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DotRecastNetSim
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refactor: DynamicupdateSampleTool

This commit is contained in:
ikpil 2023-09-10 16:12:43 +09:00
parent ab50f0fd53
commit f7ca2efc3f
14 changed files with 125 additions and 123 deletions
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40
src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
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@ -29,7 +29,7 @@ using DotRecast.Detour.Dynamic.Io;
using DotRecast.Recast.Toolset.Builder;
using DotRecast.Recast.Demo.Draw;
using DotRecast.Recast.Toolset.Geom;
using DotRecast.Recast.Toolset.Tools.Gizmos;
using DotRecast.Recast.Toolset.Gizmos;
using DotRecast.Recast.Demo.UI;
using DotRecast.Recast.Toolset;
using DotRecast.Recast.Toolset.Tools;
@ -75,7 +75,7 @@ public class DynamicUpdateSampleTool : ISampleTool
private DynamicNavMesh dynaMesh;
private readonly TaskFactory executor;
private readonly Dictionary<long, ColliderWithGizmo> colliderGizmos = new();
private readonly Dictionary<long, RcGizmo> colliderGizmos = new();
private readonly Random random = Random.Shared;
private readonly DemoInputGeomProvider bridgeGeom;
private readonly DemoInputGeomProvider houseGeom;
@ -281,7 +281,7 @@ public class DynamicUpdateSampleTool : ISampleTool
{
colliderGizmos.Values.ForEach(g =>
{
g.Render(renderer.GetDebugDraw());
GizmoRenderer.Render(renderer.GetDebugDraw(), g.Gizmo);
});
}
}
@ -359,7 +359,7 @@ public class DynamicUpdateSampleTool : ISampleTool
{
if (!shift)
{
ColliderWithGizmo colliderWithGizmo = null;
RcGizmo colliderWithGizmo = null;
if (dynaMesh != null)
{
if (colliderShape == DynamicColliderShape.SPHERE)
@ -433,16 +433,16 @@ public class DynamicUpdateSampleTool : ISampleTool
}
}
private ColliderWithGizmo SphereCollider(RcVec3f p)
private RcGizmo SphereCollider(RcVec3f p)
{
float radius = 1 + (float)random.NextDouble() * 10;
var collider = new SphereCollider(p, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb);
var gizmo = GizmoFactory.Sphere(p, radius);
return new ColliderWithGizmo(collider, gizmo);
return new RcGizmo(collider, gizmo);
}
private ColliderWithGizmo CapsuleCollider(RcVec3f p)
private RcGizmo CapsuleCollider(RcVec3f p)
{
float radius = 0.4f + (float)random.NextDouble() * 4f;
RcVec3f a = RcVec3f.Of(
@ -459,10 +459,10 @@ public class DynamicUpdateSampleTool : ISampleTool
RcVec3f end = RcVec3f.Of(p.x + a.x, p.y + a.y, p.z + a.z);
var collider = new CapsuleCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb);
var gizmo = GizmoFactory.Capsule(start, end, radius);
return new ColliderWithGizmo(collider, gizmo);
return new RcGizmo(collider, gizmo);
}
private ColliderWithGizmo BoxCollider(RcVec3f p)
private RcGizmo BoxCollider(RcVec3f p)
{
RcVec3f extent = RcVec3f.Of(
0.5f + (float)random.NextDouble() * 6f,
