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DotRecastNetSim
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new float[] -> struct Vector3f

This commit is contained in:
ikpil 2023-04-20 00:04:09 +09:00
parent 2589561c4e
commit 80970e0051
6 changed files with 116 additions and 123 deletions
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102
src/DotRecast.Detour.Crowd/Crowd.cs
View File

@ -263,14 +263,14 @@ namespace DotRecast.Detour.Crowd
if (refs != 0) if (refs != 0)
{ {
ag.state = CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING; ag.state = CrowdAgentState.DT_CROWDAGENT_STATE_WALKING;
} }
else else
{ {
ag.state = CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_INVALID; ag.state = CrowdAgentState.DT_CROWDAGENT_STATE_INVALID;
} }
ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE; ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_NONE;
return ag; return ag;
} }
@ -328,7 +328,7 @@ namespace DotRecast.Detour.Crowd
agent.targetPos = vel; agent.targetPos = vel;
agent.targetPathQueryResult = null; agent.targetPathQueryResult = null;
agent.targetReplan = false; agent.targetReplan = false;
agent.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY; agent.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY;
return true; return true;
} }
@ -344,7 +344,7 @@ namespace DotRecast.Detour.Crowd
agent.dvel = Vector3f.Zero; agent.dvel = Vector3f.Zero;
agent.targetPathQueryResult = null; agent.targetPathQueryResult = null;
agent.targetReplan = false; agent.targetReplan = false;
agent.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE; agent.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_NONE;
return true; return true;
} }
@ -443,7 +443,7 @@ namespace DotRecast.Detour.Crowd
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) if (ag.state != CrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
{ {
continue; continue;
} }
@ -474,7 +474,7 @@ namespace DotRecast.Detour.Crowd
ag.corridor.reset(0, agentPos); ag.corridor.reset(0, agentPos);
ag.partial = false; ag.partial = false;
ag.boundary.reset(); ag.boundary.reset();
ag.state = CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_INVALID; ag.state = CrowdAgentState.DT_CROWDAGENT_STATE_INVALID;
continue; continue;
} }
@ -492,15 +492,15 @@ namespace DotRecast.Detour.Crowd
// If the agent does not have move target or is controlled by // If the agent does not have move target or is controlled by
// velocity, no need to recover the target nor replan. // velocity, no need to recover the target nor replan.
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_NONE
|| ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) || ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
{ {
continue; continue;
} }
// Try to recover move request position. // Try to recover move request position.
if (ag.targetState != CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE if (ag.targetState != MoveRequestState.DT_CROWDAGENT_TARGET_NONE
&& ag.targetState != CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) && ag.targetState != MoveRequestState.DT_CROWDAGENT_TARGET_FAILED)
{ {
if (!navQuery.isValidPolyRef(ag.targetRef, m_filters[ag.option.queryFilterType])) if (!navQuery.isValidPolyRef(ag.targetRef, m_filters[ag.option.queryFilterType]))
{ {
@ -521,7 +521,7 @@ namespace DotRecast.Detour.Crowd
// Failed to reposition target, fail moverequest. // Failed to reposition target, fail moverequest.
ag.corridor.reset(agentRef, agentPos); ag.corridor.reset(agentRef, agentPos);
ag.partial = false; ag.partial = false;
ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE; ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_NONE;
} }
} }
@ -537,7 +537,7 @@ namespace DotRecast.Detour.Crowd
// If the end of the path is near and it is not the requested // If the end of the path is near and it is not the requested
// location, replan. // location, replan.
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VALID) if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VALID)
{ {
if (ag.targetReplanTime > _config.targetReplanDelay && ag.corridor.getPathCount() < _config.checkLookAhead if (ag.targetReplanTime > _config.targetReplanDelay && ag.corridor.getPathCount() < _config.checkLookAhead
&& ag.corridor.getLastPoly() != ag.targetRef) && ag.corridor.getLastPoly() != ag.targetRef)
@ -549,7 +549,7 @@ namespace DotRecast.Detour.Crowd
// Try to replan path to goal. // Try to replan path to goal.
if (replan) if (replan)
{ {
