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DotRecastNetSim
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vector3f -> xyz

This commit is contained in:
ikpil 2023-04-29 11:21:25 +09:00
parent 0620cdcd85
commit cf7a44afdb
9 changed files with 63 additions and 60 deletions
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6
src/DotRecast.Core/Intersections.cs
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@ -83,9 +83,9 @@ namespace DotRecast.Core
float EPS = 1e-6f;
Vector3f d = new Vector3f();
d[0] = sq[0] - sp[0];
d[1] = sq[1] - sp[1];
d[2] = sq[2] - sp[2];
d.x = sq[0] - sp[0];
d.y = sq[1] - sp[1];
d.z = sq[2] - sp[2];
float tmin = 0.0f;
float tmax = 1.0f;

1
src/DotRecast.Core/Vector3f.cs
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@ -17,7 +17,6 @@ freely, subject to the following restrictions:
*/
using System;
using System.Numerics;
namespace DotRecast.Core
{

6
src/DotRecast.Detour/ConvexConvexIntersection.cs
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@ -256,9 +256,9 @@ namespace DotRecast.Detour
float t = isec.Item2;
if (s >= 0.0f && s <= 1.0f && t >= 0.0f && t <= 1.0f)
{
p[0] = a[0] + (b[0] - a[0]) * s;
p[1] = a[1] + (b[1] - a[1]) * s;
p[2] = a[2] + (b[2] - a[2]) * s;
p.x = a[0] + (b[0] - a[0]) * s;
p.y = a[1] + (b[1] - a[1]) * s;
p.z = a[2] + (b[2] - a[2]) * s;
return Intersection.Single;
}
}

6
src/DotRecast.Detour/LegacyNavMeshQuery.cs
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@ -844,9 +844,9 @@ namespace DotRecast.Detour
if (bestvi != null && bestvj != null)
{
var tangent = vSub(bestvi, bestvj);
hitNormal[0] = tangent[2];
hitNormal[1] = 0;
hitNormal[2] = -tangent[0];
hitNormal.x = tangent[2];
hitNormal.y = 0;
hitNormal.z = -tangent[0];
vNormalize(ref hitNormal);
}

12
src/DotRecast.Detour/NavMeshUtils.cs
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@ -35,12 +35,12 @@ namespace DotRecast.Detour
{
for (int i = 0; i < tile.data.verts.Length; i += 3)
{
bmin[0] = Math.Min(bmin[0], tile.data.verts[i]);
bmin[1] = Math.Min(bmin[1], tile.data.verts[i + 1]);
bmin[2] = Math.Min(bmin[2], tile.data.verts[i + 2]);
bmax[0] = Math.Max(bmax[0], tile.data.verts[i]);
bmax[1] = Math.Max(bmax[1], tile.data.verts[i + 1]);
bmax[2] = Math.Max(bmax[2], tile.data.verts[i + 2]);
bmin.x = Math.Min(bmin[0], tile.data.verts[i]);
bmin.y = Math.Min(bmin[1], tile.data.verts[i + 1]);
bmin.z = Math.Min(bmin[2], tile.data.verts[i + 2]);
bmax.x = Math.Max(bmax[0], tile.data.verts[i]);
bmax.y = Math.Max(bmax[1], tile.data.verts[i + 1]);
bmax.z = Math.Max(bmax[2], tile.data.verts[i + 2]);
}
}
}

16
src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
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@ -118,12 +118,16 @@ namespace DotRecast.Recast.Geom
int v0 = faces[i] * 3;
int v1 = faces[i + 1] * 3;
int v2 = faces[i + 2] * 3;
Vector3f e0 = new Vector3f(), e1 = new Vector3f();
for (int j = 0; j < 3; ++j)
{
e0[j] = vertices[v1 + j] - vertices[v0 + j];
e1[j] = vertices[v2 + j] - vertices[v0 + j];
}
var e0 = new Vector3f();
var e1 = new Vector3f();
e0.x = vertices[v1 + 0] - vertices[v0 + 0];
e0.y = vertices[v1 + 1] - vertices[v0 + 1];
e0.z = vertices[v1 + 2] - vertices[v0 + 2];
e1.x = vertices[v2 + 0] - vertices[v0 + 0];
e1.y = vertices[v2 + 1] - vertices[v0 + 1];
e1.z = vertices[v2 + 2] - vertices[v0 + 2];
normals[i] = e0[1] * e1[2] - e0[2] * e1[1];
normals[i + 1] = e0[2] * e1[0] - e0[0] * e1[2];

6
src/DotRecast.Recast/PolyMeshRaycast.cs
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@ -58,9 +58,9 @@ namespace DotRecast.Recast
Vector3f[] vs = new Vector3f[3];
for (int k = 0; k < 3; ++k)
{
vs[k][0] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3];
vs[k][1] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 1];
vs[k][2] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 2];
vs[k].x = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3];
vs[k].y = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 1];
vs[k].z = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 2];
}
float? intersection = Intersections.intersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2]);

