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rename DetourCommon to DtUtils

This commit is contained in:
ikpil 2023-07-31 10:34:20 +09:00
parent 47a93f7ab3
commit 71838af06c
13 changed files with 58 additions and 58 deletions
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2
src/DotRecast.Detour.Crowd/DtCrowd.cs
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@ -1141,7 +1141,7 @@ namespace DotRecast.Detour.Crowd
RcVec3f[] s = ag.boundary.GetSegment(j); RcVec3f[] s = ag.boundary.GetSegment(j);
RcVec3f s3 = s[1]; RcVec3f s3 = s[1];
//Array.Copy(s, 3, s3, 0, 3); //Array.Copy(s, 3, s3, 0, 3);
if (DetourCommon.TriArea2D(ag.npos, s[0], s3) < 0.0f) if (DtUtils.TriArea2D(ag.npos, s[0], s3) < 0.0f)
{ {
continue; continue;
} }

2
src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
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@ -122,7 +122,7 @@ namespace DotRecast.Detour.Crowd
var s3 = s.vmax; var s3 = s.vmax;
// Skip too distant segments. // Skip too distant segments.
var distSqr = DetourCommon.DistancePtSegSqr2D(pos, s0, s3, out var tseg); var distSqr = DtUtils.DistancePtSegSqr2D(pos, s0, s3, out var tseg);
if (distSqr > Sqr(collisionQueryRange)) if (distSqr > Sqr(collisionQueryRange))
{ {
continue; continue;

4
src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
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@ -131,7 +131,7 @@ namespace DotRecast.Detour.Crowd
cir.dp.Normalize(); cir.dp.Normalize();
dv = cir.dvel.Subtract(dvel); dv = cir.dvel.Subtract(dvel);
float a = DetourCommon.TriArea2D(orig, cir.dp, dv); float a = DtUtils.TriArea2D(orig, cir.dp, dv);
if (a < 0.01f) if (a < 0.01f)
{ {
cir.np.x = -cir.dp.z; cir.np.x = -cir.dp.z;
@ -150,7 +150,7 @@ namespace DotRecast.Detour.Crowd
// Precalc if the agent is really close to the segment. // Precalc if the agent is really close to the segment.
float r = 0.01f; float r = 0.01f;
var distSqr = DetourCommon.DistancePtSegSqr2D(pos, seg.p, seg.q, out var t); var distSqr = DtUtils.DistancePtSegSqr2D(pos, seg.p, seg.q, out var t);
seg.touch = distSqr < Sqr(r); seg.touch = distSqr < Sqr(r);
} }
} }

6
src/DotRecast.Detour.TileCache/DtTileCache.cs
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@ -120,7 +120,7 @@ namespace DotRecast.Detour.TileCache
m_tcomp = tcomp; m_tcomp = tcomp;
m_tmproc = tmprocs; m_tmproc = tmprocs;
m_tileLutSize = DetourCommon.NextPow2(m_params.maxTiles / 4); m_tileLutSize = DtUtils.NextPow2(m_params.maxTiles / 4);
if (m_tileLutSize == 0) if (m_tileLutSize == 0)
{ {
m_tileLutSize = 1; m_tileLutSize = 1;
@ -136,7 +136,7 @@ namespace DotRecast.Detour.TileCache
m_nextFreeTile = m_tiles[i]; m_nextFreeTile = m_tiles[i];
} }
m_tileBits = DetourCommon.Ilog2(DetourCommon.NextPow2(m_params.maxTiles)); m_tileBits = DtUtils.Ilog2(DtUtils.NextPow2(m_params.maxTiles));
m_saltBits = Math.Min(31, 32 - m_tileBits); m_saltBits = Math.Min(31, 32 - m_tileBits);
if (m_saltBits < 10) if (m_saltBits < 10)
{ {
@ -458,7 +458,7 @@ namespace DotRecast.Detour.TileCache
RcVec3f tbmin = new RcVec3f(); RcVec3f tbmin = new RcVec3f();
RcVec3f tbmax = new RcVec3f(); RcVec3f tbmax = new RcVec3f();
CalcTightTileBounds(tile.header, ref tbmin, ref tbmax); CalcTightTileBounds(tile.header, ref tbmin, ref tbmax);
if (DetourCommon.OverlapBounds(bmin, bmax, tbmin, tbmax)) if (DtUtils.OverlapBounds(bmin, bmax, tbmin, tbmax))
{ {
results.Add(i); results.Add(i);
} }

