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DotRecastNetSim
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remove nullable RcVec3f

This commit is contained in:
ikpil 2023-07-15 11:11:03 +09:00
parent ee5d3fd8c7
commit e22c31052c
3 changed files with 41 additions and 42 deletions
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11
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -3157,8 +3157,10 @@ namespace DotRecast.Detour
m_openList.Push(startNode); m_openList.Push(startNode);
float radiusSqr = Sqr(maxRadius); float radiusSqr = Sqr(maxRadius);
RcVec3f? bestvj = null;
RcVec3f? bestvi = null; var hasBestV = false;
var bestvj = RcVec3f.Zero;
var bestvi = RcVec3f.Zero;
var status = DtStatus.DT_SUCCSESS; var status = DtStatus.DT_SUCCSESS;
while (!m_openList.IsEmpty()) while (!m_openList.IsEmpty())
@ -3238,6 +3240,7 @@ namespace DotRecast.Detour
hitPos.x = bestTile.data.verts[vj + 0] + (bestTile.data.verts[vi + 0] - bestTile.data.verts[vj + 0]) * tseg; hitPos.x = bestTile.data.verts[vj + 0] + (bestTile.data.verts[vi + 0] - bestTile.data.verts[vj + 0]) * tseg;
hitPos.y = bestTile.data.verts[vj + 1] + (bestTile.data.verts[vi + 1] - bestTile.data.verts[vj + 1]) * tseg; hitPos.y = bestTile.data.verts[vj + 1] + (bestTile.data.verts[vi + 1] - bestTile.data.verts[vj + 1]) * tseg;
hitPos.z = bestTile.data.verts[vj + 2] + (bestTile.data.verts[vi + 2] - bestTile.data.verts[vj + 2]) * tseg; hitPos.z = bestTile.data.verts[vj + 2] + (bestTile.data.verts[vi + 2] - bestTile.data.verts[vj + 2]) * tseg;
hasBestV = true;
bestvj = RcVec3f.Of(bestTile.data.verts, vj); bestvj = RcVec3f.Of(bestTile.data.verts, vj);
bestvi = RcVec3f.Of(bestTile.data.verts, vi); bestvi = RcVec3f.Of(bestTile.data.verts, vi);
} }
@ -3322,9 +3325,9 @@ namespace DotRecast.Detour
} }
// Calc hit normal. // Calc hit normal.
if (bestvi != null && bestvj != null) if (hasBestV)
{ {
var tangent = bestvi.Value.Subtract(bestvj.Value); var tangent = bestvi.Subtract(bestvj);
hitNormal.x = tangent.z; hitNormal.x = tangent.z;
hitNormal.y = 0; hitNormal.y = 0;
hitNormal.z = -tangent.x; hitNormal.z = -tangent.x;

