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DotRecastNetSim
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remove interectResult class

This commit is contained in:
ikpil 2023-07-20 23:44:06 +09:00
parent 70dc963563
commit 9a4ed56eed
6 changed files with 41 additions and 47 deletions
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4
src/DotRecast.Core/CollectionExtensions.cs
View File

@ -21,9 +21,7 @@ namespace DotRecast.Core
{
n--;
int k = random.Next(n + 1);
T value = list[k];
list[k] = list[n];
list[n] = value;
(list[k], list[n]) = (list[n], list[k]);
}
}
}

11
src/DotRecast.Core/IntersectResult.cs
View File

@ -1,11 +0,0 @@
namespace DotRecast.Core
{
public class IntersectResult
{
public bool intersects;
public float tmin;
public float tmax = 1f;
public int segMin = -1;
public int segMax = -1;
}
}

2
src/DotRecast.Core/ConvexUtils.cs → src/DotRecast.Core/RcConvexUtils.cs
View File

@ -20,7 +20,7 @@ using System.Collections.Generic;
namespace DotRecast.Core
{
public static class ConvexUtils
public static class RcConvexUtils
{
// Calculates convex hull on xz-plane of points on 'pts',
// stores the indices of the resulting hull in 'out' and

37
src/DotRecast.Detour/DetourCommon.cs
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@ -339,10 +339,18 @@ namespace DotRecast.Detour
return dx * dx + dz * dz;
}
public static IntersectResult IntersectSegmentPoly2D(RcVec3f p0, RcVec3f p1, RcVec3f[] verts, int nverts)
public static bool IntersectSegmentPoly2D(RcVec3f p0, RcVec3f p1,
RcVec3f[] verts, int nverts,
out float tmin, out float tmax,
out int segMin, out int segMax)
{
IntersectResult result = new IntersectResult();
const float EPS = 0.000001f;
tmin = 0;
tmax = 1;
segMin = -1;
segMax = -1;
var dir = p1.Subtract(p0);
var p0v = p0;
@ -359,7 +367,7 @@ namespace DotRecast.Detour
// S is nearly parallel to this edge
if (n < 0)
{
return result;
return false;
}
else
{
@ -371,35 +379,34 @@ namespace DotRecast.Detour
if (d < 0)
{
// segment S is entering across this edge
if (t > result.tmin)
if (t > tmin)
{
result.tmin = t;
result.segMin = j;
tmin = t;
segMin = j;
// S enters after leaving polygon
if (result.tmin > result.tmax)
if (tmin > tmax)
{
return result;
return false;
}
}
}
else
{
// segment S is leaving across this edge
if (t < result.tmax)
if (t < tmax)
{
result.tmax = t;
result.segMax = j;
tmax = t;
segMax = j;
// S leaves before entering polygon
if (result.tmax < result.tmin)
if (tmax < tmin)
{
return result;
return false;
}
}
}
}
result.intersects = true;
return result;
return true;
}
public static int OppositeTile(int side)

32
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -2233,26 +2233,26 @@ namespace DotRecast.Detour
nv++;
}
IntersectResult iresult = DetourCommon.IntersectSegmentPoly2D(startPos, endPos, verts, nv);
if (!iresult.intersects)
bool intersects = DetourCommon.IntersectSegmentPoly2D(startPos, endPos, verts, nv, out var tmin, out var tmax, out var segMin, out var segMax);
if (!intersects)
{
// Could not hit the polygon, keep the old t and report hit.
return DtStatus.DT_SUCCSESS;
}
hit.hitEdgeIndex = iresult.segMax;
hit.hitEdgeIndex = segMax;
// Keep track of furthest t so far.
if (iresult.tmax > hit.t)
if (tmax > hit.t)
{
hit.t = iresult.tmax;
hit.t = tmax;
}
// Store visited polygons.
hit.path.Add(curRef);
// Ray end is completely inside the polygon.
if (iresult.segMax == -1)
if (segMax == -1)
{
hit.t = float.MaxValue;
@ -2274,7 +2274,7 @@ namespace DotRecast.Detour
DtLink link = tile.links[i];
// Find link which contains this edge.
if (link.edge != iresult.segMax)
if (link.edge != segMax)
{
continue;
}
@ -2331,7 +2331,7 @@ namespace DotRecast.Detour
}
// Find Z intersection.
float z = startPos.z + (endPos.z - startPos.z) * iresult.tmax;
float z = startPos.z + (endPos.z - startPos.z) * tmax;
if (z >= lmin && z <= lmax)
{
nextRef = link.refs;
@ -2352,7 +2352,7 @@ namespace DotRecast.Detour
}
// Find X intersection.
float x = startPos.x + (endPos.x - startPos.x) * iresult.tmax;
float x = startPos.x + (endPos.x - startPos.x) * tmax;
if (x >= lmin && x <= lmax)
{
nextRef = link.refs;
@ -2368,8 +2368,8 @@ namespace DotRecast.Detour
// and correct the height (since the raycast moves in 2d)
lastPos = curPos;
curPos = RcVec3f.Mad(startPos, dir, hit.t);
var e1 = verts[iresult.segMax];
var e2 = verts[(iresult.segMax + 1) % nv];
var e1 = verts[segMax];
var e2 = verts[(segMax + 1) % nv];
var eDir = e2.Subtract(e1);
var diff = curPos.Subtract(e1);
float s = Sqr(eDir.x) > Sqr(eDir.z) ? diff.x / eDir.x : diff.z / eDir.z;
@ -2384,8 +2384,8 @@ namespace DotRecast.Detour
// No neighbour, we hit a wall.
// Calculate hit normal.
int a = iresult.segMax;
int b = iresult.segMax + 1 < nv ? iresult.segMax + 1 : 0;
int a = segMax;
int b = segMax + 1 < nv ? segMax + 1 : 0;
// int va = a * 3;
// int vb = b * 3;
float dx = verts[b].x - verts[a].x;
@ -2718,13 +2718,13 @@ namespace DotRecast.Detour
}
// If the poly is not touching the edge to the next polygon, skip the connection it.
IntersectResult ir = DetourCommon.IntersectSegmentPoly2D(va, vb, verts, nverts);
if (!ir.intersects)
bool intersects = DetourCommon.IntersectSegmentPoly2D(va, vb, verts, nverts, out var tmin, out var tmax, out var segMin, out var segMax);
if (!intersects)
{
continue;
}
if (ir.tmin > 1.0f || ir.tmax < 0.0f)
if (tmin > 1.0f || tmax < 0.0f)
{
continue;
}

2
src/DotRecast.Recast.Demo/Tools/ConvexVolumeTool.cs
View File

@ -94,7 +94,7 @@ public class ConvexVolumeTool : IRcTool
if (pts.Count > 3)
{
hull.Clear();
hull.AddRange(ConvexUtils.Convexhull(pts));
hull.AddRange(RcConvexUtils.Convexhull(pts));
}
else
{