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DotRecastNetSim
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remove FindNearestPolyResult ok

This commit is contained in:
ikpil 2023-06-11 13:41:37 +09:00
parent 64315ca56e
commit 36ad2e1498
8 changed files with 29 additions and 86 deletions
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16
src/DotRecast.Detour.Crowd/DtCrowd.cs
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@ -245,14 +245,14 @@ namespace DotRecast.Detour.Crowd
UpdateAgentParameters(ag, option);
// Find nearest position on navmesh and place the agent there.
var status = _navQuery.FindNearestPoly(pos, _ext, _filters[ag.option.queryFilterType], out var refs, out var nearest, out var _);
var status = _navQuery.FindNearestPoly(pos, _ext, _filters[ag.option.queryFilterType], out var refs, out var nearestPt, out var _);
if (status.Failed())
{
nearest = pos;
nearestPt = pos;
refs = 0;
}
ag.corridor.Reset(refs, nearest);
ag.corridor.Reset(refs, nearestPt);
ag.boundary.Reset();
ag.partial = false;
@ -262,7 +262,7 @@ namespace DotRecast.Detour.Crowd
ag.dvel = RcVec3f.Zero;
ag.nvel = RcVec3f.Zero;
ag.vel = RcVec3f.Zero;
ag.npos = nearest;
ag.npos = nearestPt;
ag.desiredSpeed = 0;
@ -465,8 +465,8 @@ namespace DotRecast.Detour.Crowd
{
// Current location is not valid, try to reposition.
// TODO: this can snap agents, how to handle that?
_navQuery.FindNearestPoly(ag.npos, _ext, _filters[ag.option.queryFilterType], out agentRef, out var nearest, out var _);
agentPos = nearest;
_navQuery.FindNearestPoly(ag.npos, _ext, _filters[ag.option.queryFilterType], out agentRef, out var nearestPt, out var _);
agentPos = nearestPt;
if (agentRef == 0)
{
@ -505,8 +505,8 @@ namespace DotRecast.Detour.Crowd
if (!_navQuery.IsValidPolyRef(ag.targetRef, _filters[ag.option.queryFilterType]))
{
// Current target is not valid, try to reposition.
_navQuery.FindNearestPoly(ag.targetPos, _ext, _filters[ag.option.queryFilterType], out ag.targetRef, out var nearest, out var _);
ag.targetPos = nearest;
_navQuery.FindNearestPoly(ag.targetPos, _ext, _filters[ag.option.queryFilterType], out ag.targetRef, out var nearestPt, out var _);
ag.targetPos = nearestPt;
replan = true;
}

20
src/DotRecast.Detour/DtNavMesh.cs
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@ -840,14 +840,12 @@ namespace DotRecast.Detour
p.x = targetCon.pos[3];
p.y = targetCon.pos[4];
p.z = targetCon.pos[5];
FindNearestPolyResult nearest = FindNearestPolyInTile(tile, p, ext);
long refs = nearest.GetNearestRef();
var refs = FindNearestPolyInTile(tile, p, ext, out var nearestPt);
if (refs == 0)
{
continue;
}
var nearestPt = nearest.GetNearestPos();
// findNearestPoly may return too optimistic results, further check
// to make sure.
@ -1070,15 +1068,13 @@ namespace DotRecast.Detour
};
// Find polygon to connect to.
FindNearestPolyResult nearestPoly = FindNearestPolyInTile(tile, RcVec3f.Of(con.pos), ext);
long refs = nearestPoly.GetNearestRef();
var refs = FindNearestPolyInTile(tile, RcVec3f.Of(con.pos), ext, out var nearestPt);
if (refs == 0)
{
continue;
}
float[] p = con.pos; // First vertex
RcVec3f nearestPt = nearestPoly.GetNearestPos();
// findNearestPoly may return too optimistic results, further check
// to make sure.
if (Sqr(nearestPt.x - p[0]) + Sqr(nearestPt.z - p[2]) > Sqr(con.rad))
@ -1343,12 +1339,14 @@ namespace DotRecast.Detour
closest = ClosestPointOnDetailEdges(tile, poly, pos, true);
}
FindNearestPolyResult FindNearestPolyInTile(DtMeshTile tile, RcVec3f center, RcVec3f extents)
/// Find nearest polygon within a tile.
private long FindNearestPolyInTile(DtMeshTile tile, RcVec3f center, RcVec3f halfExtents, out RcVec3f nearestPt)
{
RcVec3f nearestPt = new RcVec3f();
nearestPt = RcVec3f.Zero;
bool overPoly = false;
RcVec3f bmin = center.Subtract(extents);
RcVec3f bmax = center.Add(extents);
RcVec3f bmin = center.Subtract(halfExtents);
RcVec3f bmax = center.Add(halfExtents);
// Get nearby polygons from proximity grid.
List<long> polys = QueryPolygonsInTile(tile, bmin, bmax);
@ -1384,7 +1382,7 @@ namespace DotRecast.Detour
}
}
return new FindNearestPolyResult(nearest, nearestPt, overPoly);
return nearest;
}
DtMeshTile GetTileAt(int x, int y, int layer)