6
src/DotRecast.Detour/ConvexConvexIntersection.cs
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@ -61,8 +61,8 @@ namespace DotRecast.Detour
RcVec3f B = b.Subtract(b1); RcVec3f B = b.Subtract(b1);
float cross = B.x * A.z - A.x * B.z; // TriArea2D({0, 0}, A, B); float cross = B.x * A.z - A.x * B.z; // TriArea2D({0, 0}, A, B);
float aHB = DetourCommon.TriArea2D(b1, b, a); float aHB = DtUtils.TriArea2D(b1, b, a);
float bHA = DetourCommon.TriArea2D(a1, a, b); float bHA = DtUtils.TriArea2D(a1, a, b);
if (Math.Abs(cross) < EPSILON) if (Math.Abs(cross) < EPSILON)
{ {
cross = 0f; cross = 0f;
@ -233,7 +233,7 @@ namespace DotRecast.Detour
private static Intersection SegSegInt(RcVec3f a, RcVec3f b, RcVec3f c, RcVec3f d, ref RcVec3f p, ref RcVec3f q) private static Intersection SegSegInt(RcVec3f a, RcVec3f b, RcVec3f c, RcVec3f d, ref RcVec3f p, ref RcVec3f q)
{ {
if (DetourCommon.IntersectSegSeg2D(a, b, c, d, out var s, out var t)) if (DtUtils.IntersectSegSeg2D(a, b, c, d, out var s, out var t))
{ {
if (s >= 0.0f && s <= 1.0f && t >= 0.0f && t <= 1.0f) if (s >= 0.0f && s <= 1.0f && t >= 0.0f && t <= 1.0f)
{ {

