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DotRecastNetSim
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remove FindPolysAroundResult

This commit is contained in:
ikpil 2023-06-11 14:17:48 +09:00
parent 36ad2e1498
commit 40229226dc
5 changed files with 73 additions and 126 deletions
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102
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -575,7 +575,7 @@ namespace DotRecast.Detour
nearestRef = 0; nearestRef = 0;
nearestPt = center; nearestPt = center;
isOverPoly = false; isOverPoly = false;
// Get nearby polygons from proximity grid. // Get nearby polygons from proximity grid.
DtFindNearestPolyQuery query = new DtFindNearestPolyQuery(this, center); DtFindNearestPolyQuery query = new DtFindNearestPolyQuery(this, center);
DtStatus status = QueryPolygons(center, halfExtents, filter, query); DtStatus status = QueryPolygons(center, halfExtents, filter, query);
@ -2416,35 +2416,36 @@ namespace DotRecast.Detour
/// If the result arrays are to small to hold the entire result set, they will be /// If the result arrays are to small to hold the entire result set, they will be
/// filled to capacity. /// filled to capacity.
/// ///
/// @} ///@}
/// @name Dijkstra Search Functions /// @name Dijkstra Search Functions
/// @{ /// @{
/// Finds the polygons along the navigation graph that touch the specified circle. /// Finds the polygons along the navigation graph that touch the specified circle.
/// @param[in] startRef The reference id of the polygon where the search starts. /// @param[in] startRef The reference id of the polygon where the search starts.
/// @param[in] centerPos The center of the search circle. [(x, y, z)] /// @param[in] centerPos The center of the search circle. [(x, y, z)]
/// @param[in] radius The radius of the search circle. /// @param[in] radius The radius of the search circle.
/// @param[in] filter The polygon filter to apply to the query. /// @param[in] filter The polygon filter to apply to the query.
/// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt] /// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt]
/// @param[out] resultParent The reference ids of the parent polygons for each result. /// @param[out] resultParent The reference ids of the parent polygons for each result.
/// Zero if a result polygon has no parent. [opt] /// Zero if a result polygon has no parent. [opt]
/// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt] /// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt]
/// @param[out] resultCount The number of polygons found. [opt] /// @param[out] resultCount The number of polygons found. [opt]
/// @param[in] maxResult The maximum number of polygons the result arrays can hold. /// @param[in] maxResult The maximum number of polygons the result arrays can hold.
/// @returns The status flags for the query. /// @returns The status flags for the query.
public Result<FindPolysAroundResult> FindPolysAroundCircle(long startRef, RcVec3f centerPos, float radius, IDtQueryFilter filter) public DtStatus FindPolysAroundCircle(long startRef, RcVec3f centerPos, float radius, IDtQueryFilter filter,
out List<long> resultRef, out List<long> resultParent, out List<float> resultCost)
{ {
// Validate input // TODO : check performance
resultRef = new List<long>();
resultParent = new List<long>();
resultCost = new List<float>();
// Validate input
if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(centerPos) || radius < 0 if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(centerPos) || radius < 0
|| !float.IsFinite(radius) || null == filter) || !float.IsFinite(radius) || null == filter)
{ {
return Results.InvalidParam<FindPolysAroundResult>(); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
List<long> resultRef = new List<long>();
List<long> resultParent = new List<long>();
List<float> resultCost = new List<float>();
m_nodePool.Clear(); m_nodePool.Clear();
m_openList.Clear(); m_openList.Clear();
@ -2564,57 +2565,58 @@ namespace DotRecast.Detour
} }
} }
return Results.Success(new FindPolysAroundResult(resultRef, resultParent, resultCost)); return DtStatus.DT_SUCCSESS;
} }
/// @par /// @par
/// ///
/// The order of the result set is from least to highest cost. /// The order of the result set is from least to highest cost.
