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intergrate math funcitons

This commit is contained in:
ikpil 2023-03-25 15:43:20 +09:00
parent 762e62b757
commit 553f236320
55 changed files with 179 additions and 221 deletions
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93
src/DotRecast.Core/DemoMath.cs
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@ -1,93 +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 System;
namespace DotRecast.Core
{
public class DemoMath
{
public static float vDistSqr(float[] v1, float[] v2, int i)
{
float dx = v2[i] - v1[0];
float dy = v2[i + 1] - v1[1];
float dz = v2[i + 2] - v1[2];
return dx * dx + dy * dy + dz * dz;
}
public static float[] vCross(float[] v1, float[] v2)
{
float[] dest = new float[3];
dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
dest[1] = v1[2] * v2[0] - v1[0] * v2[2];
dest[2] = v1[0] * v2[1] - v1[1] * v2[0];
return dest;
}
public static float vDot(float[] v1, float[] v2)
{
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
}
public static float sqr(float f)
{
return f * f;
}
public static float getPathLen(float[] path, int npath)
{
float totd = 0;
for (int i = 0; i < npath - 1; ++i)
{
totd += (float)Math.Sqrt(vDistSqr(path, i * 3, (i + 1) * 3));
}
return totd;
}
public static float vDistSqr(float[] v, int i, int j)
{
float dx = v[i] - v[j];
float dy = v[i + 1] - v[j + 1];
float dz = v[i + 2] - v[j + 2];
return dx * dx + dy * dy + dz * dz;
}
public static float step(float threshold, float v)
{
return v < threshold ? 0.0f : 1.0f;
}
public static int clamp(int v, int min, int max)
{
return Math.Max(Math.Min(v, max), min);
}
public static float clamp(float v, float min, float max)
{
return Math.Max(Math.Min(v, max), min);
}
public static float lerp(float f, float g, float u)
{
return u * g + (1f - u) * f;
}
}
}

87
src/DotRecast.Detour/DetourCommon.cs → src/DotRecast.Core/RecastMath.cs
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@ -20,11 +20,79 @@ freely, subject to the following restrictions:
using System;
namespace DotRecast.Detour
namespace DotRecast.Core
{
public static class DetourCommon
public static class RecastMath
{
public const float EPS = 1e-4f;
private static readonly float EQUAL_THRESHOLD = sqr(1.0f / 16384.0f);
public static float vDistSqr(float[] v1, float[] v2, int i)
{
float dx = v2[i] - v1[0];
float dy = v2[i + 1] - v1[1];
float dz = v2[i + 2] - v1[2];
return dx * dx + dy * dy + dz * dz;
}
public static float[] vCross(float[] v1, float[] v2)
{
float[] dest = new float[3];
dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
dest[1] = v1[2] * v2[0] - v1[0] * v2[2];
dest[2] = v1[0] * v2[1] - v1[1] * v2[0];
return dest;
}
public static float vDot(float[] v1, float[] v2)
{
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
}
public static float sqr(float f)
{
return f * f;
}
public static float getPathLen(float[] path, int npath)
{
float totd = 0;
for (int i = 0; i < npath - 1; ++i)
{
totd += (float)Math.Sqrt(vDistSqr(path, i * 3, (i + 1) * 3));
}
return totd;
}
public static float vDistSqr(float[] v, int i, int j)
{
float dx = v[i] - v[j];
float dy = v[i + 1] - v[j + 1];
float dz = v[i + 2] - v[j + 2];
return dx * dx + dy * dy + dz * dz;
}
public static float step(float threshold, float v)
{
return v < threshold ? 0.0f : 1.0f;
}
public static float clamp(float v, float min, float max)
{
return Math.Max(Math.Min(v, max), min);
}
public static int clamp(int v, int min, int max)
{
return Math.Max(Math.Min(v, max), min);
}
public static float lerp(float f, float g, float u)
{
return u * g + (1f - u) * f;
}
/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
/// @param[out] dest The result vector. [(x, y, z)]
@ -159,11 +227,6 @@ namespace DotRecast.Detour
return dx * dx + dy * dy + dz * dz;
}
public static float sqr(float a)
{
return a * a;
}
/// Derives the square of the scalar length of the vector. (len * len)
/// @param[in] v The vector. [(x, y, z)]
/// @return The square of the scalar length of the vector.
@ -185,15 +248,6 @@ namespace DotRecast.Detour
return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
}
public static float clamp(float v, float min, float max)
{
return Math.Max(Math.Min(v, max), min);
}
public static int clamp(int v, int min, int max)
{
return Math.Max(Math.Min(v, max), min);
}
/// Derives the distance between the specified points on the xz-plane.
/// @param[in] v1 A point. [(x, y, z)]
@ -236,7 +290,6 @@ namespace DotRecast.Detour
}
}
private static readonly float EQUAL_THRESHOLD = sqr(1.0f / 16384.0f);
/// Performs a 'sloppy' colocation check of the specified points.
/// @param[in] p0 A point. [(x, y, z)]

