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Code Pull Requests Releases Activity

remote Tuple<bool, float> -> computeNavMeshHeight

This commit is contained in:
ikpil 2023-06-13 00:14:09 +09:00
parent d8d3a572c9
commit 06e892b2d8
2 changed files with 18 additions and 9 deletions
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13
src/DotRecast.Detour.Extras/Jumplink/AbstractGroundSampler.cs
View File

@ -7,11 +7,14 @@ namespace DotRecast.Detour.Extras.Jumplink
{ {
public abstract class AbstractGroundSampler : IGroundSampler public abstract class AbstractGroundSampler : IGroundSampler
{ {
protected void SampleGround(JumpLinkBuilderConfig acfg, EdgeSampler es, Func<RcVec3f, float, Tuple<bool, float>> heightFunc) public delegate bool ComputeNavMeshHeight(RcVec3f pt, float cellSize, out float height);
protected void SampleGround(JumpLinkBuilderConfig acfg, EdgeSampler es, ComputeNavMeshHeight heightFunc)
{ {
float cs = acfg.cellSize; float cs = acfg.cellSize;
float dist = (float)Math.Sqrt(RcVec3f.Dist2DSqr(es.start.p, es.start.q)); float dist = (float)Math.Sqrt(RcVec3f.Dist2DSqr(es.start.p, es.start.q));
int ngsamples = Math.Max(2, (int)Math.Ceiling(dist / cs)); int ngsamples = Math.Max(2, (int)Math.Ceiling(dist / cs));
SampleGroundSegment(heightFunc, es.start, ngsamples); SampleGroundSegment(heightFunc, es.start, ngsamples);
foreach (GroundSegment end in es.end) foreach (GroundSegment end in es.end)
{ {
@ -21,7 +24,7 @@ namespace DotRecast.Detour.Extras.Jumplink
public abstract void Sample(JumpLinkBuilderConfig acfg, RecastBuilderResult result, EdgeSampler es); public abstract void Sample(JumpLinkBuilderConfig acfg, RecastBuilderResult result, EdgeSampler es);
protected void SampleGroundSegment(Func<RcVec3f, float, Tuple<bool, float>> heightFunc, GroundSegment seg, int nsamples) protected void SampleGroundSegment(ComputeNavMeshHeight heightFunc, GroundSegment seg, int nsamples)
{ {
seg.gsamples = new GroundSample[nsamples]; seg.gsamples = new GroundSample[nsamples];
@ -32,12 +35,12 @@ namespace DotRecast.Detour.Extras.Jumplink
GroundSample s = new GroundSample(); GroundSample s = new GroundSample();
seg.gsamples[i] = s; seg.gsamples[i] = s;
RcVec3f pt = RcVec3f.Lerp(seg.p, seg.q, u); RcVec3f pt = RcVec3f.Lerp(seg.p, seg.q, u);
Tuple<bool, float> height = heightFunc.Invoke(pt, seg.height); bool success = heightFunc.Invoke(pt, seg.height, out var height);
s.p.x = pt.x; s.p.x = pt.x;
s.p.y = height.Item2; s.p.y = height;
s.p.z = pt.z; s.p.z = pt.z;
if (!height.Item1) if (!success)
{ {
continue; continue;
} }

14
src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
View File

@ -12,7 +12,7 @@ namespace DotRecast.Detour.Extras.Jumplink
public override void Sample(JumpLinkBuilderConfig acfg, RecastBuilderResult result, EdgeSampler es) public override void Sample(JumpLinkBuilderConfig acfg, RecastBuilderResult result, EdgeSampler es)
{ {
DtNavMeshQuery navMeshQuery = CreateNavMesh(result, acfg.agentRadius, acfg.agentHeight, acfg.agentClimb); DtNavMeshQuery navMeshQuery = CreateNavMesh(result, acfg.agentRadius, acfg.agentHeight, acfg.agentClimb);
SampleGround(acfg, es, (pt, h) => GetNavMeshHeight(navMeshQuery, pt, acfg.cellSize, h)); SampleGround(acfg, es, (RcVec3f pt, float heightRange, out float height) => GetNavMeshHeight(navMeshQuery, pt, acfg.cellSize, heightRange, out height));
} }
private DtNavMeshQuery CreateNavMesh(RecastBuilderResult r, float agentRadius, float agentHeight, float agentClimb) private DtNavMeshQuery CreateNavMesh(RecastBuilderResult r, float agentRadius, float agentHeight, float agentClimb)
@ -42,12 +42,15 @@ namespace DotRecast.Detour.Extras.Jumplink
} }
private Tuple<bool, float> GetNavMeshHeight(DtNavMeshQuery navMeshQuery, RcVec3f pt, float cs, float heightRange) private bool GetNavMeshHeight(DtNavMeshQuery navMeshQuery, RcVec3f pt, float cs, float heightRange, out float height)
{ {
height = default;
RcVec3f halfExtents = new RcVec3f { x = cs, y = heightRange, z = cs }; RcVec3f halfExtents = new RcVec3f { x = cs, y = heightRange, z = cs };
float maxHeight = pt.y + heightRange; float maxHeight = pt.y + heightRange;
RcAtomicBoolean found = new RcAtomicBoolean(); RcAtomicBoolean found = new RcAtomicBoolean();
RcAtomicFloat minHeight = new RcAtomicFloat(pt.y); RcAtomicFloat minHeight = new RcAtomicFloat(pt.y);
navMeshQuery.QueryPolygons(pt, halfExtents, filter, new PolyQueryInvoker((tile, poly, refs) => navMeshQuery.QueryPolygons(pt, halfExtents, filter, new PolyQueryInvoker((tile, poly, refs) =>
{ {
var status = navMeshQuery.GetPolyHeight(refs, pt, out var h); var status = navMeshQuery.GetPolyHeight(refs, pt, out var h);
@ -60,12 +63,15 @@ namespace DotRecast.Detour.Extras.Jumplink
} }
} }
})); }));
if (found.Get()) if (found.Get())
{ {
return Tuple.Create(true, minHeight.Get()); height = minHeight.Get();
return true;
} }
return Tuple.Create(false, pt.y); height = pt.y;
return false;
} }
} }
} }