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DotRecastNetSim
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remove FindRandomPointResult 1st

This commit is contained in:
ikpil 2023-06-10 21:57:39 +09:00
parent fc1f64bcc9
commit 6271dc71d9
16 changed files with 136 additions and 122 deletions
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10
src/DotRecast.Detour.Crowd/DtCrowd.cs
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@ -616,7 +616,7 @@ namespace DotRecast.Detour.Crowd
// Partial path, constrain target position inside the
// last polygon.
var cr = _navQuery.ClosestPointOnPoly(reqPath[reqPath.Count - 1], ag.targetPos, out reqPos, out var _);
if (cr.IsFailed())
if (cr.Failed())
{
reqPath = new List<long>();
}
@ -694,7 +694,7 @@ namespace DotRecast.Detour.Crowd
// _telemetry.RecordPathWaitTime(ag.targetReplanTime);
// Poll path queue.
DtStatus status = ag.targetPathQueryResult.status;
if (status.IsFailed())
if (status.Failed())
{
// Path find failed, retry if the target location is still
// valid.
@ -710,7 +710,7 @@ namespace DotRecast.Detour.Crowd
ag.targetReplanTime = 0;
}
else if (status.IsSuccess())
else if (status.Succeeded())
{
List<long> path = ag.corridor.GetPath();
if (0 == path.Count)
@ -723,7 +723,7 @@ namespace DotRecast.Detour.Crowd
bool valid = true;
List<long> res = ag.targetPathQueryResult.path;
if (status.IsFailed() || 0 == res.Count)
if (status.Failed() || 0 == res.Count)
{
valid = false;
}
@ -780,7 +780,7 @@ namespace DotRecast.Detour.Crowd
// Partial path, constrain target position inside
// the last polygon.
var cr = _navQuery.ClosestPointOnPoly(res[res.Count - 1], targetPos, out var nearest, out var _);
if (cr.IsSuccess())
if (cr.Succeeded())
{
targetPos = nearest;
}

6
src/DotRecast.Detour.Crowd/DtPathQueue.cs
View File

@ -56,21 +56,21 @@ namespace DotRecast.Detour.Crowd
}
// Handle query in progress.
if (q.result.status.IsInProgress())
if (q.result.status.InProgress())
{
Result<int> res = q.navQuery.UpdateSlicedFindPath(iterCount);
q.result.status = res.status;
iterCount -= res.result;
}
if (q.result.status.IsSuccess())
if (q.result.status.Succeeded())
{
Result<List<long>> path = q.navQuery.FinalizeSlicedFindPath();
q.result.status = path.status;
q.result.path = path.result;
}
if (!(q.result.status.IsFailed() || q.result.status.IsSuccess()))
if (!(q.result.status.Failed() || q.result.status.Succeeded()))
{
queue.AddFirst(q);
}

