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fix: DtRaycastHit SOH issue reslove

This commit is contained in:
ikpil 2024-02-01 02:21:07 +09:00 committed by Ikpil
parent aaff85b229
commit dbb03988f5
4 changed files with 18 additions and 26 deletions
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7
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
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@ -194,12 +194,13 @@ namespace DotRecast.Detour.Crowd
var delta = RcVec3f.Subtract(next, m_pos);
RcVec3f goal = RcVecUtils.Mad(m_pos, delta, pathOptimizationRange / dist);
var status = navquery.Raycast(m_path[0], m_pos, goal, filter, out var t, out var norm, out var path);
var res = new List<long>();
var status = navquery.Raycast(m_path[0], m_pos, goal, filter, out var t, out var norm, ref res);
if (status.Succeeded())
{
if (path.Count > 1 && t > 0.99f)
if (res.Count > 1 && t > 0.99f)
{
m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, path);
m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, res);
}
}
}

23
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -793,7 +793,8 @@ namespace DotRecast.Detour
DtNode lastBestNode = startNode;
float lastBestNodeCost = startNode.total;
DtRaycastHit rayHit = new DtRaycastHit();
rayHit.path = new List<long>();
while (!m_openList.IsEmpty())
{
// Remove node from open list and put it in closed list.
@ -892,7 +893,6 @@ namespace DotRecast.Detour
List<long> shortcut = null;
if (tryLOS)
{
var rayHit = new DtRaycastHit(0);
var rayStatus = Raycast(parentRef, parentNode.pos, neighbourPos, filter,
DtRaycastOptions.DT_RAYCAST_USE_COSTS, ref rayHit, grandpaRef);
if (rayStatus.Succeeded())
@ -900,7 +900,7 @@ namespace DotRecast.Detour
foundShortCut = rayHit.t >= 1.0f;
if (foundShortCut)
{
shortcut = rayHit.path;
shortcut = new List<long>(rayHit.path);
// shortcut found using raycast. Using shorter cost
// instead
cost = parentNode.cost + rayHit.pathCost;
@ -1090,6 +1090,9 @@ namespace DotRecast.Detour
return DtStatus.DT_FAILURE;
}
var rayHit = new DtRaycastHit();
rayHit.path = new List<long>();
int iter = 0;
while (iter < maxIter && !m_openList.IsEmpty())
{
@ -1214,7 +1217,6 @@ namespace DotRecast.Detour
List<long> shortcut = null;
if (tryLOS)
{
var rayHit = new DtRaycastHit(0);
status = Raycast(parentRef, parentNode.pos, neighbourPos, m_query.filter,
DtRaycastOptions.DT_RAYCAST_USE_COSTS, ref rayHit, grandpaRef);
if (status.Succeeded())
@ -1222,7 +1224,7 @@ namespace DotRecast.Detour
foundShortCut = rayHit.t >= 1.0f;
if (foundShortCut)
{
shortcut = rayHit.path;
shortcut = new List<long>(rayHit.path);
// shortcut found using raycast. Using shorter cost
// instead
cost = parentNode.cost + rayHit.pathCost;
@ -2155,19 +2157,16 @@ namespace DotRecast.Detour
///
public DtStatus Raycast(long startRef, RcVec3f startPos, RcVec3f endPos,
IDtQueryFilter filter,
out float t, out RcVec3f hitNormal, out List<long> path)
out float t, out RcVec3f hitNormal, ref List<long> path)
{
DtRaycastHit hit = new DtRaycastHit(0);
// hit.path = path;
// hit.maxPath = maxPath;
DtRaycastHit hit = new DtRaycastHit();
hit.path = path;
DtStatus status = Raycast(startRef, startPos, endPos, filter, 0, ref hit, 0);
t = hit.t;
hitNormal = hit.hitNormal;
path = hit.path;
// if (pathCount)
// *pathCount = hit.pathCount;
return status;
}
@ -2224,7 +2223,7 @@ namespace DotRecast.Detour
/// @param[out] pathCount The number of visited polygons. [opt]
/// @param[in] maxPath The maximum number of polygons the @p path array can hold.
/// @returns The status flags for the query.
public DtStatus Raycast(long startRef, RcVec3f startPos, RcVec3f endPos,
public DtStatus Raycast(long startRef, RcVec3f startPos, RcVec3f endPos,
IDtQueryFilter filter, int options,
ref DtRaycastHit hit, long prevRef)
{

11
src/DotRecast.Detour/DtRaycastHit.cs
View File

@ -38,18 +38,9 @@ namespace DotRecast.Detour
public int hitEdgeIndex;
/// Pointer to an array of reference ids of the visited polygons. [opt]
public readonly List<long> path;
public List<long> path;
/// The cost of the path until hit.
public float pathCost;
public DtRaycastHit(int s)
{
t = 0;
hitEdgeIndex = 0;
hitNormal = RcVec3f.Zero;
path = new List<long>();
pathCost = 0;
}
}
}

3
src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
View File

@ -257,7 +257,8 @@ namespace DotRecast.Recast.Toolset.Tools
return DtStatus.DT_FAILURE;
}
var status = navQuery.Raycast(startRef, startPos, endPos, filter, out var t, out var hitNormal2, out var path);
var path = new List<long>();
var status = navQuery.Raycast(startRef, startPos, endPos, filter, out var t, out var hitNormal2, ref path);
if (!status.Succeeded())
{
return status;