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Changed `RcChunkyTriMesh` to separate the function and variable.

This commit is contained in:
ikpil 2024-06-12 00:41:39 +09:00
parent 650849b11b
commit 5827a43dd8
5 changed files with 316 additions and 273 deletions
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7
CHANGELOG.md
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@ -13,9 +13,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
- Fixed bug where the dynamic voxel save file browser doesn't appear in Recast.Demo - Fixed bug where the dynamic voxel save file browser doesn't appear in Recast.Demo
### Changed ### Changed
- Changed to reuse samples and edges list in BuildPolyDetail() - Changed to reuse samples and edges list in `BuildPolyDetail()`
- Changed 'heights', 'areas', 'cons', and 'regs' arrays to byte arrays for uniformity and efficiency in DtTileCacheLayer - Changed `heights`, `areas`, `cons`, and `regs` arrays to byte arrays for uniformity and efficiency in `DtTileCacheLayer`
- Changed 'reg', 'area' arrays to byte arrays for uniformity and efficiency in DtTileCacheContour - Changed `reg`, `area` arrays to byte arrays for uniformity and efficiency in `DtTileCacheContour`
- Changed `RcChunkyTriMesh` to separate the function and variable.
### Removed ### Removed
- Removed RcMeshDetails.VdistSq2(float[], float[]) - Removed RcMeshDetails.VdistSq2(float[], float[])

2
src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
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@ -150,7 +150,7 @@ namespace DotRecast.Recast.Toolset.Geom
q.X = src.X + (dst.X - src.X) * btmax; q.X = src.X + (dst.X - src.X) * btmax;
q.Y = src.Z + (dst.Z - src.Z) * btmax; q.Y = src.Z + (dst.Z - src.Z) * btmax;
List<RcChunkyTriMeshNode> chunks = _mesh.chunkyTriMesh.GetChunksOverlappingSegment(p, q); List<RcChunkyTriMeshNode> chunks = RcChunkyTriMeshs.GetChunksOverlappingSegment(_mesh.chunkyTriMesh, p, q);
if (0 == chunks.Count) if (0 == chunks.Count)
{ {
return false; return false;

270
src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs
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@ -18,278 +18,14 @@ freely, subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core.Numerics;
namespace DotRecast.Recast.Geom namespace DotRecast.Recast.Geom
{ {
public class RcChunkyTriMesh public class RcChunkyTriMesh
{ {
private List<RcChunkyTriMeshNode> nodes; public List<RcChunkyTriMeshNode> nodes;
private int ntris; public int ntris;
private int maxTrisPerChunk; public int maxTrisPerChunk;
private void CalcExtends(BoundsItem[] items, int imin, int imax, ref RcVec2f bmin, ref RcVec2f bmax)
{
bmin.X = items[imin].bmin.X;
bmin.Y = items[imin].bmin.Y;
bmax.X = items[imin].bmax.X;
bmax.Y = items[imin].bmax.Y;
for (int i = imin + 1; i < imax; ++i)
{
BoundsItem it = items[i];
if (it.bmin.X < bmin.X)
{
bmin.X = it.bmin.X;
}
if (it.bmin.Y < bmin.Y)
{
bmin.Y = it.bmin.Y;
}
if (it.bmax.X > bmax.X)
{
bmax.X = it.bmax.X;
}
if (it.bmax.Y > bmax.Y)
{
bmax.Y = it.bmax.Y;
}
}
}
private int LongestAxis(float x, float y)
{
return y > x ? 1 : 0;
}
private void Subdivide(BoundsItem[] items, int imin, int imax, int trisPerChunk, List<RcChunkyTriMeshNode> nodes, int[] inTris)
{
int inum = imax - imin;
RcChunkyTriMeshNode node = new RcChunkyTriMeshNode();
nodes.Add(node);
if (inum <= trisPerChunk)
{
// Leaf
CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
// Copy triangles.
