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Code Pull Requests Releases Activity

Added DtConnectPoly

This commit is contained in:
ikpil 2023-07-01 00:18:25 +09:00
parent 9d29d1f6c0
commit fa1e0eaeaa
2 changed files with 36 additions and 14 deletions
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18
src/DotRecast.Detour/DtConnectPoly.cs Normal file
View File

@ -0,0 +1,18 @@
using System.Runtime.InteropServices;
namespace DotRecast.Detour
{
public readonly struct DtConnectPoly
{
public readonly long refs;
public readonly float tmin;
public readonly float tmax;
public DtConnectPoly(long refs, float tmin, float tmax)
{
this.refs = refs;
this.tmin = tmin;
this.tmax = tmax;
}
}
}

32
src/DotRecast.Detour/DtNavMesh.cs
View File

@ -724,6 +724,8 @@ namespace DotRecast.Detour
return; return;
} }
var connectPolys = new List<DtConnectPoly>();
// Connect border links. // Connect border links.
for (int i = 0; i < tile.data.header.polyCount; ++i) for (int i = 0; i < tile.data.header.polyCount; ++i)
{ {
@ -750,12 +752,12 @@ namespace DotRecast.Detour
// Create new links // Create new links
int va = poly.verts[j] * 3; int va = poly.verts[j] * 3;
int vb = poly.verts[(j + 1) % nv] * 3; int vb = poly.verts[(j + 1) % nv] * 3;
IList<Tuple<long, float, float>> connectedPolys = FindConnectingPolys(tile.data.verts, va, vb, target, DetourCommon.OppositeTile(dir)); int nnei = FindConnectingPolys(tile.data.verts, va, vb, target, DetourCommon.OppositeTile(dir), ref connectPolys);
foreach (Tuple<long, float, float> connectedPoly in connectedPolys) foreach (var connectPoly in connectPolys)
{ {
int idx = AllocLink(tile); int idx = AllocLink(tile);
DtLink link = tile.links[idx]; DtLink link = tile.links[idx];
link.refs = connectedPoly.Item1; link.refs = connectPoly.refs;
link.edge = j; link.edge = j;
link.side = dir; link.side = dir;
@ -765,9 +767,9 @@ namespace DotRecast.Detour
// Compress portal limits to a byte value. // Compress portal limits to a byte value.
if (dir == 0 || dir == 4) if (dir == 0 || dir == 4)
{ {
float tmin = (connectedPoly.Item2 - tile.data.verts[va + 2]) float tmin = (connectPoly.tmin - tile.data.verts[va + 2])
/ (tile.data.verts[vb + 2] - tile.data.verts[va + 2]); / (tile.data.verts[vb + 2] - tile.data.verts[va + 2]);
float tmax = (connectedPoly.Item3 - tile.data.verts[va + 2]) float tmax = (connectPoly.tmax - tile.data.verts[va + 2])
/ (tile.data.verts[vb + 2] - tile.data.verts[va + 2]); / (tile.data.verts[vb + 2] - tile.data.verts[va + 2]);
if (tmin > tmax) if (tmin > tmax)
{ {
@ -781,9 +783,9 @@ namespace DotRecast.Detour
} }
else if (dir == 2 || dir == 6) else if (dir == 2 || dir == 6)
{ {
float tmin = (connectedPoly.Item2 - tile.data.verts[va]) float tmin = (connectPoly.tmin - tile.data.verts[va])
/ (tile.data.verts[vb] - tile.data.verts[va]); / (tile.data.verts[vb] - tile.data.verts[va]);
float tmax = (connectedPoly.Item3 - tile.data.verts[va]) float tmax = (connectPoly.tmax - tile.data.verts[va])
/ (tile.data.verts[vb] - tile.data.verts[va]); / (tile.data.verts[vb] - tile.data.verts[va]);
if (tmin > tmax) if (tmin > tmax)
{ {
@ -887,14 +889,14 @@ namespace DotRecast.Detour
} }
} }
private IList<Tuple<long, float, float>> FindConnectingPolys(float[] verts, int va, int vb, DtMeshTile tile, int side) private int FindConnectingPolys(float[] verts, int va, int vb, DtMeshTile tile, int side,
ref List<DtConnectPoly> cons)
{ {
if (tile == null) if (tile == null)
{ return 0;
return ImmutableArray<Tuple<long, float, float>>.Empty;
} cons.Clear();
List<Tuple<long, float, float>> result = new List<Tuple<long, float, float>>();
RcVec2f amin = RcVec2f.Zero; RcVec2f amin = RcVec2f.Zero;
RcVec2f amax = RcVec2f.Zero; RcVec2f amax = RcVec2f.Zero;
CalcSlabEndPoints(verts, va, vb, ref amin, ref amax, side); CalcSlabEndPoints(verts, va, vb, ref amin, ref amax, side);
@ -904,6 +906,7 @@ namespace DotRecast.Detour
RcVec2f bmin = RcVec2f.Zero; RcVec2f bmin = RcVec2f.Zero;
RcVec2f bmax = RcVec2f.Zero; RcVec2f bmax = RcVec2f.Zero;
int m = DT_EXT_LINK | side; int m = DT_EXT_LINK | side;
int n = 0;
long @base = GetPolyRefBase(tile); long @base = GetPolyRefBase(tile);
for (int i = 0; i < tile.data.header.polyCount; ++i) for (int i = 0; i < tile.data.header.polyCount; ++i)
@ -939,12 +942,13 @@ namespace DotRecast.Detour
long refs = @base | (long)i; long refs = @base | (long)i;
float tmin = Math.Max(amin.x, bmin.x); float tmin = Math.Max(amin.x, bmin.x);
float tmax = Math.Min(amax.x, bmax.x); float tmax = Math.Min(amax.x, bmax.x);
result.Add(Tuple.Create(refs, tmin, tmax)); cons.Add(new DtConnectPoly(refs, tmin, tmax));
n++;
break; break;
} }
} }
return result; return n;
} }
static float GetSlabCoord(float[] verts, int va, int side) static float GetSlabCoord(float[] verts, int va, int side)