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DotRecastNetSim
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refactor: dynamic update tool

This commit is contained in:
ikpil 2023-09-13 00:26:42 +09:00
parent 6e4d7e95a6
commit 4726284c56
3 changed files with 200 additions and 147 deletions
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43
src/DotRecast.Core/RcMatrix4x4f.cs
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@ -1,4 +1,6 @@
namespace DotRecast.Core
using System;
namespace DotRecast.Core
{
public struct RcMatrix4x4f
{
@ -102,5 +104,44 @@
return dest;
}
public static RcMatrix4x4f Rotate(float a, float x, float y, float z)
{
var matrix = new RcMatrix4x4f();
a = (float)(a * Math.PI / 180.0); // convert to radians
float s = (float)Math.Sin(a);
float c = (float)Math.Cos(a);
float t = 1.0f - c;
float tx = t * x;
float ty = t * y;
float tz = t * z;
float sz = s * z;
float sy = s * y;
float sx = s * x;
matrix.M11 = tx * x + c;
matrix.M12 = tx * y + sz;
matrix.M13 = tx * z - sy;
matrix.M14 = 0;
matrix.M21 = tx * y - sz;
matrix.M22 = ty * y + c;
matrix.M23 = ty * z + sx;
matrix.M24 = 0;
matrix.M31 = tx * z + sy;
matrix.M32 = ty * z - sx;
matrix.M33 = tz * z + c;
matrix.M34 = 0;
matrix.M41 = 0;
matrix.M42 = 0;
matrix.M43 = 0;
matrix.M44 = 1;
return matrix;
}
}
}

124
src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
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@ -77,9 +77,7 @@ public class DynamicUpdateSampleTool : ISampleTool
private DynamicColliderShape colliderShape = DynamicColliderShape.SPHERE;
private DynamicNavMesh dynaMesh;
private readonly TaskFactory executor;
private readonly Dictionary<long, RcGizmo> colliderGizmos = new();
private bool sposSet;
private bool eposSet;
@ -139,6 +137,8 @@ public class DynamicUpdateSampleTool : ISampleTool
var saveVoxelPopupStrId = "Save Voxels Popup";
bool isSaveVoxelPopup = true;
var dynaMesh = _tool.GetDynamicNavMesh();
if (dynaMesh != null)
{
ImGui.Checkbox("Compression", ref compression);
@ -280,10 +280,10 @@ public class DynamicUpdateSampleTool : ISampleTool
{
if (showColliders)
{
colliderGizmos.Values.ForEach(g =>
foreach (var gizmo in _tool.GetGizmos())
{
GizmoRenderer.Render(renderer.GetDebugDraw(), g.Gizmo);
});
GizmoRenderer.Render(renderer.GetDebugDraw(), gizmo.Gizmo);
}
}
}
@ -360,48 +360,7 @@ public class DynamicUpdateSampleTool : ISampleTool
{
if (!shift)
{
RcGizmo colliderWithGizmo = null;
if (dynaMesh != null)
{
if (colliderShape == DynamicColliderShape.SPHERE)
{
colliderWithGizmo = _tool.SphereCollider(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.CAPSULE)
{
colliderWithGizmo = _tool.CapsuleCollider(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.BOX)
{
colliderWithGizmo = _tool.BoxCollider(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.CYLINDER)
{
colliderWithGizmo = _tool.CylinderCollider(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.COMPOSITE)
{
colliderWithGizmo = _tool.CompositeCollider(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.TRIMESH_BRIDGE)
{
colliderWithGizmo = _tool.TrimeshBridge(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.TRIMESH_HOUSE)
{
colliderWithGizmo = _tool.TrimeshHouse(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.CONVEX)
{
