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float[] => vector3f

This commit is contained in:
ikpil 2023-03-31 01:10:04 +09:00
parent 535bbd38a4
commit 7c653af669
35 changed files with 262 additions and 223 deletions
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6
src/DotRecast.Core/RecastMath.cs
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@ -45,16 +45,16 @@ namespace DotRecast.Core
}
public static float[] vCross(float[] v1, float[] v2)
public static Vector3f vCross(Vector3f v1, Vector3f v2)
{
Vector3f dest = new Vector3f();
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.ToArray();
return dest;
}
public static float vDot(float[] v1, float[] v2)
public static float vDot(Vector3f v1, Vector3f v2)
{
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
}

26
src/DotRecast.Detour.Dynamic/Colliders/BoxCollider.cs
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@ -17,23 +17,24 @@ freely, subject to the following restrictions:
*/
using System;
using DotRecast.Core;
using DotRecast.Recast;
namespace DotRecast.Detour.Dynamic.Colliders
{
public class BoxCollider : AbstractCollider
{
private readonly float[] center;
private readonly Vector3f center;
private readonly float[][] halfEdges;
public BoxCollider(float[] center, float[][] halfEdges, int area, float flagMergeThreshold) :
public BoxCollider(Vector3f center, float[][] halfEdges, int area, float flagMergeThreshold) :
base(area, flagMergeThreshold, bounds(center, halfEdges))
{
this.center = center;
this.halfEdges = halfEdges;
}
private static float[] bounds(float[] center, float[][] halfEdges)
private static float[] bounds(Vector3f center, float[][] halfEdges)
{
float[] bounds = new float[]
{
@ -65,14 +66,19 @@ namespace DotRecast.Detour.Dynamic.Colliders
telemetry);
}
public static float[][] getHalfEdges(float[] up, float[] forward, float[] extent)
public static Vector3f[] getHalfEdges(Vector3f up, Vector3f forward, float[] extent)
{
float[][] halfEdges = new float[][] { new float[3], new float[] { up[0], up[1], up[2] }, new float[3] };
RecastVectors.normalize(halfEdges[1]);
RecastVectors.cross(halfEdges[0], up, forward);
RecastVectors.normalize(halfEdges[0]);
RecastVectors.cross(halfEdges[2], halfEdges[0], up);
RecastVectors.normalize(halfEdges[2]);
Vector3f[] halfEdges =
{
Vector3f.Zero,
Vector3f.Of(up[0], up[1], up[2]),
Vector3f.Zero
};
RecastVectors.normalize(ref halfEdges[1]);
RecastVectors.cross(ref halfEdges[0], up, forward);
RecastVectors.normalize(ref halfEdges[0]);
RecastVectors.cross(ref halfEdges[2], halfEdges[0], up);
RecastVectors.normalize(ref halfEdges[2]);
halfEdges[0][0] *= extent[0];
halfEdges[0][1] *= extent[0];
halfEdges[0][2] *= extent[0];

2
src/DotRecast.Recast.Demo/Draw/GLU.cs
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@ -67,7 +67,7 @@ public class GLU
matrix[15] = 0.0f;
}
public static int glhUnProjectf(float winx, float winy, float winz, float[] modelview, float[] projection, int[] viewport, float[] objectCoordinate)
public static int glhUnProjectf(float winx, float winy, float winz, float[] modelview, float[] projection, int[] viewport, ref Vector3f objectCoordinate)
{
// Transformation matrices
float[] m = new float[16], A = new float[16];

5
src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs
View File

@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System.Collections.Generic;
using System.Linq;
using DotRecast.Core;
using DotRecast.Detour;
using DotRecast.Recast.Demo.Builder;
using DotRecast.Recast.Demo.Geom;
@ -200,8 +201,8 @@ public class NavMeshRenderer
private void drawGeomBounds(DemoInputGeomProvider geom)
{
// Draw bounds
float[] bmin = geom.getMeshBoundsMin();
float[] bmax = geom.getMeshBoundsMax();
Vector3f bmin = geom.getMeshBoundsMin();
Vector3f bmax = geom.getMeshBoundsMax();
debugDraw.debugDrawBoxWire(bmin[0], bmin[1], bmin[2], bmax[0], bmax[1], bmax[2],
DebugDraw.duRGBA(255, 255, 255, 128), 1.0f);
debugDraw.begin(DebugDrawPrimitives.POINTS, 5.0f);

44
src/DotRecast.Recast.Demo/Geom/DemoInputGeomProvider.cs
View File

@ -71,25 +71,25 @@ public class DemoInputGeomProvider : InputGeomProvider
this.faces = faces;
normals = new float[faces.Length];
calculateNormals();
bmin = new float[3];
bmax = new float[3];
RecastVectors.copy(bmin, vertices, 0);
RecastVectors.copy(bmax, vertices, 0);
bmin = Vector3f.Zero;
bmax = Vector3f.Zero;
RecastVectors.copy(ref bmin, vertices, 0);
RecastVectors.copy(ref bmax, vertices, 0);
for (int i = 1; i < vertices.Length / 3; i++)
{
RecastVectors.min(bmin, vertices, i * 3);
RecastVectors.max(bmax, vertices, i * 3);
RecastVectors.min(ref bmin, vertices, i * 3);
RecastVectors.max(ref bmax, vertices, i * 3);
}
chunkyTriMesh = new ChunkyTriMesh(vertices, faces, faces.Length / 3, 256);
}
public float[] getMeshBoundsMin()
public Vector3f getMeshBoundsMin()
{
return bmin;
}
public float[] getMeshBoundsMax()
public Vector3f getMeshBoundsMax()
{
return bmax;
}
@ -138,7 +138,7 @@ public class DemoInputGeomProvider : InputGeomProvider
return offMeshConnections;
}
public void addOffMeshConnection(float[] start, float[] end, float radius, bool bidir, int area, int flags)
public void addOffMeshConnection(Vector3f start, Vector3f end, float radius, bool bidir, int area, int flags)
{
offMeshConnections.Add(new DemoOffMeshConnection(start, end, radius, bidir, area, flags));
}
@ -149,7 +149,7 @@ public class DemoInputGeomProvider : InputGeomProvider
offMeshConnections.RemoveAll(filter); // TODO : 확인 필요
}
public float? raycastMesh(float[] src, Vector3f dst)
public float? raycastMesh(Vector3f src, Vector3f dst)
{
// Prune hit ray.
float[] btminmax = Intersections.intersectSegmentAABB(src, dst, bmin, bmax);
@ -179,21 +179,21 @@ public class DemoInputGeomProvider : InputGeomProvider
int[] tris = chunk.tris;
for (int j = 0; j < chunk.tris.Length; j += 3)
{
float[] v1 = new float[]
{
vertices[tris[j] * 3], vertices[tris[j] * 3 + 1],
Vector3f v1 = Vector3f.Of(
vertices[tris[j] * 3],
vertices[tris[j] * 3 + 1],
vertices[tris[j] * 3 + 2]
};
float[] v2 = new float[]
{
vertices[tris[j + 1] * 3], vertices[tris[j + 1] * 3 + 1],
);
Vector3f v2 = Vector3f.Of(
vertices[tris[j + 1] * 3],
vertices[tris[j + 1] * 3 + 1],
vertices[tris[j + 1] * 3 + 2]
};
float[] v3 = new float[]
{
vertices[tris[j + 2] * 3], vertices[tris[j + 2] * 3 + 1],
);
Vector3f v3 = Vector3f.Of(
vertices[tris[j + 2] * 3],
vertices[tris[j + 2] * 3 + 1],
vertices[tris[j + 2] * 3 + 2]
};
);
float? t = Intersections.intersectSegmentTriangle(src, dst, v1, v2, v3);
if (null != t)
{

