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DotRecastNetSim
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refactor: test version SIMD System.Numerics.Vector3, Vector2

This commit is contained in:
ikpil 2023-10-28 13:47:57 +09:00
parent b341a41fae
commit dd9a5e55fc
169 changed files with 1666 additions and 1499 deletions
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108
src/DotRecast.Core/Numerics/RcVec2f.cs
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@ -3,58 +3,58 @@ using System.Runtime.CompilerServices;
namespace DotRecast.Core.Numerics namespace DotRecast.Core.Numerics
{ {
public struct RcVec2f // public struct Vector2
{ // {
public float X; // public float X;
public float Y; // public float Y;
//
public static RcVec2f Zero { get; } = new RcVec2f { X = 0, Y = 0 }; // public static Vector2 Zero { get; } = new Vector2 { X = 0, Y = 0 };
//
public RcVec2f(float x, float y) // public Vector2(float x, float y)
{ // {
X = x; // X = x;
Y = y; // Y = y;
} // }
//
public override bool Equals(object obj) // public override bool Equals(object obj)
{ // {
if (!(obj is RcVec2f)) // if (!(obj is Vector2))
return false; // return false;
//
return Equals((RcVec2f)obj); // return Equals((Vector2)obj);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool Equals(RcVec2f other) // public bool Equals(Vector2 other)
{ // {
return X.Equals(other.X) && // return X.Equals(other.X) &&
Y.Equals(other.Y); // Y.Equals(other.Y);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public override int GetHashCode() // public override int GetHashCode()
{ // {
int hash = X.GetHashCode(); // int hash = X.GetHashCode();
hash = RcHashCodes.CombineHashCodes(hash, Y.GetHashCode()); // hash = RcHashCodes.CombineHashCodes(hash, Y.GetHashCode());
return hash; // return hash;
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static bool operator ==(RcVec2f left, RcVec2f right) // public static bool operator ==(Vector2 left, Vector2 right)
{ // {
return left.Equals(right); // return left.Equals(right);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static bool operator !=(RcVec2f left, RcVec2f right) // public static bool operator !=(Vector2 left, Vector2 right)
{ // {
return !left.Equals(right); // return !left.Equals(right);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public override string ToString() // public override string ToString()
{ // {
return $"{X}, {Y}"; // return $"{X}, {Y}";
} // }
} // }
} }

472
src/DotRecast.Core/Numerics/RcVec3f.cs
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@ -21,240 +21,240 @@ using System.Runtime.CompilerServices;
namespace DotRecast.Core.Numerics namespace DotRecast.Core.Numerics
{ {
public struct RcVec3f // public struct Vector3
{ // {
public float X; // public float X;
public float Y; // public float Y;
public float Z; // public float Z;
//
public static RcVec3f Zero { get; } = new RcVec3f(0.0f, 0.0f, 0.0f); // public static Vector3 Zero { get; } = new Vector3(0.0f, 0.0f, 0.0f);
public static RcVec3f One { get; } = new RcVec3f(1.0f); // public static Vector3 One { get; } = new Vector3(1.0f);
public static RcVec3f UnitX { get; } = new RcVec3f(1.0f, 0.0f, 0.0f); // public static Vector3 UnitX { get; } = new Vector3(1.0f, 0.0f, 0.0f);
public static RcVec3f UnitY { get; } = new RcVec3f(0.0f, 1.0f, 0.0f); // public static Vector3 UnitY { get; } = new Vector3(0.0f, 1.0f, 0.0f);
public static RcVec3f UnitZ { get; } = new RcVec3f(0.0f, 0.0f, 1.0f); // public static Vector3 UnitZ { get; } = new Vector3(0.0f, 0.0f, 1.0f);
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public RcVec3f(float x, float y, float z) // public Vector3(float x, float y, float z)
{ // {
X = x; // X = x;
Y = y; // Y = y;
Z = z; // Z = z;
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public RcVec3f(float f) // public Vector3(float f)
{ // {
X = f; // X = f;
Y = f; // Y = f;
Z = f; // Z = f;
} // }
//
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public readonly float Length() // public readonly float Length()
{ // {
float lengthSquared = LengthSquared(); // float lengthSquared = LengthSquared();
return MathF.Sqrt(lengthSquared); // return MathF.Sqrt(lengthSquared);
} // }
//
/// Derives the square of the scalar length of the vector. (len * len) // /// Derives the square of the scalar length of the vector. (len * len)
/// @param[in] v The vector. [(x, y, z)] // /// @param[in] v The vector. [(x, y, z)]
/// @return The square of the scalar length of the vector. // /// @return The square of the scalar length of the vector.
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public readonly float LengthSquared() // public readonly float LengthSquared()
{ // {
return Dot(this, this); // return Dot(this, this);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Subtract(RcVec3f left, RcVec3f right) // public static Vector3 Subtract(Vector3 left, Vector3 right)
{ // {
return left - right; // return left - right;
} // }
//
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Add(RcVec3f left, RcVec3f right) // public static Vector3 Add(Vector3 left, Vector3 right)
{ // {
return left + right; // return left + right;
} // }
//
//
public override bool Equals(object obj) // public override bool Equals(object obj)
{ // {
if (!(obj is RcVec3f)) // if (!(obj is Vector3))
return false; // return false;
//
return Equals((RcVec3f)obj); // return Equals((Vector3)obj);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool Equals(RcVec3f other) // public bool Equals(Vector3 other)
{ // {
return X.Equals(other.X) && // return X.Equals(other.X) &&
Y.Equals(other.Y) && // Y.Equals(other.Y) &&
Z.Equals(other.Z); // Z.Equals(other.Z);
} // }
//
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public override int GetHashCode() // public override int GetHashCode()
{ // {
return HashCode.Combine(X, Y, Z); // return HashCode.Combine(X, Y, Z);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Min(RcVec3f value1, RcVec3f value2) // public static Vector3 Min(Vector3 value1, Vector3 value2)
{ // {
return new RcVec3f( // return new Vector3(
(value1.X < value2.X) ? value1.X : value2.X, // (value1.X < value2.X) ? value1.X : value2.X,
(value1.Y < value2.Y) ? value1.Y : value2.Y, // (value1.Y < value2.Y) ? value1.Y : value2.Y,
(value1.Z < value2.Z) ? value1.Z : value2.Z // (value1.Z < value2.Z) ? value1.Z : value2.Z
); // );
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Max(RcVec3f value1, RcVec3f value2) // public static Vector3 Max(Vector3 value1, Vector3 value2)
{ // {
return new RcVec3f( // return new Vector3(
(value1.X > value2.X) ? value1.X : value2.X, // (value1.X > value2.X) ? value1.X : value2.X,
(value1.Y > value2.Y) ? value1.Y : value2.Y, // (value1.Y > value2.Y) ? value1.Y : value2.Y,
(value1.Z > value2.Z) ? value1.Z : value2.Z // (value1.Z > value2.Z) ? value1.Z : value2.Z
); // );
} // }
//
public override string ToString() // public override string ToString()
{ // {
return $"{X}, {Y}, {Z}"; // return $"{X}, {Y}, {Z}";
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static bool operator ==(RcVec3f left, RcVec3f right) // public static bool operator ==(Vector3 left, Vector3 right)
{ // {
return left.Equals(right); // return left.Equals(right);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static bool operator !=(RcVec3f left, RcVec3f right) // public static bool operator !=(Vector3 left, Vector3 right)
{ // {
return !left.Equals(right); // return !left.Equals(right);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f operator -(RcVec3f left, RcVec3f right) // public static Vector3 operator -(Vector3 left, Vector3 right)
{ // {
return new RcVec3f( // return new Vector3(
left.X - right.X, // left.X - right.X,
left.Y - right.Y, // left.Y - right.Y,
left.Z - right.Z // left.Z - right.Z
); // );
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f operator +(RcVec3f left, RcVec3f right) // public static Vector3 operator +(Vector3 left, Vector3 right)
{ // {
return new RcVec3f( // return new Vector3(
left.X + right.X, // left.X + right.X,
left.Y + right.Y, // left.Y + right.Y,
left.Z + right.Z // left.Z + right.Z
); // );
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f operator *(RcVec3f left, RcVec3f right) // public static Vector3 operator *(Vector3 left, Vector3 right)
{ // {
return new RcVec3f( // return new Vector3(
left.X * right.X, // left.X * right.X,
left.Y * right.Y, // left.Y * right.Y,
left.Z * right.Z // left.Z * right.Z
); // );
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f operator *(RcVec3f left, float right) // public static Vector3 operator *(Vector3 left, float right)
{ // {
return left * new RcVec3f(right); // return left * new Vector3(right);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f operator *(float left, RcVec3f right) // public static Vector3 operator *(float left, Vector3 right)
{ // {
return right * left; // return right * left;
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Lerp(RcVec3f value1, RcVec3f value2, float amount) // public static Vector3 Lerp(Vector3 value1, Vector3 value2, float amount)
{ // {
return (value1 * (1f - amount)) + (value2 * amount); // return (value1 * (1f - amount)) + (value2 * amount);
// return new RcVec3f( // // return new Vector3(
// value1.X + (value2.X - value1.X) * amount, // // value1.X + (value2.X - value1.X) * amount,
// value1.Y + (value2.Y - value1.Y) * amount, // // value1.Y + (value2.Y - value1.Y) * amount,
// value1.Z + (value2.Z - value1.Z) * amount // // value1.Z + (value2.Z - value1.Z) * amount
// ); // // );
} // }
//
/// Returns the distance between two points. // /// Returns the distance between two points.
/// @param[in] v1 A point. [(x, y, z)] // /// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)] // /// @param[in] v2 A point. [(x, y, z)]
/// @return The distance between the two points. // /// @return The distance between the two points.
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Distance(RcVec3f value1, RcVec3f value2) // public static float Distance(Vector3 value1, Vector3 value2)
{ // {
float distanceSquared = DistanceSquared(value1, value2); // float distanceSquared = DistanceSquared(value1, value2);
return MathF.Sqrt(distanceSquared); // return MathF.Sqrt(distanceSquared);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float DistanceSquared(RcVec3f value1, RcVec3f value2) // public static float DistanceSquared(Vector3 value1, Vector3 value2)
{ // {
var difference = value1 - value2; // var difference = value1 - value2;
return Dot(difference, difference); // return Dot(difference, difference);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Dot(RcVec3f vector1, RcVec3f vector2) // public static float Dot(Vector3 vector1, Vector3 vector2)
{ // {
return (vector1.X * vector2.X) + // return (vector1.X * vector2.X) +
(vector1.Y * vector2.Y) + // (vector1.Y * vector2.Y) +
(vector1.Z * vector2.Z); // (vector1.Z * vector2.Z);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public readonly void CopyTo(float[] array) // public readonly void CopyTo(float[] array)
{ // {
CopyTo(array, 0); // CopyTo(array, 0);
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public readonly void CopyTo(float[] array, int n) // public readonly void CopyTo(float[] array, int n)
{ // {
array[n + 0] = X; // array[n + 0] = X;
array[n + 1] = Y; // array[n + 1] = Y;
array[n + 2] = Z; // array[n + 2] = Z;
} // }
//
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Cross(RcVec3f v1, RcVec3f v2) // public static Vector3 Cross(Vector3 v1, Vector3 v2)
{ // {
return new RcVec3f( // return new Vector3(
(v1.Y * v2.Z) - (v1.Z * v2.Y), // (v1.Y * v2.Z) - (v1.Z * v2.Y),
(v1.Z * v2.X) - (v1.X * v2.Z), // (v1.Z * v2.X) - (v1.X * v2.Z),
(v1.X * v2.Y) - (v1.Y * v2.X) // (v1.X * v2.Y) - (v1.Y * v2.X)
); // );
} // }
//
/// Normalizes the vector. // /// Normalizes the vector.
/// @param[in,out] v The vector to normalize. [(x, y, z)] // /// @param[in,out] v The vector to normalize. [(x, y, z)]
[MethodImpl(MethodImplOptions.AggressiveInlining)] // [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Normalize(RcVec3f v) // public static Vector3 Normalize(Vector3 v)
{ // {
float d = 1.0f / MathF.Sqrt(RcMath.Sqr(v.X) + RcMath.Sqr(v.Y) + RcMath.Sqr(v.Z)); // float d = 1.0f / MathF.Sqrt(RcMath.Sqr(v.X) + RcMath.Sqr(v.Y) + RcMath.Sqr(v.Z));
//
return new RcVec3f( // return new Vector3(
v.X *= d, // v.X *= d,
v.Y *= d, // v.Y *= d,
v.Z *= d // v.Z *= d
); // );
} // }
} // }
} }

67
src/DotRecast.Core/Numerics/RcVecUtils.cs
View File

@ -1,4 +1,5 @@
using System; using System;
using System.Numerics;
using System.Runtime.CompilerServices; using System.Runtime.CompilerServices;
namespace DotRecast.Core.Numerics namespace DotRecast.Core.Numerics
@ -8,19 +9,19 @@ namespace DotRecast.Core.Numerics
public const float EPSILON = 1e-6f; public const float EPSILON = 1e-6f;
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Create(float[] values) public static Vector3 Create(float[] values)
{ {
return Create(values, 0); return Create(values, 0);
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Create(float[] values, int n) public static Vector3 Create(float[] values, int n)
{ {
return new RcVec3f(values[n + 0], values[n + 1], values[n + 2]); return new Vector3(values[n + 0], values[n + 1], values[n + 2]);
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Get(this RcVec2f v, int i) public static float Get(this Vector2 v, int i)
{ {
switch (i) switch (i)
{ {
@ -31,7 +32,7 @@ namespace DotRecast.Core.Numerics
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Get(this RcVec3f v, int i) public static float Get(this Vector3 v, int i)
{ {
switch (i) switch (i)
{ {
@ -43,7 +44,7 @@ namespace DotRecast.Core.Numerics
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Scale(this RcVec3f v, float scale) public static Vector3 Scale(this Vector3 v, float scale)
{ {
return v * scale; return v * scale;
} }
@ -56,23 +57,23 @@ namespace DotRecast.Core.Numerics
/// The vectors are projected onto the xz-plane, so the y-values are /// The vectors are projected onto the xz-plane, so the y-values are
/// ignored. /// ignored.
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Dot2D(this RcVec3f @this, RcVec3f v) public static float Dot2D(this Vector3 @this, Vector3 v)
{ {
return @this.X * v.X + return @this.X * v.X +
@this.Z * v.Z; @this.Z * v.Z;
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Dot2D(this RcVec3f @this, float[] v, int vi) public static float Dot2D(this Vector3 @this, float[] v, int vi)
{ {
return @this.X * v[vi] + return @this.X * v[vi] +
@this.Z * v[vi + 2]; @this.Z * v[vi + 2];
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Add(RcVec3f a, float[] verts, int i) public static Vector3 Add(Vector3 a, float[] verts, int i)
{ {
return new RcVec3f( return new Vector3(
a.X + verts[i], a.X + verts[i],
a.Y + verts[i + 1], a.Y + verts[i + 1],
a.Z + verts[i + 2] a.Z + verts[i + 2]
@ -81,9 +82,9 @@ namespace DotRecast.Core.Numerics
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Subtract(float[] verts, int i, int j) public static Vector3 Subtract(float[] verts, int i, int j)
{ {
return new RcVec3f( return new Vector3(
verts[i] - verts[j], verts[i] - verts[j],
verts[i + 1] - verts[j + 1], verts[i + 1] - verts[j + 1],
verts[i + 2] - verts[j + 2] verts[i + 2] - verts[j + 2]
@ -92,9 +93,9 @@ namespace DotRecast.Core.Numerics
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Subtract(RcVec3f i, float[] verts, int j) public static Vector3 Subtract(Vector3 i, float[] verts, int j)
{ {
return new RcVec3f( return new Vector3(
i.X - verts[j], i.X - verts[j],
i.Y - verts[j + 1], i.Y - verts[j + 1],
i.Z - verts[j + 2] i.Z - verts[j + 2]
@ -127,7 +128,7 @@ namespace DotRecast.Core.Numerics
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Dot(float[] v1, RcVec3f vector2) public static float Dot(float[] v1, Vector3 vector2)
{ {
return v1[0] * vector2.X + return v1[0] * vector2.X +
v1[1] * vector2.Y + v1[1] * vector2.Y +
@ -139,7 +140,7 @@ namespace DotRecast.Core.Numerics
/// @param[in] v2 A point. [(x, y, z)] /// @param[in] v2 A point. [(x, y, z)]
/// @return The distance between the two points. /// @return The distance between the two points.
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float DistanceSquared(RcVec3f v1, float[] v2, int i) public static float DistanceSquared(Vector3 v1, float[] v2, int i)
{ {
float dx = v2[i] - v1.X; float dx = v2[i] - v1.X;
float dy = v2[i + 1] - v1.Y; float dy = v2[i + 1] - v1.Y;
@ -151,13 +152,13 @@ namespace DotRecast.Core.Numerics
/// If the magnitude is zero, the vector is unchanged. /// If the magnitude is zero, the vector is unchanged.
/// @param[in,out] v The vector to normalize. [(x, y, z)] /// @param[in,out] v The vector to normalize. [(x, y, z)]
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f SafeNormalize(RcVec3f v) public static Vector3 SafeNormalize(Vector3 v)
{ {
float sqMag = RcMath.Sqr(v.X) + RcMath.Sqr(v.Y) + RcMath.Sqr(v.Z); float sqMag = RcMath.Sqr(v.X) + RcMath.Sqr(v.Y) + RcMath.Sqr(v.Z);
if (sqMag > EPSILON) if (sqMag > EPSILON)
{ {
float inverseMag = 1.0f / MathF.Sqrt(sqMag); float inverseMag = 1.0f / MathF.Sqrt(sqMag);
return new RcVec3f( return new Vector3(
v.X *= inverseMag, v.X *= inverseMag,
v.Y *= inverseMag, v.Y *= inverseMag,
v.Z *= inverseMag v.Z *= inverseMag
@ -168,9 +169,9 @@ namespace DotRecast.Core.Numerics
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Min(RcVec3f v, float[] @in, int i) public static Vector3 Min(Vector3 v, float[] @in, int i)
{ {
return new RcVec3f( return new Vector3(
(v.X < @in[i + 0]) ? v.X : @in[i + 0], (v.X < @in[i + 0]) ? v.X : @in[i + 0],
(v.Y < @in[i + 1]) ? v.Y : @in[i + 1], (v.Y < @in[i + 1]) ? v.Y : @in[i + 1],
(v.Z < @in[i + 2]) ? v.Z : @in[i + 2] (v.Z < @in[i + 2]) ? v.Z : @in[i + 2]
@ -178,9 +179,9 @@ namespace DotRecast.Core.Numerics
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Max(RcVec3f v, float[] @in, int i) public static Vector3 Max(Vector3 v, float[] @in, int i)
{ {
return new RcVec3f( return new Vector3(
(v.X > @in[i + 0]) ? v.X : @in[i + 0], (v.X > @in[i + 0]) ? v.X : @in[i + 0],
(v.Y > @in[i + 1]) ? v.Y : @in[i + 1], (v.Y > @in[i + 1]) ? v.Y : @in[i + 1],
(v.Z > @in[i + 2]) ? v.Z : @in[i + 2] (v.Z > @in[i + 2]) ? v.Z : @in[i + 2]
@ -195,7 +196,7 @@ namespace DotRecast.Core.Numerics
/// The vectors are projected onto the xz-plane, so the y-values are /// The vectors are projected onto the xz-plane, so the y-values are
/// ignored. /// ignored.
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Dist2D(RcVec3f v1, RcVec3f v2) public static float Dist2D(Vector3 v1, Vector3 v2)
{ {
float dx = v2.X - v1.X; float dx = v2.X - v1.X;
float dz = v2.Z - v1.Z; float dz = v2.Z - v1.Z;
@ -203,7 +204,7 @@ namespace DotRecast.Core.Numerics
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Dist2DSqr(RcVec3f v1, RcVec3f v2) public static float Dist2DSqr(Vector3 v1, Vector3 v2)
{ {
float dx = v2.X - v1.X; float dx = v2.X - v1.X;
float dz = v2.Z - v1.Z; float dz = v2.Z - v1.Z;
@ -211,7 +212,7 @@ namespace DotRecast.Core.Numerics
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Dist2DSqr(RcVec3f p, float[] verts, int i) public static float Dist2DSqr(Vector3 p, float[] verts, int i)
{ {
float dx = verts[i] - p.X; float dx = verts[i] - p.X;
float dz = verts[i + 2] - p.Z; float dz = verts[i + 2] - p.Z;
@ -226,7 +227,7 @@ namespace DotRecast.Core.Numerics
/// The vectors are projected onto the xz-plane, so the y-values are /// The vectors are projected onto the xz-plane, so the y-values are
/// ignored. /// ignored.
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float Perp2D(RcVec3f u, RcVec3f v) public static float Perp2D(Vector3 u, Vector3 v)
{ {
return u.Z * v.X - u.X * v.Z; return u.Z * v.X - u.X * v.Z;
} }
@ -236,7 +237,7 @@ namespace DotRecast.Core.Numerics
/// @return True if all of the point's components are finite, i.e. not NaN /// @return True if all of the point's components are finite, i.e. not NaN
/// or any of the infinities. /// or any of the infinities.
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static bool IsFinite(this RcVec3f v) public static bool IsFinite(this Vector3 v)
{ {
return float.IsFinite(v.X) && float.IsFinite(v.Y) && float.IsFinite(v.Z); return float.IsFinite(v.X) && float.IsFinite(v.Y) && float.IsFinite(v.Z);
} }
@ -244,13 +245,13 @@ namespace DotRecast.Core.Numerics
/// Checks that the specified vector's 2D components are finite. /// Checks that the specified vector's 2D components are finite.
/// @param[in] v A point. [(x, y, z)] /// @param[in] v A point. [(x, y, z)]
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static bool IsFinite2D(this RcVec3f v) public static bool IsFinite2D(this Vector3 v)
{ {
return float.IsFinite(v.X) && float.IsFinite(v.Z); return float.IsFinite(v.X) && float.IsFinite(v.Z);
} }
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static float PerpXZ(RcVec3f a, RcVec3f b) public static float PerpXZ(Vector3 a, Vector3 b)
{ {
return (a.X * b.Z) - (a.Z * b.X); return (a.X * b.Z) - (a.Z * b.X);
} }
@ -262,9 +263,9 @@ namespace DotRecast.Core.Numerics
/// @param[in] v2 The destination vector. /// @param[in] v2 The destination vector.
/// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0] /// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0]
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Lerp(float[] verts, int v1, int v2, float t) public static Vector3 Lerp(float[] verts, int v1, int v2, float t)
{ {
return new RcVec3f( return new Vector3(
verts[v1 + 0] + (verts[v2 + 0] - verts[v1 + 0]) * t, verts[v1 + 0] + (verts[v2 + 0] - verts[v1 + 0]) * t,
verts[v1 + 1] + (verts[v2 + 1] - verts[v1 + 1]) * t, verts[v1 + 1] + (verts[v2 + 1] - verts[v1 + 1]) * t,
verts[v1 + 2] + (verts[v2 + 2] - verts[v1 + 2]) * t verts[v1 + 2] + (verts[v2 + 2] - verts[v1 + 2]) * t
@ -277,9 +278,9 @@ namespace DotRecast.Core.Numerics
/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)] /// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)]
/// @param[in] s The amount to scale @p v2 by before adding to @p v1. /// @param[in] s The amount to scale @p v2 by before adding to @p v1.
[MethodImpl(MethodImplOptions.AggressiveInlining)] [MethodImpl(MethodImplOptions.AggressiveInlining)]
public static RcVec3f Mad(RcVec3f v1, RcVec3f v2, float s) public static Vector3 Mad(Vector3 v1, Vector3 v2, float s)
{ {
return new RcVec3f() return new Vector3()
{ {
X = v1.X + (v2.X * s), X = v1.X + (v2.X * s),
Y = v1.Y + (v2.Y * s), Y = v1.Y + (v2.Y * s),

13
src/DotRecast.Core/RcConvexUtils.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Core namespace DotRecast.Core
{ {
@ -27,7 +28,7 @@ namespace DotRecast.Core
// Calculates convex hull on xz-plane of points on 'pts', // Calculates convex hull on xz-plane of points on 'pts',
// stores the indices of the resulting hull in 'out' and // stores the indices of the resulting hull in 'out' and
// returns number of points on hull. // returns number of points on hull.
public static List<int> Convexhull(List<RcVec3f> pts) public static List<int> Convexhull(List<Vector3> pts)
{ {
int npts = pts.Count; int npts = pts.Count;
List<int> @out = new List<int>(); List<int> @out = new List<int>();
@ -49,9 +50,9 @@ namespace DotRecast.Core
endpt = 0; endpt = 0;
for (int j = 1; j < npts; ++j) for (int j = 1; j < npts; ++j)
{ {
RcVec3f a = pts[hull]; Vector3 a = pts[hull];
RcVec3f b = pts[endpt]; Vector3 b = pts[endpt];
RcVec3f c = pts[j]; Vector3 c = pts[j];
if (hull == endpt || Left(a, b, c)) if (hull == endpt || Left(a, b, c))
{ {
endpt = j; endpt = j;
@ -65,7 +66,7 @@ namespace DotRecast.Core
} }
// Returns true if 'a' is more lower-left than 'b'. // Returns true if 'a' is more lower-left than 'b'.
private static bool Cmppt(RcVec3f a, RcVec3f b) private static bool Cmppt(Vector3 a, Vector3 b)
{ {
if (a.X < b.X) if (a.X < b.X)
{ {
@ -91,7 +92,7 @@ namespace DotRecast.Core
} }
// Returns true if 'c' is left of line 'a'-'b'. // Returns true if 'c' is left of line 'a'-'b'.
private static bool Left(RcVec3f a, RcVec3f b, RcVec3f c) private static bool Left(Vector3 a, Vector3 b, Vector3 c)
{ {
float u1 = b.X - a.X; float u1 = b.X - a.X;
float v1 = b.Z - a.Z; float v1 = b.Z - a.Z;

27
src/DotRecast.Core/RcIntersections.cs
View File

@ -20,26 +20,27 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Core namespace DotRecast.Core
{ {
public static class RcIntersections public static class RcIntersections
{ {
public static bool IntersectSegmentTriangle(RcVec3f sp, RcVec3f sq, RcVec3f a, RcVec3f b, RcVec3f c, out float t) public static bool IntersectSegmentTriangle(Vector3 sp, Vector3 sq, Vector3 a, Vector3 b, Vector3 c, out float t)
{ {
t = 0; t = 0;
float v, w; float v, w;
RcVec3f ab = RcVec3f.Subtract(b, a); Vector3 ab = Vector3.Subtract(b, a);
RcVec3f ac = RcVec3f.Subtract(c, a); Vector3 ac = Vector3.Subtract(c, a);
RcVec3f qp = RcVec3f.Subtract(sp, sq); Vector3 qp = Vector3.Subtract(sp, sq);
// Compute triangle normal. Can be precalculated or cached if // Compute triangle normal. Can be precalculated or cached if
// intersecting multiple segments against the same triangle // intersecting multiple segments against the same triangle
RcVec3f norm = RcVec3f.Cross(ab, ac); Vector3 norm = Vector3.Cross(ab, ac);
// Compute denominator d. If d <= 0, segment is parallel to or points // Compute denominator d. If d <= 0, segment is parallel to or points
// away from triangle, so exit early // away from triangle, so exit early
float d = RcVec3f.Dot(qp, norm); float d = Vector3.Dot(qp, norm);
if (d <= 0.0f) if (d <= 0.0f)
{ {
return false; return false;
@ -48,8 +49,8 @@ namespace DotRecast.Core
// Compute intersection t value of pq with plane of triangle. A ray // Compute intersection t value of pq with plane of triangle. A ray
// intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay // intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
// dividing by d until intersection has been found to pierce triangle // dividing by d until intersection has been found to pierce triangle
RcVec3f ap = RcVec3f.Subtract(sp, a); Vector3 ap = Vector3.Subtract(sp, a);
t = RcVec3f.Dot(ap, norm); t = Vector3.Dot(ap, norm);
if (t < 0.0f) if (t < 0.0f)
{ {
return false; return false;
@ -61,14 +62,14 @@ namespace DotRecast.Core
} }
// Compute barycentric coordinate components and test if within bounds // Compute barycentric coordinate components and test if within bounds
RcVec3f e = RcVec3f.Cross(qp, ap); Vector3 e = Vector3.Cross(qp, ap);
v = RcVec3f.Dot(ac, e); v = Vector3.Dot(ac, e);
if (v < 0.0f || v > d) if (v < 0.0f || v > d)
{ {
return false; return false;
} }
w = -RcVec3f.Dot(ab, e); w = -Vector3.Dot(ab, e);
if (w < 0.0f || v + w > d) if (w < 0.0f || v + w > d)
{ {
return false; return false;
@ -80,11 +81,11 @@ namespace DotRecast.Core
return true; return true;
} }
public static bool IsectSegAABB(RcVec3f sp, RcVec3f sq, RcVec3f amin, RcVec3f amax, out float tmin, out float tmax) public static bool IsectSegAABB(Vector3 sp, Vector3 sq, Vector3 amin, Vector3 amax, out float tmin, out float tmax)
{ {
const float EPS = 1e-6f; const float EPS = 1e-6f;
RcVec3f d = new RcVec3f(); Vector3 d = new Vector3();
d.X = sq.X - sp.X; d.X = sq.X - sp.X;
d.Y = sq.Y - sp.Y; d.Y = sq.Y - sp.Y;
d.Z = sq.Z - sp.Z; d.Z = sq.Z - sp.Z;

5
src/DotRecast.Core/RcObjImporter.cs
View File

@ -21,6 +21,7 @@ using System;
using System.Globalization; using System.Globalization;
using System.IO; using System.IO;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Core namespace DotRecast.Core
{ {
@ -71,7 +72,7 @@ namespace DotRecast.Core
} }
} }
private static RcVec3f ReadVector3f(string line) private static Vector3 ReadVector3f(string line)
{ {
string[] v = line.Split(' ', StringSplitOptions.RemoveEmptyEntries); string[] v = line.Split(' ', StringSplitOptions.RemoveEmptyEntries);
if (v.Length < 4) if (v.Length < 4)
@ -80,7 +81,7 @@ namespace DotRecast.Core
} }
// fix - https://github.com/ikpil/DotRecast/issues/7 // fix - https://github.com/ikpil/DotRecast/issues/7
return new RcVec3f( return new Vector3(
float.Parse(v[1], CultureInfo.InvariantCulture), float.Parse(v[1], CultureInfo.InvariantCulture),
float.Parse(v[2], CultureInfo.InvariantCulture), float.Parse(v[2], CultureInfo.InvariantCulture),
float.Parse(v[3], CultureInfo.InvariantCulture) float.Parse(v[3], CultureInfo.InvariantCulture)

5
src/DotRecast.Core/RcSegmentVert.cs
View File

@ -1,11 +1,12 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Core namespace DotRecast.Core
{ {
public struct RcSegmentVert public struct RcSegmentVert
{ {
public RcVec3f vmin; public Vector3 vmin;
public RcVec3f vmax; public Vector3 vmax;
public RcSegmentVert(float v0, float v1, float v2, float v3, float v4, float v5) public RcSegmentVert(float v0, float v1, float v2, float v3, float v4, float v5)
{ {

71
src/DotRecast.Detour.Crowd/DtCrowd.cs
View File

@ -23,6 +23,7 @@ using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
@ -145,7 +146,7 @@ namespace DotRecast.Detour.Crowd
private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams = new DtObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]; private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams = new DtObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
private readonly DtObstacleAvoidanceQuery _obstacleQuery; private readonly DtObstacleAvoidanceQuery _obstacleQuery;
private DtProximityGrid _grid; private DtProximityGrid _grid;
private readonly RcVec3f _ext = new RcVec3f(); private readonly Vector3 _ext = new Vector3();
private readonly IDtQueryFilter[] _filters = new IDtQueryFilter[DT_CROWD_MAX_QUERY_FILTER_TYPE]; private readonly IDtQueryFilter[] _filters = new IDtQueryFilter[DT_CROWD_MAX_QUERY_FILTER_TYPE];
private DtNavMeshQuery _navQuery; private DtNavMeshQuery _navQuery;
private DtNavMesh _navMesh; private DtNavMesh _navMesh;
@ -161,7 +162,7 @@ namespace DotRecast.Detour.Crowd
public DtCrowd(DtCrowdConfig config, DtNavMesh nav, Func<int, IDtQueryFilter> queryFilterFactory) public DtCrowd(DtCrowdConfig config, DtNavMesh nav, Func<int, IDtQueryFilter> queryFilterFactory)
{ {
_config = config; _config = config;
_ext = new RcVec3f(config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f); _ext = new Vector3(config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f);
_obstacleQuery = new DtObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments); _obstacleQuery = new DtObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments);
@ -243,7 +244,7 @@ namespace DotRecast.Detour.Crowd
* The configuration of the agent. * The configuration of the agent.
* @return The newly created agent object * @return The newly created agent object
*/ */
public DtCrowdAgent AddAgent(RcVec3f pos, DtCrowdAgentParams option) public DtCrowdAgent AddAgent(Vector3 pos, DtCrowdAgentParams option)
{ {
DtCrowdAgent ag = new DtCrowdAgent(_agentId.GetAndIncrement()); DtCrowdAgent ag = new DtCrowdAgent(_agentId.GetAndIncrement());
_agents.Add(ag); _agents.Add(ag);
@ -264,9 +265,9 @@ namespace DotRecast.Detour.Crowd
ag.topologyOptTime = 0; ag.topologyOptTime = 0;
ag.targetReplanTime = 0; ag.targetReplanTime = 0;
ag.dvel = RcVec3f.Zero; ag.dvel = Vector3.Zero;
ag.nvel = RcVec3f.Zero; ag.nvel = Vector3.Zero;
ag.vel = RcVec3f.Zero; ag.vel = Vector3.Zero;
ag.npos = nearestPt; ag.npos = nearestPt;
ag.desiredSpeed = 0; ag.desiredSpeed = 0;
@ -296,7 +297,7 @@ namespace DotRecast.Detour.Crowd
_agents.Remove(agent); _agents.Remove(agent);
} }
private bool RequestMoveTargetReplan(DtCrowdAgent ag, long refs, RcVec3f pos) private bool RequestMoveTargetReplan(DtCrowdAgent ag, long refs, Vector3 pos)
{ {
ag.SetTarget(refs, pos); ag.SetTarget(refs, pos);
ag.targetReplan = true; ag.targetReplan = true;
@ -314,7 +315,7 @@ namespace DotRecast.Detour.Crowd
/// The position will be constrained to the surface of the navigation mesh. /// The position will be constrained to the surface of the navigation mesh.
/// ///
/// The request will be processed during the next #Update(). /// The request will be processed during the next #Update().
public bool RequestMoveTarget(DtCrowdAgent agent, long refs, RcVec3f pos) public bool RequestMoveTarget(DtCrowdAgent agent, long refs, Vector3 pos)
{ {
if (refs == 0) if (refs == 0)
{ {
@ -331,7 +332,7 @@ namespace DotRecast.Detour.Crowd
/// @param[in] idx The agent index. [Limits: 0 <= value < #GetAgentCount()] /// @param[in] idx The agent index. [Limits: 0 <= value < #GetAgentCount()]
/// @param[in] vel The movement velocity. [(x, y, z)] /// @param[in] vel The movement velocity. [(x, y, z)]
/// @return True if the request was successfully submitted. /// @return True if the request was successfully submitted.
public bool RequestMoveVelocity(DtCrowdAgent agent, RcVec3f vel) public bool RequestMoveVelocity(DtCrowdAgent agent, Vector3 vel)
{ {
// Initialize request. // Initialize request.
agent.targetRef = 0; agent.targetRef = 0;
@ -350,8 +351,8 @@ namespace DotRecast.Detour.Crowd
{ {
// Initialize request. // Initialize request.
agent.targetRef = 0; agent.targetRef = 0;
agent.targetPos = RcVec3f.Zero; agent.targetPos = Vector3.Zero;
agent.dvel = RcVec3f.Zero; agent.dvel = Vector3.Zero;
agent.targetPathQueryResult = null; agent.targetPathQueryResult = null;
agent.targetReplan = false; agent.targetReplan = false;
agent.targetState = DtMoveRequestState.DT_CROWDAGENT_TARGET_NONE; agent.targetState = DtMoveRequestState.DT_CROWDAGENT_TARGET_NONE;
@ -368,7 +369,7 @@ namespace DotRecast.Detour.Crowd
return _agents; return _agents;
} }
public RcVec3f GetQueryExtents() public Vector3 GetQueryExtents()
{ {
return _ext; return _ext;
} }
@ -463,7 +464,7 @@ namespace DotRecast.Detour.Crowd
bool replan = false; bool replan = false;
// First check that the current location is valid. // First check that the current location is valid.
RcVec3f agentPos = new RcVec3f(); Vector3 agentPos = new Vector3();
long agentRef = ag.corridor.GetFirstPoly(); long agentRef = ag.corridor.GetFirstPoly();
agentPos = ag.npos; agentPos = ag.npos;
if (!_navQuery.IsValidPolyRef(agentRef, _filters[ag.option.queryFilterType])) if (!_navQuery.IsValidPolyRef(agentRef, _filters[ag.option.queryFilterType]))
@ -603,7 +604,7 @@ namespace DotRecast.Detour.Crowd
status = _navQuery.FinalizeSlicedFindPath(ref reqPath); status = _navQuery.FinalizeSlicedFindPath(ref reqPath);
} }
RcVec3f reqPos = new RcVec3f(); Vector3 reqPos = new Vector3();
if (status.Succeeded() && reqPath.Count > 0) if (status.Succeeded() && reqPath.Count > 0)
{ {
// In progress or succeed. // In progress or succeed.
@ -857,7 +858,7 @@ namespace DotRecast.Detour.Crowd
foreach (DtCrowdAgent ag in agents) foreach (DtCrowdAgent ag in agents)
{ {
RcVec3f p = ag.npos; Vector3 p = ag.npos;
float r = ag.option.radius; float r = ag.option.radius;
_grid.AddItem(ag, p.X - r, p.Z - r, p.X + r, p.Z + r); _grid.AddItem(ag, p.X - r, p.Z - r, p.X + r, p.Z + r);
} }
@ -890,7 +891,7 @@ namespace DotRecast.Detour.Crowd
} }
private int GetNeighbours(RcVec3f pos, float height, float range, DtCrowdAgent skip, ref List<DtCrowdNeighbour> result, DtProximityGrid grid) private int GetNeighbours(Vector3 pos, float height, float range, DtCrowdAgent skip, ref List<DtCrowdNeighbour> result, DtProximityGrid grid)
{ {
result.Clear(); result.Clear();
@ -904,7 +905,7 @@ namespace DotRecast.Detour.Crowd
} }
// Check for overlap. // Check for overlap.
RcVec3f diff = RcVec3f.Subtract(pos, ag.npos); Vector3 diff = Vector3.Subtract(pos, ag.npos);
if (MathF.Abs(diff.Y) >= (height + ag.option.height) / 2.0f) if (MathF.Abs(diff.Y) >= (height + ag.option.height) / 2.0f)
{ {
continue; continue;
@ -949,7 +950,7 @@ namespace DotRecast.Detour.Crowd
// and short cut to there. // and short cut to there.
if ((ag.option.updateFlags & DtCrowdAgentUpdateFlags.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.corners.Count > 0) if ((ag.option.updateFlags & DtCrowdAgentUpdateFlags.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.corners.Count > 0)
{ {
RcVec3f target = ag.corners[Math.Min(1, ag.corners.Count - 1)].pos; Vector3 target = ag.corners[Math.Min(1, ag.corners.Count - 1)].pos;
ag.corridor.OptimizePathVisibility(target, ag.option.pathOptimizationRange, _navQuery, ag.corridor.OptimizePathVisibility(target, ag.option.pathOptimizationRange, _navQuery,
_filters[ag.option.queryFilterType]); _filters[ag.option.queryFilterType]);
@ -965,8 +966,8 @@ namespace DotRecast.Detour.Crowd
// Copy data for debug purposes. // Copy data for debug purposes.
if (debugAgent == ag) if (debugAgent == ag)
{ {
debug.optStart = RcVec3f.Zero; debug.optStart = Vector3.Zero;
debug.optEnd = RcVec3f.Zero; debug.optEnd = Vector3.Zero;
} }
} }
} }
@ -1036,7 +1037,7 @@ namespace DotRecast.Detour.Crowd
continue; continue;
} }
RcVec3f dvel = new RcVec3f(); Vector3 dvel = new Vector3();
if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY) if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
{ {
@ -1071,13 +1072,13 @@ namespace DotRecast.Detour.Crowd
float separationWeight = ag.option.separationWeight; float separationWeight = ag.option.separationWeight;
float w = 0; float w = 0;
RcVec3f disp = new RcVec3f(); Vector3 disp = new Vector3();
for (int j = 0; j < ag.neis.Count; ++j) for (int j = 0; j < ag.neis.Count; ++j)
{ {
DtCrowdAgent nei = ag.neis[j].agent; DtCrowdAgent nei = ag.neis[j].agent;
RcVec3f diff = RcVec3f.Subtract(ag.npos, nei.npos); Vector3 diff = Vector3.Subtract(ag.npos, nei.npos);
diff.Y = 0; diff.Y = 0;
float distSqr = diff.LengthSquared(); float distSqr = diff.LengthSquared();
@ -1143,9 +1144,9 @@ namespace DotRecast.Detour.Crowd
// Append neighbour segments as obstacles. // Append neighbour segments as obstacles.
for (int j = 0; j < ag.boundary.GetSegmentCount(); ++j) for (int j = 0; j < ag.boundary.GetSegmentCount(); ++j)
{ {
RcVec3f[] s = ag.boundary.GetSegment(j); Vector3[] s = ag.boundary.GetSegment(j);
RcVec3f s3 = s[1]; Vector3 s3 = s[1];
//RcArrays.Copy(s, 3, s3, 0, 3); //RcArray.Copy(s, 3, s3, 0, 3);
if (DtUtils.TriArea2D(ag.npos, s[0], s3) < 0.0f) if (DtUtils.TriArea2D(ag.npos, s[0], s3) < 0.0f)
{ {
continue; continue;
@ -1216,7 +1217,7 @@ namespace DotRecast.Detour.Crowd
continue; continue;
} }
ag.disp = RcVec3f.Zero; ag.disp = Vector3.Zero;
float w = 0; float w = 0;
@ -1224,7 +1225,7 @@ namespace DotRecast.Detour.Crowd
{ {
DtCrowdAgent nei = ag.neis[j].agent; DtCrowdAgent nei = ag.neis[j].agent;
long idx1 = nei.idx; long idx1 = nei.idx;
RcVec3f diff = RcVec3f.Subtract(ag.npos, nei.npos); Vector3 diff = Vector3.Subtract(ag.npos, nei.npos);
diff.Y = 0; diff.Y = 0;
float dist = diff.LengthSquared(); float dist = diff.LengthSquared();
@ -1240,11 +1241,11 @@ namespace DotRecast.Detour.Crowd
// Agents on top of each other, try to choose diverging separation directions. // Agents on top of each other, try to choose diverging separation directions.
if (idx0 > idx1) if (idx0 > idx1)
{ {
diff = new RcVec3f(-ag.dvel.Z, 0, ag.dvel.X); diff = new Vector3(-ag.dvel.Z, 0, ag.dvel.X);
} }
else else
{ {
diff = new RcVec3f(ag.dvel.Z, 0, -ag.dvel.X); diff = new Vector3(ag.dvel.Z, 0, -ag.dvel.X);
} }
pen = 0.01f; pen = 0.01f;
@ -1273,7 +1274,7 @@ namespace DotRecast.Detour.Crowd
continue; continue;
} }
ag.npos = RcVec3f.Add(ag.npos, ag.disp); ag.npos = Vector3.Add(ag.npos, ag.disp);
} }
} }
} }
@ -1332,17 +1333,17 @@ namespace DotRecast.Detour.Crowd
if (anim.t < ta) if (anim.t < ta)
{ {
float u = Tween(anim.t, 0.0f, ta); float u = Tween(anim.t, 0.0f, ta);
ag.npos = RcVec3f.Lerp(anim.initPos, anim.startPos, u); ag.npos = Vector3.Lerp(anim.initPos, anim.startPos, u);
} }
else else
{ {
float u = Tween(anim.t, ta, tb); float u = Tween(anim.t, ta, tb);
ag.npos = RcVec3f.Lerp(anim.startPos, anim.endPos, u); ag.npos = Vector3.Lerp(anim.startPos, anim.endPos, u);
} }
// Update velocity. // Update velocity.
ag.vel = RcVec3f.Zero; ag.vel = Vector3.Zero;
ag.dvel = RcVec3f.Zero; ag.dvel = Vector3.Zero;
} }
} }

39
src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
{ {
@ -52,23 +53,23 @@ namespace DotRecast.Detour.Crowd
/// The desired speed. /// The desired speed.
public float desiredSpeed; public float desiredSpeed;
public RcVec3f npos = new RcVec3f(); public Vector3 npos = new Vector3();
/// < The current agent position. [(x, y, z)] /// < The current agent position. [(x, y, z)]
public RcVec3f disp = new RcVec3f(); public Vector3 disp = new Vector3();
/// < A temporary value used to accumulate agent displacement during iterative /// < A temporary value used to accumulate agent displacement during iterative
/// collision resolution. [(x, y, z)] /// collision resolution. [(x, y, z)]
public RcVec3f dvel = new RcVec3f(); public Vector3 dvel = new Vector3();
/// < The desired velocity of the agent. Based on the current path, calculated /// < The desired velocity of the agent. Based on the current path, calculated
/// from /// from
/// scratch each frame. [(x, y, z)] /// scratch each frame. [(x, y, z)]
public RcVec3f nvel = new RcVec3f(); public Vector3 nvel = new Vector3();
/// < The desired velocity adjusted by obstacle avoidance, calculated from scratch each /// < The desired velocity adjusted by obstacle avoidance, calculated from scratch each
/// frame. [(x, y, z)] /// frame. [(x, y, z)]
public RcVec3f vel = new RcVec3f(); public Vector3 vel = new Vector3();
/// < The actual velocity of the agent. The change from nvel -> vel is /// < The actual velocity of the agent. The change from nvel -> vel is
/// constrained by max acceleration. [(x, y, z)] /// constrained by max acceleration. [(x, y, z)]
@ -84,7 +85,7 @@ namespace DotRecast.Detour.Crowd
public long targetRef; public long targetRef;
/// < Target polyref of the movement request. /// < Target polyref of the movement request.
public RcVec3f targetPos = new RcVec3f(); public Vector3 targetPos = new Vector3();
/// < Target position of the movement request (or velocity in case of /// < Target position of the movement request (or velocity in case of
/// DT_CROWDAGENT_TARGET_VELOCITY). /// DT_CROWDAGENT_TARGET_VELOCITY).
@ -113,17 +114,17 @@ namespace DotRecast.Detour.Crowd
{ {
// Fake dynamic constraint. // Fake dynamic constraint.
float maxDelta = option.maxAcceleration * dt; float maxDelta = option.maxAcceleration * dt;
RcVec3f dv = RcVec3f.Subtract(nvel, vel); Vector3 dv = Vector3.Subtract(nvel, vel);
float ds = dv.Length(); float ds = dv.Length();
if (ds > maxDelta) if (ds > maxDelta)
dv = dv.Scale(maxDelta / ds); dv = dv.Scale(maxDelta / ds);
vel = RcVec3f.Add(vel, dv); vel = Vector3.Add(vel, dv);
// Integrate // Integrate
if (vel.Length() > 0.0001f) if (vel.Length() > 0.0001f)
npos = RcVecUtils.Mad(npos, vel, dt); npos = RcVecUtils.Mad(npos, vel, dt);
else else
vel = RcVec3f.Zero; vel = Vector3.Zero;
} }
public bool OverOffmeshConnection(float radius) public bool OverOffmeshConnection(float radius)
@ -157,9 +158,9 @@ namespace DotRecast.Detour.Crowd
return range; return range;
} }
public RcVec3f CalcSmoothSteerDirection() public Vector3 CalcSmoothSteerDirection()
{ {
RcVec3f dir = new RcVec3f(); Vector3 dir = new Vector3();
if (0 < corners.Count) if (0 < corners.Count)
{ {
int ip0 = 0; int ip0 = 0;
@ -167,8 +168,8 @@ namespace DotRecast.Detour.Crowd
var p0 = corners[ip0].pos; var p0 = corners[ip0].pos;
var p1 = corners[ip1].pos; var p1 = corners[ip1].pos;
var dir0 = RcVec3f.Subtract(p0, npos); var dir0 = Vector3.Subtract(p0, npos);
var dir1 = RcVec3f.Subtract(p1, npos); var dir1 = Vector3.Subtract(p1, npos);
dir0.Y = 0; dir0.Y = 0;
dir1.Y = 0; dir1.Y = 0;
@ -180,26 +181,26 @@ namespace DotRecast.Detour.Crowd
dir.X = dir0.X - dir1.X * len0 * 0.5f; dir.X = dir0.X - dir1.X * len0 * 0.5f;
dir.Y = 0; dir.Y = 0;
dir.Z = dir0.Z - dir1.Z * len0 * 0.5f; dir.Z = dir0.Z - dir1.Z * len0 * 0.5f;
dir = RcVec3f.Normalize(dir); dir = Vector3.Normalize(dir);
} }
return dir; return dir;
} }
public RcVec3f CalcStraightSteerDirection() public Vector3 CalcStraightSteerDirection()
{ {
RcVec3f dir = new RcVec3f(); Vector3 dir = new Vector3();
if (0 < corners.Count) if (0 < corners.Count)
{ {
dir = RcVec3f.Subtract(corners[0].pos, npos); dir = Vector3.Subtract(corners[0].pos, npos);
dir.Y = 0; dir.Y = 0;
dir = RcVec3f.Normalize(dir); dir = Vector3.Normalize(dir);
} }
return dir; return dir;
} }
public void SetTarget(long refs, RcVec3f pos) public void SetTarget(long refs, Vector3 pos)
{ {
targetRef = refs; targetRef = refs;
targetPos = pos; targetPos = pos;

7
src/DotRecast.Detour.Crowd/DtCrowdAgentAnimation.cs
View File

@ -19,15 +19,16 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
{ {
public class DtCrowdAgentAnimation public class DtCrowdAgentAnimation
{ {
public bool active; public bool active;
public RcVec3f initPos = new RcVec3f(); public Vector3 initPos = new Vector3();
public RcVec3f startPos = new RcVec3f(); public Vector3 startPos = new Vector3();
public RcVec3f endPos = new RcVec3f(); public Vector3 endPos = new Vector3();
public long polyRef; public long polyRef;
public float t, tmax; public float t, tmax;
} }

5
src/DotRecast.Detour.Crowd/DtCrowdAgentDebugInfo.cs
View File

@ -19,14 +19,15 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
{ {
public class DtCrowdAgentDebugInfo public class DtCrowdAgentDebugInfo
{ {
public DtCrowdAgent agent; public DtCrowdAgent agent;
public RcVec3f optStart = new RcVec3f(); public Vector3 optStart = new Vector3();
public RcVec3f optEnd = new RcVec3f(); public Vector3 optEnd = new Vector3();
public DtObstacleAvoidanceDebugData vod; public DtObstacleAvoidanceDebugData vod;
} }
} }

1
src/DotRecast.Detour.Crowd/DtCrowdTelemetry.cs
View File

@ -24,6 +24,7 @@ using System.Linq;
using System.Reflection.Emit; using System.Reflection.Emit;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
{ {

9
src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
@ -31,7 +32,7 @@ namespace DotRecast.Detour.Crowd
{ {
public const int MAX_LOCAL_SEGS = 8; public const int MAX_LOCAL_SEGS = 8;
private RcVec3f m_center = new RcVec3f(); private Vector3 m_center = new Vector3();
private List<DtSegment> m_segs = new List<DtSegment>(); private List<DtSegment> m_segs = new List<DtSegment>();
private List<long> m_polys = new List<long>(); private List<long> m_polys = new List<long>();
private List<long> m_parents = new List<long>(); private List<long> m_parents = new List<long>();
@ -90,7 +91,7 @@ namespace DotRecast.Detour.Crowd
} }
} }
public void Update(long startRef, RcVec3f pos, float collisionQueryRange, DtNavMeshQuery navquery, IDtQueryFilter filter) public void Update(long startRef, Vector3 pos, float collisionQueryRange, DtNavMeshQuery navquery, IDtQueryFilter filter)
{ {
if (startRef == 0) if (startRef == 0)
{ {
@ -154,12 +155,12 @@ namespace DotRecast.Detour.Crowd
return true; return true;
} }
public RcVec3f GetCenter() public Vector3 GetCenter()
{ {
return m_center; return m_center;
} }
public RcVec3f[] GetSegment(int j) public Vector3[] GetSegment(int j)
{ {
return m_segs[j].s; return m_segs[j].s;
} }

7
src/DotRecast.Detour.Crowd/DtObstacleAvoidanceDebugData.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
{ {
@ -78,7 +79,7 @@ namespace DotRecast.Detour.Crowd
NormalizeArray(m_tpen, m_nsamples); NormalizeArray(m_tpen, m_nsamples);
} }
public void AddSample(RcVec3f vel, float ssize, float pen, float vpen, float vcpen, float spen, float tpen) public void AddSample(Vector3 vel, float ssize, float pen, float vpen, float vcpen, float spen, float tpen)
{ {
if (m_nsamples >= m_maxSamples) if (m_nsamples >= m_maxSamples)
return; return;
@ -99,9 +100,9 @@ namespace DotRecast.Detour.Crowd
return m_nsamples; return m_nsamples;
} }
public RcVec3f GetSampleVelocity(int i) public Vector3 GetSampleVelocity(int i)
{ {
RcVec3f vel = new RcVec3f(); Vector3 vel = new Vector3();
vel.X = m_vel[i * 3]; vel.X = m_vel[i * 3];
vel.Y = m_vel[i * 3 + 1]; vel.Y = m_vel[i * 3 + 1];
vel.Z = m_vel[i * 3 + 2]; vel.Z = m_vel[i * 3 + 2];