29
src/DotRecast.Recast.Demo/RecastDemo.cs
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@ -517,18 +517,21 @@ public class RecastDemo : IRecastDemoChannel
if (_sample.IsChanged()) if (_sample.IsChanged())
{ {
RcVec3f? bminN = null; bool hasBound = false;
RcVec3f? bmaxN = null; RcVec3f bminN = RcVec3f.Zero;
RcVec3f bmaxN = RcVec3f.Zero;
if (_sample.GetInputGeom() != null) if (_sample.GetInputGeom() != null)
{ {
bminN = _sample.GetInputGeom().GetMeshBoundsMin(); bminN = _sample.GetInputGeom().GetMeshBoundsMin();
bmaxN = _sample.GetInputGeom().GetMeshBoundsMax(); bmaxN = _sample.GetInputGeom().GetMeshBoundsMax();
hasBound = true;
} }
else if (_sample.GetNavMesh() != null) else if (_sample.GetNavMesh() != null)
{ {
RcVec3f[] bounds = NavMeshUtils.GetNavMeshBounds(_sample.GetNavMesh()); RcVec3f[] bounds = NavMeshUtils.GetNavMeshBounds(_sample.GetNavMesh());
bminN = bounds[0]; bminN = bounds[0];
bmaxN = bounds[1]; bmaxN = bounds[1];
hasBound = true;
} }
else if (0 < _sample.GetRecastResults().Count) else if (0 < _sample.GetRecastResults().Count)
{ {
@ -536,31 +539,33 @@ public class RecastDemo : IRecastDemoChannel
{ {
if (result.GetSolidHeightfield() != null) if (result.GetSolidHeightfield() != null)
{ {
if (bminN == null) if (!hasBound)
{ {
bminN = RcVec3f.Of(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); bminN = RcVec3f.Of(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
bmaxN = RcVec3f.Of(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); bmaxN = RcVec3f.Of(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
} }
bminN = RcVec3f.Of( bminN = RcVec3f.Of(
Math.Min(bminN.Value.x, result.GetSolidHeightfield().bmin.x), Math.Min(bminN.x, result.GetSolidHeightfield().bmin.x),
Math.Min(bminN.Value.y, result.GetSolidHeightfield().bmin.y), Math.Min(bminN.y, result.GetSolidHeightfield().bmin.y),
Math.Min(bminN.Value.z, result.GetSolidHeightfield().bmin.z) Math.Min(bminN.z, result.GetSolidHeightfield().bmin.z)
); );
bmaxN = RcVec3f.Of( bmaxN = RcVec3f.Of(
Math.Max(bmaxN.Value.x, result.GetSolidHeightfield().bmax.x), Math.Max(bmaxN.x, result.GetSolidHeightfield().bmax.x),
Math.Max(bmaxN.Value.y, result.GetSolidHeightfield().bmax.y), Math.Max(bmaxN.y, result.GetSolidHeightfield().bmax.y),
Math.Max(bmaxN.Value.z, result.GetSolidHeightfield().bmax.z) Math.Max(bmaxN.z, result.GetSolidHeightfield().bmax.z)
); );
hasBound = true;
} }
} }
} }
if (bminN != null && bmaxN != null) if (hasBound)
{ {
RcVec3f bmin = bminN.Value; RcVec3f bmin = bminN;
RcVec3f bmax = bmaxN.Value; RcVec3f bmax = bmaxN;
camr = (float)(Math.Sqrt( camr = (float)(Math.Sqrt(
Sqr(bmax.x - bmin.x) + Sqr(bmax.y - bmin.y) + Sqr(bmax.z - bmin.z)) Sqr(bmax.x - bmin.x) + Sqr(bmax.y - bmin.y) + Sqr(bmax.z - bmin.z))

43
src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs
View File

@ -102,23 +102,24 @@ public class CrowdProfilingTool
} }
} }
RcVec3f? pos = null; var status = DtStatus.DT_FAILURE;
var randomPt = RcVec3f.Zero;
switch (type) switch (type)
{ {
case CrowdAgentType.MOB: case CrowdAgentType.MOB:
pos = GetMobPosition(navquery, filter); status = GetMobPosition(navquery, filter, out randomPt);
break; break;
case CrowdAgentType.VILLAGER: case CrowdAgentType.VILLAGER:
pos = GetVillagerPosition(navquery, filter); status = GetVillagerPosition(navquery, filter, out randomPt);
break; break;
case CrowdAgentType.TRAVELLER: case CrowdAgentType.TRAVELLER:
pos = GetVillagerPosition(navquery, filter); status = GetVillagerPosition(navquery, filter, out randomPt);
break; break;
} }
if (pos != null) if (status.Succeeded())
{ {
AddAgent(pos.Value, type); AddAgent(randomPt, type);
} }
} }
} }
@ -142,31 +143,21 @@ public class CrowdProfilingTool
} }
} }
private RcVec3f? GetMobPosition(DtNavMeshQuery navquery, IDtQueryFilter filter) private DtStatus GetMobPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt)
{ {
var status = navquery.FindRandomPoint(filter, rnd, out var randomRef, out var randomPt); return navquery.FindRandomPoint(filter, rnd, out var randomRef, out randomPt);
if (status.Succeeded())
{
return randomPt;
}
return null;
} }
private RcVec3f? GetVillagerPosition(DtNavMeshQuery navquery, IDtQueryFilter filter) private DtStatus GetVillagerPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt)
{ {
if (0 < _polyPoints.Count) randomPt = RcVec3f.Zero;
{
int zone = (int)(rnd.Next() * _polyPoints.Count);
var status = navquery.FindRandomPointWithinCircle(_polyPoints[zone].refs, _polyPoints[zone].pt, zoneRadius, filter, rnd,
out var randomRef, out var randomPt);
if (status.Succeeded())
{
return randomPt;
}
}
return null; if (0 >= _polyPoints.Count)
return DtStatus.DT_FAILURE;
int zone = (int)(rnd.Next() * _polyPoints.Count);
return navquery.FindRandomPointWithinCircle(_polyPoints[zone].refs, _polyPoints[zone].pt, zoneRadius, filter, rnd,
out var randomRef, out randomPt);
} }
private void CreateZones() private void CreateZones()