4
src/DotRecast.Recast.Demo/Geom/DemoOffMeshConnection.cs
View File

@ -18,6 +18,8 @@ freely, subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
using DotRecast.Core;
namespace DotRecast.Recast.Demo.Geom;
public class DemoOffMeshConnection
@ -28,7 +30,7 @@ public class DemoOffMeshConnection
public readonly int area;
public readonly int flags;
public DemoOffMeshConnection(float[] start, float[] end, float radius, bool bidir, int area, int flags)
public DemoOffMeshConnection(Vector3f start, Vector3f end, float radius, bool bidir, int area, int flags)
{
verts = new float[6];
verts[0] = start[0];

24
src/DotRecast.Recast.Demo/Geom/Intersections.cs
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@ -24,20 +24,20 @@ namespace DotRecast.Recast.Demo.Geom;
public class Intersections
{
public static float? intersectSegmentTriangle(float[] sp, float[] sq, float[] a, float[] b, float[] c)
public static float? intersectSegmentTriangle(Vector3f sp, Vector3f sq, Vector3f a, Vector3f b, Vector3f c)
{
float v, w;
float[] ab = vSub(b, a);
float[] ac = vSub(c, a);
float[] qp = vSub(sp, sq);
Vector3f ab = vSub(b, a);
Vector3f ac = vSub(c, a);
Vector3f qp = vSub(sp, sq);
// Compute triangle normal. Can be precalculated or cached if
// intersecting multiple segments against the same triangle
float[] norm = RecastMath.vCross(ab, ac);
Vector3f norm = vCross(ab, ac);
// Compute denominator d. If d <= 0, segment is parallel to or points
// away from triangle, so exit early
float d = RecastMath.vDot(qp, norm);
float d = vDot(qp, norm);
if (d <= 0.0f)
{
return null;
@ -46,8 +46,8 @@ public class Intersections
// Compute intersection t value of pq with plane of triangle. A ray
// 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 = RecastMath.vDot(ap, norm);
Vector3f ap = vSub(sp, a);
float t = 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 = RecastMath.vCross(qp, ap);
v = RecastMath.vDot(ac, e);
Vector3f e = vCross(qp, ap);
v = vDot(ac, e);
if (v < 0.0f || v > d)
{
return null;
}
w = -RecastMath.vDot(ab, e);
w = -vDot(ab, e);
if (w < 0.0f || v + w > d)
{
return null;
@ -78,7 +78,7 @@ public class Intersections
return t;
}
public static float[] intersectSegmentAABB(float[] sp, Vector3f sq, Vector3f amin, Vector3f amax)
public static float[] intersectSegmentAABB(Vector3f sp, Vector3f sq, Vector3f amin, Vector3f amax)
{
float EPS = 1e-6f;

6
src/DotRecast.Recast.Demo/Geom/NavMeshRaycast.cs
View File

@ -26,7 +26,7 @@ namespace DotRecast.Recast.Demo.Geom;
*/
public class NavMeshRaycast
{
public static float? raycast(NavMesh mesh, float[] src, float[] dst)
public static float? raycast(NavMesh mesh, Vector3f src, Vector3f dst)
{
for (int t = 0; t < mesh.getMaxTiles(); ++t)
{
@ -44,7 +44,7 @@ public class NavMeshRaycast
return null;
}
private static float? raycast(MeshTile tile, float[] sp, float[] sq)
private static float? raycast(MeshTile tile, Vector3f sp, Vector3f sq)
{
for (int i = 0; i < tile.data.header.polyCount; ++i)
{
@ -58,7 +58,7 @@ public class NavMeshRaycast
if (pd != null)
{
float[][] verts = ArrayUtils.Of<float>(3, 3);
Vector3f[] verts = new Vector3f[3];
for (int j = 0; j < pd.triCount; ++j)
{
int t = (pd.triBase + j) * 4;

9
src/DotRecast.Recast.Demo/Geom/NavMeshUtils.cs
View File

@ -17,16 +17,17 @@ freely, subject to the following restrictions:
*/
using System;
using DotRecast.Core;
using DotRecast.Detour;
namespace DotRecast.Recast.Demo.Geom;
public class NavMeshUtils
{
public static float[][] getNavMeshBounds(NavMesh mesh)
public static Vector3f[] getNavMeshBounds(NavMesh mesh)
{
float[] bmin = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity };
float[] bmax = new float[] { float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity };
Vector3f bmin = Vector3f.Of(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
Vector3f bmax = Vector3f.Of(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
for (int t = 0; t < mesh.getMaxTiles(); ++t)
{
MeshTile tile = mesh.getTile(t);
@ -44,6 +45,6 @@ public class NavMeshUtils
}
}
return new float[][] { bmin, bmax };
return new[] { bmin, bmax };
}
}

6
src/DotRecast.Recast.Demo/Geom/PolyMeshRaycast.cs
View File

@ -23,7 +23,7 @@ namespace DotRecast.Recast.Demo.Geom;
public class PolyMeshRaycast
{
public static float? raycast(IList<RecastBuilderResult> results, float[] src, float[] dst)
public static float? raycast(IList<RecastBuilderResult> results, Vector3f src, Vector3f dst)
{
foreach (RecastBuilderResult result in results)
{
@ -40,7 +40,7 @@ public class PolyMeshRaycast
return null;
}
private static float? raycast(PolyMesh poly, PolyMeshDetail meshDetail, float[] sp, float[] sq)
private static float? raycast(PolyMesh poly, PolyMeshDetail meshDetail, Vector3f sp, Vector3f sq)
{
if (meshDetail != null)
{
@ -54,7 +54,7 @@ public class PolyMeshRaycast
int tris = btris * 4;
for (int j = 0; j < ntris; ++j)
{
float[][] vs = ArrayUtils.Of<float>(3, 3);
Vector3f[] vs = new Vector3f[3];
for (int k = 0; k < 3; ++k)
{
vs[k][0] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3];