2
src/DotRecast.Detour/VectorPtr.cs → src/DotRecast.Core/VectorPtr.cs
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@ -18,7 +18,7 @@ freely, subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
namespace DotRecast.Detour
namespace DotRecast.Core
{
/**
* Wrapper for 3-element pieces (3D vectors) of a bigger float array.

2
src/DotRecast.Detour.Crowd/Crowd.cs
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@ -27,7 +27,7 @@ using DotRecast.Detour.Crowd.Tracking;
namespace DotRecast.Detour.Crowd
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
/**
* Members in this module implement local steering and dynamic avoidance features.

2
src/DotRecast.Detour.Crowd/CrowdAgent.cs
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@ -23,7 +23,7 @@ using System.Collections.Generic;
namespace DotRecast.Detour.Crowd
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
/// Represents an agent managed by a #dtCrowd object.
/// @ingroup crowd

2
src/DotRecast.Detour.Crowd/LocalBoundary.cs
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@ -23,7 +23,7 @@ using System.Collections.Generic;
namespace DotRecast.Detour.Crowd
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
public class LocalBoundary
{

2
src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs
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@ -23,7 +23,7 @@ using DotRecast.Detour.Crowd.Tracking;
namespace DotRecast.Detour.Crowd
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
public class ObstacleAvoidanceQuery
{

2
src/DotRecast.Detour.Crowd/PathCorridor.cs
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@ -23,7 +23,7 @@ using System.Collections.Generic;
namespace DotRecast.Detour.Crowd
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
/**
* Represents a dynamic polygon corridor used to plan agent movement.

2
src/DotRecast.Detour.Crowd/PathQueue.cs
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@ -22,7 +22,7 @@ using System.Collections.Generic;
namespace DotRecast.Detour.Crowd
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
public class PathQueue
{

2
src/DotRecast.Detour.Crowd/Tracking/ObstacleAvoidanceDebugData.cs
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@ -22,7 +22,7 @@ using System;
namespace DotRecast.Detour.Crowd.Tracking
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
public class ObstacleAvoidanceDebugData
{

2
src/DotRecast.Detour.Dynamic/DynamicTileCheckpoint.cs
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@ -18,7 +18,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic;
using DotRecast.Recast;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour.Dynamic
{

2
src/DotRecast.Detour.Extras/BVTreeBuilder.cs
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@ -16,7 +16,7 @@ freely, subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour.Extras
{

2
src/DotRecast.Detour.Extras/Jumplink/AbstractGroundSampler.cs
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@ -1,6 +1,6 @@
using System;
using DotRecast.Recast;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour.Extras.Jumplink
{

2
src/DotRecast.Detour.Extras/Jumplink/EdgeSampler.cs
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@ -1,5 +1,5 @@
using System.Collections.Generic;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour.Extras.Jumplink
{

2
src/DotRecast.Detour.Extras/Jumplink/JumpLinkBuilder.cs
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@ -3,7 +3,7 @@ using System.Collections.Generic;
using System.Linq;
using DotRecast.Core;
using DotRecast.Recast;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour.Extras.Jumplink
{

2
src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
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@ -1,6 +1,6 @@
using System;
using DotRecast.Recast;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour.Extras.Jumplink
{