64
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -72,24 +72,24 @@ namespace DotRecast.Detour
m_openList = new DtNodeQueue();
}
/**
* Returns random location on navmesh. Polygons are chosen weighted by area. The search runs in linear related to
* number of polygon.
*
* @param filter
* The polygon filter to apply to the query.
* @param frand
* Function returning a random number [0..1).
* @return Random location
*/
public Result<FindRandomPointResult> FindRandomPoint(IDtQueryFilter filter, FRand frand)
/// Returns random location on navmesh.
/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
/// @param[in] filter The polygon filter to apply to the query.
/// @param[in] frand Function returning a random number [0..1).
/// @param[out] randomRef The reference id of the random location.
/// @param[out] randomPt The random location.
/// @returns The status flags for the query.
public DtStatus FindRandomPoint(IDtQueryFilter filter, FRand frand, out long randomRef, out RcVec3f randomPt)
{
// Randomly pick one tile. Assume that all tiles cover roughly the same area.
randomRef = 0;
randomPt = RcVec3f.Zero;
if (null == filter || null == frand)
{
return Results.InvalidParam<FindRandomPointResult>();
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
}
// Randomly pick one tile. Assume that all tiles cover roughly the same area.
DtMeshTile tile = null;
float tsum = 0.0f;
for (int i = 0; i < m_nav.GetMaxTiles(); i++)
@ -112,7 +112,7 @@ namespace DotRecast.Detour
if (tile == null)
{
return Results.InvalidParam<FindRandomPointResult>("Tile not found");
return DtStatus.DT_FAILURE;
}
// Randomly pick one polygon weighted by polygon area.
@ -159,7 +159,7 @@ namespace DotRecast.Detour
if (poly == null)
{
return Results.InvalidParam<FindRandomPointResult>("Poly not found");
return DtStatus.DT_FAILURE;
}
// Randomly pick point on polygon.
@ -176,7 +176,11 @@ namespace DotRecast.Detour
var pt = DetourCommon.RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t);
ClosestPointOnPoly(polyRef, pt, out var closest, out var _);
return Results.Success(new FindRandomPointResult(polyRef, closest));
randomRef = polyRef;
randomPt = closest;
return DtStatus.DT_SUCCSESS;
}
/**
@ -198,7 +202,7 @@ namespace DotRecast.Detour
public Result<FindRandomPointResult> FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius,
IDtQueryFilter filter, FRand frand)
{
return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, IPolygonByCircleConstraint.Noop());
return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, NoOpPolygonByCircleConstraint.Noop);
}
/**
@ -219,7 +223,7 @@ namespace DotRecast.Detour
public Result<FindRandomPointResult> FindRandomPointWithinCircle(long startRef, RcVec3f centerPos, float maxRadius,
IDtQueryFilter filter, FRand frand)
{
return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, IPolygonByCircleConstraint.Strict());
return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, StrictPolygonByCircleConstraint.Strict);
}
public Result<FindRandomPointResult> FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius,
@ -416,7 +420,7 @@ namespace DotRecast.Detour
/// @returns The status flags for the query.
public DtStatus ClosestPointOnPoly(long refs, RcVec3f pos, out RcVec3f closest, out bool posOverPoly)
{
closest = RcVec3f.Zero;
closest = pos;
posOverPoly = false;
if (!m_nav.IsValidPolyRef(refs) || !RcVec3f.IsFinite(pos))
@ -562,7 +566,7 @@ namespace DotRecast.Detour
// Get nearby polygons from proximity grid.
DtFindNearestPolyQuery query = new DtFindNearestPolyQuery(this, center);
DtStatus status = QueryPolygons(center, halfExtents, filter, query);
if (status.IsFailed())
if (status.Failed())
{
return Results.Of<FindNearestPolyResult>(status, "");
}
@ -1083,7 +1087,7 @@ namespace DotRecast.Detour
*/
public virtual Result<int> UpdateSlicedFindPath(int maxIter)
{
if (!m_query.status.IsInProgress())
if (!m_query.status.InProgress())
{
return Results.Of(m_query.status, 0);
}
@ -1322,7 +1326,7 @@ namespace DotRecast.Detour
public virtual Result<List<long>> FinalizeSlicedFindPath()
{
List<long> path = new List<long>(64);
if (m_query.status.IsFailed())
if (m_query.status.Failed())
{
// Reset query.
m_query = new DtQueryData();
@ -1367,7 +1371,7 @@ namespace DotRecast.Detour
return Results.Failure(path);
}
if (m_query.status.IsFailed())
if (m_query.status.Failed())
{
// Reset query.
m_query = new DtQueryData();
@ -1487,7 +1491,7 @@ namespace DotRecast.Detour
{
var pt = RcVec3f.Lerp(left, right, t);
stat = AppendVertex(pt, 0, path[i + 1], straightPath, maxStraightPath);
if (!stat.IsInProgress())
if (!stat.InProgress())
{
return stat;
}
@ -1549,7 +1553,7 @@ namespace DotRecast.Detour
var closestEndPos = closestEndPosRes.result;
// Add start point.
DtStatus stat = AppendVertex(closestStartPos, DT_STRAIGHTPATH_START, path[0], straightPath, maxStraightPath);
if (!stat.IsInProgress())
if (!stat.InProgress())
{
return Results.Success(straightPath);
}
@ -1639,7 +1643,7 @@ namespace DotRecast.Detour
{
stat = AppendPortals(apexIndex, leftIndex, portalLeft, path, straightPath, maxStraightPath,
options);
if (!stat.IsInProgress())
if (!stat.InProgress())
{
return Results.Success(straightPath);
}
@ -1662,7 +1666,7 @@ namespace DotRecast.Detour
// Append or update vertex
stat = AppendVertex(portalApex, flags, refs, straightPath, maxStraightPath);
if (!stat.IsInProgress())
if (!stat.InProgress())
{
return Results.Success(straightPath);
}
@ -1696,7 +1700,7 @@ namespace DotRecast.Detour
{
stat = AppendPortals(apexIndex, rightIndex, portalRight, path, straightPath,
maxStraightPath, options);
if (!stat.IsInProgress())
if (!stat.InProgress())
{
return Results.Success(straightPath);
}
@ -1719,7 +1723,7 @@ namespace DotRecast.Detour
// Append or update vertex
stat = AppendVertex(portalApex, flags, refs, straightPath, maxStraightPath);
if (!stat.IsInProgress())
if (!stat.InProgress())
{
return Results.Success(straightPath);
}
@ -1742,7 +1746,7 @@ namespace DotRecast.Detour
{
stat = AppendPortals(apexIndex, path.Count - 1, closestEndPos, path, straightPath, maxStraightPath,
options);
if (!stat.IsInProgress())
if (!stat.InProgress())
{
return Results.Success(straightPath);
}

