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DotRecastNetSim
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remove warn

This commit is contained in:
ikpil 2023-06-02 00:13:25 +09:00
parent 75aaaefbc3
commit 1ed0d41218
22 changed files with 144 additions and 571 deletions
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21
src/DotRecast.Core/Intersections.cs
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@ -17,8 +17,6 @@ freely, subject to the following restrictions:
*/
using System;
using DotRecast.Core;
using static DotRecast.Core.RcMath;
namespace DotRecast.Core
{
@ -78,16 +76,16 @@ namespace DotRecast.Core
return t;
}
public static float[] IntersectSegmentAABB(Vector3f sp, Vector3f sq, Vector3f amin, Vector3f amax)
public static bool IsectSegAABB(Vector3f sp, Vector3f sq, Vector3f amin, Vector3f amax, out float tmin, out float tmax)
{
float EPS = 1e-6f;
const float EPS = 1e-6f;
Vector3f d = new Vector3f();
d.x = sq.x - sp.x;
d.y = sq.y - sp.y;
d.z = sq.z - sp.z;
float tmin = 0.0f;
float tmax = 1.0f;
tmin = 0.0f;
tmax = float.MaxValue;
for (int i = 0; i < 3; i++)
{
@ -95,7 +93,7 @@ namespace DotRecast.Core
{
if (sp[i] < amin[i] || sp[i] > amax[i])
{
return null;
return false;
}
}
else
@ -103,11 +101,10 @@ namespace DotRecast.Core
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;
(t1, t2) = (t2, t1);
}
if (t1 > tmin)
@ -122,12 +119,12 @@ namespace DotRecast.Core
if (tmin > tmax)
{
return null;
return false;
}
}
}
return new float[] { tmin, tmax };
return true;
}
}
}