node.i = nodes.Count;
node.tris = new int[inum * 3];
int dst = 0;
for (int i = imin; i < imax; ++i)
{
int src = items[i].i * 3;
node.tris[dst++] = inTris[src];
node.tris[dst++] = inTris[src + 1];
node.tris[dst++] = inTris[src + 2];
}
}
else
{
// Split
CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
int axis = LongestAxis(node.bmax.X - node.bmin.X, node.bmax.Y - node.bmin.Y);
if (axis == 0)
{
Array.Sort(items, imin, imax - imin, BoundsItemXComparer.Shared);
// Sort along x-axis
}
else if (axis == 1)
{
Array.Sort(items, imin, imax - imin, BoundsItemYComparer.Shared);
// Sort along y-axis
}
int isplit = imin + inum / 2;
// Left
Subdivide(items, imin, isplit, trisPerChunk, nodes, inTris);
// Right
Subdivide(items, isplit, imax, trisPerChunk, nodes, inTris);
// Negative index means escape.
node.i = -nodes.Count;
}
}
public RcChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk)
{
int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk;
nodes = new List<RcChunkyTriMeshNode>(nchunks);
this.ntris = ntris;
// Build tree
BoundsItem[] items = new BoundsItem[ntris];
for (int i = 0; i < ntris; i++)
{
int t = i * 3;
BoundsItem it = items[i] = new BoundsItem();
it.i = i;
// Calc triangle XZ bounds.
it.bmin.X = it.bmax.X = verts[tris[t] * 3 + 0];
it.bmin.Y = it.bmax.Y = verts[tris[t] * 3 + 2];
for (int j = 1; j < 3; ++j)
{
int v = tris[t + j] * 3;
if (verts[v] < it.bmin.X)
{
it.bmin.X = verts[v];
}
if (verts[v + 2] < it.bmin.Y)
{
it.bmin.Y = verts[v + 2];
}
if (verts[v] > it.bmax.X)
{
it.bmax.X = verts[v];
}
if (verts[v + 2] > it.bmax.Y)
{
it.bmax.Y = verts[v + 2];
}
}
}
Subdivide(items, 0, ntris, trisPerChunk, nodes, tris);
// Calc max tris per node.
maxTrisPerChunk = 0;
foreach (RcChunkyTriMeshNode node in nodes)
{
bool isLeaf = node.i >= 0;
if (!isLeaf)
{
continue;
}
if (node.tris.Length / 3 > maxTrisPerChunk)
{
maxTrisPerChunk = node.tris.Length / 3;
}
}
}
private bool CheckOverlapRect(float[] amin, float[] amax, RcVec2f bmin, RcVec2f bmax)
{
bool overlap = true;
overlap = (amin[0] > bmax.X || amax[0] < bmin.X) ? false : overlap;
overlap = (amin[1] > bmax.Y || amax[1] < bmin.Y) ? false : overlap;
return overlap;
}
public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax)
{
// Traverse tree
List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
int i = 0;
while (i < nodes.Count)
{
RcChunkyTriMeshNode node = nodes[i];
bool overlap = CheckOverlapRect(bmin, bmax, node.bmin, node.bmax);
bool isLeafNode = node.i >= 0;
if (isLeafNode && overlap)
{
ids.Add(node);
}
if (overlap || isLeafNode)
{
i++;
}
else
{
i = -node.i;
}
}
return ids;
}
public List<RcChunkyTriMeshNode> GetChunksOverlappingSegment(RcVec2f p, RcVec2f q)
{
// Traverse tree
List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
int i = 0;
while (i < nodes.Count)
{
RcChunkyTriMeshNode node = nodes[i];
bool overlap = CheckOverlapSegment(p, q, node.bmin, node.bmax);
bool isLeafNode = node.i >= 0;
if (isLeafNode && overlap)
{
ids.Add(node);
}
if (overlap || isLeafNode)
{
i++;
}
else
{
i = -node.i;
}
}
return ids;
}
private bool CheckOverlapSegment(RcVec2f p, RcVec2f q, RcVec2f bmin, RcVec2f bmax)
{
const float EPSILON = 1e-6f;
float tmin = 0;
float tmax = 1;
var d = new RcVec2f();
d.X = q.X - p.X;
d.Y = q.Y - p.Y;
for (int i = 0; i < 2; i++)
{
if (MathF.Abs(d.Get(i)) < EPSILON)
{
// Ray is parallel to slab. No hit if origin not within slab
if (p.Get(i) < bmin.Get(i) || p.Get(i) > bmax.Get(i))
return false;
}
else
{
// Compute intersection t value of ray with near and far plane of slab
float ood = 1.0f / d.Get(i);
float t1 = (bmin.Get(i) - p.Get(i)) * ood;
float t2 = (bmax.Get(i) - p.Get(i)) * ood;
if (t1 > t2)
{
(t1, t2) = (t2, t1);
}
if (t1 > tmin)
tmin = t1;
if (t2 < tmax)
tmax = t2;
if (tmin > tmax)
return false;
}
}
return true;
}
} }
} }

305
src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs Normal file
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@ -0,0 +1,305 @@
/*
Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
DotRecast Copyright (c) 2023-2024 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;
using System.Collections.Generic;
using DotRecast.Core.Numerics;
namespace DotRecast.Recast.Geom
{
public static class RcChunkyTriMeshs
{
/// Creates partitioned triangle mesh (AABB tree),
/// where each node contains at max trisPerChunk triangles.
