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float[][] -> Vector3f[]

This commit is contained in:
ikpil 2023-05-06 11:24:09 +09:00
parent 9da140feac
commit e8e328d6af
1 changed files with 17 additions and 17 deletions
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34
src/DotRecast.Recast/RecastFilledVolumeRasterization.cs
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@ -304,8 +304,8 @@ namespace DotRecast.Recast
if (axis.y * axis.y > EPSILON)
{
float[][] rectangleOnStartPlane = ArrayUtils.Of<float>(4, 3);
float[][] rectangleOnEndPlane = ArrayUtils.Of<float>(4, 3);
Vector3f[] rectangleOnStartPlane = new Vector3f[4];
Vector3f[] rectangleOnEndPlane = new Vector3f[4];
float ds = Dot(axis, start);
float de = Dot(axis, end);
for (int i = 0; i < 4; i++)
@ -315,13 +315,13 @@ namespace DotRecast.Recast
Vector3f a = Vector3f.Of(x, rectangle[4], z);
float dotAxisA = Dot(axis, a);
float t = (ds - dotAxisA) / axis.y;
rectangleOnStartPlane[i][0] = x;
rectangleOnStartPlane[i][1] = rectangle[4] + t;
rectangleOnStartPlane[i][2] = z;
rectangleOnStartPlane[i].x = x;
rectangleOnStartPlane[i].y = rectangle[4] + t;
rectangleOnStartPlane[i].z = z;
t = (de - dotAxisA) / axis.y;
rectangleOnEndPlane[i][0] = x;
rectangleOnEndPlane[i][1] = rectangle[4] + t;
rectangleOnEndPlane[i][2] = z;
rectangleOnEndPlane[i].x = x;
rectangleOnEndPlane[i].y = rectangle[4] + t;
rectangleOnEndPlane[i].z = z;
}
for (int i = 0; i < 4; i++)
@ -334,19 +334,19 @@ namespace DotRecast.Recast
return s;
}
private static float[] CylinderCapIntersection(Vector3f start, float radiusSqr, float[] s, int i, float[][] rectangleOnPlane)
private static float[] CylinderCapIntersection(Vector3f start, float radiusSqr, float[] s, int i, Vector3f[] rectangleOnPlane)
{
int j = (i + 1) % 4;
// Ray against sphere intersection
var m = Vector3f.Of(
rectangleOnPlane[i][0] - start.x,
rectangleOnPlane[i][1] - start.y,
rectangleOnPlane[i][2] - start.z
rectangleOnPlane[i].x - start.x,
rectangleOnPlane[i].y - start.y,
rectangleOnPlane[i].z - start.z
);
var d = Vector3f.Of(
rectangleOnPlane[j][0] - rectangleOnPlane[i][0],
rectangleOnPlane[j][1] - rectangleOnPlane[i][1],
rectangleOnPlane[j][2] - rectangleOnPlane[i][2]
rectangleOnPlane[j].x - rectangleOnPlane[i].x,
rectangleOnPlane[j].y - rectangleOnPlane[i].y,
rectangleOnPlane[j].z - rectangleOnPlane[i].z
);
float dl = Dot(d, d);
float b = Dot(m, d) / dl;
@ -361,8 +361,8 @@ namespace DotRecast.Recast
{
t1 = Math.Max(0, t1);
t2 = Math.Min(1, t2);
float y1 = rectangleOnPlane[i][1] + t1 * d.y;
float y2 = rectangleOnPlane[i][1] + t2 * d.y;
float y1 = rectangleOnPlane[i].y + t1 * d.y;
float y2 = rectangleOnPlane[i].y + t2 * d.y;
float[] y = { Math.Min(y1, y2), Math.Max(y1, y2) };
s = MergeIntersections(s, y);
}