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DotRecastNetSim
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test

This commit is contained in:
ikpil 2024-02-23 01:29:58 +09:00
parent eb1aa49363
commit a0800de245
4 changed files with 39 additions and 21 deletions
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3
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
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@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using System.Linq;
using DotRecast.Core;
using DotRecast.Core.Numerics;
@ -316,7 +317,7 @@ namespace DotRecast.Detour.Crowd
var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
if (status.Succeeded())
{
m_path = DtPathUtils.MergeCorridorStartMoved(m_path, m_path.Count, m_maxPath, visited);
DtPathUtils.MergeCorridorStartMoved(m_path, m_path.Count, m_maxPath, visited);
// Adjust the position to stay on top of the navmesh.
m_pos = result;

34
src/DotRecast.Detour/DtPathUtils.cs
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@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using System.Linq;
using DotRecast.Core.Numerics;
namespace DotRecast.Detour
@ -141,13 +142,13 @@ namespace DotRecast.Detour
return path;
}
public static List<long> MergeCorridorStartMoved(List<long> path, int npath, int maxPath, List<long> visited)
public static int MergeCorridorStartMoved(List<long> path, int npath, int maxPath, List<long> visited)
{
int furthestPath = -1;
int furthestVisited = -1;
// Find furthest common polygon.
for (int i = path.Count - 1; i >= 0; --i)
for (int i = npath - 1; i >= 0; --i)
{
bool found = false;
for (int j = visited.Count - 1; j >= 0; --j)
@ -169,22 +170,37 @@ namespace DotRecast.Detour
// If no intersection found just return current path.
if (furthestPath == -1 || furthestVisited == -1)
{
return path;
return npath;
}
// Concatenate paths.
// Adjust beginning of the buffer to include the visited.
List<long> result = new List<long>();
int req = visited.Count - furthestVisited;
int orig = Math.Min(furthestPath + 1, npath);
int size = Math.Max(0, npath - orig);
if (req + size > maxPath)
size = maxPath - req;
// Store visited
for (int i = visited.Count - 1; i > furthestVisited; --i)
if (size > 0)
{
result.Add(visited[i]);
//memmove(path + req, path + orig, size * sizeof(dtPolyRef));
for (int i = 0; i < size; ++i)
{
if (path.Count <= req + i)
path.Add(0);
path[req + i] = path[orig + i];
}
}
result.AddRange(path.GetRange(furthestPath, path.Count - furthestPath));
return result;
// Store visited
for (int i = 0, n = Math.Min(req, maxPath); i < n; ++i)
{
path[i] = visited[(visited.Count - 1) - i];
}
return req + size;
}
public static List<long> MergeCorridorEndMoved(List<long> path, int npath, int maxPath, List<long> visited)

3
src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
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@ -1,5 +1,6 @@
using System;
using System.Collections.Generic;
using System.Linq;
using DotRecast.Core;
using DotRecast.Core.Numerics;
using DotRecast.Detour;
@ -92,7 +93,7 @@ namespace DotRecast.Recast.Toolset.Tools
iterPos = result;
pathIterPolys = DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolys.Count, MAX_POLYS, visited);
DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolys.Count, MAX_POLYS, visited);
pathIterPolys = DtPathUtils.FixupShortcuts(pathIterPolys, navQuery);
var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);

18
test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs
View File

@ -47,7 +47,7 @@ public class DtPathCorridorTest
const int maxPath = 0;
var visited = new List<long>();
var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
Assert.That(result.Count, Is.EqualTo(0));
Assert.That(result, Is.EqualTo(0));
}
[Test(Description = "dtMergeCorridorStartMoved")]
@ -60,7 +60,7 @@ public class DtPathCorridorTest
var visited = new List<long>();
var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
Assert.That(result.Count, Is.EqualTo(1));
Assert.That(result, Is.EqualTo(1));
var expectedPath = new List<long> { 1 };
Assert.That(path, Is.EqualTo(expectedPath));
@ -76,7 +76,7 @@ public class DtPathCorridorTest
var visited = new List<long> { 1 };
var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
Assert.That(result.Count, Is.EqualTo(0));
Assert.That(result, Is.EqualTo(0));
}
[Test(Description = "dtMergeCorridorStartMoved")]
@ -89,7 +89,7 @@ public class DtPathCorridorTest
var visited = new List<long> { 1, 2 };
var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
Assert.That(result.Count, Is.EqualTo(1));
Assert.That(result, Is.EqualTo(1));
var expectedPath = new List<long> { 2, 2 };
Assert.That(path, Is.EqualTo(expectedPath));
@ -103,7 +103,7 @@ public class DtPathCorridorTest
const int maxPath = 3;
var visited = new List<long> { 1, 2, 3, 4 };
var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
Assert.That(result.Count, Is.EqualTo(3));
Assert.That(result, Is.EqualTo(3));
var expectedPath = new List<long> { 4, 3, 2 };
Assert.That(path, Is.EqualTo(expectedPath));
@ -117,7 +117,7 @@ public class DtPathCorridorTest
const int maxPath = 3;
var visited = new List<long>() { 1, 2, 3, 4, 5 };
var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
Assert.That(result.Count, Is.EqualTo(3));
Assert.That(result, Is.EqualTo(3));
var expectedPath = new List<long> { 5, 4, 3 };
Assert.That(path, Is.EqualTo(expectedPath));
@ -131,7 +131,7 @@ public class DtPathCorridorTest
const int maxPath = 2;
var visited = new List<long>() { 3, 4 };
var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
Assert.That(result.Count, Is.EqualTo(2));
Assert.That(result, Is.EqualTo(2));
var expectedPath = new List<long> { 1, 2 };
Assert.That(path, Is.EqualTo(expectedPath));
@ -145,7 +145,7 @@ public class DtPathCorridorTest
const int maxPath = 3;
var visited = new List<long>() { 1, 3 };
var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
Assert.That(result.Count, Is.EqualTo(3));
Assert.That(result, Is.EqualTo(3));
var expectedPath = new List<long> { 3, 1, 2 };
Assert.That(path, Is.EqualTo(expectedPath));
@ -159,7 +159,7 @@ public class DtPathCorridorTest
const int maxPath = 2;
var visited = new List<long>() { 1, 3 };
var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
Assert.That(result.Count, Is.EqualTo(2));
Assert.That(result, Is.EqualTo(2));
var expectedPath = new List<long> { 3, 1 };
Assert.That(path, Is.EqualTo(expectedPath));