public static bool CreateChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk, RcChunkyTriMesh cm)
{
int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk;
cm.nodes = new List<RcChunkyTriMeshNode>(nchunks);
cm.ntris = ntris;
// Build tree
BoundsItem[] items = new BoundsItem[ntris];
for (int i = 0; i < ntris; ++i)
{
items[i] = new BoundsItem();
}
for (int i = 0; i < ntris; i++)
{
int t = i * 3;
BoundsItem it = items[i];
it.i = i;
// Calc triangle XZ bounds.
it.bmin.X = it.bmax.X = verts[tris[t] * 3 + 0];
it.bmin.Y = it.bmax.Y = verts[tris[t] * 3 + 2];
for (int j = 1; j < 3; ++j)
{
int v = tris[t + j] * 3;
if (verts[v] < it.bmin.X)
{
it.bmin.X = verts[v];
}
if (verts[v + 2] < it.bmin.Y)
{
it.bmin.Y = verts[v + 2];
}
if (verts[v] > it.bmax.X)
{
it.bmax.X = verts[v];
}
if (verts[v + 2] > it.bmax.Y)
{
it.bmax.Y = verts[v + 2];
}
}
}
Subdivide(items, 0, ntris, trisPerChunk, cm.nodes, tris);
items = null;
// Calc max tris per node.
cm.maxTrisPerChunk = 0;
foreach (RcChunkyTriMeshNode node in cm.nodes)
{
bool isLeaf = node.i >= 0;
if (!isLeaf)
{
continue;
}
if (node.tris.Length / 3 > cm.maxTrisPerChunk)
{
cm.maxTrisPerChunk = node.tris.Length / 3;
}
}
return true;
}
/// Returns the chunk indices which overlap the input rectable.
public static List<RcChunkyTriMeshNode> GetChunksOverlappingRect(RcChunkyTriMesh cm, float[] bmin, float[] bmax)
{
// Traverse tree
List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
int i = 0;
while (i < cm.nodes.Count)
{
RcChunkyTriMeshNode node = cm.nodes[i];
bool overlap = CheckOverlapRect(bmin, bmax, node.bmin, node.bmax);
bool isLeafNode = node.i >= 0;
if (isLeafNode && overlap)
{
ids.Add(node);
}
if (overlap || isLeafNode)
{
i++;
}
else
{
i = -node.i;
}
}
return ids;
}
/// Returns the chunk indices which overlap the input segment.
public static List<RcChunkyTriMeshNode> GetChunksOverlappingSegment(RcChunkyTriMesh cm, RcVec2f p, RcVec2f q)
{
// Traverse tree
List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
int i = 0;
while (i < cm.nodes.Count)
{
RcChunkyTriMeshNode node = cm.nodes[i];
bool overlap = CheckOverlapSegment(p, q, node.bmin, node.bmax);
bool isLeafNode = node.i >= 0;
if (isLeafNode && overlap)
{
ids.Add(node);
}
if (overlap || isLeafNode)
{
i++;
}
else
{
i = -node.i;
}
}
return ids;
}
private static void CalcExtends(BoundsItem[] items, int imin, int imax, ref RcVec2f bmin, ref RcVec2f bmax)
{
bmin.X = items[imin].bmin.X;
bmin.Y = items[imin].bmin.Y;
bmax.X = items[imin].bmax.X;
bmax.Y = items[imin].bmax.Y;
for (int i = imin + 1; i < imax; ++i)
{
BoundsItem it = items[i];
if (it.bmin.X < bmin.X)
{
bmin.X = it.bmin.X;
}
if (it.bmin.Y < bmin.Y)
{
bmin.Y = it.bmin.Y;
}
if (it.bmax.X > bmax.X)
{
bmax.X = it.bmax.X;
}
if (it.bmax.Y > bmax.Y)
{
bmax.Y = it.bmax.Y;
}
}
}
private static int LongestAxis(float x, float y)
{
return y > x ? 1 : 0;
}
private static void Subdivide(BoundsItem[] items, int imin, int imax, int trisPerChunk, List<RcChunkyTriMeshNode> nodes, int[] inTris)
{
int inum = imax - imin;
RcChunkyTriMeshNode node = new RcChunkyTriMeshNode();
nodes.Add(node);
if (inum <= trisPerChunk)
{
// Leaf
CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
// Copy triangles.