26
src/DotRecast.Detour/DtNavMesh.cs
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@ -95,7 +95,7 @@ namespace DotRecast.Detour
// Init tiles // Init tiles
m_maxTiles = option.maxTiles; m_maxTiles = option.maxTiles;
m_maxVertPerPoly = maxVertsPerPoly; m_maxVertPerPoly = maxVertsPerPoly;
m_tileLutMask = Math.Max(1, DetourCommon.NextPow2(option.maxTiles)) - 1; m_tileLutMask = Math.Max(1, DtUtils.NextPow2(option.maxTiles)) - 1;
m_tiles = new DtMeshTile[m_maxTiles]; m_tiles = new DtMeshTile[m_maxTiles];
for (int i = 0; i < m_maxTiles; i++) for (int i = 0; i < m_maxTiles; i++)
{ {
@ -366,7 +366,7 @@ namespace DotRecast.Detour
while (nodeIndex < end) while (nodeIndex < end)
{ {
DtBVNode node = tile.data.bvTree[nodeIndex]; DtBVNode node = tile.data.bvTree[nodeIndex];
bool overlap = DetourCommon.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax); bool overlap = DtUtils.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
bool isLeafNode = node.i >= 0; bool isLeafNode = node.i >= 0;
if (isLeafNode && overlap) if (isLeafNode && overlap)
@ -412,7 +412,7 @@ namespace DotRecast.Detour
bmax.Max(tile.data.verts, v); bmax.Max(tile.data.verts, v);
} }
if (DetourCommon.OverlapBounds(qmin, qmax, bmin, bmax)) if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))
{ {
polys.Add(@base | (long)i); polys.Add(@base | (long)i);
} }
@ -549,9 +549,9 @@ namespace DotRecast.Detour
for (int j = 0; j < neis.Count; ++j) for (int j = 0; j < neis.Count; ++j)
{ {
ConnectExtLinks(tile, neis[j], i); ConnectExtLinks(tile, neis[j], i);
ConnectExtLinks(neis[j], tile, DetourCommon.OppositeTile(i)); ConnectExtLinks(neis[j], tile, DtUtils.OppositeTile(i));
ConnectExtOffMeshLinks(tile, neis[j], i); ConnectExtOffMeshLinks(tile, neis[j], i);
ConnectExtOffMeshLinks(neis[j], tile, DetourCommon.OppositeTile(i)); ConnectExtOffMeshLinks(neis[j], tile, DtUtils.OppositeTile(i));
} }
} }
@ -755,7 +755,7 @@ namespace DotRecast.Detour
// Create new links // Create new links
int va = poly.verts[j] * 3; int va = poly.verts[j] * 3;
int vb = poly.verts[(j + 1) % nv] * 3; int vb = poly.verts[(j + 1) % nv] * 3;
int nnei = FindConnectingPolys(tile.data.verts, va, vb, target, DetourCommon.OppositeTile(dir), ref connectPolys); int nnei = FindConnectingPolys(tile.data.verts, va, vb, target, DtUtils.OppositeTile(dir), ref connectPolys);
foreach (var connectPoly in connectPolys) foreach (var connectPoly in connectPolys)
{ {
int idx = AllocLink(tile); int idx = AllocLink(tile);
@ -814,7 +814,7 @@ namespace DotRecast.Detour
// Connect off-mesh links. // Connect off-mesh links.
// We are interested on links which land from target tile to this tile. // We are interested on links which land from target tile to this tile.
int oppositeSide = (side == -1) ? 0xff : DetourCommon.OppositeTile(side); int oppositeSide = (side == -1) ? 0xff : DtUtils.OppositeTile(side);
for (int i = 0; i < target.data.header.offMeshConCount; ++i) for (int i = 0; i < target.data.header.offMeshConCount; ++i)
{ {
@ -1183,7 +1183,7 @@ namespace DotRecast.Detour
continue; continue;
} }
var d = DetourCommon.DistancePtSegSqr2D(pos, v[j], v[k], out var t); var d = DtUtils.DistancePtSegSqr2D(pos, v[j], v[k], out var t);
if (d < dmin) if (d < dmin)
{ {
dmin = d; dmin = d;
@ -1207,7 +1207,7 @@ namespace DotRecast.Detour
v[1].y = tile.data.verts[poly.verts[k] * 3 + 1]; v[1].y = tile.data.verts[poly.verts[k] * 3 + 1];
v[1].z = tile.data.verts[poly.verts[k] * 3 + 2]; v[1].z = tile.data.verts[poly.verts[k] * 3 + 2];
var d = DetourCommon.DistancePtSegSqr2D(pos, v[0], v[1], out var t); var d = DtUtils.DistancePtSegSqr2D(pos, v[0], v[1], out var t);
if (d < dmin) if (d < dmin)
{ {
dmin = d; dmin = d;
@ -1239,7 +1239,7 @@ namespace DotRecast.Detour
Array.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3); Array.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
} }
if (!DetourCommon.PointInPolygon(pos, verts, nv)) if (!DtUtils.PointInPolygon(pos, verts, nv))
{ {
return null; return null;
} }
@ -1276,7 +1276,7 @@ namespace DotRecast.Detour
} }
} }
float? h = DetourCommon.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]); float? h = DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
if (null != h) if (null != h)
{ {
return h; return h;
@ -1298,7 +1298,7 @@ namespace DotRecast.Detour
v[k + 1].z = tile.data.verts[poly.verts[j + k] * 3 + 2]; v[k + 1].z = tile.data.verts[poly.verts[j + k] * 3 + 2];
} }
float? h = DetourCommon.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]); float? h = DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
if (null != h) if (null != h)
{ {
return h; return h;
@ -1336,7 +1336,7 @@ namespace DotRecast.Detour
var v0 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] }; var v0 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
i = poly.verts[1] * 3; i = poly.verts[1] * 3;
var v1 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] }; var v1 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var t); DtUtils.DistancePtSegSqr2D(pos, v0, v1, out var t);
closest = RcVec3f.Lerp(v0, v1, t); closest = RcVec3f.Lerp(v0, v1, t);
return; return;
} }