16
src/DotRecast.Recast/RecastBuilderConfig.cs
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@ -58,10 +58,10 @@ namespace DotRecast.Recast
{
float tsx = cfg.tileSizeX * cfg.cs;
float tsz = cfg.tileSizeZ * cfg.cs;
this.bmin[0] += tileX * tsx;
this.bmin[2] += tileZ * tsz;
this.bmax[0] = this.bmin[0] + tsx;
this.bmax[2] = this.bmin[2] + tsz;
this.bmin.x += tileX * tsx;
this.bmin.z += tileZ * tsz;
this.bmax.x = this.bmin[0] + tsx;
this.bmax.z = this.bmin[2] + tsz;
// Expand the heighfield bounding box by border size to find the extents of geometry we need to build this
// tile.
//
@ -85,10 +85,10 @@ namespace DotRecast.Recast
// you will need to pass in data from neighbour terrain tiles too! In a simple case, just pass in all the 8
// neighbours,
// or use the bounding box below to only pass in a sliver of each of the 8 neighbours.
this.bmin[0] -= cfg.borderSize * cfg.cs;
this.bmin[2] -= cfg.borderSize * cfg.cs;
this.bmax[0] += cfg.borderSize * cfg.cs;
this.bmax[2] += cfg.borderSize * cfg.cs;
this.bmin.x -= cfg.borderSize * cfg.cs;
this.bmin.z -= cfg.borderSize * cfg.cs;
this.bmax.x += cfg.borderSize * cfg.cs;
this.bmax.z += cfg.borderSize * cfg.cs;
width = cfg.tileSizeX + cfg.borderSize * 2;
height = cfg.tileSizeZ + cfg.borderSize * 2;
}

54
src/DotRecast.Recast/RecastVectors.cs
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@ -27,30 +27,30 @@ namespace DotRecast.Recast
{
public static void min(ref Vector3f a, float[] b, int i)
{
a[0] = Math.Min(a[0], b[i + 0]);
a[1] = Math.Min(a[1], b[i + 1]);
a[2] = Math.Min(a[2], b[i + 2]);
a.x = Math.Min(a[0], b[i + 0]);
a.y = Math.Min(a[1], b[i + 1]);
a.z = Math.Min(a[2], b[i + 2]);
}
public static void min(ref Vector3f a, Vector3f b, int i)
{
a[0] = Math.Min(a[0], b[i + 0]);
a[1] = Math.Min(a[1], b[i + 1]);
a[2] = Math.Min(a[2], b[i + 2]);
a.x = Math.Min(a[0], b[i + 0]);
a.y = Math.Min(a[1], b[i + 1]);
a.z = Math.Min(a[2], b[i + 2]);
}
public static void max(ref Vector3f a, float[] b, int i)
{
a[0] = Math.Max(a[0], b[i + 0]);
a[1] = Math.Max(a[1], b[i + 1]);
a[2] = Math.Max(a[2], b[i + 2]);
a.x = Math.Max(a[0], b[i + 0]);
a.y = Math.Max(a[1], b[i + 1]);
a.z = Math.Max(a[2], b[i + 2]);
}
public static void max(ref Vector3f a, Vector3f b, int i)
{
a[0] = Math.Max(a[0], b[i + 0]);
a[1] = Math.Max(a[1], b[i + 1]);
a[2] = Math.Max(a[2], b[i + 2]);
a.x = Math.Max(a[0], b[i + 0]);
a.y = Math.Max(a[1], b[i + 1]);
a.z = Math.Max(a[2], b[i + 2]);
}
public static void copy(ref Vector3f @out, float[] @in, int i)
@ -103,25 +103,25 @@ namespace DotRecast.Recast
public static void add(ref Vector3f e0, Vector3f a, float[] verts, int i)
{
e0[0] = a[0] + verts[i];
e0[1] = a[1] + verts[i + 1];
e0[2] = a[2] + verts[i + 2];
e0.x = a[0] + verts[i];
e0.y = a[1] + verts[i + 1];
e0.z = a[2] + verts[i + 2];
}
public static void sub(ref Vector3f e0, float[] verts, int i, int j)
{
e0[0] = verts[i] - verts[j];
e0[1] = verts[i + 1] - verts[j + 1];
e0[2] = verts[i + 2] - verts[j + 2];
e0.x = verts[i] - verts[j];
e0.y = verts[i + 1] - verts[j + 1];
e0.z = verts[i + 2] - verts[j + 2];
}
public static void sub(ref Vector3f e0, Vector3f i, float[] verts, int j)
{
e0[0] = i[0] - verts[j];
e0[1] = i[1] - verts[j + 1];
e0[2] = i[2] - verts[j + 2];
e0.x = i[0] - verts[j];
e0.y = i[1] - verts[j + 1];
e0.z = i[2] - verts[j + 2];
}
@ -141,9 +141,9 @@ namespace DotRecast.Recast
public static void cross(ref Vector3f dest, Vector3f v1, Vector3f v2)
{
dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
dest[1] = v1[2] * v2[0] - v1[0] * v2[2];
dest[2] = v1[0] * v2[1] - v1[1] * v2[0];
dest.x = v1[1] * v2[2] - v1[2] * v2[1];
dest.y = v1[2] * v2[0] - v1[0] * v2[2];
dest.z = v1[0] * v2[1] - v1[1] * v2[0];
}
@ -158,9 +158,9 @@ namespace DotRecast.Recast
public static void normalize(ref Vector3f v)
{
float d = (float)(1.0f / Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]));
v[0] *= d;
v[1] *= d;
v[2] *= d;
v.x *= d;
v.y *= d;
v.z *= d;
}
public static float dot(float[] v1, float[] v2)