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DotRecastNetSim
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refactor: RcVec3f.DistSqr, RcVec3f.LenSqr

This commit is contained in:
ikpil 2023-10-25 00:40:00 +09:00
parent 182c230c10
commit 28ad34b032
11 changed files with 56 additions and 51 deletions
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36
src/DotRecast.Core/Numerics/RcVec3f.cs
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@ -23,7 +23,6 @@ namespace DotRecast.Core.Numerics
{
public struct RcVec3f
{
public float X;
public float Y;
public float Z;
@ -103,6 +102,9 @@ namespace DotRecast.Core.Numerics
return MathF.Sqrt(lengthSquared);
}
/// 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.
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public readonly float LengthSquared()
{
@ -313,29 +315,6 @@ namespace DotRecast.Core.Numerics
);
}
/// 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.
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float DistSqr(RcVec3f v1, float[] v2, int i)
{
float dx = v2[i] - v1.X;
float dy = v2[i + 1] - v1.Y;
float dz = v2[i + 2] - v1.Z;
return dx * dx + dy * dy + dz * dz;
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float DistSqr(RcVec3f v1, RcVec3f v2)
{
float dx = v2.X - v1.X;
float dy = v2.Y - v1.Y;
float dz = v2.Z - v1.Z;
return dx * dx + dy * dy + dz * dz;
}
/// 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)]
@ -380,15 +359,6 @@ namespace DotRecast.Core.Numerics
return u.Z * v.X - u.X * v.Z;
}
/// 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.
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float LenSqr(RcVec3f v)
{
return v.X * v.X + v.Y * v.Y + v.Z * v.Z;
}
/// Checks that the specified vector's components are all finite.
/// @param[in] v A point. [(x, y, z)]

13
src/DotRecast.Core/Numerics/RcVecUtils.cs
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@ -123,6 +123,19 @@ namespace DotRecast.Core.Numerics
v1[2] * vector2.Z;
}
/// 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.
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float DistanceSquared(RcVec3f v1, float[] v2, int i)
{
float dx = v2[i] - v1.X;
float dy = v2[i + 1] - v1.Y;
float dz = v2[i + 2] - v1.Z;
return dx * dx + dy * dy + dz * dz;
}
/// Normalizes the vector if the length is greater than zero.
/// If the magnitude is zero, the vector is unchanged.
/// @param[in,out] v The vector to normalize. [(x, y, z)]

8
src/DotRecast.Detour.Crowd/DtCrowd.cs
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@ -911,7 +911,7 @@ namespace DotRecast.Detour.Crowd
}
diff.Y = 0;
float distSqr = RcVec3f.LenSqr(diff);
float distSqr = diff.LengthSquared();
if (distSqr > RcMath.Sqr(range))
{
continue;
@ -1080,7 +1080,7 @@ namespace DotRecast.Detour.Crowd
RcVec3f diff = RcVec3f.Subtract(ag.npos, nei.npos);
diff.Y = 0;
float distSqr = RcVec3f.LenSqr(diff);
float distSqr = diff.LengthSquared();
if (distSqr < 0.00001f)
{
continue;
@ -1103,7 +1103,7 @@ namespace DotRecast.Detour.Crowd
// Adjust desired velocity.
dvel = RcVec3f.Mad(dvel, disp, 1.0f / w);
// Clamp desired velocity to desired speed.
float speedSqr = RcVec3f.LenSqr(dvel);
float speedSqr = dvel.LengthSquared();
float desiredSqr = RcMath.Sqr(ag.desiredSpeed);
if (speedSqr > desiredSqr)
{
@ -1227,7 +1227,7 @@ namespace DotRecast.Detour.Crowd
RcVec3f diff = RcVec3f.Subtract(ag.npos, nei.npos);
diff.Y = 0;
float dist = RcVec3f.LenSqr(diff);
float dist = diff.LengthSquared();
if (dist > RcMath.Sqr(ag.option.radius + nei.option.radius))
{
continue;

2
src/DotRecast.Detour/DtFindNearestPolyQuery.cs
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@ -36,7 +36,7 @@ namespace DotRecast.Detour
}
else
{
d = RcVec3f.LenSqr(diff);
d = diff.LengthSquared();
}
if (d < _nearestDistanceSqr)

2
src/DotRecast.Detour/DtNavMesh.cs
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@ -1377,7 +1377,7 @@ namespace DotRecast.Detour
}
else
{
d = RcVec3f.LenSqr(diff);
d = diff.LengthSquared();
}
if (d < nearestDistanceSqr)

