forked from bit/DotRecastNetSim
refactor: DynamicUpdateTool
This commit is contained in:
ikpil
parent
a4da8001e6
commit
db6b222e25
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@ -1,22 +1,106 @@
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namespace DotRecast.Core
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{
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public struct RcMatrix4x4
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public struct RcMatrix4x4f
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{
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public float m11;
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public float m12;
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public float m13;
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public float m14;
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public float m21;
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public float m22;
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public float m23;
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public float m24;
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public float m31;
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public float m32;
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public float m33;
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public float m34;
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public float m41;
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public float m42;
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public float m43;
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public float m44;
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private static readonly RcMatrix4x4f _identity = new RcMatrix4x4f
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(
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1f, 0f, 0f, 0f,
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0f, 1f, 0f, 0f,
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0f, 0f, 1f, 0f,
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0f, 0f, 0f, 1f
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);
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public float M11;
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public float M12;
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public float M13;
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public float M14;
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public float M21;
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public float M22;
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public float M23;
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public float M24;
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public float M31;
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public float M32;
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public float M33;
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public float M34;
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public float M41;
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public float M42;
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public float M43;
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public float M44;
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public RcMatrix4x4f(
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float m11, float m12, float m13, float m14,
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float m21, float m22, float m23, float m24,
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float m31, float m32, float m33, float m34,
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float m41, float m42, float m43, float m44)
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{
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M11 = m11;
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M12 = m12;
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M13 = m13;
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M14 = m14;
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M21 = m21;
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M22 = m22;
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M23 = m23;
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M24 = m24;
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M31 = m31;
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M32 = m32;
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M33 = m33;
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M34 = m34;
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M41 = m41;
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M42 = m42;
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M43 = m43;
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M44 = m44;
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}
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public static RcMatrix4x4f Identity => _identity;
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public readonly bool IsIdentity =>
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M11.Equals(1f) && M22.Equals(1f) && M33.Equals(1f) && M44.Equals(1f) &&
