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DotRecastNetSim
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refactor: math

This commit is contained in:
ikpil 2023-09-23 07:30:47 +09:00
parent 07074105a4
commit a46aa0eaee
25 changed files with 168 additions and 166 deletions
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17
src/DotRecast.Detour.Crowd/DtCrowd.cs
View File

@ -21,7 +21,6 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using DotRecast.Core;
using DotRecast.Detour.Crowd.Tracking;
@ -29,7 +28,7 @@ using DotRecast.Detour.Crowd.Tracking;
namespace DotRecast.Detour.Crowd
{
using static DotRecast.Core.RcMath;
/**
* Members in this module implement local steering and dynamic avoidance features.
@ -881,7 +880,7 @@ namespace DotRecast.Detour.Crowd
// Update the collision boundary after certain distance has been passed or
// if it has become invalid.
float updateThr = ag.option.collisionQueryRange * 0.25f;
if (RcVec3f.Dist2DSqr(ag.npos, ag.boundary.GetCenter()) > Sqr(updateThr)
if (RcVec3f.Dist2DSqr(ag.npos, ag.boundary.GetCenter()) > RcMath.Sqr(updateThr)
|| !ag.boundary.IsValid(_navQuery, _filters[ag.option.queryFilterType]))
{
ag.boundary.Update(ag.corridor.GetFirstPoly(), ag.npos, ag.option.collisionQueryRange, _navQuery,
@ -916,7 +915,7 @@ namespace DotRecast.Detour.Crowd
diff.y = 0;
float distSqr = RcVec3f.LenSqr(diff);
if (distSqr > Sqr(range))
if (distSqr > RcMath.Sqr(range))
{
continue;
}
@ -1090,13 +1089,13 @@ namespace DotRecast.Detour.Crowd
continue;
}
if (distSqr > Sqr(separationDist))
if (distSqr > RcMath.Sqr(separationDist))
{
continue;
}
float dist = (float)Math.Sqrt(distSqr);
float weight = separationWeight * (1.0f - Sqr(dist * invSeparationDist));
float weight = separationWeight * (1.0f - RcMath.Sqr(dist * invSeparationDist));
disp = RcVec3f.Mad(disp, diff, weight / dist);
w += 1.0f;
@ -1108,7 +1107,7 @@ namespace DotRecast.Detour.Crowd
dvel = RcVec3f.Mad(dvel, disp, 1.0f / w);
// Clamp desired velocity to desired speed.
float speedSqr = RcVec3f.LenSqr(dvel);
float desiredSqr = Sqr(ag.desiredSpeed);
float desiredSqr = RcMath.Sqr(ag.desiredSpeed);
if (speedSqr > desiredSqr)
{
dvel = dvel.Scale(desiredSqr / speedSqr);
@ -1232,7 +1231,7 @@ namespace DotRecast.Detour.Crowd
diff.y = 0;
float dist = RcVec3f.LenSqr(diff);
if (dist > Sqr(ag.option.radius + nei.option.radius))
if (dist > RcMath.Sqr(ag.option.radius + nei.option.radius))
{
continue;
}
@ -1352,7 +1351,7 @@ namespace DotRecast.Detour.Crowd
private float Tween(float t, float t0, float t1)
{
return Clamp((t - t0) / (t1 - t0), 0.0f, 1.0f);
return RcMath.Clamp((t - t0) / (t1 - t0), 0.0f, 1.0f);
}
}
}

4
src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
View File

@ -25,7 +25,7 @@ using DotRecast.Core;
namespace DotRecast.Detour.Crowd
{
using static RcMath;
public class DtLocalBoundary
{
@ -123,7 +123,7 @@ namespace DotRecast.Detour.Crowd
// Skip too distant segments.
var distSqr = DtUtils.DistancePtSegSqr2D(pos, s0, s3, out var tseg);
if (distSqr > Sqr(collisionQueryRange))
if (distSqr > RcMath.Sqr(collisionQueryRange))
{
continue;
}