/// ///
/// At least one result array must be provided. /// At least one result array must be provided.
/// ///
/// A common use case for this method is to perform Dijkstra searches. /// A common use case for this method is to perform Dijkstra searches.
/// Candidate polygons are found by searching the graph beginning at the start /// Candidate polygons are found by searching the graph beginning at the start
/// polygon. /// polygon.
/// ///
/// The same intersection test restrictions that apply to FindPolysAroundCircle() /// The same intersection test restrictions that apply to findPolysAroundCircle()
/// method apply to this method. /// method apply to this method.
/// ///
/// The 3D centroid of the search polygon is used as the start position for cost /// The 3D centroid of the search polygon is used as the start position for cost
/// calculations. /// calculations.
/// ///
/// Intersection tests occur in 2D. All polygons are projected onto the /// Intersection tests occur in 2D. All polygons are projected onto the
/// xz-plane. So the y-values of the vertices do not effect intersection tests. /// xz-plane. So the y-values of the vertices do not effect intersection tests.
/// ///
/// If the result arrays are is too small to hold the entire result set, they will /// If the result arrays are is too small to hold the entire result set, they will
/// be filled to capacity. /// be filled to capacity.
/// ///
/// Finds the polygons along the naviation graph that touch the specified convex polygon. /// Finds the polygons along the naviation graph that touch the specified convex polygon.
/// @param[in] startRef The reference id of the polygon where the search starts. /// @param[in] startRef The reference id of the polygon where the search starts.
/// @param[in] verts The vertices describing the convex polygon. (CCW) /// @param[in] verts The vertices describing the convex polygon. (CCW)
/// [(x, y, z) * @p nverts] /// [(x, y, z) * @p nverts]
/// @param[in] nverts The number of vertices in the polygon. /// @param[in] nverts The number of vertices in the polygon.
/// @param[in] filter The polygon filter to apply to the query. /// @param[in] filter The polygon filter to apply to the query.
/// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt] /// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt]
/// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a /// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a
/// result polygon has no parent. [opt] /// result polygon has no parent. [opt]
/// @param[out] resultCost The search cost from the centroid point to the polygon. [opt] /// @param[out] resultCost The search cost from the centroid point to the polygon. [opt]
/// @param[out] resultCount The number of polygons found. /// @param[out] resultCount The number of polygons found.
/// @param[in] maxResult The maximum number of polygons the result arrays can hold. /// @param[in] maxResult The maximum number of polygons the result arrays can hold.
/// @returns The status flags for the query. /// @returns The status flags for the query.
public Result<FindPolysAroundResult> FindPolysAroundShape(long startRef, float[] verts, IDtQueryFilter filter) public DtStatus FindPolysAroundShape(long startRef, float[] verts, IDtQueryFilter filter,
out List<long> resultRef, out List<long> resultParent, out List<float> resultCost)
{ {
resultRef = new List<long>();
resultParent = new List<long>();
resultCost = new List<float>();
// Validate input // Validate input
int nverts = verts.Length / 3; int nverts = verts.Length / 3;
if (!m_nav.IsValidPolyRef(startRef) || null == verts || nverts < 3 || null == filter) if (!m_nav.IsValidPolyRef(startRef) || null == verts || nverts < 3 || null == filter)
{ {
return Results.InvalidParam<FindPolysAroundResult>(); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
List<long> resultRef = new List<long>();
List<long> resultParent = new List<long>();
List<float> resultCost = new List<float>();
m_nodePool.Clear(); m_nodePool.Clear();
m_openList.Clear(); m_openList.Clear();
@ -2751,7 +2753,7 @@ namespace DotRecast.Detour
} }
} }
return Results.Success(new FindPolysAroundResult(resultRef, resultParent, resultCost)); return DtStatus.DT_SUCCSESS;
} }
/// @par /// @par