55
src/DotRecast.Recast.Demo/RecastDemo.cs
View File

@ -96,8 +96,8 @@ public class RecastDemo
private readonly float[] cameraEulers = { 45, -45 };
private Vector3f cameraPos = Vector3f.Of(0, 0, 0);
private readonly Vector3f rayStart = new Vector3f();
private readonly Vector3f rayEnd = new Vector3f();
private Vector3f rayStart = new Vector3f();
private Vector3f rayEnd = new Vector3f();
private float[] projectionMatrix = new float[16];
private float[] modelviewMatrix = new float[16];
@ -112,7 +112,7 @@ public class RecastDemo
private int[] viewport;
private bool markerPositionSet;
private readonly Vector3f markerPosition = new Vector3f();
private Vector3f markerPosition = new Vector3f();
private ToolsView toolsUI;
private RcSettingsView settingsUI;
private long prevFrameTime;
@ -479,8 +479,8 @@ public class RecastDemo
*/
if (sample.getInputGeom() != null)
{
float[] bmin = sample.getInputGeom().getMeshBoundsMin();
float[] bmax = sample.getInputGeom().getMeshBoundsMax();
Vector3f bmin = sample.getInputGeom().getMeshBoundsMin();
Vector3f bmax = sample.getInputGeom().getMeshBoundsMax();
int[] voxels = Recast.calcGridSize(bmin, bmax, settingsUI.getCellSize());
settingsUI.setVoxels(voxels);
settingsUI.setTiles(tileNavMeshBuilder.getTiles(sample.getInputGeom(), settingsUI.getCellSize(), settingsUI.getTileSize()));
@ -612,8 +612,8 @@ public class RecastDemo
if (!_mouseOverMenu)
{
GLU.glhUnProjectf(mousePos[0], viewport[3] - 1 - mousePos[1], 0.0f, modelviewMatrix, projectionMatrix, viewport, rayStart);
GLU.glhUnProjectf(mousePos[0], viewport[3] - 1 - mousePos[1], 1.0f, modelviewMatrix, projectionMatrix, viewport, rayEnd);
GLU.glhUnProjectf(mousePos[0], viewport[3] - 1 - mousePos[1], 0.0f, modelviewMatrix, projectionMatrix, viewport, ref rayStart);
GLU.glhUnProjectf(mousePos[0], viewport[3] - 1 - mousePos[1], 1.0f, modelviewMatrix, projectionMatrix, viewport, ref rayEnd);
// Hit test mesh.
DemoInputGeomProvider inputGeom = sample.getInputGeom();
@ -681,18 +681,18 @@ public class RecastDemo
if (sample.isChanged())
{
float[] bmin = null;
float[] bmax = null;
Vector3f? bminN = null;
Vector3f? bmaxN = null;
if (sample.getInputGeom() != null)
{
bmin = sample.getInputGeom().getMeshBoundsMin();
bmax = sample.getInputGeom().getMeshBoundsMax();
bminN = sample.getInputGeom().getMeshBoundsMin();
bmaxN = sample.getInputGeom().getMeshBoundsMax();
}
else if (sample.getNavMesh() != null)
{
float[][] bounds = NavMeshUtils.getNavMeshBounds(sample.getNavMesh());
bmin = bounds[0];
bmax = bounds[1];
Vector3f[] bounds = NavMeshUtils.getNavMeshBounds(sample.getNavMesh());
bminN = bounds[0];
bmaxN = bounds[1];
}
else if (0 < sample.getRecastResults().Count)
{
@ -700,23 +700,32 @@ public class RecastDemo
{
if (result.getSolidHeightfield() != null)
{
if (bmin == null)
if (bminN == null)
{
bmin = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity };
bmax = new float[] { float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity };
bminN = Vector3f.Of(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
bmaxN = Vector3f.Of(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
}
for (int i = 0; i < 3; i++)
{
bmin[i] = Math.Min(bmin[i], result.getSolidHeightfield().bmin[i]);
bmax[i] = Math.Max(bmax[i], result.getSolidHeightfield().bmax[i]);
}
bminN = Vector3f.Of(
Math.Min(bminN.Value[0], result.getSolidHeightfield().bmin[0]),
Math.Min(bminN.Value[1], result.getSolidHeightfield().bmin[1]),
Math.Min(bminN.Value[2], result.getSolidHeightfield().bmin[2])
);
bmaxN = Vector3f.Of(
Math.Max(bmaxN.Value[0], result.getSolidHeightfield().bmax[0]),
Math.Max(bmaxN.Value[1], result.getSolidHeightfield().bmax[1]),
Math.Max(bmaxN.Value[2], result.getSolidHeightfield().bmax[2])
);
}
}
}
if (bmin != null && bmax != null)
if (bminN != null && bmaxN != null)
{
Vector3f bmin = bminN.Value;
Vector3f bmax = bmaxN.Value;
camr = (float)(Math.Sqrt(
sqr(bmax[0] - bmin[0]) + sqr(bmax[1] - bmin[1]) + sqr(bmax[2] - bmin[2]))
/ 2);

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

@ -47,7 +47,7 @@ public class ConvexVolumeTool : Tool
sample = m_sample;
}
public override void handleClick(float[] s, Vector3f p, bool shift)
public override void handleClick(Vector3f s, Vector3f p, bool shift)
{
DemoInputGeomProvider geom = sample.getInputGeom();
if (geom == null)

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

@ -362,7 +362,7 @@ public class CrowdProfilingTool
foreach (CrowdAgent ag in crowd.getActiveAgents())
{
float radius = ag.option.radius;
float[] pos = ag.npos;
Vector3f pos = ag.npos;
dd.debugDrawCircle(pos[0], pos[1], pos[2], radius, duRGBA(0, 0, 0, 32), 2.0f);
}
@ -372,7 +372,7 @@ public class CrowdProfilingTool
float height = ag.option.height;
float radius = ag.option.radius;
float[] pos = ag.npos;
Vector3f pos = ag.npos;
int col = duRGBA(220, 220, 220, 128);
if (agentData.type == AgentType.TRAVELLER)

9
src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
View File

@ -22,7 +22,6 @@ using System.Collections.Generic;
using System.Collections.Immutable;
using System.Diagnostics;
using DotRecast.Core;
using Silk.NET.Windowing;
using DotRecast.Detour;
using DotRecast.Detour.Crowd;
using DotRecast.Detour.Crowd.Tracking;
@ -147,7 +146,7 @@ public class CrowdTool : Tool
}
}
public override void handleClick(float[] s, Vector3f p, bool shift)
public override void handleClick(Vector3f s, Vector3f p, bool shift)
{
if (m_mode == CrowdToolMode.PROFILING)
{
@ -259,7 +258,7 @@ public class CrowdTool : Tool
return ap;
}
private CrowdAgent hitTestAgents(float[] s, Vector3f p)
private CrowdAgent hitTestAgents(Vector3f s, Vector3f p)
{
CrowdAgent isel = null;
float tsel = float.MaxValue;
@ -312,14 +311,14 @@ public class CrowdTool : Tool
// Request velocity
if (m_agentDebug.agent != null)
{
float[] vel = calcVel(ref m_agentDebug.agent.npos, p, m_agentDebug.agent.option.maxSpeed);
Vector3f vel = calcVel(m_agentDebug.agent.npos, p, m_agentDebug.agent.option.maxSpeed);
crowd.requestMoveVelocity(m_agentDebug.agent, vel);
}
else
{
foreach (CrowdAgent ag in crowd.getActiveAgents())
{
float[] vel = calcVel(ag.npos, p, ag.option.maxSpeed);
Vector3f vel = calcVel(ag.npos, p, ag.option.maxSpeed);
crowd.requestMoveVelocity(ag, vel);
}
}

