From 507e3548ef74af9b8a93e54e405b510877e0c025 Mon Sep 17 00:00:00 2001 From: ikpil Date: Fri, 5 Jan 2024 00:37:40 +0900 Subject: [PATCH] refactor: aligned the parameter order of RasterizeTriangles() to match that of rcRasterizeTriangles() in the recastnavigation project. --- .../Colliders/DtTrimeshCollider.cs | 4 +- src/DotRecast.Recast/RcRasterizations.cs | 154 ++++++++++-------- src/DotRecast.Recast/RcVoxelizations.cs | 4 +- .../RecastSoloMeshTest.cs | 2 +- 4 files changed, 92 insertions(+), 72 deletions(-) diff --git a/src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs b/src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs index 4602e05..cc3a58e 100644 --- a/src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs +++ b/src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs @@ -62,8 +62,8 @@ namespace DotRecast.Detour.Dynamic.Colliders { for (int i = 0; i < triangles.Length; i += 3) { - RcRasterizations.RasterizeTriangle(hf, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area, - (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry); + RcRasterizations.RasterizeTriangle(telemetry, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area, + hf, (int)MathF.Floor(flagMergeThreshold / hf.ch)); } } } diff --git a/src/DotRecast.Recast/RcRasterizations.cs b/src/DotRecast.Recast/RcRasterizations.cs index a2cfff1..730db2a 100644 --- a/src/DotRecast.Recast/RcRasterizations.cs +++ b/src/DotRecast.Recast/RcRasterizations.cs @@ -177,7 +177,7 @@ namespace DotRecast.Recast RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, outVerts1 + poly1Vert * 3); poly1Vert++; poly2Vert++; - + // add the i'th point to the right polygon. Do NOT add points that are on the dividing line // since these were already added above if (inVertAxisDelta[inVertA] > 0) @@ -229,31 +229,35 @@ namespace DotRecast.Recast /// @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, + private static bool RasterizeTri(float[] verts, int v0, int v1, int v2, + int areaID, RcHeightfield heightfield, RcVec3f heightfieldBBMin, RcVec3f heightfieldBBMax, float cellSize, float inverseCellSize, float inverseCellHeight, int flagMergeThreshold) { - float by = heightfieldBBMax.Y - heightfieldBBMin.Y; - // Calculate the bounding box of the triangle. - RcVec3f tmin = RcVecUtils.Create(verts, v0 * 3); - RcVec3f tmax = RcVecUtils.Create(verts, v0 * 3); - tmin = RcVecUtils.Min(tmin, verts, v1 * 3); - tmin = RcVecUtils.Min(tmin, verts, v2 * 3); - tmax = RcVecUtils.Max(tmax, verts, v1 * 3); - tmax = RcVecUtils.Max(tmax, verts, v2 * 3); + RcVec3f triBBMin = RcVecUtils.Create(verts, v0 * 3); + triBBMin = RcVecUtils.Min(triBBMin, verts, v1 * 3); + triBBMin = RcVecUtils.Min(triBBMin, verts, v2 * 3); - // If the triangle does not touch the bbox of the heightfield, skip the triagle. - if (!OverlapBounds(heightfieldBBMin, heightfieldBBMax, tmin, tmax)) - return; + RcVec3f triBBMax = RcVecUtils.Create(verts, v0 * 3); + triBBMax = RcVecUtils.Max(triBBMax, verts, v1 * 3); + triBBMax = RcVecUtils.Max(triBBMax, verts, v2 * 3); - // Calculate the footprint of the triangle on the grid's y-axis - int z0 = (int)((tmin.Z - heightfieldBBMin.Z) * inverseCellSize); - int z1 = (int)((tmax.Z - heightfieldBBMin.Z) * inverseCellSize); + // If the triangle does not touch the bounding box of the heightfield, skip the triangle. + if (!OverlapBounds(triBBMin, triBBMax, heightfieldBBMin, heightfieldBBMax)) + { + return true; + } int w = heightfield.width; int h = heightfield.height; + float by = heightfieldBBMax.Y - heightfieldBBMin.Y; + + // Calculate the footprint of the triangle on the grid's y-axis + int z0 = (int)((triBBMin.Z - heightfieldBBMin.Z) * inverseCellSize); + int z1 = (int)((triBBMax.Z - heightfieldBBMin.Z) * inverseCellSize); + // use -1 rather than 0 to cut the polygon properly at the start of the tile z0 = Math.Clamp(z0, -1, h - 1); z1 = Math.Clamp(z1, 0, h - 1); @@ -268,7 +272,8 @@ namespace