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DotRecastNetSim
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C# style GetPolyHeight

This commit is contained in:
ikpil 2023-06-12 23:39:41 +09:00
parent 42583ab5d3
commit d8d3a572c9
4 changed files with 31 additions and 25 deletions
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6
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
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@ -433,10 +433,10 @@ namespace DotRecast.Detour.Crowd
// Adjust the position to stay on top of the navmesh. // Adjust the position to stay on top of the navmesh.
m_pos = result; m_pos = result;
Result<float> hr = navquery.GetPolyHeight(m_path[0], result); status = navquery.GetPolyHeight(m_path[0], result, out var h);
if (hr.Succeeded()) if (status.Succeeded())
{ {
m_pos.y = hr.result; m_pos.y = h;
} }
return true; return true;

9
src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
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@ -50,13 +50,12 @@ namespace DotRecast.Detour.Extras.Jumplink
RcAtomicFloat minHeight = new RcAtomicFloat(pt.y); RcAtomicFloat minHeight = new RcAtomicFloat(pt.y);
navMeshQuery.QueryPolygons(pt, halfExtents, filter, new PolyQueryInvoker((tile, poly, refs) => navMeshQuery.QueryPolygons(pt, halfExtents, filter, new PolyQueryInvoker((tile, poly, refs) =>
{ {
Result<float> h = navMeshQuery.GetPolyHeight(refs, pt); var status = navMeshQuery.GetPolyHeight(refs, pt, out var h);
if (h.Succeeded()) if (status.Succeeded())
{ {
float y = h.result; if (h > minHeight.Get() && h < maxHeight)
if (y > minHeight.Get() && y < maxHeight)
{ {
minHeight.Exchange(y); minHeight.Exchange(h);
found.Set(true); found.Set(true);
} }
} }

22
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -529,17 +529,19 @@ namespace DotRecast.Detour
/// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)] /// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)]
/// @param[out] height The height at the surface of the polygon. /// @param[out] height The height at the surface of the polygon.
/// @returns The status flags for the query. /// @returns The status flags for the query.
public Result<float> GetPolyHeight(long refs, RcVec3f pos) public DtStatus GetPolyHeight(long refs, RcVec3f pos, out float height)
{ {
height = default;
var status = m_nav.GetTileAndPolyByRef(refs, out var tile, out var poly); var status = m_nav.GetTileAndPolyByRef(refs, out var tile, out var poly);
if (status.Failed()) if (status.Failed())
{ {
return Results.Of<float>(status, ""); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
if (!RcVec3f.IsFinite2D(pos)) if (!RcVec3f.IsFinite2D(pos))
{ {
return Results.InvalidParam<float>(); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
// We used to return success for offmesh connections, but the // We used to return success for offmesh connections, but the
@ -551,12 +553,18 @@ namespace DotRecast.Detour
var v0 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] }; var v0 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
i = poly.verts[1] * 3; i = poly.verts[1] * 3;
var v1 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] }; var v1 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
var distSqr = DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var tseg); DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var t);
return Results.Success(v0.y + (v1.y - v0.y) * tseg); height = v0.y + (v1.y - v0.y) * t;
return DtStatus.DT_SUCCSESS;
} }
float? height = m_nav.GetPolyHeight(tile, poly, pos); float? h = m_nav.GetPolyHeight(tile, poly, pos);
return null != height ? Results.Success(height.Value) : Results.InvalidParam<float>(); if (!h.HasValue)
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
height = h.Value;
return DtStatus.DT_SUCCSESS;
} }
/// Finds the polygon nearest to the specified center point. /// Finds the polygon nearest to the specified center point.

17
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
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@ -247,10 +247,10 @@ public class TestNavmeshTool : IRcTool
polys = PathUtils.FixupCorridor(polys, visited); polys = PathUtils.FixupCorridor(polys, visited);
polys = PathUtils.FixupShortcuts(polys, m_navQuery); polys = PathUtils.FixupShortcuts(polys, m_navQuery);
Result<float> polyHeight = m_navQuery.GetPolyHeight(polys[0], result); var status = m_navQuery.GetPolyHeight(polys[0], result, out var h);
if (polyHeight.Succeeded()) if (status.Succeeded())
{ {
iterPos.y = polyHeight.result; iterPos.y = h;
} }
// Handle end of path and off-mesh links when close enough. // Handle end of path and off-mesh links when close enough.
@ -265,8 +265,7 @@ public class TestNavmeshTool : IRcTool
break; break;
} }
else if (offMeshConnection else if (offMeshConnection && PathUtils.InRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
&& PathUtils.InRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
{ {
// Reached off-mesh connection. // Reached off-mesh connection.
// Advance the path up to and over the off-mesh connection. // Advance the path up to and over the off-mesh connection.
@ -300,7 +299,8 @@ public class TestNavmeshTool : IRcTool
// Move position at the other side of the off-mesh link. // Move position at the other side of the off-mesh link.
iterPos = endPos; iterPos = endPos;
iterPos.y = m_navQuery.GetPolyHeight(polys[0], iterPos).result; m_navQuery.GetPolyHeight(polys[0], iterPos, out var eh);
iterPos.y = eh;
} }
} }
@ -383,11 +383,10 @@ public class TestNavmeshTool : IRcTool
// Adjust height. // Adjust height.
if (hit.result.path.Count > 0) if (hit.result.path.Count > 0)
{ {
Result<float> result = m_navQuery var result = m_navQuery.GetPolyHeight(hit.result.path[hit.result.path.Count - 1], m_hitPos, out var h);
.GetPolyHeight(hit.result.path[hit.result.path.Count - 1], m_hitPos);
if (result.Succeeded()) if (result.Succeeded())
{ {
m_hitPos.y = result.result; m_hitPos.y = h;
} }
} }
} }