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DotRecastNetSim
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change interface raycast

This commit is contained in:
ikpil 2023-06-16 19:15:34 +09:00
parent bf8d5f165d
commit c3846198d1
4 changed files with 49 additions and 44 deletions
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8
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
View File

@ -318,12 +318,12 @@ namespace DotRecast.Detour.Crowd
var delta = next.Subtract(m_pos);
RcVec3f goal = RcVec3f.Mad(m_pos, delta, pathOptimizationRange / dist);
Result<DtRaycastHit> rc = navquery.Raycast(m_path[0], m_pos, goal, filter, 0, 0);
if (rc.Succeeded())
var status = navquery.Raycast(m_path[0], m_pos, goal, filter, 0, 0, out var rayHit);
if (status.Succeeded())
{
if (rc.result.path.Count > 1 && rc.result.t > 0.99f)
if (rayHit.path.Count > 1 && rayHit.t > 0.99f)
{
m_path = MergeCorridorStartShortcut(m_path, rc.result.path);
m_path = MergeCorridorStartShortcut(m_path, rayHit.path);
}
}
}

45
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -927,17 +927,17 @@ namespace DotRecast.Detour
List<long> shortcut = null;
if (tryLOS)
{
Result<DtRaycastHit> rayHit = Raycast(parentRef, parentNode.pos, neighbourPos, filter,
DT_RAYCAST_USE_COSTS, grandpaRef);
if (rayHit.Succeeded())
status = Raycast(parentRef, parentNode.pos, neighbourPos, filter,
DT_RAYCAST_USE_COSTS, grandpaRef, out var rayHit);
if (status.Succeeded())
{
foundShortCut = rayHit.result.t >= 1.0f;
foundShortCut = rayHit.t >= 1.0f;
if (foundShortCut)
{
shortcut = rayHit.result.path;
shortcut = rayHit.path;
// shortcut found using raycast. Using shorter cost
// instead
cost = parentNode.cost + rayHit.result.pathCost;
cost = parentNode.cost + rayHit.pathCost;
}
}
}
@ -1246,17 +1246,17 @@ namespace DotRecast.Detour
List<long> shortcut = null;
if (tryLOS)
{
Result<DtRaycastHit> rayHit = Raycast(parentRef, parentNode.pos, neighbourPos, m_query.filter,
DT_RAYCAST_USE_COSTS, grandpaRef);
if (rayHit.Succeeded())
status = Raycast(parentRef, parentNode.pos, neighbourPos, m_query.filter,
DT_RAYCAST_USE_COSTS, grandpaRef, out var rayHit);
if (status.Succeeded())
{
foundShortCut = rayHit.result.t >= 1.0f;
foundShortCut = rayHit.t >= 1.0f;
if (foundShortCut)
{
shortcut = rayHit.result.path;
shortcut = rayHit.path;
// shortcut found using raycast. Using shorter cost
// instead
cost = parentNode.cost + rayHit.result.pathCost;
cost = parentNode.cost + rayHit.pathCost;
}
}
}
@ -2186,17 +2186,20 @@ namespace DotRecast.Detour
/// @param[out] pathCount The number of visited polygons. [opt]
/// @param[in] maxPath The maximum number of polygons the @p path array can hold.
/// @returns The status flags for the query.
public Result<DtRaycastHit> Raycast(long startRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, int options,
long prevRef)
public DtStatus Raycast(long startRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, int options,
long prevRef, out DtRaycastHit hit)
{
hit = null;
// Validate input
if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(startPos) || !RcVec3f.IsFinite(endPos) || null == filter
if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(startPos) || !RcVec3f.IsFinite(endPos)
|| null == filter
|| (prevRef != 0 && !m_nav.IsValidPolyRef(prevRef)))
{
return Results.InvalidParam<DtRaycastHit>();
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
}
DtRaycastHit hit = new DtRaycastHit();
hit = new DtRaycastHit();
float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3 + 3];
@ -2235,7 +2238,7 @@ namespace DotRecast.Detour
if (!iresult.intersects)
{
// Could not hit the polygon, keep the old t and report hit.
return Results.Success(hit);
return DtStatus.DT_SUCCSESS;
}
hit.hitEdgeIndex = iresult.segMax;
@ -2261,7 +2264,7 @@ namespace DotRecast.Detour
curRef, tile, poly);
}
return Results.Success(hit);
return DtStatus.DT_SUCCSESS;
}
// Follow neighbours.
@ -2390,7 +2393,7 @@ namespace DotRecast.Detour
hit.hitNormal.y = 0;
hit.hitNormal.z = -dx;
hit.hitNormal.Normalize();
return Results.Success(hit);
return DtStatus.DT_SUCCSESS;
}
// No hit, advance to neighbour polygon.
@ -2402,7 +2405,7 @@ namespace DotRecast.Detour
poly = nextPoly;
}
return Results.Success(hit);
return DtStatus.DT_SUCCSESS;
}
/// @par