54
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -144,7 +144,7 @@ namespace DotRecast.Detour
int va = p.verts[0] * 3; int va = p.verts[0] * 3;
int vb = p.verts[j - 1] * 3; int vb = p.verts[j - 1] * 3;
int vc = p.verts[j] * 3; int vc = p.verts[j] * 3;
polyArea += DetourCommon.TriArea2D(tile.data.verts, va, vb, vc); polyArea += DtUtils.TriArea2D(tile.data.verts, va, vb, vc);
} }
// Choose random polygon weighted by area, using reservoi sampling. // Choose random polygon weighted by area, using reservoi sampling.
@ -174,7 +174,7 @@ namespace DotRecast.Detour
float s = frand.Next(); float s = frand.Next();
float t = frand.Next(); float t = frand.Next();
var pt = DetourCommon.RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t); var pt = DtUtils.RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t);
ClosestPointOnPoly(polyRef, pt, out var closest, out var _); ClosestPointOnPoly(polyRef, pt, out var closest, out var _);
randomRef = polyRef; randomRef = polyRef;
@ -297,7 +297,7 @@ namespace DotRecast.Detour
int va = 0; int va = 0;
int vb = (j - 1) * 3; int vb = (j - 1) * 3;
int vc = j * 3; int vc = j * 3;
polyArea += DetourCommon.TriArea2D(constrainedVerts, va, vb, vc); polyArea += DtUtils.TriArea2D(constrainedVerts, va, vb, vc);
} }
// Choose random polygon weighted by area, using reservoi sampling. // Choose random polygon weighted by area, using reservoi sampling.
@ -347,7 +347,7 @@ namespace DotRecast.Detour
} }
// If the circle is not touching the next polygon, skip it. // If the circle is not touching the next polygon, skip it.
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var tesg); var distSqr = DtUtils.DistancePtSegSqr2D(centerPos, va, vb, out var tesg);
if (distSqr > radiusSqr) if (distSqr > radiusSqr)
{ {
continue; continue;
@ -406,7 +406,7 @@ namespace DotRecast.Detour
float t = frand.Next(); float t = frand.Next();
float[] areas = new float[randomPolyVerts.Length / 3]; float[] areas = new float[randomPolyVerts.Length / 3];
RcVec3f pt = DetourCommon.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t); RcVec3f pt = DtUtils.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t);
ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _); ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _);
randomRef = randomPolyRef; randomRef = randomPolyRef;
@ -485,7 +485,7 @@ namespace DotRecast.Detour
Array.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3); Array.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
} }
if (DetourCommon.DistancePtPolyEdgesSqr(pos, verts, nv, edged, edget)) if (DtUtils.DistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
{ {
closest = pos; closest = pos;
} }
@ -545,7 +545,7 @@ namespace DotRecast.Detour
var v0 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] }; var v0 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
i = poly.verts[1] * 3; i = poly.verts[1] * 3;
var v1 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] }; var v1 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var t); DtUtils.DistancePtSegSqr2D(pos, v0, v1, out var t);
height = v0.y + (v1.y - v0.y) * t; height = v0.y + (v1.y - v0.y) * t;
return DtStatus.DT_SUCCSESS; return DtStatus.DT_SUCCSESS;
@ -624,7 +624,7 @@ namespace DotRecast.Detour
while (nodeIndex < end) while (nodeIndex < end)
{ {
DtBVNode node = tile.data.bvTree[nodeIndex]; DtBVNode node = tile.data.bvTree[nodeIndex];
bool overlap = DetourCommon.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax); bool overlap = DtUtils.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
bool isLeafNode = node.i >= 0; bool isLeafNode = node.i >= 0;
if (isLeafNode && overlap) if (isLeafNode && overlap)
@ -678,7 +678,7 @@ namespace DotRecast.Detour
bmax.Max(tile.data.verts, v); bmax.Max(tile.data.verts, v);
} }
if (DetourCommon.OverlapBounds(qmin, qmax, bmin, bmax)) if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))
{ {
query.Process(tile, p, refs); query.Process(tile, p, refs);
