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move RcMath.VCross -> Vector3f.Cross

This commit is contained in:
ikpil 2023-05-15 23:21:31 +09:00
parent 0cdf8c67b4
commit 5928befe25
4 changed files with 13 additions and 18 deletions
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4
src/DotRecast.Core/Intersections.cs
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@ -33,7 +33,7 @@ namespace DotRecast.Core
// Compute triangle normal. Can be precalculated or cached if
// intersecting multiple segments against the same triangle
Vector3f norm = VCross(ab, ac);
Vector3f norm = Vector3f.Cross(ab, ac);
// Compute denominator d. If d <= 0, segment is parallel to or points
// away from triangle, so exit early
@ -59,7 +59,7 @@ namespace DotRecast.Core
}
// Compute barycentric coordinate components and test if within bounds
Vector3f e = VCross(qp, ap);
Vector3f e = Vector3f.Cross(qp, ap);
v = VDot(ac, e);
if (v < 0.0f || v > d)
{

15
src/DotRecast.Core/RcMath.cs
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@ -52,14 +52,6 @@ namespace DotRecast.Core
return dx * dx + dy * dy + dz * dz;
}
public static Vector3f VCross(Vector3f v1, Vector3f v2)
{
Vector3f dest = new Vector3f();
dest.x = v1.y * v2.z - v1.z * v2.y;
dest.y = v1.z * v2.x - v1.x * v2.z;
dest.z = v1.x * v2.y - v1.y * v2.x;
return dest;
}
public static float VDot(Vector3f v1, Vector3f v2)
{
@ -336,13 +328,6 @@ namespace DotRecast.Core
return VEqual(p0, p1, EQUAL_THRESHOLD);
}
public static bool VEqual(float[] p0, float[] p1, float thresholdSqr)
{
float d = VDistSqr(p0, p1);
return d < thresholdSqr;
}
public static bool VEqual(Vector3f p0, Vector3f p1, float thresholdSqr)
{
float d = VDistSqr(p0, p1);

10
src/DotRecast.Core/Vector3f.cs
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@ -162,5 +162,15 @@ namespace DotRecast.Core
{
return left.Subtract(right);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static Vector3f Cross(Vector3f v1, Vector3f v2)
{
return new Vector3f(
(v1.y * v2.z) - (v1.z * v2.y),
(v1.z * v2.x) - (v1.x * v2.z),
(v1.x * v2.y) - (v1.y * v2.x)
);
}
}
}

2
src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs
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@ -248,7 +248,7 @@ public class DynamicUpdateTool : Tool
Vector3f baseUp = Vector3f.Of(0, 1, 0);
Vector3f forward = Vector3f.Of((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()));
VNormalize(ref forward);
Vector3f side = VCross(forward, baseUp);
Vector3f side = Vector3f.Cross(forward, baseUp);
BoxCollider @base = new BoxCollider(baseCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(baseUp, forward, baseExtent),
SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb);
var roofUp = Vector3f.Zero;