@ -474,10 +474,10 @@ public class DynamicUpdateSampleTool : ISampleTool
RcVec3f[] halfEdges = Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(up, forward, extent);
var collider = new BoxCollider(p, halfEdges, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb);
var gizmo = GizmoFactory.Box(p, halfEdges);
return new ColliderWithGizmo(collider, gizmo);
return new RcGizmo(collider, gizmo);
}
private ColliderWithGizmo CylinderCollider(RcVec3f p)
private RcGizmo CylinderCollider(RcVec3f p)
{
float radius = 0.7f + (float)random.NextDouble() * 4f;
RcVec3f a = RcVec3f.Of(1f - 2 * (float)random.NextDouble(), 0.01f + (float)random.NextDouble(), 1f - 2 * (float)random.NextDouble());
@ -491,10 +491,10 @@ public class DynamicUpdateSampleTool : ISampleTool
var collider = new CylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb);
var gizmo = GizmoFactory.Cylinder(start, end, radius);
return new ColliderWithGizmo(collider, gizmo);
return new RcGizmo(collider, gizmo);
}
private ColliderWithGizmo CompositeCollider(RcVec3f p)
private RcGizmo CompositeCollider(RcVec3f p)
{
RcVec3f baseExtent = RcVec3f.Of(5, 3, 8);
RcVec3f baseCenter = RcVec3f.Of(p.x, p.y + 3, p.z);
@ -531,36 +531,36 @@ public class DynamicUpdateSampleTool : ISampleTool
IRcGizmoMeshFilter trunkGizmo = GizmoFactory.Capsule(trunkStart, trunkEnd, 0.5f);
IRcGizmoMeshFilter crownGizmo = GizmoFactory.Sphere(crownCenter, 4f);
IRcGizmoMeshFilter gizmo = GizmoFactory.Composite(baseGizmo, roofGizmo, trunkGizmo, crownGizmo);
return new ColliderWithGizmo(collider, gizmo);
return new RcGizmo(collider, gizmo);
}
private ColliderWithGizmo TrimeshBridge(RcVec3f p)
private RcGizmo TrimeshBridge(RcVec3f p)
{
return TrimeshCollider(p, bridgeGeom);
}
private ColliderWithGizmo TrimeshHouse(RcVec3f p)
private RcGizmo TrimeshHouse(RcVec3f p)
{
return TrimeshCollider(p, houseGeom);
}
private ColliderWithGizmo ConvexTrimesh(RcVec3f p)
private RcGizmo ConvexTrimesh(RcVec3f p)
{
float[] verts = TransformVertices(p, convexGeom, 360);
var collider = new ConvexTrimeshCollider(verts, convexGeom.faces,
SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb * 10);
var gizmo = GizmoFactory.Trimesh(verts, convexGeom.faces);
return new ColliderWithGizmo(collider, gizmo);
return new RcGizmo(collider, gizmo);
}
private ColliderWithGizmo TrimeshCollider(RcVec3f p, DemoInputGeomProvider geom)
private RcGizmo TrimeshCollider(RcVec3f p, DemoInputGeomProvider geom)
{
float[] verts = TransformVertices(p, geom, 0);
var collider = new TrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
dynaMesh.config.walkableClimb * 10);
var gizmo = GizmoFactory.Trimesh(verts, geom.faces);
return new ColliderWithGizmo(collider, gizmo);
return new RcGizmo(collider, gizmo);
}
private float[] TransformVertices(RcVec3f p, DemoInputGeomProvider geom, float ax)