14
src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
View File

@ -24,7 +24,7 @@ using DotRecast.Detour.Crowd.Tracking;
namespace DotRecast.Detour.Crowd
{
using static RcMath;
public class DtObstacleAvoidanceQuery
{
@ -151,7 +151,7 @@ namespace DotRecast.Detour.Crowd
// Precalc if the agent is really close to the segment.
float r = 0.01f;
var distSqr = DtUtils.DistancePtSegSqr2D(pos, seg.p, seg.q, out var t);
seg.touch = distSqr < Sqr(r);
seg.touch = distSqr < RcMath.Sqr(r);
}
}
@ -243,7 +243,7 @@ namespace DotRecast.Detour.Crowd
vab = vab.Subtract(cir.vel);
// Side
side += Clamp(Math.Min(cir.dp.Dot2D(vab) * 0.5f + 0.5f, cir.np.Dot2D(vab) * 2), 0.0f, 1.0f);
side += RcMath.Clamp(Math.Min(cir.dp.Dot2D(vab) * 0.5f + 0.5f, cir.np.Dot2D(vab) * 2), 0.0f, 1.0f);
nside++;
if (!SweepCircleCircle(pos, rad, vab, cir.p, cir.rad, out var htmin, out var htmax))
@ -346,7 +346,7 @@ namespace DotRecast.Detour.Crowd
for (int x = 0; x < m_params.gridSize; ++x)
{
RcVec3f vcand = RcVec3f.Of(cvx + x * cs - half, 0f, cvz + y * cs - half);
if (Sqr(vcand.x) + Sqr(vcand.z) > Sqr(vmax + cs / 2))
if (RcMath.Sqr(vcand.x) + RcMath.Sqr(vcand.z) > RcMath.Sqr(vmax + cs / 2))
continue;
float penalty = ProcessSample(vcand, cs, pos, rad, vel, dvel, minPenalty, debug);
@ -410,8 +410,8 @@ namespace DotRecast.Detour.Crowd
int nrings = m_params.adaptiveRings;
int depth = m_params.adaptiveDepth;
int nd = Clamp(ndivs, 1, DT_MAX_PATTERN_DIVS);
int nr = Clamp(nrings, 1, DT_MAX_PATTERN_RINGS);
int nd = RcMath.Clamp(ndivs, 1, DT_MAX_PATTERN_DIVS);
int nr = RcMath.Clamp(nrings, 1, DT_MAX_PATTERN_RINGS);
float da = (1.0f / nd) * DT_PI * 2;
float ca = (float)Math.Cos(da);
float sa = (float)Math.Sin(da);
@ -476,7 +476,7 @@ namespace DotRecast.Detour.Crowd
for (int i = 0; i < npat; ++i)
{
RcVec3f vcand = RcVec3f.Of(res.x + pat[i * 2 + 0] * cr, 0f, res.z + pat[i * 2 + 1] * cr);
if (Sqr(vcand.x) + Sqr(vcand.z) > Sqr(vmax + 0.001f))
if (RcMath.Sqr(vcand.x) + RcMath.Sqr(vcand.z) > RcMath.Sqr(vmax + 0.001f))
continue;
float penalty = ProcessSample(vcand, cr / 10, pos, rad, vel, dvel, minPenalty, debug);

76
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
View File

@ -25,45 +25,45 @@ using DotRecast.Core;
namespace DotRecast.Detour.Crowd
{
using static DotRecast.Core.RcMath;
/**
* Represents a dynamic polygon corridor used to plan agent movement.
*
* The corridor is loaded with a path, usually obtained from a #NavMeshQuery::FindPath() query. The corridor is then
* used to plan local movement, with the corridor automatically updating as needed to deal with inaccurate agent
* locomotion.
*
* Example of a common use case:
*
* -# Construct the corridor object and call -# Obtain a path from a #dtNavMeshQuery object. -# Use #Reset() to set the
* agent's current position. (At the beginning of the path.) -# Use #SetCorridor() to load the path and target. -# Use
* #FindCorners() to plan movement. (This handles dynamic path straightening.) -# Use #MovePosition() to feed agent
* movement back into the corridor. (The corridor will automatically adjust as needed.) -# If the target is moving, use
* #MoveTargetPosition() to update the end of the corridor. (The corridor will automatically adjust as needed.) -#
* Repeat the previous 3 steps to continue to move the agent.
*
* The corridor position and target are always constrained to the navigation mesh.
*
* One of the difficulties in maintaining a path is that floating point errors, locomotion inaccuracies, and/or local
* steering can result in the agent crossing the boundary of the path corridor, temporarily invalidating the path. This
* class uses local mesh queries to detect and update the corridor as needed to handle these types of issues.
*
* The fact that local mesh queries are used to move the position and target locations results in two beahviors that
* need to be considered:
*
* Every time a move function is used there is a chance that the path will become non-optimial. Basically, the further
* the target is moved from its original location, and the further the position is moved outside the original corridor,
* the more likely the path will become non-optimal. This issue can be addressed by periodically running the
* #OptimizePathTopology() and #OptimizePathVisibility() methods.
*
* All local mesh queries have distance limitations. (Review the #dtNavMeshQuery methods for details.) So the most
* accurate use case is to move the position and target in small increments. If a large increment is used, then the
* corridor may not be able to accurately find the new location. Because of this limiation, if a position is moved in a
* large increment, then compare the desired and resulting polygon references. If the two do not match, then path
* replanning may be needed. E.g. If you move the target, check #GetLastPoly() to see if it is the expected polygon.
*
*/
* Represents a dynamic polygon corridor used to plan agent movement.
*
* The corridor is loaded with a path, usually obtained from a #NavMeshQuery::FindPath() query. The corridor is then
* used to plan local movement, with the corridor automatically updating as needed to deal with inaccurate agent
* locomotion.
*
* Example of a common use case:
*
* -# Construct the corridor object and call -# Obtain a path from a #dtNavMeshQuery object. -# Use #Reset() to set the
* agent's current position. (At the beginning of the path.) -# Use #SetCorridor() to load the path and target. -# Use
* #FindCorners() to plan movement. (This handles dynamic path straightening.) -# Use #MovePosition() to feed agent
* movement back into the corridor. (The corridor will automatically adjust as needed.) -# If the target is moving, use
* #MoveTargetPosition() to update the end of the corridor. (The corridor will automatically adjust as needed.) -#
* Repeat the previous 3 steps to continue to move the agent.
*
* The corridor position and target are always constrained to the navigation mesh.
*
* One of the difficulties in maintaining a path is that floating point errors, locomotion inaccuracies, and/or local
* steering can result in the agent crossing the boundary of the path corridor, temporarily invalidating the path. This
* class uses local mesh queries to detect and update the corridor as needed to handle these types of issues.
*
* The fact that local mesh queries are used to move the position and target locations results in two beahviors that
* need to be considered:
*
* Every time a move function is used there is a chance that the path will become non-optimial. Basically, the further
* the target is moved from its original location, and the further the position is moved outside the original corridor,
* the more likely the path will become non-optimal. This issue can be addressed by periodically running the
* #OptimizePathTopology() and #OptimizePathVisibility() methods.
*
* All local mesh queries have distance limitations. (Review the #dtNavMeshQuery methods for details.) So the most
* accurate use case is to move the position and target in small increments. If a large increment is used, then the
* corridor may not be able to accurately find the new location. Because of this limiation, if a position is moved in a
* large increment, then compare the desired and resulting polygon references. If the two do not match, then path
* replanning may be needed. E.g. If you move the target, check #GetLastPoly() to see if it is the expected polygon.
*
*/
public class DtPathCorridor
{
private RcVec3f m_pos = new RcVec3f();
@ -95,7 +95,7 @@ namespace DotRecast.Detour.Crowd
m_target = pos;
}
private static readonly float MIN_TARGET_DIST = Sqr(0.01f);
private static readonly float MIN_TARGET_DIST = RcMath.Sqr(0.01f);
/**
* Finds the corners in the corridor from the position toward the target. (The straightened path.)

