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DotRecastNetSim
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refactor: support .netstandard2.1 vector3

This commit is contained in:
ikpil 2023-10-28 12:08:17 +09:00
parent 2e7a75624c
commit 5176ee036a
7 changed files with 35 additions and 50 deletions
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9
src/DotRecast.Core/Numerics/RcVec3f.cs
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@ -49,15 +49,6 @@ namespace DotRecast.Core.Numerics
Z = f; Z = f;
} }
// [MethodImpl(MethodImplOptions.AggressiveInlining)]
// public RcVec3f(ReadOnlySpan<float> values)
// {
// X = values[0];
// Y = values[1];
// Z = values[2];
// }
public float this[int index] public float this[int index]
{ {
get => GetElement(index); get => GetElement(index);

6
src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
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@ -217,9 +217,9 @@ namespace DotRecast.Recast.Toolset.Tools
RcVec3f a = new RcVec3f(1f - 2 * (float)random.NextDouble(), 0.01f + (float)random.NextDouble(), 1f - 2 * (float)random.NextDouble()); RcVec3f a = new RcVec3f(1f - 2 * (float)random.NextDouble(), 0.01f + (float)random.NextDouble(), 1f - 2 * (float)random.NextDouble());
a = RcVec3f.Normalize(a); a = RcVec3f.Normalize(a);
float len = 2f + (float)random.NextDouble() * 20f; float len = 2f + (float)random.NextDouble() * 20f;
a[0] *= len; a.X *= len;
a[1] *= len; a.Y *= len;
a[2] *= len; a.Z *= len;
RcVec3f start = new RcVec3f(p.X, p.Y, p.Z); RcVec3f start = new RcVec3f(p.X, p.Y, p.Z);
RcVec3f end = new RcVec3f(p.X + a.X, p.Y + a.Y, p.Z + a.Z); RcVec3f end = new RcVec3f(p.X + a.X, p.Y + a.Y, p.Z + a.Z);
var collider = new DtCylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb); var collider = new DtCylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);

8
src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs
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@ -126,8 +126,8 @@ namespace DotRecast.Recast.Toolset.Tools
RcVec3f bmin = geom.GetMeshBoundsMin(); RcVec3f bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); RcVec3f bmax = geom.GetMeshBoundsMax();
int tx = (int)((pos.X - bmin[0]) / ts); int tx = (int)((pos.X - bmin.X) / ts);
int ty = (int)((pos.Z - bmin[2]) / ts); int ty = (int)((pos.Z - bmin.Z) / ts);
return BuildTile(geom, settings, navMesh, tx, ty, out tileBuildTicks, out tileTriCount, out tileMemUsage); return BuildTile(geom, settings, navMesh, tx, ty, out tileBuildTicks, out tileTriCount, out tileMemUsage);
} }
@ -141,8 +141,8 @@ namespace DotRecast.Recast.Toolset.Tools
var bmin = geom.GetMeshBoundsMin(); var bmin = geom.GetMeshBoundsMin();
int tx = (int)((pos.X - bmin[0]) / ts); int tx = (int)((pos.X - bmin.X) / ts);
int ty = (int)((pos.Z - bmin[2]) / ts); int ty = (int)((pos.Z - bmin.Z) / ts);
var tileRef = navMesh.GetTileRefAt(tx, ty, 0); var tileRef = navMesh.GetTileRefAt(tx, ty, 0);
navMesh.RemoveTile(tileRef); navMesh.RemoveTile(tileRef);

4
src/DotRecast.Recast/RcAreas.cs
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@ -647,8 +647,8 @@ namespace DotRecast.Recast
RcCompactCell cell = compactHeightfield.cells[x + z * zStride]; RcCompactCell cell = compactHeightfield.cells[x + z * zStride];
int maxSpanIndex = cell.index + cell.count; int maxSpanIndex = cell.index + cell.count;
float cellX = compactHeightfield.bmin[0] + ((float)x + 0.5f) * compactHeightfield.cs; float cellX = compactHeightfield.bmin.X + ((float)x + 0.5f) * compactHeightfield.cs;
float cellZ = compactHeightfield.bmin[2] + ((float)z + 0.5f) * compactHeightfield.cs; float cellZ = compactHeightfield.bmin.Z + ((float)z + 0.5f) * compactHeightfield.cs;
float deltaX = cellX - position[0]; float deltaX = cellX - position[0];
float deltaZ = cellZ - position[2]; float deltaZ = cellZ - position[2];

