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Code Pull Requests Releases Activity

Queries change

This commit is contained in:
wrenge 2024-11-12 16:56:11 +03:00
parent b6a1a81fdc
commit 2397f23fc3
5 changed files with 61 additions and 24 deletions
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21
src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
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@ -52,25 +52,12 @@ namespace DotRecast.Detour.Extras.Jumplink
RcVec3f halfExtents = new RcVec3f { X = cs, Y = heightRange, Z = cs };
float maxHeight = pt.Y + heightRange;
RcAtomicBoolean found = new RcAtomicBoolean();
RcAtomicFloat minHeight = new RcAtomicFloat(pt.Y);
var query = new DtHeightSamplePolyQuery(navMeshQuery, pt, pt.Y, maxHeight);
navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, ref query);
navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, new DtCallbackPolyQuery((tile, poly, refs) =>
if (query.Found)
{
var status = navMeshQuery.GetPolyHeight(refs, pt, out var h);
if (status.Succeeded())
{
if (h > minHeight.Get() && h < maxHeight)
{
minHeight.Exchange(h);
found.Set(true);
}
}
}));
if (found.Get())
{
height = minHeight.Get();
height = query.MinHeight;
return true;
}

2
src/DotRecast.Detour/DtCallbackPolyQuery.cs
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@ -2,7 +2,7 @@ using System;
namespace DotRecast.Detour
{
public class DtCallbackPolyQuery : IDtPolyQuery
public struct DtCallbackPolyQuery : IDtPolyQuery
{
private readonly Action<DtMeshTile, DtPoly, long> _callback;

5
src/DotRecast.Detour/DtFindNearestPolyQuery.cs
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@ -3,7 +3,7 @@ using DotRecast.Core.Numerics;
namespace DotRecast.Detour
{
public class DtFindNearestPolyQuery : IDtPolyQuery
public struct DtFindNearestPolyQuery : IDtPolyQuery
{
private readonly DtNavMeshQuery _query;
private readonly RcVec3f _center;
@ -18,6 +18,9 @@ namespace DotRecast.Detour
_center = center;
_nearestDistanceSqr = float.MaxValue;
_nearestPoint = center;
_nearestRef = default;
_overPoly = default;
}
public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)

45
src/DotRecast.Detour/DtHeightSamplePolyQuery.cs Normal file
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@ -0,0 +1,45 @@
using System;
using DotRecast.Core;
using DotRecast.Core.Numerics;
namespace DotRecast.Detour
{
public struct DtHeightSamplePolyQuery : IDtPolyQuery
{
private readonly DtNavMeshQuery _navMeshQuery;
private readonly RcVec3f _pt;
private readonly float _maxHeight;
public float MinHeight { get; private set; }
public bool Found { get; private set; }
public DtHeightSamplePolyQuery(DtNavMeshQuery navMeshQuery, RcVec3f pt, float minHeight, float maxHeight)
{
_navMeshQuery = navMeshQuery;
_pt = pt;
MinHeight = minHeight;
_maxHeight = maxHeight;
Found = default;
}
public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)
{
for (int i = 0; i < count; i++)
{
ProcessSingle(refs[i]);
}
}
private void ProcessSingle(long refs)
{
var status = _navMeshQuery.GetPolyHeight(refs, _pt, out var h);
if (!status.Succeeded())
return;
if (!(h > MinHeight) || !(h < _maxHeight))
return;
MinHeight = h;
Found = true;
}
}
}

12
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -580,7 +580,7 @@ namespace DotRecast.Detour
// Get nearby polygons from proximity grid.
DtFindNearestPolyQuery query = new DtFindNearestPolyQuery(this, center);
DtStatus status = QueryPolygons(center, halfExtents, filter, query);
DtStatus status = QueryPolygons(center, halfExtents, filter, ref query);
if (status.Failed())
{
return status;
@ -594,7 +594,8 @@ namespace DotRecast.Detour
}
/// Queries polygons within a tile.
protected void QueryPolygonsInTile(DtMeshTile tile, RcVec3f qmin, RcVec3f qmax, IDtQueryFilter filter, IDtPolyQuery query)
protected void QueryPolygonsInTile<TQuery>(DtMeshTile tile, RcVec3f qmin, RcVec3f qmax, IDtQueryFilter filter, ref TQuery query)
where TQuery : IDtPolyQuery
{
const int batchSize = 32;
Span<long> polyRefs = stackalloc long[batchSize];
@ -750,7 +751,7 @@ namespace DotRecast.Detour
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
DtCollectPolysQuery collector = new DtCollectPolysQuery(polys, maxPolys);
DtStatus status = QueryPolygons(center, halfExtents, filter, collector);
DtStatus status = QueryPolygons(center, halfExtents, filter, ref collector);
if (status.Failed())
return status;
@ -772,7 +773,8 @@ namespace DotRecast.Detour
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[in] query The query. Polygons found will be batched together and passed to this query.
public DtStatus QueryPolygons(RcVec3f center, RcVec3f halfExtents, IDtQueryFilter filter, IDtPolyQuery query)
public DtStatus QueryPolygons<TQuery>(RcVec3f center, RcVec3f halfExtents, IDtQueryFilter filter, ref TQuery query)
where TQuery : IDtPolyQuery
{
if (!center.IsFinite() || !halfExtents.IsFinite() || null == filter)
{
@ -798,7 +800,7 @@ namespace DotRecast.Detour
int nneis = m_nav.GetTilesAt(x, y, neis, MAX_NEIS);
for (int j = 0; j < nneis; ++j)
{
QueryPolygonsInTile(neis[j], bmin, bmax, filter, query);
QueryPolygonsInTile(neis[j], bmin, bmax, filter, ref query);
}
}
}