From 7c653af669d672fae6351e4ace58720e48cc4719 Mon Sep 17 00:00:00 2001 From: ikpil Date: Fri, 31 Mar 2023 01:10:04 +0900 Subject: [PATCH] float[] => vector3f --- src/DotRecast.Core/RecastMath.cs | 6 +- .../Colliders/BoxCollider.cs | 26 ++++--- src/DotRecast.Recast.Demo/Draw/GLU.cs | 2 +- .../Draw/NavMeshRenderer.cs | 5 +- .../Geom/DemoInputGeomProvider.cs | 44 +++++------ .../Geom/DemoOffMeshConnection.cs | 4 +- .../Geom/Intersections.cs | 24 +++--- .../Geom/NavMeshRaycast.cs | 6 +- .../Geom/NavMeshUtils.cs | 9 ++- .../Geom/PolyMeshRaycast.cs | 6 +- src/DotRecast.Recast.Demo/RecastDemo.cs | 55 ++++++++------ .../Tools/ConvexVolumeTool.cs | 2 +- .../Tools/CrowdProfilingTool.cs | 4 +- src/DotRecast.Recast.Demo/Tools/CrowdTool.cs | 9 +-- .../Tools/DynamicUpdateTool.cs | 76 +++++++++++-------- .../Tools/Gizmos/BoxGizmo.cs | 9 ++- .../Tools/Gizmos/CapsuleGizmo.cs | 33 ++++---- .../Tools/Gizmos/GizmoFactory.cs | 10 ++- .../Tools/Gizmos/SphereGizmo.cs | 7 +- .../Tools/JumpLinkBuilderTool.cs | 2 +- .../Tools/OffMeshConnectionTool.cs | 6 +- src/DotRecast.Recast.Demo/Tools/PathUtils.cs | 8 +- .../Tools/SteerTarget.cs | 8 +- .../Tools/TestNavmeshTool.cs | 34 ++++----- src/DotRecast.Recast.Demo/Tools/Tool.cs | 4 +- .../Geom/InputGeomProvider.cs | 5 +- .../Geom/SimpleInputGeomProvider.cs | 20 ++--- .../Geom/SingleTrimeshInputGeomProvider.cs | 21 ++--- src/DotRecast.Recast/Recast.cs | 4 +- src/DotRecast.Recast/RecastBuilder.cs | 14 ++-- src/DotRecast.Recast/RecastBuilderConfig.cs | 4 +- .../RecastFilledVolumeRasterization.cs | 2 +- .../Io/MeshSetReaderWriterTest.cs | 4 +- .../TestTileLayerBuilder.cs | 8 +- .../RecastSoloMeshTest.cs | 4 +- 35 files changed, 262 insertions(+), 223 deletions(-) diff --git a/src/DotRecast.Core/RecastMath.cs b/src/DotRecast.Core/RecastMath.cs index 39a79eb..2ca8aef 100644 --- a/src/DotRecast.Core/RecastMath.cs +++ b/src/DotRecast.Core/RecastMath.cs @@ -45,16 +45,16 @@ namespace DotRecast.Core } - public static float[] vCross(float[] v1, float[] v2) + public static Vector3f vCross(Vector3f v1, Vector3f v2) { Vector3f dest = new Vector3f(); dest[0] = v1[1] * v2[2] - v1[2] * v2[1]; dest[1] = v1[2] * v2[0] - v1[0] * v2[2]; dest[2] = v1[0] * v2[1] - v1[1] * v2[0]; - return dest.ToArray(); + return dest; } - public static float vDot(float[] v1, float[] v2) + public static float vDot(Vector3f v1, Vector3f v2) { return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2]; } diff --git a/src/DotRecast.Detour.Dynamic/Colliders/BoxCollider.cs b/src/DotRecast.Detour.Dynamic/Colliders/BoxCollider.cs index a2ccec8..3bba3fd 100644 --- a/src/DotRecast.Detour.Dynamic/Colliders/BoxCollider.cs +++ b/src/DotRecast.Detour.Dynamic/Colliders/BoxCollider.cs @@ -17,23 +17,24 @@ freely, subject to the following restrictions: */ using System; +using DotRecast.Core; using DotRecast.Recast; namespace DotRecast.Detour.Dynamic.Colliders { public class BoxCollider : AbstractCollider { - private readonly float[] center; + private readonly Vector3f center; private readonly float[][] halfEdges; - public BoxCollider(float[] center, float[][] halfEdges, int area, float flagMergeThreshold) : + public BoxCollider(Vector3f center, float[][] halfEdges, int area, float flagMergeThreshold) : base(area, flagMergeThreshold, bounds(center, halfEdges)) { this.center = center; this.halfEdges = halfEdges; } - private static float[] bounds(float[] center, float[][] halfEdges) + private static float[] bounds(Vector3f center, float[][] halfEdges) { float[] bounds = new float[] { @@ -65,14 +66,19 @@ namespace DotRecast.Detour.Dynamic.Colliders telemetry); } - public static float[][] getHalfEdges(float[] up, float[] forward, float[] extent) + public static Vector3f[] getHalfEdges(Vector3f up, Vector3f forward, float[] extent) { - float[][] halfEdges = new float[][] { new float[3], new float[] { up[0], up[1], up[2] }, new float[3] }; - RecastVectors.normalize(halfEdges[1]); - RecastVectors.cross(halfEdges[0], up, forward); - RecastVectors.normalize(halfEdges[0]); - RecastVectors.cross(halfEdges[2], halfEdges[0], up); - RecastVectors.normalize(halfEdges[2]); + Vector3f[] halfEdges = + { + Vector3f.Zero, + Vector3f.Of(up[0], up[1], up[2]), + Vector3f.Zero + }; + RecastVectors.normalize(ref halfEdges[1]); + RecastVectors.cross(ref halfEdges[0], up, forward); + RecastVectors.normalize(ref halfEdges[0]); + RecastVectors.cross(ref halfEdges[2], halfEdges[0], up); + RecastVectors.normalize(ref halfEdges[2]); halfEdges[0][0] *= extent[0]; halfEdges[0][1] *= extent[0]; halfEdges[0][2] *= extent[0]; diff --git a/src/DotRecast.Recast.Demo/Draw/GLU.cs b/src/DotRecast.Recast.Demo/Draw/GLU.cs index 76c7027..66f28c6 100644 --- a/src/DotRecast.Recast.Demo/Draw/GLU.cs +++ b/src/DotRecast.Recast.Demo/Draw/GLU.cs @@ -67,7 +67,7 @@ public class GLU matrix[15] = 0.0f; } - public static int glhUnProjectf(float winx, float winy, float winz, float[] modelview, float[] projection, int[] viewport, float[] objectCoordinate) + public static int glhUnProjectf(float winx, float winy, float winz, float[] modelview, float[] projection, int[] viewport, ref Vector3f objectCoordinate) { // Transformation matrices float[] m = new float[16], A = new float[16]; diff --git a/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs b/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs index 3d8ab17..335664f 100644 --- a/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs +++ b/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs @@ -20,6 +20,7 @@ freely, subject to the following restrictions: using System.Collections.Generic; using System.Linq; +using DotRecast.Core; using DotRecast.Detour; using DotRecast.Recast.Demo.Builder; using DotRecast.Recast.Demo.Geom; @@ -200,8 +201,8 @@ public class NavMeshRenderer private void drawGeomBounds(DemoInputGeomProvider geom) { // Draw bounds - float[] bmin = geom.getMeshBoundsMin(); - float[] bmax = geom.getMeshBoundsMax(); + Vector3f bmin = geom.getMeshBoundsMin(); + Vector3f bmax = geom.getMeshBoundsMax(); debugDraw.debugDrawBoxWire(bmin[0], bmin[1], bmin[2], bmax[0], bmax[1], bmax[2], DebugDraw.duRGBA(255, 255, 255, 128), 1.0f); debugDraw.begin(DebugDrawPrimitives.POINTS, 5.0f); diff --git a/src/DotRecast.Recast.Demo/Geom/DemoInputGeomProvider.cs b/src/DotRecast.Recast.Demo/Geom/DemoInputGeomProvider.cs index 074847e..7945f5d 100644 --- a/src/DotRecast.Recast.Demo/Geom/DemoInputGeomProvider.cs +++ b/src/DotRecast.Recast.Demo/Geom/DemoInputGeomProvider.cs @@ -71,25 +71,25 @@ public class DemoInputGeomProvider : InputGeomProvider this.faces = faces; normals = new float[faces.Length]; calculateNormals(); - bmin = new float[3]; - bmax = new float[3]; - RecastVectors.copy(bmin, vertices, 