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[Upstream] Some quick cleanup in RecastRasterization.cpp (recastnavigation #655) 

* Rename hf -> heightfield to be consistent
* Removed unused include
This commit is contained in:
ikpil 2023-08-11 12:51:07 +09:00
parent 2bd8609963
commit 433342c033
1 changed files with 44 additions and 67 deletions
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111
src/DotRecast.Recast/RecastRasterization.cs
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@ -59,29 +59,17 @@ namespace DotRecast.Recast
} }
/** /// Adds a span to the heightfield. If the new span overlaps existing spans,
* Adds a span to the heightfield. If the new span overlaps existing spans, it will merge the new span with the /// it will merge the new span with the existing ones.
* 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[in] heightfield Heightfield to add spans to
* /// @param[in] x The new span's column cell x index
* @param heightfield /// @param[in] z The new span's column cell z index
* An initialized heightfield. /// @param[in] min The new span's minimum cell index
* @param x /// @param[in] max The new span's maximum cell index
* The width index where the span is to be added. [Limits: 0 <= value < Heightfield::width] /// @param[in] areaID The new span's area type ID
* @param y /// @param[in] flagMergeThreshold How close two spans maximum extents need to be to merge area type IDs
* The height index where the span is to be added. [Limits: 0 <= value < Heightfield::height] public static void AddSpan(RcHeightfield heightfield, int x, int y, int spanMin, int spanMax, int areaId, int flagMergeThreshold)
* @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)
{ {
int idx = x + y * heightfield.width; int idx = x + y * heightfield.width;
@ -225,41 +213,30 @@ namespace DotRecast.Recast
outVerts2Count = poly2Vert; outVerts2Count = poly2Vert;
} }
/** /// Rasterize a single triangle to the heightfield.
* Rasterize a single triangle to the heightfield. This code is extremely hot, so much care should be given to ///
* maintaining maximum perf here. /// This code is extremely hot, so much care should be given to maintaining maximum perf here.
* ///
* @param verts /// @param[in] v0 Triangle vertex 0
* An array with vertex coordinates [(x, y, z) * N] /// @param[in] v1 Triangle vertex 1
* @param v0 /// @param[in] v2 Triangle vertex 2
* Index of triangle vertex 0, will be multiplied by 3 to get vertex coordinates /// @param[in] areaID The area ID to assign to the rasterized spans
* @param v1 /// @param[in] heightfield Heightfield to rasterize into
* Triangle vertex 1 index /// @param[in] heightfieldBBMin The min extents of the heightfield bounding box
* @param v2 /// @param[in] heightfieldBBMax The max extents of the heightfield bounding box
* Triangle vertex 2 index /// @param[in] cellSize The x and z axis size of a voxel in the heightfield
* @param area /// @param[in] inverseCellSize 1 / cellSize
* The area ID to assign to the rasterized spans /// @param[in] inverseCellHeight 1 / cellHeight
* @param hf /// @param[in] flagMergeThreshold The threshold in which area flags will be merged
* Heightfield to rasterize into /// @returns true if the operation completes successfully. false if there was an error adding spans to the heightfield.
* @param hfBBMin private static void RasterizeTri(float[] verts, int v0, int v1, int v2, int area, RcHeightfield heightfield,
* The min extents of the heightfield bounding box RcVec3f heightfieldBBMin, RcVec3f heightfieldBBMax,
* @param hfBBMax float cellSize, float inverseCellSize, float inverseCellHeight,
* The max extents of the heightfield bounding box int flagMergeThreshold)
* @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)
{ {
RcVec3f tmin = new RcVec3f(); RcVec3f tmin = new RcVec3f();
RcVec3f tmax = 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. // Calculate the bounding box of the triangle.
RcVec3f.Copy(ref tmin, verts, v0 * 3); RcVec3f.Copy(ref tmin, verts, v0 * 3);
@ -270,15 +247,15 @@ namespace DotRecast.Recast
tmax.Max(verts, v2 * 3); tmax.Max(verts, v2 * 3);
// If the triangle does not touch the bbox of the heightfield, skip the triagle. // 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; return;
// Calculate the footprint of the triangle on the grid's y-axis // Calculate the footprint of the triangle on the grid's y-axis
int z0 = (int)((tmin.z - hfBBMin.z) * inverseCellSize); int z0 = (int)((tmin.z - heightfieldBBMin.z) * inverseCellSize);
int z1 = (int)((tmax.z - hfBBMin.z) * inverseCellSize); int z1 = (int)((tmax.z - heightfieldBBMin.z) * inverseCellSize);
int w = hf.width; int w = heightfield.width;
int h = hf.height; int h = heightfield.height;
// use -1 rather than 0 to cut the polygon properly at the start of the tile // use -1 rather than 0 to cut the polygon properly at the start of the tile
z0 = Clamp(z0, -1, h - 1); z0 = Clamp(z0, -1, h - 1);
z1 = Clamp(z1, 0, h - 1); z1 = Clamp(z1, 0, h - 1);
@ -298,7 +275,7 @@ namespace DotRecast.Recast
for (int z = z0; z <= z1; ++z) for (int z = z0; z <= z1; ++z)
{ {
// Clip polygon to row. Store the remaining polygon as well // 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); DividePoly(buf, @in, nvIn, inRow, out nvRow, p1, out nvIn, cellZ + cellSize, 2);
(@in, p1) = (p1, @in); (@in, p1) = (p1, @in);
@ -319,8 +296,8 @@ namespace DotRecast.Recast
maxX = Math.Max(maxX, v); maxX = Math.Max(maxX, v);
} }
int x0 = (int)((minX - hfBBMin.x) * inverseCellSize); int x0 = (int)((minX - heightfieldBBMin.x) * inverseCellSize);
int x1 = (int)((maxX - hfBBMin.x) * inverseCellSize); int x1 = (int)((maxX - heightfieldBBMin.x) * inverseCellSize);
if (x1 < 0 || x0 >= w) if (x1 < 0 || x0 >= w)
{ {
continue; continue;
@ -333,7 +310,7 @@ namespace DotRecast.Recast
for (int x = x0; x <= x1; ++x) for (int x = x0; x <= x1; ++x)
{ {
// Clip polygon to column. store the remaining polygon as well // 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); DividePoly(buf, inRow, nv2, p1, out nv, p2, out nv2, cx + cellSize, 0);
(inRow, p2) = (p2, inRow); (inRow, p2) = (p2, inRow);
@ -354,8 +331,8 @@ namespace DotRecast.Recast
spanMax = Math.Max(spanMax, buf[p1 + i * 3 + 1]); spanMax = Math.Max(spanMax, buf[p1 + i * 3 + 1]);
} }
spanMin -= hfBBMin.y; spanMin -= heightfieldBBMin.y;
spanMax -= hfBBMin.y; spanMax -= heightfieldBBMin.y;
// Skip the span if it is outside the heightfield bbox // Skip the span if it is outside the heightfield bbox
if (spanMax < 0.0f) if (spanMax < 0.0f)
continue; continue;
@ -371,7 +348,7 @@ namespace DotRecast.Recast
int spanMinCellIndex = Clamp((int)Math.Floor(spanMin * inverseCellHeight), 0, SPAN_MAX_HEIGHT); 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); 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);
} }
} }
} }