76
src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs
View File

@ -134,7 +134,7 @@ public class DynamicUpdateTool : Tool
this.sample = sample;
}
public override void handleClick(float[] s, Vector3f p, bool shift)
public override void handleClick(Vector3f s, Vector3f p, bool shift)
{
if (mode == DynamicUpdateToolMode.COLLIDERS)
{
@ -215,7 +215,7 @@ public class DynamicUpdateTool : Tool
}
}
private Tuple<Collider, ColliderGizmo> sphereCollider(float[] p)
private Tuple<Collider, ColliderGizmo> sphereCollider(Vector3f p)
{
float radius = 1 + (float)random.NextDouble() * 10;
return Tuple.Create<Collider, ColliderGizmo>(
@ -223,22 +223,26 @@ public class DynamicUpdateTool : Tool
GizmoFactory.sphere(p, radius));
}
private Tuple<Collider, ColliderGizmo> capsuleCollider(float[] p)
private Tuple<Collider, ColliderGizmo> capsuleCollider(Vector3f p)
{
float radius = 0.4f + (float)random.NextDouble() * 4f;
float[] a = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) };
vNormalize(a);
Vector3f a = Vector3f.Of(
(1f - 2 * (float)random.NextDouble()),
0.01f + (float)random.NextDouble(),
(1f - 2 * (float)random.NextDouble())
);
vNormalize(ref a);
float len = 1f + (float)random.NextDouble() * 20f;
a[0] *= len;
a[1] *= len;
a[2] *= len;
float[] start = new float[] { p[0], p[1], p[2] };
float[] end = new float[] { p[0] + a[0], p[1] + a[1], p[2] + a[2] };
return Tuple.Create<Collider, ColliderGizmo>(new CapsuleCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER,
dynaMesh.config.walkableClimb), GizmoFactory.capsule(start, end, radius));
Vector3f start = Vector3f.Of(p[0], p[1], p[2]);
Vector3f end = Vector3f.Of(p[0] + a[0], p[1] + a[1], p[2] + a[2]);
return Tuple.Create<Collider, ColliderGizmo>(new CapsuleCollider(
start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb), GizmoFactory.capsule(start, end, radius));
}
private Tuple<Collider, ColliderGizmo> boxCollider(float[] p)
private Tuple<Collider, ColliderGizmo> boxCollider(Vector3f p)
{
float[] extent = new float[]
{
@ -253,7 +257,7 @@ public class DynamicUpdateTool : Tool
GizmoFactory.box(p, halfEdges));
}
private Tuple<Collider, ColliderGizmo> cylinderCollider(float[] p)
private Tuple<Collider, ColliderGizmo> cylinderCollider(Vector3f p)
{
float radius = 0.7f + (float)random.NextDouble() * 4f;
float[] a = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) };
@ -262,20 +266,20 @@ public class DynamicUpdateTool : Tool
a[0] *= len;
a[1] *= len;
a[2] *= len;
float[] start = new float[] { p[0], p[1], p[2] };
float[] end = new float[] { p[0] + a[0], p[1] + a[1], p[2] + a[2] };
Vector3f start = Vector3f.Of(p[0], p[1], p[2]);
Vector3f end = Vector3f.Of(p[0] + a[0], p[1] + a[1], p[2] + a[2]);
return Tuple.Create<Collider, ColliderGizmo>(new CylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER,
dynaMesh.config.walkableClimb), GizmoFactory.cylinder(start, end, radius));
}
private Tuple<Collider, ColliderGizmo> compositeCollider(float[] p)
private Tuple<Collider, ColliderGizmo> compositeCollider(Vector3f p)
{
float[] baseExtent = new float[] { 5, 3, 8 };
float[] baseCenter = new float[] { p[0], p[1] + 3, p[2] };
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 = RecastMath.vCross(forward, baseUp);
Vector3f baseExtent = Vector3f.Of(5, 3, 8);
Vector3f baseCenter = Vector3f.Of(p[0], p[1] + 3, p[2]);
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);
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 };
@ -308,7 +312,7 @@ public class DynamicUpdateTool : Tool
return Tuple.Create<Collider, ColliderGizmo>(collider, gizmo);
}
private Tuple<Collider, ColliderGizmo> trimeshBridge(float[] p)
private Tuple<Collider, ColliderGizmo> trimeshBridge(Vector3f p)
{
return trimeshCollider(p, bridgeGeom);
}
@ -326,7 +330,7 @@ public class DynamicUpdateTool : Tool
return Tuple.Create<Collider, ColliderGizmo>(collider, GizmoFactory.trimesh(verts, convexGeom.faces));
}
private Tuple<Collider, ColliderGizmo> trimeshCollider(float[] p, DemoInputGeomProvider geom)
private Tuple<Collider, ColliderGizmo> trimeshCollider(Vector3f p, DemoInputGeomProvider geom)
{
float[] verts = transformVertices(p, geom, 0);
TrimeshCollider collider = new TrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
@ -334,7 +338,7 @@ public class DynamicUpdateTool : Tool
return Tuple.Create<Collider, ColliderGizmo>(collider, GizmoFactory.trimesh(verts, geom.faces));
}
private float[] transformVertices(float[] p, DemoInputGeomProvider geom, float ax)
private float[] transformVertices(Vector3f p, DemoInputGeomProvider geom, float ax)
{
float[] rx = GLU.build_4x4_rotation_matrix((float)random.NextDouble() * ax, 1, 0, 0);
float[] ry = GLU.build_4x4_rotation_matrix((float)random.NextDouble() * 360, 0, 1, 0);
@ -366,8 +370,17 @@ public class DynamicUpdateTool : Tool
resultvector[2] = matrix[2] * pvector[0] + matrix[6] * pvector[1] + matrix[10] * pvector[2];
return resultvector;
}
private float[] mulMatrixVector(ref Vector3f resultvector, float[] matrix, float[] pvector)
{
resultvector[0] = matrix[0] * pvector[0] + matrix[4] * pvector[1] + matrix[8] * pvector[2];
resultvector[1] = matrix[1] * pvector[0] + matrix[5] * pvector[1] + matrix[9] * pvector[2];
resultvector[2] = matrix[2] * pvector[0] + matrix[6] * pvector[1] + matrix[10] * pvector[2];
return resultvector;
}
public override void handleClickRay(float[] start, float[] dir, bool shift)
public override void handleClickRay(Vector3f start, float[] dir, bool shift)
{
if (mode == DynamicUpdateToolMode.COLLIDERS)
{
@ -387,7 +400,7 @@ public class DynamicUpdateTool : Tool
}
}
private bool hit(float[] point, float[] dir, float[] bounds)
private bool hit(Vector3f point, float[] dir, float[] bounds)
{
float cx = 0.5f * (bounds[0] + bounds[3]);
float cy = 0.5f * (bounds[1] + bounds[4]);
@ -522,14 +535,14 @@ public class DynamicUpdateTool : Tool
ImGui.Separator();
if (mode == DynamicUpdateToolMode.BUILD)
{
{
var loadVoxelPopupStrId = "Load Voxels Popup";
bool isLoadVoxelPopup = true;
if (ImGui.Button("Load Voxels..."))
{
ImGui.OpenPopup(loadVoxelPopupStrId);
}
if (ImGui.BeginPopupModal(loadVoxelPopupStrId, ref isLoadVoxelPopup, ImGuiWindowFlags.NoTitleBar))
{
var picker = ImFilePicker.GetFilePicker(loadVoxelPopupStrId, Path.Combine(Environment.CurrentDirectory), ".voxels");
@ -538,6 +551,7 @@ public class DynamicUpdateTool : Tool
load(picker.SelectedFile);
ImFilePicker.RemoveFilePicker(loadVoxelPopupStrId);
}
ImGui.EndPopup();
}
@ -550,7 +564,7 @@ public class DynamicUpdateTool : Tool
{
ImGui.BeginPopup(saveVoxelPopupStrId);
}
if (ImGui.BeginPopupModal(saveVoxelPopupStrId, ref isSaveVoxelPopup, ImGuiWindowFlags.NoTitleBar))
{
var picker = ImFilePicker.GetFilePicker(saveVoxelPopupStrId, Path.Combine(Environment.CurrentDirectory), ".voxels");
@ -558,12 +572,12 @@ public class DynamicUpdateTool : Tool
{
if (string.IsNullOrEmpty(picker.SelectedFile))
save(picker.SelectedFile);
ImFilePicker.RemoveFilePicker(saveVoxelPopupStrId);
}
ImGui.EndPopup();
}
}
ImGui.NewLine();
@ -690,7 +704,7 @@ public class DynamicUpdateTool : Tool
dynaMesh.config.keepIntermediateResults = true;
updateUI();
buildDynaMesh();
colliders.Clear();
}
catch (Exception e)

