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DotRecastNetSim
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refactoring: typo

This commit is contained in:
ikpil 2023-10-05 23:35:18 +09:00
parent e02e097577
commit 34f38fc874
16 changed files with 50 additions and 47 deletions
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2
src/DotRecast.Core/Intersections.cs → src/DotRecast.Core/RcIntersections.cs
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@ -22,7 +22,7 @@ using System;
namespace DotRecast.Core namespace DotRecast.Core
{ {
public static class Intersections public static class RcIntersections
{ {
public static bool IntersectSegmentTriangle(RcVec3f sp, RcVec3f sq, RcVec3f a, RcVec3f b, RcVec3f c, out float t) public static bool IntersectSegmentTriangle(RcVec3f sp, RcVec3f sq, RcVec3f a, RcVec3f b, RcVec3f c, out float t)
{ {

4
src/DotRecast.Core/RcMatrix4x4f.cs
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@ -1,4 +1,5 @@
using System; using System;
using System.Runtime.CompilerServices;
namespace DotRecast.Core namespace DotRecast.Core
{ {
@ -107,6 +108,7 @@ namespace DotRecast.Core
M31 == 0f && M32 == 0f && M34 == 0f && M31 == 0f && M32 == 0f && M34 == 0f &&
M41 == 0f && M42 == 0f && M43 == 0f; M41 == 0f && M42 == 0f && M43 == 0f;
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcMatrix4x4f Mul(ref RcMatrix4x4f left, ref RcMatrix4x4f right) public static RcMatrix4x4f Mul(ref RcMatrix4x4f left, ref RcMatrix4x4f right)
{ {
float m11 = left.M11 * right.M11 + left.M21 * right.M12 + left.M31 * right.M13 + left.M41 * right.M14; float m11 = left.M11 * right.M11 + left.M21 * right.M12 + left.M31 * right.M13 + left.M41 * right.M14;
@ -147,6 +149,7 @@ namespace DotRecast.Core
return dest; return dest;
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcMatrix4x4f Mul(float[] left, float[] right) public static RcMatrix4x4f Mul(float[] left, float[] right)
{ {
float m00 = left[0] * right[0] + left[4] * right[1] + left[8] * right[2] + left[12] * right[3]; float m00 = left[0] * right[0] + left[4] * right[1] + left[8] * right[2] + left[12] * right[3];
@ -174,6 +177,7 @@ namespace DotRecast.Core
); );
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcMatrix4x4f CreateFromRotate(float a, float x, float y, float z) public static RcMatrix4x4f CreateFromRotate(float a, float x, float y, float z)
{ {
var matrix = new RcMatrix4x4f(); var matrix = new RcMatrix4x4f();

6
src/DotRecast.Core/FRand.cs → src/DotRecast.Core/RcRand.cs
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@ -2,16 +2,16 @@
namespace DotRecast.Core namespace DotRecast.Core
{ {
public class FRand : IRcRand public class RcRand : IRcRand
{ {
private readonly Random _r; private readonly Random _r;
public FRand() public RcRand()
{ {
_r = new Random(); _r = new Random();
} }
public FRand(long seed) public RcRand(long seed)
{ {
_r = new Random((int)seed); // TODO : 랜덤 시드 확인 필요 _r = new Random((int)seed); // TODO : 랜덤 시드 확인 필요
} }