446
src/DotRecast.Core/RcMath.cs
View File

@ -24,31 +24,11 @@ namespace DotRecast.Core
{
public static class RcMath
{
public const float EPS = 1e-4f;
private static readonly float EQUAL_THRESHOLD = Sqr(1.0f / 16384.0f);
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(Vector3f.DistSqr(path, i * 3, (i + 1) * 3));
}
return totd;
}
public static float Step(float threshold, float v)
{
return v < threshold ? 0.0f : 1.0f;
}
public static float Clamp(float v, float min, float max)
{
return Math.Max(Math.Min(v, max), min);
@ -58,431 +38,5 @@ namespace DotRecast.Core
{
return Math.Max(Math.Min(v, max), min);
}
public static float Lerp(float f, float g, float u)
{
return u * g + (1f - u) * f;
}
/// 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(Vector3f p0, Vector3f p1)
{
return VEqual(p0, p1, EQUAL_THRESHOLD);
}
public static bool VEqual(Vector3f p0, Vector3f p1, float thresholdSqr)
{
float d = Vector3f.DistSqr(p0, p1);
return d < thresholdSqr;
}
/// @}
/// @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(Vector3f a, Vector3f b, Vector3f c)
{
float abx = b.x - a.x;
float abz = b.z - a.z;
float acx = c.x - a.x;
float acz = c.z - a.z;
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(Vector3f amin, Vector3f amax, Vector3f bmin, Vector3f bmax)
{
bool overlap = true;
overlap = (amin.x > bmax.x || amax.x < bmin.x) ? false : overlap;
overlap = (amin.y > bmax.y || amax.y < bmin.y) ? false : overlap;
overlap = (amin.z > bmax.z || amax.z < bmin.z) ? false : overlap;
return overlap;
}
public static float DistancePtSegSqr2D(Vector3f pt, float[] verts, int p, int q, out float t)
{
var vp = Vector3f.Of(verts, p);
var vq = Vector3f.Of(verts, q);
return DistancePtSegSqr2D(pt, vp, vq, out t);
}
public static float DistancePtSegSqr2D(Vector3f pt, Vector3f p, Vector3f q, out float t)
{
float pqx = q.x - p.x;
float pqz = q.z - p.z;
float dx = pt.x - p.x;
float dz = pt.z - p.z;
float d = pqx * pqx + pqz * pqz;
t = pqx * dx + pqz * dz;
if (d > 0)
{
t /= d;
}
if (t < 0)
{
t = 0;
}
else if (t > 1)
{
t = 1;
}
dx = p.x + t * pqx - pt.x;
dz = p.z + t * pqz - pt.z;
return dx * dx + dz * dz;
}
public static float? ClosestHeightPointTriangle(Vector3f p, Vector3f a, Vector3f b, Vector3f c)
{
Vector3f v0 = c.Subtract(a);
Vector3f v1 = b.Subtract(a);
Vector3f v2 = p.Subtract(a);
// Compute scaled barycentric coordinates
float denom = v0.x * v1.z - v0.z * v1.x;
if (Math.Abs(denom) < EPS)
{
return null;
}
float u = v1.z * v2.x - v1.x * v2.z;
float v = v0.x * v2.z - v0.z * v2.x;
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.y + (v0.y * u + v1.y * 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(Vector3f 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.z) != (verts[vj + 2] > pt.z)) && (pt.x < (verts[vj + 0] - verts[vi + 0])
* (pt.z - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + verts[vi + 0]))
{
c = !c;
}
}
return c;
}
public static bool DistancePtPolyEdgesSqr(Vector3f 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.z) != (verts[vj + 2] > pt.z)) &&
(pt.x < (verts[vj + 0] - verts[vi + 0]) * (pt.z - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + verts[vi + 0]))
{
c = !c;
}
ed[j] = DistancePtSegSqr2D(pt, verts, vj, vi, out et[j]);
}
return c;
}
public static Vector2f ProjectPoly(Vector3f axis, float[] poly, int npoly)
{
float rmin, rmax;
rmin = rmax = axis.Dot2D(poly, 0);
for (int i = 1; i < npoly; ++i)
{
float d = axis.Dot2D(poly, i * 3);
rmin = Math.Min(rmin, d);
rmax = Math.Max(rmax, d);
}
return new Vector2f
{
x = rmin,
y = rmax,
};
}
public static bool OverlapRange(float amin, float amax, float bmin, float bmax, float eps)
{
return ((amin + eps) > bmax || (amax - eps) < bmin) ? false : true;
}
const 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;
Vector3f n = Vector3f.Of(polya[vb + 2] - polya[va + 2], 0, -(polya[vb + 0] - polya[va + 0]));
Vector2f aminmax = ProjectPoly(n, polya, npolya);
Vector2f bminmax = ProjectPoly(n, polyb, npolyb);
if (!OverlapRange(aminmax.x, aminmax.y, bminmax.x, bminmax.y, 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;
Vector3f n = Vector3f.Of(polyb[vb + 2] - polyb[va + 2], 0, -(polyb[vb + 0] - polyb[va + 0]));
Vector2f aminmax = ProjectPoly(n, polya, npolya);
Vector2f bminmax = ProjectPoly(n, polyb, npolyb);
if (!OverlapRange(aminmax.x, aminmax.y, bminmax.x, bminmax.y, eps))
{
// Found separating axis
return false;
}
}
return true;
}
// Returns a random point in a convex polygon.
// Adapted from Graphics Gems article.
public static Vector3f 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 Vector3f()
{
x = a * pts[pa] + b * pts[pb] + c * pts[pc],
y = a * pts[pa + 1] + b * pts[pb + 1] + c * pts[pc + 1],
z = 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 static IntersectResult IntersectSegmentPoly2D(Vector3f p0, Vector3f p1, float[] verts, int nverts)
{
IntersectResult result = new IntersectResult();
float EPS = 0.000001f;
var dir = p1.Subtract(p0);
var p0v = p0;
for (int i = 0, j = nverts - 1; i < nverts; j = i++)
{
Vector3f vpj = Vector3f.Of(verts, j * 3);
Vector3f vpi = Vector3f.Of(verts, i * 3);
var edge = vpi.Subtract(vpj);
var diff = p0v.Subtract(vpj);
float n = Vector3f.Perp2D(edge, diff);
float d = Vector3f.Perp2D(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 int OppositeTile(int side)
{
return (side + 4) & 0x7;
}
public static bool IntersectSegSeg2D(Vector3f ap, Vector3f aq, Vector3f bp, Vector3f bq, out float s, out float t)
{
s = 0;
t = 0;
Vector3f u = aq.Subtract(ap);
Vector3f v = bq.Subtract(bp);
Vector3f w = ap.Subtract(bp);
float d = Vector3f.PerpXZ(u, v);
if (Math.Abs(d) < 1e-6f)
{
return false;
}
s = Vector3f.PerpXZ(v, w) / d;
t = Vector3f.PerpXZ(u, w) / d;
return true;
}
}
}

2
src/DotRecast.Detour.Crowd/Crowd.cs
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@ -1161,7 +1161,7 @@ namespace DotRecast.Detour.Crowd
Vector3f[] s = ag.boundary.GetSegment(j);
Vector3f s3 = s[1];
//Array.Copy(s, 3, s3, 0, 3);
if (TriArea2D(ag.npos, s[0], s3) < 0.0f)
if (DetourCommon.TriArea2D(ag.npos, s[0], s3) < 0.0f)
{
continue;
}

2
src/DotRecast.Detour.Crowd/LocalBoundary.cs
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@ -120,7 +120,7 @@ namespace DotRecast.Detour.Crowd
var s3 = Vector3f.Of(s[3], s[4], s[5]);
// Skip too distant segments.
var distSqr = DistancePtSegSqr2D(pos, s0, s3, out var tseg);
var distSqr = DetourCommon.DistancePtSegSqr2D(pos, s0, s3, out var tseg);
if (distSqr > Sqr(collisionQueryRange))
{
continue;

4
src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs
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@ -131,7 +131,7 @@ namespace DotRecast.Detour.Crowd
cir.dp.Normalize();
dv = cir.dvel.Subtract(dvel);
float a = TriArea2D(orig, cir.dp, dv);
float a = DetourCommon.TriArea2D(orig, cir.dp, dv);
if (a < 0.01f)
{
cir.np.x = -cir.dp.z;
@ -150,7 +150,7 @@ namespace DotRecast.Detour.Crowd
// Precalc if the agent is really close to the segment.
float r = 0.01f;
var distSqr = DistancePtSegSqr2D(pos, seg.p, seg.q, out var t);
var distSqr = DetourCommon.DistancePtSegSqr2D(pos, seg.p, seg.q, out var t);
seg.touch = distSqr < Sqr(r);
}
}

