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DotRecastNetSim
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add DtfindPathOption

This commit is contained in:
ikpil 2023-06-23 00:46:51 +09:00
parent 828ada3ea4
commit 33399c0348
9 changed files with 44 additions and 29 deletions
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23
src/DotRecast.Detour/DtFindPathOption.cs Normal file
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@ -0,0 +1,23 @@
namespace DotRecast.Detour
{
public readonly struct DtFindPathOption
{
public static readonly DtFindPathOption Zero = new DtFindPathOption(DefaultQueryHeuristic.Default, 0, 0);
public readonly IQueryHeuristic heuristic;
public readonly int options;
public readonly float raycastLimit;
public DtFindPathOption(IQueryHeuristic heuristic, int options, float raycastLimit)
{
this.heuristic = heuristic;
this.options = options;
this.raycastLimit = raycastLimit;
}
public DtFindPathOption(int options, float raycastLimit)
: this(DefaultQueryHeuristic.Default, options, raycastLimit)
{
}
}
}

18
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -764,19 +764,7 @@ namespace DotRecast.Detour
* The polygon filter to apply to the query. * The polygon filter to apply to the query.
* @return Found path * @return Found path
*/ */
public virtual Result<List<long>> FindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter) public Result<List<long>> FindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, DtFindPathOption fpo)
{
return FindPath(startRef, endRef, startPos, endPos, filter, DefaultQueryHeuristic.Default, 0, 0);
}
public virtual Result<List<long>> FindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter,
int options, float raycastLimit)
{
return FindPath(startRef, endRef, startPos, endPos, filter, DefaultQueryHeuristic.Default, options, raycastLimit);
}
public Result<List<long>> FindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter,
IQueryHeuristic heuristic, int options, float raycastLimit)
{ {
// Validate input // Validate input
if (!m_nav.IsValidPolyRef(startRef) || !m_nav.IsValidPolyRef(endRef) || !RcVec3f.IsFinite(startPos) || !RcVec3f.IsFinite(endPos) || null == filter) if (!m_nav.IsValidPolyRef(startRef) || !m_nav.IsValidPolyRef(endRef) || !RcVec3f.IsFinite(startPos) || !RcVec3f.IsFinite(endPos) || null == filter)
@ -784,6 +772,10 @@ namespace DotRecast.Detour
return Results.InvalidParam<List<long>>(); return Results.InvalidParam<List<long>>();
} }
var heuristic = fpo.heuristic;
var raycastLimit = fpo.raycastLimit;
var options = fpo.options;
float raycastLimitSqr = Sqr(raycastLimit); float raycastLimitSqr = Sqr(raycastLimit);
// trade quality with performance? // trade quality with performance?

4
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
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@ -197,7 +197,7 @@ public class TestNavmeshTool : IRcTool
if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0) 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, m_polys = m_navQuery.FindPath(m_startRef, m_endRef, m_spos, m_epos, m_filter,
enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue).result; new(enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue)).result;
if (0 < m_polys.Count) if (0 < m_polys.Count)
{ {
List<long> polys = new(m_polys); List<long> polys = new(m_polys);
@ -331,7 +331,7 @@ public class TestNavmeshTool : IRcTool
if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0) 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, m_polys = m_navQuery.FindPath(m_startRef, m_endRef, m_spos, m_epos, m_filter,
enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue).result; new(enableRaycast ? DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue)).result;
if (0 < m_polys.Count) if (0 < m_polys.Count)
{ {
// In case of partial path, make sure the end point is clamped to the last polygon. // In case of partial path, make sure the end point is clamped to the last polygon.