67
src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
@ -71,7 +72,7 @@ namespace DotRecast.Detour.Crowd
m_nsegments = 0; m_nsegments = 0;
} }
public void AddCircle(RcVec3f pos, float rad, RcVec3f vel, RcVec3f dvel) public void AddCircle(Vector3 pos, float rad, Vector3 vel, Vector3 dvel)
{ {
if (m_ncircles >= m_maxCircles) if (m_ncircles >= m_maxCircles)
return; return;
@ -83,7 +84,7 @@ namespace DotRecast.Detour.Crowd
cir.dvel = dvel; cir.dvel = dvel;
} }
public void AddSegment(RcVec3f p, RcVec3f q) public void AddSegment(Vector3 p, Vector3 q)
{ {
if (m_nsegments >= m_maxSegments) if (m_nsegments >= m_maxSegments)
return; return;
@ -113,7 +114,7 @@ namespace DotRecast.Detour.Crowd
return m_segments[i]; return m_segments[i];
} }
private void Prepare(RcVec3f pos, RcVec3f dvel) private void Prepare(Vector3 pos, Vector3 dvel)
{ {
// Prepare obstacles // Prepare obstacles
for (int i = 0; i < m_ncircles; ++i) for (int i = 0; i < m_ncircles; ++i)
@ -121,14 +122,14 @@ namespace DotRecast.Detour.Crowd
DtObstacleCircle cir = m_circles[i]; DtObstacleCircle cir = m_circles[i];
// Side // Side
RcVec3f pa = pos; Vector3 pa = pos;
RcVec3f pb = cir.p; Vector3 pb = cir.p;
RcVec3f orig = new RcVec3f(); Vector3 orig = new Vector3();
RcVec3f dv = new RcVec3f(); Vector3 dv = new Vector3();
cir.dp = RcVec3f.Subtract(pb, pa); cir.dp = Vector3.Subtract(pb, pa);
cir.dp = RcVec3f.Normalize(cir.dp); cir.dp = Vector3.Normalize(cir.dp);
dv = RcVec3f.Subtract(cir.dvel, dvel); dv = Vector3.Subtract(cir.dvel, dvel);
float a = DtUtils.TriArea2D(orig, cir.dp, dv); float a = DtUtils.TriArea2D(orig, cir.dp, dv);
if (a < 0.01f) if (a < 0.01f)
@ -154,14 +155,14 @@ namespace DotRecast.Detour.Crowd
} }
} }
private bool SweepCircleCircle(RcVec3f c0, float r0, RcVec3f v, RcVec3f c1, float r1, out float tmin, out float tmax) private bool SweepCircleCircle(Vector3 c0, float r0, Vector3 v, Vector3 c1, float r1, out float tmin, out float tmax)
{ {
const float EPS = 0.0001f; const float EPS = 0.0001f;
tmin = 0; tmin = 0;
tmax = 0; tmax = 0;
RcVec3f s = RcVec3f.Subtract(c1, c0); Vector3 s = Vector3.Subtract(c1, c0);
float r = r0 + r1; float r = r0 + r1;
float c = s.Dot2D(s) - r * r; float c = s.Dot2D(s) - r * r;
float a = v.Dot2D(v); float a = v.Dot2D(v);
@ -183,10 +184,10 @@ namespace DotRecast.Detour.Crowd
return true; return true;
} }
private bool IsectRaySeg(RcVec3f ap, RcVec3f u, RcVec3f bp, RcVec3f bq, ref float t) private bool IsectRaySeg(Vector3 ap, Vector3 u, Vector3 bp, Vector3 bq, ref float t)
{ {
RcVec3f v = RcVec3f.Subtract(bq, bp); Vector3 v = Vector3.Subtract(bq, bp);
RcVec3f w = RcVec3f.Subtract(ap, bp); Vector3 w = Vector3.Subtract(ap, bp);
float d = RcVecUtils.Perp2D(u, v); float d = RcVecUtils.Perp2D(u, v);
if (MathF.Abs(d) < 1e-6f) if (MathF.Abs(d) < 1e-6f)
return false; return false;
@ -213,7 +214,7 @@ namespace DotRecast.Detour.Crowd
* @param minPenalty * @param minPenalty
* threshold penalty for early out * threshold penalty for early out
*/ */
private float ProcessSample(RcVec3f vcand, float cs, RcVec3f pos, float rad, RcVec3f vel, RcVec3f dvel, private float ProcessSample(Vector3 vcand, float cs, Vector3 pos, float rad, Vector3 vel, Vector3 dvel,
float minPenalty, DtObstacleAvoidanceDebugData debug) float minPenalty, DtObstacleAvoidanceDebugData debug)
{ {
// penalty for straying away from the desired and current velocities // penalty for straying away from the desired and current velocities
@ -237,9 +238,9 @@ namespace DotRecast.Detour.Crowd
DtObstacleCircle cir = m_circles[i]; DtObstacleCircle cir = m_circles[i];
// RVO // RVO
RcVec3f vab = vcand.Scale(2); Vector3 vab = vcand.Scale(2);
vab = RcVec3f.Subtract(vab, vel); vab = Vector3.Subtract(vab, vel);
vab = RcVec3f.Subtract(vab, cir.vel); vab = Vector3.Subtract(vab, cir.vel);
// Side // Side
side += Math.Clamp(Math.Min(cir.dp.Dot2D(vab) * 0.5f + 0.5f, cir.np.Dot2D(vab) * 2), 0.0f, 1.0f); side += Math.Clamp(Math.Min(cir.dp.Dot2D(vab) * 0.5f + 0.5f, cir.np.Dot2D(vab) * 2), 0.0f, 1.0f);
@ -275,8 +276,8 @@ namespace DotRecast.Detour.Crowd
if (seg.touch) if (seg.touch)
{ {
// Special case when the agent is very close to the segment. // Special case when the agent is very close to the segment.
RcVec3f sdir = RcVec3f.Subtract(seg.q, seg.p); Vector3 sdir = Vector3.Subtract(seg.q, seg.p);
RcVec3f snorm = new RcVec3f(); Vector3 snorm = new Vector3();
snorm.X = -sdir.Z; snorm.X = -sdir.Z;
snorm.Z = sdir.X; snorm.Z = sdir.X;
// If the velocity is pointing towards the segment, no collision. // If the velocity is pointing towards the segment, no collision.
@ -318,7 +319,7 @@ namespace DotRecast.Detour.Crowd
return penalty; return penalty;
} }
public int SampleVelocityGrid(RcVec3f pos, float rad, float vmax, RcVec3f vel, RcVec3f dvel, out RcVec3f nvel, public int SampleVelocityGrid(Vector3 pos, float rad, float vmax, Vector3 vel, Vector3 dvel, out Vector3 nvel,
DtObstacleAvoidanceParams option, DtObstacleAvoidanceDebugData debug) DtObstacleAvoidanceParams option, DtObstacleAvoidanceDebugData debug)
{ {
Prepare(pos, dvel); Prepare(pos, dvel);
@ -327,7 +328,7 @@ namespace DotRecast.Detour.Crowd
m_vmax = vmax; m_vmax = vmax;
m_invVmax = vmax > 0 ? 1.0f / vmax : float.MaxValue; m_invVmax = vmax > 0 ? 1.0f / vmax : float.MaxValue;
nvel = RcVec3f.Zero; nvel = Vector3.Zero;
if (debug != null) if (debug != null)
debug.Reset(); debug.Reset();
@ -344,7 +345,7 @@ namespace DotRecast.Detour.Crowd
{ {
for (int x = 0; x < m_params.gridSize; ++x) for (int x = 0; x < m_params.gridSize; ++x)
{ {
RcVec3f vcand = new RcVec3f(cvx + x * cs - half, 0f, cvz + y * cs - half); Vector3 vcand = new Vector3(cvx + x * cs - half, 0f, cvz + y * cs - half);
if (RcMath.Sqr(vcand.X) + RcMath.Sqr(vcand.Z) > RcMath.Sqr(vmax + cs / 2)) if (RcMath.Sqr(vcand.X) + RcMath.Sqr(vcand.Z) > RcMath.Sqr(vmax + cs / 2))
continue; continue;
@ -373,9 +374,9 @@ namespace DotRecast.Detour.Crowd
} }
// vector normalization that ignores the y-component. // vector normalization that ignores the y-component.
RcVec3f DtRotate2D(float[] v, float ang) Vector3 DtRotate2D(float[] v, float ang)
{ {
RcVec3f dest = new RcVec3f(); Vector3 dest = new Vector3();
float c = MathF.Cos(ang); float c = MathF.Cos(ang);
float s = MathF.Sin(ang); float s = MathF.Sin(ang);
dest.X = v[0] * c - v[2] * s; dest.X = v[0] * c - v[2] * s;
@ -386,7 +387,7 @@ namespace DotRecast.Detour.Crowd
static readonly float DT_PI = 3.14159265f; static readonly float DT_PI = 3.14159265f;
public int SampleVelocityAdaptive(RcVec3f pos, float rad, float vmax, RcVec3f vel, RcVec3f dvel, out RcVec3f nvel, public int SampleVelocityAdaptive(Vector3 pos, float rad, float vmax, Vector3 vel, Vector3 dvel, out Vector3 nvel,
DtObstacleAvoidanceParams option, DtObstacleAvoidanceParams option,
DtObstacleAvoidanceDebugData debug) DtObstacleAvoidanceDebugData debug)
{ {
@ -396,7 +397,7 @@ namespace DotRecast.Detour.Crowd
m_vmax = vmax; m_vmax = vmax;
m_invVmax = vmax > 0 ? 1.0f / vmax : float.MaxValue; m_invVmax = vmax > 0 ? 1.0f / vmax : float.MaxValue;
nvel = RcVec3f.Zero; nvel = Vector3.Zero;
if (debug != null) if (debug != null)
debug.Reset(); debug.Reset();
@ -421,7 +422,7 @@ namespace DotRecast.Detour.Crowd
ddir[1] = dvel.Y; ddir[1] = dvel.Y;
ddir[2] = dvel.Z; ddir[2] = dvel.Z;
DtNormalize2D(ddir); DtNormalize2D(ddir);
RcVec3f rotated = DtRotate2D(ddir, da * 0.5f); // rotated by da/2 Vector3 rotated = DtRotate2D(ddir, da * 0.5f); // rotated by da/2
ddir[3] = rotated.X; ddir[3] = rotated.X;
ddir[4] = rotated.Y; ddir[4] = rotated.Y;
ddir[5] = rotated.Z; ddir[5] = rotated.Z;
@ -464,17 +465,17 @@ namespace DotRecast.Detour.Crowd
// Start sampling. // Start sampling.
float cr = vmax * (1.0f - m_params.velBias); float cr = vmax * (1.0f - m_params.velBias);
RcVec3f res = new RcVec3f(dvel.X * m_params.velBias, 0, dvel.Z * m_params.velBias); Vector3 res = new Vector3(dvel.X * m_params.velBias, 0, dvel.Z * m_params.velBias);
int ns = 0; int ns = 0;
for (int k = 0; k < depth; ++k) for (int k = 0; k < depth; ++k)
{ {
float minPenalty = float.MaxValue; float minPenalty = float.MaxValue;
RcVec3f bvel = new RcVec3f(); Vector3 bvel = new Vector3();
bvel = RcVec3f.Zero; bvel = Vector3.Zero;
for (int i = 0; i < npat; ++i) for (int i = 0; i < npat; ++i)
{ {
RcVec3f vcand = new RcVec3f(res.X + pat[i * 2 + 0] * cr, 0f, res.Z + pat[i * 2 + 1] * cr); Vector3 vcand = new Vector3(res.X + pat[i * 2 + 0] * cr, 0f, res.Z + pat[i * 2 + 1] * cr);
if (RcMath.Sqr(vcand.X) + RcMath.Sqr(vcand.Z) > RcMath.Sqr(vmax + 0.001f)) if (RcMath.Sqr(vcand.X) + RcMath.Sqr(vcand.Z) > RcMath.Sqr(vmax + 0.001f))
continue; continue;

11
src/DotRecast.Detour.Crowd/DtObstacleCircle.cs
View File

@ -1,4 +1,5 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
{ {
@ -6,21 +7,21 @@ namespace DotRecast.Detour.Crowd
public class DtObstacleCircle public class DtObstacleCircle
{ {
/** Position of the obstacle */ /** Position of the obstacle */
public RcVec3f p = new RcVec3f(); public Vector3 p = new Vector3();
/** Velocity of the obstacle */ /** Velocity of the obstacle */
public RcVec3f vel = new RcVec3f(); public Vector3 vel = new Vector3();
/** Velocity of the obstacle */ /** Velocity of the obstacle */
public RcVec3f dvel = new RcVec3f(); public Vector3 dvel = new Vector3();
/** Radius of the obstacle */ /** Radius of the obstacle */
public float rad; public float rad;
/** Use for side selection during sampling. */ /** Use for side selection during sampling. */
public RcVec3f dp = new RcVec3f(); public Vector3 dp = new Vector3();
/** Use for side selection during sampling. */ /** Use for side selection during sampling. */
public RcVec3f np = new RcVec3f(); public Vector3 np = new Vector3();
} }
} }

5
src/DotRecast.Detour.Crowd/DtObstacleSegment.cs
View File

@ -1,14 +1,15 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
{ {
public class DtObstacleSegment public class DtObstacleSegment
{ {
/** End points of the obstacle segment */ /** End points of the obstacle segment */
public RcVec3f p = new RcVec3f(); public Vector3 p = new Vector3();
/** End points of the obstacle segment */ /** End points of the obstacle segment */
public RcVec3f q = new RcVec3f(); public Vector3 q = new Vector3();
public bool touch; public bool touch;
} }

27
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
View File

@ -22,6 +22,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
@ -65,8 +66,8 @@ namespace DotRecast.Detour.Crowd
*/ */
public class DtPathCorridor public class DtPathCorridor
{ {
private RcVec3f m_pos = new RcVec3f(); private Vector3 m_pos = new Vector3();
private RcVec3f m_target = new RcVec3f(); private Vector3 m_target = new Vector3();
private List<long> m_path; private List<long> m_path;
@ -86,7 +87,7 @@ namespace DotRecast.Detour.Crowd
* @param pos * @param pos
* The new position in the corridor. [(x, y, z)] * The new position in the corridor. [(x, y, z)]
*/ */
public void Reset(long refs, RcVec3f pos) public void Reset(long refs, Vector3 pos)
{ {
m_path.Clear(); m_path.Clear();
m_path.Add(refs); m_path.Add(refs);
@ -176,7 +177,7 @@ namespace DotRecast.Detour.Crowd
* @param filter * @param filter
* The filter to apply to the operation. * The filter to apply to the operation.
*/ */
public void OptimizePathVisibility(RcVec3f next, float pathOptimizationRange, DtNavMeshQuery navquery, IDtQueryFilter filter) public void OptimizePathVisibility(Vector3 next, float pathOptimizationRange, DtNavMeshQuery navquery, IDtQueryFilter filter)
{ {
// Clamp the ray to max distance. // Clamp the ray to max distance.
float dist = RcVecUtils.Dist2D(m_pos, next); float dist = RcVecUtils.Dist2D(m_pos, next);
@ -192,8 +193,8 @@ namespace DotRecast.Detour.Crowd
dist = Math.Min(dist + 0.01f, pathOptimizationRange); dist = Math.Min(dist + 0.01f, pathOptimizationRange);
// Adjust ray length. // Adjust ray length.
var delta = RcVec3f.Subtract(next, m_pos); var delta = Vector3.Subtract(next, m_pos);
RcVec3f goal = RcVecUtils.Mad(m_pos, delta, pathOptimizationRange / dist); Vector3 goal = RcVecUtils.Mad(m_pos, delta, pathOptimizationRange / dist);
var status = navquery.Raycast(m_path[0], m_pos, goal, filter, 0, 0, out var rayHit); var status = navquery.Raycast(m_path[0], m_pos, goal, filter, 0, 0, out var rayHit);
if (status.Succeeded()) if (status.Succeeded())
@ -242,7 +243,7 @@ namespace DotRecast.Detour.Crowd
return false; return false;
} }
public bool MoveOverOffmeshConnection(long offMeshConRef, long[] refs, ref RcVec3f startPos, ref RcVec3f endPos, DtNavMeshQuery navquery) public bool MoveOverOffmeshConnection(long offMeshConRef, long[] refs, ref Vector3 startPos, ref Vector3 endPos, DtNavMeshQuery navquery)
{ {
// Advance the path up to and over the off-mesh connection. // Advance the path up to and over the off-mesh connection.
long prevRef = 0, polyRef = m_path[0]; long prevRef = 0, polyRef = m_path[0];
@ -299,7 +300,7 @@ namespace DotRecast.Detour.Crowd
* @param filter * @param filter
* The filter to apply to the operation. * The filter to apply to the operation.
*/ */
public bool MovePosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter) public bool MovePosition(Vector3 npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
{ {
// Move along navmesh and update new position. // Move along navmesh and update new position.
var visited = new List<long>(); var visited = new List<long>();
@ -339,7 +340,7 @@ namespace DotRecast.Detour.Crowd
* @param filter * @param filter
* The filter to apply to the operation. * The filter to apply to the operation.
*/ */
public bool MoveTargetPosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter) public bool MoveTargetPosition(Vector3 npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
{ {
// Move along navmesh and update new position. // Move along navmesh and update new position.
var visited = new List<long>(); var visited = new List<long>();
@ -370,13 +371,13 @@ namespace DotRecast.Detour.Crowd
* @param path * @param path
* The path corridor. * The path corridor.
*/ */
public void SetCorridor(RcVec3f target, List<long> path) public void SetCorridor(Vector3 target, List<long> path)
{ {
m_target = target; m_target = target;
m_path = new List<long>(path); m_path = new List<long>(path);
} }
public void FixPathStart(long safeRef, RcVec3f safePos) public void FixPathStart(long safeRef, Vector3 safePos)
{ {
m_pos = safePos; m_pos = safePos;
if (m_path.Count < 3 && m_path.Count > 0) if (m_path.Count < 3 && m_path.Count > 0)
@ -460,7 +461,7 @@ namespace DotRecast.Detour.Crowd
* *
* @return The current position within the corridor. * @return The current position within the corridor.
*/ */
public RcVec3f GetPos() public Vector3 GetPos()
{ {
return m_pos; return m_pos;
} }
@ -470,7 +471,7 @@ namespace DotRecast.Detour.Crowd
* *
* @return The current target within the corridor. * @return The current target within the corridor.
*/ */
public RcVec3f GetTarget() public Vector3 GetTarget()
{ {
return m_target; return m_target;
} }

5
src/DotRecast.Detour.Crowd/DtPathQuery.cs
View File

@ -19,14 +19,15 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
{ {
public class DtPathQuery public class DtPathQuery
{ {
/// Path find start and end location. /// Path find start and end location.
public RcVec3f startPos = new RcVec3f(); public Vector3 startPos = new Vector3();
public RcVec3f endPos = new RcVec3f(); public Vector3 endPos = new Vector3();
public long startRef; public long startRef;
public long endRef; public long endRef;

3
src/DotRecast.Detour.Crowd/DtPathQueue.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
@ -75,7 +76,7 @@ namespace DotRecast.Detour.Crowd
} }
} }
public DtPathQueryResult Request(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter) public DtPathQueryResult Request(long startRef, long endRef, Vector3 startPos, Vector3 endPos, IDtQueryFilter filter)
{ {
if (queue.Count >= config.pathQueueSize) if (queue.Count >= config.pathQueueSize)
{ {

3
src/DotRecast.Detour.Crowd/DtSegment.cs
View File

@ -1,11 +1,12 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Crowd namespace DotRecast.Detour.Crowd
{ {
public class DtSegment public class DtSegment
{ {
/** Segment start/end */ /** Segment start/end */
public RcVec3f[] s = new RcVec3f[2]; public Vector3[] s = new Vector3[2];
/** Distance for pruning. */ /** Distance for pruning. */
public float d; public float d;

29
src/DotRecast.Detour.Dynamic/Colliders/DtBoxCollider.cs
View File

@ -20,23 +20,24 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
namespace DotRecast.Detour.Dynamic.Colliders namespace DotRecast.Detour.Dynamic.Colliders
{ {
public class DtBoxCollider : DtCollider public class DtBoxCollider : DtCollider
{ {
private readonly RcVec3f center; private readonly Vector3 center;
private readonly RcVec3f[] halfEdges; private readonly Vector3[] halfEdges;
public DtBoxCollider(RcVec3f center, RcVec3f[] halfEdges, int area, float flagMergeThreshold) : public DtBoxCollider(Vector3 center, Vector3[] halfEdges, int area, float flagMergeThreshold) :
base(area, flagMergeThreshold, Bounds(center, halfEdges)) base(area, flagMergeThreshold, Bounds(center, halfEdges))
{ {
this.center = center; this.center = center;
this.halfEdges = halfEdges; this.halfEdges = halfEdges;
} }
private static float[] Bounds(RcVec3f center, RcVec3f[] halfEdges) private static float[] Bounds(Vector3 center, Vector3[] halfEdges)
{ {
float[] bounds = new float[] float[] bounds = new float[]
{ {
@ -68,20 +69,20 @@ namespace DotRecast.Detour.Dynamic.Colliders
hf, center, halfEdges, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry); hf, center, halfEdges, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
} }
public static RcVec3f[] GetHalfEdges(RcVec3f up, RcVec3f forward, RcVec3f extent) public static Vector3[] GetHalfEdges(Vector3 up, Vector3 forward, Vector3 extent)
{ {
RcVec3f[] halfEdges = Vector3[] halfEdges =
{ {
RcVec3f.Zero, Vector3.Zero,
new RcVec3f(up.X, up.Y, up.Z), new Vector3(up.X, up.Y, up.Z),
RcVec3f.Zero Vector3.Zero
}; };
halfEdges[1] = RcVec3f.Normalize(halfEdges[1]); halfEdges[1] = Vector3.Normalize(halfEdges[1]);
halfEdges[0] = RcVec3f.Cross(up, forward); halfEdges[0] = Vector3.Cross(up, forward);
halfEdges[0] = RcVec3f.Normalize(halfEdges[0]); halfEdges[0] = Vector3.Normalize(halfEdges[0]);
halfEdges[2] = RcVec3f.Cross(halfEdges[0], up); halfEdges[2] = Vector3.Cross(halfEdges[0], up);
halfEdges[2] = RcVec3f.Normalize(halfEdges[2]); halfEdges[2] = Vector3.Normalize(halfEdges[2]);
halfEdges[0].X *= extent.X; halfEdges[0].X *= extent.X;
halfEdges[0].Y *= extent.X; halfEdges[0].Y *= extent.X;
halfEdges[0].Z *= extent.X; halfEdges[0].Z *= extent.X;

9
src/DotRecast.Detour.Dynamic/Colliders/DtCapsuleCollider.cs
View File

@ -20,17 +20,18 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
namespace DotRecast.Detour.Dynamic.Colliders namespace DotRecast.Detour.Dynamic.Colliders
{ {
public class DtCapsuleCollider : DtCollider public class DtCapsuleCollider : DtCollider
{ {
private readonly RcVec3f start; private readonly Vector3 start;
private readonly RcVec3f end; private readonly Vector3 end;
private readonly float radius; private readonly float radius;
public DtCapsuleCollider(RcVec3f start, RcVec3f end, float radius, int area, float flagMergeThreshold) public DtCapsuleCollider(Vector3 start, Vector3 end, float radius, int area, float flagMergeThreshold)
: base(area, flagMergeThreshold, Bounds(start, end, radius)) : base(area, flagMergeThreshold, Bounds(start, end, radius))
{ {
this.start = start; this.start = start;
@ -43,7 +44,7 @@ namespace DotRecast.Detour.Dynamic.Colliders
RcFilledVolumeRasterization.RasterizeCapsule(hf, start, end, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry); RcFilledVolumeRasterization.RasterizeCapsule(hf, start, end, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
} }
private static float[] Bounds(RcVec3f start, RcVec3f end, float radius) private static float[] Bounds(Vector3 start, Vector3 end, float radius)
{ {
return new float[] return new float[]
{ {

9
src/DotRecast.Detour.Dynamic/Colliders/DtCylinderCollider.cs
View File

@ -20,17 +20,18 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
namespace DotRecast.Detour.Dynamic.Colliders namespace DotRecast.Detour.Dynamic.Colliders
{ {
public class DtCylinderCollider : DtCollider public class DtCylinderCollider : DtCollider
{ {
private readonly RcVec3f start; private readonly Vector3 start;
private readonly RcVec3f end; private readonly Vector3 end;
private readonly float radius; private readonly float radius;
public DtCylinderCollider(RcVec3f start, RcVec3f end, float radius, int area, float flagMergeThreshold) : public DtCylinderCollider(Vector3 start, Vector3 end, float radius, int area, float flagMergeThreshold) :
base(area, flagMergeThreshold, Bounds(start, end, radius)) base(area, flagMergeThreshold, Bounds(start, end, radius))
{ {
this.start = start; this.start = start;
@ -44,7 +45,7 @@ namespace DotRecast.Detour.Dynamic.Colliders
telemetry); telemetry);
} }
private static float[] Bounds(RcVec3f start, RcVec3f end, float radius) private static float[] Bounds(Vector3 start, Vector3 end, float radius)
{ {
return new float[] return new float[]
{ {

7
src/DotRecast.Detour.Dynamic/Colliders/DtSphereCollider.cs
View File

@ -20,16 +20,17 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
namespace DotRecast.Detour.Dynamic.Colliders namespace DotRecast.Detour.Dynamic.Colliders
{ {
public class DtSphereCollider : DtCollider public class DtSphereCollider : DtCollider
{ {
private readonly RcVec3f center; private readonly Vector3 center;
private readonly float radius; private readonly float radius;
public DtSphereCollider(RcVec3f center, float radius, int area, float flagMergeThreshold) public DtSphereCollider(Vector3 center, float radius, int area, float flagMergeThreshold)
: base(area, flagMergeThreshold, Bounds(center, radius)) : base(area, flagMergeThreshold, Bounds(center, radius))
{ {
this.center = center; this.center = center;
@ -42,7 +43,7 @@ namespace DotRecast.Detour.Dynamic.Colliders
telemetry); telemetry);
} }
private static float[] Bounds(RcVec3f center, float radius) private static float[] Bounds(Vector3 center, float radius)
{ {
return new float[] return new float[]
{ {

11
src/DotRecast.Detour.Dynamic/DtVoxelQuery.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
namespace DotRecast.Detour.Dynamic namespace DotRecast.Detour.Dynamic
@ -30,12 +31,12 @@ namespace DotRecast.Detour.Dynamic
*/ */
public class DtVoxelQuery public class DtVoxelQuery
{ {
private readonly RcVec3f origin; private readonly Vector3 origin;
private readonly float tileWidth; private readonly float tileWidth;
private readonly float tileDepth; private readonly float tileDepth;
private readonly Func<int, int, RcHeightfield> heightfieldProvider; private readonly Func<int, int, RcHeightfield> heightfieldProvider;
public DtVoxelQuery(RcVec3f origin, float tileWidth, float tileDepth, Func<int, int, RcHeightfield> heightfieldProvider) public DtVoxelQuery(Vector3 origin, float tileWidth, float tileDepth, Func<int, int, RcHeightfield> heightfieldProvider)
{ {
this.origin = origin; this.origin = origin;
this.tileWidth = tileWidth; this.tileWidth = tileWidth;
@ -48,12 +49,12 @@ namespace DotRecast.Detour.Dynamic
* *
* @return Optional with hit parameter (t) or empty if no hit found * @return Optional with hit parameter (t) or empty if no hit found
*/ */
public bool Raycast(RcVec3f start, RcVec3f end, out float hit) public bool Raycast(Vector3 start, Vector3 end, out float hit)
{ {
return TraverseTiles(start, end, out hit); return TraverseTiles(start, end, out hit);
} }
private bool TraverseTiles(RcVec3f start, RcVec3f end, out float hit) private bool TraverseTiles(Vector3 start, Vector3 end, out float hit)
{ {
float relStartX = start.X - origin.X; float relStartX = start.X - origin.X;
float relStartZ = start.Z - origin.Z; float relStartZ = start.Z - origin.Z;
@ -108,7 +109,7 @@ namespace DotRecast.Detour.Dynamic
return false; return false;
} }
private bool TraversHeightfield(int x, int z, RcVec3f start, RcVec3f end, float tMin, float tMax, out float hit) private bool TraversHeightfield(int x, int z, Vector3 start, Vector3 end, float tMin, float tMax, out float hit)
{ {
RcHeightfield hf = heightfieldProvider.Invoke(x, z); RcHeightfield hf = heightfieldProvider.Invoke(x, z);
if (null != hf) if (null != hf)

3
src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs
View File

@ -21,6 +21,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
namespace DotRecast.Detour.Dynamic.Io namespace DotRecast.Detour.Dynamic.Io
@ -54,7 +55,7 @@ namespace DotRecast.Detour.Dynamic.Io
public bool useTiles; public bool useTiles;
public int tileSizeX; public int tileSizeX;
public int tileSizeZ; public int tileSizeZ;
public RcVec3f rotation = new RcVec3f(); public Vector3 rotation = new Vector3();
public float[] bounds = new float[6]; public float[] bounds = new float[6];
public readonly List<DtVoxelTile> tiles = new List<DtVoxelTile>(); public readonly List<DtVoxelTile> tiles = new List<DtVoxelTile>();

5
src/DotRecast.Detour.Dynamic/Io/DtVoxelFileReader.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System.IO; using System.IO;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Io; using DotRecast.Detour.Io;
namespace DotRecast.Detour.Dynamic.Io namespace DotRecast.Detour.Dynamic.Io
@ -108,11 +109,11 @@ namespace DotRecast.Detour.Dynamic.Io
int width = buf.GetInt(); int width = buf.GetInt();
int depth = buf.GetInt(); int depth = buf.GetInt();
int borderSize = buf.GetInt(); int borderSize = buf.GetInt();
RcVec3f boundsMin = new RcVec3f(); Vector3 boundsMin = new Vector3();
boundsMin.X = buf.GetFloat(); boundsMin.X = buf.GetFloat();
boundsMin.Y = buf.GetFloat(); boundsMin.Y = buf.GetFloat();
boundsMin.Z = buf.GetFloat(); boundsMin.Z = buf.GetFloat();
RcVec3f boundsMax = new RcVec3f(); Vector3 boundsMax = new Vector3();
boundsMax.X = buf.GetFloat(); boundsMax.X = buf.GetFloat();
boundsMax.Y = buf.GetFloat(); boundsMax.Y = buf.GetFloat();
boundsMax.Z = buf.GetFloat(); boundsMax.Z = buf.GetFloat();

1
src/DotRecast.Detour.Dynamic/Io/DtVoxelFileWriter.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System.IO; using System.IO;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Io; using DotRecast.Detour.Io;
namespace DotRecast.Detour.Dynamic.Io namespace DotRecast.Detour.Dynamic.Io

7
src/DotRecast.Detour.Dynamic/Io/DtVoxelTile.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
namespace DotRecast.Detour.Dynamic.Io namespace DotRecast.Detour.Dynamic.Io
@ -32,13 +33,13 @@ namespace DotRecast.Detour.Dynamic.Io
public readonly int borderSize; public readonly int borderSize;
public int width; public int width;
public int depth; public int depth;
public readonly RcVec3f boundsMin; public readonly Vector3 boundsMin;
public RcVec3f boundsMax; public Vector3 boundsMax;
public float cellSize; public float cellSize;
public float cellHeight; public float cellHeight;
public readonly byte[] spanData; public readonly byte[] spanData;
public DtVoxelTile(int tileX, int tileZ, int width, int depth, RcVec3f boundsMin, RcVec3f boundsMax, float cellSize, public DtVoxelTile(int tileX, int tileZ, int width, int depth, Vector3 boundsMin, Vector3 boundsMax, float cellSize,
float cellHeight, int borderSize, RcByteBuffer buffer) float cellHeight, int borderSize, RcByteBuffer buffer)
{ {
this.tileX = tileX; this.tileX = tileX;

5
src/DotRecast.Detour.Extras/BVTreeBuilder.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras namespace DotRecast.Detour.Extras
{ {
@ -40,8 +41,8 @@ namespace DotRecast.Detour.Extras
BVItem it = new BVItem(); BVItem it = new BVItem();
items[i] = it; items[i] = it;
it.i = i; it.i = i;
RcVec3f bmin = RcVecUtils.Create(data.verts, data.polys[i].verts[0] * 3); Vector3 bmin = RcVecUtils.Create(data.verts, data.polys[i].verts[0] * 3);
RcVec3f bmax = RcVecUtils.Create(data.verts, data.polys[i].verts[0] * 3); Vector3 bmax = RcVecUtils.Create(data.verts, data.polys[i].verts[0] * 3);
for (int j = 1; j < data.polys[i].vertCount; j++) for (int j = 1; j < data.polys[i].vertCount; j++)
{ {
bmin = RcVecUtils.Min(bmin, data.verts, data.polys[i].verts[j] * 3); bmin = RcVecUtils.Min(bmin, data.verts, data.polys[i].verts[j] * 3);

5
src/DotRecast.Detour.Extras/Jumplink/AbstractGroundSampler.cs
View File

@ -1,12 +1,13 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
namespace DotRecast.Detour.Extras.Jumplink namespace DotRecast.Detour.Extras.Jumplink
{ {
public abstract class AbstractGroundSampler : IGroundSampler public abstract class AbstractGroundSampler : IGroundSampler
{ {
public delegate bool ComputeNavMeshHeight(RcVec3f pt, float cellSize, out float height); public delegate bool ComputeNavMeshHeight(Vector3 pt, float cellSize, out float height);
protected void SampleGround(JumpLinkBuilderConfig acfg, EdgeSampler es, ComputeNavMeshHeight heightFunc) protected void SampleGround(JumpLinkBuilderConfig acfg, EdgeSampler es, ComputeNavMeshHeight heightFunc)
{ {
@ -33,7 +34,7 @@ namespace DotRecast.Detour.Extras.Jumplink
GroundSample s = new GroundSample(); GroundSample s = new GroundSample();
seg.gsamples[i] = s; seg.gsamples[i] = s;
RcVec3f pt = RcVec3f.Lerp(seg.p, seg.q, u); Vector3 pt = Vector3.Lerp(seg.p, seg.q, u);
bool success = heightFunc.Invoke(pt, seg.height, out var height); bool success = heightFunc.Invoke(pt, seg.height, out var height);
s.p.X = pt.X; s.p.X = pt.X;
s.p.Y = height; s.p.Y = height;

5
src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs
View File

@ -1,13 +1,14 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Jumplink namespace DotRecast.Detour.Extras.Jumplink
{ {
public class ClimbTrajectory : Trajectory public class ClimbTrajectory : Trajectory
{ {
public override RcVec3f Apply(RcVec3f start, RcVec3f end, float u) public override Vector3 Apply(Vector3 start, Vector3 end, float u)
{ {
return new RcVec3f() return new Vector3()
{ {
X = Lerp(start.X, end.X, Math.Min(2f * u, 1f)), X = Lerp(start.X, end.X, Math.Min(2f * u, 1f)),
Y = Lerp(start.Y, end.Y, Math.Max(0f, 2f * u - 1f)), Y = Lerp(start.Y, end.Y, Math.Max(0f, 2f * u - 1f)),

3
src/DotRecast.Detour.Extras/Jumplink/EdgeExtractor.cs
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@ -1,5 +1,6 @@
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
using static DotRecast.Recast.RcConstants; using static DotRecast.Recast.RcConstants;
@ -13,7 +14,7 @@ namespace DotRecast.Detour.Extras.Jumplink
List<JumpEdge> edges = new List<JumpEdge>(); List<JumpEdge> edges = new List<JumpEdge>();
if (mesh != null) if (mesh != null)
{ {
RcVec3f orig = mesh.bmin; Vector3 orig = mesh.bmin;
float cs = mesh.cs; float cs = mesh.cs;
float ch = mesh.ch; float ch = mesh.ch;
for (int i = 0; i < mesh.npolys; i++) for (int i = 0; i < mesh.npolys; i++)

17
src/DotRecast.Detour.Extras/Jumplink/EdgeSampler.cs
View File

@ -1,5 +1,6 @@
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Jumplink namespace DotRecast.Detour.Extras.Jumplink
{ {
@ -9,20 +10,20 @@ namespace DotRecast.Detour.Extras.Jumplink
public readonly List<GroundSegment> end = new List<GroundSegment>(); public readonly List<GroundSegment> end = new List<GroundSegment>();
public readonly Trajectory trajectory; public readonly Trajectory trajectory;
public readonly RcVec3f ax = new RcVec3f(); public readonly Vector3 ax = new Vector3();
public readonly RcVec3f ay = new RcVec3f(); public readonly Vector3 ay = new Vector3();
public readonly RcVec3f az = new RcVec3f(); public readonly Vector3 az = new Vector3();
public EdgeSampler(JumpEdge edge, Trajectory trajectory) public EdgeSampler(JumpEdge edge, Trajectory trajectory)
{ {
this.trajectory = trajectory; this.trajectory = trajectory;
ax = RcVec3f.Subtract(edge.sq, edge.sp); ax = Vector3.Subtract(edge.sq, edge.sp);
ax = RcVec3f.Normalize(ax); ax = Vector3.Normalize(ax);
az = new RcVec3f(ax.Z, 0, -ax.X); az = new Vector3(ax.Z, 0, -ax.X);
az = RcVec3f.Normalize(az); az = Vector3.Normalize(az);
ay = new RcVec3f(0, 1, 0); ay = new Vector3(0, 1, 0);
} }
} }
} }

17
src/DotRecast.Detour.Extras/Jumplink/EdgeSamplerFactory.cs
View File

@ -1,5 +1,6 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Jumplink namespace DotRecast.Detour.Extras.Jumplink
{ {
@ -29,8 +30,8 @@ namespace DotRecast.Detour.Extras.Jumplink
{ {
EdgeSampler es = new EdgeSampler(edge, new JumpTrajectory(acfg.jumpHeight)); EdgeSampler es = new EdgeSampler(edge, new JumpTrajectory(acfg.jumpHeight));
es.start.height = acfg.agentClimb * 2; es.start.height = acfg.agentClimb * 2;
RcVec3f offset = new RcVec3f(); Vector3 offset = new Vector3();
Trans2d(ref offset, es.az, es.ay, new RcVec2f { X = acfg.startDistance, Y = -acfg.agentClimb, }); Trans2d(ref offset, es.az, es.ay, new Vector2 { X = acfg.startDistance, Y = -acfg.agentClimb, });
Vadd(ref es.start.p, edge.sp, offset); Vadd(ref es.start.p, edge.sp, offset);
Vadd(ref es.start.q, edge.sq, offset); Vadd(ref es.start.q, edge.sq, offset);
@ -42,7 +43,7 @@ namespace DotRecast.Detour.Extras.Jumplink
{ {
float v = (float)j / (float)(nsamples - 1); float v = (float)j / (float)(nsamples - 1);
float ox = 2 * acfg.agentRadius + dx * v; float ox = 2 * acfg.agentRadius + dx * v;
Trans2d(ref offset, es.az, es.ay, new RcVec2f { X = ox, Y = acfg.minHeight }); Trans2d(ref offset, es.az, es.ay, new Vector2 { X = ox, Y = acfg.minHeight });
GroundSegment end = new GroundSegment(); GroundSegment end = new GroundSegment();
end.height = acfg.heightRange; end.height = acfg.heightRange;
Vadd(ref end.p, edge.sp, offset); Vadd(ref end.p, edge.sp, offset);
@ -57,12 +58,12 @@ namespace DotRecast.Detour.Extras.Jumplink
{ {
EdgeSampler es = new EdgeSampler(edge, new ClimbTrajectory()); EdgeSampler es = new EdgeSampler(edge, new ClimbTrajectory());
es.start.height = acfg.agentClimb * 2; es.start.height = acfg.agentClimb * 2;
RcVec3f offset = new RcVec3f(); Vector3 offset = new Vector3();
Trans2d(ref offset, es.az, es.ay, new RcVec2f() { X = acfg.startDistance, Y = -acfg.agentClimb }); Trans2d(ref offset, es.az, es.ay, new Vector2() { X = acfg.startDistance, Y = -acfg.agentClimb });
Vadd(ref es.start.p, edge.sp, offset); Vadd(ref es.start.p, edge.sp, offset);
Vadd(ref es.start.q, edge.sq, offset); Vadd(ref es.start.q, edge.sq, offset);
Trans2d(ref offset, es.az, es.ay, new RcVec2f() { X = acfg.endDistance, Y = acfg.minHeight }); Trans2d(ref offset, es.az, es.ay, new Vector2() { X = acfg.endDistance, Y = acfg.minHeight });
GroundSegment end = new GroundSegment(); GroundSegment end = new GroundSegment();
end.height = acfg.heightRange; end.height = acfg.heightRange;
Vadd(ref end.p, edge.sp, offset); Vadd(ref end.p, edge.sp, offset);
@ -78,7 +79,7 @@ namespace DotRecast.Detour.Extras.Jumplink
dest[2] = v1[2] + v2[2]; dest[2] = v1[2] + v2[2];
} }
private void Vadd(ref RcVec3f dest, RcVec3f v1, RcVec3f v2) private void Vadd(ref Vector3 dest, Vector3 v1, Vector3 v2)
{ {
dest.X = v1.X + v2.X; dest.X = v1.X + v2.X;
dest.Y = v1.Y + v2.Y; dest.Y = v1.Y + v2.Y;
@ -93,7 +94,7 @@ namespace DotRecast.Detour.Extras.Jumplink
dst[2] = ax[2] * pt[0] + ay[2] * pt[1]; dst[2] = ax[2] * pt[0] + ay[2] * pt[1];
} }
private void Trans2d(ref RcVec3f dst, RcVec3f ax, RcVec3f ay, RcVec2f pt) private void Trans2d(ref Vector3 dst, Vector3 ax, Vector3 ay, Vector2 pt)
{ {
dst.X = ax.X * pt.X + ay.X * pt.Y; dst.X = ax.X * pt.X + ay.X * pt.Y;
dst.Y = ax.Y * pt.X + ay.Y * pt.Y; dst.Y = ax.Y * pt.X + ay.Y * pt.Y;

3
src/DotRecast.Detour.Extras/Jumplink/GroundSample.cs
View File

@ -1,10 +1,11 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Jumplink namespace DotRecast.Detour.Extras.Jumplink
{ {
public class GroundSample public class GroundSample
{ {
public RcVec3f p = new RcVec3f(); public Vector3 p = new Vector3();
public bool validTrajectory; public bool validTrajectory;
public bool validHeight; public bool validHeight;
} }

5
src/DotRecast.Detour.Extras/Jumplink/GroundSegment.cs
View File

@ -1,11 +1,12 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Jumplink namespace DotRecast.Detour.Extras.Jumplink
{ {
public class GroundSegment public class GroundSegment
{ {
public RcVec3f p = new RcVec3f(); public Vector3 p = new Vector3();
public RcVec3f q = new RcVec3f(); public Vector3 q = new Vector3();
public GroundSample[] gsamples; public GroundSample[] gsamples;
public float height; public float height;
} }

5
src/DotRecast.Detour.Extras/Jumplink/JumpEdge.cs
View File

@ -1,10 +1,11 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Jumplink namespace DotRecast.Detour.Extras.Jumplink
{ {
public class JumpEdge public class JumpEdge
{ {
public RcVec3f sp = new RcVec3f(); public Vector3 sp = new Vector3();
public RcVec3f sq = new RcVec3f(); public Vector3 sq = new Vector3();
} }
} }

11
src/DotRecast.Detour.Extras/Jumplink/JumpLinkBuilder.cs
View File

@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.Linq; using System.Linq;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
namespace DotRecast.Detour.Extras.Jumplink namespace DotRecast.Detour.Extras.Jumplink
@ -54,11 +55,11 @@ namespace DotRecast.Detour.Extras.Jumplink
List<JumpLink> links = new List<JumpLink>(); List<JumpLink> links = new List<JumpLink>();
foreach (JumpSegment js in jumpSegments) foreach (JumpSegment js in jumpSegments)
{ {
RcVec3f sp = es.start.gsamples[js.startSample].p; Vector3 sp = es.start.gsamples[js.startSample].p;
RcVec3f sq = es.start.gsamples[js.startSample + js.samples - 1].p; Vector3 sq = es.start.gsamples[js.startSample + js.samples - 1].p;
GroundSegment end = es.end[js.groundSegment]; GroundSegment end = es.end[js.groundSegment];
RcVec3f ep = end.gsamples[js.startSample].p; Vector3 ep = end.gsamples[js.startSample].p;
RcVec3f eq = end.gsamples[js.startSample + js.samples - 1].p; Vector3 eq = end.gsamples[js.startSample + js.samples - 1].p;
float d = Math.Min(RcVecUtils.Dist2DSqr(sp, sq), RcVecUtils.Dist2DSqr(ep, eq)); float d = Math.Min(RcVecUtils.Dist2DSqr(sp, sq), RcVecUtils.Dist2DSqr(ep, eq));
if (d >= 4 * acfg.agentRadius * acfg.agentRadius) if (d >= 4 * acfg.agentRadius * acfg.agentRadius)
{ {
@ -72,7 +73,7 @@ namespace DotRecast.Detour.Extras.Jumplink
for (int j = 0; j < link.nspine; ++j) for (int j = 0; j < link.nspine; ++j)
{ {
float u = ((float)j) / (link.nspine - 1); float u = ((float)j) / (link.nspine - 1);
RcVec3f p = es.trajectory.Apply(sp, ep, u); Vector3 p = es.trajectory.Apply(sp, ep, u);
link.spine0[j * 3] = p.X; link.spine0[j * 3] = p.X;
link.spine0[j * 3 + 1] = p.Y; link.spine0[j * 3 + 1] = p.Y;
link.spine0[j * 3 + 2] = p.Z; link.spine0[j * 3 + 2] = p.Z;

5
src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs
View File

@ -1,5 +1,6 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Jumplink namespace DotRecast.Detour.Extras.Jumplink
{ {
@ -12,9 +13,9 @@ namespace DotRecast.Detour.Extras.Jumplink
this.jumpHeight = jumpHeight; this.jumpHeight = jumpHeight;
} }
public override RcVec3f Apply(RcVec3f start, RcVec3f end, float u) public override Vector3 Apply(Vector3 start, Vector3 end, float u)
{ {
return new RcVec3f return new Vector3
{ {
X = Lerp(start.X, end.X, u), X = Lerp(start.X, end.X, u),
Y = InterpolateHeight(start.Y, end.Y, u), Y = InterpolateHeight(start.Y, end.Y, u),

7
src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
View File

@ -1,5 +1,6 @@
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
@ -10,7 +11,7 @@ namespace DotRecast.Detour.Extras.Jumplink
public override void Sample(JumpLinkBuilderConfig acfg, RcBuilderResult result, EdgeSampler es) public override void Sample(JumpLinkBuilderConfig acfg, RcBuilderResult result, EdgeSampler es)
{ {
DtNavMeshQuery navMeshQuery = CreateNavMesh(result, acfg.agentRadius, acfg.agentHeight, acfg.agentClimb); DtNavMeshQuery navMeshQuery = CreateNavMesh(result, acfg.agentRadius, acfg.agentHeight, acfg.agentClimb);
SampleGround(acfg, es, (RcVec3f pt, float heightRange, out float height) => GetNavMeshHeight(navMeshQuery, pt, acfg.cellSize, heightRange, out height)); SampleGround(acfg, es, (Vector3 pt, float heightRange, out float height) => GetNavMeshHeight(navMeshQuery, pt, acfg.cellSize, heightRange, out height));
} }
private DtNavMeshQuery CreateNavMesh(RcBuilderResult r, float agentRadius, float agentHeight, float agentClimb) private DtNavMeshQuery CreateNavMesh(RcBuilderResult r, float agentRadius, float agentHeight, float agentClimb)
@ -40,11 +41,11 @@ namespace DotRecast.Detour.Extras.Jumplink
} }
private bool GetNavMeshHeight(DtNavMeshQuery navMeshQuery, RcVec3f pt, float cs, float heightRange, out float height) private bool GetNavMeshHeight(DtNavMeshQuery navMeshQuery, Vector3 pt, float cs, float heightRange, out float height)
{ {
height = default; height = default;
RcVec3f halfExtents = new RcVec3f { X = cs, Y = heightRange, Z = cs }; Vector3 halfExtents = new Vector3 { X = cs, Y = heightRange, Z = cs };
float maxHeight = pt.Y + heightRange; float maxHeight = pt.Y + heightRange;
RcAtomicBoolean found = new RcAtomicBoolean(); RcAtomicBoolean found = new RcAtomicBoolean();
RcAtomicFloat minHeight = new RcAtomicFloat(pt.Y); RcAtomicFloat minHeight = new RcAtomicFloat(pt.Y);

3
src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs
View File

@ -1,5 +1,6 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Jumplink namespace DotRecast.Detour.Extras.Jumplink
{ {
@ -10,7 +11,7 @@ namespace DotRecast.Detour.Extras.Jumplink
return u * g + (1f - u) * f; return u * g + (1f - u) * f;
} }
public virtual RcVec3f Apply(RcVec3f start, RcVec3f end, float u) public virtual Vector3 Apply(Vector3 start, Vector3 end, float u)
{ {
throw new NotImplementedException(); throw new NotImplementedException();
} }

7
src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
View File

@ -1,5 +1,6 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
@ -32,7 +33,7 @@ namespace DotRecast.Detour.Extras.Jumplink
} }
} }
private bool SampleTrajectory(JumpLinkBuilderConfig acfg, RcHeightfield solid, RcVec3f pa, RcVec3f pb, Trajectory tra) private bool SampleTrajectory(JumpLinkBuilderConfig acfg, RcHeightfield solid, Vector3 pa, Vector3 pb, Trajectory tra)
{ {
float cs = Math.Min(acfg.cellSize, acfg.cellHeight); float cs = Math.Min(acfg.cellSize, acfg.cellHeight);
float d = RcVecUtils.Dist2D(pa, pb) + MathF.Abs(pa.Y - pb.Y); float d = RcVecUtils.Dist2D(pa, pb) + MathF.Abs(pa.Y - pb.Y);
@ -40,7 +41,7 @@ namespace DotRecast.Detour.Extras.Jumplink
for (int i = 0; i < nsamples; ++i) for (int i = 0; i < nsamples; ++i)
{ {
float u = (float)i / (float)(nsamples - 1); float u = (float)i / (float)(nsamples - 1);
RcVec3f p = tra.Apply(pa, pb, u); Vector3 p = tra.Apply(pa, pb, u);
if (CheckHeightfieldCollision(solid, p.X, p.Y + acfg.groundTolerance, p.Y + acfg.agentHeight, p.Z)) if (CheckHeightfieldCollision(solid, p.X, p.Y + acfg.groundTolerance, p.Y + acfg.agentHeight, p.Z))
{ {
return false; return false;
@ -56,7 +57,7 @@ namespace DotRecast.Detour.Extras.Jumplink
int h = solid.height; int h = solid.height;
float cs = solid.cs; float cs = solid.cs;
float ch = solid.ch; float ch = solid.ch;
RcVec3f orig = solid.bmin; Vector3 orig = solid.bmin;
int ix = (int)MathF.Floor((x - orig.X) / cs); int ix = (int)MathF.Floor((x - orig.X) / cs);
int iz = (int)MathF.Floor((z - orig.Z) / cs); int iz = (int)MathF.Floor((z - orig.Z) / cs);

1
src/DotRecast.Detour.Extras/Unity/Astar/GraphMeta.cs
View File

@ -17,6 +17,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Unity.Astar namespace DotRecast.Detour.Extras.Unity.Astar
{ {

7
src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2.cs
View File

@ -17,6 +17,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Unity.Astar namespace DotRecast.Detour.Extras.Unity.Astar
{ {
@ -25,10 +26,10 @@ namespace DotRecast.Detour.Extras.Unity.Astar
public readonly long linkID; public readonly long linkID;
public readonly int startNode; public readonly int startNode;
public readonly int endNode; public readonly int endNode;
public readonly RcVec3f clamped1; public readonly Vector3 clamped1;
public readonly RcVec3f clamped2; public readonly Vector3 clamped2;
public NodeLink2(long linkID, int startNode, int endNode, RcVec3f clamped1, RcVec3f clamped2) : base() public NodeLink2(long linkID, int startNode, int endNode, Vector3 clamped1, Vector3 clamped2) : base()
{ {
this.linkID = linkID; this.linkID = linkID;
this.startNode = startNode; this.startNode = startNode;

5
src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2Reader.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System.IO.Compression; using System.IO.Compression;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Unity.Astar namespace DotRecast.Detour.Extras.Unity.Astar
{ {
@ -36,11 +37,11 @@ namespace DotRecast.Detour.Extras.Unity.Astar
int endNode = indexToNode[buffer.GetInt()]; int endNode = indexToNode[buffer.GetInt()];
int connectedNode1 = buffer.GetInt(); int connectedNode1 = buffer.GetInt();
int connectedNode2 = buffer.GetInt(); int connectedNode2 = buffer.GetInt();
RcVec3f clamped1 = new RcVec3f(); Vector3 clamped1 = new Vector3();
clamped1.X = buffer.GetFloat(); clamped1.X = buffer.GetFloat();
clamped1.Y = buffer.GetFloat(); clamped1.Y = buffer.GetFloat();
clamped1.Z = buffer.GetFloat(); clamped1.Z = buffer.GetFloat();
RcVec3f clamped2 = new RcVec3f(); Vector3 clamped2 = new Vector3();
clamped2.X = buffer.GetFloat(); clamped2.X = buffer.GetFloat();
clamped2.Y = buffer.GetFloat(); clamped2.Y = buffer.GetFloat();
clamped2.Z = buffer.GetFloat(); clamped2.Z = buffer.GetFloat();

1
src/DotRecast.Detour.Extras/Unity/Astar/OffMeshLinkCreator.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Extras.Unity.Astar namespace DotRecast.Detour.Extras.Unity.Astar
{ {

1
src/DotRecast.Detour.Extras/Unity/Astar/ZipBinaryReader.cs
View File

@ -20,6 +20,7 @@ using System.IO;
using System.IO.Compression; using System.IO.Compression;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Io; using DotRecast.Detour.Io;
namespace DotRecast.Detour.Extras.Unity.Astar namespace DotRecast.Detour.Extras.Unity.Astar

21
src/DotRecast.Detour.TileCache/DtTileCache.cs
View File

@ -22,6 +22,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.TileCache.Io; using DotRecast.Detour.TileCache.Io;
namespace DotRecast.Detour.TileCache namespace DotRecast.Detour.TileCache
@ -346,7 +347,7 @@ namespace DotRecast.Detour.TileCache
} }
// Cylinder obstacle // Cylinder obstacle
public long AddObstacle(RcVec3f pos, float radius, float height) public long AddObstacle(Vector3 pos, float radius, float height)
{ {
DtTileCacheObstacle ob = AllocObstacle(); DtTileCacheObstacle ob = AllocObstacle();
ob.type = DtTileCacheObstacleType.CYLINDER; ob.type = DtTileCacheObstacleType.CYLINDER;
@ -359,7 +360,7 @@ namespace DotRecast.Detour.TileCache
} }
// Aabb obstacle // Aabb obstacle
public long AddBoxObstacle(RcVec3f bmin, RcVec3f bmax) public long AddBoxObstacle(Vector3 bmin, Vector3 bmax)
{ {
DtTileCacheObstacle ob = AllocObstacle(); DtTileCacheObstacle ob = AllocObstacle();
ob.type = DtTileCacheObstacleType.BOX; ob.type = DtTileCacheObstacleType.BOX;
@ -371,7 +372,7 @@ namespace DotRecast.Detour.TileCache
} }
// Box obstacle: can be rotated in Y // Box obstacle: can be rotated in Y
public long AddBoxObstacle(RcVec3f center, RcVec3f extents, float yRadians) public long AddBoxObstacle(Vector3 center, Vector3 extents, float yRadians)
{ {
DtTileCacheObstacle ob = AllocObstacle(); DtTileCacheObstacle ob = AllocObstacle();
ob.type = DtTileCacheObstacleType.ORIENTED_BOX; ob.type = DtTileCacheObstacleType.ORIENTED_BOX;
@ -437,7 +438,7 @@ namespace DotRecast.Detour.TileCache
return m_obstacles[i]; return m_obstacles[i];
} }
private List<long> QueryTiles(RcVec3f bmin, RcVec3f bmax) private List<long> QueryTiles(Vector3 bmin, Vector3 bmax)
{ {
List<long> results = new List<long>(); List<long> results = new List<long>();
float tw = m_params.width * m_params.cs; float tw = m_params.width * m_params.cs;
@ -454,8 +455,8 @@ namespace DotRecast.Detour.TileCache
foreach (long i in tiles) foreach (long i in tiles)
{ {
DtCompressedTile tile = m_tiles[DecodeTileIdTile(i)]; DtCompressedTile tile = m_tiles[DecodeTileIdTile(i)];
RcVec3f tbmin = new RcVec3f(); Vector3 tbmin = new Vector3();
RcVec3f tbmax = new RcVec3f(); Vector3 tbmax = new Vector3();
CalcTightTileBounds(tile.header, ref tbmin, ref tbmax); CalcTightTileBounds(tile.header, ref tbmin, ref tbmax);
if (DtUtils.OverlapBounds(bmin, bmax, tbmin, tbmax)) if (DtUtils.OverlapBounds(bmin, bmax, tbmin, tbmax))
{ {
@ -498,8 +499,8 @@ namespace DotRecast.Detour.TileCache
if (req.action == DtObstacleRequestAction.REQUEST_ADD) if (req.action == DtObstacleRequestAction.REQUEST_ADD)
{ {
// Find touched tiles. // Find touched tiles.
RcVec3f bmin = new RcVec3f(); Vector3 bmin = new Vector3();
RcVec3f bmax = new RcVec3f(); Vector3 bmax = new Vector3();
GetObstacleBounds(ob, ref bmin, ref bmax); GetObstacleBounds(ob, ref bmin, ref bmax);
ob.touched = QueryTiles(bmin, bmax); ob.touched = QueryTiles(bmin, bmax);
// Add tiles to update list. // Add tiles to update list.
@ -680,7 +681,7 @@ namespace DotRecast.Detour.TileCache
return layer; return layer;
} }
void CalcTightTileBounds(DtTileCacheLayerHeader header, ref RcVec3f bmin, ref RcVec3f bmax) void CalcTightTileBounds(DtTileCacheLayerHeader header, ref Vector3 bmin, ref Vector3 bmax)
{ {
float cs = m_params.cs; float cs = m_params.cs;
bmin.X = header.bmin.X + header.minx * cs; bmin.X = header.bmin.X + header.minx * cs;
@ -691,7 +692,7 @@ namespace DotRecast.Detour.TileCache
bmax.Z = header.bmin.Z + (header.maxy + 1) * cs; bmax.Z = header.bmin.Z + (header.maxy + 1) * cs;
} }
public void GetObstacleBounds(DtTileCacheObstacle ob, ref RcVec3f bmin, ref RcVec3f bmax) public void GetObstacleBounds(DtTileCacheObstacle ob, ref Vector3 bmin, ref Vector3 bmax)
{ {
if (ob.type == DtTileCacheObstacleType.CYLINDER) if (ob.type == DtTileCacheObstacleType.CYLINDER)
{ {

11
src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
View File

@ -23,6 +23,7 @@ using System.Collections.Generic;
using System.IO; using System.IO;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.TileCache.Io; using DotRecast.Detour.TileCache.Io;
using DotRecast.Detour.TileCache.Io.Compress; using DotRecast.Detour.TileCache.Io.Compress;
@ -1801,10 +1802,10 @@ namespace DotRecast.Detour.TileCache
return mesh; return mesh;
} }
public void MarkCylinderArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f pos, float radius, float height, int areaId) public void MarkCylinderArea(DtTileCacheLayer layer, Vector3 orig, float cs, float ch, Vector3 pos, float radius, float height, int areaId)
{ {
RcVec3f bmin = new RcVec3f(); Vector3 bmin = new Vector3();
RcVec3f bmax = new RcVec3f(); Vector3 bmax = new Vector3();
bmin.X = pos.X - radius; bmin.X = pos.X - radius;
bmin.Y = pos.Y; bmin.Y = pos.Y;
bmin.Z = pos.Z - radius; bmin.Z = pos.Z - radius;
@ -1862,7 +1863,7 @@ namespace DotRecast.Detour.TileCache
} }
} }
public void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f bmin, RcVec3f bmax, int areaId) public void MarkBoxArea(DtTileCacheLayer layer, Vector3 orig, float cs, float ch, Vector3 bmin, Vector3 bmax, int areaId)
{ {
int w = layer.header.width; int w = layer.header.width;
int h = layer.header.height; int h = layer.header.height;
@ -1990,7 +1991,7 @@ namespace DotRecast.Detour.TileCache
return layer; return layer;
} }
public void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f center, RcVec3f extents, public void MarkBoxArea(DtTileCacheLayer layer, Vector3 orig, float cs, float ch, Vector3 center, Vector3 extents,
float[] rotAux, int areaId) float[] rotAux, int areaId)
{ {
int w = layer.header.width; int w = layer.header.width;

5
src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs
View File

@ -24,6 +24,7 @@ using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Threading.Tasks; using System.Threading.Tasks;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.TileCache.Io.Compress; using DotRecast.Detour.TileCache.Io.Compress;
using DotRecast.Recast; using DotRecast.Recast;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
@ -87,8 +88,8 @@ namespace DotRecast.Detour.TileCache
protected virtual RcHeightfieldLayerSet BuildHeightfieldLayerSet(IInputGeomProvider geom, RcConfig cfg, int tx, int ty) protected virtual RcHeightfieldLayerSet BuildHeightfieldLayerSet(IInputGeomProvider geom, RcConfig cfg, int tx, int ty)
{ {
RcBuilder rcBuilder = new RcBuilder(); RcBuilder rcBuilder = new RcBuilder();
RcVec3f bmin = geom.GetMeshBoundsMin(); Vector3 bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); Vector3 bmax = geom.GetMeshBoundsMax();
RcBuilderConfig builderCfg = new RcBuilderConfig(cfg, bmin, bmax, tx, ty); RcBuilderConfig builderCfg = new RcBuilderConfig(cfg, bmin, bmax, tx, ty);
RcHeightfieldLayerSet lset = rcBuilder.BuildLayers(geom, builderCfg); RcHeightfieldLayerSet lset = rcBuilder.BuildLayers(geom, builderCfg);
return lset; return lset;

5
src/DotRecast.Detour.TileCache/DtTileCacheLayerHeader.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.TileCache namespace DotRecast.Detour.TileCache
{ {
@ -31,8 +32,8 @@ namespace DotRecast.Detour.TileCache
public int version; // < Data version public int version; // < Data version
public int tx, ty, tlayer; public int tx, ty, tlayer;
public RcVec3f bmin = new RcVec3f(); public Vector3 bmin = new Vector3();
public RcVec3f bmax = new RcVec3f(); public Vector3 bmax = new Vector3();
public int hmin, hmax; // < Height min/max range public int hmin, hmax; // < Height min/max range
public int width, height; // < Dimension of the layer. public int width, height; // < Dimension of the layer.
public int minx, maxx, miny, maxy; // < Usable sub-region. public int minx, maxx, miny, maxy; // < Usable sub-region.