2
src/DotRecast.Detour.Crowd/PathQueue.cs
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@ -43,7 +43,7 @@ namespace DotRecast.Detour.Crowd
int iterCount = config.maxFindPathIterations;
while (iterCount > 0)
{
PathQuery? q = queue.First?.Value;
PathQuery q = queue.First?.Value;
if (q == null)
{
break;

10
src/DotRecast.Detour.TileCache/TileCache.cs
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@ -74,7 +74,7 @@ namespace DotRecast.Detour.TileCache
/// Encodes a tile id.
private long EncodeTileId(int salt, int it)
{
return ((long)salt << m_tileBits) | it;
return ((long)salt << m_tileBits) | (long)it;
}
/// Decodes a tile salt.
@ -94,7 +94,7 @@ namespace DotRecast.Detour.TileCache
/// Encodes an obstacle id.
private long EncodeObstacleId(int salt, int it)
{
return ((long)salt << 16) | it;
return ((long)salt << 16) | (long)it;
}
/// Decodes an obstacle salt.
@ -120,7 +120,7 @@ namespace DotRecast.Detour.TileCache
m_tcomp = tcomp;
m_tmproc = tmprocs;
m_tileLutSize = NextPow2(m_params.maxTiles / 4);
m_tileLutSize = DetourCommon.NextPow2(m_params.maxTiles / 4);
if (m_tileLutSize == 0)
{
m_tileLutSize = 1;
@ -136,7 +136,7 @@ namespace DotRecast.Detour.TileCache
m_nextFreeTile = m_tiles[i];
}
m_tileBits = Ilog2(NextPow2(m_params.maxTiles));
m_tileBits = DetourCommon.Ilog2(DetourCommon.NextPow2(m_params.maxTiles));
m_saltBits = Math.Min(31, 32 - m_tileBits);
if (m_saltBits < 10)
{
@ -458,7 +458,7 @@ namespace DotRecast.Detour.TileCache
Vector3f tbmin = new Vector3f();
Vector3f tbmax = new Vector3f();
CalcTightTileBounds(tile.header, ref tbmin, ref tbmax);
if (OverlapBounds(bmin, bmax, tbmin, tbmax))
if (DetourCommon.OverlapBounds(bmin, bmax, tbmin, tbmax))
{
results.Add(i);
}

6
src/DotRecast.Detour/ConvexConvexIntersection.cs
View File

@ -63,8 +63,8 @@ namespace DotRecast.Detour
Vector3f B = b.Subtract(b1);
float cross = B.x * A.z - A.x * B.z; // TriArea2D({0, 0}, A, B);
float aHB = TriArea2D(b1, b, a);
float bHA = TriArea2D(a1, a, b);
float aHB = DetourCommon.TriArea2D(b1, b, a);
float bHA = DetourCommon.TriArea2D(a1, a, b);
if (Math.Abs(cross) < EPSILON)
{
cross = 0f;
@ -235,7 +235,7 @@ namespace DotRecast.Detour
private static Intersection SegSegInt(Vector3f a, Vector3f b, Vector3f c, Vector3f d, ref Vector3f p, ref Vector3f q)
{
if (IntersectSegSeg2D(a, b, c, d, out var s, out var t))
if (DetourCommon.IntersectSegSeg2D(a, b, c, d, out var s, out var t))
{
if (s >= 0.0f && s <= 1.0f && t >= 0.0f && t <= 1.0f)
{

35
src/DotRecast.Detour/DetourCommon.cs
View File

@ -3,10 +3,41 @@ using DotRecast.Core;
namespace DotRecast.Detour
{
public static class DtCommon
public static class DetourCommon
{
private static readonly float EQUAL_THRESHOLD = RcMath.Sqr(1.0f / 16384.0f);
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;
}
/// 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)]
@ -311,7 +342,7 @@ namespace DotRecast.Detour
public static IntersectResult IntersectSegmentPoly2D(Vector3f p0, Vector3f p1, float[] verts, int nverts)
{
IntersectResult result = new IntersectResult();
float EPS = 0.000001f;
const float EPS = 0.000001f;
var dir = p1.Subtract(p0);
var p0v = p0;

4
src/DotRecast.Detour/Io/MeshSetReader.cs
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@ -140,8 +140,8 @@ namespace DotRecast.Detour.Io
private long Convert32BitRef(int refs, NavMeshParams option)
{
int m_tileBits = Ilog2(NextPow2(option.maxTiles));
int m_polyBits = Ilog2(NextPow2(option.maxPolys));
int m_tileBits = DetourCommon.Ilog2(DetourCommon.NextPow2(option.maxTiles));
int m_polyBits = DetourCommon.Ilog2(DetourCommon.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;

