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DotRecastNetSim
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move RcMath VDist, VLen -> Vector3f.Distance, Length

This commit is contained in:
ikpil 2023-05-18 08:25:57 +09:00
parent aeaf0f2c41
commit b1f29a0812
10 changed files with 42 additions and 59 deletions
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38
src/DotRecast.Core/RcMath.cs
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@ -172,19 +172,6 @@ namespace DotRecast.Core
}
/// Returns the distance between two points.
/// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)]
/// @return The distance between the two points.
public static float VDist(Vector3f v1, Vector3f v2)
{
float dx = v2.x - v1.x;
float dy = v2.y - v1.y;
float dz = v2.z - v1.z;
return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
}
/// Returns the distance between two points.
/// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)]
@ -201,37 +188,12 @@ namespace DotRecast.Core
/// Derives the square of the scalar length of the vector. (len * len)
/// @param[in] v The vector. [(x, y, z)]
/// @return The square of the scalar length of the vector.
public static float VLenSqr(float[] v)
{
return v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
}
public static float VLenSqr(Vector3f v)
{
return v.x * v.x + v.y * v.y + v.z * v.z;
}
public static float VLen(float[] v)
{
return (float)Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
}
public static float VLen(Vector3f v)
{
return (float)Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
}
public static float VDist(float[] v1, float[] verts, int i)
{
float dx = verts[i] - v1[0];
float dy = verts[i + 1] - v1[1];
float dz = verts[i + 2] - v1[2];
return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
}
/// Derives the distance between the specified points on the xz-plane.
/// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)]

31
src/DotRecast.Core/Vector3f.cs
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@ -93,9 +93,15 @@ namespace DotRecast.Core
default: throw new IndexOutOfRangeException($"{index}-{value}");
}
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public Vector3f Subtract(Vector3f right)
public readonly float Length()
{
return (float)Math.Sqrt(x * x + y * y + z * z);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public readonly Vector3f Subtract(Vector3f right)
{
return new Vector3f(
x - right.x,
@ -105,7 +111,7 @@ namespace DotRecast.Core
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public Vector3f Add(Vector3f v2)
public readonly Vector3f Add(Vector3f v2)
{
return new Vector3f(
x + v2.x,
@ -122,13 +128,13 @@ namespace DotRecast.Core
/// The vectors are projected onto the xz-plane, so the y-values are
/// ignored.
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public float Dot2D(Vector3f v)
public readonly float Dot2D(Vector3f v)
{
return x * v.x + z * v.z;
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public float Dot2D(float[] v, int vi)
public readonly float Dot2D(float[] v, int vi)
{
return x * v[vi] + z * v[vi + 2];
}
@ -210,5 +216,20 @@ namespace DotRecast.Core
v1.z + (v2.z - v1.z) * t
);
}
/// Returns the distance between two points.
/// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)]
/// @return The distance between the two points.
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Distance(Vector3f v1, Vector3f v2)
{
float dx = v2.x - v1.x;
float dy = v2.y - v1.y;
float dz = v2.z - v1.z;
return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
}
}
}

2
src/DotRecast.Detour.Crowd/Crowd.cs
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@ -1055,7 +1055,7 @@ namespace DotRecast.Detour.Crowd
if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
{
dvel = ag.targetPos;
ag.desiredSpeed = VLen(ag.targetPos);
ag.desiredSpeed = ag.targetPos.Length();
}
else
{

8
src/DotRecast.Detour.Crowd/CrowdAgent.cs
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@ -116,13 +116,13 @@ namespace DotRecast.Detour.Crowd
// Fake dynamic constraint.
float maxDelta = option.maxAcceleration * dt;
Vector3f dv = nvel.Subtract(vel);
float ds = VLen(dv);
float ds = dv.Length();
if (ds > maxDelta)
dv = VScale(dv, maxDelta / ds);
vel = vel.Add(dv);
// Integrate
if (VLen(vel) > 0.0001f)
if (vel.Length() > 0.0001f)
npos = VMad(npos, vel, dt);
else
vel = Vector3f.Zero;
@ -174,8 +174,8 @@ namespace DotRecast.Detour.Crowd
dir0.y = 0;
dir1.y = 0;
float len0 = VLen(dir0);
float len1 = VLen(dir1);
float len0 = dir0.Length();
float len1 = dir1.Length();
if (len1 > 0.001f)
dir1 = VScale(dir1, 1.0f / len1);