colliderWithGizmo = _tool.ConvexTrimesh(p, dynaMesh.config.walkableClimb);
}
}
if (colliderWithGizmo != null)
{
long id = dynaMesh.AddCollider(colliderWithGizmo.Collider);
colliderGizmos.Add(id, colliderWithGizmo);
}
_tool.AddShape(colliderShape, p);
}
}
@ -418,18 +377,14 @@ public class DynamicUpdateSampleTool : ISampleTool
epos = p;
}
var dynaMesh = _tool.GetDynamicNavMesh();
if (sposSet && eposSet && dynaMesh != null)
{
RcVec3f sp = RcVec3f.Of(spos.x, spos.y + 1.3f, spos.z);
RcVec3f ep = RcVec3f.Of(epos.x, epos.y + 1.3f, epos.z);
long t1 = RcFrequency.Ticks;
bool hasHit = dynaMesh.VoxelQuery().Raycast(sp, ep, out var hitPos);
bool hasHit = _tool.Raycast(spos, epos, out var hitPos, out raycastHitPos);
long t2 = RcFrequency.Ticks;
raycastTime = (t2 - t1) / TimeSpan.TicksPerMillisecond;
raycastHit = hasHit;
raycastHitPos = hasHit
? RcVec3f.Of(sp.x + hitPos * (ep.x - sp.x), sp.y + hitPos * (ep.y - sp.y), sp.z + hitPos * (ep.z - sp.z))
: ep;
}
}
}
@ -441,65 +396,21 @@ public class DynamicUpdateSampleTool : ISampleTool
{
if (shift)
{
foreach (var e in colliderGizmos)
{
if (Hit(start, dir, e.Value.Collider.Bounds()))
{
dynaMesh.RemoveCollider(e.Key);
colliderGizmos.Remove(e.Key);
break;
_tool.RemoveShape(start, dir);
}
}
}
}
}
private bool Hit(RcVec3f point, RcVec3f dir, float[] bounds)
{
float cx = 0.5f * (bounds[0] + bounds[3]);
float cy = 0.5f * (bounds[1] + bounds[4]);
float cz = 0.5f * (bounds[2] + bounds[5]);
float dx = 0.5f * (bounds[3] - bounds[0]);
float dy = 0.5f * (bounds[4] - bounds[1]);
float dz = 0.5f * (bounds[5] - bounds[2]);
float rSqr = dx * dx + dy * dy + dz * dz;
float mx = point.x - cx;
float my = point.y - cy;
float mz = point.z - cz;
float c = mx * mx + my * my + mz * mz - rSqr;
if (c <= 0.0f)
{
return true;
}
float b = mx * dir.x + my * dir.y + mz * dir.z;
if (b > 0.0f)
{
return false;
}
float disc = b * b - c;
return disc >= 0.0f;
}
public void HandleUpdate(float dt)
{
if (dynaMesh != null)
{
UpdateDynaMesh();
}
}
private void UpdateDynaMesh()
public void HandleUpdate(float dt)
{
long t = RcFrequency.Ticks;
try
{
bool updated = dynaMesh.Update(executor).Result;
bool updated = _tool.UpdateDynaMesh(executor);
if (updated)
{
buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
var dynaMesh = _tool.GetDynamicNavMesh();
_sample.Update(null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
_sample.SetChanged(false);
}
@ -515,31 +426,26 @@ public class DynamicUpdateSampleTool : ISampleTool
{
try
{
var voxelFile = _tool.Load(filename, DtVoxelTileLZ4DemoCompressor.Shared);
dynaMesh = new DynamicNavMesh(voxelFile);
dynaMesh.config.keepIntermediateResults = true;
var dynaMesh = _tool.Load(filename, DtVoxelTileLZ4DemoCompressor.Shared);
UpdateFrom(dynaMesh.config);
BuildDynaMesh();
colliderGizmos.Clear();
}
catch (Exception e)
{
Logger.Error(e, "");
dynaMesh = null;
}
}
private void Save(string filename)
{
VoxelFile voxelFile = VoxelFile.From(dynaMesh);
_tool.Save(filename, voxelFile, compression, DtVoxelTileLZ4DemoCompressor.Shared);
_tool.Save(filename, compression, DtVoxelTileLZ4DemoCompressor.Shared);
}
private void BuildDynaMesh()
{
var dynaMesh = _tool.GetDynamicNavMesh();
UpdateTo(dynaMesh.config);
long t = RcFrequency.Ticks;
try

182
src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
View File

@ -1,7 +1,9 @@