6
src/DotRecast.Detour/DtStatus.cs
View File

@ -56,19 +56,19 @@ namespace DotRecast.Detour
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool IsSuccess()
public bool Succeeded()
{
return 0 != (Value & (DT_SUCCSESS.Value | DT_PARTIAL_RESULT.Value));
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool IsFailed()
public bool Failed()
{
return 0 != (Value & (DT_FAILURE.Value | DT_INVALID_PARAM.Value));
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool IsInProgress()
public bool InProgress()
{
return 0 != (Value & DT_IN_PROGRESS.Value);
}

10
src/DotRecast.Detour/IPolygonByCircleConstraint.cs
View File

@ -24,15 +24,5 @@ namespace DotRecast.Detour
public interface IPolygonByCircleConstraint
{
float[] Aply(float[] polyVerts, RcVec3f circleCenter, float radius);
public static IPolygonByCircleConstraint Noop()
{
return new NoOpPolygonByCircleConstraint();
}
public static IPolygonByCircleConstraint Strict()
{
return new StrictPolygonByCircleConstraint();
}
}
}

6
src/DotRecast.Detour/LegacyNavMeshQuery.cs
View File

@ -230,7 +230,7 @@ namespace DotRecast.Detour
*/
public override Result<int> UpdateSlicedFindPath(int maxIter)
{
if (!m_query.status.IsInProgress())
if (!m_query.status.InProgress())
{
return Results.Of(m_query.status, 0);
}
@ -467,7 +467,7 @@ namespace DotRecast.Detour
public override Result<List<long>> FinalizeSlicedFindPath()
{
List<long> path = new List<long>(64);
if (m_query.status.IsFailed())
if (m_query.status.Failed())
{
// Reset query.
m_query = new DtQueryData();
@ -553,7 +553,7 @@ namespace DotRecast.Detour
return Results.Failure(path);
}
if (m_query.status.IsFailed())
if (m_query.status.Failed())
{
// Reset query.
m_query = new DtQueryData();

6
src/DotRecast.Detour/NoOpPolygonByCircleConstraint.cs
View File

@ -4,6 +4,12 @@ namespace DotRecast.Detour
{
public class NoOpPolygonByCircleConstraint : IPolygonByCircleConstraint
{
public static readonly NoOpPolygonByCircleConstraint Noop = new NoOpPolygonByCircleConstraint();
private NoOpPolygonByCircleConstraint()
{
}
public float[] Aply(float[] polyVerts, RcVec3f circleCenter, float radius)
{
return polyVerts;

