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DotRecastNetSim
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remove FindDistanceToWallResult

This commit is contained in:
ikpil 2023-06-18 17:29:36 +09:00
parent b6ee6816de
commit abc9692857
5 changed files with 68 additions and 102 deletions
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54
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -1220,11 +1220,11 @@ namespace DotRecast.Detour
// position. // position.
var neighbourPos = neighbourNode.pos; var neighbourPos = neighbourNode.pos;
var empStatus = neighbourRef == m_query.endRef var empStatus = neighbourRef == m_query.endRef
? GetEdgeIntersectionPoint(bestNode.pos, bestRef, bestPoly, bestTile, ? GetEdgeIntersectionPoint(bestNode.pos, bestRef, bestPoly, bestTile,
m_query.endPos, neighbourRef, neighbourPoly, neighbourTile, m_query.endPos, neighbourRef, neighbourPoly, neighbourTile,
ref neighbourPos) ref neighbourPos)
: GetEdgeMidPoint(bestRef, bestPoly, bestTile, : GetEdgeMidPoint(bestRef, bestPoly, bestTile,
neighbourRef, neighbourPoly, neighbourTile, neighbourRef, neighbourPoly, neighbourTile,
ref neighbourPos); ref neighbourPos);
// Calculate cost and heuristic. // Calculate cost and heuristic.
@ -3108,23 +3108,28 @@ namespace DotRecast.Detour
/// The normal will become unpredicable if @p hitDist is a very small number. /// The normal will become unpredicable if @p hitDist is a very small number.
/// ///
/// Finds the distance from the specified position to the nearest polygon wall. /// Finds the distance from the specified position to the nearest polygon wall.
/// @param[in] startRef The reference id of the polygon containing @p centerPos. /// @param[in] startRef The reference id of the polygon containing @p centerPos.
/// @param[in] centerPos The center of the search circle. [(x, y, z)] /// @param[in] centerPos The center of the search circle. [(x, y, z)]
/// @param[in] maxRadius The radius of the search circle. /// @param[in] maxRadius The radius of the search circle.
/// @param[in] filter The polygon filter to apply to the query. /// @param[in] filter The polygon filter to apply to the query.
/// @param[out] hitDist The distance to the nearest wall from @p centerPos. /// @param[out] hitDist The distance to the nearest wall from @p centerPos.
/// @param[out] hitPos The nearest position on the wall that was hit. [(x, y, z)] /// @param[out] hitPos The nearest position on the wall that was hit. [(x, y, z)]
/// @param[out] hitNormal The normalized ray formed from the wall point to the /// @param[out] hitNormal The normalized ray formed from the wall point to the
/// source point. [(x, y, z)] /// source point. [(x, y, z)]
/// @returns The status flags for the query. /// @returns The status flags for the query.
public virtual Result<FindDistanceToWallResult> FindDistanceToWall(long startRef, RcVec3f centerPos, float maxRadius, public virtual DtStatus FindDistanceToWall(long startRef, RcVec3f centerPos, float maxRadius,
IDtQueryFilter filter) IDtQueryFilter filter,
out float hitDist, out RcVec3f hitPos, out RcVec3f hitNormal)
{ {