6
src/DotRecast.Detour/LegacyNavMeshQuery.cs
View File

@ -728,7 +728,7 @@ namespace DotRecast.Detour
{
// Internal edge
int idx = (bestPoly.neis[j] - 1);
long refs = m_nav.GetPolyRefBase(bestTile) | idx;
long refs = m_nav.GetPolyRefBase(bestTile) | (long)idx;
if (filter.PassFilter(refs, bestTile, bestTile.data.polys[idx]))
{
continue;
@ -738,7 +738,7 @@ namespace DotRecast.Detour
// Calc distance to the edge.
int vj = bestPoly.verts[j] * 3;
int vi = bestPoly.verts[i] * 3;
var distSqr = DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi, out var tseg);
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi, out var tseg);
// Edge is too far, skip.
if (distSqr > radiusSqr)
{
@ -781,7 +781,7 @@ namespace DotRecast.Detour
// Calc distance to the edge.
int va = bestPoly.verts[link.edge] * 3;
int vb = bestPoly.verts[(link.edge + 1) % bestPoly.vertCount] * 3;
var distSqr = DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb, out var tseg);
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb, out var tseg);
// If the circle is not touching the next polygon, skip it.
if (distSqr > radiusSqr)
{

60
src/DotRecast.Detour/NavMesh.cs
View File

@ -116,21 +116,17 @@ namespace DotRecast.Detour
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
*/
/// @{
/// @name Encoding and Decoding
/// These functions are generally meant for internal use only.
/// Derives a standard polygon reference.
/// @note This function is generally meant for internal use only.
/// @param[in] salt The tile's salt value.
/// @param[in] it The index of the tile.
/// @param[in] ip The index of the polygon within the tile.
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;
return (((long)salt) << (DT_POLY_BITS + DT_TILE_BITS)) | ((long)it << DT_POLY_BITS) | (long)ip;
}
/// Decodes a standard polygon reference.
@ -299,7 +295,7 @@ namespace DotRecast.Detour
// Init tiles
m_maxTiles = option.maxTiles;
m_maxVertPerPoly = maxVertsPerPoly;
m_tileLutMask = Math.Max(1, NextPow2(option.maxTiles)) - 1;
m_tileLutMask = Math.Max(1, DetourCommon.NextPow2(option.maxTiles)) - 1;
m_tiles = new MeshTile[m_maxTiles];
for (int i = 0; i < m_maxTiles; i++)
{
@ -356,12 +352,12 @@ namespace DotRecast.Detour
while (nodeIndex < end)
{
BVNode node = tile.data.bvTree[nodeIndex];
bool overlap = OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
bool overlap = DetourCommon.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
bool isLeafNode = node.i >= 0;
if (isLeafNode && overlap)
{
polys.Add(@base | node.i);
polys.Add(@base | (long)node.i);
}
if (overlap || isLeafNode)
@ -402,9 +398,9 @@ namespace DotRecast.Detour
bmax.Max(tile.data.verts, v);
}
if (OverlapBounds(qmin, qmax, bmin, bmax))
if (DetourCommon.OverlapBounds(qmin, qmax, bmin, bmax))
{
polys.Add(@base | i);
polys.Add(@base | (long)i);
}
}
@ -539,9 +535,9 @@ namespace DotRecast.Detour
for (int j = 0; j < neis.Count; ++j)
{
ConnectExtLinks(tile, neis[j], i);
ConnectExtLinks(neis[j], tile, OppositeTile(i));
ConnectExtLinks(neis[j], tile, DetourCommon.OppositeTile(i));
ConnectExtOffMeshLinks(tile, neis[j], i);
ConnectExtOffMeshLinks(neis[j], tile, OppositeTile(i));
ConnectExtOffMeshLinks(neis[j], tile, DetourCommon.OppositeTile(i));
}
}
@ -657,7 +653,7 @@ namespace DotRecast.Detour
int idx = AllocLink(tile);
Link link = tile.links[idx];
link.refs = @base | (poly.neis[j] - 1);
link.refs = @base | (long)(poly.neis[j] - 1);
link.edge = j;
link.side = 0xff;
link.bmin = link.bmax = 0;
@ -743,7 +739,7 @@ namespace DotRecast.Detour
// Create new links
int va = poly.verts[j] * 3;
int vb = poly.verts[(j + 1) % nv] * 3;
IList<Tuple<long, float, float>> connectedPolys = FindConnectingPolys(tile.data.verts, va, vb, target, OppositeTile(dir));
IList<Tuple<long, float, float>> connectedPolys = FindConnectingPolys(tile.data.verts, va, vb, target, DetourCommon.OppositeTile(dir));
foreach (Tuple<long, float, float> connectedPoly in connectedPolys)
{
int idx = AllocLink(tile);
@ -802,7 +798,7 @@ namespace DotRecast.Detour
// Connect off-mesh links.
// We are interested on links which land from target tile to this tile.
int oppositeSide = (side == -1) ? 0xff : OppositeTile(side);
int oppositeSide = (side == -1) ? 0xff : DetourCommon.OppositeTile(side);
for (int i = 0; i < target.data.header.offMeshConCount; ++i)
{
@ -871,7 +867,7 @@ namespace DotRecast.Detour
int landPolyIdx = DecodePolyIdPoly(refs);
Poly landPoly = tile.data.polys[landPolyIdx];
link = tile.links[tidx];
link.refs = GetPolyRefBase(target) | (targetCon.poly);
link.refs = GetPolyRefBase(target) | (long)targetCon.poly;
link.edge = 0xff;
link.side = (side == -1 ? 0xff : side);
link.bmin = link.bmax = 0;
@ -931,7 +927,7 @@ namespace DotRecast.Detour
}
// Add return value.
long refs = @base | i;
long refs = @base | (long)i;
float tmin = Math.Max(amin.x, bmin.x);
float tmax = Math.Min(amax.x, bmax.x);
result.Add(Tuple.Create(refs, tmin, tmax));
@ -1099,7 +1095,7 @@ namespace DotRecast.Detour
int landPolyIdx = DecodePolyIdPoly(refs);
Poly landPoly = tile.data.polys[landPolyIdx];
link = tile.links[tidx];
link.refs = @base | (con.poly);
link.refs = @base | (long)con.poly;
link.edge = 0xff;
link.side = 0xff;
link.bmin = link.bmax = 0;
@ -1173,7 +1169,7 @@ namespace DotRecast.Detour
continue;
}
var d = DistancePtSegSqr2D(pos, v[j], v[k], out var t);
var d = DetourCommon.DistancePtSegSqr2D(pos, v[j], v[k], out var t);
if (d < dmin)
{
dmin = d;
@ -1197,7 +1193,7 @@ namespace DotRecast.Detour
v[1].y = tile.data.verts[poly.verts[k] * 3 + 1];
v[1].z = tile.data.verts[poly.verts[k] * 3 + 2];
var d = DistancePtSegSqr2D(pos, v[0], v[1], out var t);
var d = DetourCommon.DistancePtSegSqr2D(pos, v[0], v[1], out var t);
if (d < dmin)
{
dmin = d;
@ -1229,7 +1225,7 @@ namespace DotRecast.Detour
Array.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
}
if (!PointInPolygon(pos, verts, nv))
if (!DetourCommon.PointInPolygon(pos, verts, nv))
{
return null;
}
@ -1266,7 +1262,7 @@ namespace DotRecast.Detour
}
}
float? h = ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
float? h = DetourCommon.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
if (null != h)
{
return h;
@ -1288,7 +1284,7 @@ namespace DotRecast.Detour
v[k + 1].z = tile.data.verts[poly.verts[j + k] * 3 + 2];
}
float? h = ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
float? h = DetourCommon.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
if (null != h)
{
return h;
@ -1325,7 +1321,7 @@ namespace DotRecast.Detour
var v0 = new Vector3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
i = poly.verts[1] * 3;
var v1 = new Vector3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
var distSqr = DistancePtSegSqr2D(pos, v0, v1, out var t);
var distSqr = DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var t);
return new ClosestPointOnPolyResult(false, Vector3f.Lerp(v0, v1, t));
}

