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DotRecastNetSim
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remove Tuple<DtMeshTile, DtPoly>

This commit is contained in:
ikpil 2023-06-10 12:12:02 +09:00
parent 776548e916
commit c42d89003b
5 changed files with 42 additions and 111 deletions
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3
src/DotRecast.Detour.Crowd/DtCrowd.cs
View File

@ -615,8 +615,7 @@ namespace DotRecast.Detour.Crowd
{
// Partial path, constrain target position inside the
// last polygon.
Result<ClosestPointOnPolyResult> cr = _navQuery.ClosestPointOnPoly(reqPath[reqPath.Count - 1],
ag.targetPos);
Result<ClosestPointOnPolyResult> cr = _navQuery.ClosestPointOnPoly(reqPath[reqPath.Count - 1], ag.targetPos);
if (cr.Succeeded())
{
reqPos = cr.result.GetClosest();

9
src/DotRecast.Detour/DtNavMesh.cs
View File

@ -243,10 +243,11 @@ namespace DotRecast.Detour
/// reference is valid. This function is faster than #getTileAndPolyByRef,
/// but
/// it does not validate the reference.
public Tuple<DtMeshTile, DtPoly> GetTileAndPolyByRefUnsafe(long refs)
public void GetTileAndPolyByRefUnsafe(long refs, out DtMeshTile tile, out DtPoly poly)
{
DecodePolyId(refs, out var salt, out var it, out var ip);
return Tuple.Create(m_tiles[it], m_tiles[it].data.polys[ip]);
tile = m_tiles[it];
poly = m_tiles[it].data.polys[ip];
}
public bool IsValidPolyRef(long refs)
@ -1302,9 +1303,7 @@ namespace DotRecast.Detour
public ClosestPointOnPolyResult ClosestPointOnPoly(long refs, RcVec3f pos)
{
Tuple<DtMeshTile, DtPoly> tileAndPoly = GetTileAndPolyByRefUnsafe(refs);
DtMeshTile tile = tileAndPoly.Item1;
DtPoly poly = tileAndPoly.Item2;
GetTileAndPolyByRefUnsafe(refs, out var tile, out var poly);
RcVec3f closest = new RcVec3f();
closest = pos;
float? h = GetPolyHeight(tile, poly, pos);