} }
@ -1435,7 +1435,7 @@ namespace DotRecast.Detour
protected DtStatus AppendVertex(RcVec3f pos, int flags, long refs, ref List<StraightPathItem> straightPath, protected DtStatus AppendVertex(RcVec3f pos, int flags, long refs, ref List<StraightPathItem> straightPath,
int maxStraightPath) int maxStraightPath)
{ {
if (straightPath.Count > 0 && DetourCommon.VEqual(straightPath[straightPath.Count - 1].pos, pos)) if (straightPath.Count > 0 && DtUtils.VEqual(straightPath[straightPath.Count - 1].pos, pos))
{ {
// The vertices are equal, update flags and poly. // The vertices are equal, update flags and poly.
straightPath[straightPath.Count - 1] = new StraightPathItem(straightPath[straightPath.Count - 1].pos, flags, refs); straightPath[straightPath.Count - 1] = new StraightPathItem(straightPath[straightPath.Count - 1].pos, flags, refs);
@ -1497,7 +1497,7 @@ namespace DotRecast.Detour
} }
// Append intersection // Append intersection
if (DetourCommon.IntersectSegSeg2D(startPos, endPos, left, right, out var _, out var t)) if (DtUtils.IntersectSegSeg2D(startPos, endPos, left, right, out var _, out var t))
{ {
var pt = RcVec3f.Lerp(left, right, t); var pt = RcVec3f.Lerp(left, right, t);
stat = AppendVertex(pt, 0, path[i + 1], ref straightPath, maxStraightPath); stat = AppendVertex(pt, 0, path[i + 1], ref straightPath, maxStraightPath);
@ -1622,7 +1622,7 @@ namespace DotRecast.Detour
// If starting really close the portal, advance. // If starting really close the portal, advance.
if (i == 0) if (i == 0)
{ {
var distSqr = DetourCommon.DistancePtSegSqr2D(portalApex, left, right, out var t); var distSqr = DtUtils.DistancePtSegSqr2D(portalApex, left, right, out var t);
if (distSqr < Sqr(0.001f)) if (distSqr < Sqr(0.001f))
{ {
continue; continue;
@ -1638,9 +1638,9 @@ namespace DotRecast.Detour
} }
// Right vertex. // Right vertex.
if (DetourCommon.TriArea2D(portalApex, portalRight, right) <= 0.0f) if (DtUtils.TriArea2D(portalApex, portalRight, right) <= 0.0f)
{ {
if (DetourCommon.VEqual(portalApex, portalRight) || DetourCommon.TriArea2D(portalApex, portalLeft, right) > 0.0f) if (DtUtils.VEqual(portalApex, portalRight) || DtUtils.TriArea2D(portalApex, portalLeft, right) > 0.0f)
{ {
portalRight = right; portalRight = right;
rightPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0; rightPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0;
@ -1694,9 +1694,9 @@ namespace DotRecast.Detour
} }
// Left vertex. // Left vertex.
if (DetourCommon.TriArea2D(portalApex, portalLeft, left) >= 0.0f) if (DtUtils.TriArea2D(portalApex, portalLeft, left) >= 0.0f)
{ {
if (DetourCommon.VEqual(portalApex, portalLeft) || DetourCommon.TriArea2D(portalApex, portalRight, left) < 0.0f) if (DtUtils.VEqual(portalApex, portalLeft) || DtUtils.TriArea2D(portalApex, portalRight, left) < 0.0f)
{ {
portalLeft = left; portalLeft = left;
leftPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0; leftPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0;
@ -1853,7 +1853,7 @@ namespace DotRecast.Detour
} }
// If target is inside the poly, stop search. // If target is inside the poly, stop search.
if (DetourCommon.PointInPolygon(endPos, verts, nverts)) if (DtUtils.PointInPolygon(endPos, verts, nverts))
{ {
bestNode = curNode; bestNode = curNode;
bestPos = endPos; bestPos = endPos;
@ -1906,7 +1906,7 @@ namespace DotRecast.Detour
// Wall edge, calc distance. // Wall edge, calc distance.
int vj = j * 3; int vj = j * 3;
int vi = i * 3; int vi = i * 3;
var distSqr = DetourCommon.DistancePtSegSqr2D(endPos, verts, vj, vi, out var tseg); var distSqr = DtUtils.DistancePtSegSqr2D(endPos, verts, vj, vi, out var tseg);
if (distSqr < bestDist) if (distSqr < bestDist)
{ {
// Update nearest distance. // Update nearest distance.
@ -1930,7 +1930,7 @@ namespace DotRecast.Detour
// TODO: Maybe should use GetPortalPoints(), but this one is way faster. // TODO: Maybe should use GetPortalPoints(), but this one is way faster.