55
src/DotRecast.Detour/QueryResults/FindNearestPolyResult.cs
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@ -1,55 +0,0 @@
/*
Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
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.QueryResults
{
public class FindNearestPolyResult
{
private readonly long nearestRef;
private readonly RcVec3f nearestPos;
private readonly bool overPoly;
public FindNearestPolyResult(long nearestRef, RcVec3f 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 RcVec3f GetNearestPos()
{
return nearestPos;
}
public bool IsOverPoly()
{
return overPoly;
}
}
}

4
src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs
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@ -279,7 +279,7 @@ public class CrowdProfilingTool
private void MoveMob(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, CrowdAgentData crowAgentData)
{
// Move somewhere
var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearest, out var _);
var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
if (status.Succeeded())
{
status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, zoneRadius * 2f, filter, rnd,
@ -294,7 +294,7 @@ public class CrowdProfilingTool
private void MoveVillager(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, CrowdAgentData crowAgentData)
{
// Move somewhere close
var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearest, out var _);
var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
if (status.Succeeded())
{
status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, zoneRadius * 0.2f, filter, rnd,

2
src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
View File

@ -158,7 +158,7 @@ public class CrowdTool : ITool
{
IDtQueryFilter filter = new DtQueryDefaultFilter();
RcVec3f halfExtents = crowd.GetQueryExtents();
navquery.FindNearestPoly(p, halfExtents, filter, out var refs, out var nearest, out var _);
navquery.FindNearestPoly(p, halfExtents, filter, out var refs, out var nearestPt, out var _);
if (refs != 0)
{
Result<int> flags = nav.GetPolyFlags(refs);

4
test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
View File

@ -143,10 +143,10 @@ public class AbstractCrowdTest
}
else
{
query.FindNearestPoly(pos, ext, filter, out var refs, out var nearest, out var _);
query.FindNearestPoly(pos, ext, filter, out var nearestRef, out var nearestPt, out var _);
foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
{
crowd.RequestMoveTarget(ag, refs, nearest);
crowd.RequestMoveTarget(ag, nearestRef, nearestPt);
}
}
}

6
test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs
View File

@ -109,11 +109,11 @@ public class UnityAStarPathfindingImporterTest
for (int i = 0; i < results.Length; i++)
{
RcVec3f position = positions[i];
var status = query.FindNearestPoly(position, extents, filter, out var nearestRef, out var nearest, out var _);
var status = query.FindNearestPoly(position, extents, filter, out var nearestRef, out var nearestPt, out var _);
Assert.That(status.Succeeded(), Is.True);
Assert.That(nearest, Is.Not.EqualTo(RcVec3f.Zero), "Nearest start position is null!");
Assert.That(nearestPt, Is.Not.EqualTo(RcVec3f.Zero), "Nearest start position is null!");
results[i] = new DtPolyPoint(nearestRef, nearest);
results[i] = new DtPolyPoint(nearestRef, nearestPt);
}
return results;

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

@ -42,12 +42,12 @@ public class FindNearestPolyTest : AbstractDetourTest
for (int i = 0; i < startRefs.Length; i++)
{
RcVec3f startPos = startPoss[i];
var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearest, out var _);
var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearestPt, out var _);
Assert.That(status.Succeeded(), Is.True);
Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]));
for (int v = 0; v < POLY_POS[i].Length; v++)
{
Assert.That(nearest[v], Is.EqualTo(POLY_POS[i][v]).Within(0.001f));
Assert.That(nearestPt[v], Is.EqualTo(POLY_POS[i][v]).Within(0.001f));
}
}
}
@ -61,12 +61,12 @@ public class FindNearestPolyTest : AbstractDetourTest
for (int i = 0; i < startRefs.Length; i++)
{
RcVec3f startPos = startPoss[i];
var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearest, out var _);
var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearestPt, out var _);
Assert.That(status.Succeeded(), Is.True);
Assert.That(nearestRef, Is.EqualTo(0L));
for (int v = 0; v < POLY_POS[i].Length; v++)
{
Assert.That(nearest[v], Is.EqualTo(startPos[v]).Within(0.001f));
Assert.That(nearestPt[v], Is.EqualTo(startPos[v]).Within(0.001f));
}
}
}