19
src/DotRecast.Core/RcVec3f.cs
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@ -554,11 +554,13 @@ namespace DotRecast.Core
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Copy(ref RcVec3f @out, float[] @in, int i) public static void Copy(ref RcVec3f @out, float[] @in, int i)
{ {
Copy(ref @out, 0, @in, i); Copy(ref @out, 0, @in, i);
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Copy(float[] @out, int n, float[] @in, int m) public static void Copy(float[] @out, int n, float[] @in, int m)
{ {
@out[n] = @in[m]; @out[n] = @in[m];
@ -566,6 +568,7 @@ namespace DotRecast.Core
@out[n + 2] = @in[m + 2]; @out[n + 2] = @in[m + 2];
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Copy(float[] @out, int n, RcVec3f @in, int m) public static void Copy(float[] @out, int n, RcVec3f @in, int m)
{ {
@out[n] = @in[m]; @out[n] = @in[m];
@ -573,6 +576,7 @@ namespace DotRecast.Core
@out[n + 2] = @in[m + 2]; @out[n + 2] = @in[m + 2];
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Copy(ref RcVec3f @out, int n, float[] @in, int m) public static void Copy(ref RcVec3f @out, int n, float[] @in, int m)
{ {
@out[n] = @in[m]; @out[n] = @in[m];
@ -580,6 +584,7 @@ namespace DotRecast.Core
@out[n + 2] = @in[m + 2]; @out[n + 2] = @in[m + 2];
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Add(ref RcVec3f e0, RcVec3f a, float[] verts, int i) public static void Add(ref RcVec3f e0, RcVec3f a, float[] verts, int i)
{ {
e0.x = a.x + verts[i]; e0.x = a.x + verts[i];
@ -588,6 +593,7 @@ namespace DotRecast.Core
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Sub(ref RcVec3f e0, float[] verts, int i, int j) public static void Sub(ref RcVec3f e0, float[] verts, int i, int j)
{ {
e0.x = verts[i] - verts[j]; e0.x = verts[i] - verts[j];
@ -596,6 +602,7 @@ namespace DotRecast.Core
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Sub(ref RcVec3f e0, RcVec3f i, float[] verts, int j) public static void Sub(ref RcVec3f e0, RcVec3f i, float[] verts, int j)
{ {
e0.x = i.x - verts[j]; e0.x = i.x - verts[j];
@ -604,6 +611,7 @@ namespace DotRecast.Core
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Cross(float[] dest, float[] v1, float[] v2) public static void Cross(float[] dest, float[] v1, float[] v2)
{ {
dest[0] = v1[1] * v2[2] - v1[2] * v2[1]; dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
@ -611,6 +619,7 @@ namespace DotRecast.Core
dest[2] = v1[0] * v2[1] - v1[1] * v2[0]; dest[2] = v1[0] * v2[1] - v1[1] * v2[0];
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Cross(float[] dest, RcVec3f v1, RcVec3f v2) public static void Cross(float[] dest, RcVec3f v1, RcVec3f v2)
{ {
dest[0] = v1.y * v2.z - v1.z * v2.y; dest[0] = v1.y * v2.z - v1.z * v2.y;
@ -618,6 +627,7 @@ namespace DotRecast.Core
dest[2] = v1.x * v2.y - v1.y * v2.x; dest[2] = v1.x * v2.y - v1.y * v2.x;
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Cross(ref RcVec3f dest, RcVec3f v1, RcVec3f v2) public static void Cross(ref RcVec3f dest, RcVec3f v1, RcVec3f v2)
{ {
dest.x = v1.y * v2.z - v1.z * v2.y; dest.x = v1.y * v2.z - v1.z * v2.y;
@ -626,14 +636,7 @@ namespace DotRecast.Core
} }
public static void Normalize(float[] v) [MethodImpl(MethodImplOptions.AggressiveInlining)]
{
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 void Normalize(ref RcVec3f v) public static void Normalize(ref RcVec3f v)
{ {
float d = (float)(1.0f / Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z)); float d = (float)(1.0f / Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z));

8
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
View File

@ -201,7 +201,7 @@ namespace DotRecast.Detour.Crowd
{ {
if (rayHit.path.Count > 1 && rayHit.t > 0.99f) if (rayHit.path.Count > 1 && rayHit.t > 0.99f)
{ {
m_path = PathUtils.MergeCorridorStartShortcut(m_path, rayHit.path); m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, rayHit.path);
} }
} }
} }
@ -236,7 +236,7 @@ namespace DotRecast.Detour.Crowd
if (status.Succeeded() && res.Count > 0) if (status.Succeeded() && res.Count > 0)
{ {
m_path = PathUtils.MergeCorridorStartShortcut(m_path, res); m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, res);
return true; return true;
} }
@ -307,7 +307,7 @@ namespace DotRecast.Detour.Crowd
var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited); var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
if (status.Succeeded()) if (status.Succeeded())
{ {
m_path = PathUtils.MergeCorridorStartMoved(m_path, visited); m_path = DtPathUtils.MergeCorridorStartMoved(m_path, visited);
// Adjust the position to stay on top of the navmesh. // Adjust the position to stay on top of the navmesh.
m_pos = result; m_pos = result;
@ -347,7 +347,7 @@ namespace DotRecast.Detour.Crowd
var status = navquery.MoveAlongSurface(m_path[m_path.Count - 1], m_target, npos, filter, out var result, ref visited); var status = navquery.MoveAlongSurface(m_path[m_path.Count - 1], m_target, npos, filter, out var result, ref visited);
if (status.Succeeded()) if (status.Succeeded())
{ {
m_path = PathUtils.MergeCorridorEndMoved(m_path, visited); m_path = DtPathUtils.MergeCorridorEndMoved(m_path, visited);
// TODO: should we do that? // TODO: should we do that?
// Adjust the position to stay on top of the navmesh. // Adjust the position to stay on top of the navmesh.
/* /*