2
src/DotRecast.Detour.TileCache/TileCache.cs
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@ -22,7 +22,7 @@ using System;
using System.Collections.Generic;
using DotRecast.Core;
using DotRecast.Detour.TileCache.Io;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour.TileCache
{

2
src/DotRecast.Detour.TileCache/TileCacheBuilder.cs
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@ -24,7 +24,7 @@ using System.IO;
using DotRecast.Core;
using DotRecast.Detour.TileCache.Io;
using DotRecast.Detour.TileCache.Io.Compress;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour.TileCache
{

2
src/DotRecast.Detour/ConvexConvexIntersection.cs
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@ -20,7 +20,7 @@ using System;
namespace DotRecast.Detour
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
/**
* Convex-convex intersection based on "Computational Geometry in C" by Joseph O'Rourke

2
src/DotRecast.Detour/DefaultQueryFilter.cs
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@ -22,7 +22,7 @@ using System;
namespace DotRecast.Detour
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
/**
* <b>The Default Implementation</b>

2
src/DotRecast.Detour/DefaultQueryHeuristic.cs
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@ -15,10 +15,10 @@ freely, subject to the following restrictions:
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour
{
using static DetourCommon;
public class DefaultQueryHeuristic : QueryHeuristic
{

2
src/DotRecast.Detour/FindNearestPolyQuery.cs
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@ -2,7 +2,7 @@ using System;
namespace DotRecast.Detour
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
public class FindNearestPolyQuery : PolyQuery
{

2
src/DotRecast.Detour/Io/MeshSetReader.cs
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@ -22,7 +22,7 @@ using DotRecast.Core;
namespace DotRecast.Detour.Io
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
public class MeshSetReader

3
src/DotRecast.Detour/LegacyNavMeshQuery.cs
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@ -18,10 +18,11 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using DotRecast.Core;
namespace DotRecast.Detour
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
public class LegacyNavMeshQuery : NavMeshQuery

2
src/DotRecast.Detour/NavMesh.cs
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@ -25,7 +25,7 @@ using DotRecast.Core;
namespace DotRecast.Detour
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
public class NavMesh
{

3
src/DotRecast.Detour/NavMeshBuilder.cs
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@ -20,10 +20,11 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using DotRecast.Core;
namespace DotRecast.Detour
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
public class NavMeshBuilder
{

3
src/DotRecast.Detour/NavMeshQuery.cs
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@ -21,10 +21,11 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using System.Collections.Immutable;
using DotRecast.Core;
namespace DotRecast.Detour
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
using static Node;
public class NavMeshQuery

2
src/DotRecast.Detour/PolygonByCircleConstraint.cs
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@ -20,7 +20,7 @@ using System;
namespace DotRecast.Detour
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
public interface PolygonByCircleConstraint
{

2
src/DotRecast.Detour/StraightPathItem.cs
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@ -20,7 +20,7 @@ freely, subject to the following restrictions:
namespace DotRecast.Detour
{
using static DetourCommon;
using static DotRecast.Core.RecastMath;
//TODO: (PP) Add comments
public class StraightPathItem

3
src/DotRecast.Recast.Demo/Builder/TileNavMeshBuilder.cs
View File

@ -22,6 +22,7 @@ using System.Threading.Tasks;
using DotRecast.Core;
using DotRecast.Detour;
using DotRecast.Recast.Demo.Geom;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Recast.Demo.Builder;
@ -99,7 +100,7 @@ public class TileNavMeshBuilder : AbstractNavMeshBuilder
int[] wh = Recast.calcGridSize(geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), cellSize);
int tw = (wh[0] + tileSize - 1) / tileSize;
int th = (wh[1] + tileSize - 1) / tileSize;
int tileBits = Math.Min(DetourCommon.ilog2(DetourCommon.nextPow2(tw * th)), 14);
int tileBits = Math.Min(ilog2(nextPow2(tw * th)), 14);
return tileBits;
}

