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DotRecastNetSim
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012 -> xyz

This commit is contained in:
ikpil 2023-04-29 13:06:21 +09:00
parent b714e5b0f7
commit 3ecfa5d9fd
6 changed files with 48 additions and 48 deletions
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18
src/DotRecast.Detour.Crowd/Crowd.cs
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@ -869,7 +869,7 @@ namespace DotRecast.Detour.Crowd
{ {
Vector3f p = ag.npos; Vector3f p = ag.npos;
float r = ag.option.radius; float r = ag.option.radius;
m_grid.addItem(ag, p[0] - r, p[2] - r, p[0] + r, p[2] + r); m_grid.addItem(ag, p.x - r, p.z - r, p.x + r, p.z + r);
} }
_telemetry.stop("buildProximityGrid"); _telemetry.stop("buildProximityGrid");
@ -905,7 +905,7 @@ namespace DotRecast.Detour.Crowd
private List<CrowdNeighbour> getNeighbours(Vector3f pos, float height, float range, CrowdAgent skip, ProximityGrid grid) private List<CrowdNeighbour> getNeighbours(Vector3f pos, float height, float range, CrowdAgent skip, ProximityGrid grid)
{ {
List<CrowdNeighbour> result = new List<CrowdNeighbour>(); List<CrowdNeighbour> result = new List<CrowdNeighbour>();
HashSet<CrowdAgent> proxAgents = grid.queryItems(pos[0] - range, pos[2] - range, pos[0] + range, pos[2] + range); HashSet<CrowdAgent> proxAgents = grid.queryItems(pos.x - range, pos.z - range, pos.x + range, pos.z + range);
foreach (CrowdAgent ag in proxAgents) foreach (CrowdAgent ag in proxAgents)
{ {
@ -916,12 +916,12 @@ namespace DotRecast.Detour.Crowd
// Check for overlap. // Check for overlap.
Vector3f diff = vSub(pos, ag.npos); Vector3f diff = vSub(pos, ag.npos);
if (Math.Abs(diff[1]) >= (height + ag.option.height) / 2.0f) if (Math.Abs(diff.y) >= (height + ag.option.height) / 2.0f)
{ {
continue; continue;
} }
diff[1] = 0; diff.y = 0;
float distSqr = vLenSqr(diff); float distSqr = vLenSqr(diff);
if (distSqr > sqr(range)) if (distSqr > sqr(range))
{ {
@ -1090,7 +1090,7 @@ namespace DotRecast.Detour.Crowd
CrowdAgent nei = ag.neis[j].agent; CrowdAgent nei = ag.neis[j].agent;
Vector3f diff = vSub(ag.npos, nei.npos); Vector3f diff = vSub(ag.npos, nei.npos);
diff[1] = 0; diff.y = 0;
float distSqr = vLenSqr(diff); float distSqr = vLenSqr(diff);
if (distSqr < 0.00001f) if (distSqr < 0.00001f)
@ -1244,7 +1244,7 @@ namespace DotRecast.Detour.Crowd
CrowdAgent nei = ag.neis[j].agent; CrowdAgent nei = ag.neis[j].agent;
long idx1 = nei.idx; long idx1 = nei.idx;
Vector3f diff = vSub(ag.npos, nei.npos); Vector3f diff = vSub(ag.npos, nei.npos);
diff[1] = 0; diff.y = 0;
float dist = vLenSqr(diff); float dist = vLenSqr(diff);
if (dist > sqr(ag.option.radius + nei.option.radius)) if (dist > sqr(ag.option.radius + nei.option.radius))
@ -1259,11 +1259,11 @@ namespace DotRecast.Detour.Crowd
// Agents on top of each other, try to choose diverging separation directions. // Agents on top of each other, try to choose diverging separation directions.