int vj = j * 3; int vj = j * 3;
int vi = i * 3; int vi = i * 3;
var distSqr = DetourCommon.DistancePtSegSqr2D(searchPos, verts, vj, vi, out var _); var distSqr = DtUtils.DistancePtSegSqr2D(searchPos, verts, vj, vi, out var _);
if (distSqr > searchRadSqr) if (distSqr > searchRadSqr)
{ {
continue; continue;
@ -2124,7 +2124,7 @@ namespace DotRecast.Detour
} }
float t = 0.5f; float t = 0.5f;
if (DetourCommon.IntersectSegSeg2D(fromPos, toPos, left, right, out var _, out var t2)) if (DtUtils.IntersectSegSeg2D(fromPos, toPos, left, right, out var _, out var t2))
{ {
t = Clamp(t2, 0.1f, 0.9f); t = Clamp(t2, 0.1f, 0.9f);
} }
@ -2233,7 +2233,7 @@ namespace DotRecast.Detour
nv++; nv++;
} }
bool intersects = DetourCommon.IntersectSegmentPoly2D(startPos, endPos, verts, nv, out var tmin, out var tmax, out var segMin, out var segMax); bool intersects = DtUtils.IntersectSegmentPoly2D(startPos, endPos, verts, nv, out var tmin, out var tmax, out var segMin, out var segMax);
if (!intersects) if (!intersects)
{ {
// Could not hit the polygon, keep the old t and report hit. // Could not hit the polygon, keep the old t and report hit.
@ -2541,7 +2541,7 @@ namespace DotRecast.Detour
} }
// If the circle is not touching the next polygon, skip it. // If the circle is not touching the next polygon, skip it.
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var _); var distSqr = DtUtils.DistancePtSegSqr2D(centerPos, va, vb, out var _);
if (distSqr > radiusSqr) if (distSqr > radiusSqr)
{ {
continue; continue;
@ -2718,7 +2718,7 @@ namespace DotRecast.Detour
} }
// If the poly is not touching the edge to the next polygon, skip the connection it. // If the poly is not touching the edge to the next polygon, skip the connection it.
bool intersects = DetourCommon.IntersectSegmentPoly2D(va, vb, verts, nverts, out var tmin, out var tmax, out var segMin, out var segMax); bool intersects = DtUtils.IntersectSegmentPoly2D(va, vb, verts, nverts, out var tmin, out var tmax, out var segMin, out var segMax);
if (!intersects) if (!intersects)
{ {
continue; continue;
@ -2886,7 +2886,7 @@ namespace DotRecast.Detour
} }
// If the circle is not touching the next polygon, skip it. // If the circle is not touching the next polygon, skip it.
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var _); var distSqr = DtUtils.DistancePtSegSqr2D(centerPos, va, vb, out var _);
if (distSqr > radiusSqr) if (distSqr > radiusSqr)
{ {
continue; continue;
@ -2937,7 +2937,7 @@ namespace DotRecast.Detour
Array.Copy(pastTile.data.verts, pastPoly.verts[k] * 3, pb, k * 3, 3); Array.Copy(pastTile.data.verts, pastPoly.verts[k] * 3, pb, k * 3, 3);
} }
if (DetourCommon.OverlapPolyPoly2D(pa, npa, pb, npb)) if (DtUtils.OverlapPolyPoly2D(pa, npa, pb, npb))
{ {
overlap = true; overlap = true;
break; break;
@ -3227,7 +3227,7 @@ namespace DotRecast.Detour
// Calc distance to the edge. // Calc distance to the edge.
int vj = bestPoly.verts[j] * 3; int vj = bestPoly.verts[j] * 3;
int vi = bestPoly.verts[i] * 3; int vi = bestPoly.verts[i] * 3;
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi, out var tseg); var distSqr = DtUtils.DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi, out var tseg);
// Edge is too far, skip. // Edge is too far, skip.
if (distSqr > radiusSqr) if (distSqr > radiusSqr)
@ -3268,7 +3268,7 @@ namespace DotRecast.Detour
// Calc distance to the edge. // Calc distance to the edge.
int va = bestPoly.verts[link.edge] * 3; int va = bestPoly.verts[link.edge] * 3;
int vb = bestPoly.verts[(link.edge + 1) % bestPoly.vertCount] * 3; int vb = bestPoly.verts[(link.edge + 1) % bestPoly.vertCount] * 3;
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb, out var tseg); var distSqr = DtUtils.DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb, out var tseg);
// If the circle is not touching the next polygon, skip it. // If the circle is not touching the next polygon, skip it.
if (distSqr > radiusSqr) if (distSqr > radiusSqr)
{ {