11
src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.TileCache namespace DotRecast.Detour.TileCache
{ {
@ -27,12 +28,12 @@ namespace DotRecast.Detour.TileCache
{ {
public readonly int index; public readonly int index;
public DtTileCacheObstacleType type; public DtTileCacheObstacleType type;
public RcVec3f pos = new RcVec3f(); public Vector3 pos = new Vector3();
public RcVec3f bmin = new RcVec3f(); public Vector3 bmin = new Vector3();
public RcVec3f bmax = new RcVec3f(); public Vector3 bmax = new Vector3();
public float radius, height; public float radius, height;
public RcVec3f center = new RcVec3f(); public Vector3 center = new Vector3();
public RcVec3f extents = new RcVec3f(); public Vector3 extents = new Vector3();
public readonly float[] rotAux = new float[2]; // { Cos(0.5f*angle)*Sin(-0.5f*angle); Cos(0.5f*angle)*Cos(0.5f*angle) - 0.5 } public readonly float[] rotAux = new float[2]; // { Cos(0.5f*angle)*Sin(-0.5f*angle); Cos(0.5f*angle)*Cos(0.5f*angle) - 0.5 }
public List<long> touched = new List<long>(); public List<long> touched = new List<long>();

3
src/DotRecast.Detour.TileCache/DtTileCacheParams.cs
View File

@ -19,12 +19,13 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.TileCache namespace DotRecast.Detour.TileCache
{ {
public struct DtTileCacheParams public struct DtTileCacheParams
{ {
public RcVec3f orig; public Vector3 orig;
public float cs, ch; public float cs, ch;
public int width, height; public int width, height;
public float walkableHeight; public float walkableHeight;

25
src/DotRecast.Detour/DtConvexConvexIntersections.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -37,10 +38,10 @@ namespace DotRecast.Detour
float[] inters = new float[Math.Max(m, n) * 3 * 3]; float[] inters = new float[Math.Max(m, n) * 3 * 3];
int ii = 0; int ii = 0;
/* Initialize variables. */ /* Initialize variables. */
RcVec3f a = new RcVec3f(); Vector3 a = new Vector3();
RcVec3f b = new RcVec3f(); Vector3 b = new Vector3();
RcVec3f a1 = new RcVec3f(); Vector3 a1 = new Vector3();
RcVec3f b1 = new RcVec3f(); Vector3 b1 = new Vector3();
int aa = 0; int aa = 0;
int ba = 0; int ba = 0;
@ -49,8 +50,8 @@ namespace DotRecast.Detour
DtConvexConvexInFlag f = DtConvexConvexInFlag.Unknown; DtConvexConvexInFlag f = DtConvexConvexInFlag.Unknown;
bool firstPoint = true; bool firstPoint = true;
RcVec3f ip = new RcVec3f(); Vector3 ip = new Vector3();
RcVec3f iq = new RcVec3f(); Vector3 iq = new Vector3();
do do
{ {
@ -59,8 +60,8 @@ namespace DotRecast.Detour
a1 = RcVecUtils.Create(p, 3 * ((ai + n - 1) % n)); // prev a a1 = RcVecUtils.Create(p, 3 * ((ai + n - 1) % n)); // prev a
b1 = RcVecUtils.Create(q, 3 * ((bi + m - 1) % m)); // prev b b1 = RcVecUtils.Create(q, 3 * ((bi + m - 1) % m)); // prev b
RcVec3f A = RcVec3f.Subtract(a, a1); Vector3 A = Vector3.Subtract(a, a1);
RcVec3f B = RcVec3f.Subtract(b, b1); Vector3 B = Vector3.Subtract(b, b1);
float cross = B.X * A.Z - A.X * B.Z; // TriArea2D({0, 0}, A, B); float cross = B.X * A.Z - A.X * B.Z; // TriArea2D({0, 0}, A, B);
float aHB = DtUtils.TriArea2D(b1, b, a); float aHB = DtUtils.TriArea2D(b1, b, a);
@ -176,7 +177,7 @@ namespace DotRecast.Detour
return copied; return copied;
} }
private static int AddVertex(float[] inters, int ii, RcVec3f p) private static int AddVertex(float[] inters, int ii, Vector3 p)
{ {
if (ii > 0) if (ii > 0)
{ {
@ -212,7 +213,7 @@ namespace DotRecast.Detour
return inflag; return inflag;
} }
private static DtConvexConvexIntersection SegSegInt(RcVec3f a, RcVec3f b, RcVec3f c, RcVec3f d, ref RcVec3f p, ref RcVec3f q) private static DtConvexConvexIntersection SegSegInt(Vector3 a, Vector3 b, Vector3 c, Vector3 d, ref Vector3 p, ref Vector3 q)
{ {
if (DtUtils.IntersectSegSeg2D(a, b, c, d, out var s, out var t)) if (DtUtils.IntersectSegSeg2D(a, b, c, d, out var s, out var t))
{ {
@ -228,7 +229,7 @@ namespace DotRecast.Detour
return DtConvexConvexIntersection.None; return DtConvexConvexIntersection.None;
} }
private static DtConvexConvexIntersection ParallelInt(RcVec3f a, RcVec3f b, RcVec3f c, RcVec3f d, ref RcVec3f p, ref RcVec3f q) private static DtConvexConvexIntersection ParallelInt(Vector3 a, Vector3 b, Vector3 c, Vector3 d, ref Vector3 p, ref Vector3 q)
{ {
if (Between(a, b, c) && Between(a, b, d)) if (Between(a, b, c) && Between(a, b, d))
{ {
@ -275,7 +276,7 @@ namespace DotRecast.Detour
return DtConvexConvexIntersection.None; return DtConvexConvexIntersection.None;
} }
private static bool Between(RcVec3f a, RcVec3f b, RcVec3f c) private static bool Between(Vector3 a, Vector3 b, Vector3 c)
{ {
if (MathF.Abs(a.X - b.X) > MathF.Abs(a.Z - b.Z)) if (MathF.Abs(a.X - b.X) > MathF.Abs(a.Z - b.Z))
{ {

5
src/DotRecast.Detour/DtDefaultQueryHeuristic.cs
View File

@ -18,6 +18,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
@ -34,9 +35,9 @@ namespace DotRecast.Detour
this.scale = scale; this.scale = scale;
} }
public float GetCost(RcVec3f neighbourPos, RcVec3f endPos) public float GetCost(Vector3 neighbourPos, Vector3 endPos)
{ {
return RcVec3f.Distance(neighbourPos, endPos) * scale; return Vector3.Distance(neighbourPos, endPos) * scale;
} }
} }
} }

11
src/DotRecast.Detour/DtFindNearestPolyQuery.cs
View File

@ -1,18 +1,19 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
public class DtFindNearestPolyQuery : IDtPolyQuery public class DtFindNearestPolyQuery : IDtPolyQuery
{ {
private readonly DtNavMeshQuery _query; private readonly DtNavMeshQuery _query;
private readonly RcVec3f _center; private readonly Vector3 _center;
private long _nearestRef; private long _nearestRef;
private RcVec3f _nearestPt; private Vector3 _nearestPt;
private bool _overPoly; private bool _overPoly;
private float _nearestDistanceSqr; private float _nearestDistanceSqr;
public DtFindNearestPolyQuery(DtNavMeshQuery query, RcVec3f center) public DtFindNearestPolyQuery(DtNavMeshQuery query, Vector3 center)
{ {
this._query = query; this._query = query;
this._center = center; this._center = center;
@ -28,7 +29,7 @@ namespace DotRecast.Detour
// If a point is directly over a polygon and closer than // If a point is directly over a polygon and closer than
// climb height, favor that instead of straight line nearest point. // climb height, favor that instead of straight line nearest point.
float d = 0; float d = 0;
RcVec3f diff = RcVec3f.Subtract(_center, closestPtPoly); Vector3 diff = Vector3.Subtract(_center, closestPtPoly);
if (posOverPoly) if (posOverPoly)
{ {
d = MathF.Abs(diff.Y) - tile.data.header.walkableClimb; d = MathF.Abs(diff.Y) - tile.data.header.walkableClimb;
@ -53,7 +54,7 @@ namespace DotRecast.Detour
return _nearestRef; return _nearestRef;
} }
public RcVec3f NearestPt() public Vector3 NearestPt()
{ {
return _nearestPt; return _nearestPt;
} }

5
src/DotRecast.Detour/DtMeshHeader.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -80,10 +81,10 @@ namespace DotRecast.Detour
public float walkableClimb; public float walkableClimb;
/** The minimum bounds of the tile's AABB. [(x, y, z)] */ /** The minimum bounds of the tile's AABB. [(x, y, z)] */
public RcVec3f bmin = new RcVec3f(); public Vector3 bmin = new Vector3();
/** The maximum bounds of the tile's AABB. [(x, y, z)] */ /** The maximum bounds of the tile's AABB. [(x, y, z)] */
public RcVec3f bmax = new RcVec3f(); public Vector3 bmax = new Vector3();
/** The bounding volume quantization factor. */ /** The bounding volume quantization factor. */
public float bvQuantFactor; public float bvQuantFactor;

83
src/DotRecast.Detour/DtNavMesh.cs
View File

@ -22,6 +22,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -69,7 +70,7 @@ namespace DotRecast.Detour
private readonly DtNavMeshParams m_params; private readonly DtNavMeshParams m_params;
/// < Current initialization params. TODO: do not store this info twice. /// < Current initialization params. TODO: do not store this info twice.
private readonly RcVec3f m_orig; private readonly Vector3 m_orig;
/// < Origin of the tile (0,0) /// < Origin of the tile (0,0)
// float m_orig[3]; ///< Origin of the tile (0,0) // float m_orig[3]; ///< Origin of the tile (0,0)
@ -257,7 +258,7 @@ namespace DotRecast.Detour
* The world position for the query. [(x, y, z)] * The world position for the query. [(x, y, z)]
* @return 2-element int array with (tx,ty) tile location * @return 2-element int array with (tx,ty) tile location
*/ */
public void CalcTileLoc(RcVec3f pos, out int tx, out int ty) public void CalcTileLoc(Vector3 pos, out int tx, out int ty)
{ {
tx = (int)MathF.Floor((pos.X - m_orig.X) / m_tileWidth); tx = (int)MathF.Floor((pos.X - m_orig.X) / m_tileWidth);
ty = (int)MathF.Floor((pos.Z - m_orig.Z) / m_tileHeight); ty = (int)MathF.Floor((pos.Z - m_orig.Z) / m_tileHeight);
@ -348,7 +349,7 @@ namespace DotRecast.Detour
// TODO: These methods are duplicates from dtNavMeshQuery, but are needed // TODO: These methods are duplicates from dtNavMeshQuery, but are needed
// for off-mesh connection finding. // for off-mesh connection finding.
List<long> QueryPolygonsInTile(DtMeshTile tile, RcVec3f qmin, RcVec3f qmax) List<long> QueryPolygonsInTile(DtMeshTile tile, Vector3 qmin, Vector3 qmax)
{ {
List<long> polys = new List<long>(); List<long> polys = new List<long>();
if (tile.data.bvTree != null) if (tile.data.bvTree != null)
@ -404,8 +405,8 @@ namespace DotRecast.Detour
} }
else else
{ {
RcVec3f bmin = new RcVec3f(); Vector3 bmin = new Vector3();
RcVec3f bmax = new RcVec3f(); Vector3 bmax = new Vector3();
long @base = GetPolyRefBase(tile); long @base = GetPolyRefBase(tile);
for (int i = 0; i < tile.data.header.polyCount; ++i) for (int i = 0; i < tile.data.header.polyCount; ++i)
{ {
@ -847,7 +848,7 @@ namespace DotRecast.Detour
continue; continue;
} }
var ext = new RcVec3f() var ext = new Vector3()
{ {
X = targetCon.rad, X = targetCon.rad,
Y = target.data.header.walkableClimb, Y = target.data.header.walkableClimb,
@ -912,14 +913,14 @@ namespace DotRecast.Detour
cons.Clear(); cons.Clear();
RcVec2f amin = RcVec2f.Zero; Vector2 amin = Vector2.Zero;
RcVec2f amax = RcVec2f.Zero; Vector2 amax = Vector2.Zero;
CalcSlabEndPoints(verts, va, vb, ref amin, ref amax, side); CalcSlabEndPoints(verts, va, vb, ref amin, ref amax, side);
float apos = GetSlabCoord(verts, va, side); float apos = GetSlabCoord(verts, va, side);
// Remove links pointing to 'side' and compact the links array. // Remove links pointing to 'side' and compact the links array.
RcVec2f bmin = RcVec2f.Zero; Vector2 bmin = Vector2.Zero;
RcVec2f bmax = RcVec2f.Zero; Vector2 bmax = Vector2.Zero;
int m = DT_EXT_LINK | side; int m = DT_EXT_LINK | side;
int n = 0; int n = 0;
long @base = GetPolyRefBase(tile); long @base = GetPolyRefBase(tile);
@ -980,7 +981,7 @@ namespace DotRecast.Detour
return 0; return 0;
} }
static void CalcSlabEndPoints(float[] verts, int va, int vb, ref RcVec2f bmin, ref RcVec2f bmax, int side) static void CalcSlabEndPoints(float[] verts, int va, int vb, ref Vector2 bmin, ref Vector2 bmax, int side)
{ {
if (side == 0 || side == 4) if (side == 0 || side == 4)
{ {
@ -1018,7 +1019,7 @@ namespace DotRecast.Detour
} }
} }
bool OverlapSlabs(RcVec2f amin, RcVec2f amax, RcVec2f bmin, RcVec2f bmax, float px, float py) bool OverlapSlabs(Vector2 amin, Vector2 amax, Vector2 bmin, Vector2 bmax, float px, float py)
{ {
// Check for horizontal overlap. // Check for horizontal overlap.
// The segment is shrunken a little so that slabs which touch // The segment is shrunken a little so that slabs which touch
@ -1078,7 +1079,7 @@ namespace DotRecast.Detour
DtOffMeshConnection con = tile.data.offMeshCons[i]; DtOffMeshConnection con = tile.data.offMeshCons[i];
DtPoly poly = tile.data.polys[con.poly]; DtPoly poly = tile.data.polys[con.poly];
var ext = new RcVec3f() var ext = new Vector3()
{ {
X = con.rad, X = con.rad,
Y = tile.data.header.walkableClimb, Y = tile.data.header.walkableClimb,
@ -1138,7 +1139,7 @@ namespace DotRecast.Detour
* @param pos * @param pos
* @return * @return
*/ */
RcVec3f ClosestPointOnDetailEdges(DtMeshTile tile, DtPoly poly, RcVec3f pos, bool onlyBoundary) Vector3 ClosestPointOnDetailEdges(DtMeshTile tile, DtPoly poly, Vector3 pos, bool onlyBoundary)
{ {
int ANY_BOUNDARY_EDGE = (DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY << 0) | int ANY_BOUNDARY_EDGE = (DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY << 0) |
(DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY << 2) | (DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY << 2) |
@ -1146,8 +1147,8 @@ namespace DotRecast.Detour
int ip = poly.index; int ip = poly.index;
float dmin = float.MaxValue; float dmin = float.MaxValue;
float tmin = 0; float tmin = 0;
RcVec3f pmin = new RcVec3f(); Vector3 pmin = new Vector3();
RcVec3f pmax = new RcVec3f(); Vector3 pmax = new Vector3();
if (tile.data.detailMeshes != null) if (tile.data.detailMeshes != null)
{ {
@ -1161,13 +1162,13 @@ namespace DotRecast.Detour
continue; continue;
} }
RcVec3f[] v = new RcVec3f[3]; Vector3[] v = new Vector3[3];
for (int j = 0; j < 3; ++j) for (int j = 0; j < 3; ++j)
{ {
if (tris[ti + j] < poly.vertCount) if (tris[ti + j] < poly.vertCount)
{ {
int index = poly.verts[tris[ti + j]] * 3; int index = poly.verts[tris[ti + j]] * 3;
v[j] = new RcVec3f v[j] = new Vector3
{ {
X = tile.data.verts[index], X = tile.data.verts[index],
Y = tile.data.verts[index + 1], Y = tile.data.verts[index + 1],
@ -1177,7 +1178,7 @@ namespace DotRecast.Detour
else else
{ {
int index = (pd.vertBase + (tris[ti + j] - poly.vertCount)) * 3; int index = (pd.vertBase + (tris[ti + j] - poly.vertCount)) * 3;
v[j] = new RcVec3f v[j] = new Vector3
{ {
X = tile.data.detailVerts[index], X = tile.data.detailVerts[index],
Y = tile.data.detailVerts[index + 1], Y = tile.data.detailVerts[index + 1],
@ -1209,7 +1210,7 @@ namespace DotRecast.Detour
} }
else else
{ {
RcVec3f[] v = new RcVec3f[2]; Vector3[] v = new Vector3[2];
for (int j = 0; j < poly.vertCount; ++j) for (int j = 0; j < poly.vertCount; ++j)
{ {
int k = (j + 1) % poly.vertCount; int k = (j + 1) % poly.vertCount;
@ -1231,10 +1232,10 @@ namespace DotRecast.Detour
} }
} }
return RcVec3f.Lerp(pmin, pmax, tmin); return Vector3.Lerp(pmin, pmax, tmin);
} }
public bool GetPolyHeight(DtMeshTile tile, DtPoly poly, RcVec3f pos, out float height) public bool GetPolyHeight(DtMeshTile tile, DtPoly poly, Vector3 pos, out float height)
{ {
height = 0; height = 0;
@ -1266,13 +1267,13 @@ namespace DotRecast.Detour
for (int j = 0; j < pd.triCount; ++j) for (int j = 0; j < pd.triCount; ++j)
{ {
int t = (pd.triBase + j) * 4; int t = (pd.triBase + j) * 4;
RcVec3f[] v = new RcVec3f[3]; Vector3[] v = new Vector3[3];
for (int k = 0; k < 3; ++k) for (int k = 0; k < 3; ++k)
{ {
if (tile.data.detailTris[t + k] < poly.vertCount) if (tile.data.detailTris[t + k] < poly.vertCount)
{ {
int index = poly.verts[tile.data.detailTris[t + k]] * 3; int index = poly.verts[tile.data.detailTris[t + k]] * 3;
v[k] = new RcVec3f v[k] = new Vector3
{ {
X = tile.data.verts[index], X = tile.data.verts[index],
Y = tile.data.verts[index + 1], Y = tile.data.verts[index + 1],
@ -1282,7 +1283,7 @@ namespace DotRecast.Detour
else else
{ {
int index = (pd.vertBase + (tile.data.detailTris[t + k] - poly.vertCount)) * 3; int index = (pd.vertBase + (tile.data.detailTris[t + k] - poly.vertCount)) * 3;
v[k] = new RcVec3f v[k] = new Vector3
{ {
X = tile.data.detailVerts[index], X = tile.data.detailVerts[index],
Y = tile.data.detailVerts[index + 1], Y = tile.data.detailVerts[index + 1],
@ -1300,7 +1301,7 @@ namespace DotRecast.Detour
} }
else else
{ {
RcVec3f[] v = new RcVec3f[3]; Vector3[] v = new Vector3[3];
v[0].X = tile.data.verts[poly.verts[0] * 3]; v[0].X = tile.data.verts[poly.verts[0] * 3];
v[0].Y = tile.data.verts[poly.verts[0] * 3 + 1]; v[0].Y = tile.data.verts[poly.verts[0] * 3 + 1];
v[0].Z = tile.data.verts[poly.verts[0] * 3 + 2]; v[0].Z = tile.data.verts[poly.verts[0] * 3 + 2];
@ -1330,7 +1331,7 @@ namespace DotRecast.Detour
return true; return true;
} }
public void ClosestPointOnPoly(long refs, RcVec3f pos, out RcVec3f closest, out bool posOverPoly) public void ClosestPointOnPoly(long refs, Vector3 pos, out Vector3 closest, out bool posOverPoly)
{ {
GetTileAndPolyByRefUnsafe(refs, out var tile, out var poly); GetTileAndPolyByRefUnsafe(refs, out var tile, out var poly);
closest = pos; closest = pos;
@ -1348,11 +1349,11 @@ namespace DotRecast.Detour
if (poly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION) if (poly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
{ {
int i = poly.verts[0] * 3; int i = poly.verts[0] * 3;
var v0 = new RcVec3f { X = tile.data.verts[i], Y = tile.data.verts[i + 1], Z = tile.data.verts[i + 2] }; var v0 = new Vector3 { 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 Vector3 { X = tile.data.verts[i], Y = tile.data.verts[i + 1], Z = tile.data.verts[i + 2] };
DtUtils.DistancePtSegSqr2D(pos, v0, v1, out var t); DtUtils.DistancePtSegSqr2D(pos, v0, v1, out var t);
closest = RcVec3f.Lerp(v0, v1, t); closest = Vector3.Lerp(v0, v1, t);
return; return;
} }
@ -1361,13 +1362,13 @@ namespace DotRecast.Detour
} }
/// Find nearest polygon within a tile. /// Find nearest polygon within a tile.
private long FindNearestPolyInTile(DtMeshTile tile, RcVec3f center, RcVec3f halfExtents, out RcVec3f nearestPt) private long FindNearestPolyInTile(DtMeshTile tile, Vector3 center, Vector3 halfExtents, out Vector3 nearestPt)
{ {
nearestPt = RcVec3f.Zero; nearestPt = Vector3.Zero;
bool overPoly = false; bool overPoly = false;
RcVec3f bmin = RcVec3f.Subtract(center, halfExtents); Vector3 bmin = Vector3.Subtract(center, halfExtents);
RcVec3f bmax = RcVec3f.Add(center, halfExtents); Vector3 bmax = Vector3.Add(center, halfExtents);
// Get nearby polygons from proximity grid. // Get nearby polygons from proximity grid.
List<long> polys = QueryPolygonsInTile(tile, bmin, bmax); List<long> polys = QueryPolygonsInTile(tile, bmin, bmax);
@ -1383,7 +1384,7 @@ namespace DotRecast.Detour
// If a point is directly over a polygon and closer than // If a point is directly over a polygon and closer than
// climb height, favor that instead of straight line nearest point. // climb height, favor that instead of straight line nearest point.
RcVec3f diff = RcVec3f.Subtract(center, closestPtPoly); Vector3 diff = Vector3.Subtract(center, closestPtPoly);
if (posOverPoly) if (posOverPoly)
{ {
d = MathF.Abs(diff.Y) - tile.data.header.walkableClimb; d = MathF.Abs(diff.Y) - tile.data.header.walkableClimb;
@ -1532,7 +1533,7 @@ namespace DotRecast.Detour
/// inside a normal polygon. So an off-mesh connection is "entered" from a /// inside a normal polygon. So an off-mesh connection is "entered" from a
/// normal polygon at one of its endpoints. This is the polygon identified by /// normal polygon at one of its endpoints. This is the polygon identified by
/// the prevRef parameter. /// the prevRef parameter.
public DtStatus GetOffMeshConnectionPolyEndPoints(long prevRef, long polyRef, ref RcVec3f startPos, ref RcVec3f endPos) public DtStatus GetOffMeshConnectionPolyEndPoints(long prevRef, long polyRef, ref Vector3 startPos, ref Vector3 endPos)
{ {
if (polyRef == 0) if (polyRef == 0)
{ {
@ -1735,9 +1736,9 @@ namespace DotRecast.Detour
return DtStatus.DT_SUCCESS; return DtStatus.DT_SUCCESS;
} }
public RcVec3f GetPolyCenter(long refs) public Vector3 GetPolyCenter(long refs)
{ {
RcVec3f center = RcVec3f.Zero; Vector3 center = Vector3.Zero;
var status = GetTileAndPolyByRef(refs, out var tile, out var poly); var status = GetTileAndPolyByRef(refs, out var tile, out var poly);
if (status.Succeeded()) if (status.Succeeded())
@ -1785,10 +1786,10 @@ namespace DotRecast.Detour
return tiles; return tiles;
} }
public void ComputeBounds(out RcVec3f bmin, out RcVec3f bmax) public void ComputeBounds(out Vector3 bmin, out Vector3 bmax)
{ {
bmin = new RcVec3f(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); bmin = new Vector3(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
bmax = new RcVec3f(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); bmax = new Vector3(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
for (int t = 0; t < GetMaxTiles(); ++t) for (int t = 0; t < GetMaxTiles(); ++t)
{ {
DtMeshTile tile = GetTile(t); DtMeshTile tile = GetTile(t);

7
src/DotRecast.Detour/DtNavMeshBuilder.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -220,7 +221,7 @@ namespace DotRecast.Detour
const int XM = 1 << 2; const int XM = 1 << 2;
const int ZM = 1 << 3; const int ZM = 1 << 3;
public static int ClassifyOffMeshPoint(RcVec3f pt, RcVec3f bmin, RcVec3f bmax) public static int ClassifyOffMeshPoint(Vector3 pt, Vector3 bmin, Vector3 bmax)
{ {
int outcode = 0; int outcode = 0;
outcode |= (pt.X >= bmax.X) ? XP : 0; outcode |= (pt.X >= bmax.X) ? XP : 0;
@ -307,8 +308,8 @@ namespace DotRecast.Detour
hmin -= option.walkableClimb; hmin -= option.walkableClimb;
hmax += option.walkableClimb; hmax += option.walkableClimb;
RcVec3f bmin = new RcVec3f(); Vector3 bmin = new Vector3();
RcVec3f bmax = new RcVec3f(); Vector3 bmax = new Vector3();
bmin = option.bmin; bmin = option.bmin;
bmax = option.bmax; bmax = option.bmax;
bmin.Y = hmin; bmin.Y = hmin;

5
src/DotRecast.Detour/DtNavMeshCreateParams.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -90,8 +91,8 @@ namespace DotRecast.Detour
public int tileX; // < The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.) public int tileX; // < The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.)
public int tileZ; // < The tile's y-grid location within the multi-tile destination mesh. (Along the z-axis.) public int tileZ; // < The tile's y-grid location within the multi-tile destination mesh. (Along the z-axis.)
public int tileLayer; // < The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.) public int tileLayer; // < The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.)
public RcVec3f bmin; // < The minimum bounds of the tile. [(x, y, z)] [Unit: wu] public Vector3 bmin; // < The minimum bounds of the tile. [(x, y, z)] [Unit: wu]
public RcVec3f bmax; // < The maximum bounds of the tile. [(x, y, z)] [Unit: wu] public Vector3 bmax; // < The maximum bounds of the tile. [(x, y, z)] [Unit: wu]
/// @} /// @}
/// @name General Configuration Attributes /// @name General Configuration Attributes

3
src/DotRecast.Detour/DtNavMeshParams.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -31,7 +32,7 @@ namespace DotRecast.Detour
public struct DtNavMeshParams public struct DtNavMeshParams
{ {
/** The world space origin of the navigation mesh's tile space. [(x, y, z)] */ /** The world space origin of the navigation mesh's tile space. [(x, y, z)] */
public RcVec3f orig; public Vector3 orig;
/** The width of each tile. (Along the x-axis.) */ /** The width of each tile. (Along the x-axis.) */
public float tileWidth; public float tileWidth;

165
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -23,6 +23,7 @@ using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -50,10 +51,10 @@ namespace DotRecast.Detour
/// @param[out] randomRef The reference id of the random location. /// @param[out] randomRef The reference id of the random location.
/// @param[out] randomPt The random location. /// @param[out] randomPt The random location.
/// @returns The status flags for the query. /// @returns The status flags for the query.
public DtStatus FindRandomPoint(IDtQueryFilter filter, IRcRand frand, out long randomRef, out RcVec3f randomPt) public DtStatus FindRandomPoint(IDtQueryFilter filter, IRcRand frand, out long randomRef, out Vector3 randomPt)
{ {
randomRef = 0; randomRef = 0;
randomPt = RcVec3f.Zero; randomPt = Vector3.Zero;
if (null == filter || null == frand) if (null == filter || null == frand)
{ {
@ -170,8 +171,8 @@ namespace DotRecast.Detour
* Function returning a random number [0..1). * Function returning a random number [0..1).
* @return Random location * @return Random location
*/ */
public DtStatus FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius, public DtStatus FindRandomPointAroundCircle(long startRef, Vector3 centerPos, float maxRadius,
IDtQueryFilter filter, IRcRand frand, out long randomRef, out RcVec3f randomPt) IDtQueryFilter filter, IRcRand frand, out long randomRef, out Vector3 randomPt)
{ {
return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, DtNoOpDtPolygonByCircleConstraint.Shared, out randomRef, out randomPt); return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, DtNoOpDtPolygonByCircleConstraint.Shared, out randomRef, out randomPt);
} }
@ -191,15 +192,15 @@ namespace DotRecast.Detour
* Function returning a random number [0..1). * Function returning a random number [0..1).
* @return Random location * @return Random location
*/ */
public DtStatus FindRandomPointWithinCircle(long startRef, RcVec3f centerPos, float maxRadius, public DtStatus FindRandomPointWithinCircle(long startRef, Vector3 centerPos, float maxRadius,
IDtQueryFilter filter, IRcRand frand, out long randomRef, out RcVec3f randomPt) IDtQueryFilter filter, IRcRand frand, out long randomRef, out Vector3 randomPt)
{ {
return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, DtStrictDtPolygonByCircleConstraint.Shared, out randomRef, out randomPt); return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, DtStrictDtPolygonByCircleConstraint.Shared, out randomRef, out randomPt);
} }
public DtStatus FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius, public DtStatus FindRandomPointAroundCircle(long startRef, Vector3 centerPos, float maxRadius,
IDtQueryFilter filter, IRcRand frand, IDtPolygonByCircleConstraint constraint, IDtQueryFilter filter, IRcRand frand, IDtPolygonByCircleConstraint constraint,
out long randomRef, out RcVec3f randomPt) out long randomRef, out Vector3 randomPt)
{ {
randomRef = startRef; randomRef = startRef;
randomPt = centerPos; randomPt = centerPos;
@ -339,10 +340,10 @@ namespace DotRecast.Detour
// Cost // Cost
if (neighbourNode.flags == 0) if (neighbourNode.flags == 0)
{ {
neighbourNode.pos = RcVec3f.Lerp(va, vb, 0.5f); neighbourNode.pos = Vector3.Lerp(va, vb, 0.5f);
} }
float total = bestNode.total + RcVec3f.Distance(bestNode.pos, neighbourNode.pos); float total = bestNode.total + Vector3.Distance(bestNode.pos, neighbourNode.pos);
// The node is already in open list and the new result is worse, skip. // The node is already in open list and the new result is worse, skip.
if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)
@ -377,7 +378,7 @@ namespace DotRecast.Detour
float t = frand.Next(); float t = frand.Next();
float[] areas = new float[randomPolyVerts.Length / 3]; float[] areas = new float[randomPolyVerts.Length / 3];
RcVec3f pt = DtUtils.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t); Vector3 pt = DtUtils.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t);
ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _); ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _);
randomRef = randomPolyRef; randomRef = randomPolyRef;
@ -401,7 +402,7 @@ namespace DotRecast.Detour
/// @param[out] closest /// @param[out] closest
/// @param[out] posOverPoly /// @param[out] posOverPoly
/// @returns The status flags for the query. /// @returns The status flags for the query.
public DtStatus ClosestPointOnPoly(long refs, RcVec3f pos, out RcVec3f closest, out bool posOverPoly) public DtStatus ClosestPointOnPoly(long refs, Vector3 pos, out Vector3 closest, out bool posOverPoly)
{ {
closest = pos; closest = pos;
posOverPoly = false; posOverPoly = false;
@ -432,7 +433,7 @@ namespace DotRecast.Detour
/// @param[in] pos The position to check. [(x, y, z)] /// @param[in] pos The position to check. [(x, y, z)]
/// @param[out] closest The closest point. [(x, y, z)] /// @param[out] closest The closest point. [(x, y, z)]
/// @returns The status flags for the query. /// @returns The status flags for the query.
public DtStatus ClosestPointOnPolyBoundary(long refs, RcVec3f pos, out RcVec3f closest) public DtStatus ClosestPointOnPolyBoundary(long refs, Vector3 pos, out Vector3 closest)
{ {
closest = pos; closest = pos;
var status = m_nav.GetTileAndPolyByRef(refs, out var tile, out var poly); var status = m_nav.GetTileAndPolyByRef(refs, out var tile, out var poly);
@ -492,7 +493,7 @@ 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 DtStatus GetPolyHeight(long refs, RcVec3f pos, out float height) public DtStatus GetPolyHeight(long refs, Vector3 pos, out float height)
{ {
height = default; height = default;
@ -513,9 +514,9 @@ namespace DotRecast.Detour
if (poly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION) if (poly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
{ {
int i = poly.verts[0] * 3; int i = poly.verts[0] * 3;
var v0 = new RcVec3f { X = tile.data.verts[i], Y = tile.data.verts[i + 1], Z = tile.data.verts[i + 2] }; var v0 = new Vector3 { 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 Vector3 { X = tile.data.verts[i], Y = tile.data.verts[i + 1], Z = tile.data.verts[i + 2] };
DtUtils.DistancePtSegSqr2D(pos, v0, v1, out var t); DtUtils.DistancePtSegSqr2D(pos, v0, v1, out var t);
height = v0.Y + (v1.Y - v0.Y) * t; height = v0.Y + (v1.Y - v0.Y) * t;
@ -541,8 +542,8 @@ namespace DotRecast.Detour
/// @param[out] nearestPt The nearest point on the polygon. Unchanged if no polygon is found. [opt] [(x, y, z)] /// @param[out] nearestPt The nearest point on the polygon. Unchanged if no polygon is found. [opt] [(x, y, z)]
/// @param[out] isOverPoly Set to true if the point's X/Z coordinate lies inside the polygon, false otherwise. Unchanged if no polygon is found. [opt] /// @param[out] isOverPoly Set to true if the point's X/Z coordinate lies inside the polygon, false otherwise. Unchanged if no polygon is found. [opt]
/// @returns The status flags for the query. /// @returns The status flags for the query.
public DtStatus FindNearestPoly(RcVec3f center, RcVec3f halfExtents, IDtQueryFilter filter, public DtStatus FindNearestPoly(Vector3 center, Vector3 halfExtents, IDtQueryFilter filter,
out long nearestRef, out RcVec3f nearestPt, out bool isOverPoly) out long nearestRef, out Vector3 nearestPt, out bool isOverPoly)
{ {
nearestRef = 0; nearestRef = 0;
nearestPt = center; nearestPt = center;
@ -564,7 +565,7 @@ namespace DotRecast.Detour
} }
// FIXME: (PP) duplicate? // FIXME: (PP) duplicate?
protected void QueryPolygonsInTile(DtMeshTile tile, RcVec3f qmin, RcVec3f qmax, IDtQueryFilter filter, IDtPolyQuery query) protected void QueryPolygonsInTile(DtMeshTile tile, Vector3 qmin, Vector3 qmax, IDtQueryFilter filter, IDtPolyQuery query)
{ {
if (tile.data.bvTree != null) if (tile.data.bvTree != null)
{ {
@ -621,8 +622,8 @@ namespace DotRecast.Detour
} }
else else
{ {
RcVec3f bmin = new RcVec3f(); Vector3 bmin = new Vector3();
RcVec3f bmax = new RcVec3f(); Vector3 bmax = new Vector3();
long @base = m_nav.GetPolyRefBase(tile); long @base = m_nav.GetPolyRefBase(tile);
for (int i = 0; i < tile.data.header.polyCount; ++i) for (int i = 0; i < tile.data.header.polyCount; ++i)
{ {
@ -671,7 +672,7 @@ namespace DotRecast.Detour
* The polygon filter to apply to the query. * The polygon filter to apply to the query.
* @return The reference ids of the polygons that overlap the query box. * @return The reference ids of the polygons that overlap the query box.
*/ */
public DtStatus QueryPolygons(RcVec3f center, RcVec3f halfExtents, IDtQueryFilter filter, IDtPolyQuery query) public DtStatus QueryPolygons(Vector3 center, Vector3 halfExtents, IDtQueryFilter filter, IDtPolyQuery query)
{ {
if (!center.IsFinite() || !halfExtents.IsFinite() || null == filter) if (!center.IsFinite() || !halfExtents.IsFinite() || null == filter)
{ {
@ -679,8 +680,8 @@ namespace DotRecast.Detour
} }
// Find tiles the query touches. // Find tiles the query touches.
RcVec3f bmin = RcVec3f.Subtract(center, halfExtents); Vector3 bmin = Vector3.Subtract(center, halfExtents);
RcVec3f bmax = RcVec3f.Add(center, halfExtents); Vector3 bmax = Vector3.Add(center, halfExtents);
foreach (var t in QueryTiles(center, halfExtents)) foreach (var t in QueryTiles(center, halfExtents))
{ {
QueryPolygonsInTile(t, bmin, bmax, filter, query); QueryPolygonsInTile(t, bmin, bmax, filter, query);
@ -692,15 +693,15 @@ namespace DotRecast.Detour
/** /**
* Finds tiles that overlap the search box. * Finds tiles that overlap the search box.
*/ */
public IList<DtMeshTile> QueryTiles(RcVec3f center, RcVec3f halfExtents) public IList<DtMeshTile> QueryTiles(Vector3 center, Vector3 halfExtents)
{ {
if (!center.IsFinite() || !halfExtents.IsFinite()) if (!center.IsFinite() || !halfExtents.IsFinite())
{ {
return RcImmutableArray<DtMeshTile>.Empty; return RcImmutableArray<DtMeshTile>.Empty;
} }
RcVec3f bmin = RcVec3f.Subtract(center, halfExtents); Vector3 bmin = Vector3.Subtract(center, halfExtents);
RcVec3f bmax = RcVec3f.Add(center, halfExtents); Vector3 bmax = Vector3.Add(center, halfExtents);
m_nav.CalcTileLoc(bmin, out var minx, out var miny); m_nav.CalcTileLoc(bmin, out var minx, out var miny);
m_nav.CalcTileLoc(bmax, out var maxx, out var maxy); m_nav.CalcTileLoc(bmax, out var maxx, out var maxy);
@ -736,7 +737,7 @@ namespace DotRecast.Detour
* The polygon filter to apply to the query. * The polygon filter to apply to the query.
* @return Found path * @return Found path
*/ */
public DtStatus FindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, ref List<long> path, DtFindPathOption fpo) public DtStatus FindPath(long startRef, long endRef, Vector3 startPos, Vector3 endPos, IDtQueryFilter filter, ref List<long> path, DtFindPathOption fpo)
{ {
if (null == path) if (null == path)
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM; return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
@ -831,7 +832,7 @@ namespace DotRecast.Detour
if ((options & DtFindPathOptions.DT_FINDPATH_ANY_ANGLE) != 0) if ((options & DtFindPathOptions.DT_FINDPATH_ANY_ANGLE) != 0)
{ {
if ((parentRef != 0) && if ((parentRef != 0) &&
(raycastLimitSqr >= float.MaxValue || RcVec3f.DistanceSquared(parentNode.pos, bestNode.pos) < raycastLimitSqr)) (raycastLimitSqr >= float.MaxValue || Vector3.DistanceSquared(parentNode.pos, bestNode.pos) < raycastLimitSqr))
{ {
tryLOS = true; tryLOS = true;
} }
@ -995,17 +996,17 @@ namespace DotRecast.Detour
* query options (see: #FindPathOptions) * query options (see: #FindPathOptions)
* @return * @return
*/ */
public DtStatus InitSlicedFindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, int options) public DtStatus InitSlicedFindPath(long startRef, long endRef, Vector3 startPos, Vector3 endPos, IDtQueryFilter filter, int options)
{ {
return InitSlicedFindPath(startRef, endRef, startPos, endPos, filter, options, DtDefaultQueryHeuristic.Default, -1.0f); return InitSlicedFindPath(startRef, endRef, startPos, endPos, filter, options, DtDefaultQueryHeuristic.Default, -1.0f);
} }
public DtStatus InitSlicedFindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, int options, float raycastLimit) public DtStatus InitSlicedFindPath(long startRef, long endRef, Vector3 startPos, Vector3 endPos, IDtQueryFilter filter, int options, float raycastLimit)
{ {
return InitSlicedFindPath(startRef, endRef, startPos, endPos, filter, options, DtDefaultQueryHeuristic.Default, raycastLimit); return InitSlicedFindPath(startRef, endRef, startPos, endPos, filter, options, DtDefaultQueryHeuristic.Default, raycastLimit);
} }
public DtStatus InitSlicedFindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, int options, IDtQueryHeuristic heuristic, float raycastLimit) public DtStatus InitSlicedFindPath(long startRef, long endRef, Vector3 startPos, Vector3 endPos, IDtQueryFilter filter, int options, IDtQueryHeuristic heuristic, float raycastLimit)
{ {
// Init path state. // Init path state.
m_query = new DtQueryData(); m_query = new DtQueryData();
@ -1149,7 +1150,7 @@ namespace DotRecast.Detour
if ((m_query.options & DtFindPathOptions.DT_FINDPATH_ANY_ANGLE) != 0) if ((m_query.options & DtFindPathOptions.DT_FINDPATH_ANY_ANGLE) != 0)
{ {
if ((parentRef != 0) && if ((parentRef != 0) &&
(m_query.raycastLimitSqr >= float.MaxValue || RcVec3f.DistanceSquared(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr)) (m_query.raycastLimitSqr >= float.MaxValue || Vector3.DistanceSquared(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr))
{ {
tryLOS = true; tryLOS = true;
} }
@ -1405,7 +1406,7 @@ namespace DotRecast.Detour
return DtStatus.DT_SUCCESS | details; return DtStatus.DT_SUCCESS | details;
} }
protected DtStatus AppendVertex(RcVec3f pos, int flags, long refs, ref List<DtStraightPath> straightPath, protected DtStatus AppendVertex(Vector3 pos, int flags, long refs, ref List<DtStraightPath> straightPath,
int maxStraightPath) int maxStraightPath)
{ {
if (straightPath.Count > 0 && DtUtils.VEqual(straightPath[straightPath.Count - 1].pos, pos)) if (straightPath.Count > 0 && DtUtils.VEqual(straightPath[straightPath.Count - 1].pos, pos))
@ -1431,7 +1432,7 @@ namespace DotRecast.Detour
return DtStatus.DT_IN_PROGRESS; return DtStatus.DT_IN_PROGRESS;
} }
protected DtStatus AppendPortals(int startIdx, int endIdx, RcVec3f endPos, List<long> path, protected DtStatus AppendPortals(int startIdx, int endIdx, Vector3 endPos, List<long> path,
ref List<DtStraightPath> straightPath, int maxStraightPath, int options) ref List<DtStraightPath> straightPath, int maxStraightPath, int options)
{ {
var startPos = straightPath[straightPath.Count - 1].pos; var startPos = straightPath[straightPath.Count - 1].pos;
@ -1472,7 +1473,7 @@ namespace DotRecast.Detour
// Append intersection // Append intersection
if (DtUtils.IntersectSegSeg2D(startPos, endPos, left, right, out var _, out var t)) if (DtUtils.IntersectSegSeg2D(startPos, endPos, left, right, out var _, out var t))
{ {
var pt = RcVec3f.Lerp(left, right, t); var pt = Vector3.Lerp(left, right, t);
stat = AppendVertex(pt, 0, path[i + 1], ref straightPath, maxStraightPath); stat = AppendVertex(pt, 0, path[i + 1], ref straightPath, maxStraightPath);
if (!stat.InProgress()) if (!stat.InProgress())
{ {
@ -1510,7 +1511,7 @@ namespace DotRecast.Detour
/// @param[in] maxStraightPath The maximum number of points the straight path arrays can hold. [Limit: > 0] /// @param[in] maxStraightPath The maximum number of points the straight path arrays can hold. [Limit: > 0]
/// @param[in] options Query options. (see: #dtStraightPathOptions) /// @param[in] options Query options. (see: #dtStraightPathOptions)
/// @returns The status flags for the query. /// @returns The status flags for the query.
public virtual DtStatus FindStraightPath(RcVec3f startPos, RcVec3f endPos, List<long> path, public virtual DtStatus FindStraightPath(Vector3 startPos, Vector3 endPos, List<long> path,
ref List<DtStraightPath> straightPath, ref List<DtStraightPath> straightPath,
int maxStraightPath, int options) int maxStraightPath, int options)
{ {
@ -1544,9 +1545,9 @@ namespace DotRecast.Detour
if (path.Count > 1) if (path.Count > 1)
{ {
RcVec3f portalApex = closestStartPos; Vector3 portalApex = closestStartPos;
RcVec3f portalLeft = portalApex; Vector3 portalLeft = portalApex;
RcVec3f portalRight = portalApex; Vector3 portalRight = portalApex;
int apexIndex = 0; int apexIndex = 0;
int leftIndex = 0; int leftIndex = 0;
int rightIndex = 0; int rightIndex = 0;
@ -1559,8 +1560,8 @@ namespace DotRecast.Detour
for (int i = 0; i < path.Count; ++i) for (int i = 0; i < path.Count; ++i)
{ {
RcVec3f left; Vector3 left;
RcVec3f right; Vector3 right;
int toType; int toType;
if (i + 1 < path.Count) if (i + 1 < path.Count)
@ -1769,11 +1770,11 @@ namespace DotRecast.Detour
/// @param[out] visitedCount The number of polygons visited during the move. /// @param[out] visitedCount The number of polygons visited during the move.
/// @param[in] maxVisitedSize The maximum number of polygons the @p visited array can hold. /// @param[in] maxVisitedSize The maximum number of polygons the @p visited array can hold.
/// @returns The status flags for the query. /// @returns The status flags for the query.
public DtStatus MoveAlongSurface(long startRef, RcVec3f startPos, RcVec3f endPos, public DtStatus MoveAlongSurface(long startRef, Vector3 startPos, Vector3 endPos,
IDtQueryFilter filter, IDtQueryFilter filter,
out RcVec3f resultPos, ref List<long> visited) out Vector3 resultPos, ref List<long> visited)
{ {
resultPos = RcVec3f.Zero; resultPos = Vector3.Zero;
if (null != visited) if (null != visited)
visited.Clear(); visited.Clear();
@ -1796,14 +1797,14 @@ namespace DotRecast.Detour
LinkedList<DtNode> stack = new LinkedList<DtNode>(); LinkedList<DtNode> stack = new LinkedList<DtNode>();
stack.AddLast(startNode); stack.AddLast(startNode);
RcVec3f bestPos = new RcVec3f(); Vector3 bestPos = new Vector3();
float bestDist = float.MaxValue; float bestDist = float.MaxValue;
DtNode bestNode = null; DtNode bestNode = null;
bestPos = startPos; bestPos = startPos;
// Search constraints // Search constraints
var searchPos = RcVec3f.Lerp(startPos, endPos, 0.5f); var searchPos = Vector3.Lerp(startPos, endPos, 0.5f);
float searchRadSqr = RcMath.Sqr(RcVec3f.Distance(startPos, endPos) / 2.0f + 0.001f); float searchRadSqr = RcMath.Sqr(Vector3.Distance(startPos, endPos) / 2.0f + 0.001f);
float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3]; float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3];
@ -1945,10 +1946,10 @@ namespace DotRecast.Detour
return DtStatus.DT_SUCCESS; return DtStatus.DT_SUCCESS;
} }
protected DtStatus GetPortalPoints(long from, long to, out RcVec3f left, out RcVec3f right, out int fromType, out int toType) protected DtStatus GetPortalPoints(long from, long to, out Vector3 left, out Vector3 right, out int fromType, out int toType)
{ {
left = RcVec3f.Zero; left = Vector3.Zero;
right = RcVec3f.Zero; right = Vector3.Zero;
fromType = 0; fromType = 0;
toType = 0; toType = 0;
@ -1974,10 +1975,10 @@ namespace DotRecast.Detour
// Returns portal points between two polygons. // Returns portal points between two polygons.
protected DtStatus GetPortalPoints(long from, DtPoly fromPoly, DtMeshTile fromTile, protected DtStatus GetPortalPoints(long from, DtPoly fromPoly, DtMeshTile fromTile,
long to, DtPoly toPoly, DtMeshTile toTile, long to, DtPoly toPoly, DtMeshTile toTile,
out RcVec3f left, out RcVec3f right) out Vector3 left, out Vector3 right)
{ {
left = RcVec3f.Zero; left = Vector3.Zero;
right = RcVec3f.Zero; right = Vector3.Zero;
// Find the link that points to the 'to' polygon. // Find the link that points to the 'to' polygon.
DtLink link = null; DtLink link = null;
@ -2071,7 +2072,7 @@ namespace DotRecast.Detour
} }
protected DtStatus GetEdgeMidPoint(long from, DtPoly fromPoly, DtMeshTile fromTile, long to, protected DtStatus GetEdgeMidPoint(long from, DtPoly fromPoly, DtMeshTile fromTile, long to,
DtPoly toPoly, DtMeshTile toTile, ref RcVec3f mid) DtPoly toPoly, DtMeshTile toTile, ref Vector3 mid)
{ {
var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right); var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right);
if (ppStatus.Failed()) if (ppStatus.Failed())
@ -2086,9 +2087,9 @@ namespace DotRecast.Detour
return DtStatus.DT_SUCCESS; return DtStatus.DT_SUCCESS;
} }
protected DtStatus GetEdgeIntersectionPoint(RcVec3f fromPos, long from, DtPoly fromPoly, DtMeshTile fromTile, protected DtStatus GetEdgeIntersectionPoint(Vector3 fromPos, long from, DtPoly fromPoly, DtMeshTile fromTile,
RcVec3f toPos, long to, DtPoly toPoly, DtMeshTile toTile, Vector3 toPos, long to, DtPoly toPoly, DtMeshTile toTile,
ref RcVec3f pt) ref Vector3 pt)
{ {
var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right); var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right);
if (ppStatus.Failed()) if (ppStatus.Failed())
@ -2102,7 +2103,7 @@ namespace DotRecast.Detour
t = Math.Clamp(t2, 0.1f, 0.9f); t = Math.Clamp(t2, 0.1f, 0.9f);
} }
pt = RcVec3f.Lerp(left, right, t); pt = Vector3.Lerp(left, right, t);
return DtStatus.DT_SUCCESS; return DtStatus.DT_SUCCESS;
} }
@ -2159,7 +2160,7 @@ namespace DotRecast.Detour
/// @param[out] pathCount The number of visited polygons. [opt] /// @param[out] pathCount The number of visited polygons. [opt]
/// @param[in] maxPath The maximum number of polygons the @p path array can hold. /// @param[in] maxPath The maximum number of polygons the @p path array can hold.
/// @returns The status flags for the query. /// @returns The status flags for the query.
public DtStatus Raycast(long startRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, int options, public DtStatus Raycast(long startRef, Vector3 startPos, Vector3 endPos, IDtQueryFilter filter, int options,
long prevRef, out DtRaycastHit hit) long prevRef, out DtRaycastHit hit)
{ {
hit = null; hit = null;
@ -2173,13 +2174,13 @@ namespace DotRecast.Detour
hit = new DtRaycastHit(); hit = new DtRaycastHit();
RcVec3f[] verts = new RcVec3f[m_nav.GetMaxVertsPerPoly() + 1]; Vector3[] verts = new Vector3[m_nav.GetMaxVertsPerPoly() + 1];
RcVec3f curPos = RcVec3f.Zero; Vector3 curPos = Vector3.Zero;
RcVec3f lastPos = RcVec3f.Zero; Vector3 lastPos = Vector3.Zero;
curPos = startPos; curPos = startPos;
var dir = RcVec3f.Subtract(endPos, startPos); var dir = Vector3.Subtract(endPos, startPos);
DtMeshTile prevTile, tile, nextTile; DtMeshTile prevTile, tile, nextTile;
DtPoly prevPoly, poly, nextPoly; DtPoly prevPoly, poly, nextPoly;
@ -2343,8 +2344,8 @@ namespace DotRecast.Detour
curPos = RcVecUtils.Mad(startPos, dir, hit.t); curPos = RcVecUtils.Mad(startPos, dir, hit.t);
var e1 = verts[segMax]; var e1 = verts[segMax];
var e2 = verts[(segMax + 1) % nv]; var e2 = verts[(segMax + 1) % nv];
var eDir = RcVec3f.Subtract(e2, e1); var eDir = Vector3.Subtract(e2, e1);
var diff = RcVec3f.Subtract(curPos, e1); var diff = Vector3.Subtract(curPos, e1);
float s = RcMath.Sqr(eDir.X) > RcMath.Sqr(eDir.Z) ? diff.X / eDir.X : diff.Z / eDir.Z; float s = RcMath.Sqr(eDir.X) > RcMath.Sqr(eDir.Z) ? diff.X / eDir.X : diff.Z / eDir.Z;
curPos.Y = e1.Y + eDir.Y * s; curPos.Y = e1.Y + eDir.Y * s;
@ -2363,7 +2364,7 @@ namespace DotRecast.Detour
// int vb = b * 3; // int vb = b * 3;
float dx = verts[b].X - verts[a].X; float dx = verts[b].X - verts[a].X;
float dz = verts[b].Z - verts[a].X; float dz = verts[b].Z - verts[a].X;
hit.hitNormal = RcVec3f.Normalize(new RcVec3f(dz, 0, -dx)); hit.hitNormal = Vector3.Normalize(new Vector3(dz, 0, -dx));
return DtStatus.DT_SUCCESS; return DtStatus.DT_SUCCESS;
} }
@ -2423,7 +2424,7 @@ namespace DotRecast.Detour
/// @param[out] resultCount The number of polygons found. [opt] /// @param[out] resultCount The number of polygons found. [opt]
/// @param[in] maxResult The maximum number of polygons the result arrays can hold. /// @param[in] maxResult The maximum number of polygons the result arrays can hold.
/// @returns The status flags for the query. /// @returns The status flags for the query.
public DtStatus FindPolysAroundCircle(long startRef, RcVec3f centerPos, float radius, IDtQueryFilter filter, public DtStatus FindPolysAroundCircle(long startRef, Vector3 centerPos, float radius, IDtQueryFilter filter,
ref List<long> resultRef, ref List<long> resultParent, ref List<float> resultCost) ref List<long> resultRef, ref List<long> resultParent, ref List<float> resultCost)
{ {
if (null != resultRef) if (null != resultRef)
@ -2527,7 +2528,7 @@ namespace DotRecast.Detour
// Cost // Cost
if (neighbourNode.flags == 0) if (neighbourNode.flags == 0)
{ {
neighbourNode.pos = RcVec3f.Lerp(va, vb, 0.5f); neighbourNode.pos = Vector3.Lerp(va, vb, 0.5f);
} }
float cost = filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly, bestRef, float cost = filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly, bestRef,
@ -2594,7 +2595,7 @@ namespace DotRecast.Detour
/// @param[out] resultCount The number of polygons found. /// @param[out] resultCount The number of polygons found.
/// @param[in] maxResult The maximum number of polygons the result arrays can hold. /// @param[in] maxResult The maximum number of polygons the result arrays can hold.
/// @returns The status flags for the query. /// @returns The status flags for the query.
public DtStatus FindPolysAroundShape(long startRef, RcVec3f[] verts, IDtQueryFilter filter, public DtStatus FindPolysAroundShape(long startRef, Vector3[] verts, IDtQueryFilter filter,
ref List<long> resultRef, ref List<long> resultParent, ref List<float> resultCost) ref List<long> resultRef, ref List<long> resultParent, ref List<float> resultCost)
{ {
resultRef.Clear(); resultRef.Clear();
@ -2611,7 +2612,7 @@ namespace DotRecast.Detour
m_nodePool.Clear(); m_nodePool.Clear();
m_openList.Clear(); m_openList.Clear();
RcVec3f centerPos = RcVec3f.Zero; Vector3 centerPos = Vector3.Zero;
for (int i = 0; i < nverts; ++i) for (int i = 0; i < nverts; ++i)
{ {
centerPos += verts[i]; centerPos += verts[i];
@ -2709,7 +2710,7 @@ namespace DotRecast.Detour
// Cost // Cost
if (neighbourNode.flags == 0) if (neighbourNode.flags == 0)
{ {
neighbourNode.pos = RcVec3f.Lerp(va, vb, 0.5f); neighbourNode.pos = Vector3.Lerp(va, vb, 0.5f);
} }
float cost = filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly, bestRef, float cost = filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly, bestRef,
@ -2772,7 +2773,7 @@ namespace DotRecast.Detour
/// @param[out] resultRef The reference ids of the polygons touched by the circle. /// @param[out] resultRef The reference ids of the polygons touched by the circle.
/// @param[out] resultParent The reference ids of the parent polygons for each result. /// @param[out] resultParent The reference ids of the parent polygons for each result.
/// @returns The status flags for the query. /// @returns The status flags for the query.
public DtStatus FindLocalNeighbourhood(long startRef, RcVec3f centerPos, float radius, public DtStatus FindLocalNeighbourhood(long startRef, Vector3 centerPos, float radius,
IDtQueryFilter filter, IDtQueryFilter filter,
ref List<long> resultRef, ref List<long> resultParent) ref List<long> resultRef, ref List<long> resultParent)
{ {
@ -3100,13 +3101,13 @@ namespace DotRecast.Detour
/// @param[out] hitNormal The normalized ray formed from the wall point to the /// @param[out] hitNormal The normalized ray formed from the wall point to the
/// source point. [(x, y, z)] /// source point. [(x, y, z)]
/// @returns The status flags for the query. /// @returns The status flags for the query.
public virtual DtStatus FindDistanceToWall(long startRef, RcVec3f centerPos, float maxRadius, public virtual DtStatus FindDistanceToWall(long startRef, Vector3 centerPos, float maxRadius,
IDtQueryFilter filter, IDtQueryFilter filter,
out float hitDist, out RcVec3f hitPos, out RcVec3f hitNormal) out float hitDist, out Vector3 hitPos, out Vector3 hitNormal)
{ {
hitDist = 0; hitDist = 0;
hitPos = RcVec3f.Zero; hitPos = Vector3.Zero;
hitNormal = RcVec3f.Zero; hitNormal = Vector3.Zero;
// Validate input // Validate input
if (!m_nav.IsValidPolyRef(startRef) || !centerPos.IsFinite() || maxRadius < 0 if (!m_nav.IsValidPolyRef(startRef) || !centerPos.IsFinite() || maxRadius < 0
@ -3130,8 +3131,8 @@ namespace DotRecast.Detour
float radiusSqr = RcMath.Sqr(maxRadius); float radiusSqr = RcMath.Sqr(maxRadius);
var hasBestV = false; var hasBestV = false;
var bestvj = RcVec3f.Zero; var bestvj = Vector3.Zero;
var bestvi = RcVec3f.Zero; var bestvi = Vector3.Zero;
var status = DtStatus.DT_SUCCESS; var status = DtStatus.DT_SUCCESS;
while (!m_openList.IsEmpty()) while (!m_openList.IsEmpty())
@ -3270,7 +3271,7 @@ namespace DotRecast.Detour
ref neighbourNode.pos); ref neighbourNode.pos);
} }
float total = bestNode.total + RcVec3f.Distance(bestNode.pos, neighbourNode.pos); float total = bestNode.total + Vector3.Distance(bestNode.pos, neighbourNode.pos);
// The node is already in open list and the new result is worse, skip. // The node is already in open list and the new result is worse, skip.
if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) if ((neighbourNode.flags & DtNodeFlags.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)
@ -3298,8 +3299,8 @@ namespace DotRecast.Detour
// Calc hit normal. // Calc hit normal.
if (hasBestV) if (hasBestV)
{ {
var tangent = RcVec3f.Subtract(bestvi, bestvj); var tangent = Vector3.Subtract(bestvi, bestvj);
hitNormal = RcVec3f.Normalize(new RcVec3f(tangent.Z, 0, -tangent.X)); hitNormal = Vector3.Normalize(new Vector3(tangent.Z, 0, -tangent.X));
} }
hitDist = MathF.Sqrt(radiusSqr); hitDist = MathF.Sqrt(radiusSqr);