hitDist = 0;
hitPos = RcVec3f.Zero;
hitNormal = RcVec3f.Zero;
// Validate input // Validate input
if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(centerPos) || maxRadius < 0 if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(centerPos) || maxRadius < 0
|| !float.IsFinite(maxRadius) || null == filter) || !float.IsFinite(maxRadius) || null == filter)
{ {
return Results.InvalidParam<FindDistanceToWallResult>(); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
m_nodePool.Clear(); m_nodePool.Clear();
@ -3140,9 +3145,10 @@ namespace DotRecast.Detour
m_openList.Push(startNode); m_openList.Push(startNode);
float radiusSqr = Sqr(maxRadius); float radiusSqr = Sqr(maxRadius);
RcVec3f hitPos = new RcVec3f();
RcVec3f? bestvj = null; RcVec3f? bestvj = null;
RcVec3f? bestvi = null; RcVec3f? bestvi = null;
var status = DtStatus.DT_SUCCSESS;
while (!m_openList.IsEmpty()) while (!m_openList.IsEmpty())
{ {
DtNode bestNode = m_openList.Pop(); DtNode bestNode = m_openList.Pop();
@ -3217,11 +3223,9 @@ namespace DotRecast.Detour
// Hit wall, update radius. // Hit wall, update radius.
radiusSqr = distSqr; radiusSqr = distSqr;
// Calculate hit pos. // Calculate hit pos.
hitPos.x = bestTile.data.verts[vj] + (bestTile.data.verts[vi] - bestTile.data.verts[vj]) * tseg; hitPos.x = bestTile.data.verts[vj + 0] + (bestTile.data.verts[vi + 0] - bestTile.data.verts[vj + 0]) * tseg;
hitPos.y = bestTile.data.verts[vj + 1] hitPos.y = bestTile.data.verts[vj + 1] + (bestTile.data.verts[vi + 1] - bestTile.data.verts[vj + 1]) * tseg;
+ (bestTile.data.verts[vi + 1] - bestTile.data.verts[vj + 1]) * tseg; hitPos.z = bestTile.data.verts[vj + 2] + (bestTile.data.verts[vi + 2] - bestTile.data.verts[vj + 2]) * tseg;
hitPos.z = bestTile.data.verts[vj + 2]
+ (bestTile.data.verts[vi + 2] - bestTile.data.verts[vj + 2]) * tseg;
bestvj = RcVec3f.Of(bestTile.data.verts, vj); bestvj = RcVec3f.Of(bestTile.data.verts, vj);
bestvi = RcVec3f.Of(bestTile.data.verts, vi); bestvi = RcVec3f.Of(bestTile.data.verts, vi);
} }
@ -3261,6 +3265,11 @@ namespace DotRecast.Detour
} }
DtNode neighbourNode = m_nodePool.GetNode(neighbourRef); DtNode neighbourNode = m_nodePool.GetNode(neighbourRef);
if (null == neighbourNode)
{
status |= DtStatus.DT_OUT_OF_NODES;
continue;
}
if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0) if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0)
{ {
@ -3301,7 +3310,6 @@ namespace DotRecast.Detour
} }
// Calc hit normal. // Calc hit normal.
RcVec3f hitNormal = new RcVec3f();
if (bestvi != null && bestvj != null) if (bestvi != null && bestvj != null)
{ {
var tangent = bestvi.Value.Subtract(bestvj.Value); var tangent = bestvi.Value.Subtract(bestvj.Value);
@ -3311,7 +3319,9 @@ namespace DotRecast.Detour
hitNormal.Normalize(); hitNormal.Normalize();
} }
return Results.Success(new FindDistanceToWallResult((float)Math.Sqrt(radiusSqr), hitPos, hitNormal)); hitDist = (float)Math.Sqrt(radiusSqr);
return status;
} }
/// Returns true if the polygon reference is valid and passes the filter restrictions. /// Returns true if the polygon reference is valid and passes the filter restrictions.