14
src/DotRecast.Recast.Demo/Geom/Intersections.cs
View File

@ -18,7 +18,7 @@ freely, subject to the following restrictions:
using System;
using DotRecast.Core;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Recast.Demo.Geom;
@ -33,11 +33,11 @@ public class Intersections
// Compute triangle normal. Can be precalculated or cached if
// intersecting multiple segments against the same triangle
float[] norm = DemoMath.vCross(ab, ac);
float[] norm = RecastMath.vCross(ab, ac);
// Compute denominator d. If d <= 0, segment is parallel to or points
// away from triangle, so exit early
float d = DemoMath.vDot(qp, norm);
float d = RecastMath.vDot(qp, norm);
if (d <= 0.0f)
{
return null;
@ -47,7 +47,7 @@ public class Intersections
// intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
// dividing by d until intersection has been found to pierce triangle
float[] ap = vSub(sp, a);
float t = DemoMath.vDot(ap, norm);
float t = RecastMath.vDot(ap, norm);
if (t < 0.0f)
{
return null;
@ -59,14 +59,14 @@ public class Intersections
}
// Compute barycentric coordinate components and test if within bounds
float[] e = DemoMath.vCross(qp, ap);
v = DemoMath.vDot(ac, e);
float[] e = RecastMath.vCross(qp, ap);
v = RecastMath.vDot(ac, e);
if (v < 0.0f || v > d)
{
return null;
}
w = -DemoMath.vDot(ab, e);
w = -RecastMath.vDot(ab, e);
if (w < 0.0f || v + w > d)
{
return null;

18
src/DotRecast.Recast.Demo/RecastDemo.cs
View File

@ -45,7 +45,7 @@ using DotRecast.Recast.Demo.Tools;
using DotRecast.Recast.Demo.UI;
using Silk.NET.SDL;
using Silk.NET.Windowing.Sdl;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
using Color = System.Drawing.Color;
using Window = Silk.NET.Windowing.Window;
@ -457,13 +457,13 @@ public class RecastDemo
var tempMoveDown = keyboard.IsKeyPressed(Key.E) || keyboard.IsKeyPressed(Key.PageDown) ? 1.0f : -1f;
var tempMoveAccel = keyboard.IsKeyPressed(Key.ShiftLeft) || keyboard.IsKeyPressed(Key.ShiftRight) ? 1.0f : -1f;
_moveFront = DemoMath.clamp(_moveFront + tempMoveFront * dt * 4.0f, 0, 2.0f);
_moveLeft = DemoMath.clamp(_moveLeft + tempMoveLeft * dt * 4.0f, 0, 2.0f);
_moveBack = DemoMath.clamp(_moveBack + tempMoveBack * dt * 4.0f, 0, 2.0f);
_moveRight = DemoMath.clamp(_moveRight + tempMoveRight * dt * 4.0f, 0, 2.0f);
_moveUp = DemoMath.clamp(_moveUp + tempMoveUp * dt * 4.0f, 0, 2.0f);
_moveDown = DemoMath.clamp(_moveDown + tempMoveDown * dt * 4.0f, 0, 2.0f);
_moveAccel = DemoMath.clamp(_moveAccel + tempMoveAccel * dt * 4.0f, 0, 2.0f);
_moveFront = RecastMath.clamp(_moveFront + tempMoveFront * dt * 4.0f, 0, 2.0f);
_moveLeft = RecastMath.clamp(_moveLeft + tempMoveLeft * dt * 4.0f, 0, 2.0f);
_moveBack = RecastMath.clamp(_moveBack + tempMoveBack * dt * 4.0f, 0, 2.0f);
_moveRight = RecastMath.clamp(_moveRight + tempMoveRight * dt * 4.0f, 0, 2.0f);
_moveUp = RecastMath.clamp(_moveUp + tempMoveUp * dt * 4.0f, 0, 2.0f);
_moveDown = RecastMath.clamp(_moveDown + tempMoveDown * dt * 4.0f, 0, 2.0f);
_moveAccel = RecastMath.clamp(_moveAccel + tempMoveAccel * dt * 4.0f, 0, 2.0f);
}
}
@ -708,7 +708,7 @@ public class RecastDemo
if (bmin != null && bmax != null)
{
camr = (float)(Math.Sqrt(
DemoMath.sqr(bmax[0] - bmin[0]) + DemoMath.sqr(bmax[1] - bmin[1]) + DemoMath.sqr(bmax[2] - bmin[2]))
RecastMath.sqr(bmax[0] - bmin[0]) + RecastMath.sqr(bmax[1] - bmin[1]) + RecastMath.sqr(bmax[2] - bmin[2]))
/ 2);
cameraPos[0] = (bmax[0] + bmin[0]) / 2 + camr;
cameraPos[1] = (bmax[1] + bmin[1]) / 2 + camr;

