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DotRecastNetSim
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refactor: RcVec3f.Min/Max

This commit is contained in:
ikpil 2023-10-25 23:44:01 +09:00
parent 28ad34b032
commit 7eba4e0c9d
13 changed files with 76 additions and 53 deletions
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38
src/DotRecast.Core/Numerics/RcVec3f.cs
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@ -148,38 +148,24 @@ namespace DotRecast.Core.Numerics
return HashCode.Combine(X, Y, Z);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void Min(float[] @in, int i)
public static RcVec3f Min(RcVec3f value1, RcVec3f value2)
{
X = Math.Min(X, @in[i]);
Y = Math.Min(Y, @in[i + 1]);
Z = Math.Min(Z, @in[i + 2]);
return new RcVec3f(
(value1.X < value2.X) ? value1.X : value2.X,
(value1.Y < value2.Y) ? value1.Y : value2.Y,
(value1.Z < value2.Z) ? value1.Z : value2.Z
);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void Min(RcVec3f b)
public static RcVec3f Max(RcVec3f value1, RcVec3f value2)
{
X = Math.Min(X, b.X);
Y = Math.Min(Y, b.Y);
Z = Math.Min(Z, b.Z);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void Max(RcVec3f b)
{
X = Math.Max(X, b.X);
Y = Math.Max(Y, b.Y);
Z = Math.Max(Z, b.Z);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void Max(float[] @in, int i)
{
X = Math.Max(X, @in[i]);
Y = Math.Max(Y, @in[i + 1]);
Z = Math.Max(Z, @in[i + 2]);
return new RcVec3f(
(value1.X > value2.X) ? value1.X : value2.X,
(value1.Y > value2.Y) ? value1.Y : value2.Y,
(value1.Z > value2.Z) ? value1.Z : value2.Z
);
}
public override string ToString()

26
src/DotRecast.Core/Numerics/RcVecUtils.cs
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@ -6,7 +6,7 @@ namespace DotRecast.Core.Numerics
public static class RcVecUtils
{
public const float EPSILON = 1e-6f;
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Get(this RcVec2f v, int i)
{
@ -122,7 +122,7 @@ namespace DotRecast.Core.Numerics
v1[1] * vector2.Y +
v1[2] * vector2.Z;
}
/// Returns the distance between two points.
/// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)]
@ -135,7 +135,7 @@ namespace DotRecast.Core.Numerics
float dz = v2[i + 2] - v1.Z;
return dx * dx + dy * dy + dz * dz;
}
/// Normalizes the vector if the length is greater than zero.
/// If the magnitude is zero, the vector is unchanged.
/// @param[in,out] v The vector to normalize. [(x, y, z)]
@ -155,5 +155,25 @@ namespace DotRecast.Core.Numerics
return v;
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Min(RcVec3f v, float[] @in, int i)
{
return new RcVec3f(
(v.X < @in[i + 0]) ? v.X : @in[i + 0],
(v.Y < @in[i + 1]) ? v.Y : @in[i + 1],
(v.Z < @in[i + 2]) ? v.Z : @in[i + 2]
);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Max(RcVec3f v, float[] @in, int i)
{
return new RcVec3f(
(v.X > @in[i + 0]) ? v.X : @in[i + 0],
(v.Y > @in[i + 1]) ? v.Y : @in[i + 1],
(v.Z > @in[i + 2]) ? v.Z : @in[i + 2]
);
}
}
}

4
src/DotRecast.Detour.Extras/BVTreeBuilder.cs
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@ -44,8 +44,8 @@ namespace DotRecast.Detour.Extras
RcVec3f bmax = new RcVec3f(data.verts.AsSpan(data.polys[i].verts[0] * 3));
for (int j = 1; j < data.polys[i].vertCount; j++)
{
bmin.Min(data.verts, data.polys[i].verts[j] * 3);
bmax.Max(data.verts, data.polys[i].verts[j] * 3);
bmin = RcVecUtils.Min(bmin, data.verts, data.polys[i].verts[j] * 3);
bmax = RcVecUtils.Max(bmax, data.verts, data.polys[i].verts[j] * 3);
}
it.bmin[0] = Math.Clamp((int)((bmin.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);

4
src/DotRecast.Detour/DtNavMesh.cs
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@ -406,8 +406,8 @@ namespace DotRecast.Detour
for (int j = 1; j < p.vertCount; ++j)
{
v = p.verts[j] * 3;
bmin.Min(tile.data.verts, v);
bmax.Max(tile.data.verts, v);
bmin = RcVecUtils.Min(bmin, tile.data.verts, v);
bmax = RcVecUtils.Max(bmax, tile.data.verts, v);
}
if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))

4
src/DotRecast.Detour/DtNavMeshBuilder.cs
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@ -162,8 +162,8 @@ namespace DotRecast.Detour
var bmax = new RcVec3f(option.detailVerts.AsSpan(dv));
for (int j = 1; j < ndv; j++)
{
bmin.Min(option.detailVerts, dv + j * 3);
bmax.Max(option.detailVerts, dv + j * 3);
bmin = RcVecUtils.Min(bmin, option.detailVerts, dv + j * 3);
bmax = RcVecUtils.Max(bmax, option.detailVerts, dv + j * 3);
}
// BV-tree uses cs for all dimensions