if (ag.targetState != CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE) if (ag.targetState != MoveRequestState.DT_CROWDAGENT_TARGET_NONE)
{ {
requestMoveTargetReplan(ag, ag.targetRef, ag.targetPos); requestMoveTargetReplan(ag, ag.targetRef, ag.targetPos);
} }
@ -568,18 +568,18 @@ namespace DotRecast.Detour.Crowd
// Fire off new requests. // Fire off new requests.
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.state == CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_INVALID) if (ag.state == CrowdAgentState.DT_CROWDAGENT_STATE_INVALID)
{ {
continue; continue;
} }
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_NONE
|| ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) || ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
{ {
continue; continue;
} }
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING) if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING)
{ {
List<long> path = ag.corridor.getPath(); List<long> path = ag.corridor.getPath();
if (0 == path.Count) if (0 == path.Count)
@ -644,19 +644,19 @@ namespace DotRecast.Detour.Crowd
if (reqPath[reqPath.Count - 1] == ag.targetRef) if (reqPath[reqPath.Count - 1] == ag.targetRef)
{ {
ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VALID; ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_VALID;
ag.targetReplanTime = 0; ag.targetReplanTime = 0;
} }
else else
{ {
// The path is longer or potentially unreachable, full plan. // The path is longer or potentially unreachable, full plan.
ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE; ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE;
} }
ag.targetReplanWaitTime = 0; ag.targetReplanWaitTime = 0;
} }
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE) if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE)
{ {
queue.Enqueue(ag); queue.Enqueue(ag);
} }
@ -669,7 +669,7 @@ namespace DotRecast.Detour.Crowd
ag.targetPos, m_filters[ag.option.queryFilterType]); ag.targetPos, m_filters[ag.option.queryFilterType]);
if (ag.targetPathQueryResult != null) if (ag.targetPathQueryResult != null)
{ {
ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH; ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH;
} }
else else
{ {
@ -686,13 +686,13 @@ namespace DotRecast.Detour.Crowd
// Process path results. // Process path results.
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_NONE
|| ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) || ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
{ {
continue; continue;
} }
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH) if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH)
{ {
// _telemetry.recordPathWaitTime(ag.targetReplanTime); // _telemetry.recordPathWaitTime(ag.targetReplanTime);
// Poll path queue. // Poll path queue.
@ -704,11 +704,11 @@ namespace DotRecast.Detour.Crowd
ag.targetPathQueryResult = null; ag.targetPathQueryResult = null;
if (ag.targetRef != 0) if (ag.targetRef != 0)
{ {
ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING; ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING;
} }
else else
{ {
ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED; ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_FAILED;
} }
ag.targetReplanTime = 0; ag.targetReplanTime = 0;
@ -800,12 +800,12 @@ namespace DotRecast.Detour.Crowd
ag.corridor.setCorridor(targetPos, res); ag.corridor.setCorridor(targetPos, res);
// Force to update boundary. // Force to update boundary.
ag.boundary.reset(); ag.boundary.reset();
ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VALID; ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_VALID;
} }
else else
{ {
// Something went wrong. // Something went wrong.
ag.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED; ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_FAILED;
} }
ag.targetReplanTime = 0; ag.targetReplanTime = 0;
@ -827,13 +827,13 @@ namespace DotRecast.Detour.Crowd
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) if (ag.state != CrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
{ {
continue; continue;
} }
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_NONE
|| ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) || ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
{ {
continue; continue;
} }
@ -879,7 +879,7 @@ namespace DotRecast.Detour.Crowd
_telemetry.start("buildNeighbours"); _telemetry.start("buildNeighbours");
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) if (ag.state != CrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
{ {