if (idx0 > idx1) if (idx0 > idx1)
{ {
vSet(ref diff, -ag.dvel[2], 0, ag.dvel[0]); vSet(ref diff, -ag.dvel.z, 0, ag.dvel.x);
} }
else else
{ {
vSet(ref diff, ag.dvel[2], 0, -ag.dvel[0]); vSet(ref diff, ag.dvel.z, 0, -ag.dvel.x);
} }
pen = 0.01f; pen = 0.01f;
@ -1392,4 +1392,4 @@ namespace DotRecast.Detour.Crowd
} }
}; };
} }
} }

14
src/DotRecast.Detour.Crowd/CrowdAgent.cs
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@ -195,17 +195,17 @@ namespace DotRecast.Detour.Crowd
var dir0 = vSub(p0, npos); var dir0 = vSub(p0, npos);
var dir1 = vSub(p1, npos); var dir1 = vSub(p1, npos);
dir0[1] = 0; dir0.y = 0;
dir1[1] = 0; dir1.y = 0;
float len0 = vLen(dir0); float len0 = vLen(dir0);
float len1 = vLen(dir1); float len1 = vLen(dir1);
if (len1 > 0.001f) if (len1 > 0.001f)
dir1 = vScale(dir1, 1.0f / len1); dir1 = vScale(dir1, 1.0f / len1);
dir[0] = dir0[0] - dir1[0] * len0 * 0.5f; dir.x = dir0.x - dir1.x * len0 * 0.5f;
dir[1] = 0; dir.y = 0;
dir[2] = dir0[2] - dir1[2] * len0 * 0.5f; dir.z = dir0.z - dir1.z * len0 * 0.5f;
vNormalize(ref dir); vNormalize(ref dir);
} }
@ -219,7 +219,7 @@ namespace DotRecast.Detour.Crowd
if (0 < corners.Count) if (0 < corners.Count)
{ {
dir = vSub(corners[0].getPos(), npos); dir = vSub(corners[0].getPos(), npos);
dir[1] = 0; dir.y = 0;
vNormalize(ref dir); vNormalize(ref dir);
} }
@ -241,4 +241,4 @@ namespace DotRecast.Detour.Crowd
} }
} }
} }
} }

6
src/DotRecast.Detour.Crowd/LocalBoundary.cs
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@ -46,12 +46,12 @@ namespace DotRecast.Detour.Crowd
public LocalBoundary() public LocalBoundary()
{ {
m_center[0] = m_center[1] = m_center[2] = float.MaxValue; m_center.x = m_center.y = m_center.z = float.MaxValue;
} }
public void reset() public void reset()
{ {
m_center[0] = m_center[1] = m_center[2] = float.MaxValue; m_center.x = m_center.y = m_center.z = float.MaxValue;
m_polys.Clear(); m_polys.Clear();
m_segs.Clear(); m_segs.Clear();
} }
@ -172,4 +172,4 @@ namespace DotRecast.Detour.Crowd
return m_segs.Count; return m_segs.Count;
} }
} }
} }

38
src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs
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@ -166,13 +166,13 @@ namespace DotRecast.Detour.Crowd
float a = triArea2D(orig, cir.dp, dv); float a = triArea2D(orig, cir.dp, dv);
if (a < 0.01f) if (a < 0.01f)
{ {
cir.np[0] = -cir.dp[2]; cir.np.x = -cir.dp.z;
cir.np[2] = cir.dp[0]; cir.np.z = cir.dp.x;
} }
else else
{ {
cir.np[0] = cir.dp[2]; cir.np.x = cir.dp.z;
cir.np[2] = -cir.dp[0]; cir.np.z = -cir.dp.x;
} }
} }
@ -300,8 +300,8 @@ namespace DotRecast.Detour.Crowd
// Special case when the agent is very close to the segment. // Special case when the agent is very close to the segment.
