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refactor: FIND_POLYS_IN_CIRCLE, FIND_POLYS_IN_SHAPE

This commit is contained in:
ikpil 2023-09-10 13:22:21 +09:00
parent 54e8835cb7
commit a0a3a24e75
2 changed files with 52 additions and 45 deletions
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27
src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
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@ -743,34 +743,11 @@ public class TestNavmeshSampleTool : ISampleTool
} }
else if (_mode == RcTestNavmeshToolMode.FIND_POLYS_IN_CIRCLE) else if (_mode == RcTestNavmeshToolMode.FIND_POLYS_IN_CIRCLE)
{ {
if (m_sposSet && m_startRef != 0 && m_eposSet) _tool.FindPolysAroundCircle(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, ref m_polys, ref m_parent);
{
List<long> refs = new();
List<long> parentRefs = new();
var status = _tool.FindPolysAroundCircle(navQuery, m_startRef, m_spos, m_epos, m_filter, ref refs, ref parentRefs);
if (status.Succeeded())
{
m_polys = refs;
m_parent = parentRefs;
}
}
} }
else if (_mode == RcTestNavmeshToolMode.FIND_POLYS_IN_SHAPE) else if (_mode == RcTestNavmeshToolMode.FIND_POLYS_IN_SHAPE)
{ {
if (m_sposSet && m_startRef != 0 && m_eposSet) _tool.FindPolysAroundShape(navQuery, settings.agentHeight, m_startRef, m_endRef, m_spos, m_epos, m_filter, ref m_polys, ref m_parent, ref m_queryPoly);
{
var refs = new List<long>();
var parentRefs = new List<long>();
var status = _tool.FindPolysAroundShape(navQuery, settings.agentHeight, m_startRef, m_spos, m_epos, m_filter, ref refs, ref parentRefs, out var queryPoly);
if (status.Succeeded())
{
m_queryPoly = queryPoly;
m_polys = refs;
m_parent = parentRefs;
}
}
} }
else if (_mode == RcTestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD) else if (_mode == RcTestNavmeshToolMode.FIND_LOCAL_NEIGHBOURHOOD)
{ {

70
src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
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@ -182,7 +182,7 @@ namespace DotRecast.Recast.Toolset.Tools
); );
} }
public DtStatus UpdateSlicedFindPath(DtNavMeshQuery navQuery, int maxIter, long endRef, RcVec3f startPos, RcVec3f endPos, public DtStatus UpdateSlicedFindPath(DtNavMeshQuery navQuery, int maxIter, long endRef, RcVec3f startPos, RcVec3f endPos,
ref List<long> path, ref List<StraightPathItem> straightPath) ref List<long> path, ref List<StraightPathItem> straightPath)
{ {
var status = navQuery.UpdateSlicedFindPath(maxIter, out _); var status = navQuery.UpdateSlicedFindPath(maxIter, out _);
@ -259,40 +259,70 @@ namespace DotRecast.Recast.Toolset.Tools
return status; return status;
} }
public DtStatus FindPolysAroundCircle(DtNavMeshQuery navQuery, long startRef, RcVec3f spos, RcVec3f epos, IDtQueryFilter filter, ref List<long> resultRef, ref List<long> resultParent) public DtStatus FindPolysAroundCircle(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f spos, RcVec3f epos, IDtQueryFilter filter, ref List<long> resultRef, ref List<long> resultParent)
{ {
if (startRef == 0 || endRef == 0)
{
return DtStatus.DT_FAILURE;
}
float dx = epos.x - spos.x; float dx = epos.x - spos.x;
float dz = epos.z - spos.z; float dz = epos.z - spos.z;
float dist = (float)Math.Sqrt(dx * dx + dz * dz); float dist = (float)Math.Sqrt(dx * dx + dz * dz);
