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DotRecastNetSim
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remove vCopy(ref Vector3, Vector3)

This commit is contained in:
ikpil 2023-04-12 23:53:28 +09:00
parent b1b2bb9e3e
commit dfafb03103
19 changed files with 84 additions and 91 deletions
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7
src/DotRecast.Core/RecastMath.cs
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@ -222,13 +222,6 @@ namespace DotRecast.Core
@out.z = @in[2];
}
public static void vCopy(ref Vector3f @out, Vector3f @in)
{
@out.x = @in[0];
@out.y = @in[1];
@out.z = @in[2];
}
public static void vCopy(ref Vector3f @out, float[] @in, int i)
{
@out.x = @in[i];

30
src/DotRecast.Detour.Crowd/Crowd.cs
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@ -257,7 +257,7 @@ namespace DotRecast.Detour.Crowd
ag.dvel = Vector3f.Zero;
ag.nvel = Vector3f.Zero;
ag.vel = Vector3f.Zero;
vCopy(ref ag.npos, nearest);
ag.npos = nearest;
ag.desiredSpeed = 0;
@ -325,7 +325,7 @@ namespace DotRecast.Detour.Crowd
{
// Initialize request.
agent.targetRef = 0;
vCopy(ref agent.targetPos, vel);
agent.targetPos = vel;
agent.targetPathQueryResult = null;
agent.targetReplan = false;
agent.targetState = CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY;
@ -455,7 +455,7 @@ namespace DotRecast.Detour.Crowd
// First check that the current location is valid.
Vector3f agentPos = new Vector3f();
long agentRef = ag.corridor.getFirstPoly();
vCopy(ref agentPos, ag.npos);
agentPos = ag.npos;
if (!navQuery.isValidPolyRef(agentRef, m_filters[ag.option.queryFilterType]))
{
// Current location is not valid, try to reposition.
@ -465,7 +465,7 @@ namespace DotRecast.Detour.Crowd
agentRef = nearestPoly.succeeded() ? nearestPoly.result.getNearestRef() : 0L;
if (nearestPoly.succeeded())
{
vCopy(ref agentPos, nearestPoly.result.getNearestPos());
agentPos = nearestPoly.result.getNearestPos();
}
if (agentRef == 0)
@ -485,7 +485,7 @@ namespace DotRecast.Detour.Crowd
// ag.corridor.trimInvalidPath(agentRef, agentPos, m_navquery,
// &m_filter);
ag.boundary.reset();
vCopy(ref ag.npos, agentPos);
ag.npos = agentPos;
replan = true;
}
@ -510,7 +510,7 @@ namespace DotRecast.Detour.Crowd
ag.targetRef = fnp.succeeded() ? fnp.result.getNearestRef() : 0L;
if (fnp.succeeded())
{
vCopy(ref ag.targetPos, fnp.result.getNearestPos());
ag.targetPos = fnp.result.getNearestPos();
}
replan = true;
@ -626,14 +626,14 @@ namespace DotRecast.Detour.Crowd
}
else
{
vCopy(ref reqPos, ag.targetPos);
reqPos = ag.targetPos;
}
}
else
{
// Could not find path, start the request from current
// location.
vCopy(ref reqPos, ag.npos);
reqPos = ag.npos;
reqPath = new List<long>();
reqPath.Add(path[0]);
}
@ -965,8 +965,8 @@ namespace DotRecast.Detour.Crowd
// Copy data for debug purposes.
if (debugAgent == ag)
{
vCopy(ref debug.optStart, ag.corridor.getPos());
vCopy(ref debug.optEnd, target);
debug.optStart = ag.corridor.getPos();
debug.optEnd = target;
}
}
else
@ -1011,7 +1011,7 @@ namespace DotRecast.Detour.Crowd
if (ag.corridor.moveOverOffmeshConnection(ag.corners[ag.corners.Count - 1].getRef(), refs, ref anim.startPos,
ref anim.endPos, navQuery))
{
vCopy(ref anim.initPos, ag.npos);
anim.initPos = ag.npos;
anim.polyRef = refs[1];
anim.active = true;
anim.t = 0.0f;
@ -1051,7 +1051,7 @@ namespace DotRecast.Detour.Crowd
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
{
vCopy(ref dvel, ag.targetPos);
dvel = ag.targetPos;
ag.desiredSpeed = vLen(ag.targetPos);
}
else
@ -1124,7 +1124,7 @@ namespace DotRecast.Detour.Crowd
}
// Set the desired velocity.
vCopy(ref ag.dvel, dvel);
ag.dvel = dvel;
}
_telemetry.stop("calculateSteering");
@ -1198,7 +1198,7 @@ namespace DotRecast.Detour.Crowd
else
{
// If not using velocity planning, new velocity is directly the desired velocity.
vCopy(ref ag.nvel, ag.dvel);
ag.nvel = ag.dvel;
}
}
@ -1311,7 +1311,7 @@ namespace DotRecast.Detour.Crowd
// Move along navmesh.
ag.corridor.movePosition(ag.npos, navQuery, m_filters[ag.option.queryFilterType]);
// Get valid constrained position back.
vCopy(ref ag.npos, ag.corridor.getPos());
ag.npos = ag.corridor.getPos();
// If not using path, truncate the corridor to just one poly.
if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE

2
src/DotRecast.Detour.Crowd/CrowdAgent.cs
View File

@ -229,7 +229,7 @@ namespace DotRecast.Detour.Crowd
public void setTarget(long refs, Vector3f pos)
{
targetRef = refs;
vCopy(ref targetPos, pos);
targetPos = pos;
targetPathQueryResult = null;
if (targetRef != 0)
{

2
src/DotRecast.Detour.Crowd/LocalBoundary.cs
View File

@ -109,7 +109,7 @@ namespace DotRecast.Detour.Crowd
return;
}
vCopy(ref m_center, pos);
m_center = pos;
// First query non-overlapping polygons.
Result<FindLocalNeighbourhoodResult> res = navquery.findLocalNeighbourhood(refs, pos, collisionQueryRange,
filter);

20
src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs
View File

@ -159,10 +159,10 @@ namespace DotRecast.Detour.Crowd
return;
ObstacleCircle cir = m_circles[m_ncircles++];
vCopy(ref cir.p, pos);
cir.p = pos;
cir.rad = rad;
vCopy(ref cir.vel, vel);
vCopy(ref cir.dvel, dvel);
cir.vel = vel;
cir.dvel = dvel;
}
public void addSegment(Vector3f p, Vector3f q)
@ -171,8 +171,8 @@ namespace DotRecast.Detour.Crowd
return;
ObstacleSegment seg = m_segments[m_nsegments++];
vCopy(ref seg.p, p);
vCopy(ref seg.q, q);
seg.p = p;
seg.q = q;
}
public int getObstacleCircleCount()
@ -208,7 +208,7 @@ namespace DotRecast.Detour.Crowd
Vector3f orig = new Vector3f();
Vector3f dv = new Vector3f();
vCopy(ref cir.dp, vSub(pb, pa));
cir.dp = vSub(pb, pa);
vNormalize(ref cir.dp);
dv = vSub(cir.dvel, dvel);
@ -429,7 +429,7 @@ namespace DotRecast.Detour.Crowd
if (penalty < minPenalty)
{
minPenalty = penalty;
vCopy(ref nvel, vcand);
nvel = vcand;
}
}
}
@ -558,16 +558,16 @@ namespace DotRecast.Detour.Crowd
if (penalty < minPenalty)
{
minPenalty = penalty;
vCopy(ref bvel, vcand);
bvel = vcand;
}
}
vCopy(ref res, bvel);
res = bvel;
cr *= 0.5f;
}
vCopy(ref nvel, res);
nvel = res;
return Tuple.Create(ns, nvel);
}

20
src/DotRecast.Detour.Crowd/PathCorridor.cs
View File

@ -210,8 +210,8 @@ namespace DotRecast.Detour.Crowd
{
m_path.Clear();
m_path.Add(refs);
vCopy(ref m_pos, pos);
vCopy(ref m_target, pos);
m_pos = pos;
m_target = pos;
}
private static readonly float MIN_TARGET_DIST = sqr(0.01f);
@ -390,9 +390,9 @@ namespace DotRecast.Detour.Crowd
var startEnd = nav.getOffMeshConnectionPolyEndPoints(refs[0], refs[1]);
if (startEnd.succeeded())
{
vCopy(ref m_pos, startEnd.result.Item2);
vCopy(ref start, startEnd.result.Item1);
vCopy(ref end, startEnd.result.Item2);
m_pos = startEnd.result.Item2;
start = startEnd.result.Item1;
end = startEnd.result.Item2;
return true;
}
@ -430,7 +430,7 @@ namespace DotRecast.Detour.Crowd
{
m_path = mergeCorridorStartMoved(m_path, masResult.result.getVisited());
// Adjust the position to stay on top of the navmesh.
vCopy(ref m_pos, masResult.result.getResultPos());
m_pos = masResult.result.getResultPos();
Result<float> hr = navquery.getPolyHeight(m_path[0], masResult.result.getResultPos());
if (hr.succeeded())
{
@ -473,7 +473,7 @@ namespace DotRecast.Detour.Crowd
* float h = m_target[1]; navquery->getPolyHeight(m_path[m_npath-1],
* result, &h); result[1] = h;
*/
vCopy(ref m_target, masResult.result.getResultPos());
m_target = masResult.result.getResultPos();
return true;
}
@ -492,13 +492,13 @@ namespace DotRecast.Detour.Crowd
*/
public void setCorridor(Vector3f target, List<long> path)
{
vCopy(ref m_target, target);
m_target = target;
m_path = new List<long>(path);
}
public void fixPathStart(long safeRef, Vector3f safePos)
{
vCopy(ref m_pos, safePos);
m_pos = safePos;
if (m_path.Count < 3 && m_path.Count > 0)
{
long p = m_path[m_path.Count - 1];
@ -541,7 +541,7 @@ namespace DotRecast.Detour.Crowd
var result = navquery.closestPointOnPolyBoundary(m_path[m_path.Count - 1], m_target);
if (result.succeeded())
{
vCopy(ref m_target, result.result);
m_target = result.result;
}
}