66
src/DotRecast.Detour/NavMeshQuery.cs
View File

@ -131,7 +131,7 @@ namespace DotRecast.Detour
}
// Must pass filter
long refs = @base | i;
long refs = @base | (long)i;
if (!filter.PassFilter(refs, tile, p))
{
continue;
@ -144,7 +144,7 @@ namespace DotRecast.Detour
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);
polyArea += DetourCommon.TriArea2D(tile.data.verts, va, vb, vc);
}
// Choose random polygon weighted by area, using reservoi sampling.
@ -174,7 +174,7 @@ namespace DotRecast.Detour
float s = frand.Next();
float t = frand.Next();
var pt = RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t);
var pt = DetourCommon.RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t);
ClosestPointOnPolyResult closest = ClosestPointOnPoly(polyRef, pt).result;
return Results.Success(new FindRandomPointResult(polyRef, closest.GetClosest()));
}
@ -291,7 +291,7 @@ namespace DotRecast.Detour
int va = 0;
int vb = (j - 1) * 3;
int vc = j * 3;
polyArea += TriArea2D(constrainedVerts, va, vb, vc);
polyArea += DetourCommon.TriArea2D(constrainedVerts, va, vb, vc);
}
// Choose random polygon weighted by area, using reservoi sampling.
@ -346,7 +346,7 @@ namespace DotRecast.Detour
var vb = portalpoints.result.right;
// If the circle is not touching the next polygon, skip it.
var distSqr = DistancePtSegSqr2D(centerPos, va, vb, out var tesg);
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var tesg);
if (distSqr > radiusSqr)
{
continue;
@ -400,7 +400,7 @@ namespace DotRecast.Detour
float t = frand.Next();
float[] areas = new float[randomPolyVerts.Length / 3];
Vector3f pt = RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t);
Vector3f pt = DetourCommon.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t);
ClosestPointOnPolyResult closest = ClosestPointOnPoly(randomPolyRef, pt).result;
return Results.Success(new FindRandomPointResult(randomPolyRef, closest.GetClosest()));
}
@ -478,7 +478,7 @@ namespace DotRecast.Detour
}
Vector3f closest;
if (DistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
if (DetourCommon.DistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
{
closest = pos;
}
@ -539,7 +539,7 @@ namespace DotRecast.Detour
var v0 = new Vector3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
i = poly.verts[1] * 3;
var v1 = new Vector3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
var distSqr = DistancePtSegSqr2D(pos, v0, v1, out var tseg);
var distSqr = DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var tseg);
return Results.Success(v0.y + (v1.y - v0.y) * tseg);
}
@ -605,12 +605,12 @@ namespace DotRecast.Detour
while (nodeIndex < end)
{
BVNode node = tile.data.bvTree[nodeIndex];
bool overlap = OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
bool overlap = DetourCommon.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
bool isLeafNode = node.i >= 0;
if (isLeafNode && overlap)
{
long refs = @base | node.i;
long refs = @base | (long)node.i;
if (filter.PassFilter(refs, tile, tile.data.polys[node.i]))
{
query.Process(tile, tile.data.polys[node.i], refs);
@ -642,7 +642,7 @@ namespace DotRecast.Detour
continue;
}
long refs = @base | i;
long refs = @base | (long)i;
if (!filter.PassFilter(refs, tile, p))
{
continue;
@ -659,7 +659,7 @@ namespace DotRecast.Detour
bmax.Max(tile.data.verts, v);
}
if (OverlapBounds(qmin, qmax, bmin, bmax))
if (DetourCommon.OverlapBounds(qmin, qmax, bmin, bmax))
{
query.Process(tile, p, refs);
}
@ -1424,7 +1424,7 @@ namespace DotRecast.Detour
protected Status AppendVertex(Vector3f pos, int flags, long refs, List<StraightPathItem> straightPath,
int maxStraightPath)
{
if (straightPath.Count > 0 && VEqual(straightPath[straightPath.Count - 1].pos, pos))
if (straightPath.Count > 0 && DetourCommon.VEqual(straightPath[straightPath.Count - 1].pos, pos))
{
// The vertices are equal, update flags and poly.
straightPath[straightPath.Count - 1].flags = flags;
@ -1496,7 +1496,7 @@ namespace DotRecast.Detour
}
// Append intersection
if (IntersectSegSeg2D(startPos, endPos, left, right, out var _, out var t))
if (DetourCommon.IntersectSegSeg2D(startPos, endPos, left, right, out var _, out var t))
{
var pt = Vector3f.Lerp(left, right, t);
stat = AppendVertex(pt, 0, path[i + 1], straightPath, maxStraightPath);
@ -1620,7 +1620,7 @@ namespace DotRecast.Detour
// If starting really close the portal, advance.
if (i == 0)
{
var distSqr = DistancePtSegSqr2D(portalApex, left, right, out var t);
var distSqr = DetourCommon.DistancePtSegSqr2D(portalApex, left, right, out var t);
if (distSqr < Sqr(0.001f))
{
continue;
@ -1636,9 +1636,9 @@ namespace DotRecast.Detour
}
// Right vertex.
if (TriArea2D(portalApex, portalRight, right) <= 0.0f)
if (DetourCommon.TriArea2D(portalApex, portalRight, right) <= 0.0f)
{
if (VEqual(portalApex, portalRight) || TriArea2D(portalApex, portalLeft, right) > 0.0f)