Vector3f sdir = vSub(seg.q, seg.p); Vector3f sdir = vSub(seg.q, seg.p);
Vector3f snorm = new Vector3f(); Vector3f snorm = new Vector3f();
snorm[0] = -sdir[2]; snorm.x = -sdir.z;
snorm[2] = sdir[0]; snorm.z = sdir.x;
// If the velocity is pointing towards the segment, no collision. // If the velocity is pointing towards the segment, no collision.
if (vDot2D(snorm, vcand) < 0.0f) if (vDot2D(snorm, vcand) < 0.0f)
continue; continue;
@ -357,8 +357,8 @@ namespace DotRecast.Detour.Crowd
if (debug != null) if (debug != null)
debug.reset(); debug.reset();
float cvx = dvel[0] * m_params.velBias; float cvx = dvel.x * m_params.velBias;
float cvz = dvel[2] * m_params.velBias; float cvz = dvel.z * m_params.velBias;
float cs = vmax * 2 * (1 - m_params.velBias) / (m_params.gridSize - 1); float cs = vmax * 2 * (1 - m_params.velBias) / (m_params.gridSize - 1);
float half = (m_params.gridSize - 1) * cs * 0.5f; float half = (m_params.gridSize - 1) * cs * 0.5f;
@ -372,7 +372,7 @@ namespace DotRecast.Detour.Crowd
Vector3f vcand = new Vector3f(); Vector3f vcand = new Vector3f();
vSet(ref vcand, cvx + x * cs - half, 0f, cvz + y * cs - half); vSet(ref vcand, cvx + x * cs - half, 0f, cvz + y * cs - half);
if (sqr(vcand[0]) + sqr(vcand[2]) > sqr(vmax + cs / 2)) if (sqr(vcand.x) + sqr(vcand.z) > sqr(vmax + cs / 2))
continue; continue;
float penalty = processSample(vcand, cs, pos, rad, vel, dvel, minPenalty, debug); float penalty = processSample(vcand, cs, pos, rad, vel, dvel, minPenalty, debug);
@ -405,9 +405,9 @@ namespace DotRecast.Detour.Crowd
Vector3f dest = new Vector3f(); Vector3f dest = new Vector3f();
float c = (float)Math.Cos(ang); float c = (float)Math.Cos(ang);
float s = (float)Math.Sin(ang); float s = (float)Math.Sin(ang);
dest[0] = v[0] * c - v[2] * s; dest.x = v[0] * c - v[2] * s;
dest[2] = v[0] * s + v[2] * c; dest.z = v[0] * s + v[2] * c;
dest[1] = v[1]; dest.y = v[1];
return dest; return dest;
} }
@ -446,9 +446,9 @@ namespace DotRecast.Detour.Crowd
vCopy(ddir, dvel); vCopy(ddir, dvel);
dtNormalize2D(ddir); dtNormalize2D(ddir);
Vector3f rotated = dtRotate2D(ddir, da * 0.5f); // rotated by da/2 Vector3f rotated = dtRotate2D(ddir, da * 0.5f); // rotated by da/2
ddir[3] = rotated[0]; ddir[3] = rotated.x;
ddir[4] = rotated[1]; ddir[4] = rotated.y;
ddir[5] = rotated[2]; ddir[5] = rotated.z;
// Always add sample at zero // Always add sample at zero
pat[npat * 2 + 0] = 0; pat[npat * 2 + 0] = 0;
@ -489,7 +489,7 @@ namespace DotRecast.Detour.Crowd
// Start sampling. // Start sampling.