4
src/DotRecast.Detour/QueryResults/Result.cs
View File

@ -74,12 +74,12 @@ namespace DotRecast.Detour.QueryResults
public bool Failed()
{
return status.IsFailed();
return status.Failed();
}
public bool Succeeded()
{
return status.IsSuccess();
return status.Succeeded();
}
}
}

39
src/DotRecast.Detour/StrictPolygonByCircleConstraint.cs
View File

@ -9,7 +9,27 @@ namespace DotRecast.Detour
public class StrictPolygonByCircleConstraint : IPolygonByCircleConstraint
{
private const int CIRCLE_SEGMENTS = 12;
private static float[] unitCircle;
private static readonly float[] UnitCircle = MakeUnitCircle();
public static readonly IPolygonByCircleConstraint Strict = new StrictPolygonByCircleConstraint();
private StrictPolygonByCircleConstraint()
{
}
private static float[] MakeUnitCircle()
{
var temp = new float[CIRCLE_SEGMENTS * 3];
for (int i = 0; i < CIRCLE_SEGMENTS; i++)
{
double a = i * Math.PI * 2 / CIRCLE_SEGMENTS;
temp[3 * i] = (float)Math.Cos(a);
temp[3 * i + 1] = 0;
temp[3 * i + 2] = (float)-Math.Sin(a);
}
return temp;
}
public float[] Aply(float[] verts, RcVec3f center, float radius)
{
@ -41,26 +61,15 @@ namespace DotRecast.Detour
return intersection;
}
private float[] Circle(RcVec3f center, float radius)
{
if (unitCircle == null)
{
unitCircle = new float[CIRCLE_SEGMENTS * 3];
for (int i = 0; i < CIRCLE_SEGMENTS; i++)
{
double a = i * Math.PI * 2 / CIRCLE_SEGMENTS;
unitCircle[3 * i] = (float)Math.Cos(a);
unitCircle[3 * i + 1] = 0;
unitCircle[3 * i + 2] = (float)-Math.Sin(a);
}
}
float[] circle = new float[12 * 3];
for (int i = 0; i < CIRCLE_SEGMENTS * 3; i += 3)
{
circle[i] = unitCircle[i] * radius + center.x;
circle[i] = UnitCircle[i] * radius + center.x;
circle[i + 1] = center.y;
circle[i + 2] = unitCircle[i + 2] * radius + center.z;
circle[i + 2] = UnitCircle[i + 2] * radius + center.z;
}
return circle;

16
src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs
View File

@ -147,10 +147,10 @@ public class CrowdProfilingTool
private RcVec3f? GetMobPosition(DtNavMeshQuery navquery, IDtQueryFilter filter)
{
Result<FindRandomPointResult> result = navquery.FindRandomPoint(filter, rnd);
if (result.Succeeded())
var status = navquery.FindRandomPoint(filter, rnd, out var randomRef, out var randomPt);
if (status.Succeeded())
{
return result.result.GetRandomPt();
return randomPt;
}
return null;
@ -182,13 +182,13 @@ public class CrowdProfilingTool
float zoneSeparation = zoneRadius * zoneRadius * 16;
for (int k = 0; k < 100; k++)
{
Result<FindRandomPointResult> result = navquery.FindRandomPoint(filter, rnd);
if (result.Succeeded())
var status = navquery.FindRandomPoint(filter, rnd, out var randomRef, out var randomPt);
if (status.Succeeded())
{
bool valid = true;
foreach (FindRandomPointResult zone in zones)
foreach (var zone in zones)
{
if (RcVec3f.DistSqr(zone.GetRandomPt(), result.result.GetRandomPt()) < zoneSeparation)
if (RcVec3f.DistSqr(zone.GetRandomPt(), randomPt) < zoneSeparation)
{
valid = false;
break;
@ -197,7 +197,7 @@ public class CrowdProfilingTool
if (valid)
{
zones.Add(result.result);
zones.Add(new FindRandomPointResult(randomRef, randomPt));
break;
}
}

13
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -335,7 +335,7 @@ public class TestNavmeshTool : ITool
if (m_polys[m_polys.Count - 1] != m_endRef)
{
var result = m_navQuery.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos, out var closest, out var _);
if (result.IsSuccess())
if (result.Succeeded())
{
epos = closest;
}
@ -489,8 +489,9 @@ public class TestNavmeshTool : ITool
float dz = m_epos.z - m_spos.z;
float dist = (float)Math.Sqrt(dx * dx + dz * dz);
IPolygonByCircleConstraint constraint = constrainByCircle
? IPolygonByCircleConstraint.Strict()
: IPolygonByCircleConstraint.Noop();
? StrictPolygonByCircleConstraint.Strict
: NoOpPolygonByCircleConstraint.Noop;
for (int i = 0; i < 200; i++)
{
Result<FindRandomPointResult> result = m_navQuery.FindRandomPointAroundCircle(m_startRef, m_spos, dist,
@ -978,12 +979,12 @@ public class TestNavmeshTool : ITool
if (m_toolMode == TestNavmeshToolMode.PATHFIND_SLICED)
{
DtNavMeshQuery m_navQuery = m_sample.GetNavMeshQuery();
if (m_pathFindStatus.IsInProgress())
if (m_pathFindStatus.InProgress())
{
m_pathFindStatus = m_navQuery.UpdateSlicedFindPath(1).status;
}
if (m_pathFindStatus.IsSuccess())
if (m_pathFindStatus.Succeeded())
{
m_polys = m_navQuery.FinalizeSlicedFindPath().result;
m_straightPath = null;
@ -995,7 +996,7 @@ public class TestNavmeshTool : ITool
if (m_polys[m_polys.Count - 1] != m_endRef)
{
var result = m_navQuery.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos, out var closest, out var _);
if (result.IsSuccess())
if (result.Succeeded())
{
epos = closest;
}

2
test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs
View File

@ -49,7 +49,7 @@ public class UnityAStarPathfindingImporterTest
RcVec3f startPos = RcVec3f.Of(22.93f, -2.37f, -5.11f);
RcVec3f endPos = RcVec3f.Of(16.81f, -2.37f, 25.52f);
Result<List<long>> path = FindPath(mesh, startPos, endPos);
Assert.That(path.status.IsSuccess(), Is.True);
Assert.That(path.status.Succeeded(), Is.True);
Assert.That(path.result.Count, Is.EqualTo(15));
SaveMesh(mesh, "v4_1_16");
}

2
test/DotRecast.Detour.Test/FindPathTest.cs
View File

@ -160,7 +160,7 @@ public class FindPathTest : AbstractDetourTest
var endPos = endPoss[i];
query.InitSlicedFindPath(startRef, endRef, startPos, endPos, filter, DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE);
DtStatus status = DtStatus.DT_IN_PROGRESS;
while (status.IsInProgress())
while (status.InProgress())
{
Result<int> res = query.UpdateSlicedFindPath(10);
status = res.status;