101
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -232,9 +232,7 @@ namespace DotRecast.Detour
return Results.InvalidParam<FindRandomPointResult>();
}
Tuple<DtMeshTile, DtPoly> tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(startRef);
DtMeshTile startTile = tileAndPoly.Item1;
DtPoly startPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(startRef, out var startTile, out var startPoly);
if (!filter.PassFilter(startRef, startTile, startPoly))
{
return Results.InvalidParam<FindRandomPointResult>("Invalid start ref");
@ -267,9 +265,7 @@ namespace DotRecast.Detour
// Get poly and tile.
// The API input has been cheked already, skip checking internal data.
long bestRef = bestNode.id;
Tuple<DtMeshTile, DtPoly> bestTilePoly = m_nav.GetTileAndPolyByRefUnsafe(bestRef);
DtMeshTile bestTile = bestTilePoly.Item1;
DtPoly bestPoly = bestTilePoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(bestRef, out var bestTile, out var bestPoly);
// Place random locations on on ground.
if (bestPoly.GetPolyType() == DtPoly.DT_POLYTYPE_GROUND)
@ -324,9 +320,7 @@ namespace DotRecast.Detour
}
// Expand to neighbour
Tuple<DtMeshTile, DtPoly> neighbourTilePoly = m_nav.GetTileAndPolyByRefUnsafe(neighbourRef);
DtMeshTile neighbourTile = neighbourTilePoly.Item1;
DtPoly neighbourPoly = neighbourTilePoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
// Do not advance if the polygon is excluded by the filter.
if (!filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly))
@ -818,9 +812,7 @@ namespace DotRecast.Detour
// Get current poly and tile.
// The API input has been cheked already, skip checking internal data.
long bestRef = bestNode.id;
Tuple<DtMeshTile, DtPoly> tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(bestRef);
DtMeshTile bestTile = tileAndPoly.Item1;
DtPoly bestPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(bestRef, out var bestTile, out var bestPoly);
// Get parent poly and tile.
long parentRef = 0, grandpaRef = 0;
@ -839,9 +831,7 @@ namespace DotRecast.Detour
if (parentRef != 0)
{
tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(parentRef);
parentTile = tileAndPoly.Item1;
parentPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(parentRef, out parentTile, out parentPoly);
}
// decide whether to test raycast to previous nodes
@ -867,9 +857,7 @@ namespace DotRecast.Detour
// Get neighbour poly and tile.
// The API input has been cheked already, skip checking internal data.
tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(neighbourRef);
DtMeshTile neighbourTile = tileAndPoly.Item1;
DtPoly neighbourPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
if (!filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly))
{
@ -1195,9 +1183,7 @@ namespace DotRecast.Detour
// Get neighbour poly and tile.
// The API input has been cheked already, skip checking internal
// data.
Tuple<DtMeshTile, DtPoly> tileAndPolyUns = m_nav.GetTileAndPolyByRefUnsafe(neighbourRef);
DtMeshTile neighbourTile = tileAndPolyUns.Item1;
DtPoly neighbourPoly = tileAndPolyUns.Item2;
m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
if (!m_query.filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly))
{
@ -1833,9 +1819,7 @@ namespace DotRecast.Detour
// Get poly and tile.
// The API input has been cheked already, skip checking internal data.
long curRef = curNode.id;
Tuple<DtMeshTile, DtPoly> tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(curRef);
DtMeshTile curTile = tileAndPoly.Item1;
DtPoly curPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(curRef, out var curTile, out var curPoly);
// Collect vertices.
int nverts = curPoly.vertCount;
@ -1870,9 +1854,7 @@ namespace DotRecast.Detour
{
if (link.refs != 0)
{
tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(link.refs);
DtMeshTile neiTile = tileAndPoly.Item1;
DtPoly neiPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(link.refs, out var neiTile, out var neiPoly);
if (filter.PassFilter(link.refs, neiTile, neiPoly))
{
if (nneis < MAX_NEIS)
@ -2206,16 +2188,12 @@ namespace DotRecast.Detour
// The API input has been checked already, skip checking internal data.
long curRef = startRef;
Tuple<DtMeshTile, DtPoly> tileAndPolyUns = m_nav.GetTileAndPolyByRefUnsafe(curRef);
tile = tileAndPolyUns.Item1;
poly = tileAndPolyUns.Item2;
m_nav.GetTileAndPolyByRefUnsafe(curRef, out tile, out poly);
nextTile = prevTile = tile;
nextPoly = prevPoly = poly;
if (prevRef != 0)
{
tileAndPolyUns = m_nav.GetTileAndPolyByRefUnsafe(prevRef);
prevTile = tileAndPolyUns.Item1;
prevPoly = tileAndPolyUns.Item2;
m_nav.GetTileAndPolyByRefUnsafe(prevRef, out prevTile, out prevPoly);
}
while (curRef != 0)
@ -2277,9 +2255,8 @@ namespace DotRecast.Detour
}
// Get pointer to the next polygon.
tileAndPolyUns = m_nav.GetTileAndPolyByRefUnsafe(link.refs);
nextTile = tileAndPolyUns.Item1;
nextPoly = tileAndPolyUns.Item2;
m_nav.GetTileAndPolyByRefUnsafe(link.refs, out nextTile, out nextPoly);
// Skip off-mesh connections.
if (nextPoly.GetPolyType() == DtPoly.DT_POLYTYPE_OFFMESH_CONNECTION)
{
@ -2486,9 +2463,7 @@ namespace DotRecast.Detour
// Get poly and tile.
// The API input has been cheked already, skip checking internal data.
