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DotRecastNetSim
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remove nullable float in DtNavMeshRaycast.Raycast, RcPolyMeshRaycast.Raycast

This commit is contained in:
ikpil 2023-08-01 23:32:28 +09:00
parent ccba2afb0c
commit 912b9e27fb
4 changed files with 36 additions and 35 deletions
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20
src/DotRecast.Detour/DtNavMeshRaycast.cs
View File

@ -20,32 +20,32 @@ using DotRecast.Core;
namespace DotRecast.Detour
{
/**
* Simple helper to find an intersection between a ray and a nav mesh
*/
public static class DtNavMeshRaycast
{
public static float? Raycast(DtNavMesh mesh, RcVec3f src, RcVec3f dst)
public static bool Raycast(DtNavMesh mesh, RcVec3f src, RcVec3f dst, out float hitTime)
{
hitTime = 0.0f;
for (int t = 0; t < mesh.GetMaxTiles(); ++t)
{
DtMeshTile tile = mesh.GetTile(t);
if (tile != null && tile.data != null)
{
float? intersection = Raycast(tile, src, dst);
if (null != intersection)
if (Raycast(tile, src, dst, out hitTime))
{
return intersection;
return true;
}
}
}
return null;
return false;
}
private static float? Raycast(DtMeshTile tile, RcVec3f sp, RcVec3f sq)
private static bool Raycast(DtMeshTile tile, RcVec3f sp, RcVec3f sq, out float hitTime)
{
hitTime = 0.0f;
for (int i = 0; i < tile.data.header.polyCount; ++i)
{
DtPoly p = tile.data.polys[i];
@ -79,9 +79,9 @@ namespace DotRecast.Detour
}
}
if (Intersections.IntersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2], out var intersection))
if (Intersections.IntersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2], out hitTime))
{
return intersection;
return true;
}
}
}
@ -91,7 +91,7 @@ namespace DotRecast.Detour
}
}
return null;
return false;
}
}
}

16
src/DotRecast.Recast.Demo/RecastDemo.cs
View File

@ -770,20 +770,21 @@ public class RecastDemo : IRecastDemoChannel
if (_sample == null)
return;
float? hit = null;
float hitTime = 0.0f;
bool hit = false;
if (inputGeom != null)
{
hit = inputGeom.RaycastMesh(rayStart, rayEnd);
hit = inputGeom.RaycastMesh(rayStart, rayEnd, out hitTime);
}
if (!hit.HasValue && _sample.GetNavMesh() != null)
if (!hit && _sample.GetNavMesh() != null)
{
hit = DtNavMeshRaycast.Raycast(_sample.GetNavMesh(), rayStart, rayEnd);
hit = DtNavMeshRaycast.Raycast(_sample.GetNavMesh(), rayStart, rayEnd, out hitTime);
}
if (!hit.HasValue && _sample.GetRecastResults() != null)
if (!hit && _sample.GetRecastResults() != null)
{
hit = RcPolyMeshRaycast.Raycast(_sample.GetRecastResults(), rayStart, rayEnd);
hit = RcPolyMeshRaycast.Raycast(_sample.GetRecastResults(), rayStart, rayEnd, out hitTime);
}
RcVec3f rayDir = RcVec3f.Of(rayEnd.x - rayStart.x, rayEnd.y - rayStart.y, rayEnd.z - rayStart.z);
@ -795,9 +796,8 @@ public class RecastDemo : IRecastDemoChannel
rayTool.HandleClickRay(rayStart, rayDir, processHitTestShift);
}
if (hit.HasValue)
if (hit)
{
float hitTime = hit.Value;
if (0 != (_modState & KeyModState.Control))
{
// Marker

14
src/DotRecast.Recast.DemoTool/Geom/DemoInputGeomProvider.cs
View File

@ -126,12 +126,14 @@ namespace DotRecast.Recast.DemoTool.Geom
_offMeshConnections.RemoveAll(filter); // TODO : 확인 필요
}
public float? RaycastMesh(RcVec3f src, RcVec3f dst)
public bool RaycastMesh(RcVec3f src, RcVec3f dst, out float tmin)
{
tmin = 1.0f;
// Prune hit ray.
if (!Intersections.IsectSegAABB(src, dst, bmin, bmax, out var btmin, out var btmax))
{
return null;
return false;
}
float[] p = new float[2];
@ -144,10 +146,10 @@ namespace DotRecast.Recast.DemoTool.Geom
List<RcChunkyTriMeshNode> chunks = _mesh.chunkyTriMesh.GetChunksOverlappingSegment(p, q);
if (0 == chunks.Count)
{
return null;
return false;
}
float? tmin = 1.0f;
tmin = 1.0f;
bool hit = false;
foreach (RcChunkyTriMeshNode chunk in chunks)
{
@ -181,9 +183,7 @@ namespace DotRecast.Recast.DemoTool.Geom
}
}
return hit
? tmin
: null;
return hit;
}

19
src/DotRecast.Recast/RcPolyMeshRaycast.cs
View File

@ -23,25 +23,26 @@ namespace DotRecast.Recast
{
public static class RcPolyMeshRaycast
{
public static float? Raycast(IList<RecastBuilderResult> results, RcVec3f src, RcVec3f dst)
public static bool Raycast(IList<RecastBuilderResult> results, RcVec3f src, RcVec3f dst, out float hitTime)
{
hitTime = 0.0f;
foreach (RecastBuilderResult result in results)
{
if (result.GetMeshDetail() != null)
{
float? intersection = Raycast(result.GetMesh(), result.GetMeshDetail(), src, dst);
if (null != intersection)
if (Raycast(result.GetMesh(), result.GetMeshDetail(), src, dst, out hitTime))
{
return intersection;
return true;
}
}
}
return null;
return false;
}
private static float? Raycast(RcPolyMesh poly, RcPolyMeshDetail meshDetail, RcVec3f sp, RcVec3f sq)
private static bool Raycast(RcPolyMesh poly, RcPolyMeshDetail meshDetail, RcVec3f sp, RcVec3f sq, out float hitTime)
{
hitTime = 0;
if (meshDetail != null)
{
for (int i = 0; i < meshDetail.nmeshes; ++i)
@ -62,9 +63,9 @@ namespace DotRecast.Recast
vs[k].z = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 2];
}
if (Intersections.IntersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2], out var intersection))
if (Intersections.IntersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2], out hitTime))
{
return intersection;
return true;
}
}
}
@ -74,7 +75,7 @@ namespace DotRecast.Recast
// TODO: check PolyMesh instead
}
return null;
return false;
}
}
}