4
src/DotRecast.Detour.Crowd/Tracking/DtObstacleAvoidanceDebugData.cs
View File

@ -23,7 +23,7 @@ using DotRecast.Core;
namespace DotRecast.Detour.Crowd.Tracking
{
using static RcMath;
public class DtObstacleAvoidanceDebugData
{
@ -68,7 +68,7 @@ namespace DotRecast.Detour.Crowd.Tracking
float penRange = maxPen - minPen;
float s = penRange > 0.001f ? (1.0f / penRange) : 1;
for (int i = 0; i < n; ++i)
arr[i] = Clamp((arr[i] - minPen) * s, 0.0f, 1.0f);
arr[i] = RcMath.Clamp((arr[i] - minPen) * s, 0.0f, 1.0f);
}
public void NormalizeSamples()

14
src/DotRecast.Detour.Extras/BVTreeBuilder.cs
View File

@ -18,7 +18,7 @@ freely, subject to the following restrictions:
*/
using DotRecast.Core;
using static DotRecast.Core.RcMath;
namespace DotRecast.Detour.Extras
{
@ -50,12 +50,12 @@ namespace DotRecast.Detour.Extras
bmax.Max(data.verts, data.polys[i].verts[j] * 3);
}
it.bmin[0] = Clamp((int)((bmin.x - data.header.bmin.x) * quantFactor), 0, 0x7fffffff);
it.bmin[1] = Clamp((int)((bmin.y - data.header.bmin.y) * quantFactor), 0, 0x7fffffff);
it.bmin[2] = Clamp((int)((bmin.z - data.header.bmin.z) * quantFactor), 0, 0x7fffffff);
it.bmax[0] = Clamp((int)((bmax.x - data.header.bmin.x) * quantFactor), 0, 0x7fffffff);
it.bmax[1] = Clamp((int)((bmax.y - data.header.bmin.y) * quantFactor), 0, 0x7fffffff);
it.bmax[2] = Clamp((int)((bmax.z - data.header.bmin.z) * quantFactor), 0, 0x7fffffff);
it.bmin[0] = RcMath.Clamp((int)((bmin.x - data.header.bmin.x) * quantFactor), 0, 0x7fffffff);
it.bmin[1] = RcMath.Clamp((int)((bmin.y - data.header.bmin.y) * quantFactor), 0, 0x7fffffff);
it.bmin[2] = RcMath.Clamp((int)((bmin.z - data.header.bmin.z) * quantFactor), 0, 0x7fffffff);
it.bmax[0] = RcMath.Clamp((int)((bmax.x - data.header.bmin.x) * quantFactor), 0, 0x7fffffff);
it.bmax[1] = RcMath.Clamp((int)((bmax.y - data.header.bmin.y) * quantFactor), 0, 0x7fffffff);
it.bmax[2] = RcMath.Clamp((int)((bmax.z - data.header.bmin.z) * quantFactor), 0, 0x7fffffff);
}
return DtNavMeshBuilder.Subdivide(items, data.header.polyCount, 0, data.header.polyCount, 0, nodes);

1
src/DotRecast.Detour.Extras/Jumplink/EdgeSampler.cs
View File

@ -1,6 +1,5 @@
using System.Collections.Generic;
using DotRecast.Core;
using static DotRecast.Core.RcMath;
namespace DotRecast.Detour.Extras.Jumplink
{

2
src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
View File

@ -1,7 +1,7 @@
using System;
using DotRecast.Core;
using DotRecast.Recast;
using static DotRecast.Core.RcMath;
namespace DotRecast.Detour.Extras.Jumplink
{

4
src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
View File

@ -24,7 +24,7 @@ using System.IO;
using DotRecast.Core;
using DotRecast.Detour.TileCache.Io;
using DotRecast.Detour.TileCache.Io.Compress;
using static DotRecast.Core.RcMath;
namespace DotRecast.Detour.TileCache
{
@ -1810,7 +1810,7 @@ namespace DotRecast.Detour.TileCache
bmax.x = pos.x + radius;
bmax.y = pos.y + height;
bmax.z = pos.z + radius;
float r2 = Sqr(radius / cs + 0.5f);
float r2 = RcMath.Sqr(radius / cs + 0.5f);
int w = layer.header.width;
int h = layer.header.height;

2
src/DotRecast.Detour/DefaultQueryHeuristic.cs
View File

@ -18,7 +18,7 @@ freely, subject to the following restrictions:
*/
using DotRecast.Core;
using static DotRecast.Core.RcMath;
namespace DotRecast.Detour
{

