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DotRecastNetSim
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remove nullable float in GetPolyHeight

This commit is contained in:
ikpil 2023-08-02 23:43:56 +09:00
parent bc3e8cd7bd
commit dab3a9e020
3 changed files with 21 additions and 18 deletions
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22
src/DotRecast.Detour/DtNavMesh.cs
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@ -1221,13 +1221,15 @@ namespace DotRecast.Detour
return RcVec3f.Lerp(pmin, pmax, tmin); return RcVec3f.Lerp(pmin, pmax, tmin);
} }
public float? GetPolyHeight(DtMeshTile tile, DtPoly poly, RcVec3f pos) public bool GetPolyHeight(DtMeshTile tile, DtPoly poly, RcVec3f pos, out float height)
{ {
height = 0;
// Off-mesh connections do not have detail polys and getting height // Off-mesh connections do not have detail polys and getting height
// over them does not make sense. // over them does not make sense.
if (poly.GetPolyType() == DtPoly.DT_POLYTYPE_OFFMESH_CONNECTION) if (poly.GetPolyType() == DtPoly.DT_POLYTYPE_OFFMESH_CONNECTION)
{ {
return null; return false;
} }
int ip = poly.index; int ip = poly.index;
@ -1241,7 +1243,7 @@ namespace DotRecast.Detour
if (!DtUtils.PointInPolygon(pos, verts, nv)) if (!DtUtils.PointInPolygon(pos, verts, nv))
{ {
return null; return false;
} }
// Find height at the location. // Find height at the location.
@ -1278,7 +1280,8 @@ namespace DotRecast.Detour
if (DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2], out var h)) if (DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2], out var h))
{ {
return h; height = h;
return true;
} }
} }
} }
@ -1299,7 +1302,8 @@ namespace DotRecast.Detour
if (DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2], out var h)) if (DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2], out var h))
{ {
return h; height = h;
return true;
} }
} }
} }
@ -1309,7 +1313,8 @@ namespace DotRecast.Detour
// closest. This should almost never happen so the extra iteration here is // closest. This should almost never happen so the extra iteration here is
// ok. // ok.
var closest = ClosestPointOnDetailEdges(tile, poly, pos, false); var closest = ClosestPointOnDetailEdges(tile, poly, pos, false);
return closest.y; height = closest.y;
return true;
} }
public void ClosestPointOnPoly(long refs, RcVec3f pos, out RcVec3f closest, out bool posOverPoly) public void ClosestPointOnPoly(long refs, RcVec3f pos, out RcVec3f closest, out bool posOverPoly)
@ -1317,10 +1322,9 @@ namespace DotRecast.Detour
GetTileAndPolyByRefUnsafe(refs, out var tile, out var poly); GetTileAndPolyByRefUnsafe(refs, out var tile, out var poly);
closest = pos; closest = pos;
float? h = GetPolyHeight(tile, poly, pos); if (GetPolyHeight(tile, poly, pos, out var h))
if (null != h)
{ {
closest.y = h.Value; closest.y = h;
posOverPoly = true; posOverPoly = true;
return; return;
} }

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

@ -551,11 +551,12 @@ namespace DotRecast.Detour
return DtStatus.DT_SUCCSESS; return DtStatus.DT_SUCCSESS;
} }
float? h = m_nav.GetPolyHeight(tile, poly, pos); if (!m_nav.GetPolyHeight(tile, poly, pos, out var h))
if (!h.HasValue) {
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM; return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
}
height = h.Value; height = h;
return DtStatus.DT_SUCCSESS; return DtStatus.DT_SUCCSESS;
} }
@ -3424,6 +3425,7 @@ namespace DotRecast.Detour
curNode = nextNode; curNode = nextNode;
} while (curNode != null); } while (curNode != null);
path.Reverse(); path.Reverse();
return DtStatus.DT_SUCCSESS; return DtStatus.DT_SUCCSESS;
} }

9
src/DotRecast.Recast/RecastFilledVolumeRasterization.cs
View File

@ -365,8 +365,7 @@ namespace DotRecast.Recast
return s; return s;
} }
private static float[] SlabsCylinderIntersection(float[] rectangle, RcVec3f start, RcVec3f end, RcVec3f axis, float radiusSqr, private static float[] SlabsCylinderIntersection(float[] rectangle, RcVec3f start, RcVec3f end, RcVec3f axis, float radiusSqr, float[] s)
float[] s)
{ {
if (Math.Min(start.x, end.x) < rectangle[0]) if (Math.Min(start.x, end.x) < rectangle[0])
{ {
@ -702,8 +701,7 @@ namespace DotRecast.Recast
return null; return null;
} }
private static float? XSlabSegmentIntersection(float[] rectangle, float x, float y, float z, float dx, float dy, float dz, private static float? XSlabSegmentIntersection(float[] rectangle, float x, float y, float z, float dx, float dy, float dz, float slabX)
float slabX)
{ {
float x2 = x + dx; float x2 = x + dx;
if ((x < slabX && x2 > slabX) || (x > slabX && x2 < slabX)) if ((x < slabX && x2 > slabX) || (x > slabX && x2 < slabX))
@ -719,8 +717,7 @@ namespace DotRecast.Recast
return null; return null;
} }
private static float? ZSlabSegmentIntersection(float[] rectangle, float x, float y, float z, float dx, float dy, float dz, private static float? ZSlabSegmentIntersection(float[] rectangle, float x, float y, float z, float dx, float dy, float dz, float slabZ)
float slabZ)
{ {
float z2 = z + dz; float z2 = z + dz;
if ((z < slabZ && z2 > slabZ) || (z > slabZ && z2 < slabZ)) if ((z < slabZ && z2 > slabZ) || (z > slabZ && z2 < slabZ))