12
test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs
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@ -43,7 +43,7 @@ public class DynamicNavMeshTest
query.FindNearestPoly(START_POS, EXTENT, filter, out var startRef, out var startPt, out var _); query.FindNearestPoly(START_POS, EXTENT, filter, out var startRef, out var startPt, out var _);
query.FindNearestPoly(END_POS, EXTENT, filter, out var endRef, out var endPt, out var _); query.FindNearestPoly(END_POS, EXTENT, filter, out var endRef, out var endPt, out var _);
List<long> path = query.FindPath(startRef, endRef, startPt, endPt, filter, DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result; List<long> path = query.FindPath(startRef, endRef, startPt, endPt, filter, new(DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue)).result;
// check path length without any obstacles // check path length without any obstacles
Assert.That(path.Count, Is.EqualTo(16)); Assert.That(path.Count, Is.EqualTo(16));
@ -61,8 +61,8 @@ public class DynamicNavMeshTest
// find path again // find path again
query.FindNearestPoly(START_POS, EXTENT, filter, out startRef, out startPt, out var _); query.FindNearestPoly(START_POS, EXTENT, filter, out startRef, out startPt, out var _);
query.FindNearestPoly(END_POS, EXTENT, filter, out endRef, out endPt, out var _); query.FindNearestPoly(END_POS, EXTENT, filter, out endRef, out endPt, out var _);
path = query.FindPath(startRef, endRef, startPt, endPt, filter, DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result; path = query.FindPath(startRef, endRef, startPt, endPt, filter, new(DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue)).result;
// check path length with obstacles // check path length with obstacles
Assert.That(path.Count, Is.EqualTo(19)); Assert.That(path.Count, Is.EqualTo(19));
// remove obstacle // remove obstacle
@ -73,12 +73,12 @@ public class DynamicNavMeshTest
_ = future.Result; _ = future.Result;
// create new query // create new query
query = new DtNavMeshQuery(mesh.NavMesh()); query = new DtNavMeshQuery(mesh.NavMesh());
// find path one more time // find path one more time
query.FindNearestPoly(START_POS, EXTENT, filter, out startRef, out startPt, out var _); query.FindNearestPoly(START_POS, EXTENT, filter, out startRef, out startPt, out var _);
query.FindNearestPoly(END_POS, EXTENT, filter, out endRef, out endPt, out var _); query.FindNearestPoly(END_POS, EXTENT, filter, out endRef, out endPt, out var _);
path = query.FindPath(startRef, endRef, startPt, endPt, filter, DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result; path = query.FindPath(startRef, endRef, startPt, endPt, filter, new(DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue)).result;
// path length should be back to the initial value // path length should be back to the initial value
Assert.That(path.Count, Is.EqualTo(16)); Assert.That(path.Count, Is.EqualTo(16));
} }

2
test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs
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@ -96,7 +96,7 @@ public class UnityAStarPathfindingImporterTest
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
var polys = GetNearestPolys(mesh, startPos, endPos); var polys = GetNearestPolys(mesh, startPos, endPos);
return query.FindPath(polys[0].refs, polys[1].refs, startPos, endPos, filter); return query.FindPath(polys[0].refs, polys[1].refs, startPos, endPos, filter, DtFindPathOption.Zero);
} }
private DtPolyPoint[] GetNearestPolys(DtNavMesh mesh, params RcVec3f[] positions) private DtPolyPoint[] GetNearestPolys(DtNavMesh mesh, params RcVec3f[] positions)

4
test/DotRecast.Detour.Test/FindPathTest.cs
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@ -138,7 +138,7 @@ public class FindPathTest : AbstractDetourTest
long endRef = endRefs[i]; long endRef = endRefs[i];
RcVec3f startPos = startPoss[i]; RcVec3f startPos = startPoss[i];
RcVec3f endPos = endPoss[i]; RcVec3f endPos = endPoss[i];
Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter); Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter, DtFindPathOption.Zero);
Assert.That(path.status, Is.EqualTo(STATUSES[i])); Assert.That(path.status, Is.EqualTo(STATUSES[i]));
Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length)); Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length));
for (int j = 0; j < RESULTS[i].Length; j++) for (int j = 0; j < RESULTS[i].Length; j++)
@ -186,7 +186,7 @@ public class FindPathTest : AbstractDetourTest
long endRef = endRefs[i]; long endRef = endRefs[i];
var startPos = startPoss[i]; var startPos = startPoss[i];
var endPos = endPoss[i]; var endPos = endPoss[i];
Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter); Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter, DtFindPathOption.Zero);
var straightPath = new List<StraightPathItem>(); var straightPath = new List<StraightPathItem>();
query.FindStraightPath(startPos, endPos, path.result, ref straightPath, int.MaxValue, 0); query.FindStraightPath(startPos, endPos, path.result, ref straightPath, int.MaxValue, 0);
Assert.That(straightPath.Count, Is.EqualTo(STRAIGHT_PATHS[i].Length)); Assert.That(straightPath.Count, Is.EqualTo(STRAIGHT_PATHS[i].Length));