2
src/DotRecast.Recast.Demo/Tools/ConvexVolumeTool.cs
View File

@ -79,7 +79,7 @@ public class ConvexVolumeTool : Tool
// Create
// If clicked on that last pt, create the shape.
if (pts.Count > 0 && DemoMath.vDistSqr(p,
if (pts.Count > 0 && RecastMath.vDistSqr(p,
new float[] { pts[pts.Count - 3], pts[pts.Count - 2], pts[pts.Count - 1] },
0) < 0.2f * 0.2f)
{

4
src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs
View File

@ -186,7 +186,7 @@ public class CrowdProfilingTool
bool valid = true;
foreach (FindRandomPointResult zone in zones)
{
if (DemoMath.vDistSqr(zone.getRandomPt(), result.result.getRandomPt(), 0) < zoneSeparation)
if (RecastMath.vDistSqr(zone.getRandomPt(), result.result.getRandomPt(), 0) < zoneSeparation)
{
valid = false;
break;
@ -310,7 +310,7 @@ public class CrowdProfilingTool
List<FindRandomPointResult> potentialTargets = new();
foreach (FindRandomPointResult zone in zones)
{
if (DemoMath.vDistSqr(zone.getRandomPt(), ag.npos, 0) > zoneRadius * zoneRadius)
if (RecastMath.vDistSqr(zone.getRandomPt(), ag.npos, 0) > zoneRadius * zoneRadius)
{
potentialTargets.Add(zone);
}

13
src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
View File

@ -30,6 +30,7 @@ using DotRecast.Recast.Demo.Geom;
using ImGuiNET;
using static DotRecast.Recast.Demo.Draw.DebugDraw;
using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Recast.Demo.Tools;
@ -323,10 +324,10 @@ public class CrowdTool : Tool
private float[] calcVel(float[] pos, float[] tgt, float speed)
{
float[] vel = DetourCommon.vSub(tgt, pos);
float[] vel = vSub(tgt, pos);
vel[1] = 0.0f;
DetourCommon.vNormalize(vel);
return DetourCommon.vScale(vel, speed);
vNormalize(vel);
return vScale(vel, speed);
}
public override void handleRender(NavMeshRenderer renderer)
@ -414,7 +415,7 @@ public class CrowdTool : Tool
dd.begin(LINES, 3.0f);
float[] prev = new float[3];
float preva = 1;
DetourCommon.vCopy(prev, pos);
vCopy(prev, pos);
for (int j = 0; j < AGENT_MAX_TRAIL - 1; ++j)
{
int idx = (trail.htrail + AGENT_MAX_TRAIL - j) % AGENT_MAX_TRAIL;
@ -423,7 +424,7 @@ public class CrowdTool : Tool
dd.vertex(prev[0], prev[1] + 0.1f, prev[2], duRGBA(0, 0, 0, (int)(128 * preva)));
dd.vertex(trail.trail[v], trail.trail[v + 1] + 0.1f, trail.trail[v + 2], duRGBA(0, 0, 0, (int)(128 * a)));
preva = a;
DetourCommon.vCopy(prev, trail.trail, v);
vCopy(prev, trail.trail, v);
}
dd.end();
@ -500,7 +501,7 @@ public class CrowdTool : Tool
float[] s = ag.boundary.getSegment(j);
float[] s0 = new float[] { s[0], s[1], s[2] };
float[] s3 = new float[] { s[3], s[4], s[5] };
if (DetourCommon.triArea2D(pos, s0, s3) < 0.0f)
if (triArea2D(pos, s0, s3) < 0.0f)
col = duDarkenCol(col);
dd.appendArrow(s[0], s[1] + 0.2f, s[2], s[3], s[4] + 0.2f, s[5], 0.0f, 0.3f, col);

