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DotRecastNetSim
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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, 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);
}
}
}