From 433342c03371d5a9dd552027b55da70a3973b4d3 Mon Sep 17 00:00:00 2001 From: ikpil Date: Fri, 11 Aug 2023 12:51:07 +0900 Subject: [PATCH] [Upstream] Some quick cleanup in RecastRasterization.cpp (recastnavigation #655) * Rename hf -> heightfield to be consistent * Removed unused include --- src/DotRecast.Recast/RecastRasterization.cs | 111 ++++++++------------ 1 file changed, 44 insertions(+), 67 deletions(-) diff --git a/src/DotRecast.Recast/RecastRasterization.cs b/src/DotRecast.Recast/RecastRasterization.cs index 36a853c..c38e5bc 100644 --- a/src/DotRecast.Recast/RecastRasterization.cs +++ b/src/DotRecast.Recast/RecastRasterization.cs @@ -59,29 +59,17 @@ namespace DotRecast.Recast } - /** - * Adds a span to the heightfield. If the new span overlaps existing spans, it will merge the new span with the - * existing ones. The span addition can be set to favor flags. If the span is merged to another span and the new - * spanMax is within flagMergeThreshold units from the existing span, the span flags are merged. - * - * @param heightfield - * An initialized heightfield. - * @param x - * The width index where the span is to be added. [Limits: 0 <= value < Heightfield::width] - * @param y - * The height index where the span is to be added. [Limits: 0 <= value < Heightfield::height] - * @param spanMin - * The minimum height of the span. [Limit: < spanMax] [Units: vx] - * @param spanMax - * The minimum height of the span. [Limit: <= RecastConstants.SPAN_MAX_HEIGHT] [Units: vx] - * @param areaId - * The area id of the span. [Limit: <= WALKABLE_AREA) - * @param flagMergeThreshold - * The merge theshold. [Limit: >= 0] [Units: vx] - * @see Heightfield, Span. - */ - public static void AddSpan(RcHeightfield heightfield, int x, int y, int spanMin, int spanMax, int areaId, - int flagMergeThreshold) + /// Adds a span to the heightfield. If the new span overlaps existing spans, + /// it will merge the new span with the existing ones. + /// + /// @param[in] heightfield Heightfield to add spans to + /// @param[in] x The new span's column cell x index + /// @param[in] z The new span's column cell z index + /// @param[in] min The new span's minimum cell index + /// @param[in] max The new span's maximum cell index + /// @param[in] areaID The new span's area type ID + /// @param[in] flagMergeThreshold How close two spans maximum extents need to be to merge area type IDs + public static void AddSpan(RcHeightfield heightfield, int x, int y, int spanMin, int spanMax, int areaId, int flagMergeThreshold) { int idx = x + y * heightfield.width; @@ -225,41 +213,30 @@ namespace DotRecast.Recast outVerts2Count = poly2Vert; } - /** - * Rasterize a single triangle to the heightfield. This code is extremely hot, so much care should be given to - * maintaining maximum perf here. - * - * @param verts - * An array with vertex coordinates [(x, y, z) * N] - * @param v0 - * Index of triangle vertex 0, will be multiplied by 3 to get vertex coordinates - * @param v1 - * Triangle vertex 1 index - * @param v2 - * Triangle vertex 2 index - * @param area - * The area ID to assign to the rasterized spans - * @param hf - * Heightfield to rasterize into - * @param hfBBMin - * The min extents of the heightfield bounding box - * @param hfBBMax - * The max extents of the heightfield bounding box - * @param cellSize - * The x and z axis size of a voxel in the heightfield - * @param inverseCellSize - * 1 / cellSize - * @param inverseCellHeight - * 1 / cellHeight - * @param flagMergeThreshold - * The threshold in which area flags will be merged - */ - private static void RasterizeTri(float[] verts, int v0, int v1, int v2, int area, RcHeightfield hf, RcVec3f hfBBMin, - RcVec3f hfBBMax, float cellSize, float inverseCellSize, float inverseCellHeight, int flagMergeThreshold) + /// Rasterize a single triangle to the heightfield. + /// + /// This code is extremely hot, so much care should be