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DotRecastNetSim
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typo

This commit is contained in:
ikpil 2023-07-27 14:19:31 +09:00
parent 21a6b1c5e8
commit e6e17d83a2
10 changed files with 97 additions and 97 deletions
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25
src/DotRecast.Detour/DtOffMeshConnection.cs
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@ -20,33 +20,28 @@ freely, subject to the following restrictions:
namespace DotRecast.Detour
{
/**
* Defines an navigation mesh off-mesh connection within a dtMeshTile object. An off-mesh connection is a user defined
* traversable connection made up to two vertices.
*/
/// Defines an navigation mesh off-mesh connection within a dtMeshTile object.
/// An off-mesh connection is a user defined traversable connection made up to two vertices.
public class DtOffMeshConnection
{
/** The endpoints of the connection. [(ax, ay, az, bx, by, bz)] */
/// The endpoints of the connection. [(ax, ay, az, bx, by, bz)]
public float[] pos = new float[6];
/** The radius of the endpoints. [Limit: >= 0] */
/// The radius of the endpoints. [Limit: >= 0]
public float rad;
/** The polygon reference of the connection within the tile. */
/// The polygon reference of the connection within the tile.
public int poly;
/**
* Link flags.
*
* @note These are not the connection's user defined flags. Those are assigned via the connection's Poly definition.
* These are link flags used for internal purposes.
*/
/// Link flags.
/// @note These are not the connection's user defined flags. Those are assigned via the
/// connection's dtPoly definition. These are link flags used for internal purposes.
public int flags;
/** End point side. */
/// End point side.
public int side;
/** The id of the offmesh connection. (User assigned when the navigation mesh is built.) */
/// The id of the offmesh connection. (User assigned when the navigation mesh is built.)
public int userId;
}
}

2
src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs
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@ -228,7 +228,7 @@ public class NavMeshRenderer
_debugDraw.DepthMask(false);
_debugDraw.Begin(DebugDrawPrimitives.LINES, 2.0f);
foreach (DemoOffMeshConnection con in geom.GetOffMeshConnections())
foreach (var con in geom.GetOffMeshConnections())
{
float[] v = con.verts;
_debugDraw.Vertex(v[0], v[1], v[2], baseColor);

61
src/DotRecast.Recast.DemoTool/Builder/AbstractNavMeshBuilder.cs → src/DotRecast.Recast.DemoTool/Builder/DemoNavMeshBuilder.cs
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@ -1,48 +1,49 @@
using DotRecast.Detour;
using DotRecast.Recast.DemoTool.Geom;
using DotRecast.Recast.Geom;
namespace DotRecast.Recast.DemoTool.Builder
{
public abstract class AbstractNavMeshBuilder
public static class DemoNavMeshBuilder
{
protected DtNavMeshCreateParams GetNavMeshCreateParams(DemoInputGeomProvider m_geom, float m_cellSize,
float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb,
public static DtNavMeshCreateParams GetNavMeshCreateParams(DemoInputGeomProvider geom, float cellSize,
float cellHeight, float agentHeight, float agentRadius, float agentMaxClimb,
RecastBuilderResult rcResult)
{
RcPolyMesh m_pmesh = rcResult.GetMesh();
RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
RcPolyMesh pmesh = rcResult.GetMesh();
RcPolyMeshDetail dmesh = rcResult.GetMeshDetail();
DtNavMeshCreateParams option = new DtNavMeshCreateParams();
for (int i = 0; i < m_pmesh.npolys; ++i)
for (int i = 0; i < pmesh.npolys; ++i)
{
m_pmesh.flags[i] = 1;
pmesh.flags[i] = 1;
}
option.verts = m_pmesh.verts;
option.vertCount = m_pmesh.nverts;
option.polys = m_pmesh.polys;
option.polyAreas = m_pmesh.areas;
option.polyFlags = m_pmesh.flags;
option.polyCount = m_pmesh.npolys;
option.nvp = m_pmesh.nvp;
if (m_dmesh != null)
option.verts = pmesh.verts;
option.vertCount = pmesh.nverts;
option.polys = pmesh.polys;
option.polyAreas = pmesh.areas;
option.polyFlags = pmesh.flags;
option.polyCount = pmesh.npolys;
option.nvp = pmesh.nvp;
if (dmesh != null)
{
option.detailMeshes = m_dmesh.meshes;
option.detailVerts = m_dmesh.verts;
option.detailVertsCount = m_dmesh.nverts;
option.detailTris = m_dmesh.tris;
option.detailTriCount = m_dmesh.ntris;
option.detailMeshes = dmesh.meshes;
option.detailVerts = dmesh.verts;
option.detailVertsCount = dmesh.nverts;
option.detailTris = dmesh.tris;
option.detailTriCount = dmesh.ntris;
}
option.walkableHeight = m_agentHeight;
option.walkableRadius = m_agentRadius;
option.walkableClimb = m_agentMaxClimb;
option.bmin = m_pmesh.bmin;
option.bmax = m_pmesh.bmax;
option.cs = m_cellSize;
option.ch = m_cellHeight;
option.walkableHeight = agentHeight;
option.walkableRadius = agentRadius;
option.walkableClimb = agentMaxClimb;
option.bmin = pmesh.bmin;
option.bmax = pmesh.bmax;
option.cs = cellSize;
option.ch = cellHeight;
option.buildBvTree = true;
option.offMeshConCount = m_geom.GetOffMeshConnections().Count;
option.offMeshConCount = geom.GetOffMeshConnections().Count;
option.offMeshConVerts = new float[option.offMeshConCount * 6];
option.offMeshConRad = new float[option.offMeshConCount];
option.offMeshConDir = new int[option.offMeshConCount];
@ -51,7 +52,7 @@ namespace DotRecast.Recast.DemoTool.Builder
option.offMeshConUserID = new int[option.offMeshConCount];
for (int i = 0; i < option.offMeshConCount; i++)
{
DemoOffMeshConnection offMeshCon = m_geom.GetOffMeshConnections()[i];
DemoOffMeshConnection offMeshCon = geom.GetOffMeshConnections()[i];
for (int j = 0; j < 6; j++)
{
option.offMeshConVerts[6 * i + j] = offMeshCon.verts[j];
@ -66,7 +67,7 @@ namespace DotRecast.Recast.DemoTool.Builder
return option;
}
protected DtMeshData UpdateAreaAndFlags(DtMeshData meshData)
public static DtMeshData UpdateAreaAndFlags(DtMeshData meshData)
{
// Update poly flags from areas.
for (int i = 0; i < meshData.polys.Length; ++i)

