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DotRecastNetSim
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ikpil 2024-01-07 12:53:28 +09:00
parent ae0f21c808
commit 648d7bd703
7 changed files with 93 additions and 160 deletions
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45
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -154,22 +154,17 @@ namespace DotRecast.Detour
return DtStatus.DT_SUCCESS;
}
/**
* Returns random location on navmesh within the reach of specified location. Polygons are chosen weighted by area.
* The search runs in linear related to number of polygon. The location is not exactly constrained by the circle,
* but it limits the visited polygons.
*
* @param startRef
* The reference id of the polygon where the search starts.
* @param centerPos
* The center of the search circle. [(x, y, z)]
* @param maxRadius
* @param filter
* The polygon filter to apply to the query.
* @param frand
* Function returning a random number [0..1).
* @return Random location
*/
/// Returns random location on navmesh within the reach of specified location.
/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
/// The location is not exactly constrained by the circle, but it limits the visited polygons.
/// @param[in] startRef The reference id of the polygon where the search starts.
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
/// @param[in] maxRadius The radius of the search circle. [Units: wu]
/// @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. [(x, y, z)]
/// @returns The status flags for the query.
public DtStatus FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius,
IDtQueryFilter filter, IRcRand frand, out long randomRef, out RcVec3f randomPt)
{
@ -197,6 +192,18 @@ namespace DotRecast.Detour
return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, DtStrictDtPolygonByCircleConstraint.Shared, out randomRef, out randomPt);
}
/// Returns random location on navmesh within the reach of specified location.
/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
/// The location is not exactly constrained by the circle, but it limits the visited polygons.
/// @param[in] startRef The reference id of the polygon where the search starts.
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
/// @param[in] maxRadius The radius of the search circle. [Units: wu]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[in] frand Function returning a random number [0..1).
/// @param[in] constraint
/// @param[out] randomRef The reference id of the random location.
/// @param[out] randomPt The random location. [(x, y, z)]
/// @returns The status flags for the query.
public DtStatus FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius,
IDtQueryFilter filter, IRcRand frand, IDtPolygonByCircleConstraint constraint,
out long randomRef, out RcVec3f randomPt)
@ -393,13 +400,13 @@ namespace DotRecast.Detour
///
/// @p pos does not have to be within the bounds of the polygon or navigation mesh.
///
/// See ClosestPointOnPolyBoundary() for a limited but faster option.
/// See closestPointOnPolyBoundary() for a limited but faster option.
///
/// Finds the closest point on the specified polygon.
/// @param[in] ref The reference id of the polygon.
/// @param[in] pos The position to check. [(x, y, z)]
/// @param[out] closest
/// @param[out] posOverPoly
/// @param[out] closest The closest point on the polygon. [(x, y, z)]
/// @param[out] posOverPoly True of the position is over the polygon.
/// @returns The status flags for the query.
public DtStatus ClosestPointOnPoly(long refs, RcVec3f pos, out RcVec3f closest, out bool posOverPoly)
{

