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DotRecastNetSim
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remove ClosestPointOnPolyResult

This commit is contained in:
ikpil 2023-06-10 15:16:52 +09:00
parent b75537d0b1
commit fc1f64bcc9
7 changed files with 39 additions and 100 deletions
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14
src/DotRecast.Detour.Crowd/DtCrowd.cs
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@ -615,12 +615,8 @@ namespace DotRecast.Detour.Crowd
{
// Partial path, constrain target position inside the
// last polygon.
Result<ClosestPointOnPolyResult> cr = _navQuery.ClosestPointOnPoly(reqPath[reqPath.Count - 1], ag.targetPos);
if (cr.Succeeded())
{
reqPos = cr.result.GetClosest();
}
else
var cr = _navQuery.ClosestPointOnPoly(reqPath[reqPath.Count - 1], ag.targetPos, out reqPos, out var _);
if (cr.IsFailed())
{
reqPath = new List<long>();
}
@ -783,10 +779,10 @@ namespace DotRecast.Detour.Crowd
{
// Partial path, constrain target position inside
// the last polygon.
Result<ClosestPointOnPolyResult> cr = _navQuery.ClosestPointOnPoly(res[res.Count - 1], targetPos);
if (cr.Succeeded())
var cr = _navQuery.ClosestPointOnPoly(res[res.Count - 1], targetPos, out var nearest, out var _);
if (cr.IsSuccess())
{
targetPos = cr.result.GetClosest();
targetPos = nearest;
}
else
{

4
src/DotRecast.Detour/DtFindNearestPolyQuery.cs
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@ -24,9 +24,7 @@ namespace DotRecast.Detour
public void Process(DtMeshTile tile, DtPoly poly, long refs)
{
// Find nearest polygon amongst the nearby polygons.
Result<ClosestPointOnPolyResult> closest = query.ClosestPointOnPoly(refs, center);
bool posOverPoly = closest.result.IsPosOverPoly();
var closestPtPoly = closest.result.GetClosest();
query.ClosestPointOnPoly(refs, center, out var closestPtPoly, out var posOverPoly);
// If a point is directly over a polygon and closer than
// climb height, favor that instead of straight line nearest point.

20
src/DotRecast.Detour/DtNavMesh.cs
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@ -1301,18 +1301,21 @@ namespace DotRecast.Detour
return closest.y;
}
public ClosestPointOnPolyResult ClosestPointOnPoly(long refs, RcVec3f pos)
public void ClosestPointOnPoly(long refs, RcVec3f pos, out RcVec3f closest, out bool posOverPoly)
{
GetTileAndPolyByRefUnsafe(refs, out var tile, out var poly);
RcVec3f closest = new RcVec3f();
closest = pos;
float? h = GetPolyHeight(tile, poly, pos);
if (null != h)
{
closest.y = h.Value;
return new ClosestPointOnPolyResult(true, closest);
posOverPoly = true;
return;
}
posOverPoly = false;
// Off-mesh connections don't have detail polygons.
if (poly.GetPolyType() == DtPoly.DT_POLYTYPE_OFFMESH_CONNECTION)
{
@ -1320,12 +1323,13 @@ namespace DotRecast.Detour
var v0 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
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 distSqr = DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var t);
return new ClosestPointOnPolyResult(false, RcVec3f.Lerp(v0, v1, t));
DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var t);
closest = RcVec3f.Lerp(v0, v1, t);
return;
}
// Outside poly that is not an offmesh connection.
return new ClosestPointOnPolyResult(false, ClosestPointOnDetailEdges(tile, poly, pos, true));
closest = ClosestPointOnDetailEdges(tile, poly, pos, true);
}
FindNearestPolyResult FindNearestPolyInTile(DtMeshTile tile, RcVec3f center, RcVec3f extents)
@ -1345,9 +1349,7 @@ namespace DotRecast.Detour
{
long refs = polys[i];
float d;
ClosestPointOnPolyResult cpp = ClosestPointOnPoly(refs, center);
bool posOverPoly = cpp.IsPosOverPoly();
RcVec3f closestPtPoly = cpp.GetClosest();
ClosestPointOnPoly(refs, center, out var closestPtPoly, out var posOverPoly);
// If a point is directly over a polygon and closer than
// climb height, favor that instead of straight line nearest point.