51
src/DotRecast.Recast.Demo/Tools/ColliderWithGizmo.cs → src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
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@ -1,50 +1,35 @@
using DotRecast.Core;
using DotRecast.Detour.Dynamic.Colliders;
using DotRecast.Recast.Toolset.Tools.Gizmos;
using DotRecast.Recast.Demo.Draw;
using DotRecast.Recast.Toolset.Gizmos;
using static DotRecast.Core.RcMath;
namespace DotRecast.Recast.Demo.Tools;
public class ColliderWithGizmo
public static class GizmoRenderer
{
public readonly IRcGizmoMeshFilter Gizmo;
public readonly ICollider Collider;
public ColliderWithGizmo(ICollider collider, IRcGizmoMeshFilter gizmo)
{
Collider = collider;
Gizmo = gizmo;
}
public void Render(RecastDebugDraw dd)
{
Render(dd, Gizmo);
}
public static void Render(RecastDebugDraw dd, IRcGizmoMeshFilter gizmo)
{
if (gizmo is BoxGizmo box)
if (gizmo is RcBoxGizmo box)
{
RenderBox(dd, box);
}
else if (gizmo is CapsuleGizmo capsule)
else if (gizmo is RcCapsuleGizmo capsule)
{
RenderCapsule(dd, capsule);
}
else if (gizmo is TrimeshGizmo trimesh)
else if (gizmo is RcTrimeshGizmo trimesh)
{
RenderTrimesh(dd, trimesh);
}
else if (gizmo is CylinderGizmo cylinder)
else if (gizmo is RcCylinderGizmo cylinder)
{
RenderCylinder(dd, cylinder);
}
else if (gizmo is SphereGizmo sphere)
else if (gizmo is RcSphereGizmo sphere)
{
RenderSphere(dd, sphere);
}
else if (gizmo is CompositeGizmo composite)
else if (gizmo is RcCompositeGizmo composite)
{
RenderComposite(dd, composite);
}
@ -74,7 +59,7 @@ public class ColliderWithGizmo
return col;
}
public static void RenderBox(RecastDebugDraw debugDraw, BoxGizmo box)
public static void RenderBox(RecastDebugDraw debugDraw, RcBoxGizmo box)
{
var trX = RcVec3f.Of(box.halfEdges[0].x, box.halfEdges[1].x, box.halfEdges[2].x);
var trY = RcVec3f.Of(box.halfEdges[0].y, box.halfEdges[1].y, box.halfEdges[2].y);
@ -82,9 +67,9 @@ public class ColliderWithGizmo
float[] vertices = new float[8 * 3];
for (int i = 0; i < 8; i++)
{
vertices[i * 3 + 0] = RcVec3f.Dot(BoxGizmo.VERTS[i], trX) + box.center.x;
vertices[i * 3 + 1] = RcVec3f.Dot(BoxGizmo.VERTS[i], trY) + box.center.y;
vertices[i * 3 + 2] = RcVec3f.Dot(BoxGizmo.VERTS[i], trZ) + box.center.z;
vertices[i * 3 + 0] = RcVec3f.Dot(RcBoxGizmo.VERTS[i], trX) + box.center.x;
vertices[i * 3 + 1] = RcVec3f.Dot(RcBoxGizmo.VERTS[i], trY) + box.center.y;
vertices[i * 3 + 2] = RcVec3f.Dot(RcBoxGizmo.VERTS[i], trZ) + box.center.z;
}
debugDraw.Begin(DebugDrawPrimitives.TRIS);
@ -102,7 +87,7 @@ public class ColliderWithGizmo
for (int j = 0; j < 3; j++)
{
int v = BoxGizmo.TRIANLGES[i * 3 + j] * 3;
int v = RcBoxGizmo.TRIANLGES[i * 3 + j] * 3;
debugDraw.Vertex(vertices[v], vertices[v + 1], vertices[v + 2], col);
}
}
@ -110,7 +95,7 @@ public class ColliderWithGizmo
debugDraw.End();
}
public static void RenderCapsule(RecastDebugDraw debugDraw, CapsuleGizmo capsule)
public static void RenderCapsule(RecastDebugDraw debugDraw, RcCapsuleGizmo capsule)
{
debugDraw.Begin(DebugDrawPrimitives.TRIS);
for (int i = 0; i < capsule.triangles.Length; i += 3)
@ -128,7 +113,7 @@ public class ColliderWithGizmo
debugDraw.End();
}
public static void RenderCylinder(RecastDebugDraw debugDraw, CylinderGizmo cylinder)
public static void RenderCylinder(RecastDebugDraw debugDraw, RcCylinderGizmo cylinder)
{
debugDraw.Begin(DebugDrawPrimitives.TRIS);
for (int i = 0; i < cylinder.triangles.Length; i += 3)
@ -146,7 +131,7 @@ public class ColliderWithGizmo
debugDraw.End();
}
public static void RenderSphere(RecastDebugDraw debugDraw, SphereGizmo sphere)
public static void RenderSphere(RecastDebugDraw debugDraw, RcSphereGizmo sphere)
{
debugDraw.Begin(DebugDrawPrimitives.TRIS);
for (int i = 0; i < sphere.triangles.Length; i += 3)
@ -169,7 +154,7 @@ public class ColliderWithGizmo
debugDraw.End();
}
public static void RenderTrimesh(RecastDebugDraw debugDraw, TrimeshGizmo trimesh)
public static void RenderTrimesh(RecastDebugDraw debugDraw, RcTrimeshGizmo trimesh)
{
debugDraw.Begin(DebugDrawPrimitives.TRIS);
for (int i = 0; i < trimesh.triangles.Length; i += 3)
@ -186,7 +171,7 @@ public class ColliderWithGizmo
debugDraw.End();
}
public static void RenderComposite(RecastDebugDraw debugDraw, CompositeGizmo composite)
public static void RenderComposite(RecastDebugDraw debugDraw, RcCompositeGizmo composite)
{
composite.gizmoMeshes.ForEach(g => Render(debugDraw, g));
}