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M12 == 0f && M13 == 0f && M14 == 0f &&
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M21 == 0f && M23 == 0f && M24 == 0f &&
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M31 == 0f && M32 == 0f && M34 == 0f &&
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M41 == 0f && M42 == 0f && M43 == 0f;
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public static RcMatrix4x4f Mul(RcMatrix4x4f left, RcMatrix4x4f right)
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{
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float m11 = left.M11 * right.M11 + left.M21 * right.M12 + left.M31 * right.M13 + left.M41 * right.M14;
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float m12 = left.M12 * right.M11 + left.M22 * right.M12 + left.M32 * right.M13 + left.M42 * right.M14;
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float m13 = left.M13 * right.M11 + left.M23 * right.M12 + left.M33 * right.M13 + left.M43 * right.M14;
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float m14 = left.M14 * right.M11 + left.M24 * right.M12 + left.M34 * right.M13 + left.M44 * right.M14;
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float m21 = left.M11 * right.M21 + left.M21 * right.M22 + left.M31 * right.M23 + left.M41 * right.M24;
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float m22 = left.M12 * right.M21 + left.M22 * right.M22 + left.M32 * right.M23 + left.M42 * right.M24;
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float m23 = left.M13 * right.M21 + left.M23 * right.M22 + left.M33 * right.M23 + left.M43 * right.M24;
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float m24 = left.M14 * right.M21 + left.M24 * right.M22 + left.M34 * right.M23 + left.M44 * right.M24;
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float m31 = left.M11 * right.M31 + left.M21 * right.M32 + left.M31 * right.M33 + left.M41 * right.M34;
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float m32 = left.M12 * right.M31 + left.M22 * right.M32 + left.M32 * right.M33 + left.M42 * right.M34;
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float m33 = left.M13 * right.M31 + left.M23 * right.M32 + left.M33 * right.M33 + left.M43 * right.M34;
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float m34 = left.M14 * right.M31 + left.M24 * right.M32 + left.M34 * right.M33 + left.M44 * right.M34;
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float m41 = left.M11 * right.M41 + left.M21 * right.M42 + left.M31 * right.M43 + left.M41 * right.M44;
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float m42 = left.M12 * right.M41 + left.M22 * right.M42 + left.M32 * right.M43 + left.M42 * right.M44;
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float m43 = left.M13 * right.M41 + left.M23 * right.M42 + left.M33 * right.M43 + left.M43 * right.M44;
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float m44 = left.M14 * right.M41 + left.M24 * right.M42 + left.M34 * right.M43 + left.M44 * right.M44;
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RcMatrix4x4f dest = new RcMatrix4x4f();
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dest.M11 = m11;
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dest.M12 = m12;
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dest.M13 = m13;
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dest.M14 = m14;
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dest.M21 = m21;
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dest.M22 = m22;
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dest.M23 = m23;
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dest.M24 = m24;
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dest.M31 = m31;
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dest.M32 = m32;
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dest.M33 = m33;
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dest.M34 = m34;
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dest.M41 = m41;
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dest.M42 = m42;
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dest.M43 = m43;
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dest.M44 = m44;
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return dest;
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}
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}
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}
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@ -83,10 +83,7 @@ public class DynamicUpdateSampleTool : ISampleTool
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private DynamicNavMesh dynaMesh;
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private readonly TaskFactory executor;
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private readonly Dictionary<long, RcGizmo> colliderGizmos = new();
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private readonly Random random = Random.Shared;
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private readonly DemoInputGeomProvider bridgeGeom;
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private readonly DemoInputGeomProvider houseGeom;