9
src/DotRecast.Recast.Demo/Tools/Gizmos/BoxGizmo.cs
View File

@ -1,4 +1,5 @@
using DotRecast.Detour.Dynamic.Colliders;
using DotRecast.Core;
using DotRecast.Detour.Dynamic.Colliders;
using DotRecast.Recast.Demo.Draw;
namespace DotRecast.Recast.Demo.Tools.Gizmos;
@ -25,14 +26,14 @@ public class BoxGizmo : ColliderGizmo
private readonly float[] vertices = new float[8 * 3];
private readonly float[] center;
private readonly float[][] halfEdges;
private readonly Vector3f[] halfEdges;
public BoxGizmo(float[] center, float[] extent, float[] forward, float[] up) :
public BoxGizmo(float[] center, float[] extent, Vector3f forward, Vector3f up) :
this(center, BoxCollider.getHalfEdges(up, forward, extent))
{
}
public BoxGizmo(float[] center, float[][] halfEdges)
public BoxGizmo(float[] center, Vector3f[] halfEdges)
{
this.center = center;
this.halfEdges = halfEdges;

33
src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs
View File

@ -1,4 +1,5 @@
using DotRecast.Recast.Demo.Draw;
using DotRecast.Core;
using DotRecast.Recast.Demo.Draw;
using static DotRecast.Recast.RecastVectors;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper;
@ -12,21 +13,21 @@ public class CapsuleGizmo : ColliderGizmo
private readonly float[] center;
private readonly float[] gradient;
public CapsuleGizmo(float[] start, float[] end, float radius)
public CapsuleGizmo(Vector3f start, Vector3f end, float radius)
{
center = new float[]
{
0.5f * (start[0] + end[0]), 0.5f * (start[1] + end[1]),
0.5f * (start[2] + end[2])
};
float[] axis = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] };
float[][] normals = new float[3][];
normals[1] = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] };
normalize(normals[1]);
Vector3f axis = Vector3f.Of(end[0] - start[0], end[1] - start[1], end[2] - start[2]);
Vector3f[] normals = new Vector3f[3];
normals[1] = Vector3f.Of(end[0] - start[0], end[1] - start[1], end[2] - start[2]);
normalize(ref normals[1]);
normals[0] = getSideVector(axis);
normals[2] = new float[3];
cross(normals[2], normals[0], normals[1]);
normalize(normals[2]);
normals[2] = Vector3f.Zero;
cross(ref normals[2], normals[0], normals[1]);
normalize(ref normals[2]);
triangles = generateSphericalTriangles();
float[] trX = new float[] { normals[0][0], normals[1][0], normals[2][0] };
float[] trY = new float[] { normals[0][1], normals[1][1], normals[2][1] };
@ -48,23 +49,23 @@ public class CapsuleGizmo : ColliderGizmo
v[0] = vertices[i] - center[0];
v[1] = vertices[i + 1] - center[1];
v[2] = vertices[i + 2] - center[2];
normalize(v);
normalize(ref v);
gradient[i / 3] = clamp(0.57735026f * (v[0] + v[1] + v[2]), -1, 1);
}
}
private float[] getSideVector(float[] axis)
private Vector3f getSideVector(Vector3f axis)
{
float[] side = { 1, 0, 0 };
Vector3f side = Vector3f.Of(1, 0, 0);
if (axis[0] > 0.8)
{
side = new float[] { 0, 0, 1 };
side = Vector3f.Of(0, 0, 1);
}
Vector3f forward = new Vector3f();
cross(forward, side, axis);
cross(side, axis, forward);
normalize(side);
cross(ref forward, side, axis);
cross(ref side, axis, forward);
normalize(ref side);
return side;
}