37
src/DotRecast.Recast.Toolset/Gizmos/GizmoFactory.cs Normal file
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@ -0,0 +1,37 @@
using DotRecast.Core;
namespace DotRecast.Recast.Toolset.Gizmos
{
public static class GizmoFactory
{
public static RcBoxGizmo Box(RcVec3f center, RcVec3f[] halfEdges)
{
return new RcBoxGizmo(center, halfEdges);
}
public static RcSphereGizmo Sphere(RcVec3f center, float radius)
{
return new RcSphereGizmo(center, radius);
}
public static RcCapsuleGizmo Capsule(RcVec3f start, RcVec3f end, float radius)
{
return new RcCapsuleGizmo(start, end, radius);
}
public static RcCylinderGizmo Cylinder(RcVec3f start, RcVec3f end, float radius)
{
return new RcCylinderGizmo(start, end, radius);
}
public static RcTrimeshGizmo Trimesh(float[] verts, int[] faces)
{
return new RcTrimeshGizmo(verts, faces);
}
public static RcCompositeGizmo Composite(params IRcGizmoMeshFilter[] gizmos)
{
return new RcCompositeGizmo(gizmos);
}
}
}

2
src/DotRecast.Recast.Toolset/Tools/Gizmos/GizmoHelper.cs → src/DotRecast.Recast.Toolset/Gizmos/GizmoHelper.cs
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@ -1,6 +1,6 @@
using System;
namespace DotRecast.Recast.Toolset.Tools.Gizmos
namespace DotRecast.Recast.Toolset.Gizmos
{
public static class GizmoHelper
{

2
src/DotRecast.Recast.Toolset/Tools/Gizmos/IRcGizmoMeshFilter.cs → src/DotRecast.Recast.Toolset/Gizmos/IRcGizmoMeshFilter.cs
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@ -1,6 +1,6 @@
//using DotRecast.Recast.Demo.Draw;
namespace DotRecast.Recast.Toolset.Tools.Gizmos
namespace DotRecast.Recast.Toolset.Gizmos
{
public interface IRcGizmoMeshFilter
{

8
src/DotRecast.Recast.Toolset/Tools/Gizmos/BoxGizmo.cs → src/DotRecast.Recast.Toolset/Gizmos/RcBoxGizmo.cs
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@ -1,9 +1,9 @@
using DotRecast.Core;
using DotRecast.Detour.Dynamic.Colliders;
namespace DotRecast.Recast.Toolset.Tools.Gizmos
namespace DotRecast.Recast.Toolset.Gizmos
{
public class BoxGizmo : IRcGizmoMeshFilter
public class RcBoxGizmo : IRcGizmoMeshFilter
{
public static readonly int[] TRIANLGES =
{
@ -27,12 +27,12 @@ namespace DotRecast.Recast.Toolset.Tools.Gizmos
public readonly RcVec3f center;
public readonly RcVec3f[] halfEdges;
public BoxGizmo(RcVec3f center, RcVec3f extent, RcVec3f forward, RcVec3f up) :
public RcBoxGizmo(RcVec3f center, RcVec3f extent, RcVec3f forward, RcVec3f up) :
this(center, BoxCollider.GetHalfEdges(up, forward, extent))
{
}
public BoxGizmo(RcVec3f center, RcVec3f[] halfEdges)
public RcBoxGizmo(RcVec3f center, RcVec3f[] halfEdges)
{
this.center = center;
this.halfEdges = halfEdges;

8
src/DotRecast.Recast.Toolset/Tools/Gizmos/CapsuleGizmo.cs → src/DotRecast.Recast.Toolset/Gizmos/RcCapsuleGizmo.cs
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@ -1,17 +1,17 @@
using DotRecast.Core;
using static DotRecast.Core.RcMath;
using static DotRecast.Recast.Toolset.Tools.Gizmos.GizmoHelper;
using static DotRecast.Recast.Toolset.Gizmos.GizmoHelper;
namespace DotRecast.Recast.Toolset.Tools.Gizmos
namespace DotRecast.Recast.Toolset.Gizmos
{
public class CapsuleGizmo : IRcGizmoMeshFilter
public class RcCapsuleGizmo : IRcGizmoMeshFilter
{
public readonly float[] vertices;
public readonly int[] triangles;
public readonly float[] center;
public readonly float[] gradient;
public CapsuleGizmo(RcVec3f start, RcVec3f end, float radius)
public RcCapsuleGizmo(RcVec3f start, RcVec3f end, float radius)
{
center = new float[]
{

12
src/DotRecast.Recast.Toolset/Gizmos/RcCompositeGizmo.cs Normal file
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@ -0,0 +1,12 @@
namespace DotRecast.Recast.Toolset.Gizmos
{
public class RcCompositeGizmo : IRcGizmoMeshFilter
{
public readonly IRcGizmoMeshFilter[] gizmoMeshes;
public RcCompositeGizmo(params IRcGizmoMeshFilter[] gizmoMeshes)
{
this.gizmoMeshes = gizmoMeshes;
}
}
}