26
src/DotRecast.Detour/DtNavMesh.cs
View File

@ -24,7 +24,7 @@ using DotRecast.Core;
namespace DotRecast.Detour
{
using static RcMath;
public class DtNavMesh
{
@ -346,12 +346,12 @@ namespace DotRecast.Detour
int[] bmin = new int[3];
int[] bmax = new int[3];
// dtClamp query box to world box.
float minx = Clamp(qmin.x, tbmin.x, tbmax.x) - tbmin.x;
float miny = Clamp(qmin.y, tbmin.y, tbmax.y) - tbmin.y;
float minz = Clamp(qmin.z, tbmin.z, tbmax.z) - tbmin.z;
float maxx = Clamp(qmax.x, tbmin.x, tbmax.x) - tbmin.x;
float maxy = Clamp(qmax.y, tbmin.y, tbmax.y) - tbmin.y;
float maxz = Clamp(qmax.z, tbmin.z, tbmax.z) - tbmin.z;
float minx = RcMath.Clamp(qmin.x, tbmin.x, tbmax.x) - tbmin.x;
float miny = RcMath.Clamp(qmin.y, tbmin.y, tbmax.y) - tbmin.y;
float minz = RcMath.Clamp(qmin.z, tbmin.z, tbmax.z) - tbmin.z;
float maxx = RcMath.Clamp(qmax.x, tbmin.x, tbmax.x) - tbmin.x;
float maxy = RcMath.Clamp(qmax.y, tbmin.y, tbmax.y) - tbmin.y;
float maxz = RcMath.Clamp(qmax.z, tbmin.z, tbmax.z) - tbmin.z;
// Quantize
bmin[0] = (int)(qfac * minx) & 0x7ffffffe;
bmin[1] = (int)(qfac * miny) & 0x7ffffffe;
@ -781,8 +781,8 @@ namespace DotRecast.Detour
tmax = temp;
}
link.bmin = (int)Math.Round(Clamp(tmin, 0.0f, 1.0f) * 255.0f);
link.bmax = (int)Math.Round(Clamp(tmax, 0.0f, 1.0f) * 255.0f);
link.bmin = (int)Math.Round(RcMath.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
link.bmax = (int)Math.Round(RcMath.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
}
else if (dir == 2 || dir == 6)
{
@ -797,8 +797,8 @@ namespace DotRecast.Detour
tmax = temp;
}
link.bmin = (int)Math.Round(Clamp(tmin, 0.0f, 1.0f) * 255.0f);
link.bmax = (int)Math.Round(Clamp(tmax, 0.0f, 1.0f) * 255.0f);
link.bmin = (int)Math.Round(RcMath.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
link.bmax = (int)Math.Round(RcMath.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
}
}
}
@ -853,7 +853,7 @@ namespace DotRecast.Detour
// findNearestPoly may return too optimistic results, further check
// to make sure.
if (Sqr(nearestPt.x - p.x) + Sqr(nearestPt.z - p.z) > Sqr(targetCon.rad))
if (RcMath.Sqr(nearestPt.x - p.x) + RcMath.Sqr(nearestPt.z - p.z) > RcMath.Sqr(targetCon.rad))
{
continue;
}
@ -1083,7 +1083,7 @@ namespace DotRecast.Detour
float[] p = con.pos; // First vertex
// findNearestPoly may return too optimistic results, further check
// to make sure.
if (Sqr(nearestPt.x - p[0]) + Sqr(nearestPt.z - p[2]) > Sqr(con.rad))
if (RcMath.Sqr(nearestPt.x - p[0]) + RcMath.Sqr(nearestPt.z - p[2]) > RcMath.Sqr(con.rad))
{
continue;
}

14
src/DotRecast.Detour/DtNavMeshBuilder.cs
View File

@ -23,7 +23,7 @@ using DotRecast.Core;
namespace DotRecast.Detour
{
using static DotRecast.Core.RcMath;
public static class DtNavMeshBuilder
{
@ -171,13 +171,13 @@ namespace DotRecast.Detour
}
// BV-tree uses cs for all dimensions
it.bmin[0] = Clamp((int)((bmin.x - option.bmin.x) * quantFactor), 0, int.MaxValue);
it.bmin[1] = Clamp((int)((bmin.y - option.bmin.y) * quantFactor), 0, int.MaxValue);
it.bmin[2] = Clamp((int)((bmin.z - option.bmin.z) * quantFactor), 0, int.MaxValue);
it.bmin[0] = RcMath.Clamp((int)((bmin.x - option.bmin.x) * quantFactor), 0, int.MaxValue);
it.bmin[1] = RcMath.Clamp((int)((bmin.y - option.bmin.y) * quantFactor), 0, int.MaxValue);
it.bmin[2] = RcMath.Clamp((int)((bmin.z - option.bmin.z) * quantFactor), 0, int.MaxValue);
it.bmax[0] = Clamp((int)((bmax.x - option.bmin.x) * quantFactor), 0, int.MaxValue);
it.bmax[1] = Clamp((int)((bmax.y - option.bmin.y) * quantFactor), 0, int.MaxValue);
it.bmax[2] = Clamp((int)((bmax.z - option.bmin.z) * quantFactor), 0, int.MaxValue);
it.bmax[0] = RcMath.Clamp((int)((bmax.x - option.bmin.x) * quantFactor), 0, int.MaxValue);
it.bmax[1] = RcMath.Clamp((int)((bmax.y - option.bmin.y) * quantFactor), 0, int.MaxValue);
it.bmax[2] = RcMath.Clamp((int)((bmax.z - option.bmin.z) * quantFactor), 0, int.MaxValue);
}
else
{