if (DetourCommon.VEqual(portalApex, portalRight) || DetourCommon.TriArea2D(portalApex, portalLeft, right) > 0.0f)
{
portalRight = right;
rightPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0;
@ -1693,9 +1693,9 @@ namespace DotRecast.Detour
}
// Left vertex.
if (TriArea2D(portalApex, portalLeft, left) >= 0.0f)
if (DetourCommon.TriArea2D(portalApex, portalLeft, left) >= 0.0f)
{
if (VEqual(portalApex, portalLeft) || TriArea2D(portalApex, portalRight, left) < 0.0f)
if (DetourCommon.VEqual(portalApex, portalLeft) || DetourCommon.TriArea2D(portalApex, portalRight, left) < 0.0f)
{
portalLeft = left;
leftPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0;
@ -1845,7 +1845,7 @@ namespace DotRecast.Detour
}
// If target is inside the poly, stop search.
if (PointInPolygon(endPos, verts, nverts))
if (DetourCommon.PointInPolygon(endPos, verts, nverts))
{
bestNode = curNode;
bestPos = endPos;
@ -1887,7 +1887,7 @@ namespace DotRecast.Detour
else if (curPoly.neis[j] != 0)
{
int idx = curPoly.neis[j] - 1;
long refs = m_nav.GetPolyRefBase(curTile) | idx;
long refs = m_nav.GetPolyRefBase(curTile) | (long)idx;
if (filter.PassFilter(refs, curTile, curTile.data.polys[idx]))
{
// Internal edge, encode id.
@ -1900,7 +1900,7 @@ namespace DotRecast.Detour
// Wall edge, calc distance.
int vj = j * 3;
int vi = i * 3;
var distSqr = DistancePtSegSqr2D(endPos, verts, vj, vi, out var tseg);
var distSqr = DetourCommon.DistancePtSegSqr2D(endPos, verts, vj, vi, out var tseg);
if (distSqr < bestDist)
{
// Update nearest distance.
@ -1924,7 +1924,7 @@ namespace DotRecast.Detour
// TODO: Maybe should use GetPortalPoints(), but this one is way faster.
int vj = j * 3;
int vi = i * 3;
var distSqr = DistancePtSegSqr2D(searchPos, verts, vj, vi, out var _);
var distSqr = DetourCommon.DistancePtSegSqr2D(searchPos, verts, vj, vi, out var _);
if (distSqr > searchRadSqr)
{
continue;
@ -2118,7 +2118,7 @@ namespace DotRecast.Detour
Vector3f left = ppoints.result.left;
Vector3f right = ppoints.result.right;
float t = 0.5f;
if (IntersectSegSeg2D(fromPos, toPos, left, right, out var _, out var t2))
if (DetourCommon.IntersectSegSeg2D(fromPos, toPos, left, right, out var _, out var t2))
{
t = Clamp(t2, 0.1f, 0.9f);
}
@ -2230,7 +2230,7 @@ namespace DotRecast.Detour
nv++;
}
IntersectResult iresult = IntersectSegmentPoly2D(startPos, endPos, verts, nv);
IntersectResult iresult = DetourCommon.IntersectSegmentPoly2D(startPos, endPos, verts, nv);
if (!iresult.intersects)
{
// Could not hit the polygon, keep the old t and report hit.
@ -2543,7 +2543,7 @@ namespace DotRecast.Detour
var vb = pp.result.right;
// If the circle is not touching the next polygon, skip it.
var distSqr = DistancePtSegSqr2D(centerPos, va, vb, out var _);
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var _);
if (distSqr > radiusSqr)
{
continue;
@ -2730,7 +2730,7 @@ namespace DotRecast.Detour
var 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);
IntersectResult ir = DetourCommon.IntersectSegmentPoly2D(va, vb, verts, nverts);
if (!ir.intersects)
{
continue;
@ -2906,7 +2906,7 @@ namespace DotRecast.Detour
var vb = pp.result.right;
// If the circle is not touching the next polygon, skip it.
var distSqr = DistancePtSegSqr2D(centerPos, va, vb, out var _);
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var _);
if (distSqr > radiusSqr)
{
continue;
@ -2959,7 +2959,7 @@ namespace DotRecast.Detour
Array.Copy(pastTile.data.verts, pastPoly.verts[k] * 3, pb, k * 3, 3);
}
if (OverlapPolyPoly2D(pa, npa, pb, npb))
if (DetourCommon.OverlapPolyPoly2D(pa, npa, pb, npb))
{
overlap = true;
break;
@ -3071,7 +3071,7 @@ namespace DotRecast.Detour
if (poly.neis[j] != 0)
{
int idx = (poly.neis[j] - 1);
neiRef = m_nav.GetPolyRefBase(tile) | idx;
neiRef = m_nav.GetPolyRefBase(tile) | (long)idx;
if (!filter.PassFilter(neiRef, tile, tile.data.polys[idx]))
{
neiRef = 0;
@ -3239,7 +3239,7 @@ namespace DotRecast.Detour
{
// Internal edge
int idx = (bestPoly.neis[j] - 1);
long refs = m_nav.GetPolyRefBase(bestTile) | idx;
long refs = m_nav.GetPolyRefBase(bestTile) | (long)idx;
if (filter.PassFilter(refs, bestTile, bestTile.data.polys[idx]))
{
continue;
@ -3249,7 +3249,7 @@ namespace DotRecast.Detour
// Calc distance to the edge.
int vj = bestPoly.verts[j] * 3;
int vi = bestPoly.verts[i] * 3;
var distSqr = DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi, out var tseg);
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi, out var tseg);
// Edge is too far, skip.
if (distSqr > radiusSqr)
@ -3293,7 +3293,7 @@ namespace DotRecast.Detour
// Calc distance to the edge.
int va = bestPoly.verts[link.edge] * 3;
int vb = bestPoly.verts[(link.edge + 1) % bestPoly.vertCount] * 3;
var distSqr = DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb, out var tseg);
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb, out var tseg);
// If the circle is not touching the next polygon, skip it.
if (distSqr > radiusSqr)
{