continue; continue;
} }
@ -940,13 +940,13 @@ namespace DotRecast.Detour.Crowd
CrowdAgent debugAgent = debug != null ? debug.agent : null; CrowdAgent debugAgent = debug != null ? debug.agent : null;
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) if (ag.state != CrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
{ {
continue; continue;
} }
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_NONE
|| ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) || ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
{ {
continue; continue;
} }
@ -988,13 +988,13 @@ namespace DotRecast.Detour.Crowd
_telemetry.start("triggerOffMeshConnections"); _telemetry.start("triggerOffMeshConnections");
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) if (ag.state != CrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
{ {
continue; continue;
} }
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_NONE
|| ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) || ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
{ {
continue; continue;
} }
@ -1017,7 +1017,7 @@ namespace DotRecast.Detour.Crowd
anim.t = 0.0f; anim.t = 0.0f;
anim.tmax = (vDist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f; anim.tmax = (vDist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f;
ag.state = CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_OFFMESH; ag.state = CrowdAgentState.DT_CROWDAGENT_STATE_OFFMESH;
ag.corners.Clear(); ag.corners.Clear();
ag.neis.Clear(); ag.neis.Clear();
continue; continue;
@ -1037,19 +1037,19 @@ namespace DotRecast.Detour.Crowd
_telemetry.start("calculateSteering"); _telemetry.start("calculateSteering");
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) if (ag.state != CrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
{ {
continue; continue;
} }
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE) if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_NONE)
{ {
continue; continue;
} }
Vector3f dvel = new Vector3f(); Vector3f dvel = new Vector3f();
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
{ {
dvel = ag.targetPos; dvel = ag.targetPos;
ag.desiredSpeed = vLen(ag.targetPos); ag.desiredSpeed = vLen(ag.targetPos);
@ -1136,7 +1136,7 @@ namespace DotRecast.Detour.Crowd
CrowdAgent debugAgent = debug != null ? debug.agent : null; CrowdAgent debugAgent = debug != null ? debug.agent : null;
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) if (ag.state != CrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
{ {
continue; continue;
} }
@ -1210,7 +1210,7 @@ namespace DotRecast.Detour.Crowd
_telemetry.start("integrate"); _telemetry.start("integrate");
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) if (ag.state != CrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
{ {
continue; continue;
} }
@ -1229,7 +1229,7 @@ namespace DotRecast.Detour.Crowd
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
long idx0 = ag.idx; long idx0 = ag.idx;
if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) if (ag.state != CrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
{ {
continue; continue;
} }
@ -1286,7 +1286,7 @@ namespace DotRecast.Detour.Crowd
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) if (ag.state != CrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
{ {
continue; continue;
} }
@ -1303,7 +1303,7 @@ namespace DotRecast.Detour.Crowd
_telemetry.start("moveAgents"); _telemetry.start("moveAgents");
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) if (ag.state != CrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
{ {
continue; continue;
} }
@ -1314,8 +1314,8 @@ namespace DotRecast.Detour.Crowd
ag.npos = ag.corridor.getPos(); ag.npos = ag.corridor.getPos();
// If not using path, truncate the corridor to just one poly. // If not using path, truncate the corridor to just one poly.
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_NONE
|| ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) || ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
{ {
ag.corridor.reset(ag.corridor.getFirstPoly(), ag.npos); ag.corridor.reset(ag.corridor.getFirstPoly(), ag.npos);
ag.partial = false; ag.partial = false;
@ -1342,7 +1342,7 @@ namespace DotRecast.Detour.Crowd
// Reset animation // Reset animation
anim.active = false; anim.active = false;
// Prepare agent for walking. // Prepare agent for walking.
ag.state = CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING; ag.state = CrowdAgentState.DT_CROWDAGENT_STATE_WALKING;
continue; continue;
} }