36
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -24,7 +24,7 @@ using DotRecast.Core;
namespace DotRecast.Detour
{
using static RcMath;
using static DtNode;
public class DtNavMeshQuery
@ -603,12 +603,12 @@ namespace DotRecast.Detour
int[] bmin = new int[3];
int[] bmax = new int[3];
// dtClamp query box to world box.
float minx = Clamp(qmin.x, tbmin.x, tbmax.x) - tbmin.x;
float miny = Clamp(qmin.y, tbmin.y, tbmax.y) - tbmin.y;
float minz = Clamp(qmin.z, tbmin.z, tbmax.z) - tbmin.z;
float maxx = Clamp(qmax.x, tbmin.x, tbmax.x) - tbmin.x;
float maxy = Clamp(qmax.y, tbmin.y, tbmax.y) - tbmin.y;
float maxz = Clamp(qmax.z, tbmin.z, tbmax.z) - tbmin.z;
float minx = RcMath.Clamp(qmin.x, tbmin.x, tbmax.x) - tbmin.x;
float miny = RcMath.Clamp(qmin.y, tbmin.y, tbmax.y) - tbmin.y;
float minz = RcMath.Clamp(qmin.z, tbmin.z, tbmax.z) - tbmin.z;
float maxx = RcMath.Clamp(qmax.x, tbmin.x, tbmax.x) - tbmin.x;
float maxy = RcMath.Clamp(qmax.y, tbmin.y, tbmax.y) - tbmin.y;
float maxz = RcMath.Clamp(qmax.z, tbmin.z, tbmax.z) - tbmin.z;
// Quantize
bmin[0] = (int)(qfac * minx) & 0x7ffffffe;
bmin[1] = (int)(qfac * miny) & 0x7ffffffe;
@ -780,7 +780,7 @@ namespace DotRecast.Detour
var raycastLimit = fpo.raycastLimit;
var options = fpo.options;
float raycastLimitSqr = Sqr(raycastLimit);
float raycastLimitSqr = RcMath.Sqr(raycastLimit);
// trade quality with performance?
if ((options & DT_FINDPATH_ANY_ANGLE) != 0 && raycastLimit < 0f)
@ -789,7 +789,7 @@ namespace DotRecast.Detour
// so it is enough to compute it from the first tile.
DtMeshTile tile = m_nav.GetTileByRef(startRef);
float agentRadius = tile.data.header.walkableRadius;
raycastLimitSqr = Sqr(agentRadius * DtNavMesh.DT_RAY_CAST_LIMIT_PROPORTIONS);
raycastLimitSqr = RcMath.Sqr(agentRadius * DtNavMesh.DT_RAY_CAST_LIMIT_PROPORTIONS);
}
if (startRef == endRef)
@ -1044,7 +1044,7 @@ namespace DotRecast.Detour
m_query.filter = filter;
m_query.options = options;
m_query.heuristic = heuristic;
m_query.raycastLimitSqr = Sqr(raycastLimit);
m_query.raycastLimitSqr = RcMath.Sqr(raycastLimit);
// Validate input
if (!m_nav.IsValidPolyRef(startRef) || !m_nav.IsValidPolyRef(endRef) || !RcVec3f.IsFinite(startPos) || !RcVec3f.IsFinite(endPos) || null == filter)
@ -1059,7 +1059,7 @@ namespace DotRecast.Detour
// so it is enough to compute it from the first tile.
DtMeshTile tile = m_nav.GetTileByRef(startRef);
float agentRadius = tile.data.header.walkableRadius;
m_query.raycastLimitSqr = Sqr(agentRadius * DtNavMesh.DT_RAY_CAST_LIMIT_PROPORTIONS);
m_query.raycastLimitSqr = RcMath.Sqr(agentRadius * DtNavMesh.DT_RAY_CAST_LIMIT_PROPORTIONS);
}
if (startRef == endRef)
@ -1622,7 +1622,7 @@ namespace DotRecast.Detour
if (i == 0)
{
var distSqr = DtUtils.DistancePtSegSqr2D(portalApex, left, right, out var t);
if (distSqr < Sqr(0.001f))
if (distSqr < RcMath.Sqr(0.001f))
{
continue;
}
@ -1829,7 +1829,7 @@ namespace DotRecast.Detour
// Search constraints
var searchPos = RcVec3f.Lerp(startPos, endPos, 0.5f);
float searchRadSqr = Sqr(RcVec3f.Distance(startPos, endPos) / 2.0f + 0.001f);
float searchRadSqr = RcMath.Sqr(RcVec3f.Distance(startPos, endPos) / 2.0f + 0.001f);
float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3];
@ -2125,7 +2125,7 @@ namespace DotRecast.Detour
float t = 0.5f;
if (DtUtils.IntersectSegSeg2D(fromPos, toPos, left, right, out var _, out var t2))
{
t = Clamp(t2, 0.1f, 0.9f);
t = RcMath.Clamp(t2, 0.1f, 0.9f);
}
pt = RcVec3f.Lerp(left, right, t);
@ -2371,7 +2371,7 @@ namespace DotRecast.Detour
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;
float s = RcMath.Sqr(eDir.x) > RcMath.Sqr(eDir.z) ? diff.x / eDir.x : diff.z / eDir.z;
curPos.y = e1.y + eDir.y * s;
hit.pathCost += filter.GetCost(lastPos, curPos, prevRef, prevTile, prevPoly, curRef, tile, poly,
@ -2481,7 +2481,7 @@ namespace DotRecast.Detour
startNode.flags = DtNode.DT_NODE_OPEN;
m_openList.Push(startNode);
float radiusSqr = Sqr(radius);
float radiusSqr = RcMath.Sqr(radius);
while (!m_openList.IsEmpty())
{
@ -2828,7 +2828,7 @@ namespace DotRecast.Detour
resultRef.Add(startNode.id);
resultParent.Add(0L);
float radiusSqr = Sqr(radius);
float radiusSqr = RcMath.Sqr(radius);
float[] pa = new float[m_nav.GetMaxVertsPerPoly() * 3];
float[] pb = new float[m_nav.GetMaxVertsPerPoly() * 3];
@ -3156,7 +3156,7 @@ namespace DotRecast.Detour
startNode.flags = DtNode.DT_NODE_OPEN;
m_openList.Push(startNode);
float radiusSqr = Sqr(maxRadius);
float radiusSqr = RcMath.Sqr(maxRadius);
var hasBestV = false;
var bestvj = RcVec3f.Zero;