5
src/DotRecast.Detour/DtNavMeshRaycast.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -27,7 +28,7 @@ namespace DotRecast.Detour
*/ */
public static class DtNavMeshRaycast public static class DtNavMeshRaycast
{ {
public static bool Raycast(DtNavMesh mesh, RcVec3f src, RcVec3f dst, out float hitTime) public static bool Raycast(DtNavMesh mesh, Vector3 src, Vector3 dst, out float hitTime)
{ {
hitTime = 0.0f; hitTime = 0.0f;
for (int t = 0; t < mesh.GetMaxTiles(); ++t) for (int t = 0; t < mesh.GetMaxTiles(); ++t)
@ -45,7 +46,7 @@ namespace DotRecast.Detour
return false; return false;
} }
private static bool Raycast(DtMeshTile tile, RcVec3f sp, RcVec3f sq, out float hitTime) private static bool Raycast(DtMeshTile tile, Vector3 sp, Vector3 sq, out float hitTime)
{ {
hitTime = 0.0f; hitTime = 0.0f;
for (int i = 0; i < tile.data.header.polyCount; ++i) for (int i = 0; i < tile.data.header.polyCount; ++i)

3
src/DotRecast.Detour/DtNoOpDtPolygonByCircleConstraint.cs
View File

@ -1,4 +1,5 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -10,7 +11,7 @@ namespace DotRecast.Detour
{ {
} }
public float[] Apply(float[] polyVerts, RcVec3f circleCenter, float radius) public float[] Apply(float[] polyVerts, Vector3 circleCenter, float radius)
{ {
return polyVerts; return polyVerts;
} }

3
src/DotRecast.Detour/DtNode.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -28,7 +29,7 @@ namespace DotRecast.Detour
public readonly int index; public readonly int index;
/** Position of the node. */ /** Position of the node. */
public RcVec3f pos = new RcVec3f(); public Vector3 pos = new Vector3();
/** Cost of reaching the given node. */ /** Cost of reaching the given node. */
public float cost; public float cost;

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

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -28,12 +29,12 @@ namespace DotRecast.Detour
{ {
private const int MAX_STEER_POINTS = 3; private const int MAX_STEER_POINTS = 3;
public static bool GetSteerTarget(DtNavMeshQuery navQuery, RcVec3f startPos, RcVec3f endPos, public static bool GetSteerTarget(DtNavMeshQuery navQuery, Vector3 startPos, Vector3 endPos,
float minTargetDist, float minTargetDist,
List<long> path, List<long> path,
out RcVec3f steerPos, out int steerPosFlag, out long steerPosRef) out Vector3 steerPos, out int steerPosFlag, out long steerPosRef)
{ {
steerPos = RcVec3f.Zero; steerPos = Vector3.Zero;
steerPosFlag = 0; steerPosFlag = 0;
steerPosRef = 0; steerPosRef = 0;
@ -68,7 +69,7 @@ namespace DotRecast.Detour
return true; return true;
} }
public static bool InRange(RcVec3f v1, RcVec3f v2, float r, float h) public static bool InRange(Vector3 v1, Vector3 v2, float r, float h)
{ {
float dx = v2.X - v1.X; float dx = v2.X - v1.X;
float dy = v2.Y - v1.Y; float dy = v2.Y - v1.Y;

5
src/DotRecast.Detour/DtPolyPoint.cs
View File

@ -1,13 +1,14 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
public readonly struct DtPolyPoint public readonly struct DtPolyPoint
{ {
public readonly long refs; public readonly long refs;
public readonly RcVec3f pt; public readonly Vector3 pt;
public DtPolyPoint(long polyRefs, RcVec3f polyPt) public DtPolyPoint(long polyRefs, Vector3 polyPt)
{ {
refs = polyRefs; refs = polyRefs;
pt = polyPt; pt = polyPt;

5
src/DotRecast.Detour/DtQueryData.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -29,8 +30,8 @@ namespace DotRecast.Detour
public float lastBestNodeCost; public float lastBestNodeCost;
public long startRef; public long startRef;
public long endRef; public long endRef;
public RcVec3f startPos; public Vector3 startPos;
public RcVec3f endPos; public Vector3 endPos;
public IDtQueryFilter filter; public IDtQueryFilter filter;
public int options; public int options;
public float raycastLimitSqr; public float raycastLimitSqr;

5
src/DotRecast.Detour/DtQueryDefaultFilter.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -84,10 +85,10 @@ namespace DotRecast.Detour
return (poly.flags & m_includeFlags) != 0 && (poly.flags & m_excludeFlags) == 0; return (poly.flags & m_includeFlags) != 0 && (poly.flags & m_excludeFlags) == 0;
} }
public float GetCost(RcVec3f pa, RcVec3f pb, long prevRef, DtMeshTile prevTile, DtPoly prevPoly, long curRef, public float GetCost(Vector3 pa, Vector3 pb, long prevRef, DtMeshTile prevTile, DtPoly prevPoly, long curRef,
DtMeshTile curTile, DtPoly curPoly, long nextRef, DtMeshTile nextTile, DtPoly nextPoly) DtMeshTile curTile, DtPoly curPoly, long nextRef, DtMeshTile nextTile, DtPoly nextPoly)
{ {
return RcVec3f.Distance(pa, pb) * m_areaCost[curPoly.GetArea()]; return Vector3.Distance(pa, pb) * m_areaCost[curPoly.GetArea()];
} }
public int GetIncludeFlags() public int GetIncludeFlags()

3
src/DotRecast.Detour/DtQueryEmptyFilter.cs
View File

@ -1,4 +1,5 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -15,7 +16,7 @@ namespace DotRecast.Detour
return false; return false;
} }
public float GetCost(RcVec3f pa, RcVec3f pb, long prevRef, DtMeshTile prevTile, DtPoly prevPoly, long curRef, public float GetCost(Vector3 pa, Vector3 pb, long prevRef, DtMeshTile prevTile, DtPoly prevPoly, long curRef,
DtMeshTile curTile, DtPoly curPoly, long nextRef, DtMeshTile nextTile, DtPoly nextPoly) DtMeshTile curTile, DtPoly curPoly, long nextRef, DtMeshTile nextTile, DtPoly nextPoly)
{ {
return 0; return 0;

3
src/DotRecast.Detour/DtQueryNoOpFilter.cs
View File

@ -1,4 +1,5 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -15,7 +16,7 @@ namespace DotRecast.Detour
return true; return true;
} }
public float GetCost(RcVec3f pa, RcVec3f pb, long prevRef, DtMeshTile prevTile, DtPoly prevPoly, long curRef, public float GetCost(Vector3 pa, Vector3 pb, long prevRef, DtMeshTile prevTile, DtPoly prevPoly, long curRef,
DtMeshTile curTile, DtPoly curPoly, long nextRef, DtMeshTile nextTile, DtPoly nextPoly) DtMeshTile curTile, DtPoly curPoly, long nextRef, DtMeshTile nextTile, DtPoly nextPoly)
{ {
return 0; return 0;

3
src/DotRecast.Detour/DtRaycastHit.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -32,7 +33,7 @@ namespace DotRecast.Detour
public float t; public float t;
/** hitNormal The normal of the nearest wall hit. [(x, y, z)] */ /** hitNormal The normal of the nearest wall hit. [(x, y, z)] */
public RcVec3f hitNormal = new RcVec3f(); public Vector3 hitNormal = new Vector3();
/** Visited polygons. */ /** Visited polygons. */
public readonly List<long> path = new List<long>(); public readonly List<long> path = new List<long>();

5
src/DotRecast.Detour/DtStraightPath.cs
View File

@ -19,17 +19,18 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
//TODO: (PP) Add comments //TODO: (PP) Add comments
public readonly struct DtStraightPath public readonly struct DtStraightPath
{ {
public readonly RcVec3f pos; public readonly Vector3 pos;
public readonly int flags; public readonly int flags;
public readonly long refs; public readonly long refs;
public DtStraightPath(RcVec3f pos, int flags, long refs) public DtStraightPath(Vector3 pos, int flags, long refs)
{ {
this.pos = pos; this.pos = pos;
this.flags = flags; this.flags = flags;

5
src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs
View File

@ -1,5 +1,6 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -31,7 +32,7 @@ namespace DotRecast.Detour
return temp; return temp;
} }
public float[] Apply(float[] verts, RcVec3f center, float radius) public float[] Apply(float[] verts, Vector3 center, float radius)
{ {
float radiusSqr = radius * radius; float radiusSqr = radius * radius;
int outsideVertex = -1; int outsideVertex = -1;
@ -62,7 +63,7 @@ namespace DotRecast.Detour
} }
private float[] Circle(RcVec3f center, float radius) private float[] Circle(Vector3 center, float radius)
{ {
float[] circle = new float[12 * 3]; float[] circle = new float[12 * 3];
for (int i = 0; i < CIRCLE_SEGMENTS * 3; i += 3) for (int i = 0; i < CIRCLE_SEGMENTS * 3; i += 3)

69
src/DotRecast.Detour/DtUtils.cs
View File

@ -1,6 +1,7 @@
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -46,14 +47,14 @@ namespace DotRecast.Detour
/// ///
/// Basically, this function will return true if the specified points are /// Basically, this function will return true if the specified points are
/// close enough to eachother to be considered colocated. /// close enough to eachother to be considered colocated.
public static bool VEqual(RcVec3f p0, RcVec3f p1) public static bool VEqual(Vector3 p0, Vector3 p1)
{ {
return VEqual(p0, p1, EQUAL_THRESHOLD); return VEqual(p0, p1, EQUAL_THRESHOLD);
} }
public static bool VEqual(RcVec3f p0, RcVec3f p1, float thresholdSqr) public static bool VEqual(Vector3 p0, Vector3 p1, float thresholdSqr)
{ {
float d = RcVec3f.DistanceSquared(p0, p1); float d = Vector3.DistanceSquared(p0, p1);
return d < thresholdSqr; return d < thresholdSqr;
} }
@ -80,7 +81,7 @@ namespace DotRecast.Detour
/// @param[in] bmax Maximum bounds of box B. [(x, y, z)] /// @param[in] bmax Maximum bounds of box B. [(x, y, z)]
/// @return True if the two AABB's overlap. /// @return True if the two AABB's overlap.
/// @see dtOverlapQuantBounds /// @see dtOverlapQuantBounds
public static bool OverlapBounds(RcVec3f amin, RcVec3f amax, RcVec3f bmin, RcVec3f bmax) public static bool OverlapBounds(Vector3 amin, Vector3 amax, Vector3 bmin, Vector3 bmax)
{ {
bool overlap = true; bool overlap = true;
overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap; overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap;
@ -105,10 +106,10 @@ namespace DotRecast.Detour
int va = j * 3; int va = j * 3;
int vb = i * 3; int vb = i * 3;
RcVec3f n = new RcVec3f(polya[vb + 2] - polya[va + 2], 0, -(polya[vb + 0] - polya[va + 0])); Vector3 n = new Vector3(polya[vb + 2] - polya[va + 2], 0, -(polya[vb + 0] - polya[va + 0]));
RcVec2f aminmax = ProjectPoly(n, polya, npolya); Vector2 aminmax = ProjectPoly(n, polya, npolya);
RcVec2f bminmax = ProjectPoly(n, polyb, npolyb); Vector2 bminmax = ProjectPoly(n, polyb, npolyb);
if (!OverlapRange(aminmax.X, aminmax.Y, bminmax.X, bminmax.Y, eps)) if (!OverlapRange(aminmax.X, aminmax.Y, bminmax.X, bminmax.Y, eps))
{ {
// Found separating axis // Found separating axis
@ -121,10 +122,10 @@ namespace DotRecast.Detour
int va = j * 3; int va = j * 3;
int vb = i * 3; int vb = i * 3;
RcVec3f n = new RcVec3f(polyb[vb + 2] - polyb[va + 2], 0, -(polyb[vb + 0] - polyb[va + 0])); Vector3 n = new Vector3(polyb[vb + 2] - polyb[va + 2], 0, -(polyb[vb + 0] - polyb[va + 0]));
RcVec2f aminmax = ProjectPoly(n, polya, npolya); Vector2 aminmax = ProjectPoly(n, polya, npolya);
RcVec2f bminmax = ProjectPoly(n, polyb, npolyb); Vector2 bminmax = ProjectPoly(n, polyb, npolyb);
if (!OverlapRange(aminmax.X, aminmax.Y, bminmax.X, bminmax.Y, eps)) if (!OverlapRange(aminmax.X, aminmax.Y, bminmax.X, bminmax.Y, eps))
{ {
// Found separating axis // Found separating axis
@ -154,7 +155,7 @@ namespace DotRecast.Detour
return acx * abz - abx * acz; return acx * abz - abx * acz;
} }
public static float TriArea2D(RcVec3f a, RcVec3f b, RcVec3f c) public static float TriArea2D(Vector3 a, Vector3 b, Vector3 c)
{ {
float abx = b.X - a.X; float abx = b.X - a.X;
float abz = b.Z - a.Z; float abz = b.Z - a.Z;
@ -165,7 +166,7 @@ namespace DotRecast.Detour
// Returns a random point in a convex polygon. // Returns a random point in a convex polygon.
// Adapted from Graphics Gems article. // Adapted from Graphics Gems article.
public static RcVec3f RandomPointInConvexPoly(float[] pts, int npts, float[] areas, float s, float t) public static Vector3 RandomPointInConvexPoly(float[] pts, int npts, float[] areas, float s, float t)
{ {
// Calc triangle araes // Calc triangle araes
float areasum = 0.0f; float areasum = 0.0f;
@ -202,7 +203,7 @@ namespace DotRecast.Detour
int pb = (tri - 1) * 3; int pb = (tri - 1) * 3;
int pc = tri * 3; int pc = tri * 3;
return new RcVec3f() return new Vector3()
{ {
X = a * pts[pa] + b * pts[pb] + c * pts[pc], X = a * pts[pa] + b * pts[pb] + c * pts[pc],
Y = a * pts[pa + 1] + b * pts[pb + 1] + c * pts[pc + 1], Y = a * pts[pa + 1] + b * pts[pb + 1] + c * pts[pc + 1],
@ -210,14 +211,14 @@ namespace DotRecast.Detour
}; };
} }
public static bool ClosestHeightPointTriangle(RcVec3f p, RcVec3f a, RcVec3f b, RcVec3f c, out float h) public static bool ClosestHeightPointTriangle(Vector3 p, Vector3 a, Vector3 b, Vector3 c, out float h)
{ {
const float EPS = 1e-6f; const float EPS = 1e-6f;
h = 0; h = 0;
RcVec3f v0 = RcVec3f.Subtract(c, a); Vector3 v0 = Vector3.Subtract(c, a);
RcVec3f v1 = RcVec3f.Subtract(b, a); Vector3 v1 = Vector3.Subtract(b, a);
RcVec3f v2 = RcVec3f.Subtract(p, a); Vector3 v2 = Vector3.Subtract(p, a);
// Compute scaled barycentric coordinates // Compute scaled barycentric coordinates
float denom = v0.X * v1.Z - v0.Z * v1.X; float denom = v0.X * v1.Z - v0.Z * v1.X;
@ -246,7 +247,7 @@ namespace DotRecast.Detour
return false; return false;
} }
public static RcVec2f ProjectPoly(RcVec3f axis, float[] poly, int npoly) public static Vector2 ProjectPoly(Vector3 axis, float[] poly, int npoly)
{ {
float rmin, rmax; float rmin, rmax;
rmin = rmax = axis.Dot2D(poly, 0); rmin = rmax = axis.Dot2D(poly, 0);
@ -257,7 +258,7 @@ namespace DotRecast.Detour
rmax = Math.Max(rmax, d); rmax = Math.Max(rmax, d);
} }
return new RcVec2f return new Vector2
{ {
X = rmin, X = rmin,
Y = rmax, Y = rmax,
@ -267,7 +268,7 @@ namespace DotRecast.Detour
/// @par /// @par
/// ///
/// All points are projected onto the xz-plane, so the y-values are ignored. /// All points are projected onto the xz-plane, so the y-values are ignored.
public static bool PointInPolygon(RcVec3f pt, float[] verts, int nverts) public static bool PointInPolygon(Vector3 pt, float[] verts, int nverts)
{ {
// TODO: Replace pnpoly with triArea2D tests? // TODO: Replace pnpoly with triArea2D tests?
int i, j; int i, j;
@ -286,7 +287,7 @@ namespace DotRecast.Detour
return c; return c;
} }
public static bool DistancePtPolyEdgesSqr(RcVec3f pt, float[] verts, int nverts, float[] ed, float[] et) public static bool DistancePtPolyEdgesSqr(Vector3 pt, float[] verts, int nverts, float[] ed, float[] et)
{ {
// TODO: Replace pnpoly with triArea2D tests? // TODO: Replace pnpoly with triArea2D tests?
int i, j; int i, j;
@ -307,14 +308,14 @@ namespace DotRecast.Detour
return c; return c;
} }
public static float DistancePtSegSqr2D(RcVec3f pt, float[] verts, int p, int q, out float t) public static float DistancePtSegSqr2D(Vector3 pt, float[] verts, int p, int q, out float t)
{ {
var vp = RcVecUtils.Create(verts, p); var vp = RcVecUtils.Create(verts, p);
var vq = RcVecUtils.Create(verts, q); var vq = RcVecUtils.Create(verts, q);
return DistancePtSegSqr2D(pt, vp, vq, out t); return DistancePtSegSqr2D(pt, vp, vq, out t);
} }
public static float DistancePtSegSqr2D(RcVec3f pt, RcVec3f p, RcVec3f q, out float t) public static float DistancePtSegSqr2D(Vector3 pt, Vector3 p, Vector3 q, out float t)
{ {
float pqx = q.X - p.X; float pqx = q.X - p.X;
float pqz = q.Z - p.Z; float pqz = q.Z - p.Z;
@ -341,8 +342,8 @@ namespace DotRecast.Detour
return dx * dx + dz * dz; return dx * dx + dz * dz;
} }
public static bool IntersectSegmentPoly2D(RcVec3f p0, RcVec3f p1, public static bool IntersectSegmentPoly2D(Vector3 p0, Vector3 p1,
RcVec3f[] verts, int nverts, Vector3[] verts, int nverts,
out float tmin, out float tmax, out float tmin, out float tmax,
out int segMin, out int segMax) out int segMin, out int segMax)
{ {
@ -353,15 +354,15 @@ namespace DotRecast.Detour
segMin = -1; segMin = -1;
segMax = -1; segMax = -1;
var dir = RcVec3f.Subtract(p1, p0); var dir = Vector3.Subtract(p1, p0);
var p0v = p0; var p0v = p0;
for (int i = 0, j = nverts - 1; i < nverts; j = i++) for (int i = 0, j = nverts - 1; i < nverts; j = i++)
{ {
RcVec3f vpj = verts[j]; Vector3 vpj = verts[j];
RcVec3f vpi = verts[i]; Vector3 vpi = verts[i];
var edge = RcVec3f.Subtract(vpi, vpj); var edge = Vector3.Subtract(vpi, vpj);
var diff = RcVec3f.Subtract(p0v, vpj); var diff = Vector3.Subtract(p0v, vpj);
float n = RcVecUtils.Perp2D(edge, diff); float n = RcVecUtils.Perp2D(edge, diff);
float d = RcVecUtils.Perp2D(dir, edge); float d = RcVecUtils.Perp2D(dir, edge);
if (MathF.Abs(d) < EPS) if (MathF.Abs(d) < EPS)
@ -417,14 +418,14 @@ namespace DotRecast.Detour
} }
public static bool IntersectSegSeg2D(RcVec3f ap, RcVec3f aq, RcVec3f bp, RcVec3f bq, out float s, out float t) public static bool IntersectSegSeg2D(Vector3 ap, Vector3 aq, Vector3 bp, Vector3 bq, out float s, out float t)
{ {
s = 0; s = 0;
t = 0; t = 0;
RcVec3f u = RcVec3f.Subtract(aq, ap); Vector3 u = Vector3.Subtract(aq, ap);
RcVec3f v = RcVec3f.Subtract(bq, bp); Vector3 v = Vector3.Subtract(bq, bp);
RcVec3f w = RcVec3f.Subtract(ap, bp); Vector3 w = Vector3.Subtract(ap, bp);
float d = RcVecUtils.PerpXZ(u, v); float d = RcVecUtils.PerpXZ(u, v);
if (MathF.Abs(d) < 1e-6f) if (MathF.Abs(d) < 1e-6f)
{ {

3
src/DotRecast.Detour/IDtPolygonByCircleConstraint.cs
View File

@ -19,11 +19,12 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
public interface IDtPolygonByCircleConstraint public interface IDtPolygonByCircleConstraint
{ {
float[] Apply(float[] polyVerts, RcVec3f circleCenter, float radius); float[] Apply(float[] polyVerts, Vector3 circleCenter, float radius);
} }
} }

3
src/DotRecast.Detour/IDtQueryFilter.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
@ -26,7 +27,7 @@ namespace DotRecast.Detour
{ {
bool PassFilter(long refs, DtMeshTile tile, DtPoly poly); bool PassFilter(long refs, DtMeshTile tile, DtPoly poly);
float GetCost(RcVec3f pa, RcVec3f pb, long prevRef, DtMeshTile prevTile, DtPoly prevPoly, long curRef, DtMeshTile curTile, float GetCost(Vector3 pa, Vector3 pb, long prevRef, DtMeshTile prevTile, DtPoly prevPoly, long curRef, DtMeshTile curTile,
DtPoly curPoly, long nextRef, DtMeshTile nextTile, DtPoly nextPoly); DtPoly curPoly, long nextRef, DtMeshTile nextTile, DtPoly nextPoly);
} }
} }

3
src/DotRecast.Detour/IDtQueryHeuristic.cs
View File

@ -18,11 +18,12 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
public interface IDtQueryHeuristic public interface IDtQueryHeuristic
{ {
float GetCost(RcVec3f neighbourPos, RcVec3f endPos); float GetCost(Vector3 neighbourPos, Vector3 endPos);
} }
} }

1
src/DotRecast.Detour/Io/DtMeshSetWriter.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System.IO; using System.IO;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Io namespace DotRecast.Detour.Io
{ {

1
src/DotRecast.Detour/Io/DtNavMeshParamWriter.cs
View File

@ -1,6 +1,7 @@
using System.IO; using System.IO;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Detour.Io namespace DotRecast.Detour.Io
{ {

43
src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using Silk.NET.OpenGL; using Silk.NET.OpenGL;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
namespace DotRecast.Recast.Demo.Draw; namespace DotRecast.Recast.Demo.Draw;
@ -92,7 +93,7 @@ public class DebugDraw
GetOpenGlDraw().Vertex(pos, color); GetOpenGlDraw().Vertex(pos, color);
} }
public void Vertex(RcVec3f pos, int color) public void Vertex(Vector3 pos, int color)
{ {
GetOpenGlDraw().Vertex(pos, color); GetOpenGlDraw().Vertex(pos, color);
} }
@ -102,7 +103,7 @@ public class DebugDraw
GetOpenGlDraw().Vertex(x, y, z, color); GetOpenGlDraw().Vertex(x, y, z, color);
} }
public void Vertex(RcVec3f pos, int color, RcVec2f uv) public void Vertex(Vector3 pos, int color, Vector2 uv)
{ {
GetOpenGlDraw().Vertex(pos, color, uv); GetOpenGlDraw().Vertex(pos, color, uv);
} }
@ -336,12 +337,12 @@ public class DebugDraw
float dy = y1 - y0; float dy = y1 - y0;
float dz = z1 - z0; float dz = z1 - z0;
float len = MathF.Sqrt(dx * dx + dy * dy + dz * dz); float len = MathF.Sqrt(dx * dx + dy * dy + dz * dz);
RcVec3f prev = new RcVec3f(); Vector3 prev = new Vector3();
EvalArc(x0, y0, z0, dx, dy, dz, len * h, PAD, ref prev); EvalArc(x0, y0, z0, dx, dy, dz, len * h, PAD, ref prev);
for (int i = 1; i <= NUM_ARC_PTS; ++i) for (int i = 1; i <= NUM_ARC_PTS; ++i)
{ {
float u = PAD + i * ARC_PTS_SCALE; float u = PAD + i * ARC_PTS_SCALE;
RcVec3f pt = new RcVec3f(); Vector3 pt = new Vector3();
EvalArc(x0, y0, z0, dx, dy, dz, len * h, u, ref pt); EvalArc(x0, y0, z0, dx, dy, dz, len * h, u, ref pt);
Vertex(prev.X, prev.Y, prev.Z, col); Vertex(prev.X, prev.Y, prev.Z, col);
Vertex(pt.X, pt.Y, pt.Z, col); Vertex(pt.X, pt.Y, pt.Z, col);
@ -353,8 +354,8 @@ public class DebugDraw
// End arrows // End arrows
if (as0 > 0.001f) if (as0 > 0.001f)
{ {
RcVec3f p = new RcVec3f(); Vector3 p = new Vector3();
RcVec3f q = new RcVec3f(); Vector3 q = new Vector3();
EvalArc(x0, y0, z0, dx, dy, dz, len * h, PAD, ref p); EvalArc(x0, y0, z0, dx, dy, dz, len * h, PAD, ref p);
EvalArc(x0, y0, z0, dx, dy, dz, len * h, PAD + 0.05f, ref q); EvalArc(x0, y0, z0, dx, dy, dz, len * h, PAD + 0.05f, ref q);
AppendArrowHead(p, q, as0, col); AppendArrowHead(p, q, as0, col);
@ -362,15 +363,15 @@ public class DebugDraw
if (as1 > 0.001f) if (as1 > 0.001f)
{ {
RcVec3f p = new RcVec3f(); Vector3 p = new Vector3();
RcVec3f q = new RcVec3f(); Vector3 q = new Vector3();
EvalArc(x0, y0, z0, dx, dy, dz, len * h, 1 - PAD, ref p); EvalArc(x0, y0, z0, dx, dy, dz, len * h, 1 - PAD, ref p);
EvalArc(x0, y0, z0, dx, dy, dz, len * h, 1 - (PAD + 0.05f), ref q); EvalArc(x0, y0, z0, dx, dy, dz, len * h, 1 - (PAD + 0.05f), ref q);
AppendArrowHead(p, q, as1, col); AppendArrowHead(p, q, as1, col);
} }
} }
private void EvalArc(float x0, float y0, float z0, float dx, float dy, float dz, float h, float u, ref RcVec3f res) private void EvalArc(float x0, float y0, float z0, float dx, float dy, float dz, float h, float u, ref Vector3 res)
{ {
res.X = x0 + dx * u; res.X = x0 + dx * u;
res.Y = y0 + dy * u + h * (1 - (u * 2 - 1) * (u * 2 - 1)); res.Y = y0 + dy * u + h * (1 - (u * 2 - 1) * (u * 2 - 1));
@ -461,15 +462,15 @@ public class DebugDraw
Vertex(x1, y1, z1, col); Vertex(x1, y1, z1, col);
// End arrows // End arrows
RcVec3f p = new RcVec3f(x0, y0, z0); Vector3 p = new Vector3(x0, y0, z0);
RcVec3f q = new RcVec3f(x1, y1, z1); Vector3 q = new Vector3(x1, y1, z1);
if (as0 > 0.001f) if (as0 > 0.001f)
AppendArrowHead(p, q, as0, col); AppendArrowHead(p, q, as0, col);
if (as1 > 0.001f) if (as1 > 0.001f)
AppendArrowHead(q, p, as1, col); AppendArrowHead(q, p, as1, col);
} }
void AppendArrowHead(RcVec3f p, RcVec3f q, float s, int col) void AppendArrowHead(Vector3 p, Vector3 q, float s, int col)
{ {
const float eps = 0.001f; const float eps = 0.001f;
if (VdistSqr(p, q) < eps * eps) if (VdistSqr(p, q) < eps * eps)
@ -477,9 +478,9 @@ public class DebugDraw
return; return;
} }
RcVec3f ax = new RcVec3f(); Vector3 ax = new Vector3();
RcVec3f ay = new RcVec3f(0, 1, 0); Vector3 ay = new Vector3(0, 1, 0);
RcVec3f az = new RcVec3f(); Vector3 az = new Vector3();
Vsub(ref az, q, p); Vsub(ref az, q, p);
Vnormalize(ref az); Vnormalize(ref az);
Vcross(ref ax, ay, az); Vcross(ref ax, ay, az);
@ -495,14 +496,14 @@ public class DebugDraw
Vertex(p.X + az.X * s - ax.X * s / 3, p.Y + az.Y * s - ax.Y * s / 3, p.Z + az.Z * s - ax.Z * s / 3, col); Vertex(p.X + az.X * s - ax.X * s / 3, p.Y + az.Y * s - ax.Y * s / 3, p.Z + az.Z * s - ax.Z * s / 3, col);
} }
public void Vcross(ref RcVec3f dest, RcVec3f v1, RcVec3f v2) public void Vcross(ref Vector3 dest, Vector3 v1, Vector3 v2)
{ {
dest.X = v1.Y * v2.Z - v1.Z * v2.Y; dest.X = v1.Y * v2.Z - v1.Z * v2.Y;
dest.Y = v1.Z * v2.X - v1.X * v2.Z; dest.Y = v1.Z * v2.X - v1.X * v2.Z;
dest.Z = v1.X * v2.Y - v1.Y * v2.X; dest.Z = v1.X * v2.Y - v1.Y * v2.X;
} }
public void Vnormalize(ref RcVec3f v) public void Vnormalize(ref Vector3 v)
{ {
float d = (float)(1.0f / Math.Sqrt(v.X * v.X + v.Y * v.Y + v.Z * v.Z)); float d = (float)(1.0f / Math.Sqrt(v.X * v.X + v.Y * v.Y + v.Z * v.Z));
v.X *= d; v.X *= d;
@ -510,14 +511,14 @@ public class DebugDraw
v.Z *= d; v.Z *= d;
} }
public void Vsub(ref RcVec3f dest, RcVec3f v1, RcVec3f v2) public void Vsub(ref Vector3 dest, Vector3 v1, Vector3 v2)
{ {
dest.X = v1.X - v2.X; dest.X = v1.X - v2.X;
dest.Y = v1.Y - v2.Y; dest.Y = v1.Y - v2.Y;
dest.Z = v1.Z - v2.Z; dest.Z = v1.Z - v2.Z;
} }
public float VdistSqr(RcVec3f v1, RcVec3f v2) public float VdistSqr(Vector3 v1, Vector3 v2)
{ {
float x = v1.X - v2.X; float x = v1.X - v2.X;
float y = v1.Y - v2.Y; float y = v1.Y - v2.Y;
@ -637,7 +638,7 @@ public class DebugDraw
return _projectionMatrix; return _projectionMatrix;
} }
public RcMatrix4x4f ViewMatrix(RcVec3f cameraPos, RcVec2f cameraEulers) public RcMatrix4x4f ViewMatrix(Vector3 cameraPos, Vector2 cameraEulers)
{ {
var rx = RcMatrix4x4f.CreateFromRotate(cameraEulers.X, 1, 0, 0); var rx = RcMatrix4x4f.CreateFromRotate(cameraEulers.X, 1, 0, 0);
var ry = RcMatrix4x4f.CreateFromRotate(cameraEulers.Y, 0, 1, 0); var ry = RcMatrix4x4f.CreateFromRotate(cameraEulers.Y, 0, 1, 0);
@ -746,7 +747,7 @@ public class DebugDraw
return true; return true;
} }
public bool FrustumTest(RcVec3f bmin, RcVec3f bmax) public bool FrustumTest(Vector3 bmin, Vector3 bmax)
{ {
return FrustumTest(new float[] { bmin.X, bmin.Y, bmin.Z, bmax.X, bmax.Y, bmax.Z }); return FrustumTest(new float[] { bmin.X, bmin.Y, bmin.Z, bmax.X, bmax.Y, bmax.Z });
} }

3
src/DotRecast.Recast.Demo/Draw/GLU.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Demo.Draw; namespace DotRecast.Recast.Demo.Draw;
@ -65,7 +66,7 @@ public static class GLU
matrix.M44 = 0.0f; matrix.M44 = 0.0f;
} }
public static int GlhUnProjectf(float winx, float winy, float winz, float[] modelview, float[] projection, int[] viewport, ref RcVec3f objectCoordinate) public static int GlhUnProjectf(float winx, float winy, float winz, float[] modelview, float[] projection, int[] viewport, ref Vector3 objectCoordinate)
{ {
// Transformation matrices // Transformation matrices
float[] m = new float[16], A = new float[16]; float[] m = new float[16], A = new float[16];

5
src/DotRecast.Recast.Demo/Draw/IOpenGLDraw.cs
View File

@ -1,4 +1,5 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Demo.Draw; namespace DotRecast.Recast.Demo.Draw;
@ -15,9 +16,9 @@ public interface IOpenGLDraw
void Vertex(float x, float y, float z, int color); void Vertex(float x, float y, float z, int color);
void Vertex(float[] pos, int color); void Vertex(float[] pos, int color);
void Vertex(RcVec3f pos, int color); void Vertex(Vector3 pos, int color);
void Vertex(RcVec3f pos, int color, RcVec2f uv); void Vertex(Vector3 pos, int color, Vector2 uv);
void Vertex(float x, float y, float z, int color, float u, float v); void Vertex(float x, float y, float z, int color, float u, float v);

5
src/DotRecast.Recast.Demo/Draw/ModernOpenGLDraw.cs
View File

@ -2,6 +2,7 @@ using System;
using System.IO; using System.IO;
using Silk.NET.OpenGL; using Silk.NET.OpenGL;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Demo.Draw; namespace DotRecast.Recast.Demo.Draw;
@ -285,13 +286,13 @@ public class ModernOpenGLDraw : IOpenGLDraw
vertices.Add(new OpenGLVertex(pos, color)); vertices.Add(new OpenGLVertex(pos, color));
} }
public void Vertex(RcVec3f pos, int color) public void Vertex(Vector3 pos, int color)
{ {
vertices.Add(new OpenGLVertex(pos, color)); vertices.Add(new OpenGLVertex(pos, color));
} }
public void Vertex(RcVec3f pos, int color, RcVec2f uv) public void Vertex(Vector3 pos, int color, Vector2 uv)
{ {
vertices.Add(new OpenGLVertex(pos, uv, color)); vertices.Add(new OpenGLVertex(pos, uv, color));
} }

17
src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour; using DotRecast.Detour;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
using DotRecast.Recast.Toolset.Geom; using DotRecast.Recast.Toolset.Geom;
@ -80,8 +81,8 @@ public class NavMeshRenderer
if (geom != null) if (geom != null)
{ {
int gw = 0, gh = 0; int gw = 0, gh = 0;
RcVec3f bmin = geom.GetMeshBoundsMin(); Vector3 bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); Vector3 bmax = geom.GetMeshBoundsMax();
CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh); CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
int tw = (gw + settings.tileSize - 1) / settings.tileSize; int tw = (gw + settings.tileSize - 1) / settings.tileSize;
int th = (gh + settings.tileSize - 1) / settings.tileSize; int th = (gh + settings.tileSize - 1) / settings.tileSize;
@ -210,8 +211,8 @@ public class NavMeshRenderer
private void DrawGeomBounds(DemoInputGeomProvider geom) private void DrawGeomBounds(DemoInputGeomProvider geom)
{ {
// Draw bounds // Draw bounds
RcVec3f bmin = geom.GetMeshBoundsMin(); Vector3 bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); Vector3 bmax = geom.GetMeshBoundsMax();
_debugDraw.DebugDrawBoxWire(bmin.X, bmin.Y, bmin.Z, bmax.X, bmax.Y, bmax.Z, _debugDraw.DebugDrawBoxWire(bmin.X, bmin.Y, bmin.Z, bmax.X, bmax.Y, bmax.Z,
DebugDraw.DuRGBA(255, 255, 255, 128), 1.0f); DebugDraw.DuRGBA(255, 255, 255, 128), 1.0f);
_debugDraw.Begin(DebugDrawPrimitives.POINTS, 5.0f); _debugDraw.Begin(DebugDrawPrimitives.POINTS, 5.0f);
@ -260,8 +261,8 @@ public class NavMeshRenderer
int col = DebugDraw.DuTransCol(DebugDraw.AreaToCol(vol.areaMod.GetMaskedValue()), 32); int col = DebugDraw.DuTransCol(DebugDraw.AreaToCol(vol.areaMod.GetMaskedValue()), 32);
for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3) for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3)
{ {
var va = new RcVec3f(vol.verts[k], vol.verts[k + 1], vol.verts[k + 2]); var va = new Vector3(vol.verts[k], vol.verts[k + 1], vol.verts[k + 2]);
var vb = new RcVec3f(vol.verts[j], vol.verts[j + 1], vol.verts[j + 2]); var vb = new Vector3(vol.verts[j], vol.verts[j + 1], vol.verts[j + 2]);
_debugDraw.Vertex(vol.verts[0], vol.hmax, vol.verts[2], col); _debugDraw.Vertex(vol.verts[0], vol.hmax, vol.verts[2], col);
_debugDraw.Vertex(vb.X, vol.hmax, vb.Z, col); _debugDraw.Vertex(vb.X, vol.hmax, vb.Z, col);
@ -285,8 +286,8 @@ public class NavMeshRenderer
int col = DebugDraw.DuTransCol(DebugDraw.AreaToCol(vol.areaMod.GetMaskedValue()), 220); int col = DebugDraw.DuTransCol(DebugDraw.AreaToCol(vol.areaMod.GetMaskedValue()), 220);
for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3) for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3)
{ {
var va = new RcVec3f(vol.verts[k], vol.verts[k + 1], vol.verts[k + 2]); var va = new Vector3(vol.verts[k], vol.verts[k + 1], vol.verts[k + 2]);
var vb = new RcVec3f(vol.verts[j], vol.verts[j + 1], vol.verts[j + 2]); var vb = new Vector3(vol.verts[j], vol.verts[j + 1], vol.verts[j + 2]);
_debugDraw.Vertex(va.X, vol.hmin, va.Z, DebugDraw.DuDarkenCol(col)); _debugDraw.Vertex(va.X, vol.hmin, va.Z, DebugDraw.DuDarkenCol(col));
_debugDraw.Vertex(vb.X, vol.hmin, vb.Z, DebugDraw.DuDarkenCol(col)); _debugDraw.Vertex(vb.X, vol.hmin, vb.Z, DebugDraw.DuDarkenCol(col));
_debugDraw.Vertex(va.X, vol.hmax, va.Z, col); _debugDraw.Vertex(va.X, vol.hmax, va.Z, col);

5
src/DotRecast.Recast.Demo/Draw/OpenGLVertex.cs
View File

@ -2,6 +2,7 @@ using System;
using System.IO; using System.IO;
using System.Runtime.InteropServices; using System.Runtime.InteropServices;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Demo.Draw; namespace DotRecast.Recast.Demo.Draw;
@ -26,7 +27,7 @@ public struct OpenGLVertex
[FieldOffset(20)] [FieldOffset(20)]
private readonly int color; private readonly int color;
public OpenGLVertex(RcVec3f pos, RcVec2f uv, int color) : public OpenGLVertex(Vector3 pos, Vector2 uv, int color) :
this(pos.X, pos.Y, pos.Z, uv.X, uv.Y, color) this(pos.X, pos.Y, pos.Z, uv.X, uv.Y, color)
{ {
} }
@ -36,7 +37,7 @@ public struct OpenGLVertex
{ {
} }
public OpenGLVertex(RcVec3f pos, int color) : public OpenGLVertex(Vector3 pos, int color) :
this(pos.X, pos.Y, pos.Z, 0f, 0f, color) this(pos.X, pos.Y, pos.Z, 0f, 0f, color)
{ {
} }

57
src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour; using DotRecast.Detour;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
using Silk.NET.OpenGL; using Silk.NET.OpenGL;
@ -41,9 +42,9 @@ public class RecastDebugDraw : DebugDraw
{ {
float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI); float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI);
RcVec2f uva = RcVec2f.Zero; Vector2 uva = Vector2.Zero;
RcVec2f uvb = RcVec2f.Zero; Vector2 uvb = Vector2.Zero;
RcVec2f uvc = RcVec2f.Zero; Vector2 uvc = Vector2.Zero;
Texture(true); Texture(true);
@ -51,7 +52,7 @@ public class RecastDebugDraw : DebugDraw
Begin(DebugDrawPrimitives.TRIS); Begin(DebugDrawPrimitives.TRIS);
for (int i = 0; i < tris.Length; i += 3) for (int i = 0; i < tris.Length; i += 3)
{ {
RcVec3f norm = new RcVec3f(normals[i], normals[i + 1], normals[i + 2]); Vector3 norm = new Vector3(normals[i], normals[i + 1], normals[i + 2]);
int color; int color;
char a = (char)(220 * (2 + norm.X + norm.Y) / 4); char a = (char)(220 * (2 + norm.X + norm.Y) / 4);
@ -64,9 +65,9 @@ public class RecastDebugDraw : DebugDraw
color = DuRGBA(a, a, a, 255); color = DuRGBA(a, a, a, 255);
} }
RcVec3f va = new RcVec3f(verts[tris[i] * 3], verts[tris[i] * 3 + 1], verts[tris[i] * 3 + 2]); Vector3 va = new Vector3(verts[tris[i] * 3], verts[tris[i] * 3 + 1], verts[tris[i] * 3 + 2]);
RcVec3f vb = new RcVec3f(verts[tris[i + 1] * 3], verts[tris[i + 1] * 3 + 1], verts[tris[i + 1] * 3 + 2]); Vector3 vb = new Vector3(verts[tris[i + 1] * 3], verts[tris[i + 1] * 3 + 1], verts[tris[i + 1] * 3 + 2]);
RcVec3f vc = new RcVec3f(verts[tris[i + 2] * 3], verts[tris[i + 2] * 3 + 1], verts[tris[i + 2] * 3 + 2]); Vector3 vc = new Vector3(verts[tris[i + 2] * 3], verts[tris[i + 2] * 3 + 1], verts[tris[i + 2] * 3 + 2]);
int ax = 0, ay = 0; int ax = 0, ay = 0;
if (MathF.Abs(norm.Y) > MathF.Abs(norm.Get(ax))) if (MathF.Abs(norm.Y) > MathF.Abs(norm.Get(ax)))
@ -186,11 +187,11 @@ public class RecastDebugDraw : DebugDraw
} }
DtOffMeshConnection con = tile.data.offMeshCons[i - tile.data.header.offMeshBase]; DtOffMeshConnection con = tile.data.offMeshCons[i - tile.data.header.offMeshBase];
RcVec3f va = new RcVec3f( Vector3 va = new Vector3(
tile.data.verts[p.verts[0] * 3], tile.data.verts[p.verts[0] * 3 + 1], tile.data.verts[p.verts[0] * 3], tile.data.verts[p.verts[0] * 3 + 1],
tile.data.verts[p.verts[0] * 3 + 2] tile.data.verts[p.verts[0] * 3 + 2]
); );
RcVec3f vb = new RcVec3f( Vector3 vb = new Vector3(
tile.data.verts[p.verts[1] * 3], tile.data.verts[p.verts[1] * 3 + 1], tile.data.verts[p.verts[1] * 3], tile.data.verts[p.verts[1] * 3 + 1],
tile.data.verts[p.verts[1] * 3 + 2] tile.data.verts[p.verts[1] * 3 + 2]
); );
@ -352,11 +353,11 @@ public class RecastDebugDraw : DebugDraw
} }
} }
var v0 = new RcVec3f( var v0 = new Vector3(
tile.data.verts[p.verts[j] * 3], tile.data.verts[p.verts[j] * 3 + 1], tile.data.verts[p.verts[j] * 3], tile.data.verts[p.verts[j] * 3 + 1],
tile.data.verts[p.verts[j] * 3 + 2] tile.data.verts[p.verts[j] * 3 + 2]
); );
var v1 = new RcVec3f( var v1 = new Vector3(
tile.data.verts[p.verts[(j + 1) % nj] * 3], tile.data.verts[p.verts[(j + 1) % nj] * 3],
tile.data.verts[p.verts[(j + 1) % nj] * 3 + 1], tile.data.verts[p.verts[(j + 1) % nj] * 3 + 1],
tile.data.verts[p.verts[(j + 1) % nj] * 3 + 2] tile.data.verts[p.verts[(j + 1) % nj] * 3 + 2]
@ -370,20 +371,20 @@ public class RecastDebugDraw : DebugDraw
for (int k = 0; k < pd.triCount; ++k) for (int k = 0; k < pd.triCount; ++k)
{ {
int t = (pd.triBase + k) * 4; int t = (pd.triBase + k) * 4;
RcVec3f[] tv = new RcVec3f[3]; Vector3[] tv = new Vector3[3];
for (int m = 0; m < 3; ++m) for (int m = 0; m < 3; ++m)
{ {
int v = tile.data.detailTris[t + m]; int v = tile.data.detailTris[t + m];
if (v < p.vertCount) if (v < p.vertCount)
{ {
tv[m] = new RcVec3f( tv[m] = new Vector3(
tile.data.verts[p.verts[v] * 3], tile.data.verts[p.verts[v] * 3 + 1], tile.data.verts[p.verts[v] * 3], tile.data.verts[p.verts[v] * 3 + 1],
tile.data.verts[p.verts[v] * 3 + 2] tile.data.verts[p.verts[v] * 3 + 2]
); );
} }
else else
{ {
tv[m] = new RcVec3f( tv[m] = new Vector3(
tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3], tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3],
tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3 + 1], tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3 + 1],
tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3 + 2] tile.data.detailVerts[(pd.vertBase + (v - p.vertCount)) * 3 + 2]
@ -420,7 +421,7 @@ public class RecastDebugDraw : DebugDraw
End(); End();
} }
static float DistancePtLine2d(RcVec3f pt, RcVec3f p, RcVec3f q) static float DistancePtLine2d(Vector3 pt, Vector3 p, Vector3 q)
{ {
float pqx = q.X - p.X; float pqx = q.X - p.X;
float pqz = q.Z - p.Z; float pqz = q.Z - p.Z;
@ -522,7 +523,7 @@ public class RecastDebugDraw : DebugDraw
{ {
float alpha = 1f; float alpha = 1f;
RcVec3f orig = cset.bmin; Vector3 orig = cset.bmin;
float cs = cset.cs; float cs = cset.cs;
float ch = cset.ch; float ch = cset.ch;
@ -533,7 +534,7 @@ public class RecastDebugDraw : DebugDraw
for (int i = 0; i < cset.conts.Count; ++i) for (int i = 0; i < cset.conts.Count; ++i)
{ {
RcContour cont = cset.conts[i]; RcContour cont = cset.conts[i];
RcVec3f pos = GetContourCenter(cont, orig, cs, ch); Vector3 pos = GetContourCenter(cont, orig, cs, ch);
for (int j = 0; j < cont.nverts; ++j) for (int j = 0; j < cont.nverts; ++j)
{ {
int v = j * 4; int v = j * 4;
@ -545,7 +546,7 @@ public class RecastDebugDraw : DebugDraw
RcContour cont2 = FindContourFromSet(cset, (short)cont.verts[v + 3]); RcContour cont2 = FindContourFromSet(cset, (short)cont.verts[v + 3]);
if (cont2 != null) if (cont2 != null)
{ {
RcVec3f pos2 = GetContourCenter(cont2, orig, cs, ch); Vector3 pos2 = GetContourCenter(cont2, orig, cs, ch);
AppendArc(pos.X, pos.Y, pos.Z, pos2.X, pos2.Y, pos2.Z, 0.25f, 0.6f, 0.6f, color); AppendArc(pos.X, pos.Y, pos.Z, pos2.X, pos2.Y, pos2.Z, 0.25f, 0.6f, 0.6f, color);
} }
} }
@ -561,16 +562,16 @@ public class RecastDebugDraw : DebugDraw
{ {
RcContour cont = cset.conts[i]; RcContour cont = cset.conts[i];
int col = DuDarkenCol(DuIntToCol(cont.reg, a)); int col = DuDarkenCol(DuIntToCol(cont.reg, a));
RcVec3f pos = GetContourCenter(cont, orig, cs, ch); Vector3 pos = GetContourCenter(cont, orig, cs, ch);
Vertex(pos, col); Vertex(pos, col);
} }
End(); End();
} }
private RcVec3f GetContourCenter(RcContour cont, RcVec3f orig, float cs, float ch) private Vector3 GetContourCenter(RcContour cont, Vector3 orig, float cs, float ch)
{ {
RcVec3f center = new RcVec3f(); Vector3 center = new Vector3();
center.X = 0; center.X = 0;
center.Y = 0; center.Y = 0;
center.Z = 0; center.Z = 0;
@ -612,7 +613,7 @@ public class RecastDebugDraw : DebugDraw
public void DebugDrawRawContours(RcContourSet cset, float alpha) public void DebugDrawRawContours(RcContourSet cset, float alpha)
{ {
RcVec3f orig = cset.bmin; Vector3 orig = cset.bmin;
float cs = cset.cs; float cs = cset.cs;
float ch = cset.ch; float ch = cset.ch;
@ -688,7 +689,7 @@ public class RecastDebugDraw : DebugDraw
public void DebugDrawContours(RcContourSet cset) public void DebugDrawContours(RcContourSet cset)
{ {
float alpha = 1f; float alpha = 1f;
RcVec3f orig = cset.bmin; Vector3 orig = cset.bmin;
float cs = cset.cs; float cs = cset.cs;
float ch = cset.ch; float ch = cset.ch;
@ -770,7 +771,7 @@ public class RecastDebugDraw : DebugDraw
return; return;
} }
RcVec3f orig = hf.bmin; Vector3 orig = hf.bmin;
float cs = hf.cs; float cs = hf.cs;
float ch = hf.ch; float ch = hf.ch;
@ -802,7 +803,7 @@ public class RecastDebugDraw : DebugDraw
public void DebugDrawHeightfieldWalkable(RcHeightfield hf) public void DebugDrawHeightfieldWalkable(RcHeightfield hf)
{ {
RcVec3f orig = hf.bmin; Vector3 orig = hf.bmin;
float cs = hf.cs; float cs = hf.cs;
float ch = hf.ch; float ch = hf.ch;
@ -935,7 +936,7 @@ public class RecastDebugDraw : DebugDraw
int nvp = mesh.nvp; int nvp = mesh.nvp;
float cs = mesh.cs; float cs = mesh.cs;
float ch = mesh.ch; float ch = mesh.ch;
RcVec3f orig = mesh.bmin; Vector3 orig = mesh.bmin;
Begin(DebugDrawPrimitives.TRIS); Begin(DebugDrawPrimitives.TRIS);
@ -1348,11 +1349,11 @@ public class RecastDebugDraw : DebugDraw
continue; continue;
// Create new links // Create new links
var va = new RcVec3f( var va = new Vector3(
tile.data.verts[poly.verts[j] * 3], tile.data.verts[poly.verts[j] * 3],
tile.data.verts[poly.verts[j] * 3 + 1], tile.data.verts[poly.verts[j] * 3 + 2] tile.data.verts[poly.verts[j] * 3 + 1], tile.data.verts[poly.verts[j] * 3 + 2]
); );
var vb = new RcVec3f( var vb = new Vector3(
tile.data.verts[poly.verts[(j + 1) % nv] * 3], tile.data.verts[poly.verts[(j + 1) % nv] * 3],
tile.data.verts[poly.verts[(j + 1) % nv] * 3 + 1], tile.data.verts[poly.verts[(j + 1) % nv] * 3 + 1],
tile.data.verts[poly.verts[(j + 1) % nv] * 3 + 2] tile.data.verts[poly.verts[(j + 1) % nv] * 3 + 2]

5
src/DotRecast.Recast.Demo/Messages/RaycastEvent.cs
View File

@ -1,9 +1,10 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Demo.Messages; namespace DotRecast.Recast.Demo.Messages;
public class RaycastEvent : IRecastDemoMessage public class RaycastEvent : IRecastDemoMessage
{ {
public RcVec3f Start { get; init; } public Vector3 Start { get; init; }
public RcVec3f End { get; init; } public Vector3 End { get; init; }
} }

