset to apply to the current cell position to move + /// in the direction. + public static int GetDirOffsetY(int dir) + { + int[] offset = { 0, 1, 0, -1 }; + return offset[dir & 0x03]; + } + + /// Gets the direction for the specified offset. One of x and y should be 0. + /// @param[in] x The x offset. [Limits: -1 <= value <= 1] + /// @param[in] y The y offset. [Limits: -1 <= value <= 1] + /// @return The direction that represents the offset. + public static int rcGetDirForOffset(int x, int y) + { + int[] dirs = { 3, 0, -1, 2, 1 }; + return dirs[((y + 1) << 1) + x]; + } + + /// Sets the neighbor connection data for the specified direction. + /// @param[in] s The span to update. + /// @param[in] dir The direction to set. [Limits: 0 <= value < 4] + /// @param[in] i The index of the neighbor span. + public static void SetCon(CompactSpan s, int dir, int i) + { + int shift = dir * 6; + int con = s.con; + s.con = (con & ~(0x3f << shift)) | ((i & 0x3f) << shift); + } + + public static int clamp(int v, int min, int max) + { + return Math.Max(Math.Min(max, v), min); + } + + +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastCompact.cs b/src/DotRecast.Recast/RecastCompact.cs new file mode 100644 index 0000000..5871ffd --- /dev/null +++ b/src/DotRecast.Recast/RecastCompact.cs @@ -0,0 +1,186 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Recast; + +using static RecastConstants; +using static RecastVectors; + +public class RecastCompact +{ + private const int MAX_LAYERS = RC_NOT_CONNECTED - 1; + private const int MAX_HEIGHT = RecastConstants.SPAN_MAX_HEIGHT; + + /// @par + /// + /// This is just the beginning of the process of fully building a compact heightfield. + /// Various filters may be applied, then the distance field and regions built. + /// E.g: #rcBuildDistanceField and #rcBuildRegions + /// + /// See the #rcConfig documentation for more information on the configuration parameters. + /// + /// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig + public static CompactHeightfield buildCompactHeightfield(Telemetry ctx, int walkableHeight, int walkableClimb, + Heightfield hf) + { + ctx.startTimer("BUILD_COMPACTHEIGHTFIELD"); + + CompactHeightfield chf = new CompactHeightfield(); + int w = hf.width; + int h = hf.height; + int spanCount = getHeightFieldSpanCount(hf); + + // Fill in header. + chf.width = w; + chf.height = h; + chf.borderSize = hf.borderSize; + chf.spanCount = spanCount; + chf.walkableHeight = walkableHeight; + chf.walkableClimb = walkableClimb; + chf.maxRegions = 0; + copy(chf.bmin, hf.bmin); + copy(chf.bmax, hf.bmax); + chf.bmax[1] += walkableHeight * hf.ch; + chf.cs = hf.cs; + chf.ch = hf.ch; + chf.cells = new CompactCell[w * h]; + chf.spans = new CompactSpan[spanCount]; + chf.areas = new int[spanCount]; + for (int i = 0; i < chf.cells.Length; i++) + { + chf.cells[i] = new CompactCell(); + } + + for (int i = 0; i < chf.spans.Length; i++) + { + chf.spans[i] = new CompactSpan(); + } + + // Fill in cells and spans. + int idx = 0; + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + Span s = hf.spans[x + y * w]; + // If there are no spans at this cell, just leave the data to index=0, count=0. + if (s == null) + continue; + CompactCell c = chf.cells[x + y * w]; + c.index = idx; + c.count = 0; + while (s != null) + { + if (s.area != RC_NULL_AREA) + { + int bot = s.smax; + int top = s.next != null ? (int)s.next.smin : MAX_HEIGHT; + chf.spans[idx].y = RecastCommon.clamp(bot, 0, MAX_HEIGHT); + chf.spans[idx].h = RecastCommon.clamp(top - bot, 0, MAX_HEIGHT); + chf.areas[idx] = s.area; + idx++; + c.count++; + } + + s = s.next; + } + } + } + + // Find neighbour connections. + int tooHighNeighbour = 0; + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) + { + CompactSpan s = chf.spans[i]; + + for (int dir = 0; dir < 4; ++dir) + { + RecastCommon.SetCon(s, dir, RC_NOT_CONNECTED); + int nx = x + RecastCommon.GetDirOffsetX(dir); + int ny = y + RecastCommon.GetDirOffsetY(dir); + // First check that the neighbour cell is in bounds. + if (nx < 0 || ny < 0 || nx >= w || ny >= h) + continue; + + // Iterate over all neighbour spans and check if any of the is + // accessible from current cell. + CompactCell nc = chf.cells[nx + ny * w]; + for (int k = nc.index, nk = nc.index + nc.count; k < nk; ++k) + { + CompactSpan ns = chf.spans[k]; + int bot = Math.Max(s.y, ns.y); + int top = Math.Min(s.y + s.h, ns.y + ns.h); + + // Check that the gap between the spans is walkable, + // and that the climb height between the gaps is not too high. + if ((top - bot) >= walkableHeight && Math.Abs(ns.y - s.y) <= walkableClimb) + { + // Mark direction as walkable. + int lidx = k - nc.index; + if (lidx < 0 || lidx > MAX_LAYERS) + { + tooHighNeighbour = Math.Max(tooHighNeighbour, lidx); + continue; + } + + RecastCommon.SetCon(s, dir, lidx); + break; + } + } + } + } + } + } + + if (tooHighNeighbour > MAX_LAYERS) + { + throw new Exception("rcBuildCompactHeightfield: Heightfield has too many layers " + tooHighNeighbour + + " (max: " + MAX_LAYERS + ")"); + } + + ctx.stopTimer("BUILD_COMPACTHEIGHTFIELD"); + return chf; + } + + private static int getHeightFieldSpanCount(Heightfield hf) + { + int w = hf.width; + int h = hf.height; + int spanCount = 0; + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + for (Span s = hf.spans[x + y * w]; s != null; s = s.next) + { + if (s.area != RC_NULL_AREA) + spanCount++; + } + } + } + + return spanCount; + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastConfig.cs b/src/DotRecast.Recast/RecastConfig.cs new file mode 100644 index 0000000..de01a56 --- /dev/null +++ b/src/DotRecast.Recast/RecastConfig.cs @@ -0,0 +1,185 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Recast; + +using static RecastConstants; + +public class RecastConfig +{ + public readonly PartitionType partitionType; + + 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 tileSizeZ; + + /** The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu] **/ + public readonly float cs; + + /** The y-axis cell size to use for fields. [Limit: > 0] [Units: wu] **/ + public readonly float ch; + + /** The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees] **/ + 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; + + /** Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx] **/ + 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; + + /** The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx] **/ + 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; + + /** The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx] **/ + 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; + + /** + * The maximum number of vertices allowed for polygons generated during the contour to polygon conversion process. + * [Limit: >= 3] + **/ + 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; + + /** + * 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 AreaModification 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; + + /** The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx] **/ + public readonly int borderSize; + + /** Set of original settings passed in world units */ + public readonly float minRegionAreaWorld; + + public readonly float mergeRegionAreaWorld; + public readonly float walkableHeightWorld; + public readonly float walkableClimbWorld; + public readonly float walkableRadiusWorld; + public readonly float maxEdgeLenWorld; + + /** + * Non-tiled build configuration + */ + public RecastConfig(PartitionType 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, + AreaModification walkableAreaMod) : this(partitionType, cellSize, cellHeight, agentMaxSlope, true, true, true, agentHeight, agentRadius, agentMaxClimb, + regionMinSize, regionMergeSize, edgeMaxLen, edgeMaxError, vertsPerPoly, detailSampleDist, detailSampleMaxError, + walkableAreaMod, true) + { + } + + /** + * Non-tiled build configuration + */ + public RecastConfig(PartitionType partitionType, float cellSize, float cellHeight, float agentMaxSlope, + bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans, float agentHeight, + float agentRadius, float agentMaxClimb, int regionMinSize, int regionMergeSize, float edgeMaxLen, float edgeMaxError, + int vertsPerPoly, float detailSampleDist, float detailSampleMaxError, AreaModification walkableAreaMod, + bool buildMeshDetail) : this(false, 0, 0, 0, partitionType, cellSize, cellHeight, agentMaxSlope, filterLowHangingObstacles, filterLedgeSpans, + filterWalkableLowHeightSpans, agentHeight, agentRadius, agentMaxClimb, + regionMinSize * regionMinSize * cellSize * cellSize, regionMergeSize * regionMergeSize * cellSize * cellSize, + edgeMaxLen, edgeMaxError, vertsPerPoly, buildMeshDetail, detailSampleDist, detailSampleMaxError, walkableAreaMod) + { + // Note: area = size*size in [Units: wu] + } + + public RecastConfig(bool useTiles, int tileSizeX, int tileSizeZ, int borderSize, PartitionType partitionType, + float cellSize, float cellHeight, float agentMaxSlope, bool filterLowHangingObstacles, bool filterLedgeSpans, + bool filterWalkableLowHeightSpans, float agentHeight, float agentRadius, float agentMaxClimb, float minRegionArea, + float mergeRegionArea, float edgeMaxLen, float edgeMaxError, int vertsPerPoly, bool buildMeshDetail, + float detailSampleDist, float detailSampleMaxError, AreaModification walkableAreaMod) + { + this.useTiles = useTiles; + this.tileSizeX = tileSizeX; + this.tileSizeZ = tileSizeZ; + this.borderSize = borderSize; + this.partitionType = partitionType; + 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; + } + + public static int calcBorder(float agentRadius, float cs) + { + return 3 + (int)Math.Ceiling(agentRadius / cs); + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastConstants.cs b/src/DotRecast.Recast/RecastConstants.cs new file mode 100644 index 0000000..fe1821f --- /dev/null +++ b/src/DotRecast.Recast/RecastConstants.cs @@ -0,0 +1,84 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast; + +public static class RecastConstants +{ + public const int RC_NULL_AREA = 0; + public const int RC_NOT_CONNECTED = 0x3f; + + /// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax. + public const int SPAN_HEIGHT_BITS = 20; + + /// Defines the maximum value for rcSpan::smin and rcSpan::smax. + public const int SPAN_MAX_HEIGHT = (1 << SPAN_HEIGHT_BITS) - 1; + + /// Heighfield border flag. + /// If a heightfield region ID has this bit set, then the region is a border + /// region and its spans are considered unwalkable. + /// (Used during the region and contour build process.) + /// @see rcCompactSpan::reg + public const int RC_BORDER_REG = 0x8000; + + /// Polygon touches multiple regions. + /// If a polygon has this region ID it was merged with or created + /// from polygons of different regions during the polymesh + /// build step that removes redundant border vertices. + /// (Used during the polymesh and detail polymesh build processes) + /// @see rcPolyMesh::regs + public const int RC_MULTIPLE_REGS = 0; + + // Border vertex flag. + /// If a region ID has this bit set, then the associated element lies on + /// a tile border. If a contour vertex's region ID has this bit set, the + /// vertex will later be removed in order to match the segments and vertices + /// at tile boundaries. + /// (Used during the build process.) + /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts + public const int RC_BORDER_VERTEX = 0x10000; + + /// Area border flag. + /// If a region ID has this bit set, then the associated element lies on + /// the border of an area. + /// (Used during the region and contour build process.) + /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts + public const int RC_AREA_BORDER = 0x20000; + + /// Applied to the region id field of contour vertices in order to extract the region id. + /// The region id field of a vertex may have several flags applied to it. So the + /// fields value can't be used directly. + /// @see rcContour::verts, rcContour::rverts + public const int RC_CONTOUR_REG_MASK = 0xffff; + + /// A value which indicates an invalid index within a mesh. + /// @note This does not necessarily indicate an error. + /// @see rcPolyMesh::polys + public const int RC_MESH_NULL_IDX = 0xffff; + + public const int RC_CONTOUR_TESS_WALL_EDGES = 0x01; + + /// < Tessellate solid (impassable) edges during contour + /// simplification. + public const int RC_CONTOUR_TESS_AREA_EDGES = 0x02; + + + + public const int RC_LOG_WARNING = 1; +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastContour.cs b/src/DotRecast.Recast/RecastContour.cs new file mode 100644 index 0000000..2445c74 --- /dev/null +++ b/src/DotRecast.Recast/RecastContour.cs @@ -0,0 +1,1019 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; + +namespace DotRecast.Recast; + +using static RecastConstants; + +public class RecastContour +{ + private class ContourRegion + { + public Contour outline; + public ContourHole[] holes; + public int nholes; + } + + private class ContourHole + { + public int leftmost; + public int minx; + public int minz; + public Contour contour; + } + + private class PotentialDiagonal + { + public int dist; + public int vert; + } + + private class CornerHeight + { + public readonly int height; + public readonly bool borderVertex; + + public CornerHeight(int height, bool borderVertex) + { + this.height = height; + this.borderVertex = borderVertex; + } + } + + private static CornerHeight getCornerHeight(int x, int y, int i, int dir, CompactHeightfield chf) + { + bool isBorderVertex = false; + CompactSpan s = chf.spans[i]; + int ch = s.y; + int dirp = (dir + 1) & 0x3; + + int[] regs = + { + 0, 0, 0, 0 + }; + + // Combine region and area codes in order to prevent + // border vertices which are in between two areas to be removed. + regs[0] = chf.spans[i].reg | (chf.areas[i] << 16); + + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) + { + int ax = x + RecastCommon.GetDirOffsetX(dir); + int ay = y + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * chf.width].index + RecastCommon.GetCon(s, dir); + CompactSpan @as = chf.spans[ai]; + ch = Math.Max(ch, @as.y); + regs[1] = chf.spans[ai].reg | (chf.areas[ai] << 16); + if (RecastCommon.GetCon(@as, dirp) != RC_NOT_CONNECTED) + { + int ax2 = ax + RecastCommon.GetDirOffsetX(dirp); + int ay2 = ay + RecastCommon.GetDirOffsetY(dirp); + int ai2 = chf.cells[ax2 + ay2 * chf.width].index + RecastCommon.GetCon(@as, dirp); + CompactSpan as2 = chf.spans[ai2]; + ch = Math.Max(ch, as2.y); + regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16); + } + } + + if (RecastCommon.GetCon(s, dirp) != RC_NOT_CONNECTED) + { + int ax = x + RecastCommon.GetDirOffsetX(dirp); + int ay = y + RecastCommon.GetDirOffsetY(dirp); + int ai = chf.cells[ax + ay * chf.width].index + RecastCommon.GetCon(s, dirp); + CompactSpan @as = chf.spans[ai]; + ch = Math.Max(ch, @as.y); + regs[3] = chf.spans[ai].reg | (chf.areas[ai] << 16); + if (RecastCommon.GetCon(@as, dir) != RC_NOT_CONNECTED) + { + int ax2 = ax + RecastCommon.GetDirOffsetX(dir); + int ay2 = ay + RecastCommon.GetDirOffsetY(dir); + int ai2 = chf.cells[ax2 + ay2 * chf.width].index + RecastCommon.GetCon(@as, dir); + CompactSpan as2 = chf.spans[ai2]; + ch = Math.Max(ch, as2.y); + regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16); + } + } + + // Check if the vertex is special edge vertex, these vertices will be removed later. + for (int j = 0; j < 4; ++j) + { + int a = j; + int b = (j + 1) & 0x3; + int c = (j + 2) & 0x3; + int d = (j + 3) & 0x3; + + // The vertex is a border vertex there are two same exterior cells in a row, + // followed by two interior cells and none of the regions are out of bounds. + bool twoSameExts = (regs[a] & regs[b] & RC_BORDER_REG) != 0 && regs[a] == regs[b]; + bool twoInts = ((regs[c] | regs[d]) & RC_BORDER_REG) == 0; + bool intsSameArea = (regs[c] >> 16) == (regs[d] >> 16); + bool noZeros = regs[a] != 0 && regs[b] != 0 && regs[c] != 0 && regs[d] != 0; + if (twoSameExts && twoInts && intsSameArea && noZeros) + { + isBorderVertex = true; + break; + } + } + + return new CornerHeight(ch, isBorderVertex); + } + + private static void walkContour(int x, int y, int i, CompactHeightfield chf, int[] flags, List points) + { + // Choose the first non-connected edge + int dir = 0; + while ((flags[i] & (1 << dir)) == 0) + dir++; + + int startDir = dir; + int starti = i; + + int area = chf.areas[i]; + + int iter = 0; + while (++iter < 40000) + { + if ((flags[i] & (1 << dir)) != 0) + { + // Choose the edge corner + bool isAreaBorder = false; + CornerHeight cornerHeight = getCornerHeight(x, y, i, dir, chf); + bool isBorderVertex = cornerHeight.borderVertex; + int px = x; + int py = cornerHeight.height; + int pz = y; + switch (dir) + { + case 0: + pz++; + break; + case 1: + px++; + pz++; + break; + case 2: + px++; + break; + } + + int r = 0; + CompactSpan s = chf.spans[i]; + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) + { + int ax = x + RecastCommon.GetDirOffsetX(dir); + int ay = y + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * chf.width].index + RecastCommon.GetCon(s, dir); + r = chf.spans[ai].reg; + if (area != chf.areas[ai]) + isAreaBorder = true; + } + + if (isBorderVertex) + r |= RC_BORDER_VERTEX; + if (isAreaBorder) + r |= RC_AREA_BORDER; + points.Add(px); + points.Add(py); + points.Add(pz); + points.Add(r); + + flags[i] &= ~(1 << dir); // Remove visited edges + dir = (dir + 1) & 0x3; // Rotate CW + } + else + { + int ni = -1; + int nx = x + RecastCommon.GetDirOffsetX(dir); + int ny = y + RecastCommon.GetDirOffsetY(dir); + CompactSpan s = chf.spans[i]; + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) + { + CompactCell nc = chf.cells[nx + ny * chf.width]; + ni = nc.index + RecastCommon.GetCon(s, dir); + } + + if (ni == -1) + { + // Should not happen. + return; + } + + x = nx; + y = ny; + i = ni; + dir = (dir + 3) & 0x3; // Rotate CCW + } + + if (starti == i && startDir == dir) + { + break; + } + } + } + + private static float distancePtSeg(int x, int z, int px, int pz, int qx, int qz) + { + float pqx = qx - px; + float pqz = qz - pz; + float dx = x - px; + float dz = z - pz; + float d = pqx * pqx + pqz * pqz; + float t = pqx * dx + pqz * dz; + if (d > 0) + t /= d; + if (t < 0) + t = 0; + else if (t > 1) + t = 1; + + dx = px + t * pqx - x; + dz = pz + t * pqz - z; + + return dx * dx + dz * dz; + } + + private static void simplifyContour(List points, List simplified, float maxError, int maxEdgeLen, int buildFlags) + { + // Add initial points. + bool hasConnections = false; + for (int i = 0; i < points.Count; i += 4) + { + if ((points[i + 3] & RC_CONTOUR_REG_MASK) != 0) + { + hasConnections = true; + break; + } + } + + if (hasConnections) + { + // The contour has some portals to other regions. + // Add a new point to every location where the region changes. + for (int i = 0, ni = points.Count / 4; i < ni; ++i) + { + int ii = (i + 1) % ni; + bool differentRegs = (points[i * 4 + 3] & RC_CONTOUR_REG_MASK) != (points[ii * 4 + 3] & RC_CONTOUR_REG_MASK); + bool areaBorders = (points[i * 4 + 3] & RC_AREA_BORDER) != (points[ii * 4 + 3] & RC_AREA_BORDER); + if (differentRegs || areaBorders) + { + simplified.Add(points[i * 4 + 0]); + simplified.Add(points[i * 4 + 1]); + simplified.Add(points[i * 4 + 2]); + simplified.Add(i); + } + } + } + + if (simplified.Count == 0) + { + // If there is no connections at all, + // create some initial points for the simplification process. + // Find lower-left and upper-right vertices of the contour. + int llx = points[0]; + int lly = points[1]; + int llz = points[2]; + int lli = 0; + int urx = points[0]; + int ury = points[1]; + int urz = points[2]; + int uri = 0; + for (int i = 0; i < points.Count; i += 4) + { + int x = points[i + 0]; + int y = points[i + 1]; + int z = points[i + 2]; + if (x < llx || (x == llx && z < llz)) + { + llx = x; + lly = y; + llz = z; + lli = i / 4; + } + + if (x > urx || (x == urx && z > urz)) + { + urx = x; + ury = y; + urz = z; + uri = i / 4; + } + } + + simplified.Add(llx); + simplified.Add(lly); + simplified.Add(llz); + simplified.Add(lli); + + simplified.Add(urx); + simplified.Add(ury); + simplified.Add(urz); + simplified.Add(uri); + } + + // Add points until all raw points are within + // error tolerance to the simplified shape. + int pn = points.Count / 4; + for (int i = 0; i < simplified.Count / 4;) + { + int ii = (i + 1) % (simplified.Count / 4); + + int ax = simplified[i * 4 + 0]; + int az = simplified[i * 4 + 2]; + int ai = simplified[i * 4 + 3]; + + int bx = simplified[ii * 4 + 0]; + int bz = simplified[ii * 4 + 2]; + int bi = simplified[ii * 4 + 3]; + + // Find maximum deviation from the segment. + float maxd = 0; + int maxi = -1; + int ci, cinc, endi; + + // Traverse the segment in lexilogical order so that the + // max deviation is calculated similarly when traversing + // opposite segments. + if (bx > ax || (bx == ax && bz > az)) + { + cinc = 1; + ci = (ai + cinc) % pn; + endi = bi; + } + else + { + cinc = pn - 1; + ci = (bi + cinc) % pn; + endi = ai; + int temp = ax; + ax = bx; + bx = temp; + temp = az; + az = bz; + bz = temp; + } + + // Tessellate only outer edges or edges between areas. + if ((points[ci * 4 + 3] & RC_CONTOUR_REG_MASK) == 0 || (points[ci * 4 + 3] & RC_AREA_BORDER) != 0) + { + while (ci != endi) + { + float d = distancePtSeg(points[ci * 4 + 0], points[ci * 4 + 2], ax, az, bx, bz); + if (d > maxd) + { + maxd = d; + maxi = ci; + } + + ci = (ci + cinc) % pn; + } + } + + // If the max deviation is larger than accepted error, + // add new point, else continue to next segment. + if (maxi != -1 && maxd > (maxError * maxError)) + { + // Add the point. + simplified.Insert((i + 1) * 4 + 0, points[maxi * 4 + 0]); + simplified.Insert((i + 1) * 4 + 1, points[maxi * 4 + 1]); + simplified.Insert((i + 1) * 4 + 2, points[maxi * 4 + 2]); + simplified.Insert((i + 1) * 4 + 3, maxi); + } + else + { + ++i; + } + } + + // Split too long edges. + if (maxEdgeLen > 0 && (buildFlags & (RC_CONTOUR_TESS_WALL_EDGES | RC_CONTOUR_TESS_AREA_EDGES)) != 0) + { + for (int i = 0; i < simplified.Count / 4;) + { + int ii = (i + 1) % (simplified.Count / 4); + + int ax = simplified[i * 4 + 0]; + int az = simplified[i * 4 + 2]; + int ai = simplified[i * 4 + 3]; + + int bx = simplified[ii * 4 + 0]; + int bz = simplified[ii * 4 + 2]; + int bi = simplified[ii * 4 + 3]; + + // Find maximum deviation from the segment. + int maxi = -1; + int ci = (ai + 1) % pn; + + // Tessellate only outer edges or edges between areas. + bool tess = false; + // Wall edges. + if ((buildFlags & RC_CONTOUR_TESS_WALL_EDGES) != 0 && (points[ci * 4 + 3] & RC_CONTOUR_REG_MASK) == 0) + tess = true; + // Edges between areas. + if ((buildFlags & RC_CONTOUR_TESS_AREA_EDGES) != 0 && (points[ci * 4 + 3] & RC_AREA_BORDER) != 0) + tess = true; + + if (tess) + { + int dx = bx - ax; + int dz = bz - az; + if (dx * dx + dz * dz > maxEdgeLen * maxEdgeLen) + { + // Round based on the segments in lexilogical order so that the + // max tesselation is consistent regardles in which direction + // segments are traversed. + int n = bi < ai ? (bi + pn - ai) : (bi - ai); + if (n > 1) + { + if (bx > ax || (bx == ax && bz > az)) + maxi = (ai + n / 2) % pn; + else + maxi = (ai + (n + 1) / 2) % pn; + } + } + } + + // If the max deviation is larger than accepted error, + // add new point, else continue to next segment. + if (maxi != -1) + { + // Add the point. + simplified.Insert((i + 1) * 4 + 0, points[maxi * 4 + 0]); + simplified.Insert((i + 1) * 4 + 1, points[maxi * 4 + 1]); + simplified.Insert((i + 1) * 4 + 2, points[maxi * 4 + 2]); + simplified.Insert((i + 1) * 4 + 3, maxi); + } + else + { + ++i; + } + } + } + + for (int i = 0; i < simplified.Count / 4; ++i) + { + // The edge vertex flag is take from the current raw point, + // and the neighbour region is take from the next raw point. + int ai = (simplified[i * 4 + 3] + 1) % pn; + int bi = simplified[i * 4 + 3]; + simplified[i * 4 + 3] = (points[ai * 4 + 3] & (RC_CONTOUR_REG_MASK | RC_AREA_BORDER)) + | points[bi * 4 + 3] & RC_BORDER_VERTEX; + } + } + + private static int calcAreaOfPolygon2D(int[] verts, int nverts) + { + int area = 0; + for (int i = 0, j = nverts - 1; i < nverts; j = i++) + { + int vi = i * 4; + int vj = j * 4; + area += verts[vi + 0] * verts[vj + 2] - verts[vj + 0] * verts[vi + 2]; + } + + return (area + 1) / 2; + } + + private static bool intersectSegCountour(int d0, int d1, int i, int n, int[] verts, int[] d0verts, + int[] d1verts) + { + // For each edge (k,k+1) of P + int[] pverts = new int[4 * 4]; + for (int g = 0; g < 4; g++) + { + pverts[g] = d0verts[d0 + g]; + pverts[4 + g] = d1verts[d1 + g]; + } + + d0 = 0; + d1 = 4; + for (int k = 0; k < n; k++) + { + int k1 = RecastMesh.next(k, n); + // Skip edges incident to i. + if (i == k || i == k1) + continue; + int p0 = k * 4; + int p1 = k1 * 4; + for (int g = 0; g < 4; g++) + { + pverts[8 + g] = verts[p0 + g]; + pverts[12 + g] = verts[p1 + g]; + } + + p0 = 8; + p1 = 12; + if (RecastMesh.vequal(pverts, d0, p0) || RecastMesh.vequal(pverts, d1, p0) + || RecastMesh.vequal(pverts, d0, p1) || RecastMesh.vequal(pverts, d1, p1)) + continue; + + if (RecastMesh.intersect(pverts, d0, d1, p0, p1)) + return true; + } + + return false; + } + + private static bool inCone(int i, int n, int[] verts, int pj, int[] vertpj) + { + int pi = i * 4; + int pi1 = RecastMesh.next(i, n) * 4; + int pin1 = RecastMesh.prev(i, n) * 4; + int[] pverts = new int[4 * 4]; + for (int g = 0; g < 4; g++) + { + pverts[g] = verts[pi + g]; + pverts[4 + g] = verts[pi1 + g]; + pverts[8 + g] = verts[pin1 + g]; + pverts[12 + g] = vertpj[pj + g]; + } + + pi = 0; + pi1 = 4; + pin1 = 8; + pj = 12; + // If P[i] is a convex vertex [ i+1 left or on (i-1,i) ]. + if (RecastMesh.leftOn(pverts, pin1, pi, pi1)) + return RecastMesh.left(pverts, pi, pj, pin1) && RecastMesh.left(pverts, pj, pi, pi1); + // Assume (i-1,i,i+1) not collinear. + // else P[i] is reflex. + return !(RecastMesh.leftOn(pverts, pi, pj, pi1) && RecastMesh.leftOn(pverts, pj, pi, pin1)); + } + + private static void removeDegenerateSegments(List simplified) + { + // Remove adjacent vertices which are equal on xz-plane, + // or else the triangulator will get confused. + int npts = simplified.Count / 4; + for (int i = 0; i < npts; ++i) + { + int ni = RecastMesh.next(i, npts); + + // if (vequal(&simplified[i*4], &simplified[ni*4])) + if (simplified[i * 4] == simplified[ni * 4] + && simplified[i * 4 + 2] == simplified[ni * 4 + 2]) + { + // Degenerate segment, remove. + simplified.RemoveAt(i * 4); + simplified.RemoveAt(i * 4); + simplified.RemoveAt(i * 4); + simplified.RemoveAt(i * 4); + npts--; + } + } + } + + private static void mergeContours(Contour ca, Contour cb, int ia, int ib) + { + int maxVerts = ca.nverts + cb.nverts + 2; + int[] verts = new int[maxVerts * 4]; + + int nv = 0; + + // Copy contour A. + for (int i = 0; i <= ca.nverts; ++i) + { + int dst = nv * 4; + int src = ((ia + i) % ca.nverts) * 4; + verts[dst + 0] = ca.verts[src + 0]; + verts[dst + 1] = ca.verts[src + 1]; + verts[dst + 2] = ca.verts[src + 2]; + verts[dst + 3] = ca.verts[src + 3]; + nv++; + } + + // Copy contour B + for (int i = 0; i <= cb.nverts; ++i) + { + int dst = nv * 4; + int src = ((ib + i) % cb.nverts) * 4; + verts[dst + 0] = cb.verts[src + 0]; + verts[dst + 1] = cb.verts[src + 1]; + verts[dst + 2] = cb.verts[src + 2]; + verts[dst + 3] = cb.verts[src + 3]; + nv++; + } + + ca.verts = verts; + ca.nverts = nv; + + cb.verts = null; + cb.nverts = 0; + } + + // Finds the lowest leftmost vertex of a contour. + private static int[] findLeftMostVertex(Contour contour) + { + int minx = contour.verts[0]; + int minz = contour.verts[2]; + int leftmost = 0; + for (int i = 1; i < contour.nverts; i++) + { + int x = contour.verts[i * 4 + 0]; + int z = contour.verts[i * 4 + 2]; + if (x < minx || (x == minx && z < minz)) + { + minx = x; + minz = z; + leftmost = i; + } + } + + return new int[] { minx, minz, leftmost }; + } + + private class CompareHoles : IComparer + { + public int Compare(ContourHole a, ContourHole b) + { + if (a.minx == b.minx) + { + return a.minz.CompareTo(b.minz); + } + else + { + return a.minx.CompareTo(b.minx); + } + } + } + + private class CompareDiagDist : IComparer + { + public int Compare(PotentialDiagonal va, PotentialDiagonal vb) + { + PotentialDiagonal a = va; + PotentialDiagonal b = vb; + return a.dist.CompareTo(b.dist); + } + } + + private static void mergeRegionHoles(Telemetry ctx, ContourRegion region) + { + // Sort holes from left to right. + for (int i = 0; i < region.nholes; i++) + { + int[] minleft = findLeftMostVertex(region.holes[i].contour); + region.holes[i].minx = minleft[0]; + region.holes[i].minz = minleft[1]; + region.holes[i].leftmost = minleft[2]; + } + + Array.Sort(region.holes, new CompareHoles()); + + int maxVerts = region.outline.nverts; + for (int i = 0; i < region.nholes; i++) + maxVerts += region.holes[i].contour.nverts; + + PotentialDiagonal[] diags = new PotentialDiagonal[maxVerts]; + for (int pd = 0; pd < maxVerts; pd++) + { + diags[pd] = new PotentialDiagonal(); + } + + Contour outline = region.outline; + + // Merge holes into the outline one by one. + for (int i = 0; i < region.nholes; i++) + { + Contour hole = region.holes[i].contour; + + int index = -1; + int bestVertex = region.holes[i].leftmost; + for (int iter = 0; iter < hole.nverts; iter++) + { + // Find potential diagonals. + // The 'best' vertex must be in the cone described by 3 cosequtive vertices of the outline. + // ..o j-1 + // | + // | * best + // | + // j o-----o j+1 + // : + int ndiags = 0; + int corner = bestVertex * 4; + for (int j = 0; j < outline.nverts; j++) + { + if (inCone(j, outline.nverts, outline.verts, corner, hole.verts)) + { + int dx = outline.verts[j * 4 + 0] - hole.verts[corner + 0]; + int dz = outline.verts[j * 4 + 2] - hole.verts[corner + 2]; + diags[ndiags].vert = j; + diags[ndiags].dist = dx * dx + dz * dz; + ndiags++; + } + } + + // Sort potential diagonals by distance, we want to make the connection as short as possible. + Array.Sort(diags, 0, ndiags, new CompareDiagDist()); + + // Find a diagonal that is not intersecting the outline not the remaining holes. + index = -1; + for (int j = 0; j < ndiags; j++) + { + int pt = diags[j].vert * 4; + bool intersect = intersectSegCountour(pt, corner, diags[j].vert, outline.nverts, outline.verts, + outline.verts, hole.verts); + for (int k = i; k < region.nholes && !intersect; k++) + intersect |= intersectSegCountour(pt, corner, -1, region.holes[k].contour.nverts, + region.holes[k].contour.verts, outline.verts, hole.verts); + if (!intersect) + { + index = diags[j].vert; + break; + } + } + + // If found non-intersecting diagonal, stop looking. + if (index != -1) + break; + // All the potential diagonals for the current vertex were intersecting, try next vertex. + bestVertex = (bestVertex + 1) % hole.nverts; + } + + if (index == -1) + { + ctx.warn("mergeHoles: Failed to find merge points for"); + continue; + } + + mergeContours(region.outline, hole, index, bestVertex); + } + } + + /// @par + /// + /// The raw contours will match the region outlines exactly. The @p maxError and @p maxEdgeLen + /// parameters control how closely the simplified contours will match the raw contours. + /// + /// Simplified contours are generated such that the vertices for portals between areas match up. + /// (They are considered mandatory vertices.) + /// + /// Setting @p maxEdgeLength to zero will disabled the edge length feature. + /// + /// See the #rcConfig documentation for more information on the configuration parameters. + /// + /// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig + public static ContourSet buildContours(Telemetry ctx, CompactHeightfield chf, float maxError, int maxEdgeLen, + int buildFlags) + { + int w = chf.width; + int h = chf.height; + int borderSize = chf.borderSize; + ContourSet cset = new ContourSet(); + + ctx.startTimer("CONTOURS"); + RecastVectors.copy(cset.bmin, chf.bmin, 0); + RecastVectors.copy(cset.bmax, chf.bmax, 0); + if (borderSize > 0) + { + // If the heightfield was build with bordersize, remove the offset. + float pad = borderSize * chf.cs; + cset.bmin[0] += pad; + cset.bmin[2] += pad; + cset.bmax[0] -= pad; + cset.bmax[2] -= pad; + } + + cset.cs = chf.cs; + cset.ch = chf.ch; + cset.width = chf.width - chf.borderSize * 2; + cset.height = chf.height - chf.borderSize * 2; + cset.borderSize = chf.borderSize; + cset.maxError = maxError; + + int[] flags = new int[chf.spanCount]; + + ctx.startTimer("CONTOURS_TRACE"); + + // Mark boundaries. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) + { + int res = 0; + CompactSpan s = chf.spans[i]; + if (chf.spans[i].reg == 0 || (chf.spans[i].reg & RC_BORDER_REG) != 0) + { + flags[i] = 0; + continue; + } + + for (int dir = 0; dir < 4; ++dir) + { + int r = 0; + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) + { + int ax = x + RecastCommon.GetDirOffsetX(dir); + int ay = y + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, dir); + r = chf.spans[ai].reg; + } + + if (r == chf.spans[i].reg) + res |= (1 << dir); + } + + flags[i] = res ^ 0xf; // Inverse, mark non connected edges. + } + } + } + + ctx.stopTimer("CONTOURS_TRACE"); + + List verts = new(256); + List simplified = new(64); + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) + { + if (flags[i] == 0 || flags[i] == 0xf) + { + flags[i] = 0; + continue; + } + + int reg = chf.spans[i].reg; + if (reg == 0 || (reg & RC_BORDER_REG) != 0) + continue; + int area = chf.areas[i]; + + verts.Clear(); + simplified.Clear(); + + ctx.startTimer("CONTOURS_WALK"); + walkContour(x, y, i, chf, flags, verts); + ctx.stopTimer("CONTOURS_WALK"); + + ctx.startTimer("CONTOURS_SIMPLIFY"); + simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags); + removeDegenerateSegments(simplified); + ctx.stopTimer("CONTOURS_SIMPLIFY"); + + // Store region->contour remap info. + // Create contour. + if (simplified.Count / 4 >= 3) + { + Contour cont = new Contour(); + cset.conts.Add(cont); + + cont.nverts = simplified.Count / 4; + cont.verts = new int[simplified.Count]; + for (int l = 0; l < cont.verts.Length; l++) + { + cont.verts[l] = simplified[l]; + } + + if (borderSize > 0) + { + // If the heightfield was build with bordersize, remove the offset. + for (int j = 0; j < cont.nverts; ++j) + { + cont.verts[j * 4] -= borderSize; + cont.verts[j * 4 + 2] -= borderSize; + } + } + + cont.nrverts = verts.Count / 4; + cont.rverts = new int[verts.Count]; + for (int l = 0; l < cont.rverts.Length; l++) + { + cont.rverts[l] = verts[l]; + } + + if (borderSize > 0) + { + // If the heightfield was build with bordersize, remove the offset. + for (int j = 0; j < cont.nrverts; ++j) + { + cont.rverts[j * 4] -= borderSize; + cont.rverts[j * 4 + 2] -= borderSize; + } + } + + cont.reg = reg; + cont.area = area; + } + } + } + } + + // Merge holes if needed. + if (cset.conts.Count > 0) + { + // Calculate winding of all polygons. + int[] winding = new int[cset.conts.Count]; + int nholes = 0; + for (int i = 0; i < cset.conts.Count; ++i) + { + Contour cont = cset.conts[i]; + // If the contour is wound backwards, it is a hole. + winding[i] = calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0 ? -1 : 1; + if (winding[i] < 0) + nholes++; + } + + if (nholes > 0) + { + // Collect outline contour and holes contours per region. + // We assume that there is one outline and multiple holes. + int nregions = chf.maxRegions + 1; + ContourRegion[] regions = new ContourRegion[nregions]; + for (int i = 0; i < nregions; i++) + { + regions[i] = new ContourRegion(); + } + + for (int i = 0; i < cset.conts.Count; ++i) + { + Contour cont = cset.conts[i]; + // Positively would contours are outlines, negative holes. + if (winding[i] > 0) + { + if (regions[cont.reg].outline != null) + { + throw new Exception( + "rcBuildContours: Multiple outlines for region " + cont.reg + "."); + } + + regions[cont.reg].outline = cont; + } + else + { + regions[cont.reg].nholes++; + } + } + + for (int i = 0; i < nregions; i++) + { + if (regions[i].nholes > 0) + { + regions[i].holes = new ContourHole[regions[i].nholes]; + for (int nh = 0; nh < regions[i].nholes; nh++) + { + regions[i].holes[nh] = new ContourHole(); + } + + regions[i].nholes = 0; + } + } + + for (int i = 0; i < cset.conts.Count; ++i) + { + Contour cont = cset.conts[i]; + ContourRegion reg = regions[cont.reg]; + if (winding[i] < 0) + reg.holes[reg.nholes++].contour = cont; + } + + // Finally merge each regions holes into the outline. + for (int i = 0; i < nregions; i++) + { + ContourRegion reg = regions[i]; + if (reg.nholes == 0) + continue; + + if (reg.outline != null) + { + mergeRegionHoles(ctx, reg); + } + else + { + // The region does not have an outline. + // This can happen if the contour becaomes selfoverlapping because of + // too aggressive simplification settings. + throw new Exception("rcBuildContours: Bad outline for region " + i + + ", contour simplification is likely too aggressive."); + } + } + } + } + + ctx.stopTimer("CONTOURS"); + return cset; + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastFilledVolumeRasterization.cs b/src/DotRecast.Recast/RecastFilledVolumeRasterization.cs new file mode 100644 index 0000000..89fd202 --- /dev/null +++ b/src/DotRecast.Recast/RecastFilledVolumeRasterization.cs @@ -0,0 +1,802 @@ +/* ++recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using DotRecast.Core; + +namespace DotRecast.Recast; + +using static RecastConstants; +using static RecastVectors; +using static RecastCommon; + +public class RecastFilledVolumeRasterization +{ + private const float EPSILON = 0.00001f; + private static readonly int[] BOX_EDGES = new[] { 0, 1, 0, 2, 0, 4, 1, 3, 1, 5, 2, 3, 2, 6, 3, 7, 4, 5, 4, 6, 5, 7, 6, 7 }; + + public static void rasterizeSphere(Heightfield hf, float[] center, float radius, int area, int flagMergeThr, Telemetry ctx) + { + ctx.startTimer("RASTERIZE_SPHERE"); + float[] bounds = + { + center[0] - radius, center[1] - radius, center[2] - radius, center[0] + radius, center[1] + radius, + center[2] + radius + }; + rasterizationFilledShape(hf, bounds, area, flagMergeThr, + rectangle => intersectSphere(rectangle, center, radius * radius)); + ctx.stopTimer("RASTERIZE_SPHERE"); + } + + public static void rasterizeCapsule(Heightfield hf, float[] start, float[] end, float radius, int area, int flagMergeThr, + Telemetry ctx) + { + ctx.startTimer("RASTERIZE_CAPSULE"); + float[] bounds = + { + Math.Min(start[0], end[0]) - radius, Math.Min(start[1], end[1]) - radius, + Math.Min(start[2], end[2]) - radius, Math.Max(start[0], end[0]) + radius, Math.Max(start[1], end[1]) + radius, + Math.Max(start[2], end[2]) + radius + }; + float[] axis = { end[0] - start[0], end[1] - start[1], end[2] - start[2] }; + rasterizationFilledShape(hf, bounds, area, flagMergeThr, + rectangle => intersectCapsule(rectangle, start, end, axis, radius * radius)); + ctx.stopTimer("RASTERIZE_CAPSULE"); + } + + public static void rasterizeCylinder(Heightfield hf, float[] start, float[] end, float radius, int area, int flagMergeThr, + Telemetry ctx) + { + ctx.startTimer("RASTERIZE_CYLINDER"); + float[] bounds = + { + Math.Min(start[0], end[0]) - radius, Math.Min(start[1], end[1]) - radius, + Math.Min(start[2], end[2]) - radius, Math.Max(start[0], end[0]) + radius, Math.Max(start[1], end[1]) + radius, + Math.Max(start[2], end[2]) + radius + }; + float[] axis = { end[0] - start[0], end[1] - start[1], end[2] - start[2] }; + rasterizationFilledShape(hf, bounds, area, flagMergeThr, + rectangle => intersectCylinder(rectangle, start, end, axis, radius * radius)); + ctx.stopTimer("RASTERIZE_CYLINDER"); + } + + public static void rasterizeBox(Heightfield hf, float[] center, float[][] halfEdges, int area, int flagMergeThr, + Telemetry ctx) + { + ctx.startTimer("RASTERIZE_BOX"); + float[][] normals = + { + new[] { halfEdges[0][0], halfEdges[0][1], halfEdges[0][2] }, + new[] { halfEdges[1][0], halfEdges[1][1], halfEdges[1][2] }, + new[] { halfEdges[2][0], halfEdges[2][1], halfEdges[2][2] } + }; + normalize(normals[0]); + normalize(normals[1]); + normalize(normals[2]); + + float[] vertices = new float[8 * 3]; + float[] bounds = new float[] + { + float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity, + float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity + }; + for (int i = 0; i < 8; ++i) + { + float s0 = (i & 1) != 0 ? 1f : -1f; + float s1 = (i & 2) != 0 ? 1f : -1f; + float s2 = (i & 4) != 0 ? 1f : -1f; + vertices[i * 3 + 0] = center[0] + s0 * halfEdges[0][0] + s1 * halfEdges[1][0] + s2 * halfEdges[2][0]; + vertices[i * 3 + 1] = center[1] + s0 * halfEdges[0][1] + s1 * halfEdges[1][1] + s2 * halfEdges[2][1]; + vertices[i * 3 + 2] = center[2] + s0 * halfEdges[0][2] + s1 * halfEdges[1][2] + s2 * halfEdges[2][2]; + bounds[0] = Math.Min(bounds[0], vertices[i * 3 + 0]); + bounds[1] = Math.Min(bounds[1], vertices[i * 3 + 1]); + bounds[2] = Math.Min(bounds[2], vertices[i * 3 + 2]); + bounds[3] = Math.Max(bounds[3], vertices[i * 3 + 0]); + bounds[4] = Math.Max(bounds[4], vertices[i * 3 + 1]); + bounds[5] = Math.Max(bounds[5], vertices[i * 3 + 2]); + } + + float[][] planes = ArrayUtils.Of(6, 4); + for (int i = 0; i < 6; i++) + { + float m = i < 3 ? -1 : 1; + int vi = i < 3 ? 0 : 7; + planes[i][0] = m * normals[i % 3][0]; + planes[i][1] = m * normals[i % 3][1]; + planes[i][2] = m * normals[i % 3][2]; + planes[i][3] = vertices[vi * 3] * planes[i][0] + vertices[vi * 3 + 1] * planes[i][1] + + vertices[vi * 3 + 2] * planes[i][2]; + } + + rasterizationFilledShape(hf, bounds, area, flagMergeThr, rectangle => intersectBox(rectangle, vertices, planes)); + ctx.stopTimer("RASTERIZE_BOX"); + } + + public static void rasterizeConvex(Heightfield hf, float[] vertices, int[] triangles, int area, int flagMergeThr, + Telemetry ctx) + { + ctx.startTimer("RASTERIZE_CONVEX"); + float[] bounds = new float[] { vertices[0], vertices[1], vertices[2], vertices[0], vertices[1], vertices[2] }; + for (int i = 0; i < vertices.Length; i += 3) + { + bounds[0] = Math.Min(bounds[0], vertices[i + 0]); + bounds[1] = Math.Min(bounds[1], vertices[i + 1]); + bounds[2] = Math.Min(bounds[2], vertices[i + 2]); + bounds[3] = Math.Max(bounds[3], vertices[i + 0]); + bounds[4] = Math.Max(bounds[4], vertices[i + 1]); + bounds[5] = Math.Max(bounds[5], vertices[i + 2]); + } + + + float[][] planes = ArrayUtils.Of(triangles.Length, 4); + float[][] triBounds = ArrayUtils.Of(triangles.Length / 3, 4); + for (int i = 0, j = 0; i < triangles.Length; i += 3, j++) + { + int a = triangles[i] * 3; + int b = triangles[i + 1] * 3; + int c = triangles[i + 2] * 3; + float[] ab = { vertices[b] - vertices[a], vertices[b + 1] - vertices[a + 1], vertices[b + 2] - vertices[a + 2] }; + float[] ac = { vertices[c] - vertices[a], vertices[c + 1] - vertices[a + 1], vertices[c + 2] - vertices[a + 2] }; + float[] bc = { vertices[c] - vertices[b], vertices[c + 1] - vertices[b + 1], vertices[c + 2] - vertices[b + 2] }; + float[] ca = { vertices[a] - vertices[c], vertices[a + 1] - vertices[c + 1], vertices[a + 2] - vertices[c + 2] }; + plane(planes, i, ab, ac, vertices, a); + plane(planes, i + 1, planes[i], bc, vertices, b); + plane(planes, i + 2, planes[i], ca, vertices, c); + + float s = 1.0f / (vertices[a] * planes[i + 1][0] + vertices[a + 1] * planes[i + 1][1] + + vertices[a + 2] * planes[i + 1][2] - planes[i + 1][3]); + planes[i + 1][0] *= s; + planes[i + 1][1] *= s; + planes[i + 1][2] *= s; + planes[i + 1][3] *= s; + + s = 1.0f / (vertices[b] * planes[i + 2][0] + vertices[b + 1] * planes[i + 2][1] + vertices[b + 2] * planes[i + 2][2] + - planes[i + 2][3]); + planes[i + 2][0] *= s; + planes[i + 2][1] *= s; + planes[i + 2][2] *= s; + planes[i + 2][3] *= s; + + triBounds[j][0] = Math.Min(Math.Min(vertices[a], vertices[b]), vertices[c]); + triBounds[j][1] = Math.Min(Math.Min(vertices[a + 2], vertices[b + 2]), vertices[c + 2]); + triBounds[j][2] = Math.Max(Math.Max(vertices[a], vertices[b]), vertices[c]); + triBounds[j][3] = Math.Max(Math.Max(vertices[a + 2], vertices[b + 2]), vertices[c + 2]); + } + + rasterizationFilledShape(hf, bounds, area, flagMergeThr, + rectangle => intersectConvex(rectangle, triangles, vertices, planes, triBounds)); + ctx.stopTimer("RASTERIZE_CONVEX"); + } + + private static void plane(float[][] planes, int p, float[] v1, float[] v2, float[] vertices, int vert) + { + RecastVectors.cross(planes[p], v1, v2); + planes[p][3] = planes[p][0] * vertices[vert] + planes[p][1] * vertices[vert + 1] + planes[p][2] * vertices[vert + 2]; + } + + private static void rasterizationFilledShape(Heightfield hf, float[] bounds, int area, int flagMergeThr, + Func intersection) + { + if (!overlapBounds(hf.bmin, hf.bmax, bounds)) + { + return; + } + + bounds[3] = Math.Min(bounds[3], hf.bmax[0]); + bounds[5] = Math.Min(bounds[5], hf.bmax[2]); + bounds[0] = Math.Max(bounds[0], hf.bmin[0]); + bounds[2] = Math.Max(bounds[2], hf.bmin[2]); + + if (bounds[3] <= bounds[0] || bounds[4] <= bounds[1] || bounds[5] <= bounds[2]) + { + return; + } + + float ics = 1.0f / hf.cs; + float ich = 1.0f / hf.ch; + int xMin = (int)((bounds[0] - hf.bmin[0]) * ics); + int zMin = (int)((bounds[2] - hf.bmin[2]) * ics); + int xMax = Math.Min(hf.width - 1, (int)((bounds[3] - hf.bmin[0]) * ics)); + int zMax = Math.Min(hf.height - 1, (int)((bounds[5] - hf.bmin[2]) * ics)); + float[] rectangle = new float[5]; + rectangle[4] = hf.bmin[1]; + for (int x = xMin; x <= xMax; x++) + { + for (int z = zMin; z <= zMax; z++) + { + rectangle[0] = x * hf.cs + hf.bmin[0]; + rectangle[1] = z * hf.cs + hf.bmin[2]; + rectangle[2] = rectangle[0] + hf.cs; + rectangle[3] = rectangle[1] + hf.cs; + float[] h = intersection.Invoke(rectangle); + if (h != null) + { + int smin = (int)Math.Floor((h[0] - hf.bmin[1]) * ich); + int smax = (int)Math.Ceiling((h[1] - hf.bmin[1]) * ich); + if (smin != smax) + { + int ismin = RecastCommon.clamp(smin, 0, SPAN_MAX_HEIGHT); + int ismax = RecastCommon.clamp(smax, ismin + 1, SPAN_MAX_HEIGHT); + RecastRasterization.addSpan(hf, x, z, ismin, ismax, area, flagMergeThr); + } + } + } + } + } + + private static float[] intersectSphere(float[] rectangle, float[] center, float radiusSqr) + { + float x = Math.Max(rectangle[0], Math.Min(center[0], rectangle[2])); + float y = rectangle[4]; + float z = Math.Max(rectangle[1], Math.Min(center[2], rectangle[3])); + + float mx = x - center[0]; + float my = y - center[1]; + float mz = z - center[2]; + + float b = my; // dot(m, d) d = (0, 1, 0) + float c = lenSqr(mx, my, mz) - radiusSqr; + if (c > 0.0f && b > 0.0f) + { + return null; + } + + float discr = b * b - c; + if (discr < 0.0f) + { + return null; + } + + float discrSqrt = (float)Math.Sqrt(discr); + float tmin = -b - discrSqrt; + float tmax = -b + discrSqrt; + + if (tmin < 0.0f) + { + tmin = 0.0f; + } + + return new float[] { y + tmin, y + tmax }; + } + + private static float[] intersectCapsule(float[] rectangle, float[] start, float[] end, float[] axis, float radiusSqr) + { + float[] s = mergeIntersections(intersectSphere(rectangle, start, radiusSqr), intersectSphere(rectangle, end, radiusSqr)); + float axisLen2dSqr = axis[0] * axis[0] + axis[2] * axis[2]; + if (axisLen2dSqr > EPSILON) + { + s = slabsCylinderIntersection(rectangle, start, end, axis, radiusSqr, s); + } + + return s; + } + + private static float[] intersectCylinder(float[] rectangle, float[] start, float[] end, float[] axis, float radiusSqr) + { + float[] s = mergeIntersections( + rayCylinderIntersection(new float[] + { + clamp(start[0], rectangle[0], rectangle[2]), rectangle[4], + clamp(start[2], rectangle[1], rectangle[3]) + }, start, axis, radiusSqr), + rayCylinderIntersection(new float[] + { + clamp(end[0], rectangle[0], rectangle[2]), rectangle[4], + clamp(end[2], rectangle[1], rectangle[3]) + }, start, axis, radiusSqr)); + float axisLen2dSqr = axis[0] * axis[0] + axis[2] * axis[2]; + if (axisLen2dSqr > EPSILON) + { + s = slabsCylinderIntersection(rectangle, start, end, axis, radiusSqr, s); + } + + if (axis[1] * axis[1] > EPSILON) + { + float[][] rectangleOnStartPlane = ArrayUtils.Of(4, 3); + float[][] rectangleOnEndPlane = ArrayUtils.Of(4, 3); + float ds = dot(axis, start); + float de = dot(axis, end); + for (int i = 0; i < 4; i++) + { + float x = rectangle[(i + 1) & 2]; + float z = rectangle[(i & 2) + 1]; + float[] a = { x, rectangle[4], z }; + float dotAxisA = dot(axis, a); + float t = (ds - dotAxisA) / axis[1]; + rectangleOnStartPlane[i][0] = x; + rectangleOnStartPlane[i][1] = rectangle[4] + t; + rectangleOnStartPlane[i][2] = z; + t = (de - dotAxisA) / axis[1]; + rectangleOnEndPlane[i][0] = x; + rectangleOnEndPlane[i][1] = rectangle[4] + t; + rectangleOnEndPlane[i][2] = z; + } + + for (int i = 0; i < 4; i++) + { + s = cylinderCapIntersection(start, radiusSqr, s, i, rectangleOnStartPlane); + s = cylinderCapIntersection(end, radiusSqr, s, i, rectangleOnEndPlane); + } + } + + return s; + } + + private static float[] cylinderCapIntersection(float[] start, float radiusSqr, float[] s, int i, float[][] rectangleOnPlane) + { + int j = (i + 1) % 4; + // Ray against sphere intersection + float[] m = { rectangleOnPlane[i][0] - start[0], rectangleOnPlane[i][1] - start[1], rectangleOnPlane[i][2] - start[2] }; + float[] d = + { + rectangleOnPlane[j][0] - rectangleOnPlane[i][0], rectangleOnPlane[j][1] - rectangleOnPlane[i][1], + rectangleOnPlane[j][2] - rectangleOnPlane[i][2] + }; + float dl = dot(d, d); + float b = dot(m, d) / dl; + float c = (dot(m, m) - radiusSqr) / dl; + float discr = b * b - c; + if (discr > EPSILON) + { + float discrSqrt = (float)Math.Sqrt(discr); + float t1 = -b - discrSqrt; + float t2 = -b + discrSqrt; + if (t1 <= 1 && t2 >= 0) + { + t1 = Math.Max(0, t1); + t2 = Math.Min(1, t2); + float y1 = rectangleOnPlane[i][1] + t1 * d[1]; + float y2 = rectangleOnPlane[i][1] + t2 * d[1]; + float[] y = { Math.Min(y1, y2), Math.Max(y1, y2) }; + s = mergeIntersections(s, y); + } + } + + return s; + } + + private static float[] slabsCylinderIntersection(float[] rectangle, float[] start, float[] end, float[] axis, float radiusSqr, + float[] s) + { + if (Math.Min(start[0], end[0]) < rectangle[0]) + { + s = mergeIntersections(s, xSlabCylinderIntersection(rectangle, start, axis, radiusSqr, rectangle[0])); + } + + if (Math.Max(start[0], end[0]) > rectangle[2]) + { + s = mergeIntersections(s, xSlabCylinderIntersection(rectangle, start, axis, radiusSqr, rectangle[2])); + } + + if (Math.Min(start[2], end[2]) < rectangle[1]) + { + s = mergeIntersections(s, zSlabCylinderIntersection(rectangle, start, axis, radiusSqr, rectangle[1])); + } + + if (Math.Max(start[2], end[2]) > rectangle[3]) + { + s = mergeIntersections(s, zSlabCylinderIntersection(rectangle, start, axis, radiusSqr, rectangle[3])); + } + + return s; + } + + private static float[] xSlabCylinderIntersection(float[] rectangle, float[] start, float[] axis, float radiusSqr, float x) + { + return rayCylinderIntersection(xSlabRayIntersection(rectangle, start, axis, x), start, axis, radiusSqr); + } + + private static float[] xSlabRayIntersection(float[] rectangle, float[] start, float[] direction, float x) + { + // 2d intersection of plane and segment + float t = (x - start[0]) / direction[0]; + float z = clamp(start[2] + t * direction[2], rectangle[1], rectangle[3]); + return new float[] { x, rectangle[4], z }; + } + + private static float[] zSlabCylinderIntersection(float[] rectangle, float[] start, float[] axis, float radiusSqr, float z) + { + return rayCylinderIntersection(zSlabRayIntersection(rectangle, start, axis, z), start, axis, radiusSqr); + } + + private static float[] zSlabRayIntersection(float[] rectangle, float[] start, float[] direction, float z) + { + // 2d intersection of plane and segment + float t = (z - start[2]) / direction[2]; + float x = clamp(start[0] + t * direction[0], rectangle[0], rectangle[2]); + return new float[] { x, rectangle[4], z }; + } + + // Based on Christer Ericsons's "Real-Time Collision Detection" + private static float[] rayCylinderIntersection(float[] point, float[] start, float[] axis, float radiusSqr) + { + float[] d = axis; + float[] m = { point[0] - start[0], point[1] - start[1], point[2] - start[2] }; + // float[] n = { 0, 1, 0 }; + float md = dot(m, d); + // float nd = dot(n, d); + float nd = axis[1]; + float dd = dot(d, d); + + // float nn = dot(n, n); + float nn = 1; + // float mn = dot(m, n); + float mn = m[1]; + // float a = dd * nn - nd * nd; + float a = dd - nd * nd; + float k = dot(m, m) - radiusSqr; + float c = dd * k - md * md; + if (Math.Abs(a) < EPSILON) + { + // Segment runs parallel to cylinder axis + if (c > 0.0f) + { + return null; // ’a’ and thus the segment lie outside cylinder + } + + // Now known that segment intersects cylinder; figure out how it intersects + float tt1 = -mn / nn; // Intersect segment against ’p’ endcap + float tt2 = (nd - mn) / nn; // Intersect segment against ’q’ endcap + return new float[] { point[1] + Math.Min(tt1, tt2), point[1] + Math.Max(tt1, tt2) }; + } + + float b = dd * mn - nd * md; + float discr = b * b - a * c; + if (discr < 0.0f) + { + return null; // No real roots; no intersection + } + + float discSqrt = (float)Math.Sqrt(discr); + float t1 = (-b - discSqrt) / a; + float t2 = (-b + discSqrt) / a; + + if (md + t1 * nd < 0.0f) + { + // Intersection outside cylinder on ’p’ side + t1 = -md / nd; + if (k + t1 * (2 * mn + t1 * nn) > 0.0f) + { + return null; + } + } + else if (md + t1 * nd > dd) + { + // Intersection outside cylinder on ’q’ side + t1 = (dd - md) / nd; + if (k + dd - 2 * md + t1 * (2 * (mn - nd) + t1 * nn) > 0.0f) + { + return null; + } + } + + if (md + t2 * nd < 0.0f) + { + // Intersection outside cylinder on ’p’ side + t2 = -md / nd; + if (k + t2 * (2 * mn + t2 * nn) > 0.0f) + { + return null; + } + } + else if (md + t2 * nd > dd) + { + // Intersection outside cylinder on ’q’ side + t2 = (dd - md) / nd; + if (k + dd - 2 * md + t2 * (2 * (mn - nd) + t2 * nn) > 0.0f) + { + return null; + } + } + + return new float[] { point[1] + Math.Min(t1, t2), point[1] + Math.Max(t1, t2) }; + } + + private static float[] intersectBox(float[] rectangle, float[] vertices, float[][] planes) + { + float yMin = float.PositiveInfinity; + float yMax = float.NegativeInfinity; + // check intersection with rays starting in box vertices first + for (int i = 0; i < 8; i++) + { + int vi = i * 3; + if (vertices[vi] >= rectangle[0] && vertices[vi] < rectangle[2] && vertices[vi + 2] >= rectangle[1] + && vertices[vi + 2] < rectangle[3]) + { + yMin = Math.Min(yMin, vertices[vi + 1]); + yMax = Math.Max(yMax, vertices[vi + 1]); + } + } + + // check intersection with rays starting in rectangle vertices + float[] point = new float[] { 0, rectangle[1], 0 }; + for (int i = 0; i < 4; i++) + { + point[0] = ((i & 1) == 0) ? rectangle[0] : rectangle[2]; + point[2] = ((i & 2) == 0) ? rectangle[1] : rectangle[3]; + for (int j = 0; j < 6; j++) + { + if (Math.Abs(planes[j][1]) > EPSILON) + { + float dotNormalPoint = dot(planes[j], point); + float t = (planes[j][3] - dotNormalPoint) / planes[j][1]; + float y = point[1] + t; + bool valid = true; + for (int k = 0; k < 6; k++) + { + if (k != j) + { + if (point[0] * planes[k][0] + y * planes[k][1] + point[2] * planes[k][2] > planes[k][3]) + { + valid = false; + break; + } + } + } + + if (valid) + { + yMin = Math.Min(yMin, y); + yMax = Math.Max(yMax, y); + } + } + } + } + + // check intersection with box edges + for (int i = 0; i < BOX_EDGES.Length; i += 2) + { + int vi = BOX_EDGES[i] * 3; + int vj = BOX_EDGES[i + 1] * 3; + float x = vertices[vi]; + float z = vertices[vi + 2]; + // edge slab intersection + float y = vertices[vi + 1]; + float dx = vertices[vj] - x; + float dy = vertices[vj + 1] - y; + float dz = vertices[vj + 2] - z; + if (Math.Abs(dx) > EPSILON) + { + float? iy = xSlabSegmentIntersection(rectangle, x, y, z, dx, dy, dz, rectangle[0]); + if (iy != null) + { + yMin = Math.Min(yMin, iy.Value); + yMax = Math.Max(yMax, iy.Value); + } + + iy = xSlabSegmentIntersection(rectangle, x, y, z, dx, dy, dz, rectangle[2]); + if (iy != null) + { + yMin = Math.Min(yMin, iy.Value); + yMax = Math.Max(yMax, iy.Value); + } + } + + if (Math.Abs(dz) > EPSILON) + { + float? iy = zSlabSegmentIntersection(rectangle, x, y, z, dx, dy, dz, rectangle[1]); + if (iy != null) + { + yMin = Math.Min(yMin, iy.Value); + yMax = Math.Max(yMax, iy.Value); + } + + iy = zSlabSegmentIntersection(rectangle, x, y, z, dx, dy, dz, rectangle[3]); + if (iy != null) + { + yMin = Math.Min(yMin, iy.Value); + yMax = Math.Max(yMax, iy.Value); + } + } + } + + if (yMin <= yMax) + { + return new float[] { yMin, yMax }; + } + + return null; + } + + private static float[] intersectConvex(float[] rectangle, int[] triangles, float[] verts, float[][] planes, + float[][] triBounds) + { + float imin = float.PositiveInfinity; + float imax = float.NegativeInfinity; + for (int tr = 0, tri = 0; tri < triangles.Length; tr++, tri += 3) + { + if (triBounds[tr][0] > rectangle[2] || triBounds[tr][2] < rectangle[0] || triBounds[tr][1] > rectangle[3] + || triBounds[tr][3] < rectangle[1]) + { + continue; + } + + if (Math.Abs(planes[tri][1]) < EPSILON) + { + continue; + } + + for (int i = 0; i < 3; i++) + { + int vi = triangles[tri + i] * 3; + int vj = triangles[tri + (i + 1) % 3] * 3; + float x = verts[vi]; + float z = verts[vi + 2]; + // triangle vertex + if (x >= rectangle[0] && x <= rectangle[2] && z >= rectangle[1] && z <= rectangle[3]) + { + imin = Math.Min(imin, verts[vi + 1]); + imax = Math.Max(imax, verts[vi + 1]); + } + + // triangle slab intersection + float y = verts[vi + 1]; + float dx = verts[vj] - x; + float dy = verts[vj + 1] - y; + float dz = verts[vj + 2] - z; + if (Math.Abs(dx) > EPSILON) + { + float? iy = xSlabSegmentIntersection(rectangle, x, y, z, dx, dy, dz, rectangle[0]); + if (iy != null) + { + imin = Math.Min(imin, iy.Value); + imax = Math.Max(imax, iy.Value); + } + + iy = xSlabSegmentIntersection(rectangle, x, y, z, dx, dy, dz, rectangle[2]); + if (iy != null) + { + imin = Math.Min(imin, iy.Value); + imax = Math.Max(imax, iy.Value); + } + } + + if (Math.Abs(dz) > EPSILON) + { + float? iy = zSlabSegmentIntersection(rectangle, x, y, z, dx, dy, dz, rectangle[1]); + if (iy != null) + { + imin = Math.Min(imin, iy.Value); + imax = Math.Max(imax, iy.Value); + } + + iy = zSlabSegmentIntersection(rectangle, x, y, z, dx, dy, dz, rectangle[3]); + if (iy != null) + { + imin = Math.Min(imin, iy.Value); + imax = Math.Max(imax, iy.Value); + } + } + } + + // rectangle vertex + float[] point = new float[] { 0, rectangle[1], 0 }; + for (int i = 0; i < 4; i++) + { + point[0] = ((i & 1) == 0) ? rectangle[0] : rectangle[2]; + point[2] = ((i & 2) == 0) ? rectangle[1] : rectangle[3]; + float? y = rayTriangleIntersection(point, tri, planes); + if (y != null) + { + imin = Math.Min(imin, y.Value); + imax = Math.Max(imax, y.Value); + } + } + } + + if (imin < imax) + { + return new float[] { imin, imax }; + } + + return null; + } + + private static float? xSlabSegmentIntersection(float[] rectangle, float x, float y, float z, float dx, float dy, float dz, + float slabX) + { + float x2 = x + dx; + if ((x < slabX && x2 > slabX) || (x > slabX && x2 < slabX)) + { + float t = (slabX - x) / dx; + float iz = z + dz * t; + if (iz >= rectangle[1] && iz <= rectangle[3]) + { + return y + dy * t; + } + } + + return null; + } + + private static float? zSlabSegmentIntersection(float[] rectangle, float x, float y, float z, float dx, float dy, float dz, + float slabZ) + { + float z2 = z + dz; + if ((z < slabZ && z2 > slabZ) || (z > slabZ && z2 < slabZ)) + { + float t = (slabZ - z) / dz; + float ix = x + dx * t; + if (ix >= rectangle[0] && ix <= rectangle[2]) + { + return y + dy * t; + } + } + + return null; + } + + private static float? rayTriangleIntersection(float[] point, int plane, float[][] planes) + { + float t = (planes[plane][3] - dot(planes[plane], point)) / planes[plane][1]; + float[] s = { point[0], point[1] + t, point[2] }; + float u = dot(s, planes[plane + 1]) - planes[plane + 1][3]; + if (u < 0.0f || u > 1.0f) + { + return null; + } + + float v = dot(s, planes[plane + 2]) - planes[plane + 2][3]; + if (v < 0.0f) + { + return null; + } + + float w = 1f - u - v; + if (w < 0.0f) + { + return null; + } + + return s[1]; + } + + private static float[] mergeIntersections(float[] s1, float[] s2) + { + if (s1 == null) + { + return s2; + } + + if (s2 == null) + { + return s1; + } + + return new float[] { Math.Min(s1[0], s2[0]), Math.Max(s1[1], s2[1]) }; + } + + private static float lenSqr(float dx, float dy, float dz) + { + return dx * dx + dy * dy + dz * dz; + } + + public static float clamp(float v, float min, float max) + { + return Math.Max(Math.Min(max, v), min); + } + + private static bool overlapBounds(float[] amin, float[] amax, float[] bounds) + { + bool overlap = true; + overlap = (amin[0] > bounds[3] || amax[0] < bounds[0]) ? false : overlap; + overlap = (amin[1] > bounds[4]) ? false : overlap; + overlap = (amin[2] > bounds[5] || amax[2] < bounds[2]) ? false : overlap; + return overlap; + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastFilter.cs b/src/DotRecast.Recast/RecastFilter.cs new file mode 100644 index 0000000..9b2e7d4 --- /dev/null +++ b/src/DotRecast.Recast/RecastFilter.cs @@ -0,0 +1,204 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Recast; + +using static RecastConstants; + +public class RecastFilter +{ + /// @par + /// + /// Allows the formation of walkable regions that will flow over low lying + /// objects such as curbs, and up structures such as stairways. + /// + /// Two neighboring spans are walkable if: rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb + /// + /// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call + /// #rcFilterLedgeSpans after calling this filter. + /// + /// @see rcHeightfield, rcConfig + public static void filterLowHangingWalkableObstacles(Telemetry ctx, int walkableClimb, Heightfield solid) + { + ctx.startTimer("FILTER_LOW_OBSTACLES"); + + int w = solid.width; + int h = solid.height; + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + Span ps = null; + bool previousWalkable = false; + int previousArea = RC_NULL_AREA; + + for (Span s = solid.spans[x + y * w]; s != null; ps = s, s = s.next) + { + bool walkable = s.area != RC_NULL_AREA; + // If current span is not walkable, but there is walkable + // span just below it, mark the span above it walkable too. + if (!walkable && previousWalkable) + { + if (Math.Abs(s.smax - ps.smax) <= walkableClimb) + s.area = previousArea; + } + + // Copy walkable flag so that it cannot propagate + // past multiple non-walkable objects. + previousWalkable = walkable; + previousArea = s.area; + } + } + } + + ctx.stopTimer("FILTER_LOW_OBSTACLES"); + } + + /// @par + /// + /// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb + /// from the current span's maximum. + /// This method removes the impact of the overestimation of conservative voxelization + /// so the resulting mesh will not have regions hanging in the air over ledges. + /// + /// A span is a ledge if: rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb + /// + /// @see rcHeightfield, rcConfig + public static void filterLedgeSpans(Telemetry ctx, int walkableHeight, int walkableClimb, Heightfield solid) + { + ctx.startTimer("FILTER_LEDGE"); + + int w = solid.width; + int h = solid.height; + + // Mark border spans. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + for (Span s = solid.spans[x + y * w]; s != null; s = s.next) + { + // Skip non walkable spans. + if (s.area == RC_NULL_AREA) + continue; + + int bot = (s.smax); + int top = s.next != null ? s.next.smin : SPAN_MAX_HEIGHT; + + // Find neighbours minimum height. + int minh = SPAN_MAX_HEIGHT; + + // Min and max height of accessible neighbours. + int asmin = s.smax; + int asmax = s.smax; + + for (int dir = 0; dir < 4; ++dir) + { + int dx = x + RecastCommon.GetDirOffsetX(dir); + int dy = y + RecastCommon.GetDirOffsetY(dir); + // Skip neighbours which are out of bounds. + if (dx < 0 || dy < 0 || dx >= w || dy >= h) + { + minh = Math.Min(minh, -walkableClimb - bot); + continue; + } + + // From minus infinity to the first span. + Span ns = solid.spans[dx + dy * w]; + int nbot = -walkableClimb; + int ntop = ns != null ? ns.smin : SPAN_MAX_HEIGHT; + // Skip neightbour if the gap between the spans is too small. + if (Math.Min(top, ntop) - Math.Max(bot, nbot) > walkableHeight) + minh = Math.Min(minh, nbot - bot); + + // Rest of the spans. + for (ns = solid.spans[dx + dy * w]; ns != null; ns = ns.next) + { + nbot = ns.smax; + ntop = ns.next != null ? ns.next.smin : SPAN_MAX_HEIGHT; + // Skip neightbour if the gap between the spans is too small. + if (Math.Min(top, ntop) - Math.Max(bot, nbot) > walkableHeight) + { + minh = Math.Min(minh, nbot - bot); + + // Find min/max accessible neighbour height. + if (Math.Abs(nbot - bot) <= walkableClimb) + { + if (nbot < asmin) + asmin = nbot; + if (nbot > asmax) + asmax = nbot; + } + } + } + } + + // The current span is close to a ledge if the drop to any + // neighbour span is less than the walkableClimb. + if (minh < -walkableClimb) + s.area = RC_NULL_AREA; + + // If the difference between all neighbours is too large, + // we are at steep slope, mark the span as ledge. + if ((asmax - asmin) > walkableClimb) + { + s.area = RC_NULL_AREA; + } + } + } + } + + ctx.stopTimer("FILTER_LEDGE"); + } + + /// @par + /// + /// For this filter, the clearance above the span is the distance from the span's + /// maximum to the next higher span's minimum. (Same grid column.) + /// + /// @see rcHeightfield, rcConfig + public static void filterWalkableLowHeightSpans(Telemetry ctx, int walkableHeight, Heightfield solid) + { + ctx.startTimer("FILTER_WALKABLE"); + + int w = solid.width; + int h = solid.height; + + // Remove walkable flag from spans which do not have enough + // space above them for the agent to stand there. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + for (Span s = solid.spans[x + y * w]; s != null; s = s.next) + { + int bot = (s.smax); + int top = s.next != null ? s.next.smin : SPAN_MAX_HEIGHT; + if ((top - bot) <= walkableHeight) + s.area = RC_NULL_AREA; + } + } + } + + ctx.stopTimer("FILTER_WALKABLE"); + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastLayers.cs b/src/DotRecast.Recast/RecastLayers.cs new file mode 100644 index 0000000..bb9fbaf --- /dev/null +++ b/src/DotRecast.Recast/RecastLayers.cs @@ -0,0 +1,506 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; + +namespace DotRecast.Recast; + +using static RecastCommon; +using static RecastConstants; +using static RecastVectors; +using static RecastRegion; + +public class RecastLayers { + + const int RC_MAX_LAYERS = RecastConstants.RC_NOT_CONNECTED; + const int RC_MAX_NEIS = 16; + + private class LayerRegion { + public int id; + public int layerId; + public bool @base; + public int ymin, ymax; + public List layers; + public List neis; + + public LayerRegion(int i) { + id = i; + ymin = 0xFFFF; + layerId = 0xff; + layers = new(); + neis = new(); + } + + }; + + private static void addUnique(List a, int v) { + if (!a.Contains(v)) { + a.Add(v); + } + } + + private static bool contains(List a, int v) { + return a.Contains(v); + } + + private static bool overlapRange(int amin, int amax, int bmin, int bmax) { + return (amin > bmax || amax < bmin) ? false : true; + } + + public static HeightfieldLayerSet buildHeightfieldLayers(Telemetry ctx, CompactHeightfield chf, int walkableHeight) { + + ctx.startTimer("RC_TIMER_BUILD_LAYERS"); + int w = chf.width; + int h = chf.height; + int borderSize = chf.borderSize; + int[] srcReg = new int[chf.spanCount]; + Array.Fill(srcReg, 0xFF); + int nsweeps = chf.width;// Math.Max(chf.width, chf.height); + SweepSpan[] sweeps = new SweepSpan[nsweeps]; + for (int i = 0; i < sweeps.Length; i++) { + sweeps[i] = new SweepSpan(); + } + // Partition walkable area into monotone regions. + int[] prevCount = new int[256]; + int regId = 0; + // Sweep one line at a time. + for (int y = borderSize; y < h - borderSize; ++y) { + // Collect spans from this row. + Array.Fill(prevCount, 0, 0, (regId) - (0)); + int sweepId = 0; + + for (int x = borderSize; x < w - borderSize; ++x) { + CompactCell c = chf.cells[x + y * w]; + + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + if (chf.areas[i] == RC_NULL_AREA) + continue; + int sid = 0xFF; + // -x + + if (GetCon(s, 0) != RC_NOT_CONNECTED) { + int ax = x + GetDirOffsetX(0); + int ay = y + GetDirOffsetY(0); + int ai = chf.cells[ax + ay * w].index + GetCon(s, 0); + if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff) + sid = srcReg[ai]; + } + + if (sid == 0xff) { + sid = sweepId++; + sweeps[sid].nei = 0xff; + sweeps[sid].ns = 0; + } + + // -y + if (GetCon(s, 3) != RC_NOT_CONNECTED) { + int ax = x + GetDirOffsetX(3); + int ay = y + GetDirOffsetY(3); + int ai = chf.cells[ax + ay * w].index + GetCon(s, 3); + int nr = srcReg[ai]; + if (nr != 0xff) { + // Set neighbour when first valid neighbour is + // encoutered. + if (sweeps[sid].ns == 0) + sweeps[sid].nei = nr; + + if (sweeps[sid].nei == nr) { + // Update existing neighbour + sweeps[sid].ns++; + prevCount[nr]++; + } else { + // This is hit if there is nore than one + // neighbour. + // Invalidate the neighbour. + sweeps[sid].nei = 0xff; + } + } + } + + srcReg[i] = sid; + } + } + + // Create unique ID. + for (int i = 0; i < sweepId; ++i) { + // If the neighbour is set and there is only one continuous + // connection to it, + // the sweep will be merged with the previous one, else new + // region is created. + if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == sweeps[i].ns) { + sweeps[i].id = sweeps[i].nei; + } else { + if (regId == 255) { + throw new Exception("rcBuildHeightfieldLayers: Region ID overflow."); + } + sweeps[i].id = regId++; + } + } + + // Remap local sweep ids to region ids. + for (int x = borderSize; x < w - borderSize; ++x) { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + if (srcReg[i] != 0xff) + srcReg[i] = sweeps[srcReg[i]].id; + } + } + } + int nregs = regId; + LayerRegion[] regs = new LayerRegion[nregs]; + + // Construct regions + for (int i = 0; i < nregs; ++i) { + regs[i] = new LayerRegion(i); + } + + // Find region neighbours and overlapping regions. + List lregs = new(); + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + CompactCell c = chf.cells[x + y * w]; + + lregs.Clear(); + + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + int ri = srcReg[i]; + if (ri == 0xff) + continue; + + regs[ri].ymin = Math.Min(regs[ri].ymin, s.y); + regs[ri].ymax = Math.Max(regs[ri].ymax, s.y); + + // Collect all region layers. + lregs.Add(ri); + + // Update neighbours + for (int dir = 0; dir < 4; ++dir) { + if (GetCon(s, dir) != RC_NOT_CONNECTED) { + int ax = x + GetDirOffsetX(dir); + int ay = y + GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * w].index + GetCon(s, dir); + int rai = srcReg[ai]; + if (rai != 0xff && rai != ri) + addUnique(regs[ri].neis, rai); + } + } + + } + + // Update overlapping regions. + for (int i = 0; i < lregs.Count - 1; ++i) { + for (int j = i + 1; j < lregs.Count; ++j) { + if (lregs[i] != lregs[j]) { + LayerRegion ri = regs[lregs[i]]; + LayerRegion rj = regs[lregs[j]]; + addUnique(ri.layers, lregs[j]); + addUnique(rj.layers, lregs[i]); + } + } + } + + } + } + + // Create 2D layers from regions. + int layerId = 0; + + List stack = new(); + + for (int i = 0; i < nregs; ++i) { + LayerRegion root = regs[i]; + // Skip already visited. + if (root.layerId != 0xff) + continue; + + // Start search. + root.layerId = layerId; + root.@base = true; + + stack.Add(i); + + while (stack.Count != 0) { + // Pop front + int pop = stack[0]; // TODO : 여기에 stack 처럼 작동하게 했는데, 스택인지는 모르겠음 + stack.RemoveAt(0); + LayerRegion reg = regs[pop]; + + foreach (int nei in reg.neis) { + LayerRegion regn = regs[nei]; + // Skip already visited. + if (regn.layerId != 0xff) + continue; + // Skip if the neighbour is overlapping root region. + if (contains(root.layers, nei)) + continue; + // Skip if the height range would become too large. + int ymin = Math.Min(root.ymin, regn.ymin); + int ymax = Math.Max(root.ymax, regn.ymax); + if ((ymax - ymin) >= 255) + continue; + + // Deepen + stack.Add(nei); + + // Mark layer id + regn.layerId = layerId; + // Merge current layers to root. + foreach (int layer in regn.layers) + addUnique(root.layers, layer); + root.ymin = Math.Min(root.ymin, regn.ymin); + root.ymax = Math.Max(root.ymax, regn.ymax); + } + } + + layerId++; + } + + // Merge non-overlapping regions that are close in height. + int mergeHeight = walkableHeight * 4; + + for (int i = 0; i < nregs; ++i) { + LayerRegion ri = regs[i]; + if (!ri.@base) + continue; + + int newId = ri.layerId; + + for (;;) { + int oldId = 0xff; + + for (int j = 0; j < nregs; ++j) { + if (i == j) + continue; + LayerRegion rj = regs[j]; + if (!rj.@base) + continue; + + // Skip if the regions are not close to each other. + if (!overlapRange(ri.ymin, ri.ymax + mergeHeight, rj.ymin, rj.ymax + mergeHeight)) + continue; + // Skip if the height range would become too large. + int ymin = Math.Min(ri.ymin, rj.ymin); + int ymax = Math.Max(ri.ymax, rj.ymax); + if ((ymax - ymin) >= 255) + continue; + + // Make sure that there is no overlap when merging 'ri' and + // 'rj'. + bool overlap = false; + // Iterate over all regions which have the same layerId as + // 'rj' + for (int k = 0; k < nregs; ++k) { + if (regs[k].layerId != rj.layerId) + continue; + // Check if region 'k' is overlapping region 'ri' + // Index to 'regs' is the same as region id. + if (contains(ri.layers, k)) { + overlap = true; + break; + } + } + // Cannot merge of regions overlap. + if (overlap) + continue; + + // Can merge i and j. + oldId = rj.layerId; + break; + } + + // Could not find anything to merge with, stop. + if (oldId == 0xff) + break; + + // Merge + for (int j = 0; j < nregs; ++j) { + LayerRegion rj = regs[j]; + if (rj.layerId == oldId) { + rj.@base = false; + // Remap layerIds. + rj.layerId = newId; + // Add overlaid layers from 'rj' to 'ri'. + foreach (int layer in rj.layers) + addUnique(ri.layers, layer); + // Update height bounds. + ri.ymin = Math.Min(ri.ymin, rj.ymin); + ri.ymax = Math.Max(ri.ymax, rj.ymax); + } + } + } + } + + // Compact layerIds + int[] remap = new int[256]; + + // Find number of unique layers. + layerId = 0; + for (int i = 0; i < nregs; ++i) + remap[regs[i].layerId] = 1; + for (int i = 0; i < 256; ++i) { + if (remap[i] != 0) + remap[i] = layerId++; + else + remap[i] = 0xff; + } + // Remap ids. + for (int i = 0; i < nregs; ++i) + regs[i].layerId = remap[regs[i].layerId]; + + // No layers, return empty. + if (layerId == 0) { + // ctx.stopTimer(RC_TIMER_BUILD_LAYERS); + return null; + } + + // Create layers. + // rcAssert(lset.layers == 0); + + int lw = w - borderSize * 2; + int lh = h - borderSize * 2; + + // Build contracted bbox for layers. + float[] bmin = new float[3]; + float[] bmax = new float[3]; + copy(bmin, chf.bmin); + copy(bmax, chf.bmax); + bmin[0] += borderSize * chf.cs; + bmin[2] += borderSize * chf.cs; + bmax[0] -= borderSize * chf.cs; + bmax[2] -= borderSize * chf.cs; + + HeightfieldLayerSet lset = new HeightfieldLayerSet(); + lset.layers = new HeightfieldLayerSet.HeightfieldLayer[layerId]; + for (int i = 0; i < lset.layers.Length; i++) { + lset.layers[i] = new HeightfieldLayerSet.HeightfieldLayer(); + } + + // Store layers. + for (int i = 0; i < lset.layers.Length; ++i) { + int curId = i; + + HeightfieldLayerSet.HeightfieldLayer layer = lset.layers[i]; + + int gridSize = lw * lh; + + layer.heights = new int[gridSize]; + Array.Fill(layer.heights, 0xFF); + layer.areas = new int[gridSize]; + layer.cons = new int[gridSize]; + + // Find layer height bounds. + int hmin = 0, hmax = 0; + for (int j = 0; j < nregs; ++j) { + if (regs[j].@base && regs[j].layerId == curId) { + hmin = regs[j].ymin; + hmax = regs[j].ymax; + } + } + + layer.width = lw; + layer.height = lh; + layer.cs = chf.cs; + layer.ch = chf.ch; + + // Adjust the bbox to fit the heightfield. + copy(layer.bmin, bmin); + copy(layer.bmax, bmax); + layer.bmin[1] = bmin[1] + hmin * chf.ch; + layer.bmax[1] = bmin[1] + hmax * chf.ch; + layer.hmin = hmin; + layer.hmax = hmax; + + // Update usable data region. + layer.minx = layer.width; + layer.maxx = 0; + layer.miny = layer.height; + layer.maxy = 0; + + // Copy height and area from compact heightfield. + for (int y = 0; y < lh; ++y) { + for (int x = 0; x < lw; ++x) { + int cx = borderSize + x; + int cy = borderSize + y; + CompactCell c = chf.cells[cx + cy * w]; + for (int j = c.index, nj = c.index + c.count; j < nj; ++j) { + CompactSpan s = chf.spans[j]; + // Skip unassigned regions. + if (srcReg[j] == 0xff) + continue; + // Skip of does nto belong to current layer. + int lid = regs[srcReg[j]].layerId; + if (lid != curId) + continue; + + // Update data bounds. + layer.minx = Math.Min(layer.minx, x); + layer.maxx = Math.Max(layer.maxx, x); + layer.miny = Math.Min(layer.miny, y); + layer.maxy = Math.Max(layer.maxy, y); + + // Store height and area type. + int idx = x + y * lw; + layer.heights[idx] = (char) (s.y - hmin); + layer.areas[idx] = chf.areas[j]; + + // Check connection. + char portal = (char)0; + char con = (char)0; + for (int dir = 0; dir < 4; ++dir) { + if (GetCon(s, dir) != RC_NOT_CONNECTED) { + int ax = cx + GetDirOffsetX(dir); + int ay = cy + GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * w].index + GetCon(s, dir); + int alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff; + // Portal mask + if (chf.areas[ai] != RC_NULL_AREA && lid != alid) { + portal |= (char)(1 << dir); + // Update height so that it matches on both + // sides of the portal. + CompactSpan @as = chf.spans[ai]; + if (@as.y > hmin) + layer.heights[idx] = Math.Max(layer.heights[idx], (char) (@as.y - hmin)); + } + // Valid connection mask + if (chf.areas[ai] != RC_NULL_AREA && lid == alid) { + int nx = ax - borderSize; + int ny = ay - borderSize; + if (nx >= 0 && ny >= 0 && nx < lw && ny < lh) + con |= (char)(1 << dir); + } + } + } + layer.cons[idx] = (portal << 4) | con; + } + } + } + + if (layer.minx > layer.maxx) + layer.minx = layer.maxx = 0; + if (layer.miny > layer.maxy) + layer.miny = layer.maxy = 0; + } + + // ctx->stopTimer(RC_TIMER_BUILD_LAYERS); + return lset; + } +} diff --git a/src/DotRecast.Recast/RecastMesh.cs b/src/DotRecast.Recast/RecastMesh.cs new file mode 100644 index 0000000..558c3eb --- /dev/null +++ b/src/DotRecast.Recast/RecastMesh.cs @@ -0,0 +1,1213 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Recast; + +using static RecastConstants; + +public class RecastMesh { + + public const int MAX_MESH_VERTS_POLY = 0xffff; + public const int VERTEX_BUCKET_COUNT = (1 << 12); + + private class Edge { + public int[] vert = new int[2]; + public int[] polyEdge = new int[2]; + public int[] poly = new int[2]; + + } + + private static void buildMeshAdjacency(int[] polys, int npolys, int nverts, int vertsPerPoly) { + // Based on code by Eric Lengyel from: + // http://www.terathon.com/code/edges.php + + int maxEdgeCount = npolys * vertsPerPoly; + int[] firstEdge = new int[nverts + maxEdgeCount]; + int nextEdge = nverts; + int edgeCount = 0; + + Edge[] edges = new Edge[maxEdgeCount]; + + for (int i = 0; i < nverts; i++) + firstEdge[i] = RC_MESH_NULL_IDX; + + for (int i = 0; i < npolys; ++i) { + int t = i * vertsPerPoly * 2; + for (int j = 0; j < vertsPerPoly; ++j) { + if (polys[t + j] == RC_MESH_NULL_IDX) + break; + int v0 = polys[t + j]; + int v1 = (j + 1 >= vertsPerPoly || polys[t + j + 1] == RC_MESH_NULL_IDX) ? polys[t + 0] + : polys[t + j + 1]; + if (v0 < v1) { + Edge edge = new Edge(); + edges[edgeCount] = edge; + edge.vert[0] = v0; + edge.vert[1] = v1; + edge.poly[0] = i; + edge.polyEdge[0] = j; + edge.poly[1] = i; + edge.polyEdge[1] = 0; + // Insert edge + firstEdge[nextEdge + edgeCount] = firstEdge[v0]; + firstEdge[v0] = edgeCount; + edgeCount++; + } + } + } + + for (int i = 0; i < npolys; ++i) { + int t = i * vertsPerPoly * 2; + for (int j = 0; j < vertsPerPoly; ++j) { + if (polys[t + j] == RC_MESH_NULL_IDX) + break; + int v0 = polys[t + j]; + int v1 = (j + 1 >= vertsPerPoly || polys[t + j + 1] == RC_MESH_NULL_IDX) ? polys[t + 0] + : polys[t + j + 1]; + if (v0 > v1) { + for (int e = firstEdge[v1]; e != RC_MESH_NULL_IDX; e = firstEdge[nextEdge + e]) { + Edge edge = edges[e]; + if (edge.vert[1] == v0 && edge.poly[0] == edge.poly[1]) { + edge.poly[1] = i; + edge.polyEdge[1] = j; + break; + } + } + } + } + } + + // Store adjacency + for (int i = 0; i < edgeCount; ++i) { + Edge e = edges[i]; + if (e.poly[0] != e.poly[1]) { + int p0 = e.poly[0] * vertsPerPoly * 2; + int p1 = e.poly[1] * vertsPerPoly * 2; + polys[p0 + vertsPerPoly + e.polyEdge[0]] = e.poly[1]; + polys[p1 + vertsPerPoly + e.polyEdge[1]] = e.poly[0]; + } + } + + } + + private static int computeVertexHash(int x, int y, int z) { + uint h1 = 0x8da6b343; // Large multiplicative constants; + uint h2 = 0xd8163841; // here arbitrarily chosen primes + uint h3 = 0xcb1ab31f; + + uint n = h1 * (uint)x + h2 * (uint)y + h3 * (uint)z; + return (int)(n & (VERTEX_BUCKET_COUNT - 1)); + } + + private static int[] addVertex(int x, int y, int z, int[] verts, int[] firstVert, int[] nextVert, int nv) { + int bucket = computeVertexHash(x, 0, z); + int i = firstVert[bucket]; + + while (i != -1) { + int v = i * 3; + if (verts[v + 0] == x && (Math.Abs(verts[v + 1] - y) <= 2) && verts[v + 2] == z) + return new int[] { i, nv }; + i = nextVert[i]; // next + } + + // Could not find, create new. + i = nv; + nv++; + int v2 = i * 3; + verts[v2 + 0] = x; + verts[v2 + 1] = y; + verts[v2 + 2] = z; + nextVert[i] = firstVert[bucket]; + firstVert[bucket] = i; + + return new int[] { i, nv }; + } + + public static int prev(int i, int n) { + return i - 1 >= 0 ? i - 1 : n - 1; + } + + public static int next(int i, int n) { + return i + 1 < n ? i + 1 : 0; + } + + private static int area2(int[] verts, int a, int b, int c) { + return (verts[b + 0] - verts[a + 0]) * (verts[c + 2] - verts[a + 2]) + - (verts[c + 0] - verts[a + 0]) * (verts[b + 2] - verts[a + 2]); + } + + // Returns true iff c is strictly to the left of the directed + // line through a to b. + public static bool left(int[] verts, int a, int b, int c) { + return area2(verts, a, b, c) < 0; + } + + public static bool leftOn(int[] verts, int a, int b, int c) { + return area2(verts, a, b, c) <= 0; + } + + private static bool collinear(int[] verts, int a, int b, int c) { + return area2(verts, a, b, c) == 0; + } + + // Returns true iff ab properly intersects cd: they share + // a point interior to both segments. The properness of the + // intersection is ensured by using strict leftness. + private static bool intersectProp(int[] verts, int a, int b, int c, int d) { + // Eliminate improper cases. + if (collinear(verts, a, b, c) || collinear(verts, a, b, d) || collinear(verts, c, d, a) + || collinear(verts, c, d, b)) + return false; + + return (left(verts, a, b, c) ^ left(verts, a, b, d)) && (left(verts, c, d, a) ^ left(verts, c, d, b)); + } + + // Returns T iff (a,b,c) are collinear and point c lies + // on the closed segement ab. + private static bool between(int[] verts, int a, int b, int c) { + if (!collinear(verts, a, b, c)) + return false; + // If ab not vertical, check betweenness on x; else on y. + if (verts[a + 0] != verts[b + 0]) + return ((verts[a + 0] <= verts[c + 0]) && (verts[c + 0] <= verts[b + 0])) + || ((verts[a + 0] >= verts[c + 0]) && (verts[c + 0] >= verts[b + 0])); + else + return ((verts[a + 2] <= verts[c + 2]) && (verts[c + 2] <= verts[b + 2])) + || ((verts[a + 2] >= verts[c + 2]) && (verts[c + 2] >= verts[b + 2])); + } + + // Returns true iff segments ab and cd intersect, properly or improperly. + public static bool intersect(int[] verts, int a, int b, int c, int d) { + if (intersectProp(verts, a, b, c, d)) + return true; + else if (between(verts, a, b, c) || between(verts, a, b, d) || between(verts, c, d, a) + || between(verts, c, d, b)) + return true; + else + return false; + } + + public static bool vequal(int[] verts, int a, int b) { + return verts[a + 0] == verts[b + 0] && verts[a + 2] == verts[b + 2]; + } + + // Returns T iff (v_i, v_j) is a proper internal *or* external + // diagonal of P, *ignoring edges incident to v_i and v_j*. + private static bool diagonalie(int i, int j, int n, int[] verts, int[] indices) { + int d0 = (indices[i] & 0x0fffffff) * 4; + int d1 = (indices[j] & 0x0fffffff) * 4; + + // For each edge (k,k+1) of P + for (int k = 0; k < n; k++) { + int k1 = next(k, n); + // Skip edges incident to i or j + if (!((k == i) || (k1 == i) || (k == j) || (k1 == j))) { + int p0 = (indices[k] & 0x0fffffff) * 4; + int p1 = (indices[k1] & 0x0fffffff) * 4; + + if (vequal(verts, d0, p0) || vequal(verts, d1, p0) || vequal(verts, d0, p1) || vequal(verts, d1, p1)) + continue; + + if (intersect(verts, d0, d1, p0, p1)) + return false; + } + } + return true; + } + + // Returns true iff the diagonal (i,j) is strictly internal to the + // polygon P in the neighborhood of the i endpoint. + private static bool inCone(int i, int j, int n, int[] verts, int[] indices) { + int pi = (indices[i] & 0x0fffffff) * 4; + int pj = (indices[j] & 0x0fffffff) * 4; + int pi1 = (indices[next(i, n)] & 0x0fffffff) * 4; + int pin1 = (indices[prev(i, n)] & 0x0fffffff) * 4; + // If P[i] is a convex vertex [ i+1 left or on (i-1,i) ]. + if (leftOn(verts, pin1, pi, pi1)) { + return left(verts, pi, pj, pin1) && left(verts, pj, pi, pi1); + } + // Assume (i-1,i,i+1) not collinear. + // else P[i] is reflex. + return !(leftOn(verts, pi, pj, pi1) && leftOn(verts, pj, pi, pin1)); + } + + // Returns T iff (v_i, v_j) is a proper internal + // diagonal of P. + private static bool diagonal(int i, int j, int n, int[] verts, int[] indices) { + return inCone(i, j, n, verts, indices) && diagonalie(i, j, n, verts, indices); + } + + private static bool diagonalieLoose(int i, int j, int n, int[] verts, int[] indices) { + int d0 = (indices[i] & 0x0fffffff) * 4; + int d1 = (indices[j] & 0x0fffffff) * 4; + + // For each edge (k,k+1) of P + for (int k = 0; k < n; k++) { + int k1 = next(k, n); + // Skip edges incident to i or j + if (!((k == i) || (k1 == i) || (k == j) || (k1 == j))) { + int p0 = (indices[k] & 0x0fffffff) * 4; + int p1 = (indices[k1] & 0x0fffffff) * 4; + + if (vequal(verts, d0, p0) || vequal(verts, d1, p0) || vequal(verts, d0, p1) || vequal(verts, d1, p1)) + continue; + + if (intersectProp(verts, d0, d1, p0, p1)) + return false; + } + } + return true; + } + + private static bool inConeLoose(int i, int j, int n, int[] verts, int[] indices) { + int pi = (indices[i] & 0x0fffffff) * 4; + int pj = (indices[j] & 0x0fffffff) * 4; + int pi1 = (indices[next(i, n)] & 0x0fffffff) * 4; + int pin1 = (indices[prev(i, n)] & 0x0fffffff) * 4; + + // If P[i] is a convex vertex [ i+1 left or on (i-1,i) ]. + if (leftOn(verts, pin1, pi, pi1)) + return leftOn(verts, pi, pj, pin1) && leftOn(verts, pj, pi, pi1); + // Assume (i-1,i,i+1) not collinear. + // else P[i] is reflex. + return !(leftOn(verts, pi, pj, pi1) && leftOn(verts, pj, pi, pin1)); + } + + private static bool diagonalLoose(int i, int j, int n, int[] verts, int[] indices) { + return inConeLoose(i, j, n, verts, indices) && diagonalieLoose(i, j, n, verts, indices); + } + + private static int triangulate(int n, int[] verts, int[] indices, int[] tris) { + int ntris = 0; + + // The last bit of the index is used to indicate if the vertex can be removed. + for (int i = 0; i < n; i++) { + int i1 = next(i, n); + int i2 = next(i1, n); + if (diagonal(i, i2, n, verts, indices)) { + indices[i1] |= int.MinValue; // TODO : 체크 필요 + } + } + + while (n > 3) { + int minLen = -1; + int mini = -1; + for (int minIdx = 0; minIdx < n; minIdx++) { + int nextIdx1 = next(minIdx, n); + if ((indices[nextIdx1] & 0x80000000) != 0) { + int p0 = (indices[minIdx] & 0x0fffffff) * 4; + int p2 = (indices[next(nextIdx1, n)] & 0x0fffffff) * 4; + + int dx = verts[p2 + 0] - verts[p0 + 0]; + int dy = verts[p2 + 2] - verts[p0 + 2]; + int len = dx * dx + dy * dy; + + if (minLen < 0 || len < minLen) { + minLen = len; + mini = minIdx; + } + } + } + + if (mini == -1) { + // We might get here because the contour has overlapping segments, like this: + // + // A o-o=====o---o B + // / |C D| \ + // o o o o + // : : : : + // We'll try to recover by loosing up the inCone test a bit so that a diagonal + // like A-B or C-D can be found and we can continue. + minLen = -1; + mini = -1; + for (int minIdx = 0; minIdx < n; minIdx++) { + int nextIdx1 = next(minIdx, n); + int nextIdx2 = next(nextIdx1, n); + if (diagonalLoose(minIdx, nextIdx2, n, verts, indices)) { + int p0 = (indices[minIdx] & 0x0fffffff) * 4; + int p2 = (indices[next(nextIdx2, n)] & 0x0fffffff) * 4; + int dx = verts[p2 + 0] - verts[p0 + 0]; + int dy = verts[p2 + 2] - verts[p0 + 2]; + int len = dx * dx + dy * dy; + + if (minLen < 0 || len < minLen) { + minLen = len; + mini = minIdx; + } + } + } + if (mini == -1) { + // The contour is messed up. This sometimes happens + // if the contour simplification is too aggressive. + return -ntris; + } + } + + int i = mini; + int i1 = next(i, n); + int i2 = next(i1, n); + + tris[ntris * 3] = indices[i] & 0x0fffffff; + tris[ntris * 3 + 1] = indices[i1] & 0x0fffffff; + tris[ntris * 3 + 2] = indices[i2] & 0x0fffffff; + ntris++; + + // Removes P[i1] by copying P[i+1]...P[n-1] left one index. + n--; + for (int k = i1; k < n; k++) + indices[k] = indices[k + 1]; + + if (i1 >= n) + i1 = 0; + i = prev(i1, n); + // Update diagonal flags. + if (diagonal(prev(i, n), i1, n, verts, indices)) + indices[i] |= int.MinValue; + else + indices[i] &= 0x0fffffff; + + if (diagonal(i, next(i1, n), n, verts, indices)) + indices[i1] |= int.MinValue; + else + indices[i1] &= 0x0fffffff; + } + + // Append the remaining triangle. + tris[ntris * 3] = indices[0] & 0x0fffffff; + tris[ntris * 3 + 1] = indices[1] & 0x0fffffff; + tris[ntris * 3 + 2] = indices[2] & 0x0fffffff; + ntris++; + + return ntris; + } + + private static int countPolyVerts(int[] p, int j, int nvp) { + for (int i = 0; i < nvp; ++i) + if (p[i + j] == RC_MESH_NULL_IDX) + return i; + return nvp; + } + + private static bool uleft(int[] verts, int a, int b, int c) { + return (verts[b + 0] - verts[a + 0]) * (verts[c + 2] - verts[a + 2]) + - (verts[c + 0] - verts[a + 0]) * (verts[b + 2] - verts[a + 2]) < 0; + } + + private static int[] getPolyMergeValue(int[] polys, int pa, int pb, int[] verts, int nvp) { + int ea = -1; + int eb = -1; + int na = countPolyVerts(polys, pa, nvp); + int nb = countPolyVerts(polys, pb, nvp); + + // If the merged polygon would be too big, do not merge. + if (na + nb - 2 > nvp) + return new int[] { -1, ea, eb }; + + // Check if the polygons share an edge. + + for (int i = 0; i < na; ++i) { + int va0 = polys[pa + i]; + int va1 = polys[pa + (i + 1) % na]; + if (va0 > va1) { + int temp = va0; + va0 = va1; + va1 = temp; + } + for (int j = 0; j < nb; ++j) { + int vb0 = polys[pb + j]; + int vb1 = polys[pb + (j + 1) % nb]; + if (vb0 > vb1) { + int temp = vb0; + vb0 = vb1; + vb1 = temp; + } + if (va0 == vb0 && va1 == vb1) { + ea = i; + eb = j; + break; + } + } + } + + // No common edge, cannot merge. + if (ea == -1 || eb == -1) + return new int[] { -1, ea, eb }; + + // Check to see if the merged polygon would be convex. + int va, vb, vc; + + va = polys[pa + (ea + na - 1) % na]; + vb = polys[pa + ea]; + vc = polys[pb + (eb + 2) % nb]; + if (!uleft(verts, va * 3, vb * 3, vc * 3)) + return new int[] { -1, ea, eb }; + + va = polys[pb + (eb + nb - 1) % nb]; + vb = polys[pb + eb]; + vc = polys[pa + (ea + 2) % na]; + if (!uleft(verts, va * 3, vb * 3, vc * 3)) + return new int[] { -1, ea, eb }; + + va = polys[pa + ea]; + vb = polys[pa + (ea + 1) % na]; + + int dx = verts[va * 3 + 0] - verts[vb * 3 + 0]; + int dy = verts[va * 3 + 2] - verts[vb * 3 + 2]; + + return new int[] { dx * dx + dy * dy, ea, eb }; + } + + private static void mergePolyVerts(int[] polys, int pa, int pb, int ea, int eb, int tmp, int nvp) { + int na = countPolyVerts(polys, pa, nvp); + int nb = countPolyVerts(polys, pb, nvp); + + // Merge polygons. + Array.Fill(polys, RC_MESH_NULL_IDX, tmp, (tmp + nvp) - (tmp)); + int n = 0; + // Add pa + for (int i = 0; i < na - 1; ++i) { + polys[tmp + n] = polys[pa + (ea + 1 + i) % na]; + n++; + } + // Add pb + for (int i = 0; i < nb - 1; ++i) { + polys[tmp + n] = polys[pb + (eb + 1 + i) % nb]; + n++; + } + Array.Copy(polys, tmp, polys, pa, nvp); + } + + private static int pushFront(int v, int[] arr, int an) { + an++; + for (int i = an - 1; i > 0; --i) + arr[i] = arr[i - 1]; + arr[0] = v; + return an; + } + + private static int pushBack(int v, int[] arr, int an) { + arr[an] = v; + an++; + return an; + } + + private static bool canRemoveVertex(Telemetry ctx, PolyMesh mesh, int rem) { + int nvp = mesh.nvp; + + // Count number of polygons to remove. + int numTouchedVerts = 0; + int numRemainingEdges = 0; + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * nvp * 2; + int nv = countPolyVerts(mesh.polys, p, nvp); + int numRemoved = 0; + int numVerts = 0; + for (int j = 0; j < nv; ++j) { + if (mesh.polys[p + j] == rem) { + numTouchedVerts++; + numRemoved++; + } + numVerts++; + } + if (numRemoved != 0) { + numRemainingEdges += numVerts - (numRemoved + 1); + } + } + // There would be too few edges remaining to create a polygon. + // This can happen for example when a tip of a triangle is marked + // as deletion, but there are no other polys that share the vertex. + // In this case, the vertex should not be removed. + if (numRemainingEdges <= 2) + return false; + + // Find edges which share the removed vertex. + int maxEdges = numTouchedVerts * 2; + int nedges = 0; + int[] edges = new int[maxEdges * 3]; + + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * nvp * 2; + int nv = countPolyVerts(mesh.polys, p, nvp); + + // Collect edges which touches the removed vertex. + for (int j = 0, k = nv - 1; j < nv; k = j++) { + if (mesh.polys[p + j] == rem || mesh.polys[p + k] == rem) { + // Arrange edge so that a=rem. + int a = mesh.polys[p + j], b = mesh.polys[p + k]; + if (b == rem) { + int temp = a; + a = b; + b = temp; + } + // Check if the edge exists + bool exists = false; + for (int m = 0; m < nedges; ++m) { + int e = m * 3; + if (edges[e + 1] == b) { + // Exists, increment vertex share count. + edges[e + 2]++; + exists = true; + } + } + // Add new edge. + if (!exists) { + int e = nedges * 3; + edges[e + 0] = a; + edges[e + 1] = b; + edges[e + 2] = 1; + nedges++; + } + } + } + } + + // There should be no more than 2 open edges. + // This catches the case that two non-adjacent polygons + // share the removed vertex. In that case, do not remove the vertex. + int numOpenEdges = 0; + for (int i = 0; i < nedges; ++i) { + if (edges[i * 3 + 2] < 2) + numOpenEdges++; + } + if (numOpenEdges > 2) + return false; + + return true; + } + + private static void removeVertex(Telemetry ctx, PolyMesh mesh, int rem, int maxTris) { + int nvp = mesh.nvp; + + // Count number of polygons to remove. + int numRemovedVerts = 0; + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * nvp * 2; + int nv = countPolyVerts(mesh.polys, p, nvp); + for (int j = 0; j < nv; ++j) { + if (mesh.polys[p + j] == rem) + numRemovedVerts++; + } + } + + int nedges = 0; + int[] edges = new int[numRemovedVerts * nvp * 4]; + + int nhole = 0; + int[] hole = new int[numRemovedVerts * nvp]; + + int nhreg = 0; + int[] hreg = new int[numRemovedVerts * nvp]; + + int nharea = 0; + int[] harea = new int[numRemovedVerts * nvp]; + + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * nvp * 2; + int nv = countPolyVerts(mesh.polys, p, nvp); + bool hasRem = false; + for (int j = 0; j < nv; ++j) + if (mesh.polys[p + j] == rem) + hasRem = true; + if (hasRem) { + // Collect edges which does not touch the removed vertex. + for (int j = 0, k = nv - 1; j < nv; k = j++) { + if (mesh.polys[p + j] != rem && mesh.polys[p + k] != rem) { + int e = nedges * 4; + edges[e + 0] = mesh.polys[p + k]; + edges[e + 1] = mesh.polys[p + j]; + edges[e + 2] = mesh.regs[i]; + edges[e + 3] = mesh.areas[i]; + nedges++; + } + } + // Remove the polygon. + int p2 = (mesh.npolys - 1) * nvp * 2; + if (p != p2) { + Array.Copy(mesh.polys, p2, mesh.polys, p, nvp); + } + Array.Fill(mesh.polys, RC_MESH_NULL_IDX, p + nvp, (p + nvp + nvp) - (p + nvp)); + mesh.regs[i] = mesh.regs[mesh.npolys - 1]; + mesh.areas[i] = mesh.areas[mesh.npolys - 1]; + mesh.npolys--; + --i; + } + } + + // Remove vertex. + for (int i = rem; i < mesh.nverts - 1; ++i) { + mesh.verts[i * 3 + 0] = mesh.verts[(i + 1) * 3 + 0]; + mesh.verts[i * 3 + 1] = mesh.verts[(i + 1) * 3 + 1]; + mesh.verts[i * 3 + 2] = mesh.verts[(i + 1) * 3 + 2]; + } + mesh.nverts--; + + // Adjust indices to match the removed vertex layout. + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * nvp * 2; + int nv = countPolyVerts(mesh.polys, p, nvp); + for (int j = 0; j < nv; ++j) + if (mesh.polys[p + j] > rem) + mesh.polys[p + j]--; + } + for (int i = 0; i < nedges; ++i) { + if (edges[i * 4 + 0] > rem) + edges[i * 4 + 0]--; + if (edges[i * 4 + 1] > rem) + edges[i * 4 + 1]--; + } + + if (nedges == 0) + return; + + // Start with one vertex, keep appending connected + // segments to the start and end of the hole. + nhole = pushBack(edges[0], hole, nhole); + nhreg = pushBack(edges[2], hreg, nhreg); + nharea = pushBack(edges[3], harea, nharea); + + while (nedges != 0) { + bool match = false; + + for (int i = 0; i < nedges; ++i) { + int ea = edges[i * 4 + 0]; + int eb = edges[i * 4 + 1]; + int r = edges[i * 4 + 2]; + int a = edges[i * 4 + 3]; + bool add = false; + if (hole[0] == eb) { + // The segment matches the beginning of the hole boundary. + nhole = pushFront(ea, hole, nhole); + nhreg = pushFront(r, hreg, nhreg); + nharea = pushFront(a, harea, nharea); + add = true; + } else if (hole[nhole - 1] == ea) { + // The segment matches the end of the hole boundary. + nhole = pushBack(eb, hole, nhole); + nhreg = pushBack(r, hreg, nhreg); + nharea = pushBack(a, harea, nharea); + add = true; + } + if (add) { + // The edge segment was added, remove it. + edges[i * 4 + 0] = edges[(nedges - 1) * 4 + 0]; + edges[i * 4 + 1] = edges[(nedges - 1) * 4 + 1]; + edges[i * 4 + 2] = edges[(nedges - 1) * 4 + 2]; + edges[i * 4 + 3] = edges[(nedges - 1) * 4 + 3]; + --nedges; + match = true; + --i; + } + } + + if (!match) + break; + } + + int[] tris = new int[nhole * 3]; + + int[] tverts = new int[nhole * 4]; + + int[] thole = new int[nhole]; + + // Generate temp vertex array for triangulation. + for (int i = 0; i < nhole; ++i) { + int pi = hole[i]; + tverts[i * 4 + 0] = mesh.verts[pi * 3 + 0]; + tverts[i * 4 + 1] = mesh.verts[pi * 3 + 1]; + tverts[i * 4 + 2] = mesh.verts[pi * 3 + 2]; + tverts[i * 4 + 3] = 0; + thole[i] = i; + } + + // Triangulate the hole. + int ntris = triangulate(nhole, tverts, thole, tris); + if (ntris < 0) { + ntris = -ntris; + ctx.warn("removeVertex: triangulate() returned bad results."); + } + + // Merge the hole triangles back to polygons. + int[] polys = new int[(ntris + 1) * nvp]; + int[] pregs = new int[ntris]; + int[] pareas = new int[ntris]; + + int tmpPoly = ntris * nvp; + + // Build initial polygons. + int npolys = 0; + Array.Fill(polys, RC_MESH_NULL_IDX, 0, (ntris * nvp) - (0)); + for (int j = 0; j < ntris; ++j) { + int t = j * 3; + if (tris[t + 0] != tris[t + 1] && tris[t + 0] != tris[t + 2] && tris[t + 1] != tris[t + 2]) { + polys[npolys * nvp + 0] = hole[tris[t + 0]]; + polys[npolys * nvp + 1] = hole[tris[t + 1]]; + polys[npolys * nvp + 2] = hole[tris[t + 2]]; + + // If this polygon covers multiple region types then + // mark it as such + if (hreg[tris[t + 0]] != hreg[tris[t + 1]] || hreg[tris[t + 1]] != hreg[tris[t + 2]]) + pregs[npolys] = RC_MULTIPLE_REGS; + else + pregs[npolys] = hreg[tris[t + 0]]; + + pareas[npolys] = harea[tris[t + 0]]; + npolys++; + } + } + if (npolys == 0) + return; + + // Merge polygons. + if (nvp > 3) { + for (;;) { + // Find best polygons to merge. + int bestMergeVal = 0; + int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0; + + for (int j = 0; j < npolys - 1; ++j) { + int pj = j * nvp; + for (int k = j + 1; k < npolys; ++k) { + int pk = k * nvp; + int[] veaeb = getPolyMergeValue(polys, pj, pk, mesh.verts, nvp); + int v = veaeb[0]; + int ea = veaeb[1]; + int eb = veaeb[2]; + if (v > bestMergeVal) { + bestMergeVal = v; + bestPa = j; + bestPb = k; + bestEa = ea; + bestEb = eb; + } + } + } + + if (bestMergeVal > 0) { + // Found best, merge. + int pa = bestPa * nvp; + int pb = bestPb * nvp; + mergePolyVerts(polys, pa, pb, bestEa, bestEb, tmpPoly, nvp); + if (pregs[bestPa] != pregs[bestPb]) + pregs[bestPa] = RC_MULTIPLE_REGS; + int last = (npolys - 1) * nvp; + if (pb != last) { + Array.Copy(polys, last, polys, pb, nvp); + } + pregs[bestPb] = pregs[npolys - 1]; + pareas[bestPb] = pareas[npolys - 1]; + npolys--; + } else { + // Could not merge any polygons, stop. + break; + } + } + } + + // Store polygons. + for (int i = 0; i < npolys; ++i) { + if (mesh.npolys >= maxTris) + break; + int p = mesh.npolys * nvp * 2; + Array.Fill(mesh.polys, RC_MESH_NULL_IDX, p, (p + nvp * 2) - (p)); + for (int j = 0; j < nvp; ++j) + mesh.polys[p + j] = polys[i * nvp + j]; + mesh.regs[mesh.npolys] = pregs[i]; + mesh.areas[mesh.npolys] = pareas[i]; + mesh.npolys++; + if (mesh.npolys > maxTris) { + throw new Exception("removeVertex: Too many polygons " + mesh.npolys + " (max:" + maxTris + "."); + } + } + + } + + /// @par + /// + /// @note If the mesh data is to be used to construct a Detour navigation mesh, then the upper + /// limit must be retricted to <= #DT_VERTS_PER_POLYGON. + /// + /// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig + public static PolyMesh buildPolyMesh(Telemetry ctx, ContourSet cset, int nvp) { + ctx.startTimer("POLYMESH"); + PolyMesh mesh = new PolyMesh(); + RecastVectors.copy(mesh.bmin, cset.bmin, 0); + RecastVectors.copy(mesh.bmax, cset.bmax, 0); + mesh.cs = cset.cs; + mesh.ch = cset.ch; + mesh.borderSize = cset.borderSize; + mesh.maxEdgeError = cset.maxError; + + int maxVertices = 0; + int maxTris = 0; + int maxVertsPerCont = 0; + for (int i = 0; i < cset.conts.Count; ++i) { + // Skip null contours. + if (cset.conts[i].nverts < 3) + continue; + maxVertices += cset.conts[i].nverts; + maxTris += cset.conts[i].nverts - 2; + maxVertsPerCont = Math.Max(maxVertsPerCont, cset.conts[i].nverts); + } + if (maxVertices >= 0xfffe) { + throw new Exception("rcBuildPolyMesh: Too many vertices " + maxVertices); + } + int[] vflags = new int[maxVertices]; + + mesh.verts = new int[maxVertices * 3]; + mesh.polys = new int[maxTris * nvp * 2]; + Array.Fill(mesh.polys, RC_MESH_NULL_IDX); + mesh.regs = new int[maxTris]; + mesh.areas = new int[maxTris]; + + mesh.nverts = 0; + mesh.npolys = 0; + mesh.nvp = nvp; + mesh.maxpolys = maxTris; + + int[] nextVert = new int[maxVertices]; + + int[] firstVert = new int[VERTEX_BUCKET_COUNT]; + for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i) + firstVert[i] = -1; + + int[] indices = new int[maxVertsPerCont]; + int[] tris = new int[maxVertsPerCont * 3]; + int[] polys = new int[(maxVertsPerCont + 1) * nvp]; + + int tmpPoly = maxVertsPerCont * nvp; + + for (int i = 0; i < cset.conts.Count; ++i) + { + Contour cont = cset.conts[i]; + + // Skip null contours. + if (cont.nverts < 3) + continue; + + // Triangulate contour + for (int j = 0; j < cont.nverts; ++j) + indices[j] = j; + int ntris = triangulate(cont.nverts, cont.verts, indices, tris); + if (ntris <= 0) { + // Bad triangulation, should not happen. + ctx.warn("buildPolyMesh: Bad triangulation Contour " + i + "."); + ntris = -ntris; + } + + // Add and merge vertices. + for (int j = 0; j < cont.nverts; ++j) { + int v = j * 4; + int[] inv = addVertex(cont.verts[v + 0], cont.verts[v + 1], cont.verts[v + 2], mesh.verts, firstVert, + nextVert, mesh.nverts); + indices[j] = inv[0]; + mesh.nverts = inv[1]; + if ((cont.verts[v + 3] & RC_BORDER_VERTEX) != 0) { + // This vertex should be removed. + vflags[indices[j]] = 1; + } + } + + // Build initial polygons. + int npolys = 0; + Array.Fill(polys, RC_MESH_NULL_IDX); + for (int j = 0; j < ntris; ++j) { + int t = j * 3; + if (tris[t + 0] != tris[t + 1] && tris[t + 0] != tris[t + 2] && tris[t + 1] != tris[t + 2]) { + polys[npolys * nvp + 0] = indices[tris[t + 0]]; + polys[npolys * nvp + 1] = indices[tris[t + 1]]; + polys[npolys * nvp + 2] = indices[tris[t + 2]]; + npolys++; + } + } + if (npolys == 0) + continue; + + // Merge polygons. + if (nvp > 3) { + for (;;) { + // Find best polygons to merge. + int bestMergeVal = 0; + int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0; + + for (int j = 0; j < npolys - 1; ++j) { + int pj = j * nvp; + for (int k = j + 1; k < npolys; ++k) { + int pk = k * nvp; + int[] veaeb = getPolyMergeValue(polys, pj, pk, mesh.verts, nvp); + int v = veaeb[0]; + int ea = veaeb[1]; + int eb = veaeb[2]; + if (v > bestMergeVal) { + bestMergeVal = v; + bestPa = j; + bestPb = k; + bestEa = ea; + bestEb = eb; + } + } + } + + if (bestMergeVal > 0) { + // Found best, merge. + int pa = bestPa * nvp; + int pb = bestPb * nvp; + mergePolyVerts(polys, pa, pb, bestEa, bestEb, tmpPoly, nvp); + int lastPoly = (npolys - 1) * nvp; + if (pb != lastPoly) { + Array.Copy(polys, lastPoly, polys, pb, nvp); + } + npolys--; + } else { + // Could not merge any polygons, stop. + break; + } + } + } + + // Store polygons. + for (int j = 0; j < npolys; ++j) { + int p = mesh.npolys * nvp * 2; + int q = j * nvp; + for (int k = 0; k < nvp; ++k) + mesh.polys[p + k] = polys[q + k]; + mesh.regs[mesh.npolys] = cont.reg; + mesh.areas[mesh.npolys] = cont.area; + mesh.npolys++; + if (mesh.npolys > maxTris) { + throw new Exception( + "rcBuildPolyMesh: Too many polygons " + mesh.npolys + " (max:" + maxTris + ")."); + } + } + } + + // Remove edge vertices. + for (int i = 0; i < mesh.nverts; ++i) { + if (vflags[i] != 0) { + if (!canRemoveVertex(ctx, mesh, i)) + continue; + removeVertex(ctx, mesh, i, maxTris); + // Remove vertex + // Note: mesh.nverts is already decremented inside removeVertex()! + // Fixup vertex flags + for (int j = i; j < mesh.nverts; ++j) + vflags[j] = vflags[j + 1]; + --i; + } + } + + // Calculate adjacency. + buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, nvp); + + // Find portal edges + if (mesh.borderSize > 0) { + int w = cset.width; + int h = cset.height; + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * 2 * nvp; + for (int j = 0; j < nvp; ++j) { + if (mesh.polys[p + j] == RC_MESH_NULL_IDX) + break; + // Skip connected edges. + if (mesh.polys[p + nvp + j] != RC_MESH_NULL_IDX) + continue; + int nj = j + 1; + if (nj >= nvp || mesh.polys[p + nj] == RC_MESH_NULL_IDX) + nj = 0; + int va = mesh.polys[p + j] * 3; + int vb = mesh.polys[p + nj] * 3; + + if (mesh.verts[va + 0] == 0 && mesh.verts[vb + 0] == 0) + mesh.polys[p + nvp + j] = 0x8000 | 0; + else if (mesh.verts[va + 2] == h && mesh.verts[vb + 2] == h) + mesh.polys[p + nvp + j] = 0x8000 | 1; + else if (mesh.verts[va + 0] == w && mesh.verts[vb + 0] == w) + mesh.polys[p + nvp + j] = 0x8000 | 2; + else if (mesh.verts[va + 2] == 0 && mesh.verts[vb + 2] == 0) + mesh.polys[p + nvp + j] = 0x8000 | 3; + } + } + } + + // Just allocate the mesh flags array. The user is resposible to fill it. + mesh.flags = new int[mesh.npolys]; + + if (mesh.nverts > MAX_MESH_VERTS_POLY) { + throw new Exception("rcBuildPolyMesh: The resulting mesh has too many vertices " + mesh.nverts + + " (max " + MAX_MESH_VERTS_POLY + "). Data can be corrupted."); + } + if (mesh.npolys > MAX_MESH_VERTS_POLY) { + throw new Exception("rcBuildPolyMesh: The resulting mesh has too many polygons " + mesh.npolys + + " (max " + MAX_MESH_VERTS_POLY + "). Data can be corrupted."); + } + + ctx.stopTimer("POLYMESH"); + return mesh; + + } + + /// @see rcAllocPolyMesh, rcPolyMesh + public static PolyMesh mergePolyMeshes(Telemetry ctx, PolyMesh[] meshes, int nmeshes) { + + if (nmeshes == 0 || meshes == null) + return null; + + ctx.startTimer("MERGE_POLYMESH"); + PolyMesh mesh = new PolyMesh(); + mesh.nvp = meshes[0].nvp; + mesh.cs = meshes[0].cs; + mesh.ch = meshes[0].ch; + RecastVectors.copy(mesh.bmin, meshes[0].bmin, 0); + RecastVectors.copy(mesh.bmax, meshes[0].bmax, 0); + + int maxVerts = 0; + int maxPolys = 0; + int maxVertsPerMesh = 0; + for (int i = 0; i < nmeshes; ++i) { + RecastVectors.min(mesh.bmin, meshes[i].bmin, 0); + RecastVectors.max(mesh.bmax, meshes[i].bmax, 0); + maxVertsPerMesh = Math.Max(maxVertsPerMesh, meshes[i].nverts); + maxVerts += meshes[i].nverts; + maxPolys += meshes[i].npolys; + } + + mesh.nverts = 0; + mesh.verts = new int[maxVerts * 3]; + + mesh.npolys = 0; + mesh.polys = new int[maxPolys * 2 * mesh.nvp]; + Array.Fill(mesh.polys, RC_MESH_NULL_IDX, 0, (mesh.polys.Length) - (0)); + mesh.regs = new int[maxPolys]; + mesh.areas = new int[maxPolys]; + mesh.flags = new int[maxPolys]; + + int[] nextVert = new int[maxVerts]; + + int[] firstVert = new int[VERTEX_BUCKET_COUNT]; + for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i) + firstVert[i] = -1; + + int[] vremap = new int[maxVertsPerMesh]; + + for (int i = 0; i < nmeshes; ++i) { + PolyMesh pmesh = meshes[i]; + + int ox = (int) Math.Floor((pmesh.bmin[0] - mesh.bmin[0]) / mesh.cs + 0.5f); + int oz = (int) Math.Floor((pmesh.bmin[2] - mesh.bmin[2]) / mesh.cs + 0.5f); + + bool isMinX = (ox == 0); + bool isMinZ = (oz == 0); + bool isMaxX = (Math.Floor((mesh.bmax[0] - pmesh.bmax[0]) / mesh.cs + 0.5f)) == 0; + bool isMaxZ = (Math.Floor((mesh.bmax[2] - pmesh.bmax[2]) / mesh.cs + 0.5f)) == 0; + bool isOnBorder = (isMinX || isMinZ || isMaxX || isMaxZ); + + for (int j = 0; j < pmesh.nverts; ++j) { + int v = j * 3; + int[] inv = addVertex(pmesh.verts[v + 0] + ox, pmesh.verts[v + 1], pmesh.verts[v + 2] + oz, mesh.verts, + firstVert, nextVert, mesh.nverts); + + vremap[j] = inv[0]; + mesh.nverts = inv[1]; + } + + for (int j = 0; j < pmesh.npolys; ++j) { + int tgt = mesh.npolys * 2 * mesh.nvp; + int src = j * 2 * mesh.nvp; + mesh.regs[mesh.npolys] = pmesh.regs[j]; + mesh.areas[mesh.npolys] = pmesh.areas[j]; + mesh.flags[mesh.npolys] = pmesh.flags[j]; + mesh.npolys++; + for (int k = 0; k < mesh.nvp; ++k) { + if (pmesh.polys[src + k] == RC_MESH_NULL_IDX) + break; + mesh.polys[tgt + k] = vremap[pmesh.polys[src + k]]; + } + + if (isOnBorder) { + for (int k = mesh.nvp; k < mesh.nvp * 2; ++k) { + if ((pmesh.polys[src + k] & 0x8000) != 0 && pmesh.polys[src + k] != 0xffff) { + int dir = pmesh.polys[src + k] & 0xf; + switch (dir) { + case 0: // Portal x- + if (isMinX) + mesh.polys[tgt + k] = pmesh.polys[src + k]; + break; + case 1: // Portal z+ + if (isMaxZ) + mesh.polys[tgt + k] = pmesh.polys[src + k]; + break; + case 2: // Portal x+ + if (isMaxX) + mesh.polys[tgt + k] = pmesh.polys[src + k]; + break; + case 3: // Portal z- + if (isMinZ) + mesh.polys[tgt + k] = pmesh.polys[src + k]; + break; + } + } + } + } + } + } + + // Calculate adjacency. + buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, mesh.nvp); + if (mesh.nverts > MAX_MESH_VERTS_POLY) { + throw new Exception("rcBuildPolyMesh: The resulting mesh has too many vertices " + mesh.nverts + + " (max " + MAX_MESH_VERTS_POLY + "). Data can be corrupted."); + } + if (mesh.npolys > MAX_MESH_VERTS_POLY) { + throw new Exception("rcBuildPolyMesh: The resulting mesh has too many polygons " + mesh.npolys + + " (max " + MAX_MESH_VERTS_POLY + "). Data can be corrupted."); + } + + ctx.stopTimer("MERGE_POLYMESH"); + + return mesh; + } + + public static PolyMesh copyPolyMesh(Telemetry ctx, PolyMesh src) { + PolyMesh dst = new PolyMesh(); + + dst.nverts = src.nverts; + dst.npolys = src.npolys; + dst.maxpolys = src.npolys; + dst.nvp = src.nvp; + RecastVectors.copy(dst.bmin, src.bmin, 0); + RecastVectors.copy(dst.bmax, src.bmax, 0); + dst.cs = src.cs; + dst.ch = src.ch; + dst.borderSize = src.borderSize; + dst.maxEdgeError = src.maxEdgeError; + + dst.verts = new int[src.nverts * 3]; + Array.Copy(src.verts, 0, dst.verts, 0, dst.verts.Length); + dst.polys = new int[src.npolys * 2 * src.nvp]; + Array.Copy(src.polys, 0, dst.polys, 0, dst.polys.Length); + dst.regs = new int[src.npolys]; + Array.Copy(src.regs, 0, dst.regs, 0, dst.regs.Length); + dst.areas = new int[src.npolys]; + Array.Copy(src.areas, 0, dst.areas, 0, dst.areas.Length); + dst.flags = new int[src.npolys]; + Array.Copy(src.flags, 0, dst.flags, 0, dst.flags.Length); + return dst; + } +} diff --git a/src/DotRecast.Recast/RecastMeshDetail.cs b/src/DotRecast.Recast/RecastMeshDetail.cs new file mode 100644 index 0000000..c9ccdd5 --- /dev/null +++ b/src/DotRecast.Recast/RecastMeshDetail.cs @@ -0,0 +1,1334 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4J copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using DotRecast.Core; + +namespace DotRecast.Recast; + +using static RecastCommon; +using static RecastConstants; + +public class RecastMeshDetail { + + public const int MAX_VERTS = 127; + public const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts). + public const int MAX_VERTS_PER_EDGE = 32; + + public const int RC_UNSET_HEIGHT = RecastConstants.SPAN_MAX_HEIGHT; + public const int EV_UNDEF = -1; + public const int EV_HULL = -2; + + private class HeightPatch { + public int xmin; + public int ymin; + public int width; + public int height; + public int[] data; + } + + private static float vdot2(float[] a, float[] b) { + return a[0] * b[0] + a[2] * b[2]; + } + + private static float vdistSq2(float[] verts, int p, int q) { + float dx = verts[q + 0] - verts[p + 0]; + float dy = verts[q + 2] - verts[p + 2]; + return dx * dx + dy * dy; + } + + private static float vdist2(float[] verts, int p, int q) { + return (float) Math.Sqrt(vdistSq2(verts, p, q)); + } + + private static float vdistSq2(float[] p, float[] q) { + float dx = q[0] - p[0]; + float dy = q[2] - p[2]; + return dx * dx + dy * dy; + } + + private static float vdist2(float[] p, float[] q) { + return (float) Math.Sqrt(vdistSq2(p, q)); + } + + private static float vdistSq2(float[] p, float[] verts, int q) { + float dx = verts[q + 0] - p[0]; + float dy = verts[q + 2] - p[2]; + return dx * dx + dy * dy; + } + + private static float vdist2(float[] p, float[] verts, int q) { + return (float) Math.Sqrt(vdistSq2(p, verts, q)); + } + + private static float vcross2(float[] verts, int p1, int p2, int p3) { + float u1 = verts[p2 + 0] - verts[p1 + 0]; + float v1 = verts[p2 + 2] - verts[p1 + 2]; + float u2 = verts[p3 + 0] - verts[p1 + 0]; + float v2 = verts[p3 + 2] - verts[p1 + 2]; + return u1 * v2 - v1 * u2; + } + + private static float vcross2(float[] p1, float[] p2, float[] p3) { + float u1 = p2[0] - p1[0]; + float v1 = p2[2] - p1[2]; + float u2 = p3[0] - p1[0]; + float v2 = p3[2] - p1[2]; + return u1 * v2 - v1 * u2; + } + + private static bool circumCircle(float[] verts, int p1, int p2, int p3, float[] c, AtomicFloat r) { + float EPS = 1e-6f; + // Calculate the circle relative to p1, to avoid some precision issues. + float[] v1 = new float[3]; + float[] v2 = new float[3]; + float[] v3 = new float[3]; + RecastVectors.sub(v2, verts, p2, p1); + RecastVectors.sub(v3, verts, p3, p1); + + float cp = vcross2(v1, v2, v3); + if (Math.Abs(cp) > EPS) { + float v1Sq = vdot2(v1, v1); + float v2Sq = vdot2(v2, v2); + float v3Sq = vdot2(v3, v3); + c[0] = (v1Sq * (v2[2] - v3[2]) + v2Sq * (v3[2] - v1[2]) + v3Sq * (v1[2] - v2[2])) / (2 * cp); + c[1] = 0; + c[2] = (v1Sq * (v3[0] - v2[0]) + v2Sq * (v1[0] - v3[0]) + v3Sq * (v2[0] - v1[0])) / (2 * cp); + r.Exchange(vdist2(c, v1)); + RecastVectors.add(c, c, verts, p1); + return true; + } + RecastVectors.copy(c, verts, p1); + r.Exchange(0f); + return false; + } + + private static float distPtTri(float[] p, float[] verts, int a, int b, int c) { + float[] v0 = new float[3]; + float[] v1 = new float[3]; + float[] v2 = new float[3]; + RecastVectors.sub(v0, verts, c, a); + RecastVectors.sub(v1, verts, b, a); + RecastVectors.sub(v2, p, verts, a); + + float dot00 = vdot2(v0, v0); + float dot01 = vdot2(v0, v1); + float dot02 = vdot2(v0, v2); + float dot11 = vdot2(v1, v1); + float dot12 = vdot2(v1, v2); + + // Compute barycentric coordinates + float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01); + float u = (dot11 * dot02 - dot01 * dot12) * invDenom; + float v = (dot00 * dot12 - dot01 * dot02) * invDenom; + + // If point lies inside the triangle, return interpolated y-coord. + float EPS = 1e-4f; + if (u >= -EPS && v >= -EPS && (u + v) <= 1 + EPS) { + float y = verts[a + 1] + v0[1] * u + v1[1] * v; + return Math.Abs(y - p[1]); + } + return float.MaxValue; + } + + private static float distancePtSeg(float[] verts, int pt, int p, int q) { + float pqx = verts[q + 0] - verts[p + 0]; + float pqy = verts[q + 1] - verts[p + 1]; + float pqz = verts[q + 2] - verts[p + 2]; + float dx = verts[pt + 0] - verts[p + 0]; + float dy = verts[pt + 1] - verts[p + 1]; + float dz = verts[pt + 2] - verts[p + 2]; + float d = pqx * pqx + pqy * pqy + pqz * pqz; + float t = pqx * dx + pqy * dy + pqz * dz; + if (d > 0) { + t /= d; + } + if (t < 0) { + t = 0; + } else if (t > 1) { + t = 1; + } + + dx = verts[p + 0] + t * pqx - verts[pt + 0]; + dy = verts[p + 1] + t * pqy - verts[pt + 1]; + dz = verts[p + 2] + t * pqz - verts[pt + 2]; + + return dx * dx + dy * dy + dz * dz; + } + + private static float distancePtSeg2d(float[] verts, int pt, float[] poly, int p, int q) { + float pqx = poly[q + 0] - poly[p + 0]; + float pqz = poly[q + 2] - poly[p + 2]; + float dx = verts[pt + 0] - poly[p + 0]; + float dz = verts[pt + 2] - poly[p + 2]; + float d = pqx * pqx + pqz * pqz; + float t = pqx * dx + pqz * dz; + if (d > 0) { + t /= d; + } + if (t < 0) { + t = 0; + } else if (t > 1) { + t = 1; + } + + dx = poly[p + 0] + t * pqx - verts[pt + 0]; + dz = poly[p + 2] + t * pqz - verts[pt + 2]; + + return dx * dx + dz * dz; + } + + private static float distToTriMesh(float[] p, float[] verts, int nverts, List tris, int ntris) { + float dmin = float.MaxValue; + for (int i = 0; i < ntris; ++i) { + int va = tris[i * 4 + 0] * 3; + int vb = tris[i * 4 + 1] * 3; + int vc = tris[i * 4 + 2] * 3; + float d = distPtTri(p, verts, va, vb, vc); + if (d < dmin) { + dmin = d; + } + } + if (dmin == float.MaxValue) { + return -1; + } + return dmin; + } + + private static float distToPoly(int nvert, float[] verts, float[] p) { + + float dmin = float.MaxValue; + int i, j; + bool c = false; + for (i = 0, j = nvert - 1; i < nvert; j = i++) { + int vi = i * 3; + int vj = j * 3; + if (((verts[vi + 2] > p[2]) != (verts[vj + 2] > p[2])) && (p[0] < (verts[vj + 0] - verts[vi + 0]) + * (p[2] - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + verts[vi + 0])) { + c = !c; + } + dmin = Math.Min(dmin, distancePtSeg2d(p, 0, verts, vj, vi)); + } + return c ? -dmin : dmin; + } + + private static int getHeight(float fx, float fy, float fz, float cs, float ics, float ch, int radius, + HeightPatch hp) { + int ix = (int) Math.Floor(fx * ics + 0.01f); + int iz = (int) Math.Floor(fz * ics + 0.01f); + ix = RecastCommon.clamp(ix - hp.xmin, 0, hp.width - 1); + iz = RecastCommon.clamp(iz - hp.ymin, 0, hp.height - 1); + int h = hp.data[ix + iz * hp.width]; + if (h == RC_UNSET_HEIGHT) { + // Special case when data might be bad. + // Walk adjacent cells in a spiral up to 'radius', and look + // for a pixel which has a valid height. + int x = 1, z = 0, dx = 1, dz = 0; + int maxSize = radius * 2 + 1; + int maxIter = maxSize * maxSize - 1; + + int nextRingIterStart = 8; + int nextRingIters = 16; + + float dmin = float.MaxValue; + for (int i = 0; i < maxIter; ++i) { + int nx = ix + x; + int nz = iz + z; + + if (nx >= 0 && nz >= 0 && nx < hp.width && nz < hp.height) { + int nh = hp.data[nx + nz * hp.width]; + if (nh != RC_UNSET_HEIGHT) { + float d = Math.Abs(nh * ch - fy); + if (d < dmin) { + h = nh; + dmin = d; + } + } + } + + // We are searching in a grid which looks approximately like this: + // __________ + // |2 ______ 2| + // | |1 __ 1| | + // | | |__| | | + // | |______| | + // |__________| + // We want to find the best height as close to the center cell as possible. This means that + // if we find a height in one of the neighbor cells to the center, we don't want to + // expand further out than the 8 neighbors - we want to limit our search to the closest + // of these "rings", but the best height in the ring. + // For example, the center is just 1 cell. We checked that at the entrance to the function. + // The next "ring" contains 8 cells (marked 1 above). Those are all the neighbors to the center cell. + // The next one again contains 16 cells (marked 2). In general each ring has 8 additional cells, which + // can be thought of as adding 2 cells around the "center" of each side when we expand the ring. + // Here we detect if we are about to enter the next ring, and if we are and we have found + // a height, we abort the search. + if (i + 1 == nextRingIterStart) { + if (h != RC_UNSET_HEIGHT) { + break; + } + + nextRingIterStart += nextRingIters; + nextRingIters += 8; + } + + if ((x == z) || ((x < 0) && (x == -z)) || ((x > 0) && (x == 1 - z))) { + int tmp = dx; + dx = -dz; + dz = tmp; + } + x += dx; + z += dz; + } + } + return h; + } + + private static int findEdge(List edges, int s, int t) { + for (int i = 0; i < edges.Count / 4; i++) { + int e = i * 4; + if ((edges[e + 0] == s && edges[e + 1] == t) || (edges[e + 0] == t && edges[e + 1] == s)) { + return i; + } + } + return EV_UNDEF; + } + + private static void addEdge(Telemetry ctx, List edges, int maxEdges, int s, int t, int l, int r) { + if (edges.Count / 4 >= maxEdges) { + throw new Exception("addEdge: Too many edges (" + edges.Count / 4 + "/" + maxEdges + ")."); + } + + // Add edge if not already in the triangulation. + int e = findEdge(edges, s, t); + if (e == EV_UNDEF) { + edges.Add(s); + edges.Add(t); + edges.Add(l); + edges.Add(r); + } + } + + private static void updateLeftFace(List edges, int e, int s, int t, int f) { + if (edges[e + 0] == s && edges[e + 1] == t && edges[e + 2] == EV_UNDEF) + { + edges[e + 2] = f; + } else if (edges[e + 1] == s && edges[e + 0] == t && edges[e + 3] == EV_UNDEF) + { + edges[e + 3] = f; + } + } + + private static bool overlapSegSeg2d(float[] verts, int a, int b, int c, int d) { + float a1 = vcross2(verts, a, b, d); + float a2 = vcross2(verts, a, b, c); + if (a1 * a2 < 0.0f) { + float a3 = vcross2(verts, c, d, a); + float a4 = a3 + a2 - a1; + if (a3 * a4 < 0.0f) { + return true; + } + } + return false; + } + + private static bool overlapEdges(float[] pts, List edges, int s1, int t1) { + for (int i = 0; i < edges.Count / 4; ++i) { + int s0 = edges[i * 4 + 0]; + int t0 = edges[i * 4 + 1]; + // Same or connected edges do not overlap. + if (s0 == s1 || s0 == t1 || t0 == s1 || t0 == t1) { + continue; + } + if (overlapSegSeg2d(pts, s0 * 3, t0 * 3, s1 * 3, t1 * 3)) { + return true; + } + } + return false; + } + + static int completeFacet(Telemetry ctx, float[] pts, int npts, List edges, int maxEdges, int nfaces, int e) { + float EPS = 1e-5f; + + int edge = e * 4; + + // Cache s and t. + int s, t; + if (edges[edge + 2] == EV_UNDEF) { + s = edges[edge + 0]; + t = edges[edge + 1]; + } else if (edges[edge + 3] == EV_UNDEF) { + s = edges[edge + 1]; + t = edges[edge + 0]; + } else { + // Edge already completed. + return nfaces; + } + + // Find best point on left of edge. + int pt = npts; + float[] c = new float[3]; + AtomicFloat r = new AtomicFloat(-1f); + for (int u = 0; u < npts; ++u) { + if (u == s || u == t) { + continue; + } + if (vcross2(pts, s * 3, t * 3, u * 3) > EPS) { + if (r.Get() < 0) { + // The circle is not updated yet, do it now. + pt = u; + circumCircle(pts, s * 3, t * 3, u * 3, c, r); + continue; + } + float d = vdist2(c, pts, u * 3); + float tol = 0.001f; + if (d > r.Get() * (1 + tol)) { + // Outside current circumcircle, skip. + continue; + } else if (d < r.Get() * (1 - tol)) { + // Inside safe circumcircle, update circle. + pt = u; + circumCircle(pts, s * 3, t * 3, u * 3, c, r); + } else { + // Inside epsilon circum circle, do extra tests to make sure the edge is valid. + // s-u and t-u cannot overlap with s-pt nor t-pt if they exists. + if (overlapEdges(pts, edges, s, u)) { + continue; + } + if (overlapEdges(pts, edges, t, u)) { + continue; + } + // Edge is valid. + pt = u; + circumCircle(pts, s * 3, t * 3, u * 3, c, r); + } + } + } + + // Add new triangle or update edge info if s-t is on hull. + if (pt < npts) { + // Update face information of edge being completed. + updateLeftFace(edges, e * 4, s, t, nfaces); + + // Add new edge or update face info of old edge. + e = findEdge(edges, pt, s); + if (e == EV_UNDEF) { + addEdge(ctx, edges, maxEdges, pt, s, nfaces, EV_UNDEF); + } else { + updateLeftFace(edges, e * 4, pt, s, nfaces); + } + + // Add new edge or update face info of old edge. + e = findEdge(edges, t, pt); + if (e == EV_UNDEF) { + addEdge(ctx, edges, maxEdges, t, pt, nfaces, EV_UNDEF); + } else { + updateLeftFace(edges, e * 4, t, pt, nfaces); + } + + nfaces++; + } else { + updateLeftFace(edges, e * 4, s, t, EV_HULL); + } + return nfaces; + } + + private static void delaunayHull(Telemetry ctx, int npts, float[] pts, int nhull, int[] hull, List tris) { + int nfaces = 0; + int maxEdges = npts * 10; + List edges = new(64); + for (int i = 0, j = nhull - 1; i < nhull; j = i++) { + addEdge(ctx, edges, maxEdges, hull[j], hull[i], EV_HULL, EV_UNDEF); + } + int currentEdge = 0; + while (currentEdge < edges.Count / 4) { + if (edges[currentEdge * 4 + 2] == EV_UNDEF) { + nfaces = completeFacet(ctx, pts, npts, edges, maxEdges, nfaces, currentEdge); + } + if (edges[currentEdge * 4 + 3] == EV_UNDEF) { + nfaces = completeFacet(ctx, pts, npts, edges, maxEdges, nfaces, currentEdge); + } + currentEdge++; + } + // Create tris + tris.Clear(); + for (int i = 0; i < nfaces * 4; ++i) { + tris.Add(-1); + } + + for (int i = 0; i < edges.Count / 4; ++i) { + int e = i * 4; + if (edges[e + 3] >= 0) { + // Left face + int t = edges[e + 3] * 4; + if (tris[t + 0] == -1) { + tris[t + 0] = edges[e + 0]; + tris[t + 1] = edges[e + 1]; + } else if (tris[t + 0] == edges[e + 1]) + { + tris[t + 2] = edges[e + 0]; + } else if (tris[t + 1] == edges[e + 0]) + { + tris[t + 2] = edges[e + 1]; + } + } + if (edges[e + 2] >= 0) { + // Right + int t = edges[e + 2] * 4; + if (tris[t + 0] == -1) { + tris[t + 0] =edges[e + 1]; + tris[t + 1] =edges[e + 0]; + } else if (tris[t + 0] == edges[e + 0]) + { + tris[t + 2] = edges[e + 1]; + } else if (tris[t + 1] == edges[e + 1]) + { + tris[t + 2] = edges[e + 0]; + } + } + } + + for (int i = 0; i < tris.Count / 4; ++i) { + int t = i * 4; + if (tris[t + 0] == -1 || tris[t + 1] == -1 || tris[t + 2] == -1) { + Console.Error.WriteLine("Dangling! " + tris[t] + " " + tris[t + 1] + " " + tris[t + 2]); + // ctx.log(RC_LOG_WARNING, "delaunayHull: Removing dangling face %d [%d,%d,%d].", i, t[0],t[1],t[2]); + tris[t + 0] = tris[tris.Count - 4]; + tris[t + 1] = tris[tris.Count - 3]; + tris[t + 2] = tris[tris.Count - 2]; + tris[t + 3] = tris[tris.Count - 1]; + tris.RemoveAt(tris.Count - 1); + tris.RemoveAt(tris.Count - 1); + tris.RemoveAt(tris.Count - 1); + tris.RemoveAt(tris.Count - 1); + --i; + } + } + } + + // Calculate minimum extend of the polygon. + private static float polyMinExtent(float[] verts, int nverts) { + float minDist = float.MaxValue; + for (int i = 0; i < nverts; i++) { + int ni = (i + 1) % nverts; + int p1 = i * 3; + int p2 = ni * 3; + float maxEdgeDist = 0; + for (int j = 0; j < nverts; j++) { + if (j == i || j == ni) { + continue; + } + float d = distancePtSeg2d(verts, j * 3, verts, p1, p2); + maxEdgeDist = Math.Max(maxEdgeDist, d); + } + minDist = Math.Min(minDist, maxEdgeDist); + } + return (float) Math.Sqrt(minDist); + } + + private static void triangulateHull(int nverts, float[] verts, int nhull, int[] hull, int nin, List tris) { + int start = 0, left = 1, right = nhull - 1; + + // Start from an ear with shortest perimeter. + // This tends to favor well formed triangles as starting point. + float dmin = float.MaxValue; + for (int i = 0; i < nhull; i++) { + if (hull[i] >= nin) { + continue; // Ears are triangles with original vertices as middle vertex while others are actually line + } + // segments on edges + int pi = RecastMesh.prev(i, nhull); + int ni = RecastMesh.next(i, nhull); + int pv = hull[pi] * 3; + int cv = hull[i] * 3; + int nv = hull[ni] * 3; + float d = vdist2(verts, pv, cv) + vdist2(verts, cv, nv) + vdist2(verts, nv, pv); + if (d < dmin) { + start = i; + left = ni; + right = pi; + dmin = d; + } + } + + // Add first triangle + tris.Add(hull[start]); + tris.Add(hull[left]); + tris.Add(hull[right]); + tris.Add(0); + + // Triangulate the polygon by moving left or right, + // depending on which triangle has shorter perimeter. + // This heuristic was chose emprically, since it seems + // handle tesselated straight edges well. + while (RecastMesh.next(left, nhull) != right) { + // Check to see if se should advance left or right. + int nleft = RecastMesh.next(left, nhull); + int nright = RecastMesh.prev(right, nhull); + + int cvleft = hull[left] * 3; + int nvleft = hull[nleft] * 3; + int cvright = hull[right] * 3; + int nvright = hull[nright] * 3; + float dleft = vdist2(verts, cvleft, nvleft) + vdist2(verts, nvleft, cvright); + float dright = vdist2(verts, cvright, nvright) + vdist2(verts, cvleft, nvright); + + if (dleft < dright) { + tris.Add(hull[left]); + tris.Add(hull[nleft]); + tris.Add(hull[right]); + tris.Add(0); + left = nleft; + } else { + tris.Add(hull[left]); + tris.Add(hull[nright]); + tris.Add(hull[right]); + tris.Add(0); + right = nright; + } + } + } + + private static float getJitterX(int i) { + return (((i * 0x8da6b343) & 0xffff) / 65535.0f * 2.0f) - 1.0f; + } + + private static float getJitterY(int i) { + return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f; + } + + static int buildPolyDetail(Telemetry ctx, float[] @in, int nin, float sampleDist, float sampleMaxError, + int heightSearchRadius, CompactHeightfield chf, HeightPatch hp, float[] verts, List tris) { + + List samples = new(512); + + int nverts = 0; + float[] edge = new float[(MAX_VERTS_PER_EDGE + 1) * 3]; + int[] hull = new int[MAX_VERTS]; + int nhull = 0; + + nverts = nin; + + for (int i = 0; i < nin; ++i) { + RecastVectors.copy(verts, i * 3, @in, i * 3); + } + tris.Clear(); + + float cs = chf.cs; + float ics = 1.0f / cs; + + // Calculate minimum extents of the polygon based on input data. + float minExtent = polyMinExtent(verts, nverts); + + // Tessellate outlines. + // This is done in separate pass in order to ensure + // seamless height values across the ply boundaries. + if (sampleDist > 0) { + for (int i = 0, j = nin - 1; i < nin; j = i++) { + int vj = j * 3; + int vi = i * 3; + bool swapped = false; + // Make sure the segments are always handled in same order + // using lexological sort or else there will be seams. + if (Math.Abs(@in[vj + 0] - @in[vi + 0]) < 1e-6f) { + if (@in[vj + 2] > @in[vi + 2]) { + int temp = vi; + vi = vj; + vj = temp; + swapped = true; + } + } else { + if (@in[vj + 0] > @in[vi + 0]) { + int temp = vi; + vi = vj; + vj = temp; + swapped = true; + } + } + // Create samples along the edge. + float dx = @in[vi + 0] - @in[vj + 0]; + float dy = @in[vi + 1] - @in[vj + 1]; + float dz = @in[vi + 2] - @in[vj + 2]; + float d = (float) Math.Sqrt(dx * dx + dz * dz); + int nn = 1 + (int) Math.Floor(d / sampleDist); + if (nn >= MAX_VERTS_PER_EDGE) { + nn = MAX_VERTS_PER_EDGE - 1; + } + if (nverts + nn >= MAX_VERTS) { + nn = MAX_VERTS - 1 - nverts; + } + + for (int k = 0; k <= nn; ++k) { + float u = (float) k / (float) nn; + int pos = k * 3; + edge[pos + 0] = @in[vj + 0] + dx * u; + edge[pos + 1] = @in[vj + 1] + dy * u; + edge[pos + 2] = @in[vj + 2] + dz * u; + edge[pos + 1] = getHeight(edge[pos + 0], edge[pos + 1], edge[pos + 2], cs, ics, chf.ch, + heightSearchRadius, hp) * chf.ch; + } + // Simplify samples. + int[] idx = new int[MAX_VERTS_PER_EDGE]; + idx[0] = 0; + idx[1] = nn; + int nidx = 2; + for (int k = 0; k < nidx - 1;) { + int a = idx[k]; + int b = idx[k + 1]; + int va = a * 3; + int vb = b * 3; + // Find maximum deviation along the segment. + float maxd = 0; + int maxi = -1; + for (int m = a + 1; m < b; ++m) { + float dev = distancePtSeg(edge, m * 3, va, vb); + if (dev > maxd) { + maxd = dev; + maxi = m; + } + } + // If the max deviation is larger than accepted error, + // add new point, else continue to next segment. + if (maxi != -1 && maxd > sampleMaxError * sampleMaxError) { + for (int m = nidx; m > k; --m) { + idx[m] = idx[m - 1]; + } + idx[k + 1] = maxi; + nidx++; + } else { + ++k; + } + } + + hull[nhull++] = j; + // Add new vertices. + if (swapped) { + for (int k = nidx - 2; k > 0; --k) { + RecastVectors.copy(verts, nverts * 3, edge, idx[k] * 3); + hull[nhull++] = nverts; + nverts++; + } + } else { + for (int k = 1; k < nidx - 1; ++k) { + RecastVectors.copy(verts, nverts * 3, edge, idx[k] * 3); + hull[nhull++] = nverts; + nverts++; + } + } + } + } + + // If the polygon minimum extent is small (sliver or small triangle), do not try to add internal points. + if (minExtent < sampleDist * 2) { + triangulateHull(nverts, verts, nhull, hull, nin, tris); + return nverts; + } + + // Tessellate the base mesh. + // We're using the triangulateHull instead of delaunayHull as it tends to + // create a bit better triangulation for long thin triangles when there + // are no internal points. + triangulateHull(nverts, verts, nhull, hull, nin, tris); + + if (tris.Count == 0) { + // Could not triangulate the poly, make sure there is some valid data there. + throw new Exception("buildPolyDetail: Could not triangulate polygon (" + nverts + ") verts)."); + } + + if (sampleDist > 0) { + // Create sample locations in a grid. + float[] bmin = new float[3]; + float[] bmax = new float[3]; + RecastVectors.copy(bmin, @in, 0); + RecastVectors.copy(bmax, @in, 0); + for (int i = 1; i < nin; ++i) { + RecastVectors.min(bmin, @in, i * 3); + RecastVectors.max(bmax, @in, i * 3); + } + int x0 = (int) Math.Floor(bmin[0] / sampleDist); + int x1 = (int) Math.Ceiling(bmax[0] / sampleDist); + int z0 = (int) Math.Floor(bmin[2] / sampleDist); + int z1 = (int) Math.Ceiling(bmax[2] / sampleDist); + samples.Clear(); + for (int z = z0; z < z1; ++z) { + for (int x = x0; x < x1; ++x) { + float[] pt = new float[3]; + pt[0] = x * sampleDist; + pt[1] = (bmax[1] + bmin[1]) * 0.5f; + pt[2] = z * sampleDist; + // Make sure the samples are not too close to the edges. + if (distToPoly(nin, @in, pt) > -sampleDist / 2) { + continue; + } + samples.Add(x); + samples.Add(getHeight(pt[0], pt[1], pt[2], cs, ics, chf.ch, heightSearchRadius, hp)); + samples.Add(z); + samples.Add(0); // Not added + } + } + + // Add the samples starting from the one that has the most + // error. The procedure stops when all samples are added + // or when the max error is within treshold. + int nsamples = samples.Count / 4; + for (int iter = 0; iter < nsamples; ++iter) { + if (nverts >= MAX_VERTS) { + break; + } + + // Find sample with most error. + float[] bestpt = new float[3]; + float bestd = 0; + int besti = -1; + for (int i = 0; i < nsamples; ++i) { + int s = i * 4; + if (samples[s + 3] != 0) { + continue; // skip added. + } + float[] pt = new float[3]; + // The sample location is jittered to get rid of some bad triangulations + // which are cause by symmetrical data from the grid structure. + pt[0] = samples[s + 0] * sampleDist + getJitterX(i) * cs * 0.1f; + pt[1] = samples[s + 1] * chf.ch; + pt[2] = samples[s + 2] * sampleDist + getJitterY(i) * cs * 0.1f; + float d = distToTriMesh(pt, verts, nverts, tris, tris.Count / 4); + if (d < 0) { + continue; // did not hit the mesh. + } + if (d > bestd) { + bestd = d; + besti = i; + bestpt = pt; + } + } + // If the max error is within accepted threshold, stop tesselating. + if (bestd <= sampleMaxError || besti == -1) { + break; + } + // Mark sample as added. + samples[besti * 4 + 3] = 1; + // Add the new sample point. + RecastVectors.copy(verts, nverts * 3, bestpt, 0); + nverts++; + + // Create new triangulation. + // TODO: Incremental add instead of full rebuild. + delaunayHull(ctx, nverts, verts, nhull, hull, tris); + } + } + + int ntris = tris.Count / 4; + if (ntris > MAX_TRIS) { + List subList = tris.GetRange(0, MAX_TRIS * 4); + tris.Clear(); + tris.AddRange(subList); + throw new Exception( + "rcBuildPolyMeshDetail: Shrinking triangle count from " + ntris + " to max " + MAX_TRIS); + } + return nverts; + } + + static void seedArrayWithPolyCenter(Telemetry ctx, CompactHeightfield chf, int[] meshpoly, int poly, int npoly, + int[] verts, int bs, HeightPatch hp, List array) { + // Note: Reads to the compact heightfield are offset by border size (bs) + // since border size offset is already removed from the polymesh vertices. + + int[] offset = { 0, 0, -1, -1, 0, -1, 1, -1, 1, 0, 1, 1, 0, 1, -1, 1, -1, 0, }; + + // Find cell closest to a poly vertex + int startCellX = 0, startCellY = 0, startSpanIndex = -1; + int dmin = RC_UNSET_HEIGHT; + for (int j = 0; j < npoly && dmin > 0; ++j) { + for (int k = 0; k < 9 && dmin > 0; ++k) { + int ax = verts[meshpoly[poly + j] * 3 + 0] + offset[k * 2 + 0]; + int ay = verts[meshpoly[poly + j] * 3 + 1]; + int az = verts[meshpoly[poly + j] * 3 + 2] + offset[k * 2 + 1]; + if (ax < hp.xmin || ax >= hp.xmin + hp.width || az < hp.ymin || az >= hp.ymin + hp.height) { + continue; + } + + CompactCell c = chf.cells[(ax + bs) + (az + bs) * chf.width]; + for (int i = c.index, ni = c.index + c.count; i < ni && dmin > 0; ++i) { + CompactSpan s = chf.spans[i]; + int d = Math.Abs(ay - s.y); + if (d < dmin) { + startCellX = ax; + startCellY = az; + startSpanIndex = i; + dmin = d; + } + } + } + } + + // Find center of the polygon + int pcx = 0, pcy = 0; + for (int j = 0; j < npoly; ++j) { + pcx += verts[meshpoly[poly + j] * 3 + 0]; + pcy += verts[meshpoly[poly + j] * 3 + 2]; + } + pcx /= npoly; + pcy /= npoly; + + array.Clear(); + array.Add(startCellX); + array.Add(startCellY); + array.Add(startSpanIndex); + int[] dirs = { 0, 1, 2, 3 }; + Array.Fill(hp.data, 0, 0, (hp.width * hp.height) - (0)); + // DFS to move to the center. Note that we need a DFS here and can not just move + // directly towards the center without recording intermediate nodes, even though the polygons + // are convex. In very rare we can get stuck due to contour simplification if we do not + // record nodes. + int cx = -1, cy = -1, ci = -1; + while (true) { + if (array.Count < 3) { + ctx.warn("Walk towards polygon center failed to reach center"); + break; + } + ci = array[array.Count - 1]; + array.RemoveAt(array.Count - 1); + + cy = array[array.Count - 1]; + array.RemoveAt(array.Count - 1); + + cx = array[array.Count - 1]; + array.RemoveAt(array.Count - 1); + + // Check if close to center of the polygon. + if (cx == pcx && cy == pcy) { + break; + } + // If we are already at the correct X-position, prefer direction + // directly towards the center in the Y-axis; otherwise prefer + // direction in the X-axis + int directDir; + if (cx == pcx) { + directDir = rcGetDirForOffset(0, pcy > cy ? 1 : -1); + } else { + directDir = rcGetDirForOffset(pcx > cx ? 1 : -1, 0); + } + + // Push the direct dir last so we start with this on next iteration + int tmp = dirs[3]; + dirs[3] = dirs[directDir]; + dirs[directDir] = tmp; + + CompactSpan cs = chf.spans[ci]; + + for (int i = 0; i < 4; ++i) { + int dir = dirs[i]; + if (GetCon(cs, dir) == RC_NOT_CONNECTED) { + continue; + } + + int newX = cx + GetDirOffsetX(dir); + int newY = cy + GetDirOffsetY(dir); + + int hpx = newX - hp.xmin; + int hpy = newY - hp.ymin; + if (hpx < 0 || hpx >= hp.width || hpy < 0 || hpy >= hp.height) { + continue; + } + if (hp.data[hpx + hpy * hp.width] != 0) { + continue; + } + + hp.data[hpx + hpy * hp.width] = 1; + + array.Add(newX); + array.Add(newY); + array.Add(chf.cells[(newX + bs) + (newY + bs) * chf.width].index + GetCon(cs, dir)); + } + + tmp = dirs[3]; + dirs[3] = dirs[directDir]; + dirs[directDir] = tmp; + + } + + array.Clear(); + // getHeightData seeds are given in coordinates with borders + array.Add(cx + bs); + array.Add(cy + bs); + array.Add(ci); + Array.Fill(hp.data, RC_UNSET_HEIGHT, 0, (hp.width * hp.height) - (0)); + CompactSpan cs2 = chf.spans[ci]; + hp.data[cx - hp.xmin + (cy - hp.ymin) * hp.width] = cs2.y; + } + + const int RETRACT_SIZE = 256; + + static void push3(List queue, int v1, int v2, int v3) { + queue.Add(v1); + queue.Add(v2); + queue.Add(v3); + } + + static void getHeightData(Telemetry ctx, CompactHeightfield chf, int[] meshpolys, int poly, int npoly, int[] verts, + int bs, HeightPatch hp, int region) { + // Note: Reads to the compact heightfield are offset by border size (bs) + // since border size offset is already removed from the polymesh vertices. + + List queue = new(512); + Array.Fill(hp.data, RC_UNSET_HEIGHT, 0, (hp.width * hp.height) - (0)); + + bool empty = true; + + // We cannot sample from this poly if it was created from polys + // of different regions. If it was then it could potentially be overlapping + // with polys of that region and the heights sampled here could be wrong. + if (region != RC_MULTIPLE_REGS) { + // Copy the height from the same region, and mark region borders + // as seed points to fill the rest. + for (int hy = 0; hy < hp.height; hy++) { + int y = hp.ymin + hy + bs; + for (int hx = 0; hx < hp.width; hx++) { + int x = hp.xmin + hx + bs; + CompactCell c = chf.cells[x + y * chf.width]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + if (s.reg == region) { + // Store height + hp.data[hx + hy * hp.width] = s.y; + empty = false; + // If any of the neighbours is not in same region, + // add the current location as flood fill start + bool border = false; + for (int dir = 0; dir < 4; ++dir) { + if (GetCon(s, dir) != RC_NOT_CONNECTED) { + int ax = x + GetDirOffsetX(dir); + int ay = y + GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * chf.width].index + GetCon(s, dir); + CompactSpan @as = chf.spans[ai]; + if (@as.reg != region) { + border = true; + break; + } + } + } + if (border) { + push3(queue, x, y, i); + } + break; + } + } + } + } + } + + // if the polygon does not contain any points from the current region (rare, but happens) + // or if it could potentially be overlapping polygons of the same region, + // then use the center as the seed point. + if (empty) { + seedArrayWithPolyCenter(ctx, chf, meshpolys, poly, npoly, verts, bs, hp, queue); + } + + int head = 0; + + // We assume the seed is centered in the polygon, so a BFS to collect + // height data will ensure we do not move onto overlapping polygons and + // sample wrong heights. + while (head * 3 < queue.Count) { + int cx = queue[head * 3 + 0]; + int cy = queue[head * 3 + 1]; + int ci = queue[head * 3 + 2]; + head++; + if (head >= RETRACT_SIZE) { + head = 0; + queue = queue.GetRange(RETRACT_SIZE * 3, queue.Count - (RETRACT_SIZE * 3)); + } + + CompactSpan cs = chf.spans[ci]; + for (int dir = 0; dir < 4; ++dir) { + if (GetCon(cs, dir) == RC_NOT_CONNECTED) { + continue; + } + + int ax = cx + GetDirOffsetX(dir); + int ay = cy + GetDirOffsetY(dir); + int hx = ax - hp.xmin - bs; + int hy = ay - hp.ymin - bs; + + if (hx < 0 || hx >= hp.width || hy < 0 || hy >= hp.height) { + continue; + } + + if (hp.data[hx + hy * hp.width] != RC_UNSET_HEIGHT) { + continue; + } + + int ai = chf.cells[ax + ay * chf.width].index + GetCon(cs, dir); + CompactSpan @as = chf.spans[ai]; + + hp.data[hx + hy * hp.width] = @as.y; + push3(queue, ax, ay, ai); + } + } + } + + static int getEdgeFlags(float[] verts, int va, int vb, float[] vpoly, int npoly) { + // The flag returned by this function matches getDetailTriEdgeFlags in Detour. + // Figure out if edge (va,vb) is part of the polygon boundary. + float thrSqr = 0.001f * 0.001f; + for (int i = 0, j = npoly - 1; i < npoly; j = i++) { + if (distancePtSeg2d(verts, va, vpoly, j * 3, i * 3) < thrSqr + && distancePtSeg2d(verts, vb, vpoly, j * 3, i * 3) < thrSqr) { + return 1; + } + } + return 0; + } + + static int getTriFlags(float[] verts, int va, int vb, int vc, float[] vpoly, int npoly) { + int flags = 0; + flags |= getEdgeFlags(verts, va, vb, vpoly, npoly) << 0; + flags |= getEdgeFlags(verts, vb, vc, vpoly, npoly) << 2; + flags |= getEdgeFlags(verts, vc, va, vpoly, npoly) << 4; + return flags; + } + + /// @par + /// + /// See the #rcConfig documentation for more information on the configuration parameters. + /// + /// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig + public static PolyMeshDetail buildPolyMeshDetail(Telemetry ctx, PolyMesh mesh, CompactHeightfield chf, + float sampleDist, float sampleMaxError) { + + ctx.startTimer("POLYMESHDETAIL"); + if (mesh.nverts == 0 || mesh.npolys == 0) { + return null; + } + + PolyMeshDetail dmesh = new PolyMeshDetail(); + int nvp = mesh.nvp; + float cs = mesh.cs; + float ch = mesh.ch; + float[] orig = mesh.bmin; + int borderSize = mesh.borderSize; + int heightSearchRadius = (int) Math.Max(1, Math.Ceiling(mesh.maxEdgeError)); + + List tris = new(512); + float[] verts = new float[256 * 3]; + HeightPatch hp = new HeightPatch(); + int nPolyVerts = 0; + int maxhw = 0, maxhh = 0; + + int[] bounds = new int[mesh.npolys * 4]; + float[] poly = new float[nvp * 3]; + + // Find max size for a polygon area. + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * nvp * 2; + bounds[i * 4 + 0] = chf.width; + bounds[i * 4 + 1] = 0; + bounds[i * 4 + 2] = chf.height; + bounds[i * 4 + 3] = 0; + for (int j = 0; j < nvp; ++j) { + if (mesh.polys[p + j] == RC_MESH_NULL_IDX) { + break; + } + int v = mesh.polys[p + j] * 3; + bounds[i * 4 + 0] = Math.Min(bounds[i * 4 + 0], mesh.verts[v + 0]); + bounds[i * 4 + 1] = Math.Max(bounds[i * 4 + 1], mesh.verts[v + 0]); + bounds[i * 4 + 2] = Math.Min(bounds[i * 4 + 2], mesh.verts[v + 2]); + bounds[i * 4 + 3] = Math.Max(bounds[i * 4 + 3], mesh.verts[v + 2]); + nPolyVerts++; + } + bounds[i * 4 + 0] = Math.Max(0, bounds[i * 4 + 0] - 1); + bounds[i * 4 + 1] = Math.Min(chf.width, bounds[i * 4 + 1] + 1); + bounds[i * 4 + 2] = Math.Max(0, bounds[i * 4 + 2] - 1); + bounds[i * 4 + 3] = Math.Min(chf.height, bounds[i * 4 + 3] + 1); + if (bounds[i * 4 + 0] >= bounds[i * 4 + 1] || bounds[i * 4 + 2] >= bounds[i * 4 + 3]) { + continue; + } + maxhw = Math.Max(maxhw, bounds[i * 4 + 1] - bounds[i * 4 + 0]); + maxhh = Math.Max(maxhh, bounds[i * 4 + 3] - bounds[i * 4 + 2]); + } + hp.data = new int[maxhw * maxhh]; + + dmesh.nmeshes = mesh.npolys; + dmesh.nverts = 0; + dmesh.ntris = 0; + dmesh.meshes = new int[dmesh.nmeshes * 4]; + + int vcap = nPolyVerts + nPolyVerts / 2; + int tcap = vcap * 2; + + dmesh.nverts = 0; + dmesh.verts = new float[vcap * 3]; + dmesh.ntris = 0; + dmesh.tris = new int[tcap * 4]; + + for (int i = 0; i < mesh.npolys; ++i) { + int p = i * nvp * 2; + + // Store polygon vertices for processing. + int npoly = 0; + for (int j = 0; j < nvp; ++j) { + if (mesh.polys[p + j] == RC_MESH_NULL_IDX) { + break; + } + int v = mesh.polys[p + j] * 3; + poly[j * 3 + 0] = mesh.verts[v + 0] * cs; + poly[j * 3 + 1] = mesh.verts[v + 1] * ch; + poly[j * 3 + 2] = mesh.verts[v + 2] * cs; + npoly++; + } + + // Get the height data from the area of the polygon. + hp.xmin = bounds[i * 4 + 0]; + hp.ymin = bounds[i * 4 + 2]; + hp.width = bounds[i * 4 + 1] - bounds[i * 4 + 0]; + hp.height = bounds[i * 4 + 3] - bounds[i * 4 + 2]; + getHeightData(ctx, chf, mesh.polys, p, npoly, mesh.verts, borderSize, hp, mesh.regs[i]); + + // Build detail mesh. + int nverts = buildPolyDetail(ctx, poly, npoly, sampleDist, sampleMaxError, heightSearchRadius, chf, hp, + verts, tris); + + // Move detail verts to world space. + for (int j = 0; j < nverts; ++j) { + verts[j * 3 + 0] += orig[0]; + verts[j * 3 + 1] += orig[1] + chf.ch; // Is this offset necessary? See + // https://groups.google.com/d/msg/recastnavigation/UQFN6BGCcV0/-1Ny4koOBpkJ + verts[j * 3 + 2] += orig[2]; + } + // Offset poly too, will be used to flag checking. + for (int j = 0; j < npoly; ++j) { + poly[j * 3 + 0] += orig[0]; + poly[j * 3 + 1] += orig[1]; + poly[j * 3 + 2] += orig[2]; + } + + // Store detail submesh. + int ntris = tris.Count / 4; + + dmesh.meshes[i * 4 + 0] = dmesh.nverts; + dmesh.meshes[i * 4 + 1] = nverts; + dmesh.meshes[i * 4 + 2] = dmesh.ntris; + dmesh.meshes[i * 4 + 3] = ntris; + + // Store vertices, allocate more memory if necessary. + if (dmesh.nverts + nverts > vcap) { + while (dmesh.nverts + nverts > vcap) { + vcap += 256; + } + + float[] newv = new float[vcap * 3]; + if (dmesh.nverts != 0) { + Array.Copy(dmesh.verts, 0, newv, 0, 3 * dmesh.nverts); + } + dmesh.verts = newv; + } + for (int j = 0; j < nverts; ++j) { + dmesh.verts[dmesh.nverts * 3 + 0] = verts[j * 3 + 0]; + dmesh.verts[dmesh.nverts * 3 + 1] = verts[j * 3 + 1]; + dmesh.verts[dmesh.nverts * 3 + 2] = verts[j * 3 + 2]; + dmesh.nverts++; + } + + // Store triangles, allocate more memory if necessary. + if (dmesh.ntris + ntris > tcap) { + while (dmesh.ntris + ntris > tcap) { + tcap += 256; + } + int[] newt = new int[tcap * 4]; + if (dmesh.ntris != 0) { + Array.Copy(dmesh.tris, 0, newt, 0, 4 * dmesh.ntris); + } + dmesh.tris = newt; + } + for (int j = 0; j < ntris; ++j) { + int t = j * 4; + dmesh.tris[dmesh.ntris * 4 + 0] = tris[t + 0]; + dmesh.tris[dmesh.ntris * 4 + 1] = tris[t + 1]; + dmesh.tris[dmesh.ntris * 4 + 2] = tris[t + 2]; + dmesh.tris[dmesh.ntris * 4 + 3] = getTriFlags(verts, tris[t + 0] * 3, tris[t + 1] * 3, + tris[t + 2] * 3, poly, npoly); + dmesh.ntris++; + } + } + + ctx.stopTimer("POLYMESHDETAIL"); + return dmesh; + + } + + /// @see rcAllocPolyMeshDetail, rcPolyMeshDetail + PolyMeshDetail mergePolyMeshDetails(Telemetry ctx, PolyMeshDetail[] meshes, int nmeshes) { + PolyMeshDetail mesh = new PolyMeshDetail(); + + ctx.startTimer("MERGE_POLYMESHDETAIL"); + + int maxVerts = 0; + int maxTris = 0; + int maxMeshes = 0; + + for (int i = 0; i < nmeshes; ++i) { + if (meshes[i] == null) { + continue; + } + maxVerts += meshes[i].nverts; + maxTris += meshes[i].ntris; + maxMeshes += meshes[i].nmeshes; + } + + mesh.nmeshes = 0; + mesh.meshes = new int[maxMeshes * 4]; + mesh.ntris = 0; + mesh.tris = new int[maxTris * 4]; + mesh.nverts = 0; + mesh.verts = new float[maxVerts * 3]; + + // Merge datas. + for (int i = 0; i < nmeshes; ++i) { + PolyMeshDetail dm = meshes[i]; + if (dm == null) { + continue; + } + for (int j = 0; j < dm.nmeshes; ++j) { + int dst = mesh.nmeshes * 4; + int src = j * 4; + mesh.meshes[dst + 0] = mesh.nverts + dm.meshes[src + 0]; + mesh.meshes[dst + 1] = dm.meshes[src + 1]; + mesh.meshes[dst + 2] = mesh.ntris + dm.meshes[src + 2]; + mesh.meshes[dst + 3] = dm.meshes[src + 3]; + mesh.nmeshes++; + } + + for (int k = 0; k < dm.nverts; ++k) { + RecastVectors.copy(mesh.verts, mesh.nverts * 3, dm.verts, k * 3); + mesh.nverts++; + } + for (int k = 0; k < dm.ntris; ++k) { + mesh.tris[mesh.ntris * 4 + 0] = dm.tris[k * 4 + 0]; + mesh.tris[mesh.ntris * 4 + 1] = dm.tris[k * 4 + 1]; + mesh.tris[mesh.ntris * 4 + 2] = dm.tris[k * 4 + 2]; + mesh.tris[mesh.ntris * 4 + 3] = dm.tris[k * 4 + 3]; + mesh.ntris++; + } + } + ctx.stopTimer("MERGE_POLYMESHDETAIL"); + return mesh; + } + +} diff --git a/src/DotRecast.Recast/RecastRasterization.cs b/src/DotRecast.Recast/RecastRasterization.cs new file mode 100644 index 0000000..2e32cfe --- /dev/null +++ b/src/DotRecast.Recast/RecastRasterization.cs @@ -0,0 +1,483 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Recast; + +using static RecastConstants; + +public class RecastRasterization +{ + /** + * Check whether two bounding boxes overlap + * + * @param amin + * Min axis extents of bounding box A + * @param amax + * Max axis extents of bounding box A + * @param bmin + * Min axis extents of bounding box B + * @param bmax + * Max axis extents of bounding box B + * @returns true if the two bounding boxes overlap. False otherwise + */ + private static bool overlapBounds(float[] amin, float[] amax, float[] bmin, float[] bmax) + { + bool overlap = true; + overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; + overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; + overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; + return overlap; + } + + /** + * Adds a span to the heightfield. If the new span overlaps existing spans, it will merge the new span with the + * existing ones. The span addition can be set to favor flags. If the span is merged to another span and the new + * spanMax is within flagMergeThreshold units from the existing span, the span flags are merged. + * + * @param heightfield + * An initialized heightfield. + * @param x + * The width index where the span is to be added. [Limits: 0 <= value < Heightfield::width] + * @param y + * The height index where the span is to be added. [Limits: 0 <= value < Heightfield::height] + * @param spanMin + * The minimum height of the span. [Limit: < spanMax] [Units: vx] + * @param spanMax + * The minimum height of the span. [Limit: <= RecastConstants.SPAN_MAX_HEIGHT] [Units: vx] + * @param areaId + * The area id of the span. [Limit: <= WALKABLE_AREA) + * @param flagMergeThreshold + * The merge theshold. [Limit: >= 0] [Units: vx] + * @see Heightfield, Span. + */ + public static void addSpan(Heightfield heightfield, int x, int y, int spanMin, int spanMax, int areaId, + int flagMergeThreshold) + { + int idx = x + y * heightfield.width; + + Span s = new Span(); + s.smin = spanMin; + s.smax = spanMax; + s.area = areaId; + s.next = null; + + // Empty cell, add the first span. + if (heightfield.spans[idx] == null) + { + heightfield.spans[idx] = s; + return; + } + + Span prev = null; + Span cur = heightfield.spans[idx]; + + // Insert and merge spans. + while (cur != null) + { + if (cur.smin > s.smax) + { + // Current span is further than the new span, break. + break; + } + else if (cur.smax < s.smin) + { + // Current span is before the new span advance. + prev = cur; + cur = cur.next; + } + else + { + // Merge spans. + if (cur.smin < s.smin) + s.smin = cur.smin; + if (cur.smax > s.smax) + s.smax = cur.smax; + + // Merge flags. + if (Math.Abs(s.smax - cur.smax) <= flagMergeThreshold) + s.area = Math.Max(s.area, cur.area); + + // Remove current span. + Span next = cur.next; + if (prev != null) + prev.next = next; + else + heightfield.spans[idx] = next; + cur = next; + } + } + + // Insert new span. + if (prev != null) + { + s.next = prev.next; + prev.next = s; + } + else + { + s.next = heightfield.spans[idx]; + heightfield.spans[idx] = s; + } + } + + /** + * Divides a convex polygon of max 12 vertices into two convex polygons across a separating axis. + * + * @param inVerts + * The input polygon vertices + * @param inVertsOffset + * The offset of the first polygon vertex + * @param inVertsCount + * The number of input polygon vertices + * @param outVerts1 + * The offset of the resulting polygon 1's vertices + * @param outVerts2 + * The offset of the resulting polygon 2's vertices + * @param axisOffset + * The offset along the specified axis + * @param axis + * The separating axis + * @return The number of resulting polygon 1 and polygon 2 vertices + */ + private static int[] dividePoly(float[] inVerts, int inVertsOffset, int inVertsCount, int outVerts1, int outVerts2, float axisOffset, + int axis) + { + float[] d = new float[12]; + for (int i = 0; i < inVertsCount; ++i) + d[i] = axisOffset - inVerts[inVertsOffset + i * 3 + axis]; + + int m = 0, n = 0; + for (int i = 0, j = inVertsCount - 1; i < inVertsCount; j = i, ++i) + { + bool ina = d[j] >= 0; + bool inb = d[i] >= 0; + if (ina != inb) + { + float s = d[j] / (d[j] - d[i]); + inVerts[outVerts1 + m * 3 + 0] = inVerts[inVertsOffset + j * 3 + 0] + + (inVerts[inVertsOffset + i * 3 + 0] - inVerts[inVertsOffset + j * 3 + 0]) * s; + inVerts[outVerts1 + m * 3 + 1] = inVerts[inVertsOffset + j * 3 + 1] + + (inVerts[inVertsOffset + i * 3 + 1] - inVerts[inVertsOffset + j * 3 + 1]) * s; + inVerts[outVerts1 + m * 3 + 2] = inVerts[inVertsOffset + j * 3 + 2] + + (inVerts[inVertsOffset + i * 3 + 2] - inVerts[inVertsOffset + j * 3 + 2]) * s; + RecastVectors.copy(inVerts, outVerts2 + n * 3, inVerts, outVerts1 + m * 3); + m++; + n++; + // add the i'th point to the right polygon. Do NOT add points that are on the dividing line + // since these were already added above + if (d[i] > 0) + { + RecastVectors.copy(inVerts, outVerts1 + m * 3, inVerts, inVertsOffset + i * 3); + m++; + } + else if (d[i] < 0) + { + RecastVectors.copy(inVerts, outVerts2 + n * 3, inVerts, inVertsOffset + i * 3); + n++; + } + } + else // same side + { + // add the i'th point to the right polygon. Addition is done even for points on the dividing line + if (d[i] >= 0) + { + RecastVectors.copy(inVerts, outVerts1 + m * 3, inVerts, inVertsOffset + i * 3); + m++; + if (d[i] != 0) + continue; + } + + RecastVectors.copy(inVerts, outVerts2 + n * 3, inVerts, inVertsOffset + i * 3); + n++; + } + } + + return new int[] { m, n }; + } + + /** + * Rasterize a single triangle to the heightfield. This code is extremely hot, so much care should be given to + * maintaining maximum perf here. + * + * @param verts + * An array with vertex coordinates [(x, y, z) * N] + * @param v0 + * Index of triangle vertex 0, will be multiplied by 3 to get vertex coordinates + * @param v1 + * Triangle vertex 1 index + * @param v2 + * Triangle vertex 2 index + * @param area + * The area ID to assign to the rasterized spans + * @param hf + * Heightfield to rasterize into + * @param hfBBMin + * The min extents of the heightfield bounding box + * @param hfBBMax + * The max extents of the heightfield bounding box + * @param cellSize + * The x and z axis size of a voxel in the heightfield + * @param inverseCellSize + * 1 / cellSize + * @param inverseCellHeight + * 1 / cellHeight + * @param flagMergeThreshold + * The threshold in which area flags will be merged + */ + private static void rasterizeTri(float[] verts, int v0, int v1, int v2, int area, Heightfield hf, float[] hfBBMin, + float[] hfBBMax, float cellSize, float inverseCellSize, float inverseCellHeight, int flagMergeThreshold) + { + float[] tmin = new float[3]; + float[] tmax = new float[3]; + float by = hfBBMax[1] - hfBBMin[1]; + + // Calculate the bounding box of the triangle. + RecastVectors.copy(tmin, verts, v0 * 3); + RecastVectors.copy(tmax, verts, v0 * 3); + RecastVectors.min(tmin, verts, v1 * 3); + RecastVectors.min(tmin, verts, v2 * 3); + RecastVectors.max(tmax, verts, v1 * 3); + RecastVectors.max(tmax, verts, v2 * 3); + + // If the triangle does not touch the bbox of the heightfield, skip the triagle. + if (!overlapBounds(hfBBMin, hfBBMax, tmin, tmax)) + return; + + // Calculate the footprint of the triangle on the grid's y-axis + int z0 = (int)((tmin[2] - hfBBMin[2]) * inverseCellSize); + int z1 = (int)((tmax[2] - hfBBMin[2]) * inverseCellSize); + + int w = hf.width; + int h = hf.height; + // use -1 rather than 0 to cut the polygon properly at the start of the tile + z0 = RecastCommon.clamp(z0, -1, h - 1); + z1 = RecastCommon.clamp(z1, 0, h - 1); + + // Clip the triangle into all grid cells it touches. + float[] buf = new float[7 * 3 * 4]; + int @in = 0; + int inRow = 7 * 3; + int p1 = inRow + 7 * 3; + int p2 = p1 + 7 * 3; + + RecastVectors.copy(buf, 0, verts, v0 * 3); + RecastVectors.copy(buf, 3, verts, v1 * 3); + RecastVectors.copy(buf, 6, verts, v2 * 3); + int nvRow, nvIn = 3; + + for (int z = z0; z <= z1; ++z) + { + // Clip polygon to row. Store the remaining polygon as well + float cellZ = hfBBMin[2] + z * cellSize; + int[] nvrowin = dividePoly(buf, @in, nvIn, inRow, p1, cellZ + cellSize, 2); + nvRow = nvrowin[0]; + nvIn = nvrowin[1]; + { + int temp = @in; + @in = p1; + p1 = temp; + } + if (nvRow < 3) + continue; + + if (z < 0) + { + continue; + } + + // find the horizontal bounds in the row + float minX = buf[inRow], maxX = buf[inRow]; + for (int i = 1; i < nvRow; ++i) + { + float v = buf[inRow + i * 3]; + minX = Math.Min(minX, v); + maxX = Math.Max(maxX, v); + } + + int x0 = (int)((minX - hfBBMin[0]) * inverseCellSize); + int x1 = (int)((maxX - hfBBMin[0]) * inverseCellSize); + if (x1 < 0 || x0 >= w) + { + continue; + } + + x0 = RecastCommon.clamp(x0, -1, w - 1); + x1 = RecastCommon.clamp(x1, 0, w - 1); + + int nv, nv2 = nvRow; + for (int x = x0; x <= x1; ++x) + { + // Clip polygon to column. store the remaining polygon as well + float cx = hfBBMin[0] + x * cellSize; + int[] nvnv2 = dividePoly(buf, inRow, nv2, p1, p2, cx + cellSize, 0); + nv = nvnv2[0]; + nv2 = nvnv2[1]; + { + int temp = inRow; + inRow = p2; + p2 = temp; + } + if (nv < 3) + continue; + if (x < 0) + { + continue; + } + + // Calculate min and max of the span. + float spanMin = buf[p1 + 1]; + float spanMax = buf[p1 + 1]; + for (int i = 1; i < nv; ++i) + { + spanMin = Math.Min(spanMin, buf[p1 + i * 3 + 1]); + spanMax = Math.Max(spanMax, buf[p1 + i * 3 + 1]); + } + + spanMin -= hfBBMin[1]; + spanMax -= hfBBMin[1]; + // Skip the span if it is outside the heightfield bbox + if (spanMax < 0.0f) + continue; + if (spanMin > by) + continue; + // Clamp the span to the heightfield bbox. + if (spanMin < 0.0f) + spanMin = 0; + if (spanMax > by) + spanMax = by; + + // Snap the span to the heightfield height grid. + int spanMinCellIndex = RecastCommon.clamp((int)Math.Floor(spanMin * inverseCellHeight), 0, SPAN_MAX_HEIGHT); + int spanMaxCellIndex = RecastCommon.clamp((int)Math.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, SPAN_MAX_HEIGHT); + + addSpan(hf, x, z, spanMinCellIndex, spanMaxCellIndex, area, flagMergeThreshold); + } + } + } + + /** + * Rasterizes a single triangle into the specified heightfield. Calling this for each triangle in a mesh is less + * efficient than calling rasterizeTriangles. No spans will be added if the triangle does not overlap the + * heightfield grid. + * + * @param heightfield + * An initialized heightfield. + * @param verts + * An array with vertex coordinates [(x, y, z) * N] + * @param v0 + * Index of triangle vertex 0, will be multiplied by 3 to get vertex coordinates + * @param v1 + * Triangle vertex 1 index + * @param v2 + * Triangle vertex 2 index + * @param areaId + * The area id of the triangle. [Limit: <= WALKABLE_AREA) + * @param flagMergeThreshold + * The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx] + * @see Heightfield + */ + public static void rasterizeTriangle(Heightfield heightfield, float[] verts, int v0, int v1, int v2, int area, + int flagMergeThreshold, Telemetry ctx) + { + ctx.startTimer("RASTERIZE_TRIANGLES"); + + float inverseCellSize = 1.0f / heightfield.cs; + float inverseCellHeight = 1.0f / heightfield.ch; + rasterizeTri(verts, v0, v1, v2, area, heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, + inverseCellHeight, flagMergeThreshold); + + ctx.stopTimer("RASTERIZE_TRIANGLES"); + } + + /** + * Rasterizes an indexed triangle mesh into the specified heightfield. Spans will only be added for triangles that + * overlap the heightfield grid. + * + * @param heightfield + * An initialized heightfield. + * @param verts + * The vertices. [(x, y, z) * N] + * @param tris + * The triangle indices. [(vertA, vertB, vertC) * nt] + * @param areaIds + * The area id's of the triangles. [Limit: <= WALKABLE_AREA] [Size: numTris] + * @param numTris + * The number of triangles. + * @param flagMergeThreshold + * The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx] + * @see Heightfield + */ + public static void rasterizeTriangles(Heightfield heightfield, float[] verts, int[] tris, int[] areaIds, int numTris, + int flagMergeThreshold, Telemetry ctx) + { + ctx.startTimer("RASTERIZE_TRIANGLES"); + + float inverseCellSize = 1.0f / heightfield.cs; + float inverseCellHeight = 1.0f / heightfield.ch; + for (int triIndex = 0; triIndex < numTris; ++triIndex) + { + int v0 = tris[triIndex * 3 + 0]; + int v1 = tris[triIndex * 3 + 1]; + int v2 = tris[triIndex * 3 + 2]; + rasterizeTri(verts, v0, v1, v2, areaIds[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, + inverseCellSize, inverseCellHeight, flagMergeThreshold); + } + + ctx.stopTimer("RASTERIZE_TRIANGLES"); + } + + /** + * Rasterizes a triangle list into the specified heightfield. Expects each triangle to be specified as three + * sequential vertices of 3 floats. Spans will only be added for triangles that overlap the heightfield grid. + * + * @param heightfield + * An initialized heightfield. + * @param verts + * The vertices. [(x, y, z) * numVerts] + * @param areaIds + * The area id's of the triangles. [Limit: <= WALKABLE_AREA] [Size: numTris] + * @param tris + * The triangle indices. [(vertA, vertB, vertC) * nt] + * @param numTris + * The number of triangles. + * @param flagMergeThreshold + * The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx] + * @see Heightfield + */ + public static void rasterizeTriangles(Heightfield heightfield, float[] verts, int[] areaIds, int numTris, + int flagMergeThreshold, Telemetry ctx) + { + ctx.startTimer("RASTERIZE_TRIANGLES"); + + float inverseCellSize = 1.0f / heightfield.cs; + float inverseCellHeight = 1.0f / heightfield.ch; + for (int triIndex = 0; triIndex < numTris; ++triIndex) + { + int v0 = (triIndex * 3 + 0); + int v1 = (triIndex * 3 + 1); + int v2 = (triIndex * 3 + 2); + rasterizeTri(verts, v0, v1, v2, areaIds[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, + inverseCellSize, inverseCellHeight, flagMergeThreshold); + } + + ctx.stopTimer("RASTERIZE_TRIANGLES"); + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastRegion.cs b/src/DotRecast.Recast/RecastRegion.cs new file mode 100644 index 0000000..3d130b9 --- /dev/null +++ b/src/DotRecast.Recast/RecastRegion.cs @@ -0,0 +1,1618 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Linq; + +namespace DotRecast.Recast; + +using static RecastConstants; + +public class RecastRegion { + + const int RC_NULL_NEI = 0xffff; + + public class SweepSpan { + public int rid; // row id + public int id; // region id + public int ns; // number samples + public int nei; // neighbour id + } + + public static int calculateDistanceField(CompactHeightfield chf, int[] src) { + int maxDist; + int w = chf.width; + int h = chf.height; + + // Init distance and points. + for (int i = 0; i < chf.spanCount; ++i) { + src[i] = 0xffff; + } + + // Mark boundary cells. + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + int area = chf.areas[i]; + + int nc = 0; + for (int dir = 0; dir < 4; ++dir) { + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) { + int ax = x + RecastCommon.GetDirOffsetX(dir); + int ay = y + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, dir); + if (area == chf.areas[ai]) { + nc++; + } + } + } + if (nc != 4) { + src[i] = 0; + } + } + } + } + + // Pass 1 + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + + if (RecastCommon.GetCon(s, 0) != RC_NOT_CONNECTED) { + // (-1,0) + int ax = x + RecastCommon.GetDirOffsetX(0); + int ay = y + RecastCommon.GetDirOffsetY(0); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 0); + CompactSpan @as = chf.spans[ai]; + if (src[ai] + 2 < src[i]) { + src[i] = src[ai] + 2; + } + + // (-1,-1) + if (RecastCommon.GetCon(@as, 3) != RC_NOT_CONNECTED) { + int aax = ax + RecastCommon.GetDirOffsetX(3); + int aay = ay + RecastCommon.GetDirOffsetY(3); + int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 3); + if (src[aai] + 3 < src[i]) { + src[i] = src[aai] + 3; + } + } + } + if (RecastCommon.GetCon(s, 3) != RC_NOT_CONNECTED) { + // (0,-1) + int ax = x + RecastCommon.GetDirOffsetX(3); + int ay = y + RecastCommon.GetDirOffsetY(3); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 3); + CompactSpan @as = chf.spans[ai]; + if (src[ai] + 2 < src[i]) { + src[i] = src[ai] + 2; + } + + // (1,-1) + if (RecastCommon.GetCon(@as, 2) != RC_NOT_CONNECTED) { + int aax = ax + RecastCommon.GetDirOffsetX(2); + int aay = ay + RecastCommon.GetDirOffsetY(2); + int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 2); + if (src[aai] + 3 < src[i]) { + src[i] = src[aai] + 3; + } + } + } + } + } + } + + // Pass 2 + for (int y = h - 1; y >= 0; --y) { + for (int x = w - 1; x >= 0; --x) { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + + if (RecastCommon.GetCon(s, 2) != RC_NOT_CONNECTED) { + // (1,0) + int ax = x + RecastCommon.GetDirOffsetX(2); + int ay = y + RecastCommon.GetDirOffsetY(2); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 2); + CompactSpan @as = chf.spans[ai]; + if (src[ai] + 2 < src[i]) { + src[i] = src[ai] + 2; + } + + // (1,1) + if (RecastCommon.GetCon(@as, 1) != RC_NOT_CONNECTED) { + int aax = ax + RecastCommon.GetDirOffsetX(1); + int aay = ay + RecastCommon.GetDirOffsetY(1); + int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 1); + if (src[aai] + 3 < src[i]) { + src[i] = src[aai] + 3; + } + } + } + if (RecastCommon.GetCon(s, 1) != RC_NOT_CONNECTED) { + // (0,1) + int ax = x + RecastCommon.GetDirOffsetX(1); + int ay = y + RecastCommon.GetDirOffsetY(1); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 1); + CompactSpan @as = chf.spans[ai]; + if (src[ai] + 2 < src[i]) { + src[i] = src[ai] + 2; + } + + // (-1,1) + if (RecastCommon.GetCon(@as, 0) != RC_NOT_CONNECTED) { + int aax = ax + RecastCommon.GetDirOffsetX(0); + int aay = ay + RecastCommon.GetDirOffsetY(0); + int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 0); + if (src[aai] + 3 < src[i]) { + src[i] = src[aai] + 3; + } + } + } + } + } + } + + maxDist = 0; + for (int i = 0; i < chf.spanCount; ++i) { + maxDist = Math.Max(src[i], maxDist); + } + + return maxDist; + } + + private static int[] boxBlur(CompactHeightfield chf, int thr, int[] src) { + int w = chf.width; + int h = chf.height; + int[] dst = new int[chf.spanCount]; + + thr *= 2; + + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + int cd = src[i]; + if (cd <= thr) { + dst[i] = cd; + continue; + } + + int d = cd; + for (int dir = 0; dir < 4; ++dir) { + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) { + int ax = x + RecastCommon.GetDirOffsetX(dir); + int ay = y + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, dir); + d += src[ai]; + + CompactSpan @as = chf.spans[ai]; + int dir2 = (dir + 1) & 0x3; + if (RecastCommon.GetCon(@as, dir2) != RC_NOT_CONNECTED) { + int ax2 = ax + RecastCommon.GetDirOffsetX(dir2); + int ay2 = ay + RecastCommon.GetDirOffsetY(dir2); + int ai2 = chf.cells[ax2 + ay2 * w].index + RecastCommon.GetCon(@as, dir2); + d += src[ai2]; + } else { + d += cd; + } + } else { + d += cd * 2; + } + } + dst[i] = ((d + 5) / 9); + } + } + } + return dst; + } + + private static bool floodRegion(int x, int y, int i, int level, int r, CompactHeightfield chf, int[] srcReg, + int[] srcDist, List stack) { + int w = chf.width; + + int area = chf.areas[i]; + + // Flood fill mark region. + stack.Clear(); + stack.Add(x); + stack.Add(y); + stack.Add(i); + srcReg[i] = r; + srcDist[i] = 0; + + int lev = level >= 2 ? level - 2 : 0; + int count = 0; + + while (stack.Count > 0) + { + int ci = stack[^1]; + stack.RemoveAt(stack.Count - 1); + + int cy = stack[^1]; + stack.RemoveAt(stack.Count - 1); + + int cx = stack[^1]; + stack.RemoveAt(stack.Count - 1); + + + CompactSpan cs = chf.spans[ci]; + + // Check if any of the neighbours already have a valid region set. + int ar = 0; + for (int dir = 0; dir < 4; ++dir) { + // 8 connected + if (RecastCommon.GetCon(cs, dir) != RC_NOT_CONNECTED) { + int ax = cx + RecastCommon.GetDirOffsetX(dir); + int ay = cy + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(cs, dir); + if (chf.areas[ai] != area) { + continue; + } + int nr = srcReg[ai]; + if ((nr & RC_BORDER_REG) != 0) { + continue; + } + if (nr != 0 && nr != r) { + ar = nr; + break; + } + + CompactSpan @as = chf.spans[ai]; + + int dir2 = (dir + 1) & 0x3; + if (RecastCommon.GetCon(@as, dir2) != RC_NOT_CONNECTED) { + int ax2 = ax + RecastCommon.GetDirOffsetX(dir2); + int ay2 = ay + RecastCommon.GetDirOffsetY(dir2); + int ai2 = chf.cells[ax2 + ay2 * w].index + RecastCommon.GetCon(@as, dir2); + if (chf.areas[ai2] != area) { + continue; + } + int nr2 = srcReg[ai2]; + if (nr2 != 0 && nr2 != r) { + ar = nr2; + break; + } + } + } + } + if (ar != 0) { + srcReg[ci] = 0; + continue; + } + + count++; + + // Expand