long bestRef = bestNode.id;
Tuple<DtMeshTile, DtPoly> tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(bestRef);
DtMeshTile bestTile = tileAndPoly.Item1;
DtPoly bestPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(bestRef, out var bestTile, out var bestPoly);
// Get parent poly and tile.
long parentRef = 0;
@ -2501,9 +2476,7 @@ namespace DotRecast.Detour
if (parentRef != 0)
{
tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(parentRef);
parentTile = tileAndPoly.Item1;
parentPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(parentRef, out parentTile, out parentPoly);
}
resultRef.Add(bestRef);
@ -2521,9 +2494,7 @@ namespace DotRecast.Detour
}
// Expand to neighbour
tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(neighbourRef);
DtMeshTile neighbourTile = tileAndPoly.Item1;
DtPoly neighbourPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
// Do not advance if the polygon is excluded by the filter.
if (!filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly))
@ -2673,9 +2644,7 @@ namespace DotRecast.Detour
// Get poly and tile.
// The API input has been cheked already, skip checking internal data.
long bestRef = bestNode.id;
Tuple<DtMeshTile, DtPoly> tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(bestRef);
DtMeshTile bestTile = tileAndPoly.Item1;
DtPoly bestPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(bestRef, out var bestTile, out var bestPoly);
// Get parent poly and tile.
long parentRef = 0;
@ -2688,9 +2657,7 @@ namespace DotRecast.Detour
if (parentRef != 0)
{
tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(parentRef);
parentTile = tileAndPoly.Item1;
parentPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(parentRef, out parentTile, out parentPoly);
}
resultRef.Add(bestRef);
@ -2708,9 +2675,7 @@ namespace DotRecast.Detour
}
// Expand to neighbour
tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(neighbourRef);
DtMeshTile neighbourTile = tileAndPoly.Item1;
DtPoly neighbourPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
// Do not advance if the polygon is excluded by the filter.
if (!filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly))
@ -2856,9 +2821,7 @@ namespace DotRecast.Detour
// Get poly and tile.
// The API input has been cheked already, skip checking internal data.
long curRef = curNode.id;
Tuple<DtMeshTile, DtPoly> tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(curRef);
DtMeshTile curTile = tileAndPoly.Item1;
DtPoly curPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(curRef, out var curTile, out var curPoly);
for (int i = curTile.polyLinks[curPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = curTile.links[i].next)
{
@ -2878,9 +2841,7 @@ namespace DotRecast.Detour
}
// Expand to neighbour
tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(neighbourRef);
DtMeshTile neighbourTile = tileAndPoly.Item1;
DtPoly neighbourPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
// Skip off-mesh connections.
if (neighbourPoly.GetPolyType() == DtPoly.DT_POLYTYPE_OFFMESH_CONNECTION)
@ -2948,9 +2909,7 @@ namespace DotRecast.Detour
}
// Potentially overlapping.
tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(pastRef);
DtMeshTile pastTile = tileAndPoly.Item1;
DtPoly pastPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(pastRef, out var pastTile, out var pastPoly);
// Get vertices and test overlap
int npb = pastPoly.vertCount;
@ -3053,9 +3012,7 @@ namespace DotRecast.Detour
{
if (link.refs != 0)
{
Tuple<DtMeshTile, DtPoly> tileAndPolyUnsafe = m_nav.GetTileAndPolyByRefUnsafe(link.refs);
DtMeshTile neiTile = tileAndPolyUnsafe.Item1;
DtPoly neiPoly = tileAndPolyUnsafe.Item2;
m_nav.GetTileAndPolyByRefUnsafe(link.refs, out var neiTile, out var neiPoly);
if (filter.PassFilter(link.refs, neiTile, neiPoly))
{
InsertInterval(ints, link.bmin, link.bmax, link.refs);
@ -3191,9 +3148,7 @@ namespace DotRecast.Detour
// Get poly and tile.
// The API input has been cheked already, skip checking internal data.
long bestRef = bestNode.id;
Tuple<DtMeshTile, DtPoly> tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(bestRef);
DtMeshTile bestTile = tileAndPoly.Item1;
DtPoly bestPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(bestRef, out var bestTile, out var bestPoly);
// Get parent poly and tile.
long parentRef = 0;
@ -3217,9 +3172,7 @@ namespace DotRecast.Detour
{
if (link.refs != 0)
{
Tuple<DtMeshTile, DtPoly> linkTileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(link.refs);
DtMeshTile neiTile = linkTileAndPoly.Item1;
DtPoly neiPoly = linkTileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(link.refs, out var neiTile, out var neiPoly);
if (filter.PassFilter(link.refs, neiTile, neiPoly))
{
solid = false;
@ -3280,9 +3233,7 @@ namespace DotRecast.Detour
}
// Expand to neighbour.
Tuple<DtMeshTile, DtPoly> neighbourTileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(neighbourRef);
DtMeshTile neighbourTile = neighbourTileAndPoly.Item1;
DtPoly neighbourPoly = neighbourTileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
// Skip off-mesh connections.
if (neighbourPoly.GetPolyType() == DtPoly.DT_POLYTYPE_OFFMESH_CONNECTION)