15
src/DotRecast.Recast.DemoTool/Builder/SampleAreaModifications.cs
View File

@ -23,7 +23,6 @@ using System.Linq;
namespace DotRecast.Recast.DemoTool.Builder
{
public class SampleAreaModifications
{
public const int SAMPLE_POLYAREA_TYPE_GROUND = 0x0;
@ -35,6 +34,13 @@ namespace DotRecast.Recast.DemoTool.Builder
public const int SAMPLE_POLYAREA_TYPE_JUMP_AUTO = 0x6;
public const int SAMPLE_POLYAREA_TYPE_WALKABLE = 0x3f;
public static readonly int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road)
public static readonly int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water).
public static readonly int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors.
public static readonly int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump.
public static readonly int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon
public static readonly int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities.
public static readonly RcAreaModification SAMPLE_AREAMOD_WALKABLE = new RcAreaModification(SAMPLE_POLYAREA_TYPE_WALKABLE);
public static readonly RcAreaModification SAMPLE_AREAMOD_GROUND = new RcAreaModification(SAMPLE_POLYAREA_TYPE_GROUND);
public static readonly RcAreaModification SAMPLE_AREAMOD_WATER = new RcAreaModification(SAMPLE_POLYAREA_TYPE_WATER);
@ -57,12 +63,5 @@ namespace DotRecast.Recast.DemoTool.Builder
{
return Values.FirstOrDefault(x => x.Value == value) ?? SAMPLE_AREAMOD_GRASS;
}
public static readonly int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road)
public static readonly int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water).
public static readonly int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors.
public static readonly int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump.
public static readonly int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon
public static readonly int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities.
}
}