given to maintaining maximum perf here. + /// + /// @param[in] v0 Triangle vertex 0 + /// @param[in] v1 Triangle vertex 1 + /// @param[in] v2 Triangle vertex 2 + /// @param[in] areaID The area ID to assign to the rasterized spans + /// @param[in] heightfield Heightfield to rasterize into + /// @param[in] heightfieldBBMin The min extents of the heightfield bounding box + /// @param[in] heightfieldBBMax The max extents of the heightfield bounding box + /// @param[in] cellSize The x and z axis size of a voxel in the heightfield + /// @param[in] inverseCellSize 1 / cellSize + /// @param[in] inverseCellHeight 1 / cellHeight + /// @param[in] flagMergeThreshold The threshold in which area flags will be merged + /// @returns true if the operation completes successfully. false if there was an error adding spans to the heightfield. + private static void RasterizeTri(float[] verts, int v0, int v1, int v2, int area, RcHeightfield heightfield, + RcVec3f heightfieldBBMin, RcVec3f heightfieldBBMax, + float cellSize, float inverseCellSize, float inverseCellHeight, + int flagMergeThreshold) { RcVec3f tmin = new RcVec3f(); RcVec3f tmax = new RcVec3f(); - float by = hfBBMax.y - hfBBMin.y; + float by = heightfieldBBMax.y - heightfieldBBMin.y; // Calculate the bounding box of the triangle. RcVec3f.Copy(ref tmin, verts, v0 * 3); @@ -270,15 +247,15 @@ namespace DotRecast.Recast tmax.Max(verts, v2 * 3); // If the triangle does not touch the bbox of the heightfield, skip the triagle. - if (!OverlapBounds(hfBBMin, hfBBMax, tmin, tmax)) + if (!OverlapBounds(heightfieldBBMin, heightfieldBBMax, tmin, tmax)) return; // Calculate the footprint of the triangle on the grid's y-axis - int z0 = (int)((tmin.z - hfBBMin.z) * inverseCellSize); - int z1 = (int)((tmax.z - hfBBMin.z) * inverseCellSize); + int z0 = (int)((tmin.z - heightfieldBBMin.z) * inverseCellSize); + int z1 = (int)((tmax.z - heightfieldBBMin.z) * inverseCellSize); - int w = hf.width; - int h = hf.height; + int w = heightfield.width; + int h = heightfield.height; // use -1 rather than 0 to cut the polygon properly at the start of the tile z0 = Clamp(z0, -1, h - 1); z1 = Clamp(z1, 0, h - 1); @@ -298,7 +275,7 @@ namespace DotRecast.Recast for (int z = z0; z <= z1; ++z) { // Clip polygon to row. Store the remaining polygon as well - float cellZ = hfBBMin.z + z * cellSize; + float cellZ = heightfieldBBMin.z + z * cellSize; DividePoly(buf, @in, nvIn, inRow, out nvRow, p1, out nvIn, cellZ + cellSize, 2); (@in, p1) = (p1, @in); @@ -319,8 +296,8 @@ namespace DotRecast.Recast maxX = Math.Max(maxX, v); } - int x0 = (int)((minX - hfBBMin.x) * inverseCellSize); - int x1 = (int)((maxX - hfBBMin.x) * inverseCellSize); + int x0 = (int)((minX - heightfieldBBMin.x) * inverseCellSize); + int x1 = (int)((maxX - heightfieldBBMin.x) * inverseCellSize); if (x1 < 0 || x0 >= w) { continue; @@ -333,7 +310,7 @@ namespace DotRecast.Recast for (int x = x0; x <= x1; ++x) { // Clip polygon to column. store the remaining polygon as well - float cx = hfBBMin.x + x * cellSize; + float cx = heightfieldBBMin.x + x * cellSize; DividePoly(buf, inRow, nv2, p1, out nv, p2, out nv2, cx + cellSize, 0); (inRow, p2) = (p2, inRow); @@ -354,8 +331,8 @@ namespace DotRecast.Recast spanMax = Math.Max(spanMax, buf[p1 + i * 3 + 1]); } - spanMin -= hfBBMin.y; - spanMax -= hfBBMin.y; + spanMin -= heightfieldBBMin.y; + spanMax -= heightfieldBBMin.y; // Skip the span if it is outside the heightfield bbox if (spanMax < 0.0f) continue; @@ -371,7 +348,7 @@ namespace DotRecast.Recast int spanMinCellIndex = Clamp((int)Math.Floor(spanMin * inverseCellHeight), 0, SPAN_MAX_HEIGHT); int spanMaxCellIndex = Clamp((int)Math.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, SPAN_MAX_HEIGHT); - AddSpan(hf, x, z, spanMinCellIndex, spanMaxCellIndex, area, flagMergeThreshold); + AddSpan(heightfield, x, z, spanMinCellIndex, spanMaxCellIndex, area, flagMergeThreshold); } } }