neighbours. + for (int dir = 0; dir < 4; ++dir) { + if (RecastCommon.GetCon(cs, dir) != RC_NOT_CONNECTED) { + int ax = cx + RecastCommon.GetDirOffsetX(dir); + int ay = cy + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(cs, dir); + if (chf.areas[ai] != area) { + continue; + } + if (chf.dist[ai] >= lev && srcReg[ai] == 0) { + srcReg[ai] = r; + srcDist[ai] = 0; + stack.Add(ax); + stack.Add(ay); + stack.Add(ai); + } + } + } + } + + return count > 0; + } + + private static int[] expandRegions(int maxIter, int level, CompactHeightfield chf, int[] srcReg, int[] srcDist, + List stack, bool fillStack) { + int w = chf.width; + int h = chf.height; + + if (fillStack) { + // Find cells revealed by the raised level. + stack.Clear(); + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + if (chf.dist[i] >= level && srcReg[i] == 0 && chf.areas[i] != RC_NULL_AREA) { + stack.Add(x); + stack.Add(y); + stack.Add(i); + } + } + } + } + } else // use cells in the input stack + { + // mark all cells which already have a region + for (int j = 0; j < stack.Count; j += 3) { + int i = stack[j + 2]; + if (srcReg[i] != 0) { + stack[j + 2] = -1; + } + } + } + + List dirtyEntries = new(); + int iter = 0; + while (stack.Count > 0) { + int failed = 0; + dirtyEntries.Clear(); + + for (int j = 0; j < stack.Count; j += 3) + { + int x = stack[j + 0]; + int y = stack[j + 1]; + int i = stack[j + 2]; + if (i < 0) { + failed++; + continue; + } + + int r = srcReg[i]; + int d2 = 0xffff; + int area = chf.areas[i]; + CompactSpan s = chf.spans[i]; + for (int dir = 0; dir < 4; ++dir) { + if (RecastCommon.GetCon(s, dir) == RC_NOT_CONNECTED) { + continue; + } + int ax = x + RecastCommon.GetDirOffsetX(dir); + int ay = y + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, dir); + if (chf.areas[ai] != area) { + continue; + } + if (srcReg[ai] > 0 && (srcReg[ai] & RC_BORDER_REG) == 0) { + if (srcDist[ai] + 2 < d2) { + r = srcReg[ai]; + d2 = srcDist[ai] + 2; + } + } + } + if (r != 0) { + stack[j + 2] = -1; // mark as used + dirtyEntries.Add(i); + dirtyEntries.Add(r); + dirtyEntries.Add(d2); + } else { + failed++; + } + } + + // Copy entries that differ between src and dst to keep them in sync. + for (int i = 0; i < dirtyEntries.Count; i += 3) { + int idx = dirtyEntries[i]; + srcReg[idx] = dirtyEntries[i + 1]; + srcDist[idx] = dirtyEntries[i + 2]; + } + + if (failed * 3 == stack.Count()) { + break; + } + + if (level > 0) { + ++iter; + if (iter >= maxIter) { + break; + } + } + } + + return srcReg; + } + + private static void sortCellsByLevel(int startLevel, CompactHeightfield chf, int[] srcReg, int nbStacks, + List> stacks, int loglevelsPerStack) // the levels per stack (2 in our case) as a bit shift + { + int w = chf.width; + int h = chf.height; + startLevel = startLevel >> loglevelsPerStack; + + for (int j = 0; j < nbStacks; ++j) { + stacks[j].Clear(); + } + + // put all cells in the level range into the appropriate stacks + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + if (chf.areas[i] == RC_NULL_AREA || srcReg[i] != 0) { + continue; + } + + int level = chf.dist[i] >> loglevelsPerStack; + int sId = startLevel - level; + if (sId >= nbStacks) { + continue; + } + if (sId < 0) { + sId = 0; + } + + stacks[sId].Add(x); + stacks[sId].Add(y); + stacks[sId].Add(i); + } + } + } + } + + private static void appendStacks(List srcStack, List dstStack, int[] srcReg) { + for (int j = 0; j < srcStack.Count; j += 3) { + int i = srcStack[j + 2]; + if ((i < 0) || (srcReg[i] != 0)) { + continue; + } + dstStack.Add(srcStack[j]); + dstStack.Add(srcStack[j + 1]); + dstStack.Add(srcStack[j + 2]); + } + } + + private class Region { + public int spanCount; // Number of spans belonging to this region + public int id; // ID of the region + public int areaType; // Are type. + public bool remap; + public bool visited; + public bool overlap; + public bool connectsToBorder; + public int ymin, ymax; + public List connections; + public List floors; + + public Region(int i) { + id = i; + ymin = 0xFFFF; + connections = new(); + floors = new(); + } + + } + + private static void removeAdjacentNeighbours(Region reg) { + // Remove adjacent duplicates. + for (int i = 0; i < reg.connections.Count && reg.connections.Count > 1;) { + int ni = (i + 1) % reg.connections.Count; + if (reg.connections[i] == reg.connections[ni]) { + reg.connections.RemoveAt(i); + } else { + ++i; + } + } + } + + private static void replaceNeighbour(Region reg, int oldId, int newId) { + bool neiChanged = false; + for (int i = 0; i < reg.connections.Count; ++i) { + if (reg.connections[i] == oldId) + { + reg.connections[i] = newId; + neiChanged = true; + } + } + for (int i = 0; i < reg.floors.Count; ++i) { + if (reg.floors[i] == oldId) + { + reg.floors[i] = newId; + } + } + if (neiChanged) { + removeAdjacentNeighbours(reg); + } + } + + private static bool canMergeWithRegion(Region rega, Region regb) { + if (rega.areaType != regb.areaType) { + return false; + } + int n = 0; + for (int i = 0; i < rega.connections.Count; ++i) { + if (rega.connections[i] == regb.id) { + n++; + } + } + if (n > 1) { + return false; + } + for (int i = 0; i < rega.floors.Count; ++i) { + if (rega.floors[i] == regb.id) { + return false; + } + } + return true; + } + + private static void addUniqueFloorRegion(Region reg, int n) { + if (!reg.floors.Contains(n)) { + reg.floors.Add(n); + } + } + + private static bool mergeRegions(Region rega, Region regb) { + int aid = rega.id; + int bid = regb.id; + + // Duplicate current neighbourhood. + List acon = new(rega.connections); + List bcon = regb.connections; + + // Find insertion point on A. + int insa = -1; + for (int i = 0; i < acon.Count; ++i) { + if (acon[i] == bid) { + insa = i; + break; + } + } + if (insa == -1) { + return false; + } + + // Find insertion point on B. + int insb = -1; + for (int i = 0; i < bcon.Count; ++i) { + if (bcon[i] == aid) { + insb = i; + break; + } + } + if (insb == -1) { + return false; + } + + // Merge neighbours. + rega.connections.Clear(); + for (int i = 0, ni = acon.Count; i < ni - 1; ++i) { + rega.connections.Add(acon[(insa + 1 + i) % ni]); + } + + for (int i = 0, ni = bcon.Count; i < ni - 1; ++i) { + rega.connections.Add(bcon[(insb + 1 + i) % ni]); + } + + removeAdjacentNeighbours(rega); + + for (int j = 0; j < regb.floors.Count; ++j) { + addUniqueFloorRegion(rega, regb.floors[j]); + } + rega.spanCount += regb.spanCount; + regb.spanCount = 0; + regb.connections.Clear(); + + return true; + } + + private static bool isRegionConnectedToBorder(Region reg) { + // Region is connected to border if + // one of the neighbours is null id. + return reg.connections.Contains(0); + } + + private static bool isSolidEdge(CompactHeightfield chf, int[] srcReg, int x, int y, int i, int dir) { + CompactSpan s = chf.spans[i]; + int r = 0; + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) { + int ax = x + RecastCommon.GetDirOffsetX(dir); + int ay = y + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * chf.width].index + RecastCommon.GetCon(s, dir); + r = srcReg[ai]; + } + if (r == srcReg[i]) { + return false; + } + return true; + } + + private static void walkContour(int x, int y, int i, int dir, CompactHeightfield chf, int[] srcReg, + List cont) { + int startDir = dir; + int starti = i; + + CompactSpan ss = chf.spans[i]; + int curReg = 0; + if (RecastCommon.GetCon(ss, dir) != RC_NOT_CONNECTED) { + int ax = x + RecastCommon.GetDirOffsetX(dir); + int ay = y + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * chf.width].index + RecastCommon.GetCon(ss, dir); + curReg = srcReg[ai]; + } + cont.Add(curReg); + + int iter = 0; + while (++iter < 40000) { + CompactSpan s = chf.spans[i]; + + if (isSolidEdge(chf, srcReg, x, y, i, dir)) { + // Choose the edge corner + int r = 0; + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) { + int ax = x + RecastCommon.GetDirOffsetX(dir); + int ay = y + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * chf.width].index + RecastCommon.GetCon(s, dir); + r = srcReg[ai]; + } + if (r != curReg) { + curReg = r; + cont.Add(curReg); + } + + dir = (dir + 1) & 0x3; // Rotate CW + } else { + int ni = -1; + int nx = x + RecastCommon.GetDirOffsetX(dir); + int ny = y + RecastCommon.GetDirOffsetY(dir); + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) { + CompactCell nc = chf.cells[nx + ny * chf.width]; + ni = nc.index + RecastCommon.GetCon(s, dir); + } + if (ni == -1) { + // Should not happen. + return; + } + x = nx; + y = ny; + i = ni; + dir = (dir + 3) & 0x3; // Rotate CCW + } + + if (starti == i && startDir == dir) { + break; + } + } + + // Remove adjacent duplicates. + if (cont.Count > 1) { + for (int j = 0; j < cont.Count;) { + int nj = (j + 1) % cont.Count; + if (cont[j] == cont[nj]) { + cont.RemoveAt(j); + } else { + ++j; + } + } + } + } + + private static int mergeAndFilterRegions(Telemetry ctx, int minRegionArea, int mergeRegionSize, int maxRegionId, + CompactHeightfield chf, int[] srcReg, List overlaps) { + int w = chf.width; + int h = chf.height; + + int nreg = maxRegionId + 1; + Region[] regions = new Region[nreg]; + + // Construct regions + for (int i = 0; i < nreg; ++i) { + regions[i] = new Region(i); + } + + // Find edge of a region and find connections around the contour. + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + int r = srcReg[i]; + if (r == 0 || r >= nreg) { + continue; + } + + Region reg = regions[r]; + reg.spanCount++; + + // Update floors. + for (int j = c.index; j < ni; ++j) { + if (i == j) { + continue; + } + int floorId = srcReg[j]; + if (floorId == 0 || floorId >= nreg) { + continue; + } + if (floorId == r) { + reg.overlap = true; + } + addUniqueFloorRegion(reg, floorId); + } + + // Have found contour + if (reg.connections.Count > 0) { + continue; + } + + reg.areaType = chf.areas[i]; + + // Check if this cell is next to a border. + int ndir = -1; + for (int dir = 0; dir < 4; ++dir) { + if (isSolidEdge(chf, srcReg, x, y, i, dir)) { + ndir = dir; + break; + } + } + + if (ndir != -1) { + // The cell is at border. + // Walk around the contour to find all the neighbours. + walkContour(x, y, i, ndir, chf, srcReg, reg.connections); + } + } + } + } + + // Remove too small regions. + List stack = new(32); + List trace = new(32); + for (int i = 0; i < nreg; ++i) { + Region reg = regions[i]; + if (reg.id == 0 || (reg.id & RC_BORDER_REG) != 0) { + continue; + } + if (reg.spanCount == 0) { + continue; + } + if (reg.visited) { + continue; + } + + // Count the total size of all the connected regions. + // Also keep track of the regions connects to a tile border. + bool connectsToBorder = false; + int spanCount = 0; + stack.Clear(); + trace.Clear(); + + reg.visited = true; + stack.Add(i); + + while (stack.Count > 0) { + // Pop + int ri = stack[^1]; + stack.RemoveAt(stack.Count - 1); + + Region creg = regions[ri]; + + spanCount += creg.spanCount; + trace.Add(ri); + + for (int j = 0; j < creg.connections.Count; ++j) { + if ((creg.connections[j] & RC_BORDER_REG) != 0) { + connectsToBorder = true; + continue; + } + Region neireg = regions[creg.connections[j]]; + if (neireg.visited) { + continue; + } + if (neireg.id == 0 || (neireg.id & RC_BORDER_REG) != 0) { + continue; + } + // Visit + stack.Add(neireg.id); + neireg.visited = true; + } + } + + // If the accumulated regions size is too small, remove it. + // Do not remove areas which connect to tile borders + // as their size cannot be estimated correctly and removing them + // can potentially remove necessary areas. + if (spanCount < minRegionArea && !connectsToBorder) { + // Kill all visited regions. + for (int j = 0; j < trace.Count; ++j) { + regions[trace[j]].spanCount = 0; + regions[trace[j]].id = 0; + } + } + } + + // Merge too small regions to neighbour regions. + int mergeCount = 0; + do { + mergeCount = 0; + for (int i = 0; i < nreg; ++i) { + Region reg = regions[i]; + if (reg.id == 0 || (reg.id & RC_BORDER_REG) != 0) { + continue; + } + if (reg.overlap) { + continue; + } + if (reg.spanCount == 0) { + continue; + } + + // Check to see if the region should be merged. + if (reg.spanCount > mergeRegionSize && isRegionConnectedToBorder(reg)) { + continue; + } + + // Small region with more than 1 connection. + // Or region which is not connected to a border at all. + // Find smallest neighbour region that connects to this one. + int smallest = 0xfffffff; + int mergeId = reg.id; + for (int j = 0; j < reg.connections.Count; ++j) { + if ((reg.connections[j] & RC_BORDER_REG) != 0) { + continue; + } + Region mreg = regions[reg.connections[j]]; + if (mreg.id == 0 || (mreg.id & RC_BORDER_REG) != 0 || mreg.overlap) { + continue; + } + if (mreg.spanCount < smallest && canMergeWithRegion(reg, mreg) && canMergeWithRegion(mreg, reg)) { + smallest = mreg.spanCount; + mergeId = mreg.id; + } + } + // Found new id. + if (mergeId != reg.id) { + int oldId = reg.id; + Region target = regions[mergeId]; + + // Merge neighbours. + if (mergeRegions(target, reg)) { + // Fixup regions pointing to current region. + for (int j = 0; j < nreg; ++j) { + if (regions[j].id == 0 || (regions[j].id & RC_BORDER_REG) != 0) { + continue; + } + // If another region was already merged into current region + // change the nid of the previous region too. + if (regions[j].id == oldId) { + regions[j].id = mergeId; + } + // Replace the current region with the new one if the + // current regions is neighbour. + replaceNeighbour(regions[j], oldId, mergeId); + } + mergeCount++; + } + } + } + } while (mergeCount > 0); + + // Compress region Ids. + for (int i = 0; i < nreg; ++i) { + regions[i].remap = false; + if (regions[i].id == 0) { + continue; // Skip nil regions. + } + if ((regions[i].id & RC_BORDER_REG) != 0) { + continue; // Skip external regions. + } + regions[i].remap = true; + } + + int regIdGen = 0; + for (int i = 0; i < nreg; ++i) { + if (!regions[i].remap) { + continue; + } + int oldId = regions[i].id; + int newId = ++regIdGen; + for (int j = i; j < nreg; ++j) { + if (regions[j].id == oldId) { + regions[j].id = newId; + regions[j].remap = false; + } + } + } + maxRegionId = regIdGen; + + // Remap regions. + for (int i = 0; i < chf.spanCount; ++i) { + if ((srcReg[i] & RC_BORDER_REG) == 0) { + srcReg[i] = regions[srcReg[i]].id; + } + } + + // Return regions that we found to be overlapping. + for (int i = 0; i < nreg; ++i) { + if (regions[i].overlap) { + overlaps.Add(regions[i].id); + } + } + + return maxRegionId; + } + + private static void addUniqueConnection(Region reg, int n) { + if (!reg.connections.Contains(n)) { + reg.connections.Add(n); + } + } + + private static int mergeAndFilterLayerRegions(Telemetry ctx, int minRegionArea, int maxRegionId, + CompactHeightfield chf, int[] srcReg, List overlaps) { + int w = chf.width; + int h = chf.height; + + int nreg = maxRegionId + 1; + Region[] regions = new Region[nreg]; + + // Construct regions + for (int i = 0; i < nreg; ++i) { + regions[i] = new Region(i); + } + + // Find region neighbours and overlapping regions. + List lregs = new(32); + for (int y = 0; y < h; ++y) { + for (int x = 0; x < w; ++x) { + CompactCell c = chf.cells[x + y * w]; + + lregs.Clear(); + + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + int ri = srcReg[i]; + if (ri == 0 || ri >= nreg) { + continue; + } + Region reg = regions[ri]; + + reg.spanCount++; + reg.areaType = chf.areas[i]; + reg.ymin = Math.Min(reg.ymin, s.y); + reg.ymax = Math.Max(reg.ymax, s.y); + // Collect all region layers. + lregs.Add(ri); + + // Update neighbours + for (int dir = 0; dir < 4; ++dir) { + if (RecastCommon.GetCon(s, dir) != RC_NOT_CONNECTED) { + int ax = x + RecastCommon.GetDirOffsetX(dir); + int ay = y + RecastCommon.GetDirOffsetY(dir); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, dir); + int rai = srcReg[ai]; + if (rai > 0 && rai < nreg && rai != ri) { + addUniqueConnection(reg, rai); + } + if ((rai & RC_BORDER_REG) != 0) { + reg.connectsToBorder = true; + } + } + } + + } + + // Update overlapping regions. + for (int i = 0; i < lregs.Count - 1; ++i) { + for (int j = i + 1; j < lregs.Count; ++j) { + if (lregs[i] != lregs[j]) { + Region ri = regions[lregs[i]]; + Region rj = regions[lregs[j]]; + addUniqueFloorRegion(ri, lregs[j]); + addUniqueFloorRegion(rj, lregs[i]); + } + } + } + + } + } + + // Create 2D layers from regions. + int layerId = 1; + + for (int i = 0; i < nreg; ++i) { + regions[i].id = 0; + } + + // Merge montone regions to create non-overlapping areas. + List stack = new(32); + for (int i = 1; i < nreg; ++i) { + Region root = regions[i]; + // Skip already visited. + if (root.id != 0) { + continue; + } + + // Start search. + root.id = layerId; + + stack.Clear(); + stack.Add(i); + + while (stack.Count > 0) { + // Pop front + var idx = stack[0]; + stack.RemoveAt(0); + Region reg = regions[idx]; + + int ncons = reg.connections.Count; + for (int j = 0; j < ncons; ++j) { + int nei = reg.connections[j]; + Region regn = regions[nei]; + // Skip already visited. + if (regn.id != 0) { + continue; + } + // Skip if different area type, do not connect regions with different area type. + if (reg.areaType != regn.areaType) { + continue; + } + // Skip if the neighbour is overlapping root region. + bool overlap = false; + for (int k = 0; k < root.floors.Count; k++) { + if (root.floors[k] == nei) { + overlap = true; + break; + } + } + if (overlap) { + continue; + } + + // Deepen + stack.Add(nei); + + // Mark layer id + regn.id = layerId; + // Merge current layers to root. + for (int k = 0; k < regn.floors.Count; ++k) { + addUniqueFloorRegion(root, regn.floors[k]); + } + root.ymin = Math.Min(root.ymin, regn.ymin); + root.ymax = Math.Max(root.ymax, regn.ymax); + root.spanCount += regn.spanCount; + regn.spanCount = 0; + root.connectsToBorder = root.connectsToBorder || regn.connectsToBorder; + } + } + + layerId++; + } + + // Remove small regions + for (int i = 0; i < nreg; ++i) { + if (regions[i].spanCount > 0 && regions[i].spanCount < minRegionArea && !regions[i].connectsToBorder) { + int reg = regions[i].id; + for (int j = 0; j < nreg; ++j) { + if (regions[j].id == reg) { + regions[j].id = 0; + } + } + } + } + + // Compress region Ids. + for (int i = 0; i < nreg; ++i) { + regions[i].remap = false; + if (regions[i].id == 0) { + continue; // Skip nil regions. + } + if ((regions[i].id & RC_BORDER_REG) != 0) { + continue; // Skip external regions. + } + regions[i].remap = true; + } + + int regIdGen = 0; + for (int i = 0; i < nreg; ++i) { + if (!regions[i].remap) { + continue; + } + int oldId = regions[i].id; + int newId = ++regIdGen; + for (int j = i; j < nreg; ++j) { + if (regions[j].id == oldId) { + regions[j].id = newId; + regions[j].remap = false; + } + } + } + maxRegionId = regIdGen; + + // Remap regions. + for (int i = 0; i < chf.spanCount; ++i) { + if ((srcReg[i] & RC_BORDER_REG) == 0) { + srcReg[i] = regions[srcReg[i]].id; + } + } + + return maxRegionId; + } + + /// @par + /// + /// This is usually the second to the last step in creating a fully built + /// compact heightfield. This step is required before regions are built + /// using #rcBuildRegions or #rcBuildRegionsMonotone. + /// + /// After this step, the distance data is available via the rcCompactHeightfield::maxDistance + /// and rcCompactHeightfield::dist fields. + /// + /// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone + public static void buildDistanceField(Telemetry ctx, CompactHeightfield chf) { + + ctx.startTimer("DISTANCEFIELD"); + int[] src = new int[chf.spanCount]; + ctx.startTimer("DISTANCEFIELD_DIST"); + + int maxDist = calculateDistanceField(chf, src); + chf.maxDistance = maxDist; + + ctx.stopTimer("DISTANCEFIELD_DIST"); + + ctx.startTimer("DISTANCEFIELD_BLUR"); + + // Blur + src = boxBlur(chf, 1, src); + + // Store distance. + chf.dist = src; + + ctx.stopTimer("DISTANCEFIELD_BLUR"); + + ctx.stopTimer("DISTANCEFIELD"); + + } + + private static void paintRectRegion(int minx, int maxx, int miny, int maxy, int regId, CompactHeightfield chf, + int[] srcReg) { + int w = chf.width; + for (int y = miny; y < maxy; ++y) { + for (int x = minx; x < maxx; ++x) { + CompactCell c = chf.cells[x + y * w]; + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + if (chf.areas[i] != RC_NULL_AREA) { + srcReg[i] = regId; + } + } + } + } + } + + /// @par + /// + /// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour. + /// Contours will form simple polygons. + /// + /// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be + /// re-assigned to the zero (null) region. + /// + /// Partitioning can result in smaller than necessary regions. @p mergeRegionArea helps + /// reduce unecessarily small regions. + /// + /// See the #rcConfig documentation for more information on the configuration parameters. + /// + /// The region data will be available via the rcCompactHeightfield::maxRegions + /// and rcCompactSpan::reg fields. + /// + /// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions. + /// + /// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig + public static void buildRegionsMonotone(Telemetry ctx, CompactHeightfield chf, int minRegionArea, + int mergeRegionArea) { + ctx.startTimer("REGIONS"); + + int w = chf.width; + int h = chf.height; + int borderSize = chf.borderSize; + int id = 1; + + int[] srcReg = new int[chf.spanCount]; + + int nsweeps = Math.Max(chf.width, chf.height); + SweepSpan[] sweeps = new SweepSpan[nsweeps]; + for (int i = 0; i < sweeps.Length; i++) { + sweeps[i] = new SweepSpan(); + } + + // Mark border regions. + if (borderSize > 0) { + // Make sure border will not overflow. + int bw = Math.Min(w, borderSize); + int bh = Math.Min(h, borderSize); + // Paint regions + paintRectRegion(0, bw, 0, h, id | RC_BORDER_REG, chf, srcReg); + id++; + paintRectRegion(w - bw, w, 0, h, id | RC_BORDER_REG, chf, srcReg); + id++; + paintRectRegion(0, w, 0, bh, id | RC_BORDER_REG, chf, srcReg); + id++; + paintRectRegion(0, w, h - bh, h, id | RC_BORDER_REG, chf, srcReg); + id++; + + } + + int[] prev = new int[1024]; + + // Sweep one line at a time. + for (int y = borderSize; y < h - borderSize; ++y) { + // Collect spans from this row. + if (prev.Length < id * 2) { + prev = new int[id * 2]; + } else { + Array.Fill(prev, 0, 0, (id) - (0)); + } + int rid = 1; + + for (int x = borderSize; x < w - borderSize; ++x) { + CompactCell c = chf.cells[x + y * w]; + + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + if (chf.areas[i] == RC_NULL_AREA) { + continue; + } + + // -x + int previd = 0; + if (RecastCommon.GetCon(s, 0) != RC_NOT_CONNECTED) { + int ax = x + RecastCommon.GetDirOffsetX(0); + int ay = y + RecastCommon.GetDirOffsetY(0); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 0); + if ((srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai]) { + previd = srcReg[ai]; + } + } + + if (previd == 0) { + previd = rid++; + sweeps[previd].rid = previd; + sweeps[previd].ns = 0; + sweeps[previd].nei = 0; + } + + // -y + if (RecastCommon.GetCon(s, 3) != RC_NOT_CONNECTED) { + int ax = x + RecastCommon.GetDirOffsetX(3); + int ay = y + RecastCommon.GetDirOffsetY(3); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 3); + if (srcReg[ai] != 0 && (srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai]) { + int nr = srcReg[ai]; + if (sweeps[previd].nei == 0 || sweeps[previd].nei == nr) { + sweeps[previd].nei = nr; + sweeps[previd].ns++; + if (prev.Length <= nr) { + Array.Resize(ref prev, prev.Length * 2); + } + prev[nr]++; + } else { + sweeps[previd].nei = RC_NULL_NEI; + } + } + } + + srcReg[i] = previd; + } + } + + // Create unique ID. + for (int i = 1; i < rid; ++i) { + if (sweeps[i].nei != RC_NULL_NEI && sweeps[i].nei != 0 && prev[sweeps[i].nei] == sweeps[i].ns) { + sweeps[i].id = sweeps[i].nei; + } else { + sweeps[i].id = id++; + } + } + + // Remap IDs + for (int x = borderSize; x < w - borderSize; ++x) { + CompactCell c = chf.cells[x + y * w]; + + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + if (srcReg[i] > 0 && srcReg[i] < rid) { + srcReg[i] = sweeps[srcReg[i]].id; + } + } + } + } + + ctx.startTimer("REGIONS_FILTER"); + + // Merge regions and filter out small regions. + List overlaps = new(); + chf.maxRegions = mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, id, chf, srcReg, overlaps); + + // Monotone partitioning does not generate overlapping regions. + + ctx.stopTimer("REGIONS_FILTER"); + + // Store the result out. + for (int i = 0; i < chf.spanCount; ++i) { + chf.spans[i].reg = srcReg[i]; + } + + ctx.stopTimer("REGIONS"); + + } + + /// @par + /// + /// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour. + /// Contours will form simple polygons. + /// + /// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be + /// re-assigned to the zero (null) region. + /// + /// Watershed partitioning can result in smaller than necessary regions, especially in diagonal corridors. + /// @p mergeRegionArea helps reduce unecessarily small regions. + /// + /// See the #rcConfig documentation for more information on the configuration parameters. + /// + /// The region data will be available via the rcCompactHeightfield::maxRegions + /// and rcCompactSpan::reg fields. + /// + /// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions. + /// + /// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig + public static void buildRegions(Telemetry ctx, CompactHeightfield chf, int minRegionArea, + int mergeRegionArea) { + ctx.startTimer("REGIONS"); + + int w = chf.width; + int h = chf.height; + int borderSize = chf.borderSize; + + ctx.startTimer("REGIONS_WATERSHED"); + + int LOG_NB_STACKS = 3; + int NB_STACKS = 1 << LOG_NB_STACKS; + List> lvlStacks = new(); + for (int i = 0; i < NB_STACKS; ++i) { + lvlStacks.Add(new (1024)); + } + + List stack = new(1024); + + int[] srcReg = new int[chf.spanCount]; + int[] srcDist = new int[chf.spanCount]; + + int regionId = 1; + int level = (chf.maxDistance + 1) & ~1; + + // TODO: Figure better formula, expandIters defines how much the + // watershed "overflows" and simplifies the regions. Tying it to + // agent radius was usually good indication how greedy it could be. + // readonly int expandIters = 4 + walkableRadius * 2; + int expandIters = 8; + + if (borderSize > 0) { + // Make sure border will not overflow. + int bw = Math.Min(w, borderSize); + int bh = Math.Min(h, borderSize); + // Paint regions + paintRectRegion(0, bw, 0, h, regionId | RC_BORDER_REG, chf, srcReg); + regionId++; + paintRectRegion(w - bw, w, 0, h, regionId | RC_BORDER_REG, chf, srcReg); + regionId++; + paintRectRegion(0, w, 0, bh, regionId | RC_BORDER_REG, chf, srcReg); + regionId++; + paintRectRegion(0, w, h - bh, h, regionId | RC_BORDER_REG, chf, srcReg); + regionId++; + + } + + chf.borderSize = borderSize; + + int sId = -1; + while (level > 0) { + level = level >= 2 ? level - 2 : 0; + sId = (sId + 1) & (NB_STACKS - 1); + + // ctx->startTimer(RC_TIMER_DIVIDE_TO_LEVELS); + + if (sId == 0) { + sortCellsByLevel(level, chf, srcReg, NB_STACKS, lvlStacks, 1); + } else { + appendStacks(lvlStacks[sId - 1], lvlStacks[sId], srcReg); // copy left overs from last level + } + + // ctx->stopTimer(RC_TIMER_DIVIDE_TO_LEVELS); + + ctx.startTimer("REGIONS_EXPAND"); + + // Expand current regions until no empty connected cells found. + expandRegions(expandIters, level, chf, srcReg, srcDist, lvlStacks[sId], false); + + ctx.stopTimer("REGIONS_EXPAND"); + + ctx.startTimer("REGIONS_FLOOD"); + + // Mark new regions with IDs. + for (int j = 0; j < lvlStacks[sId].Count; j += 3) { + int x = lvlStacks[sId][j]; + int y = lvlStacks[sId][j + 1]; + int i = lvlStacks[sId][j + 2]; + if (i >= 0 && srcReg[i] == 0) { + if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack)) { + regionId++; + } + } + } + + ctx.stopTimer("REGIONS_FLOOD"); + } + + // Expand current regions until no empty connected cells found. + expandRegions(expandIters * 8, 0, chf, srcReg, srcDist, stack, true); + + ctx.stopTimer("REGIONS_WATERSHED"); + + ctx.startTimer("REGIONS_FILTER"); + + // Merge regions and filter out smalle regions. + List overlaps = new(); + chf.maxRegions = mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, regionId, chf, srcReg, overlaps); + + // If overlapping regions were found during merging, split those regions. + if (overlaps.Count > 0) { + ctx.warn("rcBuildRegions: " + overlaps.Count + " overlapping regions."); + } + + ctx.stopTimer("REGIONS_FILTER"); + + // Write the result out. + for (int i = 0; i < chf.spanCount; ++i) { + chf.spans[i].reg = srcReg[i]; + } + + ctx.stopTimer("REGIONS"); + + } + + public static void buildLayerRegions(Telemetry ctx, CompactHeightfield chf, int minRegionArea) { + + ctx.startTimer("REGIONS"); + + int w = chf.width; + int h = chf.height; + int borderSize = chf.borderSize; + int id = 1; + + int[] srcReg = new int[chf.spanCount]; + int nsweeps = Math.Max(chf.width, chf.height); + SweepSpan[] sweeps = new SweepSpan[nsweeps]; + for (int i = 0; i < sweeps.Length; i++) { + sweeps[i] = new SweepSpan(); + } + + // Mark border regions. + if (borderSize > 0) { + // Make sure border will not overflow. + int bw = Math.Min(w, borderSize); + int bh = Math.Min(h, borderSize); + // Paint regions + paintRectRegion(0, bw, 0, h, id | RC_BORDER_REG, chf, srcReg); + id++; + paintRectRegion(w - bw, w, 0, h, id | RC_BORDER_REG, chf, srcReg); + id++; + paintRectRegion(0, w, 0, bh, id | RC_BORDER_REG, chf, srcReg); + id++; + paintRectRegion(0, w, h - bh, h, id | RC_BORDER_REG, chf, srcReg); + id++; + + } + + int[] prev = new int[1024]; + + // Sweep one line at a time. + for (int y = borderSize; y < h - borderSize; ++y) { + // Collect spans from this row. + if (prev.Length <= id * 2) { + prev = new int[id * 2]; + } else { + Array.Fill(prev, 0, 0, (id) - (0)); + } + int rid = 1; + + for (int x = borderSize; x < w - borderSize; ++x) { + CompactCell c = chf.cells[x + y * w]; + + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + CompactSpan s = chf.spans[i]; + if (chf.areas[i] == RC_NULL_AREA) { + continue; + } + + // -x + int previd = 0; + if (RecastCommon.GetCon(s, 0) != RC_NOT_CONNECTED) { + int ax = x + RecastCommon.GetDirOffsetX(0); + int ay = y + RecastCommon.GetDirOffsetY(0); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 0); + if ((srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai]) { + previd = srcReg[ai]; + } + } + + if (previd == 0) { + previd = rid++; + sweeps[previd].rid = previd; + sweeps[previd].ns = 0; + sweeps[previd].nei = 0; + } + + // -y + if (RecastCommon.GetCon(s, 3) != RC_NOT_CONNECTED) { + int ax = x + RecastCommon.GetDirOffsetX(3); + int ay = y + RecastCommon.GetDirOffsetY(3); + int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 3); + if (srcReg[ai] != 0 && (srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai]) { + int nr = srcReg[ai]; + if (sweeps[previd].nei == 0 || sweeps[previd].nei == nr) { + sweeps[previd].nei = nr; + sweeps[previd].ns++; + if (prev.Length <= nr) { + Array.Resize(ref prev, prev.Length * 2); + } + prev[nr]++; + } else { + sweeps[previd].nei = RC_NULL_NEI; + } + } + } + + srcReg[i] = previd; + } + } + + // Create unique ID. + for (int i = 1; i < rid; ++i) { + if (sweeps[i].nei != RC_NULL_NEI && sweeps[i].nei != 0 && prev[sweeps[i].nei] == sweeps[i].ns) { + sweeps[i].id = sweeps[i].nei; + } else { + sweeps[i].id = id++; + } + } + + // Remap IDs + for (int x = borderSize; x < w - borderSize; ++x) { + CompactCell c = chf.cells[x + y * w]; + + for (int i = c.index, ni = c.index + c.count; i < ni; ++i) { + if (srcReg[i] > 0 && srcReg[i] < rid) { + srcReg[i] = sweeps[srcReg[i]].id; + } + } + } + } + + ctx.startTimer("REGIONS_FILTER"); + + // Merge monotone regions to layers and remove small regions. + List overlaps = new(); + chf.maxRegions = mergeAndFilterLayerRegions(ctx, minRegionArea, id, chf, srcReg, overlaps); + + ctx.stopTimer("REGIONS_FILTER"); + + // Store the result out. + for (int i = 0; i < chf.spanCount; ++i) { + chf.spans[i].reg = srcReg[i]; + } + + ctx.stopTimer("REGIONS"); + + } +} diff --git a/src/DotRecast.Recast/RecastVectors.cs b/src/DotRecast.Recast/RecastVectors.cs new file mode 100644 index 0000000..619d45f --- /dev/null +++ b/src/DotRecast.Recast/RecastVectors.cs @@ -0,0 +1,97 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; + +namespace DotRecast.Recast; + +public static class RecastVectors +{ + public static void min(float[] a, float[] b, int i) + { + a[0] = Math.Min(a[0], b[i + 0]); + a[1] = Math.Min(a[1], b[i + 1]); + a[2] = Math.Min(a[2], b[i + 2]); + } + + public static void max(float[] a, float[] b, int i) + { + a[0] = Math.Max(a[0], b[i + 0]); + a[1] = Math.Max(a[1], b[i + 1]); + a[2] = Math.Max(a[2], b[i + 2]); + } + + public static void copy(float[] @out, float[] @in, int i) + { + copy(@out, 0, @in, i); + } + + public static void copy(float[] @out, float[] @in) + { + copy(@out, 0, @in, 0); + } + + public static void copy(float[] @out, int n, float[] @in, int m) + { + @out[n] = @in[m]; + @out[n + 1] = @in[m + 1]; + @out[n + 2] = @in[m + 2]; + } + + public static void add(float[] e0, float[] a, float[] verts, int i) + { + e0[0] = a[0] + verts[i]; + e0[1] = a[1] + verts[i + 1]; + e0[2] = a[2] + verts[i + 2]; + } + + public static void sub(float[] e0, float[] verts, int i, int j) + { + e0[0] = verts[i] - verts[j]; + e0[1] = verts[i + 1] - verts[j + 1]; + e0[2] = verts[i + 2] - verts[j + 2]; + } + + public static void sub(float[] e0, float[] i, float[] verts, int j) + { + e0[0] = i[0] - verts[j]; + e0[1] = i[1] - verts[j + 1]; + e0[2] = i[2] - verts[j + 2]; + } + + public static void cross(float[] dest, float[] v1, float[] v2) + { + dest[0] = v1[1] * v2[2] - v1[2] * v2[1]; + dest[1] = v1[2] * v2[0] - v1[0] * v2[2]; + dest[2] = v1[0] * v2[1] - v1[1] * v2[0]; + } + + public static void normalize(float[] v) + { + float d = (float)(1.0f / Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2])); + v[0] *= d; + v[1] *= d; + v[2] *= d; + } + + public static float dot(float[] v1, float[] v2) + { + return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2]; + } +} \ No newline at end of file diff --git a/src/DotRecast.Recast/RecastVoxelization.cs b/src/DotRecast.Recast/RecastVoxelization.cs new file mode 100644 index 0000000..2f12ecf --- /dev/null +++ b/src/DotRecast.Recast/RecastVoxelization.cs @@ -0,0 +1,73 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using DotRecast.Recast.Geom; + +namespace DotRecast.Recast; + +public class RecastVoxelization { + + public static Heightfield buildSolidHeightfield(InputGeomProvider geomProvider, RecastBuilderConfig builderCfg, + Telemetry ctx) { + RecastConfig cfg = builderCfg.cfg; + + // Allocate voxel heightfield where we rasterize our input data to. + Heightfield solid = new Heightfield(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 + // and array which can hold the max number of triangles you need to + // process. + + // 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. + foreach (TriMesh geom in geomProvider.meshes()) { + float[] verts = geom.getVerts(); + if (cfg.useTiles) { + float[] tbmin = new float[2]; + float[] tbmax = new float[2]; + tbmin[0] = builderCfg.bmin[0]; + tbmin[1] = builderCfg.bmin[2]; + tbmax[0] = builderCfg.bmax[0]; + tbmax[1] = builderCfg.bmax[2]; + List nodes = geom.getChunksOverlappingRect(tbmin, tbmax); + foreach (ChunkyTriMeshNode node in nodes) { + 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); + } + } 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); + } + } + + return solid; + } + +} diff --git a/src/DotRecast.Recast/Span.cs b/src/DotRecast.Recast/Span.cs new file mode 100644 index 0000000..7a738e7 --- /dev/null +++ b/src/DotRecast.Recast/Span.cs @@ -0,0 +1,33 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +namespace DotRecast.Recast; + +/** Represents a span in a heightfield. */ +public class Span { + + /** The lower limit of the span. [Limit: < smax] */ + public int smin; + /** The upper limit of the span. [Limit: <= SPAN_MAX_HEIGHT] */ + public int smax; + /** The area id assigned to the span. */ + public int area; + /** The next span higher up in column. */ + public Span next; + +} diff --git a/src/DotRecast.Recast/Telemetry.cs b/src/DotRecast.Recast/Telemetry.cs new file mode 100644 index 0000000..ee82460 --- /dev/null +++ b/src/DotRecast.Recast/Telemetry.cs @@ -0,0 +1,57 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Concurrent; +using System.Collections.Generic; +using System.Diagnostics; +using System.Threading; +using DotRecast.Core; + +namespace DotRecast.Recast; + +public class Telemetry +{ + private readonly ThreadLocal> timerStart = new(() => new Dictionary()); + private readonly ConcurrentDictionary timerAccum = new(); + + public void startTimer(string name) + { + timerStart.Value[name] = new AtomicLong(Stopwatch.GetTimestamp()); + } + + public void stopTimer(string name) + { + timerAccum + .GetOrAdd(name, _ => new AtomicLong(0)) + .AddAndGet(Stopwatch.GetTimestamp() - timerStart.Value?[name].Read() ?? 0); + } + + public void warn(string @string) + { + Console.WriteLine(@string); + } + + public void print() + { + foreach (var (n, v) in timerAccum) + { + Console.WriteLine(n + ": " + v.Read() / 1000000); + } + } +} \ No newline at end of file diff --git a/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs b/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs new file mode 100644 index 0000000..3c7a0b9 --- /dev/null +++ b/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs @@ -0,0 +1,149 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using NUnit.Framework; + +namespace DotRecast.Detour.Crowd.Test; + +using static DetourCommon; + +public class AbstractCrowdTest { + + protected readonly long[] startRefs = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, + 281474976710733L }; + + protected readonly long[] endRefs = { 281474976710721L, 281474976710767L, 281474976710758L, 281474976710731L, 281474976710772L }; + + protected readonly float[][] startPoss = { + new[] { 22.60652f, 10.197294f, -45.918674f }, + new[] { 22.331268f, 10.197294f, -1.0401875f }, + new[] { 18.694363f, 15.803535f, -73.090416f }, + new[] { 0.7453353f, 10.197294f, -5.94005f }, + new[] { -20.651257f, 5.904126f, -13.712508f } }; + + protected readonly float[][] endPoss = { + new[] { 6.4576626f, 10.197294f, -18.33406f }, + new[] { -5.8023443f, 0.19729415f, 3.008419f }, + new[] { 38.423977f, 10.197294f, -0.116066754f }, + new[] { 0.8635526f, 10.197294f, -10.31032f }, + new[] { 18.784092f, 10.197294f, 3.0543678f } }; + + protected MeshData nmd; + protected NavMeshQuery query; + protected NavMesh navmesh; + protected Crowd crowd; + protected List agents; + + [SetUp] + public void setUp() { + nmd = new RecastTestMeshBuilder().getMeshData(); + navmesh = new NavMesh(nmd, 6, 0); + query = new NavMeshQuery(navmesh); + CrowdConfig config = new CrowdConfig(0.6f); + crowd = new Crowd(config, navmesh); + ObstacleAvoidanceQuery.ObstacleAvoidanceParams option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(); + option.velBias = 0.5f; + option.adaptiveDivs = 5; + option.adaptiveRings = 2; + option.adaptiveDepth = 1; + crowd.setObstacleAvoidanceParams(0, option); + option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(); + option.velBias = 0.5f; + option.adaptiveDivs = 5; + option.adaptiveRings = 2; + option.adaptiveDepth = 2; + crowd.setObstacleAvoidanceParams(1, option); + option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(); + option.velBias = 0.5f; + option.adaptiveDivs = 7; + option.adaptiveRings = 2; + option.adaptiveDepth = 3; + crowd.setObstacleAvoidanceParams(2, option); + option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(); + option.velBias = 0.5f; + option.adaptiveDivs = 7; + option.adaptiveRings = 3; + option.adaptiveDepth = 3; + crowd.setObstacleAvoidanceParams(3, option); + agents = new(); + } + + protected CrowdAgentParams getAgentParams(int updateFlags, int obstacleAvoidanceType) { + CrowdAgentParams ap = new CrowdAgentParams(); + ap.radius = 0.6f; + ap.height = 2f; + ap.maxAcceleration = 8.0f; + ap.maxSpeed = 3.5f; + ap.collisionQueryRange = ap.radius * 12f; + ap.pathOptimizationRange = ap.radius * 30f; + ap.updateFlags = updateFlags; + ap.obstacleAvoidanceType = obstacleAvoidanceType; + ap.separationWeight = 2f; + return ap; + } + + protected void addAgentGrid(int size, float distance, int updateFlags, int obstacleAvoidanceType, float[] startPos) { + CrowdAgentParams ap = getAgentParams(updateFlags, obstacleAvoidanceType); + for (int i = 0; i < size; i++) { + for (int j = 0; j < size; j++) { + float[] pos = new float[3]; + pos[0] = startPos[0] + i * distance; + pos[1] = startPos[1]; + pos[2] = startPos[2] + j * distance; + agents.Add(crowd.addAgent(pos, ap)); + } + } + } + + protected void setMoveTarget(float[] pos, bool adjust) { + float[] ext = crowd.getQueryExtents(); + QueryFilter filter = crowd.getFilter(0); + if (adjust) { + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + float[] vel = calcVel(ag.npos, pos, ag.option.maxSpeed); + crowd.requestMoveVelocity(ag, vel); + } + } else { + Result nearest = query.findNearestPoly(pos, ext, filter); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + crowd.requestMoveTarget(ag, nearest.result.getNearestRef(), nearest.result.getNearestPos()); + } + } + } + + protected float[] calcVel(float[] pos, float[] tgt, float speed) { + float[] vel = vSub(tgt, pos); + vel[1] = 0.0f; + vNormalize(vel); + vel = vScale(vel, speed); + return vel; + } + + protected void dumpActiveAgents(int i) { + Console.WriteLine(crowd.getActiveAgents().Count); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + Console.WriteLine(ag.state + ", " + ag.targetState); + Console.WriteLine(ag.npos[0] + ", " + ag.npos[1] + ", " + ag.npos[2]); + Console.WriteLine(ag.nvel[0] + ", " + ag.nvel[1] + ", " + ag.nvel[2]); + } + } + +} diff --git a/test/DotRecast.Detour.Crowd.Test/Crowd1Test.cs b/test/DotRecast.Detour.Crowd.Test/Crowd1Test.cs new file mode 100644 index 0000000..20ba66e --- /dev/null +++ b/test/DotRecast.Detour.Crowd.Test/Crowd1Test.cs @@ -0,0 +1,706 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Crowd.Test; + +public class Crowd1Test : AbstractCrowdTest { + + static readonly float[][] EXPECTED_A1Q0TVTA = { + new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f }, + new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f }, + new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f }, + new[] { 20.512094f, 10.197294f, -44.831028f, -3.105014f, 0.000000f, 1.615205f }, + new[] { 19.891315f, 10.197294f, -44.507557f, -3.103898f, 0.000000f, 1.617350f }, + new[] { 19.270782f, 10.197294f, -44.183617f, -3.102670f, 0.000000f, 1.619704f }, + new[] { 18.650520f, 10.197294f, -43.859158f, -3.101315f, 0.000000f, 1.622296f }, + new[] { 18.030558f, 10.197294f, -43.534126f, -3.099816f, 0.000000f, 1.625158f }, + new[] { 17.410927f, 10.197294f, -43.208462f, -3.098152f, 0.000000f, 1.628329f }, + new[] { 16.791668f, 10.197294f, -42.882092f, -3.096297f, 0.000000f, 1.631854f }, + new[] { 16.172823f, 10.197294f, -42.554935f, -3.094221f, 0.000000f, 1.635786f }, + new[] { 15.554445f, 10.197294f, -42.226898f, -3.091888f, 0.000000f, 1.640191f }, + new[] { 14.936594f, 10.197294f, -41.897869f, -3.089255f, 0.000000f, 1.645145f }, + new[] { 14.319340f, 10.197294f, -41.567722f, -3.086269f, 0.000000f, 1.650741f }, + new[] { 13.702767f, 10.197294f, -41.236305f, -3.082862f, 0.000000f, 1.657094f }, + new[] { 13.086977f, 10.197294f, -40.903435f, -3.078954f, 0.000000f, 1.664345f }, + new[] { 12.472089f, 10.197294f, -40.568901f, -3.074442f, 0.000000f, 1.672665f }, + new[] { 11.858250f, 10.197294f, -40.232449f, -3.069196f, 0.000000f, 1.682271f }, + new[] { 11.245640f, 10.197294f, -39.893761f, -3.063048f, 0.000000f, 1.693439f }, + new[] { 10.634483f, 10.197294f, -39.552460f, -3.055783f, 0.000000f, 1.706514f }, + new[] { 10.025061f, 10.197294f, -39.208069f, -3.047112f, 0.000000f, 1.721948f }, + new[] { 9.417730f, 10.197294f, -38.860004f, -3.036654f, 0.000000f, 1.740326f }, + new[] { 8.812954f, 10.197294f, -38.507519f, -3.023880f, 0.000000f, 1.762429f }, + new[] { 8.211343f, 10.197294f, -38.149658f, -3.008055f, 0.000000f, 1.789302f }, + new[] { 7.613717f, 10.197294f, -37.785183f, -2.988129f, 0.000000f, 1.822385f }, + new[] { 7.021209f, 10.197294f, -37.412445f, -2.962540f, 0.000000f, 1.863695f }, + new[] { 6.435429f, 10.197294f, -37.029221f, -2.928901f, 0.000000f, 1.916126f }, + new[] { 5.858753f, 10.197294f, -36.632427f, -2.883380f, 0.000000f, 1.983965f }, + new[] { 5.294861f, 10.197294f, -36.217667f, -2.819461f, 0.000000f, 2.073798f }, + new[] { 4.749827f, 10.197294f, -35.778419f, -2.725170f, 0.000000f, 2.196236f }, + new[] { 4.234636f, 10.197294f, -35.304523f, -2.575954f, 0.000000f, 2.369486f }, + new[] { 3.772264f, 10.197294f, -34.778965f, -2.311863f, 0.000000f, 2.627792f }, + new[] { 3.428036f, 10.197294f, -34.169453f, -1.721137f, 0.000000f, 3.047571f }, + new[] { 3.033963f, 10.197294f, -33.590916f, -1.970364f, 0.000000f, 2.892692f }, + new[] { 2.656040f, 10.197294f, -33.001701f, -1.889616f, 0.000000f, 2.946074f }, + new[] { 2.307335f, 10.197294f, -32.394737f, -1.743529f, 0.000000f, 3.034816f }, + new[] { 2.021275f, 10.197294f, -31.755856f, -1.430300f, 0.000000f, 3.194408f }, + new[] { 1.935164f, 10.197294f, -31.061172f, -0.430555f, 0.000000f, 3.473417f }, + new[] { 1.847493f, 10.197294f, -30.366684f, -0.438351f, 0.000000f, 3.472441f }, + new[] { 1.943488f, 10.197294f, -29.673298f, 0.479975f, 0.000000f, 3.466933f }, + new[] { 2.170555f, 10.197294f, -29.011150f, 1.135336f, 0.000000f, 3.310742f }, + new[] { 2.415170f, 10.197294f, -28.355282f, 1.223072f, 0.000000f, 3.279344f }, + new[] { 2.677041f, 10.197294f, -27.706110f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 2.938912f, 10.197294f, -27.056938f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.200784f, 10.197294f, -26.407766f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 3.462655f, 10.197294f, -25.758595f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.724526f, 10.197294f, -25.109423f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.986398f, 10.197294f, -24.460251f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 4.248269f, 10.197294f, -23.811079f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.510140f, 10.197294f, -23.161907f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.772012f, 10.197294f, -22.512735f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 5.033883f, 10.197294f, -21.863564f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.295755f, 10.197294f, -21.214392f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.557627f, 10.197294f, -20.565220f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.819499f, 10.197294f, -19.916048f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.081370f, 10.197294f, -19.266876f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.322058f, 10.197294f, -18.670219f, 1.203439f, 0.000000f, 2.983284f }, + new[] { 6.372280f, 10.197294f, -18.330706f, -0.014387f, 0.000000f, 1.339125f }, + new[] { 6.398773f, 10.197294f, -18.310312f, 0.124516f, 0.000000f, -0.004893f }, + new[] { 6.415949f, 10.197294f, -18.317240f, 0.085881f, 0.000000f, -0.034633f }, + new[] { 6.428115f, 10.197294f, -18.322145f, 0.060833f, 0.000000f, -0.024530f }, + new[] { 6.436733f, 10.197294f, -18.325621f, 0.043090f, 0.000000f, -0.017376f }, + new[] { 6.442838f, 10.197294f, -18.328083f, 0.030522f, 0.000000f, -0.012308f }, + new[] { 6.447162f, 10.197294f, -18.329826f, 0.021620f, 0.000000f, -0.008717f }, + new[] { 6.450224f, 10.197294f, -18.331062f, 0.015314f, 0.000000f, -0.006175f }, + new[] { 6.450224f, 10.197294f, -18.331062f, 0.000000f, 0.000000f, 0.000000f } }; + + static readonly float[][] EXPECTED_A1Q0TVT = { + new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f }, + new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f }, + new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f }, + new[] { 20.512094f, 10.197294f, -44.831028f, -3.105014f, 0.000000f, 1.615205f }, + new[] { 19.891315f, 10.197294f, -44.507557f, -3.103898f, 0.000000f, 1.617350f }, + new[] { 19.270782f, 10.197294f, -44.183617f, -3.102670f, 0.000000f, 1.619704f }, + new[] { 18.650520f, 10.197294f, -43.859158f, -3.101315f, 0.000000f, 1.622296f }, + new[] { 18.030558f, 10.197294f, -43.534126f, -3.099816f, 0.000000f, 1.625158f }, + new[] { 17.410927f, 10.197294f, -43.208462f, -3.098152f, 0.000000f, 1.628329f }, + new[] { 16.791668f, 10.197294f, -42.882092f, -3.096297f, 0.000000f, 1.631854f }, + new[] { 16.172823f, 10.197294f, -42.554935f, -3.094221f, 0.000000f, 1.635786f }, + new[] { 15.554445f, 10.197294f, -42.226898f, -3.091888f, 0.000000f, 1.640191f }, + new[] { 14.936594f, 10.197294f, -41.897869f, -3.089255f, 0.000000f, 1.645145f }, + new[] { 14.319340f, 10.197294f, -41.567722f, -3.086269f, 0.000000f, 1.650741f }, + new[] { 13.702767f, 10.197294f, -41.236305f, -3.082862f, 0.000000f, 1.657094f }, + new[] { 13.086977f, 10.197294f, -40.903435f, -3.078953f, 0.000000f, 1.664345f }, + new[] { 12.472089f, 10.197294f, -40.568901f, -3.074442f, 0.000000f, 1.672665f }, + new[] { 11.858250f, 10.197294f, -40.232449f, -3.069196f, 0.000000f, 1.682271f }, + new[] { 11.245640f, 10.197294f, -39.893761f, -3.063048f, 0.000000f, 1.693439f }, + new[] { 10.634483f, 10.197294f, -39.552460f, -3.055783f, 0.000000f, 1.706514f }, + new[] { 10.025061f, 10.197294f, -39.208069f, -3.047112f, 0.000000f, 1.721948f }, + new[] { 9.417730f, 10.197294f, -38.860004f, -3.036654f, 0.000000f, 1.740326f }, + new[] { 8.812955f, 10.197294f, -38.507519f, -3.023879f, 0.000000f, 1.762429f }, + new[] { 8.211344f, 10.197294f, -38.149658f, -3.008055f, 0.000000f, 1.789302f }, + new[] { 7.613718f, 10.197294f, -37.785183f, -2.988129f, 0.000000f, 1.822385f }, + new[] { 7.021210f, 10.197294f, -37.412445f, -2.962540f, 0.000000f, 1.863695f }, + new[] { 6.435430f, 10.197294f, -37.029221f, -2.928901f, 0.000000f, 1.916126f }, + new[] { 5.858754f, 10.197294f, -36.632427f, -2.883381f, 0.000000f, 1.983965f }, + new[] { 5.294862f, 10.197294f, -36.217667f, -2.819461f, 0.000000f, 2.073798f }, + new[] { 4.749828f, 10.197294f, -35.778419f, -2.725170f, 0.000000f, 2.196235f }, + new[] { 4.234637f, 10.197294f, -35.304523f, -2.575955f, 0.000000f, 2.369484f }, + new[] { 3.772264f, 10.197294f, -34.778965f, -2.311864f, 0.000000f, 2.627791f }, + new[] { 3.428036f, 10.197294f, -34.169453f, -1.721139f, 0.000000f, 3.047570f }, + new[] { 3.033963f, 10.197294f, -33.590916f, -1.970364f, 0.000000f, 2.892692f }, + new[] { 2.656040f, 10.197294f, -33.001701f, -1.889616f, 0.000000f, 2.946074f }, + new[] { 2.307335f, 10.197294f, -32.394737f, -1.743529f, 0.000000f, 3.034816f }, + new[] { 2.021275f, 10.197294f, -31.755856f, -1.430300f, 0.000000f, 3.194408f }, + new[] { 1.935164f, 10.197294f, -31.061172f, -0.430555f, 0.000000f, 3.473417f }, + new[] { 1.847493f, 10.197294f, -30.366684f, -0.438351f, 0.000000f, 3.472441f }, + new[] { 1.943488f, 10.197294f, -29.673298f, 0.479975f, 0.000000f, 3.466933f }, + new[] { 2.170555f, 10.197294f, -29.011150f, 1.135336f, 0.000000f, 3.310742f }, + new[] { 2.415170f, 10.197294f, -28.355282f, 1.223072f, 0.000000f, 3.279344f }, + new[] { 2.677041f, 10.197294f, -27.706110f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 2.938912f, 10.197294f, -27.056938f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.200784f, 10.197294f, -26.407766f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 3.462655f, 10.197294f, -25.758595f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.724526f, 10.197294f, -25.109423f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.986398f, 10.197294f, -24.460251f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 4.248269f, 10.197294f, -23.811079f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.510140f, 10.197294f, -23.161907f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.772012f, 10.197294f, -22.512735f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.033883f, 10.197294f, -21.863564f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.295755f, 10.197294f, -21.214392f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.557627f, 10.197294f, -20.565220f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.819499f, 10.197294f, -19.916048f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.081370f, 10.197294f, -19.266876f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.300874f, 10.197294f, -18.722734f, 1.097519f, 0.000000f, 2.720711f }, + new[] { 6.400665f, 10.197294f, -18.475355f, 0.457299f, 0.000000f, 1.133632f }, + new[] { 6.433914f, 10.197294f, -18.392933f, 0.166243f, 0.000000f, 0.412109f }, + new[] { 6.447767f, 10.197294f, -18.358591f, 0.069268f, 0.000000f, 0.171711f }, + new[] { 6.453539f, 10.197294f, -18.344282f, 0.028861f, 0.000000f, 0.071547f }, + new[] { 6.455945f, 10.197294f, -18.338320f, 0.012026f, 0.000000f, 0.029813f }, + new[] { 6.455945f, 10.197294f, -18.338320f, 0.000000f, 0.000000f, 0.000000f } }; + + static readonly float[][] EXPECTED_A1Q0TV = { + new[] { 22.333418f, 10.197294f, -45.751896f, -2.987050f, 0.000000f, 1.824153f }, + new[] { 21.787214f, 10.197294f, -45.418335f, -2.987049f, 0.000000f, 1.824153f }, + new[] { 21.189804f, 10.197294f, -45.053505f, -2.987050f, 0.000000f, 1.824153f }, + new[] { 20.592394f, 10.197294f, -44.688675f, -2.987049f, 0.000000f, 1.824153f }, + new[] { 19.994984f, 10.197294f, -44.323845f, -2.987049f, 0.000000f, 1.824153f }, + new[] { 19.397573f, 10.197294f, -43.959015f, -2.987049f, 0.000000f, 1.824154f }, + new[] { 18.800163f, 10.197294f, -43.594185f, -2.987049f, 0.000000f, 1.824154f }, + new[] { 18.202753f, 10.197294f, -43.229355f, -2.987049f, 0.000000f, 1.824154f }, + new[] { 17.605343f, 10.197294f, -42.864525f, -2.987049f, 0.000000f, 1.824154f }, + new[] { 17.007933f, 10.197294f, -42.499695f, -2.987049f, 0.000000f, 1.824154f }, + new[] { 16.410522f, 10.197294f, -42.134865f, -2.987049f, 0.000000f, 1.824155f }, + new[] { 15.813112f, 10.197294f, -41.770035f, -2.987049f, 0.000000f, 1.824155f }, + new[] { 15.215703f, 10.197294f, -41.405205f, -2.987048f, 0.000000f, 1.824155f }, + new[] { 14.618294f, 10.197294f, -41.040375f, -2.987048f, 0.000000f, 1.824155f }, + new[] { 14.020885f, 10.197294f, -40.675545f, -2.987048f, 0.000000f, 1.824155f }, + new[] { 13.423475f, 10.197294f, -40.310715f, -2.987048f, 0.000000f, 1.824155f }, + new[] { 12.826066f, 10.197294f, -39.945885f, -2.987048f, 0.000000f, 1.824156f }, + new[] { 12.228657f, 10.197294f, -39.581055f, -2.987048f, 0.000000f, 1.824156f }, + new[] { 11.631248f, 10.197294f, -39.216225f, -2.987048f, 0.000000f, 1.824156f }, + new[] { 11.033838f, 10.197294f, -38.851395f, -2.987048f, 0.000000f, 1.824156f }, + new[] { 10.436429f, 10.197294f, -38.486565f, -2.987047f, 0.000000f, 1.824157f }, + new[] { 9.839020f, 10.197294f, -38.121735f, -2.987047f, 0.000000f, 1.824157f }, + new[] { 9.241611f, 10.197294f, -37.756905f, -2.987047f, 0.000000f, 1.824157f }, + new[] { 8.644201f, 10.197294f, -37.392075f, -2.987047f, 0.000000f, 1.824158f }, + new[] { 8.046792f, 10.197294f, -37.027245f, -2.987046f, 0.000000f, 1.824158f }, + new[] { 7.449383f, 10.197294f, -36.662415f, -2.987046f, 0.000000f, 1.824160f }, + new[] { 6.851974f, 10.197294f, -36.297581f, -2.987045f, 0.000000f, 1.824160f }, + new[] { 6.254564f, 10.197294f, -35.932751f, -2.987046f, 0.000000f, 1.824159f }, + new[] { 5.657155f, 10.197294f, -35.567917f, -2.987045f, 0.000000f, 1.824161f }, + new[] { 5.059746f, 10.197294f, -35.203087f, -2.987046f, 0.000000f, 1.824160f }, + new[] { 4.462337f, 10.197294f, -34.838253f, -2.987044f, 0.000000f, 1.824162f }, + new[] { 3.864928f, 10.197294f, -34.473423f, -2.987046f, 0.000000f, 1.824159f }, + new[] { 3.267520f, 10.197294f, -34.108589f, -2.987040f, 0.000000f, 1.824169f }, + new[] { 2.910351f, 10.197294f, -33.532368f, -1.429270f, 0.000000f, 3.194869f }, + new[] { 2.648150f, 10.197294f, -32.883331f, -1.311005f, 0.000000f, 3.245191f }, + new[] { 2.385949f, 10.197294f, -32.234291f, -1.311003f, 0.000000f, 3.245192f }, + new[] { 2.123748f, 10.197294f, -31.585253f, -1.311006f, 0.000000f, 3.245191f }, + new[] { 1.861547f, 10.197294f, -30.936214f, -1.311005f, 0.000000f, 3.245191f }, + new[] { 1.916189f, 10.197294f, -30.242338f, 0.359062f, 0.000000f, 3.481533f }, + new[] { 2.011134f, 10.197294f, -29.548807f, 0.474725f, 0.000000f, 3.467656f }, + new[] { 2.246398f, 10.197294f, -28.889526f, 1.176323f, 0.000000f, 3.296402f }, + new[] { 2.481663f, 10.197294f, -28.230246f, 1.176324f, 0.000000f, 3.296402f }, + new[] { 2.716928f, 10.197294f, -27.570965f, 1.176325f, 0.000000f, 3.296401f }, + new[] { 2.979683f, 10.197294f, -26.922150f, 1.313774f, 0.000000f, 3.244071f }, + new[] { 3.242438f, 10.197294f, -26.273335f, 1.313774f, 0.000000f, 3.244071f }, + new[] { 3.505193f, 10.197294f, -25.624521f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 3.767948f, 10.197294f, -24.975708f, 1.313774f, 0.000000f, 3.244071f }, + new[] { 4.030703f, 10.197294f, -24.326893f, 1.313774f, 0.000000f, 3.244071f }, + new[] { 4.293458f, 10.197294f, -23.678078f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 4.556212f, 10.197294f, -23.029263f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 4.818967f, 10.197294f, -22.380449f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 5.081722f, 10.197294f, -21.731636f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 5.344477f, 10.197294f, -21.082821f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 5.607232f, 