2
src/DotRecast.Detour/DefaultQueryFilter.cs
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@ -89,7 +89,7 @@ namespace DotRecast.Detour
public float GetCost(Vector3f pa, Vector3f pb, long prevRef, MeshTile prevTile, Poly prevPoly, long curRef,
MeshTile curTile, Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly)
{
return VDist(pa, pb) * m_areaCost[curPoly.GetArea()];
return Vector3f.Distance(pa, pb) * m_areaCost[curPoly.GetArea()];
}
public int GetIncludeFlags()

2
src/DotRecast.Detour/DefaultQueryHeuristic.cs
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@ -37,7 +37,7 @@ namespace DotRecast.Detour
public float GetCost(Vector3f neighbourPos, Vector3f endPos)
{
return VDist(neighbourPos, endPos) * scale;
return Vector3f.Distance(neighbourPos, endPos) * scale;
}
}
}

8
src/DotRecast.Detour/LegacyNavMeshQuery.cs
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@ -62,7 +62,7 @@ namespace DotRecast.Detour
startNode.pos = startPos;
startNode.pidx = 0;
startNode.cost = 0;
startNode.total = VDist(startPos, endPos) * H_SCALE;
startNode.total = Vector3f.Distance(startPos, endPos) * H_SCALE;
startNode.id = startRef;
startNode.flags = Node.DT_NODE_OPEN;
m_openList.Push(startNode);
@ -173,7 +173,7 @@ namespace DotRecast.Detour
float curCost = filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly);
cost = bestNode.cost + curCost;
heuristic = VDist(neighbourNode.pos, endPos) * H_SCALE;
heuristic = Vector3f.Distance(neighbourNode.pos, endPos) * H_SCALE;
}
float total = cost + heuristic;
@ -410,7 +410,7 @@ namespace DotRecast.Detour
}
else
{
heuristic = VDist(neighbourNode.pos, m_query.endPos) * H_SCALE;
heuristic = Vector3f.Distance(neighbourNode.pos, m_query.endPos) * H_SCALE;
}
float total = cost + heuristic;
@ -815,7 +815,7 @@ namespace DotRecast.Detour
}
}
float total = bestNode.total + VDist(bestNode.pos, neighbourNode.pos);
float total = bestNode.total + Vector3f.Distance(bestNode.pos, neighbourNode.pos);
// The node is already in open list and the new result is worse, skip.
if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)

6
src/DotRecast.Detour/NavMeshQuery.cs
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@ -367,7 +367,7 @@ namespace DotRecast.Detour
neighbourNode.pos = Vector3f.Lerp(va, vb, 0.5f);
}
float total = bestNode.total + VDist(bestNode.pos, neighbourNode.pos);
float total = bestNode.total + Vector3f.Distance(bestNode.pos, neighbourNode.pos);
// The node is already in open list and the new result is worse, skip.
if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)
@ -1827,7 +1827,7 @@ namespace DotRecast.Detour
// Search constraints
var searchPos = Vector3f.Lerp(startPos, endPos, 0.5f);
float searchRadSqr = Sqr(VDist(startPos, endPos) / 2.0f + 0.001f);
float searchRadSqr = Sqr(Vector3f.Distance(startPos, endPos) / 2.0f + 0.001f);
float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3];
@ -3339,7 +3339,7 @@ namespace DotRecast.Detour
}
}
float total = bestNode.total + VDist(bestNode.pos, neighbourNode.pos);
float total = bestNode.total + Vector3f.Distance(bestNode.pos, neighbourNode.pos);
// The node is already in open list and the new result is worse, skip.
if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)

2
src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs
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@ -33,7 +33,7 @@ public class CapsuleGizmo : IColliderGizmo
var trY = Vector3f.Of(normals[0].y, normals[1].y, normals[2].y);
var trZ = Vector3f.Of(normals[0].z, normals[1].z, normals[2].z);
float[] spVertices = GenerateSphericalVertices();
float halfLength = 0.5f * VLen(axis);
float halfLength = 0.5f * axis.Length();
vertices = new float[spVertices.Length];
gradient = new float[spVertices.Length / 3];
Vector3f v = new Vector3f();

2
src/DotRecast.Recast.Demo/Tools/Gizmos/CylinderGizmo.cs
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@ -33,7 +33,7 @@ public class CylinderGizmo : IColliderGizmo
Vector3f trY = Vector3f.Of(normals[0].y, normals[1].y, normals[2].y);
Vector3f trZ = Vector3f.Of(normals[0].z, normals[1].z, normals[2].z);
vertices = GenerateCylindricalVertices();
float halfLength = 0.5f * VLen(axis);
float halfLength = 0.5f * axis.Length();
gradient = new float[vertices.Length / 3];
Vector3f v = new Vector3f();
for (int i = 0; i < vertices.Length; i += 3)