4
src/DotRecast.Detour.Crowd/PathQueue.cs
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@ -85,9 +85,9 @@ namespace DotRecast.Detour.Crowd
}
PathQuery q = new PathQuery();
vCopy(ref q.startPos, startPos);
q.startPos = startPos;
q.startRef = startRef;
vCopy(ref q.endPos, endPos);
q.endPos = endPos;
q.endRef = endRef;
q.result.status = null;
q.filter = filter;

2
src/DotRecast.Detour.Extras/Jumplink/EdgeSampler.cs
View File

@ -17,7 +17,7 @@ namespace DotRecast.Detour.Extras.Jumplink
public EdgeSampler(Edge edge, Trajectory trajectory)
{
this.trajectory = trajectory;
vCopy(ref ax, vSub(edge.sq, edge.sp));
ax = vSub(edge.sq, edge.sp);
vNormalize(ref ax);
vSet(ref az, ax[2], 0, -ax[0]);
vNormalize(ref az);

10
src/DotRecast.Detour.TileCache/TileCache.cs
View File

@ -363,7 +363,7 @@ namespace DotRecast.Detour.TileCache
TileCacheObstacle ob = allocObstacle();
ob.type = TileCacheObstacle.TileCacheObstacleType.CYLINDER;
vCopy(ref ob.pos, pos);
ob.pos = pos;
ob.radius = radius;
ob.height = height;
@ -387,8 +387,8 @@ namespace DotRecast.Detour.TileCache
{
TileCacheObstacle ob = allocObstacle();
ob.type = TileCacheObstacle.TileCacheObstacleType.ORIENTED_BOX;
vCopy(ref ob.center, center);
vCopy(ref ob.extents, extents);
ob.center = center;
ob.extents = extents;
float coshalf = (float)Math.Cos(0.5f * yRadians);
float sinhalf = (float)Math.Sin(-0.5f * yRadians);
ob.rotAux[0] = coshalf * sinhalf;
@ -706,8 +706,8 @@ namespace DotRecast.Detour.TileCache
}
else if (ob.type == TileCacheObstacle.TileCacheObstacleType.BOX)
{
vCopy(ref bmin, ob.bmin);
vCopy(ref bmax, ob.bmax);
bmin = ob.bmin;
bmax = ob.bmax;
}
else if (ob.type == TileCacheObstacle.TileCacheObstacleType.ORIENTED_BOX)
{

24
src/DotRecast.Detour/ConvexConvexIntersection.cs
View File

@ -270,43 +270,43 @@ namespace DotRecast.Detour
{
if (between(a, b, c) && between(a, b, d))
{
vCopy(ref p, c);
vCopy(ref q, d);
p = c;
q = d;
return Intersection.Overlap;
}
if (between(c, d, a) && between(c, d, b))
{
vCopy(ref p, a);
vCopy(ref q, b);
p = a;
q = b;
return Intersection.Overlap;
}
if (between(a, b, c) && between(c, d, b))
{
vCopy(ref p, c);
vCopy(ref q, b);
p = c;
q = b;
return Intersection.Overlap;
}
if (between(a, b, c) && between(c, d, a))
{
vCopy(ref p, c);
vCopy(ref q, a);
p = c;
q = a;
return Intersection.Overlap;
}
if (between(a, b, d) && between(c, d, b))
{
vCopy(ref p, d);
vCopy(ref q, b);
p = d;
q = b;
return Intersection.Overlap;
}
if (between(a, b, d) && between(c, d, a))
{
vCopy(ref p, d);
vCopy(ref q, a);
p = d;
q = a;
return Intersection.Overlap;
}