using System;
using System.Collections.Generic;
using System.IO;
using System.Threading.Tasks;
using DotRecast.Core;
using DotRecast.Detour.Dynamic;
using DotRecast.Detour.Dynamic.Colliders;
using DotRecast.Detour.Dynamic.Io;
using DotRecast.Recast.Toolset.Builder;
@ -12,6 +14,9 @@ namespace DotRecast.Recast.Toolset.Tools
{
public class RcDynamicUpdateTool : IRcToolable
{
private DynamicNavMesh dynaMesh;
private readonly Dictionary<long, RcGizmo> colliderGizmos;
private readonly Random random;
private readonly DemoInputGeomProvider bridgeGeom;
private readonly DemoInputGeomProvider houseGeom;
@ -19,29 +24,140 @@ namespace DotRecast.Recast.Toolset.Tools
public RcDynamicUpdateTool(Random rand, DemoInputGeomProvider bridgeGeom, DemoInputGeomProvider houseGeom, DemoInputGeomProvider convexGeom)
{
this.colliderGizmos = new Dictionary<long, RcGizmo>();
this.random = rand;
this.bridgeGeom = bridgeGeom;
this.houseGeom = houseGeom;
this.convexGeom = convexGeom;
}
public IEnumerable<RcGizmo> GetGizmos()
{
return colliderGizmos.Values;
}
public string GetName()
{
return "Dynamic Updates";
}
public VoxelFile Load(string filename, IRcCompressor compressor)
public DynamicNavMesh GetDynamicNavMesh()
{
return dynaMesh;
}
public void RemoveShape(RcVec3f start, RcVec3f dir)
{
foreach (var e in colliderGizmos)
{
if (Hit(start, dir, e.Value.Collider.Bounds()))
{
dynaMesh.RemoveCollider(e.Key);
colliderGizmos.Remove(e.Key);
break;
}
}
}
private bool Hit(RcVec3f point, RcVec3f dir, float[] bounds)
{
float cx = 0.5f * (bounds[0] + bounds[3]);
float cy = 0.5f * (bounds[1] + bounds[4]);
float cz = 0.5f * (bounds[2] + bounds[5]);
float dx = 0.5f * (bounds[3] - bounds[0]);
float dy = 0.5f * (bounds[4] - bounds[1]);
float dz = 0.5f * (bounds[5] - bounds[2]);
float rSqr = dx * dx + dy * dy + dz * dz;
float mx = point.x - cx;
float my = point.y - cy;
float mz = point.z - cz;
float c = mx * mx + my * my + mz * mz - rSqr;
if (c <= 0.0f)
{
return true;
}
float b = mx * dir.x + my * dir.y + mz * dir.z;
if (b > 0.0f)
{
return false;
}
float disc = b * b - c;
return disc >= 0.0f;
}
public RcGizmo AddShape(DynamicColliderShape colliderShape, RcVec3f p)
{
if (dynaMesh == null)
{
return null;
}
RcGizmo colliderWithGizmo = null;
{
if (colliderShape == DynamicColliderShape.SPHERE)
{
colliderWithGizmo = SphereCollider(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.CAPSULE)
{
colliderWithGizmo = CapsuleCollider(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.BOX)
{
colliderWithGizmo = BoxCollider(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.CYLINDER)
{
colliderWithGizmo = CylinderCollider(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.COMPOSITE)
{
colliderWithGizmo = CompositeCollider(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.TRIMESH_BRIDGE)
{
colliderWithGizmo = TrimeshBridge(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.TRIMESH_HOUSE)
{
colliderWithGizmo = TrimeshHouse(p, dynaMesh.config.walkableClimb);
}
else if (colliderShape == DynamicColliderShape.CONVEX)
{
colliderWithGizmo = ConvexTrimesh(p, dynaMesh.config.walkableClimb);
}
}
if (colliderWithGizmo != null)
{
long id = dynaMesh.AddCollider(colliderWithGizmo.Collider);
colliderGizmos.Add(id, colliderWithGizmo);
}
return colliderWithGizmo;
}
