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DotRecastNetSim
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move core files

This commit is contained in:
ikpil 2023-04-14 22:39:34 +09:00
parent af6c804330
commit 7b820fafd7
10 changed files with 365 additions and 369 deletions
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133
src/DotRecast.Core/Intersections.cs Normal file
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/*
recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
using System;
using DotRecast.Core;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Core
{
public static class Intersections
{
public static float? intersectSegmentTriangle(Vector3f sp, Vector3f sq, Vector3f a, Vector3f b, Vector3f c)
{
float v, w;
Vector3f ab = vSub(b, a);
Vector3f ac = vSub(c, a);
Vector3f qp = vSub(sp, sq);
// Compute triangle normal. Can be precalculated or cached if
// intersecting multiple segments against the same triangle
Vector3f norm = vCross(ab, ac);
// Compute denominator d. If d <= 0, segment is parallel to or points
// away from triangle, so exit early
float d = vDot(qp, norm);
if (d <= 0.0f)
{
return null;
}
// Compute intersection t value of pq with plane of triangle. A ray
// intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
// dividing by d until intersection has been found to pierce triangle
Vector3f ap = vSub(sp, a);
float t = vDot(ap, norm);
if (t < 0.0f)
{
return null;
}
if (t > d)
{
return null; // For segment; exclude this code line for a ray test
}
// Compute barycentric coordinate components and test if within bounds
Vector3f e = vCross(qp, ap);
v = vDot(ac, e);
if (v < 0.0f || v > d)
{
return null;
}
w = -vDot(ab, e);
if (w < 0.0f || v + w > d)
{
return null;
}
// Segment/ray intersects triangle. Perform delayed division
t /= d;
return t;
}
public static float[] intersectSegmentAABB(Vector3f sp, Vector3f sq, Vector3f amin, Vector3f amax)
{
float EPS = 1e-6f;
Vector3f d = new Vector3f();
d[0] = sq[0] - sp[0];
d[1] = sq[1] - sp[1];
d[2] = sq[2] - sp[2];
float tmin = 0.0f;
float tmax = 1.0f;
for (int i = 0; i < 3; i++)
{
if (Math.Abs(d[i]) < EPS)
{
if (sp[i] < amin[i] || sp[i] > amax[i])
{
return null;
}
}
else
{
float ood = 1.0f / d[i];
float t1 = (amin[i] - sp[i]) * ood;
float t2 = (amax[i] - sp[i]) * ood;
if (t1 > t2)
{
float tmp = t1;
t1 = t2;
t2 = tmp;
}
if (t1 > tmin)
{
tmin = t1;
}
if (t2 < tmax)
{
tmax = t2;
}
if (tmin > tmax)
{
return null;
}
}
}
return new float[] { tmin, tmax };
}
}
}

1
src/DotRecast.Detour/DotRecast.Detour.csproj
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@ -2,7 +2,6 @@
<PropertyGroup>
<TargetFramework>netstandard2.1</TargetFramework>
</PropertyGroup>
<ItemGroup>

98
src/DotRecast.Detour/NavMeshRaycast.cs Normal file
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/*
recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
using DotRecast.Core;
namespace DotRecast.Detour
{
/**
* Simple helper to find an intersection between a ray and a nav mesh
*/
public static class NavMeshRaycast
{
public static float? raycast(NavMesh mesh, Vector3f src, Vector3f dst)
{
for (int t = 0; t < mesh.getMaxTiles(); ++t)
{
MeshTile tile = mesh.getTile(t);
if (tile != null && tile.data != null)
{
float? intersection = raycast(tile, src, dst);
if (null != intersection)
{
return intersection;
}
}
}
return null;
}
private static float? raycast(MeshTile tile, Vector3f sp, Vector3f sq)
{
for (int i = 0; i < tile.data.header.polyCount; ++i)
{
Poly p = tile.data.polys[i];
if (p.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION)
{
continue;
}
PolyDetail pd = tile.data.detailMeshes[i];
if (pd != null)
{
Vector3f[] verts = new Vector3f[3];
for (int j = 0; j < pd.triCount; ++j)
{
int t = (pd.triBase + j) * 4;
for (int k = 0; k < 3; ++k)
{
int v = tile.data.detailTris[t + k];
if (v < p.vertCount)
{
verts[k][0] = tile.data.verts[p.verts[v] * 3];
verts[k][1] = tile.data.verts[p.verts[v] * 3 + 1];
verts[k][2] = tile.data.verts[p.verts[v] * 3 + 2];
}
else
{
verts[k][0] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3];
verts[k][1] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 1];
verts[k][2] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 2];
}
}
float? intersection = Intersections.intersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2]);
if (null != intersection)
{
return intersection;
}
}
}
else
{
// FIXME: Use Poly if PolyDetail is unavailable
}
}
return null;
}
}
}