0); - RecastVectors.copy(bmax, vertices, 0); + bmin = Vector3f.Zero; + bmax = Vector3f.Zero; + RecastVectors.copy(ref bmin, vertices, 0); + RecastVectors.copy(ref bmax, vertices, 0); for (int i = 1; i < vertices.Length / 3; i++) { - RecastVectors.min(bmin, vertices, i * 3); - RecastVectors.max(bmax, vertices, i * 3); + RecastVectors.min(ref bmin, vertices, i * 3); + RecastVectors.max(ref bmax, vertices, i * 3); } chunkyTriMesh = new ChunkyTriMesh(vertices, faces, faces.Length / 3, 256); } - public float[] getMeshBoundsMin() + public Vector3f getMeshBoundsMin() { return bmin; } - public float[] getMeshBoundsMax() + public Vector3f getMeshBoundsMax() { return bmax; } @@ -138,7 +138,7 @@ public class DemoInputGeomProvider : InputGeomProvider return offMeshConnections; } - public void addOffMeshConnection(float[] start, float[] end, float radius, bool bidir, int area, int flags) + public void addOffMeshConnection(Vector3f start, Vector3f end, float radius, bool bidir, int area, int flags) { offMeshConnections.Add(new DemoOffMeshConnection(start, end, radius, bidir, area, flags)); } @@ -149,7 +149,7 @@ public class DemoInputGeomProvider : InputGeomProvider offMeshConnections.RemoveAll(filter); // TODO : 확인 필요 } - public float? raycastMesh(float[] src, Vector3f dst) + public float? raycastMesh(Vector3f src, Vector3f dst) { // Prune hit ray. float[] btminmax = Intersections.intersectSegmentAABB(src, dst, bmin, bmax); @@ -179,21 +179,21 @@ public class DemoInputGeomProvider : InputGeomProvider int[] tris = chunk.tris; for (int j = 0; j < chunk.tris.Length; j += 3) { - float[] v1 = new float[] - { - vertices[tris[j] * 3], vertices[tris[j] * 3 + 1], + Vector3f v1 = Vector3f.Of( + vertices[tris[j] * 3], + vertices[tris[j] * 3 + 1], vertices[tris[j] * 3 + 2] - }; - float[] v2 = new float[] - { - vertices[tris[j + 1] * 3], vertices[tris[j + 1] * 3 + 1], + ); + Vector3f v2 = Vector3f.Of( + vertices[tris[j + 1] * 3], + vertices[tris[j + 1] * 3 + 1], vertices[tris[j + 1] * 3 + 2] - }; - float[] v3 = new float[] - { - vertices[tris[j + 2] * 3], vertices[tris[j + 2] * 3 + 1], + ); + Vector3f v3 = Vector3f.Of( + vertices[tris[j + 2] * 3], + vertices[tris[j + 2] * 3 + 1], vertices[tris[j + 2] * 3 + 2] - }; + ); float? t = Intersections.intersectSegmentTriangle(src, dst, v1, v2, v3); if (null != t) { diff --git a/src/DotRecast.Recast.Demo/Geom/DemoOffMeshConnection.cs b/src/DotRecast.Recast.Demo/Geom/DemoOffMeshConnection.cs index b704ca7..0ea1ecf 100644 --- a/src/DotRecast.Recast.Demo/Geom/DemoOffMeshConnection.cs +++ b/src/DotRecast.Recast.Demo/Geom/DemoOffMeshConnection.cs @@ -18,6 +18,8 @@ freely, subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ +using DotRecast.Core; + namespace DotRecast.Recast.Demo.Geom; public class DemoOffMeshConnection @@ -28,7 +30,7 @@ public class DemoOffMeshConnection public readonly int area; public readonly int flags; - public DemoOffMeshConnection(float[] start, float[] end, float radius, bool bidir, int area, int flags) + public DemoOffMeshConnection(Vector3f start, Vector3f end, float radius, bool bidir, int area, int flags) { verts = new float[6]; verts[0] = start[0]; diff --git a/src/DotRecast.Recast.Demo/Geom/Intersections.cs b/src/DotRecast.Recast.Demo/Geom/Intersections.cs index fa182c0..886e47d 100644 --- a/src/DotRecast.Recast.Demo/Geom/Intersections.cs +++ b/src/DotRecast.Recast.Demo/Geom/Intersections.cs @@ -24,20 +24,20 @@ namespace DotRecast.Recast.Demo.Geom; public class Intersections { - public static float? intersectSegmentTriangle(float[] sp, float[] sq, float[] a, float[] b, float[] c) + public static float? intersectSegmentTriangle(Vector3f sp, Vector3f sq, Vector3f a, Vector3f b, Vector3f c) { float v, w; - float[] ab = vSub(b, a); - float[] ac = vSub(c, a); - float[] qp = vSub(sp, sq); + 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 - float[] norm = RecastMath.vCross(ab, ac); + 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 = RecastMath.vDot(qp, norm); + float d = vDot(qp, norm); if (d <= 0.0f) { return null; @@ -46,8 +46,8 @@ public class Intersections // 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 - float[] ap = vSub(sp, a); - float t = RecastMath.vDot(ap, norm); + Vector3f ap = vSub(sp, a); + float t = vDot(ap, norm); if (t < 0.0f) { return null; @@ -59,14 +59,14 @@ public class Intersections } // Compute barycentric coordinate components and test if within bounds - float[] e = RecastMath.vCross(qp, ap); - v = RecastMath.vDot(ac, e); + Vector3f e = vCross(qp, ap); + v = vDot(ac, e); if (v < 0.0f || v > d) { return null; } - w = -RecastMath.vDot(ab, e); + w = -vDot(ab, e); if (w < 0.0f || v + w > d) { return null; @@ -78,7 +78,7 @@ public class Intersections return t; } - public static float[] intersectSegmentAABB(float[] sp, Vector3f sq, Vector3f amin, Vector3f amax) + public static float[] intersectSegmentAABB(Vector3f sp, Vector3f sq, Vector3f amin, Vector3f amax) { float EPS = 1e-6f; diff --git a/src/DotRecast.Recast.Demo/Geom/NavMeshRaycast.cs b/src/DotRecast.Recast.Demo/Geom/NavMeshRaycast.cs index 5619eb0..4ed609c 100644 --- a/src/DotRecast.Recast.Demo/Geom/NavMeshRaycast.cs +++ b/src/DotRecast.Recast.Demo/Geom/NavMeshRaycast.cs @@ -26,7 +26,7 @@ namespace DotRecast.Recast.Demo.Geom; */ public class NavMeshRaycast { - public static float? raycast(NavMesh mesh, float[] src, float[] dst) + public static float? raycast(NavMesh mesh, Vector3f src, Vector3f dst) { for (int t = 0; t < mesh.getMaxTiles(); ++t) { @@ -44,7 +44,7 @@ public class NavMeshRaycast return null; } - private static float? raycast(MeshTile tile, float[] sp, float[] sq) + private static float? raycast(MeshTile tile, Vector3f sp, Vector3f sq) { for (int i = 0; i < tile.data.header.polyCount; ++i) { @@ -58,7 +58,7 @@ public class NavMeshRaycast if (pd != null) { - float[][] verts = ArrayUtils.Of(3, 3); + Vector3f[] verts = new Vector3f[3]; for (int j = 0; j < pd.triCount; ++j) { int t = (pd.triBase + j) * 4; diff --git a/src/DotRecast.Recast.Demo/Geom/NavMeshUtils.cs b/src/DotRecast.Recast.Demo/Geom/NavMeshUtils.cs index 858853a..9b2de0c 100644 --- a/src/DotRecast.Recast.Demo/Geom/NavMeshUtils.cs +++ b/src/DotRecast.Recast.Demo/Geom/NavMeshUtils.cs @@ -17,16 +17,17 @@ freely, subject to the following restrictions: */ using System; +using DotRecast.Core; using DotRecast.Detour; namespace DotRecast.Recast.Demo.Geom; public class NavMeshUtils { - public static float[][] getNavMeshBounds(NavMesh mesh) + public static Vector3f[] getNavMeshBounds(NavMesh mesh) { - float[] bmin = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity }; - float[] bmax = new float[] { float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity }; + 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); @@ -44,6 +45,6 @@ public class NavMeshUtils } } - return new float[][] { bmin, bmax }; + return new[] { bmin, bmax }; } } \ No newline at end of file diff --git a/src/DotRecast.Recast.Demo/Geom/PolyMeshRaycast.cs b/src/DotRecast.Recast.Demo/Geom/PolyMeshRaycast.cs index 39a2624..684562d 100644 --- a/src/DotRecast.Recast.Demo/Geom/PolyMeshRaycast.cs +++ b/src/DotRecast.Recast.Demo/Geom/PolyMeshRaycast.cs @@ -23,7 +23,7 @@ namespace DotRecast.Recast.Demo.Geom; public class PolyMeshRaycast { - public static float? raycast(IList results, float[] src, float[] dst) + public static float? raycast(IList results, Vector3f src, Vector3f dst) { foreach (RecastBuilderResult result in results) { @@ -40,7 +40,7 @@ public class PolyMeshRaycast return null; } - private static float? raycast(PolyMesh poly, PolyMeshDetail meshDetail, float[] sp, float[] sq) + private static float? raycast(PolyMesh poly, PolyMeshDetail meshDetail, Vector3f sp, Vector3f sq) { if (meshDetail != null) { @@ -54,7 +54,7 @@ public class PolyMeshRaycast int tris = btris * 4; for (int j = 0; j < ntris; ++j) { - float[][] vs = ArrayUtils.Of(3, 3); + 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]; diff --git a/src/DotRecast.Recast.Demo/RecastDemo.cs b/src/DotRecast.Recast.Demo/RecastDemo.cs index 0bdf27b..5220585 100644 --- a/src/DotRecast.Recast.Demo/RecastDemo.cs +++ b/src/DotRecast.Recast.Demo/RecastDemo.cs @@ -96,8 +96,8 @@ public class RecastDemo private readonly float[] cameraEulers = { 45, -45 }; private Vector3f cameraPos = Vector3f.Of(0, 0, 0); - private readonly Vector3f rayStart = new Vector3f(); - private readonly Vector3f rayEnd = new Vector3f(); + private Vector3f rayStart = new Vector3f(); + private Vector3f rayEnd = new Vector3f(); private float[] projectionMatrix = new float[16]; private float[] modelviewMatrix = new float[16]; @@ -112,7 +112,7 @@ public class RecastDemo private int[] viewport; private bool markerPositionSet; - private readonly Vector3f markerPosition = new Vector3f(); + private Vector3f markerPosition = new Vector3f(); private ToolsView toolsUI; private RcSettingsView settingsUI; private long prevFrameTime; @@ -479,8 +479,8 @@ public class RecastDemo */ if (sample.getInputGeom() != null) { - float[] bmin = sample.getInputGeom().getMeshBoundsMin(); - float[] bmax = sample.getInputGeom().getMeshBoundsMax(); + Vector3f bmin = sample.getInputGeom().getMeshBoundsMin(); + Vector3f bmax = sample.getInputGeom().getMeshBoundsMax(); int[] voxels = Recast.calcGridSize(bmin, bmax, settingsUI.getCellSize()); settingsUI.setVoxels(voxels); settingsUI.setTiles(tileNavMeshBuilder.getTiles(sample.getInputGeom(), settingsUI.getCellSize(), settingsUI.getTileSize())); @@ -612,8 +612,8 @@ public class RecastDemo if (!_mouseOverMenu) { - GLU.glhUnProjectf(mousePos[0], viewport[3] - 1 - mousePos[1], 0.0f, modelviewMatrix, projectionMatrix, viewport, rayStart); - GLU.glhUnProjectf(mousePos[0], viewport[3] - 1 - mousePos[1], 1.0f, modelviewMatrix, projectionMatrix, viewport, rayEnd); + GLU.glhUnProjectf(mousePos[0], viewport[3] - 1 - mousePos[1], 0.0f, modelviewMatrix, projectionMatrix, viewport, ref rayStart); + GLU.glhUnProjectf(mousePos[0], viewport[3] - 1 - mousePos[1], 1.0f, modelviewMatrix, projectionMatrix, viewport, ref rayEnd); // Hit test mesh. DemoInputGeomProvider inputGeom = sample.getInputGeom(); @@ -681,18 +681,18 @@ public class RecastDemo if (sample.isChanged()) { - float[] bmin = null; - float[] bmax = null; + Vector3f? bminN = null; + Vector3f? bmaxN = null; if (sample.getInputGeom() != null) { - bmin = sample.getInputGeom().getMeshBoundsMin(); - bmax = sample.getInputGeom().getMeshBoundsMax(); + bminN = sample.getInputGeom().getMeshBoundsMin(); + bmaxN = sample.getInputGeom().getMeshBoundsMax(); } else if (sample.getNavMesh() != null) { - float[][] bounds = NavMeshUtils.getNavMeshBounds(sample.getNavMesh()); - bmin = bounds[0]; - bmax = bounds[1]; + Vector3f[] bounds = NavMeshUtils.getNavMeshBounds(sample.getNavMesh()); + bminN = bounds[0]; + bmaxN = bounds[1]; } else if (0 < sample.getRecastResults().Count) { @@ -700,23 +700,32 @@ public class RecastDemo { if (result.getSolidHeightfield() != null) { - if (bmin == null) + if (bminN == null) { - bmin = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity }; - bmax = new float[] { float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity }; + bminN = Vector3f.Of(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); + bmaxN = Vector3f.Of(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); } - for (int i = 0; i < 3; i++) - { - bmin[i] = Math.Min(bmin[i], result.getSolidHeightfield().bmin[i]); - bmax[i] = Math.Max(bmax[i], result.getSolidHeightfield().bmax[i]); - } + bminN = Vector3f.Of( + Math.Min(bminN.Value[0], result.getSolidHeightfield().bmin[0]), + Math.Min(bminN.Value[1], result.getSolidHeightfield().bmin[1]), + Math.Min(bminN.Value[2], result.getSolidHeightfield().bmin[2]) + ); + + bmaxN = Vector3f.Of( + Math.Max(bmaxN.Value[0], result.getSolidHeightfield().bmax[0]), + Math.Max(bmaxN.Value[1], result.getSolidHeightfield().bmax[1]), + Math.Max(bmaxN.Value[2], result.getSolidHeightfield().bmax[2]) + ); } } } - if (bmin != null && bmax != null) + if (bminN != null && bmaxN != null) { + Vector3f bmin = bminN.Value; + Vector3f bmax = bmaxN.Value; + camr = (float)(Math.Sqrt( sqr(bmax[0] - bmin[0]) + sqr(bmax[1] - bmin[1]) + sqr(bmax[2] - bmin[2])) / 2); diff --git a/src/DotRecast.Recast.Demo/Tools/ConvexVolumeTool.cs b/src/DotRecast.Recast.Demo/Tools/ConvexVolumeTool.cs index 2971299..b4604af 100644 --- a/src/DotRecast.Recast.Demo/Tools/ConvexVolumeTool.cs +++ b/src/DotRecast.Recast.Demo/Tools/ConvexVolumeTool.cs @@ -47,7 +47,7 @@ public class ConvexVolumeTool : Tool sample = m_sample; } - public override void handleClick(float[] s, Vector3f p, bool shift) + public override void handleClick(Vector3f s, Vector3f p, bool shift) { DemoInputGeomProvider geom = sample.getInputGeom(); if (geom == null) diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs b/src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs index c24494f..a89cfa8 100644 --- a/src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs +++ b/src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs @@ -362,7 +362,7 @@ public class CrowdProfilingTool foreach (CrowdAgent ag in crowd.getActiveAgents()) { float radius = ag.option.radius; - float[] pos = ag.npos; + Vector3f pos = ag.npos; dd.debugDrawCircle(pos[0], pos[1], pos[2], radius, duRGBA(0, 0, 0, 32), 2.0f); } @@ -372,7 +372,7 @@ public class CrowdProfilingTool float height = ag.option.height; float radius = ag.option.radius; - float[] pos = ag.npos; + Vector3f pos = ag.npos; int col = duRGBA(220, 220, 220, 128); if (agentData.type == AgentType.TRAVELLER) diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdTool.cs b/src/DotRecast.Recast.Demo/Tools/CrowdTool.cs index 3986feb..a07b814 100644 --- a/src/DotRecast.Recast.Demo/Tools/CrowdTool.cs +++ b/src/DotRecast.Recast.Demo/Tools/CrowdTool.cs @@ -22,7 +22,6 @@ using System.Collections.Generic; using System.Collections.Immutable; using System.Diagnostics; using DotRecast.Core; -using Silk.NET.Windowing; using DotRecast.Detour; using DotRecast.Detour.Crowd; using DotRecast.Detour.Crowd.Tracking; @@ -147,7 +146,7 @@ public class CrowdTool : Tool } } - public override void handleClick(float[] s, Vector3f p, bool shift) + public override void handleClick(Vector3f s, Vector3f p, bool shift) { if (m_mode == CrowdToolMode.PROFILING) { @@ -259,7 +258,7 @@ public class CrowdTool : Tool return ap; } - private CrowdAgent hitTestAgents(float[] s, Vector3f p) + private CrowdAgent hitTestAgents(Vector3f s, Vector3f p) { CrowdAgent isel = null; float tsel = float.MaxValue; @@ -312,14 +311,14 @@ public class CrowdTool : Tool // Request velocity if (m_agentDebug.agent != null) { - float[] vel = calcVel(ref m_agentDebug.agent.npos, p, m_agentDebug.agent.option.maxSpeed); + Vector3f vel = calcVel(m_agentDebug.agent.npos, p, m_agentDebug.agent.option.maxSpeed); crowd.requestMoveVelocity(m_agentDebug.agent, vel); } else { foreach (CrowdAgent ag in crowd.getActiveAgents()) { - float[] vel = calcVel(ag.npos, p, ag.option.maxSpeed); + Vector3f vel = calcVel(ag.npos, p, ag.option.maxSpeed); crowd.requestMoveVelocity(ag, vel); } } diff --git a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs index 218a464..d942b67 100644 --- a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs +++ b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs @@ -134,7 +134,7 @@ public class DynamicUpdateTool : Tool this.sample = sample; } - public override void handleClick(float[] s, Vector3f p, bool shift) + public override void handleClick(Vector3f s, Vector3f p, bool shift) { if (mode == DynamicUpdateToolMode.COLLIDERS) { @@ -215,7 +215,7 @@ public class DynamicUpdateTool : Tool } } - private Tuple sphereCollider(float[] p) + private Tuple sphereCollider(Vector3f p) { float radius = 1 + (float)random.NextDouble() * 10; return Tuple.Create( @@ -223,22 +223,26 @@ public class DynamicUpdateTool : Tool GizmoFactory.sphere(p, radius)); } - private Tuple capsuleCollider(float[] p) + private Tuple capsuleCollider(Vector3f p) { float radius = 0.4f + (float)random.NextDouble() * 4f; - float[] a = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) }; - vNormalize(a); + Vector3f a = Vector3f.Of( + (1f - 2 * (float)random.NextDouble()), + 0.01f + (float)random.NextDouble(), + (1f - 2 * (float)random.NextDouble()) + ); + vNormalize(ref a); float len = 1f + (float)random.NextDouble() * 20f; a[0] *= len; a[1] *= len; a[2] *= len; - float[] start = new float[] { p[0], p[1], p[2] }; - float[] end = new float[] { p[0] + a[0], p[1] + a[1], p[2] + a[2] }; - return Tuple.Create(new CapsuleCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, - dynaMesh.config.walkableClimb), GizmoFactory.capsule(start, end, radius)); + Vector3f start = Vector3f.Of(p[0], p[1], p[2]); + Vector3f end = Vector3f.Of(p[0] + a[0], p[1] + a[1], p[2] + a[2]); + return Tuple.Create(new CapsuleCollider( + start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb), GizmoFactory.capsule(start, end, radius)); } - private Tuple boxCollider(float[] p) + private Tuple boxCollider(Vector3f p) { float[] extent = new float[] { @@ -253,7 +257,7 @@ public class DynamicUpdateTool : Tool GizmoFactory.box(p, halfEdges)); } - private Tuple cylinderCollider(float[] p) + private Tuple cylinderCollider(Vector3f p) { float radius = 0.7f + (float)random.NextDouble() * 4f; float[] a = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) }; @@ -262,20 +266,20 @@ public class DynamicUpdateTool : Tool a[0] *= len; a[1] *= len; a[2] *= len; - float[] start = new float[] { p[0], p[1], p[2] }; - float[] end = new float[] { p[0] + a[0], p[1] + a[1], p[2] + a[2] }; + Vector3f start = Vector3f.Of(p[0], p[1], p[2]); + Vector3f end = Vector3f.Of(p[0] + a[0], p[1] + a[1], p[2] + a[2]); return Tuple.Create(new CylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb), GizmoFactory.cylinder(start, end, radius)); } - private Tuple compositeCollider(float[] p) + private Tuple compositeCollider(Vector3f p) { - float[] baseExtent = new float[] { 5, 3, 8 }; - float[] baseCenter = new float[] { p[0], p[1] + 3, p[2] }; - float[] baseUp = new float[] { 0, 1, 0 }; - float[] forward = new float[] { (1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()) }; - vNormalize(forward); - float[] side = RecastMath.vCross(forward, baseUp); + Vector3f baseExtent = Vector3f.Of(5, 3, 8); + Vector3f baseCenter = Vector3f.Of(p[0], p[1] + 3, p[2]); + Vector3f baseUp = Vector3f.Of(0, 1, 0); + Vector3f forward = Vector3f.Of((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble())); + vNormalize(ref forward); + Vector3f side = vCross(forward, baseUp); BoxCollider @base = new BoxCollider(baseCenter, BoxCollider.getHalfEdges(baseUp, forward, baseExtent), SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb); float[] roofExtent = new float[] { 4.5f, 4.5f, 8f }; @@ -308,7 +312,7 @@ public class DynamicUpdateTool : Tool return Tuple.Create(collider, gizmo); } - private Tuple trimeshBridge(float[] p) + private Tuple trimeshBridge(Vector3f p) { return trimeshCollider(p, bridgeGeom); } @@ -326,7 +330,7 @@ public class DynamicUpdateTool : Tool return Tuple.Create(collider, GizmoFactory.trimesh(verts, convexGeom.faces)); } - private Tuple trimeshCollider(float[] p, DemoInputGeomProvider geom) + private Tuple trimeshCollider(Vector3f p, DemoInputGeomProvider geom) { float[] verts = transformVertices(p, geom, 0); TrimeshCollider collider = new TrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, @@ -334,7 +338,7 @@ public class DynamicUpdateTool : Tool return Tuple.Create(collider, GizmoFactory.trimesh(verts, geom.faces)); } - private float[] transformVertices(float[] p, DemoInputGeomProvider geom, float ax) + private float[] transformVertices(Vector3f p, DemoInputGeomProvider geom, float ax) { float[] rx = GLU.build_4x4_rotation_matrix((float)random.NextDouble() * ax, 1, 0, 0); float[] ry = GLU.build_4x4_rotation_matrix((float)random.NextDouble() * 360, 0, 1, 0); @@ -366,8 +370,17 @@ public class DynamicUpdateTool : Tool resultvector[2] = matrix[2] * pvector[0] + matrix[6] * pvector[1] + matrix[10] * pvector[2]; return resultvector; } + + private