a.samsonkin
/
DotRecastNetSim
forked from bit/DotRecastNetSim
1
0
Fork 0
Code Pull Requests Activity

remove MoveAlongSurfaceResult

This commit is contained in:
ikpil 2023-06-12 00:02:58 +09:00
parent 96928355c1
commit 42583ab5d3
6 changed files with 49 additions and 94 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
View File

@ -426,13 +426,14 @@ namespace DotRecast.Detour.Crowd
public bool MovePosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
{
// Move along navmesh and update new position.
Result<MoveAlongSurfaceResult> masResult = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter);
if (masResult.Succeeded())
var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, out var visited);
if (status.Succeeded())
{
m_path = MergeCorridorStartMoved(m_path, masResult.result.GetVisited());
m_path = MergeCorridorStartMoved(m_path, visited);
// Adjust the position to stay on top of the navmesh.
m_pos = masResult.result.GetResultPos();
Result<float> hr = navquery.GetPolyHeight(m_path[0], masResult.result.GetResultPos());
m_pos = result;
Result<float> hr = navquery.GetPolyHeight(m_path[0], result);
if (hr.Succeeded())
{
m_pos.y = hr.result;
@ -464,17 +465,17 @@ namespace DotRecast.Detour.Crowd
public bool MoveTargetPosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
{
// Move along navmesh and update new position.
Result<MoveAlongSurfaceResult> masResult = navquery.MoveAlongSurface(m_path[m_path.Count - 1], m_target, npos, filter);
if (masResult.Succeeded())
var status = navquery.MoveAlongSurface(m_path[m_path.Count - 1], m_target, npos, filter, out var result, out var visited);
if (status.Succeeded())
{
m_path = MergeCorridorEndMoved(m_path, masResult.result.GetVisited());
m_path = MergeCorridorEndMoved(m_path, visited);
// TODO: should we do that?
// Adjust the position to stay on top of the navmesh.
/*
* float h = m_target.y; navquery->GetPolyHeight(m_path[m_npath-1],
* result, &h); result.y = h;
*/
m_target = masResult.result.GetResultPos();
m_target = result;
return true;
}

48
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -1766,37 +1766,46 @@ namespace DotRecast.Detour
/// @par
///
/// This method is optimized for small delta movement and a small number of
/// polygons. If used for too great a distance, the result set will form an
/// This method is optimized for small delta movement and a small number of
/// polygons. If used for too great a distance, the result set will form an
/// incomplete path.
///
/// @p resultPos will equal the @p endPos if the end is reached.
/// @p resultPos will equal the @p endPos if the end is reached.
/// Otherwise the closest reachable position will be returned.
///
/// @p resultPos is not projected onto the surface of the navigation
///
/// @p resultPos is not projected onto the surface of the navigation
/// mesh. Use #getPolyHeight if this is needed.
///
/// This method treats the end position in the same manner as
/// the #raycast method. (As a 2D point.) See that method's documentation
/// This method treats the end position in the same manner as
/// the #raycast method. (As a 2D point.) See that method's documentation
/// for details.
///
/// If the @p visited array is too small to hold the entire result set, it will
/// be filled as far as possible from the start position toward the end
///
/// If the @p visited array is too small to hold the entire result set, it will
/// be filled as far as possible from the start position toward the end
/// position.
///
/// Moves from the start to the end position constrained to the navigation mesh.
/// @param[in] startRef The reference id of the start polygon.
/// @param[in] startPos A position of the mover within the start polygon. [(x, y, x)]
/// @param[in] endPos The desired end position of the mover. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @returns Path
public Result<MoveAlongSurfaceResult> MoveAlongSurface(long startRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter)
/// @param[in] startRef The reference id of the start polygon.
/// @param[in] startPos A position of the mover within the start polygon. [(x, y, x)]
/// @param[in] endPos The desired end position of the mover. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] resultPos The result position of the mover. [(x, y, z)]
/// @param[out] visited The reference ids of the polygons visited during the move.
/// @param[out] visitedCount The number of polygons visited during the move.
/// @param[in] maxVisitedSize The maximum number of polygons the @p visited array can hold.
/// @returns The status flags for the query.
public DtStatus MoveAlongSurface(long startRef, RcVec3f startPos, RcVec3f endPos,
IDtQueryFilter filter,
out RcVec3f resultPos, out List<long> visited)
{
resultPos = RcVec3f.Zero;
visited = new List<long>();
// Validate input
if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(startPos)
|| !RcVec3f.IsFinite(endPos) || null == filter)
{
return Results.InvalidParam<MoveAlongSurfaceResult>();
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
}
DtNodePool tinyNodePool = new DtNodePool();
@ -1932,7 +1941,6 @@ namespace DotRecast.Detour
}
}
List<long> visited = new List<long>();
if (bestNode != null)
{
// Reverse the path.
@ -1955,7 +1963,9 @@ namespace DotRecast.Detour
} while (node != null);
}
return Results.Success(new MoveAlongSurfaceResult(bestPos, visited));
resultPos = bestPos;
return DtStatus.DT_SUCCSESS;
}
protected Result<PortalResult> GetPortalPoints(long from, long to)