8
src/DotRecast.Detour.Crowd/CrowdAgent.cs
View File

@ -26,10 +26,6 @@ namespace DotRecast.Detour.Crowd
{ {
using static DotRecast.Core.RecastMath; using static DotRecast.Core.RecastMath;
/// Represents an agent managed by a #dtCrowd object.
/// @ingroup crowd
public class CrowdAgent
{
/// The type of navigation mesh polygon the agent is currently traversing. /// The type of navigation mesh polygon the agent is currently traversing.
/// @ingroup crowd /// @ingroup crowd
public enum CrowdAgentState public enum CrowdAgentState
@ -54,6 +50,10 @@ namespace DotRecast.Detour.Crowd
DT_CROWDAGENT_TARGET_VELOCITY, DT_CROWDAGENT_TARGET_VELOCITY,
}; };
/// Represents an agent managed by a #dtCrowd object.
/// @ingroup crowd
public class CrowdAgent
{
public readonly long idx; public readonly long idx;
/// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState) /// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState)

8
src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs
View File

@ -250,8 +250,8 @@ public class NavMeshRenderer
int col = DebugDraw.duTransCol(DebugDraw.areaToCol(vol.areaMod.getMaskedValue()), 32); int col = DebugDraw.duTransCol(DebugDraw.areaToCol(vol.areaMod.getMaskedValue()), 32);
for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3) for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3)
{ {
float[] va = new float[] { vol.verts[k], vol.verts[k + 1], vol.verts[k + 2] }; var va = Vector3f.Of(vol.verts[k], vol.verts[k + 1], vol.verts[k + 2]);
float[] vb = new float[] { vol.verts[j], vol.verts[j + 1], vol.verts[j + 2] }; var vb = Vector3f.Of(vol.verts[j], vol.verts[j + 1], vol.verts[j + 2]);
debugDraw.vertex(vol.verts[0], vol.hmax, vol.verts[2], col); debugDraw.vertex(vol.verts[0], vol.hmax, vol.verts[2], col);
debugDraw.vertex(vb[0], vol.hmax, vb[2], col); debugDraw.vertex(vb[0], vol.hmax, vb[2], col);
@ -275,8 +275,8 @@ public class NavMeshRenderer
int col = DebugDraw.duTransCol(DebugDraw.areaToCol(vol.areaMod.getMaskedValue()), 220); int col = DebugDraw.duTransCol(DebugDraw.areaToCol(vol.areaMod.getMaskedValue()), 220);
for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3) for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3)
{ {
float[] va = new float[] { vol.verts[k], vol.verts[k + 1], vol.verts[k + 2] }; var va = Vector3f.Of(vol.verts[k], vol.verts[k + 1], vol.verts[k + 2]);
float[] vb = new float[] { vol.verts[j], vol.verts[j + 1], vol.verts[j + 2] }; var vb = Vector3f.Of(vol.verts[j], vol.verts[j + 1], vol.verts[j + 2]);
debugDraw.vertex(va[0], vol.hmin, va[2], DebugDraw.duDarkenCol(col)); debugDraw.vertex(va[0], vol.hmin, va[2], DebugDraw.duDarkenCol(col));
debugDraw.vertex(vb[0], vol.hmin, vb[2], DebugDraw.duDarkenCol(col)); debugDraw.vertex(vb[0], vol.hmin, vb[2], DebugDraw.duDarkenCol(col));
debugDraw.vertex(va[0], vol.hmax, va[2], col); debugDraw.vertex(va[0], vol.hmax, va[2], col);