2
test/DotRecast.Detour.Test/TiledFindPathTest.cs
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@ -71,7 +71,7 @@ public class TiledFindPathTest
long endRef = END_REFS[i]; long endRef = END_REFS[i];
RcVec3f startPos = START_POS[i]; RcVec3f startPos = START_POS[i];
RcVec3f endPos = END_POS[i]; RcVec3f endPos = END_POS[i];
Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter); Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter, DtFindPathOption.Zero);
Assert.That(path.status, Is.EqualTo(STATUSES[i])); Assert.That(path.status, Is.EqualTo(STATUSES[i]));
Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length)); Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length));
for (int j = 0; j < RESULTS[i].Length; j++) for (int j = 0; j < RESULTS[i].Length; j++)

2
test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
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@ -52,7 +52,7 @@ public class TileCacheFindPathTest : AbstractTileCacheTest
query.FindNearestPoly(start, extents, filter, out var startRef, out var startPos, out var _); query.FindNearestPoly(start, extents, filter, out var startRef, out var startPos, out var _);
query.FindNearestPoly(end, extents, filter, out var endRef, out var endPos, out var _); query.FindNearestPoly(end, extents, filter, out var endRef, out var endPos, out var _);
Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter); Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter, DtFindPathOption.Zero);
int maxStraightPath = 256; int maxStraightPath = 256;
int options = 0; int options = 0;

6
test/DotRecast.Detour.TileCache.Test/TileCacheNavigationTest.cs
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@ -90,7 +90,7 @@ public class TileCacheNavigationTest : AbstractTileCacheTest
long endRef = endRefs[i]; long endRef = endRefs[i];
RcVec3f startPos = startPoss[i]; RcVec3f startPos = startPoss[i];
RcVec3f endPos = endPoss[i]; RcVec3f endPos = endPoss[i];
Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter); Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter, DtFindPathOption.Zero);
Assert.That(path.status, Is.EqualTo(statuses[i])); Assert.That(path.status, Is.EqualTo(statuses[i]));
Assert.That(path.result.Count, Is.EqualTo(results[i].Length)); Assert.That(path.result.Count, Is.EqualTo(results[i].Length));
for (int j = 0; j < results[i].Length; j++) for (int j = 0; j < results[i].Length; j++)
@ -110,8 +110,8 @@ public class TileCacheNavigationTest : AbstractTileCacheTest
long endRef = endRefs[i]; long endRef = endRefs[i];
RcVec3f startPos = startPoss[i]; RcVec3f startPos = startPoss[i];
RcVec3f endPos = endPoss[i]; RcVec3f endPos = endPoss[i];
Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter, new DefaultQueryHeuristic(0.0f), Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter, new(new DefaultQueryHeuristic(0.0f),
0, 0); 0, 0));
Assert.That(path.status, Is.EqualTo(statuses[i])); Assert.That(path.status, Is.EqualTo(statuses[i]));
Assert.That(path.result.Count, Is.EqualTo(results[i].Length)); Assert.That(path.result.Count, Is.EqualTo(results[i].Length));
for (int j = 0; j < results[i].Length; j++) for (int j = 0; j < results[i].Length; j++)