8
src/DotRecast.Recast.Toolset/Tools/Gizmos/CylinderGizmo.cs → src/DotRecast.Recast.Toolset/Gizmos/RcCylinderGizmo.cs
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@ -1,18 +1,18 @@
using DotRecast.Core;
using static DotRecast.Core.RcMath;
using static DotRecast.Recast.Toolset.Tools.Gizmos.GizmoHelper;
using static DotRecast.Recast.Toolset.Gizmos.GizmoHelper;
namespace DotRecast.Recast.Toolset.Tools.Gizmos
namespace DotRecast.Recast.Toolset.Gizmos
{
public class CylinderGizmo : IRcGizmoMeshFilter
public class RcCylinderGizmo : IRcGizmoMeshFilter
{
public readonly float[] vertices;
public readonly int[] triangles;
public readonly RcVec3f center;
public readonly float[] gradient;
public CylinderGizmo(RcVec3f start, RcVec3f end, float radius)
public RcCylinderGizmo(RcVec3f start, RcVec3f end, float radius)
{
center = RcVec3f.Of(
0.5f * (start.x + end.x), 0.5f * (start.y + end.y),

17
src/DotRecast.Recast.Toolset/Gizmos/RcGizmo.cs Normal file
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@ -0,0 +1,17 @@
using DotRecast.Detour.Dynamic.Colliders;
using DotRecast.Recast.Toolset.Gizmos;
namespace DotRecast.Recast.Toolset.Gizmos
{
public class RcGizmo
{
public readonly IRcGizmoMeshFilter Gizmo;
public readonly ICollider Collider;
public RcGizmo(ICollider collider, IRcGizmoMeshFilter gizmo)
{
Collider = collider;
Gizmo = gizmo;
}
}
}

8
src/DotRecast.Recast.Toolset/Tools/Gizmos/SphereGizmo.cs → src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs
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@ -1,17 +1,17 @@
using DotRecast.Core;
using static DotRecast.Recast.Toolset.Tools.Gizmos.GizmoHelper;
using static DotRecast.Recast.Toolset.Gizmos.GizmoHelper;
namespace DotRecast.Recast.Toolset.Tools.Gizmos
namespace DotRecast.Recast.Toolset.Gizmos
{
public class SphereGizmo : IRcGizmoMeshFilter
public class RcSphereGizmo : IRcGizmoMeshFilter
{
public readonly float[] vertices;
public readonly int[] triangles;
public readonly float radius;
public readonly RcVec3f center;
public SphereGizmo(RcVec3f center, float radius)
public RcSphereGizmo(RcVec3f center, float radius)
{
this.center = center;
this.radius = radius;

6
src/DotRecast.Recast.Toolset/Tools/Gizmos/TrimeshGizmo.cs → src/DotRecast.Recast.Toolset/Gizmos/RcTrimeshGizmo.cs
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@ -1,11 +1,11 @@
namespace DotRecast.Recast.Toolset.Tools.Gizmos
namespace DotRecast.Recast.Toolset.Gizmos
{
public class TrimeshGizmo : IRcGizmoMeshFilter
public class RcTrimeshGizmo : IRcGizmoMeshFilter
{
public readonly float[] vertices;
public readonly int[] triangles;
public TrimeshGizmo(float[] vertices, int[] triangles)
public RcTrimeshGizmo(float[] vertices, int[] triangles)
{
this.vertices = vertices;
this.triangles = triangles;

12
src/DotRecast.Recast.Toolset/Tools/Gizmos/CompositeGizmo.cs
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@ -1,12 +0,0 @@
namespace DotRecast.Recast.Toolset.Tools.Gizmos
{
public class CompositeGizmo : IRcGizmoMeshFilter
{
public readonly IRcGizmoMeshFilter[] gizmoMeshes;
public CompositeGizmo(params IRcGizmoMeshFilter[] gizmoMeshes)
{
this.gizmoMeshes = gizmoMeshes;
}
}
}

37
src/DotRecast.Recast.Toolset/Tools/Gizmos/GizmoFactory.cs
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@ -1,37 +0,0 @@
using DotRecast.Core;
namespace DotRecast.Recast.Toolset.Tools.Gizmos
{
public static class GizmoFactory
{
public static BoxGizmo Box(RcVec3f center, RcVec3f[] halfEdges)
{
return new BoxGizmo(center, halfEdges);
}
public static SphereGizmo Sphere(RcVec3f center, float radius)
{
return new SphereGizmo(center, radius);
}
public static CapsuleGizmo Capsule(RcVec3f start, RcVec3f end, float radius)
{
return new CapsuleGizmo(start, end, radius);
}
public static CylinderGizmo Cylinder(RcVec3f start, RcVec3f end, float radius)
{
return new CylinderGizmo(start, end, radius);
}
public static TrimeshGizmo Trimesh(float[] verts, int[] faces)
{
return new TrimeshGizmo(verts, faces);
}
public static CompositeGizmo Composite(params IRcGizmoMeshFilter[] gizmos)
{
return new CompositeGizmo(gizmos);
}
}
}