27
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -175,8 +175,8 @@ namespace DotRecast.Detour
float t = frand.Next();
var pt = DetourCommon.RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t);
ClosestPointOnPolyResult closest = ClosestPointOnPoly(polyRef, pt).result;
return Results.Success(new FindRandomPointResult(polyRef, closest.GetClosest()));
ClosestPointOnPoly(polyRef, pt, out var closest, out var _);
return Results.Success(new FindRandomPointResult(polyRef, closest));
}
/**
@ -395,8 +395,8 @@ namespace DotRecast.Detour
float[] areas = new float[randomPolyVerts.Length / 3];
RcVec3f pt = DetourCommon.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t);
ClosestPointOnPolyResult closest = ClosestPointOnPoly(randomPolyRef, pt).result;
return Results.Success(new FindRandomPointResult(randomPolyRef, closest.GetClosest()));
ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _);
return Results.Success(new FindRandomPointResult(randomPolyRef, closest));
}
//////////////////////////////////////////////////////////////////////////////////////////
@ -414,14 +414,18 @@ namespace DotRecast.Detour
/// @param[out] closest
/// @param[out] posOverPoly
/// @returns The status flags for the query.
public Result<ClosestPointOnPolyResult> ClosestPointOnPoly(long refs, RcVec3f pos)
public DtStatus ClosestPointOnPoly(long refs, RcVec3f pos, out RcVec3f closest, out bool posOverPoly)
{
closest = RcVec3f.Zero;
posOverPoly = false;
if (!m_nav.IsValidPolyRef(refs) || !RcVec3f.IsFinite(pos))
{
return Results.InvalidParam<ClosestPointOnPolyResult>();
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
}
return Results.Success(m_nav.ClosestPointOnPoly(refs, pos));
m_nav.ClosestPointOnPoly(refs, pos, out closest, out posOverPoly);
return DtStatus.DT_SUCCSESS;
}
/// @par
@ -1005,20 +1009,17 @@ namespace DotRecast.Detour
* query options (see: #FindPathOptions)
* @return
*/
public DtStatus InitSlicedFindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter,
int options)
public DtStatus InitSlicedFindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, int options)
{
return InitSlicedFindPath(startRef, endRef, startPos, endPos, filter, options, new DefaultQueryHeuristic(), -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, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, int options, float raycastLimit)
{
return InitSlicedFindPath(startRef, endRef, startPos, endPos, filter, options, new DefaultQueryHeuristic(), raycastLimit);
}
public DtStatus InitSlicedFindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter,
int options, IQueryHeuristic heuristic, float raycastLimit)
public DtStatus InitSlicedFindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, int options, IQueryHeuristic heuristic, float raycastLimit)
{
// Init path state.
m_query = new DtQueryData();

48
src/DotRecast.Detour/QueryResults/ClosestPointOnPolyResult.cs
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@ -1,48 +0,0 @@
/*
Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
using DotRecast.Core;
namespace DotRecast.Detour.QueryResults
{
public class ClosestPointOnPolyResult
{
private readonly bool posOverPoly;
private readonly RcVec3f closest;
public ClosestPointOnPolyResult(bool posOverPoly, RcVec3f closest)
{
this.posOverPoly = posOverPoly;
this.closest = closest;
}
/** Returns true if the position is over the polygon. */
public bool IsPosOverPoly()
{
return posOverPoly;
}
/** Returns the closest point on the polygon. [(x, y, z)] */
public RcVec3f GetClosest()
{
return closest;
}
}
}

10
src/DotRecast.Detour/QueryResults/Result.cs
View File

@ -37,11 +37,6 @@ namespace DotRecast.Detour.QueryResults
return new Result<T>(default, DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM, null);
}
public static Result<T> Failure<T>(string message)
{
return new Result<T>(default, DtStatus.DT_FAILURE, message);
}
public static Result<T> InvalidParam<T>(string message)
{
return new Result<T>(default, DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM, message);
@ -52,11 +47,6 @@ namespace DotRecast.Detour.QueryResults
return new Result<T>(result, DtStatus.DT_FAILURE, null);
}
public static Result<T> Partial<T>(T result)
{
return new Result<T>(default, DtStatus.DT_PARTIAL_RESULT, null);
}
public static Result<T> Of<T>(DtStatus status, string message)
{
return new Result<T>(default, status, message);

16
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -195,8 +195,8 @@ public class TestNavmeshTool : ITool
{
List<long> polys = new(m_polys);
// Iterate over the path to find smooth path on the detail mesh surface.
RcVec3f iterPos = m_navQuery.ClosestPointOnPoly(m_startRef, m_spos).result.GetClosest();
RcVec3f targetPos = m_navQuery.ClosestPointOnPoly(polys[polys.Count - 1], m_epos).result.GetClosest();
m_navQuery.ClosestPointOnPoly(m_startRef, m_spos, out var iterPos, out var _);
m_navQuery.ClosestPointOnPoly(polys[polys.Count - 1], m_epos, out var targetPos, out var _);
float STEP_SIZE = 0.5f;
float SLOP = 0.01f;
@ -334,10 +334,10 @@ public class TestNavmeshTool : ITool
var epos = RcVec3f.Of(m_epos.x, m_epos.y, m_epos.z);
if (m_polys[m_polys.Count - 1] != m_endRef)
{
Result<ClosestPointOnPolyResult> result = m_navQuery.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos);
if (result.Succeeded())
var result = m_navQuery.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos, out var closest, out var _);
if (result.IsSuccess())
{
epos = result.result.GetClosest();
epos = closest;
}
}
@ -994,10 +994,10 @@ public class TestNavmeshTool : ITool
epos = m_epos;
if (m_polys[m_polys.Count - 1] != m_endRef)
{
Result<ClosestPointOnPolyResult> result = m_navQuery.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos);
if (result.Succeeded())
var result = m_navQuery.ClosestPointOnPoly(m_polys[m_polys.Count - 1], m_epos, out var closest, out var _);
if (result.IsSuccess())
{
epos = result.result.GetClosest();
epos = closest;
}
}