10
src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoFactory.cs
View File

@ -1,4 +1,6 @@
namespace DotRecast.Recast.Demo.Tools.Gizmos;
using DotRecast.Core;
namespace DotRecast.Recast.Demo.Tools.Gizmos;
public static class GizmoFactory
{
@ -7,17 +9,17 @@ public static class GizmoFactory
return new BoxGizmo(center, halfEdges);
}
public static ColliderGizmo sphere(float[] center, float radius)
public static ColliderGizmo sphere(Vector3f center, float radius)
{
return new SphereGizmo(center, radius);
}
public static ColliderGizmo capsule(float[] start, float[] end, float radius)
public static ColliderGizmo capsule(Vector3f start, Vector3f end, float radius)
{
return new CapsuleGizmo(start, end, radius);
}
public static ColliderGizmo cylinder(float[] start, float[] end, float radius)
public static ColliderGizmo cylinder(Vector3f start, Vector3f end, float radius)
{
return new CylinderGizmo(start, end, radius);
}

7
src/DotRecast.Recast.Demo/Tools/Gizmos/SphereGizmo.cs
View File

@ -1,4 +1,5 @@
using DotRecast.Recast.Demo.Draw;
using DotRecast.Core;
using DotRecast.Recast.Demo.Draw;
using static DotRecast.Core.RecastMath;
using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper;
@ -10,9 +11,9 @@ public class SphereGizmo : ColliderGizmo
private readonly float[] vertices;
private readonly int[] triangles;
private readonly float radius;
private readonly float[] center;
private readonly Vector3f center;
public SphereGizmo(float[] center, float radius)
public SphereGizmo(Vector3f center, float radius)
{
this.center = center;
this.radius = radius;

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

@ -45,7 +45,7 @@ public class JumpLinkBuilderTool : Tool
annotationBuilder = null;
}
public override void handleClick(float[] s, Vector3f p, bool shift)
public override void handleClick(Vector3f s, Vector3f p, bool shift)
{
}

6
src/DotRecast.Recast.Demo/Tools/OffMeshConnectionTool.cs
View File

@ -33,7 +33,7 @@ public class OffMeshConnectionTool : Tool
{
private Sample sample;
private bool hitPosSet;
private float[] hitPos;
private Vector3f hitPos;
private int bidir;
public override void setSample(Sample m_sample)
@ -41,7 +41,7 @@ public class OffMeshConnectionTool : Tool
sample = m_sample;
}
public override void handleClick(float[] s, Vector3f p, bool shift)
public override void handleClick(Vector3f s, Vector3f p, bool shift)
{
DemoInputGeomProvider geom = sample.getInputGeom();
if (geom == null)
@ -75,7 +75,7 @@ public class OffMeshConnectionTool : Tool
// Create
if (!hitPosSet)
{
hitPos = ArrayUtils.CopyOf(p, p.Length);
hitPos = p;
hitPosSet = true;
}
else

8
src/DotRecast.Recast.Demo/Tools/PathUtils.cs
View File

@ -64,11 +64,11 @@ public static class PathUtils
if (ns >= straightPath.Count)
return null;
float[] steerPos = new float[]
{
straightPath[ns].getPos()[0], startPos[1],
Vector3f steerPos = Vector3f.Of(
straightPath[ns].getPos()[0],
startPos[1],
straightPath[ns].getPos()[2]
};
);
int steerPosFlag = straightPath[ns].getFlags();
long steerPosRef = straightPath[ns].getRef();

8
src/DotRecast.Recast.Demo/Tools/SteerTarget.cs
View File

@ -1,13 +1,15 @@
namespace DotRecast.Recast.Demo.Tools;
using DotRecast.Core;
namespace DotRecast.Recast.Demo.Tools;
public class SteerTarget
{
public readonly float[] steerPos;
public readonly Vector3f steerPos;
public readonly int steerPosFlag;
public readonly long steerPosRef;
public readonly float[] steerPoints;
public SteerTarget(float[] steerPos, int steerPosFlag, long steerPosRef, float[] steerPoints)
public SteerTarget(Vector3f steerPos, int steerPosFlag, long steerPosRef, float[] steerPoints)
{
this.steerPos = steerPos;
this.steerPosFlag = steerPosFlag;

34
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
View File

@ -28,9 +28,9 @@ public class TestNavmeshTool : Tool
private readonly Vector3f m_polyPickExt = Vector3f.Of(2, 4, 2);
private long m_startRef;
private long m_endRef;
private float[] m_hitPos;
private Vector3f m_hitPos;
private float m_distanceToWall;
private float[] m_hitNormal;
private Vector3f m_hitNormal;
private List<StraightPathItem> m_straightPath;
private int m_straightPathOptions;
private List<long> m_polys;
@ -41,7 +41,7 @@ public class TestNavmeshTool : Tool
private List<Vector3f> m_smoothPath;
private Status m_pathFindStatus = Status.FAILURE;
private bool enableRaycast = true;
private readonly List<float[]> randomPoints = new();
private readonly List<Vector3f> randomPoints = new();
private bool constrainByCircle;
private int includeFlags = SampleAreaModifications.SAMPLE_POLYFLAGS_ALL;
@ -58,7 +58,7 @@ public class TestNavmeshTool : Tool
this.m_sample = m_sample;
}
public override void handleClick(float[] s, Vector3f p, bool shift)
public override void handleClick(Vector3f s, Vector3f p, bool shift)
{
if (shift)
{
@ -224,8 +224,8 @@ public class TestNavmeshTool : Tool
: false;
// Find movement delta.
float[] delta = vSub(steerTarget.steerPos, iterPos);
float len = (float)Math.Sqrt(RecastMath.vDot(delta, delta));
Vector3f delta = vSub(steerTarget.steerPos, iterPos);
float len = (float)Math.Sqrt(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)
{
@ -236,13 +236,12 @@ public class TestNavmeshTool : Tool
len = STEP_SIZE / len;
}
float[] moveTgt = vMad(iterPos, delta, len);
Vector3f moveTgt = vMad(iterPos, delta, len);
// Move
Result<MoveAlongSurfaceResult> result = m_navQuery.moveAlongSurface(polys[0], iterPos,
moveTgt, m_filter);
MoveAlongSurfaceResult moveAlongSurface = result.result;
iterPos = new float[3];
iterPos[0] = moveAlongSurface.getResultPos()[0];
iterPos[1] = moveAlongSurface.getResultPos()[1];
iterPos[2] = moveAlongSurface.getResultPos()[2];
@ -261,7 +260,7 @@ public class TestNavmeshTool : Tool
if (endOfPath && PathUtils.inRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
{
// Reached end of path.
vCopy(iterPos, targetPos);
vCopy(ref iterPos, targetPos);
if (m_smoothPath.Count < MAX_SMOOTH)
{
m_smoothPath.Add(iterPos);
@ -287,12 +286,11 @@ public class TestNavmeshTool : Tool
polys = polys.GetRange(npos, polys.Count - npos);
// Handle the connection.
Result<Tuple<float[], float[]>> offMeshCon = m_navMesh
.getOffMeshConnectionPolyEndPoints(prevRef, polyRef);
var offMeshCon = m_navMesh.getOffMeshConnectionPolyEndPoints(prevRef, polyRef);
if (offMeshCon.succeeded())
{
float[] startPos = offMeshCon.result.Item1;
float[] endPos = offMeshCon.result.Item2;
var startPos = offMeshCon.result.Item1;
var endPos = offMeshCon.result.Item2;
if (m_smoothPath.Count < MAX_SMOOTH)
{
m_smoothPath.Add(startPos);
@ -304,7 +302,7 @@ public class TestNavmeshTool : Tool
}
// Move position at the other side of the off-mesh link.
vCopy(iterPos, endPos);
vCopy(ref iterPos, endPos);
iterPos[1] = m_navQuery.getPolyHeight(polys[0], iterPos).result;
}
}
@ -332,7 +330,7 @@ public class TestNavmeshTool : Tool
if (0 < m_polys.Count)
{
// In case of partial path, make sure the end point is clamped to the last polygon.
float[] epos = new float[] { m_epos[0], m_epos[1], m_epos[2] };
var epos = Vector3f.Of(m_epos[0], m_epos[1], m_epos[2]);
if (m_polys[m_polys.Count - 1] != m_endRef)
{
Result<ClosestPointOnPolyResult> result = m_navQuery
@ -375,14 +373,14 @@ public class TestNavmeshTool : Tool
if (hit.result.t > 1)
{
// No hit
m_hitPos = ArrayUtils.CopyOf(m_epos, m_epos.Length);
m_hitPos = m_epos;
m_hitResult = false;
}
else
{
// Hit
m_hitPos = vLerp(m_spos, m_epos, hit.result.t);
m_hitNormal = ArrayUtils.CopyOf(hit.result.hitNormal, hit.result.hitNormal.Length);
m_hitNormal = hit.result.hitNormal;
m_hitResult = true;
}
@ -926,7 +924,7 @@ public class TestNavmeshTool : Tool
}
}
private void drawAgent(RecastDebugDraw dd, float[] pos, int col)
private void drawAgent(RecastDebugDraw dd, Vector3f pos, int col)
{
float r = m_sample.getSettingsUI().getAgentRadius();
float h = m_sample.getSettingsUI().getAgentHeight();