20
src/DotRecast.Recast.Demo/RecastDemo.cs
View File

@ -43,7 +43,7 @@ using DotRecast.Recast.Toolset.Geom;
using DotRecast.Recast.Demo.Tools;
using DotRecast.Recast.Demo.UI;
using DotRecast.Recast.Toolset;
using static DotRecast.Core.RcMath;
using MouseButton = Silk.NET.Input.MouseButton;
using Window = Silk.NET.Windowing.Window;
@ -433,13 +433,13 @@ public class RecastDemo : IRecastDemoChannel
_modState |= 0 < tempMoveAccel ? (int)KeyModState.Shift : (int)KeyModState.None;
//Logger.Information($"{_modState}");
_moveFront = Clamp(_moveFront + tempMoveFront * dt * 4.0f, 0, 2.0f);
_moveLeft = Clamp(_moveLeft + tempMoveLeft * dt * 4.0f, 0, 2.0f);
_moveBack = Clamp(_moveBack + tempMoveBack * dt * 4.0f, 0, 2.0f);
_moveRight = Clamp(_moveRight + tempMoveRight * dt * 4.0f, 0, 2.0f);
_moveUp = Clamp(_moveUp + tempMoveUp * dt * 4.0f, 0, 2.0f);
_moveDown = Clamp(_moveDown + tempMoveDown * dt * 4.0f, 0, 2.0f);
_moveAccel = Clamp(_moveAccel + tempMoveAccel * dt * 4.0f, 0, 2.0f);
_moveFront = RcMath.Clamp(_moveFront + tempMoveFront * dt * 4.0f, 0, 2.0f);
_moveLeft = RcMath.Clamp(_moveLeft + tempMoveLeft * dt * 4.0f, 0, 2.0f);
_moveBack = RcMath.Clamp(_moveBack + tempMoveBack * dt * 4.0f, 0, 2.0f);
_moveRight = RcMath.Clamp(_moveRight + tempMoveRight * dt * 4.0f, 0, 2.0f);
_moveUp = RcMath.Clamp(_moveUp + tempMoveUp * dt * 4.0f, 0, 2.0f);
_moveDown = RcMath.Clamp(_moveDown + tempMoveDown * dt * 4.0f, 0, 2.0f);
_moveAccel = RcMath.Clamp(_moveAccel + tempMoveAccel * dt * 4.0f, 0, 2.0f);
}
}
@ -490,7 +490,7 @@ public class RecastDemo : IRecastDemoChannel
// Update sample simulation.
float SIM_RATE = 20;
float DELTA_TIME = 1.0f / SIM_RATE;
timeAcc = Clamp((float)(timeAcc + dt), -1.0f, 1.0f);
timeAcc = RcMath.Clamp((float)(timeAcc + dt), -1.0f, 1.0f);
int simIter = 0;
while (timeAcc > DELTA_TIME)
{
@ -574,7 +574,7 @@ public class RecastDemo : IRecastDemoChannel
RcVec3f bmin = bminN;
RcVec3f bmax = bmaxN;
camr = (float)(Math.Sqrt(Sqr(bmax.x - bmin.x) + Sqr(bmax.y - bmin.y) + Sqr(bmax.z - bmin.z)) / 2);
camr = (float)(Math.Sqrt(RcMath.Sqr(bmax.x - bmin.x) + RcMath.Sqr(bmax.y - bmin.y) + RcMath.Sqr(bmax.z - bmin.z)) / 2);
cameraPos.x = (bmax.x + bmin.x) / 2 + camr;
cameraPos.y = (bmax.y + bmin.y) / 2 + camr;
cameraPos.z = (bmax.z + bmin.z) / 2 + camr;

6
src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
View File

@ -1,7 +1,7 @@
using DotRecast.Core;
using DotRecast.Recast.Demo.Draw;
using DotRecast.Recast.Toolset.Gizmos;
using static DotRecast.Core.RcMath;
namespace DotRecast.Recast.Demo.Tools;
@ -50,7 +50,7 @@ public static class GizmoRenderer
normal.y = e0.z * e1.x - e0.x * e1.z;
normal.z = e0.x * e1.y - e0.y * e1.x;
RcVec3f.Normalize(ref normal);
float c = Clamp(0.57735026f * (normal.x + normal.y + normal.z), -1, 1);
float c = RcMath.Clamp(0.57735026f * (normal.x + normal.y + normal.z), -1, 1);
int col = DebugDraw.DuLerpCol(
DebugDraw.DuRGBA(32, 32, 0, 160),
DebugDraw.DuRGBA(220, 220, 0, 160),
@ -139,7 +139,7 @@ public static class GizmoRenderer
for (int j = 0; j < 3; j++)
{
int v = sphere.triangles[i + j] * 3;
float c = Clamp(0.57735026f * (sphere.vertices[v] + sphere.vertices[v + 1] + sphere.vertices[v + 2]), -1, 1);
float c = RcMath.Clamp(0.57735026f * (sphere.vertices[v] + sphere.vertices[v + 1] + sphere.vertices[v + 2]), -1, 1);
int col = DebugDraw.DuLerpCol(DebugDraw.DuRGBA(32, 32, 0, 160), DebugDraw.DuRGBA(220, 220, 0, 160), (int)(127 * (1 + c)));
debugDraw.Vertex(