2
src/DotRecast.Detour/StrictPolygonByCircleConstraint.cs
View File

@ -34,7 +34,7 @@ namespace DotRecast.Detour
float[] qCircle = Circle(center, radius);
float[] intersection = ConvexConvexIntersection.Intersect(verts, qCircle);
if (intersection == null && PointInPolygon(center, verts, verts.Length / 3))
if (intersection == null && DetourCommon.PointInPolygon(center, verts, verts.Length / 3))
{
// circle inside polygon
return qCircle;

2
src/DotRecast.Recast.Demo/Builder/TileNavMeshBuilder.cs
View File

@ -100,7 +100,7 @@ public class TileNavMeshBuilder : AbstractNavMeshBuilder
Recast.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
int tw = (gw + tileSize - 1) / tileSize;
int th = (gh + tileSize - 1) / tileSize;
int tileBits = Math.Min(Ilog2(NextPow2(tw * th)), 14);
int tileBits = Math.Min(DetourCommon.Ilog2(DetourCommon.NextPow2(tw * th)), 14);
return tileBits;
}

2
src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
View File

@ -394,7 +394,7 @@ public class DebugDraw
void AppendArrowHead(Vector3f p, Vector3f q, float s, int col)
{
float eps = 0.001f;
const float eps = 0.001f;
if (VdistSqr(p, q) < eps * eps)
{
return;

3
src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs
View File

@ -291,8 +291,7 @@ public class NavMeshRenderer
debugDraw.Begin(DebugDrawPrimitives.POINTS, 3.0f);
foreach (ConvexVolume vol in geom.ConvexVolumes())
{
int col = DebugDraw
.DuDarkenCol(DebugDraw.DuTransCol(DebugDraw.AreaToCol(vol.areaMod.GetMaskedValue()), 220));
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);