24
src/DotRecast.Detour/LegacyNavMeshQuery.cs
View File

@ -361,16 +361,16 @@ namespace DotRecast.Detour
bool foundShortCut = false;
if (tryLOS)
{
Result<DtRaycastHit> rayHit = Raycast(parentRef, parentNode.pos, neighbourNode.pos, m_query.filter,
DT_RAYCAST_USE_COSTS, grandpaRef);
if (rayHit.Succeeded())
status = Raycast(parentRef, parentNode.pos, neighbourNode.pos, m_query.filter,
DT_RAYCAST_USE_COSTS, grandpaRef, out var rayHit);
if (status.Succeeded())
{
foundShortCut = rayHit.result.t >= 1.0f;
foundShortCut = rayHit.t >= 1.0f;
if (foundShortCut)
{
// shortcut found using raycast. Using shorter cost
// instead
cost = parentNode.cost + rayHit.result.pathCost;
cost = parentNode.cost + rayHit.pathCost;
}
}
}
@ -505,10 +505,11 @@ namespace DotRecast.Detour
DtNode next = m_nodePool.GetNodeAtIdx(node.pidx);
if ((node.flags & DtNode.DT_NODE_PARENT_DETACHED) != 0)
{
Result<DtRaycastHit> iresult = Raycast(node.id, node.pos, next.pos, m_query.filter, 0, 0);
if (iresult.Succeeded())
var status2 = Raycast(node.id, node.pos, next.pos, m_query.filter, 0, 0,
out var rayHit);
if (status2.Succeeded())
{
path.AddRange(iresult.result.path);
path.AddRange(rayHit.path);
}
// raycast ends on poly boundary and the path might include the next poly boundary.
@ -602,10 +603,11 @@ namespace DotRecast.Detour
DtNode next = m_nodePool.GetNodeAtIdx(node.pidx);
if ((node.flags & DtNode.DT_NODE_PARENT_DETACHED) != 0)
{
Result<DtRaycastHit> iresult = Raycast(node.id, node.pos, next.pos, m_query.filter, 0, 0);
if (iresult.Succeeded())
var status2 = Raycast(node.id, node.pos, next.pos, m_query.filter, 0, 0,
out var rayHit);
if (status2.Succeeded())
{
path.AddRange(iresult.result.path);
path.AddRange(rayHit.path);
}
// raycast ends on poly boundary and the path might include the next poly boundary.

16
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -369,11 +369,11 @@ public class TestNavmeshTool : IRcTool
if (m_sposSet && m_eposSet && m_startRef != 0)
{
{
Result<DtRaycastHit> hit = m_navQuery.Raycast(m_startRef, m_spos, m_epos, m_filter, 0, 0);
if (hit.Succeeded())
var status = m_navQuery.Raycast(m_startRef, m_spos, m_epos, m_filter, 0, 0, out var rayHit);
if (status.Succeeded())
{
m_polys = hit.result.path;
if (hit.result.t > 1)
m_polys = rayHit.path;
if (rayHit.t > 1)
{
// No hit
m_hitPos = m_epos;
@ -382,15 +382,15 @@ public class TestNavmeshTool : IRcTool
else
{
// Hit
m_hitPos = RcVec3f.Lerp(m_spos, m_epos, hit.result.t);
m_hitNormal = hit.result.hitNormal;
m_hitPos = RcVec3f.Lerp(m_spos, m_epos, rayHit.t);
m_hitNormal = rayHit.hitNormal;
m_hitResult = true;
}
// Adjust height.
if (hit.result.path.Count > 0)
if (rayHit.path.Count > 0)
{
var result = m_navQuery.GetPolyHeight(hit.result.path[hit.result.path.Count - 1], m_hitPos, out var h);
var result = m_navQuery.GetPolyHeight(rayHit.path[rayHit.path.Count - 1], m_hitPos, out var h);
if (result.Succeeded())
{
m_hitPos.y = h;