47
src/DotRecast.Recast.Demo/RecastDemo.cs
View File

@ -34,6 +34,7 @@ using Silk.NET.OpenGL.Extensions.ImGui;
using Silk.NET.Windowing; using Silk.NET.Windowing;
using ImGuiNET; using ImGuiNET;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour; using DotRecast.Detour;
using DotRecast.Detour.Extras.Unity.Astar; using DotRecast.Detour.Extras.Unity.Astar;
using DotRecast.Detour.Io; using DotRecast.Detour.Io;
@ -80,7 +81,7 @@ public class RecastDemo : IRecastDemoChannel
private bool processHitTestShift; private bool processHitTestShift;
private int _modState; private int _modState;
private RcVec2f mousePos = new RcVec2f(); private Vector2 mousePos = new Vector2();
private bool _mouseOverMenu; private bool _mouseOverMenu;
private bool pan; private bool pan;
@ -88,12 +89,12 @@ public class RecastDemo : IRecastDemoChannel
private bool rotate; private bool rotate;
private bool movedDuringRotate; private bool movedDuringRotate;
private float scrollZoom; private float scrollZoom;
private RcVec2f origMousePos = new RcVec2f(); private Vector2 origMousePos = new Vector2();
private RcVec2f origCameraEulers = new RcVec2f(); private Vector2 origCameraEulers = new Vector2();
private RcVec3f origCameraPos = new RcVec3f(); private Vector3 origCameraPos = new Vector3();
private RcVec2f cameraEulers = new RcVec2f(45, -45); private Vector2 cameraEulers = new Vector2(45, -45);
private RcVec3f cameraPos = new RcVec3f(0, 0, 0); private Vector3 cameraPos = new Vector3(0, 0, 0);
private float[] projectionMatrix = new float[16]; private float[] projectionMatrix = new float[16];
@ -109,7 +110,7 @@ public class RecastDemo : IRecastDemoChannel
private int[] viewport; private int[] viewport;
private bool markerPositionSet; private bool markerPositionSet;
private RcVec3f markerPosition = new RcVec3f(); private Vector3 markerPosition = new Vector3();
private RcToolsetView toolset; private RcToolsetView toolset;
private RcSettingsView settingsView; private RcSettingsView settingsView;
@ -459,8 +460,8 @@ public class RecastDemo : IRecastDemoChannel
if (_sample.GetInputGeom() != null) if (_sample.GetInputGeom() != null)
{ {
var settings = _sample.GetSettings(); var settings = _sample.GetSettings();
RcVec3f bmin = _sample.GetInputGeom().GetMeshBoundsMin(); Vector3 bmin = _sample.GetInputGeom().GetMeshBoundsMin();
RcVec3f bmax = _sample.GetInputGeom().GetMeshBoundsMax(); Vector3 bmax = _sample.GetInputGeom().GetMeshBoundsMax();
RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out var gw, out var gh); RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out var gw, out var gh);
settingsView.SetVoxels(gw, gh); settingsView.SetVoxels(gw, gh);
settingsView.SetTiles(tileNavMeshBuilder.GetTiles(_sample.GetInputGeom(), settings.cellSize, settings.tileSize)); settingsView.SetTiles(tileNavMeshBuilder.GetTiles(_sample.GetInputGeom(), settings.cellSize, settings.tileSize));
@ -518,8 +519,8 @@ public class RecastDemo : IRecastDemoChannel
{ {
processHitTest = false; processHitTest = false;
RcVec3f rayStart = new RcVec3f(); Vector3 rayStart = new Vector3();
RcVec3f rayEnd = new RcVec3f(); Vector3 rayEnd = new Vector3();
GLU.GlhUnProjectf(mousePos.X, viewport[3] - 1 - mousePos.Y, 0.0f, modelviewMatrix, projectionMatrix, viewport, ref rayStart); GLU.GlhUnProjectf(mousePos.X, viewport[3] - 1 - mousePos.Y, 0.0f, modelviewMatrix, projectionMatrix, viewport, ref rayStart);
GLU.GlhUnProjectf(mousePos.X, viewport[3] - 1 - mousePos.Y, 1.0f, modelviewMatrix, projectionMatrix, viewport, ref rayEnd); GLU.GlhUnProjectf(mousePos.X, viewport[3] - 1 - mousePos.Y, 1.0f, modelviewMatrix, projectionMatrix, viewport, ref rayEnd);
@ -534,8 +535,8 @@ public class RecastDemo : IRecastDemoChannel
if (_sample.IsChanged()) if (_sample.IsChanged())
{ {
bool hasBound = false; bool hasBound = false;
RcVec3f bminN = RcVec3f.Zero; Vector3 bminN = Vector3.Zero;
RcVec3f bmaxN = RcVec3f.Zero; Vector3 bmaxN = Vector3.Zero;
if (_sample.GetInputGeom() != null) if (_sample.GetInputGeom() != null)
{ {
bminN = _sample.GetInputGeom().GetMeshBoundsMin(); bminN = _sample.GetInputGeom().GetMeshBoundsMin();
@ -555,17 +556,17 @@ public class RecastDemo : IRecastDemoChannel
{ {
if (!hasBound) if (!hasBound)
{ {
bminN = new RcVec3f(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); bminN = new Vector3(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
bmaxN = new RcVec3f(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); bmaxN = new Vector3(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
} }
bminN = new RcVec3f( bminN = new Vector3(
Math.Min(bminN.X, result.GetSolidHeightfield().bmin.X), Math.Min(bminN.X, result.GetSolidHeightfield().bmin.X),
Math.Min(bminN.Y, result.GetSolidHeightfield().bmin.Y), Math.Min(bminN.Y, result.GetSolidHeightfield().bmin.Y),
Math.Min(bminN.Z, result.GetSolidHeightfield().bmin.Z) Math.Min(bminN.Z, result.GetSolidHeightfield().bmin.Z)
); );
bmaxN = new RcVec3f( bmaxN = new Vector3(
Math.Max(bmaxN.X, result.GetSolidHeightfield().bmax.X), Math.Max(bmaxN.X, result.GetSolidHeightfield().bmax.X),
Math.Max(bmaxN.Y, result.GetSolidHeightfield().bmax.Y), Math.Max(bmaxN.Y, result.GetSolidHeightfield().bmax.Y),
Math.Max(bmaxN.Z, result.GetSolidHeightfield().bmax.Z) Math.Max(bmaxN.Z, result.GetSolidHeightfield().bmax.Z)
@ -578,8 +579,8 @@ public class RecastDemo : IRecastDemoChannel
if (hasBound) if (hasBound)
{ {
RcVec3f bmin = bminN; Vector3 bmin = bminN;
RcVec3f bmax = bmaxN; Vector3 bmax = bmaxN;
camr = (float)(Math.Sqrt(RcMath.Sqr(bmax.X - bmin.X) + RcMath.Sqr(bmax.Y - bmin.Y) + RcMath.Sqr(bmax.Z - bmin.Z)) / 2); camr = (float)(Math.Sqrt(RcMath.Sqr(bmax.X - bmin.X) + RcMath.Sqr(bmax.Y - bmin.Y) + RcMath.Sqr(bmax.Z - bmin.Z)) / 2);
cameraPos.X = (bmax.X + bmin.X) / 2 + camr; cameraPos.X = (bmax.X + bmin.X) / 2 + camr;
@ -797,9 +798,9 @@ public class RecastDemo : IRecastDemoChannel
hit = RcPolyMeshRaycast.Raycast(_sample.GetRecastResults(), rayStart, rayEnd, out hitTime); hit = RcPolyMeshRaycast.Raycast(_sample.GetRecastResults(), rayStart, rayEnd, out hitTime);
} }
RcVec3f rayDir = new RcVec3f(rayEnd.X - rayStart.X, rayEnd.Y - rayStart.Y, rayEnd.Z - rayStart.Z); Vector3 rayDir = new Vector3(rayEnd.X - rayStart.X, rayEnd.Y - rayStart.Y, rayEnd.Z - rayStart.Z);
rayDir = RcVec3f.Normalize(rayDir); rayDir = Vector3.Normalize(rayDir);
ISampleTool raySampleTool = toolset.GetTool(); ISampleTool raySampleTool = toolset.GetTool();
if (raySampleTool != null) if (raySampleTool != null)
@ -820,7 +821,7 @@ public class RecastDemo : IRecastDemoChannel
} }
else else
{ {
RcVec3f pos = new RcVec3f(); Vector3 pos = new Vector3();
pos.X = rayStart.X + (rayEnd.X - rayStart.X) * hitTime; pos.X = rayStart.X + (rayEnd.X - rayStart.X) * hitTime;
pos.Y = rayStart.Y + (rayEnd.Y - rayStart.Y) * hitTime; pos.Y = rayStart.Y + (rayEnd.Y - rayStart.Y) * hitTime;
pos.Z = rayStart.Z + (rayEnd.Z - rayStart.Z) * hitTime; pos.Z = rayStart.Z + (rayEnd.Z - rayStart.Z) * hitTime;

5
src/DotRecast.Recast.Demo/Tools/ConvexVolumeSampleTool.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
using DotRecast.Recast.Demo.Draw; using DotRecast.Recast.Demo.Draw;
using DotRecast.Recast.Toolset; using DotRecast.Recast.Toolset;
@ -155,7 +156,7 @@ public class ConvexVolumeSampleTool : ISampleTool
// .. // ..
} }
public void HandleClick(RcVec3f s, RcVec3f p, bool shift) public void HandleClick(Vector3 s, Vector3 p, bool shift)
{ {
var geom = _sample.GetInputGeom(); var geom = _sample.GetInputGeom();
if (shift) if (shift)
@ -178,7 +179,7 @@ public class ConvexVolumeSampleTool : ISampleTool
// TODO Auto-generated method stub // TODO Auto-generated method stub
} }
public void HandleClickRay(RcVec3f start, RcVec3f direction, bool shift) public void HandleClickRay(Vector3 start, Vector3 direction, bool shift)
{ {
} }
} }

9
src/DotRecast.Recast.Demo/Tools/CrowdAgentProfilingSampleTool.cs
View File

@ -21,6 +21,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour; using DotRecast.Detour;
using DotRecast.Detour.Crowd; using DotRecast.Detour.Crowd;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
@ -133,7 +134,7 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
foreach (DtCrowdAgent ag in crowd.GetActiveAgents()) foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
{ {
float radius = ag.option.radius; float radius = ag.option.radius;
RcVec3f pos = ag.npos; Vector3 pos = ag.npos;
dd.DebugDrawCircle(pos.X, pos.Y, pos.Z, radius, DuRGBA(0, 0, 0, 32), 2.0f); dd.DebugDrawCircle(pos.X, pos.Y, pos.Z, radius, DuRGBA(0, 0, 0, 32), 2.0f);
} }
@ -143,7 +144,7 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
float height = ag.option.height; float height = ag.option.height;
float radius = ag.option.radius; float radius = ag.option.radius;
RcVec3f pos = ag.npos; Vector3 pos = ag.npos;
int col = DuRGBA(220, 220, 220, 128); int col = DuRGBA(220, 220, 220, 128);
if (crowAgentData.type == RcCrowdAgentType.TRAVELLER) if (crowAgentData.type == RcCrowdAgentType.TRAVELLER)
@ -198,7 +199,7 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
} }
public void HandleClick(RcVec3f s, RcVec3f p, bool shift) public void HandleClick(Vector3 s, Vector3 p, bool shift)
{ {
//throw new NotImplementedException(); //throw new NotImplementedException();
} }
@ -209,7 +210,7 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
_tool.Update(dt); _tool.Update(dt);
} }
public void HandleClickRay(RcVec3f start, RcVec3f direction, bool shift) public void HandleClickRay(Vector3 start, Vector3 direction, bool shift)
{ {
//throw new NotImplementedException(); //throw new NotImplementedException();
} }

41
src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour; using DotRecast.Detour;
using DotRecast.Detour.Crowd; using DotRecast.Detour.Crowd;
@ -188,7 +189,7 @@ public class CrowdSampleTool : ISampleTool
float gridy = -float.MaxValue; float gridy = -float.MaxValue;
foreach (DtCrowdAgent ag in crowd.GetActiveAgents()) foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
{ {
RcVec3f pos = ag.corridor.GetPos(); Vector3 pos = ag.corridor.GetPos();
gridy = Math.Max(gridy, pos.Y); gridy = Math.Max(gridy, pos.Y);
} }
@ -220,10 +221,10 @@ public class CrowdSampleTool : ISampleTool
foreach (DtCrowdAgent ag in crowd.GetActiveAgents()) foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
{ {
RcCrowdAgentTrail trail = agentTrails[ag.idx]; RcCrowdAgentTrail trail = agentTrails[ag.idx];
RcVec3f pos = ag.npos; Vector3 pos = ag.npos;
dd.Begin(LINES, 3.0f); dd.Begin(LINES, 3.0f);
RcVec3f prev = new RcVec3f(); Vector3 prev = new Vector3();
float preva = 1; float preva = 1;
prev = pos; prev = pos;
for (int j = 0; j < RcCrowdAgentTrail.AGENT_MAX_TRAIL - 1; ++j) for (int j = 0; j < RcCrowdAgentTrail.AGENT_MAX_TRAIL - 1; ++j)
@ -247,7 +248,7 @@ public class CrowdSampleTool : ISampleTool
continue; continue;
float radius = ag.option.radius; float radius = ag.option.radius;
RcVec3f pos = ag.npos; Vector3 pos = ag.npos;
if (_showCorners) if (_showCorners)
{ {
@ -256,8 +257,8 @@ public class CrowdSampleTool : ISampleTool
dd.Begin(LINES, 2.0f); dd.Begin(LINES, 2.0f);
for (int j = 0; j < ag.corners.Count; ++j) for (int j = 0; j < ag.corners.Count; ++j)
{ {
RcVec3f va = j == 0 ? pos : ag.corners[j - 1].pos; Vector3 va = j == 0 ? pos : ag.corners[j - 1].pos;
RcVec3f vb = ag.corners[j].pos; Vector3 vb = ag.corners[j].pos;
dd.Vertex(va.X, va.Y + radius, va.Z, DuRGBA(128, 0, 0, 192)); dd.Vertex(va.X, va.Y + radius, va.Z, DuRGBA(128, 0, 0, 192));
dd.Vertex(vb.X, vb.Y + radius, vb.Z, DuRGBA(128, 0, 0, 192)); dd.Vertex(vb.X, vb.Y + radius, vb.Z, DuRGBA(128, 0, 0, 192));
} }
@ -265,7 +266,7 @@ public class CrowdSampleTool : ISampleTool
if ((ag.corners[ag.corners.Count - 1].flags if ((ag.corners[ag.corners.Count - 1].flags
& DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0) & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
{ {
RcVec3f v = ag.corners[ag.corners.Count - 1].pos; Vector3 v = ag.corners[ag.corners.Count - 1].pos;
dd.Vertex(v.X, v.Y, v.Z, DuRGBA(192, 0, 0, 192)); dd.Vertex(v.X, v.Y, v.Z, DuRGBA(192, 0, 0, 192));
dd.Vertex(v.X, v.Y + radius * 2, v.Z, DuRGBA(192, 0, 0, 192)); dd.Vertex(v.X, v.Y + radius * 2, v.Z, DuRGBA(192, 0, 0, 192));
} }
@ -299,7 +300,7 @@ public class CrowdSampleTool : ISampleTool
if (_showCollisionSegments) if (_showCollisionSegments)
{ {
RcVec3f center = ag.boundary.GetCenter(); Vector3 center = ag.boundary.GetCenter();
dd.DebugDrawCross(center.X, center.Y + radius, center.Z, 0.2f, DuRGBA(192, 0, 128, 255), 2.0f); dd.DebugDrawCross(center.X, center.Y + radius, center.Z, 0.2f, DuRGBA(192, 0, 128, 255), 2.0f);
dd.DebugDrawCircle(center.X, center.Y + radius, center.Z, ag.option.collisionQueryRange, DuRGBA(192, 0, 128, 128), 2.0f); dd.DebugDrawCircle(center.X, center.Y + radius, center.Z, ag.option.collisionQueryRange, DuRGBA(192, 0, 128, 128), 2.0f);
@ -307,9 +308,9 @@ public class CrowdSampleTool : ISampleTool
for (int j = 0; j < ag.boundary.GetSegmentCount(); ++j) for (int j = 0; j < ag.boundary.GetSegmentCount(); ++j)
{ {
int col = DuRGBA(192, 0, 128, 192); int col = DuRGBA(192, 0, 128, 192);
RcVec3f[] s = ag.boundary.GetSegment(j); Vector3[] s = ag.boundary.GetSegment(j);
RcVec3f s0 = s[0]; Vector3 s0 = s[0];
RcVec3f s3 = s[1]; Vector3 s3 = s[1];
if (DtUtils.TriArea2D(pos, s0, s3) < 0.0f) if (DtUtils.TriArea2D(pos, s0, s3) < 0.0f)
col = DuDarkenCol(col); col = DuDarkenCol(col);
@ -352,7 +353,7 @@ public class CrowdSampleTool : ISampleTool
foreach (DtCrowdAgent ag in crowd.GetActiveAgents()) foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
{ {
float radius = ag.option.radius; float radius = ag.option.radius;
RcVec3f pos = ag.npos; Vector3 pos = ag.npos;
int col = DuRGBA(0, 0, 0, 32); int col = DuRGBA(0, 0, 0, 32);
if (agentDebug.agent == ag) if (agentDebug.agent == ag)
@ -365,7 +366,7 @@ public class CrowdSampleTool : ISampleTool
{ {
float height = ag.option.height; float height = ag.option.height;
float radius = ag.option.radius; float radius = ag.option.radius;
RcVec3f pos = ag.npos; Vector3 pos = ag.npos;
int col = DuRGBA(220, 220, 220, 128); int col = DuRGBA(220, 220, 220, 128);
if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING
@ -401,7 +402,7 @@ public class CrowdSampleTool : ISampleTool
dd.Begin(QUADS); dd.Begin(QUADS);
for (int j = 0; j < vod.GetSampleCount(); ++j) for (int j = 0; j < vod.GetSampleCount(); ++j)
{ {
RcVec3f p = vod.GetSampleVelocity(j); Vector3 p = vod.GetSampleVelocity(j);
float sr = vod.GetSampleSize(j); float sr = vod.GetSampleSize(j);
float pen = vod.GetSamplePenalty(j); float pen = vod.GetSamplePenalty(j);
float pen2 = vod.GetSamplePreferredSidePenalty(j); float pen2 = vod.GetSamplePreferredSidePenalty(j);
@ -422,9 +423,9 @@ public class CrowdSampleTool : ISampleTool
{ {
float radius = ag.option.radius; float radius = ag.option.radius;
float height = ag.option.height; float height = ag.option.height;
RcVec3f pos = ag.npos; Vector3 pos = ag.npos;
RcVec3f vel = ag.vel; Vector3 vel = ag.vel;
RcVec3f dvel = ag.dvel; Vector3 dvel = ag.dvel;
int col = DuRGBA(220, 220, 220, 192); int col = DuRGBA(220, 220, 220, 192);
if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING
@ -472,7 +473,7 @@ public class CrowdSampleTool : ISampleTool
} }
} }
public void HandleClick(RcVec3f s, RcVec3f p, bool shift) public void HandleClick(Vector3 s, Vector3 p, bool shift)
{ {
var crowd = _tool.GetCrowd(); var crowd = _tool.GetCrowd();
if (crowd == null) if (crowd == null)
@ -515,7 +516,7 @@ public class CrowdSampleTool : ISampleTool
if (nav != null && navquery != null) if (nav != null && navquery != null)
{ {
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
RcVec3f halfExtents = crowd.GetQueryExtents(); Vector3 halfExtents = crowd.GetQueryExtents();
navquery.FindNearestPoly(p, halfExtents, filter, out var refs, out var nearestPt, out var _); navquery.FindNearestPoly(p, halfExtents, filter, out var refs, out var nearestPt, out var _);
if (refs != 0) if (refs != 0)
{ {
@ -536,7 +537,7 @@ public class CrowdSampleTool : ISampleTool
} }
public void HandleClickRay(RcVec3f start, RcVec3f direction, bool shift) public void HandleClickRay(Vector3 start, Vector3 direction, bool shift)
{ {
} }
} }

15
src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
View File

@ -24,6 +24,7 @@ using System.Threading.Tasks;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Dynamic; using DotRecast.Detour.Dynamic;
using DotRecast.Recast.Toolset; using DotRecast.Recast.Toolset;
using DotRecast.Recast.Toolset.Tools; using DotRecast.Recast.Toolset.Tools;
@ -81,10 +82,10 @@ public class DynamicUpdateSampleTool : ISampleTool
private bool sposSet; private bool sposSet;
private bool eposSet; private bool eposSet;
private RcVec3f spos; private Vector3 spos;
private RcVec3f epos; private Vector3 epos;
private bool raycastHit; private bool raycastHit;
private RcVec3f raycastHitPos; private Vector3 raycastHitPos;
public DynamicUpdateSampleTool() public DynamicUpdateSampleTool()
{ {
@ -303,7 +304,7 @@ public class DynamicUpdateSampleTool : ISampleTool
} }
dd.DepthMask(false); dd.DepthMask(false);
if (raycastHitPos != RcVec3f.Zero) if (raycastHitPos != Vector3.Zero)
{ {
int spathCol = raycastHit ? DuRGBA(128, 32, 16, 220) : DuRGBA(64, 128, 240, 220); int spathCol = raycastHit ? DuRGBA(128, 32, 16, 220) : DuRGBA(64, 128, 240, 220);
dd.Begin(LINES, 2.0f); dd.Begin(LINES, 2.0f);
@ -316,7 +317,7 @@ public class DynamicUpdateSampleTool : ISampleTool
} }
} }
private void DrawAgent(RecastDebugDraw dd, RcVec3f pos, int col) private void DrawAgent(RecastDebugDraw dd, Vector3 pos, int col)
{ {
var settings = _sample.GetSettings(); var settings = _sample.GetSettings();
float r = settings.agentRadius; float r = settings.agentRadius;
@ -354,7 +355,7 @@ public class DynamicUpdateSampleTool : ISampleTool
} }
public void HandleClick(RcVec3f s, RcVec3f p, bool shift) public void HandleClick(Vector3 s, Vector3 p, bool shift)
{ {
if (mode == RcDynamicUpdateToolMode.COLLIDERS) if (mode == RcDynamicUpdateToolMode.COLLIDERS)
{ {
@ -390,7 +391,7 @@ public class DynamicUpdateSampleTool : ISampleTool
} }
public void HandleClickRay(RcVec3f start, RcVec3f dir, bool shift) public void HandleClickRay(Vector3 start, Vector3 dir, bool shift)
{ {
if (mode == RcDynamicUpdateToolMode.COLLIDERS) if (mode == RcDynamicUpdateToolMode.COLLIDERS)
{ {

21
src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
View File

@ -1,6 +1,7 @@
using System; using System;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Demo.Draw; using DotRecast.Recast.Demo.Draw;
using DotRecast.Recast.Toolset.Gizmos; using DotRecast.Recast.Toolset.Gizmos;
@ -38,9 +39,9 @@ public static class GizmoRenderer
public static int GetColorByNormal(float[] vertices, int v0, int v1, int v2) public static int GetColorByNormal(float[] vertices, int v0, int v1, int v2)
{ {
RcVec3f e0 = new RcVec3f(); Vector3 e0 = new Vector3();
RcVec3f e1 = new RcVec3f(); Vector3 e1 = new Vector3();
RcVec3f normal = new RcVec3f(); Vector3 normal = new Vector3();
for (int j = 0; j < 3; ++j) for (int j = 0; j < 3; ++j)
{ {
e0 = RcVecUtils.Subtract(vertices, v1, v0); e0 = RcVecUtils.Subtract(vertices, v1, v0);
@ -50,7 +51,7 @@ public static class GizmoRenderer
normal.X = e0.Y * e1.Z - e0.Z * e1.Y; normal.X = e0.Y * e1.Z - e0.Z * e1.Y;
normal.Y = e0.Z * e1.X - e0.X * e1.Z; normal.Y = e0.Z * e1.X - e0.X * e1.Z;
normal.Z = e0.X * e1.Y - e0.Y * e1.X; normal.Z = e0.X * e1.Y - e0.Y * e1.X;
normal = RcVec3f.Normalize(normal); normal = Vector3.Normalize(normal);
float c = Math.Clamp(0.57735026f * (normal.X + normal.Y + normal.Z), -1, 1); float c = Math.Clamp(0.57735026f * (normal.X + normal.Y + normal.Z), -1, 1);
int col = DebugDraw.DuLerpCol( int col = DebugDraw.DuLerpCol(
DebugDraw.DuRGBA(32, 32, 0, 160), DebugDraw.DuRGBA(32, 32, 0, 160),
@ -62,15 +63,15 @@ public static class GizmoRenderer
public static void RenderBox(RecastDebugDraw debugDraw, RcBoxGizmo box) public static void RenderBox(RecastDebugDraw debugDraw, RcBoxGizmo box)
{ {
var trX = new RcVec3f(box.halfEdges[0].X, box.halfEdges[1].X, box.halfEdges[2].X); var trX = new Vector3(box.halfEdges[0].X, box.halfEdges[1].X, box.halfEdges[2].X);
var trY = new RcVec3f(box.halfEdges[0].Y, box.halfEdges[1].Y, box.halfEdges[2].Y); var trY = new Vector3(box.halfEdges[0].Y, box.halfEdges[1].Y, box.halfEdges[2].Y);
var trZ = new RcVec3f(box.halfEdges[0].Z, box.halfEdges[1].Z, box.halfEdges[2].Z); var trZ = new Vector3(box.halfEdges[0].Z, box.halfEdges[1].Z, box.halfEdges[2].Z);
float[] vertices = new float[8 * 3]; float[] vertices = new float[8 * 3];
for (int i = 0; i < 8; i++) for (int i = 0; i < 8; i++)
{ {
vertices[i * 3 + 0] = RcVec3f.Dot(RcBoxGizmo.VERTS[i], trX) + box.center.X; vertices[i * 3 + 0] = Vector3.Dot(RcBoxGizmo.VERTS[i], trX) + box.center.X;
vertices[i * 3 + 1] = RcVec3f.Dot(RcBoxGizmo.VERTS[i], trY) + box.center.Y; vertices[i * 3 + 1] = Vector3.Dot(RcBoxGizmo.VERTS[i], trY) + box.center.Y;
vertices[i * 3 + 2] = RcVec3f.Dot(RcBoxGizmo.VERTS[i], trZ) + box.center.Z; vertices[i * 3 + 2] = Vector3.Dot(RcBoxGizmo.VERTS[i], trZ) + box.center.Z;
} }
debugDraw.Begin(DebugDrawPrimitives.TRIS); debugDraw.Begin(DebugDrawPrimitives.TRIS);

5
src/DotRecast.Recast.Demo/Tools/ISampleTool.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Demo.Draw; using DotRecast.Recast.Demo.Draw;
using DotRecast.Recast.Toolset; using DotRecast.Recast.Toolset;
@ -31,8 +32,8 @@ public interface ISampleTool
IRcToolable GetTool(); IRcToolable GetTool();
void Layout(); void Layout();
void HandleClick(RcVec3f s, RcVec3f p, bool shift); void HandleClick(Vector3 s, Vector3 p, bool shift);
void HandleRender(NavMeshRenderer renderer); void HandleRender(NavMeshRenderer renderer);
void HandleUpdate(float dt); void HandleUpdate(float dt);
void HandleClickRay(RcVec3f start, RcVec3f direction, bool shift); void HandleClickRay(Vector3 start, Vector3 direction, bool shift);
} }

15
src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderSampleTool.cs
View File

@ -17,6 +17,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Extras.Jumplink; using DotRecast.Detour.Extras.Jumplink;
using DotRecast.Recast.Demo.Draw; using DotRecast.Recast.Demo.Draw;
using DotRecast.Recast.Toolset; using DotRecast.Recast.Toolset;
@ -302,7 +303,7 @@ public class JumpLinkBuilderSampleTool : ISampleTool
{ {
GroundSample s = link.start.gsamples[i]; GroundSample s = link.start.gsamples[i];
float u = i / (float)(link.start.gsamples.Length - 1); float u = i / (float)(link.start.gsamples.Length - 1);
RcVec3f spt = RcVec3f.Lerp(link.start.p, link.start.q, u); Vector3 spt = Vector3.Lerp(link.start.p, link.start.q, u);
int col = DuRGBA(48, 16, 16, 255); // DuRGBA(255,(s->flags & 4)?255:0,0,255); int col = DuRGBA(48, 16, 16, 255); // DuRGBA(255,(s->flags & 4)?255:0,0,255);
float off = 0.1f; float off = 0.1f;
if (!s.validHeight) if (!s.validHeight)
@ -322,7 +323,7 @@ public class JumpLinkBuilderSampleTool : ISampleTool
{ {
GroundSample s = link.start.gsamples[i]; GroundSample s = link.start.gsamples[i];
float u = i / (float)(link.start.gsamples.Length - 1); float u = i / (float)(link.start.gsamples.Length - 1);
RcVec3f spt = RcVec3f.Lerp(link.start.p, link.start.q, u); Vector3 spt = Vector3.Lerp(link.start.p, link.start.q, u);
int col = DuRGBA(255, 255, 255, 255); int col = DuRGBA(255, 255, 255, 255);
float off = 0; float off = 0;
if (s.validHeight) if (s.validHeight)
@ -342,7 +343,7 @@ public class JumpLinkBuilderSampleTool : ISampleTool
{ {
GroundSample s = end.gsamples[i]; GroundSample s = end.gsamples[i];
float u = i / (float)(end.gsamples.Length - 1); float u = i / (float)(end.gsamples.Length - 1);
RcVec3f spt = RcVec3f.Lerp(end.p, end.q, u); Vector3 spt = Vector3.Lerp(end.p, end.q, u);
int col = DuRGBA(48, 16, 16, 255); // DuRGBA(255,(s->flags & 4)?255:0,0,255); int col = DuRGBA(48, 16, 16, 255); // DuRGBA(255,(s->flags & 4)?255:0,0,255);
float off = 0.1f; float off = 0.1f;
if (!s.validHeight) if (!s.validHeight)
@ -361,7 +362,7 @@ public class JumpLinkBuilderSampleTool : ISampleTool
{ {
GroundSample s = end.gsamples[i]; GroundSample s = end.gsamples[i];
float u = i / (float)(end.gsamples.Length - 1); float u = i / (float)(end.gsamples.Length - 1);
RcVec3f spt = RcVec3f.Lerp(end.p, end.q, u); Vector3 spt = Vector3.Lerp(end.p, end.q, u);
int col = DuRGBA(255, 255, 255, 255); int col = DuRGBA(255, 255, 255, 255);
float off = 0; float off = 0;
if (s.validHeight) if (s.validHeight)
@ -399,12 +400,12 @@ public class JumpLinkBuilderSampleTool : ISampleTool
} }
public void HandleClick(RcVec3f s, RcVec3f p, bool shift) public void HandleClick(Vector3 s, Vector3 p, bool shift)
{ {
} }
private void DrawTrajectory(RecastDebugDraw dd, JumpLink link, RcVec3f pa, RcVec3f pb, Trajectory tra, int cola) private void DrawTrajectory(RecastDebugDraw dd, JumpLink link, Vector3 pa, Vector3 pb, Trajectory tra, int cola)
{ {
} }
@ -413,7 +414,7 @@ public class JumpLinkBuilderSampleTool : ISampleTool
} }
public void HandleClickRay(RcVec3f start, RcVec3f direction, bool shift) public void HandleClickRay(Vector3 start, Vector3 direction, bool shift)
{ {
} }
} }

9
src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs
View File

@ -1,5 +1,6 @@
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.TileCache; using DotRecast.Detour.TileCache;
using DotRecast.Detour.TileCache.Io.Compress; using DotRecast.Detour.TileCache.Io.Compress;
using DotRecast.Recast.Demo.Draw; using DotRecast.Recast.Demo.Draw;
@ -66,8 +67,8 @@ public class ObstacleSampleTool : ISampleTool
if (ob.state == DtObstacleState.DT_OBSTACLE_EMPTY) if (ob.state == DtObstacleState.DT_OBSTACLE_EMPTY)
continue; continue;
RcVec3f bmin = RcVec3f.Zero; Vector3 bmin = Vector3.Zero;
RcVec3f bmax = RcVec3f.Zero; Vector3 bmax = Vector3.Zero;
tc.GetObstacleBounds(ob, ref bmin, ref bmax); tc.GetObstacleBounds(ob, ref bmin, ref bmax);
int col = 0; int col = 0;
@ -98,7 +99,7 @@ public class ObstacleSampleTool : ISampleTool
} }
public void HandleClick(RcVec3f s, RcVec3f p, bool shift) public void HandleClick(Vector3 s, Vector3 p, bool shift)
{ {
if (shift) if (shift)
{ {
@ -118,7 +119,7 @@ public class ObstacleSampleTool : ISampleTool
tc.Update(); tc.Update();
} }
public void HandleClickRay(RcVec3f start, RcVec3f direction, bool shift) public void HandleClickRay(Vector3 start, Vector3 direction, bool shift)
{ {
} }
} }

7
src/DotRecast.Recast.Demo/Tools/OffMeshConnectionSampleTool.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Demo.Draw; using DotRecast.Recast.Demo.Draw;
using DotRecast.Recast.Toolset; using DotRecast.Recast.Toolset;
using DotRecast.Recast.Toolset.Geom; using DotRecast.Recast.Toolset.Geom;
@ -40,7 +41,7 @@ public class OffMeshConnectionSampleTool : ISampleTool
private int _bidir; private int _bidir;
private bool _hasStartPt; private bool _hasStartPt;
private RcVec3f _startPt; private Vector3 _startPt;
public OffMeshConnectionSampleTool() public OffMeshConnectionSampleTool()
{ {
@ -88,7 +89,7 @@ public class OffMeshConnectionSampleTool : ISampleTool
// .. // ..
} }
public void HandleClick(RcVec3f s, RcVec3f p, bool shift) public void HandleClick(Vector3 s, Vector3 p, bool shift)
{ {
DemoInputGeomProvider geom = _sample.GetInputGeom(); DemoInputGeomProvider geom = _sample.GetInputGeom();
if (geom == null) if (geom == null)
@ -124,7 +125,7 @@ public class OffMeshConnectionSampleTool : ISampleTool
// TODO Auto-generated method stub // TODO Auto-generated method stub
} }
public void HandleClickRay(RcVec3f start, RcVec3f direction, bool shift) public void HandleClickRay(Vector3 start, Vector3 direction, bool shift)
{ {
} }
} }

51
src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
View File

@ -2,6 +2,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour; using DotRecast.Detour;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
using DotRecast.Recast.Demo.Draw; using DotRecast.Recast.Demo.Draw;
@ -42,18 +43,18 @@ public class TestNavmeshSampleTool : ISampleTool
// //
private bool m_sposSet; private bool m_sposSet;
private long m_startRef; private long m_startRef;
private RcVec3f m_spos; private Vector3 m_spos;
private bool m_eposSet; private bool m_eposSet;
private long m_endRef; private long m_endRef;
private RcVec3f m_epos; private Vector3 m_epos;
private readonly DtQueryDefaultFilter m_filter; private readonly DtQueryDefaultFilter m_filter;
private readonly RcVec3f m_polyPickExt = new RcVec3f(2, 4, 2); private readonly Vector3 m_polyPickExt = new Vector3(2, 4, 2);
// for hit // for hit
private RcVec3f m_hitPos; private Vector3 m_hitPos;
private RcVec3f m_hitNormal; private Vector3 m_hitNormal;
private bool m_hitResult; private bool m_hitResult;
private float m_distanceToWall; private float m_distanceToWall;
@ -61,12 +62,12 @@ public class TestNavmeshSampleTool : ISampleTool
private List<long> m_polys; private List<long> m_polys;
private List<long> m_parent; private List<long> m_parent;
private float m_neighbourhoodRadius; private float m_neighbourhoodRadius;
private RcVec3f[] m_queryPoly = new RcVec3f[4]; private Vector3[] m_queryPoly = new Vector3[4];
private List<RcVec3f> m_smoothPath; private List<Vector3> m_smoothPath;
private DtStatus m_pathFindStatus = DtStatus.DT_FAILURE; private DtStatus m_pathFindStatus = DtStatus.DT_FAILURE;
// for mode RANDOM_POINTS_IN_CIRCLE // for mode RANDOM_POINTS_IN_CIRCLE
private List<RcVec3f> _randomPoints = new(); private List<Vector3> _randomPoints = new();
public TestNavmeshSampleTool() public TestNavmeshSampleTool()
{ {
@ -383,12 +384,12 @@ public class TestNavmeshSampleTool : ISampleTool
{ {
dd.DebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol); dd.DebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
dd.DepthMask(false); dd.DepthMask(false);
if (m_spos != RcVec3f.Zero) if (m_spos != Vector3.Zero)
{ {
dd.DebugDrawCircle(m_spos.X, m_spos.Y + agentHeight / 2, m_spos.Z, m_distanceToWall, DuRGBA(64, 16, 0, 220), 2.0f); dd.DebugDrawCircle(m_spos.X, m_spos.Y + agentHeight / 2, m_spos.Z, m_distanceToWall, DuRGBA(64, 16, 0, 220), 2.0f);
} }
if (m_hitPos != RcVec3f.Zero) if (m_hitPos != Vector3.Zero)
{ {
dd.Begin(LINES, 3.0f); dd.Begin(LINES, 3.0f);
dd.Vertex(m_hitPos.X, m_hitPos.Y + 0.02f, m_hitPos.Z, DuRGBA(0, 0, 0, 192)); dd.Vertex(m_hitPos.X, m_hitPos.Y + 0.02f, m_hitPos.Z, DuRGBA(0, 0, 0, 192));
@ -409,8 +410,8 @@ public class TestNavmeshSampleTool : ISampleTool
if (m_parent[i] != 0) if (m_parent[i] != 0)
{ {
dd.DepthMask(false); dd.DepthMask(false);
RcVec3f p0 = m_navMesh.GetPolyCenter(m_parent[i]); Vector3 p0 = m_navMesh.GetPolyCenter(m_parent[i]);
RcVec3f p1 = m_navMesh.GetPolyCenter(m_polys[i]); Vector3 p1 = m_navMesh.GetPolyCenter(m_polys[i]);
dd.DebugDrawArc(p0.X, p0.Y, p0.Z, p1.X, p1.Y, p1.Z, 0.25f, 0.0f, 0.4f, DuRGBA(0, 0, 0, 128), 2.0f); dd.DebugDrawArc(p0.X, p0.Y, p0.Z, p1.X, p1.Y, p1.Z, 0.25f, 0.0f, 0.4f, DuRGBA(0, 0, 0, 128), 2.0f);
dd.DepthMask(true); dd.DepthMask(true);
} }
@ -440,8 +441,8 @@ public class TestNavmeshSampleTool : ISampleTool
if (m_parent[i] != 0) if (m_parent[i] != 0)
{ {
dd.DepthMask(false); dd.DepthMask(false);
RcVec3f p0 = m_navMesh.GetPolyCenter(m_parent[i]); Vector3 p0 = m_navMesh.GetPolyCenter(m_parent[i]);
RcVec3f p1 = m_navMesh.GetPolyCenter(m_polys[i]); Vector3 p1 = m_navMesh.GetPolyCenter(m_polys[i]);
dd.DebugDrawArc(p0.X, p0.Y, p0.Z, p1.X, p1.Y, p1.Z, 0.25f, 0.0f, 0.4f, DuRGBA(0, 0, 0, 128), 2.0f); dd.DebugDrawArc(p0.X, p0.Y, p0.Z, p1.X, p1.Y, p1.Z, 0.25f, 0.0f, 0.4f, DuRGBA(0, 0, 0, 128), 2.0f);
dd.DepthMask(true); dd.DepthMask(true);
} }
@ -479,8 +480,8 @@ public class TestNavmeshSampleTool : ISampleTool
if (m_parent[i] != 0) if (m_parent[i] != 0)
{ {
dd.DepthMask(false); dd.DepthMask(false);
RcVec3f p0 = m_navMesh.GetPolyCenter(m_parent[i]); Vector3 p0 = m_navMesh.GetPolyCenter(m_parent[i]);
RcVec3f p1 = m_navMesh.GetPolyCenter(m_polys[i]); Vector3 p1 = m_navMesh.GetPolyCenter(m_polys[i]);
dd.DebugDrawArc(p0.X, p0.Y, p0.Z, p1.X, p1.Y, p1.Z, 0.25f, 0.0f, 0.4f, DuRGBA(0, 0, 0, 128), 2.0f); dd.DebugDrawArc(p0.X, p0.Y, p0.Z, p1.X, p1.Y, p1.Z, 0.25f, 0.0f, 0.4f, DuRGBA(0, 0, 0, 128), 2.0f);
dd.DepthMask(true); dd.DepthMask(true);
} }
@ -507,11 +508,11 @@ public class TestNavmeshSampleTool : ISampleTool
continue; continue;
} }
RcVec3f delta = RcVec3f.Subtract(s3, s.vmin); Vector3 delta = Vector3.Subtract(s3, s.vmin);
RcVec3f p0 = RcVecUtils.Mad(s.vmin, delta, 0.5f); Vector3 p0 = RcVecUtils.Mad(s.vmin, delta, 0.5f);
RcVec3f norm = new RcVec3f(delta.Z, 0, -delta.X); Vector3 norm = new Vector3(delta.Z, 0, -delta.X);
norm = RcVec3f.Normalize(norm); norm = Vector3.Normalize(norm);
RcVec3f p1 = RcVecUtils.Mad(p0, norm, agentRadius * 0.5f); Vector3 p1 = RcVecUtils.Mad(p0, norm, agentRadius * 0.5f);
// Skip backfacing segments. // Skip backfacing segments.
if (segmentRefs[j] != 0) if (segmentRefs[j] != 0)
{ {
@ -555,7 +556,7 @@ public class TestNavmeshSampleTool : ISampleTool
dd.DepthMask(false); dd.DepthMask(false);
dd.Begin(POINTS, 4.0f); dd.Begin(POINTS, 4.0f);
int col = DuRGBA(64, 16, 0, 220); int col = DuRGBA(64, 16, 0, 220);
foreach (RcVec3f point in _randomPoints) foreach (Vector3 point in _randomPoints)
{ {
dd.Vertex(point.X, point.Y + 0.1f, point.Z, col); dd.Vertex(point.X, point.Y + 0.1f, point.Z, col);
} }
@ -575,7 +576,7 @@ public class TestNavmeshSampleTool : ISampleTool
} }
} }
private void DrawAgent(RecastDebugDraw dd, RcVec3f pos, int col) private void DrawAgent(RecastDebugDraw dd, Vector3 pos, int col)
{ {
var settings = _sample.GetSettings(); var settings = _sample.GetSettings();
float r = settings.agentRadius; float r = settings.agentRadius;
@ -613,7 +614,7 @@ public class TestNavmeshSampleTool : ISampleTool
} }
public void HandleClick(RcVec3f s, RcVec3f p, bool shift) public void HandleClick(Vector3 s, Vector3 p, bool shift)
{ {
if (shift) if (shift)
{ {
@ -717,7 +718,7 @@ public class TestNavmeshSampleTool : ISampleTool
} }
} }
public void HandleClickRay(RcVec3f start, RcVec3f direction, bool shift) public void HandleClickRay(Vector3 start, Vector3 direction, bool shift)
{ {
} }
} }

11
src/DotRecast.Recast.Demo/Tools/TileSampleTool.cs
View File

@ -1,5 +1,6 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Demo.Draw; using DotRecast.Recast.Demo.Draw;
using DotRecast.Recast.Toolset; using DotRecast.Recast.Toolset;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
@ -18,7 +19,7 @@ public class TileSampleTool : ISampleTool
private readonly RcTileTool _tool; private readonly RcTileTool _tool;
private bool _hitPosSet; private bool _hitPosSet;
private RcVec3f _hitPos; private Vector3 _hitPos;
public TileSampleTool() public TileSampleTool()
{ {
@ -62,8 +63,8 @@ public class TileSampleTool : ISampleTool
int tx = (int)((_hitPos.X - bmin.X) / ts); int tx = (int)((_hitPos.X - bmin.X) / ts);
int ty = (int)((_hitPos.Z - bmin.Z) / ts); int ty = (int)((_hitPos.Z - bmin.Z) / ts);
RcVec3f lastBuiltTileBmin = RcVec3f.Zero; Vector3 lastBuiltTileBmin = Vector3.Zero;
RcVec3f lastBuiltTileBmax = RcVec3f.Zero; Vector3 lastBuiltTileBmax = Vector3.Zero;
lastBuiltTileBmin.X = bmin.X + tx * ts; lastBuiltTileBmin.X = bmin.X + tx * ts;
lastBuiltTileBmin.Y = bmin.Y; lastBuiltTileBmin.Y = bmin.Y;
@ -98,7 +99,7 @@ public class TileSampleTool : ISampleTool
} }
public void HandleClick(RcVec3f s, RcVec3f p, bool shift) public void HandleClick(Vector3 s, Vector3 p, bool shift)
{ {
_hitPosSet = true; _hitPosSet = true;
_hitPos = p; _hitPos = p;
@ -130,7 +131,7 @@ public class TileSampleTool : ISampleTool
{ {
} }
public void HandleClickRay(RcVec3f start, RcVec3f direction, bool shift) public void HandleClickRay(Vector3 start, Vector3 direction, bool shift)
{ {
} }
} }

23
src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
View File

@ -23,6 +23,7 @@ using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
namespace DotRecast.Recast.Toolset.Geom namespace DotRecast.Recast.Toolset.Geom
@ -32,8 +33,8 @@ namespace DotRecast.Recast.Toolset.Geom
public readonly float[] vertices; public readonly float[] vertices;
public readonly int[] faces; public readonly int[] faces;
public readonly float[] normals; public readonly float[] normals;
private readonly RcVec3f bmin; private readonly Vector3 bmin;
private readonly RcVec3f bmax; private readonly Vector3 bmax;
private readonly List<RcConvexVolume> _convexVolumes = new List<RcConvexVolume>(); private readonly List<RcConvexVolume> _convexVolumes = new List<RcConvexVolume>();
private readonly List<RcOffMeshConnection> _offMeshConnections = new List<RcOffMeshConnection>(); private readonly List<RcOffMeshConnection> _offMeshConnections = new List<RcOffMeshConnection>();
@ -73,12 +74,12 @@ namespace DotRecast.Recast.Toolset.Geom
return _mesh; return _mesh;
} }
public RcVec3f GetMeshBoundsMin() public Vector3 GetMeshBoundsMin()
{ {
return bmin; return bmin;
} }
public RcVec3f GetMeshBoundsMax() public Vector3 GetMeshBoundsMax()
{ {
return bmax; return bmax;
} }
@ -122,7 +123,7 @@ namespace DotRecast.Recast.Toolset.Geom
return _offMeshConnections; return _offMeshConnections;
} }
public void AddOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags) public void AddOffMeshConnection(Vector3 start, Vector3 end, float radius, bool bidir, int area, int flags)
{ {
_offMeshConnections.Add(new RcOffMeshConnection(start, end, radius, bidir, area, flags)); _offMeshConnections.Add(new RcOffMeshConnection(start, end, radius, bidir, area, flags));
} }
@ -133,7 +134,7 @@ namespace DotRecast.Recast.Toolset.Geom
_offMeshConnections.RemoveAll(filter); // TODO : 확인 필요 _offMeshConnections.RemoveAll(filter); // TODO : 확인 필요
} }
public bool RaycastMesh(RcVec3f src, RcVec3f dst, out float tmin) public bool RaycastMesh(Vector3 src, Vector3 dst, out float tmin)
{ {
tmin = 1.0f; tmin = 1.0f;
@ -143,8 +144,8 @@ namespace DotRecast.Recast.Toolset.Geom
return false; return false;
} }
var p = new RcVec2f(); var p = new Vector2();
var q = new RcVec2f(); var q = new Vector2();
p.X = src.X + (dst.X - src.X) * btmin; p.X = src.X + (dst.X - src.X) * btmin;
p.Y = src.Z + (dst.Z - src.Z) * btmin; p.Y = src.Z + (dst.Z - src.Z) * btmin;
q.X = src.X + (dst.X - src.X) * btmax; q.X = src.X + (dst.X - src.X) * btmax;
@ -163,17 +164,17 @@ namespace DotRecast.Recast.Toolset.Geom
int[] tris = chunk.tris; int[] tris = chunk.tris;
for (int j = 0; j < chunk.tris.Length; j += 3) for (int j = 0; j < chunk.tris.Length; j += 3)
{ {
RcVec3f v1 = new RcVec3f( Vector3 v1 = new Vector3(
vertices[tris[j] * 3], vertices[tris[j] * 3],
vertices[tris[j] * 3 + 1], vertices[tris[j] * 3 + 1],
vertices[tris[j] * 3 + 2] vertices[tris[j] * 3 + 2]
); );
RcVec3f v2 = new RcVec3f( Vector3 v2 = new Vector3(
vertices[tris[j + 1] * 3], vertices[tris[j + 1] * 3],
vertices[tris[j + 1] * 3 + 1], vertices[tris[j + 1] * 3 + 1],
vertices[tris[j + 1] * 3 + 2] vertices[tris[j + 1] * 3 + 2]
); );
RcVec3f v3 = new RcVec3f( Vector3 v3 = new Vector3(
vertices[tris[j + 2] * 3], vertices[tris[j + 2] * 3],
vertices[tris[j + 2] * 3 + 1], vertices[tris[j + 2] * 3 + 1],
vertices[tris[j + 2] * 3 + 2] vertices[tris[j + 2] * 3 + 2]

27
src/DotRecast.Recast.Toolset/Gizmos/RcBoxGizmo.cs
View File

@ -1,4 +1,5 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Dynamic.Colliders; using DotRecast.Detour.Dynamic.Colliders;
namespace DotRecast.Recast.Toolset.Gizmos namespace DotRecast.Recast.Toolset.Gizmos
@ -11,28 +12,28 @@ namespace DotRecast.Recast.Toolset.Gizmos
2, 6, 7, 2, 7, 3, 4, 0, 3, 4, 3, 7 2, 6, 7, 2, 7, 3, 4, 0, 3, 4, 3, 7
}; };
public static readonly RcVec3f[] VERTS = public static readonly Vector3[] VERTS =
{ {
new RcVec3f(-1f, -1f, -1f), new Vector3(-1f, -1f, -1f),
new RcVec3f(1f, -1f, -1f), new Vector3(1f, -1f, -1f),
new RcVec3f(1f, -1f, 1f), new Vector3(1f, -1f, 1f),
new RcVec3f(-1f, -1f, 1f), new Vector3(-1f, -1f, 1f),
new RcVec3f(-1f, 1f, -1f), new Vector3(-1f, 1f, -1f),
new RcVec3f(1f, 1f, -1f), new Vector3(1f, 1f, -1f),
new RcVec3f(1f, 1f, 1f), new Vector3(1f, 1f, 1f),
new RcVec3f(-1f, 1f, 1f), new Vector3(-1f, 1f, 1f),
}; };
public readonly float[] vertices = new float[8 * 3]; public readonly float[] vertices = new float[8 * 3];
public readonly RcVec3f center; public readonly Vector3 center;
public readonly RcVec3f[] halfEdges; public readonly Vector3[] halfEdges;
public RcBoxGizmo(RcVec3f center, RcVec3f extent, RcVec3f forward, RcVec3f up) : public RcBoxGizmo(Vector3 center, Vector3 extent, Vector3 forward, Vector3 up) :
this(center, DtBoxCollider.GetHalfEdges(up, forward, extent)) this(center, DtBoxCollider.GetHalfEdges(up, forward, extent))
{ {
} }
public RcBoxGizmo(RcVec3f center, RcVec3f[] halfEdges) public RcBoxGizmo(Vector3 center, Vector3[] halfEdges)
{ {
this.center = center; this.center = center;
this.halfEdges = halfEdges; this.halfEdges = halfEdges;

39
src/DotRecast.Recast.Toolset/Gizmos/RcCapsuleGizmo.cs
View File

@ -1,5 +1,6 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper; using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper;
namespace DotRecast.Recast.Toolset.Gizmos namespace DotRecast.Recast.Toolset.Gizmos
@ -11,30 +12,30 @@ namespace DotRecast.Recast.Toolset.Gizmos
public readonly float[] center; public readonly float[] center;
public readonly float[] gradient; public readonly float[] gradient;
public RcCapsuleGizmo(RcVec3f start, RcVec3f end, float radius) public RcCapsuleGizmo(Vector3 start, Vector3 end, float radius)
{ {
center = new float[] center = new float[]
{ {
0.5f * (start.X + end.X), 0.5f * (start.Y + end.Y), 0.5f * (start.X + end.X), 0.5f * (start.Y + end.Y),
0.5f * (start.Z + end.Z) 0.5f * (start.Z + end.Z)
}; };
RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z); Vector3 axis = new Vector3(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
RcVec3f[] normals = new RcVec3f[3]; Vector3[] normals = new Vector3[3];
normals[1] = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z); normals[1] = new Vector3(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
normals[1] = RcVec3f.Normalize(normals[1]); normals[1] = Vector3.Normalize(normals[1]);
normals[0] = GetSideVector(axis); normals[0] = GetSideVector(axis);
normals[2] = RcVec3f.Zero; normals[2] = Vector3.Zero;
normals[2] = RcVec3f.Cross(normals[0], normals[1]); normals[2] = Vector3.Cross(normals[0], normals[1]);
normals[2] = RcVec3f.Normalize(normals[2]); normals[2] = Vector3.Normalize(normals[2]);
triangles = GenerateSphericalTriangles(); triangles = GenerateSphericalTriangles();
var trX = new RcVec3f(normals[0].X, normals[1].X, normals[2].X); var trX = new Vector3(normals[0].X, normals[1].X, normals[2].X);
var trY = new RcVec3f(normals[0].Y, normals[1].Y, normals[2].Y); var trY = new Vector3(normals[0].Y, normals[1].Y, normals[2].Y);
var trZ = new RcVec3f(normals[0].Z, normals[1].Z, normals[2].Z); var trZ = new Vector3(normals[0].Z, normals[1].Z, normals[2].Z);
float[] spVertices = GenerateSphericalVertices(); float[] spVertices = GenerateSphericalVertices();
float halfLength = 0.5f * axis.Length(); float halfLength = 0.5f * axis.Length();
vertices = new float[spVertices.Length]; vertices = new float[spVertices.Length];
gradient = new float[spVertices.Length / 3]; gradient = new float[spVertices.Length / 3];
RcVec3f v = new RcVec3f(); Vector3 v = new Vector3();
for (int i = 0; i < spVertices.Length; i += 3) for (int i = 0; i < spVertices.Length; i += 3)
{ {
float offset = (i >= spVertices.Length / 2) ? -halfLength : halfLength; float offset = (i >= spVertices.Length / 2) ? -halfLength : halfLength;
@ -47,22 +48,22 @@ namespace DotRecast.Recast.Toolset.Gizmos
v.X = vertices[i] - center[0]; v.X = vertices[i] - center[0];
v.Y = vertices[i + 1] - center[1]; v.Y = vertices[i + 1] - center[1];
v.Z = vertices[i + 2] - center[2]; v.Z = vertices[i + 2] - center[2];
v = RcVec3f.Normalize(v); v = Vector3.Normalize(v);
gradient[i / 3] = Math.Clamp(0.57735026f * (v.X + v.Y + v.Z), -1, 1); gradient[i / 3] = Math.Clamp(0.57735026f * (v.X + v.Y + v.Z), -1, 1);
} }
} }
private RcVec3f GetSideVector(RcVec3f axis) private Vector3 GetSideVector(Vector3 axis)
{ {
var side = new RcVec3f(1, 0, 0); var side = new Vector3(1, 0, 0);
if (axis.X > 0.8) if (axis.X > 0.8)
{ {
side = new RcVec3f(0, 0, 1); side = new Vector3(0, 0, 1);
} }
var forward = RcVec3f.Cross(side, axis); var forward = Vector3.Cross(side, axis);
side = RcVec3f.Cross(axis, forward); side = Vector3.Cross(axis, forward);
side = RcVec3f.Normalize(side); side = Vector3.Normalize(side);
return side; return side;
} }
} }

43
src/DotRecast.Recast.Toolset/Gizmos/RcCylinderGizmo.cs
View File

@ -1,5 +1,6 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper; using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper;
@ -9,31 +10,31 @@ namespace DotRecast.Recast.Toolset.Gizmos
{ {
public readonly float[] vertices; public readonly float[] vertices;
public readonly int[] triangles; public readonly int[] triangles;
public readonly RcVec3f center; public readonly Vector3 center;
public readonly float[] gradient; public readonly float[] gradient;
public RcCylinderGizmo(RcVec3f start, RcVec3f end, float radius) public RcCylinderGizmo(Vector3 start, Vector3 end, float radius)
{ {
center = new RcVec3f( center = new Vector3(
0.5f * (start.X + end.X), 0.5f * (start.Y + end.Y), 0.5f * (start.X + end.X), 0.5f * (start.Y + end.Y),
0.5f * (start.Z + end.Z) 0.5f * (start.Z + end.Z)
); );
RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z); Vector3 axis = new Vector3(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
RcVec3f[] normals = new RcVec3f[3]; Vector3[] normals = new Vector3[3];
normals[1] = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z); normals[1] = new Vector3(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
normals[1] = RcVec3f.Normalize(normals[1]); normals[1] = Vector3.Normalize(normals[1]);
normals[0] = GetSideVector(axis); normals[0] = GetSideVector(axis);
normals[2] = RcVec3f.Zero; normals[2] = Vector3.Zero;
normals[2] = RcVec3f.Cross(normals[0], normals[1]); normals[2] = Vector3.Cross(normals[0], normals[1]);
normals[2] = RcVec3f.Normalize(normals[2]); normals[2] = Vector3.Normalize(normals[2]);
triangles = GenerateCylindricalTriangles(); triangles = GenerateCylindricalTriangles();
RcVec3f trX = new RcVec3f(normals[0].X, normals[1].X, normals[2].X); Vector3 trX = new Vector3(normals[0].X, normals[1].X, normals[2].X);
RcVec3f trY = new RcVec3f(normals[0].Y, normals[1].Y, normals[2].Y); Vector3 trY = new Vector3(normals[0].Y, normals[1].Y, normals[2].Y);
RcVec3f trZ = new RcVec3f(normals[0].Z, normals[1].Z, normals[2].Z); Vector3 trZ = new Vector3(normals[0].Z, normals[1].Z, normals[2].Z);
vertices = GenerateCylindricalVertices(); vertices = GenerateCylindricalVertices();
float halfLength = 0.5f * axis.Length(); float halfLength = 0.5f * axis.Length();
gradient = new float[vertices.Length / 3]; gradient = new float[vertices.Length / 3];
RcVec3f v = new RcVec3f(); Vector3 v = new Vector3();
for (int i = 0; i < vertices.Length; i += 3) for (int i = 0; i < vertices.Length; i += 3)
{ {
float offset = (i >= vertices.Length / 2) ? -halfLength : halfLength; float offset = (i >= vertices.Length / 2) ? -halfLength : halfLength;
@ -52,23 +53,23 @@ namespace DotRecast.Recast.Toolset.Gizmos
v.X = vertices[i] - center.X; v.X = vertices[i] - center.X;
v.Y = vertices[i + 1] - center.Y; v.Y = vertices[i + 1] - center.Y;
v.Z = vertices[i + 2] - center.Z; v.Z = vertices[i + 2] - center.Z;
v = RcVec3f.Normalize(v); v = Vector3.Normalize(v);
gradient[i / 3] = Math.Clamp(0.57735026f * (v.X + v.Y + v.Z), -1, 1); gradient[i / 3] = Math.Clamp(0.57735026f * (v.X + v.Y + v.Z), -1, 1);
} }
} }
} }
private RcVec3f GetSideVector(RcVec3f axis) private Vector3 GetSideVector(Vector3 axis)
{ {
RcVec3f side = new RcVec3f(1, 0, 0); Vector3 side = new Vector3(1, 0, 0);
if (axis.X > 0.8) if (axis.X > 0.8)
{ {
side = new RcVec3f(0, 0, 1); side = new Vector3(0, 0, 1);
} }
var forward = RcVec3f.Cross(side, axis); var forward = Vector3.Cross(side, axis);
side = RcVec3f.Cross(axis, forward); side = Vector3.Cross(axis, forward);
side = RcVec3f.Normalize(side); side = Vector3.Normalize(side);
return side; return side;
} }
} }