6
src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
View File

@ -132,7 +132,7 @@ public class RecastDebugDraw : DebugDraw
}
int col;
if (query != null && query.IsInClosedList(@base | i))
if (query != null && query.IsInClosedList(@base | (long)i))
{
col = DuRGBA(255, 196, 0, 64);
}
@ -179,7 +179,7 @@ public class RecastDebugDraw : DebugDraw
}
int col, col2;
if (query != null && query.IsInClosedList(@base | i))
if (query != null && query.IsInClosedList(@base | (long)i))
{
col = DuRGBA(255, 196, 0, 220);
}
@ -1269,7 +1269,7 @@ public class RecastDebugDraw : DebugDraw
continue;
}
DebugDrawNavMeshPoly(mesh, @base | j, col);
DebugDrawNavMeshPoly(mesh, @base | (long)j, col);
}
}
}

12
src/DotRecast.Recast.Demo/Geom/DemoInputGeomProvider.cs
View File

@ -77,8 +77,8 @@ public class DemoInputGeomProvider : IInputGeomProvider
Vector3f.Copy(ref bmax, vertices, 0);
for (int i = 1; i < vertices.Length / 3; i++)
{
bmin.Min(vertices, i * 3);
bmax.Max(vertices, i * 3);
bmin.Min(vertices, i * 3);
bmax.Max(vertices, i * 3);
}
_mesh = new TriMesh(vertices, faces);
@ -152,15 +152,13 @@ public class DemoInputGeomProvider : IInputGeomProvider
public float? RaycastMesh(Vector3f src, Vector3f dst)
{
// Prune hit ray.
float[] btminmax = Intersections.IntersectSegmentAABB(src, dst, bmin, bmax);
if (null == btminmax)
if (!Intersections.IsectSegAABB(src, dst, bmin, bmax, out var btmin, out var btmax))
{
return null;
}
float btmin = btminmax[0];
float btmax = btminmax[1];
float[] p = new float[2], q = new float[2];
float[] p = new float[2];
float[] q = new float[2];
p[0] = src.x + (dst.x - src.x) * btmin;
p[1] = src.z + (dst.z - src.z) * btmin;
q[0] = src.x + (dst.x - src.x) * btmax;

6
src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
View File

@ -236,10 +236,8 @@ public class CrowdTool : Tool
Vector3f bmin = new Vector3f();
Vector3f bmax = new Vector3f();
GetAgentBounds(ag, ref bmin, ref bmax);
float[] isect = Intersections.IntersectSegmentAABB(s, p, bmin, bmax);
if (null != isect)
if (Intersections.IsectSegAABB(s, p, bmin, bmax, out var tmin, out var tmax))
{
float tmin = isect[0];
if (tmin > 0 && tmin < tsel)
{
isel = ag;
@ -486,7 +484,7 @@ public class CrowdTool : Tool
Vector3f[] s = ag.boundary.GetSegment(j);
Vector3f s0 = s[0];
Vector3f s3 = s[1];
if (TriArea2D(pos, s0, s3) < 0.0f)
if (DetourCommon.TriArea2D(pos, s0, s3) < 0.0f)
col = DuDarkenCol(col);
dd.AppendArrow(s[0].x, s[0].y + 0.2f, s[0].z, s[1].x, s[1].z + 0.2f, s[1].z, 0.0f, 0.3f, col);

4
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -850,7 +850,7 @@ public class TestNavmeshTool : Tool
var v0 = Vector3f.Of(s[0], s[1], s[2]);
var s3 = Vector3f.Of(s[3], s[4], s[5]);
// Skip too distant segments.
var distSqr = DistancePtSegSqr2D(m_spos, v0, s3, out var tseg);
var distSqr = DetourCommon.DistancePtSegSqr2D(m_spos, v0, s3, out var tseg);
if (distSqr > RcMath.Sqr(m_neighbourhoodRadius))
{
continue;
@ -871,7 +871,7 @@ public class TestNavmeshTool : Tool
else
{
int col = DuRGBA(192, 32, 16, 192);
if (TriArea2D(m_spos, s.vmin, s3) < 0.0f)
if (DetourCommon.TriArea2D(m_spos, s.vmin, s3) < 0.0f)
{
col = DuRGBA(96, 32, 16, 192);
}

6
src/DotRecast.Recast/RecastMeshDetail.cs
View File

@ -156,7 +156,7 @@ namespace DotRecast.Recast
private static bool CircumCircle(float[] verts, int p1, int p2, int p3, ref Vector3f c, RcAtomicFloat r)
{
float EPS = 1e-6f;
const float EPS = 1e-6f;
// Calculate the circle relative to p1, to avoid some precision issues.
Vector3f v1 = new Vector3f();
Vector3f v2 = new Vector3f();
@ -204,7 +204,7 @@ namespace DotRecast.Recast
float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
// If point lies inside the triangle, return interpolated y-coord.
float EPS = 1e-4f;
const float EPS = 1e-4f;
if (u >= -EPS && v >= -EPS && (u + v) <= 1 + EPS)
{
float y = verts[a + 1] + v0.y * u + v1.y * v;
@ -512,7 +512,7 @@ namespace DotRecast.Recast
static int CompleteFacet(Telemetry ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
{
float EPS = 1e-5f;
const float EPS = 1e-5f;
int edge = e * 4;