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private readonly DemoInputGeomProvider convexGeom;
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private bool sposSet;
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private bool eposSet;
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private RcVec3f spos;
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@ -96,11 +93,11 @@ public class DynamicUpdateSampleTool : ISampleTool
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public DynamicUpdateSampleTool()
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{
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_tool = new();
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var bridgeGeom = DemoObjImporter.Load(Loader.ToBytes("bridge.obj"));
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var houseGeom = DemoObjImporter.Load(Loader.ToBytes("house.obj"));
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var convexGeom = DemoObjImporter.Load(Loader.ToBytes("convex.obj"));
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_tool = new(Random.Shared, bridgeGeom, houseGeom, convexGeom);
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executor = Task.Factory;
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bridgeGeom = DemoObjImporter.Load(Loader.ToBytes("bridge.obj"));
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houseGeom = DemoObjImporter.Load(Loader.ToBytes("house.obj"));
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convexGeom = DemoObjImporter.Load(Loader.ToBytes("convex.obj"));
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}
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public void Layout()
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@ -371,35 +368,35 @@ public class DynamicUpdateSampleTool : ISampleTool
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{
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if (colliderShape == DynamicColliderShape.SPHERE)
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{
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colliderWithGizmo = SphereCollider(p);
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colliderWithGizmo = _tool.SphereCollider(p, dynaMesh.config.walkableClimb);
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}
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else if (colliderShape == DynamicColliderShape.CAPSULE)
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{
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colliderWithGizmo = CapsuleCollider(p);
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colliderWithGizmo = _tool.CapsuleCollider(p, dynaMesh.config.walkableClimb);
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}
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else if (colliderShape == DynamicColliderShape.BOX)
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{
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colliderWithGizmo = BoxCollider(p);
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colliderWithGizmo = _tool.BoxCollider(p, dynaMesh.config.walkableClimb);
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}
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else if (colliderShape == DynamicColliderShape.CYLINDER)
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{
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colliderWithGizmo = CylinderCollider(p);
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colliderWithGizmo = _tool.CylinderCollider(p, dynaMesh.config.walkableClimb);
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}
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else if (colliderShape == DynamicColliderShape.COMPOSITE)
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{
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colliderWithGizmo = CompositeCollider(p);
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colliderWithGizmo = _tool.CompositeCollider(p, dynaMesh.config.walkableClimb);
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}
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else if (colliderShape == DynamicColliderShape.TRIMESH_BRIDGE)
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{
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colliderWithGizmo = TrimeshBridge(p);
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colliderWithGizmo = _tool.TrimeshBridge(p, dynaMesh.config.walkableClimb);
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}
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else if (colliderShape == DynamicColliderShape.TRIMESH_HOUSE)
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{
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colliderWithGizmo = TrimeshHouse(p);
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colliderWithGizmo = _tool.TrimeshHouse(p, dynaMesh.config.walkableClimb);
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}
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else if (colliderShape == DynamicColliderShape.CONVEX)
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{