4
src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs
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@ -33,7 +33,7 @@ using ImGuiNET;
using Silk.NET.Windowing;
using static DotRecast.Recast.Demo.Draw.DebugDraw;
using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Recast.Demo.Tools;
@ -252,7 +252,7 @@ public class DynamicUpdateTool : Tool
float[] baseUp = new float[] { 0, 1, 0 };
float[] forward = new float[] { (1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()) };
vNormalize(forward);
float[] side = DemoMath.vCross(forward, baseUp);
float[] side = RecastMath.vCross(forward, baseUp);
BoxCollider @base = new BoxCollider(baseCenter, BoxCollider.getHalfEdges(baseUp, forward, baseExtent),
SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb);
float[] roofExtent = new float[] { 4.5f, 4.5f, 8f };

2
src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs
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@ -1,6 +1,6 @@
using DotRecast.Recast.Demo.Draw;
using static DotRecast.Recast.RecastVectors;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper;
namespace DotRecast.Recast.Demo.Tools.Gizmos;

2
src/DotRecast.Recast.Demo/Tools/Gizmos/CylinderGizmo.cs
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@ -1,6 +1,6 @@
using DotRecast.Recast.Demo.Draw;
using static DotRecast.Recast.RecastVectors;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper;

2
src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoHelper.cs
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@ -1,6 +1,6 @@
using System;
using DotRecast.Recast.Demo.Draw;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Recast.Demo.Tools.Gizmos;

2
src/DotRecast.Recast.Demo/Tools/Gizmos/SphereGizmo.cs
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@ -1,5 +1,5 @@
using DotRecast.Recast.Demo.Draw;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper;

2
src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderTool.cs
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@ -23,7 +23,7 @@ using DotRecast.Recast.Demo.Builder;
using DotRecast.Recast.Demo.Draw;
using DotRecast.Recast.Demo.Geom;
using ImGuiNET;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.Demo.Draw.DebugDraw;
using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;

2
src/DotRecast.Recast.Demo/Tools/OffMeshConnectionTool.cs
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@ -56,7 +56,7 @@ public class OffMeshConnectionTool : Tool
DemoOffMeshConnection nearestConnection = null;
foreach (DemoOffMeshConnection offMeshCon in geom.getOffMeshConnections())
{
float d = Math.Min(DemoMath.vDistSqr(p, offMeshCon.verts, 0), DemoMath.vDistSqr(p, offMeshCon.verts, 3));
float d = Math.Min(RecastMath.vDistSqr(p, offMeshCon.verts, 0), RecastMath.vDistSqr(p, offMeshCon.verts, 3));
if (d < nearestDist && Math.Sqrt(d) < sample.getSettingsUI().getAgentRadius())
{
nearestDist = d;

12
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
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@ -6,7 +6,7 @@ using DotRecast.Detour;
using DotRecast.Recast.Demo.Builder;
using DotRecast.Recast.Demo.Draw;
using ImGuiNET;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.Demo.Draw.DebugDraw;
using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
@ -257,7 +257,7 @@ public class TestNavmeshTool : Tool
// Find movement delta.
float[] delta = vSub(steerTarget.steerPos, iterPos);
float len = (float)Math.Sqrt(DemoMath.vDot(delta, delta));
float len = (float)Math.Sqrt(RecastMath.vDot(delta, delta));
// If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
{
@ -882,8 +882,8 @@ public class TestNavmeshTool : Tool
float[] s = wallSegments.getSegmentVerts()[j];
float[] s3 = new float[] { s[3], s[4], s[5] };
// Skip too distant segments.
Tuple<float, float> distSqr = DetourCommon.distancePtSegSqr2D(m_spos, s, 0, 3);
if (distSqr.Item1 > DemoMath.sqr(m_neighbourhoodRadius))
Tuple<float, float> distSqr = distancePtSegSqr2D(m_spos, s, 0, 3);
if (distSqr.Item1 > RecastMath.sqr(m_neighbourhoodRadius))
{
continue;
}
@ -903,7 +903,7 @@ public class TestNavmeshTool : Tool
else
{
int col = duRGBA(192, 32, 16, 192);
if (DetourCommon.triArea2D(m_spos, s, s3) < 0.0f)
if (triArea2D(m_spos, s, s3) < 0.0f)
{
col = duRGBA(96, 32, 16, 192);
}
@ -1026,7 +1026,7 @@ public class TestNavmeshTool : Tool
{
// In case of partial path, make sure the end point is clamped to the last polygon.
float[] epos = new float[3];
DetourCommon.vCopy(epos, m_epos);
vCopy(epos, m_epos);
if (m_polys[m_polys.Count - 1] != m_endRef)
{
Result<ClosestPointOnPolyResult> result = m_navQuery