33
src/DotRecast.Detour/LegacyNavMeshQuery.cs
View File

@ -625,13 +625,19 @@ namespace DotRecast.Detour
return Results.Of(details, path); return Results.Of(details, path);
} }
public override Result<FindDistanceToWallResult> FindDistanceToWall(long startRef, RcVec3f centerPos, float maxRadius, IDtQueryFilter filter) public override DtStatus FindDistanceToWall(long startRef, RcVec3f centerPos, float maxRadius,
IDtQueryFilter filter,
out float hitDist, out RcVec3f hitPos, out RcVec3f hitNormal)
{ {
hitDist = 0;
hitPos = RcVec3f.Zero;
hitNormal = RcVec3f.Zero;
// Validate input // Validate input
if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(centerPos) || maxRadius < 0 if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(centerPos) || maxRadius < 0
|| !float.IsFinite(maxRadius) || null == filter) || !float.IsFinite(maxRadius) || null == filter)
{ {
return Results.InvalidParam<FindDistanceToWallResult>(); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
m_nodePool.Clear(); m_nodePool.Clear();
@ -647,10 +653,11 @@ namespace DotRecast.Detour
m_openList.Push(startNode); m_openList.Push(startNode);
float radiusSqr = Sqr(maxRadius); float radiusSqr = Sqr(maxRadius);
RcVec3f hitPos = RcVec3f.Zero;
RcVec3f? bestvj = null; RcVec3f? bestvj = null;
RcVec3f? bestvi = null; RcVec3f? bestvi = null;
var status = DtStatus.DT_SUCCSESS;
while (!m_openList.IsEmpty()) while (!m_openList.IsEmpty())
{ {
DtNode bestNode = m_openList.Pop(); DtNode bestNode = m_openList.Pop();
@ -724,11 +731,9 @@ namespace DotRecast.Detour
// Hit wall, update radius. // Hit wall, update radius.
radiusSqr = distSqr; radiusSqr = distSqr;
// Calculate hit pos. // Calculate hit pos.
hitPos.x = bestTile.data.verts[vj] + (bestTile.data.verts[vi] - bestTile.data.verts[vj]) * tseg; hitPos.x = bestTile.data.verts[vj + 0] + (bestTile.data.verts[vi + 0] - bestTile.data.verts[vj + 0]) * tseg;
hitPos.y = bestTile.data.verts[vj + 1] hitPos.y = bestTile.data.verts[vj + 1] + (bestTile.data.verts[vi + 1] - bestTile.data.verts[vj + 1]) * tseg;
+ (bestTile.data.verts[vi + 1] - bestTile.data.verts[vj + 1]) * tseg; hitPos.z = bestTile.data.verts[vj + 2] + (bestTile.data.verts[vi + 2] - bestTile.data.verts[vj + 2]) * tseg;
hitPos.z = bestTile.data.verts[vj + 2]
+ (bestTile.data.verts[vi + 2] - bestTile.data.verts[vj + 2]) * tseg;
bestvj = RcVec3f.Of(bestTile.data.verts, vj); bestvj = RcVec3f.Of(bestTile.data.verts, vj);
bestvi = RcVec3f.Of(bestTile.data.verts, vi); bestvi = RcVec3f.Of(bestTile.data.verts, vi);
} }
@ -768,6 +773,11 @@ namespace DotRecast.Detour
} }
DtNode neighbourNode = m_nodePool.GetNode(neighbourRef); DtNode neighbourNode = m_nodePool.GetNode(neighbourRef);
if (null == neighbourNode)
{
status |= DtStatus.DT_OUT_OF_NODES;
continue;
}
if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0) if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0)
{ {
@ -808,7 +818,6 @@ namespace DotRecast.Detour
} }
// Calc hit normal. // Calc hit normal.
RcVec3f hitNormal = new RcVec3f();
if (bestvi != null && bestvj != null) if (bestvi != null && bestvj != null)
{ {
var tangent = bestvi.Value.Subtract(bestvj.Value); var tangent = bestvi.Value.Subtract(bestvj.Value);
@ -817,8 +826,10 @@ namespace DotRecast.Detour
hitNormal.z = -tangent.x; hitNormal.z = -tangent.x;
hitNormal.Normalize(); hitNormal.Normalize();
} }
return Results.Success(new FindDistanceToWallResult((float)Math.Sqrt(radiusSqr), hitPos, hitNormal)); hitDist = (float)Math.Sqrt(radiusSqr);
return status;
} }
} }
} }