10
src/DotRecast.Detour.Extras/PolyUtils.cs → src/DotRecast.Detour.Extras/DtPolyUtils.cs
View File

@ -18,11 +18,9 @@ freely, subject to the following restrictions:
namespace DotRecast.Detour.Extras namespace DotRecast.Detour.Extras
{ {
public static class PolyUtils public static class DtPolyUtils
{ {
/** // Find edge shared by 2 polygons within the same tile
* Find edge shared by 2 polygons within the same tile
*/
public static int FindEdge(DtPoly node, DtPoly neighbour, DtMeshData tile, DtMeshData neighbourTile) public static int FindEdge(DtPoly node, DtPoly neighbour, DtMeshData tile, DtMeshData neighbourTile)
{ {
// Compare indices first assuming there are no duplicate vertices // Compare indices first assuming there are no duplicate vertices
@ -73,9 +71,7 @@ namespace DotRecast.Detour.Extras
return true; return true;
} }
/** // Find edge closest to the given coordinate
* Find edge closest to the given coordinate
*/
public static int FindEdge(DtPoly node, DtMeshData tile, float value, int comp) public static int FindEdge(DtPoly node, DtMeshData tile, float value, int comp)
{ {
float error = float.MaxValue; float error = float.MaxValue;

10
src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs
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@ -49,7 +49,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
private void BuildInternalLink(DtMeshData tile, DtPoly node, DtMeshData neighbourTile, DtPoly neighbour) private void BuildInternalLink(DtMeshData tile, DtPoly node, DtMeshData neighbourTile, DtPoly neighbour)
{ {
int edge = PolyUtils.FindEdge(node, neighbour, tile, neighbourTile); int edge = DtPolyUtils.FindEdge(node, neighbour, tile, neighbourTile);
if (edge >= 0) if (edge >= 0)
{ {
node.neis[edge] = neighbour.index + 1; node.neis[edge] = neighbour.index + 1;
@ -65,19 +65,19 @@ namespace DotRecast.Detour.Extras.Unity.Astar
{ {
if (neighbourTile.header.bmin.x > tile.header.bmin.x) if (neighbourTile.header.bmin.x > tile.header.bmin.x)
{ {
node.neis[PolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.x, 0)] = DtNavMesh.DT_EXT_LINK; node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.x, 0)] = DtNavMesh.DT_EXT_LINK;
} }
else if (neighbourTile.header.bmin.x < tile.header.bmin.x) else if (neighbourTile.header.bmin.x < tile.header.bmin.x)
{ {
node.neis[PolyUtils.FindEdge(node, tile, tile.header.bmin.x, 0)] = DtNavMesh.DT_EXT_LINK | 4; node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.x, 0)] = DtNavMesh.DT_EXT_LINK | 4;
} }
else if (neighbourTile.header.bmin.z > tile.header.bmin.z) else if (neighbourTile.header.bmin.z > tile.header.bmin.z)
{ {
node.neis[PolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.z, 2)] = DtNavMesh.DT_EXT_LINK | 2; node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.z, 2)] = DtNavMesh.DT_EXT_LINK | 2;
} }
else else
{ {
node.neis[PolyUtils.FindEdge(node, tile, tile.header.bmin.z, 2)] = DtNavMesh.DT_EXT_LINK | 6; node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.z, 2)] = DtNavMesh.DT_EXT_LINK | 6;
} }
} }
} }