DotRecast.Recast RcVecUtils.Copy(buf, 0, verts, v0 * 3); RcVecUtils.Copy(buf, 3, verts, v1 * 3); RcVecUtils.Copy(buf, 6, verts, v2 * 3); - int nvRow, nvIn = 3; + int nvRow; + int nvIn = 3; for (int z = z0; z <= z1; ++z) { @@ -278,15 +283,18 @@ namespace DotRecast.Recast (@in, p1) = (p1, @in); if (nvRow < 3) + { continue; + } if (z < 0) { continue; } - // find the horizontal bounds in the row - float minX = buf[inRow], maxX = buf[inRow]; + // find X-axis bounds of the row + float minX = buf[inRow]; + float maxX = buf[inRow]; for (int i = 1; i < nvRow; ++i) { float v = buf[inRow + i * 3]; @@ -304,7 +312,8 @@ namespace DotRecast.Recast x0 = Math.Clamp(x0, -1, w - 1); x1 = Math.Clamp(x1, 0, w - 1); - int nv, nv2 = nvRow; + int nv; + int nv2 = nvRow; for (int x = x0; x <= x1; ++x) { // Clip polygon to column. store the remaining polygon as well @@ -313,7 +322,9 @@ namespace DotRecast.Recast (inRow, p2) = (p2, inRow); if (nv < 3) + { continue; + } if (x < 0) { @@ -331,78 +342,87 @@ namespace DotRecast.Recast spanMin -= heightfieldBBMin.Y; spanMax -= heightfieldBBMin.Y; + // Skip the span if it is outside the heightfield bbox if (spanMax < 0.0f) + { continue; + } + if (spanMin > by) + { continue; + } + // Clamp the span to the heightfield bbox. if (spanMin < 0.0f) + { spanMin = 0; + } + if (spanMax > by) + { spanMax = by; + } // Snap the span to the heightfield height grid. int spanMinCellIndex = Math.Clamp((int)MathF.Floor(spanMin * inverseCellHeight), 0, RC_SPAN_MAX_HEIGHT); int spanMaxCellIndex = Math.Clamp((int)MathF.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, RC_SPAN_MAX_HEIGHT); - AddSpan(heightfield, x, z, spanMinCellIndex, spanMaxCellIndex, area, flagMergeThreshold); + AddSpan(heightfield, x, z, spanMinCellIndex, spanMaxCellIndex, areaID, flagMergeThreshold); } } + + return true; } - /** - * Rasterizes a single triangle into the specified heightfield. Calling this for each triangle in a mesh is less - * efficient than calling rasterizeTriangles. No spans will be added if the triangle does not overlap the - * heightfield grid. - * - * @param heightfield - * An initialized heightfield. - * @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 areaId - * The area id of the triangle. [Limit: <= WALKABLE_AREA) - * @param flagMergeThreshold - * The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx] - * @see Heightfield - */ - public static void RasterizeTriangle(RcHeightfield heightfield, float[] verts, int v0, int v1, int v2, int area, - int flagMergeThreshold, RcTelemetry ctx) + /// Rasterizes a single triangle into the specified heightfield. + /// + /// Calling this for each triangle in a mesh is less efficient than calling rcRasterizeTriangles + /// + /// No spans will be added if the triangle does not overlap the heightfield grid. + /// + /// @see rcHeightfield + /// @ingroup recast + /// @param[in,out] context The build context to use during the operation. + /// @param[in] v0 Triangle vertex 0 [(x, y, z)] + /// @param[in] v1 Triangle vertex 1 [(x, y, z)] + /// @param[in] v2 Triangle vertex 2 [(x, y, z)] + /// @param[in] areaID The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA] + /// @param[in,out] heightfield An initialized heightfield. + /// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag. + /// [Limit: >= 0] [Units: vx] + /// @returns True if the operation completed successfully. + public static void RasterizeTriangle(RcTelemetry context, float[] verts, int v0, int v1, int v2, int areaID, + RcHeightfield heightfield, int flagMergeThreshold) { - using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES); + using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES); + // Rasterize the single triangle. float inverseCellSize = 1.0f / heightfield.cs; float inverseCellHeight = 1.0f / heightfield.ch; - RasterizeTri(verts, v0, v1, v2, area, heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, + RasterizeTri(verts, v0, v1, v2, areaID, heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, inverseCellHeight, flagMergeThreshold); } - /** - * Rasterizes an indexed triangle mesh into the specified heightfield. Spans will only be added for triangles that - * overlap the heightfield grid. - * - * @param heightfield - * An initialized heightfield. - * @param verts - * The vertices. [(x, y, z) * N] - * @param tris - * The triangle indices. [(vertA, vertB, vertC) * nt] - * @param areaIds - * The area id's of the triangles. [Limit: <= WALKABLE_AREA] [Size: numTris] - * @param numTris - * The number of triangles. - * @param flagMergeThreshold - * The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx] - * @see Heightfield - */ - public static void RasterizeTriangles(RcHeightfield heightfield, float[] verts, int[] tris, int[] areaIds, int numTris, - int flagMergeThreshold, RcTelemetry ctx) + /// Rasterizes an indexed triangle mesh into the specified heightfield. + /// + /// Spans will only be added for triangles that overlap the heightfield grid. + /// + /// @see rcHeightfield + /// @ingroup recast + /// @param[in,out] context The build context to use during the operation. + /// @param[in] verts The vertices. [(x, y, z) * @p nv] + /// @param[in] numVerts The number of vertices. (unused) TODO (graham): Remove in next major release + /// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] + /// @param[in] triAreaIDs The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] + /// @param[in] numTris The number of triangles. + /// @param[in,out] heightfield An initialized heightfield. + /// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag. + /// [Limit: >= 0] [Units: vx] + /// @returns True if the operation completed successfully. + public static void RasterizeTriangles(RcTelemetry ctx, float[] verts, int[] tris, int[] triAreaIDs, int numTris, + RcHeightfield heightfield, int flagMergeThreshold) { using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES); @@ -413,7 +433,7 @@ namespace DotRecast.Recast int v0 = tris[triIndex * 3 + 0]; int v1 = tris[triIndex * 3 + 1]; int v2 = tris[triIndex * 3 + 2]; - RasterizeTri(verts, v0, v1, v2, areaIds[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, + RasterizeTri(verts, v0, v1, v2, triAreaIDs[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, inverseCellHeight, flagMergeThreshold); } } diff --git a/src/DotRecast.Recast/RcVoxelizations.cs b/src/DotRecast.Recast/RcVoxelizations.cs index 95b639c..9bc2e8e 100644 --- a/src/DotRecast.Recast/RcVoxelizations.cs +++ b/src/DotRecast.Recast/RcVoxelizations.cs @@ -59,7 +59,7 @@ namespace DotRecast.Recast int[] tris = node.tris; int ntris = tris.Length / 3; int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod); - RcRasterizations.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx); + RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb); } } else @@ -67,7 +67,7 @@ namespace DotRecast.Recast int[] tris = geom.GetTris(); int ntris = tris.Length / 3; int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod); - RcRasterizations.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx); + RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb); } } diff --git a/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs index 000ce51..9cab2ae 100644 --- a/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs +++ b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs @@ -140,7 +140,7 @@ public class RecastSoloMeshTest // If your input data is multiple meshes, you can transform them here, calculate // the are type for each of the meshes and rasterize them. int[] m_triareas = RcCommons.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod); - RcRasterizations.RasterizeTriangles(m_solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, m_ctx); + RcRasterizations.RasterizeTriangles(m_ctx, verts, tris, m_triareas, ntris, m_solid, cfg.WalkableClimb); } //