25
test/DotRecast.Detour.Test/FindNearestPolyTest.cs
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@ -17,7 +17,6 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Test; namespace DotRecast.Detour.Test;
@ -27,11 +26,13 @@ public class FindNearestPolyTest : AbstractDetourTest
{ {
private static readonly long[] POLY_REFS = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L }; private static readonly long[] POLY_REFS = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L };
private static readonly float[][] POLY_POS = private static readonly RcVec3f[] POLY_POS =
{ {
new[] { 22.606520f, 10.197294f, -45.918674f }, new[] { 22.331268f, 10.197294f, -1.040187f }, new RcVec3f(22.606520f, 10.197294f, -45.918674f),
new[] { 18.694363f, 15.803535f, -73.090416f }, new[] { 0.745335f, 10.197294f, -5.940050f }, new RcVec3f(22.331268f, 10.197294f, -1.040187f),
new[] { -20.651257f, 5.904126f, -13.712508f } new RcVec3f(18.694363f, 15.803535f, -73.090416f),
new RcVec3f(0.745335f, 10.197294f, -5.940050f),
new RcVec3f(-20.651257f, 5.904126f, -13.712508f)
}; };
[Test] [Test]
@ -45,10 +46,9 @@ public class FindNearestPolyTest : AbstractDetourTest
var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearestPt, out var _); var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearestPt, out var _);
Assert.That(status.Succeeded(), Is.True); Assert.That(status.Succeeded(), Is.True);
Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i])); Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]));
for (int v = 0; v < POLY_POS[i].Length; v++) Assert.That(nearestPt.X, Is.EqualTo(POLY_POS[i].X).Within(0.001f));
{ Assert.That(nearestPt.Y, Is.EqualTo(POLY_POS[i].Y).Within(0.001f));
Assert.That(nearestPt[v], Is.EqualTo(POLY_POS[i][v]).Within(0.001f)); Assert.That(nearestPt.Z, Is.EqualTo(POLY_POS[i].Z).Within(0.001f));
}
} }
} }
@ -63,10 +63,9 @@ public class FindNearestPolyTest : AbstractDetourTest
var status = query.FindNearestPoly(startPos, extents, DtQueryEmptyFilter.Shared, out var nearestRef, out var nearestPt, out var _); var status = query.FindNearestPoly(startPos, extents, DtQueryEmptyFilter.Shared, out var nearestRef, out var nearestPt, out var _);
Assert.That(status.Succeeded(), Is.True); Assert.That(status.Succeeded(), Is.True);
Assert.That(nearestRef, Is.EqualTo(0L)); Assert.That(nearestRef, Is.EqualTo(0L));
for (int v = 0; v < POLY_POS[i].Length; v++) Assert.That(nearestPt.X, Is.EqualTo(startPos.X).Within(0.001f));
{ Assert.That(nearestPt.Y, Is.EqualTo(startPos.Y).Within(0.001f));
Assert.That(nearestPt[v], Is.EqualTo(startPos[v]).Within(0.001f)); Assert.That(nearestPt.Z, Is.EqualTo(startPos.Z).Within(0.001f));
}
} }
} }
} }

9
test/DotRecast.Detour.Test/FindPathTest.cs
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@ -18,7 +18,6 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Test; namespace DotRecast.Detour.Test;
@ -199,11 +198,9 @@ public class FindPathTest : AbstractDetourTest
for (int j = 0; j < STRAIGHT_PATHS[i].Length; j++) for (int j = 0; j < STRAIGHT_PATHS[i].Length; j++)
{ {
Assert.That(straightPath[j].refs, Is.EqualTo(STRAIGHT_PATHS[i][j].refs)); Assert.That(straightPath[j].refs, Is.EqualTo(STRAIGHT_PATHS[i][j].refs));
for (int v = 0; v < 3; v++) Assert.That(straightPath[j].pos.X, Is.EqualTo(STRAIGHT_PATHS[i][j].pos.X).Within(0.01f));
{ Assert.That(straightPath[j].pos.Y, Is.EqualTo(STRAIGHT_PATHS[i][j].pos.Y).Within(0.01f));
Assert.That(straightPath[j].pos[v], Is.EqualTo(STRAIGHT_PATHS[i][j].pos[v]).Within(0.01f)); Assert.That(straightPath[j].pos.Z, Is.EqualTo(STRAIGHT_PATHS[i][j].pos.Z).Within(0.01f));
}
Assert.That(straightPath[j].flags, Is.EqualTo(STRAIGHT_PATHS[i][j].flags)); Assert.That(straightPath[j].flags, Is.EqualTo(STRAIGHT_PATHS[i][j].flags));
} }
} }

24
test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs
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@ -18,7 +18,6 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Test; namespace DotRecast.Detour.Test;
@ -57,13 +56,13 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
} }
}; };
private static readonly float[][] POSITION = private static readonly RcVec3f[] POSITION =
{ {
new[] { 6.457663f, 10.197294f, -18.334061f }, new RcVec3f(6.457663f, 10.197294f, -18.334061f),
new[] { -1.433933f, 10.197294f, -1.359993f }, new RcVec3f(-1.433933f, 10.197294f, -1.359993f),
new[] { 12.184784f, 9.997294f, -18.941269f }, new RcVec3f(12.184784f, 9.997294f, -18.941269f),
new[] { 0.863553f, 10.197294f, -10.310320f }, new RcVec3f(0.863553f, 10.197294f, -10.310320f),
new[] { 18.784092f, 10.197294f, 3.054368f } new RcVec3f(18.784092f, 10.197294f, 3.054368f),
}; };
[Test] [Test]
@ -78,14 +77,13 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
RcVec3f endPos = endPoss[i]; RcVec3f endPos = endPoss[i];
var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, ref visited); var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, ref visited);
Assert.That(status.Succeeded(), Is.True); Assert.That(status.Succeeded(), Is.True);
for (int v = 0; v < 3; v++) Assert.That(result.X, Is.EqualTo(POSITION[i].X).Within(0.01f));
{ Assert.That(result.Y, Is.EqualTo(POSITION[i].Y).Within(0.01f));
Assert.That(result[v], Is.EqualTo(POSITION[i][v]).Within(0.01f)); Assert.That(result.Z, Is.EqualTo(POSITION[i].Z).Within(0.01f));
}
Assert.That(visited.Count, Is.EqualTo(VISITED[i].Length)); Assert.That(visited.Count, Is.EqualTo(VISITED[i].Length));
for (int j = 0; j < POSITION[i].Length; j++) for (int j = 0; j < 3; j++)
{ {
Assert.That(visited[j], Is.EqualTo(VISITED[i][j])); Assert.That(visited[j], Is.EqualTo(VISITED[i][j]));
} }