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

@ -28,7 +28,7 @@ public abstract class Tool
{
public abstract void setSample(Sample m_sample);
public abstract void handleClick(float[] s, Vector3f p, bool shift);
public abstract void handleClick(Vector3f s, Vector3f p, bool shift);
public abstract void handleRender(NavMeshRenderer renderer);
@ -38,7 +38,7 @@ public abstract class Tool
public abstract string getName();
public virtual void handleClickRay(float[] start, float[] direction, bool shift)
public virtual void handleClickRay(Vector3f start, float[] direction, bool shift)
{
// ...
}

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

@ -19,14 +19,15 @@ freely, subject to the following restrictions:
*/
using System.Collections.Generic;
using DotRecast.Core;
namespace DotRecast.Recast.Geom
{
public interface InputGeomProvider : ConvexVolumeProvider
{
float[] getMeshBoundsMin();
Vector3f getMeshBoundsMin();
float[] getMeshBoundsMax();
Vector3f getMeshBoundsMax();
IEnumerable<TriMesh> meshes();
}

20
src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
View File

@ -30,8 +30,8 @@ namespace DotRecast.Recast.Geom
public readonly float[] vertices;
public readonly int[] faces;
public readonly float[] normals;
readonly float[] bmin;
readonly float[] bmax;
private Vector3f bmin;
private Vector3f bmax;
readonly List<ConvexVolume> volumes = new List<ConvexVolume>();
public SimpleInputGeomProvider(List<float> vertexPositions, List<int> meshFaces)
@ -67,23 +67,23 @@ namespace DotRecast.Recast.Geom
this.faces = faces;
normals = new float[faces.Length];
calculateNormals();
bmin = new float[3];
bmax = new float[3];
RecastVectors.copy(bmin, vertices, 0);
RecastVectors.copy(bmax, vertices, 0);
bmin = Vector3f.Zero;
bmax = Vector3f.Zero;
RecastVectors.copy(ref bmin, vertices, 0);
RecastVectors.copy(ref bmax, vertices, 0);
for (int i = 1; i < vertices.Length / 3; i++)
{
RecastVectors.min(bmin, vertices, i * 3);
RecastVectors.max(bmax, vertices, i * 3);
RecastVectors.min(ref bmin, vertices, i * 3);
RecastVectors.max(ref bmax, vertices, i * 3);
}
}
public float[] getMeshBoundsMin()
public Vector3f getMeshBoundsMin()
{
return bmin;
}
public float[] getMeshBoundsMax()
public Vector3f getMeshBoundsMax()
{
return bmax;
}

21
src/DotRecast.Recast/Geom/SingleTrimeshInputGeomProvider.cs
View File

@ -19,36 +19,37 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using System.Collections.Immutable;
using DotRecast.Core;
namespace DotRecast.Recast.Geom
{
public class SingleTrimeshInputGeomProvider : InputGeomProvider
{
private readonly float[] bmin;
private readonly float[] bmax;
private readonly Vector3f bmin;
private readonly Vector3f bmax;
private readonly TriMesh[] _meshes;
public SingleTrimeshInputGeomProvider(float[] vertices, int[] faces)
{
bmin = new float[3];
bmax = new float[3];
RecastVectors.copy(bmin, vertices, 0);
RecastVectors.copy(bmax, vertices, 0);
bmin = Vector3f.Zero;
bmax = Vector3f.Zero;
RecastVectors.copy(ref bmin, vertices, 0);
RecastVectors.copy(ref bmax, vertices, 0);
for (int i = 1; i < vertices.Length / 3; i++)
{
RecastVectors.min(bmin, vertices, i * 3);
RecastVectors.max(bmax, vertices, i * 3);
RecastVectors.min(ref bmin, vertices, i * 3);
RecastVectors.max(ref bmax, vertices, i * 3);
}
_meshes = new[] { new TriMesh(vertices, faces) };
}
public float[] getMeshBoundsMin()
public Vector3f getMeshBoundsMin()
{
return bmin;
}
public float[] getMeshBoundsMax()
public Vector3f getMeshBoundsMax()
{
return bmax;
}

4
src/DotRecast.Recast/Recast.cs
View File

@ -62,9 +62,9 @@ namespace DotRecast.Recast
}
public static int[] calcTileCount(float[] bmin, float[] bmax, float cs, int tileSizeX, int tileSizeZ)
public static int[] calcTileCount(Vector3f bmin, Vector3f bmax, float cs, int tileSizeX, int tileSizeZ)
{
int[] gwd = Recast.calcGridSize(bmin, bmax, cs);
int[] gwd = calcGridSize(bmin, bmax, cs);
int gw = gwd[0];
int gd = gwd[1];
int tw = (gw + tileSizeX - 1) / tileSizeX;