51
src/DotRecast.Detour/NavMeshUtils.cs Normal file
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/*
recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
using System;
using DotRecast.Core;
using DotRecast.Detour;
namespace DotRecast.Detour
{
public static class NavMeshUtils
{
public static Vector3f[] getNavMeshBounds(NavMesh mesh)
{
Vector3f bmin = Vector3f.Of(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
Vector3f bmax = Vector3f.Of(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
for (int t = 0; t < mesh.getMaxTiles(); ++t)
{
MeshTile tile = mesh.getTile(t);
if (tile != null && tile.data != null)
{
for (int i = 0; i < tile.data.verts.Length; i += 3)
{
bmin[0] = Math.Min(bmin[0], tile.data.verts[i]);
bmin[1] = Math.Min(bmin[1], tile.data.verts[i + 1]);
bmin[2] = Math.Min(bmin[2], tile.data.verts[i + 2]);
bmax[0] = Math.Max(bmax[0], tile.data.verts[i]);
bmax[1] = Math.Max(bmax[1], tile.data.verts[i + 1]);
bmax[2] = Math.Max(bmax[2], tile.data.verts[i + 2]);
}
}
}
return new[] { bmin, bmax };
}
}
}

132
src/DotRecast.Recast.Demo/Geom/Intersections.cs
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@ -1,132 +0,0 @@
/*
recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
using System;
using DotRecast.Core;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Recast.Demo.Geom;
public class Intersections
{
public static float? intersectSegmentTriangle(Vector3f sp, Vector3f sq, Vector3f a, Vector3f b, Vector3f c)
{
float v, w;
Vector3f ab = vSub(b, a);
Vector3f ac = vSub(c, a);
Vector3f qp = vSub(sp, sq);
// Compute triangle normal. Can be precalculated or cached if
// intersecting multiple segments against the same triangle
Vector3f norm = vCross(ab, ac);
// Compute denominator d. If d <= 0, segment is parallel to or points
// away from triangle, so exit early
float d = vDot(qp, norm);
if (d <= 0.0f)
{
return null;
}
// Compute intersection t value of pq with plane of triangle. A ray
// intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
// dividing by d until intersection has been found to pierce triangle
Vector3f ap = vSub(sp, a);
float t = vDot(ap, norm);
if (t < 0.0f)
{
return null;
}
if (t > d)
{
return null; // For segment; exclude this code line for a ray test
}
// Compute barycentric coordinate components and test if within bounds
Vector3f e = vCross(qp, ap);
v = vDot(ac, e);
if (v < 0.0f || v > d)
{
return null;
}
w = -vDot(ab, e);
if (w < 0.0f || v + w > d)
{
return null;
}
// Segment/ray intersects triangle. Perform delayed division
t /= d;
return t;
}
public static float[] intersectSegmentAABB(Vector3f sp, Vector3f sq, Vector3f amin, Vector3f amax)
{
float EPS = 1e-6f;
Vector3f d = new Vector3f();
d[0] = sq[0] - sp[0];
d[1] = sq[1] - sp[1];
d[2] = sq[2] - sp[2];
float tmin = 0.0f;
float tmax = 1.0f;
for (int i = 0; i < 3; i++)
{
if (Math.Abs(d[i]) < EPS)
{
if (sp[i] < amin[i] || sp[i] > amax[i])
{
return null;
}
}
else
{
float ood = 1.0f / d[i];
float t1 = (amin[i] - sp[i]) * ood;
float t2 = (amax[i] - sp[i]) * ood;
if (t1 > t2)
{
float tmp = t1;
t1 = t2;
t2 = tmp;
}
if (t1 > tmin)
{
tmin = t1;
}
if (t2 < tmax)
{
tmax = t2;
}
if (tmin > tmax)
{
return null;
}
}
}
return new float[] { tmin, tmax };
}
}