public DynamicNavMesh Load(string filename, IRcCompressor compressor)
{
using var fs = new FileStream(filename, FileMode.Open, FileAccess.Read);
using var br = new BinaryReader(fs);
VoxelFileReader reader = new VoxelFileReader(compressor);
VoxelFile voxelFile = reader.Read(br);
return voxelFile;
dynaMesh = new DynamicNavMesh(voxelFile);
dynaMesh.config.keepIntermediateResults = true;
colliderGizmos.Clear();
return dynaMesh;
}
public void Save(string filename, VoxelFile voxelFile, bool compression, IRcCompressor compressor)
public void Save(string filename, bool compression, IRcCompressor compressor)
{
VoxelFile voxelFile = VoxelFile.From(dynaMesh);
using var fs = new FileStream(filename, FileMode.CreateNew, FileAccess.Write);
using var bw = new BinaryWriter(fs);
VoxelFileWriter writer = new VoxelFileWriter(compressor);
@ -122,7 +238,7 @@ namespace DotRecast.Recast.Toolset.Tools
SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb);
var roofUp = RcVec3f.Zero;
RcVec3f roofExtent = RcVec3f.Of(4.5f, 4.5f, 8f);
var rx = Matrix(45, forward.x, forward.y, forward.z);
var rx = RcMatrix4x4f.Rotate(45, forward.x, forward.y, forward.z);
roofUp = MulMatrixVector(ref roofUp, rx, baseUp);
RcVec3f roofCenter = RcVec3f.Of(p.x, p.y + 6, p.z);
BoxCollider roof = new BoxCollider(roofCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(roofUp, forward, roofExtent),
@ -181,8 +297,8 @@ namespace DotRecast.Recast.Toolset.Tools
private float[] TransformVertices(RcVec3f p, DemoInputGeomProvider geom, float ax)
{
var rx = Matrix((float)random.NextDouble() * ax, 1, 0, 0);
var ry = Matrix((float)random.NextDouble() * 360, 0, 1, 0);
var rx = RcMatrix4x4f.Rotate((float)random.NextDouble() * ax, 1, 0, 0);
var ry = RcMatrix4x4f.Rotate((float)random.NextDouble() * 360, 0, 1, 0);
var m = RcMatrix4x4f.Mul(rx, ry);
float[] verts = new float[geom.vertices.Length];
RcVec3f v = new RcVec3f();
@ -220,43 +336,33 @@ namespace DotRecast.Recast.Toolset.Tools
return resultvector;
}
public static RcMatrix4x4f Matrix(float a, float x, float y, float z)
public bool UpdateDynaMesh(TaskFactory executor)
{
var matrix = new RcMatrix4x4f();
a = (float)(a * Math.PI / 180.0); // convert to radians
float s = (float)Math.Sin(a);
float c = (float)Math.Cos(a);
float t = 1.0f - c;
if (dynaMesh == null)
{
return false;
}
float tx = t * x;
float ty = t * y;
float tz = t * z;
bool updated = dynaMesh.Update(executor).Result;
if (updated)
{
return false;
}
float sz = s * z;
float sy = s * y;
float sx = s * x;
return true;
}
matrix.M11 = tx * x + c;
matrix.M12 = tx * y + sz;
matrix.M13 = tx * z - sy;
matrix.M14 = 0;
public bool Raycast(RcVec3f spos, RcVec3f epos, out float hitPos, out RcVec3f raycastHitPos)
{
RcVec3f sp = RcVec3f.Of(spos.x, spos.y + 1.3f, spos.z);
RcVec3f ep = RcVec3f.Of(epos.x, epos.y + 1.3f, epos.z);
matrix.M21 = tx * y - sz;
matrix.M22 = ty * y + c;
matrix.M23 = ty * z + sx;
matrix.M24 = 0;
bool hasHit = dynaMesh.VoxelQuery().Raycast(sp, ep, out hitPos);
raycastHitPos = hasHit
? RcVec3f.Of(sp.x + hitPos * (ep.x - sp.x), sp.y + hitPos * (ep.y - sp.y), sp.z + hitPos * (ep.z - sp.z))
: ep;
matrix.M31 = tx * z + sy;
matrix.M32 = ty * z - sx;
matrix.M33 = tz * z + c;
matrix.M34 = 0;
matrix.M41 = 0;
matrix.M42 = 0;
matrix.M43 = 0;
matrix.M44 = 1;
return matrix;
return hasHit;
}
}
}