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colliderWithGizmo = ConvexTrimesh(p);
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colliderWithGizmo = _tool.ConvexTrimesh(p, dynaMesh.config.walkableClimb);
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}
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}
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@ -440,177 +437,6 @@ public class DynamicUpdateSampleTool : ISampleTool
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}
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}
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private RcGizmo SphereCollider(RcVec3f p)
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{
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float radius = 1 + (float)random.NextDouble() * 10;
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var collider = new SphereCollider(p, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb);
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var gizmo = GizmoFactory.Sphere(p, radius);
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return new RcGizmo(collider, gizmo);
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}
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private RcGizmo CapsuleCollider(RcVec3f p)
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{
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float radius = 0.4f + (float)random.NextDouble() * 4f;
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RcVec3f a = RcVec3f.Of(
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(1f - 2 * (float)random.NextDouble()),
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0.01f + (float)random.NextDouble(),
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(1f - 2 * (float)random.NextDouble())
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);
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a.Normalize();
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float len = 1f + (float)random.NextDouble() * 20f;
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a.x *= len;
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a.y *= len;
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a.z *= len;
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RcVec3f start = RcVec3f.Of(p.x, p.y, p.z);
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RcVec3f end = RcVec3f.Of(p.x + a.x, p.y + a.y, p.z + a.z);
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var collider = new CapsuleCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb);
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var gizmo = GizmoFactory.Capsule(start, end, radius);
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return new RcGizmo(collider, gizmo);
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}
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private RcGizmo BoxCollider(RcVec3f p)
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{
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RcVec3f extent = RcVec3f.Of(
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0.5f + (float)random.NextDouble() * 6f,
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0.5f + (float)random.NextDouble() * 6f,
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0.5f + (float)random.NextDouble() * 6f
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);
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RcVec3f forward = RcVec3f.Of((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()));
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RcVec3f up = RcVec3f.Of((1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()));
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RcVec3f[] halfEdges = Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(up, forward, extent);
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var collider = new BoxCollider(p, halfEdges, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb);
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var gizmo = GizmoFactory.Box(p, halfEdges);
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return new RcGizmo(collider, gizmo);
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}
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private RcGizmo CylinderCollider(RcVec3f p)
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{
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float radius = 0.7f + (float)random.NextDouble() * 4f;
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RcVec3f a = RcVec3f.Of(1f - 2 * (float)random.NextDouble(), 0.01f + (float)random.NextDouble(), 1f - 2 * (float)random.NextDouble());
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a.Normalize();
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float len = 2f + (float)random.NextDouble() * 20f;
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a[0] *= len;
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a[1] *= len;
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a[2] *= len;
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RcVec3f start = RcVec3f.Of(p.x, p.y, p.z);
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RcVec3f end = RcVec3f.Of(p.x + a.x, p.y + a.y, p.z + a.z);
