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DotRecastNetSim
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remove tuple<float, float> ok!!

This commit is contained in:
ikpil 2023-05-30 22:15:44 +09:00
parent 98f62a4f8a
commit bf07c8f3ff
9 changed files with 46 additions and 79 deletions
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8
src/DotRecast.Core/DistSeg.cs
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@ -1,8 +0,0 @@
namespace DotRecast.Core
{
public struct DistSeg
{
public float DistSqr;
public float Seg;
}
}

36
src/DotRecast.Core/RcMath.cs
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@ -142,21 +142,21 @@ namespace DotRecast.Core
return overlap;
}
public static DistSeg DistancePtSegSqr2D(Vector3f pt, float[] verts, int p, int q)
public static float DistancePtSegSqr2D(Vector3f pt, float[] verts, int p, int q, out float t)
{
var vp = Vector3f.Of(verts, p);
var vq = Vector3f.Of(verts, q);
return DistancePtSegSqr2D(pt, vp, vq);
return DistancePtSegSqr2D(pt, vp, vq, out t);
}
public static DistSeg DistancePtSegSqr2D(Vector3f pt, Vector3f p, Vector3f q)
public static float DistancePtSegSqr2D(Vector3f pt, Vector3f p, Vector3f q, out float t)
{
float pqx = q.x - p.x;
float pqz = q.z - p.z;
float dx = pt.x - p.x;
float dz = pt.z - p.z;
float d = pqx * pqx + pqz * pqz;
float t = pqx * dx + pqz * dz;
t = pqx * dx + pqz * dz;
if (d > 0)
{
t /= d;
@ -173,11 +173,7 @@ namespace DotRecast.Core
dx = p.x + t * pqx - pt.x;
dz = p.z + t * pqz - pt.z;
return new DistSeg()
{
DistSqr = dx * dx + dz * dz,
Seg = t,
};
return dx * dx + dz * dz;
}
public static float? ClosestHeightPointTriangle(Vector3f p, Vector3f a, Vector3f b, Vector3f c)
@ -244,15 +240,13 @@ namespace DotRecast.Core
{
int vi = i * 3;
int vj = j * 3;
if (((verts[vi + 2] > pt.z) != (verts[vj + 2] > pt.z)) && (pt.x < (verts[vj + 0] - verts[vi + 0])
* (pt.z - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + verts[vi + 0]))
if (((verts[vi + 2] > pt.z) != (verts[vj + 2] > pt.z)) &&
(pt.x < (verts[vj + 0] - verts[vi + 0]) * (pt.z - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + verts[vi + 0]))
{
c = !c;
}
var edet = DistancePtSegSqr2D(pt, verts, vj, vi);
ed[j] = edet.DistSqr;
et[j] = edet.Seg;
ed[j] = DistancePtSegSqr2D(pt, verts, vj, vi, out et[j]);
}
return c;
@ -471,20 +465,24 @@ namespace DotRecast.Core
}
public static Tuple<float, float> IntersectSegSeg2D(Vector3f ap, Vector3f aq, Vector3f bp, Vector3f bq)
public static bool IntersectSegSeg2D(Vector3f ap, Vector3f aq, Vector3f bp, Vector3f bq, out float s, out float t)
{
s = 0;
t = 0;
Vector3f u = aq.Subtract(ap);
Vector3f v = bq.Subtract(bp);
Vector3f w = ap.Subtract(bp);
float d = Vector3f.PerpXZ(u, v);
if (Math.Abs(d) < 1e-6f)
{
return null;
return false;
}
float s = Vector3f.PerpXZ(v, w) / d;
float t = Vector3f.PerpXZ(u, w) / d;
return Tuple.Create(s, t);
s = Vector3f.PerpXZ(v, w) / d;
t = Vector3f.PerpXZ(u, w) / d;
return true;
}
}
}

6
src/DotRecast.Detour.Crowd/LocalBoundary.cs
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@ -120,13 +120,13 @@ namespace DotRecast.Detour.Crowd
var s3 = Vector3f.Of(s[3], s[4], s[5]);
// Skip too distant segments.
var distseg = DistancePtSegSqr2D(pos, s0, s3);
if (distseg.DistSqr > Sqr(collisionQueryRange))
var distSqr = DistancePtSegSqr2D(pos, s0, s3, out var tseg);
if (distSqr > Sqr(collisionQueryRange))
{
continue;
}
AddSegment(distseg.DistSqr, s);
AddSegment(distSqr, s);
}
}
}