11
src/DotRecast.Recast.DemoTool/Builder/SoloNavMeshBuilder.cs
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@ -24,7 +24,7 @@ using DotRecast.Recast.DemoTool.Geom;
namespace DotRecast.Recast.DemoTool.Builder
{
public class SoloNavMeshBuilder : AbstractNavMeshBuilder
public class SoloNavMeshBuilder
{
public NavMeshBuildResult Build(DemoInputGeomProvider geom, PartitionType partitionType,
float cellSize, float cellHeight, float agentHeight, float agentRadius, float agentMaxClimb,
@ -62,12 +62,13 @@ namespace DotRecast.Recast.DemoTool.Builder
return rcBuilder.Build(geom, bcfg);
}
private DtMeshData BuildMeshData(DemoInputGeomProvider geom, float cellSize, float cellHeight, float agentHeight,
public DtMeshData BuildMeshData(DemoInputGeomProvider geom, float cellSize, float cellHeight, float agentHeight,
float agentRadius, float agentMaxClimb, RecastBuilderResult result)
{
DtNavMeshCreateParams option = GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight, agentRadius,
agentMaxClimb, result);
return UpdateAreaAndFlags(NavMeshBuilder.CreateNavMeshData(option));
DtNavMeshCreateParams option = DemoNavMeshBuilder
.GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result);
var meshData = NavMeshBuilder.CreateNavMeshData(option);
return DemoNavMeshBuilder.UpdateAreaAndFlags(meshData);
}
}
}

56
src/DotRecast.Recast.DemoTool/Builder/TileNavMeshBuilder.cs
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@ -19,14 +19,12 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using System.Threading.Tasks;
using DotRecast.Core;
using DotRecast.Detour;
using DotRecast.Recast.DemoTool.Geom;
using static DotRecast.Core.RcMath;
namespace DotRecast.Recast.DemoTool.Builder
{
public class TileNavMeshBuilder : AbstractNavMeshBuilder
public class TileNavMeshBuilder
{
public TileNavMeshBuilder()
{
@ -47,7 +45,7 @@ namespace DotRecast.Recast.DemoTool.Builder
return new NavMeshBuildResult(results, tileNavMesh);
}
private List<RecastBuilderResult> BuildRecastResult(DemoInputGeomProvider geom, PartitionType partitionType,
public List<RecastBuilderResult> BuildRecastResult(DemoInputGeomProvider geom, PartitionType partitionType,
float cellSize, float cellHeight, float agentHeight, float agentRadius, float agentMaxClimb,
float agentMaxSlope, int regionMinSize, int regionMergeSize, float edgeMaxLen, float edgeMaxError,
int vertsPerPoly, float detailSampleDist, float detailSampleMaxError, bool filterLowHangingObstacles,
@ -63,7 +61,7 @@ namespace DotRecast.Recast.DemoTool.Builder
return rcBuilder.BuildTiles(geom, cfg, Task.Factory);
}
private DtNavMesh BuildNavMesh(DemoInputGeomProvider geom, List<DtMeshData> meshData, float cellSize, int tileSize, int vertsPerPoly)
public DtNavMesh BuildNavMesh(DemoInputGeomProvider geom, List<DtMeshData> meshData, float cellSize, int tileSize, int vertsPerPoly)
{
DtNavMeshParams navMeshParams = new DtNavMeshParams();
navMeshParams.orig = geom.GetMeshBoundsMin();
@ -79,6 +77,31 @@ namespace DotRecast.Recast.DemoTool.Builder
return navMesh;
}
private List<DtMeshData> BuildMeshData(DemoInputGeomProvider geom, float cellSize, float cellHeight, float agentHeight,
float agentRadius, float agentMaxClimb, List<RecastBuilderResult> results)
{
// Add tiles to nav mesh
List<DtMeshData> meshData = new List<DtMeshData>();
foreach (RecastBuilderResult result in results)
{
int x = result.tileX;
int z = result.tileZ;
DtNavMeshCreateParams option = DemoNavMeshBuilder
.GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result);
option.tileX = x;
option.tileZ = z;
DtMeshData md = NavMeshBuilder.CreateNavMeshData(option);
if (md != null)
{
meshData.Add(DemoNavMeshBuilder.UpdateAreaAndFlags(md));
}
}
return meshData;
}
public int GetMaxTiles(DemoInputGeomProvider geom, float cellSize, int tileSize)
{
int tileBits = GetTileBits(geom, cellSize, tileSize);
@ -107,28 +130,5 @@ namespace DotRecast.Recast.DemoTool.Builder
int th = (gh + tileSize - 1) / tileSize;
return new int[] { tw, th };
}
private List<DtMeshData> BuildMeshData(DemoInputGeomProvider geom, float cellSize, float cellHeight, float agentHeight,
float agentRadius, float agentMaxClimb, List<RecastBuilderResult> results)
{
// Add tiles to nav mesh
List<DtMeshData> meshData = new List<DtMeshData>();
foreach (RecastBuilderResult result in results)
{
int x = result.tileX;
int z = result.tileZ;
DtNavMeshCreateParams option = GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight,
agentRadius, agentMaxClimb, result);
option.tileX = x;
option.tileZ = z;
DtMeshData md = NavMeshBuilder.CreateNavMeshData(option);
if (md != null)
{
meshData.Add(UpdateAreaAndFlags(md));
}
}
return meshData;
}
}
}