9
src/DotRecast.Recast.Toolset/Gizmos/RcGizmoFactory.cs
View File

@ -1,25 +1,26 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Toolset.Gizmos namespace DotRecast.Recast.Toolset.Gizmos
{ {
public static class RcGizmoFactory public static class RcGizmoFactory
{ {
public static RcBoxGizmo Box(RcVec3f center, RcVec3f[] halfEdges) public static RcBoxGizmo Box(Vector3 center, Vector3[] halfEdges)
{ {
return new RcBoxGizmo(center, halfEdges); return new RcBoxGizmo(center, halfEdges);
} }
public static RcSphereGizmo Sphere(RcVec3f center, float radius) public static RcSphereGizmo Sphere(Vector3 center, float radius)
{ {
return new RcSphereGizmo(center, radius); return new RcSphereGizmo(center, radius);
} }
public static RcCapsuleGizmo Capsule(RcVec3f start, RcVec3f end, float radius) public static RcCapsuleGizmo Capsule(Vector3 start, Vector3 end, float radius)
{ {
return new RcCapsuleGizmo(start, end, radius); return new RcCapsuleGizmo(start, end, radius);
} }
public static RcCylinderGizmo Cylinder(RcVec3f start, RcVec3f end, float radius) public static RcCylinderGizmo Cylinder(Vector3 start, Vector3 end, float radius)
{ {
return new RcCylinderGizmo(start, end, radius); return new RcCylinderGizmo(start, end, radius);
} }

5
src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs
View File

@ -1,4 +1,5 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper; using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper;
@ -9,9 +10,9 @@ namespace DotRecast.Recast.Toolset.Gizmos
public readonly float[] vertices; public readonly float[] vertices;
public readonly int[] triangles; public readonly int[] triangles;
public readonly float radius; public readonly float radius;
public readonly RcVec3f center; public readonly Vector3 center;
public RcSphereGizmo(RcVec3f center, float radius) public RcSphereGizmo(Vector3 center, float radius)
{ {
this.center = center; this.center = center;
this.radius = radius; this.radius = radius;

17
src/DotRecast.Recast.Toolset/Tools/RcConvexVolumeTool.cs
View File

@ -2,18 +2,19 @@
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
namespace DotRecast.Recast.Toolset.Tools namespace DotRecast.Recast.Toolset.Tools
{ {
public class RcConvexVolumeTool : IRcToolable public class RcConvexVolumeTool : IRcToolable
{ {
private readonly List<RcVec3f> _pts; private readonly List<Vector3> _pts;
private readonly List<int> _hull; private readonly List<int> _hull;
public RcConvexVolumeTool() public RcConvexVolumeTool()
{ {
_pts = new List<RcVec3f>(); _pts = new List<Vector3>();
_hull = new List<int>(); _hull = new List<int>();
} }
@ -22,7 +23,7 @@ namespace DotRecast.Recast.Toolset.Tools
return "Convex Volumes"; return "Convex Volumes";
} }
public List<RcVec3f> GetShapePoint() public List<Vector3> GetShapePoint()
{ {
return _pts; return _pts;
} }
@ -38,16 +39,16 @@ namespace DotRecast.Recast.Toolset.Tools
_hull.Clear(); _hull.Clear();
} }
public bool PlottingShape(RcVec3f p, out List<RcVec3f> pts, out List<int> hull) public bool PlottingShape(Vector3 p, out List<Vector3> pts, out List<int> hull)
{ {
pts = null; pts = null;
hull = null; hull = null;
// Create // Create
// If clicked on that last pt, create the shape. // If clicked on that last pt, create the shape.
if (_pts.Count > 0 && RcVec3f.DistanceSquared(p, _pts[_pts.Count - 1]) < 0.2f * 0.2f) if (_pts.Count > 0 && Vector3.DistanceSquared(p, _pts[_pts.Count - 1]) < 0.2f * 0.2f)
{ {
pts = new List<RcVec3f>(_pts); pts = new List<Vector3>(_pts);
hull = new List<int>(_hull); hull = new List<int>(_hull);
_pts.Clear(); _pts.Clear();
@ -74,7 +75,7 @@ namespace DotRecast.Recast.Toolset.Tools
} }
public RcConvexVolume RemoveByPos(IInputGeomProvider geom, RcVec3f pos) public RcConvexVolume RemoveByPos(IInputGeomProvider geom, Vector3 pos)
{ {
// Delete // Delete
int nearestIndex = -1; int nearestIndex = -1;
@ -102,7 +103,7 @@ namespace DotRecast.Recast.Toolset.Tools
geom.AddConvexVolume(volume); geom.AddConvexVolume(volume);
} }
public static RcConvexVolume CreateConvexVolume(List<RcVec3f> pts, List<int> hull, RcAreaModification areaType, float boxDescent, float boxHeight, float polyOffset) public static RcConvexVolume CreateConvexVolume(List<Vector3> pts, List<int> hull, RcAreaModification areaType, float boxDescent, float boxHeight, float polyOffset)
{ {
// //
if (hull.Count <= 2) if (hull.Count <= 2)

5
src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentData.cs
View File

@ -1,13 +1,14 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Toolset.Tools namespace DotRecast.Recast.Toolset.Tools
{ {
public class RcCrowdAgentData public class RcCrowdAgentData
{ {
public readonly RcCrowdAgentType type; public readonly RcCrowdAgentType type;
public readonly RcVec3f home = new RcVec3f(); public readonly Vector3 home = new Vector3();
public RcCrowdAgentData(RcCrowdAgentType type, RcVec3f home) public RcCrowdAgentData(RcCrowdAgentType type, Vector3 home)
{ {
this.type = type; this.type = type;
this.home = home; this.home = home;

15
src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs
View File

@ -3,6 +3,7 @@ using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour; using DotRecast.Detour;
using DotRecast.Detour.Crowd; using DotRecast.Detour.Crowd;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
@ -74,14 +75,14 @@ namespace DotRecast.Recast.Toolset.Tools
return ap; return ap;
} }
private DtStatus GetMobPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt) private DtStatus GetMobPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out Vector3 randomPt)
{ {
return navquery.FindRandomPoint(filter, rnd, out var randomRef, out randomPt); return navquery.FindRandomPoint(filter, rnd, out var randomRef, out randomPt);
} }
private DtStatus GetVillagerPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt) private DtStatus GetVillagerPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out Vector3 randomPt)
{ {
randomPt = RcVec3f.Zero; randomPt = Vector3.Zero;
if (0 >= _polyPoints.Count) if (0 >= _polyPoints.Count)
return DtStatus.DT_FAILURE; return DtStatus.DT_FAILURE;
@ -107,7 +108,7 @@ namespace DotRecast.Recast.Toolset.Tools
bool valid = true; bool valid = true;
foreach (var zone in _polyPoints) foreach (var zone in _polyPoints)
{ {
if (RcVec3f.DistanceSquared(zone.pt, randomPt) < zoneSeparation) if (Vector3.DistanceSquared(zone.pt, randomPt) < zoneSeparation)
{ {
valid = false; valid = false;
break; break;
@ -189,7 +190,7 @@ namespace DotRecast.Recast.Toolset.Tools
} }
var status = DtStatus.DT_FAILURE; var status = DtStatus.DT_FAILURE;
var randomPt = RcVec3f.Zero; var randomPt = Vector3.Zero;
switch (type) switch (type)
{ {
case RcCrowdAgentType.MOB: case RcCrowdAgentType.MOB:
@ -285,7 +286,7 @@ namespace DotRecast.Recast.Toolset.Tools
List<DtPolyPoint> potentialTargets = new List<DtPolyPoint>(); List<DtPolyPoint> potentialTargets = new List<DtPolyPoint>();
foreach (var zone in _polyPoints) foreach (var zone in _polyPoints)
{ {
if (RcVec3f.DistanceSquared(zone.pt, ag.npos) > _cfg.zoneRadius * _cfg.zoneRadius) if (Vector3.DistanceSquared(zone.pt, ag.npos) > _cfg.zoneRadius * _cfg.zoneRadius)
{ {
potentialTargets.Add(zone); potentialTargets.Add(zone);
} }
@ -317,7 +318,7 @@ namespace DotRecast.Recast.Toolset.Tools
return false; return false;
} }
private DtCrowdAgent AddAgent(RcVec3f p, RcCrowdAgentType type, float agentRadius, float agentHeight, float agentMaxAcceleration, float agentMaxSpeed) private DtCrowdAgent AddAgent(Vector3 p, RcCrowdAgentType type, float agentRadius, float agentHeight, float agentMaxAcceleration, float agentMaxSpeed)
{ {
DtCrowdAgentParams ap = GetAgentParams(agentRadius, agentHeight, agentMaxAcceleration, agentMaxSpeed); DtCrowdAgentParams ap = GetAgentParams(agentRadius, agentHeight, agentMaxAcceleration, agentMaxSpeed);
ap.userData = new RcCrowdAgentData(type, p); ap.userData = new RcCrowdAgentData(type, p);

31
src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs
View File

@ -2,6 +2,7 @@
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour; using DotRecast.Detour;
using DotRecast.Detour.Crowd; using DotRecast.Detour.Crowd;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
@ -16,7 +17,7 @@ namespace DotRecast.Recast.Toolset.Tools
private long crowdUpdateTime; private long crowdUpdateTime;
private readonly Dictionary<long, RcCrowdAgentTrail> _trails; private readonly Dictionary<long, RcCrowdAgentTrail> _trails;
private long _moveTargetRef; private long _moveTargetRef;
private RcVec3f _moveTargetPos; private Vector3 _moveTargetPos;
public RcCrowdTool() public RcCrowdTool()
{ {
@ -52,7 +53,7 @@ namespace DotRecast.Recast.Toolset.Tools
return _moveTargetRef; return _moveTargetRef;
} }
public RcVec3f GetMoveTargetPos() public Vector3 GetMoveTargetPos()
{ {
return _moveTargetPos; return _moveTargetPos;
} }
@ -170,7 +171,7 @@ namespace DotRecast.Recast.Toolset.Tools
} }
} }
public void AddAgent(RcVec3f p, float agentRadius, float agentHeight, float agentMaxAcceleration, float agentMaxSpeed) public void AddAgent(Vector3 p, float agentRadius, float agentHeight, float agentMaxAcceleration, float agentMaxSpeed)
{ {
DtCrowdAgentParams ap = CreateAgentParams(agentRadius, agentHeight, agentMaxAcceleration, agentMaxSpeed); DtCrowdAgentParams ap = CreateAgentParams(agentRadius, agentHeight, agentMaxAcceleration, agentMaxSpeed);
DtCrowdAgent ag = crowd.AddAgent(p, ap); DtCrowdAgent ag = crowd.AddAgent(p, ap);
@ -212,15 +213,15 @@ namespace DotRecast.Recast.Toolset.Tools
return ap; return ap;
} }
public DtCrowdAgent HitTestAgents(RcVec3f s, RcVec3f p) public DtCrowdAgent HitTestAgents(Vector3 s, Vector3 p)
{ {
DtCrowdAgent isel = null; DtCrowdAgent isel = null;
float tsel = float.MaxValue; float tsel = float.MaxValue;
foreach (DtCrowdAgent ag in crowd.GetActiveAgents()) foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
{ {
RcVec3f bmin = new RcVec3f(); Vector3 bmin = new Vector3();
RcVec3f bmax = new RcVec3f(); Vector3 bmax = new Vector3();
GetAgentBounds(ag, ref bmin, ref bmax); GetAgentBounds(ag, ref bmin, ref bmax);
if (RcIntersections.IsectSegAABB(s, p, bmin, bmax, out var tmin, out var tmax)) if (RcIntersections.IsectSegAABB(s, p, bmin, bmax, out var tmin, out var tmax))
{ {
@ -235,9 +236,9 @@ namespace DotRecast.Recast.Toolset.Tools
return isel; return isel;
} }
private void GetAgentBounds(DtCrowdAgent ag, ref RcVec3f bmin, ref RcVec3f bmax) private void GetAgentBounds(DtCrowdAgent ag, ref Vector3 bmin, ref Vector3 bmax)
{ {
RcVec3f p = ag.npos; Vector3 p = ag.npos;
float r = ag.option.radius; float r = ag.option.radius;
float h = ag.option.height; float h = ag.option.height;
bmin.X = p.X - r; bmin.X = p.X - r;
@ -248,7 +249,7 @@ namespace DotRecast.Recast.Toolset.Tools
bmax.Z = p.Z + r; bmax.Z = p.Z + r;
} }
public void SetMoveTarget(RcVec3f p, bool adjust) public void SetMoveTarget(Vector3 p, bool adjust)
{ {
if (crowd == null) if (crowd == null)
return; return;
@ -256,21 +257,21 @@ namespace DotRecast.Recast.Toolset.Tools
// Find nearest point on navmesh and set move request to that location. // Find nearest point on navmesh and set move request to that location.
DtNavMeshQuery navquery = crowd.GetNavMeshQuery(); DtNavMeshQuery navquery = crowd.GetNavMeshQuery();
IDtQueryFilter filter = crowd.GetFilter(0); IDtQueryFilter filter = crowd.GetFilter(0);
RcVec3f halfExtents = crowd.GetQueryExtents(); Vector3 halfExtents = crowd.GetQueryExtents();
if (adjust) if (adjust)
{ {
// Request velocity // Request velocity
if (_agentDebug.agent != null) if (_agentDebug.agent != null)
{ {
RcVec3f vel = CalcVel(_agentDebug.agent.npos, p, _agentDebug.agent.option.maxSpeed); Vector3 vel = CalcVel(_agentDebug.agent.npos, p, _agentDebug.agent.option.maxSpeed);
crowd.RequestMoveVelocity(_agentDebug.agent, vel); crowd.RequestMoveVelocity(_agentDebug.agent, vel);
} }
else else
{ {
foreach (DtCrowdAgent ag in crowd.GetActiveAgents()) foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
{ {
RcVec3f vel = CalcVel(ag.npos, p, ag.option.maxSpeed); Vector3 vel = CalcVel(ag.npos, p, ag.option.maxSpeed);
crowd.RequestMoveVelocity(ag, vel); crowd.RequestMoveVelocity(ag, vel);
} }
} }
@ -292,11 +293,11 @@ namespace DotRecast.Recast.Toolset.Tools
} }
} }
private RcVec3f CalcVel(RcVec3f pos, RcVec3f tgt, float speed) private Vector3 CalcVel(Vector3 pos, Vector3 tgt, float speed)
{ {
RcVec3f vel = RcVec3f.Subtract(tgt, pos); Vector3 vel = Vector3.Subtract(tgt, pos);
vel.Y = 0.0f; vel.Y = 0.0f;
vel = RcVec3f.Normalize(vel); vel = Vector3.Normalize(vel);
return vel.Scale(speed); return vel.Scale(speed);
} }

89
src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
View File

@ -4,6 +4,7 @@ using System.IO;
using System.Threading.Tasks; using System.Threading.Tasks;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Dynamic; using DotRecast.Detour.Dynamic;
using DotRecast.Detour.Dynamic.Colliders; using DotRecast.Detour.Dynamic.Colliders;
using DotRecast.Detour.Dynamic.Io; using DotRecast.Detour.Dynamic.Io;
@ -47,7 +48,7 @@ namespace DotRecast.Recast.Toolset.Tools
return dynaMesh; return dynaMesh;
} }
public void RemoveShape(RcVec3f start, RcVec3f dir) public void RemoveShape(Vector3 start, Vector3 dir)
{ {
foreach (var e in colliderGizmos) foreach (var e in colliderGizmos)
{ {
@ -60,7 +61,7 @@ namespace DotRecast.Recast.Toolset.Tools
} }
} }
private bool Hit(RcVec3f point, RcVec3f dir, float[] bounds) private bool Hit(Vector3 point, Vector3 dir, float[] bounds)
{ {
float cx = 0.5f * (bounds[0] + bounds[3]); float cx = 0.5f * (bounds[0] + bounds[3]);
float cy = 0.5f * (bounds[1] + bounds[4]); float cy = 0.5f * (bounds[1] + bounds[4]);
@ -89,7 +90,7 @@ namespace DotRecast.Recast.Toolset.Tools
} }
public RcGizmo AddShape(RcDynamicColliderShape colliderShape, RcVec3f p) public RcGizmo AddShape(RcDynamicColliderShape colliderShape, Vector3 p)
{ {
if (dynaMesh == null) if (dynaMesh == null)
{ {
@ -166,7 +167,7 @@ namespace DotRecast.Recast.Toolset.Tools
} }
public RcGizmo SphereCollider(RcVec3f p, float walkableClimb) public RcGizmo SphereCollider(Vector3 p, float walkableClimb)
{ {
float radius = 1 + (float)random.NextDouble() * 10; float radius = 1 + (float)random.NextDouble() * 10;
var collider = new DtSphereCollider(p, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb); var collider = new DtSphereCollider(p, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
@ -175,86 +176,86 @@ namespace DotRecast.Recast.Toolset.Tools
return new RcGizmo(collider, gizmo); return new RcGizmo(collider, gizmo);
} }
public RcGizmo CapsuleCollider(RcVec3f p, float walkableClimb) public RcGizmo CapsuleCollider(Vector3 p, float walkableClimb)
{ {
float radius = 0.4f + (float)random.NextDouble() * 4f; float radius = 0.4f + (float)random.NextDouble() * 4f;
RcVec3f a = new RcVec3f( Vector3 a = new Vector3(
(1f - 2 * (float)random.NextDouble()), (1f - 2 * (float)random.NextDouble()),
0.01f + (float)random.NextDouble(), 0.01f + (float)random.NextDouble(),
(1f - 2 * (float)random.NextDouble()) (1f - 2 * (float)random.NextDouble())
); );
a = RcVec3f.Normalize(a); a = Vector3.Normalize(a);
float len = 1f + (float)random.NextDouble() * 20f; float len = 1f + (float)random.NextDouble() * 20f;
a.X *= len; a.X *= len;
a.Y *= len; a.Y *= len;
a.Z *= len; a.Z *= len;
RcVec3f start = new RcVec3f(p.X, p.Y, p.Z); Vector3 start = new Vector3(p.X, p.Y, p.Z);
RcVec3f end = new RcVec3f(p.X + a.X, p.Y + a.Y, p.Z + a.Z); Vector3 end = new Vector3(p.X + a.X, p.Y + a.Y, p.Z + a.Z);
var collider = new DtCapsuleCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb); var collider = new DtCapsuleCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
var gizmo = RcGizmoFactory.Capsule(start, end, radius); var gizmo = RcGizmoFactory.Capsule(start, end, radius);
return new RcGizmo(collider, gizmo); return new RcGizmo(collider, gizmo);
} }
public RcGizmo BoxCollider(RcVec3f p, float walkableClimb) public RcGizmo BoxCollider(Vector3 p, float walkableClimb)
{ {
RcVec3f extent = new RcVec3f( Vector3 extent = new Vector3(
0.5f + (float)random.NextDouble() * 6f, 0.5f + (float)random.NextDouble() * 6f,
0.5f + (float)random.NextDouble() * 6f, 0.5f + (float)random.NextDouble() * 6f,
0.5f + (float)random.NextDouble() * 6f 0.5f + (float)random.NextDouble() * 6f
); );
RcVec3f forward = new RcVec3f((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble())); Vector3 forward = new Vector3((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()));
RcVec3f up = new RcVec3f((1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble())); Vector3 up = new Vector3((1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()));
RcVec3f[] halfEdges = Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(up, forward, extent); Vector3[] halfEdges = Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(up, forward, extent);
var collider = new DtBoxCollider(p, halfEdges, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb); var collider = new DtBoxCollider(p, halfEdges, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
var gizmo = RcGizmoFactory.Box(p, halfEdges); var gizmo = RcGizmoFactory.Box(p, halfEdges);
return new RcGizmo(collider, gizmo); return new RcGizmo(collider, gizmo);
} }
public RcGizmo CylinderCollider(RcVec3f p, float walkableClimb) public RcGizmo CylinderCollider(Vector3 p, float walkableClimb)
{ {
float radius = 0.7f + (float)random.NextDouble() * 4f; float radius = 0.7f + (float)random.NextDouble() * 4f;
RcVec3f a = new RcVec3f(1f - 2 * (float)random.NextDouble(), 0.01f + (float)random.NextDouble(), 1f - 2 * (float)random.NextDouble()); Vector3 a = new Vector3(1f - 2 * (float)random.NextDouble(), 0.01f + (float)random.NextDouble(), 1f - 2 * (float)random.NextDouble());
a = RcVec3f.Normalize(a); a = Vector3.Normalize(a);
float len = 2f + (float)random.NextDouble() * 20f; float len = 2f + (float)random.NextDouble() * 20f;
a.X *= len; a.X *= len;
a.Y *= len; a.Y *= len;
a.Z *= len; a.Z *= len;
RcVec3f start = new RcVec3f(p.X, p.Y, p.Z); Vector3 start = new Vector3(p.X, p.Y, p.Z);
RcVec3f end = new RcVec3f(p.X + a.X, p.Y + a.Y, p.Z + a.Z); Vector3 end = new Vector3(p.X + a.X, p.Y + a.Y, p.Z + a.Z);
var collider = new DtCylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb); var collider = new DtCylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
var gizmo = RcGizmoFactory.Cylinder(start, end, radius); var gizmo = RcGizmoFactory.Cylinder(start, end, radius);
return new RcGizmo(collider, gizmo); return new RcGizmo(collider, gizmo);
} }
public RcGizmo CompositeCollider(RcVec3f p, float walkableClimb) public RcGizmo CompositeCollider(Vector3 p, float walkableClimb)
{ {
RcVec3f baseExtent = new RcVec3f(5, 3, 8); Vector3 baseExtent = new Vector3(5, 3, 8);
RcVec3f baseCenter = new RcVec3f(p.X, p.Y + 3, p.Z); Vector3 baseCenter = new Vector3(p.X, p.Y + 3, p.Z);
RcVec3f baseUp = new RcVec3f(0, 1, 0); Vector3 baseUp = new Vector3(0, 1, 0);
RcVec3f forward = new RcVec3f((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble())); Vector3 forward = new Vector3((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()));
forward = RcVec3f.Normalize(forward); forward = Vector3.Normalize(forward);
RcVec3f side = RcVec3f.Cross(forward, baseUp); Vector3 side = Vector3.Cross(forward, baseUp);
DtBoxCollider @base = new DtBoxCollider(baseCenter, Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(baseUp, forward, baseExtent), DtBoxCollider @base = new DtBoxCollider(baseCenter, Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(baseUp, forward, baseExtent),
SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb); SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb);
var roofUp = RcVec3f.Zero; var roofUp = Vector3.Zero;
RcVec3f roofExtent = new RcVec3f(4.5f, 4.5f, 8f); Vector3 roofExtent = new Vector3(4.5f, 4.5f, 8f);
var rx = RcMatrix4x4f.CreateFromRotate(45, forward.X, forward.Y, forward.Z); var rx = RcMatrix4x4f.CreateFromRotate(45, forward.X, forward.Y, forward.Z);
roofUp = MulMatrixVector(ref roofUp, rx, baseUp); roofUp = MulMatrixVector(ref roofUp, rx, baseUp);
RcVec3f roofCenter = new RcVec3f(p.X, p.Y + 6, p.Z); Vector3 roofCenter = new Vector3(p.X, p.Y + 6, p.Z);
DtBoxCollider roof = new DtBoxCollider(roofCenter, Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(roofUp, forward, roofExtent), DtBoxCollider roof = new DtBoxCollider(roofCenter, Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(roofUp, forward, roofExtent),
SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb); SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb);
RcVec3f trunkStart = new RcVec3f( Vector3 trunkStart = new Vector3(
baseCenter.X - forward.X * 15 + side.X * 6, baseCenter.X - forward.X * 15 + side.X * 6,
p.Y, p.Y,
baseCenter.Z - forward.Z * 15 + side.Z * 6 baseCenter.Z - forward.Z * 15 + side.Z * 6
); );
RcVec3f trunkEnd = new RcVec3f(trunkStart.X, trunkStart.Y + 10, trunkStart.Z); Vector3 trunkEnd = new Vector3(trunkStart.X, trunkStart.Y + 10, trunkStart.Z);
DtCapsuleCollider trunk = new DtCapsuleCollider(trunkStart, trunkEnd, 0.5f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, DtCapsuleCollider trunk = new DtCapsuleCollider(trunkStart, trunkEnd, 0.5f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
walkableClimb); walkableClimb);
RcVec3f crownCenter = new RcVec3f( Vector3 crownCenter = new Vector3(
baseCenter.X - forward.X * 15 + side.X * 6, p.Y + 10, baseCenter.X - forward.X * 15 + side.X * 6, p.Y + 10,
baseCenter.Z - forward.Z * 15 + side.Z * 6 baseCenter.Z - forward.Z * 15 + side.Z * 6
); );
@ -269,17 +270,17 @@ namespace DotRecast.Recast.Toolset.Tools
return new RcGizmo(collider, gizmo); return new RcGizmo(collider, gizmo);
} }
public RcGizmo TrimeshBridge(RcVec3f p, float walkableClimb) public RcGizmo TrimeshBridge(Vector3 p, float walkableClimb)
{ {
return TrimeshCollider(p, bridgeGeom, walkableClimb); return TrimeshCollider(p, bridgeGeom, walkableClimb);
} }
public RcGizmo TrimeshHouse(RcVec3f p, float walkableClimb) public RcGizmo TrimeshHouse(Vector3 p, float walkableClimb)
{ {
return TrimeshCollider(p, houseGeom, walkableClimb); return TrimeshCollider(p, houseGeom, walkableClimb);
} }
public RcGizmo ConvexTrimesh(RcVec3f p, float walkableClimb) public RcGizmo ConvexTrimesh(Vector3 p, float walkableClimb)
{ {
float[] verts = TransformVertices(p, convexGeom, 360); float[] verts = TransformVertices(p, convexGeom, 360);
var collider = new DtConvexTrimeshCollider(verts, convexGeom.faces, var collider = new DtConvexTrimeshCollider(verts, convexGeom.faces,
@ -288,7 +289,7 @@ namespace DotRecast.Recast.Toolset.Tools
return new RcGizmo(collider, gizmo); return new RcGizmo(collider, gizmo);
} }
private RcGizmo TrimeshCollider(RcVec3f p, DemoInputGeomProvider geom, float walkableClimb) private RcGizmo TrimeshCollider(Vector3 p, DemoInputGeomProvider geom, float walkableClimb)
{ {
float[] verts = TransformVertices(p, geom, 0); float[] verts = TransformVertices(p, geom, 0);
var collider = new DtTrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, var collider = new DtTrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
@ -298,14 +299,14 @@ namespace DotRecast.Recast.Toolset.Tools
return new RcGizmo(collider, gizmo); return new RcGizmo(collider, gizmo);
} }
private float[] TransformVertices(RcVec3f p, DemoInputGeomProvider geom, float ax) private float[] TransformVertices(Vector3 p, DemoInputGeomProvider geom, float ax)
{ {
var rx = RcMatrix4x4f.CreateFromRotate((float)random.NextDouble() * ax, 1, 0, 0); var rx = RcMatrix4x4f.CreateFromRotate((float)random.NextDouble() * ax, 1, 0, 0);
var ry = RcMatrix4x4f.CreateFromRotate((float)random.NextDouble() * 360, 0, 1, 0); var ry = RcMatrix4x4f.CreateFromRotate((float)random.NextDouble() * 360, 0, 1, 0);
var m = RcMatrix4x4f.Mul(ref rx, ref ry); var m = RcMatrix4x4f.Mul(ref rx, ref ry);
float[] verts = new float[geom.vertices.Length]; float[] verts = new float[geom.vertices.Length];
RcVec3f v = new RcVec3f(); Vector3 v = new Vector3();
RcVec3f vr = new RcVec3f(); Vector3 vr = new Vector3();
for (int i = 0; i < geom.vertices.Length; i += 3) for (int i = 0; i < geom.vertices.Length; i += 3)
{ {
v.X = geom.vertices[i]; v.X = geom.vertices[i];
@ -331,7 +332,7 @@ namespace DotRecast.Recast.Toolset.Tools
return resultvector; return resultvector;
} }
private static RcVec3f MulMatrixVector(ref RcVec3f resultvector, RcMatrix4x4f matrix, RcVec3f pvector) private static Vector3 MulMatrixVector(ref Vector3 resultvector, RcMatrix4x4f matrix, Vector3 pvector)
{ {
resultvector.X = matrix.M11 * pvector.X + matrix.M21 * pvector.Y + matrix.M31 * pvector.Z; 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.Y = matrix.M12 * pvector.X + matrix.M22 * pvector.Y + matrix.M32 * pvector.Z;
@ -355,14 +356,14 @@ namespace DotRecast.Recast.Toolset.Tools
return true; return true;
} }
public bool Raycast(RcVec3f spos, RcVec3f epos, out float hitPos, out RcVec3f raycastHitPos) public bool Raycast(Vector3 spos, Vector3 epos, out float hitPos, out Vector3 raycastHitPos)
{ {
RcVec3f sp = new RcVec3f(spos.X, spos.Y + 1.3f, spos.Z); Vector3 sp = new Vector3(spos.X, spos.Y + 1.3f, spos.Z);
RcVec3f ep = new RcVec3f(epos.X, epos.Y + 1.3f, epos.Z); Vector3 ep = new Vector3(epos.X, epos.Y + 1.3f, epos.Z);
bool hasHit = dynaMesh.VoxelQuery().Raycast(sp, ep, out hitPos); bool hasHit = dynaMesh.VoxelQuery().Raycast(sp, ep, out hitPos);
raycastHitPos = hasHit raycastHitPos = hasHit
? new RcVec3f(sp.X + hitPos * (ep.X - sp.X), sp.Y + hitPos * (ep.Y - sp.Y), sp.Z + hitPos * (ep.Z - sp.Z)) ? new Vector3(sp.X + hitPos * (ep.X - sp.X), sp.Y + hitPos * (ep.Y - sp.Y), sp.Z + hitPos * (ep.Z - sp.Z))
: ep; : ep;
return hasHit; return hasHit;

7
src/DotRecast.Recast.Toolset/Tools/RcJumpLinkBuilderTool.cs
View File

@ -1,5 +1,6 @@
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Extras.Jumplink; using DotRecast.Detour.Extras.Jumplink;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
@ -111,11 +112,11 @@ namespace DotRecast.Recast.Toolset.Tools
{ {
int area = SampleAreaModifications.SAMPLE_POLYAREA_TYPE_JUMP_AUTO; int area = SampleAreaModifications.SAMPLE_POLYAREA_TYPE_JUMP_AUTO;
int flags = SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP; int flags = SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP;
RcVec3f prev = new RcVec3f(); Vector3 prev = new Vector3();
for (int i = 0; i < link.startSamples.Length; i++) for (int i = 0; i < link.startSamples.Length; i++)
{ {
RcVec3f p = link.startSamples[i].p; Vector3 p = link.startSamples[i].p;
RcVec3f q = link.endSamples[i].p; Vector3 q = link.endSamples[i].p;
if (i == 0 || RcVecUtils.Dist2D(prev, p) > agentRadius) if (i == 0 || RcVecUtils.Dist2D(prev, p) > agentRadius)
{ {
geom.AddOffMeshConnection(p, q, agentRadius, false, area, flags); geom.AddOffMeshConnection(p, q, agentRadius, false, area, flags);

11
src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
View File

@ -3,6 +3,7 @@ using System.Linq;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour; using DotRecast.Detour;
using DotRecast.Detour.TileCache; using DotRecast.Detour.TileCache;
using DotRecast.Detour.TileCache.Io.Compress; using DotRecast.Detour.TileCache.Io.Compress;
@ -96,7 +97,7 @@ namespace DotRecast.Recast.Toolset.Tools
} }
} }
public void RemoveTempObstacle(RcVec3f sp, RcVec3f sq) public void RemoveTempObstacle(Vector3 sp, Vector3 sq)
{ {
if (null == _tc) if (null == _tc)
return; return;
@ -105,7 +106,7 @@ namespace DotRecast.Recast.Toolset.Tools
_tc.RemoveObstacle(refs); _tc.RemoveObstacle(refs);
} }
public long AddTempObstacle(RcVec3f p) public long AddTempObstacle(Vector3 p)
{ {
if (null == _tc) if (null == _tc)
return 0; return 0;
@ -148,7 +149,7 @@ namespace DotRecast.Recast.Toolset.Tools
return tc; return tc;
} }
public long HitTestObstacle(RcVec3f sp, RcVec3f sq) public long HitTestObstacle(Vector3 sp, Vector3 sq)
{ {
float tmin = float.MaxValue; float tmin = float.MaxValue;
DtTileCacheObstacle obmin = null; DtTileCacheObstacle obmin = null;
@ -159,8 +160,8 @@ namespace DotRecast.Recast.Toolset.Tools
if (ob.state == DtObstacleState.DT_OBSTACLE_EMPTY) if (ob.state == DtObstacleState.DT_OBSTACLE_EMPTY)
continue; continue;
RcVec3f bmin = RcVec3f.Zero; Vector3 bmin = Vector3.Zero;
RcVec3f bmax = RcVec3f.Zero; Vector3 bmax = Vector3.Zero;
_tc.GetObstacleBounds(ob, ref bmin, ref bmax); _tc.GetObstacleBounds(ob, ref bmin, ref bmax);
if (RcIntersections.IsectSegAABB(sp, sq, bmin, bmax, out var t0, out var t1)) if (RcIntersections.IsectSegAABB(sp, sq, bmin, bmax, out var t0, out var t1))

5
src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs
View File

@ -1,5 +1,6 @@
using System; using System;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
@ -16,7 +17,7 @@ namespace DotRecast.Recast.Toolset.Tools
return "Off-Mesh Links"; return "Off-Mesh Links";
} }
public void Add(IInputGeomProvider geom, RcNavMeshBuildSettings settings, RcVec3f start, RcVec3f end, bool bidir) public void Add(IInputGeomProvider geom, RcNavMeshBuildSettings settings, Vector3 start, Vector3 end, bool bidir)
{ {
if (null == geom) if (null == geom)
return; return;
@ -26,7 +27,7 @@ namespace DotRecast.Recast.Toolset.Tools
geom.AddOffMeshConnection(start, end, settings.agentRadius, bidir, area, flags); geom.AddOffMeshConnection(start, end, settings.agentRadius, bidir, area, flags);
} }
public void Remove(IInputGeomProvider geom, RcNavMeshBuildSettings settings, RcVec3f p) public void Remove(IInputGeomProvider geom, RcNavMeshBuildSettings settings, Vector3 p)
{ {
// Delete // Delete
// Find nearest link end-point // Find nearest link end-point

53
src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
View File

@ -2,6 +2,7 @@
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour; using DotRecast.Detour;
namespace DotRecast.Recast.Toolset.Tools namespace DotRecast.Recast.Toolset.Tools
@ -21,8 +22,8 @@ namespace DotRecast.Recast.Toolset.Tools
return "Test Navmesh"; return "Test Navmesh";
} }
public DtStatus FindFollowPath(DtNavMesh navMesh, DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPt, RcVec3f endPt, IDtQueryFilter filter, bool enableRaycast, public DtStatus FindFollowPath(DtNavMesh navMesh, DtNavMeshQuery navQuery, long startRef, long endRef, Vector3 startPt, Vector3 endPt, IDtQueryFilter filter, bool enableRaycast,
ref List<long> polys, ref List<RcVec3f> smoothPath) ref List<long> polys, ref List<Vector3> smoothPath)
{ {
if (startRef == 0 || endRef == 0) if (startRef == 0 || endRef == 0)
{ {
@ -33,7 +34,7 @@ namespace DotRecast.Recast.Toolset.Tools
} }
polys ??= new List<long>(); polys ??= new List<long>();
smoothPath ??= new List<RcVec3f>(); smoothPath ??= new List<Vector3>();
polys.Clear(); polys.Clear();
smoothPath.Clear(); smoothPath.Clear();
@ -73,8 +74,8 @@ namespace DotRecast.Recast.Toolset.Tools
: false; : false;
// Find movement delta. // Find movement delta.
RcVec3f delta = RcVec3f.Subtract(steerPos, iterPos); Vector3 delta = Vector3.Subtract(steerPos, iterPos);
float len = MathF.Sqrt(RcVec3f.Dot(delta, delta)); float len = MathF.Sqrt(Vector3.Dot(delta, delta));
// If the steer target is end of path or off-mesh link, do not move past the location. // If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE) if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
{ {
@ -85,7 +86,7 @@ namespace DotRecast.Recast.Toolset.Tools
len = STEP_SIZE / len; len = STEP_SIZE / len;
} }
RcVec3f moveTgt = RcVecUtils.Mad(iterPos, delta, len); Vector3 moveTgt = RcVecUtils.Mad(iterPos, delta, len);
// Move // Move
navQuery.MoveAlongSurface(polys[0], iterPos, moveTgt, filter, out var result, ref visited); navQuery.MoveAlongSurface(polys[0], iterPos, moveTgt, filter, out var result, ref visited);
@ -116,8 +117,8 @@ namespace DotRecast.Recast.Toolset.Tools
else if (offMeshConnection && DtPathUtils.InRange(iterPos, steerPos, SLOP, 1.0f)) else if (offMeshConnection && DtPathUtils.InRange(iterPos, steerPos, SLOP, 1.0f))
{ {
// Reached off-mesh connection. // Reached off-mesh connection.
RcVec3f startPos = RcVec3f.Zero; Vector3 startPos = Vector3.Zero;
RcVec3f endPos = RcVec3f.Zero; Vector3 endPos = Vector3.Zero;
// Advance the path up to and over the off-mesh connection. // Advance the path up to and over the off-mesh connection.
long prevRef = 0; long prevRef = 0;
@ -163,7 +164,7 @@ namespace DotRecast.Recast.Toolset.Tools
return DtStatus.DT_SUCCESS; return DtStatus.DT_SUCCESS;
} }
public DtStatus FindStraightPath(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPt, RcVec3f endPt, IDtQueryFilter filter, bool enableRaycast, public DtStatus FindStraightPath(DtNavMeshQuery navQuery, long startRef, long endRef, Vector3 startPt, Vector3 endPt, IDtQueryFilter filter, bool enableRaycast,
ref List<long> polys, ref List<DtStraightPath> straightPath, int straightPathOptions) ref List<long> polys, ref List<DtStraightPath> straightPath, int straightPathOptions)
{ {
if (startRef == 0 || endRef == 0) if (startRef == 0 || endRef == 0)
@ -184,7 +185,7 @@ namespace DotRecast.Recast.Toolset.Tools
return DtStatus.DT_FAILURE; return DtStatus.DT_FAILURE;
// In case of partial path, make sure the end point is clamped to the last polygon. // In case of partial path, make sure the end point is clamped to the last polygon.
var epos = new RcVec3f(endPt.X, endPt.Y, endPt.Z); var epos = new Vector3(endPt.X, endPt.Y, endPt.Z);
if (polys[polys.Count - 1] != endRef) if (polys[polys.Count - 1] != endRef)
{ {
var result = navQuery.ClosestPointOnPoly(polys[polys.Count - 1], endPt, out var closest, out var _); var result = navQuery.ClosestPointOnPoly(polys[polys.Count - 1], endPt, out var closest, out var _);
@ -199,7 +200,7 @@ namespace DotRecast.Recast.Toolset.Tools
return DtStatus.DT_SUCCESS; return DtStatus.DT_SUCCESS;
} }
public DtStatus InitSlicedFindPath(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, bool enableRaycast) public DtStatus InitSlicedFindPath(DtNavMeshQuery navQuery, long startRef, long endRef, Vector3 startPos, Vector3 endPos, IDtQueryFilter filter, bool enableRaycast)
{ {
if (startRef == 0 || endRef == 0) if (startRef == 0 || endRef == 0)
{ {
@ -212,7 +213,7 @@ namespace DotRecast.Recast.Toolset.Tools
); );
} }
public DtStatus UpdateSlicedFindPath(DtNavMeshQuery navQuery, int maxIter, long endRef, RcVec3f startPos, RcVec3f endPos, public DtStatus UpdateSlicedFindPath(DtNavMeshQuery navQuery, int maxIter, long endRef, Vector3 startPos, Vector3 endPos,
ref List<long> path, ref List<DtStraightPath> straightPath) ref List<long> path, ref List<DtStraightPath> straightPath)
{ {
var status = navQuery.UpdateSlicedFindPath(maxIter, out _); var status = navQuery.UpdateSlicedFindPath(maxIter, out _);
@ -228,7 +229,7 @@ namespace DotRecast.Recast.Toolset.Tools
if (path != null) if (path != null)
{ {
// In case of partial path, make sure the end point is clamped to the last polygon. // In case of partial path, make sure the end point is clamped to the last polygon.
RcVec3f epos = endPos; Vector3 epos = endPos;
if (path[path.Count - 1] != endRef) if (path[path.Count - 1] != endRef)
{ {
var result = navQuery.ClosestPointOnPoly(path[path.Count - 1], endPos, out var closest, out var _); var result = navQuery.ClosestPointOnPoly(path[path.Count - 1], endPos, out var closest, out var _);
@ -246,8 +247,8 @@ namespace DotRecast.Recast.Toolset.Tools
} }
public DtStatus Raycast(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, public DtStatus Raycast(DtNavMeshQuery navQuery, long startRef, long endRef, Vector3 startPos, Vector3 endPos, IDtQueryFilter filter,
ref List<long> polys, ref List<DtStraightPath> straightPath, ref RcVec3f hitPos, ref RcVec3f hitNormal, ref bool hitResult) ref List<long> polys, ref List<DtStraightPath> straightPath, ref Vector3 hitPos, ref Vector3 hitNormal, ref bool hitResult)
{ {
if (startRef == 0 || endRef == 0) if (startRef == 0 || endRef == 0)
{ {
@ -275,7 +276,7 @@ namespace DotRecast.Recast.Toolset.Tools
else else
{ {
// Hit // Hit
hitPos = RcVec3f.Lerp(startPos, endPos, rayHit.t); hitPos = Vector3.Lerp(startPos, endPos, rayHit.t);
hitNormal = rayHit.hitNormal; hitNormal = rayHit.hitNormal;
hitResult = true; hitResult = true;
} }
@ -298,8 +299,8 @@ namespace DotRecast.Recast.Toolset.Tools
return status; return status;
} }
public DtStatus FindDistanceToWall(DtNavMeshQuery navQuery, long startRef, RcVec3f spos, float maxRadius, IDtQueryFilter filter, public DtStatus FindDistanceToWall(DtNavMeshQuery navQuery, long startRef, Vector3 spos, float maxRadius, IDtQueryFilter filter,
ref float hitDist, ref RcVec3f hitPos, ref RcVec3f hitNormal) ref float hitDist, ref Vector3 hitPos, ref Vector3 hitNormal)
{ {
if (0 == startRef) if (0 == startRef)
{ {
@ -320,7 +321,7 @@ namespace DotRecast.Recast.Toolset.Tools
} }
public DtStatus FindPolysAroundCircle(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f spos, RcVec3f epos, IDtQueryFilter filter, ref List<long> resultRef, ref List<long> resultParent) public DtStatus FindPolysAroundCircle(DtNavMeshQuery navQuery, long startRef, long endRef, Vector3 spos, Vector3 epos, IDtQueryFilter filter, ref List<long> resultRef, ref List<long> resultParent)
{ {
if (startRef == 0 || endRef == 0) if (startRef == 0 || endRef == 0)
{ {
@ -344,7 +345,7 @@ namespace DotRecast.Recast.Toolset.Tools
return status; return status;
} }
public DtStatus FindLocalNeighbourhood(DtNavMeshQuery navQuery, long startRef, RcVec3f spos, float radius, IDtQueryFilter filter, public DtStatus FindLocalNeighbourhood(DtNavMeshQuery navQuery, long startRef, Vector3 spos, float radius, IDtQueryFilter filter,
ref List<long> resultRef, ref List<long> resultParent) ref List<long> resultRef, ref List<long> resultParent)
{ {
if (startRef == 0) if (startRef == 0)
@ -365,8 +366,8 @@ namespace DotRecast.Recast.Toolset.Tools
} }
public DtStatus FindPolysAroundShape(DtNavMeshQuery navQuery, float agentHeight, long startRef, long endRef, RcVec3f spos, RcVec3f epos, IDtQueryFilter filter, public DtStatus FindPolysAroundShape(DtNavMeshQuery navQuery, float agentHeight, long startRef, long endRef, Vector3 spos, Vector3 epos, IDtQueryFilter filter,
ref List<long> resultRefs, ref List<long> resultParents, ref RcVec3f[] queryPoly) ref List<long> resultRefs, ref List<long> resultParents, ref Vector3[] queryPoly)
{ {
if (startRef == 0 || endRef == 0) if (startRef == 0 || endRef == 0)
{ {
@ -376,7 +377,7 @@ namespace DotRecast.Recast.Toolset.Tools
float nx = (epos.Z - spos.Z) * 0.25f; float nx = (epos.Z - spos.Z) * 0.25f;
float nz = -(epos.X - spos.X) * 0.25f; float nz = -(epos.X - spos.X) * 0.25f;
var tempQueryPoly = new RcVec3f[4]; var tempQueryPoly = new Vector3[4];
tempQueryPoly[0].X = spos.X + nx * 1.2f; tempQueryPoly[0].X = spos.X + nx * 1.2f;
tempQueryPoly[0].Y = spos.Y + agentHeight / 2; tempQueryPoly[0].Y = spos.Y + agentHeight / 2;
tempQueryPoly[0].Z = spos.Z + nz * 1.2f; tempQueryPoly[0].Z = spos.Z + nz * 1.2f;
@ -407,8 +408,8 @@ namespace DotRecast.Recast.Toolset.Tools
return status; return status;
} }
public DtStatus FindRandomPointAroundCircle(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f spos, RcVec3f epos, IDtQueryFilter filter, bool constrainByCircle, int count, public DtStatus FindRandomPointAroundCircle(DtNavMeshQuery navQuery, long startRef, long endRef, Vector3 spos, Vector3 epos, IDtQueryFilter filter, bool constrainByCircle, int count,
ref List<RcVec3f> points) ref List<Vector3> points)
{ {
if (startRef == 0 || endRef == 0) if (startRef == 0 || endRef == 0)
{ {
@ -426,7 +427,7 @@ namespace DotRecast.Recast.Toolset.Tools
var frand = new RcRand(); var frand = new RcRand();
int prevCnt = points.Count; int prevCnt = points.Count;
points = new List<RcVec3f>(); points = new List<Vector3>();
while (0 < count && points.Count < prevCnt + count) while (0 < count && points.Count < prevCnt + count)
{ {
var status = navQuery.FindRandomPointAroundCircle(startRef, spos, dist, filter, frand, constraint, var status = navQuery.FindRandomPointAroundCircle(startRef, spos, dist, filter, frand, constraint,

13
src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs
View File

@ -2,6 +2,7 @@
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour; using DotRecast.Detour;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
using DotRecast.Recast.Toolset.Builder; using DotRecast.Recast.Toolset.Builder;
@ -74,8 +75,8 @@ namespace DotRecast.Recast.Toolset.Tools
return false; return false;
} }
RcVec3f bmin = geom.GetMeshBoundsMin(); Vector3 bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); Vector3 bmax = geom.GetMeshBoundsMax();
RcConfig cfg = new RcConfig( RcConfig cfg = new RcConfig(
true, settings.tileSize, settings.tileSize, true, settings.tileSize, settings.tileSize,
@ -112,7 +113,7 @@ namespace DotRecast.Recast.Toolset.Tools
return true; return true;
} }
public bool BuildTile(IInputGeomProvider geom, RcNavMeshBuildSettings settings, DtNavMesh navMesh, RcVec3f pos, out long tileBuildTicks, out int tileTriCount, out int tileMemUsage) public bool BuildTile(IInputGeomProvider geom, RcNavMeshBuildSettings settings, DtNavMesh navMesh, Vector3 pos, out long tileBuildTicks, out int tileTriCount, out int tileMemUsage)
{ {
tileBuildTicks = 0; tileBuildTicks = 0;
tileTriCount = 0; tileTriCount = 0;
@ -123,8 +124,8 @@ namespace DotRecast.Recast.Toolset.Tools
float ts = settings.tileSize * settings.cellSize; float ts = settings.tileSize * settings.cellSize;
RcVec3f bmin = geom.GetMeshBoundsMin(); Vector3 bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); Vector3 bmax = geom.GetMeshBoundsMax();
int tx = (int)((pos.X - bmin.X) / ts); int tx = (int)((pos.X - bmin.X) / ts);
int ty = (int)((pos.Z - bmin.Z) / ts); int ty = (int)((pos.Z - bmin.Z) / ts);
@ -132,7 +133,7 @@ namespace DotRecast.Recast.Toolset.Tools
return BuildTile(geom, settings, navMesh, tx, ty, out tileBuildTicks, out tileTriCount, out tileMemUsage); return BuildTile(geom, settings, navMesh, tx, ty, out tileBuildTicks, out tileTriCount, out tileMemUsage);
} }
public bool RemoveTile(IInputGeomProvider geom, RcNavMeshBuildSettings settings, DtNavMesh navMesh, RcVec3f pos) public bool RemoveTile(IInputGeomProvider geom, RcNavMeshBuildSettings settings, DtNavMesh navMesh, Vector3 pos)
{ {
if (null == settings || null == geom || navMesh == null) if (null == settings || null == geom || navMesh == null)
return false; return false;

5
src/DotRecast.Recast/Geom/BoundsItem.cs
View File

@ -1,11 +1,12 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Geom namespace DotRecast.Recast.Geom
{ {
public class BoundsItem public class BoundsItem
{ {
public RcVec2f bmin; public Vector2 bmin;
public RcVec2f bmax; public Vector2 bmax;
public int i; public int i;
} }
} }

7
src/DotRecast.Recast/Geom/IInputGeomProvider.cs
View File

@ -21,15 +21,16 @@ freely, subject to the following restrictions:
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Geom namespace DotRecast.Recast.Geom
{ {
public interface IInputGeomProvider public interface IInputGeomProvider
{ {
RcTriMesh GetMesh(); RcTriMesh GetMesh();
RcVec3f GetMeshBoundsMin(); Vector3 GetMeshBoundsMin();
RcVec3f GetMeshBoundsMax(); Vector3 GetMeshBoundsMax();
IEnumerable<RcTriMesh> Meshes(); IEnumerable<RcTriMesh> Meshes();
@ -39,7 +40,7 @@ namespace DotRecast.Recast.Geom
// off mesh connections // off mesh connections
public List<RcOffMeshConnection> GetOffMeshConnections(); public List<RcOffMeshConnection> GetOffMeshConnections();
public void AddOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags); public void AddOffMeshConnection(Vector3 start, Vector3 end, float radius, bool bidir, int area, int flags);
public void RemoveOffMeshConnections(Predicate<RcOffMeshConnection> filter); public void RemoveOffMeshConnections(Predicate<RcOffMeshConnection> filter);
} }

11
src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Geom namespace DotRecast.Recast.Geom
{ {
@ -30,7 +31,7 @@ namespace DotRecast.Recast.Geom
private int ntris; private int ntris;
private int maxTrisPerChunk; private int maxTrisPerChunk;
private void CalcExtends(BoundsItem[] items, int imin, int imax, ref RcVec2f bmin, ref RcVec2f bmax) private void CalcExtends(BoundsItem[] items, int imin, int imax, ref Vector2 bmin, ref Vector2 bmax)
{ {
bmin.X = items[imin].bmin.X; bmin.X = items[imin].bmin.X;
bmin.Y = items[imin].bmin.Y; bmin.Y = items[imin].bmin.Y;
@ -185,7 +186,7 @@ namespace DotRecast.Recast.Geom
} }
} }
private bool CheckOverlapRect(float[] amin, float[] amax, RcVec2f bmin, RcVec2f bmax) private bool CheckOverlapRect(float[] amin, float[] amax, Vector2 bmin, Vector2 bmax)
{ {
bool overlap = true; bool overlap = true;
overlap = (amin[0] > bmax.X || amax[0] < bmin.X) ? false : overlap; overlap = (amin[0] > bmax.X || amax[0] < bmin.X) ? false : overlap;
@ -222,7 +223,7 @@ namespace DotRecast.Recast.Geom
return ids; return ids;
} }
public List<RcChunkyTriMeshNode> GetChunksOverlappingSegment(RcVec2f p, RcVec2f q) public List<RcChunkyTriMeshNode> GetChunksOverlappingSegment(Vector2 p, Vector2 q)
{ {
// Traverse tree // Traverse tree
List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>(); List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
@ -251,13 +252,13 @@ namespace DotRecast.Recast.Geom
return ids; return ids;
} }
private bool CheckOverlapSegment(RcVec2f p, RcVec2f q, RcVec2f bmin, RcVec2f bmax) private bool CheckOverlapSegment(Vector2 p, Vector2 q, Vector2 bmin, Vector2 bmax)
{ {
const float EPSILON = 1e-6f; const float EPSILON = 1e-6f;
float tmin = 0; float tmin = 0;
float tmax = 1; float tmax = 1;
var d = new RcVec2f(); var d = new Vector2();
d.X = q.X - p.X; d.X = q.X - p.X;
d.Y = q.Y - p.Y; d.Y = q.Y - p.Y;

5
src/DotRecast.Recast/Geom/RcChunkyTriMeshNode.cs
View File

@ -1,11 +1,12 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Geom namespace DotRecast.Recast.Geom
{ {
public class RcChunkyTriMeshNode public class RcChunkyTriMeshNode
{ {
public RcVec2f bmin; public Vector2 bmin;
public RcVec2f bmax; public Vector2 bmax;
public int i; public int i;
public int[] tris; public int[] tris;
} }

3
src/DotRecast.Recast/Geom/RcOffMeshConnection.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Geom namespace DotRecast.Recast.Geom
{ {
@ -33,7 +34,7 @@ namespace DotRecast.Recast.Geom
public readonly int flags; public readonly int flags;
public readonly int userId; public readonly int userId;
public RcOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags) public RcOffMeshConnection(Vector3 start, Vector3 end, float radius, bool bidir, int area, int flags)
{ {
verts = new float[6]; verts = new float[6];
verts[0] = start.X; verts[0] = start.X;

15
src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
View File

@ -23,6 +23,7 @@ using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast.Geom namespace DotRecast.Recast.Geom
{ {
@ -31,8 +32,8 @@ namespace DotRecast.Recast.Geom
public readonly float[] vertices; public readonly float[] vertices;
public readonly int[] faces; public readonly int[] faces;
public readonly float[] normals; public readonly float[] normals;
private RcVec3f bmin; private Vector3 bmin;
private RcVec3f bmax; private Vector3 bmax;
private readonly List<RcConvexVolume> volumes = new List<RcConvexVolume>(); private readonly List<RcConvexVolume> volumes = new List<RcConvexVolume>();
private readonly RcTriMesh _mesh; private readonly RcTriMesh _mesh;
@ -93,12 +94,12 @@ namespace DotRecast.Recast.Geom
return _mesh; return _mesh;
} }
public RcVec3f GetMeshBoundsMin() public Vector3 GetMeshBoundsMin()
{ {
return bmin; return bmin;
} }
public RcVec3f GetMeshBoundsMax() public Vector3 GetMeshBoundsMax()
{ {
return bmax; return bmax;
} }
@ -132,7 +133,7 @@ namespace DotRecast.Recast.Geom
throw new NotImplementedException(); throw new NotImplementedException();
} }
public void AddOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags) public void AddOffMeshConnection(Vector3 start, Vector3 end, float radius, bool bidir, int area, int flags)
{ {
throw new NotImplementedException(); throw new NotImplementedException();
} }
@ -150,8 +151,8 @@ namespace DotRecast.Recast.Geom
int v1 = faces[i + 1] * 3; int v1 = faces[i + 1] * 3;
int v2 = faces[i + 2] * 3; int v2 = faces[i + 2] * 3;
var e0 = new RcVec3f(); var e0 = new Vector3();
var e1 = new RcVec3f(); var e1 = new Vector3();
e0.X = vertices[v1 + 0] - vertices[v0 + 0]; e0.X = vertices[v1 + 0] - vertices[v0 + 0];
e0.Y = vertices[v1 + 1] - vertices[v0 + 1]; e0.Y = vertices[v1 + 1] - vertices[v0 + 1];
e0.Z = vertices[v1 + 2] - vertices[v0 + 2]; e0.Z = vertices[v1 + 2] - vertices[v0 + 2];