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var collider = new CylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb);
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var gizmo = GizmoFactory.Cylinder(start, end, radius);
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return new RcGizmo(collider, gizmo);
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}
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private RcGizmo CompositeCollider(RcVec3f p)
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{
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RcVec3f baseExtent = RcVec3f.Of(5, 3, 8);
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RcVec3f baseCenter = RcVec3f.Of(p.x, p.y + 3, p.z);
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RcVec3f baseUp = RcVec3f.Of(0, 1, 0);
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RcVec3f forward = RcVec3f.Of((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()));
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forward.Normalize();
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RcVec3f side = RcVec3f.Cross(forward, baseUp);
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BoxCollider @base = new BoxCollider(baseCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(baseUp, forward, baseExtent),
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SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb);
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var roofUp = RcVec3f.Zero;
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RcVec3f roofExtent = RcVec3f.Of(4.5f, 4.5f, 8f);
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float[] rx = GLU.Build_4x4_rotation_matrix(45, forward.x, forward.y, forward.z);
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roofUp = MulMatrixVector(ref roofUp, rx, baseUp);
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RcVec3f roofCenter = RcVec3f.Of(p.x, p.y + 6, p.z);
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BoxCollider roof = new BoxCollider(roofCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(roofUp, forward, roofExtent),
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SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb);
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RcVec3f trunkStart = RcVec3f.Of(
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baseCenter.x - forward.x * 15 + side.x * 6,
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p.y,
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baseCenter.z - forward.z * 15 + side.z * 6
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);
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RcVec3f trunkEnd = RcVec3f.Of(trunkStart.x, trunkStart.y + 10, trunkStart.z);
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CapsuleCollider trunk = new CapsuleCollider(trunkStart, trunkEnd, 0.5f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
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dynaMesh.config.walkableClimb);
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RcVec3f crownCenter = RcVec3f.Of(
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baseCenter.x - forward.x * 15 + side.x * 6, p.y + 10,
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baseCenter.z - forward.z * 15 + side.z * 6
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);
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SphereCollider crown = new SphereCollider(crownCenter, 4f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS,
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dynaMesh.config.walkableClimb);
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CompositeCollider collider = new CompositeCollider(@base, roof, trunk, crown);
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IRcGizmoMeshFilter baseGizmo = GizmoFactory.Box(baseCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(baseUp, forward, baseExtent));
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IRcGizmoMeshFilter roofGizmo = GizmoFactory.Box(roofCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(roofUp, forward, roofExtent));
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IRcGizmoMeshFilter trunkGizmo = GizmoFactory.Capsule(trunkStart, trunkEnd, 0.5f);
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IRcGizmoMeshFilter crownGizmo = GizmoFactory.Sphere(crownCenter, 4f);
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IRcGizmoMeshFilter gizmo = GizmoFactory.Composite(baseGizmo, roofGizmo, trunkGizmo, crownGizmo);
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return new RcGizmo(collider, gizmo);
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}
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private RcGizmo TrimeshBridge(RcVec3f p)
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{
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return TrimeshCollider(p, bridgeGeom);
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}
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private RcGizmo TrimeshHouse(RcVec3f p)
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{