58
src/DotRecast.Recast/RcHeightfieldLayer.cs
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@ -6,48 +6,20 @@ namespace DotRecast.Recast
/// @see rcHeightfieldLayerSet
public class RcHeightfieldLayer
{
public RcVec3f bmin = new RcVec3f();
/// < The minimum bounds in world space. [(x, y, z)]
public RcVec3f bmax = new RcVec3f();
/// < The maximum bounds in world space. [(x, y, z)]
public float cs;
/// < The size of each cell. (On the xz-plane.)
public float ch;
/// < The height of each cell. (The minimum increment along the y-axis.)
public int width;
/// < The width of the heightfield. (Along the x-axis in cell units.)
public int height;
/// < The height of the heightfield. (Along the z-axis in cell units.)
public int minx;
/// < The minimum x-bounds of usable data.
public int maxx;
/// < The maximum x-bounds of usable data.
public int miny;
/// < The minimum y-bounds of usable data. (Along the z-axis.)
public int maxy;
/// < The maximum y-bounds of usable data. (Along the z-axis.)
public int hmin;
/// < The minimum height bounds of usable data. (Along the y-axis.)
public int hmax;
/// < The maximum height bounds of usable data. (Along the y-axis.)
public int[] heights;
/// < The heightfield. [Size: width * height]
public int[] areas;
/// < Area ids. [Size: Same as #heights]
public int[] cons; /// < Packed neighbor connection information. [Size: Same as #heights]
public RcVec3f bmin = new RcVec3f(); // < The minimum bounds in world space. [(x, y, z)]
public RcVec3f bmax = new RcVec3f(); // < The maximum bounds in world space. [(x, y, z)]
public float cs; // < The size of each cell. (On the xz-plane.)
public float ch; // < The height of each cell. (The minimum increment along the y-axis.)
public int width; // < The width of the heightfield. (Along the x-axis in cell units.)
public int height; // < The height of the heightfield. (Along the z-axis in cell units.)
public int minx; // < The minimum x-bounds of usable data.
public int maxx; // < The maximum x-bounds of usable data.
public int miny; // < The minimum y-bounds of usable data. (Along the z-axis.)
public int maxy; // < The maximum y-bounds of usable data. (Along the z-axis.)
public int hmin; // < The minimum height bounds of usable data. (Along the y-axis.)
public int hmax; // < The maximum height bounds of usable data. (Along the y-axis.)
public int[] heights; // < The heightfield. [Size: width * height]
public int[] areas; // < Area ids. [Size: Same as #heights]
public int[] cons; // < Packed neighbor connection information. [Size: Same as #heights]
}
}

1
src/DotRecast.Recast/RcHeightfieldLayerSet.cs
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@ -18,7 +18,6 @@ freely, subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
using DotRecast.Core.Numerics;
namespace DotRecast.Recast
{

8
src/DotRecast.Recast/RcMeshDetails.cs
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@ -869,9 +869,7 @@ namespace DotRecast.Recast
{
if (@in[vj + 2] > @in[vi + 2])
{
int temp = vi;
vi = vj;
vj = temp;
(vi, vj) = (vj, vi);
swapped = true;
}
}
@ -879,9 +877,7 @@ namespace DotRecast.Recast
{
if (@in[vj + 0] > @in[vi + 0])
{
int temp = vi;
vi = vj;
vj = temp;
(vi, vj) = (vj, vi);
swapped = true;
}
}

60
src/DotRecast.Recast/RcPolyMesh.cs
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@ -22,52 +22,26 @@ using DotRecast.Core.Numerics;
namespace DotRecast.Recast
{
/** Represents a polygon mesh suitable for use in building a navigation mesh. */
/// Represents a polygon mesh suitable for use in building a navigation mesh.
/// @ingroup recast
public class RcPolyMesh
{
/** The mesh vertices. [Form: (x, y, z) coordinates * #nverts] */
public int[] verts;
public int[] verts; // The mesh vertices. [Form: (x, y, z) coordinates * #nverts]
public int[] polys; // Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp]
public int[] regs; // The region id assigned to each polygon. [Length: #maxpolys]
public int[] areas; // The area id assigned to each polygon. [Length: #maxpolys]
public int nverts; // The number of vertices.
public int npolys; // The number of polygons.
public int nvp; // The maximum number of vertices per polygon.
public int maxpolys; // The number of allocated polygons.
public int[] flags; // The user defined flags for each polygon. [Length: #maxpolys]
public RcVec3f bmin = new RcVec3f(); // The minimum bounds in world space. [(x, y, z)]
public RcVec3f bmax = new RcVec3f(); // The maximum bounds in world space. [(x, y, z)]
/** Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp] */
public int[] polys;
public float cs; // The size of each cell. (On the xz-plane.)
public float ch; // The height of each cell. (The minimum increment along the y-axis.)
/** The region id assigned to each polygon. [Length: #maxpolys] */
public int[] regs;
/** The area id assigned to each polygon. [Length: #maxpolys] */
public int[] areas;
/** The number of vertices. */
public int nverts;
/** The number of polygons. */
public int npolys;
/** The maximum number of vertices per polygon. */
public int nvp;
/** The number of allocated polygons. */
public int maxpolys;
/** The user defined flags for each polygon. [Length: #maxpolys] */
public int[] flags;
/** The minimum bounds in world space. [(x, y, z)] */
public RcVec3f bmin = new RcVec3f();
/** The maximum bounds in world space. [(x, y, z)] */
public RcVec3f bmax = new RcVec3f();
/** The size of each cell. (On the xz-plane.) */
public float cs;
/** The height of each cell. (The minimum increment along the y-axis.) */
public float ch;
/** The AABB border size used to generate the source data from which the mesh was derived. */
public int borderSize;
/** The max error of the polygon edges in the mesh. */
public float maxEdgeError;
public int borderSize; // The AABB border size used to generate the source data from which the mesh was derived.
public float maxEdgeError; // The max error of the polygon edges in the mesh.
}
}