29
src/DotRecast.Recast/RcAreas.cs
View File

@ -22,6 +22,7 @@ using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
@ -457,8 +458,8 @@ namespace DotRecast.Recast
int zStride = xSize; // For readability int zStride = xSize; // For readability
// Compute the bounding box of the polygon // Compute the bounding box of the polygon
RcVec3f bmin = RcVecUtils.Create(verts); Vector3 bmin = RcVecUtils.Create(verts);
RcVec3f bmax = RcVecUtils.Create(verts); Vector3 bmax = RcVecUtils.Create(verts);
for (int i = 3; i < verts.Length; i += 3) for (int i = 3; i < verts.Length; i += 3)
{ {
bmin = RcVecUtils.Min(bmin, verts, i); bmin = RcVecUtils.Min(bmin, verts, i);
@ -539,7 +540,7 @@ namespace DotRecast.Recast
continue; continue;
} }
RcVec3f point = new RcVec3f( Vector3 point = new Vector3(
compactHeightfield.bmin.X + (x + 0.5f) * compactHeightfield.cs, compactHeightfield.bmin.X + (x + 0.5f) * compactHeightfield.cs,
0, 0,
compactHeightfield.bmin.Z + (z + 0.5f) * compactHeightfield.cs compactHeightfield.bmin.Z + (z + 0.5f) * compactHeightfield.cs
@ -577,13 +578,13 @@ namespace DotRecast.Recast
int zStride = xSize; // For readability int zStride = xSize; // For readability
// Compute the bounding box of the cylinder // Compute the bounding box of the cylinder
RcVec3f cylinderBBMin = new RcVec3f( Vector3 cylinderBBMin = new Vector3(
position[0] - radius, position[0] - radius,
position[1], position[1],
position[2] - radius position[2] - radius
); );
RcVec3f cylinderBBMax = new RcVec3f( Vector3 cylinderBBMax = new Vector3(
position[0] + radius, position[0] + radius,
position[1] + height, position[1] + height,
position[2] + radius position[2] + radius
@ -679,7 +680,7 @@ namespace DotRecast.Recast
} }
} }
// public static bool PointInPoly(float[] verts, RcVec3f p) // public static bool PointInPoly(float[] verts, Vector3 p)
// { // {
// bool c = false; // bool c = false;
// int i, j; // int i, j;
@ -703,13 +704,13 @@ namespace DotRecast.Recast
/// @param[in] verts The polygon vertices /// @param[in] verts The polygon vertices
/// @param[in] point The point to check /// @param[in] point The point to check
/// @returns true if the point lies within the polygon, false otherwise. /// @returns true if the point lies within the polygon, false otherwise.
public static bool PointInPoly(float[] verts, RcVec3f point) public static bool PointInPoly(float[] verts, Vector3 point)
{ {
bool inPoly = false; bool inPoly = false;
for (int i = 0, j = verts.Length / 3 - 1; i < verts.Length / 3; j = i++) for (int i = 0, j = verts.Length / 3 - 1; i < verts.Length / 3; j = i++)
{ {
RcVec3f vi = new RcVec3f(verts[i * 3], verts[i * 3 + 1], verts[i * 3 + 2]); Vector3 vi = new Vector3(verts[i * 3], verts[i * 3 + 1], verts[i * 3 + 2]);
RcVec3f vj = new RcVec3f(verts[j * 3], verts[j * 3 + 1], verts[j * 3 + 2]); Vector3 vj = new Vector3(verts[j * 3], verts[j * 3 + 1], verts[j * 3 + 2]);
if (vi.Z > point.Z == vj.Z > point.Z) if (vi.Z > point.Z == vj.Z > point.Z)
{ {
continue; continue;
@ -753,17 +754,17 @@ namespace DotRecast.Recast
int vertIndexB = vertIndex; int vertIndexB = vertIndex;
int vertIndexC = (vertIndex + 1) % numVerts; int vertIndexC = (vertIndex + 1) % numVerts;
RcVec3f vertA = RcVecUtils.Create(verts, vertIndexA * 3); Vector3 vertA = RcVecUtils.Create(verts, vertIndexA * 3);
RcVec3f vertB = RcVecUtils.Create(verts, vertIndexB * 3); Vector3 vertB = RcVecUtils.Create(verts, vertIndexB * 3);
RcVec3f vertC = RcVecUtils.Create(verts, vertIndexC * 3); Vector3 vertC = RcVecUtils.Create(verts, vertIndexC * 3);
// From A to B on the x/z plane // From A to B on the x/z plane
RcVec3f prevSegmentDir = RcVec3f.Subtract(vertB, vertA); Vector3 prevSegmentDir = Vector3.Subtract(vertB, vertA);
prevSegmentDir.Y = 0; // Squash onto x/z plane prevSegmentDir.Y = 0; // Squash onto x/z plane
prevSegmentDir = RcVecUtils.SafeNormalize(prevSegmentDir); prevSegmentDir = RcVecUtils.SafeNormalize(prevSegmentDir);
// From B to C on the x/z plane // From B to C on the x/z plane
RcVec3f currSegmentDir = RcVec3f.Subtract(vertC, vertB); Vector3 currSegmentDir = Vector3.Subtract(vertC, vertB);
currSegmentDir.Y = 0; // Squash onto x/z plane currSegmentDir.Y = 0; // Squash onto x/z plane
currSegmentDir = RcVecUtils.SafeNormalize(currSegmentDir); currSegmentDir = RcVecUtils.SafeNormalize(currSegmentDir);

15
src/DotRecast.Recast/RcBuilder.cs
View File

@ -24,6 +24,7 @@ using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
namespace DotRecast.Recast namespace DotRecast.Recast
@ -47,8 +48,8 @@ namespace DotRecast.Recast
public List<RcBuilderResult> BuildTiles(IInputGeomProvider geom, RcConfig cfg, TaskFactory taskFactory) public List<RcBuilderResult> BuildTiles(IInputGeomProvider geom, RcConfig cfg, TaskFactory taskFactory)
{ {
RcVec3f bmin = geom.GetMeshBoundsMin(); Vector3 bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); Vector3 bmax = geom.GetMeshBoundsMax();
CalcTileCount(bmin, bmax, cfg.Cs, cfg.TileSizeX, cfg.TileSizeZ, out var tw, out var th); CalcTileCount(bmin, bmax, cfg.Cs, cfg.TileSizeX, cfg.TileSizeZ, out var tw, out var th);
List<RcBuilderResult> results = new List<RcBuilderResult>(); List<RcBuilderResult> results = new List<RcBuilderResult>();
if (null != taskFactory) if (null != taskFactory)
@ -66,8 +67,8 @@ namespace DotRecast.Recast
public Task BuildTilesAsync(IInputGeomProvider geom, RcConfig cfg, int threads, List<RcBuilderResult> results, TaskFactory taskFactory, CancellationToken cancellationToken) public Task BuildTilesAsync(IInputGeomProvider geom, RcConfig cfg, int threads, List<RcBuilderResult> results, TaskFactory taskFactory, CancellationToken cancellationToken)
{ {
RcVec3f bmin = geom.GetMeshBoundsMin(); Vector3 bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); Vector3 bmax = geom.GetMeshBoundsMax();
CalcTileCount(bmin, bmax, cfg.Cs, cfg.TileSizeX, cfg.TileSizeZ, out var tw, out var th); CalcTileCount(bmin, bmax, cfg.Cs, cfg.TileSizeX, cfg.TileSizeZ, out var tw, out var th);
Task task; Task task;
if (1 < threads) if (1 < threads)
@ -82,7 +83,7 @@ namespace DotRecast.Recast
return task; return task;
} }
private Task BuildSingleThreadAsync(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, private Task BuildSingleThreadAsync(IInputGeomProvider geom, RcConfig cfg, Vector3 bmin, Vector3 bmax,
int tw, int th, List<RcBuilderResult> results) int tw, int th, List<RcBuilderResult> results)
{ {
RcAtomicInteger counter = new RcAtomicInteger(0); RcAtomicInteger counter = new RcAtomicInteger(0);
@ -97,7 +98,7 @@ namespace DotRecast.Recast
return Task.CompletedTask; return Task.CompletedTask;
} }
private Task BuildMultiThreadAsync(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, private Task BuildMultiThreadAsync(IInputGeomProvider geom, RcConfig cfg, Vector3 bmin, Vector3 bmax,
int tw, int th, List<RcBuilderResult> results, TaskFactory taskFactory, CancellationToken cancellationToken) int tw, int th, List<RcBuilderResult> results, TaskFactory taskFactory, CancellationToken cancellationToken)
{ {
RcAtomicInteger counter = new RcAtomicInteger(0); RcAtomicInteger counter = new RcAtomicInteger(0);
@ -147,7 +148,7 @@ namespace DotRecast.Recast
return Task.WhenAll(tasks.ToArray()); return Task.WhenAll(tasks.ToArray());
} }
public RcBuilderResult BuildTile(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tx, public RcBuilderResult BuildTile(IInputGeomProvider geom, RcConfig cfg, Vector3 bmin, Vector3 bmax, int tx,
int ty, RcAtomicInteger counter, int total) int ty, RcAtomicInteger counter, int total)
{ {
RcBuilderResult result = Build(geom, new RcBuilderConfig(cfg, bmin, bmax, tx, ty)); RcBuilderResult result = Build(geom, new RcBuilderConfig(cfg, bmin, bmax, tx, ty));

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

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
@ -36,16 +37,16 @@ namespace DotRecast.Recast
public readonly int height; public readonly int height;
/** The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] **/ /** The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] **/
public readonly RcVec3f bmin = new RcVec3f(); public readonly Vector3 bmin = new Vector3();
/** The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] **/ /** The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] **/
public readonly RcVec3f bmax = new RcVec3f(); public readonly Vector3 bmax = new Vector3();
public RcBuilderConfig(RcConfig cfg, RcVec3f bmin, RcVec3f bmax) : this(cfg, bmin, bmax, 0, 0) public RcBuilderConfig(RcConfig cfg, Vector3 bmin, Vector3 bmax) : this(cfg, bmin, bmax, 0, 0)
{ {
} }
public RcBuilderConfig(RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tileX, int tileZ) public RcBuilderConfig(RcConfig cfg, Vector3 bmin, Vector3 bmax, int tileX, int tileZ)
{ {
this.tileX = tileX; this.tileX = tileX;
this.tileZ = tileZ; this.tileZ = tileZ;

15
src/DotRecast.Recast/RcCommons.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
@ -98,14 +99,14 @@ namespace DotRecast.Recast
// Calculate bounding box. // Calculate bounding box.
} }
public static void CalcGridSize(RcVec3f bmin, RcVec3f bmax, float cs, out int sizeX, out int sizeZ) public static void CalcGridSize(Vector3 bmin, Vector3 bmax, float cs, out int sizeX, out int sizeZ)
{ {
sizeX = (int)((bmax.X - bmin.X) / cs + 0.5f); sizeX = (int)((bmax.X - bmin.X) / cs + 0.5f);
sizeZ = (int)((bmax.Z - bmin.Z) / cs + 0.5f); sizeZ = (int)((bmax.Z - bmin.Z) / cs + 0.5f);
} }
public static void CalcTileCount(RcVec3f bmin, RcVec3f bmax, float cs, int tileSizeX, int tileSizeZ, out int tw, out int td) public static void CalcTileCount(Vector3 bmin, Vector3 bmax, float cs, int tileSizeX, int tileSizeZ, out int tw, out int td)
{ {
CalcGridSize(bmin, bmax, cs, out var gw, out var gd); CalcGridSize(bmin, bmax, cs, out var gw, out var gd);
tw = (gw + tileSizeX - 1) / tileSizeX; tw = (gw + tileSizeX - 1) / tileSizeX;
@ -123,7 +124,7 @@ namespace DotRecast.Recast
{ {
int[] areas = new int[nt]; int[] areas = new int[nt];
float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI); float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI);
RcVec3f norm = new RcVec3f(); Vector3 norm = new Vector3();
for (int i = 0; i < nt; ++i) for (int i = 0; i < nt; ++i)
{ {
int tri = i * 3; int tri = i * 3;
@ -136,12 +137,12 @@ namespace DotRecast.Recast
return areas; return areas;
} }
public static void CalcTriNormal(float[] verts, int v0, int v1, int v2, ref RcVec3f norm) public static void CalcTriNormal(float[] verts, int v0, int v1, int v2, ref Vector3 norm)
{ {
var e0 = RcVecUtils.Subtract(verts, v1 * 3, v0 * 3); var e0 = RcVecUtils.Subtract(verts, v1 * 3, v0 * 3);
var e1 = RcVecUtils.Subtract(verts, v2 * 3, v0 * 3); var e1 = RcVecUtils.Subtract(verts, v2 * 3, v0 * 3);
norm = RcVec3f.Cross(e0, e1); norm = Vector3.Cross(e0, e1);
norm = RcVec3f.Normalize(norm); norm = Vector3.Normalize(norm);
} }
@ -157,7 +158,7 @@ namespace DotRecast.Recast
{ {
float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI); float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI);
RcVec3f norm = new RcVec3f(); Vector3 norm = new Vector3();
for (int i = 0; i < nt; ++i) for (int i = 0; i < nt; ++i)
{ {

5
src/DotRecast.Recast/RcCompactHeightfield.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
@ -50,10 +51,10 @@ namespace DotRecast.Recast
public int maxRegions; public int maxRegions;
/** The minimum bounds in world space. [(x, y, z)] */ /** The minimum bounds in world space. [(x, y, z)] */
public RcVec3f bmin = new RcVec3f(); public Vector3 bmin = new Vector3();
/** The maximum bounds in world space. [(x, y, z)] */ /** The maximum bounds in world space. [(x, y, z)] */
public RcVec3f bmax = new RcVec3f(); public Vector3 bmax = new Vector3();
/** The size of each cell. (On the xz-plane.) */ /** The size of each cell. (On the xz-plane.) */
public float cs; public float cs;

5
src/DotRecast.Recast/RcContourSet.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
@ -30,10 +31,10 @@ namespace DotRecast.Recast
public List<RcContour> conts = new List<RcContour>(); public List<RcContour> conts = new List<RcContour>();
/** The minimum bounds in world space. [(x, y, z)] */ /** The minimum bounds in world space. [(x, y, z)] */
public RcVec3f bmin = new RcVec3f(); public Vector3 bmin = new Vector3();
/** The maximum bounds in world space. [(x, y, z)] */ /** The maximum bounds in world space. [(x, y, z)] */
public RcVec3f bmax = new RcVec3f(); public Vector3 bmax = new Vector3();
/** The size of each cell. (On the xz-plane.) */ /** The size of each cell. (On the xz-plane.) */
public float cs; public float cs;

95
src/DotRecast.Recast/RcFilledVolumeRasterization.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using static DotRecast.Recast.RcConstants; using static DotRecast.Recast.RcConstants;
@ -30,7 +31,7 @@ namespace DotRecast.Recast
private const float EPSILON = 0.00001f; private const float EPSILON = 0.00001f;
private static readonly int[] BOX_EDGES = new[] { 0, 1, 0, 2, 0, 4, 1, 3, 1, 5, 2, 3, 2, 6, 3, 7, 4, 5, 4, 6, 5, 7, 6, 7 }; private static readonly int[] BOX_EDGES = new[] { 0, 1, 0, 2, 0, 4, 1, 3, 1, 5, 2, 3, 2, 6, 3, 7, 4, 5, 4, 6, 5, 7, 6, 7 };
public static void RasterizeSphere(RcHeightfield hf, RcVec3f center, float radius, int area, int flagMergeThr, RcTelemetry ctx) public static void RasterizeSphere(RcHeightfield hf, Vector3 center, float radius, int area, int flagMergeThr, RcTelemetry ctx)
{ {
using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_SPHERE); using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_SPHERE);
float[] bounds = float[] bounds =
@ -42,7 +43,7 @@ namespace DotRecast.Recast
rectangle => IntersectSphere(rectangle, center, radius * radius)); rectangle => IntersectSphere(rectangle, center, radius * radius));
} }
public static void RasterizeCapsule(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcTelemetry ctx) public static void RasterizeCapsule(RcHeightfield hf, Vector3 start, Vector3 end, float radius, int area, int flagMergeThr, RcTelemetry ctx)
{ {
using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CAPSULE); using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CAPSULE);
float[] bounds = float[] bounds =
@ -51,12 +52,12 @@ namespace DotRecast.Recast
Math.Min(start.Z, end.Z) - radius, Math.Max(start.X, end.X) + radius, Math.Max(start.Y, end.Y) + radius, Math.Min(start.Z, end.Z) - radius, Math.Max(start.X, end.X) + radius, Math.Max(start.Y, end.Y) + radius,
Math.Max(start.Z, end.Z) + radius Math.Max(start.Z, end.Z) + radius
}; };
RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z); Vector3 axis = new Vector3(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
RasterizationFilledShape(hf, bounds, area, flagMergeThr, RasterizationFilledShape(hf, bounds, area, flagMergeThr,
rectangle => IntersectCapsule(rectangle, start, end, axis, radius * radius)); rectangle => IntersectCapsule(rectangle, start, end, axis, radius * radius));
} }
public static void RasterizeCylinder(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcTelemetry ctx) public static void RasterizeCylinder(RcHeightfield hf, Vector3 start, Vector3 end, float radius, int area, int flagMergeThr, RcTelemetry ctx)
{ {
using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CYLINDER); using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CYLINDER);
float[] bounds = float[] bounds =
@ -65,23 +66,23 @@ namespace DotRecast.Recast
Math.Min(start.Z, end.Z) - radius, Math.Max(start.X, end.X) + radius, Math.Max(start.Y, end.Y) + radius, Math.Min(start.Z, end.Z) - radius, Math.Max(start.X, end.X) + radius, Math.Max(start.Y, end.Y) + radius,
Math.Max(start.Z, end.Z) + radius Math.Max(start.Z, end.Z) + radius
}; };
RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z); Vector3 axis = new Vector3(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
RasterizationFilledShape(hf, bounds, area, flagMergeThr, RasterizationFilledShape(hf, bounds, area, flagMergeThr,
rectangle => IntersectCylinder(rectangle, start, end, axis, radius * radius)); rectangle => IntersectCylinder(rectangle, start, end, axis, radius * radius));
} }
public static void RasterizeBox(RcHeightfield hf, RcVec3f center, RcVec3f[] halfEdges, int area, int flagMergeThr, RcTelemetry ctx) public static void RasterizeBox(RcHeightfield hf, Vector3 center, Vector3[] halfEdges, int area, int flagMergeThr, RcTelemetry ctx)
{ {
using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_BOX); using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_BOX);
RcVec3f[] normals = Vector3[] normals =
{ {
new RcVec3f(halfEdges[0].X, halfEdges[0].Y, halfEdges[0].Z), new Vector3(halfEdges[0].X, halfEdges[0].Y, halfEdges[0].Z),
new RcVec3f(halfEdges[1].X, halfEdges[1].Y, halfEdges[1].Z), new Vector3(halfEdges[1].X, halfEdges[1].Y, halfEdges[1].Z),
new RcVec3f(halfEdges[2].X, halfEdges[2].Y, halfEdges[2].Z), new Vector3(halfEdges[2].X, halfEdges[2].Y, halfEdges[2].Z),
}; };
normals[0] = RcVec3f.Normalize(normals[0]); normals[0] = Vector3.Normalize(normals[0]);
normals[1] = RcVec3f.Normalize(normals[1]); normals[1] = Vector3.Normalize(normals[1]);
normals[2] = RcVec3f.Normalize(normals[2]); normals[2] = Vector3.Normalize(normals[2]);
float[] vertices = new float[8 * 3]; float[] vertices = new float[8 * 3];
float[] bounds = new float[] float[] bounds = new float[]
@ -230,7 +231,7 @@ namespace DotRecast.Recast
} }
} }
private static float[] IntersectSphere(float[] rectangle, RcVec3f center, float radiusSqr) private static float[] IntersectSphere(float[] rectangle, Vector3 center, float radiusSqr)
{ {
float x = Math.Max(rectangle[0], Math.Min(center.X, rectangle[2])); float x = Math.Max(rectangle[0], Math.Min(center.X, rectangle[2]));
float y = rectangle[4]; float y = rectangle[4];
@ -265,7 +266,7 @@ namespace DotRecast.Recast
return new float[] { y + tmin, y + tmax }; return new float[] { y + tmin, y + tmax };
} }
private static float[] IntersectCapsule(float[] rectangle, RcVec3f start, RcVec3f end, RcVec3f axis, float radiusSqr) private static float[] IntersectCapsule(float[] rectangle, Vector3 start, Vector3 end, Vector3 axis, float radiusSqr)
{ {
float[] s = MergeIntersections(IntersectSphere(rectangle, start, radiusSqr), IntersectSphere(rectangle, end, radiusSqr)); float[] s = MergeIntersections(IntersectSphere(rectangle, start, radiusSqr), IntersectSphere(rectangle, end, radiusSqr));
float axisLen2dSqr = axis.X * axis.X + axis.Z * axis.Z; float axisLen2dSqr = axis.X * axis.X + axis.Z * axis.Z;
@ -277,14 +278,14 @@ namespace DotRecast.Recast
return s; return s;
} }
private static float[] IntersectCylinder(float[] rectangle, RcVec3f start, RcVec3f end, RcVec3f axis, float radiusSqr) private static float[] IntersectCylinder(float[] rectangle, Vector3 start, Vector3 end, Vector3 axis, float radiusSqr)
{ {
float[] s = MergeIntersections( float[] s = MergeIntersections(
RayCylinderIntersection(new RcVec3f( RayCylinderIntersection(new Vector3(
Math.Clamp(start.X, rectangle[0], rectangle[2]), rectangle[4], Math.Clamp(start.X, rectangle[0], rectangle[2]), rectangle[4],
Math.Clamp(start.Z, rectangle[1], rectangle[3]) Math.Clamp(start.Z, rectangle[1], rectangle[3])
), start, axis, radiusSqr), ), start, axis, radiusSqr),
RayCylinderIntersection(new RcVec3f( RayCylinderIntersection(new Vector3(
Math.Clamp(end.X, rectangle[0], rectangle[2]), rectangle[4], Math.Clamp(end.X, rectangle[0], rectangle[2]), rectangle[4],
Math.Clamp(end.Z, rectangle[1], rectangle[3]) Math.Clamp(end.Z, rectangle[1], rectangle[3])
), start, axis, radiusSqr)); ), start, axis, radiusSqr));
@ -296,16 +297,16 @@ namespace DotRecast.Recast
if (axis.Y * axis.Y > EPSILON) if (axis.Y * axis.Y > EPSILON)
{ {
RcVec3f[] rectangleOnStartPlane = new RcVec3f[4]; Vector3[] rectangleOnStartPlane = new Vector3[4];
RcVec3f[] rectangleOnEndPlane = new RcVec3f[4]; Vector3[] rectangleOnEndPlane = new Vector3[4];
float ds = RcVec3f.Dot(axis, start); float ds = Vector3.Dot(axis, start);
float de = RcVec3f.Dot(axis, end); float de = Vector3.Dot(axis, end);
for (int i = 0; i < 4; i++) for (int i = 0; i < 4; i++)
{ {
float x = rectangle[(i + 1) & 2]; float x = rectangle[(i + 1) & 2];
float z = rectangle[(i & 2) + 1]; float z = rectangle[(i & 2) + 1];
RcVec3f a = new RcVec3f(x, rectangle[4], z); Vector3 a = new Vector3(x, rectangle[4], z);
float dotAxisA = RcVec3f.Dot(axis, a); float dotAxisA = Vector3.Dot(axis, a);
float t = (ds - dotAxisA) / axis.Y; float t = (ds - dotAxisA) / axis.Y;
rectangleOnStartPlane[i].X = x; rectangleOnStartPlane[i].X = x;
rectangleOnStartPlane[i].Y = rectangle[4] + t; rectangleOnStartPlane[i].Y = rectangle[4] + t;
@ -326,23 +327,23 @@ namespace DotRecast.Recast
return s; return s;
} }
private static float[] CylinderCapIntersection(RcVec3f start, float radiusSqr, float[] s, int i, RcVec3f[] rectangleOnPlane) private static float[] CylinderCapIntersection(Vector3 start, float radiusSqr, float[] s, int i, Vector3[] rectangleOnPlane)
{ {
int j = (i + 1) % 4; int j = (i + 1) % 4;
// Ray against sphere intersection // Ray against sphere intersection
var m = new RcVec3f( var m = new Vector3(
rectangleOnPlane[i].X - start.X, rectangleOnPlane[i].X - start.X,
rectangleOnPlane[i].Y - start.Y, rectangleOnPlane[i].Y - start.Y,
rectangleOnPlane[i].Z - start.Z rectangleOnPlane[i].Z - start.Z
); );
var d = new RcVec3f( var d = new Vector3(
rectangleOnPlane[j].X - rectangleOnPlane[i].X, rectangleOnPlane[j].X - rectangleOnPlane[i].X,
rectangleOnPlane[j].Y - rectangleOnPlane[i].Y, rectangleOnPlane[j].Y - rectangleOnPlane[i].Y,
rectangleOnPlane[j].Z - rectangleOnPlane[i].Z rectangleOnPlane[j].Z - rectangleOnPlane[i].Z
); );
float dl = RcVec3f.Dot(d, d); float dl = Vector3.Dot(d, d);
float b = RcVec3f.Dot(m, d) / dl; float b = Vector3.Dot(m, d) / dl;
float c = (RcVec3f.Dot(m, m) - radiusSqr) / dl; float c = (Vector3.Dot(m, m) - radiusSqr) / dl;
float discr = b * b - c; float discr = b * b - c;
if (discr > EPSILON) if (discr > EPSILON)
{ {
@ -363,7 +364,7 @@ namespace DotRecast.Recast
return s; return s;
} }
private static float[] SlabsCylinderIntersection(float[] rectangle, RcVec3f start, RcVec3f end, RcVec3f axis, float radiusSqr, float[] s) private static float[] SlabsCylinderIntersection(float[] rectangle, Vector3 start, Vector3 end, Vector3 axis, float radiusSqr, float[] s)
{ {
if (Math.Min(start.X, end.X) < rectangle[0]) if (Math.Min(start.X, end.X) < rectangle[0])
{ {
@ -388,42 +389,42 @@ namespace DotRecast.Recast
return s; return s;
} }
private static float[] XSlabCylinderIntersection(float[] rectangle, RcVec3f start, RcVec3f axis, float radiusSqr, float x) private static float[] XSlabCylinderIntersection(float[] rectangle, Vector3 start, Vector3 axis, float radiusSqr, float x)
{ {
return RayCylinderIntersection(XSlabRayIntersection(rectangle, start, axis, x), start, axis, radiusSqr); return RayCylinderIntersection(XSlabRayIntersection(rectangle, start, axis, x), start, axis, radiusSqr);
} }
private static RcVec3f XSlabRayIntersection(float[] rectangle, RcVec3f start, RcVec3f direction, float x) private static Vector3 XSlabRayIntersection(float[] rectangle, Vector3 start, Vector3 direction, float x)
{ {
// 2d intersection of plane and segment // 2d intersection of plane and segment
float t = (x - start.X) / direction.X; float t = (x - start.X) / direction.X;
float z = Math.Clamp(start.Z + t * direction.Z, rectangle[1], rectangle[3]); float z = Math.Clamp(start.Z + t * direction.Z, rectangle[1], rectangle[3]);
return new RcVec3f(x, rectangle[4], z); return new Vector3(x, rectangle[4], z);
} }
private static float[] ZSlabCylinderIntersection(float[] rectangle, RcVec3f start, RcVec3f axis, float radiusSqr, float z) private static float[] ZSlabCylinderIntersection(float[] rectangle, Vector3 start, Vector3 axis, float radiusSqr, float z)
{ {
return RayCylinderIntersection(ZSlabRayIntersection(rectangle, start, axis, z), start, axis, radiusSqr); return RayCylinderIntersection(ZSlabRayIntersection(rectangle, start, axis, z), start, axis, radiusSqr);
} }
private static RcVec3f ZSlabRayIntersection(float[] rectangle, RcVec3f start, RcVec3f direction, float z) private static Vector3 ZSlabRayIntersection(float[] rectangle, Vector3 start, Vector3 direction, float z)
{ {
// 2d intersection of plane and segment // 2d intersection of plane and segment
float t = (z - start.Z) / direction.Z; float t = (z - start.Z) / direction.Z;
float x = Math.Clamp(start.X + t * direction.X, rectangle[0], rectangle[2]); float x = Math.Clamp(start.X + t * direction.X, rectangle[0], rectangle[2]);
return new RcVec3f(x, rectangle[4], z); return new Vector3(x, rectangle[4], z);
} }
// Based on Christer Ericsons's "Real-Time Collision Detection" // Based on Christer Ericsons's "Real-Time Collision Detection"
private static float[] RayCylinderIntersection(RcVec3f point, RcVec3f start, RcVec3f axis, float radiusSqr) private static float[] RayCylinderIntersection(Vector3 point, Vector3 start, Vector3 axis, float radiusSqr)
{ {
RcVec3f d = axis; Vector3 d = axis;
RcVec3f m = new RcVec3f(point.X - start.X, point.Y - start.Y, point.Z - start.Z); Vector3 m = new Vector3(point.X - start.X, point.Y - start.Y, point.Z - start.Z);
// float[] n = { 0, 1, 0 }; // float[] n = { 0, 1, 0 };
float md = RcVec3f.Dot(m, d); float md = Vector3.Dot(m, d);
// float nd = Dot(n, d); // float nd = Dot(n, d);
float nd = axis.Y; float nd = axis.Y;
float dd = RcVec3f.Dot(d, d); float dd = Vector3.Dot(d, d);
// float nn = Dot(n, n); // float nn = Dot(n, n);
float nn = 1; float nn = 1;
@ -431,7 +432,7 @@ namespace DotRecast.Recast
float mn = m.Y; float mn = m.Y;
// float a = dd * nn - nd * nd; // float a = dd * nn - nd * nd;
float a = dd - nd * nd; float a = dd - nd * nd;
float k = RcVec3f.Dot(m, m) - radiusSqr; float k = Vector3.Dot(m, m) - radiusSqr;
float c = dd * k - md * md; float c = dd * k - md * md;
if (MathF.Abs(a) < EPSILON) if (MathF.Abs(a) < EPSILON)
{ {
@ -516,7 +517,7 @@ namespace DotRecast.Recast
} }
// check intersection with rays starting in rectangle vertices // check intersection with rays starting in rectangle vertices
var point = new RcVec3f(0, rectangle[1], 0); var point = new Vector3(0, rectangle[1], 0);
for (int i = 0; i < 4; i++) for (int i = 0; i < 4; i++)
{ {
point.X = ((i & 1) == 0) ? rectangle[0] : rectangle[2]; point.X = ((i & 1) == 0) ? rectangle[0] : rectangle[2];
@ -669,7 +670,7 @@ namespace DotRecast.Recast
} }
// rectangle vertex // rectangle vertex
var point = new RcVec3f(0, rectangle[1], 0); var point = new Vector3(0, rectangle[1], 0);
for (int i = 0; i < 4; i++) for (int i = 0; i < 4; i++)
{ {
point.X = ((i & 1) == 0) ? rectangle[0] : rectangle[2]; point.X = ((i & 1) == 0) ? rectangle[0] : rectangle[2];
@ -726,7 +727,7 @@ namespace DotRecast.Recast
return false; return false;
} }
private static bool RayTriangleIntersection(RcVec3f point, int plane, float[][] planes, out float y) private static bool RayTriangleIntersection(Vector3 point, int plane, float[][] planes, out float y)
{ {
y = 0.0f; y = 0.0f;
float t = (planes[plane][3] - RcVecUtils.Dot(planes[plane], point)) / planes[plane][1]; float t = (planes[plane][3] - RcVecUtils.Dot(planes[plane], point)) / planes[plane][1];
@ -773,7 +774,7 @@ namespace DotRecast.Recast
return dx * dx + dy * dy + dz * dz; return dx * dx + dy * dy + dz * dz;
} }
private static bool OverlapBounds(RcVec3f amin, RcVec3f amax, float[] bounds) private static bool OverlapBounds(Vector3 amin, Vector3 amax, float[] bounds)
{ {
bool overlap = true; bool overlap = true;
overlap = (amin.X > bounds[3] || amax.X < bounds[0]) ? false : overlap; overlap = (amin.X > bounds[3] || amax.X < bounds[0]) ? false : overlap;

7
src/DotRecast.Recast/RcHeightfield.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
@ -32,10 +33,10 @@ namespace DotRecast.Recast
public readonly int height; public readonly int height;
/** The minimum bounds in world space. [(x, y, z)] */ /** The minimum bounds in world space. [(x, y, z)] */
public readonly RcVec3f bmin; public readonly Vector3 bmin;
/** The maximum bounds in world space. [(x, y, z)] */ /** The maximum bounds in world space. [(x, y, z)] */
public RcVec3f bmax; public Vector3 bmax;
/** The size of each cell. (On the xz-plane.) */ /** The size of each cell. (On the xz-plane.) */
public readonly float cs; public readonly float cs;
@ -49,7 +50,7 @@ namespace DotRecast.Recast
/** Border size in cell units */ /** Border size in cell units */
public readonly int borderSize; public readonly int borderSize;
public RcHeightfield(int width, int height, RcVec3f bmin, RcVec3f bmax, float cs, float ch, int borderSize) public RcHeightfield(int width, int height, Vector3 bmin, Vector3 bmax, float cs, float ch, int borderSize)
{ {
this.width = width; this.width = width;
this.height = height; this.height = height;

5
src/DotRecast.Recast/RcHeightfieldLayer.cs
View File

@ -1,4 +1,5 @@
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
@ -6,10 +7,10 @@ namespace DotRecast.Recast
/// @see rcHeightfieldLayerSet /// @see rcHeightfieldLayerSet
public class RcHeightfieldLayer public class RcHeightfieldLayer
{ {
public RcVec3f bmin = new RcVec3f(); public Vector3 bmin = new Vector3();
/// < The minimum bounds in world space. [(x, y, z)] /// < The minimum bounds in world space. [(x, y, z)]
public RcVec3f bmax = new RcVec3f(); public Vector3 bmax = new Vector3();
/// < The maximum bounds in world space. [(x, y, z)] /// < The maximum bounds in world space. [(x, y, z)]
public float cs; public float cs;

1
src/DotRecast.Recast/RcHeightfieldLayerSet.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {

5
src/DotRecast.Recast/RcLayers.cs
View File

@ -22,6 +22,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
@ -412,8 +413,8 @@ namespace DotRecast.Recast
int lh = h - borderSize * 2; int lh = h - borderSize * 2;
// Build contracted bbox for layers. // Build contracted bbox for layers.
RcVec3f bmin = chf.bmin; Vector3 bmin = chf.bmin;
RcVec3f bmax = chf.bmax; Vector3 bmax = chf.bmax;
bmin.X += borderSize * chf.cs; bmin.X += borderSize * chf.cs;
bmin.Z += borderSize * chf.cs; bmin.Z += borderSize * chf.cs;
bmax.X -= borderSize * chf.cs; bmax.X -= borderSize * chf.cs;

43
src/DotRecast.Recast/RcMeshDetails.cs
View File

@ -22,6 +22,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using static DotRecast.Recast.RcConstants; using static DotRecast.Recast.RcConstants;
namespace DotRecast.Recast namespace DotRecast.Recast
@ -45,7 +46,7 @@ namespace DotRecast.Recast
return a[0] * b[0] + a[2] * b[2]; return a[0] * b[0] + a[2] * b[2];
} }
private static float Vdot2(RcVec3f a, RcVec3f b) private static float Vdot2(Vector3 a, Vector3 b)
{ {
return a.X * b.X + a.Z * b.Z; return a.X * b.X + a.Z * b.Z;
} }
@ -70,7 +71,7 @@ namespace DotRecast.Recast
return dx * dx + dy * dy; return dx * dx + dy * dy;
} }
private static float VdistSq2(float[] p, RcVec3f q) private static float VdistSq2(float[] p, Vector3 q)
{ {
float dx = q.X - p[0]; float dx = q.X - p[0];
float dy = q.Z - p[2]; float dy = q.Z - p[2];
@ -78,7 +79,7 @@ namespace DotRecast.Recast
} }
private static float VdistSq2(RcVec3f p, RcVec3f q) private static float VdistSq2(Vector3 p, Vector3 q)
{ {
float dx = q.X - p.X; float dx = q.X - p.X;
float dy = q.Z - p.Z; float dy = q.Z - p.Z;
@ -91,12 +92,12 @@ namespace DotRecast.Recast
return MathF.Sqrt(VdistSq2(p, q)); return MathF.Sqrt(VdistSq2(p, q));
} }
private static float Vdist2(RcVec3f p, RcVec3f q) private static float Vdist2(Vector3 p, Vector3 q)
{ {
return MathF.Sqrt(VdistSq2(p, q)); return MathF.Sqrt(VdistSq2(p, q));
} }
private static float Vdist2(float[] p, RcVec3f q) private static float Vdist2(float[] p, Vector3 q)
{ {
return MathF.Sqrt(VdistSq2(p, q)); return MathF.Sqrt(VdistSq2(p, q));
} }
@ -109,7 +110,7 @@ namespace DotRecast.Recast
return dx * dx + dy * dy; return dx * dx + dy * dy;
} }
private static float VdistSq2(RcVec3f p, float[] verts, int q) private static float VdistSq2(Vector3 p, float[] verts, int q)
{ {
float dx = verts[q + 0] - p.X; float dx = verts[q + 0] - p.X;
float dy = verts[q + 2] - p.Z; float dy = verts[q + 2] - p.Z;
@ -122,7 +123,7 @@ namespace DotRecast.Recast
return MathF.Sqrt(VdistSq2(p, verts, q)); return MathF.Sqrt(VdistSq2(p, verts, q));
} }
private static float Vdist2(RcVec3f p, float[] verts, int q) private static float Vdist2(Vector3 p, float[] verts, int q)
{ {
return MathF.Sqrt(VdistSq2(p, verts, q)); return MathF.Sqrt(VdistSq2(p, verts, q));
} }
@ -146,7 +147,7 @@ namespace DotRecast.Recast
return u1 * v2 - v1 * u2; return u1 * v2 - v1 * u2;
} }
private static float Vcross2(RcVec3f p1, RcVec3f p2, RcVec3f p3) private static float Vcross2(Vector3 p1, Vector3 p2, Vector3 p3)
{ {
float u1 = p2.X - p1.X; float u1 = p2.X - p1.X;
float v1 = p2.Z - p1.Z; float v1 = p2.Z - p1.Z;
@ -156,11 +157,11 @@ namespace DotRecast.Recast
} }
private static bool CircumCircle(float[] verts, int p1, int p2, int p3, ref RcVec3f c, RcAtomicFloat r) private static bool CircumCircle(float[] verts, int p1, int p2, int p3, ref Vector3 c, RcAtomicFloat r)
{ {
const float EPS = 1e-6f; const float EPS = 1e-6f;
// Calculate the circle relative to p1, to avoid some precision issues. // Calculate the circle relative to p1, to avoid some precision issues.
var v1 = new RcVec3f(); var v1 = new Vector3();
var v2 = RcVecUtils.Subtract(verts, p2, p1); var v2 = RcVecUtils.Subtract(verts, p2, p1);
var v3 = RcVecUtils.Subtract(verts, p3, p1); var v3 = RcVecUtils.Subtract(verts, p3, p1);
@ -183,7 +184,7 @@ namespace DotRecast.Recast
return false; return false;
} }
private static float DistPtTri(RcVec3f p, float[] verts, int a, int b, int c) private static float DistPtTri(Vector3 p, float[] verts, int a, int b, int c)
{ {
var v0 = RcVecUtils.Subtract(verts, c, a); var v0 = RcVecUtils.Subtract(verts, c, a);
var v1 = RcVecUtils.Subtract(verts, b, a); var v1 = RcVecUtils.Subtract(verts, b, a);
@ -242,7 +243,7 @@ namespace DotRecast.Recast
return dx * dx + dy * dy + dz * dz; return dx * dx + dy * dy + dz * dz;
} }
private static float DistancePtSeg2d(RcVec3f verts, float[] poly, int p, int q) private static float DistancePtSeg2d(Vector3 verts, float[] poly, int p, int q)
{ {
float pqx = poly[q + 0] - poly[p + 0]; float pqx = poly[q + 0] - poly[p + 0];
float pqz = poly[q + 2] - poly[p + 2]; float pqz = poly[q + 2] - poly[p + 2];
@ -298,7 +299,7 @@ namespace DotRecast.Recast
return dx * dx + dz * dz; return dx * dx + dz * dz;
} }
private static float DistToTriMesh(RcVec3f p, float[] verts, int nverts, List<int> tris, int ntris) private static float DistToTriMesh(Vector3 p, float[] verts, int nverts, List<int> tris, int ntris)
{ {
float dmin = float.MaxValue; float dmin = float.MaxValue;
for (int i = 0; i < ntris; ++i) for (int i = 0; i < ntris; ++i)
@ -321,7 +322,7 @@ namespace DotRecast.Recast
return dmin; return dmin;
} }
private static float DistToPoly(int nvert, float[] verts, RcVec3f p) private static float DistToPoly(int nvert, float[] verts, Vector3 p)
{ {
float dmin = float.MaxValue; float dmin = float.MaxValue;
int i, j; int i, j;
@ -533,7 +534,7 @@ namespace DotRecast.Recast
// Find best point on left of edge. // Find best point on left of edge.
int pt = npts; int pt = npts;
RcVec3f c = new RcVec3f(); Vector3 c = new Vector3();
RcAtomicFloat r = new RcAtomicFloat(-1f); RcAtomicFloat r = new RcAtomicFloat(-1f);
for (int u = 0; u < npts; ++u) for (int u = 0; u < npts; ++u)
{ {
@ -1001,8 +1002,8 @@ namespace DotRecast.Recast
if (sampleDist > 0) if (sampleDist > 0)
{ {
// Create sample locations in a grid. // Create sample locations in a grid.
RcVec3f bmin = RcVecUtils.Create(@in); Vector3 bmin = RcVecUtils.Create(@in);
RcVec3f bmax = RcVecUtils.Create(@in); Vector3 bmax = RcVecUtils.Create(@in);
for (int i = 1; i < nin; ++i) for (int i = 1; i < nin; ++i)
{ {
bmin = RcVecUtils.Min(bmin, @in, i * 3); bmin = RcVecUtils.Min(bmin, @in, i * 3);
@ -1018,7 +1019,7 @@ namespace DotRecast.Recast
{ {
for (int x = x0; x < x1; ++x) for (int x = x0; x < x1; ++x)
{ {
RcVec3f pt = new RcVec3f(); Vector3 pt = new Vector3();
pt.X = x * sampleDist; pt.X = x * sampleDist;
pt.Y = (bmax.Y + bmin.Y) * 0.5f; pt.Y = (bmax.Y + bmin.Y) * 0.5f;
pt.Z = z * sampleDist; pt.Z = z * sampleDist;
@ -1047,7 +1048,7 @@ namespace DotRecast.Recast
} }
// Find sample with most error. // Find sample with most error.
RcVec3f bestpt = new RcVec3f(); Vector3 bestpt = new Vector3();
float bestd = 0; float bestd = 0;
int besti = -1; int besti = -1;
for (int i = 0; i < nsamples; ++i) for (int i = 0; i < nsamples; ++i)
@ -1058,7 +1059,7 @@ namespace DotRecast.Recast
continue; // skip added. continue; // skip added.
} }
RcVec3f pt = new RcVec3f(); Vector3 pt = new Vector3();
// The sample location is jittered to get rid of some bad triangulations // The sample location is jittered to get rid of some bad triangulations
// which are cause by symmetrical data from the grid structure. // which are cause by symmetrical data from the grid structure.
pt.X = samples[s + 0] * sampleDist + GetJitterX(i) * cs * 0.1f; pt.X = samples[s + 0] * sampleDist + GetJitterX(i) * cs * 0.1f;
@ -1441,7 +1442,7 @@ namespace DotRecast.Recast
int nvp = mesh.nvp; int nvp = mesh.nvp;
float cs = mesh.cs; float cs = mesh.cs;
float ch = mesh.ch; float ch = mesh.ch;
RcVec3f orig = mesh.bmin; Vector3 orig = mesh.bmin;
int borderSize = mesh.borderSize; int borderSize = mesh.borderSize;
int heightSearchRadius = (int)Math.Max(1, MathF.Ceiling(mesh.maxEdgeError)); int heightSearchRadius = (int)Math.Max(1, MathF.Ceiling(mesh.maxEdgeError));

5
src/DotRecast.Recast/RcMeshs.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
@ -1231,8 +1232,8 @@ namespace DotRecast.Recast
int maxVertsPerMesh = 0; int maxVertsPerMesh = 0;
for (int i = 0; i < nmeshes; ++i) for (int i = 0; i < nmeshes; ++i)
{ {
mesh.bmin = RcVec3f.Min(mesh.bmin, meshes[i].bmin); mesh.bmin = Vector3.Min(mesh.bmin, meshes[i].bmin);
mesh.bmax = RcVec3f.Max(mesh.bmax, meshes[i].bmax); mesh.bmax = Vector3.Max(mesh.bmax, meshes[i].bmax);
maxVertsPerMesh = Math.Max(maxVertsPerMesh, meshes[i].nverts); maxVertsPerMesh = Math.Max(maxVertsPerMesh, meshes[i].nverts);
maxVerts += meshes[i].nverts; maxVerts += meshes[i].nverts;
maxPolys += meshes[i].npolys; maxPolys += meshes[i].npolys;

5
src/DotRecast.Recast/RcPolyMesh.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
@ -53,10 +54,10 @@ namespace DotRecast.Recast
public int[] flags; public int[] flags;
/** The minimum bounds in world space. [(x, y, z)] */ /** The minimum bounds in world space. [(x, y, z)] */
public RcVec3f bmin = new RcVec3f(); public Vector3 bmin = new Vector3();
/** The maximum bounds in world space. [(x, y, z)] */ /** The maximum bounds in world space. [(x, y, z)] */
public RcVec3f bmax = new RcVec3f(); public Vector3 bmax = new Vector3();
/** The size of each cell. (On the xz-plane.) */ /** The size of each cell. (On the xz-plane.) */
public float cs; public float cs;

7
src/DotRecast.Recast/RcPolyMeshRaycast.cs
View File

@ -20,12 +20,13 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
namespace DotRecast.Recast namespace DotRecast.Recast
{ {
public static class RcPolyMeshRaycast public static class RcPolyMeshRaycast
{ {
public static bool Raycast(IList<RcBuilderResult> results, RcVec3f src, RcVec3f dst, out float hitTime) public static bool Raycast(IList<RcBuilderResult> results, Vector3 src, Vector3 dst, out float hitTime)
{ {
hitTime = 0.0f; hitTime = 0.0f;
foreach (RcBuilderResult result in results) foreach (RcBuilderResult result in results)
@ -42,7 +43,7 @@ namespace DotRecast.Recast
return false; return false;
} }
private static bool Raycast(RcPolyMesh poly, RcPolyMeshDetail meshDetail, RcVec3f sp, RcVec3f sq, out float hitTime) private static bool Raycast(RcPolyMesh poly, RcPolyMeshDetail meshDetail, Vector3 sp, Vector3 sq, out float hitTime)
{ {
hitTime = 0; hitTime = 0;
if (meshDetail != null) if (meshDetail != null)
@ -57,7 +58,7 @@ namespace DotRecast.Recast
int tris = btris * 4; int tris = btris * 4;
for (int j = 0; j < ntris; ++j) for (int j = 0; j < ntris; ++j)
{ {
RcVec3f[] vs = new RcVec3f[3]; Vector3[] vs = new Vector3[3];
for (int k = 0; k < 3; ++k) for (int k = 0; k < 3; ++k)
{ {
vs[k].X = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3]; vs[k].X = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3];

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

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using static DotRecast.Recast.RcConstants; using static DotRecast.Recast.RcConstants;
namespace DotRecast.Recast namespace DotRecast.Recast
@ -49,7 +50,7 @@ namespace DotRecast.Recast
return overlap; return overlap;
} }
private static bool OverlapBounds(RcVec3f amin, RcVec3f amax, RcVec3f bmin, RcVec3f bmax) private static bool OverlapBounds(Vector3 amin, Vector3 amax, Vector3 bmin, Vector3 bmax)
{ {
bool overlap = true; bool overlap = true;
overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap; overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap;
@ -230,15 +231,15 @@ namespace DotRecast.Recast
/// @param[in] flagMergeThreshold The threshold in which area flags will be merged /// @param[in] flagMergeThreshold The threshold in which area flags will be merged
/// @returns true if the operation completes successfully. false if there was an error adding spans to the heightfield. /// @returns true if the operation completes successfully. false if there was an error adding spans to the heightfield.
private static void RasterizeTri(float[] verts, int v0, int v1, int v2, int area, RcHeightfield heightfield, private static void RasterizeTri(float[] verts, int v0, int v1, int v2, int area, RcHeightfield heightfield,
RcVec3f heightfieldBBMin, RcVec3f heightfieldBBMax, Vector3 heightfieldBBMin, Vector3 heightfieldBBMax,
float cellSize, float inverseCellSize, float inverseCellHeight, float cellSize, float inverseCellSize, float inverseCellHeight,
int flagMergeThreshold) int flagMergeThreshold)
{ {
float by = heightfieldBBMax.Y - heightfieldBBMin.Y; float by = heightfieldBBMax.Y - heightfieldBBMin.Y;
// Calculate the bounding box of the triangle. // Calculate the bounding box of the triangle.
RcVec3f tmin = RcVecUtils.Create(verts, v0 * 3); Vector3 tmin = RcVecUtils.Create(verts, v0 * 3);
RcVec3f tmax = RcVecUtils.Create(verts, v0 * 3); Vector3 tmax = RcVecUtils.Create(verts, v0 * 3);
tmin = RcVecUtils.Min(tmin, verts, v1 * 3); tmin = RcVecUtils.Min(tmin, verts, v1 * 3);
tmin = RcVecUtils.Min(tmin, verts, v2 * 3); tmin = RcVecUtils.Min(tmin, verts, v2 * 3);
tmax = RcVecUtils.Max(tmax, verts, v1 * 3); tmax = RcVecUtils.Max(tmax, verts, v1 * 3);

55
test/DotRecast.Core.Test/Vector3Tests.cs
View File

@ -1,6 +1,7 @@
using System; using System;
using System.Numerics; using System.Numerics;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Core.Test; namespace DotRecast.Core.Test;
@ -12,7 +13,7 @@ public class Vector3Tests
public void TestVectorLength() public void TestVectorLength()
{ {
var v1 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle()); var v1 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle());
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z); var v11 = new Vector3(v1.X, v1.Y, v1.Z);
Assert.That(v1.Length(), Is.EqualTo(v11.Length())); Assert.That(v1.Length(), Is.EqualTo(v11.Length()));
Assert.That(v1.LengthSquared(), Is.EqualTo(v11.LengthSquared())); Assert.That(v1.LengthSquared(), Is.EqualTo(v11.LengthSquared()));
@ -28,9 +29,9 @@ public class Vector3Tests
var v4 = v1 - v2; var v4 = v1 - v2;
Assert.That(v3, Is.EqualTo(v4)); Assert.That(v3, Is.EqualTo(v4));
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z); var v11 = new Vector3(v1.X, v1.Y, v1.Z);
var v22 = new RcVec3f(v2.X, v2.Y, v2.Z); var v22 = new Vector3(v2.X, v2.Y, v2.Z);
var v33 = RcVec3f.Subtract(v11, v22); var v33 = Vector3.Subtract(v11, v22);
var v44 = v11 - v22; var v44 = v11 - v22;
Assert.That(v33, Is.EqualTo(v44)); Assert.That(v33, Is.EqualTo(v44));
@ -50,9 +51,9 @@ public class Vector3Tests
var v4 = v1 + v2; var v4 = v1 + v2;
Assert.That(v3, Is.EqualTo(v4)); Assert.That(v3, Is.EqualTo(v4));
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z); var v11 = new Vector3(v1.X, v1.Y, v1.Z);
var v22 = new RcVec3f(v2.X, v2.Y, v2.Z); var v22 = new Vector3(v2.X, v2.Y, v2.Z);
var v33 = RcVec3f.Add(v11, v22); var v33 = Vector3.Add(v11, v22);
var v44 = v11 + v22; var v44 = v11 + v22;
Assert.That(v33, Is.EqualTo(v44)); Assert.That(v33, Is.EqualTo(v44));
@ -68,8 +69,8 @@ public class Vector3Tests
var v1 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle()); var v1 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle());
var v2 = Vector3.Normalize(v1); var v2 = Vector3.Normalize(v1);
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z); var v11 = new Vector3(v1.X, v1.Y, v1.Z);
var v22 = RcVec3f.Normalize(v11); var v22 = Vector3.Normalize(v11);
Assert.That(v2.X, Is.EqualTo(v22.X).Within(0.000001d)); Assert.That(v2.X, Is.EqualTo(v22.X).Within(0.000001d));
Assert.That(v2.Y, Is.EqualTo(v22.Y).Within(0.000001d)); Assert.That(v2.Y, Is.EqualTo(v22.Y).Within(0.000001d));
@ -84,9 +85,9 @@ public class Vector3Tests
var v2 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle()); var v2 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle());
var v3 = Vector3.Cross(v1, v2); var v3 = Vector3.Cross(v1, v2);
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z); var v11 = new Vector3(v1.X, v1.Y, v1.Z);
var v22 = new RcVec3f(v2.X, v2.Y, v2.Z); var v22 = new Vector3(v2.X, v2.Y, v2.Z);
var v33 = RcVec3f.Cross(v11, v22); var v33 = Vector3.Cross(v11, v22);
Assert.That(v3.X, Is.EqualTo(v33.X)); Assert.That(v3.X, Is.EqualTo(v33.X));
Assert.That(v3.Y, Is.EqualTo(v33.Y)); Assert.That(v3.Y, Is.EqualTo(v33.Y));
@ -103,7 +104,7 @@ public class Vector3Tests
v1.CopyTo(array1); v1.CopyTo(array1);
v1.CopyTo(array2, 0); v1.CopyTo(array2, 0);
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z); var v11 = new Vector3(v1.X, v1.Y, v1.Z);
var array11 = new float[3]; var array11 = new float[3];
var array22 = new float[3]; var array22 = new float[3];
v11.CopyTo(array11); v11.CopyTo(array11);
@ -121,9 +122,9 @@ public class Vector3Tests
var v2 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle()); var v2 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle());
float d3 = Vector3.Dot(v1, v2); float d3 = Vector3.Dot(v1, v2);
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z); var v11 = new Vector3(v1.X, v1.Y, v1.Z);
var v22 = new RcVec3f(v2.X, v2.Y, v2.Z); var v22 = new Vector3(v2.X, v2.Y, v2.Z);
var d33 = RcVec3f.Dot(v11, v22); var d33 = Vector3.Dot(v11, v22);
Assert.That(d3, Is.EqualTo(d33)); Assert.That(d3, Is.EqualTo(d33));
} }
@ -137,10 +138,10 @@ public class Vector3Tests
var d3 = Vector3.Distance(v1, v2); var d3 = Vector3.Distance(v1, v2);
var d4 = Vector3.DistanceSquared(v1, v2); var d4 = Vector3.DistanceSquared(v1, v2);
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z); var v11 = new Vector3(v1.X, v1.Y, v1.Z);
var v22 = new RcVec3f(v2.X, v2.Y, v2.Z); var v22 = new Vector3(v2.X, v2.Y, v2.Z);
var d33 = RcVec3f.Distance(v11, v22); var d33 = Vector3.Distance(v11, v22);
var d44 = RcVec3f.DistanceSquared(v11, v22); var d44 = Vector3.DistanceSquared(v11, v22);
Assert.That(d3, Is.EqualTo(d33)); Assert.That(d3, Is.EqualTo(d33));
Assert.That(d4, Is.EqualTo(d44)); Assert.That(d4, Is.EqualTo(d44));
@ -155,10 +156,10 @@ public class Vector3Tests
var v3 = Vector3.Min(v1, v2); var v3 = Vector3.Min(v1, v2);
var v4 = Vector3.Max(v1, v2); var v4 = Vector3.Max(v1, v2);
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z); var v11 = new Vector3(v1.X, v1.Y, v1.Z);
var v22 = new RcVec3f(v2.X, v2.Y, v2.Z); var v22 = new Vector3(v2.X, v2.Y, v2.Z);
var v33 = RcVec3f.Min(v11, v22); var v33 = Vector3.Min(v11, v22);
var v44 = RcVec3f.Max(v11, v22); var v44 = Vector3.Max(v11, v22);
Assert.That(v3.X, Is.EqualTo(v33.X)); Assert.That(v3.X, Is.EqualTo(v33.X));
Assert.That(v3.Y, Is.EqualTo(v33.Y)); Assert.That(v3.Y, Is.EqualTo(v33.Y));
@ -179,9 +180,9 @@ public class Vector3Tests
var v2 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle()); var v2 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle());
var v3 = Vector3.Lerp(v1, v2, amt); var v3 = Vector3.Lerp(v1, v2, amt);
var v11 = new RcVec3f(v1.X, v1.Y, v1.Z); var v11 = new Vector3(v1.X, v1.Y, v1.Z);
var v22 = new RcVec3f(v2.X, v2.Y, v2.Z); var v22 = new Vector3(v2.X, v2.Y, v2.Z);
var v33 = RcVec3f.Lerp(v11, v22, amt); var v33 = Vector3.Lerp(v11, v22, amt);
Assert.That(v3.X, Is.EqualTo(v33.X)); Assert.That(v3.X, Is.EqualTo(v33.X));
Assert.That(v3.Y, Is.EqualTo(v33.Y)); Assert.That(v3.Y, Is.EqualTo(v33.Y));