8
src/DotRecast.Recast.DemoTool/Geom/DemoInputGeomProvider.cs
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@ -34,7 +34,7 @@ namespace DotRecast.Recast.DemoTool.Geom
private readonly RcVec3f bmin;
private readonly RcVec3f bmax;
private readonly List<RcConvexVolume> _convexVolumes = new List<RcConvexVolume>();
private readonly List<DemoOffMeshConnection> offMeshConnections = new List<DemoOffMeshConnection>();
private readonly List<DemoOffMeshConnection> _offMeshConnections = new List<DemoOffMeshConnection>();
private readonly RcTriMesh _mesh;
public DemoInputGeomProvider(List<float> vertexPositions, List<int> meshFaces) :
@ -134,18 +134,18 @@ namespace DotRecast.Recast.DemoTool.Geom
public List<DemoOffMeshConnection> GetOffMeshConnections()
{
return offMeshConnections;
return _offMeshConnections;
}
public void AddOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags)
{
offMeshConnections.Add(new DemoOffMeshConnection(start, end, radius, bidir, area, flags));
_offMeshConnections.Add(new DemoOffMeshConnection(start, end, radius, bidir, area, flags));
}
public void RemoveOffMeshConnections(Predicate<DemoOffMeshConnection> filter)
{
//offMeshConnections.RetainAll(offMeshConnections.Stream().Filter(c -> !filter.Test(c)).Collect(ToList()));
offMeshConnections.RemoveAll(filter); // TODO : 확인 필요
_offMeshConnections.RemoveAll(filter); // TODO : 확인 필요
}
public float? RaycastMesh(RcVec3f src, RcVec3f dst)

1
src/DotRecast.Recast.DemoTool/Tools/OffMeshConnectionToolImpl.cs
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@ -2,6 +2,7 @@
using DotRecast.Core;
using DotRecast.Recast.DemoTool.Builder;
using DotRecast.Recast.DemoTool.Geom;
using DotRecast.Recast.Geom;
namespace DotRecast.Recast.DemoTool.Tools
{

5
src/DotRecast.Recast.DemoTool/Tools/TileToolImpl.cs
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@ -1,4 +1,5 @@
using DotRecast.Core;
using DotRecast.Detour.TileCache;
namespace DotRecast.Recast.DemoTool.Tools
{
@ -36,9 +37,9 @@ namespace DotRecast.Recast.DemoTool.Tools
int tx = (int)((pos.x - bmin[0]) / ts);
int ty = (int)((pos.z - bmin[2]) / ts);
var tileRef = navMesh.GetTileRefAt(tx, ty, 0);
navMesh.RemoveTile(tileRef);
// navMesh.RemoveTile(tileRef);
}
public void RemoveTile(RcVec3f pos)

10
test/DotRecast.Detour.Test/TestDetourBuilder.cs
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@ -93,10 +93,12 @@ public class TestDetourBuilder : DetourBuilder
option.ch = rcConfig.ch;
option.buildBvTree = true;
/*
* option.offMeshConVerts = m_geom->GetOffMeshConnectionVerts(); option.offMeshConRad =
* m_geom->GetOffMeshConnectionRads(); option.offMeshConDir = m_geom->GetOffMeshConnectionDirs();
* option.offMeshConAreas = m_geom->GetOffMeshConnectionAreas(); option.offMeshConFlags =
* m_geom->GetOffMeshConnectionFlags(); option.offMeshConUserID = m_geom->GetOffMeshConnectionId();
* option.offMeshConVerts = m_geom->GetOffMeshConnectionVerts();
* option.offMeshConRad = m_geom->GetOffMeshConnectionRads();
* option.offMeshConDir = m_geom->GetOffMeshConnectionDirs();
* option.offMeshConAreas = m_geom->GetOffMeshConnectionAreas();
* option.offMeshConFlags = m_geom->GetOffMeshConnectionFlags();
* option.offMeshConUserID = m_geom->GetOffMeshConnectionId();
* option.offMeshConCount = m_geom->GetOffMeshConnectionCount();
*/
return option;