4
src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs
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@ -150,8 +150,8 @@ namespace DotRecast.Detour.Crowd
// Precalc if the agent is really close to the segment.
float r = 0.01f;
var dt = DistancePtSegSqr2D(pos, seg.p, seg.q);
seg.touch = dt.DistSqr < Sqr(r);
var distSqr = DistancePtSegSqr2D(pos, seg.p, seg.q, out var t);
seg.touch = distSqr < Sqr(r);
}
}

5
src/DotRecast.Detour/ConvexConvexIntersection.cs
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@ -235,11 +235,8 @@ namespace DotRecast.Detour
private static Intersection SegSegInt(Vector3f a, Vector3f b, Vector3f c, Vector3f d, ref Vector3f p, ref Vector3f q)
{
var isec = IntersectSegSeg2D(a, b, c, d);
if (null != isec)
if (IntersectSegSeg2D(a, b, c, d, out var s, out var t))
{
float s = isec.Item1;
float t = isec.Item2;
if (s >= 0.0f && s <= 1.0f && t >= 0.0f && t <= 1.0f)
{
p.x = a.x + (b.x - a.x) * s;

8
src/DotRecast.Detour/LegacyNavMeshQuery.cs
View File

@ -738,10 +738,7 @@ namespace DotRecast.Detour
// Calc distance to the edge.
int vj = bestPoly.verts[j] * 3;
int vi = bestPoly.verts[i] * 3;
var distseg = DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi);
float distSqr = distseg.DistSqr;
float tseg = distseg.Seg;
var distSqr = DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi, out var tseg);
// Edge is too far, skip.
if (distSqr > radiusSqr)
{
@ -784,8 +781,7 @@ namespace DotRecast.Detour
// Calc distance to the edge.
int va = bestPoly.verts[link.edge] * 3;
int vb = bestPoly.verts[(link.edge + 1) % bestPoly.vertCount] * 3;
var distseg = DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb);
float distSqr = distseg.DistSqr;
var distSqr = DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb, out var tseg);
// If the circle is not touching the next polygon, skip it.
if (distSqr > radiusSqr)
{

12
src/DotRecast.Detour/NavMesh.cs
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@ -1187,9 +1187,7 @@ namespace DotRecast.Detour
continue;
}
var dt = DistancePtSegSqr2D(pos, v[j], v[k]);
float d = dt.DistSqr;
float t = dt.Seg;
var d = DistancePtSegSqr2D(pos, v[j], v[k], out var t);
if (d < dmin)
{
dmin = d;
@ -1213,9 +1211,7 @@ namespace DotRecast.Detour
v[1].y = tile.data.verts[poly.verts[k] * 3 + 1];
v[1].z = tile.data.verts[poly.verts[k] * 3 + 2];
var dt = DistancePtSegSqr2D(pos, v[0], v[1]);
float d = dt.DistSqr;
float t = dt.Seg;
var d = DistancePtSegSqr2D(pos, v[0], v[1], out var t);
if (d < dmin)
{
dmin = d;
@ -1343,8 +1339,8 @@ namespace DotRecast.Detour
var v0 = new Vector3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
i = poly.verts[1] * 3;
var v1 = new Vector3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
var dt = DistancePtSegSqr2D(pos, v0, v1);
return new ClosestPointOnPolyResult(false, Vector3f.Lerp(v0, v1, dt.Seg));
var distSqr = DistancePtSegSqr2D(pos, v0, v1, out var t);
return new ClosestPointOnPolyResult(false, Vector3f.Lerp(v0, v1, t));
}
// Outside poly that is not an offmesh connection.

