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remove FindRandomPointResult 3st

This commit is contained in:
ikpil 2023-06-10 22:34:53 +09:00
parent e775e7ad83
commit 83da4196e4
3 changed files with 26 additions and 23 deletions
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38
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -202,11 +202,7 @@ namespace DotRecast.Detour
public DtStatus FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius, public DtStatus FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius,
IDtQueryFilter filter, FRand frand, out long randomRef, out RcVec3f randomPt) IDtQueryFilter filter, FRand frand, out long randomRef, out RcVec3f randomPt)
{ {
var result = FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, NoOpPolygonByCircleConstraint.Noop); return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, NoOpPolygonByCircleConstraint.Noop, out randomRef, out randomPt);
randomRef = result.result.GetRandomRef();
randomPt = result.result.GetRandomPt();
return result.status;
} }
/** /**
@ -227,28 +223,27 @@ namespace DotRecast.Detour
public DtStatus FindRandomPointWithinCircle(long startRef, RcVec3f centerPos, float maxRadius, public DtStatus FindRandomPointWithinCircle(long startRef, RcVec3f centerPos, float maxRadius,
IDtQueryFilter filter, FRand frand, out long randomRef, out RcVec3f randomPt) IDtQueryFilter filter, FRand frand, out long randomRef, out RcVec3f randomPt)
{ {
var result = FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, StrictPolygonByCircleConstraint.Strict); return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, StrictPolygonByCircleConstraint.Strict, out randomRef, out randomPt);
randomRef = result.result.GetRandomRef();
randomPt = result.result.GetRandomPt();
return result.status;
} }
public Result<FindRandomPointResult> FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius, public DtStatus FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius,
IDtQueryFilter filter, FRand frand, IDtQueryFilter filter, FRand frand, IPolygonByCircleConstraint constraint,
IPolygonByCircleConstraint constraint) out long randomRef, out RcVec3f randomPt)
{ {
randomRef = startRef;
randomPt = centerPos;
// Validate input // Validate input
if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(centerPos) || maxRadius < 0 if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(centerPos) || maxRadius < 0
|| !float.IsFinite(maxRadius) || null == filter || null == frand) || !float.IsFinite(maxRadius) || null == filter || null == frand)
{ {
return Results.InvalidParam<FindRandomPointResult>(); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
m_nav.GetTileAndPolyByRefUnsafe(startRef, out var startTile, out var startPoly); m_nav.GetTileAndPolyByRefUnsafe(startRef, out var startTile, out var startPoly);
if (!filter.PassFilter(startRef, startTile, startPoly)) if (!filter.PassFilter(startRef, startTile, startPoly))
{ {
return Results.InvalidParam<FindRandomPointResult>("Invalid start ref"); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
m_nodePool.Clear(); m_nodePool.Clear();
@ -263,6 +258,8 @@ namespace DotRecast.Detour
startNode.flags = DT_NODE_OPEN; startNode.flags = DT_NODE_OPEN;
m_openList.Push(startNode); m_openList.Push(startNode);
DtStatus status = DtStatus.DT_SUCCSESS;
float radiusSqr = maxRadius * maxRadius; float radiusSqr = maxRadius * maxRadius;
float areaSum = 0.0f; float areaSum = 0.0f;
@ -360,6 +357,11 @@ namespace DotRecast.Detour
} }
DtNode neighbourNode = m_nodePool.GetNode(neighbourRef); DtNode neighbourNode = m_nodePool.GetNode(neighbourRef);
if (null == neighbourNode)
{
status |= DtStatus.DT_OUT_OF_NODES;
continue;
}
if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0) if ((neighbourNode.flags & DtNode.DT_NODE_CLOSED) != 0)
{ {
@ -399,7 +401,7 @@ namespace DotRecast.Detour
if (randomPoly == null) if (randomPoly == null)
{ {
return Results.Failure<FindRandomPointResult>(); return DtStatus.DT_FAILURE;
} }
// Randomly pick point on polygon. // Randomly pick point on polygon.
@ -409,7 +411,9 @@ namespace DotRecast.Detour
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 = DetourCommon.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t);
ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _); ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _);
return Results.Success(new FindRandomPointResult(randomPolyRef, closest)); Results.Success(new FindRandomPointResult(randomPolyRef, closest));
return status;
} }
////////////////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////////////////

1
src/DotRecast.Detour/DtNodePool.cs
View File

@ -64,7 +64,6 @@ namespace DotRecast.Detour
public DtNode GetNode(long id, int state) public DtNode GetNode(long id, int state)
{ {
var hasNode = m_map.TryGetValue(id, out var nodes); var hasNode = m_map.TryGetValue(id, out var nodes);
;
if (nodes != null) if (nodes != null)
{ {
foreach (DtNode node in nodes) foreach (DtNode node in nodes)

10
src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
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@ -491,14 +491,14 @@ public class TestNavmeshTool : ITool
IPolygonByCircleConstraint constraint = constrainByCircle IPolygonByCircleConstraint constraint = constrainByCircle
? StrictPolygonByCircleConstraint.Strict ? StrictPolygonByCircleConstraint.Strict
: NoOpPolygonByCircleConstraint.Noop; : NoOpPolygonByCircleConstraint.Noop;
for (int i = 0; i < 200; i++) for (int i = 0; i < 200; i++)
{ {
Result<FindRandomPointResult> result = m_navQuery.FindRandomPointAroundCircle(m_startRef, m_spos, dist, var status = m_navQuery.FindRandomPointAroundCircle(m_startRef, m_spos, dist, m_filter, new FRand(), constraint,
m_filter, new FRand(), constraint); out var randomRef, out var randomPt);
if (result.Succeeded()) if (status.Succeeded())
{ {
randomPoints.Add(result.result.GetRandomPt()); randomPoints.Add(randomPt);
} }
} }
} }