4
src/DotRecast.Detour/LegacyNavMeshQuery.cs
View File

@ -58,7 +58,7 @@ namespace DotRecast.Detour
m_openList.clear();
Node startNode = m_nodePool.getNode(startRef);
vCopy(ref startNode.pos, startPos);
startNode.pos = startPos;
startNode.pidx = 0;
startNode.cost = 0;
startNode.total = vDist(startPos, endPos) * H_SCALE;
@ -657,7 +657,7 @@ namespace DotRecast.Detour
m_openList.clear();
Node startNode = m_nodePool.getNode(startRef);
vCopy(ref startNode.pos, centerPos);
startNode.pos = centerPos;
startNode.pidx = 0;
startNode.cost = 0;
startNode.total = 0;

4
src/DotRecast.Detour/NavMesh.cs
View File

@ -325,7 +325,7 @@ namespace DotRecast.Detour
private static NavMeshParams getNavMeshParams(MeshData data)
{
NavMeshParams option = new NavMeshParams();
vCopy(ref option.orig, data.header.bmin);
option.orig = data.header.bmin;
option.tileWidth = data.header.bmax[0] - data.header.bmin[0];
option.tileHeight = data.header.bmax[2] - data.header.bmin[2];
option.maxTiles = 1;
@ -1325,7 +1325,7 @@ namespace DotRecast.Detour
MeshTile tile = tileAndPoly.Item1;
Poly poly = tileAndPoly.Item2;
Vector3f closest = new Vector3f();
vCopy(ref closest, pos);
closest = pos;
float? h = getPolyHeight(tile, poly, pos);
if (null != h)
{

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

@ -343,8 +343,8 @@ namespace DotRecast.Detour
hmax += option.walkableClimb;
Vector3f bmin = new Vector3f();
Vector3f bmax = new Vector3f();
vCopy(ref bmin, option.bmin);
vCopy(ref bmax, option.bmax);
bmin = option.bmin;
bmax = option.bmax;
bmin[1] = hmin;
bmax[1] = hmax;
@ -467,8 +467,8 @@ namespace DotRecast.Detour
header.polyCount = totPolyCount;
header.vertCount = totVertCount;
header.maxLinkCount = maxLinkCount;
vCopy(ref header.bmin, option.bmin);
vCopy(ref header.bmax, option.bmax);
header.bmin = option.bmin;
header.bmax = option.bmax;
header.detailMeshCount = option.polyCount;
header.detailVertCount = uniqueDetailVertCount;
header.detailTriCount = detailTriCount;

22
src/DotRecast.Detour/NavMeshQuery.cs
View File

@ -264,7 +264,7 @@ namespace DotRecast.Detour
m_openList.clear();
Node startNode = m_nodePool.getNode(startRef);
vCopy(ref startNode.pos, centerPos);
startNode.pos = centerPos;
startNode.pidx = 0;
startNode.cost = 0;
startNode.total = 0;
@ -812,7 +812,7 @@ namespace DotRecast.Detour
m_openList.clear();
Node startNode = m_nodePool.getNode(startRef);
vCopy(ref startNode.pos, startPos);
startNode.pos = startPos;
startNode.pidx = 0;
startNode.cost = 0;
startNode.total = heuristic.getCost(startPos, endPos);
@ -1061,8 +1061,8 @@ namespace DotRecast.Detour
m_query.status = Status.FAILURE;
m_query.startRef = startRef;
m_query.endRef = endRef;
vCopy(ref m_query.startPos, startPos);
vCopy(ref m_query.endPos, endPos);
m_query.startPos = startPos;
m_query.endPos = endPos;
m_query.filter = filter;
m_query.options = options;
m_query.heuristic = heuristic;
@ -1094,7 +1094,7 @@ namespace DotRecast.Detour
m_openList.clear();
Node startNode = m_nodePool.getNode(startRef);
vCopy(ref startNode.pos, startPos);
startNode.pos = startPos;
startNode.pidx = 0;
startNode.cost = 0;
startNode.total = heuristic.getCost(startPos, endPos);
@ -1842,7 +1842,7 @@ namespace DotRecast.Detour
Vector3f bestPos = new Vector3f();
float bestDist = float.MaxValue;
Node bestNode = null;
vCopy(ref bestPos, startPos);
bestPos = startPos;
// Search constraints
var searchPos = vLerp(startPos, endPos, 0.5f);
@ -1874,7 +1874,7 @@ namespace DotRecast.Detour
if (pointInPolygon(endPos, verts, nverts))
{
bestNode = curNode;
vCopy(ref bestPos, endPos);
bestPos = endPos;
break;
}
@ -2243,7 +2243,7 @@ namespace DotRecast.Detour
Vector3f curPos = new Vector3f(), lastPos = new Vector3f();
vCopy(ref curPos, startPos);
curPos = startPos;
var dir = vSub(endPos, startPos);
MeshTile prevTile, tile, nextTile;
@ -2411,7 +2411,7 @@ namespace DotRecast.Detour
{
// compute the intersection point at the furthest end of the polygon
// and correct the height (since the raycast moves in 2d)
vCopy(ref lastPos, curPos);
lastPos = curPos;
curPos = vMad(startPos, dir, hit.t);
VectorPtr e1 = new VectorPtr(verts, iresult.segMax * 3);
VectorPtr e2 = new VectorPtr(verts, ((iresult.segMax + 1) % nv) * 3);
@ -2516,7 +2516,7 @@ namespace DotRecast.Detour
m_openList.clear();
Node startNode = m_nodePool.getNode(startRef);
vCopy(ref startNode.pos, centerPos);
startNode.pos = centerPos;
startNode.pidx = 0;
startNode.cost = 0;
startNode.total = 0;
@ -3243,7 +3243,7 @@ namespace DotRecast.Detour
m_openList.clear();
Node startNode = m_nodePool.getNode(startRef);
vCopy(ref startNode.pos, centerPos);
startNode.pos = centerPos;
startNode.pidx = 0;
startNode.cost = 0;
startNode.total = 0;