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return TrimeshCollider(p, houseGeom);
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}
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private RcGizmo ConvexTrimesh(RcVec3f p)
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{
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float[] verts = TransformVertices(p, convexGeom, 360);
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var collider = new ConvexTrimeshCollider(verts, convexGeom.faces,
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SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb * 10);
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var gizmo = GizmoFactory.Trimesh(verts, convexGeom.faces);
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return new RcGizmo(collider, gizmo);
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}
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private RcGizmo TrimeshCollider(RcVec3f p, DemoInputGeomProvider geom)
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{
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float[] verts = TransformVertices(p, geom, 0);
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var collider = new TrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
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dynaMesh.config.walkableClimb * 10);
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var gizmo = GizmoFactory.Trimesh(verts, geom.faces);
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return new RcGizmo(collider, gizmo);
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}
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private float[] TransformVertices(RcVec3f p, DemoInputGeomProvider geom, float ax)
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{
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float[] rx = GLU.Build_4x4_rotation_matrix((float)random.NextDouble() * ax, 1, 0, 0);
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float[] ry = GLU.Build_4x4_rotation_matrix((float)random.NextDouble() * 360, 0, 1, 0);
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float[] m = GLU.Mul(rx, ry);
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float[] verts = new float[geom.vertices.Length];
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RcVec3f v = new RcVec3f();
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RcVec3f vr = new RcVec3f();
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for (int i = 0; i < geom.vertices.Length; i += 3)
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{
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v.x = geom.vertices[i];
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v.y = geom.vertices[i + 1];
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v.z = geom.vertices[i + 2];
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MulMatrixVector(ref vr, m, v);
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vr.x += p.x;
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vr.y += p.y - 0.1f;
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vr.z += p.z;
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verts[i] = vr.x;
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verts[i + 1] = vr.y;
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verts[i + 2] = vr.z;
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}
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return verts;
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}
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private float[] MulMatrixVector(float[] resultvector, float[] matrix, float[] pvector)
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{
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resultvector[0] = matrix[0] * pvector[0] + matrix[4] * pvector[1] + matrix[8] * pvector[2];
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resultvector[1] = matrix[1] * pvector[0] + matrix[5] * pvector[1] + matrix[9] * pvector[2];
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resultvector[2] = matrix[2] * pvector[0] + matrix[6] * pvector[1] + matrix[10] * pvector[2];
|
||||
return resultvector;
|
||||
}
|
||||
|
||||
private RcVec3f MulMatrixVector(ref RcVec3f resultvector, float[] matrix, RcVec3f pvector)
|
||||
{
|
||||
resultvector.x = matrix[0] * pvector.x + matrix[4] * pvector.y + matrix[8] * pvector.z;
|
||||
resultvector.y = matrix[1] * pvector.x + matrix[5] * pvector.y + matrix[9] * pvector.z;
|
||||
resultvector.z = matrix[2] * pvector.x + matrix[6] * pvector.y + matrix[10] * pvector.z;
|
||||
return resultvector;
|
||||
}
|
||||
|
||||
|
||||
public void HandleClickRay(RcVec3f start, RcVec3f dir, bool shift)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -1,9 +1,10 @@
|
|||
using System;
|
||||
using System.Numerics;
|
||||
|
||||
using System.Collections.Generic;
|
||||
using System.Collections.Immutable;
|
||||
using System.Drawing;
|
||||
using System.IO;
|
||||
using System.Numerics;
|
||||
using ImGuiNET;
|
||||
using Serilog;
|
||||
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@ freely, subject to the following restrictions:
|
|||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