14
src/DotRecast.Recast/RecastBuilder.cs
View File

@ -48,8 +48,8 @@ namespace DotRecast.Recast
public List<RecastBuilderResult> buildTiles(InputGeomProvider geom, RecastConfig cfg, TaskFactory taskFactory)
{
float[] bmin = geom.getMeshBoundsMin();
float[] bmax = geom.getMeshBoundsMax();
Vector3f bmin = geom.getMeshBoundsMin();
Vector3f bmax = geom.getMeshBoundsMax();
int[] twh = Recast.calcTileCount(bmin, bmax, cfg.cs, cfg.tileSizeX, cfg.tileSizeZ);
int tw = twh[0];
int th = twh[1];
@ -69,8 +69,8 @@ namespace DotRecast.Recast
public Task buildTilesAsync(InputGeomProvider geom, RecastConfig cfg, int threads, List<RecastBuilderResult> results, TaskFactory taskFactory, CancellationToken cancellationToken)
{
float[] bmin = geom.getMeshBoundsMin();
float[] bmax = geom.getMeshBoundsMax();
Vector3f bmin = geom.getMeshBoundsMin();
Vector3f bmax = geom.getMeshBoundsMax();
int[] twh = Recast.calcTileCount(bmin, bmax, cfg.cs, cfg.tileSizeX, cfg.tileSizeZ);
int tw = twh[0];
int th = twh[1];
@ -87,7 +87,7 @@ namespace DotRecast.Recast
return task;
}
private Task buildSingleThreadAsync(InputGeomProvider geom, RecastConfig cfg, float[] bmin, float[] bmax,
private Task buildSingleThreadAsync(InputGeomProvider geom, RecastConfig cfg, Vector3f bmin, Vector3f bmax,
int tw, int th, List<RecastBuilderResult> results)
{
AtomicInteger counter = new AtomicInteger(0);
@ -102,7 +102,7 @@ namespace DotRecast.Recast
return Task.CompletedTask;
}
private Task buildMultiThreadAsync(InputGeomProvider geom, RecastConfig cfg, float[] bmin, float[] bmax,
private Task buildMultiThreadAsync(InputGeomProvider geom, RecastConfig cfg, Vector3f bmin, Vector3f bmax,
int tw, int th, List<RecastBuilderResult> results, TaskFactory taskFactory, CancellationToken cancellationToken)
{
AtomicInteger counter = new AtomicInteger(0);
@ -152,7 +152,7 @@ namespace DotRecast.Recast
return Task.WhenAll(tasks.ToArray());
}
private RecastBuilderResult buildTile(InputGeomProvider geom, RecastConfig cfg, float[] bmin, float[] bmax, int tx,
private RecastBuilderResult buildTile(InputGeomProvider geom, RecastConfig cfg, Vector3f bmin, Vector3f bmax, int tx,
int ty, AtomicInteger counter, int total)
{
RecastBuilderResult result = build(geom, new RecastBuilderConfig(cfg, bmin, bmax, tx, ty));

4
src/DotRecast.Recast/RecastBuilderConfig.cs
View File

@ -43,11 +43,11 @@ namespace DotRecast.Recast
/** The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] **/
public readonly Vector3f bmax = new Vector3f();
public RecastBuilderConfig(RecastConfig cfg, float[] bmin, float[] bmax) : this(cfg, bmin, bmax, 0, 0)
public RecastBuilderConfig(RecastConfig cfg, Vector3f bmin, Vector3f bmax) : this(cfg, bmin, bmax, 0, 0)
{
}
public RecastBuilderConfig(RecastConfig cfg, float[] bmin, float[] bmax, int tileX, int tileZ)
public RecastBuilderConfig(RecastConfig cfg, Vector3f bmin, Vector3f bmax, int tileX, int tileZ)
{
this.tileX = tileX;
this.tileZ = tileZ;

2
src/DotRecast.Recast/RecastFilledVolumeRasterization.cs
View File

@ -75,7 +75,7 @@ namespace DotRecast.Recast
ctx.stopTimer("RASTERIZE_CYLINDER");
}
public static void rasterizeBox(Heightfield hf, float[] center, float[][] halfEdges, int area, int flagMergeThr,
public static void rasterizeBox(Heightfield hf, Vector3f center, float[][] halfEdges, int area, int flagMergeThr,
Telemetry ctx)
{
ctx.startTimer("RASTERIZE_BOX");

4
test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
View File

@ -66,8 +66,8 @@ public class MeshSetReaderWriterTest
header.numTiles = 0;
NavMesh mesh = new NavMesh(header.option, 6);
float[] bmin = geom.getMeshBoundsMin();
float[] bmax = geom.getMeshBoundsMax();
Vector3f bmin = geom.getMeshBoundsMin();
Vector3f bmax = geom.getMeshBoundsMax();
int[] twh = DotRecast.Recast.Recast.calcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize);
int tw = twh[0];
int th = twh[1];

8
test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
View File

@ -56,8 +56,8 @@ public class TestTileLayerBuilder : AbstractTileLayersBuilder
PartitionType.WATERSHED, m_cellSize, m_cellHeight, m_agentMaxSlope, true, true, true, m_agentHeight,
m_agentRadius, m_agentMaxClimb, m_regionMinArea, m_regionMergeArea, m_edgeMaxLen, m_edgeMaxError, m_vertsPerPoly,
true, m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND);
float[] bmin = geom.getMeshBoundsMin();
float[] bmax = geom.getMeshBoundsMax();
Vector3f bmin = geom.getMeshBoundsMin();
Vector3f bmax = geom.getMeshBoundsMax();
int[] twh = Recast.Recast.calcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize);
tw = twh[0];
th = twh[1];
@ -120,8 +120,8 @@ public class TestTileLayerBuilder : AbstractTileLayersBuilder
protected HeightfieldLayerSet getHeightfieldSet(int tx, int ty)
{
RecastBuilder rcBuilder = new RecastBuilder();
float[] bmin = geom.getMeshBoundsMin();
float[] bmax = geom.getMeshBoundsMax();
Vector3f bmin = geom.getMeshBoundsMin();
Vector3f bmax = geom.getMeshBoundsMax();
RecastBuilderConfig cfg = new RecastBuilderConfig(rcConfig, bmin, bmax, tx, ty);
HeightfieldLayerSet lset = rcBuilder.buildLayers(geom, cfg);
return lset;

4
test/DotRecast.Recast.Test/RecastSoloMeshTest.cs
View File

@ -97,8 +97,8 @@ public class RecastSoloMeshTest
m_partitionType = partitionType;
InputGeomProvider geomProvider = ObjImporter.load(Loader.ToBytes(filename));
long time = Stopwatch.GetTimestamp();
float[] bmin = geomProvider.getMeshBoundsMin();
float[] bmax = geomProvider.getMeshBoundsMax();
Vector3f bmin = geomProvider.getMeshBoundsMin();
Vector3f bmax = geomProvider.getMeshBoundsMax();
Telemetry m_ctx = new Telemetry();
//
// Step 1. Initialize build config.