forked from bit/DotRecastNetSim
65 lines
2.5 KiB
C#
65 lines
2.5 KiB
C#
/*
|
|
recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
|
|
|
|
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 System;
|
|
using DotRecast.Recast;
|
|
|
|
namespace DotRecast.Detour.Dynamic.Colliders
|
|
{
|
|
|
|
|
|
public class TrimeshCollider : AbstractCollider {
|
|
|
|
private readonly float[] vertices;
|
|
private readonly int[] triangles;
|
|
|
|
public TrimeshCollider(float[] vertices, int[] triangles, int area, float flagMergeThreshold) :
|
|
base(area, flagMergeThreshold, computeBounds(vertices)) {
|
|
this.vertices = vertices;
|
|
this.triangles = triangles;
|
|
}
|
|
|
|
public TrimeshCollider(float[] vertices, int[] triangles, float[] bounds, int area, float flagMergeThreshold) :
|
|
base(area, flagMergeThreshold, bounds) {
|
|
this.vertices = vertices;
|
|
this.triangles = triangles;
|
|
}
|
|
|
|
public static float[] computeBounds(float[] vertices) {
|
|
float[] bounds = new float[] { vertices[0], vertices[1], vertices[2], vertices[0], vertices[1], vertices[2] };
|
|
for (int i = 3; i < vertices.Length; i += 3) {
|
|
bounds[0] = Math.Min(bounds[0], vertices[i]);
|
|
bounds[1] = Math.Min(bounds[1], vertices[i + 1]);
|
|
bounds[2] = Math.Min(bounds[2], vertices[i + 2]);
|
|
bounds[3] = Math.Max(bounds[3], vertices[i]);
|
|
bounds[4] = Math.Max(bounds[4], vertices[i + 1]);
|
|
bounds[5] = Math.Max(bounds[5], vertices[i + 2]);
|
|
}
|
|
return bounds;
|
|
}
|
|
|
|
public void rasterize(Heightfield hf, Telemetry telemetry) {
|
|
for (int i = 0; i < triangles.Length; i += 3) {
|
|
RecastRasterization.rasterizeTriangle(hf, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area,
|
|
(int) Math.Floor(flagMergeThreshold / hf.ch), telemetry);
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
} |