2
src/DotRecast.Detour/DetourCommon.cs → src/DotRecast.Detour/DtUtils.cs
View File

@ -3,7 +3,7 @@ using DotRecast.Core;
namespace DotRecast.Detour namespace DotRecast.Detour
{ {
public static class DetourCommon public static class DtUtils
{ {
private static readonly float EQUAL_THRESHOLD = RcMath.Sqr(1.0f / 16384.0f); private static readonly float EQUAL_THRESHOLD = RcMath.Sqr(1.0f / 16384.0f);

4
src/DotRecast.Detour/Io/DtMeshSetReader.cs
View File

@ -137,8 +137,8 @@ namespace DotRecast.Detour.Io
private long Convert32BitRef(int refs, DtNavMeshParams option) private long Convert32BitRef(int refs, DtNavMeshParams option)
{ {
int m_tileBits = DetourCommon.Ilog2(DetourCommon.NextPow2(option.maxTiles)); int m_tileBits = DtUtils.Ilog2(DtUtils.NextPow2(option.maxTiles));
int m_polyBits = DetourCommon.Ilog2(DetourCommon.NextPow2(option.maxPolys)); int m_polyBits = DtUtils.Ilog2(DtUtils.NextPow2(option.maxPolys));
// Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow. // Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow.
int m_saltBits = Math.Min(31, 32 - m_tileBits - m_polyBits); int m_saltBits = Math.Min(31, 32 - m_tileBits - m_polyBits);
int saltMask = (1 << m_saltBits) - 1; int saltMask = (1 << m_saltBits) - 1;

2
src/DotRecast.Detour/StrictPolygonByCircleConstraint.cs
View File

@ -52,7 +52,7 @@ namespace DotRecast.Detour
float[] qCircle = Circle(center, radius); float[] qCircle = Circle(center, radius);
float[] intersection = ConvexConvexIntersection.Intersect(verts, qCircle); float[] intersection = ConvexConvexIntersection.Intersect(verts, qCircle);
if (intersection == null && DetourCommon.PointInPolygon(center, verts, verts.Length / 3)) if (intersection == null && DtUtils.PointInPolygon(center, verts, verts.Length / 3))
{ {
// circle inside polygon // circle inside polygon
return qCircle; return qCircle;

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

@ -480,7 +480,7 @@ public class CrowdTool : IRcTool
RcVec3f[] s = ag.boundary.GetSegment(j); RcVec3f[] s = ag.boundary.GetSegment(j);
RcVec3f s0 = s[0]; RcVec3f s0 = s[0];
RcVec3f s3 = s[1]; RcVec3f s3 = s[1];
if (DetourCommon.TriArea2D(pos, s0, s3) < 0.0f) if (DtUtils.TriArea2D(pos, s0, s3) < 0.0f)
col = DuDarkenCol(col); col = DuDarkenCol(col);
dd.AppendArrow(s[0].x, s[0].y + 0.2f, s[0].z, s[1].x, s[1].z + 0.2f, s[1].z, 0.0f, 0.3f, col); dd.AppendArrow(s[0].x, s[0].y + 0.2f, s[0].z, s[1].x, s[1].z + 0.2f, s[1].z, 0.0f, 0.3f, col);

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

@ -681,7 +681,7 @@ public class TestNavmeshTool : IRcTool
var v0 = s.vmin; var v0 = s.vmin;
var s3 = s.vmax; var s3 = s.vmax;
// Skip too distant segments. // Skip too distant segments.
var distSqr = DetourCommon.DistancePtSegSqr2D(m_spos, v0, s3, out var tseg); var distSqr = DtUtils.DistancePtSegSqr2D(m_spos, v0, s3, out var tseg);
if (distSqr > RcMath.Sqr(m_neighbourhoodRadius)) if (distSqr > RcMath.Sqr(m_neighbourhoodRadius))
{ {
continue; continue;
@ -702,7 +702,7 @@ public class TestNavmeshTool : IRcTool
else else
{ {
int col = DuRGBA(192, 32, 16, 192); int col = DuRGBA(192, 32, 16, 192);
if (DetourCommon.TriArea2D(m_spos, s.vmin, s3) < 0.0f) if (DtUtils.TriArea2D(m_spos, s.vmin, s3) < 0.0f)
{ {
col = DuRGBA(96, 32, 16, 192); col = DuRGBA(96, 32, 16, 192);
} }

2
src/DotRecast.Recast.DemoTool/Builder/TileNavMeshBuilder.cs
View File

@ -131,7 +131,7 @@ namespace DotRecast.Recast.DemoTool.Builder
RcUtils.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh); RcUtils.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
int tw = (gw + tileSize - 1) / tileSize; int tw = (gw + tileSize - 1) / tileSize;
int th = (gh + tileSize - 1) / tileSize; int th = (gh + tileSize - 1) / tileSize;
int tileBits = Math.Min(DetourCommon.Ilog2(DetourCommon.NextPow2(tw * th)), 14); int tileBits = Math.Min(DtUtils.Ilog2(DtUtils.NextPow2(tw * th)), 14);
return tileBits; return tileBits;
} }