7
src/DotRecast.Recast/RecastCommon.cs
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@ -22,7 +22,7 @@ using System;
namespace DotRecast.Recast
{
public class RecastCommon
public static class RecastCommon
{
/// Gets neighbor connection data for the specified direction.
/// @param[in] s The span to check.
@ -75,10 +75,5 @@ namespace DotRecast.Recast
int con = s.con;
s.con = (con & ~(0x3f << shift)) | ((i & 0x3f) << shift);
}
public static int clamp(int v, int min, int max)
{
return Math.Max(Math.Min(max, v), min);
}
}
}

11
src/DotRecast.Recast/RecastCompact.cs
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@ -18,11 +18,12 @@ freely, subject to the following restrictions:
using System;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.RecastConstants;
using static DotRecast.Recast.RecastVectors;
namespace DotRecast.Recast
{
using static RecastConstants;
using static RecastVectors;
public class RecastCompact
{
private const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
@ -92,8 +93,8 @@ namespace DotRecast.Recast
{
int bot = s.smax;
int top = s.next != null ? (int)s.next.smin : MAX_HEIGHT;
chf.spans[idx].y = RecastCommon.clamp(bot, 0, MAX_HEIGHT);
chf.spans[idx].h = RecastCommon.clamp(top - bot, 0, MAX_HEIGHT);
chf.spans[idx].y = clamp(bot, 0, MAX_HEIGHT);
chf.spans[idx].h = clamp(top - bot, 0, MAX_HEIGHT);
chf.areas[idx] = s.area;
idx++;
c.count++;

17
src/DotRecast.Recast/RecastFilledVolumeRasterization.cs
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@ -19,12 +19,12 @@ freely, subject to the following restrictions:
using System;
using DotRecast.Core;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.RecastConstants;
using static DotRecast.Recast.RecastVectors;
namespace DotRecast.Recast
{
using static RecastConstants;
using static RecastVectors;
using static RecastCommon;
public class RecastFilledVolumeRasterization
{
private const float EPSILON = 0.00001f;
@ -230,8 +230,8 @@ namespace DotRecast.Recast
int smax = (int)Math.Ceiling((h[1] - hf.bmin[1]) * ich);
if (smin != smax)
{
int ismin = RecastCommon.clamp(smin, 0, SPAN_MAX_HEIGHT);
int ismax = RecastCommon.clamp(smax, ismin + 1, SPAN_MAX_HEIGHT);
int ismin = clamp(smin, 0, SPAN_MAX_HEIGHT);
int ismax = clamp(smax, ismin + 1, SPAN_MAX_HEIGHT);
RecastRasterization.addSpan(hf, x, z, ismin, ismax, area, flagMergeThr);
}
}
@ -786,11 +786,6 @@ namespace DotRecast.Recast
return dx * dx + dy * dy + dz * dz;
}
public static float clamp(float v, float min, float max)
{
return Math.Max(Math.Min(max, v), min);
}
private static bool overlapBounds(float[] amin, float[] amax, float[] bounds)
{
bool overlap = true;