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

@ -24,8 +24,6 @@ namespace DotRecast.Detour
{
public readonly struct DtStatus
{
public static readonly DtStatus Empty = new DtStatus(0);
// High level status.
public static readonly DtStatus DT_FAILURE = new DtStatus(1u << 31); // Operation failed.
public static readonly DtStatus DT_SUCCSESS = new DtStatus(1u << 30); // Operation succeed.

50
src/DotRecast.Detour/QueryResults/MoveAlongSurfaceResult.cs
View File

@ -1,50 +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;
using DotRecast.Core;
namespace DotRecast.Detour.QueryResults
{
public class MoveAlongSurfaceResult
{
/** The result position of the mover. [(x, y, z)] */
private readonly RcVec3f resultPos;
/** The reference ids of the polygons visited during the move. */
private readonly List<long> visited;
public MoveAlongSurfaceResult(RcVec3f resultPos, List<long> visited)
{
this.resultPos = resultPos;
this.visited = visited;
}
public RcVec3f GetResultPos()
{
return resultPos;
}
public List<long> GetVisited()
{
return visited;
}
}
}

12
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -238,20 +238,16 @@ public class TestNavmeshTool : IRcTool
}
RcVec3f moveTgt = RcVec3f.Mad(iterPos, delta, len);
// Move
Result<MoveAlongSurfaceResult> result = m_navQuery.MoveAlongSurface(polys[0], iterPos,
moveTgt, m_filter);
MoveAlongSurfaceResult moveAlongSurface = result.result;
m_navQuery.MoveAlongSurface(polys[0], iterPos, moveTgt, m_filter, out var result, out var visited);
iterPos.x = moveAlongSurface.GetResultPos().x;
iterPos.y = moveAlongSurface.GetResultPos().y;
iterPos.z = moveAlongSurface.GetResultPos().z;
iterPos = result;
List<long> visited = result.result.GetVisited();
polys = PathUtils.FixupCorridor(polys, visited);
polys = PathUtils.FixupShortcuts(polys, m_navQuery);
Result<float> polyHeight = m_navQuery.GetPolyHeight(polys[0], moveAlongSurface.GetResultPos());
Result<float> polyHeight = m_navQuery.GetPolyHeight(polys[0], result);
if (polyHeight.Succeeded())
{
iterPos.y = polyHeight.result;

12
test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs
View File

@ -74,18 +74,18 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
long startRef = startRefs[i];
RcVec3f startPos = startPoss[i];
RcVec3f endPos = endPoss[i];
Result<MoveAlongSurfaceResult> result = query.MoveAlongSurface(startRef, startPos, endPos, filter);
Assert.That(result.Succeeded(), Is.True);
MoveAlongSurfaceResult path = result.result;
var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, out var visited);
Assert.That(status.Succeeded(), Is.True);
for (int v = 0; v < 3; v++)
{
Assert.That(path.GetResultPos()[v], Is.EqualTo(POSITION[i][v]).Within(0.01f));
Assert.That(result[v], Is.EqualTo(POSITION[i][v]).Within(0.01f));
}
Assert.That(path.GetVisited().Count, Is.EqualTo(VISITED[i].Length));
Assert.That(visited.Count, Is.EqualTo(VISITED[i].Length));
for (int j = 0; j < POSITION[i].Length; j++)
{
Assert.That(path.GetVisited()[j], Is.EqualTo(VISITED[i][j]));
Assert.That(visited[j], Is.EqualTo(VISITED[i][j]));
}
}
}