4
src/DotRecast.Recast.Toolset/Gizmos/RcCapsuleGizmo.cs
View File

@ -1,5 +1,5 @@
using DotRecast.Core;
using static DotRecast.Core.RcMath;
using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper;
namespace DotRecast.Recast.Toolset.Gizmos
@ -48,7 +48,7 @@ namespace DotRecast.Recast.Toolset.Gizmos
v.y = vertices[i + 1] - center[1];
v.z = vertices[i + 2] - center[2];
RcVec3f.Normalize(ref v);
gradient[i / 3] = Clamp(0.57735026f * (v.x + v.y + v.z), -1, 1);
gradient[i / 3] = RcMath.Clamp(0.57735026f * (v.x + v.y + v.z), -1, 1);
}
}

4
src/DotRecast.Recast.Toolset/Gizmos/RcCylinderGizmo.cs
View File

@ -1,5 +1,5 @@
using DotRecast.Core;
using static DotRecast.Core.RcMath;
using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper;
@ -53,7 +53,7 @@ namespace DotRecast.Recast.Toolset.Gizmos
v.y = vertices[i + 1] - center.y;
v.z = vertices[i + 2] - center.z;
RcVec3f.Normalize(ref v);
gradient[i / 3] = Clamp(0.57735026f * (v.x + v.y + v.z), -1, 1);
gradient[i / 3] = RcMath.Clamp(0.57735026f * (v.x + v.y + v.z), -1, 1);
}
}
}

7
src/DotRecast.Recast/RcCompacts.cs
View File

@ -19,7 +19,7 @@ freely, subject to the following restrictions:
using System;
using DotRecast.Core;
using static DotRecast.Core.RcMath;
using static DotRecast.Recast.RcConstants;
@ -27,6 +27,7 @@ namespace DotRecast.Recast
{
using static RcCommons;
public static class RcCompacts
{
private const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
@ -92,8 +93,8 @@ namespace DotRecast.Recast
{
int bot = s.smax;
int top = s.next != null ? (int)s.next.smin : MAX_HEIGHT;
chf.spans[idx].y = Clamp(bot, 0, MAX_HEIGHT);
chf.spans[idx].h = Clamp(top - bot, 0, MAX_HEIGHT);
chf.spans[idx].y = RcMath.Clamp(bot, 0, MAX_HEIGHT);
chf.spans[idx].h = RcMath.Clamp(top - bot, 0, MAX_HEIGHT);
chf.areas[idx] = s.area;
idx++;
tmpCount++;

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

@ -19,12 +19,13 @@ freely, subject to the following restrictions:
using System;
using DotRecast.Core;
using static DotRecast.Core.RcMath;
using static DotRecast.Recast.RcConstants;
namespace DotRecast.Recast
{
public static class RcFilledVolumeRasterization
{
private const float EPSILON = 0.00001f;
@ -221,8 +222,8 @@ namespace DotRecast.Recast
int smax = (int)Math.Ceiling((h[1] - hf.bmin.y) * ich);
if (smin != smax)
{
int ismin = Clamp(smin, 0, SPAN_MAX_HEIGHT);
int ismax = Clamp(smax, ismin + 1, SPAN_MAX_HEIGHT);
int ismin = RcMath.Clamp(smin, 0, SPAN_MAX_HEIGHT);
int ismax = RcMath.Clamp(smax, ismin + 1, SPAN_MAX_HEIGHT);
RcRasterizations.AddSpan(hf, x, z, ismin, ismax, area, flagMergeThr);
}
}
@ -281,12 +282,12 @@ namespace DotRecast.Recast
{
float[] s = MergeIntersections(
RayCylinderIntersection(RcVec3f.Of(
Clamp(start.x, rectangle[0], rectangle[2]), rectangle[4],
Clamp(start.z, rectangle[1], rectangle[3])
RcMath.Clamp(start.x, rectangle[0], rectangle[2]), rectangle[4],
RcMath.Clamp(start.z, rectangle[1], rectangle[3])
), start, axis, radiusSqr),
RayCylinderIntersection(RcVec3f.Of(
Clamp(end.x, rectangle[0], rectangle[2]), rectangle[4],
Clamp(end.z, rectangle[1], rectangle[3])
RcMath.Clamp(end.x, rectangle[0], rectangle[2]), rectangle[4],
RcMath.Clamp(end.z, rectangle[1], rectangle[3])
), start, axis, radiusSqr));
float axisLen2dSqr = axis.x * axis.x + axis.z * axis.z;
if (axisLen2dSqr > EPSILON)
@ -397,7 +398,7 @@ namespace DotRecast.Recast
{
// 2d intersection of plane and segment
float t = (x - start.x) / direction.x;
float z = Clamp(start.z + t * direction.z, rectangle[1], rectangle[3]);
float z = RcMath.Clamp(start.z + t * direction.z, rectangle[1], rectangle[3]);
return RcVec3f.Of(x, rectangle[4], z);
}
@ -410,7 +411,7 @@ namespace DotRecast.Recast
{
// 2d intersection of plane and segment
float t = (z - start.z) / direction.z;
float x = Clamp(start.x + t * direction.x, rectangle[0], rectangle[2]);
float x = RcMath.Clamp(start.x + t * direction.x, rectangle[0], rectangle[2]);
return RcVec3f.Of(x, rectangle[4], z);
}