using System.Numerics;
|
||||
|
||||
using ImGuiNET;
|
||||
using Serilog;
|
||||
using Serilog.Core;
|
||||
|
|
|
|||
|
|
@ -1,11 +1,30 @@
|
|||
using System.IO;
|
||||
using System;
|
||||
using System.IO;
|
||||
|
||||
using DotRecast.Core;
|
||||
using DotRecast.Detour.Dynamic.Colliders;
|
||||
using DotRecast.Detour.Dynamic.Io;
|
||||
using DotRecast.Recast.Toolset.Builder;
|
||||
using DotRecast.Recast.Toolset.Geom;
|
||||
using DotRecast.Recast.Toolset.Gizmos;
|
||||
|
||||
namespace DotRecast.Recast.Toolset.Tools
|
||||
{
|
||||
public class RcDynamicUpdateTool : IRcToolable
|
||||
{
|
||||
private readonly Random random;
|
||||
private readonly DemoInputGeomProvider bridgeGeom;
|
||||
private readonly DemoInputGeomProvider houseGeom;
|
||||
private readonly DemoInputGeomProvider convexGeom;
|
||||
|
||||
public RcDynamicUpdateTool(Random rand, DemoInputGeomProvider bridgeGeom, DemoInputGeomProvider houseGeom, DemoInputGeomProvider convexGeom)
|
||||
{
|
||||
this.random = rand;
|
||||
this.bridgeGeom = bridgeGeom;
|
||||
this.houseGeom = houseGeom;
|
||||
this.convexGeom = convexGeom;
|
||||
}
|
||||
|
||||
public string GetName()
|
||||
{
|
||||
return "Dynamic Updates";
|
||||
|
|
@ -28,5 +47,216 @@ namespace DotRecast.Recast.Toolset.Tools
|
|||
VoxelFileWriter writer = new VoxelFileWriter(compressor);
|
||||
writer.Write(bw, voxelFile, compression);
|
||||
}
|
||||
|
||||
|
||||
public RcGizmo SphereCollider(RcVec3f p, float walkableClimb)
|
||||
{
|
||||
float radius = 1 + (float)random.NextDouble() * 10;
|
||||
var collider = new SphereCollider(p, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
|
||||
var gizmo = GizmoFactory.Sphere(p, radius);
|
||||
|
||||
return new RcGizmo(collider, gizmo);
|
||||
}
|
||||
|
||||
public RcGizmo CapsuleCollider(RcVec3f p, float walkableClimb)
|
||||
{
|
||||
float radius = 0.4f + (float)random.NextDouble() * 4f;
|
||||
RcVec3f a = RcVec3f.Of(
|
||||
(1f - 2 * (float)random.NextDouble()),
|
||||
0.01f + (float)random.NextDouble(),
|
||||
(1f - 2 * (float)random.NextDouble())
|
||||
);
|
||||
a.Normalize();
|
||||
float len = 1f + (float)random.NextDouble() * 20f;
|
||||
a.x *= len;
|
||||
a.y *= len;
|
||||
a.z *= len;
|
||||
RcVec3f start = RcVec3f.Of(p.x, p.y, p.z);
|
||||
RcVec3f end = RcVec3f.Of(p.x + a.x, p.y + a.y, p.z + a.z);
|
||||
var collider = new CapsuleCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
|
||||
var gizmo = GizmoFactory.Capsule(start, end, radius);
|
||||
return new RcGizmo(collider, gizmo);
|
||||
}
|
||||
|
||||
public RcGizmo BoxCollider(RcVec3f p, float walkableClimb)
|
||||
{
|
||||
RcVec3f extent = RcVec3f.Of(
|
||||
0.5f + (float)random.NextDouble() * 6f,
|
||||
0.5f + (float)random.NextDouble() * 6f,
|
||||
0.5f + (float)random.NextDouble() * 6f
|
||||
);
|
||||
RcVec3f forward = RcVec3f.Of((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()));
|
||||
RcVec3f up = RcVec3f.Of((1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()));
|
||||
RcVec3f[] halfEdges = Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(up, forward, extent);
|
||||
var collider = new BoxCollider(p, halfEdges, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
|
||||
var gizmo = GizmoFactory.Box(p, halfEdges);
|
||||
return new RcGizmo(collider, gizmo);
|
||||
}
|
||||
|
||||
public RcGizmo CylinderCollider(RcVec3f p, float walkableClimb)
|
||||
{
|
||||
float radius = 0.7f + (float)random.NextDouble() * 4f;
|
||||
RcVec3f a = RcVec3f.Of(1f - 2 * (float)random.NextDouble(), 0.01f + (float)random.NextDouble(), 1f - 2 * (float)random.NextDouble());
|
||||
a.Normalize();
|
||||
float len = 2f + (float)random.NextDouble() * 20f;
|
||||
a[0] *= len;
|
||||
a[1] *= len;
|
||||
a[2] *= len;
|
||||
RcVec3f start = RcVec3f.Of(p.x, p.y, p.z);
|
||||
RcVec3f end = RcVec3f.Of(p.x + a.x, p.y + a.y, p.z + a.z);
|
||||
var collider = new CylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
|
||||
var gizmo = GizmoFactory.Cylinder(start, end, radius);
|
||||
|
||||
return new RcGizmo(collider, gizmo);
|
||||
}
|
||||
|
||||
public RcGizmo CompositeCollider(RcVec3f p, float walkableClimb)
|
||||
{
|
||||
RcVec3f baseExtent = RcVec3f.Of(5, 3, 8);
|
||||
RcVec3f baseCenter = RcVec3f.Of(p.x, p.y + 3, p.z);
|
||||
RcVec3f baseUp = RcVec3f.Of(0, 1, 0);
|
||||
RcVec3f forward = RcVec3f.Of((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()));
|
||||
forward.Normalize();
|
||||
RcVec3f side = RcVec3f.Cross(forward, baseUp);
|
||||
BoxCollider @base = new BoxCollider(baseCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(baseUp, forward, baseExtent),
|
||||
SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb);
|
||||
var roofUp = RcVec3f.Zero;
|
||||
RcVec3f roofExtent = RcVec3f.Of(4.5f, 4.5f, 8f);
|
||||
var rx = Matrix(45, forward.x, forward.y, forward.z);
|
||||
roofUp = MulMatrixVector(ref roofUp, rx, baseUp);
|
||||
RcVec3f roofCenter = RcVec3f.Of(p.x, p.y + 6, p.z);
|
||||
BoxCollider roof = new BoxCollider(roofCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(roofUp, forward, roofExtent),
|
||||
SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb);
|
||||
RcVec3f trunkStart = RcVec3f.Of(
|
||||