12
test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs
View File

@ -24,14 +24,14 @@ namespace DotRecast.Detour.Test;
[Parallelizable]
public class PolygonByCircleConstraintTest
{
private readonly IPolygonByCircleConstraint constraint = new StrictPolygonByCircleConstraint();
private readonly IPolygonByCircleConstraint _constraint = StrictPolygonByCircleConstraint.Strict;
[Test]
public void ShouldHandlePolygonFullyInsideCircle()
{
float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 };
RcVec3f center = RcVec3f.Of(1, 0, 1);
float[] constrained = constraint.Aply(polygon, center, 6);
float[] constrained = _constraint.Aply(polygon, center, 6);
Assert.That(constrained, Is.EqualTo(polygon));
}
@ -43,7 +43,7 @@ public class PolygonByCircleConstraintTest
float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 };
RcVec3f center = RcVec3f.Of(2, 0, 0);
float[] constrained = constraint.Aply(polygon, center, 3);
float[] constrained = _constraint.Aply(polygon, center, 3);
Assert.That(constrained.Length, Is.EqualTo(expectedSize));
Assert.That(constrained, Is.SupersetOf(new[] { 2f, 0f, 2f, 2f, 0f, -2f }));
}
@ -54,7 +54,7 @@ public class PolygonByCircleConstraintTest
int expectedSize = 12 * 3;
float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
RcVec3f center = RcVec3f.Of(-1, 0, -1);
float[] constrained = constraint.Aply(polygon, center, 2);
float[] constrained = _constraint.Aply(polygon, center, 2);
Assert.That(constrained.Length, Is.EqualTo(expectedSize));
@ -72,7 +72,7 @@ public class PolygonByCircleConstraintTest
int expectedSize = 9 * 3;
float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
RcVec3f center = RcVec3f.Of(-2, 0, -1);
float[] constrained = constraint.Aply(polygon, center, 3);
float[] constrained = _constraint.Aply(polygon, center, 3);
Assert.That(constrained.Length, Is.EqualTo(expectedSize));
Assert.That(constrained, Is.SupersetOf(new[] { -2f, 0f, -4f, -4f, 0f, 0f, -3.4641016f, 0.0f, 1.6076951f, -2.0f, 0.0f, 2.0f }));
@ -84,7 +84,7 @@ public class PolygonByCircleConstraintTest
int expectedSize = 7 * 3;
float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
RcVec3f center = RcVec3f.Of(4, 0, 0);
float[] constrained = constraint.Aply(polygon, center, 4);
float[] constrained = _constraint.Aply(polygon, center, 4);
Assert.That(constrained.Length, Is.EqualTo(expectedSize));
Assert.That(constrained, Is.SupersetOf(new[] { 1.5358982f, 0f, 3f, 2f, 0f, 3f, 3f, 0f, -3f }));

56
test/DotRecast.Detour.Test/RandomPointTest.cs
View File

@ -35,9 +35,9 @@ public class RandomPointTest : AbstractDetourTest
IDtQueryFilter filter = new DtQueryDefaultFilter();
for (int i = 0; i < 1000; i++)
{
Result<FindRandomPointResult> point = query.FindRandomPoint(filter, f);
Assert.That(point.Succeeded(), Is.True);
Tuple<DtMeshTile, DtPoly> tileAndPoly = navmesh.GetTileAndPolyByRef(point.result.GetRandomRef()).result;
var status = query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);
Assert.That(status.Succeeded(), Is.True);
Tuple<DtMeshTile, DtPoly> tileAndPoly = navmesh.GetTileAndPolyByRef(randomRef).result;
float[] bmin = new float[2];
float[] bmax = new float[2];
for (int j = 0; j < tileAndPoly.Item2.vertCount; j++)
@ -49,10 +49,10 @@ public class RandomPointTest : AbstractDetourTest
bmax[1] = j == 0 ? tileAndPoly.Item1.data.verts[v + 2] : Math.Max(bmax[1], tileAndPoly.Item1.data.verts[v + 2]);
}
Assert.That(point.result.GetRandomPt().x >= bmin[0], Is.True);
Assert.That(point.result.GetRandomPt().x <= bmax[0], Is.True);
Assert.That(point.result.GetRandomPt().z >= bmin[1], Is.True);
Assert.That(point.result.GetRandomPt().z <= bmax[1], Is.True);
Assert.That(randomPt.x >= bmin[0], Is.True);
Assert.That(randomPt.x <= bmax[0], Is.True);
Assert.That(randomPt.z >= bmin[1], Is.True);
Assert.That(randomPt.z <= bmax[1], Is.True);
}
}
@ -61,14 +61,15 @@ public class RandomPointTest : AbstractDetourTest
{
FRand f = new FRand(1);
IDtQueryFilter filter = new DtQueryDefaultFilter();
FindRandomPointResult point = query.FindRandomPoint(filter, f).result;
query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);
for (int i = 0; i < 1000; i++)
{
Result<FindRandomPointResult> result = query.FindRandomPointAroundCircle(point.GetRandomRef(), point.GetRandomPt(),
5f, filter, f);
Result<FindRandomPointResult> result = query.FindRandomPointAroundCircle(randomRef, randomPt, 5f, filter, f);
Assert.That(result.Failed(), Is.False);
point = result.result;
Tuple<DtMeshTile, DtPoly> tileAndPoly = navmesh.GetTileAndPolyByRef(point.GetRandomRef()).result;
randomRef = result.result.GetRandomRef();
randomPt = result.result.GetRandomPt();
Tuple<DtMeshTile, DtPoly> tileAndPoly = navmesh.GetTileAndPolyByRef(randomRef).result;
float[] bmin = new float[2];
float[] bmax = new float[2];
for (int j = 0; j < tileAndPoly.Item2.vertCount; j++)
@ -80,10 +81,10 @@ public class RandomPointTest : AbstractDetourTest
bmax[1] = j == 0 ? tileAndPoly.Item1.data.verts[v + 2] : Math.Max(bmax[1], tileAndPoly.Item1.data.verts[v + 2]);
}
Assert.That(point.GetRandomPt().x >= bmin[0], Is.True);
Assert.That(point.GetRandomPt().x <= bmax[0], Is.True);
Assert.That(point.GetRandomPt().z >= bmin[1], Is.True);
Assert.That(point.GetRandomPt().z <= bmax[1], Is.True);
Assert.That(randomPt.x >= bmin[0], Is.True);
Assert.That(randomPt.x <= bmax[0], Is.True);
Assert.That(randomPt.z >= bmin[1], Is.True);
Assert.That(randomPt.z <= bmax[1], Is.True);
}
}
@ -92,16 +93,18 @@ public class RandomPointTest : AbstractDetourTest
{
FRand f = new FRand(1);
IDtQueryFilter filter = new DtQueryDefaultFilter();
FindRandomPointResult point = query.FindRandomPoint(filter, f).result;
query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);
float radius = 5f;
for (int i = 0; i < 1000; i++)
{
Result<FindRandomPointResult> result = query.FindRandomPointWithinCircle(point.GetRandomRef(), point.GetRandomPt(),
radius, filter, f);
Result<FindRandomPointResult> result = query.FindRandomPointWithinCircle(randomRef, randomPt, radius, filter, f);
Assert.That(result.Failed(), Is.False);
float distance = RcVec3f.Dist2D(point.GetRandomPt(), result.result.GetRandomPt());
float distance = RcVec3f.Dist2D(randomPt, result.result.GetRandomPt());
Assert.That(distance <= radius, Is.True);
point = result.result;
randomRef = result.result.GetRandomRef();
randomPt = result.result.GetRandomPt();
}
}
@ -110,29 +113,30 @@ public class RandomPointTest : AbstractDetourTest
{
FRand f = new FRand(1);
IDtQueryFilter filter = new DtQueryDefaultFilter();
FindRandomPointResult point = query.FindRandomPoint(filter, f).result;
query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);
float radius = 5f;
// jvm warmup
for (int i = 0; i < 1000; i++)
{
query.FindRandomPointAroundCircle(point.GetRandomRef(), point.GetRandomPt(), radius, filter, f);
query.FindRandomPointAroundCircle(randomRef, randomPt, radius, filter, f);
}
for (int i = 0; i < 1000; i++)
{
query.FindRandomPointWithinCircle(point.GetRandomRef(), point.GetRandomPt(), radius, filter, f);
query.FindRandomPointWithinCircle(randomRef, randomPt, radius, filter, f);
}
long t1 = RcFrequency.Ticks;
for (int i = 0; i < 10000; i++)
{
query.FindRandomPointAroundCircle(point.GetRandomRef(), point.GetRandomPt(), radius, filter, f);
query.FindRandomPointAroundCircle(randomRef, randomPt, radius, filter, f);
}
long t2 = RcFrequency.Ticks;
for (int i = 0; i < 10000; i++)
{
query.FindRandomPointWithinCircle(point.GetRandomRef(), point.GetRandomPt(), radius, filter, f);
query.FindRandomPointWithinCircle(randomRef, randomPt, radius, filter, f);
}
long t3 = RcFrequency.Ticks;