float[] mulMatrixVector(ref Vector3f resultvector, float[] matrix, float[] pvector) + { + resultvector[0] = matrix[0] * pvector[0] + matrix[4] * pvector[1] + matrix[8] * pvector[2]; + resultvector[1] = matrix[1] * pvector[0] + matrix[5] * pvector[1] + matrix[9] * pvector[2]; + resultvector[2] = matrix[2] * pvector[0] + matrix[6] * pvector[1] + matrix[10] * pvector[2]; + return resultvector; + } - public override void handleClickRay(float[] start, float[] dir, bool shift) + + public override void handleClickRay(Vector3f start, float[] dir, bool shift) { if (mode == DynamicUpdateToolMode.COLLIDERS) { @@ -387,7 +400,7 @@ public class DynamicUpdateTool : Tool } } - private bool hit(float[] point, float[] dir, float[] bounds) + private bool hit(Vector3f point, float[] dir, float[] bounds) { float cx = 0.5f * (bounds[0] + bounds[3]); float cy = 0.5f * (bounds[1] + bounds[4]); @@ -522,14 +535,14 @@ public class DynamicUpdateTool : Tool ImGui.Separator(); if (mode == DynamicUpdateToolMode.BUILD) - { + { var loadVoxelPopupStrId = "Load Voxels Popup"; bool isLoadVoxelPopup = true; if (ImGui.Button("Load Voxels...")) { ImGui.OpenPopup(loadVoxelPopupStrId); } - + if (ImGui.BeginPopupModal(loadVoxelPopupStrId, ref isLoadVoxelPopup, ImGuiWindowFlags.NoTitleBar)) { var picker = ImFilePicker.GetFilePicker(loadVoxelPopupStrId, Path.Combine(Environment.CurrentDirectory), ".voxels"); @@ -538,6 +551,7 @@ public class DynamicUpdateTool : Tool load(picker.SelectedFile); ImFilePicker.RemoveFilePicker(loadVoxelPopupStrId); } + ImGui.EndPopup(); } @@ -550,7 +564,7 @@ public class DynamicUpdateTool : Tool { ImGui.BeginPopup(saveVoxelPopupStrId); } - + if (ImGui.BeginPopupModal(saveVoxelPopupStrId, ref isSaveVoxelPopup, ImGuiWindowFlags.NoTitleBar)) { var picker = ImFilePicker.GetFilePicker(saveVoxelPopupStrId, Path.Combine(Environment.CurrentDirectory), ".voxels"); @@ -558,12 +572,12 @@ public class DynamicUpdateTool : Tool { if (string.IsNullOrEmpty(picker.SelectedFile)) save(picker.SelectedFile); - + ImFilePicker.RemoveFilePicker(saveVoxelPopupStrId); } + ImGui.EndPopup(); } - } ImGui.NewLine(); @@ -690,7 +704,7 @@ public class DynamicUpdateTool : Tool dynaMesh.config.keepIntermediateResults = true; updateUI(); buildDynaMesh(); - + colliders.Clear(); } catch (Exception e) diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/BoxGizmo.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/BoxGizmo.cs index 5567203..04b5e9a 100644 --- a/src/DotRecast.Recast.Demo/Tools/Gizmos/BoxGizmo.cs +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/BoxGizmo.cs @@ -1,4 +1,5 @@ -using DotRecast.Detour.Dynamic.Colliders; +using DotRecast.Core; +using DotRecast.Detour.Dynamic.Colliders; using DotRecast.Recast.Demo.Draw; namespace DotRecast.Recast.Demo.Tools.Gizmos; @@ -25,14 +26,14 @@ public class BoxGizmo : ColliderGizmo private readonly float[] vertices = new float[8 * 3]; private readonly float[] center; - private readonly float[][] halfEdges; + private readonly Vector3f[] halfEdges; - public BoxGizmo(float[] center, float[] extent, float[] forward, float[] up) : + public BoxGizmo(float[] center, float[] extent, Vector3f forward, Vector3f up) : this(center, BoxCollider.getHalfEdges(up, forward, extent)) { } - public BoxGizmo(float[] center, float[][] halfEdges) + public BoxGizmo(float[] center, Vector3f[] halfEdges) { this.center = center; this.halfEdges = halfEdges; diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs index 3ee4789..4bdd2ee 100644 --- a/src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs @@ -1,4 +1,5 @@ -using DotRecast.Recast.Demo.Draw; +using DotRecast.Core; +using DotRecast.Recast.Demo.Draw; using static DotRecast.Recast.RecastVectors; using static DotRecast.Core.RecastMath; using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper; @@ -12,21 +13,21 @@ public class CapsuleGizmo : ColliderGizmo private readonly float[] center; private readonly float[] gradient; - public CapsuleGizmo(float[] start, float[] end, float radius) + public CapsuleGizmo(Vector3f start, Vector3f end, float radius) { center = new float[] { 0.5f * (start[0] + end[0]), 0.5f * (start[1] + end[1]), 0.5f * (start[2] + end[2]) }; - float[] axis = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] }; - float[][] normals = new float[3][]; - normals[1] = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] }; - normalize(normals[1]); + Vector3f axis = Vector3f.Of(end[0] - start[0], end[1] - start[1], end[2] - start[2]); + Vector3f[] normals = new Vector3f[3]; + normals[1] = Vector3f.Of(end[0] - start[0], end[1] - start[1], end[2] - start[2]); + normalize(ref normals[1]); normals[0] = getSideVector(axis); - normals[2] = new float[3]; - cross(normals[2], normals[0], normals[1]); - normalize(normals[2]); + normals[2] = Vector3f.Zero; + cross(ref normals[2], normals[0], normals[1]); + normalize(ref normals[2]); triangles = generateSphericalTriangles(); float[] trX = new float[] { normals[0][0], normals[1][0], normals[2][0] }; float[] trY = new float[] { normals[0][1], normals[1][1], normals[2][1] }; @@ -48,23 +49,23 @@ public class CapsuleGizmo : ColliderGizmo v[0] = vertices[i] - center[0]; v[1] = vertices[i + 1] - center[1]; v[2] = vertices[i + 2] - center[2]; - normalize(v); + normalize(ref v); gradient[i / 3] = clamp(0.57735026f * (v[0] + v[1] + v[2]), -1, 1); } } - private float[] getSideVector(float[] axis) + private Vector3f getSideVector(Vector3f axis) { - float[] side = { 1, 0, 0 }; + Vector3f side = Vector3f.Of(1, 0, 0); if (axis[0] > 0.8) { - side = new float[] { 0, 0, 1 }; + side = Vector3f.Of(0, 0, 1); } Vector3f forward = new Vector3f(); - cross(forward, side, axis); - cross(side, axis, forward); - normalize(side); + cross(ref forward, side, axis); + cross(ref side, axis, forward); + normalize(ref side); return side; } diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoFactory.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoFactory.cs index 51c8490..5d56aff 100644 --- a/src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoFactory.cs +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoFactory.cs @@ -1,4 +1,6 @@ -namespace DotRecast.Recast.Demo.Tools.Gizmos; +using DotRecast.Core; + +namespace DotRecast.Recast.Demo.Tools.Gizmos; public static class GizmoFactory { @@ -7,17 +9,17 @@ public static class GizmoFactory return new BoxGizmo(center, halfEdges); } - public static ColliderGizmo sphere(float[] center, float radius) + public static ColliderGizmo sphere(Vector3f center, float radius) { return new SphereGizmo(center, radius); } - public static ColliderGizmo capsule(float[] start, float[] end, float radius) + public static ColliderGizmo capsule(Vector3f start, Vector3f end, float radius) { return new CapsuleGizmo(start, end, radius); } - public static ColliderGizmo cylinder(float[] start, float[] end, float radius) + public static ColliderGizmo cylinder(Vector3f start, Vector3f end, float radius) { return new CylinderGizmo(start, end, radius); } diff --git a/src/DotRecast.Recast.Demo/Tools/Gizmos/SphereGizmo.cs b/src/DotRecast.Recast.Demo/Tools/Gizmos/SphereGizmo.cs index 1c898f1..d9d2403 100644 --- a/src/DotRecast.Recast.Demo/Tools/Gizmos/SphereGizmo.cs +++ b/src/DotRecast.Recast.Demo/Tools/Gizmos/SphereGizmo.cs @@ -1,4 +1,5 @@ -using DotRecast.Recast.Demo.Draw; +using DotRecast.Core; +using DotRecast.Recast.Demo.Draw; using static DotRecast.Core.RecastMath; using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper; @@ -10,9 +11,9 @@ public class SphereGizmo : ColliderGizmo private readonly float[] vertices; private readonly int[] triangles; private readonly float radius; - private readonly float[] center; + private readonly Vector3f center; - public SphereGizmo(float[] center, float radius) + public SphereGizmo(Vector3f center, float radius) { this.center = center; this.radius = radius; diff --git a/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderTool.cs b/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderTool.cs index f38eef7..437d9de 100644 --- a/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderTool.cs +++ b/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderTool.cs @@ -45,7 +45,7 @@ public class JumpLinkBuilderTool : Tool annotationBuilder = null; } - public override void handleClick(float[] s, Vector3f p, bool shift) + public override void handleClick(Vector3f s, Vector3f p, bool shift) { } diff --git a/src/DotRecast.Recast.Demo/Tools/OffMeshConnectionTool.cs b/src/DotRecast.Recast.Demo/Tools/OffMeshConnectionTool.cs index d550499..6c0ed39 100644 --- a/src/DotRecast.Recast.Demo/Tools/OffMeshConnectionTool.cs +++ b/src/DotRecast.Recast.Demo/Tools/OffMeshConnectionTool.cs @@ -33,7 +33,7 @@ public class OffMeshConnectionTool : Tool { private Sample sample; private bool hitPosSet; - private float[] hitPos; + private Vector3f hitPos; private int bidir; public override void setSample(Sample m_sample) @@ -41,7 +41,7 @@ public class OffMeshConnectionTool : Tool sample = m_sample; } - public override void handleClick(float[] s, Vector3f p, bool shift) + public override void handleClick(Vector3f s, Vector3f p, bool shift) { DemoInputGeomProvider geom = sample.getInputGeom(); if (geom == null) @@ -75,7 +75,7 @@ public class OffMeshConnectionTool : Tool // Create if (!hitPosSet) { - hitPos = ArrayUtils.CopyOf(p, p.Length); + hitPos = p; hitPosSet = true; } else diff --git a/src/DotRecast.Recast.Demo/Tools/PathUtils.cs b/src/DotRecast.Recast.Demo/Tools/PathUtils.cs index 1c612f4..85ede38 100644 --- a/src/DotRecast.Recast.Demo/Tools/PathUtils.cs +++ b/src/DotRecast.Recast.Demo/Tools/PathUtils.cs @@ -64,11 +64,11 @@ public static class PathUtils if (ns >= straightPath.Count) return null; - float[] steerPos = new float[] - { - straightPath[ns].getPos()[0], startPos[1], + Vector3f steerPos = Vector3f.Of( + straightPath[ns].getPos()[0], + startPos[1], straightPath[ns].getPos()[2] - }; + ); int steerPosFlag = straightPath[ns].getFlags(); long steerPosRef = straightPath[ns].getRef(); diff --git a/src/DotRecast.Recast.Demo/Tools/SteerTarget.cs b/src/DotRecast.Recast.Demo/Tools/SteerTarget.cs index 6476286..b3059c4 100644 --- a/src/DotRecast.Recast.Demo/Tools/SteerTarget.cs +++ b/src/DotRecast.Recast.Demo/Tools/SteerTarget.cs @@ -1,13 +1,15 @@ -namespace DotRecast.Recast.Demo.Tools; +using DotRecast.Core; + +namespace DotRecast.Recast.Demo.Tools; public class SteerTarget { - public readonly float[] steerPos; + public readonly Vector3f steerPos; public readonly int steerPosFlag; public readonly long steerPosRef; public readonly float[] steerPoints; - public SteerTarget(float[] steerPos, int steerPosFlag, long steerPosRef, float[] steerPoints) + public SteerTarget(Vector3f steerPos, int steerPosFlag, long steerPosRef, float[] steerPoints) { this.steerPos = steerPos; this.steerPosFlag = steerPosFlag; diff --git a/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs index 2559943..fc7e1fb 100644 --- a/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs +++ b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs @@ -28,9 +28,9 @@ public class TestNavmeshTool : Tool private readonly Vector3f m_polyPickExt = Vector3f.Of(2, 4, 2); private long m_startRef; private long m_endRef; - private float[] m_hitPos; + private Vector3f m_hitPos; private float m_distanceToWall; - private float[] m_hitNormal; + private Vector3f m_hitNormal; private List m_straightPath; private int m_straightPathOptions; private List m_polys; @@ -41,7 +41,7 @@ public class TestNavmeshTool : Tool private List m_smoothPath; private Status m_pathFindStatus = Status.FAILURE; private bool enableRaycast = true; - private readonly List randomPoints = new(); + private readonly List randomPoints = new(); private bool constrainByCircle; private int includeFlags = SampleAreaModifications.SAMPLE_POLYFLAGS_ALL; @@ -58,7 +58,7 @@ public class TestNavmeshTool : Tool this.m_sample = m_sample; } - public override void handleClick(float[] s, Vector3f p, bool shift) + public override void handleClick(Vector3f s, Vector3f p, bool shift) { if (shift) { @@ -224,8 +224,8 @@ public class TestNavmeshTool : Tool : false; // Find movement delta. - float[] delta = vSub(steerTarget.steerPos, iterPos); - float len = (float)Math.Sqrt(RecastMath.vDot(delta, delta)); + Vector3f delta = vSub(steerTarget.steerPos, iterPos); + float len = (float)Math.Sqrt(vDot(delta, delta)); // If the steer target is end of path or off-mesh link, do not move past the location. if ((endOfPath || offMeshConnection) && len < STEP_SIZE) { @@ -236,13 +236,12 @@ public class TestNavmeshTool : Tool len = STEP_SIZE / len; } - float[] moveTgt = vMad(iterPos, delta, len); + Vector3f moveTgt = vMad(iterPos, delta, len); // Move Result result = m_navQuery.moveAlongSurface(polys[0], iterPos, moveTgt, m_filter); MoveAlongSurfaceResult moveAlongSurface = result.result; - iterPos = new float[3]; iterPos[0] = moveAlongSurface.getResultPos()[0]; iterPos[1] = moveAlongSurface.getResultPos()[1]; iterPos[2] = moveAlongSurface.getResultPos()[2]; @@ -261,7 +260,7 @@ public class TestNavmeshTool : Tool if (endOfPath && PathUtils.inRange(iterPos, steerTarget.steerPos, SLOP, 1.0f)) { // Reached end of path. - vCopy(iterPos, targetPos); + vCopy(ref iterPos, targetPos); if (m_smoothPath.Count < MAX_SMOOTH) { m_smoothPath.Add(iterPos); @@ -287,12 +286,11 @@ public class TestNavmeshTool : Tool polys = polys.GetRange(npos, polys.Count - npos); // Handle the connection. - Result> offMeshCon = m_navMesh - .getOffMeshConnectionPolyEndPoints(prevRef, polyRef); + var offMeshCon = m_navMesh.getOffMeshConnectionPolyEndPoints(prevRef, polyRef); if (offMeshCon.succeeded()) { - float[] startPos = offMeshCon.result.Item1; - float[] endPos = offMeshCon.result.Item2; + var startPos = offMeshCon.result.Item1; + var endPos = offMeshCon.result.Item2; if (m_smoothPath.Count < MAX_SMOOTH) { m_smoothPath.Add(startPos); @@ -304,7 +302,7 @@ public class TestNavmeshTool : Tool } // Move position at the other side of the off-mesh link. - vCopy(iterPos, endPos); + vCopy(ref iterPos, endPos); iterPos[1] = m_navQuery.getPolyHeight(polys[0], iterPos).result; } } @@ -332,7 +330,7 @@ public class TestNavmeshTool : Tool if (0 < m_polys.Count) { // In case of partial path, make sure the end point is clamped to the last polygon. - float[] epos = new float[] { m_epos[0], m_epos[1], m_epos[2] }; + var epos = Vector3f.Of(m_epos[0], m_epos[1], m_epos[2]); if (m_polys[m_polys.Count - 1] != m_endRef) { Result result = m_navQuery @@ -375,14 +373,14 @@ public class TestNavmeshTool : Tool if (hit.result.t > 1) { // No hit - m_hitPos = ArrayUtils.CopyOf(m_epos, m_epos.Length); + m_hitPos = m_epos; m_hitResult = false; } else { // Hit m_hitPos = vLerp(m_spos, m_epos, hit.result.t); - m_hitNormal = ArrayUtils.CopyOf(hit.result.hitNormal, hit.result.hitNormal.Length); + m_hitNormal = hit.result.hitNormal; m_hitResult = true; } @@ -926,7 +924,7 @@ public class TestNavmeshTool : Tool } } - private void drawAgent(RecastDebugDraw dd, float[] pos, int col) + private void drawAgent(RecastDebugDraw dd, Vector3f pos, int col) { float r = m_sample.getSettingsUI().getAgentRadius(); float h = m_sample.getSettingsUI().getAgentHeight(); diff --git a/src/DotRecast.Recast.Demo/Tools/Tool.cs b/src/DotRecast.Recast.Demo/Tools/Tool.cs index 999c5ea..823fcfd 100644 --- a/src/DotRecast.Recast.Demo/Tools/Tool.cs +++ b/src/DotRecast.Recast.Demo/Tools/Tool.cs @@ -28,7 +28,7 @@ public abstract class Tool { public abstract void setSample(Sample m_sample); - public abstract void handleClick(float[] s, Vector3f p, bool shift); + public abstract void handleClick(Vector3f s, Vector3f p, bool shift); public abstract void handleRender(NavMeshRenderer renderer); @@ -38,7 +38,7 @@ public abstract class Tool public abstract string getName(); - public virtual void handleClickRay(float[] start, float[] direction, bool shift) + public virtual void handleClickRay(Vector3f start, float[] direction, bool shift) { // ... } diff --git a/src/DotRecast.Recast/Geom/InputGeomProvider.cs b/src/DotRecast.Recast/Geom/InputGeomProvider.cs index 427a5cb..fa4184e 100644 --- a/src/DotRecast.Recast/Geom/InputGeomProvider.cs +++ b/src/DotRecast.Recast/Geom/InputGeomProvider.cs @@ -19,14 +19,15 @@ freely, subject to the following restrictions: */ using System.Collections.Generic; +using DotRecast.Core; namespace DotRecast.Recast.Geom { public interface InputGeomProvider : ConvexVolumeProvider { - float[] getMeshBoundsMin(); + Vector3f getMeshBoundsMin(); - float[] getMeshBoundsMax(); + Vector3f getMeshBoundsMax(); IEnumerable meshes(); } diff --git a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs index c5aa81b..cb3cea8 100644 --- a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs +++ b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs @@ -30,8 +30,8 @@ namespace DotRecast.Recast.Geom public readonly float[] vertices; public readonly int[] faces; public readonly float[] normals; - readonly float[] bmin; - readonly float[] bmax; + private Vector3f bmin; + private Vector3f bmax; readonly List volumes = new List(); public SimpleInputGeomProvider(List vertexPositions, List meshFaces) @@ -67,23 +67,23 @@ namespace DotRecast.Recast.Geom this.faces = faces; normals = new float[faces.Length]; calculateNormals(); - bmin = new float[3]; - bmax = new float[3]; - RecastVectors.copy(bmin, vertices, 0); - RecastVectors.copy(bmax, vertices, 0); + bmin = Vector3f.Zero; + bmax = Vector3f.Zero; + RecastVectors.copy(ref bmin, vertices, 0); + RecastVectors.copy(ref bmax, vertices, 0); for (int i = 1; i < vertices.Length / 3; i++) { - RecastVectors.min(bmin, vertices, i * 3); - RecastVectors.max(bmax, vertices, i * 3); + RecastVectors.min(ref bmin, vertices, i * 3); + RecastVectors.max(ref bmax, vertices, i * 3); } } - public float[] getMeshBoundsMin() + public Vector3f getMeshBoundsMin() { return bmin; } - public float[] getMeshBoundsMax() + public Vector3f getMeshBoundsMax() { return bmax; } diff --git a/src/DotRecast.Recast/Geom/SingleTrimeshInputGeomProvider.cs b/src/DotRecast.Recast/Geom/SingleTrimeshInputGeomProvider.cs index 8c91cf8..1cf2986 100644 --- a/src/DotRecast.Recast/Geom/SingleTrimeshInputGeomProvider.cs +++ b/src/DotRecast.Recast/Geom/SingleTrimeshInputGeomProvider.cs @@ -19,36 +19,37 @@ freely, subject to the following restrictions: using System; using System.Collections.Generic; using System.Collections.Immutable; +using DotRecast.Core; namespace DotRecast.Recast.Geom { public class SingleTrimeshInputGeomProvider : InputGeomProvider { - private readonly float[] bmin; - private readonly float[] bmax; + private readonly Vector3f bmin; + private readonly Vector3f bmax; private readonly TriMesh[] _meshes; public SingleTrimeshInputGeomProvider(float[] vertices, int[] faces) { - bmin = new float[3]; - bmax = new float[3]; - RecastVectors.copy(bmin, vertices, 0); - RecastVectors.copy(bmax, vertices, 0); + bmin = Vector3f.Zero; + bmax = Vector3f.Zero; + RecastVectors.copy(ref bmin, vertices, 0); + RecastVectors.copy(ref bmax, vertices, 0); for (int i = 1; i < vertices.Length / 3; i++) { - RecastVectors.min(bmin, vertices, i * 3); - RecastVectors.max(bmax, vertices, i * 3); + RecastVectors.min(ref bmin, vertices, i * 3); + RecastVectors.max(ref bmax, vertices, i * 3); } _meshes = new[] { new TriMesh(vertices, faces) }; } - public float[] getMeshBoundsMin() + public Vector3f getMeshBoundsMin() { return bmin; } - public float[] getMeshBoundsMax() + public Vector3f getMeshBoundsMax() { return bmax; } diff --git a/src/DotRecast.Recast/Recast.cs b/src/DotRecast.Recast/Recast.cs index 6dc89bf..7e88b3d 100644 --- a/src/DotRecast.Recast/Recast.cs +++ b/src/DotRecast.Recast/Recast.cs @@ -62,9 +62,9 @@ namespace DotRecast.Recast } - public static int[] calcTileCount(float[] bmin, float[] bmax, float cs, int tileSizeX, int tileSizeZ) + public static int[] calcTileCount(Vector3f bmin, Vector3f bmax, float cs, int tileSizeX, int tileSizeZ) { - int[] gwd = Recast.calcGridSize(bmin, bmax, cs); + int[] gwd = calcGridSize(bmin, bmax, cs); int gw = gwd[0]; int gd = gwd[1]; int tw = (gw + tileSizeX - 1) / tileSizeX; diff --git a/src/DotRecast.Recast/RecastBuilder.cs b/src/DotRecast.Recast/RecastBuilder.cs index a9bbfc8..8d51546 100644 --- a/src/DotRecast.Recast/RecastBuilder.cs +++ b/src/DotRecast.Recast/RecastBuilder.cs @@ -48,8 +48,8 @@ namespace DotRecast.Recast public List buildTiles(InputGeomProvider geom, RecastConfig cfg, TaskFactory taskFactory) { - float[] bmin = geom.getMeshBoundsMin(); - float[] bmax = geom.getMeshBoundsMax(); + Vector3f bmin = geom.getMeshBoundsMin(); + Vector3f bmax = geom.getMeshBoundsMax(); int[] twh = Recast.calcTileCount(bmin, bmax, cfg.cs, cfg.tileSizeX, cfg.tileSizeZ); int tw = twh[0]; int th = twh[1]; @@ -69,8 +69,8 @@ namespace DotRecast.Recast public Task buildTilesAsync(InputGeomProvider geom, RecastConfig cfg, int threads, List results, TaskFactory taskFactory, CancellationToken cancellationToken) { - float[] bmin = geom.getMeshBoundsMin(); - float[] bmax = geom.getMeshBoundsMax(); + Vector3f bmin = geom.getMeshBoundsMin(); + Vector3f bmax = geom.getMeshBoundsMax(); int[] twh = Recast.calcTileCount(bmin, bmax, cfg.cs, cfg.tileSizeX, cfg.tileSizeZ); int tw = twh[0]; int th = twh[1]; @@ -87,7 +87,7 @@ namespace DotRecast.Recast return task; } - private Task buildSingleThreadAsync(InputGeomProvider geom, RecastConfig cfg, float[] bmin, float[] bmax, + private Task buildSingleThreadAsync(InputGeomProvider geom, RecastConfig cfg, Vector3f bmin, Vector3f bmax, int tw, int th, List results) { AtomicInteger counter = new AtomicInteger(0); @@ -102,7 +102,7 @@ namespace DotRecast.Recast return Task.CompletedTask; } - private Task buildMultiThreadAsync(InputGeomProvider geom, RecastConfig cfg, float[] bmin, float[] bmax, + private Task buildMultiThreadAsync(InputGeomProvider geom, RecastConfig cfg, Vector3f bmin, Vector3f bmax, int tw, int th, List results, TaskFactory taskFactory, CancellationToken cancellationToken) { AtomicInteger counter = new AtomicInteger(0); @@ -152,7 +152,7 @@ namespace DotRecast.Recast return Task.WhenAll(tasks.ToArray()); } - private RecastBuilderResult buildTile(InputGeomProvider geom, RecastConfig cfg, float[] bmin, float[] bmax, int tx, + private RecastBuilderResult buildTile(InputGeomProvider geom, RecastConfig cfg, Vector3f bmin, Vector3f bmax, int tx, int ty, AtomicInteger counter, int total) { RecastBuilderResult result = build(geom, new RecastBuilderConfig(cfg, bmin, bmax, tx, ty)); diff --git a/src/DotRecast.Recast/RecastBuilderConfig.cs b/src/DotRecast.Recast/RecastBuilderConfig.cs index 4aa1e0a..3ef8c34 100644 --- a/src/DotRecast.Recast/RecastBuilderConfig.cs +++ b/src/DotRecast.Recast/RecastBuilderConfig.cs @@ -43,11 +43,11 @@ namespace DotRecast.Recast /** The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] **/ public readonly Vector3f bmax = new Vector3f(); - public RecastBuilderConfig(RecastConfig cfg, float[] bmin, float[] bmax) : this(cfg, bmin, bmax, 0, 0) + public RecastBuilderConfig(RecastConfig cfg, Vector3f bmin, Vector3f bmax) : this(cfg, bmin, bmax, 0, 0) { } - public RecastBuilderConfig(RecastConfig cfg, float[] bmin, float[] bmax, int tileX, int tileZ) + public RecastBuilderConfig(RecastConfig cfg, Vector3f bmin, Vector3f bmax, int tileX, int tileZ) { this.tileX = tileX; this.tileZ = tileZ; diff --git a/src/DotRecast.Recast/RecastFilledVolumeRasterization.cs b/src/DotRecast.Recast/RecastFilledVolumeRasterization.cs index 0ecb0c7..8ac0b0d 100644 --- a/src/DotRecast.Recast/RecastFilledVolumeRasterization.cs +++ b/src/DotRecast.Recast/RecastFilledVolumeRasterization.cs @@ -75,7 +75,7 @@ namespace DotRecast.Recast ctx.stopTimer("RASTERIZE_CYLINDER"); } - public static void rasterizeBox(Heightfield hf, float[] center, float[][] halfEdges, int area, int flagMergeThr, + public static void rasterizeBox(Heightfield hf, Vector3f center, float[][] halfEdges, int area, int flagMergeThr, Telemetry ctx) { ctx.startTimer("RASTERIZE_BOX"); diff --git a/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs index 04a9a14..a195564 100644 --- a/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs +++ b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs @@ -66,8 +66,8 @@ public class MeshSetReaderWriterTest header.numTiles = 0; NavMesh mesh = new NavMesh(header.option, 6); - float[] bmin = geom.getMeshBoundsMin(); - float[] bmax = geom.getMeshBoundsMax(); + Vector3f bmin = geom.getMeshBoundsMin(); + Vector3f bmax = geom.getMeshBoundsMax(); int[] twh = DotRecast.Recast.Recast.calcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize); int tw = twh[0]; int th = twh[1]; diff --git a/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs b/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs index c9678ce..7edc1fd 100644 --- a/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs +++ b/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs @@ -56,8 +56,8 @@ public class TestTileLayerBuilder : AbstractTileLayersBuilder PartitionType.WATERSHED, m_cellSize, m_cellHeight, m_agentMaxSlope, true, true, true, m_agentHeight, m_agentRadius, m_agentMaxClimb, m_regionMinArea, m_regionMergeArea, m_edgeMaxLen, m_edgeMaxError, m_vertsPerPoly, true, m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND); - float[] bmin = geom.getMeshBoundsMin(); - float[] bmax = geom.getMeshBoundsMax(); + Vector3f bmin = geom.getMeshBoundsMin(); + Vector3f bmax = geom.getMeshBoundsMax(); int[] twh = Recast.Recast.calcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize); tw = twh[0]; th = twh[1]; @@ -120,8 +120,8 @@ public class TestTileLayerBuilder : AbstractTileLayersBuilder protected HeightfieldLayerSet getHeightfieldSet(int tx, int ty) { RecastBuilder rcBuilder = new RecastBuilder(); - float[] bmin = geom.getMeshBoundsMin(); - float[] bmax = geom.getMeshBoundsMax(); + Vector3f bmin = geom.getMeshBoundsMin(); + Vector3f bmax = geom.getMeshBoundsMax(); RecastBuilderConfig cfg = new RecastBuilderConfig(rcConfig, bmin, bmax, tx, ty); HeightfieldLayerSet lset = rcBuilder.buildLayers(geom, cfg); return lset; diff --git a/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs index 32aa398..00d16cd 100644 --- a/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs +++ b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs @@ -97,8 +97,8 @@ public class RecastSoloMeshTest m_partitionType = partitionType; InputGeomProvider geomProvider = ObjImporter.load(Loader.ToBytes(filename)); long time = Stopwatch.GetTimestamp(); - float[] bmin = geomProvider.getMeshBoundsMin(); - float[] bmax = geomProvider.getMeshBoundsMax(); + Vector3f bmin = geomProvider.getMeshBoundsMin(); + Vector3f bmax = geomProvider.getMeshBoundsMax(); Telemetry m_ctx = new Telemetry(); // // Step 1. Initialize build config.