4
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -646,8 +646,8 @@ namespace DotRecast.Detour
for (int j = 1; j < p.vertCount; ++j)
{
v = p.verts[j] * 3;
bmin.Min(tile.data.verts, v);
bmax.Max(tile.data.verts, v);
bmin = RcVecUtils.Min(bmin, tile.data.verts, v);
bmax = RcVecUtils.Max(bmax, tile.data.verts, v);
}
if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))

4
src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
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@ -61,8 +61,8 @@ namespace DotRecast.Recast.Toolset.Geom
bmax = new RcVec3f(vertices);
for (int i = 1; i < vertices.Length / 3; i++)
{
bmin.Min(vertices, i * 3);
bmax.Max(vertices, i * 3);
bmin = RcVecUtils.Min(bmin, vertices, i * 3);
bmax = RcVecUtils.Max(bmax, vertices, i * 3);
}
_mesh = new RcTriMesh(vertices, faces);

4
src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
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@ -81,8 +81,8 @@ namespace DotRecast.Recast.Geom
bmax = new RcVec3f(vertices);
for (int i = 1; i < vertices.Length / 3; i++)
{
bmin.Min(vertices, i * 3);
bmax.Max(vertices, i * 3);
bmin = RcVecUtils.Min(bmin, vertices, i * 3);
bmax = RcVecUtils.Max(bmax, vertices, i * 3);
}
_mesh = new RcTriMesh(vertices, faces);

4
src/DotRecast.Recast/RcAreas.cs
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@ -461,8 +461,8 @@ namespace DotRecast.Recast
RcVec3f bmax = new RcVec3f(verts);
for (int i = 3; i < verts.Length; i += 3)
{
bmin.Min(verts, i);
bmax.Max(verts, i);
bmin = RcVecUtils.Min(bmin, verts, i);
bmax = RcVecUtils.Max(bmax, verts, i);
}
bmin.Y = minY;

4
src/DotRecast.Recast/RcMeshDetails.cs
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@ -1004,8 +1004,8 @@ namespace DotRecast.Recast
RcVec3f bmax = new RcVec3f(@in);
for (int i = 1; i < nin; ++i)
{
bmin.Min(@in, i * 3);
bmax.Max(@in, i * 3);
bmin = RcVecUtils.Min(bmin, @in, i * 3);
bmax = RcVecUtils.Max(bmax, @in, i * 3);
}
int x0 = (int)MathF.Floor(bmin.X / sampleDist);

5
src/DotRecast.Recast/RcMeshs.cs
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@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System;
using DotRecast.Core;
using DotRecast.Core.Numerics;
namespace DotRecast.Recast
{
@ -1230,8 +1231,8 @@ namespace DotRecast.Recast
int maxVertsPerMesh = 0;
for (int i = 0; i < nmeshes; ++i)
{
mesh.bmin.Min(meshes[i].bmin);
mesh.bmax.Max(meshes[i].bmax);
mesh.bmin = RcVec3f.Min(mesh.bmin, meshes[i].bmin);
mesh.bmax = RcVec3f.Max(mesh.bmax, meshes[i].bmax);
maxVertsPerMesh = Math.Max(maxVertsPerMesh, meshes[i].nverts);
maxVerts += meshes[i].nverts;
maxPolys += meshes[i].npolys;

8
src/DotRecast.Recast/RcRasterizations.cs
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@ -239,10 +239,10 @@ namespace DotRecast.Recast
// Calculate the bounding box of the triangle.
RcVec3f tmin = new RcVec3f(verts.AsSpan(v0 * 3));
RcVec3f tmax = new RcVec3f(verts.AsSpan(v0 * 3));
tmin.Min(verts, v1 * 3);
tmin.Min(verts, v2 * 3);
tmax.Max(verts, v1 * 3);
tmax.Max(verts, v2 * 3);
tmin = RcVecUtils.Min(tmin, verts, v1 * 3);
tmin = RcVecUtils.Min(tmin, verts, v2 * 3);
tmax = RcVecUtils.Max(tmax, verts, v1 * 3);
tmax = RcVecUtils.Max(tmax, verts, v2 * 3);
// If the triangle does not touch the bbox of the heightfield, skip the triagle.
if (!OverlapBounds(heightfieldBBMin, heightfieldBBMax, tmin, tmax))

20
test/DotRecast.Core.Test/Vector3Tests.cs
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@ -145,8 +145,24 @@ public class Vector3Tests
[Repeat(100000)]
public void TestVectorMinMax()
{
// Min
// Max
var v1 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle());
var v2 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle());
var v3 = Vector3.Min(v1, v2);
var v4 = Vector3.Max(v1, v2);
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z);
var v22 = new RcVec3f(v2.X, v2.Y, v2.Z);
var v33 = RcVec3f.Min(v11, v22);
var v44 = RcVec3f.Max(v11, v22);
Assert.That(v3.X, Is.EqualTo(v33.X));
Assert.That(v3.Y, Is.EqualTo(v33.Y));
Assert.That(v3.Z, Is.EqualTo(v33.Z));
Assert.That(v4.X, Is.EqualTo(v44.X));
Assert.That(v4.Y, Is.EqualTo(v44.Y));
Assert.That(v4.Z, Is.EqualTo(v44.Z));
}
[Test]