54
src/DotRecast.Detour/QueryResults/FindPolysAroundResult.cs
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@ -1,54 +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 System.Collections.Generic;
namespace DotRecast.Detour.QueryResults
{
// TODO: (PP) Add comments
public class FindPolysAroundResult
{
private readonly List<long> refs;
private readonly List<long> parentRefs;
private readonly List<float> costs;
public FindPolysAroundResult(List<long> refs, List<long> parentRefs, List<float> costs)
{
this.@refs = refs;
this.parentRefs = parentRefs;
this.costs = costs;
}
public List<long> GetRefs()
{
return refs;
}
public List<long> GetParentRefs()
{
return parentRefs;
}
public List<float> GetCosts()
{
return costs;
}
}
}

17
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
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@ -425,12 +425,11 @@ public class TestNavmeshTool : ITool
float dx = m_epos.x - m_spos.x; float dx = m_epos.x - m_spos.x;
float dz = m_epos.z - m_spos.z; float dz = m_epos.z - m_spos.z;
float dist = (float)Math.Sqrt(dx * dx + dz * dz); float dist = (float)Math.Sqrt(dx * dx + dz * dz);
Result<FindPolysAroundResult> result = m_navQuery.FindPolysAroundCircle(m_startRef, m_spos, dist, var status = m_navQuery.FindPolysAroundCircle(m_startRef, m_spos, dist, m_filter, out var refs, out var parentRefs, out var costs);
m_filter); if (status.Succeeded())
if (result.Succeeded())
{ {
m_polys = result.result.GetRefs(); m_polys = refs;
m_parent = result.result.GetParentRefs(); m_parent = parentRefs;
} }
} }
} }
@ -458,11 +457,11 @@ public class TestNavmeshTool : ITool
m_queryPoly[10] = m_epos.y + agentHeight / 2; m_queryPoly[10] = m_epos.y + agentHeight / 2;
m_queryPoly[11] = m_epos.z + nz; m_queryPoly[11] = m_epos.z + nz;
Result<FindPolysAroundResult> result = m_navQuery.FindPolysAroundShape(m_startRef, m_queryPoly, m_filter); var status = m_navQuery.FindPolysAroundShape(m_startRef, m_queryPoly, m_filter, out var refs, out var parentRefs, out var costs);
if (result.Succeeded()) if (status.Succeeded())
{ {
m_polys = result.result.GetRefs(); m_polys = refs;
m_parent = result.result.GetParentRefs(); m_parent = parentRefs;
} }
} }
} }

14
test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs
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@ -106,19 +106,19 @@ public class FindPolysAroundCircleTest : AbstractDetourTest
{ {
long startRef = startRefs[i]; long startRef = startRefs[i];
RcVec3f startPos = startPoss[i]; RcVec3f startPos = startPoss[i];
Result<FindPolysAroundResult> result = query.FindPolysAroundCircle(startRef, startPos, 7.5f, filter); var status = query.FindPolysAroundCircle(startRef, startPos, 7.5f, filter, out var refs, out var parentRefs, out var costs);
Assert.That(result.Succeeded(), Is.True); Assert.That(status.Succeeded(), Is.True);
FindPolysAroundResult polys = result.result;
Assert.That(polys.GetRefs().Count, Is.EqualTo(REFS[i].Length)); Assert.That(refs.Count, Is.EqualTo(REFS[i].Length));
for (int v = 0; v < REFS[i].Length; v++) for (int v = 0; v < REFS[i].Length; v++)
{ {
bool found = false; bool found = false;
for (int w = 0; w < REFS[i].Length; w++) for (int w = 0; w < REFS[i].Length; w++)
{ {
if (REFS[i][v] == polys.GetRefs()[w]) if (REFS[i][v] == refs[w])
{ {
Assert.That(polys.GetParentRefs()[w], Is.EqualTo(PARENT_REFS[i][v])); Assert.That(parentRefs[w], Is.EqualTo(PARENT_REFS[i][v]));
Assert.That(polys.GetCosts()[w], Is.EqualTo(COSTS[i][v]).Within(0.01f)); Assert.That(costs[w], Is.EqualTo(COSTS[i][v]).Within(0.01f));
found = true; found = true;
} }
} }

12
test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs
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@ -133,17 +133,17 @@ public class FindPolysAroundShapeTest : AbstractDetourTest
{ {
long startRef = startRefs[i]; long startRef = startRefs[i];
RcVec3f startPos = startPoss[i]; RcVec3f startPos = startPoss[i];
Result<FindPolysAroundResult> polys = query.FindPolysAroundShape(startRef, GetQueryPoly(startPos, endPoss[i]), filter); query.FindPolysAroundShape(startRef, GetQueryPoly(startPos, endPoss[i]), filter, out var refs, out var parentRefs, out var costs);
Assert.That(polys.result.GetRefs().Count, Is.EqualTo(REFS[i].Length)); Assert.That(refs.Count, Is.EqualTo(REFS[i].Length));
for (int v = 0; v < REFS[i].Length; v++) for (int v = 0; v < REFS[i].Length; v++)
{ {
bool found = false; bool found = false;
for (int w = 0; w < REFS[i].Length; w++) for (int w = 0; w < REFS[i].Length; w++)
{ {
if (REFS[i][v] == polys.result.GetRefs()[w]) if (REFS[i][v] == refs[w])
{ {
Assert.That(polys.result.GetParentRefs()[w], Is.EqualTo(PARENT_REFS[i][v])); Assert.That(parentRefs[w], Is.EqualTo(PARENT_REFS[i][v]));
Assert.That(polys.result.GetCosts()[w], Is.EqualTo(COSTS[i][v]).Within(0.01f)); Assert.That(costs[w], Is.EqualTo(COSTS[i][v]).Within(0.01f));
found = true; found = true;
} }
} }
@ -177,4 +177,4 @@ public class FindPolysAroundShapeTest : AbstractDetourTest
m_queryPoly[11] = m_epos.z + nz; m_queryPoly[11] = m_epos.z + nz;
return m_queryPoly; return m_queryPoly;
} }
} }