97
src/DotRecast.Recast.Demo/Geom/NavMeshRaycast.cs
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@ -1,97 +0,0 @@
/*
recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
using DotRecast.Core;
using DotRecast.Detour;
namespace DotRecast.Recast.Demo.Geom;
/**
* Simple helper to find an intersection between a ray and a nav mesh
*/
public class NavMeshRaycast
{
public static float? raycast(NavMesh mesh, Vector3f src, Vector3f dst)
{
for (int t = 0; t < mesh.getMaxTiles(); ++t)
{
MeshTile tile = mesh.getTile(t);
if (tile != null && tile.data != null)
{
float? intersection = raycast(tile, src, dst);
if (null != intersection)
{
return intersection;
}
}
}
return null;
}
private static float? raycast(MeshTile tile, Vector3f sp, Vector3f sq)
{
for (int i = 0; i < tile.data.header.polyCount; ++i)
{
Poly p = tile.data.polys[i];
if (p.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION)
{
continue;
}
PolyDetail pd = tile.data.detailMeshes[i];
if (pd != null)
{
Vector3f[] verts = new Vector3f[3];
for (int j = 0; j < pd.triCount; ++j)
{
int t = (pd.triBase + j) * 4;
for (int k = 0; k < 3; ++k)
{
int v = tile.data.detailTris[t + k];
if (v < p.vertCount)
{
verts[k][0] = tile.data.verts[p.verts[v] * 3];
verts[k][1] = tile.data.verts[p.verts[v] * 3 + 1];
verts[k][2] = tile.data.verts[p.verts[v] * 3 + 2];
}
else
{
verts[k][0] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3];
verts[k][1] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 1];
verts[k][2] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 2];
}
}
float? intersection = Intersections.intersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2]);
if (null != intersection)
{
return intersection;
}
}
}
else
{
// FIXME: Use Poly if PolyDetail is unavailable
}
}
return null;
}
}

50
src/DotRecast.Recast.Demo/Geom/NavMeshUtils.cs
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@ -1,50 +0,0 @@
/*
recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
using System;
using DotRecast.Core;
using DotRecast.Detour;
namespace DotRecast.Recast.Demo.Geom;
public class NavMeshUtils
{
public static Vector3f[] getNavMeshBounds(NavMesh mesh)
{
Vector3f bmin = Vector3f.Of(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
Vector3f bmax = Vector3f.Of(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
for (int t = 0; t < mesh.getMaxTiles(); ++t)
{
MeshTile tile = mesh.getTile(t);
if (tile != null && tile.data != null)
{
for (int i = 0; i < tile.data.verts.Length; i += 3)
{
bmin[0] = Math.Min(bmin[0], tile.data.verts[i]);
bmin[1] = Math.Min(bmin[1], tile.data.verts[i + 1]);
bmin[2] = Math.Min(bmin[2], tile.data.verts[i + 2]);
bmax[0] = Math.Max(bmax[0], tile.data.verts[i]);
bmax[1] = Math.Max(bmax[1], tile.data.verts[i + 1]);
bmax[2] = Math.Max(bmax[2], tile.data.verts[i + 2]);
}
}
}
return new[] { bmin, bmax };
}
}