41
test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Crowd.Test; namespace DotRecast.Detour.Crowd.Test;
@ -36,22 +37,22 @@ public class AbstractCrowdTest
protected readonly long[] endRefs = { 281474976710721L, 281474976710767L, 281474976710758L, 281474976710731L, 281474976710772L }; protected readonly long[] endRefs = { 281474976710721L, 281474976710767L, 281474976710758L, 281474976710731L, 281474976710772L };
protected readonly RcVec3f[] startPoss = protected readonly Vector3[] startPoss =
{ {
new RcVec3f(22.60652f, 10.197294f, -45.918674f), new Vector3(22.60652f, 10.197294f, -45.918674f),
new RcVec3f(22.331268f, 10.197294f, -1.0401875f), new Vector3(22.331268f, 10.197294f, -1.0401875f),
new RcVec3f(18.694363f, 15.803535f, -73.090416f), new Vector3(18.694363f, 15.803535f, -73.090416f),
new RcVec3f(0.7453353f, 10.197294f, -5.94005f), new Vector3(0.7453353f, 10.197294f, -5.94005f),
new RcVec3f(-20.651257f, 5.904126f, -13.712508f), new Vector3(-20.651257f, 5.904126f, -13.712508f),
}; };
protected readonly RcVec3f[] endPoss = protected readonly Vector3[] endPoss =
{ {
new RcVec3f(6.4576626f, 10.197294f, -18.33406f), new Vector3(6.4576626f, 10.197294f, -18.33406f),
new RcVec3f(-5.8023443f, 0.19729415f, 3.008419f), new Vector3(-5.8023443f, 0.19729415f, 3.008419f),
new RcVec3f(38.423977f, 10.197294f, -0.116066754f), new Vector3(38.423977f, 10.197294f, -0.116066754f),
new RcVec3f(0.8635526f, 10.197294f, -10.31032f), new Vector3(0.8635526f, 10.197294f, -10.31032f),
new RcVec3f(18.784092f, 10.197294f, 3.0543678f), new Vector3(18.784092f, 10.197294f, 3.0543678f),
}; };
protected DtMeshData nmd; protected DtMeshData nmd;
@ -110,14 +111,14 @@ public class AbstractCrowdTest
return ap; return ap;
} }
protected void AddAgentGrid(int size, float distance, int updateFlags, int obstacleAvoidanceType, RcVec3f startPos) protected void AddAgentGrid(int size, float distance, int updateFlags, int obstacleAvoidanceType, Vector3 startPos)
{ {
DtCrowdAgentParams ap = GetAgentParams(updateFlags, obstacleAvoidanceType); DtCrowdAgentParams ap = GetAgentParams(updateFlags, obstacleAvoidanceType);
for (int i = 0; i < size; i++) for (int i = 0; i < size; i++)
{ {
for (int j = 0; j < size; j++) for (int j = 0; j < size; j++)
{ {
RcVec3f pos = new RcVec3f(); Vector3 pos = new Vector3();
pos.X = startPos.X + i * distance; pos.X = startPos.X + i * distance;
pos.Y = startPos.Y; pos.Y = startPos.Y;
pos.Z = startPos.Z + j * distance; pos.Z = startPos.Z + j * distance;
@ -126,15 +127,15 @@ public class AbstractCrowdTest
} }
} }
protected void SetMoveTarget(RcVec3f pos, bool adjust) protected void SetMoveTarget(Vector3 pos, bool adjust)
{ {
RcVec3f ext = crowd.GetQueryExtents(); Vector3 ext = crowd.GetQueryExtents();
IDtQueryFilter filter = crowd.GetFilter(0); IDtQueryFilter filter = crowd.GetFilter(0);
if (adjust) if (adjust)
{ {
foreach (DtCrowdAgent ag in crowd.GetActiveAgents()) foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
{ {
RcVec3f vel = CalcVel(ag.npos, pos, ag.option.maxSpeed); Vector3 vel = CalcVel(ag.npos, pos, ag.option.maxSpeed);
crowd.RequestMoveVelocity(ag, vel); crowd.RequestMoveVelocity(ag, vel);
} }
} }
@ -148,11 +149,11 @@ public class AbstractCrowdTest
} }
} }
protected RcVec3f CalcVel(RcVec3f pos, RcVec3f tgt, float speed) protected Vector3 CalcVel(Vector3 pos, Vector3 tgt, float speed)
{ {
RcVec3f vel = RcVec3f.Subtract(tgt, pos); Vector3 vel = Vector3.Subtract(tgt, pos);
vel.Y = 0.0f; vel.Y = 0.0f;
vel = RcVec3f.Normalize(vel); vel = Vector3.Normalize(vel);
vel = vel.Scale(speed); vel = vel.Scale(speed);
return vel; return vel;
} }

33
test/DotRecast.Detour.Crowd.Test/PathCorridorTest.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using Moq; using Moq;
using NUnit.Framework; using NUnit.Framework;
@ -34,27 +35,27 @@ public class PathCorridorTest
[SetUp] [SetUp]
public void SetUp() public void SetUp()
{ {
corridor.Reset(0, new RcVec3f(10, 20, 30)); corridor.Reset(0, new Vector3(10, 20, 30));
} }
[Test] [Test]
public void ShouldKeepOriginalPathInFindCornersWhenNothingCanBePruned() public void ShouldKeepOriginalPathInFindCornersWhenNothingCanBePruned()
{ {
List<DtStraightPath> straightPath = new(); List<DtStraightPath> straightPath = new();
straightPath.Add(new DtStraightPath(new RcVec3f(11, 20, 30.00001f), 0, 0)); straightPath.Add(new DtStraightPath(new Vector3(11, 20, 30.00001f), 0, 0));
straightPath.Add(new DtStraightPath(new RcVec3f(12, 20, 30.00002f), 0, 0)); straightPath.Add(new DtStraightPath(new Vector3(12, 20, 30.00002f), 0, 0));
straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0)); straightPath.Add(new DtStraightPath(new Vector3(11f, 21, 32f), 0, 0));
straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0)); straightPath.Add(new DtStraightPath(new Vector3(11f, 21, 32f), 0, 0));
var mockQuery = new Mock<DtNavMeshQuery>(It.IsAny<DtNavMesh>()); var mockQuery = new Mock<DtNavMeshQuery>(It.IsAny<DtNavMesh>());
mockQuery.Setup(q => q.FindStraightPath( mockQuery.Setup(q => q.FindStraightPath(
It.IsAny<RcVec3f>(), It.IsAny<Vector3>(),
It.IsAny<RcVec3f>(), It.IsAny<Vector3>(),
It.IsAny<List<long>>(), It.IsAny<List<long>>(),
ref It.Ref<List<DtStraightPath>>.IsAny, ref It.Ref<List<DtStraightPath>>.IsAny,
It.IsAny<int>(), It.IsAny<int>(),
It.IsAny<int>()) It.IsAny<int>())
) )
.Callback((RcVec3f startPos, RcVec3f endPos, List<long> path, .Callback((Vector3 startPos, Vector3 endPos, List<long> path,
ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) => ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) =>
{ {
refStraightPath = straightPath; refStraightPath = straightPath;
@ -71,21 +72,21 @@ public class PathCorridorTest
public void ShouldPrunePathInFindCorners() public void ShouldPrunePathInFindCorners()
{ {
List<DtStraightPath> straightPath = new(); List<DtStraightPath> straightPath = new();
straightPath.Add(new DtStraightPath(new RcVec3f(10, 20, 30.00001f), 0, 0)); // too close straightPath.Add(new DtStraightPath(new Vector3(10, 20, 30.00001f), 0, 0)); // too close
straightPath.Add(new DtStraightPath(new RcVec3f(10, 20, 30.00002f), 0, 0)); // too close straightPath.Add(new DtStraightPath(new Vector3(10, 20, 30.00002f), 0, 0)); // too close
straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0)); straightPath.Add(new DtStraightPath(new Vector3(11f, 21, 32f), 0, 0));
straightPath.Add(new DtStraightPath(new RcVec3f(12f, 22, 33f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh straightPath.Add(new DtStraightPath(new Vector3(12f, 22, 33f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh straightPath.Add(new DtStraightPath(new Vector3(11f, 21, 32f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
var mockQuery = new Mock<DtNavMeshQuery>(It.IsAny<DtNavMesh>()); var mockQuery = new Mock<DtNavMeshQuery>(It.IsAny<DtNavMesh>());
mockQuery.Setup(q => q.FindStraightPath( mockQuery.Setup(q => q.FindStraightPath(
It.IsAny<RcVec3f>(), It.IsAny<Vector3>(),
It.IsAny<RcVec3f>(), It.IsAny<Vector3>(),
It.IsAny<List<long>>(), It.IsAny<List<long>>(),
ref It.Ref<List<DtStraightPath>>.IsAny, ref It.Ref<List<DtStraightPath>>.IsAny,
It.IsAny<int>(), It.IsAny<int>(),
It.IsAny<int>()) It.IsAny<int>())
).Callback((RcVec3f startPos, RcVec3f endPos, List<long> path, ).Callback((Vector3 startPos, Vector3 endPos, List<long> path,
ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) => ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) =>
{ {
refStraightPath = straightPath; refStraightPath = straightPath;

1
test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs
View File

@ -17,6 +17,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;

9
test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs
View File

@ -3,6 +3,7 @@ using System.IO;
using System.Threading.Tasks; using System.Threading.Tasks;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Dynamic.Colliders; using DotRecast.Detour.Dynamic.Colliders;
using DotRecast.Detour.Dynamic.Io; using DotRecast.Detour.Dynamic.Io;
using DotRecast.Detour.Dynamic.Test.Io; using DotRecast.Detour.Dynamic.Test.Io;
@ -13,10 +14,10 @@ namespace DotRecast.Detour.Dynamic.Test;
[Parallelizable] [Parallelizable]
public class DynamicNavMeshTest public class DynamicNavMeshTest
{ {
private static readonly RcVec3f START_POS = new RcVec3f(70.87453f, 0.0010070801f, 86.69021f); private static readonly Vector3 START_POS = new Vector3(70.87453f, 0.0010070801f, 86.69021f);
private static readonly RcVec3f END_POS = new RcVec3f(-50.22061f, 0.0010070801f, -70.761444f); private static readonly Vector3 END_POS = new Vector3(-50.22061f, 0.0010070801f, -70.761444f);
private static readonly RcVec3f EXTENT = new RcVec3f(0.1f, 0.1f, 0.1f); private static readonly Vector3 EXTENT = new Vector3(0.1f, 0.1f, 0.1f);
private static readonly RcVec3f SPHERE_POS = new RcVec3f(45.381645f, 0.0010070801f, 52.68981f); private static readonly Vector3 SPHERE_POS = new Vector3(45.381645f, 0.0010070801f, 52.68981f);
[Test] [Test]

9
test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System.IO; using System.IO;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Dynamic.Io; using DotRecast.Detour.Dynamic.Io;
using NUnit.Framework; using NUnit.Framework;
@ -50,8 +51,8 @@ public class VoxelFileReaderTest
Assert.That(f.tiles[0].cellHeight, Is.EqualTo(0.001f)); Assert.That(f.tiles[0].cellHeight, Is.EqualTo(0.001f));
Assert.That(f.tiles[0].width, Is.EqualTo(810)); Assert.That(f.tiles[0].width, Is.EqualTo(810));
Assert.That(f.tiles[0].depth, Is.EqualTo(810)); Assert.That(f.tiles[0].depth, Is.EqualTo(810));
Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new RcVec3f(-101.25f, 0f, -101.25f))); Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new Vector3(-101.25f, 0f, -101.25f)));
Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new RcVec3f(101.25f, 5.0f, 101.25f))); Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new Vector3(101.25f, 5.0f, 101.25f)));
} }
[Test] [Test]
@ -77,7 +78,7 @@ public class VoxelFileReaderTest
Assert.That(f.tiles[0].cellHeight, Is.EqualTo(0.001f)); Assert.That(f.tiles[0].cellHeight, Is.EqualTo(0.001f));
Assert.That(f.tiles[0].width, Is.EqualTo(90)); Assert.That(f.tiles[0].width, Is.EqualTo(90));
Assert.That(f.tiles[0].depth, Is.EqualTo(90)); Assert.That(f.tiles[0].depth, Is.EqualTo(90));
Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new RcVec3f(-101.25f, 0f, -101.25f))); Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new Vector3(-101.25f, 0f, -101.25f)));
Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new RcVec3f(-78.75f, 5.0f, -78.75f))); Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new Vector3(-78.75f, 5.0f, -78.75f)));
} }
} }

9
test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System.IO; using System.IO;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Dynamic.Io; using DotRecast.Detour.Dynamic.Io;
using NUnit.Framework; using NUnit.Framework;
@ -52,8 +53,8 @@ public class VoxelFileReaderWriterTest
Assert.That(f.tiles[0].width, Is.EqualTo(810)); Assert.That(f.tiles[0].width, Is.EqualTo(810));
Assert.That(f.tiles[0].depth, Is.EqualTo(810)); Assert.That(f.tiles[0].depth, Is.EqualTo(810));
Assert.That(f.tiles[0].spanData.Length, Is.EqualTo(9021024)); Assert.That(f.tiles[0].spanData.Length, Is.EqualTo(9021024));
Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new RcVec3f(-101.25f, 0f, -101.25f))); Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new Vector3(-101.25f, 0f, -101.25f)));
Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new RcVec3f(101.25f, 5.0f, 101.25f))); Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new Vector3(101.25f, 5.0f, 101.25f)));
} }
[TestCase(false)] [TestCase(false)]
@ -83,8 +84,8 @@ public class VoxelFileReaderWriterTest
Assert.That(f.tiles[0].spanData.Length, Is.EqualTo(104952)); Assert.That(f.tiles[0].spanData.Length, Is.EqualTo(104952));
Assert.That(f.tiles[5].spanData.Length, Is.EqualTo(109080)); Assert.That(f.tiles[5].spanData.Length, Is.EqualTo(109080));
Assert.That(f.tiles[18].spanData.Length, Is.EqualTo(113400)); Assert.That(f.tiles[18].spanData.Length, Is.EqualTo(113400));
Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new RcVec3f(-101.25f, 0f, -101.25f))); Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new Vector3(-101.25f, 0f, -101.25f)));
Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new RcVec3f(-78.75f, 5.0f, -78.75f))); Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new Vector3(-78.75f, 5.0f, -78.75f)));
} }
private DtVoxelFile ReadWriteRead(BinaryReader bis, bool compression) private DtVoxelFile ReadWriteRead(BinaryReader bis, bool compression)

15
test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs
View File

@ -23,6 +23,7 @@ using System.Threading.Tasks;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Dynamic.Io; using DotRecast.Detour.Dynamic.Io;
using DotRecast.Detour.Dynamic.Test.Io; using DotRecast.Detour.Dynamic.Test.Io;
using DotRecast.Recast; using DotRecast.Recast;
@ -36,7 +37,7 @@ public class VoxelQueryTest
{ {
private const int TILE_WIDTH = 100; private const int TILE_WIDTH = 100;
private const int TILE_DEPTH = 90; private const int TILE_DEPTH = 90;
private static readonly RcVec3f ORIGIN = new RcVec3f(50, 10, 40); private static readonly Vector3 ORIGIN = new Vector3(50, 10, 40);
[Test] [Test]
@ -58,8 +59,8 @@ public class VoxelQueryTest
}); });
DtVoxelQuery query = new DtVoxelQuery(ORIGIN, TILE_WIDTH, TILE_DEPTH, hfProvider.Object); DtVoxelQuery query = new DtVoxelQuery(ORIGIN, TILE_WIDTH, TILE_DEPTH, hfProvider.Object);
RcVec3f start = new RcVec3f(120, 10, 365); Vector3 start = new Vector3(120, 10, 365);
RcVec3f end = new RcVec3f(320, 10, 57); Vector3 end = new Vector3(320, 10, 57);
// When // When
query.Raycast(start, end, out var hit); query.Raycast(start, end, out var hit);
@ -74,8 +75,8 @@ public class VoxelQueryTest
{ {
DtDynamicNavMesh mesh = CreateDynaMesh(); DtDynamicNavMesh mesh = CreateDynaMesh();
DtVoxelQuery query = mesh.VoxelQuery(); DtVoxelQuery query = mesh.VoxelQuery();
RcVec3f start = new RcVec3f(7.4f, 0.5f, -64.8f); Vector3 start = new Vector3(7.4f, 0.5f, -64.8f);
RcVec3f end = new RcVec3f(31.2f, 0.5f, -75.3f); Vector3 end = new Vector3(31.2f, 0.5f, -75.3f);
bool isHit = query.Raycast(start, end, out var hit); bool isHit = query.Raycast(start, end, out var hit);
Assert.That(isHit, Is.EqualTo(false)); Assert.That(isHit, Is.EqualTo(false));
} }
@ -85,8 +86,8 @@ public class VoxelQueryTest
{ {
DtDynamicNavMesh mesh = CreateDynaMesh(); DtDynamicNavMesh mesh = CreateDynaMesh();
DtVoxelQuery query = mesh.VoxelQuery(); DtVoxelQuery query = mesh.VoxelQuery();
RcVec3f start = new RcVec3f(32.3f, 0.5f, 47.9f); Vector3 start = new Vector3(32.3f, 0.5f, 47.9f);
RcVec3f end = new RcVec3f(-31.2f, 0.5f, -29.8f); Vector3 end = new Vector3(-31.2f, 0.5f, -29.8f);
bool isHit = query.Raycast(start, end, out var hit); bool isHit = query.Raycast(start, end, out var hit);
Assert.That(isHit, Is.EqualTo(true)); Assert.That(isHit, Is.EqualTo(true));
Assert.That(hit, Is.EqualTo(0.5263836f).Within(1e-7f)); Assert.That(hit, Is.EqualTo(0.5263836f).Within(1e-7f));

21
test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs
View File

@ -20,6 +20,7 @@ using System.IO;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Extras.Unity.Astar; using DotRecast.Detour.Extras.Unity.Astar;
using DotRecast.Detour.Io; using DotRecast.Detour.Io;
using NUnit.Framework; using NUnit.Framework;
@ -33,8 +34,8 @@ public class UnityAStarPathfindingImporterTest
public void Test_v4_0_6() public void Test_v4_0_6()
{ {
DtNavMesh mesh = LoadNavMesh("graph.zip"); DtNavMesh mesh = LoadNavMesh("graph.zip");
RcVec3f startPos = new RcVec3f(8.200293f, 2.155071f, -26.176147f); Vector3 startPos = new Vector3(8.200293f, 2.155071f, -26.176147f);
RcVec3f endPos = new RcVec3f(11.971109f, 0.000000f, 8.663261f); Vector3 endPos = new Vector3(11.971109f, 0.000000f, 8.663261f);
var path = new List<long>(); var path = new List<long>();
var status = FindPath(mesh, startPos, endPos, ref path); var status = FindPath(mesh, startPos, endPos, ref path);
Assert.That(status, Is.EqualTo(DtStatus.DT_SUCCESS)); Assert.That(status, Is.EqualTo(DtStatus.DT_SUCCESS));
@ -46,8 +47,8 @@ public class UnityAStarPathfindingImporterTest
public void Test_v4_1_16() public void Test_v4_1_16()
{ {
DtNavMesh mesh = LoadNavMesh("graph_v4_1_16.zip"); DtNavMesh mesh = LoadNavMesh("graph_v4_1_16.zip");
RcVec3f startPos = new RcVec3f(22.93f, -2.37f, -5.11f); Vector3 startPos = new Vector3(22.93f, -2.37f, -5.11f);
RcVec3f endPos = new RcVec3f(16.81f, -2.37f, 25.52f); Vector3 endPos = new Vector3(16.81f, -2.37f, 25.52f);
var path = new List<long>(); var path = new List<long>();
var status = FindPath(mesh, startPos, endPos, ref path); var status = FindPath(mesh, startPos, endPos, ref path);
Assert.That(status.Succeeded(), Is.True); Assert.That(status.Succeeded(), Is.True);
@ -59,7 +60,7 @@ public class UnityAStarPathfindingImporterTest
public void TestBoundsTree() public void TestBoundsTree()
{ {
DtNavMesh mesh = LoadNavMesh("test_boundstree.zip"); DtNavMesh mesh = LoadNavMesh("test_boundstree.zip");
RcVec3f position = new RcVec3f(387.52988f, 19.997f, 368.86282f); Vector3 position = new Vector3(387.52988f, 19.997f, 368.86282f);
mesh.CalcTileLoc(position, out var tileX, out var tileY); mesh.CalcTileLoc(position, out var tileX, out var tileY);
long tileRef = mesh.GetTileRefAt(tileX, tileY, 0); long tileRef = mesh.GetTileRefAt(tileX, tileY, 0);
@ -90,7 +91,7 @@ public class UnityAStarPathfindingImporterTest
return meshes[0]; return meshes[0];
} }
private DtStatus FindPath(DtNavMesh mesh, RcVec3f startPos, RcVec3f endPos, ref List<long> path) private DtStatus FindPath(DtNavMesh mesh, Vector3 startPos, Vector3 endPos, ref List<long> path)
{ {
// Perform a simple pathfinding // Perform a simple pathfinding
DtNavMeshQuery query = new DtNavMeshQuery(mesh); DtNavMeshQuery query = new DtNavMeshQuery(mesh);
@ -100,19 +101,19 @@ public class UnityAStarPathfindingImporterTest
return query.FindPath(polys[0].refs, polys[1].refs, startPos, endPos, filter, ref path, DtFindPathOption.NoOption); return query.FindPath(polys[0].refs, polys[1].refs, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
} }
private DtPolyPoint[] GetNearestPolys(DtNavMesh mesh, params RcVec3f[] positions) private DtPolyPoint[] GetNearestPolys(DtNavMesh mesh, params Vector3[] positions)
{ {
DtNavMeshQuery query = new DtNavMeshQuery(mesh); DtNavMeshQuery query = new DtNavMeshQuery(mesh);
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
RcVec3f extents = new RcVec3f(0.1f, 0.1f, 0.1f); Vector3 extents = new Vector3(0.1f, 0.1f, 0.1f);
var results = new DtPolyPoint[positions.Length]; var results = new DtPolyPoint[positions.Length];
for (int i = 0; i < results.Length; i++) for (int i = 0; i < results.Length; i++)
{ {
RcVec3f position = positions[i]; Vector3 position = positions[i];
var status = query.FindNearestPoly(position, extents, filter, out var nearestRef, out var nearestPt, out var _); var status = query.FindNearestPoly(position, extents, filter, out var nearestRef, out var nearestPt, out var _);
Assert.That(status.Succeeded(), Is.True); Assert.That(status.Succeeded(), Is.True);
Assert.That(nearestPt, Is.Not.EqualTo(RcVec3f.Zero), "Nearest start position is null!"); Assert.That(nearestPt, Is.Not.EqualTo(Vector3.Zero), "Nearest start position is null!");
results[i] = new DtPolyPoint(nearestRef, nearestPt); results[i] = new DtPolyPoint(nearestRef, nearestPt);
} }

25
test/DotRecast.Detour.Test/AbstractDetourTest.cs
View File

@ -17,6 +17,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Test; namespace DotRecast.Detour.Test;
@ -34,22 +35,22 @@ public abstract class AbstractDetourTest
281474976710721L, 281474976710767L, 281474976710758L, 281474976710731L, 281474976710772L 281474976710721L, 281474976710767L, 281474976710758L, 281474976710731L, 281474976710772L
}; };
protected static readonly RcVec3f[] startPoss = protected static readonly Vector3[] startPoss =
{ {
new RcVec3f(22.60652f, 10.197294f, -45.918674f), new Vector3(22.60652f, 10.197294f, -45.918674f),
new RcVec3f(22.331268f, 10.197294f, -1.0401875f), new Vector3(22.331268f, 10.197294f, -1.0401875f),
new RcVec3f(18.694363f, 15.803535f, -73.090416f), new Vector3(18.694363f, 15.803535f, -73.090416f),
new RcVec3f(0.7453353f, 10.197294f, -5.94005f), new Vector3(0.7453353f, 10.197294f, -5.94005f),
new RcVec3f(-20.651257f, 5.904126f, -13.712508f) new Vector3(-20.651257f, 5.904126f, -13.712508f)
}; };
protected static readonly RcVec3f[] endPoss = protected static readonly Vector3[] endPoss =
{ {
new RcVec3f(6.4576626f, 10.197294f, -18.33406f), new Vector3(6.4576626f, 10.197294f, -18.33406f),
new RcVec3f(-5.8023443f, 0.19729415f, 3.008419f), new Vector3(-5.8023443f, 0.19729415f, 3.008419f),
new RcVec3f(38.423977f, 10.197294f, -0.116066754f), new Vector3(38.423977f, 10.197294f, -0.116066754f),
new RcVec3f(0.8635526f, 10.197294f, -10.31032f), new Vector3(0.8635526f, 10.197294f, -10.31032f),
new RcVec3f(18.784092f, 10.197294f, 3.0543678f), new Vector3(18.784092f, 10.197294f, 3.0543678f),
}; };
protected DtNavMeshQuery query; protected DtNavMeshQuery query;

27
test/DotRecast.Detour.Test/FindDistanceToWallTest.cs
View File

@ -17,6 +17,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
@ -27,22 +28,22 @@ public class FindDistanceToWallTest : AbstractDetourTest
{ {
private static readonly float[] DISTANCES_TO_WALL = { 0.597511f, 3.201085f, 0.603713f, 2.791475f, 2.815544f }; private static readonly float[] DISTANCES_TO_WALL = { 0.597511f, 3.201085f, 0.603713f, 2.791475f, 2.815544f };
private static readonly RcVec3f[] HIT_POSITION = private static readonly Vector3[] HIT_POSITION =
{ {
new RcVec3f(23.177608f, 10.197294f, -45.742954f), new Vector3(23.177608f, 10.197294f, -45.742954f),
new RcVec3f(22.331268f, 10.197294f, -4.241272f), new Vector3(22.331268f, 10.197294f, -4.241272f),
new RcVec3f(18.108675f, 15.743596f, -73.236839f), new Vector3(18.108675f, 15.743596f, -73.236839f),
new RcVec3f(1.984785f, 10.197294f, -8.441269f), new Vector3(1.984785f, 10.197294f, -8.441269f),
new RcVec3f(-22.315216f, 4.997294f, -11.441269f), new Vector3(-22.315216f, 4.997294f, -11.441269f),
}; };
private static readonly RcVec3f[] HIT_NORMAL = private static readonly Vector3[] HIT_NORMAL =
{ {
new RcVec3f(-0.955779f, 0.0f, -0.29408592f), new Vector3(-0.955779f, 0.0f, -0.29408592f),
new RcVec3f(0.0f, 0.0f, 1.0f), new Vector3(0.0f, 0.0f, 1.0f),
new RcVec3f(0.97014254f, 0.0f, 0.24253564f), new Vector3(0.97014254f, 0.0f, 0.24253564f),
new RcVec3f(-1.0f, 0.0f, 0.0f), new Vector3(-1.0f, 0.0f, 0.0f),
new RcVec3f(1.0f, 0.0f, 0.0f), new Vector3(1.0f, 0.0f, 0.0f),
}; };
[Test] [Test]
@ -51,7 +52,7 @@ public class FindDistanceToWallTest : AbstractDetourTest
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
for (int i = 0; i < startRefs.Length; i++) for (int i = 0; i < startRefs.Length; i++)
{ {
RcVec3f startPos = startPoss[i]; Vector3 startPos = startPoss[i];
query.FindDistanceToWall(startRefs[i], startPos, 3.5f, filter, query.FindDistanceToWall(startRefs[i], startPos, 3.5f, filter,
out var hitDist, out var hitPos, out var hitNormal); out var hitDist, out var hitPos, out var hitNormal);
Assert.That(hitDist, Is.EqualTo(DISTANCES_TO_WALL[i]).Within(0.001f)); Assert.That(hitDist, Is.EqualTo(DISTANCES_TO_WALL[i]).Within(0.001f));

3
test/DotRecast.Detour.Test/FindLocalNeighbourhoodTest.cs
View File

@ -18,6 +18,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Test; namespace DotRecast.Detour.Test;
@ -57,7 +58,7 @@ public class FindLocalNeighbourhoodTest : AbstractDetourTest
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
for (int i = 0; i < startRefs.Length; i++) for (int i = 0; i < startRefs.Length; i++)
{ {
RcVec3f startPos = startPoss[i]; Vector3 startPos = startPoss[i];
var refs = new List<long>(); var refs = new List<long>();
var parentRefs = new List<long>(); var parentRefs = new List<long>();
var status = query.FindLocalNeighbourhood(startRefs[i], startPos, 3.5f, filter, ref refs, ref parentRefs); var status = query.FindLocalNeighbourhood(startRefs[i], startPos, 3.5f, filter, ref refs, ref parentRefs);

21
test/DotRecast.Detour.Test/FindNearestPolyTest.cs
View File

@ -17,6 +17,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Test; namespace DotRecast.Detour.Test;
@ -26,23 +27,23 @@ public class FindNearestPolyTest : AbstractDetourTest
{ {
private static readonly long[] POLY_REFS = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L }; private static readonly long[] POLY_REFS = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L };
private static readonly RcVec3f[] POLY_POS = private static readonly Vector3[] POLY_POS =
{ {
new RcVec3f(22.606520f, 10.197294f, -45.918674f), new Vector3(22.606520f, 10.197294f, -45.918674f),
new RcVec3f(22.331268f, 10.197294f, -1.040187f), new Vector3(22.331268f, 10.197294f, -1.040187f),
new RcVec3f(18.694363f, 15.803535f, -73.090416f), new Vector3(18.694363f, 15.803535f, -73.090416f),
new RcVec3f(0.745335f, 10.197294f, -5.940050f), new Vector3(0.745335f, 10.197294f, -5.940050f),
new RcVec3f(-20.651257f, 5.904126f, -13.712508f) new Vector3(-20.651257f, 5.904126f, -13.712508f)
}; };
[Test] [Test]
public void TestFindNearestPoly() public void TestFindNearestPoly()
{ {
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
RcVec3f extents = new RcVec3f(2, 4, 2); Vector3 extents = new Vector3(2, 4, 2);
for (int i = 0; i < startRefs.Length; i++) for (int i = 0; i < startRefs.Length; i++)
{ {
RcVec3f startPos = startPoss[i]; Vector3 startPos = startPoss[i];
var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearestPt, out var _); var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearestPt, out var _);
Assert.That(status.Succeeded(), Is.True); Assert.That(status.Succeeded(), Is.True);
Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i])); Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]));
@ -56,10 +57,10 @@ public class FindNearestPolyTest : AbstractDetourTest
[Test] [Test]
public void ShouldReturnStartPosWhenNoPolyIsValid() public void ShouldReturnStartPosWhenNoPolyIsValid()
{ {
RcVec3f extents = new RcVec3f(2, 4, 2); Vector3 extents = new Vector3(2, 4, 2);
for (int i = 0; i < startRefs.Length; i++) for (int i = 0; i < startRefs.Length; i++)
{ {
RcVec3f startPos = startPoss[i]; Vector3 startPos = startPoss[i];
var status = query.FindNearestPoly(startPos, extents, DtQueryEmptyFilter.Shared, out var nearestRef, out var nearestPt, out var _); var status = query.FindNearestPoly(startPos, extents, DtQueryEmptyFilter.Shared, out var nearestRef, out var nearestPt, out var _);
Assert.That(status.Succeeded(), Is.True); Assert.That(status.Succeeded(), Is.True);
Assert.That(nearestRef, Is.EqualTo(0L)); Assert.That(nearestRef, Is.EqualTo(0L));

79
test/DotRecast.Detour.Test/FindPathTest.cs
View File

@ -18,6 +18,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Test; namespace DotRecast.Detour.Test;
@ -74,59 +75,59 @@ public class FindPathTest : AbstractDetourTest
{ {
new[] new[]
{ {
new DtStraightPath(new RcVec3f(22.606520f, 10.197294f, -45.918674f), 1, 281474976710696L), new DtStraightPath(new Vector3(22.606520f, 10.197294f, -45.918674f), 1, 281474976710696L),
new DtStraightPath(new RcVec3f(3.484785f, 10.197294f, -34.241272f), 0, 281474976710713L), new DtStraightPath(new Vector3(3.484785f, 10.197294f, -34.241272f), 0, 281474976710713L),
new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -31.241272f), 0, 281474976710712L), new DtStraightPath(new Vector3(1.984785f, 10.197294f, -31.241272f), 0, 281474976710712L),
new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -29.741272f), 0, 281474976710727L), new DtStraightPath(new Vector3(1.984785f, 10.197294f, -29.741272f), 0, 281474976710727L),
new DtStraightPath(new RcVec3f(2.584784f, 10.197294f, -27.941273f), 0, 281474976710730L), new DtStraightPath(new Vector3(2.584784f, 10.197294f, -27.941273f), 0, 281474976710730L),
new DtStraightPath(new RcVec3f(6.457663f, 10.197294f, -18.334061f), 2, 0L) new DtStraightPath(new Vector3(6.457663f, 10.197294f, -18.334061f), 2, 0L)
}, },
new[] new[]
{ {
new DtStraightPath(new RcVec3f(22.331268f, 10.197294f, -1.040187f), 1, 281474976710773L), new DtStraightPath(new Vector3(22.331268f, 10.197294f, -1.040187f), 1, 281474976710773L),
new DtStraightPath(new RcVec3f(9.784786f, 10.197294f, -2.141273f), 0, 281474976710755L), new DtStraightPath(new Vector3(9.784786f, 10.197294f, -2.141273f), 0, 281474976710755L),
new DtStraightPath(new RcVec3f(7.984783f, 10.197294f, -2.441269f), 0, 281474976710753L), new DtStraightPath(new Vector3(7.984783f, 10.197294f, -2.441269f), 0, 281474976710753L),
new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -8.441269f), 0, 281474976710752L), new DtStraightPath(new Vector3(1.984785f, 10.197294f, -8.441269f), 0, 281474976710752L),
new DtStraightPath(new RcVec3f(-4.315216f, 10.197294f, -15.341270f), 0, 281474976710724L), new DtStraightPath(new Vector3(-4.315216f, 10.197294f, -15.341270f), 0, 281474976710724L),
new DtStraightPath(new RcVec3f(-8.215216f, 10.197294f, -17.441269f), 0, 281474976710728L), new DtStraightPath(new Vector3(-8.215216f, 10.197294f, -17.441269f), 0, 281474976710728L),
new DtStraightPath(new RcVec3f(-10.015216f, 10.197294f, -17.741272f), 0, 281474976710738L), new DtStraightPath(new Vector3(-10.015216f, 10.197294f, -17.741272f), 0, 281474976710738L),
new DtStraightPath(new RcVec3f(-11.815216f, 9.997294f, -17.441269f), 0, 281474976710736L), new DtStraightPath(new Vector3(-11.815216f, 9.997294f, -17.441269f), 0, 281474976710736L),
new DtStraightPath(new RcVec3f(-17.815216f, 5.197294f, -11.441269f), 0, 281474976710735L), new DtStraightPath(new Vector3(-17.815216f, 5.197294f, -11.441269f), 0, 281474976710735L),
new DtStraightPath(new RcVec3f(-17.815216f, 5.197294f, -8.441269f), 0, 281474976710746L), new DtStraightPath(new Vector3(-17.815216f, 5.197294f, -8.441269f), 0, 281474976710746L),
new DtStraightPath(new RcVec3f(-11.815216f, 0.197294f, 3.008419f), 2, 0L) new DtStraightPath(new Vector3(-11.815216f, 0.197294f, 3.008419f), 2, 0L)
}, },
new[] new[]
{ {
new DtStraightPath(new RcVec3f(18.694363f, 15.803535f, -73.090416f), 1, 281474976710680L), new DtStraightPath(new Vector3(18.694363f, 15.803535f, -73.090416f), 1, 281474976710680L),
new DtStraightPath(new RcVec3f(17.584785f, 10.197294f, -49.841274f), 0, 281474976710697L), new DtStraightPath(new Vector3(17.584785f, 10.197294f, -49.841274f), 0, 281474976710697L),
new DtStraightPath(new RcVec3f(17.284786f, 10.197294f, -48.041275f), 0, 281474976710695L), new DtStraightPath(new Vector3(17.284786f, 10.197294f, -48.041275f), 0, 281474976710695L),
new DtStraightPath(new RcVec3f(16.084785f, 10.197294f, -45.341274f), 0, 281474976710694L), new DtStraightPath(new Vector3(16.084785f, 10.197294f, -45.341274f), 0, 281474976710694L),
new DtStraightPath(new RcVec3f(3.484785f, 10.197294f, -34.241272f), 0, 281474976710713L), new DtStraightPath(new Vector3(3.484785f, 10.197294f, -34.241272f), 0, 281474976710713L),
new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -31.241272f), 0, 281474976710712L), new DtStraightPath(new Vector3(1.984785f, 10.197294f, -31.241272f), 0, 281474976710712L),
new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -8.441269f), 0, 281474976710753L), new DtStraightPath(new Vector3(1.984785f, 10.197294f, -8.441269f), 0, 281474976710753L),
new DtStraightPath(new RcVec3f(7.984783f, 10.197294f, -2.441269f), 0, 281474976710755L), new DtStraightPath(new Vector3(7.984783f, 10.197294f, -2.441269f), 0, 281474976710755L),
new DtStraightPath(new RcVec3f(9.784786f, 10.197294f, -2.141273f), 0, 281474976710768L), new DtStraightPath(new Vector3(9.784786f, 10.197294f, -2.141273f), 0, 281474976710768L),
new DtStraightPath(new RcVec3f(38.423977f, 10.197294f, -0.116067f), 2, 0L) new DtStraightPath(new Vector3(38.423977f, 10.197294f, -0.116067f), 2, 0L)
}, },
new[] new[]
{ {
new DtStraightPath(new RcVec3f(0.745335f, 10.197294f, -5.940050f), 1, 281474976710753L), new DtStraightPath(new Vector3(0.745335f, 10.197294f, -5.940050f), 1, 281474976710753L),
new DtStraightPath(new RcVec3f(0.863553f, 10.197294f, -10.310320f), 2, 0L) new DtStraightPath(new Vector3(0.863553f, 10.197294f, -10.310320f), 2, 0L)
}, },
new[] new[]
{ {
new DtStraightPath(new RcVec3f(-20.651257f, 5.904126f, -13.712508f), 1, 281474976710733L), new DtStraightPath(new Vector3(-20.651257f, 5.904126f, -13.712508f), 1, 281474976710733L),
new DtStraightPath(new RcVec3f(-11.815216f, 9.997294f, -17.441269f), 0, 281474976710738L), new DtStraightPath(new Vector3(-11.815216f, 9.997294f, -17.441269f), 0, 281474976710738L),
new DtStraightPath(new RcVec3f(-10.015216f, 10.197294f, -17.741272f), 0, 281474976710728L), new DtStraightPath(new Vector3(-10.015216f, 10.197294f, -17.741272f), 0, 281474976710728L),
new DtStraightPath(new RcVec3f(-8.215216f, 10.197294f, -17.441269f), 0, 281474976710724L), new DtStraightPath(new Vector3(-8.215216f, 10.197294f, -17.441269f), 0, 281474976710724L),
new DtStraightPath(new RcVec3f(-4.315216f, 10.197294f, -15.341270f), 0, 281474976710729L), new DtStraightPath(new Vector3(-4.315216f, 10.197294f, -15.341270f), 0, 281474976710729L),
new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -8.441269f), 0, 281474976710753L), new DtStraightPath(new Vector3(1.984785f, 10.197294f, -8.441269f), 0, 281474976710753L),
new DtStraightPath(new RcVec3f(7.984783f, 10.197294f, -2.441269f), 0, 281474976710755L), new DtStraightPath(new Vector3(7.984783f, 10.197294f, -2.441269f), 0, 281474976710755L),
new DtStraightPath(new RcVec3f(18.784092f, 10.197294f, 3.054368f), 2, 0L) new DtStraightPath(new Vector3(18.784092f, 10.197294f, 3.054368f), 2, 0L)
} }
}; };
@ -139,8 +140,8 @@ public class FindPathTest : AbstractDetourTest
{ {
long startRef = startRefs[i]; long startRef = startRefs[i];
long endRef = endRefs[i]; long endRef = endRefs[i];
RcVec3f startPos = startPoss[i]; Vector3 startPos = startPoss[i];
RcVec3f endPos = endPoss[i]; Vector3 endPos = endPoss[i];
var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption); var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
Assert.That(status, Is.EqualTo(STATUSES[i])); Assert.That(status, Is.EqualTo(STATUSES[i]));
Assert.That(path.Count, Is.EqualTo(RESULTS[i].Length)); Assert.That(path.Count, Is.EqualTo(RESULTS[i].Length));

3
test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs
View File

@ -18,6 +18,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Test; namespace DotRecast.Detour.Test;
@ -108,7 +109,7 @@ public class FindPolysAroundCircleTest : AbstractDetourTest
for (int i = 0; i < startRefs.Length; i++) for (int i = 0; i < startRefs.Length; i++)
{ {
long startRef = startRefs[i]; long startRef = startRefs[i];
RcVec3f startPos = startPoss[i]; Vector3 startPos = startPoss[i];
var status = query.FindPolysAroundCircle(startRef, startPos, 7.5f, filter, ref refs, ref parentRefs, ref costs); var status = query.FindPolysAroundCircle(startRef, startPos, 7.5f, filter, ref refs, ref parentRefs, ref costs);
Assert.That(status.Succeeded(), Is.True); Assert.That(status.Succeeded(), Is.True);

7
test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs
View File

@ -18,6 +18,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Test; namespace DotRecast.Detour.Test;
@ -136,7 +137,7 @@ public class FindPolysAroundShapeTest : AbstractDetourTest
for (int i = 0; i < startRefs.Length; i++) for (int i = 0; i < startRefs.Length; i++)
{ {
long startRef = startRefs[i]; long startRef = startRefs[i];
RcVec3f startPos = startPoss[i]; Vector3 startPos = startPoss[i];
query.FindPolysAroundShape(startRef, GetQueryPoly(startPos, endPoss[i]), filter, ref refs, ref parentRefs, ref costs); query.FindPolysAroundShape(startRef, GetQueryPoly(startPos, endPoss[i]), filter, ref refs, ref parentRefs, ref costs);
Assert.That(refs.Count, Is.EqualTo(REFS[i].Length)); Assert.That(refs.Count, Is.EqualTo(REFS[i].Length));
@ -158,13 +159,13 @@ public class FindPolysAroundShapeTest : AbstractDetourTest
} }
} }
private RcVec3f[] GetQueryPoly(RcVec3f m_spos, RcVec3f m_epos) private Vector3[] GetQueryPoly(Vector3 m_spos, Vector3 m_epos)
{ {
float nx = (m_epos.Z - m_spos.Z) * 0.25f; float nx = (m_epos.Z - m_spos.Z) * 0.25f;
float nz = -(m_epos.X - m_spos.X) * 0.25f; float nz = -(m_epos.X - m_spos.X) * 0.25f;
float agentHeight = 2.0f; float agentHeight = 2.0f;
RcVec3f[] m_queryPoly = new RcVec3f[4]; Vector3[] m_queryPoly = new Vector3[4];
m_queryPoly[0].X = m_spos.X + nx * 1.2f; m_queryPoly[0].X = m_spos.X + nx * 1.2f;
m_queryPoly[0].Y = m_spos.Y + agentHeight / 2; m_queryPoly[0].Y = m_spos.Y + agentHeight / 2;
m_queryPoly[0].Z = m_spos.Z + nz * 1.2f; m_queryPoly[0].Z = m_spos.Z + nz * 1.2f;

5
test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
View File

@ -20,6 +20,7 @@ using System.Collections.Generic;
using System.IO; using System.IO;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.Io; using DotRecast.Detour.Io;
using DotRecast.Recast; using DotRecast.Recast;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
@ -68,8 +69,8 @@ public class MeshSetReaderWriterTest
header.numTiles = 0; header.numTiles = 0;
DtNavMesh mesh = new DtNavMesh(header.option, 6); DtNavMesh mesh = new DtNavMesh(header.option, 6);
RcVec3f bmin = geom.GetMeshBoundsMin(); Vector3 bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); Vector3 bmax = geom.GetMeshBoundsMax();
RcCommons.CalcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize, out var tw, out var th); RcCommons.CalcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
for (int y = 0; y < th; ++y) for (int y = 0; y < th; ++y)
{ {

17
test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs
View File

@ -18,6 +18,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Test; namespace DotRecast.Detour.Test;
@ -56,13 +57,13 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
} }
}; };
private static readonly RcVec3f[] POSITION = private static readonly Vector3[] POSITION =
{ {
new RcVec3f(6.457663f, 10.197294f, -18.334061f), new Vector3(6.457663f, 10.197294f, -18.334061f),
new RcVec3f(-1.433933f, 10.197294f, -1.359993f), new Vector3(-1.433933f, 10.197294f, -1.359993f),
new RcVec3f(12.184784f, 9.997294f, -18.941269f), new Vector3(12.184784f, 9.997294f, -18.941269f),
new RcVec3f(0.863553f, 10.197294f, -10.310320f), new Vector3(0.863553f, 10.197294f, -10.310320f),
new RcVec3f(18.784092f, 10.197294f, 3.054368f), new Vector3(18.784092f, 10.197294f, 3.054368f),
}; };
[Test] [Test]
@ -73,8 +74,8 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
for (int i = 0; i < startRefs.Length; i++) for (int i = 0; i < startRefs.Length; i++)
{ {
long startRef = startRefs[i]; long startRef = startRefs[i];
RcVec3f startPos = startPoss[i]; Vector3 startPos = startPoss[i];
RcVec3f endPos = endPoss[i]; Vector3 endPos = endPoss[i];
var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, ref visited); var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, ref visited);
Assert.That(status.Succeeded(), Is.True); Assert.That(status.Succeeded(), Is.True);

11
test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs
View File

@ -18,6 +18,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Detour.Test; namespace DotRecast.Detour.Test;
@ -31,7 +32,7 @@ public class PolygonByCircleConstraintTest
public void ShouldHandlePolygonFullyInsideCircle() public void ShouldHandlePolygonFullyInsideCircle()
{ {
float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 }; float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 };
RcVec3f center = new RcVec3f(1, 0, 1); Vector3 center = new Vector3(1, 0, 1);
float[] constrained = _constraint.Apply(polygon, center, 6); float[] constrained = _constraint.Apply(polygon, center, 6);
Assert.That(constrained, Is.EqualTo(polygon)); Assert.That(constrained, Is.EqualTo(polygon));
@ -42,7 +43,7 @@ public class PolygonByCircleConstraintTest
{ {
int expectedSize = 21; int expectedSize = 21;
float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 }; float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 };
RcVec3f center = new RcVec3f(2, 0, 0); Vector3 center = new Vector3(2, 0, 0);
float[] constrained = _constraint.Apply(polygon, center, 3); float[] constrained = _constraint.Apply(polygon, center, 3);
Assert.That(constrained.Length, Is.EqualTo(expectedSize)); Assert.That(constrained.Length, Is.EqualTo(expectedSize));
@ -54,7 +55,7 @@ public class PolygonByCircleConstraintTest
{ {
int expectedSize = 12 * 3; int expectedSize = 12 * 3;
float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 }; float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
RcVec3f center = new RcVec3f(-1, 0, -1); Vector3 center = new Vector3(-1, 0, -1);
float[] constrained = _constraint.Apply(polygon, center, 2); float[] constrained = _constraint.Apply(polygon, center, 2);
Assert.That(constrained.Length, Is.EqualTo(expectedSize)); Assert.That(constrained.Length, Is.EqualTo(expectedSize));
@ -72,7 +73,7 @@ public class PolygonByCircleConstraintTest
{ {
int expectedSize = 9 * 3; int expectedSize = 9 * 3;
float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 }; float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
RcVec3f center = new RcVec3f(-2, 0, -1); Vector3 center = new Vector3(-2, 0, -1);
float[] constrained = _constraint.Apply(polygon, center, 3); float[] constrained = _constraint.Apply(polygon, center, 3);
Assert.That(constrained.Length, Is.EqualTo(expectedSize)); Assert.That(constrained.Length, Is.EqualTo(expectedSize));
@ -84,7 +85,7 @@ public class PolygonByCircleConstraintTest
{ {
int expectedSize = 7 * 3; int expectedSize = 7 * 3;
float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 }; float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
RcVec3f center = new RcVec3f(4, 0, 0); Vector3 center = new Vector3(4, 0, 0);
float[] constrained = _constraint.Apply(polygon, center, 4); float[] constrained = _constraint.Apply(polygon, center, 4);
Assert.That(constrained.Length, Is.EqualTo(expectedSize)); Assert.That(constrained.Length, Is.EqualTo(expectedSize));

1
test/DotRecast.Detour.Test/RandomPointTest.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;

1
test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs
View File

@ -17,6 +17,7 @@ freely, subject to the following restrictions:
*/ */
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;

1
test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs
View File

@ -18,6 +18,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast; using DotRecast.Recast;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;

9
test/DotRecast.Detour.Test/TiledFindPathTest.cs
View File

@ -18,6 +18,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using NUnit.Framework; using NUnit.Framework;
@ -43,8 +44,8 @@ public class TiledFindPathTest
protected static readonly long[] START_REFS = { 281475015507969L }; protected static readonly long[] START_REFS = { 281475015507969L };
protected static readonly long[] END_REFS = { 281474985099266L }; protected static readonly long[] END_REFS = { 281474985099266L };
protected static readonly RcVec3f[] START_POS = { new RcVec3f(39.447338f, 9.998177f, -0.784811f) }; protected static readonly Vector3[] START_POS = { new Vector3(39.447338f, 9.998177f, -0.784811f) };
protected static readonly RcVec3f[] END_POS = { new RcVec3f(19.292645f, 11.611748f, -57.750366f) }; protected static readonly Vector3[] END_POS = { new Vector3(19.292645f, 11.611748f, -57.750366f) };
protected DtNavMeshQuery query; protected DtNavMeshQuery query;
protected DtNavMesh navmesh; protected DtNavMesh navmesh;
@ -70,8 +71,8 @@ public class TiledFindPathTest
{ {
long startRef = START_REFS[i]; long startRef = START_REFS[i];
long endRef = END_REFS[i]; long endRef = END_REFS[i];
RcVec3f startPos = START_POS[i]; Vector3 startPos = START_POS[i];
RcVec3f endPos = END_POS[i]; Vector3 endPos = END_POS[i];
var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption); var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
Assert.That(status, Is.EqualTo(STATUSES[i])); Assert.That(status, Is.EqualTo(STATUSES[i]));
Assert.That(path.Count, Is.EqualTo(RESULTS[i].Length)); Assert.That(path.Count, Is.EqualTo(RESULTS[i].Length));

7
test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
using NUnit.Framework; using NUnit.Framework;
@ -47,7 +48,7 @@ public class TempObstaclesTest : AbstractTileCacheTest
DtMeshTile tile = tiles[0]; DtMeshTile tile = tiles[0];
Assert.That(tile.data.header.vertCount, Is.EqualTo(16)); Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
Assert.That(tile.data.header.polyCount, Is.EqualTo(6)); Assert.That(tile.data.header.polyCount, Is.EqualTo(6));
long o = tc.AddObstacle(new RcVec3f(-1.815208f, 9.998184f, -20.307983f), 1f, 2f); long o = tc.AddObstacle(new Vector3(-1.815208f, 9.998184f, -20.307983f), 1f, 2f);
bool upToDate = tc.Update(); bool upToDate = tc.Update();
Assert.That(upToDate, Is.True); Assert.That(upToDate, Is.True);
tiles = tc.GetNavMesh().GetTilesAt(1, 4); tiles = tc.GetNavMesh().GetTilesAt(1, 4);
@ -82,8 +83,8 @@ public class TempObstaclesTest : AbstractTileCacheTest
Assert.That(tile.data.header.vertCount, Is.EqualTo(16)); Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
Assert.That(tile.data.header.polyCount, Is.EqualTo(6)); Assert.That(tile.data.header.polyCount, Is.EqualTo(6));
long o = tc.AddBoxObstacle( long o = tc.AddBoxObstacle(
new RcVec3f(-2.315208f, 9.998184f, -20.807983f), new Vector3(-2.315208f, 9.998184f, -20.807983f),
new RcVec3f(-1.315208f, 11.998184f, -19.807983f) new Vector3(-1.315208f, 11.998184f, -19.807983f)
); );
bool upToDate = tc.Update(); bool upToDate = tc.Update();
Assert.That(upToDate, Is.True); Assert.That(upToDate, Is.True);

5
test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
View File

@ -22,6 +22,7 @@ using System.Collections.Generic;
using System.Linq; using System.Linq;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.TileCache.Io.Compress; using DotRecast.Detour.TileCache.Io.Compress;
using DotRecast.Recast; using DotRecast.Recast;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
@ -71,8 +72,8 @@ public class TestTileLayerBuilder : DtTileCacheLayerBuilder
true, true, true, true, true, true,
SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true); SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
RcVec3f bmin = geom.GetMeshBoundsMin(); Vector3 bmin = geom.GetMeshBoundsMin();
RcVec3f bmax = geom.GetMeshBoundsMax(); Vector3 bmax = geom.GetMeshBoundsMax();
RcCommons.CalcTileCount(bmin, bmax, CellSize, m_tileSize, m_tileSize, out tw, out th); RcCommons.CalcTileCount(bmin, bmax, CellSize, m_tileSize, m_tileSize, out tw, out th);
} }

7
test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
View File

@ -22,6 +22,7 @@ using System.Collections.Generic;
using System.IO; using System.IO;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Detour.TileCache.Io; using DotRecast.Detour.TileCache.Io;
using DotRecast.Detour.TileCache.Io.Compress; using DotRecast.Detour.TileCache.Io.Compress;
using DotRecast.Detour.TileCache.Test.Io; using DotRecast.Detour.TileCache.Test.Io;
@ -32,8 +33,8 @@ namespace DotRecast.Detour.TileCache.Test;
[Parallelizable] [Parallelizable]
public class TileCacheFindPathTest : AbstractTileCacheTest public class TileCacheFindPathTest : AbstractTileCacheTest
{ {
private readonly RcVec3f start = new RcVec3f(39.44734f, 9.998177f, -0.784811f); private readonly Vector3 start = new Vector3(39.44734f, 9.998177f, -0.784811f);
private readonly RcVec3f end = new RcVec3f(19.292645f, 11.611748f, -57.750366f); private readonly Vector3 end = new Vector3(19.292645f, 11.611748f, -57.750366f);
private readonly DtNavMesh navmesh; private readonly DtNavMesh navmesh;
private readonly DtNavMeshQuery query; private readonly DtNavMeshQuery query;
@ -50,7 +51,7 @@ public class TileCacheFindPathTest : AbstractTileCacheTest
public void TestFindPath() public void TestFindPath()
{ {
IDtQueryFilter filter = new DtQueryDefaultFilter(); IDtQueryFilter filter = new DtQueryDefaultFilter();
RcVec3f extents = new RcVec3f(2f, 4f, 2f); Vector3 extents = new Vector3(2f, 4f, 2f);
query.FindNearestPoly(start, extents, filter, out var startRef, out var startPos, out var _); query.FindNearestPoly(start, extents, filter, out var startRef, out var startPos, out var _);
query.FindNearestPoly(end, extents, filter, out var endRef, out var endPos, out var _); query.FindNearestPoly(end, extents, filter, out var endRef, out var endPos, out var _);

13
test/DotRecast.Detour.TileCache.Test/TileCacheNavigationTest.cs
View File

@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
using NUnit.Framework; using NUnit.Framework;
@ -31,8 +32,8 @@ public class TileCacheNavigationTest : AbstractTileCacheTest
{ {
protected readonly long[] startRefs = { 281475006070787L }; protected readonly long[] startRefs = { 281475006070787L };
protected readonly long[] endRefs = { 281474986147841L }; protected readonly long[] endRefs = { 281474986147841L };
protected readonly RcVec3f[] startPoss = { new RcVec3f(39.447338f, 9.998177f, -0.784811f) }; protected readonly Vector3[] startPoss = { new Vector3(39.447338f, 9.998177f, -0.784811f) };
protected readonly RcVec3f[] endPoss = { new RcVec3f(19.292645f, 11.611748f, -57.750366f) }; protected readonly Vector3[] endPoss = { new Vector3(19.292645f, 11.611748f, -57.750366f) };
private readonly DtStatus[] statuses = { DtStatus.DT_SUCCESS }; private readonly DtStatus[] statuses = { DtStatus.DT_SUCCESS };
private readonly long[][] results = private readonly long[][] results =
@ -88,8 +89,8 @@ public class TileCacheNavigationTest : AbstractTileCacheTest
{ {
long startRef = startRefs[i]; long startRef = startRefs[i];
long endRef = endRefs[i]; long endRef = endRefs[i];
RcVec3f startPos = startPoss[i]; Vector3 startPos = startPoss[i];
RcVec3f endPos = endPoss[i]; Vector3 endPos = endPoss[i];
var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption); var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
Assert.That(status, Is.EqualTo(statuses[i])); Assert.That(status, Is.EqualTo(statuses[i]));
Assert.That(path.Count, Is.EqualTo(results[i].Length)); Assert.That(path.Count, Is.EqualTo(results[i].Length));
@ -109,8 +110,8 @@ public class TileCacheNavigationTest : AbstractTileCacheTest
{ {
long startRef = startRefs[i]; long startRef = startRefs[i];
long endRef = endRefs[i]; long endRef = endRefs[i];
RcVec3f startPos = startPoss[i]; Vector3 startPos = startPoss[i];
RcVec3f endPos = endPoss[i]; Vector3 endPos = endPoss[i];
var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.ZeroScale); var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.ZeroScale);
Assert.That(status, Is.EqualTo(statuses[i])); Assert.That(status, Is.EqualTo(statuses[i]));
Assert.That(path.Count, Is.EqualTo(results[i].Length)); Assert.That(path.Count, Is.EqualTo(results[i].Length));

1
test/DotRecast.Recast.Test/RecastLayersTest.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System; using System;
using System.IO; using System.IO;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
using NUnit.Framework; using NUnit.Framework;

5
test/DotRecast.Recast.Test/RecastSoloMeshTest.cs
View File

@ -20,6 +20,7 @@ using System;
using System.IO; using System.IO;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
using System.Numerics;
using DotRecast.Recast.Geom; using DotRecast.Recast.Geom;
using NUnit.Framework; using NUnit.Framework;
@ -99,8 +100,8 @@ public class RecastSoloMeshTest
m_partitionType = partitionType; m_partitionType = partitionType;
IInputGeomProvider geomProvider = SimpleInputGeomProvider.LoadFile(filename); IInputGeomProvider geomProvider = SimpleInputGeomProvider.LoadFile(filename);
long time = RcFrequency.Ticks; long time = RcFrequency.Ticks;
RcVec3f bmin = geomProvider.GetMeshBoundsMin(); Vector3 bmin = geomProvider.GetMeshBoundsMin();
RcVec3f bmax = geomProvider.GetMeshBoundsMax(); Vector3 bmax = geomProvider.GetMeshBoundsMax();
RcTelemetry m_ctx = new RcTelemetry(); RcTelemetry m_ctx = new RcTelemetry();
// //
// Step 1. Initialize build config. // Step 1. Initialize build config.