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

@ -80,7 +80,7 @@ namespace DotRecast.Detour
} }
} }
if (Intersections.IntersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2], out hitTime)) if (RcIntersections.IntersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2], out hitTime))
{ {
return true; return true;
} }

2
src/DotRecast.Detour/PathUtils.cs → src/DotRecast.Detour/DtPathUtils.cs
View File

@ -24,7 +24,7 @@ using DotRecast.Core;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
public static class PathUtils public static class DtPathUtils
{ {
private const int MAX_STEER_POINTS = 3; private const int MAX_STEER_POINTS = 3;

4
src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
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@ -143,7 +143,7 @@ namespace DotRecast.Recast.Toolset.Geom
tmin = 1.0f; tmin = 1.0f;
// Prune hit ray. // Prune hit ray.
if (!Intersections.IsectSegAABB(src, dst, bmin, bmax, out var btmin, out var btmax)) if (!RcIntersections.IsectSegAABB(src, dst, bmin, bmax, out var btmin, out var btmax))
{ {
return false; return false;
} }
@ -183,7 +183,7 @@ namespace DotRecast.Recast.Toolset.Geom
vertices[tris[j + 2] * 3 + 1], vertices[tris[j + 2] * 3 + 1],
vertices[tris[j + 2] * 3 + 2] vertices[tris[j + 2] * 3 + 2]
); );
if (Intersections.IntersectSegmentTriangle(src, dst, v1, v2, v3, out var t)) if (RcIntersections.IntersectSegmentTriangle(src, dst, v1, v2, v3, out var t))
{ {
if (t < tmin) if (t < tmin)
{ {

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

@ -17,7 +17,7 @@ namespace DotRecast.Recast.Toolset.Tools
private DtNavMesh navMesh; private DtNavMesh navMesh;
private FRand rnd; private RcRand rnd;
private readonly List<DtPolyPoint> _polyPoints; private readonly List<DtPolyPoint> _polyPoints;
private long crowdUpdateTime; private long crowdUpdateTime;
@ -162,7 +162,7 @@ namespace DotRecast.Recast.Toolset.Tools
if (null == navMesh) if (null == navMesh)
return; return;
rnd = new FRand(_cfg.randomSeed); rnd = new RcRand(_cfg.randomSeed);
CreateCrowd(); CreateCrowd();
CreateZones(); CreateZones();
DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh); DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);

2
src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs
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@ -222,7 +222,7 @@ namespace DotRecast.Recast.Toolset.Tools
RcVec3f bmin = new RcVec3f(); RcVec3f bmin = new RcVec3f();
RcVec3f bmax = new RcVec3f(); RcVec3f bmax = new RcVec3f();
GetAgentBounds(ag, ref bmin, ref bmax); GetAgentBounds(ag, ref bmin, ref bmax);
if (Intersections.IsectSegAABB(s, p, bmin, bmax, out var tmin, out var tmax)) if (RcIntersections.IsectSegAABB(s, p, bmin, bmax, out var tmin, out var tmax))
{ {
if (tmin > 0 && tmin < tsel) if (tmin > 0 && tmin < tsel)
{ {

2
src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
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@ -162,7 +162,7 @@ namespace DotRecast.Recast.Toolset.Tools
RcVec3f bmax = RcVec3f.Zero; RcVec3f bmax = RcVec3f.Zero;
_tc.GetObstacleBounds(ob, ref bmin, ref bmax); _tc.GetObstacleBounds(ob, ref bmin, ref bmax);
if (Intersections.IsectSegAABB(sp, sq, bmin, bmax, out var t0, out var t1)) if (RcIntersections.IsectSegAABB(sp, sq, bmin, bmax, out var t0, out var t1))
{ {
if (t0 < tmin) if (t0 < tmin)
{ {