42
src/DotRecast.Detour/NavMeshQuery.cs
View File

@ -346,8 +346,7 @@ namespace DotRecast.Detour
var vb = portalpoints.result.right;
// If the circle is not touching the next polygon, skip it.
var distseg = DistancePtSegSqr2D(centerPos, va, vb);
float distSqr = distseg.DistSqr;
var distSqr = DistancePtSegSqr2D(centerPos, va, vb, out var tesg);
if (distSqr > radiusSqr)
{
continue;
@ -540,8 +539,8 @@ namespace DotRecast.Detour
var v0 = new Vector3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
i = poly.verts[1] * 3;
var v1 = new Vector3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
var dt = DistancePtSegSqr2D(pos, v0, v1);
return Results.Success(v0.y + (v1.y - v0.y) * dt.Seg);
var distSqr = DistancePtSegSqr2D(pos, v0, v1, out var tseg);
return Results.Success(v0.y + (v1.y - v0.y) * tseg);
}
float? height = m_nav.GetPolyHeight(tile, poly, pos);
@ -1500,10 +1499,8 @@ namespace DotRecast.Detour
}
// Append intersection
Tuple<float, float> interect = IntersectSegSeg2D(startPos, endPos, left, right);
if (null != interect)
if (IntersectSegSeg2D(startPos, endPos, left, right, out var _, out var t))
{
float t = interect.Item2;
var pt = Vector3f.Lerp(left, right, t);
stat = AppendVertex(pt, 0, path[i + 1], straightPath, maxStraightPath);
if (!stat.IsInProgress())
@ -1626,8 +1623,8 @@ namespace DotRecast.Detour
// If starting really close the portal, advance.
if (i == 0)
{
var dt = DistancePtSegSqr2D(portalApex, left, right);
if (dt.DistSqr < Sqr(0.001f))
var distSqr = DistancePtSegSqr2D(portalApex, left, right, out var t);
if (distSqr < Sqr(0.001f))
{
continue;
}
@ -1906,9 +1903,7 @@ namespace DotRecast.Detour
// Wall edge, calc distance.
int vj = j * 3;
int vi = i * 3;
var distSeg = DistancePtSegSqr2D(endPos, verts, vj, vi);
float distSqr = distSeg.DistSqr;
float tseg = distSeg.Seg;
var distSqr = DistancePtSegSqr2D(endPos, verts, vj, vi, out var tseg);
if (distSqr < bestDist)
{
// Update nearest distance.
@ -1932,8 +1927,7 @@ namespace DotRecast.Detour
// TODO: Maybe should use GetPortalPoints(), but this one is way faster.
int vj = j * 3;
int vi = i * 3;
var distseg = DistancePtSegSqr2D(searchPos, verts, vj, vi);
float distSqr = distseg.DistSqr;
var distSqr = DistancePtSegSqr2D(searchPos, verts, vj, vi, out var _);
if (distSqr > searchRadSqr)
{
continue;
@ -2127,17 +2121,16 @@ namespace DotRecast.Detour
Vector3f left = ppoints.result.left;
Vector3f right = ppoints.result.right;
float t = 0.5f;
Tuple<float, float> interect = IntersectSegSeg2D(fromPos, toPos, left, right);
if (null != interect)
if (IntersectSegSeg2D(fromPos, toPos, left, right, out var _, out var t2))
{
t = Clamp(interect.Item2, 0.1f, 0.9f);
t = Clamp(t2, 0.1f, 0.9f);
}
Vector3f pt = Vector3f.Lerp(left, right, t);
return Results.Success(pt);
}
private static float s = 1.0f / 255.0f;
private const float s = 1.0f / 255.0f;
/// @par
///
@ -2553,8 +2546,7 @@ namespace DotRecast.Detour
var vb = pp.result.right;
// If the circle is not touching the next polygon, skip it.
var distseg = DistancePtSegSqr2D(centerPos, va, vb);
float distSqr = distseg.DistSqr;
var distSqr = DistancePtSegSqr2D(centerPos, va, vb, out var _);
if (distSqr > radiusSqr)
{
continue;
@ -2917,8 +2909,7 @@ namespace DotRecast.Detour
var vb = pp.result.right;
// If the circle is not touching the next polygon, skip it.
var distseg = DistancePtSegSqr2D(centerPos, va, vb);
float distSqr = distseg.DistSqr;
var distSqr = DistancePtSegSqr2D(centerPos, va, vb, out var _);
if (distSqr > radiusSqr)
{
continue;
@ -3261,9 +3252,7 @@ namespace DotRecast.Detour
// Calc distance to the edge.
int vj = bestPoly.verts[j] * 3;
int vi = bestPoly.verts[i] * 3;
var distseg = DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi);
float distSqr = distseg.DistSqr;
float tseg = distseg.Seg;
var distSqr = DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi, out var tseg);
// Edge is too far, skip.
if (distSqr > radiusSqr)
@ -3307,8 +3296,7 @@ namespace DotRecast.Detour
// Calc distance to the edge.
int va = bestPoly.verts[link.edge] * 3;
int vb = bestPoly.verts[(link.edge + 1) % bestPoly.vertCount] * 3;
var distseg = DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb);
float distSqr = distseg.DistSqr;
var distSqr = DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb, out var tseg);
// If the circle is not touching the next polygon, skip it.
if (distSqr > radiusSqr)
{

4
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -850,8 +850,8 @@ public class TestNavmeshTool : Tool
var v0 = Vector3f.Of(s[0], s[1], s[2]);
var s3 = Vector3f.Of(s[3], s[4], s[5]);
// Skip too distant segments.
var distSqr = DistancePtSegSqr2D(m_spos, v0, s3);
if (distSqr.DistSqr > RcMath.Sqr(m_neighbourhoodRadius))
var distSqr = DistancePtSegSqr2D(m_spos, v0, s3, out var tseg);
if (distSqr > RcMath.Sqr(m_neighbourhoodRadius))
{
continue;
}