float cr = vmax * (1.0f - m_params.velBias); float cr = vmax * (1.0f - m_params.velBias);
Vector3f res = new Vector3f(); Vector3f res = new Vector3f();
vSet(ref res, dvel[0] * m_params.velBias, 0, dvel[2] * m_params.velBias); vSet(ref res, dvel.x * m_params.velBias, 0, dvel.z * m_params.velBias);
int ns = 0; int ns = 0;
for (int k = 0; k < depth; ++k) for (int k = 0; k < depth; ++k)
{ {
@ -500,8 +500,8 @@ namespace DotRecast.Detour.Crowd
for (int i = 0; i < npat; ++i) for (int i = 0; i < npat; ++i)
{ {
Vector3f vcand = new Vector3f(); Vector3f vcand = new Vector3f();
vSet(ref vcand, res[0] + pat[i * 2 + 0] * cr, 0f, res[2] + pat[i * 2 + 1] * cr); vSet(ref vcand, res.x + pat[i * 2 + 0] * cr, 0f, res.z + pat[i * 2 + 1] * cr);
if (sqr(vcand[0]) + sqr(vcand[2]) > sqr(vmax + 0.001f)) if (sqr(vcand.x) + sqr(vcand.z) > sqr(vmax + 0.001f))
continue; continue;
float penalty = processSample(vcand, cr / 10, pos, rad, vel, dvel, minPenalty, debug); float penalty = processSample(vcand, cr / 10, pos, rad, vel, dvel, minPenalty, debug);
@ -523,4 +523,4 @@ namespace DotRecast.Detour.Crowd
return Tuple.Create(ns, nvel); return Tuple.Create(ns, nvel);
} }
} }
} }

8
src/DotRecast.Detour.Crowd/PathCorridor.cs
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@ -435,7 +435,7 @@ namespace DotRecast.Detour.Crowd
Result<float> hr = navquery.getPolyHeight(m_path[0], masResult.result.getResultPos()); Result<float> hr = navquery.getPolyHeight(m_path[0], masResult.result.getResultPos());
if (hr.Succeeded()) if (hr.Succeeded())
{ {
m_pos[1] = hr.result; m_pos.y = hr.result;
} }
return true; return true;
@ -471,8 +471,8 @@ namespace DotRecast.Detour.Crowd
// 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.
/* /*
* float h = m_target[1]; navquery->getPolyHeight(m_path[m_npath-1], * float h = m_target.y; navquery->getPolyHeight(m_path[m_npath-1],
* result, &h); result[1] = h; * result, &h); result.y = h;
*/ */
m_target = masResult.result.getResultPos(); m_target = masResult.result.getResultPos();
return true; return true;
@ -632,4 +632,4 @@ namespace DotRecast.Detour.Crowd
return m_path.Count; return m_path.Count;
} }
} }
} }

12
src/DotRecast.Detour.Crowd/Tracking/ObstacleAvoidanceDebugData.cs
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@ -84,9 +84,9 @@ namespace DotRecast.Detour.Crowd.Tracking
{ {
if (m_nsamples >= m_maxSamples) if (m_nsamples >= m_maxSamples)
return; return;
m_vel[m_nsamples * 3] = vel[0]; m_vel[m_nsamples * 3] = vel.x;
m_vel[m_nsamples * 3 + 1] = vel[1]; m_vel[m_nsamples * 3 + 1] = vel.y;
m_vel[m_nsamples * 3 + 2] = vel[2]; m_vel[m_nsamples * 3 + 2] = vel.z;
m_ssize[m_nsamples] = ssize; m_ssize[m_nsamples] = ssize;
m_pen[m_nsamples] = pen; m_pen[m_nsamples] = pen;
m_vpen[m_nsamples] = vpen; m_vpen[m_nsamples] = vpen;
@ -104,9 +104,9 @@ namespace DotRecast.Detour.Crowd.Tracking
public Vector3f getSampleVelocity(int i) public Vector3f getSampleVelocity(int i)
{ {
Vector3f vel = new Vector3f(); Vector3f vel = new Vector3f();
vel[0] = m_vel[i * 3]; vel.x = m_vel[i * 3];
vel[1] = m_vel[i * 3 + 1]; vel.y = m_vel[i * 3 + 1];
vel[2] = m_vel[i * 3 + 2]; vel.z = m_vel[i * 3 + 2];
return vel; return vel;
} }