diff --git a/src/DotRecast.Recast/RecastRasterization.cs b/src/DotRecast.Recast/RecastRasterization.cs index cbab32f..275166c 100644 --- a/src/DotRecast.Recast/RecastRasterization.cs +++ b/src/DotRecast.Recast/RecastRasterization.cs @@ -25,7 +25,6 @@ using static DotRecast.Recast.RecastConstants; namespace DotRecast.Recast { - public class RecastRasterization { /** @@ -49,7 +48,7 @@ namespace DotRecast.Recast overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; return overlap; } - + private static bool OverlapBounds(RcVec3f amin, RcVec3f amax, RcVec3f bmin, RcVec3f bmax) { bool overlap = true; @@ -151,79 +150,79 @@ namespace DotRecast.Recast } } - /** - * Divides a convex polygon of max 12 vertices into two convex polygons across a separating axis. - * - * @param inVerts - * The input polygon vertices - * @param inVertsOffset - * The offset of the first polygon vertex - * @param inVertsCount - * The number of input polygon vertices - * @param outVerts1 - * The offset of the resulting polygon 1's vertices - * @param outVerts2 - * The offset of the resulting polygon 2's vertices - * @param axisOffset - * The offset along the specified axis - * @param axis - * The separating axis - * @return The number of resulting polygon 1 and polygon 2 vertices - */ - private static int[] DividePoly(float[] inVerts, int inVertsOffset, int inVertsCount, int outVerts1, int outVerts2, float axisOffset, - int axis) + /// Divides a convex polygon of max 12 vertices into two convex polygons + /// across a separating axis. + /// + /// @param[in] inVerts The input polygon vertices + /// @param[in] inVertsCount The number of input polygon vertices + /// @param[out] outVerts1 Resulting polygon 1's vertices + /// @param[out] outVerts1Count The number of resulting polygon 1 vertices + /// @param[out] outVerts2 Resulting polygon 2's vertices + /// @param[out] outVerts2Count The number of resulting polygon 2 vertices + /// @param[in] axisOffset THe offset along the specified axis + /// @param[in] axis The separating axis + private static void DividePoly(float[] inVerts, int inVertsOffset, int inVertsCount, + int outVerts1, out int outVerts1Count, + int outVerts2, out int outVerts2Count, + float axisOffset, int axis) { float[] d = new float[12]; - for (int i = 0; i < inVertsCount; ++i) - d[i] = axisOffset - inVerts[inVertsOffset + i * 3 + axis]; - int m = 0, n = 0; - for (int i = 0, j = inVertsCount - 1; i < inVertsCount; j = i, ++i) + // How far positive or negative away from the separating axis is each vertex. + for (int inVert = 0; inVert < inVertsCount; ++inVert) { - bool ina = d[j] >= 0; - bool inb = d[i] >= 0; + d[inVert] = axisOffset - inVerts[inVertsOffset + inVert * 3 + axis]; + } + + int poly1Vert = 0; + int poly2Vert = 0; + for (int inVertA = 0, inVertB = inVertsCount - 1; inVertA < inVertsCount; inVertB = inVertA, ++inVertA) + { + bool ina = d[inVertB] >= 0; + bool inb = d[inVertA] >= 0; if (ina != inb) { - float s = d[j] / (d[j] - d[i]); - inVerts[outVerts1 + m * 3 + 0] = inVerts[inVertsOffset + j * 3 + 0] - + (inVerts[inVertsOffset + i * 3 + 0] - inVerts[inVertsOffset + j * 3 + 0]) * s; - inVerts[outVerts1 + m * 3 + 1] = inVerts[inVertsOffset + j * 3 + 1] - + (inVerts[inVertsOffset + i * 3 + 1] - inVerts[inVertsOffset + j * 3 + 1]) * s; - inVerts[outVerts1 + m * 3 + 2] = inVerts[inVertsOffset + j * 3 + 2] - + (inVerts[inVertsOffset + i * 3 + 2] - inVerts[inVertsOffset + j * 3 + 2]) * s; - RcVec3f.Copy(inVerts, outVerts2 + n * 3, inVerts, outVerts1 + m * 3); - m++; - n++; + float s = d[inVertB] / (d[inVertB] - d[inVertA]); + inVerts[outVerts1 + poly1Vert * 3 + 0] = inVerts[inVertsOffset + inVertB * 3 + 0] + + (inVerts[inVertsOffset + inVertA * 3 + 0] - inVerts[inVertsOffset + inVertB * 3 + 0]) * s; + inVerts[outVerts1 + poly1Vert * 3 + 1] = inVerts[inVertsOffset + inVertB * 3 + 1] + + (inVerts[inVertsOffset + inVertA * 3 + 1] - inVerts[inVertsOffset + inVertB * 3 + 1]) * s; + inVerts[outVerts1 + poly1Vert * 3 + 2] = inVerts[inVertsOffset + inVertB * 3 + 2] + + (inVerts[inVertsOffset + inVertA * 3 + 2] - inVerts[inVertsOffset + inVertB * 3 + 2]) * s; + RcVec3f.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, outVerts1 + poly1Vert * 3); + poly1Vert++; + poly2Vert++; // add the i'th point to the right polygon. Do NOT add points that are on the dividing line // since these were already added above - if (d[i] > 0) + if (d[inVertA] > 0) { - RcVec3f.Copy(inVerts, outVerts1 + m * 3, inVerts, inVertsOffset + i * 3); - m++; + RcVec3f.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3); + poly1Vert++; } - else if (d[i] < 0) + else if (d[inVertA] < 0) { - RcVec3f.Copy(inVerts, outVerts2 + n * 3, inVerts, inVertsOffset + i * 3); - n++; + RcVec3f.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3); + poly2Vert++; } } else // same side { // add the i'th point to the right polygon. Addition is done even for points on the dividing line - if (d[i] >= 0) + if (d[inVertA] >= 0) { - RcVec3f.Copy(inVerts, outVerts1 + m * 3, inVerts, inVertsOffset + i * 3); - m++; - if (d[i] != 0) + RcVec3f.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3); + poly1Vert++; + if (d[inVertA] != 0) continue; } - RcVec3f.Copy(inVerts, outVerts2 + n * 3, inVerts, inVertsOffset + i * 3); - n++; + RcVec3f.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3); + poly2Vert++; } } - return new int[] { m, n }; + outVerts1Count = poly1Vert; + outVerts2Count = poly2Vert; } /** @@ -300,14 +299,9 @@ namespace DotRecast.Recast { // Clip polygon to row. Store the remaining polygon as well float cellZ = hfBBMin.z + z * cellSize; - int[] nvrowin = DividePoly(buf, @in, nvIn, inRow, p1, cellZ + cellSize, 2); - nvRow = nvrowin[0]; - nvIn = nvrowin[1]; - { - int temp = @in; - @in = p1; - p1 = temp; - } + DividePoly(buf, @in, nvIn, inRow, out nvRow, p1, out nvIn, cellZ + cellSize, 2); + (@in, p1) = (p1, @in); + if (nvRow < 3) continue; @@ -340,16 +334,12 @@ namespace DotRecast.Recast { // Clip polygon to column. store the remaining polygon as well float cx = hfBBMin.x + x * cellSize; - int[] nvnv2 = DividePoly(buf, inRow, nv2, p1, p2, cx + cellSize, 0); - nv = nvnv2[0]; - nv2 = nvnv2[1]; - { - int temp = inRow; - inRow = p2; - p2 = temp; - } + DividePoly(buf, inRow, nv2, p1, out nv, p2, out nv2, cx + cellSize, 0); + (inRow, p2) = (p2, inRow); + if (nv < 3) continue; + if (x < 0) { continue; @@ -494,4 +484,4 @@ namespace DotRecast.Recast ctx.StopTimer("RASTERIZE_TRIANGLES"); } } -} +} \ No newline at end of file