List<float> costs = new List<float>(); List<long> tempResultRefs = new List<long>();
return navQuery.FindPolysAroundCircle(startRef, spos, dist, filter, ref resultRef, ref resultParent, ref costs); List<long> tempParentRefs = new List<long>();
List<float> tempCosts = new List<float>();
var status = navQuery.FindPolysAroundCircle(startRef, spos, dist, filter, ref tempResultRefs, ref tempParentRefs, ref tempCosts);
if (status.Succeeded())
{
resultRef = tempResultRefs;
resultParent = tempParentRefs;
}
return status;
} }
public DtStatus FindPolysAroundShape(DtNavMeshQuery navQuery, float agentHeight, long startRef, RcVec3f spos, RcVec3f epos, IDtQueryFilter filter, ref List<long> resultRef, ref List<long> resultParent, out RcVec3f[] queryPoly) public DtStatus FindPolysAroundShape(DtNavMeshQuery navQuery, float agentHeight, long startRef, long endRef, RcVec3f spos, RcVec3f epos, IDtQueryFilter filter,
ref List<long> resultRefs, ref List<long> resultParents, ref RcVec3f[] queryPoly)
{ {
if (startRef == 0 || endRef == 0)
{
return DtStatus.DT_FAILURE;
}
float nx = (epos.z - spos.z) * 0.25f; float nx = (epos.z - spos.z) * 0.25f;
float nz = -(epos.x - spos.x) * 0.25f; float nz = -(epos.x - spos.x) * 0.25f;
queryPoly = new RcVec3f[4]; var tempQueryPoly = new RcVec3f[4];
queryPoly[0].x = spos.x + nx * 1.2f; tempQueryPoly[0].x = spos.x + nx * 1.2f;
queryPoly[0].y = spos.y + agentHeight / 2; tempQueryPoly[0].y = spos.y + agentHeight / 2;
queryPoly[0].z = spos.z + nz * 1.2f; tempQueryPoly[0].z = spos.z + nz * 1.2f;
queryPoly[1].x = spos.x - nx * 1.3f; tempQueryPoly[1].x = spos.x - nx * 1.3f;
queryPoly[1].y = spos.y + agentHeight / 2; tempQueryPoly[1].y = spos.y + agentHeight / 2;
queryPoly[1].z = spos.z - nz * 1.3f; tempQueryPoly[1].z = spos.z - nz * 1.3f;
queryPoly[2].x = epos.x - nx * 0.8f; tempQueryPoly[2].x = epos.x - nx * 0.8f;
queryPoly[2].y = epos.y + agentHeight / 2; tempQueryPoly[2].y = epos.y + agentHeight / 2;
queryPoly[2].z = epos.z - nz * 0.8f; tempQueryPoly[2].z = epos.z - nz * 0.8f;
queryPoly[3].x = epos.x + nx; tempQueryPoly[3].x = epos.x + nx;
queryPoly[3].y = epos.y + agentHeight / 2; tempQueryPoly[3].y = epos.y + agentHeight / 2;
queryPoly[3].z = epos.z + nz; tempQueryPoly[3].z = epos.z + nz;
var costs = new List<float>(); var tempResultRefs = new List<long>();
return navQuery.FindPolysAroundShape(startRef, queryPoly, filter, ref resultRef, ref resultParent, ref costs); var tempResultParents = new List<long>();
var tempCosts = new List<float>();
var status = navQuery.FindPolysAroundShape(startRef, tempQueryPoly, filter, ref tempResultRefs, ref tempResultParents, ref tempCosts);
if (status.Succeeded())
{
resultRefs = tempResultRefs;
resultParents = tempResultParents;
queryPoly = tempQueryPoly;
}
return status;
} }
public DtStatus FindRandomPointAroundCircle(DtNavMeshQuery navQuery, long startRef, RcVec3f spos, RcVec3f epos, IDtQueryFilter filter, bool constrainByCircle, int count, ref List<RcVec3f> points) public DtStatus FindRandomPointAroundCircle(DtNavMeshQuery navQuery, long startRef, RcVec3f spos, RcVec3f epos, IDtQueryFilter filter, bool constrainByCircle, int count, ref List<RcVec3f> points)