node.i = nodes.Count;
node.tris = new int[inum * 3];
int dst = 0;
for (int i = imin; i < imax; ++i)
{
int src = items[i].i * 3;
node.tris[dst++] = inTris[src];
node.tris[dst++] = inTris[src + 1];
node.tris[dst++] = inTris[src + 2];
}
}
else
{
// Split
CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
int axis = LongestAxis(node.bmax.X - node.bmin.X, node.bmax.Y - node.bmin.Y);
if (axis == 0)
{
Array.Sort(items, imin, imax - imin, BoundsItemXComparer.Shared);
// Sort along x-axis
}
else if (axis == 1)
{
Array.Sort(items, imin, imax - imin, BoundsItemYComparer.Shared);
// Sort along y-axis
}
int isplit = imin + inum / 2;
// Left
Subdivide(items, imin, isplit, trisPerChunk, nodes, inTris);
// Right
Subdivide(items, isplit, imax, trisPerChunk, nodes, inTris);
// Negative index means escape.
node.i = -nodes.Count;
}
}
private static bool CheckOverlapRect(float[] amin, float[] amax, RcVec2f bmin, RcVec2f bmax)
{
bool overlap = true;
overlap = (amin[0] > bmax.X || amax[0] < bmin.X) ? false : overlap;
overlap = (amin[1] > bmax.Y || amax[1] < bmin.Y) ? false : overlap;
return overlap;
}
private static bool CheckOverlapSegment(RcVec2f p, RcVec2f q, RcVec2f bmin, RcVec2f bmax)
{
const float EPSILON = 1e-6f;
float tmin = 0;
float tmax = 1;
var d = new RcVec2f();
d.X = q.X - p.X;
d.Y = q.Y - p.Y;
for (int i = 0; i < 2; i++)
{
if (MathF.Abs(d.Get(i)) < EPSILON)
{
// Ray is parallel to slab. No hit if origin not within slab
if (p.Get(i) < bmin.Get(i) || p.Get(i) > bmax.Get(i))
return false;
}
else
{
// Compute intersection t value of ray with near and far plane of slab
float ood = 1.0f / d.Get(i);
float t1 = (bmin.Get(i) - p.Get(i)) * ood;
float t2 = (bmax.Get(i) - p.Get(i)) * ood;
if (t1 > t2)
{
(t1, t2) = (t2, t1);
}
if (t1 > tmin)
tmin = t1;
if (t2 < tmax)
tmax = t2;
if (tmin > tmax)
return false;
}
}
return true;
}
}
}

5
src/DotRecast.Recast/Geom/RcTriMesh.cs
View File

@ -32,7 +32,8 @@ namespace DotRecast.Recast.Geom
{ {
this.vertices = vertices; this.vertices = vertices;
this.faces = faces; this.faces = faces;
chunkyTriMesh = new RcChunkyTriMesh(vertices, faces, faces.Length / 3, 32); chunkyTriMesh = new RcChunkyTriMesh();
RcChunkyTriMeshs.CreateChunkyTriMesh(vertices, faces, faces.Length / 3, 32, chunkyTriMesh);
} }
public int[] GetTris() public int[] GetTris()
@ -47,7 +48,7 @@ namespace DotRecast.Recast.Geom
public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax) public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax)
{ {
return chunkyTriMesh.GetChunksOverlappingRect(bmin, bmax); return RcChunkyTriMeshs.GetChunksOverlappingRect(chunkyTriMesh, bmin, bmax);
} }
} }
} }