8
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -830,8 +830,8 @@ namespace DotRecast.Detour
bool tryLOS = false;
if ((options & DtFindPathOptions.DT_FINDPATH_ANY_ANGLE) != 0)
{
if ((parentRef != 0) && (raycastLimitSqr >= float.MaxValue
|| RcVec3f.DistSqr(parentNode.pos, bestNode.pos) < raycastLimitSqr))
if ((parentRef != 0) &&
(raycastLimitSqr >= float.MaxValue || RcVec3f.DistanceSquared(parentNode.pos, bestNode.pos) < raycastLimitSqr))
{
tryLOS = true;
}
@ -1148,8 +1148,8 @@ namespace DotRecast.Detour
bool tryLOS = false;
if ((m_query.options & DtFindPathOptions.DT_FINDPATH_ANY_ANGLE) != 0)
{
if ((parentRef != 0) && (m_query.raycastLimitSqr >= float.MaxValue
|| RcVec3f.DistSqr(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr))
if ((parentRef != 0) &&
(m_query.raycastLimitSqr >= float.MaxValue || RcVec3f.DistanceSquared(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr))
{
tryLOS = true;
}

2
src/DotRecast.Detour/DtUtils.cs
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@ -53,7 +53,7 @@ namespace DotRecast.Detour
public static bool VEqual(RcVec3f p0, RcVec3f p1, float thresholdSqr)
{
float d = RcVec3f.DistSqr(p0, p1);
float d = RcVec3f.DistanceSquared(p0, p1);
return d < thresholdSqr;
}

2
src/DotRecast.Recast.Toolset/Tools/RcConvexVolumeTool.cs
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@ -45,7 +45,7 @@ namespace DotRecast.Recast.Toolset.Tools
// Create
// If clicked on that last pt, create the shape.
if (_pts.Count > 0 && RcVec3f.DistSqr(p, _pts[_pts.Count - 1]) < 0.2f * 0.2f)
if (_pts.Count > 0 && RcVec3f.DistanceSquared(p, _pts[_pts.Count - 1]) < 0.2f * 0.2f)
{
pts = new List<RcVec3f>(_pts);
hull = new List<int>(_hull);

4
src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs
View File

@ -107,7 +107,7 @@ namespace DotRecast.Recast.Toolset.Tools
bool valid = true;
foreach (var zone in _polyPoints)
{
if (RcVec3f.DistSqr(zone.pt, randomPt) < zoneSeparation)
if (RcVec3f.DistanceSquared(zone.pt, randomPt) < zoneSeparation)
{
valid = false;
break;
@ -285,7 +285,7 @@ namespace DotRecast.Recast.Toolset.Tools
List<DtPolyPoint> potentialTargets = new List<DtPolyPoint>();
foreach (var zone in _polyPoints)
{
if (RcVec3f.DistSqr(zone.pt, ag.npos) > _cfg.zoneRadius * _cfg.zoneRadius)
if (RcVec3f.DistanceSquared(zone.pt, ag.npos) > _cfg.zoneRadius * _cfg.zoneRadius)
{
potentialTargets.Add(zone);
}

2
src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs
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@ -34,7 +34,7 @@ namespace DotRecast.Recast.Toolset.Tools
RcOffMeshConnection nearestConnection = null;
foreach (RcOffMeshConnection offMeshCon in geom.GetOffMeshConnections())
{
float d = Math.Min(RcVec3f.DistSqr(p, offMeshCon.verts, 0), RcVec3f.DistSqr(p, offMeshCon.verts, 3));
float d = Math.Min(RcVecUtils.DistanceSquared(p, offMeshCon.verts, 0), RcVecUtils.DistanceSquared(p, offMeshCon.verts, 3));
if (d < nearestDist && Math.Sqrt(d) < settings.agentRadius)
{
nearestDist = d;

28
test/DotRecast.Core.Test/Vector3Tests.cs
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@ -115,11 +115,11 @@ public class Vector3Tests
var v1 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle());
var v2 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle());
float d3 = Vector3.Dot(v1, v2);
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z);
var v22 = new RcVec3f(v2.X, v2.Y, v2.Z);
var d33 = RcVec3f.Dot(v11, v22);
Assert.That(d3, Is.EqualTo(d33));
}
@ -140,7 +140,29 @@ public class Vector3Tests
Assert.That(d3, Is.EqualTo(d33));
Assert.That(d4, Is.EqualTo(d44));
}
[Test]
[Repeat(100000)]
public void TestVectorMinMax()
{
// Min
// Max
}
[Test]
[Repeat(100000)]
public void TestVectorIsFinite()
{
// IsFinite
}
[Test]
[Repeat(100000)]
public void TestVectorPerp2D()
{
// Perp2D
}
// [Test]
// [Repeat(100000)]
// public void TestVectorLerp()