45
src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Numerics;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Detour; using DotRecast.Detour;
using DotRecast.Recast.Demo.Builder; using DotRecast.Recast.Demo.Builder;
@ -187,16 +188,14 @@ public class RecastDebugDraw : DebugDraw
} }
OffMeshConnection con = tile.data.offMeshCons[i - tile.data.header.offMeshBase]; OffMeshConnection con = tile.data.offMeshCons[i - tile.data.header.offMeshBase];
float[] va = new float[] Vector3f va = Vector3f.Of(
{
tile.data.verts[p.verts[0] * 3], tile.data.verts[p.verts[0] * 3 + 1], tile.data.verts[p.verts[0] * 3], tile.data.verts[p.verts[0] * 3 + 1],
tile.data.verts[p.verts[0] * 3 + 2] tile.data.verts[p.verts[0] * 3 + 2]
}; );
float[] vb = new float[] Vector3f vb = Vector3f.Of(
{
tile.data.verts[p.verts[1] * 3], tile.data.verts[p.verts[1] * 3 + 1], tile.data.verts[p.verts[1] * 3], tile.data.verts[p.verts[1] * 3 + 1],
tile.data.verts[p.verts[1] * 3 + 2] tile.data.verts[p.verts[1] * 3 + 2]
}; );
// Check to see if start and end end-points have links. // Check to see if start and end end-points have links.
bool startSet = false; bool startSet = false;
@ -356,17 +355,15 @@ public class RecastDebugDraw : DebugDraw
} }
} }
float[] v0 = new float[] var v0 = Vector3f.Of(
{
tile.data.verts[p.verts[j] * 3], tile.data.verts[p.verts[j] * 3 + 1], tile.data.verts[p.verts[j] * 3], tile.data.verts[p.verts[j] * 3 + 1],
tile.data.verts[p.verts[j] * 3 + 2] tile.data.verts[p.verts[j] * 3 + 2]
}; );
float[] v1 = new float[] var v1 = Vector3f.Of(
{
tile.data.verts[p.verts[(j + 1) % nj] * 3], tile.data.verts[p.verts[(j + 1) % nj] * 3],
tile.data.verts[p.verts[(j + 1) % nj] * 3 + 1], tile.data.verts[p.verts[(j + 1) % nj] * 3 + 1],
tile.data.verts[p.verts[(j + 1) % nj] * 3 + 2] tile.data.verts[p.verts[(j + 1) % nj] * 3 + 2]
}; );
// Draw detail mesh edges which align with the actual poly edge. // Draw detail mesh edges which align with the actual poly edge.
// This is really slow. // This is really slow.
@ -376,26 +373,24 @@ public class RecastDebugDraw : DebugDraw
for (int k = 0; k < pd.triCount; ++k) for (int k = 0; k < pd.triCount; ++k)
{ {
int t = (pd.triBase + k) * 4; int t = (pd.triBase + k) * 4;
float[][] tv = new float[3][]; Vector3f[] tv = new Vector3f[3];
for (int m = 0; m < 3; ++m) for (int m = 0; m < 3; ++m)
{ {
int v = tile.data.detailTris[t + m]; int v = tile.data.detailTris[t + m];
if (v < p.vertCount) if (v < p.vertCount)
{ {
tv[m] = new float[] tv[m] = Vector3f.Of(
{
tile.data.verts[p.verts[v] * 3], tile.data.verts[p.verts[v] * 3 + 1], tile.data.verts[p.verts[v] * 3], tile.data.verts[p.verts[v] * 3 + 1],
tile.data.verts[p.verts[v] * 3 + 2] tile.data.verts[p.verts[v] * 3 + 2]
}; );
} }
else else
{ {
tv[m] = new float[] tv[m] = Vector3f.Of(
{
tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3], tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3],
tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3 + 1], tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3 + 1],
tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3 + 2] tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3 + 2]
}; );
} }
} }
@ -428,7 +423,7 @@ public class RecastDebugDraw : DebugDraw
end(); end();
} }
static float distancePtLine2d(float[] pt, float[] p, float[] q) static float distancePtLine2d(Vector3f pt, Vector3f p, Vector3f q)
{ {
float pqx = q[0] - p[0]; float pqx = q[0] - p[0];
float pqz = q[2] - p[2]; float pqz = q[2] - p[2];
@ -1358,17 +1353,15 @@ public class RecastDebugDraw : DebugDraw
continue; continue;
// Create new links // Create new links
float[] va = new float[] var va = Vector3f.Of(
{
tile.data.verts[poly.verts[j] * 3], tile.data.verts[poly.verts[j] * 3],
tile.data.verts[poly.verts[j] * 3 + 1], tile.data.verts[poly.verts[j] * 3 + 2] tile.data.verts[poly.verts[j] * 3 + 1], tile.data.verts[poly.verts[j] * 3 + 2]
}; );
float[] vb = new float[] var vb = Vector3f.Of(
{
tile.data.verts[poly.verts[(j + 1) % nv] * 3], tile.data.verts[poly.verts[(j + 1) % nv] * 3],
tile.data.verts[poly.verts[(j + 1) % nv] * 3 + 1], tile.data.verts[poly.verts[(j + 1) % nv] * 3 + 1],
tile.data.verts[poly.verts[(j + 1) % nv] * 3 + 2] tile.data.verts[poly.verts[(j + 1) % nv] * 3 + 2]
}; );
if (side == 0 || side == 4) if (side == 0 || side == 4)
{ {