80
src/DotRecast.Recast.Demo/Geom/PolyMeshRaycast.cs
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@ -1,80 +0,0 @@
/*
recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
using System.Collections.Generic;
using DotRecast.Core;
namespace DotRecast.Recast.Demo.Geom;
public class PolyMeshRaycast
{
public static float? raycast(IList<RecastBuilderResult> results, Vector3f src, Vector3f dst)
{
foreach (RecastBuilderResult result in results)
{
if (result.getMeshDetail() != null)
{
float? intersection = raycast(result.getMesh(), result.getMeshDetail(), src, dst);
if (null != intersection)
{
return intersection;
}
}
}
return null;
}
private static float? raycast(PolyMesh poly, PolyMeshDetail meshDetail, Vector3f sp, Vector3f sq)
{
if (meshDetail != null)
{
for (int i = 0; i < meshDetail.nmeshes; ++i)
{
int m = i * 4;
int bverts = meshDetail.meshes[m];
int btris = meshDetail.meshes[m + 2];
int ntris = meshDetail.meshes[m + 3];
int verts = bverts * 3;
int tris = btris * 4;
for (int j = 0; j < ntris; ++j)
{
Vector3f[] vs = new Vector3f[3];
for (int k = 0; k < 3; ++k)
{
vs[k][0] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3];
vs[k][1] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 1];
vs[k][2] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 2];
}
float? intersection = Intersections.intersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2]);
if (null != intersection)
{
return intersection;
}
}
}
}
else
{
// TODO: check PolyMesh instead
}
return null;
}
}

10
src/DotRecast.Recast.Demo/UI/RcViewSystem.cs
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@ -28,21 +28,13 @@ namespace DotRecast.Recast.Demo.UI;
public class RcViewSystem
{
private static readonly ILogger Logger = Log.ForContext<RecastDemo>();
// readonly NkAllocator allocator;
private readonly IWindow _window;
private readonly GL _gl;
// readonly NkColor background;
// readonly NkColor white;
private readonly IRcView[] _views;
private bool _mouseOverUI;
public bool IsMouseOverUI() => _mouseOverUI;
public RcViewSystem(IWindow window, IInputContext input, params IRcView[] views)
{
_window = window;
_gl = GL.GetApi(window);
// setupClipboard(window);
// glfwSetCharCallback(window, (w, codepoint) => nk_input_unicode(ctx, codepoint));
// glContext = new NuklearGL(this);

82
src/DotRecast.Recast/PolyMeshRaycast.cs Normal file
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@ -0,0 +1,82 @@
/*
recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
using System.Collections.Generic;
using DotRecast.Core;
namespace DotRecast.Recast
{
public static class PolyMeshRaycast
{
public static float? raycast(IList<RecastBuilderResult> results, Vector3f src, Vector3f dst)
{
foreach (RecastBuilderResult result in results)
{
if (result.getMeshDetail() != null)
{
float? intersection = raycast(result.getMesh(), result.getMeshDetail(), src, dst);
if (null != intersection)
{
return intersection;
}
}
}
return null;
}
private static float? raycast(PolyMesh poly, PolyMeshDetail meshDetail, Vector3f sp, Vector3f sq)
{
if (meshDetail != null)
{
for (int i = 0; i < meshDetail.nmeshes; ++i)
{
int m = i * 4;
int bverts = meshDetail.meshes[m];
int btris = meshDetail.meshes[m + 2];
int ntris = meshDetail.meshes[m + 3];
int verts = bverts * 3;
int tris = btris * 4;
for (int j = 0; j < ntris; ++j)
{
Vector3f[] vs = new Vector3f[3];
for (int k = 0; k < 3; ++k)
{
vs[k][0] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3];
vs[k][1] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 1];
vs[k][2] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 2];
}
float? intersection = Intersections.intersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2]);
if (null != intersection)
{
return intersection;
}
}
}
}
else
{
// TODO: check PolyMesh instead
}
return null;
}
}
}