2
src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
View File

@ -435,7 +435,7 @@ public class CrowdTool : Tool
dd.begin(LINES, 3.0f);
Vector3f prev = new Vector3f();
float preva = 1;
vCopy(ref prev, pos);
prev = pos;
for (int j = 0; j < AGENT_MAX_TRAIL - 1; ++j)
{
int idx = (trail.htrail + AGENT_MAX_TRAIL - j) % AGENT_MAX_TRAIL;

6
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -260,7 +260,7 @@ public class TestNavmeshTool : Tool
if (endOfPath && PathUtils.inRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
{
// Reached end of path.
vCopy(ref iterPos, targetPos);
iterPos = targetPos;
if (m_smoothPath.Count < MAX_SMOOTH)
{
m_smoothPath.Add(iterPos);
@ -302,7 +302,7 @@ public class TestNavmeshTool : Tool
}
// Move position at the other side of the off-mesh link.
vCopy(ref iterPos, endPos);
iterPos = endPos;
iterPos[1] = m_navQuery.getPolyHeight(polys[0], iterPos).result;
}
}
@ -990,7 +990,7 @@ public class TestNavmeshTool : Tool
{
// In case of partial path, make sure the end point is clamped to the last polygon.
Vector3f epos = new Vector3f();
vCopy(ref epos, m_epos);
epos = m_epos;
if (m_polys[m_polys.Count - 1] != m_endRef)
{
Result<ClosestPointOnPolyResult> result = m_navQuery

2
test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
View File

@ -58,7 +58,7 @@ public class MeshSetReaderWriterTest
NavMeshSetHeader header = new NavMeshSetHeader();
header.magic = NavMeshSetHeader.NAVMESHSET_MAGIC;
header.version = NavMeshSetHeader.NAVMESHSET_VERSION;
vCopy(ref header.option.orig, geom.getMeshBoundsMin());
header.option.orig = geom.getMeshBoundsMin();
header.option.tileWidth = m_tileSize * m_cellSize;
header.option.tileHeight = m_tileSize * m_cellSize;
header.option.maxTiles = m_maxTiles;

2
test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
View File

@ -54,7 +54,7 @@ public class AbstractTileCacheTest
int[] twh = Recast.Recast.calcTileCount(geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize);
option.ch = m_cellHeight;
option.cs = m_cellSize;
vCopy(ref option.orig, geom.getMeshBoundsMin());
option.orig = geom.getMeshBoundsMin();
option.height = m_tileSize;
option.width = m_tileSize;
option.walkableHeight = m_agentHeight;

4
test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
View File

@ -98,8 +98,8 @@ public class TestTileLayerBuilder : AbstractTileLayersBuilder
header.tx = tx;
header.ty = ty;
header.tlayer = i;
vCopy(ref header.bmin, layer.bmin);
vCopy(ref header.bmax, layer.bmax);
header.bmin = layer.bmin;
header.bmax = layer.bmax;
// Tile info.
header.width = layer.width;