30
src/DotRecast.Recast/RcPolyMeshDetail.cs
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@ -20,28 +20,16 @@ freely, subject to the following restrictions:
namespace DotRecast.Recast
{
/**
* Contains triangle meshes that represent detailed height data associated with the polygons in its associated polygon
* mesh object.
*/
/// Contains triangle meshes that represent detailed height data associated
/// with the polygons in its associated polygon mesh object.
/// @ingroup recast
public class RcPolyMeshDetail
{
/** The sub-mesh data. [Size: 4*#nmeshes] */
public int[] meshes;
/** The mesh vertices. [Size: 3*#nverts] */
public float[] verts;
/** The mesh triangles. [Size: 4*#ntris] */
public int[] tris;
/** The number of sub-meshes defined by #meshes. */
public int nmeshes;
/** The number of vertices in #verts. */
public int nverts;
/** The number of triangles in #tris. */
public int ntris;
public int[] meshes; //< The sub-mesh data. [Size: 4*#nmeshes]
public float[] verts; //< The mesh vertices. [Size: 3*#nverts]
public int[] tris; //< The mesh triangles. [Size: 4*#ntris]
public int nmeshes; //< The number of sub-meshes defined by #meshes.
public int nverts; //< The number of vertices in #verts.
public int ntris; //< The number of triangles in #tris.
}
}

45
src/DotRecast.Recast/RcRasterizations.cs
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@ -421,10 +421,10 @@ namespace DotRecast.Recast
/// @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,
public static void RasterizeTriangles(RcTelemetry context, float[] verts, int[] tris, int[] triAreaIDs, int numTris,
RcHeightfield heightfield, int flagMergeThreshold)
{
using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
float inverseCellSize = 1.0f / heightfield.cs;
float inverseCellHeight = 1.0f / heightfield.ch;
@ -438,28 +438,25 @@ namespace DotRecast.Recast
}
}
/**
* Rasterizes a triangle list into the specified heightfield. Expects each triangle to be specified as three
* sequential vertices of 3 floats. Spans will only be added for triangles that overlap the heightfield grid.
*
* @param heightfield
* An initialized heightfield.
* @param verts
* The vertices. [(x, y, z) * numVerts]
* @param areaIds
* The area id's of the triangles. [Limit: <= WALKABLE_AREA] [Size: numTris]
* @param tris
* The triangle indices. [(vertA, vertB, vertC) * nt]
* @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[] areaIds, int numTris,
int flagMergeThreshold, RcTelemetry ctx)
/// Rasterizes a triangle list into the specified heightfield.
///
/// Expects each triangle to be specified as three sequential vertices of 3 floats.
///
/// 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 triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @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 context, float[] verts, int[] triAreaIDs, int numTris, RcHeightfield heightfield, int flagMergeThreshold)
{
using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
float inverseCellSize = 1.0f / heightfield.cs;
float inverseCellHeight = 1.0f / heightfield.ch;
@ -468,7 +465,7 @@ namespace DotRecast.Recast
int v0 = (triIndex * 3 + 0);
int v1 = (triIndex * 3 + 1);
int v2 = (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);
}
}