12
src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
View File

@ -58,7 +58,7 @@ namespace DotRecast.Recast.Toolset.Tools
while (0 < polys.Count && smoothPath.Count < MAX_SMOOTH) while (0 < polys.Count && smoothPath.Count < MAX_SMOOTH)
{ {
// Find location to steer towards. // Find location to steer towards.
if (!PathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP, if (!DtPathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP,
polys, out var steerPos, out var steerPosFlag, out var steerPosRef)) polys, out var steerPos, out var steerPosFlag, out var steerPosRef))
{ {
break; break;
@ -91,8 +91,8 @@ namespace DotRecast.Recast.Toolset.Tools
iterPos = result; iterPos = result;
polys = PathUtils.MergeCorridorStartMoved(polys, visited); polys = DtPathUtils.MergeCorridorStartMoved(polys, visited);
polys = PathUtils.FixupShortcuts(polys, navQuery); polys = DtPathUtils.FixupShortcuts(polys, navQuery);
var status = navQuery.GetPolyHeight(polys[0], result, out var h); var status = navQuery.GetPolyHeight(polys[0], result, out var h);
if (status.Succeeded()) if (status.Succeeded())
@ -101,7 +101,7 @@ namespace DotRecast.Recast.Toolset.Tools
} }
// Handle end of path and off-mesh links when close enough. // Handle end of path and off-mesh links when close enough.
if (endOfPath && PathUtils.InRange(iterPos, steerPos, SLOP, 1.0f)) if (endOfPath && DtPathUtils.InRange(iterPos, steerPos, SLOP, 1.0f))
{ {
// Reached end of path. // Reached end of path.
iterPos = targetPos; iterPos = targetPos;
@ -112,7 +112,7 @@ namespace DotRecast.Recast.Toolset.Tools
break; break;
} }
else if (offMeshConnection && PathUtils.InRange(iterPos, steerPos, SLOP, 1.0f)) else if (offMeshConnection && DtPathUtils.InRange(iterPos, steerPos, SLOP, 1.0f))
{ {
// Reached off-mesh connection. // Reached off-mesh connection.
RcVec3f startPos = RcVec3f.Zero; RcVec3f startPos = RcVec3f.Zero;
@ -422,7 +422,7 @@ namespace DotRecast.Recast.Toolset.Tools
? DtStrictDtPolygonByCircleConstraint.Shared ? DtStrictDtPolygonByCircleConstraint.Shared
: DtNoOpDtPolygonByCircleConstraint.Shared; : DtNoOpDtPolygonByCircleConstraint.Shared;
var frand = new FRand(); var frand = new RcRand();
int prevCnt = points.Count; int prevCnt = points.Count;
points = new List<RcVec3f>(); points = new List<RcVec3f>();

2
src/DotRecast.Recast/RcPolyMeshRaycast.cs
View File

@ -64,7 +64,7 @@ namespace DotRecast.Recast
vs[k].z = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 2]; vs[k].z = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 2];
} }
if (Intersections.IntersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2], out hitTime)) if (RcIntersections.IntersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2], out hitTime))
{ {
return true; return true;
} }

8
test/DotRecast.Detour.Test/RandomPointTest.cs
View File

@ -31,7 +31,7 @@ public class RandomPointTest : AbstractDetourTest
[Test] [Test]
public void TestRandom() public void TestRandom()
{ {
FRand f = new FRand(1); RcRand f = new RcRand(1);
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
for (int i = 0; i < 1000; i++) for (int i = 0; i < 1000; i++)
{ {
@ -60,7 +60,7 @@ public class RandomPointTest : AbstractDetourTest
[Test] [Test]
public void TestRandomAroundCircle() public void TestRandomAroundCircle()
{ {
FRand f = new FRand(1); RcRand f = new RcRand(1);
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
query.FindRandomPoint(filter, f, out var randomRef, out var randomPt); query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);
for (int i = 0; i < 1000; i++) for (int i = 0; i < 1000; i++)
@ -94,7 +94,7 @@ public class RandomPointTest : AbstractDetourTest
[Test] [Test]
public void TestRandomWithinCircle() public void TestRandomWithinCircle()
{ {
FRand f = new FRand(1); RcRand f = new RcRand(1);
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
query.FindRandomPoint(filter, f, out var randomRef, out var randomPt); query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);
float radius = 5f; float radius = 5f;
@ -114,7 +114,7 @@ public class RandomPointTest : AbstractDetourTest
[Test] [Test]
public void TestPerformance() public void TestPerformance()
{ {
FRand f = new FRand(1); RcRand f = new RcRand(1);
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
query.FindRandomPoint(filter, f, out var randomRef, out var randomPt); query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);