30
src/DotRecast.Detour/LegacyNavMeshQuery.cs
View File

@ -89,9 +89,7 @@ namespace DotRecast.Detour
// Get current poly and tile.
// The API input has been cheked already, skip checking internal data.
long bestRef = bestNode.id;
Tuple<DtMeshTile, DtPoly> tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(bestRef);
DtMeshTile bestTile = tileAndPoly.Item1;
DtPoly bestPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(bestRef, out var bestTile, out var bestPoly);
// Get parent poly and tile.
long parentRef = 0;
@ -104,9 +102,7 @@ namespace DotRecast.Detour
if (parentRef != 0)
{
tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(parentRef);
parentTile = tileAndPoly.Item1;
parentPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(parentRef, out parentTile, out parentPoly);
}
for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
@ -121,10 +117,7 @@ namespace DotRecast.Detour
// Get neighbour poly and tile.
// The API input has been cheked already, skip checking internal data.
tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(neighbourRef);
DtMeshTile neighbourTile = tileAndPoly.Item1;
DtPoly neighbourPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
if (!filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly))
{
continue;
@ -337,10 +330,7 @@ namespace DotRecast.Detour
// Get neighbour poly and tile.
// The API input has been cheked already, skip checking internal
// data.
Tuple<DtMeshTile, DtPoly> tileAndPolyUns = m_nav.GetTileAndPolyByRefUnsafe(neighbourRef);
DtMeshTile neighbourTile = tileAndPolyUns.Item1;
DtPoly neighbourPoly = tileAndPolyUns.Item2;
m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
if (!m_query.filter.PassFilter(neighbourRef, neighbourTile, neighbourPoly))
{
continue;
@ -680,9 +670,7 @@ namespace DotRecast.Detour
// Get poly and tile.
// The API input has been cheked already, skip checking internal data.
long bestRef = bestNode.id;
Tuple<DtMeshTile, DtPoly> tileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(bestRef);
DtMeshTile bestTile = tileAndPoly.Item1;
DtPoly bestPoly = tileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(bestRef, out var bestTile, out var bestPoly);
// Get parent poly and tile.
long parentRef = 0;
@ -706,9 +694,7 @@ namespace DotRecast.Detour
{
if (link.refs != 0)
{
Tuple<DtMeshTile, DtPoly> linkTileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(link.refs);
DtMeshTile neiTile = linkTileAndPoly.Item1;
DtPoly neiPoly = linkTileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(link.refs, out var neiTile, out var neiPoly);
if (filter.PassFilter(link.refs, neiTile, neiPoly))
{
solid = false;
@ -768,9 +754,7 @@ namespace DotRecast.Detour
}
// Expand to neighbour.
Tuple<DtMeshTile, DtPoly> neighbourTileAndPoly = m_nav.GetTileAndPolyByRefUnsafe(neighbourRef);
DtMeshTile neighbourTile = neighbourTileAndPoly.Item1;
DtPoly neighbourPoly = neighbourTileAndPoly.Item2;
m_nav.GetTileAndPolyByRefUnsafe(neighbourRef, out var neighbourTile, out var neighbourPoly);
// Skip off-mesh connections.
if (neighbourPoly.GetPolyType() == DtPoly.DT_POLYTYPE_OFFMESH_CONNECTION)

6
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -334,8 +334,7 @@ public class TestNavmeshTool : ITool
var epos = RcVec3f.Of(m_epos.x, m_epos.y, m_epos.z);
if (m_polys[m_polys.Count - 1] != m_endRef)
{
Result<ClosestPointOnPolyResult> result = m_navQuery
.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos);
Result<ClosestPointOnPolyResult> result = m_navQuery.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos);
if (result.Succeeded())
{
epos = result.result.GetClosest();
@ -995,8 +994,7 @@ public class TestNavmeshTool : ITool
epos = m_epos;
if (m_polys[m_polys.Count - 1] != m_endRef)
{
Result<ClosestPointOnPolyResult> result = m_navQuery
.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos);
Result<ClosestPointOnPolyResult> result = m_navQuery.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos);
if (result.Succeeded())
{
epos = result.result.GetClosest();