9
src/DotRecast.Recast/RecastMeshDetail.cs
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@ -21,11 +21,12 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using DotRecast.Core;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.RecastCommon;
using static DotRecast.Recast.RecastConstants;
namespace DotRecast.Recast
{
using static RecastCommon;
using static RecastConstants;
public class RecastMeshDetail
{
@ -273,8 +274,8 @@ namespace DotRecast.Recast
{
int ix = (int)Math.Floor(fx * ics + 0.01f);
int iz = (int)Math.Floor(fz * ics + 0.01f);
ix = RecastCommon.clamp(ix - hp.xmin, 0, hp.width - 1);
iz = RecastCommon.clamp(iz - hp.ymin, 0, hp.height - 1);
ix = clamp(ix - hp.xmin, 0, hp.width - 1);
iz = clamp(iz - hp.ymin, 0, hp.height - 1);
int h = hp.data[ix + iz * hp.width];
if (h == RC_UNSET_HEIGHT)
{

15
src/DotRecast.Recast/RecastRasterization.cs
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@ -19,10 +19,11 @@ freely, subject to the following restrictions:
*/
using System;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.RecastConstants;
namespace DotRecast.Recast
{
using static RecastConstants;
public class RecastRasterization
{
@ -269,8 +270,8 @@ namespace DotRecast.Recast
int w = hf.width;
int h = hf.height;
// use -1 rather than 0 to cut the polygon properly at the start of the tile
z0 = RecastCommon.clamp(z0, -1, h - 1);
z1 = RecastCommon.clamp(z1, 0, h - 1);
z0 = clamp(z0, -1, h - 1);
z1 = clamp(z1, 0, h - 1);
// Clip the triangle into all grid cells it touches.
float[] buf = new float[7 * 3 * 4];
@ -320,8 +321,8 @@ namespace DotRecast.Recast
continue;
}
x0 = RecastCommon.clamp(x0, -1, w - 1);
x1 = RecastCommon.clamp(x1, 0, w - 1);
x0 = clamp(x0, -1, w - 1);
x1 = clamp(x1, 0, w - 1);
int nv, nv2 = nvRow;
for (int x = x0; x <= x1; ++x)
@ -366,8 +367,8 @@ namespace DotRecast.Recast
spanMax = by;
// Snap the span to the heightfield height grid.
int spanMinCellIndex = RecastCommon.clamp((int)Math.Floor(spanMin * inverseCellHeight), 0, SPAN_MAX_HEIGHT);
int spanMaxCellIndex = RecastCommon.clamp((int)Math.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, SPAN_MAX_HEIGHT);
int spanMinCellIndex = clamp((int)Math.Floor(spanMin * inverseCellHeight), 0, SPAN_MAX_HEIGHT);
int spanMaxCellIndex = clamp((int)Math.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, SPAN_MAX_HEIGHT);
addSpan(hf, x, z, spanMinCellIndex, spanMaxCellIndex, area, flagMergeThreshold);
}

2
test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
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@ -24,7 +24,7 @@ using NUnit.Framework;
namespace DotRecast.Detour.Crowd.Test;
using static DetourCommon;
using static DotRecast.Core.RecastMath;
public class AbstractCrowdTest
{

2
test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
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@ -23,7 +23,7 @@ using DotRecast.Detour.Io;
using DotRecast.Recast;
using DotRecast.Recast.Geom;
using NUnit.Framework;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour.Test.Io;

2
test/DotRecast.Detour.Test/RandomPointTest.cs
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@ -19,7 +19,7 @@ freely, subject to the following restrictions:
using System;
using System.Diagnostics;
using NUnit.Framework;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour.Test;

2
test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
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@ -21,7 +21,7 @@ freely, subject to the following restrictions:
using DotRecast.Core;
using DotRecast.Detour.TileCache.Io.Compress;
using DotRecast.Recast.Geom;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.RecastVectors;
namespace DotRecast.Detour.TileCache.Test;

2
test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
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@ -22,7 +22,7 @@ using System.Collections.Generic;
using DotRecast.Core;
using DotRecast.Recast;
using DotRecast.Recast.Geom;
using static DotRecast.Detour.DetourCommon;
using static DotRecast.Core.RecastMath;
namespace DotRecast.Detour.TileCache.Test;