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

@ -327,13 +327,13 @@ public class CrowdProfilingTool
private bool needsNewTarget(CrowdAgent ag) private bool needsNewTarget(CrowdAgent ag)
{ {
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_NONE
|| ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) || ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_FAILED)
{ {
return true; return true;
} }
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VALID) if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VALID)
{ {
float dx = ag.targetPos[0] - ag.npos[0]; float dx = ag.targetPos[0] - ag.npos[0];
float dy = ag.targetPos[1] - ag.npos[1]; float dy = ag.targetPos[1] - ag.npos[1];
@ -385,14 +385,14 @@ public class CrowdProfilingTool
col = duRGBA(120, 80, 160, 128); col = duRGBA(120, 80, 160, 128);
} }
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING
|| ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE) || ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE)
col = duLerpCol(col, duRGBA(255, 255, 32, 128), 128); col = duLerpCol(col, duRGBA(255, 255, 32, 128), 128);
else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH) else if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH)
col = duLerpCol(col, duRGBA(255, 64, 32, 128), 128); col = duLerpCol(col, duRGBA(255, 64, 32, 128), 128);
else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) else if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_FAILED)
col = duRGBA(255, 32, 16, 128); col = duRGBA(255, 32, 16, 128);
else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) else if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
col = duLerpCol(col, duRGBA(64, 255, 0, 128), 128); col = duLerpCol(col, duRGBA(64, 255, 0, 128), 128);
dd.debugDrawCylinder(pos[0] - radius, pos[1] + radius * 0.1f, pos[2] - radius, pos[0] + radius, pos[1] + height, dd.debugDrawCylinder(pos[0] - radius, pos[1] + radius * 0.1f, pos[2] - radius, pos[0] + radius, pos[1] + height,

20
src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
View File

@ -578,14 +578,14 @@ public class CrowdTool : Tool
Vector3f pos = ag.npos; Vector3f pos = ag.npos;
int col = duRGBA(220, 220, 220, 128); int col = duRGBA(220, 220, 220, 128);
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING
|| ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE) || ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE)
col = duLerpCol(col, duRGBA(128, 0, 255, 128), 32); col = duLerpCol(col, duRGBA(128, 0, 255, 128), 32);
else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH) else if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH)
col = duLerpCol(col, duRGBA(128, 0, 255, 128), 128); col = duLerpCol(col, duRGBA(128, 0, 255, 128), 128);
else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) else if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_FAILED)
col = duRGBA(255, 32, 16, 128); col = duRGBA(255, 32, 16, 128);
else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) else if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
col = duLerpCol(col, duRGBA(64, 255, 0, 128), 128); col = duLerpCol(col, duRGBA(64, 255, 0, 128), 128);
dd.debugDrawCylinder(pos[0] - radius, pos[1] + radius * 0.1f, pos[2] - radius, pos[0] + radius, pos[1] + height, dd.debugDrawCylinder(pos[0] - radius, pos[1] + radius * 0.1f, pos[2] - radius, pos[0] + radius, pos[1] + height,
@ -637,14 +637,14 @@ public class CrowdTool : Tool
Vector3f dvel = ag.dvel; Vector3f dvel = ag.dvel;
int col = duRGBA(220, 220, 220, 192); int col = duRGBA(220, 220, 220, 192);
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING
|| ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE) || ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE)
col = duLerpCol(col, duRGBA(128, 0, 255, 192), 48); col = duLerpCol(col, duRGBA(128, 0, 255, 192), 48);
else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH) else if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH)
col = duLerpCol(col, duRGBA(128, 0, 255, 192), 128); col = duLerpCol(col, duRGBA(128, 0, 255, 192), 128);
else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) else if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_FAILED)
col = duRGBA(255, 32, 16, 192); col = duRGBA(255, 32, 16, 192);
else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) else if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
col = duLerpCol(col, duRGBA(64, 255, 0, 192), 128); col = duLerpCol(col, duRGBA(64, 255, 0, 192), 128);
dd.debugDrawCircle(pos[0], pos[1] + height, pos[2], radius, col, 2.0f); dd.debugDrawCircle(pos[0], pos[1] + height, pos[2], radius, col, 2.0f);