baseCenter.x - forward.x * 15 + side.x * 6,
|
||||
p.y,
|
||||
baseCenter.z - forward.z * 15 + side.z * 6
|
||||
);
|
||||
RcVec3f trunkEnd = RcVec3f.Of(trunkStart.x, trunkStart.y + 10, trunkStart.z);
|
||||
CapsuleCollider trunk = new CapsuleCollider(trunkStart, trunkEnd, 0.5f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
|
||||
walkableClimb);
|
||||
RcVec3f crownCenter = RcVec3f.Of(
|
||||
baseCenter.x - forward.x * 15 + side.x * 6, p.y + 10,
|
||||
baseCenter.z - forward.z * 15 + side.z * 6
|
||||
);
|
||||
SphereCollider crown = new SphereCollider(crownCenter, 4f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS,
|
||||
walkableClimb);
|
||||
CompositeCollider collider = new CompositeCollider(@base, roof, trunk, crown);
|
||||
IRcGizmoMeshFilter baseGizmo = GizmoFactory.Box(baseCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(baseUp, forward, baseExtent));
|
||||
IRcGizmoMeshFilter roofGizmo = GizmoFactory.Box(roofCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(roofUp, forward, roofExtent));
|
||||
IRcGizmoMeshFilter trunkGizmo = GizmoFactory.Capsule(trunkStart, trunkEnd, 0.5f);
|
||||
IRcGizmoMeshFilter crownGizmo = GizmoFactory.Sphere(crownCenter, 4f);
|
||||
IRcGizmoMeshFilter gizmo = GizmoFactory.Composite(baseGizmo, roofGizmo, trunkGizmo, crownGizmo);
|
||||
return new RcGizmo(collider, gizmo);
|
||||
}
|
||||
|
||||
public RcGizmo TrimeshBridge(RcVec3f p, float walkableClimb)
|
||||
{
|
||||
return TrimeshCollider(p, bridgeGeom, walkableClimb);
|
||||
}
|
||||
|
||||
public RcGizmo TrimeshHouse(RcVec3f p, float walkableClimb)
|
||||
{
|
||||
return TrimeshCollider(p, houseGeom, walkableClimb);
|
||||
}
|
||||
|
||||
public RcGizmo ConvexTrimesh(RcVec3f p, float walkableClimb)
|
||||
{
|
||||
float[] verts = TransformVertices(p, convexGeom, 360);
|
||||
var collider = new ConvexTrimeshCollider(verts, convexGeom.faces,
|
||||
SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb * 10);
|
||||
var gizmo = GizmoFactory.Trimesh(verts, convexGeom.faces);
|
||||
return new RcGizmo(collider, gizmo);
|
||||
}
|
||||
|
||||
private RcGizmo TrimeshCollider(RcVec3f p, DemoInputGeomProvider geom, float walkableClimb)
|
||||
{
|
||||
float[] verts = TransformVertices(p, geom, 0);
|
||||
var collider = new TrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
|
||||
walkableClimb * 10);
|
||||
var gizmo = GizmoFactory.Trimesh(verts, geom.faces);
|
||||
|
||||
return new RcGizmo(collider, gizmo);
|
||||
}
|
||||
|
||||
private float[] TransformVertices(RcVec3f p, DemoInputGeomProvider geom, float ax)
|
||||
{
|
||||
var rx = Matrix((float)random.NextDouble() * ax, 1, 0, 0);
|
||||
var ry = Matrix((float)random.NextDouble() * 360, 0, 1, 0);
|
||||
var m = RcMatrix4x4f.Mul(rx, ry);
|
||||
float[] verts = new float[geom.vertices.Length];
|
||||
RcVec3f v = new RcVec3f();
|
||||
RcVec3f vr = new RcVec3f();
|
||||
for (int i = 0; i < geom.vertices.Length; i += 3)
|
||||
{
|
||||
v.x = geom.vertices[i];
|
||||
v.y = geom.vertices[i + 1];
|
||||
v.z = geom.vertices[i + 2];
|
||||
MulMatrixVector(ref vr, m, v);
|
||||
vr.x += p.x;
|
||||
vr.y += p.y - 0.1f;
|
||||
vr.z += p.z;
|
||||
verts[i] = vr.x;
|
||||
verts[i + 1] = vr.y;
|
||||
verts[i + 2] = vr.z;
|
||||
}
|
||||
|
||||
return verts;
|
||||
}
|
||||
|
||||
private static float[] MulMatrixVector(float[] resultvector, float[] matrix, float[] pvector)
|
||||
{
|
||||
resultvector[0] = matrix[0] * pvector[0] + matrix[4] * pvector[1] + matrix[8] * pvector[2];
|
||||
resultvector[1] = matrix[1] * pvector[0] + matrix[5] * pvector[1] + matrix[9] * pvector[2];
|
||||
resultvector[2] = matrix[2] * pvector[0] + matrix[6] * pvector[1] + matrix[10] * pvector[2];
|
||||
return resultvector;
|
||||
}
|
||||
|
||||
private static RcVec3f MulMatrixVector(ref RcVec3f resultvector, RcMatrix4x4f matrix, RcVec3f pvector)
|
||||
{
|
||||
resultvector.x = matrix.M11 * pvector.x + matrix.M21 * pvector.y + matrix.M31 * pvector.z;
|
||||
resultvector.y = matrix.M12 * pvector.x + matrix.M22 * pvector.y + matrix.M32 * pvector.z;
|
||||
resultvector.z = matrix.M13 * pvector.x + matrix.M23 * pvector.y + matrix.M33 * pvector.z;
|
||||
return resultvector;
|
||||
}
|
||||
|
||||
public static RcMatrix4x4f Matrix(float a, float x, float y, float z)
|
||||
{
|
||||
var matrix = new RcMatrix4x4f();
|
||||
a = (float)(a * Math.PI / 180.0); // convert to radians
|
||||
float s = (float)Math.Sin(a);
|
||||
float c = (float)Math.Cos(a);
|
||||
float t = 1.0f - c;
|
||||
|
||||
float tx = t * x;
|
||||
float ty = t * y;
|
||||
float tz = t * z;
|
||||
|
||||
float sz = s * z;
|
||||
float sy = s * y;
|
||||
float sx = s * x;
|
||||
|
||||
matrix.M11 = tx * x + c;
|
||||
matrix.M12 = tx * y + sz;
|
||||
matrix.M13 = tx * z - sy;
|
||||
matrix.M14 = 0;
|
||||
|
||||
matrix.M21 = tx * y - sz;
|
||||
matrix.M22 = ty * y + c;
|
||||
matrix.M23 = ty * z + sx;
|
||||
matrix.M24 = 0;
|
||||
|
||||
matrix.M31 = tx * z + sy;
|
||||
matrix.M32 = ty * z - sx;
|
||||
matrix.M33 = tz * z + c;
|
||||
matrix.M34 = 0;
|
||||
|
||||
matrix.M41 = 0;
|
||||
matrix.M42 = 0;
|
||||
matrix.M43 = 0;
|
||||
matrix.M44 = 1;
|
||||
|
||||
return matrix;
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue