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DotRecastNetSim
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This commit is contained in:
ikpil 2023-07-05 00:03:37 +09:00
parent 5f41636043
commit bb047c5a1d
7 changed files with 67 additions and 18 deletions
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6
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
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@ -303,7 +303,8 @@ namespace DotRecast.Detour.Crowd
public bool MovePosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
{
// Move along navmesh and update new position.
var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, out var visited);
var visited = new List<long>();
var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
if (status.Succeeded())
{
m_path = PathUtils.MergeCorridorStartMoved(m_path, visited);
@ -342,7 +343,8 @@ namespace DotRecast.Detour.Crowd
public bool MoveTargetPosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
{
// Move along navmesh and update new position.
var status = navquery.MoveAlongSurface(m_path[m_path.Count - 1], m_target, npos, filter, out var result, out var visited);
var visited = new List<long>();
var status = navquery.MoveAlongSurface(m_path[m_path.Count - 1], m_target, npos, filter, out var result, ref visited);
if (status.Succeeded())
{
m_path = PathUtils.MergeCorridorEndMoved(m_path, visited);

18
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -1798,10 +1798,12 @@ namespace DotRecast.Detour
/// @returns The status flags for the query.
public DtStatus MoveAlongSurface(long startRef, RcVec3f startPos, RcVec3f endPos,
IDtQueryFilter filter,
out RcVec3f resultPos, out List<long> visited)
out RcVec3f resultPos, ref List<long> visited)
{
resultPos = RcVec3f.Zero;
visited = new List<long>();
if (null != visited)
visited.Clear();
// Validate input
if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(startPos)
@ -2452,12 +2454,14 @@ namespace DotRecast.Detour
/// @param[in] maxResult The maximum number of polygons the result arrays can hold.
/// @returns The status flags for the query.
public DtStatus FindPolysAroundCircle(long startRef, RcVec3f centerPos, float radius, IDtQueryFilter filter,
out List<long> resultRef, out List<long> resultParent, out List<float> resultCost)
ref List<long> resultRef, ref List<long> resultParent, ref List<float> resultCost)
{
// TODO : check performance
resultRef = new List<long>();
resultParent = new List<long>();
resultCost = new List<float>();
if (null != resultRef)
{
resultRef.Clear();
resultParent.Clear();
resultCost.Clear();
}
// Validate input
if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(centerPos) || radius < 0

7
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
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@ -281,7 +281,12 @@ public class TestNavmeshTool : IRcTool
float dx = m_epos.x - m_spos.x;
float dz = m_epos.z - m_spos.z;
float dist = (float)Math.Sqrt(dx * dx + dz * dz);
var status = m_navQuery.FindPolysAroundCircle(m_startRef, m_spos, dist, m_filter, out var refs, out var parentRefs, out var costs);
List<long> refs = new();
List<long> parentRefs = new();
List<float> costs = new();
var status = m_navQuery.FindPolysAroundCircle(m_startRef, m_spos, dist, m_filter, ref refs, ref parentRefs, ref costs);
if (status.Succeeded())
{
m_polys = refs;

32
src/DotRecast.Recast.DemoTool/Sample.cs
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@ -18,6 +18,7 @@ freely, subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
using System;
using System.Collections.Generic;
using DotRecast.Detour;
using DotRecast.Recast.DemoTool.Geom;
@ -90,7 +91,38 @@ namespace DotRecast.Recast.DemoTool
_recastResults = recastResults;
_navMesh = navMesh;
SetQuery(navMesh);
_changed = true;
// // by update
// _inputGeom.ClearConvexVolumes();
// _inputGeom.RemoveOffMeshConnections(x => true);
//
// if (null != _navMesh && 0 < _navMesh.GetTileCount())
// {
// for (int ti = 0; ti < _navMesh.GetTileCount(); ++ti)
// {
// var tile = _navMesh.GetTile(ti);
// for (int pi = 0; pi < tile.data.polys.Length; ++pi)
// {
// var polyType = tile.data.polys[pi].GetPolyType();
// var polyArea= tile.data.polys[pi].GetArea();
//
// if (0 != polyType)
// {
// int a = 3;
// }
//
// if (0 != polyArea)
// {
// int b = 3;
// }
//
// Console.WriteLine($"tileIdx({ti}) polyIdx({pi}) polyType({polyType} polyArea({polyArea})");
// }
//
// }
// }
}
}
}

3
src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
View File

@ -60,6 +60,7 @@ namespace DotRecast.Recast.DemoTool.Tools
smoothPath.Clear();
smoothPath.Add(iterPos);
var visited = new List<long>();
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
@ -96,7 +97,7 @@ namespace DotRecast.Recast.DemoTool.Tools
RcVec3f moveTgt = RcVec3f.Mad(iterPos, delta, len);
// Move
navQuery.MoveAlongSurface(polys[0], iterPos, moveTgt, filter, out var result, out var visited);
navQuery.MoveAlongSurface(polys[0], iterPos, moveTgt, filter, out var result, ref visited);
iterPos = result;

7
test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs
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@ -16,8 +16,8 @@ freely, subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
using System.Collections.Generic;
using DotRecast.Core;
using NUnit.Framework;
namespace DotRecast.Detour.Test;
@ -102,11 +102,14 @@ public class FindPolysAroundCircleTest : AbstractDetourTest
public void TestFindPolysAroundCircle()
{
IDtQueryFilter filter = new DtQueryDefaultFilter();
var refs = new List<long>();
var parentRefs = new List<long>();
var costs = new List<float>();
for (int i = 0; i < startRefs.Length; i++)
{
long startRef = startRefs[i];
RcVec3f startPos = startPoss[i];
var status = query.FindPolysAroundCircle(startRef, startPos, 7.5f, filter, out var refs, out var parentRefs, out var costs);
var status = query.FindPolysAroundCircle(startRef, startPos, 7.5f, filter, ref refs, ref parentRefs, ref costs);
Assert.That(status.Succeeded(), Is.True);
Assert.That(refs.Count, Is.EqualTo(REFS[i].Length));

4
test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs
View File

@ -16,6 +16,7 @@ freely, subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
using System.Collections.Generic;
using DotRecast.Core;
using NUnit.Framework;
@ -69,12 +70,13 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
public void TestMoveAlongSurface()
{
IDtQueryFilter filter = new DtQueryDefaultFilter();
var visited = new List<long>();
for (int i = 0; i < startRefs.Length; i++)
{
long startRef = startRefs[i];
RcVec3f startPos = startPoss[i];
RcVec3f endPos = endPoss[i];
var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, out var visited);
var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, ref visited);
Assert.That(status.Succeeded(), Is.True);
for (int v = 0; v < 3; v++)