54
src/DotRecast.Detour/QueryResults/FindDistanceToWallResult.cs
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@ -1,54 +0,0 @@
/*
Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
using DotRecast.Core;
namespace DotRecast.Detour.QueryResults
{
//TODO: (PP) Add comments
public class FindDistanceToWallResult
{
private readonly float distance;
private readonly RcVec3f position;
private readonly RcVec3f normal;
public FindDistanceToWallResult(float distance, RcVec3f position, RcVec3f normal)
{
this.distance = distance;
this.position = position;
this.normal = normal;
}
public float GetDistance()
{
return distance;
}
public RcVec3f GetPosition()
{
return position;
}
public RcVec3f GetNormal()
{
return normal;
}
}
}

9
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
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@ -411,13 +411,12 @@ public class TestNavmeshTool : IRcTool
if (m_sposSet && m_startRef != 0) if (m_sposSet && m_startRef != 0)
{ {
m_distanceToWall = 0.0f; m_distanceToWall = 0.0f;
Result<FindDistanceToWallResult> result = m_navQuery.FindDistanceToWall(m_startRef, m_spos, 100.0f, var result = m_navQuery.FindDistanceToWall(m_startRef, m_spos, 100.0f, m_filter, out var hitDist, out var hitPos, out var hitNormal);
m_filter);
if (result.Succeeded()) if (result.Succeeded())
{ {
m_distanceToWall = result.result.GetDistance(); m_distanceToWall = hitDist;
m_hitPos = result.result.GetPosition(); m_hitPos = hitPos;
m_hitNormal = result.result.GetNormal(); m_hitNormal = hitNormal;
} }
} }
} }

20
test/DotRecast.Detour.Test/FindDistanceToWallTest.cs
View File

@ -52,17 +52,17 @@ public class FindDistanceToWallTest : AbstractDetourTest
for (int i = 0; i < startRefs.Length; i++) for (int i = 0; i < startRefs.Length; i++)
{ {
RcVec3f startPos = startPoss[i]; RcVec3f startPos = startPoss[i];
Result<FindDistanceToWallResult> result = query.FindDistanceToWall(startRefs[i], startPos, 3.5f, filter); query.FindDistanceToWall(startRefs[i], startPos, 3.5f, filter,
FindDistanceToWallResult hit = result.result; out var hitDist, out var hitPos, out var hitNormal);
Assert.That(hit.GetDistance(), Is.EqualTo(DISTANCES_TO_WALL[i]).Within(0.001f)); Assert.That(hitDist, Is.EqualTo(DISTANCES_TO_WALL[i]).Within(0.001f));
Assert.That(hit.GetPosition().x, Is.EqualTo(HIT_POSITION[i].x).Within(0.001f));
Assert.That(hit.GetPosition().y, Is.EqualTo(HIT_POSITION[i].y).Within(0.001f));
Assert.That(hit.GetPosition().z, Is.EqualTo(HIT_POSITION[i].z).Within(0.001f));
Assert.That(hit.GetNormal().x, Is.EqualTo(HIT_NORMAL[i].x).Within(0.001f)); Assert.That(hitPos.x, Is.EqualTo(HIT_POSITION[i].x).Within(0.001f));
Assert.That(hit.GetNormal().y, Is.EqualTo(HIT_NORMAL[i].y).Within(0.001f)); Assert.That(hitPos.y, Is.EqualTo(HIT_POSITION[i].y).Within(0.001f));
Assert.That(hit.GetNormal().z, Is.EqualTo(HIT_NORMAL[i].z).Within(0.001f)); Assert.That(hitPos.z, Is.EqualTo(HIT_POSITION[i].z).Within(0.001f));
Assert.That(hitNormal.x, Is.EqualTo(HIT_NORMAL[i].x).Within(0.001f));
Assert.That(hitNormal.y, Is.EqualTo(HIT_NORMAL[i].y).Within(0.001f));
Assert.That(hitNormal.z, Is.EqualTo(HIT_NORMAL[i].z).Within(0.001f));
} }
} }
} }