7
src/DotRecast.Recast/RcMeshDetails.cs
View File

@ -21,13 +21,14 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using DotRecast.Core;
using static DotRecast.Core.RcMath;
using static DotRecast.Recast.RcConstants;
namespace DotRecast.Recast
{
using static RcCommons;
public static class RcMeshDetails
{
public const int MAX_VERTS = 127;
@ -351,8 +352,8 @@ namespace DotRecast.Recast
{
int ix = (int)Math.Floor(fx * ics + 0.01f);
int iz = (int)Math.Floor(fz * ics + 0.01f);
ix = Clamp(ix - hp.xmin, 0, hp.width - 1);
iz = Clamp(iz - hp.ymin, 0, hp.height - 1);
ix = RcMath.Clamp(ix - hp.xmin, 0, hp.width - 1);
iz = RcMath.Clamp(iz - hp.ymin, 0, hp.height - 1);
int h = hp.data[ix + iz * hp.width];
if (h == RC_UNSET_HEIGHT)
{

39
src/DotRecast.Recast/RcRasterizations.cs
View File

@ -20,26 +20,27 @@ freely, subject to the following restrictions:
using System;
using DotRecast.Core;
using static DotRecast.Core.RcMath;
using static DotRecast.Recast.RcConstants;
namespace DotRecast.Recast
{
public static class RcRasterizations
{
/**
* Check whether two bounding boxes overlap
*
* @param amin
* Min axis extents of bounding box A
* @param amax
* Max axis extents of bounding box A
* @param bmin
* Min axis extents of bounding box B
* @param bmax
* Max axis extents of bounding box B
* @returns true if the two bounding boxes overlap. False otherwise
*/
* Check whether two bounding boxes overlap
*
* @param amin
* Min axis extents of bounding box A
* @param amax
* Max axis extents of bounding box A
* @param bmin
* Min axis extents of bounding box B
* @param bmax
* Max axis extents of bounding box B
* @returns true if the two bounding boxes overlap. False otherwise
*/
private static bool OverlapBounds(float[] amin, float[] amax, float[] bmin, float[] bmax)
{
bool overlap = true;
@ -257,8 +258,8 @@ namespace DotRecast.Recast
int w = heightfield.width;
int h = heightfield.height;
// use -1 rather than 0 to cut the polygon properly at the start of the tile
z0 = Clamp(z0, -1, h - 1);
z1 = Clamp(z1, 0, h - 1);
z0 = RcMath.Clamp(z0, -1, h - 1);
z1 = RcMath.Clamp(z1, 0, h - 1);
// Clip the triangle into all grid cells it touches.
float[] buf = new float[7 * 3 * 4];
@ -303,8 +304,8 @@ namespace DotRecast.Recast
continue;
}
x0 = Clamp(x0, -1, w - 1);
x1 = Clamp(x1, 0, w - 1);
x0 = RcMath.Clamp(x0, -1, w - 1);
x1 = RcMath.Clamp(x1, 0, w - 1);
int nv, nv2 = nvRow;
for (int x = x0; x <= x1; ++x)
@ -345,8 +346,8 @@ namespace DotRecast.Recast
spanMax = by;
// Snap the span to the heightfield height grid.
int spanMinCellIndex = Clamp((int)Math.Floor(spanMin * inverseCellHeight), 0, SPAN_MAX_HEIGHT);
int spanMaxCellIndex = Clamp((int)Math.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, SPAN_MAX_HEIGHT);
int spanMinCellIndex = RcMath.Clamp((int)Math.Floor(spanMin * inverseCellHeight), 0, SPAN_MAX_HEIGHT);
int spanMaxCellIndex = RcMath.Clamp((int)Math.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, SPAN_MAX_HEIGHT);
AddSpan(heightfield, x, z, spanMinCellIndex, spanMaxCellIndex, area, flagMergeThreshold);
}

2
test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
View File

@ -26,7 +26,7 @@ using NUnit.Framework;
namespace DotRecast.Detour.Crowd.Test;
using static DotRecast.Core.RcMath;
[Parallelizable]
public class AbstractCrowdTest

2
test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
View File

@ -23,7 +23,7 @@ using DotRecast.Detour.Io;
using DotRecast.Recast;
using DotRecast.Recast.Geom;
using NUnit.Framework;
using static DotRecast.Core.RcMath;
namespace DotRecast.Detour.Test.Io;

2
test/DotRecast.Detour.Test/RandomPointTest.cs
View File

@ -21,7 +21,7 @@ using System.Diagnostics;
using DotRecast.Core;
using NUnit.Framework;
using static DotRecast.Core.RcMath;
namespace DotRecast.Detour.Test;

2
test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
View File

@ -24,7 +24,7 @@ using DotRecast.Detour.TileCache.Test.Io;
using DotRecast.Recast;
using DotRecast.Recast.Geom;
using NUnit.Framework;
using static DotRecast.Core.RcMath;
namespace DotRecast.Detour.TileCache.Test;