10.197294f, -20.434008f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 5.869987f, 10.197294f, -19.785194f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 6.132742f, 10.197294f, -19.136379f, 1.313774f, 0.000000f, 3.244071f }, + new[] { 6.322279f, 10.197294f, -18.668360f, 0.947685f, 0.000000f, 2.340096f }, + new[] { 6.401253f, 10.197294f, -18.473352f, 0.394869f, 0.000000f, 0.975039f }, + new[] { 6.434158f, 10.197294f, -18.392099f, 0.164529f, 0.000000f, 0.406268f }, + new[] { 6.447869f, 10.197294f, -18.358244f, 0.068554f, 0.000000f, 0.169280f }, + new[] { 6.453582f, 10.197294f, -18.344137f, 0.028564f, 0.000000f, 0.070535f }, + new[] { 6.455962f, 10.197294f, -18.338259f, 0.011902f, 0.000000f, 0.029390f }, + new[] { 6.455962f, 10.197294f, -18.338259f, 0.000000f, 0.000000f, 0.000000f } }; + + static readonly float[][] EXPECTED_A1Q0T = { + new[] { 22.333418f, 10.197294f, -45.751896f, -2.987050f, 0.000000f, 1.824153f }, + new[] { 21.787214f, 10.197294f, -45.418335f, -2.987049f, 0.000000f, 1.824153f }, + new[] { 21.189804f, 10.197294f, -45.053505f, -2.987050f, 0.000000f, 1.824153f }, + new[] { 20.592394f, 10.197294f, -44.688675f, -2.987049f, 0.000000f, 1.824153f }, + new[] { 19.994984f, 10.197294f, -44.323845f, -2.987049f, 0.000000f, 1.824153f }, + new[] { 19.397573f, 10.197294f, -43.959015f, -2.987049f, 0.000000f, 1.824154f }, + new[] { 18.800163f, 10.197294f, -43.594185f, -2.987049f, 0.000000f, 1.824154f }, + new[] { 18.202753f, 10.197294f, -43.229355f, -2.987049f, 0.000000f, 1.824154f }, + new[] { 17.605343f, 10.197294f, -42.864525f, -2.987049f, 0.000000f, 1.824154f }, + new[] { 17.007933f, 10.197294f, -42.499695f, -2.987049f, 0.000000f, 1.824154f }, + new[] { 16.410522f, 10.197294f, -42.134865f, -2.987049f, 0.000000f, 1.824155f }, + new[] { 15.813112f, 10.197294f, -41.770035f, -2.987049f, 0.000000f, 1.824155f }, + new[] { 15.215703f, 10.197294f, -41.405205f, -2.987048f, 0.000000f, 1.824155f }, + new[] { 14.618294f, 10.197294f, -41.040375f, -2.987048f, 0.000000f, 1.824155f }, + new[] { 14.020885f, 10.197294f, -40.675545f, -2.987048f, 0.000000f, 1.824155f }, + new[] { 13.423475f, 10.197294f, -40.310715f, -2.987048f, 0.000000f, 1.824155f }, + new[] { 12.826066f, 10.197294f, -39.945885f, -2.987048f, 0.000000f, 1.824156f }, + new[] { 12.228657f, 10.197294f, -39.581055f, -2.987048f, 0.000000f, 1.824156f }, + new[] { 11.631248f, 10.197294f, -39.216225f, -2.987048f, 0.000000f, 1.824156f }, + new[] { 11.033838f, 10.197294f, -38.851395f, -2.987048f, 0.000000f, 1.824156f }, + new[] { 10.436429f, 10.197294f, -38.486565f, -2.987047f, 0.000000f, 1.824157f }, + new[] { 9.839020f, 10.197294f, -38.121735f, -2.987047f, 0.000000f, 1.824157f }, + new[] { 9.241611f, 10.197294f, -37.756905f, -2.987047f, 0.000000f, 1.824157f }, + new[] { 8.644201f, 10.197294f, -37.392075f, -2.987047f, 0.000000f, 1.824158f }, + new[] { 8.046792f, 10.197294f, -37.027245f, -2.987046f, 0.000000f, 1.824158f }, + new[] { 7.449383f, 10.197294f, -36.662415f, -2.987046f, 0.000000f, 1.824160f }, + new[] { 6.851974f, 10.197294f, -36.297581f, -2.987045f, 0.000000f, 1.824160f }, + new[] { 6.254564f, 10.197294f, -35.932751f, -2.987046f, 0.000000f, 1.824159f }, + new[] { 5.657155f, 10.197294f, -35.567917f, -2.987045f, 0.000000f, 1.824161f }, + new[] { 5.059746f, 10.197294f, -35.203087f, -2.987046f, 0.000000f, 1.824160f }, + new[] { 4.462337f, 10.197294f, -34.838253f, -2.987044f, 0.000000f, 1.824162f }, + new[] { 3.864928f, 10.197294f, -34.473423f, -2.987046f, 0.000000f, 1.824159f }, + new[] { 3.267520f, 10.197294f, -34.108589f, -2.987040f, 0.000000f, 1.824169f }, + new[] { 2.910351f, 10.197294f, -33.532368f, -1.429270f, 0.000000f, 3.194869f }, + new[] { 2.648150f, 10.197294f, -32.883331f, -1.311005f, 0.000000f, 3.245191f }, + new[] { 2.385949f, 10.197294f, -32.234291f, -1.311003f, 0.000000f, 3.245192f }, + new[] { 2.123748f, 10.197294f, -31.585253f, -1.311006f, 0.000000f, 3.245191f }, + new[] { 1.861547f, 10.197294f, -30.936214f, -1.311005f, 0.000000f, 3.245191f }, + new[] { 1.916189f, 10.197294f, -30.242338f, 0.359062f, 0.000000f, 3.481533f }, + new[] { 2.011134f, 10.197294f, -29.548807f, 0.474725f, 0.000000f, 3.467656f }, + new[] { 2.246398f, 10.197294f, -28.889526f, 1.176323f, 0.000000f, 3.296402f }, + new[] { 2.481663f, 10.197294f, -28.230246f, 1.176324f, 0.000000f, 3.296402f }, + new[] { 2.716928f, 10.197294f, -27.570965f, 1.176325f, 0.000000f, 3.296401f }, + new[] { 2.979683f, 10.197294f, -26.922150f, 1.313774f, 0.000000f, 3.244071f }, + new[] { 3.242438f, 10.197294f, -26.273335f, 1.313774f, 0.000000f, 3.244071f }, + new[] { 3.505193f, 10.197294f, -25.624521f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 3.767948f, 10.197294f, -24.975708f, 1.313774f, 0.000000f, 3.244071f }, + new[] { 4.030703f, 10.197294f, -24.326893f, 1.313774f, 0.000000f, 3.244071f }, + new[] { 4.293458f, 10.197294f, -23.678078f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 4.556212f, 10.197294f, -23.029263f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 4.818967f, 10.197294f, -22.380449f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 5.081722f, 10.197294f, -21.731636f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 5.344477f, 10.197294f, -21.082821f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 5.607232f, 10.197294f, -20.434008f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 5.869987f, 10.197294f, -19.785194f, 1.313775f, 0.000000f, 3.244071f }, + new[] { 6.132742f, 10.197294f, -19.136379f, 1.313774f, 0.000000f, 3.244071f }, + new[] { 6.322279f, 10.197294f, -18.668360f, 0.947685f, 0.000000f, 2.340096f }, + new[] { 6.401253f, 10.197294f, -18.473352f, 0.394869f, 0.000000f, 0.975039f }, + new[] { 6.434158f, 10.197294f, -18.392099f, 0.164529f, 0.000000f, 0.406268f }, + new[] { 6.447869f, 10.197294f, -18.358244f, 0.068554f, 0.000000f, 0.169280f }, + new[] { 6.453582f, 10.197294f, -18.344137f, 0.028564f, 0.000000f, 0.070535f }, + new[] { 6.455962f, 10.197294f, -18.338259f, 0.011902f, 0.000000f, 0.029390f }, + new[] { 6.455962f, 10.197294f, -18.338259f, 0.000000f, 0.000000f, 0.000000f } }; + + static readonly float[][] EXPECTED_A1Q1TVTA = { + new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f }, + new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f }, + new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f }, + new[] { 20.512094f, 10.197294f, -44.831028f, -3.105014f, 0.000000f, 1.615205f }, + new[] { 19.891315f, 10.197294f, -44.507557f, -3.103898f, 0.000000f, 1.617350f }, + new[] { 19.270782f, 10.197294f, -44.183617f, -3.102670f, 0.000000f, 1.619704f }, + new[] { 18.650520f, 10.197294f, -43.859158f, -3.101315f, 0.000000f, 1.622296f }, + new[] { 18.030558f, 10.197294f, -43.534126f, -3.099816f, 0.000000f, 1.625158f }, + new[] { 17.410927f, 10.197294f, -43.208462f, -3.098152f, 0.000000f, 1.628329f }, + new[] { 16.791668f, 10.197294f, -42.882092f, -3.096297f, 0.000000f, 1.631854f }, + new[] { 16.172823f, 10.197294f, -42.554935f, -3.094221f, 0.000000f, 1.635786f }, + new[] { 15.554445f, 10.197294f, -42.226898f, -3.091888f, 0.000000f, 1.640191f }, + new[] { 14.936594f, 10.197294f, -41.897869f, -3.089255f, 0.000000f, 1.645145f }, + new[] { 14.319340f, 10.197294f, -41.567722f, -3.086269f, 0.000000f, 1.650741f }, + new[] { 13.702767f, 10.197294f, -41.236305f, -3.082862f, 0.000000f, 1.657094f }, + new[] { 13.086977f, 10.197294f, -40.903435f, -3.078954f, 0.000000f, 1.664345f }, + new[] { 12.472089f, 10.197294f, -40.568901f, -3.074442f, 0.000000f, 1.672665f }, + new[] { 11.858250f, 10.197294f, -40.232449f, -3.069196f, 0.000000f, 1.682271f }, + new[] { 11.245640f, 10.197294f, -39.893761f, -3.063048f, 0.000000f, 1.693439f }, + new[] { 10.634483f, 10.197294f, -39.552460f, -3.055783f, 0.000000f, 1.706514f }, + new[] { 10.025061f, 10.197294f, -39.208069f, -3.047112f, 0.000000f, 1.721948f }, + new[] { 9.417730f, 10.197294f, -38.860004f, -3.036654f, 0.000000f, 1.740326f }, + new[] { 8.812954f, 10.197294f, -38.507519f, -3.023880f, 0.000000f, 1.762429f }, + new[] { 8.211343f, 10.197294f, -38.149658f, -3.008055f, 0.000000f, 1.789302f }, + new[] { 7.613717f, 10.197294f, -37.785183f, -2.988129f, 0.000000f, 1.822385f }, + new[] { 7.021209f, 10.197294f, -37.412445f, -2.962540f, 0.000000f, 1.863695f }, + new[] { 6.435429f, 10.197294f, -37.029221f, -2.928901f, 0.000000f, 1.916126f }, + new[] { 5.858753f, 10.197294f, -36.632427f, -2.883380f, 0.000000f, 1.983965f }, + new[] { 5.294861f, 10.197294f, -36.217667f, -2.819461f, 0.000000f, 2.073798f }, + new[] { 4.749827f, 10.197294f, -35.778419f, -2.725170f, 0.000000f, 2.196236f }, + new[] { 4.234636f, 10.197294f, -35.304523f, -2.575954f, 0.000000f, 2.369486f }, + new[] { 3.772264f, 10.197294f, -34.778965f, -2.311863f, 0.000000f, 2.627792f }, + new[] { 3.428036f, 10.197294f, -34.169453f, -1.721137f, 0.000000f, 3.047571f }, + new[] { 3.033963f, 10.197294f, -33.590916f, -1.970364f, 0.000000f, 2.892692f }, + new[] { 2.656040f, 10.197294f, -33.001701f, -1.889616f, 0.000000f, 2.946074f }, + new[] { 2.307335f, 10.197294f, -32.394737f, -1.743529f, 0.000000f, 3.034816f }, + new[] { 2.021275f, 10.197294f, -31.755856f, -1.430300f, 0.000000f, 3.194408f }, + new[] { 1.935164f, 10.197294f, -31.061172f, -0.430555f, 0.000000f, 3.473417f }, + new[] { 1.847493f, 10.197294f, -30.366684f, -0.438351f, 0.000000f, 3.472441f }, + new[] { 1.943488f, 10.197294f, -29.673298f, 0.479975f, 0.000000f, 3.466933f }, + new[] { 2.170555f, 10.197294f, -29.011150f, 1.135336f, 0.000000f, 3.310742f }, + new[] { 2.415170f, 10.197294f, -28.355282f, 1.223072f, 0.000000f, 3.279344f }, + new[] { 2.677041f, 10.197294f, -27.706110f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 2.938912f, 10.197294f, -27.056938f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.200784f, 10.197294f, -26.407766f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 3.462655f, 10.197294f, -25.758595f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.724526f, 10.197294f, -25.109423f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.986398f, 10.197294f, -24.460251f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 4.248269f, 10.197294f, -23.811079f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.510140f, 10.197294f, -23.161907f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.772012f, 10.197294f, -22.512735f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 5.033883f, 10.197294f, -21.863564f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.295755f, 10.197294f, -21.214392f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.557627f, 10.197294f, -20.565220f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.819499f, 10.197294f, -19.916048f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.081370f, 10.197294f, -19.266876f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.322058f, 10.197294f, -18.670219f, 1.203439f, 0.000000f, 2.983284f }, + new[] { 6.429398f, 10.197294f, -18.364454f, 0.320910f, 0.000000f, 1.058088f }, + new[] { 6.437642f, 10.197294f, -18.355589f, 0.041219f, 0.000000f, 0.044324f }, + new[] { 6.443481f, 10.197294f, -18.349310f, 0.029197f, 0.000000f, 0.031395f }, + new[] { 6.447618f, 10.197294f, -18.344862f, 0.020681f, 0.000000f, 0.022238f }, + new[] { 6.450547f, 10.197294f, -18.341711f, 0.014649f, 0.000000f, 0.015752f }, + new[] { 6.452622f, 10.197294f, -18.339479f, 0.010377f, 0.000000f, 0.011157f }, + new[] { 6.452622f, 10.197294f, -18.339479f, 0.000000f, 0.000000f, 0.000000f }, }; + + static readonly float[][] EXPECTED_A1Q2TVTA = { + new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f }, + new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f }, + new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f }, + new[] { 20.512094f, 10.197294f, -44.831028f, -3.105014f, 0.000000f, 1.615205f }, + new[] { 19.891315f, 10.197294f, -44.507557f, -3.103898f, 0.000000f, 1.617350f }, + new[] { 19.270782f, 10.197294f, -44.183617f, -3.102670f, 0.000000f, 1.619704f }, + new[] { 18.650520f, 10.197294f, -43.859158f, -3.101315f, 0.000000f, 1.622296f }, + new[] { 18.030558f, 10.197294f, -43.534126f, -3.099816f, 0.000000f, 1.625158f }, + new[] { 17.410927f, 10.197294f, -43.208462f, -3.098152f, 0.000000f, 1.628329f }, + new[] { 16.791668f, 10.197294f, -42.882092f, -3.096297f, 0.000000f, 1.631854f }, + new[] { 16.172823f, 10.197294f, -42.554935f, -3.094221f, 0.000000f, 1.635786f }, + new[] { 15.554445f, 10.197294f, -42.226898f, -3.091888f, 0.000000f, 1.640191f }, + new[] { 14.936594f, 10.197294f, -41.897869f, -3.089255f, 0.000000f, 1.645145f }, + new[] { 14.319340f, 10.197294f, -41.567722f, -3.086269f, 0.000000f, 1.650741f }, + new[] { 13.702767f, 10.197294f, -41.236305f, -3.082862f, 0.000000f, 1.657094f }, + new[] { 13.086977f, 10.197294f, -40.903435f, -3.078954f, 0.000000f, 1.664345f }, + new[] { 12.472089f, 10.197294f, -40.568901f, -3.074442f, 0.000000f, 1.672665f }, + new[] { 11.858250f, 10.197294f, -40.232449f, -3.069196f, 0.000000f, 1.682271f }, + new[] { 11.245640f, 10.197294f, -39.893761f, -3.063048f, 0.000000f, 1.693439f }, + new[] { 10.634483f, 10.197294f, -39.552460f, -3.055783f, 0.000000f, 1.706514f }, + new[] { 10.025061f, 10.197294f, -39.208069f, -3.047112f, 0.000000f, 1.721948f }, + new[] { 9.417730f, 10.197294f, -38.860004f, -3.036654f, 0.000000f, 1.740326f }, + new[] { 8.812954f, 10.197294f, -38.507519f, -3.023880f, 0.000000f, 1.762429f }, + new[] { 8.211343f, 10.197294f, -38.149658f, -3.008055f, 0.000000f, 1.789302f }, + new[] { 7.613717f, 10.197294f, -37.785183f, -2.988129f, 0.000000f, 1.822385f }, + new[] { 7.021209f, 10.197294f, -37.412445f, -2.962540f, 0.000000f, 1.863695f }, + new[] { 6.435429f, 10.197294f, -37.029221f, -2.928901f, 0.000000f, 1.916126f }, + new[] { 5.858753f, 10.197294f, -36.632427f, -2.883380f, 0.000000f, 1.983965f }, + new[] { 5.294861f, 10.197294f, -36.217667f, -2.819461f, 0.000000f, 2.073798f }, + new[] { 4.749827f, 10.197294f, -35.778419f, -2.725170f, 0.000000f, 2.196236f }, + new[] { 4.234636f, 10.197294f, -35.304523f, -2.575954f, 0.000000f, 2.369486f }, + new[] { 3.772264f, 10.197294f, -34.778965f, -2.311863f, 0.000000f, 2.627792f }, + new[] { 3.428036f, 10.197294f, -34.169453f, -1.721137f, 0.000000f, 3.047571f }, + new[] { 3.033963f, 10.197294f, -33.590916f, -1.970364f, 0.000000f, 2.892692f }, + new[] { 2.656040f, 10.197294f, -33.001701f, -1.889616f, 0.000000f, 2.946074f }, + new[] { 2.307335f, 10.197294f, -32.394737f, -1.743529f, 0.000000f, 3.034816f }, + new[] { 2.021275f, 10.197294f, -31.755856f, -1.430300f, 0.000000f, 3.194408f }, + new[] { 1.935164f, 10.197294f, -31.061172f, -0.430555f, 0.000000f, 3.473417f }, + new[] { 1.847493f, 10.197294f, -30.366684f, -0.438351f, 0.000000f, 3.472441f }, + new[] { 1.943488f, 10.197294f, -29.673298f, 0.479975f, 0.000000f, 3.466933f }, + new[] { 2.170555f, 10.197294f, -29.011150f, 1.135336f, 0.000000f, 3.310742f }, + new[] { 2.415170f, 10.197294f, -28.355282f, 1.223072f, 0.000000f, 3.279344f }, + new[] { 2.677041f, 10.197294f, -27.706110f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 2.938912f, 10.197294f, -27.056938f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.200784f, 10.197294f, -26.407766f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 3.462655f, 10.197294f, -25.758595f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.724526f, 10.197294f, -25.109423f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.986398f, 10.197294f, -24.460251f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 4.248269f, 10.197294f, -23.811079f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.510140f, 10.197294f, -23.161907f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.772012f, 10.197294f, -22.512735f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 5.033883f, 10.197294f, -21.863564f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.295755f, 10.197294f, -21.214392f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.557627f, 10.197294f, -20.565220f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.819499f, 10.197294f, -19.916048f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.081370f, 10.197294f, -19.266876f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.305691f, 10.197294f, -18.710793f, 1.121604f, 0.000000f, 2.780417f }, + new[] { 6.420408f, 10.197294f, -18.455353f, 0.541385f, 0.000000f, 1.188869f }, + new[] { 6.450006f, 10.197294f, -18.371796f, 0.147987f, 0.000000f, 0.417789f }, + new[] { 6.452239f, 10.197294f, -18.360790f, 0.011167f, 0.000000f, 0.055030f }, + new[] { 6.453821f, 10.197294f, -18.352995f, 0.007909f, 0.000000f, 0.038981f }, + new[] { 6.454941f, 10.197294f, -18.347473f, 0.005603f, 0.000000f, 0.027612f }, + new[] { 6.455735f, 10.197294f, -18.343561f, 0.003969f, 0.000000f, 0.019560f }, + new[] { 6.455735f, 10.197294f, -18.343561f, 0.000000f, 0.000000f, 0.000000f }, }; + + static readonly float[][] EXPECTED_A1Q3TVTA = { + new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f }, + new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f }, + new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f }, + new[] { 20.512094f, 10.197294f, -44.831028f, -3.105014f, 0.000000f, 1.615205f }, + new[] { 19.891315f, 10.197294f, -44.507557f, -3.103898f, 0.000000f, 1.617350f }, + new[] { 19.270782f, 10.197294f, -44.183617f, -3.102670f, 0.000000f, 1.619704f }, + new[] { 18.650520f, 10.197294f, -43.859158f, -3.101315f, 0.000000f, 1.622296f }, + new[] { 18.030558f, 10.197294f, -43.534126f, -3.099816f, 0.000000f, 1.625158f }, + new[] { 17.410927f, 10.197294f, -43.208462f, -3.098152f, 0.000000f, 1.628329f }, + new[] { 16.791668f, 10.197294f, -42.882092f, -3.096297f, 0.000000f, 1.631854f }, + new[] { 16.172823f, 10.197294f, -42.554935f, -3.094221f, 0.000000f, 1.635786f }, + new[] { 15.554445f, 10.197294f, -42.226898f, -3.091888f, 0.000000f, 1.640191f }, + new[] { 14.936594f, 10.197294f, -41.897869f, -3.089255f, 0.000000f, 1.645145f }, + new[] { 14.319340f, 10.197294f, -41.567722f, -3.086269f, 0.000000f, 1.650741f }, + new[] { 13.702767f, 10.197294f, -41.236305f, -3.082862f, 0.000000f, 1.657094f }, + new[] { 13.086977f, 10.197294f, -40.903435f, -3.078954f, 0.000000f, 1.664345f }, + new[] { 12.472089f, 10.197294f, -40.568901f, -3.074442f, 0.000000f, 1.672665f }, + new[] { 11.858250f, 10.197294f, -40.232449f, -3.069196f, 0.000000f, 1.682271f }, + new[] { 11.245640f, 10.197294f, -39.893761f, -3.063048f, 0.000000f, 1.693439f }, + new[] { 10.634483f, 10.197294f, -39.552460f, -3.055783f, 0.000000f, 1.706514f }, + new[] { 10.025061f, 10.197294f, -39.208069f, -3.047112f, 0.000000f, 1.721948f }, + new[] { 9.417730f, 10.197294f, -38.860004f, -3.036654f, 0.000000f, 1.740326f }, + new[] { 8.812954f, 10.197294f, -38.507519f, -3.023880f, 0.000000f, 1.762429f }, + new[] { 8.211343f, 10.197294f, -38.149658f, -3.008055f, 0.000000f, 1.789302f }, + new[] { 7.613717f, 10.197294f, -37.785183f, -2.988129f, 0.000000f, 1.822385f }, + new[] { 7.021209f, 10.197294f, -37.412445f, -2.962540f, 0.000000f, 1.863695f }, + new[] { 6.435429f, 10.197294f, -37.029221f, -2.928901f, 0.000000f, 1.916126f }, + new[] { 5.858753f, 10.197294f, -36.632427f, -2.883380f, 0.000000f, 1.983965f }, + new[] { 5.294861f, 10.197294f, -36.217667f, -2.819461f, 0.000000f, 2.073798f }, + new[] { 4.749827f, 10.197294f, -35.778419f, -2.725170f, 0.000000f, 2.196236f }, + new[] { 4.234636f, 10.197294f, -35.304523f, -2.575954f, 0.000000f, 2.369486f }, + new[] { 3.772264f, 10.197294f, -34.778965f, -2.311863f, 0.000000f, 2.627792f }, + new[] { 3.428036f, 10.197294f, -34.169453f, -1.721137f, 0.000000f, 3.047571f }, + new[] { 3.033963f, 10.197294f, -33.590916f, -1.970364f, 0.000000f, 2.892692f }, + new[] { 2.656040f, 10.197294f, -33.001701f, -1.889616f, 0.000000f, 2.946074f }, + new[] { 2.307335f, 10.197294f, -32.394737f, -1.743529f, 0.000000f, 3.034816f }, + new[] { 2.021275f, 10.197294f, -31.755856f, -1.430300f, 0.000000f, 3.194408f }, + new[] { 1.935164f, 10.197294f, -31.061172f, -0.430555f, 0.000000f, 3.473417f }, + new[] { 1.847493f, 10.197294f, -30.366684f, -0.438351f, 0.000000f, 3.472441f }, + new[] { 1.943488f, 10.197294f, -29.673298f, 0.479975f, 0.000000f, 3.466933f }, + new[] { 2.170555f, 10.197294f, -29.011150f, 1.135336f, 0.000000f, 3.310742f }, + new[] { 2.415170f, 10.197294f, -28.355282f, 1.223072f, 0.000000f, 3.279344f }, + new[] { 2.677041f, 10.197294f, -27.706110f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 2.938912f, 10.197294f, -27.056938f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.200784f, 10.197294f, -26.407766f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 3.462655f, 10.197294f, -25.758595f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.724526f, 10.197294f, -25.109423f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.986398f, 10.197294f, -24.460251f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 4.248269f, 10.197294f, -23.811079f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.510140f, 10.197294f, -23.161907f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.772012f, 10.197294f, -22.512735f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 5.033883f, 10.197294f, -21.863564f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.295755f, 10.197294f, -21.214392f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.557627f, 10.197294f, -20.565220f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.819499f, 10.197294f, -19.916048f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.081370f, 10.197294f, -19.266876f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.297070f, 10.197294f, -18.723810f, 1.078498f, 0.000000f, 2.715334f }, + new[] { 6.397289f, 10.197294f, -18.479179f, 0.456429f, 0.000000f, 1.107728f }, + new[] { 6.439916f, 10.197294f, -18.384853f, 0.213137f, 0.000000f, 0.471627f }, + new[] { 6.454712f, 10.197294f, -18.342505f, 0.073981f, 0.000000f, 0.211745f }, + new[] { 6.454712f, 10.197294f, -18.342505f, 0.000000f, 0.000000f, 0.000000f } }; + + static readonly float[][] EXPECTED_A1Q3TVTAS = { + new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f }, + new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f }, + new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f }, + new[] { 20.512094f, 10.197294f, -44.831028f, -3.105014f, 0.000000f, 1.615205f }, + new[] { 19.891315f, 10.197294f, -44.507557f, -3.103898f, 0.000000f, 1.617350f }, + new[] { 19.270782f, 10.197294f, -44.183617f, -3.102670f, 0.000000f, 1.619704f }, + new[] { 18.650520f, 10.197294f, -43.859158f, -3.101315f, 0.000000f, 1.622296f }, + new[] { 18.030558f, 10.197294f, -43.534126f, -3.099816f, 0.000000f, 1.625158f }, + new[] { 17.410927f, 10.197294f, -43.208462f, -3.098152f, 0.000000f, 1.628329f }, + new[] { 16.791668f, 10.197294f, -42.882092f, -3.096297f, 0.000000f, 1.631854f }, + new[] { 16.172823f, 10.197294f, -42.554935f, -3.094221f, 0.000000f, 1.635786f }, + new[] { 15.554445f, 10.197294f, -42.226898f, -3.091888f, 0.000000f, 1.640191f }, + new[] { 14.936594f, 10.197294f, -41.897869f, -3.089255f, 0.000000f, 1.645145f }, + new[] { 14.319340f, 10.197294f, -41.567722f, -3.086269f, 0.000000f, 1.650741f }, + new[] { 13.702767f, 10.197294f, -41.236305f, -3.082862f, 0.000000f, 1.657094f }, + new[] { 13.086977f, 10.197294f, -40.903435f, -3.078954f, 0.000000f, 1.664345f }, + new[] { 12.472089f, 10.197294f, -40.568901f, -3.074442f, 0.000000f, 1.672665f }, + new[] { 11.858250f, 10.197294f, -40.232449f, -3.069196f, 0.000000f, 1.682271f }, + new[] { 11.245640f, 10.197294f, -39.893761f, -3.063048f, 0.000000f, 1.693439f }, + new[] { 10.634483f, 10.197294f, -39.552460f, -3.055783f, 0.000000f, 1.706514f }, + new[] { 10.025061f, 10.197294f, -39.208069f, -3.047112f, 0.000000f, 1.721948f }, + new[] { 9.417730f, 10.197294f, -38.860004f, -3.036654f, 0.000000f, 1.740326f }, + new[] { 8.812954f, 10.197294f, -38.507519f, -3.023880f, 0.000000f, 1.762429f }, + new[] { 8.211343f, 10.197294f, -38.149658f, -3.008055f, 0.000000f, 1.789302f }, + new[] { 7.613717f, 10.197294f, -37.785183f, -2.988129f, 0.000000f, 1.822385f }, + new[] { 7.021209f, 10.197294f, -37.412445f, -2.962540f, 0.000000f, 1.863695f }, + new[] { 6.435429f, 10.197294f, -37.029221f, -2.928901f, 0.000000f, 1.916126f }, + new[] { 5.858753f, 10.197294f, -36.632427f, -2.883380f, 0.000000f, 1.983965f }, + new[] { 5.294861f, 10.197294f, -36.217667f, -2.819461f, 0.000000f, 2.073798f }, + new[] { 4.749827f, 10.197294f, -35.778419f, -2.725170f, 0.000000f, 2.196236f }, + new[] { 4.234636f, 10.197294f, -35.304523f, -2.575954f, 0.000000f, 2.369486f }, + new[] { 3.772264f, 10.197294f, -34.778965f, -2.311863f, 0.000000f, 2.627792f }, + new[] { 3.428036f, 10.197294f, -34.169453f, -1.721137f, 0.000000f, 3.047571f }, + new[] { 3.033963f, 10.197294f, -33.590916f, -1.970364f, 0.000000f, 2.892692f }, + new[] { 2.656040f, 10.197294f, -33.001701f, -1.889616f, 0.000000f, 2.946074f }, + new[] { 2.307335f, 10.197294f, -32.394737f, -1.743529f, 0.000000f, 3.034816f }, + new[] { 2.021275f, 10.197294f, -31.755856f, -1.430300f, 0.000000f, 3.194408f }, + new[] { 1.935164f, 10.197294f, -31.061172f, -0.430555f, 0.000000f, 3.473417f }, + new[] { 1.847493f, 10.197294f, -30.366684f, -0.438351f, 0.000000f, 3.472441f }, + new[] { 1.943488f, 10.197294f, -29.673298f, 0.479975f, 0.000000f, 3.466933f }, + new[] { 2.170555f, 10.197294f, -29.011150f, 1.135336f, 0.000000f, 3.310742f }, + new[] { 2.415170f, 10.197294f, -28.355282f, 1.223072f, 0.000000f, 3.279344f }, + new[] { 2.677041f, 10.197294f, -27.706110f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 2.938912f, 10.197294f, -27.056938f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.200784f, 10.197294f, -26.407766f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 3.462655f, 10.197294f, -25.758595f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.724526f, 10.197294f, -25.109423f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 3.986398f, 10.197294f, -24.460251f, 1.309357f, 0.000000f, 3.245857f }, + new[] { 4.248269f, 10.197294f, -23.811079f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.510140f, 10.197294f, -23.161907f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 4.772012f, 10.197294f, -22.512735f, 1.309357f, 0.000000f, 3.245856f }, + new[] { 5.033883f, 10.197294f, -21.863564f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.295755f, 10.197294f, -21.214392f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.557627f, 10.197294f, -20.565220f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 5.819499f, 10.197294f, -19.916048f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.081370f, 10.197294f, -19.266876f, 1.309358f, 0.000000f, 3.245856f }, + new[] { 6.297070f, 10.197294f, -18.723810f, 1.078498f, 0.000000f, 2.715334f }, + new[] { 6.397289f, 10.197294f, -18.479179f, 0.456429f, 0.000000f, 1.107728f }, + new[] { 6.439916f, 10.197294f, -18.384853f, 0.213137f, 0.000000f, 0.471627f }, + new[] { 6.454712f, 10.197294f, -18.342505f, 0.073981f, 0.000000f, 0.211745f }, + new[] { 6.454712f, 10.197294f, -18.342505f, 0.000000f, 0.000000f, 0.000000f } }; + + [Test] + public void testAgent1Quality0TVTA() { + int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS + | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE; + + addAgentGrid(1, 0.4f, updateFlags, 0, startPoss[0]); + setMoveTarget(endPoss[0], false); + for (int i = 0; i < EXPECTED_A1Q0TVTA.Length; i++) { + crowd.update(1 / 5f, null); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q0TVTA[i][0]).Within(0.001f)); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q0TVTA[i][1]).Within(0.001f)); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q0TVTA[i][2]).Within(0.001f)); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q0TVTA[i][3]).Within(0.001f)); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q0TVTA[i][4]).Within(0.001f)); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q0TVTA[i][5]).Within(0.001f)); + } + } + } + + [Test] + public void testAgent1Quality0TVT() { + int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS + | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO; + + addAgentGrid(1, 0.4f, updateFlags, 0, startPoss[0]); + setMoveTarget(endPoss[0], false); + for (int i = 0; i < EXPECTED_A1Q0TVT.Length; i++) { + crowd.update(1 / 5f, null); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q0TVT[i][0]).Within(0.001f)); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q0TVT[i][1]).Within(0.001f)); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q0TVT[i][2]).Within(0.001f)); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q0TVT[i][3]).Within(0.001f)); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q0TVT[i][4]).Within(0.001f)); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q0TVT[i][5]).Within(0.001f)); + } + } + } + + [Test] + public void testAgent1Quality0TV() { + int updateFlags = CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS; + + addAgentGrid(1, 0.4f, updateFlags, 0, startPoss[0]); + setMoveTarget(endPoss[0], false); + for (int i = 0; i < EXPECTED_A1Q0TV.Length; i++) { + crowd.update(1 / 5f, null); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q0TV[i][0]).Within(0.001f)); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q0TV[i][1]).Within(0.001f)); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q0TV[i][2]).Within(0.001f)); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q0TV[i][3]).Within(0.001f)); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q0TV[i][4]).Within(0.001f)); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q0TV[i][5]).Within(0.001f)); + } + } + } + + [Test] + public void testAgent1Quality0T() { + int updateFlags = CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO; + + addAgentGrid(1, 0.4f, updateFlags, 0, startPoss[0]); + setMoveTarget(endPoss[0], false); + for (int i = 0; i < EXPECTED_A1Q0T.Length; i++) { + crowd.update(1 / 5f, null); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q0T[i][0]).Within(0.001)); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q0T[i][1]).Within(0.001)); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q0T[i][2]).Within(0.001)); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q0T[i][3]).Within(0.001)); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q0T[i][4]).Within(0.001)); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q0T[i][5]).Within(0.001)); + } + } + } + + [Test] + public void testAgent1Quality1TVTA() { + int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS + | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE; + + addAgentGrid(1, 0.4f, updateFlags, 1, startPoss[0]); + setMoveTarget(endPoss[0], false); + for (int i = 0; i < EXPECTED_A1Q1TVTA.Length; i++) { + crowd.update(1 / 5f, null); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q1TVTA[i][0]).Within(0.001f)); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q1TVTA[i][1]).Within(0.001f)); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q1TVTA[i][2]).Within(0.001f)); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q1TVTA[i][3]).Within(0.001f)); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q1TVTA[i][4]).Within(0.001f)); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q1TVTA[i][5]).Within(0.001f)); + } + } + } + + [Test] + public void testAgent1Quality2TVTA() { + int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS + | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE; + + addAgentGrid(1, 0.4f, updateFlags, 2, startPoss[0]); + setMoveTarget(endPoss[0], false); + for (int i = 0; i < EXPECTED_A1Q2TVTA.Length; i++) { + crowd.update(1 / 5f, null); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q2TVTA[i][0]).Within(0.001f)); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q2TVTA[i][1]).Within(0.001f)); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q2TVTA[i][2]).Within(0.001f)); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q2TVTA[i][3]).Within(0.001f)); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q2TVTA[i][4]).Within(0.001f)); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q2TVTA[i][5]).Within(0.001f)); + } + } + } + + [Test] + public void testAgent1Quality3TVTA() { + int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS + | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE; + + addAgentGrid(1, 0.4f, updateFlags, 3, startPoss[0]); + setMoveTarget(endPoss[0], false); + for (int i = 0; i < EXPECTED_A1Q3TVTA.Length; i++) { + crowd.update(1 / 5f, null); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q3TVTA[i][0]).Within(0.001f)); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q3TVTA[i][1]).Within(0.001f)); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q3TVTA[i][2]).Within(0.001f)); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q3TVTA[i][3]).Within(0.001f)); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q3TVTA[i][4]).Within(0.001f)); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q3TVTA[i][5]).Within(0.001f)); + } + } + } + + [Test] + public void testAgent1Quality3TVTAS() { + int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS + | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE + | CrowdAgentParams.DT_CROWD_SEPARATION; + + addAgentGrid(1, 0.4f, updateFlags, 3, startPoss[0]); + setMoveTarget(endPoss[0], false); + for (int i = 0; i < EXPECTED_A1Q3TVTAS.Length; i++) { + crowd.update(1 / 5f, null); + foreach (CrowdAgent ag in crowd.getActiveAgents()) { + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q3TVTAS[i][0]).Within(0.001f)); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q3TVTAS[i][1]).Within(0.001f)); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q3TVTAS[i][2]).Within(0.001f)); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q3TVTAS[i][3]).Within(0.001f)); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q3TVTAS[i][4]).Within(0.001f)); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q3TVTAS[i][5]).Within(0.001f)); + } + } + } + +} diff --git a/test/DotRecast.Detour.Crowd.Test/Crowd4Test.cs b/test/DotRecast.Detour.Crowd.Test/Crowd4Test.cs new file mode 100644 index 0000000..c2ccd05 --- /dev/null +++ b/test/DotRecast.Detour.Crowd.Test/Crowd4Test.cs @@ -0,0 +1,363 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Threading; +using NUnit.Framework; + +namespace DotRecast.Detour.Crowd.Test; + +public class Crowd4Test : AbstractCrowdTest { + + static readonly float[][] EXPECTED_A1Q2TVTA = { + new[] { 23.275612f, 10.197294f, -46.233074f, 0.061640f, 0.000000f, 0.073828f }, + new[] { 23.350517f, 10.197294f, -46.304905f, 0.030557f, 0.000000f, 0.118703f }, + new[] { 23.347885f, 10.197294f, -46.331837f, -0.024102f, 0.000000f, -0.093108f }, + new[] { 23.338102f, 10.197294f, -46.372726f, -0.048912f, 0.000000f, -0.204439f }, + new[] { 23.158630f, 10.197294f, -46.386150f, -0.897364f, 0.000000f, -0.067119f }, + new[] { 22.750568f, 10.197294f, -46.389927f, -2.040308f, 0.000000f, -0.018881f }, + new[] { 22.173302f, 10.197294f, -46.272018f, -2.886330f, 0.000000f, 0.589539f }, + new[] { 21.579432f, 10.197294f, -46.052692f, -2.969354f, 0.000000f, 1.096630f }, + new[] { 20.957502f, 10.197294f, -45.761692f, -3.109650f, 0.000000f, 1.455011f }, + new[] { 20.365976f, 10.197294f, -45.476425f, -2.957630f, 0.000000f, 1.426327f }, + new[] { 19.775288f, 10.197294f, -45.189430f, -2.953444f, 0.000000f, 1.434977f }, + new[] { 19.185482f, 10.197294f, -44.900627f, -2.949032f, 0.000000f, 1.444020f }, + new[] { 18.596607f, 10.197294f, -44.609928f, -2.944376f, 0.000000f, 1.453491f }, + new[] { 18.008717f, 10.197294f, -44.317242f, -2.939449f, 0.000000f, 1.463430f }, + new[] { 17.421871f, 10.197294f, -44.022465f, -2.934223f, 0.000000f, 1.473880f }, + new[] { 16.836138f, 10.197294f, -43.725487f, -2.928665f, 0.000000f, 1.484893f }, + new[] { 16.237518f, 10.197294f, -43.413433f, -2.993098f, 0.000000f, 1.560270f }, + new[] { 15.662568f, 10.197294f, -43.098225f, -2.874751f, 0.000000f, 1.576043f }, + new[] { 15.094946f, 10.197294f, -42.777035f, -2.838109f, 0.000000f, 1.605944f }, + new[] { 14.528272f, 10.197294f, -42.454178f, -2.833370f, 0.000000f, 1.614288f }, + new[] { 13.962630f, 10.197294f, -42.129513f, -2.828207f, 0.000000f, 1.623317f }, + new[] { 13.391782f, 10.197294f, -41.806934f, -2.854241f, 0.000000f, 1.612890f }, + new[] { 12.799945f, 10.197294f, -41.482201f, -2.959186f, 0.000000f, 1.623668f }, + new[] { 12.197092f, 10.197294f, -41.139999f, -3.014262f, 0.000000f, 1.711000f }, + new[] { 11.594053f, 10.197294f, -40.811634f, -3.015195f, 0.000000f, 1.641821f }, + new[] { 10.996500f, 10.197294f, -40.460262f, -2.987766f, 0.000000f, 1.756859f }, + new[] { 10.401724f, 10.197294f, -40.104210f, -2.973881f, 0.000000f, 1.780260f }, + new[] { 9.810114f, 10.197294f, -39.742920f, -2.958048f, 0.000000f, 1.806445f }, + new[] { 9.222152f, 10.197294f, -39.375725f, -2.939809f, 0.000000f, 1.835979f }, + new[] { 8.638441f, 10.197294f, -39.001808f, -2.918552f, 0.000000f, 1.869585f }, + new[] { 8.059751f, 10.197294f, -38.620167f, -2.893450f, 0.000000f, 1.908203f }, + new[] { 7.536088f, 10.197294f, -38.213108f, -2.618314f, 0.000000f, 2.035301f }, + new[] { 7.008043f, 10.197294f, -37.798481f, -2.640225f, 0.000000f, 2.073141f }, + new[] { 6.484523f, 10.197294f, -37.378155f, -2.617601f, 0.000000f, 2.101635f }, + new[] { 5.957591f, 10.197294f, -36.962112f, -2.634658f, 0.000000f, 2.080211f }, + new[] { 5.458399f, 10.197294f, -36.525387f, -2.495958f, 0.000000f, 2.183624f }, + new[] { 4.952830f, 10.197294f, -36.083633f, -2.527847f, 0.000000f, 2.208776f }, + new[] { 4.445582f, 10.197294f, -35.638187f, -2.536238f, 0.000000f, 2.227235f }, + new[] { 3.997866f, 10.197294f, -35.100090f, -2.238582f, 0.000000f, 2.690493f }, + new[] { 3.604921f, 10.197294f, -34.520786f, -1.964725f, 0.000000f, 2.896524f }, + new[] { 3.216267f, 10.197294f, -33.938595f, -1.943270f, 0.000000f, 2.910962f }, + new[] { 2.839496f, 10.197294f, -33.348644f, -1.883856f, 0.000000f, 2.949760f }, + new[] { 2.482899f, 10.197294f, -32.746284f, -1.782983f, 0.000000f, 3.011806f }, + new[] { 2.165045f, 10.197294f, -32.122612f, -1.589272f, 0.000000f, 3.118367f }, + new[] { 1.968905f, 10.197294f, -31.542366f, -0.980699f, 0.000000f, 2.901230f }, + new[] { 1.830858f, 10.197294f, -30.899487f, -0.690238f, 0.000000f, 3.214399f }, + new[] { 1.790072f, 10.197294f, -30.240873f, -0.203930f, 0.000000f, 3.293068f }, + new[] { 1.860591f, 10.197294f, -29.561634f, 0.352598f, 0.000000f, 3.396194f }, + new[] { 2.125831f, 10.197294f, -28.913832f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 2.391070f, 10.197294f, -28.266029f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 2.656309f, 10.197294f, -27.618227f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 2.921549f, 10.197294f, -26.970425f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 3.186788f, 10.197294f, -26.322622f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 3.452027f, 10.197294f, -25.674820f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 3.717267f, 10.197294f, -25.027018f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 3.982506f, 10.197294f, -24.379215f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 4.247745f, 10.197294f, -23.731413f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 4.512984f, 10.197294f, -23.083611f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 4.778224f, 10.197294f, -22.435808f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 5.043463f, 10.197294f, -21.788006f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 5.308702f, 10.197294f, -21.140203f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 5.573941f, 10.197294f, -20.492401f, 1.326197f, 0.000000f, 3.239013f }, + new[] { 5.839180f, 10.197294f, -19.844599f, 1.326197f, 0.000000f, 3.239012f }, + new[] { 6.173420f, 10.197294f, -19.342373f, 1.706390f, 0.000000f, 2.813494f }, + new[] { 6.501637f, 10.197294f, -19.076807f, 1.451270f, 0.000000f, 2.463549f }, + new[] { 6.803561f, 10.197294f, -18.729990f, 1.002026f, 0.000000f, 2.679962f }, + new[] { 6.799414f, 10.197294f, -18.366598f, -0.993883f, 0.000000f, 1.390529f }, + new[] { 6.990967f, 10.197294f, -18.240343f, 2.109758f, 0.000000f, 0.180499f }, + new[] { 7.157530f, 10.197294f, -18.320511f, 0.758936f, 0.000000f, 0.228570f }, + new[] { 7.349619f, 10.197294f, -18.347782f, 0.926001f, 0.000000f, 0.008640f }, + new[] { 7.448954f, 10.197294f, -18.390112f, 0.496676f, 0.000000f, -0.211644f }, + new[] { 7.524421f, 10.197294f, -18.477961f, 0.377335f, 0.000000f, -0.439247f }, + new[] { 7.628986f, 10.197294f, -18.484478f, 0.522823f, 0.000000f, -0.032589f }, + new[] { 7.751089f, 10.197294f, -18.466608f, 0.610513f, 0.000000f, 0.089349f }, + new[] { 7.891870f, 10.197294f, -18.490461f, 0.703905f, 0.000000f, -0.119263f }, + new[] { 8.032493f, 10.197294f, -18.515228f, 0.703115f, 0.000000f, -0.123836f }, + new[] { 8.172967f, 10.1862135f, -18.540827f, 0.702371f, 0.000000f, -0.127992f }, + new[] { 8.182732f, 10.1862135f, -18.626057f, 0.048824f, 0.000000f, -0.426151f }, + new[] { 8.165586f, 10.188671f, -18.846558f, -0.085729f, 0.000000f, -1.102502f }, + new[] { 8.048562f, 10.197294f, -18.763044f, -0.785845f, 0.000000f, 1.028553f }, + new[] { 7.802718f, 10.197294f, -18.943884f, -1.229222f, 0.000000f, -0.904202f }, + new[] { 7.655485f, 10.197294f, -19.137533f, -0.736162f, 0.000000f, -0.968250f }, + new[] { 7.542105f, 10.197294f, -19.244339f, -0.566899f, 0.000000f, -0.534033f }, + new[] { 7.427822f, 10.197294f, -19.031147f, -0.572634f, 0.000000f, 1.497748f }, + new[] { 7.339287f, 10.197294f, -18.757444f, -0.442677f, 0.000000f, 1.368514f }, + new[] { 7.255370f, 10.197294f, -18.471191f, -0.419582f, 0.000000f, 1.431268f }, + new[] { 7.153419f, 10.197294f, -18.314838f, -0.509755f, 0.000000f, 0.781767f }, + new[] { 7.129016f, 10.197294f, -18.194052f, -0.122013f, 0.000000f, 0.603930f }, + new[] { 7.099013f, 10.197294f, -18.064573f, -0.150015f, 0.000000f, 0.647393f }, + new[] { 7.085871f, 10.197294f, -17.946556f, -0.065714f, 0.000000f, 0.590090f }, + new[] { 7.067722f, 10.197294f, -17.801628f, -0.090745f, 0.000000f, 0.724639f }, + new[] { 7.048226f, 10.197294f, -17.673695f, -0.097479f, 0.000000f, 0.639666f } }; + + static readonly float[][] EXPECTED_A1Q2TVTAS = { + new[] { 23.253357f, 10.197294f, -46.279934f, 0.074597f, 0.000000f, -0.017069f }, + new[] { 23.336805f, 10.197294f, -46.374985f, 0.119401f, 0.000000f, -0.031009f }, + new[] { 23.351542f, 10.197294f, -46.410728f, 0.053426f, 0.000000f, -0.093556f }, + new[] { 23.362417f, 10.197294f, -46.429638f, 0.054377f, 0.000000f, -0.094549f }, + new[] { 23.216995f, 10.197294f, -46.446442f, -0.727108f, 0.000000f, -0.084018f }, + new[] { 22.902132f, 10.197294f, -46.426094f, -1.574317f, 0.000000f, 0.101733f }, + new[] { 22.491152f, 10.197294f, -46.376247f, -2.054897f, 0.000000f, 0.249239f }, + new[] { 22.058567f, 10.197294f, -46.289536f, -2.162925f, 0.000000f, 0.433569f }, + new[] { 21.588501f, 10.197294f, -46.183846f, -2.350327f, 0.000000f, 0.528449f }, + new[] { 21.116070f, 10.197294f, -46.072765f, -2.362152f, 0.000000f, 0.555402f }, + new[] { 20.642447f, 10.197294f, -45.954391f, -2.368116f, 0.000000f, 0.591867f }, + new[] { 20.168785f, 10.197294f, -45.827782f, -2.368307f, 0.000000f, 0.633050f }, + new[] { 19.695480f, 10.197294f, -45.692959f, -2.366527f, 0.000000f, 0.674118f }, + new[] { 19.221388f, 10.197294f, -45.549664f, -2.370462f, 0.000000f, 0.716482f }, + new[] { 18.747715f, 10.197294f, -45.401028f, -2.368369f, 0.000000f, 0.743186f }, + new[] { 18.274532f, 10.197294f, -45.247219f, -2.365911f, 0.000000f, 0.769049f }, + new[] { 17.801916f, 10.197294f, -45.088371f, -2.363083f, 0.000000f, 0.794239f }, + new[] { 17.329977f, 10.197294f, -44.924515f, -2.359692f, 0.000000f, 0.819281f }, + new[] { 16.858923f, 10.197294f, -44.755489f, -2.355273f, 0.000000f, 0.845136f }, + new[] { 16.389112f, 10.197294f, -44.580818f, -2.349057f, 0.000000f, 0.873354f }, + new[] { 15.904601f, 10.197294f, -44.397808f, -2.422558f, 0.000000f, 0.915057f }, + new[] { 15.422479f, 10.197294f, -44.204182f, -2.410610f, 0.000000f, 0.968130f }, + new[] { 14.943066f, 10.197294f, -44.000332f, -2.397065f, 0.000000f, 1.019240f }, + new[] { 14.466599f, 10.197294f, -43.786751f, -2.382330f, 0.000000f, 1.067903f }, + new[] { 13.993264f, 10.197294f, -43.563339f, -2.366675f, 0.000000f, 1.117066f }, + new[] { 13.539879f, 10.197294f, -43.333740f, -2.266925f, 0.000000f, 1.147989f }, + new[] { 13.089582f, 10.197294f, -43.096500f, -2.251482f, 0.000000f, 1.186200f }, + new[] { 12.642441f, 10.197294f, -42.852135f, -2.235710f, 0.000000f, 1.221827f }, + new[] { 12.198518f, 10.197294f, -42.601135f, -2.219616f, 0.000000f, 1.254998f }, + new[] { 11.757890f, 10.197294f, -42.343952f, -2.203139f, 0.000000f, 1.285906f }, + new[] { 11.320659f, 10.197294f, -42.080994f, -2.186156f, 0.000000f, 1.314789f }, + new[] { 10.886962f, 10.197294f, -41.812611f, -2.168484f, 0.000000f, 1.341919f }, + new[] { 10.456985f, 10.197294f, -41.539093f, -2.149882f, 0.000000f, 1.367595f }, + new[] { 10.030977f, 10.197294f, -41.260666f, -2.130040f, 0.000000f, 1.392133f }, + new[] { 9.609450f, 10.197294f, -40.977509f, -2.107634f, 0.000000f, 1.415778f }, + new[] { 9.193022f, 10.197294f, -40.690060f, -2.082145f, 0.000000f, 1.437238f }, + new[] { 8.782290f, 10.197294f, -40.398022f, -2.053656f, 0.000000f, 1.460193f }, + new[] { 8.378143f, 10.197294f, -40.101349f, -2.020734f, 0.000000f, 1.483373f }, + new[] { 7.981577f, 10.197294f, -39.799294f, -1.982833f, 0.000000f, 1.510276f }, + new[] { 7.592501f, 10.197294f, -39.491383f, -1.945382f, 0.000000f, 1.539564f }, + new[] { 7.235472f, 10.197294f, -39.191612f, -1.785145f, 0.000000f, 1.498847f }, + new[] { 6.856690f, 10.197294f, -38.869774f, -1.893909f, 0.000000f, 1.609192f }, + new[] { 6.501227f, 10.197294f, -38.570526f, -1.777313f, 0.000000f, 1.496231f }, + new[] { 6.224775f, 10.197294f, -38.301174f, -1.382261f, 0.000000f, 1.346764f }, + new[] { 5.929498f, 10.197294f, -37.995701f, -1.476386f, 0.000000f, 1.527363f }, + new[] { 5.629647f, 10.197294f, -37.639618f, -1.499255f, 0.000000f, 1.780412f }, + new[] { 5.328491f, 10.197294f, -37.296764f, -1.505784f, 0.000000f, 1.714271f }, + new[] { 5.023998f, 10.197294f, -36.908840f, -1.522466f, 0.000000f, 1.939620f }, + new[] { 4.744634f, 10.197294f, -36.502831f, -1.396819f, 0.000000f, 2.030053f }, + new[] { 4.492529f, 10.197294f, -36.078068f, -1.260521f, 0.000000f, 2.123809f }, + new[] { 4.239073f, 10.197294f, -35.631050f, -1.267281f, 0.000000f, 2.235098f }, + new[] { 3.989349f, 10.197294f, -35.178169f, -1.248621f, 0.000000f, 2.264413f }, + new[] { 3.736778f, 10.197294f, -34.723938f, -1.262857f, 0.000000f, 2.271152f }, + new[] { 3.491473f, 10.197294f, -34.264828f, -1.226526f, 0.000000f, 2.295557f }, + new[] { 3.177553f, 10.197294f, -33.848518f, -1.569597f, 0.000000f, 2.081553f }, + new[] { 2.866278f, 10.197294f, -33.427658f, -1.556375f, 0.000000f, 2.104302f }, + new[] { 2.566121f, 10.197294f, -32.995960f, -1.500786f, 0.000000f, 2.158491f }, + new[] { 2.291139f, 10.197294f, -32.544334f, -1.374910f, 0.000000f, 2.258132f }, + new[] { 2.066509f, 10.197294f, -32.063156f, -1.123153f, 0.000000f, 2.405891f }, + new[] { 1.949471f, 10.197294f, -31.544592f, -0.585186f, 0.000000f, 2.592823f }, + new[] { 1.841830f, 10.197294f, -31.020411f, -0.538206f, 0.000000f, 2.620903f }, + new[] { 1.804908f, 10.197294f, -30.484823f, -0.184613f, 0.000000f, 2.677938f }, + new[] { 1.848811f, 10.197294f, -29.937574f, 0.219515f, 0.000000f, 2.736246f }, + new[] { 1.946300f, 10.197294f, -29.417610f, 0.487449f, 0.000000f, 2.599819f }, + new[] { 2.111085f, 10.197294f, -28.884066f, 0.823926f, 0.000000f, 2.667721f }, + new[] { 2.288109f, 10.197294f, -28.358007f, 0.885119f, 0.000000f, 2.630293f }, + new[] { 2.499196f, 10.197294f, -27.812208f, 1.055435f, 0.000000f, 2.728995f }, + new[] { 2.709832f, 10.197294f, -27.265604f, 1.053180f, 0.000000f, 2.733017f }, + new[] { 2.920712f, 10.197294f, -26.718000f, 1.054401f, 0.000000f, 2.738015f }, + new[] { 3.166102f, 10.197294f, -26.183590f, 1.226950f, 0.000000f, 2.672051f }, + new[] { 3.409404f, 10.197294f, -25.647873f, 1.216508f, 0.000000f, 2.678585f }, + new[] { 3.604466f, 10.197294f, -25.169361f, 0.975311f, 0.000000f, 2.392557f }, + new[] { 3.799465f, 10.197294f, -24.688942f, 0.974994f, 0.000000f, 2.402100f }, + new[] { 4.008917f, 10.197294f, -24.179743f, 1.047259f, 0.000000f, 2.545998f }, + new[] { 4.254181f, 10.197294f, -23.667099f, 1.226322f, 0.000000f, 2.563215f }, + new[] { 4.411407f, 10.197294f, -23.188858f, 0.786131f, 0.000000f, 2.391205f }, + new[] { 4.630627f, 10.197294f, -22.706358f, 1.096096f, 0.000000f, 2.412497f }, + new[] { 4.733336f, 10.197294f, -22.348816f, 0.513548f, 0.000000f, 1.787710f }, + new[] { 4.886934f, 10.197294f, -22.007650f, 0.767987f, 0.000000f, 1.705831f }, + new[] { 4.930230f, 10.197294f, -21.656166f, 0.216483f, 0.000000f, 1.757425f }, + new[] { 5.044151f, 10.197294f, -21.343338f, 0.569606f, 0.000000f, 1.564138f }, + new[] { 5.169365f, 10.197294f, -21.074562f, 0.626069f, 0.000000f, 1.343884f }, + new[] { 5.241940f, 10.197294f, -20.714607f, 0.362874f, 0.000000f, 1.799778f }, + new[] { 5.323618f, 10.197294f, -20.576834f, 0.408392f, 0.000000f, 0.688868f }, + new[] { 5.316272f, 10.197294f, -20.384502f, -0.036732f, 0.000000f, 0.961652f }, + new[] { 5.301373f, 10.197294f, -20.182859f, -0.074500f, 0.000000f, 1.008217f }, + new[] { 5.295803f, 10.197294f, -19.982578f, -0.027847f, 0.000000f, 1.001405f }, + new[] { 5.286469f, 10.197294f, -19.742945f, -0.046671f, 0.000000f, 1.198163f }, + new[] { 5.275438f, 10.197294f, -19.603636f, -0.055155f, 0.000000f, 0.696540f }, + new[] { 5.288567f, 10.197294f, -19.521788f, 0.065643f, 0.000000f, 0.409236f }, + new[] { 5.440337f, 10.197294f, -19.479048f, 0.758851f, 0.000000f, 0.213696f }, + new[] { 5.633360f, 10.197294f, -19.464310f, 0.965118f, 0.000000f, 0.073694f }, + new[] { 5.825089f, 10.197294f, -19.461432f, 0.958646f, 0.000000f, 0.014389f }, + new[] { 5.962496f, 10.197294f, -19.404169f, 0.687035f, 0.000000f, 0.286309f }, + new[] { 6.051316f, 10.197294f, -19.417604f, 0.444099f, 0.000000f, -0.067175f }, + new[] { 6.134418f, 10.197294f, -19.466887f, 0.415510f, 0.000000f, -0.246414f }, + new[] { 6.195343f, 10.197294f, -19.520611f, 0.304628f, 0.000000f, -0.268624f }, + new[] { 6.233473f, 10.197294f, -19.589584f, 0.190648f, 0.000000f, -0.344869f }, + new[] { 6.143032f, 10.197294f, -19.644495f, -0.452208f, 0.000000f, -0.274552f }, + new[] { 6.066758f, 10.197294f, -19.669443f, -0.381368f, 0.000000f, -0.124736f }, + new[] { 5.988646f, 10.197294f, -19.691917f, -0.390560f, 0.000000f, -0.112371f }, + new[] { 5.880603f, 10.197294f, -19.641851f, -0.540214f, 0.000000f, 0.250327f }, + new[] { 5.768869f, 10.197294f, -19.553535f, -0.558670f, 0.000000f, 0.441585f }, + new[] { 5.773450f, 10.197294f, -19.545095f, 0.022906f, 0.000000f, 0.042200f }, + new[] { 5.764818f, 10.197294f, -19.506109f, -0.043161f, 0.000000f, 0.194928f }, + new[] { 5.769928f, 10.197294f, -19.497072f, 0.025550f, 0.000000f, 0.045183f }, + new[] { 5.753877f, 10.197294f, -19.524942f, -0.080258f, 0.000000f, -0.139354f }, + new[] { 5.731219f, 10.197294f, -19.533819f, -0.113286f, 0.000000f, -0.044384f } }; + + static readonly float[][] EXPECTED_A1Q2T = { + new[] { 22.990597f, 10.197294f, -46.112606f, -2.999564f, 0.000000f, 1.803501f }, + new[] { 22.524744f, 10.197294f, -45.867702f, -2.989815f, 0.000000f, 1.819617f }, + new[] { 21.946421f, 10.197294f, -45.530769f, -2.987121f, 0.000000f, 1.824035f }, + new[] { 21.357445f, 10.197294f, -45.183083f, -2.985955f, 0.000000f, 1.825945f }, + new[] { 20.766855f, 10.197294f, -44.833454f, -2.985027f, 0.000000f, 1.827461f }, + new[] { 20.176287f, 10.197294f, -44.483444f, -2.984109f, 0.000000f, 1.828960f }, + new[] { 19.586048f, 10.197294f, -44.133289f, -2.983157f, 0.000000f, 1.830513f }, + new[] { 18.996214f, 10.197294f, -43.783005f, -2.982163f, 0.000000f, 1.832130f }, + new[] { 18.406816f, 10.197294f, -43.432552f, -2.981127f, 0.000000f, 1.833817f }, + new[] { 17.817883f, 10.197294f, -43.081890f, -2.980047f, 0.000000f, 1.835571f }, + new[] { 17.229431f, 10.197294f, -42.730961f, -2.978924f, 0.000000f, 1.837393f }, + new[] { 16.641487f, 10.197294f, -42.379704f, -2.977759f, 0.000000f, 1.839280f }, + new[] { 16.054066f, 10.197294f, -42.028053f, -2.976555f, 0.000000f, 1.841228f }, + new[] { 15.467182f, 10.197294f, -41.675930f, -2.975313f, 0.000000f, 1.843233f }, + new[] { 14.880149f, 10.197294f, -41.325222f, -2.974040f, 0.000000f, 1.845288f }, + new[] { 14.292006f, 10.197294f, -40.972252f, -2.972459f, 0.000000f, 1.847835f }, + new[] { 13.702817f, 10.197294f, -40.616268f, -2.970898f, 0.000000f, 1.850342f }, + new[] { 13.113760f, 10.197294f, -40.258976f, -2.969465f, 0.000000f, 1.852640f }, + new[] { 12.525526f, 10.197294f, -39.902176f, -2.968050f, 0.000000f, 1.854907f }, + new[] { 11.938206f, 10.197294f, -39.545849f, -2.966453f, 0.000000f, 1.857459f }, + new[] { 11.351962f, 10.197294f, -39.190098f, -2.964650f, 0.000000f, 1.860337f }, + new[] { 10.767020f, 10.197294f, -38.835106f, -2.962592f, 0.000000f, 1.863611f }, + new[] { 10.183690f, 10.197294f, -38.481129f, -2.960215f, 0.000000f, 1.867385f }, + new[] { 9.602149f, 10.197294f, -38.128098f, -2.957422f, 0.000000f, 1.871805f }, + new[] { 9.023255f, 10.197294f, -37.777180f, -2.954136f, 0.000000f, 1.876987f }, + new[] { 8.448158f, 10.197294f, -37.429573f, -2.950055f, 0.000000f, 1.883394f }, + new[] { 7.879329f, 10.197294f, -37.087776f, -2.944782f, 0.000000f, 1.891628f }, + new[] { 7.319548f, 10.197294f, -36.753658f, -2.937588f, 0.000000f, 1.902782f }, + new[] { 6.776391f, 10.197294f, -36.434063f, -2.927629f, 0.000000f, 1.918068f }, + new[] { 6.269217f, 10.197294f, -36.142403f, -2.912834f, 0.000000f, 1.940462f }, + new[] { 5.846630f, 10.197294f, -35.881496f, -2.890513f, 0.000000f, 1.973559f }, + new[] { 5.411777f, 10.197294f, -35.547710f, -2.874764f, 0.000000f, 1.996430f }, + new[] { 4.896369f, 10.197294f, -35.184120f, -2.896978f, 0.000000f, 1.964057f }, + new[] { 4.367188f, 10.197294f, -34.833569f, -2.910470f, 0.000000f, 1.944008f }, + new[] { 3.807542f, 10.197294f, -34.472218f, -2.906039f, 0.000000f, 1.950624f }, + new[] { 3.238266f, 10.197294f, -34.064877f, -2.846376f, 0.000000f, 2.036700f }, + new[] { 2.917057f, 10.197294f, -33.455391f, -1.420109f, 0.000000f, 3.198952f }, + new[] { 2.645415f, 10.197294f, -32.810249f, -1.358214f, 0.000000f, 3.225718f }, + new[] { 2.373772f, 10.197294f, -32.165104f, -1.358212f, 0.000000f, 3.225718f }, + new[] { 2.103753f, 10.197294f, -31.530035f, -1.358215f, 0.000000f, 3.225717f }, + new[] { 1.837103f, 10.197294f, -30.882812f, -1.333248f, 0.000000f, 3.236116f }, + new[] { 1.887709f, 10.197294f, -30.193766f, 0.449056f, 0.000000f, 3.471073f }, + new[] { 2.034543f, 10.197294f, -29.509338f, 0.734173f, 0.000000f, 3.422132f }, + new[] { 2.266320f, 10.197294f, -28.848824f, 1.158885f, 0.000000f, 3.302572f }, + new[] { 2.498098f, 10.197294f, -28.188309f, 1.158885f, 0.000000f, 3.302572f }, + new[] { 2.729875f, 10.197294f, -27.527794f, 1.158886f, 0.000000f, 3.302572f }, + new[] { 2.992905f, 10.197294f, -26.879091f, 1.315149f, 0.000000f, 3.243514f }, + new[] { 3.255934f, 10.197294f, -26.230389f, 1.315149f, 0.000000f, 3.243514f }, + new[] { 3.518964f, 10.197294f, -25.581686f, 1.315149f, 0.000000f, 3.243514f }, + new[] { 3.781994f, 10.197294f, -24.932983f, 1.315149f, 0.000000f, 3.243514f }, + new[] { 4.045024f, 10.197294f, -24.284281f, 1.315149f, 0.000000f, 3.243514f }, + new[] { 4.308054f, 10.197294f, -23.635578f, 1.315149f, 0.000000f, 3.243514f }, + new[] { 4.571084f, 10.197294f, -22.986876f, 1.315149f, 0.000000f, 3.243514f }, + new[] { 4.834114f, 10.197294f, -22.338173f, 1.315149f, 0.000000f, 3.243514f }, + new[] { 5.097065f, 10.197294f, -21.689661f, 1.315149f, 0.000000f, 3.243514f }, + new[] { 5.349040f, 10.197294f, -21.068123f, 1.315149f, 0.000000f, 3.243514f }, + new[] { 5.564819f, 10.197294f, -20.535385f, 1.315191f, 0.000000f, 3.243497f }, + new[] { 5.742907f, 10.197294f, -20.094234f, 1.315492f, 0.000000f, 3.243375f }, + new[] { 5.844197f, 10.197294f, -19.830488f, 1.316821f, 0.000000f, 3.242836f }, + new[] { 5.890507f, 10.197294f, -19.651239f, 1.327608f, 0.000000f, 3.238434f }, + new[] { 5.895338f, 10.197294f, -19.433264f, 1.384180f, 0.000000f, 3.214661f }, + new[] { 5.917773f, 10.197294f, -19.188416f, 1.594034f, 0.000000f, 3.115936f }, + new[] { 5.947361f, 10.197294f, -19.047245f, 1.574677f, 0.000000f, 2.491868f }, + new[] { 5.960892f, 10.197294f, -18.990824f, 1.488381f, 0.000000f, 2.080121f }, + new[] { 5.971087f, 10.197294f, -18.963556f, 1.448915f, 0.000000f, 1.915559f }, + new[] { 5.977089f, 10.197294f, -18.950905f, 1.419177f, 0.000000f, 1.836029f } }; + + [Test] + public void testAgent1Quality2TVTA() { + int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS + | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE; + + addAgentGrid(2, 0.3f, updateFlags, 2, startPoss[0]); + setMoveTarget(endPoss[0], false); + for (int i = 0; i < EXPECTED_A1Q2TVTA.Length; i++) { + crowd.update(1 / 5f, null); + CrowdAgent ag = agents[2]; + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q2TVTA[i][0]).Within(0.001f), $"{i}"); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q2TVTA[i][1]).Within(0.001f), $"{i}"); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q2TVTA[i][2]).Within(0.001f), $"{i}"); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q2TVTA[i][3]).Within(0.001f), $"{i}"); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q2TVTA[i][4]).Within(0.001f), $"{i}"); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q2TVTA[i][5]).Within(0.001f), $"{i}"); + } + } + + [Test] + public void testAgent1Quality2TVTAS() { + int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS + | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE + | CrowdAgentParams.DT_CROWD_SEPARATION; + + addAgentGrid(2, 0.3f, updateFlags, 2, startPoss[0]); + setMoveTarget(endPoss[0], false); + for (int i = 0; i < EXPECTED_A1Q2TVTAS.Length; i++) { + crowd.update(1 / 5f, null); + CrowdAgent ag = agents[2]; + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q2TVTAS[i][0]).Within(0.001f), $"{i}"); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q2TVTAS[i][1]).Within(0.001f), $"{i}"); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q2TVTAS[i][2]).Within(0.001f), $"{i}"); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q2TVTAS[i][3]).Within(0.001f), $"{i}"); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q2TVTAS[i][4]).Within(0.001f), $"{i}"); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q2TVTAS[i][5]).Within(0.001f), $"{i}"); + } + } + + [Test] + public void testAgent1Quality2T() { + int updateFlags = CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO; + + addAgentGrid(2, 0.3f, updateFlags, 2, startPoss[0]); + setMoveTarget(endPoss[0], false); + for (int i = 0; i < EXPECTED_A1Q2T.Length; i++) + { + if (i == 37) + { + int a = 3; + } + + crowd.update(1 / 5f, null); + CrowdAgent ag = agents[2]; + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q2T[i][0]).Within(0.00001f), $"{i} - {ag.npos[0]} {EXPECTED_A1Q2T[i][0]}"); Console.WriteLine($"{i} - {ag.npos[0]} {EXPECTED_A1Q2T[i][0]}"); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q2T[i][1]).Within(0.00001f), $"{i} - {ag.npos[1]} {EXPECTED_A1Q2T[i][1]}"); Console.WriteLine($"{i} - {ag.npos[1]} {EXPECTED_A1Q2T[i][1]}"); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q2T[i][2]).Within(0.00001f), $"{i} - {ag.npos[2]} {EXPECTED_A1Q2T[i][2]}"); Console.WriteLine($"{i} - {ag.npos[2]} {EXPECTED_A1Q2T[i][2]}"); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q2T[i][3]).Within(0.00001f), $"{i} - {ag.nvel[0]} {EXPECTED_A1Q2T[i][3]}"); Console.WriteLine($"{i} - {ag.nvel[0]} {EXPECTED_A1Q2T[i][3]}"); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q2T[i][4]).Within(0.00001f), $"{i} - {ag.nvel[1]} {EXPECTED_A1Q2T[i][4]}"); Console.WriteLine($"{i} - {ag.nvel[1]} {EXPECTED_A1Q2T[i][4]}"); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q2T[i][5]).Within(0.00001f), $"{i} - {ag.nvel[2]} {EXPECTED_A1Q2T[i][5]}"); Console.WriteLine($"{i} - {ag.nvel[2]} {EXPECTED_A1Q2T[i][5]}"); + Thread.Sleep(1); + } + } +} diff --git a/test/DotRecast.Detour.Crowd.Test/Crowd4VelocityTest.cs b/test/DotRecast.Detour.Crowd.Test/Crowd4VelocityTest.cs new file mode 100644 index 0000000..d565e60 --- /dev/null +++ b/test/DotRecast.Detour.Crowd.Test/Crowd4VelocityTest.cs @@ -0,0 +1,118 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Crowd.Test; + +public class Crowd4VelocityTest : AbstractCrowdTest { + + static readonly float[][] EXPECTED_A1Q3TVTA = { + + new[] { 6.101694f, 10.197294f, -17.678480f, 0.000000f, 0.000000f, 0.000000f }, + new[] { 6.024141f, 10.197294f, -17.589798f, -0.107331f, 0.000000f, 0.098730f }, + new[] { 6.004839f, 10.197294f, -17.554886f, -0.096506f, 0.000000f, 0.174561f }, + new[] { 5.744515f, 10.197294f, -17.309479f, -2.590961f, 0.000000f, 2.353066f }, + new[] { 5.253671f, 10.197294f, -16.842125f, -2.534360f, 0.000000f, 2.413922f }, + new[] { 4.789658f, 10.197294f, -16.318014f, -2.320063f, 0.000000f, 2.620555f }, + new[] { 4.407527f, 10.197294f, -15.731520f, -1.910654f, 0.000000f, 2.932474f }, + new[] { 4.023476f, 10.197294f, -15.146280f, -1.920256f, 0.000000f, 2.926195f }, + new[] { 3.645756f, 10.197294f, -14.556935f, -1.888601f, 0.000000f, 2.946725f }, + new[] { 3.277534f, 10.197294f, -13.961610f, -1.841108f, 0.000000f, 2.976629f }, + new[] { 2.924562f, 10.197294f, -13.357118f, -1.764861f, 0.000000f, 3.022460f }, + new[] { 2.598673f, 10.197294f, -12.737605f, -1.629447f, 0.000000f, 3.097564f }, + new[] { 2.330214f, 10.197294f, -12.091130f, -1.342291f, 0.000000f, 3.232376f }, + new[] { 2.174726f, 10.197294f, -11.408617f, -0.777438f, 0.000000f, 3.412564f }, + new[] { 2.040282f, 10.197294f, -10.721649f, -0.672225f, 0.000000f, 3.434838f }, + new[] { 1.958181f, 10.197294f, -10.026481f, -0.410503f, 0.000000f, 3.475843f }, + new[] { 1.653389f, 10.197294f, -9.396320f, -1.523958f, 0.000000f, 3.150802f }, + new[] { 1.642715f, 10.197294f, -8.696402f, -0.053371f, 0.000000f, 3.499593f }, + new[] { 1.937517f, 10.197294f, -8.091795f, 2.033996f, 0.000000f, 2.848308f }, + new[] { 2.364934f, 10.197294f, -7.537435f, 2.137084f, 0.000000f, 2.771799f }, + new[] { 2.802262f, 10.197294f, -6.990860f, 2.186641f, 0.000000f, 2.732875f }, + new[] { 3.186367f, 10.197294f, -6.759828f, 1.617082f, 0.000000f, -0.643841f }, + new[] { 3.460433f, 10.197294f, -6.829281f, 1.002684f, 0.000000f, -1.351205f }, + new[] { 3.605715f, 10.197294f, -6.794649f, 0.726412f, 0.000000f, 0.173160f }, + new[] { 3.796394f, 10.197294f, -6.840563f, 0.953395f, 0.000000f, -0.229571f }, + new[] { 3.882745f, 10.197294f, -6.956440f, 0.431757f, 0.000000f, -0.579388f }, + new[] { 3.983807f, 10.197294f, -7.160242f, 0.505308f, 0.000000f, -1.019009f }, + new[] { 4.031534f, 10.197294f, -7.358752f, 0.238635f, 0.000000f, -0.992549f }, + new[] { 4.081295f, 10.197294f, -7.517536f, 0.248804f, 0.000000f, -0.793922f }, + new[] { 4.108567f, 10.197294f, -7.630970f, 0.136363f, 0.000000f, -0.567171f }, + new[] { 4.092495f, 10.197294f, -7.727181f, -0.080361f, 0.000000f, -0.481056f }, + new[] { 4.096027f, 10.197294f, -7.807384f, 0.017662f, 0.000000f, -0.401016f }, + new[] { 4.131466f, 10.197294f, -7.874563f, 0.177196f, 0.000000f, -0.335895f }, + new[] { 4.102508f, 10.197294f, -7.917174f, -0.144795f, 0.000000f, -0.213056f }, + new[] { 4.073549f, 10.197294f, -7.959785f, -0.144795f, 0.000000f, -0.213056f }, + new[] { 4.044590f, 10.197294f, -8.002397f, -0.144795f, 0.000000f, -0.213056f }, + new[] { 3.983432f, 10.197294f, -8.032723f, -0.305791f, 0.000000f, -0.151636f }, + new[] { 3.948404f, 10.197294f, -8.050093f, -0.175139f, 0.000000f, -0.086848f }, + new[] { 3.935988f, 10.197294f, -8.078673f, -0.062080f, 0.000000f, -0.142903f }, + new[] { 3.943177f, 10.197294f, -8.091246f, 0.035943f, 0.000000f, -0.062864f }, + new[] { 3.950365f, 10.197294f, -8.103818f, 0.035943f, 0.000000f, -0.062864f }, + new[] { 3.957554f, 10.197294f, -8.116390f, 0.035943f, 0.000000f, -0.062864f }, + new[] { 3.964742f, 10.197294f, -8.128963f, 0.035943f, 0.000000f, -0.062864f }, + new[] { 4.003838f, 10.197294f, -8.128510f, 0.195477f, 0.000000f, 0.002258f }, + new[] { 4.042933f, 10.197294f, -8.128058f, 0.195477f, 0.000000f, 0.002258f }, + new[] { 4.082028f, 10.197294f, -8.127606f, 0.195477f, 0.000000f, 0.002258f }, + new[] { 4.121124f, 10.197294f, -8.127154f, 0.195477f, 0.000000f, 0.002258f }, + new[] { 4.160219f, 10.197294f, -8.126702f, 0.195477f, 0.000000f, 0.002258f }, + new[] { 4.199315f, 10.197294f, -8.126250f, 0.195477f, 0.000000f, 0.002258f }, + new[] { 4.206211f, 10.197294f, -8.113515f, 0.034481f, 0.000000f, 0.063677f }, + new[] { 4.213107f, 10.197294f, -8.100780f, 0.034481f, 0.000000f, 0.063677f }, + new[] { 4.230340f, 10.197294f, -8.092234f, 0.086165f, 0.000000f, 0.042728f }, + new[] { 4.247572f, 10.197294f, -8.083688f, 0.086165f, 0.000000f, 0.042728f }, + new[] { 4.246885f, 10.197294f, -8.098154f, -0.003438f, 0.000000f, -0.072332f }, + new[] { 4.264118f, 10.197294f, -8.089608f, 0.086165f, 0.000000f, 0.042728f }, + new[] { 4.281351f, 10.197294f, -8.081062f, 0.086165f, 0.000000f, 0.042728f }, + new[] { 4.280663f, 10.197294f, -8.095529f, -0.003438f, 0.000000f, -0.072332f }, + new[] { 4.297896f, 10.197294f, -8.086983f, 0.086165f, 0.000000f, 0.042728f }, + new[] { 4.315129f, 10.197294f, -8.078437f, 0.086165f, 0.000000f, 0.042728f }, + new[] { 4.332362f, 10.197294f, -8.069891f, 0.086165f, 0.000000f, 0.042728f }, + new[] { 4.322824f, 10.197294f, -8.046370f, -0.047688f, 0.000000f, 0.117607f }, + new[] { 4.322136f, 10.197294f, -8.060836f, -0.003438f, 0.000000f, -0.072332f }, + new[] { 4.321449f, 10.197294f, -8.075302f, -0.003438f, 0.000000f, -0.072332f }, + new[] { 4.320761f, 10.197294f, -8.089768f, -0.003438f, 0.000000f, -0.072332f }, + new[] { 4.337994f, 10.197294f, -8.081223f, 0.086165f, 0.000000f, 0.042728f }, + new[] { 4.328456f, 10.197294f, -8.057701f, -0.047688f, 0.000000f, 0.117607f }, + new[] { 4.327769f, 10.197294f, -8.072167f, -0.003438f, 0.000000f, -0.072332f } }; + + [Test] + public void testAgent1Quality3TVTA() { + int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS + | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE; + + addAgentGrid(2, 0.3f, updateFlags, 3, endPoss[0]); + setMoveTarget(endPoss[4], false); + for (int i = 0; i < EXPECTED_A1Q3TVTA.Length; i++) { + crowd.update(1 / 5f, null); + if (i == 20) { + setMoveTarget(startPoss[2], true); + } + CrowdAgent ag = agents[1]; + Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q3TVTA[i][0]).Within(0.001f)); + Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q3TVTA[i][1]).Within(0.001f)); + Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q3TVTA[i][2]).Within(0.001f)); + Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q3TVTA[i][3]).Within(0.001f)); + Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q3TVTA[i][4]).Within(0.001f)); + Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q3TVTA[i][5]).Within(0.001f)); + } + } + +} diff --git a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj new file mode 100644 index 0000000..183d983 --- /dev/null +++ b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj @@ -0,0 +1,28 @@ + + + + net7.0 + + + false + + + + + + + + + + all + runtime; build; native; contentfiles; analyzers; buildtransitive + + + + + + + + + + diff --git a/test/DotRecast.Detour.Crowd.Test/PathCorridorTest.cs b/test/DotRecast.Detour.Crowd.Test/PathCorridorTest.cs new file mode 100644 index 0000000..f68f7a7 --- /dev/null +++ b/test/DotRecast.Detour.Crowd.Test/PathCorridorTest.cs @@ -0,0 +1,80 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using Moq; +using NUnit.Framework; + +namespace DotRecast.Detour.Crowd.Test; + +public class PathCorridorTest { + + private readonly PathCorridor corridor = new PathCorridor(); + private readonly QueryFilter filter = new DefaultQueryFilter(); + + [SetUp] + public void setUp() { + corridor.reset(0, new float[] {10,20,30}); + } + + [Test] + public void shouldKeepOriginalPathInFindCornersWhenNothingCanBePruned() { + List straightPath = new(); + straightPath.Add(new StraightPathItem(new float[] { 11, 20, 30.00001f }, 0, 0)); + straightPath.Add(new StraightPathItem(new float[] { 12, 20, 30.00002f }, 0, 0)); + straightPath.Add(new StraightPathItem(new float[] { 11f, 21, 32f }, 0, 0)); + straightPath.Add(new StraightPathItem(new float[] { 11f, 21, 32f }, 0, 0)); + Result> result = Results.success(straightPath); + var mockQuery = new Mock(It.IsAny()); + mockQuery.Setup(q => q.findStraightPath( + It.IsAny(), + It.IsAny(), + It.IsAny>(), + It.IsAny(), + It.IsAny()) + ).Returns(result); + List path = corridor.findCorners(int.MaxValue, mockQuery.Object, filter); + Assert.That(path.Count, Is.EqualTo(4)); + Assert.That(path, Is.EqualTo(straightPath)); + } + + [Test] + public void shouldPrunePathInFindCorners() { + List straightPath = new(); + straightPath.Add(new StraightPathItem(new float[] { 10, 20, 30.00001f }, 0, 0)); // too close + straightPath.Add(new StraightPathItem(new float[] { 10, 20, 30.00002f }, 0, 0)); // too close + straightPath.Add(new StraightPathItem(new float[] { 11f, 21, 32f }, 0, 0)); + straightPath.Add(new StraightPathItem(new float[] { 12f, 22, 33f }, NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh + straightPath.Add(new StraightPathItem(new float[] { 11f, 21, 32f }, NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh + Result> result = Results.success(straightPath); + + var mockQuery = new Mock(It.IsAny()); + var s = mockQuery.Setup(q => q.findStraightPath( + It.IsAny(), + It.IsAny(), + It.IsAny>(), + It.IsAny(), + It.IsAny()) + ).Returns(result); + + List path = corridor.findCorners(int.MaxValue, mockQuery.Object, filter); + Assert.That(path.Count, Is.EqualTo(2)); + Assert.That(path, Is.EqualTo(new List { straightPath[2], straightPath[3] })); + } + +} diff --git a/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs b/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs new file mode 100644 index 0000000..4acd865 --- /dev/null +++ b/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs @@ -0,0 +1,110 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Core; +using DotRecast.Recast; +using DotRecast.Recast.Geom; + +namespace DotRecast.Detour.Crowd.Test; + +public class RecastTestMeshBuilder { + + private readonly MeshData meshData; + public const float m_cellSize = 0.3f; + public const float m_cellHeight = 0.2f; + public const float m_agentHeight = 2.0f; + public const float m_agentRadius = 0.6f; + public const float m_agentMaxClimb = 0.9f; + public const float m_agentMaxSlope = 45.0f; + public const int m_regionMinSize = 8; + public const int m_regionMergeSize = 20; + public const float m_edgeMaxLen = 12.0f; + public const float m_edgeMaxError = 1.3f; + public const int m_vertsPerPoly = 6; + public const float m_detailSampleDist = 6.0f; + public const float m_detailSampleMaxError = 1.0f; + + public RecastTestMeshBuilder() : this(ObjImporter.load(Loader.ToBytes("dungeon.obj")), + PartitionType.WATERSHED, 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) + { + } + + public RecastTestMeshBuilder(InputGeomProvider m_geom, PartitionType 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) { + RecastConfig cfg = new RecastConfig(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()); + RecastBuilder rcBuilder = new RecastBuilder(); + RecastBuilderResult rcResult = rcBuilder.build(m_geom, bcfg); + PolyMesh m_pmesh = rcResult.getMesh(); + for (int i = 0; i < m_pmesh.npolys; ++i) { + m_pmesh.flags[i] = 1; + } + PolyMeshDetail m_dmesh = rcResult.getMeshDetail(); + NavMeshDataCreateParams option = new NavMeshDataCreateParams(); + option.verts = m_pmesh.verts; + option.vertCount = m_pmesh.nverts; + option.polys = m_pmesh.polys; + option.polyAreas = m_pmesh.areas; + option.polyFlags = m_pmesh.flags; + option.polyCount = m_pmesh.npolys; + option.nvp = m_pmesh.nvp; + option.detailMeshes = m_dmesh.meshes; + option.detailVerts = m_dmesh.verts; + 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.bmin = m_pmesh.bmin; + option.bmax = m_pmesh.bmax; + option.cs = m_cellSize; + option.ch = m_cellHeight; + option.buildBvTree = true; + + option.offMeshConVerts = new float[6]; + option.offMeshConVerts[0] = 0.1f; + option.offMeshConVerts[1] = 0.2f; + option.offMeshConVerts[2] = 0.3f; + option.offMeshConVerts[3] = 0.4f; + option.offMeshConVerts[4] = 0.5f; + option.offMeshConVerts[5] = 0.6f; + option.offMeshConRad = new float[1]; + option.offMeshConRad[0] = 0.1f; + option.offMeshConDir = new int[1]; + option.offMeshConDir[0] = 1; + option.offMeshConAreas = new int[1]; + option.offMeshConAreas[0] = 2; + option.offMeshConFlags = new int[1]; + option.offMeshConFlags[0] = 12; + option.offMeshConUserID = new int[1]; + option.offMeshConUserID[0] = 0x4567; + option.offMeshConCount = 1; + meshData = NavMeshBuilder.createNavMeshData(option); + } + + public MeshData getMeshData() { + return meshData; + } +} diff --git a/test/DotRecast.Detour.Crowd.Test/SampleAreaModifications.cs b/test/DotRecast.Detour.Crowd.Test/SampleAreaModifications.cs new file mode 100644 index 0000000..070bcc3 --- /dev/null +++ b/test/DotRecast.Detour.Crowd.Test/SampleAreaModifications.cs @@ -0,0 +1,52 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Recast; + +namespace DotRecast.Detour.Crowd.Test; + +public class SampleAreaModifications { + + public const int SAMPLE_POLYAREA_TYPE_MASK = 0x07; + public const int SAMPLE_POLYAREA_TYPE_GROUND = 0x1; + public const int SAMPLE_POLYAREA_TYPE_WATER = 0x2; + public const int SAMPLE_POLYAREA_TYPE_ROAD = 0x3; + public const int SAMPLE_POLYAREA_TYPE_DOOR = 0x4; + public const int SAMPLE_POLYAREA_TYPE_GRASS = 0x5; + public const int SAMPLE_POLYAREA_TYPE_JUMP = 0x6; + + public static AreaModification SAMPLE_AREAMOD_GROUND = new AreaModification(SAMPLE_POLYAREA_TYPE_GROUND, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_WATER = new AreaModification(SAMPLE_POLYAREA_TYPE_WATER, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_ROAD = new AreaModification(SAMPLE_POLYAREA_TYPE_ROAD, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_GRASS = new AreaModification(SAMPLE_POLYAREA_TYPE_GRASS, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_DOOR = new AreaModification(SAMPLE_POLYAREA_TYPE_DOOR, + SAMPLE_POLYAREA_TYPE_DOOR); + public static AreaModification SAMPLE_AREAMOD_JUMP = new AreaModification(SAMPLE_POLYAREA_TYPE_JUMP, + SAMPLE_POLYAREA_TYPE_JUMP); + + public const int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road) + public const int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water). + public const int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors. + public const int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump. + public const int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon + public const int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities. +} diff --git a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj new file mode 100644 index 0000000..19ae8b4 --- /dev/null +++ b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj @@ -0,0 +1,26 @@ + + + + net7.0 + false + + + + + + + + + + all + runtime; build; native; contentfiles; analyzers; buildtransitive + + + + + + + + + + diff --git a/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs b/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs new file mode 100644 index 0000000..0448f9d --- /dev/null +++ b/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs @@ -0,0 +1,76 @@ +using System.Collections.Generic; +using System.IO; +using System.Threading.Tasks; +using DotRecast.Core; +using DotRecast.Detour.Dynamic.Colliders; +using DotRecast.Detour.Dynamic.Io; +using NUnit.Framework; + +namespace DotRecast.Detour.Dynamic.Test; + +public class DynamicNavMeshTest { + + private static readonly float[] START_POS = new float[] { 70.87453f, 0.0010070801f, 86.69021f }; + private static readonly float[] END_POS = new float[] { -50.22061f, 0.0010070801f, -70.761444f }; + private static readonly float[] EXTENT = new float[] { 0.1f, 0.1f, 0.1f }; + private static readonly float[] SPHERE_POS = new float[] { 45.381645f, 0.0010070801f, 52.68981f }; + + + [Test] + public void e2eTest() { + byte[] bytes = Loader.ToBytes("test_tiles.voxels"); + using var ms = new MemoryStream(bytes); + using var bis = new BinaryReader(ms); + + // load voxels from file + VoxelFileReader reader = new VoxelFileReader(); + VoxelFile f = reader.read(bis); + // create dynamic navmesh + DynamicNavMesh mesh = new DynamicNavMesh(f); + // build navmesh asynchronously using multiple threads + Task future = mesh.build(Task.Factory); + // wait for build to complete + bool _ = future.Result; + // create new query + NavMeshQuery query = new NavMeshQuery(mesh.navMesh()); + QueryFilter filter = new DefaultQueryFilter(); + // find path + FindNearestPolyResult start = query.findNearestPoly(START_POS, EXTENT, filter).result; + FindNearestPolyResult end = query.findNearestPoly(END_POS, EXTENT, filter).result; + List path = query.findPath(start.getNearestRef(), end.getNearestRef(), start.getNearestPos(), + end.getNearestPos(), filter, NavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result; + // check path length without any obstacles + Assert.That(path.Count, Is.EqualTo(16)); + // place obstacle + Collider colldier = new SphereCollider(SPHERE_POS, 20, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND, 0.1f); + long colliderId = mesh.addCollider(colldier); + // update navmesh asynchronously + future = mesh.update(Task.Factory); + // wait for update to complete + _ = future.Result; + // create new query + query = new NavMeshQuery(mesh.navMesh()); + // find path again + start = query.findNearestPoly(START_POS, EXTENT, filter).result; + end = query.findNearestPoly(END_POS, EXTENT, filter).result; + path = query.findPath(start.getNearestRef(), end.getNearestRef(), start.getNearestPos(), end.getNearestPos(), filter, + NavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result; + // check path length with obstacles + Assert.That(path.Count, Is.EqualTo(19)); + // remove obstacle + mesh.removeCollider(colliderId); + // update navmesh asynchronously + future = mesh.update(Task.Factory); + // wait for update to complete + _ = future.Result; + // create new query + query = new NavMeshQuery(mesh.navMesh()); + // find path one more time + start = query.findNearestPoly(START_POS, EXTENT, filter).result; + end = query.findNearestPoly(END_POS, EXTENT, filter).result; + path = query.findPath(start.getNearestRef(), end.getNearestRef(), start.getNearestPos(), end.getNearestPos(), filter, + NavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result; + // path length should be back to the initial value + Assert.That(path.Count, Is.EqualTo(16)); + } +} diff --git a/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs new file mode 100644 index 0000000..59035ad --- /dev/null +++ b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs @@ -0,0 +1,78 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.Dynamic.Io; +using NUnit.Framework; + +namespace DotRecast.Detour.Dynamic.Test.Io; + +public class VoxelFileReaderTest { + + [Test] + public void shouldReadSingleTileFile() { + byte[] bytes = Loader.ToBytes("test.voxels"); + using var ms = new MemoryStream(bytes); + using var bis = new BinaryReader(ms); + + VoxelFileReader reader = new VoxelFileReader(); + VoxelFile f = reader.read(bis); + Assert.That(f.useTiles, Is.False); + Assert.That(f.bounds, Is.EqualTo(new float[] {-100.0f, 0f, -100f, 100f, 5f, 100f})); + Assert.That(f.cellSize, Is.EqualTo(0.25f)); + Assert.That(f.walkableRadius, Is.EqualTo(0.5f)); + Assert.That(f.walkableHeight, Is.EqualTo(2f)); + Assert.That(f.walkableClimb, Is.EqualTo(0.5f)); + Assert.That(f.maxEdgeLen, Is.EqualTo(20f)); + Assert.That(f.maxSimplificationError, Is.EqualTo(2f)); + Assert.That(f.minRegionArea, Is.EqualTo(2f)); + Assert.That(f.tiles.Count, Is.EqualTo(1)); + Assert.That(f.tiles[0].cellHeight, Is.EqualTo(0.001f)); + Assert.That(f.tiles[0].width, Is.EqualTo(810)); + Assert.That(f.tiles[0].depth, Is.EqualTo(810)); + Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new float[] {-101.25f, 0f, -101.25f})); + Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new float[] {101.25f, 5.0f, 101.25f})); + } + + [Test] + public void shouldReadMultiTileFile() { + byte[] bytes = Loader.ToBytes("test_tiles.voxels"); + using var ms = new MemoryStream(bytes); + using var bis = new BinaryReader(ms); + + VoxelFileReader reader = new VoxelFileReader(); + VoxelFile f = reader.read(bis); + + Assert.That(f.useTiles, Is.True); + Assert.That(f.bounds, Is.EqualTo(new float[] { -100.0f, 0f, -100f, 100f, 5f, 100f })); + Assert.That(f.cellSize, Is.EqualTo(0.25f)); + Assert.That(f.walkableRadius, Is.EqualTo(0.5f)); + Assert.That(f.walkableHeight, Is.EqualTo(2f)); + Assert.That(f.walkableClimb, Is.EqualTo(0.5f)); + Assert.That(f.maxEdgeLen, Is.EqualTo(20f)); + Assert.That(f.maxSimplificationError, Is.EqualTo(2f)); + Assert.That(f.minRegionArea, Is.EqualTo(2f)); + Assert.That(f.tiles.Count, Is.EqualTo(100)); + Assert.That(f.tiles[0].cellHeight, Is.EqualTo(0.001f)); + Assert.That(f.tiles[0].width, Is.EqualTo(90)); + Assert.That(f.tiles[0].depth, Is.EqualTo(90)); + Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new float[] { -101.25f, 0f, -101.25f })); + Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new float[] { -78.75f, 5.0f, -78.75f })); + } +} diff --git a/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs new file mode 100644 index 0000000..a43719b --- /dev/null +++ b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs @@ -0,0 +1,100 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.Dynamic.Io; +using NUnit.Framework; + +namespace DotRecast.Detour.Dynamic.Test.Io; + +public class VoxelFileReaderWriterTest { + + [TestCase(false)] + [TestCase(true)] + public void shouldReadSingleTileFile(bool compression) { + byte[] bytes = Loader.ToBytes("test.voxels"); + using var ms = new MemoryStream(bytes); + using var bis = new BinaryReader(ms); + + VoxelFile f = readWriteRead(bis, compression); + Assert.That(f.useTiles, Is.False); + Assert.That(f.bounds, Is.EqualTo(new[] { -100.0f, 0f, -100f, 100f, 5f, 100f })); + Assert.That(f.cellSize, Is.EqualTo(0.25f)); + Assert.That(f.walkableRadius, Is.EqualTo(0.5f)); + Assert.That(f.walkableHeight, Is.EqualTo(2f)); + Assert.That(f.walkableClimb, Is.EqualTo(0.5f)); + Assert.That(f.maxEdgeLen, Is.EqualTo(20f)); + Assert.That(f.maxSimplificationError, Is.EqualTo(2f)); + Assert.That(f.minRegionArea, Is.EqualTo(2f)); + Assert.That(f.regionMergeArea, Is.EqualTo(12f)); + Assert.That(f.tiles.Count, Is.EqualTo(1)); + Assert.That(f.tiles[0].cellHeight, Is.EqualTo(0.001f)); + Assert.That(f.tiles[0].width, Is.EqualTo(810)); + Assert.That(f.tiles[0].depth, Is.EqualTo(810)); + Assert.That(f.tiles[0].spanData.Length, Is.EqualTo(9021024)); + Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new[] { -101.25f, 0f, -101.25f })); + Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new[] { 101.25f, 5.0f, 101.25f })); + } + + [TestCase(false)] + [TestCase(true)] + public void shouldReadMultiTileFile(bool compression) { + byte[] bytes = Loader.ToBytes("test_tiles.voxels"); + using var ms = new MemoryStream(bytes); + using var bis = new BinaryReader(ms); + + VoxelFile f = readWriteRead(bis, compression); + + Assert.That(f.useTiles, Is.True); + Assert.That(f.bounds, Is.EqualTo(new[] {-100.0f, 0f, -100f, 100f, 5f, 100f})); + Assert.That(f.cellSize, Is.EqualTo(0.25f)); + Assert.That(f.walkableRadius, Is.EqualTo(0.5f)); + Assert.That(f.walkableHeight, Is.EqualTo(2f)); + Assert.That(f.walkableClimb, Is.EqualTo(0.5f)); + Assert.That(f.maxEdgeLen, Is.EqualTo(20f)); + Assert.That(f.maxSimplificationError, Is.EqualTo(2f)); + Assert.That(f.minRegionArea, Is.EqualTo(2f)); + Assert.That(f.regionMergeArea, Is.EqualTo(12f)); + Assert.That(f.tiles.Count, Is.EqualTo(100)); + Assert.That(f.tiles[0].cellHeight, Is.EqualTo(0.001f)); + Assert.That(f.tiles[0].width, Is.EqualTo(90)); + Assert.That(f.tiles[0].depth, Is.EqualTo(90)); + Assert.That(f.tiles[0].spanData.Length, Is.EqualTo(104952)); + Assert.That(f.tiles[5].spanData.Length, Is.EqualTo(109080)); + Assert.That(f.tiles[18].spanData.Length, Is.EqualTo(113400)); + Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new[] {-101.25f, 0f, -101.25f})); + Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new[] {-78.75f, 5.0f, -78.75f})); + + } + + private VoxelFile readWriteRead(BinaryReader bis, bool compression) { + VoxelFileReader reader = new VoxelFileReader(); + VoxelFile f = reader.read(bis); + + using var msOut = new MemoryStream(); + using var bwOut = new BinaryWriter(msOut); + VoxelFileWriter writer = new VoxelFileWriter(); + writer.write(bwOut, f, compression); + + using var msIn = new MemoryStream(msOut.ToArray()); + using var brIn = new BinaryReader(msIn); + return reader.read(brIn); + } + +} diff --git a/test/DotRecast.Detour.Dynamic.Test/SampleAreaModifications.cs b/test/DotRecast.Detour.Dynamic.Test/SampleAreaModifications.cs new file mode 100644 index 0000000..dab5705 --- /dev/null +++ b/test/DotRecast.Detour.Dynamic.Test/SampleAreaModifications.cs @@ -0,0 +1,52 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Recast; + +namespace DotRecast.Detour.Dynamic.Test; + +public class SampleAreaModifications { + + public const int SAMPLE_POLYAREA_TYPE_MASK = 0x07; + public const int SAMPLE_POLYAREA_TYPE_GROUND = 0x1; + public const int SAMPLE_POLYAREA_TYPE_WATER = 0x2; + public const int SAMPLE_POLYAREA_TYPE_ROAD = 0x3; + public const int SAMPLE_POLYAREA_TYPE_DOOR = 0x4; + public const int SAMPLE_POLYAREA_TYPE_GRASS = 0x5; + public const int SAMPLE_POLYAREA_TYPE_JUMP = 0x6; + + public static AreaModification SAMPLE_AREAMOD_GROUND = new AreaModification(SAMPLE_POLYAREA_TYPE_GROUND, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_WATER = new AreaModification(SAMPLE_POLYAREA_TYPE_WATER, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_ROAD = new AreaModification(SAMPLE_POLYAREA_TYPE_ROAD, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_GRASS = new AreaModification(SAMPLE_POLYAREA_TYPE_GRASS, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_DOOR = new AreaModification(SAMPLE_POLYAREA_TYPE_DOOR, + SAMPLE_POLYAREA_TYPE_DOOR); + public static AreaModification SAMPLE_AREAMOD_JUMP = new AreaModification(SAMPLE_POLYAREA_TYPE_JUMP, + SAMPLE_POLYAREA_TYPE_JUMP); + + public const int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road) + public const int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water). + public const int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors. + public const int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump. + public const int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon + public const int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities. +} diff --git a/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs b/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs new file mode 100644 index 0000000..7cce115 --- /dev/null +++ b/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs @@ -0,0 +1,105 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.IO; +using System.Threading.Tasks; +using System.Collections.Generic; +using DotRecast.Core; +using DotRecast.Detour.Dynamic.Io; +using DotRecast.Recast; +using Moq; +using NUnit.Framework; + +namespace DotRecast.Detour.Dynamic.Test; + +public class VoxelQueryTest { + + private const int TILE_WIDTH = 100; + private const int TILE_DEPTH = 90; + private static readonly float[] ORIGIN = new float[] { 50, 10, 40 }; + + + [Test] + public void shouldTraverseTiles() + { + var hfProvider = new Mock>(); + + // Given + List captorX = new(); + List captorZ = new(); + + hfProvider + .Setup(e => e.Invoke(It.IsAny(), It.IsAny())) + .Returns((Heightfield)null) + .Callback((x, z) => + { + captorX.Add(x); + captorZ.Add(z); + }); + + VoxelQuery query = new VoxelQuery(ORIGIN, TILE_WIDTH, TILE_DEPTH, hfProvider.Object); + float[] start = { 120, 10, 365 }; + float[] end = { 320, 10, 57 }; + + // When + query.raycast(start, end); + // Then + hfProvider.Verify(mock => mock.Invoke(It.IsAny(), It.IsAny()), Times.Exactly(6)); + Assert.That(captorX, Is.EqualTo(new[] { 0, 1, 1, 1, 2, 2})); + Assert.That(captorZ, Is.EqualTo(new[] { 3, 3, 2, 1, 1, 0})); + } + + [Test] + public void shouldHandleRaycastWithoutObstacles() { + DynamicNavMesh mesh = createDynaMesh(); + VoxelQuery query = mesh.voxelQuery(); + float[] start = { 7.4f, 0.5f, -64.8f }; + float[] end = { 31.2f, 0.5f, -75.3f }; + float? hit = query.raycast(start, end); + Assert.That(hit, Is.Null); + } + + [Test] + public void shouldHandleRaycastWithObstacles() { + DynamicNavMesh mesh = createDynaMesh(); + VoxelQuery query = mesh.voxelQuery(); + float[] start = { 32.3f, 0.5f, 47.9f }; + float[] end = { -31.2f, 0.5f, -29.8f }; + float? hit = query.raycast(start, end); + Assert.That(hit, Is.Not.Null); + Assert.That(hit.Value, Is.EqualTo(0.5263836f).Within(1e-7f)); + } + + private DynamicNavMesh createDynaMesh() { + var bytes = Loader.ToBytes("test_tiles.voxels"); + using var ms = new MemoryStream(bytes); + using var bis = new BinaryReader(ms); + + // load voxels from file + VoxelFileReader reader = new VoxelFileReader(); + VoxelFile f = reader.read(bis); + // create dynamic navmesh + var mesh = new DynamicNavMesh(f); + // build navmesh asynchronously using multiple threads + Task future = mesh.build(Task.Factory); + // wait for build to complete + var _ = future.Result; + return mesh; + } +} diff --git a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj new file mode 100644 index 0000000..7bf542b --- /dev/null +++ b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj @@ -0,0 +1,26 @@ + + + + net7.0 + false + + + + + + + + + + all + runtime; build; native; contentfiles; analyzers; buildtransitive + + + + + + + + + + diff --git a/test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs b/test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs new file mode 100644 index 0000000..df4a51b --- /dev/null +++ b/test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs @@ -0,0 +1,128 @@ +/* +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using System.IO; +using System.Linq; +using DotRecast.Core; +using DotRecast.Detour.Extras.Unity.Astar; +using DotRecast.Detour.Io; +using NUnit.Framework; + +namespace DotRecast.Detour.Extras.Test.Unity.Astar; + +public class UnityAStarPathfindingImporterTest { + + [Test] + public void test_v4_0_6() { + NavMesh mesh = loadNavMesh("graph.zip"); + float[] startPos = new float[] { 8.200293f, 2.155071f, -26.176147f }; + float[] endPos = new float[] { 11.971109f, 0.000000f, 8.663261f }; + Result> path = findPath(mesh, startPos, endPos); + Assert.That(path.status, Is.EqualTo(Status.SUCCSESS)); + Assert.That(path.result.Count, Is.EqualTo(57)); + saveMesh(mesh, "v4_0_6"); + } + + [Test] + public void test_v4_1_16() { + NavMesh mesh = loadNavMesh("graph_v4_1_16.zip"); + float[] startPos = new float[] { 22.93f, -2.37f, -5.11f }; + float[] endPos = new float[] { 16.81f, -2.37f, 25.52f }; + Result> path = findPath(mesh, startPos, endPos); + Assert.That(path.status.isSuccess(), Is.True); + Assert.That(path.result.Count, Is.EqualTo(15)); + saveMesh(mesh, "v4_1_16"); + } + + [Test] + public void testBoundsTree() { + NavMesh mesh = loadNavMesh("test_boundstree.zip"); + float[] position = { 387.52988f, 19.997f, 368.86282f }; + + int[] tilePos = mesh.calcTileLoc(position); + long tileRef = mesh.getTileRefAt(tilePos[0], tilePos[1], 0); + MeshTile tile = mesh.getTileByRef(tileRef); + MeshData data = tile.data; + BVNode[] bvNodes = data.bvTree; + data.bvTree = null; // set BV-Tree empty to get 'clear' search poly without BV + FindNearestPolyResult clearResult = getNearestPolys(mesh, position)[0]; // check poly to exists + + // restore BV-Tree and try search again + // important aspect in that test: BV result must equals result without BV + // if poly not found or found other poly - tile bounds is wrong! + data.bvTree = bvNodes; + FindNearestPolyResult bvResult = getNearestPolys(mesh, position)[0]; + + Assert.That(bvResult.getNearestRef(), Is.EqualTo(clearResult.getNearestRef())); + } + + private NavMesh loadNavMesh(string filename) { + var filepath = Loader.ToRPath(filename); + using var fs = new FileStream(filepath, FileMode.Open); + + // Import the graphs + UnityAStarPathfindingImporter importer = new UnityAStarPathfindingImporter(); + + NavMesh[] meshes = importer.load(fs); + return meshes[0]; + } + + private Result> findPath(NavMesh mesh, float[] startPos, float[] endPos) { + // Perform a simple pathfinding + NavMeshQuery query = new NavMeshQuery(mesh); + QueryFilter filter = new DefaultQueryFilter(); + + FindNearestPolyResult[] polys = getNearestPolys(mesh, startPos, endPos); + return query.findPath(polys[0].getNearestRef(), polys[1].getNearestRef(), startPos, endPos, filter); + } + + private FindNearestPolyResult[] getNearestPolys(NavMesh mesh, params float[][] positions) { + NavMeshQuery query = new NavMeshQuery(mesh); + QueryFilter filter = new DefaultQueryFilter(); + float[] extents = new float[] { 0.1f, 0.1f, 0.1f }; + + FindNearestPolyResult[] results = new FindNearestPolyResult[positions.Length]; + for (int i = 0; i < results.Length; i++) { + float[] position = positions[i]; + Result result = query.findNearestPoly(position, extents, filter); + Assert.That(result.succeeded(), Is.True); + Assert.That(result.result.getNearestPos(), Is.Not.Null, "Nearest start position is null!"); + results[i] = result.result; + } + return results; + } + + private void saveMesh(NavMesh mesh, string filePostfix) { + // Set the flag to RecastDemo work properly + for (int i = 0; i < mesh.getTileCount(); i++) { + foreach (Poly p in mesh.getTile(i).data.polys) { + p.flags = 1; + } + } + + // Save the mesh as recast file, + MeshSetWriter writer = new MeshSetWriter(); + string filename = $"all_tiles_navmesh_{filePostfix}.bin"; + string filepath = Path.Combine("test-output", filename); + using var fs = new FileStream(filename, FileMode.Create); + using var os = new BinaryWriter(fs); + writer.write(os, mesh, ByteOrder.LITTLE_ENDIAN, true); + } + +} diff --git a/test/DotRecast.Detour.Test/AbstractDetourTest.cs b/test/DotRecast.Detour.Test/AbstractDetourTest.cs new file mode 100644 index 0000000..be78dd1 --- /dev/null +++ b/test/DotRecast.Detour.Test/AbstractDetourTest.cs @@ -0,0 +1,67 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + +public abstract class AbstractDetourTest +{ + protected static readonly long[] startRefs = + { + 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L + }; + + protected static readonly long[] endRefs = + { + 281474976710721L, 281474976710767L, 281474976710758L, 281474976710731L, 281474976710772L + }; + + protected static readonly float[][] startPoss = + { + new[] { 22.60652f, 10.197294f, -45.918674f }, + new[] { 22.331268f, 10.197294f, -1.0401875f }, + new[] { 18.694363f, 15.803535f, -73.090416f }, + new[] { 0.7453353f, 10.197294f, -5.94005f }, + new[] { -20.651257f, 5.904126f, -13.712508f } + }; + + protected static readonly float[][] endPoss = + { + new[] { 6.4576626f, 10.197294f, -18.33406f }, + new[] { -5.8023443f, 0.19729415f, 3.008419f }, + new[] { 38.423977f, 10.197294f, -0.116066754f }, + new[] { 0.8635526f, 10.197294f, -10.31032f }, + new[] { 18.784092f, 10.197294f, 3.0543678f } + }; + + protected NavMeshQuery query; + protected NavMesh navmesh; + + [SetUp] + public void setUp() + { + navmesh = createNavMesh(); + query = new NavMeshQuery(navmesh); + } + + protected NavMesh createNavMesh() + { + return new NavMesh(new RecastTestMeshBuilder().getMeshData(), 6, 0); + } +} \ No newline at end of file diff --git a/test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs b/test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs new file mode 100644 index 0000000..269a53d --- /dev/null +++ b/test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs @@ -0,0 +1,43 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + +public class ConvexConvexIntersectionTest { + + [Test] + public void shouldHandleSamePolygonIntersection() { + float[] p = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 }; + float[] q = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 }; + float[] intersection = ConvexConvexIntersection.intersect(p, q); + Assert.That(intersection.Length, Is.EqualTo(5 * 3)); + Assert.That(intersection, Is.EqualTo(p)); + } + + [Test] + public void shouldHandleIntersection() { + float[] p = { -5, 0, -5, -5, 0, 4, 1, 0, 4, 1, 0, -5 }; + float[] q = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 }; + float[] intersection = ConvexConvexIntersection.intersect(p, q); + Assert.That(intersection.Length, Is.EqualTo(5 * 3)); + Assert.That(intersection, Is.EqualTo(new[] { 1, 0, 3, 1, 0, -3.4f, -2, 0, -4, -4, 0, 0, -3, 0, 3 })); + } + +} diff --git a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj new file mode 100644 index 0000000..4752647 --- /dev/null +++ b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj @@ -0,0 +1,26 @@ + + + + net7.0 + + + false + + + + + + + + + all + runtime; build; native; contentfiles; analyzers; buildtransitive + + + + + + + + + diff --git a/test/DotRecast.Detour.Test/FindDistanceToWallTest.cs b/test/DotRecast.Detour.Test/FindDistanceToWallTest.cs new file mode 100644 index 0000000..004567f --- /dev/null +++ b/test/DotRecast.Detour.Test/FindDistanceToWallTest.cs @@ -0,0 +1,66 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + +public class FindDistanceToWallTest : AbstractDetourTest +{ + private static readonly float[] DISTANCES_TO_WALL = { 0.597511f, 3.201085f, 0.603713f, 2.791475f, 2.815544f }; + + private static readonly float[][] HIT_POSITION = + { + new[] { 23.177608f, 10.197294f, -45.742954f }, + new[] { 22.331268f, 10.197294f, -4.241272f }, + new[] { 18.108675f, 15.743596f, -73.236839f }, + new[] { 1.984785f, 10.197294f, -8.441269f }, + new[] { -22.315216f, 4.997294f, -11.441269f } + }; + + private static readonly float[][] HIT_NORMAL = + { + new[] { -0.955779f, 0.0f, -0.29408592f }, + new[] { 0.0f, 0.0f, 1.0f }, + new[] { 0.97014254f, 0.0f, 0.24253564f }, + new[] { -1.0f, 0.0f, 0.0f }, + new[] { 1.0f, 0.0f, 0.0f } + }; + + [Test] + public void testFindDistanceToWall() + { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < startRefs.Length; i++) + { + float[] startPos = startPoss[i]; + Result result = query.findDistanceToWall(startRefs[i], startPos, 3.5f, filter); + FindDistanceToWallResult hit = result.result; + Assert.That(hit.getDistance(), Is.EqualTo(DISTANCES_TO_WALL[i]).Within(0.001f)); + for (int v = 0; v < 3; v++) + { + Assert.That(hit.getPosition()[v], Is.EqualTo(HIT_POSITION[i][v]).Within(0.001f)); + } + + for (int v = 0; v < 3; v++) + { + Assert.That(hit.getNormal()[v], Is.EqualTo(HIT_NORMAL[i][v]).Within(0.001f)); + } + } + } +} \ No newline at end of file diff --git a/test/DotRecast.Detour.Test/FindLocalNeighbourhoodTest.cs b/test/DotRecast.Detour.Test/FindLocalNeighbourhoodTest.cs new file mode 100644 index 0000000..482648e --- /dev/null +++ b/test/DotRecast.Detour.Test/FindLocalNeighbourhoodTest.cs @@ -0,0 +1,67 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + +public class FindLocalNeighbourhoodTest : AbstractDetourTest +{ + private static readonly long[][] REFS = + { + new[] { 281474976710696L, 281474976710695L, 281474976710691L, 281474976710697L }, + new[] { 281474976710773L, 281474976710769L, 281474976710772L }, + new[] + { + 281474976710680L, 281474976710674L, 281474976710679L, 281474976710684L, 281474976710683L, + 281474976710678L, 281474976710677L, 281474976710676L + }, + new[] { 281474976710753L, 281474976710748L, 281474976710750L, 281474976710752L }, + new[] { 281474976710733L, 281474976710735L, 281474976710736L } + }; + + private static readonly long[][] PARENT_REFS = + { + new[] { 0L, 281474976710696L, 281474976710695L, 281474976710695L }, + new[] { 0L, 281474976710773L, 281474976710773L }, + new[] + { + 0L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710679L, + 281474976710683L, 281474976710678L + }, + new[] { 0L, 281474976710753L, 281474976710753L, 281474976710748L }, + new[] { 0L, 281474976710733L, 281474976710733L } + }; + + [Test] + public void testFindNearestPoly() + { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < startRefs.Length; i++) + { + float[] startPos = startPoss[i]; + Result poly = query.findLocalNeighbourhood(startRefs[i], startPos, 3.5f, + filter); + Assert.That(poly.result.getRefs().Count, Is.EqualTo(REFS[i].Length)); + for (int v = 0; v < REFS[i].Length; v++) + { + Assert.That(poly.result.getRefs()[v], Is.EqualTo(REFS[i][v])); + } + } + } +} \ No newline at end of file diff --git a/test/DotRecast.Detour.Test/FindNearestPolyTest.cs b/test/DotRecast.Detour.Test/FindNearestPolyTest.cs new file mode 100644 index 0000000..54d7395 --- /dev/null +++ b/test/DotRecast.Detour.Test/FindNearestPolyTest.cs @@ -0,0 +1,77 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + + +public class FindNearestPolyTest : AbstractDetourTest { + + private static readonly long[] POLY_REFS = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L }; + private static readonly float[][] POLY_POS = { + new[] { 22.606520f, 10.197294f, -45.918674f }, new[] { 22.331268f, 10.197294f, -1.040187f }, + new[] { 18.694363f, 15.803535f, -73.090416f }, new[] { 0.745335f, 10.197294f, -5.940050f }, + new[] { -20.651257f, 5.904126f, -13.712508f } }; + + [Test] + public void testFindNearestPoly() { + QueryFilter filter = new DefaultQueryFilter(); + float[] extents = { 2, 4, 2 }; + for (int i = 0; i < startRefs.Length; i++) { + float[] startPos = startPoss[i]; + Result poly = query.findNearestPoly(startPos, extents, filter); + Assert.That(poly.succeeded(), Is.True); + Assert.That(poly.result.getNearestRef(), Is.EqualTo(POLY_REFS[i])); + for (int v = 0; v < POLY_POS[i].Length; v++) { + Assert.That(poly.result.getNearestPos()[v], Is.EqualTo(POLY_POS[i][v]).Within(0.001f)); + } + } + + } + + public class EmptyQueryFilter : QueryFilter + { + public bool passFilter(long refs, MeshTile tile, Poly poly) + { + return false; + } + + public float getCost(float[] pa, float[] pb, long prevRef, MeshTile prevTile, Poly prevPoly, long curRef, MeshTile curTile, + Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly) + { + return 0; + } + } + + [Test] + public void shouldReturnStartPosWhenNoPolyIsValid() { + var filter = new EmptyQueryFilter(); + float[] extents = { 2, 4, 2 }; + for (int i = 0; i < startRefs.Length; i++) { + float[] startPos = startPoss[i]; + Result poly = query.findNearestPoly(startPos, extents, filter); + Assert.That(poly.succeeded(), Is.True); + Assert.That(0L, Is.EqualTo(poly.result.getNearestRef())); + for (int v = 0; v < POLY_POS[i].Length; v++) { + Assert.That(poly.result.getNearestPos()[v], Is.EqualTo(startPos[v]).Within(0.001f)); + } + } + + } +} diff --git a/test/DotRecast.Detour.Test/FindPathTest.cs b/test/DotRecast.Detour.Test/FindPathTest.cs new file mode 100644 index 0000000..4eb0dbb --- /dev/null +++ b/test/DotRecast.Detour.Test/FindPathTest.cs @@ -0,0 +1,158 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + + +public class FindPathTest : AbstractDetourTest { + + private static readonly Status[] STATUSES = { Status.SUCCSESS, Status.PARTIAL_RESULT, Status.SUCCSESS, Status.SUCCSESS, + Status.SUCCSESS }; + private static readonly long[][] RESULTS = { + new[] { 281474976710696L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L, + 281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L, + 281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710721L }, + new[] { 281474976710773L, 281474976710772L, 281474976710768L, 281474976710754L, 281474976710755L, + 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L, 281474976710729L, + 281474976710717L, 281474976710724L, 281474976710728L, 281474976710737L, 281474976710738L, + 281474976710736L, 281474976710733L, 281474976710735L, 281474976710742L, 281474976710740L, + 281474976710746L, 281474976710745L, 281474976710744L }, + new[] { 281474976710680L, 281474976710684L, 281474976710688L, 281474976710687L, 281474976710686L, + 281474976710697L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L, + 281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L, + 281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710729L, + 281474976710731L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710755L, + 281474976710754L, 281474976710768L, 281474976710772L, 281474976710773L, 281474976710770L, + 281474976710757L, 281474976710761L, 281474976710758L }, + new[] { 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L }, + new[] { 281474976710733L, 281474976710736L, 281474976710738L, 281474976710737L, 281474976710728L, + 281474976710724L, 281474976710717L, 281474976710729L, 281474976710731L, 281474976710752L, + 281474976710748L, 281474976710753L, 281474976710755L, 281474976710754L, 281474976710768L, + 281474976710772L } }; + + private static readonly StraightPathItem[][] STRAIGHT_PATHS = { + new[] { new StraightPathItem(new float[] { 22.606520f, 10.197294f, -45.918674f }, 1, 281474976710696L), + new StraightPathItem(new float[] { 3.484785f, 10.197294f, -34.241272f }, 0, 281474976710713L), + new StraightPathItem(new float[] { 1.984785f, 10.197294f, -31.241272f }, 0, 281474976710712L), + new StraightPathItem(new float[] { 1.984785f, 10.197294f, -29.741272f }, 0, 281474976710727L), + new StraightPathItem(new float[] { 2.584784f, 10.197294f, -27.941273f }, 0, 281474976710730L), + new StraightPathItem(new float[] { 6.457663f, 10.197294f, -18.334061f }, 2, 0L) }, + + new[] { new StraightPathItem(new float[] { 22.331268f, 10.197294f, -1.040187f }, 1, 281474976710773L), + new StraightPathItem(new float[] { 9.784786f, 10.197294f, -2.141273f }, 0, 281474976710755L), + new StraightPathItem(new float[] { 7.984783f, 10.197294f, -2.441269f }, 0, 281474976710753L), + new StraightPathItem(new float[] { 1.984785f, 10.197294f, -8.441269f }, 0, 281474976710752L), + new StraightPathItem(new float[] { -4.315216f, 10.197294f, -15.341270f }, 0, 281474976710724L), + new StraightPathItem(new float[] { -8.215216f, 10.197294f, -17.441269f }, 0, 281474976710728L), + new StraightPathItem(new float[] { -10.015216f, 10.197294f, -17.741272f }, 0, 281474976710738L), + new StraightPathItem(new float[] { -11.815216f, 9.997294f, -17.441269f }, 0, 281474976710736L), + new StraightPathItem(new float[] { -17.815216f, 5.197294f, -11.441269f }, 0, 281474976710735L), + new StraightPathItem(new float[] { -17.815216f, 5.197294f, -8.441269f }, 0, 281474976710746L), + new StraightPathItem(new float[] { -11.815216f, 0.197294f, 3.008419f }, 2, 0L) }, + + new[] { new StraightPathItem(new float[] { 18.694363f, 15.803535f, -73.090416f }, 1, 281474976710680L), + new StraightPathItem(new float[] { 17.584785f, 10.197294f, -49.841274f }, 0, 281474976710697L), + new StraightPathItem(new float[] { 17.284786f, 10.197294f, -48.041275f }, 0, 281474976710695L), + new StraightPathItem(new float[] { 16.084785f, 10.197294f, -45.341274f }, 0, 281474976710694L), + new StraightPathItem(new float[] { 3.484785f, 10.197294f, -34.241272f }, 0, 281474976710713L), + new StraightPathItem(new float[] { 1.984785f, 10.197294f, -31.241272f }, 0, 281474976710712L), + new StraightPathItem(new float[] { 1.984785f, 10.197294f, -8.441269f }, 0, 281474976710753L), + new StraightPathItem(new float[] { 7.984783f, 10.197294f, -2.441269f }, 0, 281474976710755L), + new StraightPathItem(new float[] { 9.784786f, 10.197294f, -2.141273f }, 0, 281474976710768L), + new StraightPathItem(new float[] { 38.423977f, 10.197294f, -0.116067f }, 2, 0L) }, + + new[] { new StraightPathItem(new float[] { 0.745335f, 10.197294f, -5.940050f }, 1, 281474976710753L), + new StraightPathItem(new float[] { 0.863553f, 10.197294f, -10.310320f }, 2, 0L) }, + + new[] { new StraightPathItem(new float[] { -20.651257f, 5.904126f, -13.712508f }, 1, 281474976710733L), + new StraightPathItem(new float[] { -11.815216f, 9.997294f, -17.441269f }, 0, 281474976710738L), + new StraightPathItem(new float[] { -10.015216f, 10.197294f, -17.741272f }, 0, 281474976710728L), + new StraightPathItem(new float[] { -8.215216f, 10.197294f, -17.441269f }, 0, 281474976710724L), + new StraightPathItem(new float[] { -4.315216f, 10.197294f, -15.341270f }, 0, 281474976710729L), + new StraightPathItem(new float[] { 1.984785f, 10.197294f, -8.441269f }, 0, 281474976710753L), + new StraightPathItem(new float[] { 7.984783f, 10.197294f, -2.441269f }, 0, 281474976710755L), + new StraightPathItem(new float[] { 18.784092f, 10.197294f, 3.054368f }, 2, 0L) } }; + + [Test] + public void testFindPath() { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < startRefs.Length; i++) { + long startRef = startRefs[i]; + long endRef = endRefs[i]; + float[] startPos = startPoss[i]; + float[] endPos = endPoss[i]; + Result> path = query.findPath(startRef, endRef, startPos, endPos, filter); + Assert.That(path.status, Is.EqualTo(STATUSES[i])); + Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length)); + for (int j = 0; j < RESULTS[i].Length; j++) { + Assert.That(path.result[j], Is.EqualTo(RESULTS[i][j])); + } + } + } + + [Test] + public void testFindPathSliced() { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < startRefs.Length; i++) { + long startRef = startRefs[i]; + long endRef = endRefs[i]; + float[] startPos = startPoss[i]; + float[] endPos = endPoss[i]; + query.initSlicedFindPath(startRef, endRef, startPos, endPos, filter, NavMeshQuery.DT_FINDPATH_ANY_ANGLE); + Status status = Status.IN_PROGRESS; + while (status == Status.IN_PROGRESS) { + Result res = query.updateSlicedFindPath(10); + status = res.status; + } + Result> path = query.finalizeSlicedFindPath(); + Assert.That(path.status, Is.EqualTo(STATUSES[i])); + Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length)); + for (int j = 0; j < RESULTS[i].Length; j++) { + Assert.That(path.result[j], Is.EqualTo(RESULTS[i][j])); + } + + } + } + + [Test] + public void testFindPathStraight() { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < STRAIGHT_PATHS.Length; i++) {// startRefs.Length; i++) { + long startRef = startRefs[i]; + long endRef = endRefs[i]; + float[] startPos = startPoss[i]; + float[] endPos = endPoss[i]; + Result> path = query.findPath(startRef, endRef, startPos, endPos, filter); + Result> result = query.findStraightPath(startPos, endPos, path.result, + int.MaxValue, 0); + List straightPath = result.result; + Assert.That(straightPath.Count, Is.EqualTo(STRAIGHT_PATHS[i].Length)); + for (int j = 0; j < STRAIGHT_PATHS[i].Length; j++) { + Assert.That(straightPath[j].refs, Is.EqualTo(STRAIGHT_PATHS[i][j].refs)); + for (int v = 0; v < 3; v++) { + Assert.That(straightPath[j].pos[v], Is.EqualTo(STRAIGHT_PATHS[i][j].pos[v]).Within(0.01f)); + } + Assert.That(straightPath[j].flags, Is.EqualTo(STRAIGHT_PATHS[i][j].flags)); + } + } + } + +} diff --git a/test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs b/test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs new file mode 100644 index 0000000..700903a --- /dev/null +++ b/test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs @@ -0,0 +1,83 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + + +public class FindPolysAroundCircleTest : AbstractDetourTest { + + private static readonly long[][] REFS = { + new[] { 281474976710696L, 281474976710695L, 281474976710694L, 281474976710691L, 281474976710697L, 281474976710693L, + 281474976710686L, 281474976710687L, 281474976710692L, 281474976710703L, 281474976710689L }, + new[] { 281474976710773L, 281474976710770L, 281474976710769L, 281474976710772L, 281474976710771L }, + new[] { 281474976710680L, 281474976710674L, 281474976710679L, 281474976710684L, 281474976710683L, 281474976710678L, + 281474976710682L, 281474976710677L, 281474976710676L, 281474976710688L, 281474976710687L, 281474976710675L, + 281474976710685L, 281474976710672L, 281474976710666L, 281474976710668L, 281474976710681L, 281474976710673L }, + new[] { 281474976710753L, 281474976710748L, 281474976710755L, 281474976710756L, 281474976710750L, 281474976710752L, + 281474976710731L, 281474976710729L, 281474976710749L, 281474976710719L, 281474976710717L, 281474976710726L }, + new[] { 281474976710733L, 281474976710735L, 281474976710736L, 281474976710734L, 281474976710739L, 281474976710742L, + 281474976710740L, 281474976710746L, 281474976710747L, } }; + private static readonly long[][] PARENT_REFS = { + new[] { 0L, 281474976710696L, 281474976710695L, 281474976710695L, 281474976710695L, 281474976710695L, 281474976710697L, + 281474976710686L, 281474976710693L, 281474976710694L, 281474976710687L }, + new[] { 0L, 281474976710773L, 281474976710773L, 281474976710773L, 281474976710772L }, + new[] { 0L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710679L, 281474976710683L, + 281474976710683L, 281474976710678L, 281474976710684L, 281474976710688L, 281474976710677L, 281474976710687L, + 281474976710682L, 281474976710672L, 281474976710672L, 281474976710675L, 281474976710666L }, + new[] { 0L, 281474976710753L, 281474976710753L, 281474976710753L, 281474976710753L, 281474976710748L, 281474976710752L, + 281474976710731L, 281474976710756L, 281474976710729L, 281474976710729L, 281474976710717L }, + new[] { 0L, 281474976710733L, 281474976710733L, 281474976710736L, 281474976710736L, 281474976710735L, 281474976710742L, + 281474976710740L, 281474976710746L } }; + private static readonly float[][] COSTS = { + new[] { 0.000000f, 0.391453f, 6.764245f, 4.153431f, 3.721995f, 6.109188f, 5.378797f, 7.178796f, 7.009186f, 7.514245f, + 12.655564f }, + new[] { 0.000000f, 6.161580f, 2.824478f, 2.828730f, 8.035697f }, + new[] { 0.000000f, 1.162604f, 1.954029f, 2.776051f, 2.046001f, 2.428367f, 6.429493f, 6.032851f, 2.878368f, 5.333885f, + 6.394545f, 9.596563f, 12.457960f, 7.096575f, 10.413582f, 10.362305f, 10.665442f, 10.593861f }, + new[] { 0.000000f, 2.483205f, 6.723722f, 5.727250f, 3.126022f, 3.543865f, 5.043865f, 6.843868f, 7.212173f, 10.602858f, + 8.793867f, 13.146453f }, + new[] { 0.000000f, 2.480514f, 0.823685f, 5.002500f, 8.229258f, 3.983844f, 5.483844f, 6.655379f, 11.996962f } }; + + [Test] + public void testFindPolysAroundCircle() { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < startRefs.Length; i++) { + long startRef = startRefs[i]; + float[] startPos = startPoss[i]; + Result result = query.findPolysAroundCircle(startRef, startPos, 7.5f, filter); + Assert.That(result.succeeded(), Is.True); + FindPolysAroundResult polys = result.result; + Assert.That(polys.getRefs().Count, Is.EqualTo(REFS[i].Length)); + for (int v = 0; v < REFS[i].Length; v++) { + bool found = false; + for (int w = 0; w < REFS[i].Length; w++) { + if (REFS[i][v] == polys.getRefs()[w]) { + Assert.That(polys.getParentRefs()[w], Is.EqualTo(PARENT_REFS[i][v])); + Assert.That(polys.getCosts()[w], Is.EqualTo(COSTS[i][v]).Within(0.01f)); + found = true; + } + } + Assert.That(found, Is.True, $"Ref not found {REFS[i][v]}"); + } + } + + } + +} diff --git a/test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs b/test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs new file mode 100644 index 0000000..a1eb728 --- /dev/null +++ b/test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs @@ -0,0 +1,131 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + + +public class FindPolysAroundShapeTest : AbstractDetourTest { + + private static readonly long[][] REFS = { + new[] { 281474976710696L, 281474976710695L, 281474976710694L, 281474976710691L, 281474976710697L, + 281474976710693L, 281474976710692L, 281474976710703L, 281474976710706L, 281474976710699L, + 281474976710705L, 281474976710698L, 281474976710700L, 281474976710704L }, + new[] { 281474976710773L, 281474976710769L, 281474976710772L, 281474976710768L, 281474976710771L, + 281474976710754L, 281474976710755L, 281474976710753L, 281474976710751L, 281474976710756L, + 281474976710749L }, + new[] { 281474976710680L, 281474976710679L, 281474976710684L, 281474976710683L, 281474976710688L, + 281474976710678L, 281474976710676L, 281474976710687L, 281474976710690L, 281474976710686L, + 281474976710689L, 281474976710685L, 281474976710697L, 281474976710695L, 281474976710694L, + 281474976710691L, 281474976710696L, 281474976710693L, 281474976710692L, 281474976710703L, + 281474976710706L, 281474976710699L, 281474976710705L, 281474976710700L, 281474976710704L }, + new[] { 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L }, + new[] { 281474976710733L, 281474976710735L, 281474976710736L, 281474976710742L, 281474976710734L, + 281474976710739L, 281474976710738L, 281474976710740L, 281474976710746L, 281474976710743L, + 281474976710745L, 281474976710741L, 281474976710747L, 281474976710737L, 281474976710732L, + 281474976710728L, 281474976710724L, 281474976710744L, 281474976710725L, 281474976710717L, + 281474976710729L, 281474976710726L, 281474976710721L, 281474976710719L, 281474976710731L, + 281474976710720L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710755L, + 281474976710756L, 281474976710750L, 281474976710749L, 281474976710754L, 281474976710751L, + 281474976710768L, 281474976710772L, 281474976710773L, 281474976710771L, 281474976710769L } }; + private static readonly long[][] PARENT_REFS = { + new[] { 0L, 281474976710696L, 281474976710695L, 281474976710695L, 281474976710695L, 281474976710695L, + 281474976710693L, 281474976710694L, 281474976710703L, 281474976710706L, 281474976710706L, + 281474976710705L, 281474976710705L, 281474976710705L }, + new[] { 0L, 281474976710773L, 281474976710773L, 281474976710772L, 281474976710772L, 281474976710768L, + 281474976710754L, 281474976710755L, 281474976710755L, 281474976710753L, 281474976710756L }, + new[] { 0L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710684L, 281474976710679L, + 281474976710678L, 281474976710688L, 281474976710687L, 281474976710687L, 281474976710687L, + 281474976710687L, 281474976710686L, 281474976710697L, 281474976710695L, 281474976710695L, + 281474976710695L, 281474976710695L, 281474976710693L, 281474976710694L, 281474976710703L, + 281474976710706L, 281474976710706L, 281474976710705L, 281474976710705L }, + new[] { 0L, 281474976710753L, 281474976710748L, 281474976710752L }, + new[] { 0L, 281474976710733L, 281474976710733L, 281474976710735L, 281474976710736L, 281474976710736L, + 281474976710736L, 281474976710742L, 281474976710740L, 281474976710746L, 281474976710746L, + 281474976710746L, 281474976710746L, 281474976710738L, 281474976710738L, 281474976710737L, + 281474976710728L, 281474976710745L, 281474976710724L, 281474976710724L, 281474976710717L, + 281474976710717L, 281474976710717L, 281474976710729L, 281474976710729L, 281474976710721L, + 281474976710731L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710753L, + 281474976710753L, 281474976710756L, 281474976710755L, 281474976710755L, 281474976710754L, + 281474976710768L, 281474976710772L, 281474976710772L, 281474976710773L } }; + private static readonly float[][] COSTS = { + new[] { 0.000000f, 16.188787f, 22.561579f, 19.950766f, 19.519329f, 21.906523f, 22.806520f, 23.311579f, 25.124035f, + 28.454576f, 26.084503f, 36.438854f, 30.526634f, 31.942192f }, + new[] { 0.000000f, 16.618738f, 12.136283f, 20.387646f, 17.343250f, 22.037645f, 22.787645f, 27.178831f, 26.501472f, + 31.691311f, 33.176235f }, + new[] { 0.000000f, 36.657764f, 35.197689f, 37.484924f, 37.755524f, 37.132103f, 37.582104f, 38.816185f, 52.426109f, + 55.945839f, 51.882935f, 44.879601f, 57.745838f, 59.402641f, 65.063034f, 64.934372f, 62.733185f, + 62.756744f, 63.656742f, 65.813034f, 67.625488f, 70.956032f, 68.585960f, 73.028091f, 74.443649f }, + new[] { 0.000000f, 2.097958f, 3.158618f, 4.658618f }, + new[] { 0.000000f, 20.495766f, 21.352942f, 21.999096f, 25.531757f, 28.758514f, 30.264732f, 23.499096f, 24.670631f, + 33.166218f, 35.651184f, 34.371792f, 30.012215f, 33.886887f, 33.855347f, 34.643524f, 36.300327f, + 38.203144f, 40.339203f, 40.203213f, 47.254810f, 50.043945f, 49.054485f, 49.804810f, 49.204811f, + 52.813477f, 51.004814f, 52.504814f, 53.565475f, 62.748611f, 61.504147f, 57.915474f, 62.989071f, + 67.139801f, 66.507599f, 67.889801f, 69.539803f, 77.791168f, 75.186256f, 83.111412f } }; + + [Test] + public void testFindPolysAroundShape() { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < startRefs.Length; i++) { + long startRef = startRefs[i]; + float[] startPos = startPoss[i]; + Result polys = query.findPolysAroundShape(startRef, + getQueryPoly(startPos, endPoss[i]), filter); + Assert.That(polys.result.getRefs().Count, Is.EqualTo(REFS[i].Length)); + for (int v = 0; v < REFS[i].Length; v++) { + bool found = false; + for (int w = 0; w < REFS[i].Length; w++) { + if (REFS[i][v] == polys.result.getRefs()[w]) { + Assert.That(polys.result.getParentRefs()[w], Is.EqualTo(PARENT_REFS[i][v])); + Assert.That(polys.result.getCosts()[w], Is.EqualTo(COSTS[i][v]).Within(0.01f)); + found = true; + } + } + Assert.That(found, Is.True); + } + } + + } + + private float[] getQueryPoly(float[] m_spos, float[] m_epos) { + + float nx = (m_epos[2] - m_spos[2]) * 0.25f; + float nz = -(m_epos[0] - m_spos[0]) * 0.25f; + float agentHeight = 2.0f; + + float[] m_queryPoly = new float[12]; + m_queryPoly[0] = m_spos[0] + nx * 1.2f; + m_queryPoly[1] = m_spos[1] + agentHeight / 2; + m_queryPoly[2] = m_spos[2] + nz * 1.2f; + + m_queryPoly[3] = m_spos[0] - nx * 1.3f; + m_queryPoly[4] = m_spos[1] + agentHeight / 2; + m_queryPoly[5] = m_spos[2] - nz * 1.3f; + + m_queryPoly[6] = m_epos[0] - nx * 0.8f; + m_queryPoly[7] = m_epos[1] + agentHeight / 2; + m_queryPoly[8] = m_epos[2] - nz * 0.8f; + + m_queryPoly[9] = m_epos[0] + nx; + m_queryPoly[10] = m_epos[1] + agentHeight / 2; + m_queryPoly[11] = m_epos[2] + nz; + return m_queryPoly; + } + +} diff --git a/test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs b/test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs new file mode 100644 index 0000000..69f3049 --- /dev/null +++ b/test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs @@ -0,0 +1,75 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + + +public class GetPolyWallSegmentsTest : AbstractDetourTest { + + private static readonly float[][] VERTICES = { + new[] { 22.084785f, 10.197294f, -48.341274f, 22.684784f, 10.197294f, -44.141273f, 22.684784f, 10.197294f, + -44.141273f, 23.884785f, 10.197294f, -48.041275f, 23.884785f, 10.197294f, -48.041275f, 22.084785f, + 10.197294f, -48.341274f }, + new[] { 27.784786f, 10.197294f, 4.158730f, 28.384785f, 10.197294f, 2.358727f, 28.384785f, 10.197294f, 2.358727f, + 28.384785f, 10.197294f, -2.141273f, 28.384785f, 10.197294f, -2.141273f, 27.784786f, 10.197294f, + -2.741272f, 27.784786f, 10.197294f, -2.741272f, 19.684784f, 10.197294f, -4.241272f, 19.684784f, + 10.197294f, -4.241272f, 19.684784f, 10.197294f, 4.158730f, 19.684784f, 10.197294f, 4.158730f, + 27.784786f, 10.197294f, 4.158730f }, + new[] { 22.384785f, 14.997294f, -71.741272f, 19.084785f, 16.597294f, -74.741272f, 19.084785f, 16.597294f, + -74.741272f, 18.184784f, 15.997294f, -73.541275f, 18.184784f, 15.997294f, -73.541275f, 17.884785f, + 14.997294f, -72.341278f, 17.884785f, 14.997294f, -72.341278f, 17.584785f, 14.997294f, -70.841278f, + 17.584785f, 14.997294f, -70.841278f, 22.084785f, 14.997294f, -70.541275f, 22.084785f, 14.997294f, + -70.541275f, 22.384785f, 14.997294f, -71.741272f }, + new[] { 4.684784f, 10.197294f, -6.941269f, 1.984785f, 10.197294f, -8.441269f, 1.984785f, 10.197294f, -8.441269f, + -4.015217f, 10.197294f, -6.941269f, -4.015217f, 10.197294f, -6.941269f, -1.615215f, 10.197294f, + -1.541275f, -1.615215f, 10.197294f, -1.541275f, 1.384785f, 10.197294f, 1.458725f, 1.384785f, + 10.197294f, 1.458725f, 7.984783f, 10.197294f, -2.441269f, 7.984783f, 10.197294f, -2.441269f, + 4.684784f, 10.197294f, -6.941269f }, + new[] { -22.315216f, 6.597294f, -17.141273f, -23.815216f, 5.397294f, -13.841270f, -23.815216f, 5.397294f, + -13.841270f, -24.115217f, 4.997294f, -12.041275f, -24.115217f, 4.997294f, -12.041275f, -22.315216f, + 4.997294f, -11.441269f, -22.315216f, 4.997294f, -11.441269f, -17.815216f, 5.197294f, -11.441269f, + -17.815216f, 5.197294f, -11.441269f, -22.315216f, 6.597294f, -17.141273f } }; + private static readonly long[][] REFS = { + new[] { 281474976710695L, 0L, 0L }, + new[] { 0L, 281474976710770L, 0L, 281474976710769L, 281474976710772L, 0L }, + new[] { 281474976710683L, 281474976710674L, 0L, 281474976710679L, 281474976710684L, 0L }, + new[] { 281474976710750L, 281474976710748L, 0L, 0L, 281474976710755L, 281474976710756L }, + new[] { 0L, 0L, 0L, 281474976710735L, 281474976710736L } }; + + [Test] + public void testFindDistanceToWall() { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < startRefs.Length; i++) { + Result result = query.getPolyWallSegments(startRefs[i], true, filter); + GetPolyWallSegmentsResult segments = result.result; + Assert.That(segments.getSegmentVerts().Count, Is.EqualTo(VERTICES[i].Length / 6)); + Assert.That(segments.getSegmentRefs().Count, Is.EqualTo(REFS[i].Length)); + for (int v = 0; v < VERTICES[i].Length / 6; v++) { + for (int n = 0; n < 6; n++) { + Assert.That(segments.getSegmentVerts()[v][n], Is.EqualTo(VERTICES[i][v * 6 + n]).Within(0.001f)); + } + } + for (int v = 0; v < REFS[i].Length; v++) { + Assert.That(segments.getSegmentRefs()[v], Is.EqualTo(REFS[i][v])); + } + } + + } +} diff --git a/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs b/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs new file mode 100644 index 0000000..6b15f63 --- /dev/null +++ b/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs @@ -0,0 +1,118 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.Io; +using NUnit.Framework; + +namespace DotRecast.Detour.Test.Io; + + +public class MeshDataReaderWriterTest { + + private const int VERTS_PER_POLYGON = 6; + private MeshData meshData; + + [SetUp] + public void setUp() { + RecastTestMeshBuilder rcBuilder = new RecastTestMeshBuilder(); + meshData = rcBuilder.getMeshData(); + } + + [Test] + public void testCCompatibility() { + test(true, ByteOrder.BIG_ENDIAN); + } + + [Test] + public void testCompact() { + test(false, ByteOrder.BIG_ENDIAN); + } + + [Test] + public void testCCompatibilityLE() { + test(true, ByteOrder.LITTLE_ENDIAN); + } + + [Test] + public void testCompactLE() { + test(false, ByteOrder.LITTLE_ENDIAN); + } + + public void test(bool cCompatibility, ByteOrder order) { + using var ms = new MemoryStream(); + using var bwos = new BinaryWriter(ms); + + MeshDataWriter writer = new MeshDataWriter(); + writer.write(bwos, meshData, order, cCompatibility); + ms.Seek(0, SeekOrigin.Begin); + + using var bris = new BinaryReader(ms); + MeshDataReader reader = new MeshDataReader(); + MeshData readData = reader.read(bris, VERTS_PER_POLYGON); + + Assert.That(readData.header.vertCount, Is.EqualTo(meshData.header.vertCount)); + Assert.That(readData.header.polyCount, Is.EqualTo(meshData.header.polyCount)); + Assert.That(readData.header.detailMeshCount, Is.EqualTo(meshData.header.detailMeshCount)); + Assert.That(readData.header.detailTriCount, Is.EqualTo(meshData.header.detailTriCount)); + Assert.That(readData.header.detailVertCount, Is.EqualTo(meshData.header.detailVertCount)); + Assert.That(readData.header.bvNodeCount, Is.EqualTo(meshData.header.bvNodeCount)); + Assert.That(readData.header.offMeshConCount, Is.EqualTo(meshData.header.offMeshConCount)); + for (int i = 0; i < meshData.header.vertCount; i++) { + Assert.That(readData.verts[i], Is.EqualTo(meshData.verts[i])); + } + for (int i = 0; i < meshData.header.polyCount; i++) { + Assert.That(readData.polys[i].vertCount, Is.EqualTo(meshData.polys[i].vertCount)); + Assert.That(readData.polys[i].areaAndtype, Is.EqualTo(meshData.polys[i].areaAndtype)); + for (int j = 0; j < meshData.polys[i].vertCount; j++) { + Assert.That(readData.polys[i].verts[j], Is.EqualTo(meshData.polys[i].verts[j])); + Assert.That(readData.polys[i].neis[j], Is.EqualTo(meshData.polys[i].neis[j])); + } + } + for (int i = 0; i < meshData.header.detailMeshCount; i++) { + Assert.That(readData.detailMeshes[i].vertBase, Is.EqualTo(meshData.detailMeshes[i].vertBase)); + Assert.That(readData.detailMeshes[i].vertCount, Is.EqualTo(meshData.detailMeshes[i].vertCount)); + Assert.That(readData.detailMeshes[i].triBase, Is.EqualTo(meshData.detailMeshes[i].triBase)); + Assert.That(readData.detailMeshes[i].triCount, Is.EqualTo(meshData.detailMeshes[i].triCount)); + } + for (int i = 0; i < meshData.header.detailVertCount; i++) { + Assert.That(readData.detailVerts[i], Is.EqualTo(meshData.detailVerts[i])); + } + for (int i = 0; i < meshData.header.detailTriCount; i++) { + Assert.That(readData.detailTris[i], Is.EqualTo(meshData.detailTris[i])); + } + for (int i = 0; i < meshData.header.bvNodeCount; i++) { + Assert.That(readData.bvTree[i].i, Is.EqualTo(meshData.bvTree[i].i)); + for (int j = 0; j < 3; j++) { + Assert.That(readData.bvTree[i].bmin[j], Is.EqualTo(meshData.bvTree[i].bmin[j])); + Assert.That(readData.bvTree[i].bmax[j], Is.EqualTo(meshData.bvTree[i].bmax[j])); + } + } + for (int i = 0; i < meshData.header.offMeshConCount; i++) { + Assert.That(readData.offMeshCons[i].flags, Is.EqualTo(meshData.offMeshCons[i].flags)); + Assert.That(readData.offMeshCons[i].rad, Is.EqualTo(meshData.offMeshCons[i].rad)); + Assert.That(readData.offMeshCons[i].poly, Is.EqualTo(meshData.offMeshCons[i].poly)); + Assert.That(readData.offMeshCons[i].side, Is.EqualTo(meshData.offMeshCons[i].side)); + Assert.That(readData.offMeshCons[i].userId, Is.EqualTo(meshData.offMeshCons[i].userId)); + for (int j = 0; j < 6; j++) { + Assert.That(readData.offMeshCons[i].pos[j], Is.EqualTo(meshData.offMeshCons[i].pos[j])); + } + } + } +} diff --git a/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs b/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs new file mode 100644 index 0000000..d31bf13 --- /dev/null +++ b/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs @@ -0,0 +1,113 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.Io; +using NUnit.Framework; + +namespace DotRecast.Detour.Test.Io; + +public class MeshSetReaderTest { + + private readonly MeshSetReader reader = new MeshSetReader(); + + [Test] + public void testNavmesh() { + byte[] @is = Loader.ToBytes("all_tiles_navmesh.bin"); + using var ms = new MemoryStream(@is); + using var bris = new BinaryReader(ms); + NavMesh mesh = reader.read(bris, 6); + Assert.That(mesh.getMaxTiles(), Is.EqualTo(128)); + Assert.That(mesh.getParams().maxPolys, Is.EqualTo(0x8000)); + Assert.That(mesh.getParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f)); + List tiles = mesh.getTilesAt(4, 7); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(7)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(22 * 3)); + tiles = mesh.getTilesAt(1, 6); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(7)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(26 * 3)); + tiles = mesh.getTilesAt(6, 2); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(1)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(4 * 3)); + tiles = mesh.getTilesAt(7, 6); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(8)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(24 * 3)); + } + + [Test] + public void testDungeon() { + byte[] @is = Loader.ToBytes("dungeon_all_tiles_navmesh.bin"); + using var ms = new MemoryStream(@is); + using var bris = new BinaryReader(ms); + + NavMesh mesh = reader.read(bris, 6); + Assert.That(mesh.getMaxTiles(), Is.EqualTo(128)); + Assert.That(mesh.getParams().maxPolys, Is.EqualTo(0x8000)); + Assert.That(mesh.getParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f)); + List tiles = mesh.getTilesAt(6, 9); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3)); + tiles = mesh.getTilesAt(2, 9); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3)); + tiles = mesh.getTilesAt(4, 3); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3)); + tiles = mesh.getTilesAt(2, 8); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3)); + } + + [Test] + public void testDungeon32Bit() { + byte[] @is = Loader.ToBytes("dungeon_all_tiles_navmesh_32bit.bin"); + using var ms = new MemoryStream(@is); + using var bris = new BinaryReader(ms); + + NavMesh mesh = reader.read32Bit(bris, 6); + Assert.That(mesh.getMaxTiles(), Is.EqualTo(128)); + Assert.That(mesh.getParams().maxPolys, Is.EqualTo(0x8000)); + Assert.That(mesh.getParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f)); + List tiles = mesh.getTilesAt(6, 9); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3)); + tiles = mesh.getTilesAt(2, 9); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3)); + tiles = mesh.getTilesAt(4, 3); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3)); + tiles = mesh.getTilesAt(2, 8); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3)); + } +} diff --git a/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs new file mode 100644 index 0000000..1de6cc1 --- /dev/null +++ b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs @@ -0,0 +1,120 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.Io; +using DotRecast.Recast; +using DotRecast.Recast.Geom; +using NUnit.Framework; + +using static DotRecast.Detour.DetourCommon; + +namespace DotRecast.Detour.Test.Io; + +public class MeshSetReaderWriterTest { + + private readonly MeshSetWriter writer = new MeshSetWriter(); + private readonly MeshSetReader reader = new MeshSetReader(); + private const float m_cellSize = 0.3f; + private const float m_cellHeight = 0.2f; + private const float m_agentHeight = 2.0f; + private const float m_agentRadius = 0.6f; + private const float m_agentMaxClimb = 0.9f; + private const float m_agentMaxSlope = 45.0f; + private const int m_regionMinSize = 8; + private const int m_regionMergeSize = 20; + private const float m_regionMinArea = m_regionMinSize * m_regionMinSize * m_cellSize * m_cellSize; + private const float m_regionMergeArea = m_regionMergeSize * m_regionMergeSize * m_cellSize * m_cellSize; + private const float m_edgeMaxLen = 12.0f; + private const float m_edgeMaxError = 1.3f; + private const int m_vertsPerPoly = 6; + private const float m_detailSampleDist = 6.0f; + private const float m_detailSampleMaxError = 1.0f; + private const int m_tileSize = 32; + private const int m_maxTiles = 128; + private const int m_maxPolysPerTile = 0x8000; + + [Test] + public void test() { + + InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj")); + + NavMeshSetHeader header = new NavMeshSetHeader(); + header.magic = NavMeshSetHeader.NAVMESHSET_MAGIC; + header.version = NavMeshSetHeader.NAVMESHSET_VERSION; + vCopy(header.option.orig, geom.getMeshBoundsMin()); + header.option.tileWidth = m_tileSize * m_cellSize; + header.option.tileHeight = m_tileSize * m_cellSize; + header.option.maxTiles = m_maxTiles; + header.option.maxPolys = m_maxPolysPerTile; + header.numTiles = 0; + NavMesh mesh = new NavMesh(header.option, 6); + + float[] bmin = geom.getMeshBoundsMin(); + float[] bmax = geom.getMeshBoundsMax(); + int[] twh = DotRecast.Recast.Recast.calcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize); + int tw = twh[0]; + int th = twh[1]; + for (int y = 0; y < th; ++y) { + for (int x = 0; x < tw; ++x) { + RecastConfig cfg = new RecastConfig(true, m_tileSize, m_tileSize, + RecastConfig.calcBorder(m_agentRadius, m_cellSize), PartitionType.WATERSHED, 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); + RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, bmin, bmax, x, y); + TestDetourBuilder db = new TestDetourBuilder(); + MeshData data = db.build(geom, bcfg, m_agentHeight, m_agentRadius, m_agentMaxClimb, x, y, true); + if (data != null) { + mesh.removeTile(mesh.getTileRefAt(x, y, 0)); + mesh.addTile(data, 0, 0); + } + } + } + + using var ms = new MemoryStream(); + using var os = new BinaryWriter(ms); + writer.write(os, mesh, ByteOrder.LITTLE_ENDIAN, true); + ms.Seek(0, SeekOrigin.Begin); + + using var @is = new BinaryReader(ms); + mesh = reader.read(@is, 6); + Assert.That(mesh.getMaxTiles(), Is.EqualTo(128)); + Assert.That(mesh.getParams().maxPolys, Is.EqualTo(0x8000)); + Assert.That(mesh.getParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f)); + List tiles = mesh.getTilesAt(6, 9); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3)); + tiles = mesh.getTilesAt(2, 9); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3)); + tiles = mesh.getTilesAt(4, 3); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3)); + tiles = mesh.getTilesAt(2, 8); + Assert.That(tiles.Count, Is.EqualTo(1)); + Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5)); + Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3)); + + } +} diff --git a/test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs b/test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs new file mode 100644 index 0000000..36a8a71 --- /dev/null +++ b/test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs @@ -0,0 +1,68 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + +public class MoveAlongSurfaceTest : AbstractDetourTest { + + private static readonly long[][] VISITED = { + new[] { 281474976710696L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L, + 281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L, + 281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710721L }, + new[] { 281474976710773L, 281474976710772L, 281474976710768L, 281474976710754L, 281474976710755L, + 281474976710753L }, + new[] { 281474976710680L, 281474976710684L, 281474976710688L, 281474976710687L, 281474976710686L, + 281474976710697L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L, + 281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L, + 281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710721L, + 281474976710718L }, + new[] { 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L }, + new[] { 281474976710733L, 281474976710736L, 281474976710738L, 281474976710737L, 281474976710728L, + 281474976710724L, 281474976710717L, 281474976710729L, 281474976710731L, 281474976710752L, + 281474976710748L, 281474976710753L, 281474976710755L, 281474976710754L, 281474976710768L, + 281474976710772L } }; + private static readonly float[][] POSITION = { + new[] { 6.457663f, 10.197294f, -18.334061f }, + new[] { -1.433933f, 10.197294f, -1.359993f }, + new[] { 12.184784f, 9.997294f, -18.941269f }, + new[] { 0.863553f, 10.197294f, -10.310320f }, + new[] { 18.784092f, 10.197294f, 3.054368f } }; + + [Test] + public void testMoveAlongSurface() { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < startRefs.Length; i++) { + long startRef = startRefs[i]; + float[] startPos = startPoss[i]; + float[] endPos = endPoss[i]; + Result result = query.moveAlongSurface(startRef, startPos, endPos, filter); + Assert.That(result.succeeded(), Is.True); + MoveAlongSurfaceResult path = result.result; + for (int v = 0; v < 3; v++) { + Assert.That(path.getResultPos()[v], Is.EqualTo(POSITION[i][v]).Within(0.01f)); + } + Assert.That(path.getVisited().Count, Is.EqualTo(VISITED[i].Length)); + for (int j = 0; j < POSITION[i].Length; j++) { + Assert.That(path.getVisited()[j], Is.EqualTo(VISITED[i][j])); + } + } + } + +} diff --git a/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs b/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs new file mode 100644 index 0000000..ff34148 --- /dev/null +++ b/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs @@ -0,0 +1,64 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + + +public class NavMeshBuilderTest { + + private MeshData nmd; + + [SetUp] + public void setUp() { + nmd = new RecastTestMeshBuilder().getMeshData(); + } + + [Test] + public void testBVTree() { + Assert.That(nmd.verts.Length / 3, Is.EqualTo(225)); + Assert.That(nmd.polys.Length, Is.EqualTo(119)); + Assert.That(nmd.header.maxLinkCount, Is.EqualTo(457)); + Assert.That(nmd.detailMeshes.Length, Is.EqualTo(118)); + Assert.That(nmd.detailTris.Length / 4, Is.EqualTo(291)); + Assert.That(nmd.detailVerts.Length / 3, Is.EqualTo(60)); + Assert.That(nmd.offMeshCons.Length, Is.EqualTo(1)); + Assert.That(nmd.header.offMeshBase, Is.EqualTo(118)); + Assert.That(nmd.bvTree.Length, Is.EqualTo(236)); + Assert.That(nmd.bvTree.Length, Is.GreaterThanOrEqualTo(nmd.header.bvNodeCount)); + for (int i = 0; i < nmd.header.bvNodeCount; i++) { + Assert.That(nmd.bvTree[i], Is.Not.Null); + } + for (int i = 0; i < 6; i++) { + Assert.That(nmd.verts[223 * 3 + i], Is.EqualTo(nmd.offMeshCons[0].pos[i])); + } + Assert.That(nmd.offMeshCons[0].rad, Is.EqualTo(0.1f)); + Assert.That(nmd.offMeshCons[0].poly, Is.EqualTo(118)); + Assert.That(nmd.offMeshCons[0].flags, Is.EqualTo(NavMesh.DT_OFFMESH_CON_BIDIR)); + Assert.That(nmd.offMeshCons[0].side, Is.EqualTo(0xFF)); + Assert.That(nmd.offMeshCons[0].userId, Is.EqualTo(0x4567)); + Assert.That(nmd.polys[118].vertCount, Is.EqualTo(2)); + Assert.That(nmd.polys[118].verts[0], Is.EqualTo(223)); + Assert.That(nmd.polys[118].verts[1], Is.EqualTo(224)); + Assert.That(nmd.polys[118].flags, Is.EqualTo(12)); + Assert.That(nmd.polys[118].getArea(), Is.EqualTo(2)); + Assert.That(nmd.polys[118].getType(), Is.EqualTo(Poly.DT_POLYTYPE_OFFMESH_CONNECTION)); + + } +} \ No newline at end of file diff --git a/test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs b/test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs new file mode 100644 index 0000000..469dbc3 --- /dev/null +++ b/test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs @@ -0,0 +1,87 @@ +/* +recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + + +public class PolygonByCircleConstraintTest { + + private readonly PolygonByCircleConstraint constraint = new PolygonByCircleConstraint.StrictPolygonByCircleConstraint(); + + [Test] + public void shouldHandlePolygonFullyInsideCircle() { + float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 }; + float[] center = { 1, 0, 1 }; + float[] constrained = constraint.aply(polygon, center, 6); + + Assert.That(constrained, Is.EqualTo(polygon)); + } + + [Test] + public void shouldHandleVerticalSegment() { + int expectedSize = 21; + float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 }; + float[] center = { 2, 0, 0 }; + + float[] constrained = constraint.aply(polygon, center, 3); + Assert.That(constrained.Length, Is.EqualTo(expectedSize)); + Assert.That(constrained, Is.SupersetOf(new[] {2f, 0f, 2f, 2f, 0f, -2f})); + } + + [Test] + public void shouldHandleCircleFullyInsidePolygon() { + int expectedSize = 12 * 3; + float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 }; + float[] center = { -1, 0, -1 }; + float[] constrained = constraint.aply(polygon, center, 2); + + Assert.That(constrained.Length, Is.EqualTo(expectedSize)); + + for (int i = 0; i < expectedSize; i += 3) { + float x = constrained[i] + 1; + float z = constrained[i + 2] + 1; + Assert.That(x * x + z * z, Is.EqualTo(4).Within(1e-4f)); + } + } + + [Test] + public void shouldHandleCircleInsidePolygon() { + int expectedSize = 9 * 3; + float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 }; + float[] center = { -2, 0, -1 }; + float[] constrained = constraint.aply(polygon, center, 3); + + Assert.That(constrained.Length, Is.EqualTo(expectedSize)); + Assert.That(constrained, Is.SupersetOf(new[] { -2f, 0f, -4f, -4f, 0f, 0f, -3.4641016f, 0.0f, 1.6076951f, -2.0f, 0.0f, 2.0f })); + } + + [Test] + public void shouldHandleCircleOutsidePolygon() + { + int expectedSize = 7 * 3; + float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 }; + float[] center = { 4, 0, 0 }; + float[] constrained = constraint.aply(polygon, center, 4); + + Assert.That(constrained.Length, Is.EqualTo(expectedSize)); + Assert.That(constrained, Is.SupersetOf(new[] { 1.5358982f, 0f, 3f, 2f, 0f, 3f, 3f, 0f, -3f })); +} + +} diff --git a/test/DotRecast.Detour.Test/RandomPointTest.cs b/test/DotRecast.Detour.Test/RandomPointTest.cs new file mode 100644 index 0000000..6666dc8 --- /dev/null +++ b/test/DotRecast.Detour.Test/RandomPointTest.cs @@ -0,0 +1,123 @@ +/* +recast4j Copyright (c) 2015-2021 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Diagnostics; +using NUnit.Framework; + +using static DotRecast.Detour.DetourCommon; + +namespace DotRecast.Detour.Test; + +public class RandomPointTest : AbstractDetourTest { + + [Test] + public void testRandom() { + NavMeshQuery.FRand f = new NavMeshQuery.FRand(1); + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < 1000; i++) { + Result point = query.findRandomPoint(filter, f); + Assert.That(point.succeeded(), Is.True); + Tuple tileAndPoly = navmesh.getTileAndPolyByRef(point.result.getRandomRef()).result; + float[] bmin = new float[2]; + float[] bmax = new float[2]; + for (int j = 0; j < tileAndPoly.Item2.vertCount; j++) { + int v = tileAndPoly.Item2.verts[j] * 3; + bmin[0] = j == 0 ? tileAndPoly.Item1.data.verts[v] : Math.Min(bmin[0], tileAndPoly.Item1.data.verts[v]); + bmax[0] = j == 0 ? tileAndPoly.Item1.data.verts[v] : Math.Max(bmax[0], tileAndPoly.Item1.data.verts[v]); + bmin[1] = j == 0 ? tileAndPoly.Item1.data.verts[v + 2] : Math.Min(bmin[1], tileAndPoly.Item1.data.verts[v + 2]); + bmax[1] = j == 0 ? tileAndPoly.Item1.data.verts[v + 2] : Math.Max(bmax[1], tileAndPoly.Item1.data.verts[v + 2]); + } + Assert.That(point.result.getRandomPt()[0] >= bmin[0], Is.True); + Assert.That(point.result.getRandomPt()[0] <= bmax[0], Is.True); + Assert.That(point.result.getRandomPt()[2] >= bmin[1], Is.True); + Assert.That(point.result.getRandomPt()[2] <= bmax[1], Is.True); + } + } + + [Test] + public void testRandomAroundCircle() { + NavMeshQuery.FRand f = new NavMeshQuery.FRand(1); + QueryFilter filter = new DefaultQueryFilter(); + FindRandomPointResult point = query.findRandomPoint(filter, f).result; + for (int i = 0; i < 1000; i++) { + Result result = query.findRandomPointAroundCircle(point.getRandomRef(), point.getRandomPt(), + 5f, filter, f); + Assert.That(result.failed(), Is.False); + point = result.result; + Tuple tileAndPoly = navmesh.getTileAndPolyByRef(point.getRandomRef()).result; + float[] bmin = new float[2]; + float[] bmax = new float[2]; + for (int j = 0; j < tileAndPoly.Item2.vertCount; j++) { + int v = tileAndPoly.Item2.verts[j] * 3; + bmin[0] = j == 0 ? tileAndPoly.Item1.data.verts[v] : Math.Min(bmin[0], tileAndPoly.Item1.data.verts[v]); + bmax[0] = j == 0 ? tileAndPoly.Item1.data.verts[v] : Math.Max(bmax[0], tileAndPoly.Item1.data.verts[v]); + bmin[1] = j == 0 ? tileAndPoly.Item1.data.verts[v + 2] : Math.Min(bmin[1], tileAndPoly.Item1.data.verts[v + 2]); + bmax[1] = j == 0 ? tileAndPoly.Item1.data.verts[v + 2] : Math.Max(bmax[1], tileAndPoly.Item1.data.verts[v + 2]); + } + Assert.That(point.getRandomPt()[0] >= bmin[0], Is.True); + Assert.That(point.getRandomPt()[0] <= bmax[0], Is.True); + Assert.That(point.getRandomPt()[2] >= bmin[1], Is.True); + Assert.That(point.getRandomPt()[2] <= bmax[1], Is.True); + } + } + + [Test] + public void testRandomWithinCircle() { + NavMeshQuery.FRand f = new NavMeshQuery.FRand(1); + QueryFilter filter = new DefaultQueryFilter(); + FindRandomPointResult point = query.findRandomPoint(filter, f).result; + float radius = 5f; + for (int i = 0; i < 1000; i++) { + Result result = query.findRandomPointWithinCircle(point.getRandomRef(), point.getRandomPt(), + radius, filter, f); + Assert.That(result.failed(), Is.False); + float distance = vDist2D(point.getRandomPt(), result.result.getRandomPt()); + Assert.That(distance <= radius, Is.True); + point = result.result; + } + } + + [Test] + public void testPerformance() { + NavMeshQuery.FRand f = new NavMeshQuery.FRand(1); + QueryFilter filter = new DefaultQueryFilter(); + FindRandomPointResult point = query.findRandomPoint(filter, f).result; + float radius = 5f; + // jvm warmup + for (int i = 0; i < 1000; i++) { + query.findRandomPointAroundCircle(point.getRandomRef(), point.getRandomPt(), radius, filter, f); + } + for (int i = 0; i < 1000; i++) { + query.findRandomPointWithinCircle(point.getRandomRef(), point.getRandomPt(), radius, filter, f); + } + + long t1 = Stopwatch.GetTimestamp(); + for (int i = 0; i < 10000; i++) { + query.findRandomPointAroundCircle(point.getRandomRef(), point.getRandomPt(), radius, filter, f); + } + long t2 = Stopwatch.GetTimestamp(); + for (int i = 0; i < 10000; i++) { + query.findRandomPointWithinCircle(point.getRandomRef(), point.getRandomPt(), radius, filter, f); + } + long t3 = Stopwatch.GetTimestamp(); + Console.WriteLine("Random point around circle: " + (t2 - t1) / 1000000 + "ms"); + Console.WriteLine("Random point within circle: " + (t3 - t2) / 1000000 + "ms"); + } + +} diff --git a/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs b/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs new file mode 100644 index 0000000..73a0faa --- /dev/null +++ b/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs @@ -0,0 +1,111 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Core; +using DotRecast.Recast; +using DotRecast.Recast.Geom; + +namespace DotRecast.Detour.Test; + +public class RecastTestMeshBuilder { + + private readonly MeshData meshData; + private const float m_cellSize = 0.3f; + private const float m_cellHeight = 0.2f; + private const float m_agentHeight = 2.0f; + private const float m_agentRadius = 0.6f; + private const float m_agentMaxClimb = 0.9f; + private const float m_agentMaxSlope = 45.0f; + private const int m_regionMinSize = 8; + private const int m_regionMergeSize = 20; + private const float m_edgeMaxLen = 12.0f; + private const float m_edgeMaxError = 1.3f; + private const int m_vertsPerPoly = 6; + private const float m_detailSampleDist = 6.0f; + private const float m_detailSampleMaxError = 1.0f; + + public RecastTestMeshBuilder() : + this(ObjImporter.load(Loader.ToBytes("dungeon.obj")), + PartitionType.WATERSHED, 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) + { + } + + public RecastTestMeshBuilder(InputGeomProvider m_geom, PartitionType 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) { + RecastConfig cfg = new RecastConfig(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()); + RecastBuilder rcBuilder = new RecastBuilder(); + RecastBuilderResult rcResult = rcBuilder.build(m_geom, bcfg); + PolyMesh m_pmesh = rcResult.getMesh(); + for (int i = 0; i < m_pmesh.npolys; ++i) { + m_pmesh.flags[i] = 1; + } + PolyMeshDetail m_dmesh = rcResult.getMeshDetail(); + NavMeshDataCreateParams option = new NavMeshDataCreateParams(); + option.verts = m_pmesh.verts; + option.vertCount = m_pmesh.nverts; + option.polys = m_pmesh.polys; + option.polyAreas = m_pmesh.areas; + option.polyFlags = m_pmesh.flags; + option.polyCount = m_pmesh.npolys; + option.nvp = m_pmesh.nvp; + option.detailMeshes = m_dmesh.meshes; + option.detailVerts = m_dmesh.verts; + 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.bmin = m_pmesh.bmin; + option.bmax = m_pmesh.bmax; + option.cs = m_cellSize; + option.ch = m_cellHeight; + option.buildBvTree = true; + + option.offMeshConVerts = new float[6]; + option.offMeshConVerts[0] = 0.1f; + option.offMeshConVerts[1] = 0.2f; + option.offMeshConVerts[2] = 0.3f; + option.offMeshConVerts[3] = 0.4f; + option.offMeshConVerts[4] = 0.5f; + option.offMeshConVerts[5] = 0.6f; + option.offMeshConRad = new float[1]; + option.offMeshConRad[0] = 0.1f; + option.offMeshConDir = new int[1]; + option.offMeshConDir[0] = 1; + option.offMeshConAreas = new int[1]; + option.offMeshConAreas[0] = 2; + option.offMeshConFlags = new int[1]; + option.offMeshConFlags[0] = 12; + option.offMeshConUserID = new int[1]; + option.offMeshConUserID[0] = 0x4567; + option.offMeshConCount = 1; + meshData = NavMeshBuilder.createNavMeshData(option); + } + + public MeshData getMeshData() { + return meshData; + } +} diff --git a/test/DotRecast.Detour.Test/SampleAreaModifications.cs b/test/DotRecast.Detour.Test/SampleAreaModifications.cs new file mode 100644 index 0000000..b30acaf --- /dev/null +++ b/test/DotRecast.Detour.Test/SampleAreaModifications.cs @@ -0,0 +1,52 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Recast; + +namespace DotRecast.Detour.Test; + +public class SampleAreaModifications { + + public const int SAMPLE_POLYAREA_TYPE_MASK = 0x07; + public const int SAMPLE_POLYAREA_TYPE_GROUND = 0x1; + public const int SAMPLE_POLYAREA_TYPE_WATER = 0x2; + public const int SAMPLE_POLYAREA_TYPE_ROAD = 0x3; + public const int SAMPLE_POLYAREA_TYPE_DOOR = 0x4; + public const int SAMPLE_POLYAREA_TYPE_GRASS = 0x5; + public const int SAMPLE_POLYAREA_TYPE_JUMP = 0x6; + + public static AreaModification SAMPLE_AREAMOD_GROUND = new AreaModification(SAMPLE_POLYAREA_TYPE_GROUND, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_WATER = new AreaModification(SAMPLE_POLYAREA_TYPE_WATER, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_ROAD = new AreaModification(SAMPLE_POLYAREA_TYPE_ROAD, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_GRASS = new AreaModification(SAMPLE_POLYAREA_TYPE_GRASS, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_DOOR = new AreaModification(SAMPLE_POLYAREA_TYPE_DOOR, + SAMPLE_POLYAREA_TYPE_DOOR); + public static AreaModification SAMPLE_AREAMOD_JUMP = new AreaModification(SAMPLE_POLYAREA_TYPE_JUMP, + SAMPLE_POLYAREA_TYPE_JUMP); + + public const int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road) + public const int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water). + public const int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors. + public const int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump. + public const int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon + public const int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities. +} diff --git a/test/DotRecast.Detour.Test/TestDetourBuilder.cs b/test/DotRecast.Detour.Test/TestDetourBuilder.cs new file mode 100644 index 0000000..326395d --- /dev/null +++ b/test/DotRecast.Detour.Test/TestDetourBuilder.cs @@ -0,0 +1,91 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Recast; +using DotRecast.Recast.Geom; + +namespace DotRecast.Detour.Test; + +public class TestDetourBuilder : DetourBuilder { + + public MeshData build(InputGeomProvider geom, RecastBuilderConfig rcConfig, float agentHeight, float agentRadius, + float agentMaxClimb, int x, int y, bool applyRecastDemoFlags) { + RecastBuilder rcBuilder = new RecastBuilder(); + RecastBuilderResult rcResult = rcBuilder.build(geom, rcConfig); + PolyMesh pmesh = rcResult.getMesh(); + + if (applyRecastDemoFlags) { + // Update poly flags from areas. + for (int i = 0; i < pmesh.npolys; ++i) { + if (pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND + || pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS + || pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD) { + pmesh.flags[i] = SampleAreaModifications.SAMPLE_POLYFLAGS_WALK; + } else if (pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER) { + pmesh.flags[i] = SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM; + } else if (pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_DOOR) { + pmesh.flags[i] = SampleAreaModifications.SAMPLE_POLYFLAGS_WALK + | SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR; + } + if (pmesh.areas[i] > 0) { + pmesh.areas[i]--; + } + } + } + PolyMeshDetail dmesh = rcResult.getMeshDetail(); + NavMeshDataCreateParams option = getNavMeshCreateParams(rcConfig.cfg, pmesh, dmesh, agentHeight, agentRadius, + agentMaxClimb); + return build(option, x, y); + } + + public NavMeshDataCreateParams getNavMeshCreateParams(RecastConfig rcConfig, PolyMesh pmesh, PolyMeshDetail dmesh, + float agentHeight, float agentRadius, float agentMaxClimb) { + NavMeshDataCreateParams option = new NavMeshDataCreateParams(); + option.verts = pmesh.verts; + option.vertCount = pmesh.nverts; + option.polys = pmesh.polys; + option.polyAreas = pmesh.areas; + option.polyFlags = pmesh.flags; + option.polyCount = pmesh.npolys; + option.nvp = pmesh.nvp; + if (dmesh != null) { + option.detailMeshes = dmesh.meshes; + option.detailVerts = dmesh.verts; + option.detailVertsCount = dmesh.nverts; + option.detailTris = dmesh.tris; + option.detailTriCount = dmesh.ntris; + } + option.walkableHeight = agentHeight; + option.walkableRadius = agentRadius; + option.walkableClimb = agentMaxClimb; + option.bmin = pmesh.bmin; + option.bmax = pmesh.bmax; + option.cs = rcConfig.cs; + option.ch = rcConfig.ch; + option.buildBvTree = true; + /* + * option.offMeshConVerts = m_geom->getOffMeshConnectionVerts(); option.offMeshConRad = + * m_geom->getOffMeshConnectionRads(); option.offMeshConDir = m_geom->getOffMeshConnectionDirs(); + * option.offMeshConAreas = m_geom->getOffMeshConnectionAreas(); option.offMeshConFlags = + * m_geom->getOffMeshConnectionFlags(); option.offMeshConUserID = m_geom->getOffMeshConnectionId(); + * option.offMeshConCount = m_geom->getOffMeshConnectionCount(); + */ + return option; + + } +} diff --git a/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs b/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs new file mode 100644 index 0000000..330cd1e --- /dev/null +++ b/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs @@ -0,0 +1,120 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using DotRecast.Core; +using DotRecast.Recast; +using DotRecast.Recast.Geom; + +using static DotRecast.Recast.RecastVectors; + +namespace DotRecast.Detour.Test; + +public class TestTiledNavMeshBuilder { + + private readonly NavMesh navMesh; + private const float m_cellSize = 0.3f; + private const float m_cellHeight = 0.2f; + private const float m_agentHeight = 2.0f; + private const float m_agentRadius = 0.6f; + private const float m_agentMaxClimb = 0.9f; + private const float m_agentMaxSlope = 45.0f; + private const int m_regionMinSize = 8; + private const int m_regionMergeSize = 20; + private const float m_regionMinArea = m_regionMinSize * m_regionMinSize * m_cellSize * m_cellSize; + private const float m_regionMergeArea = m_regionMergeSize * m_regionMergeSize * m_cellSize * m_cellSize; + private const float m_edgeMaxLen = 12.0f; + private const float m_edgeMaxError = 1.3f; + private const int m_vertsPerPoly = 6; + private const float m_detailSampleDist = 6.0f; + private const float m_detailSampleMaxError = 1.0f; + private const int m_tileSize = 32; + + public TestTiledNavMeshBuilder() : + this(ObjImporter.load(Loader.ToBytes("dungeon.obj")), + PartitionType.WATERSHED, 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, m_tileSize) + { + } + + public TestTiledNavMeshBuilder(InputGeomProvider m_geom, PartitionType 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) { + + // Create empty nav mesh + NavMeshParams navMeshParams = new NavMeshParams(); + copy(navMeshParams.orig, m_geom.getMeshBoundsMin()); + navMeshParams.tileWidth = m_tileSize * m_cellSize; + navMeshParams.tileHeight = m_tileSize * m_cellSize; + navMeshParams.maxTiles = 128; + navMeshParams.maxPolys = 32768; + navMesh = new NavMesh(navMeshParams, 6); + + // Build all tiles + RecastConfig cfg = new RecastConfig(true, m_tileSize, m_tileSize, RecastConfig.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); + RecastBuilder rcBuilder = new RecastBuilder(); + List rcResult = rcBuilder.buildTiles(m_geom, cfg, null); + + // Add tiles to nav mesh + + foreach (RecastBuilderResult result in rcResult) { + PolyMesh pmesh = result.getMesh(); + if (pmesh.npolys == 0) { + continue; + } + for (int i = 0; i < pmesh.npolys; ++i) { + pmesh.flags[i] = 1; + } + NavMeshDataCreateParams option = new NavMeshDataCreateParams(); + option.verts = pmesh.verts; + option.vertCount = pmesh.nverts; + option.polys = pmesh.polys; + option.polyAreas = pmesh.areas; + option.polyFlags = pmesh.flags; + option.polyCount = pmesh.npolys; + option.nvp = pmesh.nvp; + PolyMeshDetail dmesh = result.getMeshDetail(); + option.detailMeshes = dmesh.meshes; + option.detailVerts = dmesh.verts; + 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.bmin = pmesh.bmin; + option.bmax = pmesh.bmax; + option.cs = m_cellSize; + option.ch = m_cellHeight; + option.tileX = result.tileX; + option.tileZ = result.tileZ; + option.buildBvTree = true; + navMesh.addTile(NavMeshBuilder.createNavMeshData(option), 0, 0); + } + } + + public NavMesh getNavMesh() { + return navMesh; + } + +} diff --git a/test/DotRecast.Detour.Test/TiledFindPathTest.cs b/test/DotRecast.Detour.Test/TiledFindPathTest.cs new file mode 100644 index 0000000..638b275 --- /dev/null +++ b/test/DotRecast.Detour.Test/TiledFindPathTest.cs @@ -0,0 +1,69 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using NUnit.Framework; + +namespace DotRecast.Detour.Test; + +public class TiledFindPathTest { + + private static readonly Status[] STATUSES = { Status.SUCCSESS }; + private static readonly long[][] RESULTS = { + new[] { 281475015507969L, 281475014459393L, 281475014459392L, 281475006070784L, + 281475005022208L, 281475003973636L, 281475012362240L, 281475012362241L, 281475012362242L, 281475003973634L, + 281475003973635L, 281475003973633L, 281475002925059L, 281475002925057L, 281475002925056L, 281474998730753L, + 281474998730754L, 281474994536450L, 281474994536451L, 281474994536452L, 281474994536448L, 281474990342146L, + 281474990342145L, 281474991390723L, 281474991390724L, 281474991390725L, 281474987196418L, 281474987196417L, + 281474988244996L, 281474988244995L, 281474988244997L, 281474985099266L } }; + protected static readonly long[] START_REFS = { 281475015507969L }; + protected static readonly long[] END_REFS = { 281474985099266L }; + protected static readonly float[][] START_POS = { new[] { 39.447338f, 9.998177f, -0.784811f } }; + protected static readonly float[][] END_POS = { new[] { 19.292645f, 11.611748f, -57.750366f } }; + + protected NavMeshQuery query; + protected NavMesh navmesh; + + [SetUp] + public void setUp() { + navmesh = createNavMesh(); + query = new NavMeshQuery(navmesh); + } + + protected NavMesh createNavMesh() { + return new TestTiledNavMeshBuilder().getNavMesh(); + } + + [Test] + public void testFindPath() { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < START_REFS.Length; i++) { + long startRef = START_REFS[i]; + long endRef = END_REFS[i]; + float[] startPos = START_POS[i]; + float[] endPos = END_POS[i]; + Result> path = query.findPath(startRef, endRef, startPos, endPos, filter); + Assert.That(path.status, Is.EqualTo(STATUSES[i])); + Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length)); + for (int j = 0; j < RESULTS[i].Length; j++) { + Assert.That(RESULTS[i][j], Is.EqualTo(path.result[j])); + } + } + } + +} diff --git a/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs b/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs new file mode 100644 index 0000000..b8647e1 --- /dev/null +++ b/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs @@ -0,0 +1,74 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Core; +using DotRecast.Detour.TileCache.Io.Compress; +using DotRecast.Recast.Geom; + +using static DotRecast.Detour.DetourCommon; +using static DotRecast.Recast.RecastVectors; + +namespace DotRecast.Detour.TileCache.Test; + +public class AbstractTileCacheTest { + + private const int EXPECTED_LAYERS_PER_TILE = 4; + private readonly float m_cellSize = 0.3f; + private readonly float m_cellHeight = 0.2f; + private readonly float m_agentHeight = 2.0f; + private readonly float m_agentRadius = 0.6f; + private readonly float m_agentMaxClimb = 0.9f; + private readonly float m_edgeMaxError = 1.3f; + private readonly int m_tileSize = 48; + + protected class TestTileCacheMeshProcess : TileCacheMeshProcess { + public void process(NavMeshDataCreateParams option) { + for (int i = 0; i < option.polyCount; ++i) { + option.polyFlags[i] = 1; + } + } + } + + public TileCache getTileCache(InputGeomProvider geom, ByteOrder order, bool cCompatibility) { + TileCacheParams option = new TileCacheParams(); + int[] twh = Recast.Recast.calcTileCount(geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize); + option.ch = m_cellHeight; + option.cs = m_cellSize; + vCopy(option.orig, geom.getMeshBoundsMin()); + option.height = m_tileSize; + option.width = m_tileSize; + option.walkableHeight = m_agentHeight; + option.walkableRadius = m_agentRadius; + option.walkableClimb = m_agentMaxClimb; + option.maxSimplificationError = m_edgeMaxError; + option.maxTiles = twh[0] * twh[1] * EXPECTED_LAYERS_PER_TILE; + option.maxObstacles = 128; + NavMeshParams navMeshParams = new NavMeshParams(); + copy(navMeshParams.orig, geom.getMeshBoundsMin()); + navMeshParams.tileWidth = m_tileSize * m_cellSize; + navMeshParams.tileHeight = m_tileSize * m_cellSize; + navMeshParams.maxTiles = 256; + navMeshParams.maxPolys = 16384; + NavMesh navMesh = new NavMesh(navMeshParams, 6); + TileCache tc = new TileCache(option, new TileCacheStorageParams(order, cCompatibility), navMesh, + TileCacheCompressorFactory.get(cCompatibility), new TestTileCacheMeshProcess()); + return tc; + } + +} diff --git a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj new file mode 100644 index 0000000..8ede8dd --- /dev/null +++ b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj @@ -0,0 +1,25 @@ + + + + net7.0 + false + + + + + + + + + all + runtime; build; native; contentfiles; analyzers; buildtransitive + + + + + + + + + + diff --git a/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs b/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs new file mode 100644 index 0000000..088c68f --- /dev/null +++ b/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs @@ -0,0 +1,223 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.TileCache.Io; +using NUnit.Framework; + +namespace DotRecast.Detour.TileCache.Test.Io; + +public class TileCacheReaderTest { + + private readonly TileCacheReader reader = new TileCacheReader(); + + [Test] + public void testNavmesh() { + + using var ms = new MemoryStream(Loader.ToBytes("all_tiles_tilecache.bin")); + using var @is = new BinaryReader(ms); + TileCache tc = reader.read(@is, 6, null); + Assert.That(tc.getNavMesh().getMaxTiles(), Is.EqualTo(256)); + Assert.That(tc.getNavMesh().getParams().maxPolys, Is.EqualTo(16384)); + Assert.That(tc.getNavMesh().getParams().tileWidth, Is.EqualTo(14.4f).Within(0.001f)); + Assert.That(tc.getNavMesh().getParams().tileHeight, Is.EqualTo(14.4f).Within(0.001f)); + Assert.That(tc.getNavMesh().getMaxVertsPerPoly(), Is.EqualTo(6)); + Assert.That(tc.getParams().cs, Is.EqualTo(0.3f).Within(0.0f)); + Assert.That(tc.getParams().ch, Is.EqualTo(0.2f).Within(0.0f)); + Assert.That(tc.getParams().walkableClimb, Is.EqualTo(0.9f).Within(0.0f)); + Assert.That(tc.getParams().walkableHeight, Is.EqualTo(2f).Within(0.0f)); + Assert.That(tc.getParams().walkableRadius, Is.EqualTo(0.6f).Within(0.0f)); + Assert.That(tc.getParams().width, Is.EqualTo(48)); + Assert.That(tc.getParams().maxTiles, Is.EqualTo(6 * 7 * 4)); + Assert.That(tc.getParams().maxObstacles, Is.EqualTo(128)); + Assert.That(tc.getTileCount(), Is.EqualTo(168)); + // Tile0: Tris: 1, Verts: 4 Detail Meshed: 1 Detail Verts: 0 Detail Tris: 2 + // Verts: -2.269517, 28.710686, 28.710686 + MeshTile tile = tc.getNavMesh().getTile(0); + MeshData data = tile.data; + MeshHeader header = data.header; + Assert.That(header.vertCount, Is.EqualTo(4)); + Assert.That(header.polyCount, Is.EqualTo(1)); + Assert.That(header.detailMeshCount, Is.EqualTo(1)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(2)); + Assert.That(data.polys.Length, Is.EqualTo(1)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 4)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(1)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 2)); + Assert.That(data.verts[1], Is.EqualTo(-2.269517f).Within(0.0001f)); + Assert.That(data.verts[6], Is.EqualTo(28.710686f).Within(0.0001f)); + Assert.That(data.verts[9], Is.EqualTo(28.710686f).Within(0.0001f)); + // Tile8: Tris: 7, Verts: 10 Detail Meshed: 7 Detail Verts: 0 Detail Tris: 10 + // Verts: 0.330483, 43.110687, 43.110687 + tile = tc.getNavMesh().getTile(8); + data = tile.data; + header = data.header; + Console.WriteLine(data.header.x + " " + data.header.y + " " + data.header.layer); + Assert.That(header.x, Is.EqualTo(4)); + Assert.That(header.y, Is.EqualTo(1)); + Assert.That(header.layer, Is.EqualTo(0)); + Assert.That(header.vertCount, Is.EqualTo(10)); + Assert.That(header.polyCount, Is.EqualTo(7)); + Assert.That(header.detailMeshCount, Is.EqualTo(7)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(10)); + Assert.That(data.polys.Length, Is.EqualTo(7)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 10)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(7)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 10)); + Assert.That(data.verts[1], Is.EqualTo(0.330483f).Within(0.0001f)); + Assert.That(data.verts[6], Is.EqualTo(43.110687f).Within(0.0001f)); + Assert.That(data.verts[9], Is.EqualTo(43.110687f).Within(0.0001f)); + // Tile16: Tris: 13, Verts: 33 Detail Meshed: 13 Detail Verts: 0 Detail Tris: 25 + // Verts: 1.130483, 5.610685, 6.510685 + tile = tc.getNavMesh().getTile(16); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(33)); + Assert.That(header.polyCount, Is.EqualTo(13)); + Assert.That(header.detailMeshCount, Is.EqualTo(13)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(25)); + Assert.That(data.polys.Length, Is.EqualTo(13)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 33)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(13)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 25)); + Assert.That(data.verts[1], Is.EqualTo(1.130483f).Within(0.0001f)); + Assert.That(data.verts[6], Is.EqualTo(5.610685f).Within(0.0001f)); + Assert.That(data.verts[9], Is.EqualTo(6.510685f).Within(0.0001f)); + // Tile29: Tris: 5, Verts: 15 Detail Meshed: 5 Detail Verts: 0 Detail Tris: 11 + // Verts: 10.330483, 10.110685, 10.110685 + tile = tc.getNavMesh().getTile(29); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(15)); + Assert.That(header.polyCount, Is.EqualTo(5)); + Assert.That(header.detailMeshCount, Is.EqualTo(5)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(11)); + Assert.That(data.polys.Length, Is.EqualTo(5)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 15)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(5)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 11)); + Assert.That(data.verts[1], Is.EqualTo(10.330483f).Within(0.0001f)); + Assert.That(data.verts[6], Is.EqualTo(10.110685f).Within(0.0001f)); + Assert.That(data.verts[9], Is.EqualTo(10.110685f).Within(0.0001f)); + } + + [Test] + public void testDungeon() { + using var ms = new MemoryStream(Loader.ToBytes("dungeon_all_tiles_tilecache.bin")); + using var @is = new BinaryReader(ms); + TileCache tc = reader.read(@is, 6, null); + Assert.That(tc.getNavMesh().getMaxTiles(), Is.EqualTo(256)); + Assert.That(tc.getNavMesh().getParams().maxPolys, Is.EqualTo(16384)); + Assert.That(tc.getNavMesh().getParams().tileWidth, Is.EqualTo(14.4f).Within(0.001f)); + Assert.That(tc.getNavMesh().getParams().tileHeight, Is.EqualTo(14.4f).Within(0.001f)); + Assert.That(tc.getNavMesh().getMaxVertsPerPoly(), Is.EqualTo(6)); + Assert.That(tc.getParams().cs, Is.EqualTo(0.3f).Within(0.0f)); + Assert.That(tc.getParams().ch, Is.EqualTo(0.2f).Within(0.0f)); + Assert.That(tc.getParams().walkableClimb, Is.EqualTo(0.9f).Within(0.0f)); + Assert.That(tc.getParams().walkableHeight, Is.EqualTo(2f).Within(0.0f)); + Assert.That(tc.getParams().walkableRadius, Is.EqualTo(0.6f).Within(0.0f)); + Assert.That(tc.getParams().width, Is.EqualTo(48)); + Assert.That(tc.getParams().maxTiles, Is.EqualTo(6 * 7 * 4)); + Assert.That(tc.getParams().maxObstacles, Is.EqualTo(128)); + Assert.That(tc.getTileCount(), Is.EqualTo(168)); + // Tile0: Tris: 8, Verts: 18 Detail Meshed: 8 Detail Verts: 0 Detail Tris: 14 + // Verts: 14.997294, 15.484785, 15.484785 + MeshTile tile = tc.getNavMesh().getTile(0); + MeshData data = tile.data; + MeshHeader header = data.header; + Assert.That(header.vertCount, Is.EqualTo(18)); + Assert.That(header.polyCount, Is.EqualTo(8)); + Assert.That(header.detailMeshCount, Is.EqualTo(8)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(14)); + Assert.That(data.polys.Length, Is.EqualTo(8)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 18)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(8)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 14)); + Assert.That(data.verts[1], Is.EqualTo(14.997294f).Within(0.0001f)); + Assert.That(data.verts[6], Is.EqualTo(15.484785f).Within(0.0001f)); + Assert.That(data.verts[9], Is.EqualTo(15.484785f).Within(0.0001f)); + // Tile8: Tris: 3, Verts: 8 Detail Meshed: 3 Detail Verts: 0 Detail Tris: 6 + // Verts: 13.597294, 17.584785, 17.584785 + tile = tc.getNavMesh().getTile(8); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(8)); + Assert.That(header.polyCount, Is.EqualTo(3)); + Assert.That(header.detailMeshCount, Is.EqualTo(3)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(6)); + Assert.That(data.polys.Length, Is.EqualTo(3)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 8)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(3)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 6)); + Assert.That(data.verts[1], Is.EqualTo(13.597294f).Within(0.0001f)); + Assert.That(data.verts[6], Is.EqualTo(17.584785f).Within(0.0001f)); + Assert.That(data.verts[9], Is.EqualTo(17.584785f).Within(0.0001f)); + // Tile16: Tris: 10, Verts: 20 Detail Meshed: 10 Detail Verts: 0 Detail Tris: 18 + // Verts: 6.197294, -22.315216, -22.315216 + tile = tc.getNavMesh().getTile(16); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(20)); + Assert.That(header.polyCount, Is.EqualTo(10)); + Assert.That(header.detailMeshCount, Is.EqualTo(10)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(18)); + Assert.That(data.polys.Length, Is.EqualTo(10)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 20)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(10)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 18)); + Assert.That(data.verts[1], Is.EqualTo(6.197294f).Within(0.0001f)); + Assert.That(data.verts[6], Is.EqualTo(-22.315216f).Within(0.0001f)); + Assert.That(data.verts[9], Is.EqualTo(-22.315216f).Within(0.0001f)); + // Tile29: Tris: 1, Verts: 5 Detail Meshed: 1 Detail Verts: 0 Detail Tris: 3 + // Verts: 10.197294, 48.484783, 48.484783 + tile = tc.getNavMesh().getTile(29); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(5)); + Assert.That(header.polyCount, Is.EqualTo(1)); + Assert.That(header.detailMeshCount, Is.EqualTo(1)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(3)); + Assert.That(data.polys.Length, Is.EqualTo(1)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 5)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(1)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 3)); + Assert.That(data.verts[1], Is.EqualTo(10.197294f).Within(0.0001f)); + Assert.That(data.verts[6], Is.EqualTo(48.484783f).Within(0.0001f)); + Assert.That(data.verts[9], Is.EqualTo(48.484783f).Within(0.0001f)); + } + +} diff --git a/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderWriterTest.cs b/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderWriterTest.cs new file mode 100644 index 0000000..1dcf540 --- /dev/null +++ b/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderWriterTest.cs @@ -0,0 +1,137 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.TileCache.Io; +using DotRecast.Recast; +using DotRecast.Recast.Geom; +using NUnit.Framework; + +namespace DotRecast.Detour.TileCache.Test.Io; + + +public class TileCacheReaderWriterTest : AbstractTileCacheTest { + + private readonly TileCacheReader reader = new TileCacheReader(); + private readonly TileCacheWriter writer = new TileCacheWriter(); + + [Test] + public void testFastLz() { + testDungeon(false); + testDungeon(true); + } + + [Test] + public void testLZ4() { + testDungeon(true); + testDungeon(false); + } + + private void testDungeon(bool cCompatibility) { + InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj")); + TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom); + List layers = layerBuilder.build(ByteOrder.LITTLE_ENDIAN, cCompatibility, 1); + TileCache tc = getTileCache(geom, ByteOrder.LITTLE_ENDIAN, cCompatibility); + foreach (byte[] layer in layers) { + long refs = tc.addTile(layer, 0); + tc.buildNavMeshTile(refs); + } + + using var msout = new MemoryStream(); + using var baos = new BinaryWriter(msout); + writer.write(baos, tc, ByteOrder.LITTLE_ENDIAN, cCompatibility); + + using var msis = new MemoryStream(msout.ToArray()); + using var bais = new BinaryReader(msis); + tc = reader.read(bais, 6, null); + Assert.That(tc.getNavMesh().getMaxTiles(), Is.EqualTo(256)); + Assert.That(tc.getNavMesh().getParams().maxPolys, Is.EqualTo(16384)); + Assert.That(tc.getNavMesh().getParams().tileWidth, Is.EqualTo(14.4f).Within(0.001f)); + Assert.That(tc.getNavMesh().getParams().tileHeight, Is.EqualTo(14.4f).Within(0.001f)); + Assert.That(tc.getNavMesh().getMaxVertsPerPoly(), Is.EqualTo(6)); + Assert.That(tc.getParams().cs, Is.EqualTo(0.3f).Within(0.0f)); + Assert.That(tc.getParams().ch, Is.EqualTo(0.2f).Within(0.0f)); + Assert.That(tc.getParams().walkableClimb, Is.EqualTo(0.9f).Within(0.0f)); + Assert.That(tc.getParams().walkableHeight, Is.EqualTo(2f).Within(0.0f)); + Assert.That(tc.getParams().walkableRadius, Is.EqualTo(0.6f).Within(0.0f)); + Assert.That(tc.getParams().width, Is.EqualTo(48)); + Assert.That(tc.getParams().maxTiles, Is.EqualTo(6 * 7 * 4)); + Assert.That(tc.getParams().maxObstacles, Is.EqualTo(128)); + Assert.That(tc.getTileCount(), Is.EqualTo(168)); + // Tile0: Tris: 8, Verts: 18 Detail Meshed: 8 Detail Verts: 0 Detail Tris: 14 + MeshTile tile = tc.getNavMesh().getTile(0); + MeshData data = tile.data; + MeshHeader header = data.header; + Assert.That(header.vertCount, Is.EqualTo(18)); + Assert.That(header.polyCount, Is.EqualTo(8)); + Assert.That(header.detailMeshCount, Is.EqualTo(8)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(14)); + Assert.That(data.polys.Length, Is.EqualTo(8)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 18)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(8)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 14)); + // Tile8: Tris: 3, Verts: 8 Detail Meshed: 3 Detail Verts: 0 Detail Tris: 6 + tile = tc.getNavMesh().getTile(8); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(8)); + Assert.That(header.polyCount, Is.EqualTo(3)); + Assert.That(header.detailMeshCount, Is.EqualTo(3)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(6)); + Assert.That(data.polys.Length, Is.EqualTo(3)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 8)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(3)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 6)); + // Tile16: Tris: 10, Verts: 20 Detail Meshed: 10 Detail Verts: 0 Detail Tris: 18 + tile = tc.getNavMesh().getTile(16); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(20)); + Assert.That(header.polyCount, Is.EqualTo(10)); + Assert.That(header.detailMeshCount, Is.EqualTo(10)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(18)); + Assert.That(data.polys.Length, Is.EqualTo(10)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 20)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(10)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 18)); + // Tile29: Tris: 1, Verts: 5 Detail Meshed: 1 Detail Verts: 0 Detail Tris: 3 + tile = tc.getNavMesh().getTile(29); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(5)); + Assert.That(header.polyCount, Is.EqualTo(1)); + Assert.That(header.detailMeshCount, Is.EqualTo(1)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(3)); + Assert.That(data.polys.Length, Is.EqualTo(1)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 5)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(1)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 3)); + } + +} diff --git a/test/DotRecast.Detour.TileCache.Test/SampleAreaModifications.cs b/test/DotRecast.Detour.TileCache.Test/SampleAreaModifications.cs new file mode 100644 index 0000000..bf3a32d --- /dev/null +++ b/test/DotRecast.Detour.TileCache.Test/SampleAreaModifications.cs @@ -0,0 +1,55 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using DotRecast.Recast; + +namespace DotRecast.Detour.TileCache.Test; + + + +public class SampleAreaModifications { + + public static int SAMPLE_POLYAREA_TYPE_MASK = 0x07; + /// Value for the kind of ceil "ground" + public static int SAMPLE_POLYAREA_TYPE_GROUND = 0x1; + /// Value for the kind of ceil "water" + public static int SAMPLE_POLYAREA_TYPE_WATER = 0x2; + /// Value for the kind of ceil "road" + public static int SAMPLE_POLYAREA_TYPE_ROAD = 0x3; + /// Value for the kind of ceil "grass" + public static int SAMPLE_POLYAREA_TYPE_GRASS = 0x4; + /// Flag for door area. Can be combined with area types and jump flag. + public static int SAMPLE_POLYAREA_FLAG_DOOR = 0x08; + /// Flag for jump area. Can be combined with area types and door flag. + public static int SAMPLE_POLYAREA_FLAG_JUMP = 0x10; + + public static AreaModification SAMPLE_AREAMOD_GROUND = new AreaModification(SAMPLE_POLYAREA_TYPE_GROUND, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_WATER = new AreaModification(SAMPLE_POLYAREA_TYPE_WATER, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_ROAD = new AreaModification(SAMPLE_POLYAREA_TYPE_ROAD, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_GRASS = new AreaModification(SAMPLE_POLYAREA_TYPE_GRASS, + SAMPLE_POLYAREA_TYPE_MASK); + public static AreaModification SAMPLE_AREAMOD_DOOR = new AreaModification(SAMPLE_POLYAREA_FLAG_DOOR, + SAMPLE_POLYAREA_FLAG_DOOR); + public static AreaModification SAMPLE_AREAMOD_JUMP = new AreaModification(SAMPLE_POLYAREA_FLAG_JUMP, + SAMPLE_POLYAREA_FLAG_JUMP); + +} diff --git a/test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs b/test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs new file mode 100644 index 0000000..cf6fab6 --- /dev/null +++ b/test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs @@ -0,0 +1,92 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using DotRecast.Core; +using DotRecast.Recast; +using DotRecast.Recast.Geom; +using NUnit.Framework; + +namespace DotRecast.Detour.TileCache.Test; + +public class TempObstaclesTest : AbstractTileCacheTest { + + [Test] + public void testDungeon() { + bool cCompatibility = true; + InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj")); + TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom); + List layers = layerBuilder.build(ByteOrder.LITTLE_ENDIAN, cCompatibility, 1); + TileCache tc = getTileCache(geom, ByteOrder.LITTLE_ENDIAN, cCompatibility); + foreach (byte[] data in layers) { + long refs = tc.addTile(data, 0); + tc.buildNavMeshTile(refs); + } + List tiles = tc.getNavMesh().getTilesAt(1, 4); + MeshTile tile = tiles[0]; + Assert.That(tile.data.header.vertCount, Is.EqualTo(16)); + Assert.That(tile.data.header.polyCount, Is.EqualTo(6)); + long o = tc.addObstacle(new float[] { -1.815208f, 9.998184f, -20.307983f }, 1f, 2f); + bool upToDate = tc.update(); + Assert.That(upToDate, Is.True); + tiles = tc.getNavMesh().getTilesAt(1, 4); + tile = tiles[0]; + Assert.That(tile.data.header.vertCount, Is.EqualTo(22)); + Assert.That(tile.data.header.polyCount, Is.EqualTo(11)); + tc.removeObstacle(o); + upToDate = tc.update(); + Assert.That(upToDate, Is.True); + tiles = tc.getNavMesh().getTilesAt(1, 4); + tile = tiles[0]; + Assert.That(tile.data.header.vertCount, Is.EqualTo(16)); + Assert.That(tile.data.header.polyCount, Is.EqualTo(6)); + } + + [Test] + public void testDungeonBox() { + bool cCompatibility = true; + InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj")); + TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom); + List layers = layerBuilder.build(ByteOrder.LITTLE_ENDIAN, cCompatibility, 1); + TileCache tc = getTileCache(geom, ByteOrder.LITTLE_ENDIAN, cCompatibility); + foreach (byte[] data in layers) { + long refs = tc.addTile(data, 0); + tc.buildNavMeshTile(refs); + } + List tiles = tc.getNavMesh().getTilesAt(1, 4); + MeshTile tile = tiles[0]; + Assert.That(tile.data.header.vertCount, Is.EqualTo(16)); + Assert.That(tile.data.header.polyCount, Is.EqualTo(6)); + long o = tc.addBoxObstacle(new float[] { -2.315208f, 9.998184f, -20.807983f }, + new float[] { -1.315208f, 11.998184f, -19.807983f }); + bool upToDate = tc.update(); + Assert.That(upToDate, Is.True); + tiles = tc.getNavMesh().getTilesAt(1, 4); + tile = tiles[0]; + Assert.That(tile.data.header.vertCount, Is.EqualTo(22)); + Assert.That(tile.data.header.polyCount, Is.EqualTo(11)); + tc.removeObstacle(o); + upToDate = tc.update(); + Assert.That(upToDate, Is.True); + tiles = tc.getNavMesh().getTilesAt(1, 4); + tile = tiles[0]; + Assert.That(tile.data.header.vertCount, Is.EqualTo(16)); + Assert.That(tile.data.header.polyCount, Is.EqualTo(6)); + } +} diff --git a/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs b/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs new file mode 100644 index 0000000..a343a28 --- /dev/null +++ b/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs @@ -0,0 +1,120 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using DotRecast.Core; +using DotRecast.Recast; +using DotRecast.Recast.Geom; + +using static DotRecast.Detour.DetourCommon; + +namespace DotRecast.Detour.TileCache.Test; + +public class TestTileLayerBuilder : AbstractTileLayersBuilder { + + private const float m_cellSize = 0.3f; + private const float m_cellHeight = 0.2f; + private const float m_agentHeight = 2.0f; + private const float m_agentRadius = 0.6f; + private const float m_agentMaxClimb = 0.9f; + private const float m_agentMaxSlope = 45.0f; + private const int m_regionMinSize = 8; + private const int m_regionMergeSize = 20; + private const float m_regionMinArea = m_regionMinSize * m_regionMinSize * m_cellSize * m_cellSize; + private const float m_regionMergeArea = m_regionMergeSize * m_regionMergeSize * m_cellSize * m_cellSize; + private const float m_edgeMaxLen = 12.0f; + private const float m_edgeMaxError = 1.3f; + private const int m_vertsPerPoly = 6; + private const float m_detailSampleDist = 6.0f; + private const float m_detailSampleMaxError = 1.0f; + private readonly RecastConfig rcConfig; + private const int m_tileSize = 48; + protected readonly InputGeomProvider geom; + private readonly int tw; + private readonly int th; + + public TestTileLayerBuilder(InputGeomProvider geom) { + this.geom = geom; + rcConfig = new RecastConfig(true, m_tileSize, m_tileSize, RecastConfig.calcBorder(m_agentRadius, m_cellSize), + PartitionType.WATERSHED, 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); + float[] bmin = geom.getMeshBoundsMin(); + float[] bmax = geom.getMeshBoundsMax(); + int[] twh = Recast.Recast.calcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize); + tw = twh[0]; + th = twh[1]; + } + + public List build(ByteOrder order, bool cCompatibility, int threads) { + return build(order, cCompatibility, threads, tw, th); + } + + public int getTw() { + return tw; + } + + public int getTh() { + return th; + } + + protected override List build(int tx, int ty, ByteOrder order, bool cCompatibility) { + HeightfieldLayerSet lset = getHeightfieldSet(tx, ty); + List result = new(); + if (lset != null) { + TileCacheBuilder builder = new TileCacheBuilder(); + for (int i = 0; i < lset.layers.Length; ++i) { + HeightfieldLayerSet.HeightfieldLayer layer = lset.layers[i]; + + // Store header + TileCacheLayerHeader header = new TileCacheLayerHeader(); + header.magic = TileCacheLayerHeader.DT_TILECACHE_MAGIC; + header.version = TileCacheLayerHeader.DT_TILECACHE_VERSION; + + // Tile layer location in the navmesh. + header.tx = tx; + header.ty = ty; + header.tlayer = i; + vCopy(header.bmin, layer.bmin); + vCopy(header.bmax, layer.bmax); + + // Tile info. + header.width = layer.width; + header.height = layer.height; + header.minx = layer.minx; + header.maxx = layer.maxx; + header.miny = layer.miny; + header.maxy = layer.maxy; + header.hmin = layer.hmin; + header.hmax = layer.hmax; + result.Add(builder.compressTileCacheLayer(header, layer.heights, layer.areas, layer.cons, order, cCompatibility)); + } + } + return result; + } + + protected HeightfieldLayerSet getHeightfieldSet(int tx, int ty) { + RecastBuilder rcBuilder = new RecastBuilder(); + float[] bmin = geom.getMeshBoundsMin(); + float[] bmax = geom.getMeshBoundsMax(); + RecastBuilderConfig cfg = new RecastBuilderConfig(rcConfig, bmin, bmax, tx, ty); + HeightfieldLayerSet lset = rcBuilder.buildLayers(geom, cfg); + return lset; + } +} diff --git a/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs b/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs new file mode 100644 index 0000000..424de1e --- /dev/null +++ b/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs @@ -0,0 +1,61 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using System.IO; +using DotRecast.Core; +using DotRecast.Detour.TileCache.Io; +using NUnit.Framework; + +namespace DotRecast.Detour.TileCache.Test; + +public class TileCacheFindPathTest : AbstractTileCacheTest { + + private readonly float[] start = { 39.44734f, 9.998177f, -0.784811f }; + private readonly float[] end = { 19.292645f, 11.611748f, -57.750366f }; + private readonly NavMesh navmesh; + private readonly NavMeshQuery query; + + public TileCacheFindPathTest() { + using var msis = new MemoryStream(Loader.ToBytes("dungeon_all_tiles_tilecache.bin")); + using var @is = new BinaryReader(msis); + TileCache tcC = new TileCacheReader().read(@is, 6, new TestTileCacheMeshProcess()); + navmesh = tcC.getNavMesh(); + query = new NavMeshQuery(navmesh); + } + + [Test] + public void testFindPath() { + QueryFilter filter = new DefaultQueryFilter(); + float[] extents = new float[] { 2f, 4f, 2f }; + Result findPolyStart = query.findNearestPoly(start, extents, filter); + Result findPolyEnd = query.findNearestPoly(end, extents, filter); + long startRef = findPolyStart.result.getNearestRef(); + long endRef = findPolyEnd.result.getNearestRef(); + float[] startPos = findPolyStart.result.getNearestPos(); + float[] endPos = findPolyEnd.result.getNearestPos(); + Result> path = query.findPath(startRef, endRef, startPos, endPos, filter); + int maxStraightPath = 256; + int options = 0; + Result> pathStr = query.findStraightPath(startPos, endPos, path.result, maxStraightPath, + options); + Assert.That(pathStr.result.Count, Is.EqualTo(8)); + } + +} \ No newline at end of file diff --git a/test/DotRecast.Detour.TileCache.Test/TileCacheNavigationTest.cs b/test/DotRecast.Detour.TileCache.Test/TileCacheNavigationTest.cs new file mode 100644 index 0000000..9a814c6 --- /dev/null +++ b/test/DotRecast.Detour.TileCache.Test/TileCacheNavigationTest.cs @@ -0,0 +1,103 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System.Collections.Generic; +using DotRecast.Core; +using DotRecast.Recast; +using DotRecast.Recast.Geom; +using NUnit.Framework; + +namespace DotRecast.Detour.TileCache.Test; + +public class TileCacheNavigationTest : AbstractTileCacheTest { + + protected readonly long[] startRefs = { 281475006070787L }; + protected readonly long[] endRefs = { 281474986147841L }; + protected readonly float[][] startPoss = { new[] { 39.447338f, 9.998177f, -0.784811f } }; + protected readonly float[][] endPoss = { new[] { 19.292645f, 11.611748f, -57.750366f } }; + private readonly Status[] statuses = { Status.SUCCSESS }; + private readonly long[][] results = { new[] { 281475006070787L, 281475006070785L, 281475005022208L, 281475005022209L, 281475003973633L, + 281475003973634L, 281475003973632L, 281474996633604L, 281474996633605L, 281474996633603L, 281474995585027L, + 281474995585029L, 281474995585026L, 281474995585028L, 281474995585024L, 281474991390721L, 281474991390722L, + 281474991390725L, 281474991390720L, 281474987196418L, 281474987196417L, 281474988244995L, 281474988245001L, + 281474988244997L, 281474988244998L, 281474988245002L, 281474988245000L, 281474988244999L, 281474988244994L, + 281474985099264L, 281474985099266L, 281474986147841L } }; + + protected NavMesh navmesh; + protected NavMeshQuery query; + + [SetUp] + public void setUp() { + + bool cCompatibility = true; + InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj")); + TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom); + List layers = layerBuilder.build(ByteOrder.LITTLE_ENDIAN, cCompatibility, 1); + TileCache tc = getTileCache(geom, ByteOrder.LITTLE_ENDIAN, cCompatibility); + foreach (byte[] data in layers) { + tc.addTile(data, 0); + } + for (int y = 0; y < layerBuilder.getTh(); ++y) { + for (int x = 0; x < layerBuilder.getTw(); ++x) { + foreach (long refs in tc.getTilesAt(x, y)) { + tc.buildNavMeshTile(refs); + } + } + } + navmesh = tc.getNavMesh(); + query = new NavMeshQuery(navmesh); + + } + + [Test] + public void testFindPathWithDefaultHeuristic() { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < startRefs.Length; i++) { + long startRef = startRefs[i]; + long endRef = endRefs[i]; + float[] startPos = startPoss[i]; + float[] endPos = endPoss[i]; + Result> path = query.findPath(startRef, endRef, startPos, endPos, filter); + Assert.That(path.status, Is.EqualTo(statuses[i])); + Assert.That(path.result.Count, Is.EqualTo(results[i].Length)); + for (int j = 0; j < results[i].Length; j++) { + Assert.That(path.result[j], Is.EqualTo(results[i][j])); // TODO : 확인 필요 + } + } + } + + [Test] + public void testFindPathWithNoHeuristic() { + QueryFilter filter = new DefaultQueryFilter(); + for (int i = 0; i < startRefs.Length; i++) { + long startRef = startRefs[i]; + long endRef = endRefs[i]; + float[] startPos = startPoss[i]; + float[] endPos = endPoss[i]; + Result> path = query.findPath(startRef, endRef, startPos, endPos, filter, new DefaultQueryHeuristic(0.0f), + 0, 0); + Assert.That(path.status, Is.EqualTo(statuses[i])); + Assert.That(path.result.Count, Is.EqualTo(results[i].Length)); + for (int j = 0; j < results[i].Length; j++) { + Assert.That(path.result[j], Is.EqualTo(results[i][j])); // TODO : 확인 필요 + } + } + } + +} diff --git a/test/DotRecast.Detour.TileCache.Test/TileCacheTest.cs b/test/DotRecast.Detour.TileCache.Test/TileCacheTest.cs new file mode 100644 index 0000000..cd93439 --- /dev/null +++ b/test/DotRecast.Detour.TileCache.Test/TileCacheTest.cs @@ -0,0 +1,272 @@ +/* +Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Diagnostics; +using DotRecast.Core; +using DotRecast.Recast; +using DotRecast.Recast.Geom; +using NUnit.Framework; + +namespace DotRecast.Detour.TileCache.Test; + +public class TileCacheTest : AbstractTileCacheTest { + + [Test] + public void testFastLz() { + testDungeon(ByteOrder.LITTLE_ENDIAN, false); + testDungeon(ByteOrder.LITTLE_ENDIAN, true); + testDungeon(ByteOrder.BIG_ENDIAN, false); + testDungeon(ByteOrder.BIG_ENDIAN, true); + test(ByteOrder.LITTLE_ENDIAN, false); + test(ByteOrder.LITTLE_ENDIAN, true); + test(ByteOrder.BIG_ENDIAN, false); + test(ByteOrder.BIG_ENDIAN, true); + } + + [Test] + public void testLZ4() { + testDungeon(ByteOrder.LITTLE_ENDIAN, false); + testDungeon(ByteOrder.LITTLE_ENDIAN, true); + testDungeon(ByteOrder.BIG_ENDIAN, false); + testDungeon(ByteOrder.BIG_ENDIAN, true); + test(ByteOrder.LITTLE_ENDIAN, false); + test(ByteOrder.LITTLE_ENDIAN, true); + test(ByteOrder.BIG_ENDIAN, false); + test(ByteOrder.BIG_ENDIAN, true); + } + + private void testDungeon(ByteOrder order, bool cCompatibility) { + InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj")); + TileCache tc = getTileCache(geom, order, cCompatibility); + TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom); + List layers = layerBuilder.build(order, cCompatibility, 1); + int cacheLayerCount = 0; + int cacheCompressedSize = 0; + int cacheRawSize = 0; + foreach (byte[] layer in layers) { + long refs = tc.addTile(layer, 0); + tc.buildNavMeshTile(refs); + cacheLayerCount++; + cacheCompressedSize += layer.Length; + cacheRawSize += 4 * 48 * 48 + 56; // FIXME + } + Console.WriteLine("Compressor: " + tc.getCompressor().GetType().Name + " C Compatibility: " + cCompatibility + + " Layers: " + cacheLayerCount + " Raw Size: " + cacheRawSize + " Compressed: " + cacheCompressedSize); + Assert.That(tc.getNavMesh().getMaxTiles(), Is.EqualTo(256)); + Assert.That(tc.getNavMesh().getParams().maxPolys, Is.EqualTo(16384)); + Assert.That(tc.getNavMesh().getParams().tileWidth, Is.EqualTo(14.4f).Within(0.001f)); + Assert.That(tc.getNavMesh().getParams().tileHeight, Is.EqualTo(14.4f).Within(0.001f)); + Assert.That(tc.getNavMesh().getMaxVertsPerPoly(), Is.EqualTo(6)); + Assert.That(tc.getParams().cs, Is.EqualTo(0.3f)); + Assert.That(tc.getParams().ch, Is.EqualTo(0.2f)); + Assert.That(tc.getParams().walkableClimb, Is.EqualTo(0.9f)); + Assert.That(tc.getParams().walkableHeight, Is.EqualTo(2f)); + Assert.That(tc.getParams().walkableRadius, Is.EqualTo(0.6f)); + Assert.That(tc.getParams().width, Is.EqualTo(48)); + Assert.That(tc.getParams().maxTiles, Is.EqualTo(6 * 7 * 4)); + Assert.That(tc.getParams().maxObstacles, Is.EqualTo(128)); + Assert.That(tc.getTileCount(), Is.EqualTo(168)); + + // Tile0: Tris: 8, Verts: 18 Detail Meshed: 8 Detail Verts: 0 Detail Tris: 14 + MeshTile tile = tc.getNavMesh().getTile(0); + MeshData data = tile.data; + MeshHeader header = data.header; + Assert.That(header.vertCount, Is.EqualTo(18)); + Assert.That(header.polyCount, Is.EqualTo(8)); + Assert.That(header.detailMeshCount, Is.EqualTo(8)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(14)); + Assert.That(data.polys.Length, Is.EqualTo(8)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 18)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(8)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 14)); + Assert.That(data.verts[1], Is.EqualTo(14.997294f).Within(0.0001f)); + Assert.That(data.verts[6], Is.EqualTo(15.484785f).Within(0.0001f)); + Assert.That(data.verts[9], Is.EqualTo(15.484785f).Within(0.0001f)); + // Tile8: Tris: 3, Verts: 8 Detail Meshed: 3 Detail Verts: 0 Detail Tris: 6 + tile = tc.getNavMesh().getTile(8); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(8)); + Assert.That(header.polyCount, Is.EqualTo(3)); + Assert.That(header.detailMeshCount, Is.EqualTo(3)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(6)); + Assert.That(data.polys.Length, Is.EqualTo(3)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 8)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(3)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 6)); + // Tile16: Tris: 10, Verts: 20 Detail Meshed: 10 Detail Verts: 0 Detail Tris: 18 + tile = tc.getNavMesh().getTile(16); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(20)); + Assert.That(header.polyCount, Is.EqualTo(10)); + Assert.That(header.detailMeshCount, Is.EqualTo(10)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(18)); + Assert.That(data.polys.Length, Is.EqualTo(10)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 20)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(10)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 18)); + // Tile29: Tris: 1, Verts: 5 Detail Meshed: 1 Detail Verts: 0 Detail Tris: 3 + tile = tc.getNavMesh().getTile(29); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(5)); + Assert.That(header.polyCount, Is.EqualTo(1)); + Assert.That(header.detailMeshCount, Is.EqualTo(1)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(3)); + Assert.That(data.polys.Length, Is.EqualTo(1)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 5)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(1)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 3)); + } + + private void test(ByteOrder order, bool cCompatibility) { + InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("nav_test.obj")); + TileCache tc = getTileCache(geom, order, cCompatibility); + TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom); + List layers = layerBuilder.build(order, cCompatibility, 1); + int cacheLayerCount = 0; + int cacheCompressedSize = 0; + int cacheRawSize = 0; + foreach (byte[] layer in layers) { + long refs = tc.addTile(layer, 0); + tc.buildNavMeshTile(refs); + cacheLayerCount++; + cacheCompressedSize += layer.Length; + cacheRawSize += 4 * 48 * 48 + 56; + } + Console.WriteLine("Compressor: " + tc.getCompressor().GetType().Name + " C Compatibility: " + cCompatibility + + " Layers: " + cacheLayerCount + " Raw Size: " + cacheRawSize + " Compressed: " + cacheCompressedSize); + } + + [Test] + public void testPerformance() { + int threads = 4; + ByteOrder order = ByteOrder.LITTLE_ENDIAN; + bool cCompatibility = false; + InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj")); + TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom); + for (int i = 0; i < 4; i++) { + layerBuilder.build(order, cCompatibility, 1); + layerBuilder.build(order, cCompatibility, threads); + } + + long t1 = Stopwatch.GetTimestamp(); + List layers = null; + for (int i = 0; i < 8; i++) { + layers = layerBuilder.build(order, cCompatibility, 1); + } + long t2 = Stopwatch.GetTimestamp(); + for (int i = 0; i < 8; i++) { + layers = layerBuilder.build(order, cCompatibility, threads); + } + long t3 = Stopwatch.GetTimestamp(); + Console.WriteLine(" Time ST : " + (t2 - t1) / 1000000); + Console.WriteLine(" Time MT : " + (t3 - t2) / 1000000); + TileCache tc = getTileCache(geom, order, cCompatibility); + foreach (byte[] layer in layers) { + long refs = tc.addTile(layer, 0); + tc.buildNavMeshTile(refs); + } + Assert.That(tc.getNavMesh().getMaxTiles(), Is.EqualTo(256)); + Assert.That(tc.getNavMesh().getParams().maxPolys, Is.EqualTo(16384)); + Assert.That(tc.getNavMesh().getParams().tileWidth, Is.EqualTo(14.4f).Within(0.001f)); + Assert.That(tc.getNavMesh().getParams().tileHeight, Is.EqualTo(14.4f).Within(0.001f)); + Assert.That(tc.getNavMesh().getMaxVertsPerPoly(), Is.EqualTo(6)); + Assert.That(tc.getParams().cs, Is.EqualTo(0.3f)); + Assert.That(tc.getParams().ch, Is.EqualTo(0.2f)); + Assert.That(tc.getParams().walkableClimb, Is.EqualTo(0.9f)); + Assert.That(tc.getParams().walkableHeight, Is.EqualTo(2f)); + Assert.That(tc.getParams().walkableRadius, Is.EqualTo(0.6f)); + Assert.That(tc.getParams().width, Is.EqualTo(48)); + Assert.That(tc.getParams().maxTiles, Is.EqualTo(6 * 7 * 4)); + Assert.That(tc.getParams().maxObstacles, Is.EqualTo(128)); + Assert.That(tc.getTileCount(), Is.EqualTo(168)); + // Tile0: Tris: 8, Verts: 18 Detail Meshed: 8 Detail Verts: 0 Detail Tris: 14 + MeshTile tile = tc.getNavMesh().getTile(0); + MeshData data = tile.data; + MeshHeader header = data.header; + Assert.That(header.vertCount, Is.EqualTo(18)); + Assert.That(header.polyCount, Is.EqualTo(8)); + Assert.That(header.detailMeshCount, Is.EqualTo(8)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(14)); + Assert.That(data.polys.Length, Is.EqualTo(8)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 18)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(8)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 14)); + Assert.That(data.verts[1], Is.EqualTo(14.997294f).Within(0.0001f)); + Assert.That(data.verts[6], Is.EqualTo(15.484785f).Within(0.0001f)); + Assert.That(data.verts[9], Is.EqualTo(15.484785f).Within(0.0001f)); + // Tile8: Tris: 3, Verts: 8 Detail Meshed: 3 Detail Verts: 0 Detail Tris: 6 + tile = tc.getNavMesh().getTile(8); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(8)); + Assert.That(header.polyCount, Is.EqualTo(3)); + Assert.That(header.detailMeshCount, Is.EqualTo(3)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(6)); + Assert.That(data.polys.Length, Is.EqualTo(3)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 8)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(3)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 6)); + // Tile16: Tris: 10, Verts: 20 Detail Meshed: 10 Detail Verts: 0 Detail Tris: 18 + tile = tc.getNavMesh().getTile(16); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(20)); + Assert.That(header.polyCount, Is.EqualTo(10)); + Assert.That(header.detailMeshCount, Is.EqualTo(10)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(18)); + Assert.That(data.polys.Length, Is.EqualTo(10)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 20)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(10)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 18)); + // Tile29: Tris: 1, Verts: 5 Detail Meshed: 1 Detail Verts: 0 Detail Tris: 3 + tile = tc.getNavMesh().getTile(29); + data = tile.data; + header = data.header; + Assert.That(header.vertCount, Is.EqualTo(5)); + Assert.That(header.polyCount, Is.EqualTo(1)); + Assert.That(header.detailMeshCount, Is.EqualTo(1)); + Assert.That(header.detailVertCount, Is.EqualTo(0)); + Assert.That(header.detailTriCount, Is.EqualTo(3)); + Assert.That(data.polys.Length, Is.EqualTo(1)); + Assert.That(data.verts.Length, Is.EqualTo(3 * 5)); + Assert.That(data.detailMeshes.Length, Is.EqualTo(1)); + Assert.That(data.detailVerts.Length, Is.EqualTo(0)); + Assert.That(data.detailTris.Length, Is.EqualTo(4 * 3)); + } + +} diff --git a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj new file mode 100644 index 0000000..74dd6d7 --- /dev/null +++ b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj @@ -0,0 +1,25 @@ + + + + net7.0 + + + false + + + + + + + + + all + runtime; build; native; contentfiles; analyzers; buildtransitive + + + + + + + + diff --git a/test/DotRecast.Recast.Test/RecastLayersTest.cs b/test/DotRecast.Recast.Test/RecastLayersTest.cs new file mode 100644 index 0000000..1f4cc4f --- /dev/null +++ b/test/DotRecast.Recast.Test/RecastLayersTest.cs @@ -0,0 +1,157 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.IO; +using DotRecast.Core; +using DotRecast.Recast.Geom; +using NUnit.Framework; + +namespace DotRecast.Recast.Test; + +using static RecastConstants; + +public class RecastLayersTest +{ + private const float m_cellSize = 0.3f; + private const float m_cellHeight = 0.2f; + private const float m_agentHeight = 2.0f; + private const float m_agentRadius = 0.6f; + private const float m_agentMaxClimb = 0.9f; + private const float m_agentMaxSlope = 45.0f; + private const int m_regionMinSize = 8; + private const int m_regionMergeSize = 20; + private const float m_regionMinArea = m_regionMinSize * m_regionMinSize * m_cellSize * m_cellSize; + private const float m_regionMergeArea = m_regionMergeSize * m_regionMergeSize * m_cellSize * m_cellSize; + private const float m_edgeMaxLen = 12.0f; + private const float m_edgeMaxError = 1.3f; + private const int m_vertsPerPoly = 6; + private const float m_detailSampleDist = 6.0f; + private const float m_detailSampleMaxError = 1.0f; + private const PartitionType m_partitionType = PartitionType.WATERSHED; + private const int m_tileSize = 48; + + [Test] + public void testDungeon2() + { + } + + + [Test] + public void testDungeon() + { + HeightfieldLayerSet lset = build("dungeon.obj", 3, 2); + Assert.That(lset.layers.Length, Is.EqualTo(1)); + Assert.That(lset.layers[0].width, Is.EqualTo(48)); + Assert.That(lset.layers[0].hmin, Is.EqualTo(51)); + Assert.That(lset.layers[0].hmax, Is.EqualTo(67)); + Assert.That(lset.layers[0].heights[7], Is.EqualTo(17)); + Assert.That(lset.layers[0].heights[107], Is.EqualTo(15)); + Assert.That(lset.layers[0].heights[257], Is.EqualTo(13)); + Assert.That(lset.layers[0].heights[1814], Is.EqualTo(255)); + Assert.That(lset.layers[0].cons[12], Is.EqualTo(135)); + Assert.That(lset.layers[0].cons[109], Is.EqualTo(15)); + Assert.That(lset.layers[0].cons[530], Is.EqualTo(15)); + Assert.That(lset.layers[0].cons[1600], Is.EqualTo(0)); + } + + [Test] + public void test() + { + HeightfieldLayerSet lset = build("nav_test.obj", 3, 2); + Assert.That(lset.layers.Length, Is.EqualTo(3)); + Assert.That(lset.layers[0].width, Is.EqualTo(48)); + Assert.That(lset.layers[0].hmin, Is.EqualTo(13)); + Assert.That(lset.layers[0].hmax, Is.EqualTo(30)); + Assert.That(lset.layers[0].heights[7], Is.EqualTo(0)); + Assert.That(lset.layers[0].heights[107], Is.EqualTo(255)); + Assert.That(lset.layers[0].heights[257], Is.EqualTo(0)); + Assert.That(lset.layers[0].heights[1814], Is.EqualTo(255)); + Assert.That(lset.layers[0].cons[12], Is.EqualTo(133)); + Assert.That(lset.layers[0].cons[109], Is.EqualTo(0)); + Assert.That(lset.layers[0].cons[530], Is.EqualTo(0)); + Assert.That(lset.layers[0].cons[1600], Is.EqualTo(15)); + + Assert.That(lset.layers[1].width, Is.EqualTo(48)); + Assert.That(lset.layers[1].hmin, Is.EqualTo(13)); + Assert.That(lset.layers[1].hmax, Is.EqualTo(13)); + Assert.That(lset.layers[1].heights[7], Is.EqualTo(255)); + Assert.That(lset.layers[1].heights[107], Is.EqualTo(255)); + Assert.That(lset.layers[1].heights[257], Is.EqualTo(255)); + Assert.That(lset.layers[1].heights[1814], Is.EqualTo(255)); + Assert.That(lset.layers[1].cons[12], Is.EqualTo(0)); + Assert.That(lset.layers[1].cons[109], Is.EqualTo(0)); + Assert.That(lset.layers[1].cons[530], Is.EqualTo(0)); + Assert.That(lset.layers[1].cons[1600], Is.EqualTo(0)); + + Assert.That(lset.layers[2].width, Is.EqualTo(48)); + Assert.That(lset.layers[2].hmin, Is.EqualTo(76)); + Assert.That(lset.layers[2].hmax, Is.EqualTo(76)); + Assert.That(lset.layers[2].heights[7], Is.EqualTo(255)); + Assert.That(lset.layers[2].heights[107], Is.EqualTo(255)); + Assert.That(lset.layers[2].heights[257], Is.EqualTo(255)); + Assert.That(lset.layers[2].heights[1814], Is.EqualTo(255)); + Assert.That(lset.layers[2].cons[12], Is.EqualTo(0)); + Assert.That(lset.layers[2].cons[109], Is.EqualTo(0)); + Assert.That(lset.layers[2].cons[530], Is.EqualTo(0)); + Assert.That(lset.layers[2].cons[1600], Is.EqualTo(0)); + } + + [Test] + public void test2() + { + HeightfieldLayerSet lset = build("nav_test.obj", 2, 4); + Assert.That(lset.layers.Length, Is.EqualTo(2)); + Assert.That(lset.layers[0].width, Is.EqualTo(48)); + Assert.That(lset.layers[0].hmin, Is.EqualTo(13)); + Assert.That(lset.layers[0].hmax, Is.EqualTo(13)); + Assert.That(lset.layers[0].heights[7], Is.EqualTo(0)); + Assert.That(lset.layers[0].heights[107], Is.EqualTo(0)); + Assert.That(lset.layers[0].heights[257], Is.EqualTo(0)); + Assert.That(lset.layers[0].heights[1814], Is.EqualTo(0)); + Assert.That(lset.layers[0].cons[12], Is.EqualTo(135)); + Assert.That(lset.layers[0].cons[109], Is.EqualTo(15)); + Assert.That(lset.layers[0].cons[530], Is.EqualTo(0)); + Assert.That(lset.layers[0].cons[1600], Is.EqualTo(15)); + + Assert.That(lset.layers[1].width, Is.EqualTo(48)); + Assert.That(lset.layers[1].hmin, Is.EqualTo(68)); + Assert.That(lset.layers[1].hmax, Is.EqualTo(101)); + Assert.That(lset.layers[1].heights[7], Is.EqualTo(33)); + Assert.That(lset.layers[1].heights[107], Is.EqualTo(255)); + Assert.That(lset.layers[1].heights[257], Is.EqualTo(255)); + Assert.That(lset.layers[1].heights[1814], Is.EqualTo(3)); + Assert.That(lset.layers[1].cons[12], Is.EqualTo(0)); + Assert.That(lset.layers[1].cons[109], Is.EqualTo(0)); + Assert.That(lset.layers[1].cons[530], Is.EqualTo(15)); + Assert.That(lset.layers[1].cons[1600], Is.EqualTo(0)); + } + + private HeightfieldLayerSet build(string filename, int x, int y) + { + InputGeomProvider geom = ObjImporter.load(Loader.ToBytes(filename)); + RecastBuilder builder = new RecastBuilder(); + RecastConfig cfg = new RecastConfig(true, m_tileSize, m_tileSize, RecastConfig.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); + RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), x, y); + HeightfieldLayerSet lset = builder.buildLayers(geom, bcfg); + return lset; + } +} \ No newline at end of file diff --git a/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs new file mode 100644 index 0000000..1c96106 --- /dev/null +++ b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs @@ -0,0 +1,337 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Diagnostics; +using System.IO; +using DotRecast.Core; +using DotRecast.Recast.Geom; +using NUnit.Framework; + +namespace DotRecast.Recast.Test; + +using static RecastConstants; + +public class RecastSoloMeshTest +{ + private const float m_cellSize = 0.3f; + private const float m_cellHeight = 0.2f; + private const float m_agentHeight = 2.0f; + private const float m_agentRadius = 0.6f; + private const float m_agentMaxClimb = 0.9f; + private const float m_agentMaxSlope = 45.0f; + private const int m_regionMinSize = 8; + private const int m_regionMergeSize = 20; + private const float m_edgeMaxLen = 12.0f; + private const float m_edgeMaxError = 1.3f; + private const int m_vertsPerPoly = 6; + private const float m_detailSampleDist = 6.0f; + private const float m_detailSampleMaxError = 1.0f; + private PartitionType m_partitionType = PartitionType.WATERSHED; + + [Test] + public void testPerformance() + { + for (int i = 0; i < 10; i++) + { + testBuild("dungeon.obj", PartitionType.WATERSHED, 52, 16, 15, 223, 118, 118, 513, 291); + testBuild("dungeon.obj", PartitionType.MONOTONE, 0, 17, 16, 210, 100, 100, 453, 264); + testBuild("dungeon.obj", PartitionType.LAYERS, 0, 5, 5, 203, 97, 97, 446, 266); + } + } + + [Test] + public void testDungeonWatershed() + { + testBuild("dungeon.obj", PartitionType.WATERSHED, 52, 16, 15, 223, 118, 118, 513, 291); + } + + [Test] + public void testDungeonMonotone() + { + testBuild("dungeon.obj", PartitionType.MONOTONE, 0, 17, 16, 210, 100, 100, 453, 264); + } + + [Test] + public void testDungeonLayers() + { + testBuild("dungeon.obj", PartitionType.LAYERS, 0, 5, 5, 203, 97, 97, 446, 266); + } + + [Test] + public void testWatershed() + { + testBuild("nav_test.obj", PartitionType.WATERSHED, 60, 48, 47, 349, 153, 153, 802, 558); + } + + [Test] + public void testMonotone() + { + testBuild("nav_test.obj", PartitionType.MONOTONE, 0, 50, 49, 340, 185, 185, 871, 557); + } + + [Test] + public void testLayers() + { + testBuild("nav_test.obj", PartitionType.LAYERS, 0, 19, 32, 312, 150, 150, 764, 521); + } + + public void testBuild(string filename, PartitionType partitionType, int expDistance, int expRegions, + int expContours, int expVerts, int expPolys, int expDetMeshes, int expDetVerts, int expDetTris) + { + m_partitionType = partitionType; + InputGeomProvider geomProvider = ObjImporter.load(Loader.ToBytes(filename)); + long time = Stopwatch.GetTimestamp(); + float[] bmin = geomProvider.getMeshBoundsMin(); + float[] bmax = geomProvider.getMeshBoundsMax(); + Telemetry m_ctx = new Telemetry(); + // + // Step 1. Initialize build config. + // + + // Init build configuration from GUI + RecastConfig cfg = new RecastConfig(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, bmin, bmax); + // + // Step 2. Rasterize input polygon soup. + // + + // Allocate voxel heightfield where we rasterize our input data to. + Heightfield m_solid = new Heightfield(bcfg.width, bcfg.height, bcfg.bmin, bcfg.bmax, cfg.cs, cfg.ch, cfg.borderSize); + + foreach (TriMesh geom in geomProvider.meshes()) + { + float[] verts = geom.getVerts(); + int[] tris = geom.getTris(); + int ntris = tris.Length / 3; + + // Allocate array that can hold triangle area types. + // If you have multiple meshes you need to process, allocate + // and array which can hold the max number of triangles you need to + // process. + + // 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); + // + // Step 3. Filter walkables surfaces. + // + } + + // 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); + + // + // Step 4. Partition walkable surface to simple regions. + // + + // 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. + CompactHeightfield 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); + + // (Optional) Mark areas. + /* + * ConvexVolume vols = m_geom->getConvexVolumes(); for (int i = 0; i < m_geom->getConvexVolumeCount(); ++i) + * rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned + * char)vols[i].area, *m_chf); + */ + + // Partition the heightfield so that we can use simple algorithm later + // to triangulate the walkable areas. + // There are 3 martitioning methods, each with some pros and cons: + // 1) Watershed partitioning + // - the classic Recast partitioning + // - creates the nicest tessellation + // - usually slowest + // - partitions the heightfield into nice regions without holes or + // overlaps + // - the are some corner cases where this method creates produces holes + // and overlaps + // - holes may appear when a small obstacles is close to large open area + // (triangulation can handle this) + // - overlaps may occur if you have narrow spiral corridors (i.e + // stairs), this make triangulation to fail + // * generally the best choice if you precompute the nacmesh, use this + // if you have large open areas + // 2) Monotone partioning + // - fastest + // - partitions the heightfield into regions without holes and overlaps + // (guaranteed) + // - creates long thin polygons, which sometimes causes paths with + // detours + // * use this if you want fast navmesh generation + // 3) Layer partitoining + // - quite fast + // - partitions the heighfield into non-overlapping regions + // - relies on the triangulation code to cope with holes (thus slower + // than monotone partitioning) + // - produces better triangles than monotone partitioning + // - does not have the corner cases of watershed partitioning + // - can be slow and create a bit ugly tessellation (still better than + // monotone) + // if you have large open areas with small obstacles (not a problem if + // you use tiles) + // * good choice to use for tiled navmesh with medium and small sized + // tiles + long time3 = Stopwatch.GetTimestamp(); + + if (m_partitionType == PartitionType.WATERSHED) + { + // Prepare for region partitioning, by calculating distance field + // 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); + } + else if (m_partitionType == PartitionType.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); + } + else + { + // Partition the walkable surface into simple regions without holes. + RecastRegion.buildLayerRegions(m_ctx, m_chf, cfg.minRegionArea); + } + + Assert.That(m_chf.maxDistance, Is.EqualTo(expDistance), "maxDistance"); + Assert.That(m_chf.maxRegions, Is.EqualTo(expRegions), "Regions"); + // + // Step 5. Trace and simplify region contours. + // + + // Create contours. + ContourSet m_cset = RecastContour.buildContours(m_ctx, m_chf, cfg.maxSimplificationError, cfg.maxEdgeLen, + RecastConstants.RC_CONTOUR_TESS_WALL_EDGES); + + Assert.That(m_cset.conts.Count, Is.EqualTo(expContours), "Contours"); + // + // Step 6. Build polygons mesh from contours. + // + + // Build polygon navmesh from the contours. + PolyMesh 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"); + + // + // Step 7. Create detail mesh which allows to access approximate height + // on each polygon. + // + + PolyMeshDetail 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"); + long time2 = Stopwatch.GetTimestamp(); + Console.WriteLine(filename + " : " + partitionType + " " + (time2 - time) / 1000000 + " ms"); + Console.WriteLine(" " + (time3 - time) / 1000000 + " ms"); + saveObj(filename.Substring(0, filename.LastIndexOf('.')) + "_" + partitionType + "_detail.obj", m_dmesh); + saveObj(filename.Substring(0, filename.LastIndexOf('.')) + "_" + partitionType + ".obj", m_pmesh); + m_ctx.print(); + } + + private void saveObj(string filename, PolyMesh mesh) + { + try + { + string path = Path.Combine("test-output", filename); + Directory.CreateDirectory(Path.GetDirectoryName(path)); + using StreamWriter fw = new StreamWriter(path); + for (int v = 0; v < mesh.nverts; v++) + { + fw.Write("v " + (mesh.bmin[0] + mesh.verts[v * 3] * mesh.cs) + " " + + (mesh.bmin[1] + mesh.verts[v * 3 + 1] * mesh.ch) + " " + + (mesh.bmin[2] + mesh.verts[v * 3 + 2] * mesh.cs) + "\n"); + } + + for (int i = 0; i < mesh.npolys; i++) + { + int p = i * mesh.nvp * 2; + fw.Write("f "); + for (int j = 0; j < mesh.nvp; ++j) + { + int v = mesh.polys[p + j]; + if (v == RC_MESH_NULL_IDX) + { + break; + } + + fw.Write((v + 1) + " "); + } + + fw.Write("\n"); + } + + fw.Close(); + } + catch (Exception e) + { + } + } + + private void saveObj(string filename, PolyMeshDetail dmesh) + { + try + { + string filePath = Path.Combine("test-output", filename); + Directory.CreateDirectory(Path.GetDirectoryName(filePath)); + using StreamWriter fw = new StreamWriter(filePath); + for (int v = 0; v < dmesh.nverts; v++) + { + fw.Write( + "v " + dmesh.verts[v * 3] + " " + dmesh.verts[v * 3 + 1] + " " + dmesh.verts[v * 3 + 2] + "\n"); + } + + for (int m = 0; m < dmesh.nmeshes; m++) + { + int vfirst = dmesh.meshes[m * 4]; + int tfirst = dmesh.meshes[m * 4 + 2]; + for (int f = 0; f < dmesh.meshes[m * 4 + 3]; f++) + { + fw.Write("f " + (vfirst + dmesh.tris[(tfirst + f) * 4] + 1) + " " + + (vfirst + dmesh.tris[(tfirst + f) * 4 + 1] + 1) + " " + + (vfirst + dmesh.tris[(tfirst + f) * 4 + 2] + 1) + "\n"); + } + } + + fw.Close(); + } + catch (Exception e) + { + } + } +} \ No newline at end of file diff --git a/test/DotRecast.Recast.Test/RecastTest.cs b/test/DotRecast.Recast.Test/RecastTest.cs new file mode 100644 index 0000000..20ab4f2 --- /dev/null +++ b/test/DotRecast.Recast.Test/RecastTest.cs @@ -0,0 +1,55 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using NUnit.Framework; + +namespace DotRecast.Recast.Test; + +using static RecastConstants; + +public class RecastTest +{ + [Test] + public void testClearUnwalkableTriangles() + { + float walkableSlopeAngle = 45; + float[] verts = { 0, 0, 0, 1, 0, 0, 0, 0, -1 }; + int nv = 3; + int[] walkable_tri = { 0, 1, 2 }; + int[] unwalkable_tri = { 0, 2, 1 }; + int nt = 1; + + Telemetry ctx = new Telemetry(); + { + int[] areas = { 42 }; + Recast.clearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas); + Assert.That(areas[0], Is.EqualTo(RC_NULL_AREA), "Sets area ID of unwalkable triangle to RC_NULL_AREA"); + } + { + int[] areas = { 42 }; + Recast.clearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas); + Assert.That(areas[0], Is.EqualTo(42), "Does not modify walkable triangle aread ID's"); + } + { + int[] areas = { 42 }; + walkableSlopeAngle = 0; + Recast.clearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas); + Assert.That(areas[0], Is.EqualTo(RC_NULL_AREA), "Slopes equal to the max slope are considered unwalkable."); + } + } +} \ No newline at end of file diff --git a/test/DotRecast.Recast.Test/RecastTileMeshTest.cs b/test/DotRecast.Recast.Test/RecastTileMeshTest.cs new file mode 100644 index 0000000..ddb8012 --- /dev/null +++ b/test/DotRecast.Recast.Test/RecastTileMeshTest.cs @@ -0,0 +1,167 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +using System; +using System.Collections.Generic; +using System.Diagnostics; +using System.IO; +using System.Linq; +using System.Threading; +using System.Threading.Tasks; +using DotRecast.Core; +using DotRecast.Recast.Geom; +using NUnit.Framework; + +namespace DotRecast.Recast.Test; + +using static RecastConstants; + +public class RecastTileMeshTest +{ + private const float m_cellSize = 0.3f; + private const float m_cellHeight = 0.2f; + private const float m_agentHeight = 2.0f; + private const float m_agentRadius = 0.6f; + private const float m_agentMaxClimb = 0.9f; + private const float m_agentMaxSlope = 45.0f; + private const int m_regionMinSize = 8; + private const int m_regionMergeSize = 20; + private const float m_regionMinArea = m_regionMinSize * m_regionMinSize * m_cellSize * m_cellSize; + private const float m_regionMergeArea = m_regionMergeSize * m_regionMergeSize * m_cellSize * m_cellSize; + private const float m_edgeMaxLen = 12.0f; + private const float m_edgeMaxError = 1.3f; + private const int m_vertsPerPoly = 6; + private const float m_detailSampleDist = 6.0f; + private const float m_detailSampleMaxError = 1.0f; + private const PartitionType m_partitionType = PartitionType.WATERSHED; + private const int m_tileSize = 32; + + [Test] + public void testDungeon() + { + testBuild("dungeon.obj"); + } + + public void testBuild(string filename) + { + InputGeomProvider geom = ObjImporter.load(Loader.ToBytes(filename)); + RecastBuilder builder = new RecastBuilder(); + RecastConfig cfg = new RecastConfig(true, m_tileSize, m_tileSize, RecastConfig.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); + RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), 7, 8); + RecastBuilderResult rcResult = builder.build(geom, bcfg); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(1)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(5)); + bcfg = new RecastBuilderConfig(cfg, geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), 6, 9); + rcResult = builder.build(geom, bcfg); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(2)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(7)); + bcfg = new RecastBuilderConfig(cfg, geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), 2, 9); + rcResult = builder.build(geom, bcfg); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(2)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(9)); + bcfg = new RecastBuilderConfig(cfg, geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), 4, 3); + rcResult = builder.build(geom, bcfg); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(3)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(6)); + bcfg = new RecastBuilderConfig(cfg, geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), 2, 8); + rcResult = builder.build(geom, bcfg); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(5)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(17)); + bcfg = new RecastBuilderConfig(cfg, geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), 0, 8); + rcResult = builder.build(geom, bcfg); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(6)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(15)); + } + + [Test] + public void testPerformance() + { + InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj")); + RecastBuilder builder = new RecastBuilder(); + RecastConfig cfg = new RecastConfig(true, m_tileSize, m_tileSize, RecastConfig.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); + for (int i = 0; i < 4; i++) + { + build(geom, builder, cfg, 1, true); + build(geom, builder, cfg, 4, true); + } + + long t1 = Stopwatch.GetTimestamp(); + for (int i = 0; i < 4; i++) + { + build(geom, builder, cfg, 1, false); + } + + long t2 = Stopwatch.GetTimestamp(); + for (int i = 0; i < 4; i++) + { + build(geom, builder, cfg, 4, false); + } + + long t3 = Stopwatch.GetTimestamp(); + Console.WriteLine(" Time ST : " + (t2 - t1) / 1000000); + Console.WriteLine(" Time MT : " + (t3 - t2) / 1000000); + } + + private void build(InputGeomProvider geom, RecastBuilder builder, RecastConfig cfg, int threads, bool validate) + { + CancellationTokenSource cts = new CancellationTokenSource(); + List tiles = new(); + var task = builder.buildTilesAsync(geom, cfg, threads, tiles, Task.Factory, cts.Token); + if (validate) + { + RecastBuilderResult rcResult = getTile(tiles, 7, 8); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(1)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(5)); + rcResult = getTile(tiles, 6, 9); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(2)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(7)); + rcResult = getTile(tiles, 2, 9); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(2)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(9)); + rcResult = getTile(tiles, 4, 3); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(3)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(6)); + rcResult = getTile(tiles, 2, 8); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(5)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(17)); + rcResult = getTile(tiles, 0, 8); + Assert.That(rcResult.getMesh().npolys, Is.EqualTo(6)); + Assert.That(rcResult.getMesh().nverts, Is.EqualTo(15)); + } + + try + { + cts.Cancel(); + //executor.awaitTermination(1000, TimeUnit.HOURS); + } + catch (Exception e) + { + } + } + + private RecastBuilderResult getTile(List tiles, int x, int z) + { + return tiles.FirstOrDefault(tile => tile.tileX == x && tile.tileZ == z); + } +} \ No newline at end of file diff --git a/test/DotRecast.Recast.Test/SampleAreaModifications.cs b/test/DotRecast.Recast.Test/SampleAreaModifications.cs new file mode 100644 index 0000000..5f20bb6 --- /dev/null +++ b/test/DotRecast.Recast.Test/SampleAreaModifications.cs @@ -0,0 +1,60 @@ +/* +recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +namespace DotRecast.Recast.Test; + +public class SampleAreaModifications +{ + public const int SAMPLE_POLYAREA_TYPE_MASK = 0x07; + + /// Value for the kind of ceil "ground" + public const int SAMPLE_POLYAREA_TYPE_GROUND = 0x1; + + /// Value for the kind of ceil "water" + public const int SAMPLE_POLYAREA_TYPE_WATER = 0x2; + + /// Value for the kind of ceil "road" + public const int SAMPLE_POLYAREA_TYPE_ROAD = 0x3; + + /// Value for the kind of ceil "grass" + public const int SAMPLE_POLYAREA_TYPE_GRASS = 0x4; + + /// Flag for door area. Can be combined with area types and jump flag. + public const int SAMPLE_POLYAREA_FLAG_DOOR = 0x08; + + /// Flag for jump area. Can be combined with area types and door flag. + public const int SAMPLE_POLYAREA_FLAG_JUMP = 0x10; + + public static readonly AreaModification SAMPLE_AREAMOD_GROUND = new AreaModification(SAMPLE_POLYAREA_TYPE_GROUND, + SAMPLE_POLYAREA_TYPE_MASK); + + public static readonly AreaModification SAMPLE_AREAMOD_WATER = new AreaModification(SAMPLE_POLYAREA_TYPE_WATER, + SAMPLE_POLYAREA_TYPE_MASK); + + public static readonly AreaModification SAMPLE_AREAMOD_ROAD = new AreaModification(SAMPLE_POLYAREA_TYPE_ROAD, + SAMPLE_POLYAREA_TYPE_MASK); + + public static readonly AreaModification SAMPLE_AREAMOD_GRASS = new AreaModification(SAMPLE_POLYAREA_TYPE_GRASS, + SAMPLE_POLYAREA_TYPE_MASK); + + public static readonly AreaModification SAMPLE_AREAMOD_DOOR = new AreaModification(SAMPLE_POLYAREA_FLAG_DOOR, + SAMPLE_POLYAREA_FLAG_DOOR); + + public static readonly AreaModification SAMPLE_AREAMOD_JUMP = new AreaModification(SAMPLE_POLYAREA_FLAG_JUMP, + SAMPLE_POLYAREA_FLAG_JUMP); +} \ No newline at end of file