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change GetPortalPoints

This commit is contained in:
ikpil 2023-06-18 09:54:29 +09:00
parent da6c972c23
commit fdf4639c47
1 changed files with 35 additions and 50 deletions
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85
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -339,16 +339,13 @@ namespace DotRecast.Detour
} }
// Find edge and calc distance to the edge. // Find edge and calc distance to the edge.
Result<PortalResult> portalpoints = GetPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, var ppStatus = GetPortalPoints(bestRef, bestPoly, bestTile, neighbourRef,
neighbourPoly, neighbourTile, 0, 0); neighbourPoly, neighbourTile, out var va, out var vb);
if (portalpoints.Failed()) if (ppStatus.Failed())
{ {
continue; continue;
} }
var va = portalpoints.result.left;
var vb = portalpoints.result.right;
// If the circle is not touching the next polygon, skip it. // If the circle is not touching the next polygon, skip it.
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var tesg); var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var tesg);
if (distSqr > radiusSqr) if (distSqr > radiusSqr)
@ -1482,15 +1479,12 @@ namespace DotRecast.Detour
return DtStatus.DT_FAILURE; return DtStatus.DT_FAILURE;
} }
Result<PortalResult> portals = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, 0, 0); var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right);
if (portals.Failed()) if (ppStatus.Failed())
{ {
break; break;
} }
var left = portals.result.left;
var right = portals.result.right;
if ((options & DT_STRAIGHTPATH_AREA_CROSSINGS) != 0) if ((options & DT_STRAIGHTPATH_AREA_CROSSINGS) != 0)
{ {
// Skip intersection if only area crossings are requested. // Skip intersection if only area crossings are requested.
@ -1994,15 +1988,18 @@ namespace DotRecast.Detour
int toType = toPoly.GetPolyType(); int toType = toPoly.GetPolyType();
return GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, fromType, toType); var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right);
return Results.Of(ppStatus, new PortalResult(left, right, fromType, toType));
} }
// Returns portal points between two polygons. // Returns portal points between two polygons.
protected Result<PortalResult> GetPortalPoints(long from, DtPoly fromPoly, DtMeshTile fromTile, long to, DtPoly toPoly, protected DtStatus GetPortalPoints(long from, DtPoly fromPoly, DtMeshTile fromTile,
DtMeshTile toTile, int fromType, int toType) long to, DtPoly toPoly, DtMeshTile toTile,
out RcVec3f left, out RcVec3f right)
{ {
RcVec3f left = new RcVec3f(); left = RcVec3f.Zero;
RcVec3f right = new RcVec3f(); right = RcVec3f.Zero;
// Find the link that points to the 'to' polygon. // Find the link that points to the 'to' polygon.
DtLink link = null; DtLink link = null;
for (int i = fromTile.polyLinks[fromPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = fromTile.links[i].next) for (int i = fromTile.polyLinks[fromPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = fromTile.links[i].next)
@ -2016,7 +2013,7 @@ namespace DotRecast.Detour
if (link == null) if (link == null)
{ {
return Results.InvalidParam<PortalResult>("No link found"); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
// Handle off-mesh connections. // Handle off-mesh connections.
@ -2035,11 +2032,12 @@ namespace DotRecast.Detour
right.x = fromTile.data.verts[fromPoly.verts[v] * 3]; right.x = fromTile.data.verts[fromPoly.verts[v] * 3];
right.y = fromTile.data.verts[fromPoly.verts[v] * 3 + 1]; right.y = fromTile.data.verts[fromPoly.verts[v] * 3 + 1];
right.z = fromTile.data.verts[fromPoly.verts[v] * 3 + 2]; right.z = fromTile.data.verts[fromPoly.verts[v] * 3 + 2];
return Results.Success(new PortalResult(left, right, fromType, toType));
return DtStatus.DT_SUCCSESS;
} }
} }
return Results.InvalidParam<PortalResult>("Invalid offmesh from connection"); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
if (toPoly.GetPolyType() == DtPoly.DT_POLYTYPE_OFFMESH_CONNECTION) if (toPoly.GetPolyType() == DtPoly.DT_POLYTYPE_OFFMESH_CONNECTION)
@ -2057,11 +2055,11 @@ namespace DotRecast.Detour
right.y = toTile.data.verts[toPoly.verts[v] * 3 + 1]; right.y = toTile.data.verts[toPoly.verts[v] * 3 + 1];
right.z = toTile.data.verts[toPoly.verts[v] * 3 + 2]; right.z = toTile.data.verts[toPoly.verts[v] * 3 + 2];
return Results.Success(new PortalResult(left, right, fromType, toType)); return DtStatus.DT_SUCCSESS;
} }
} }
return Results.InvalidParam<PortalResult>("Invalid offmesh to connection"); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
// Find portal vertices. // Find portal vertices.
@ -2090,20 +2088,18 @@ namespace DotRecast.Detour
} }
} }
return Results.Success(new PortalResult(left, right, fromType, toType)); return DtStatus.DT_SUCCSESS;
} }
protected Result<RcVec3f> GetEdgeMidPoint(long from, DtPoly fromPoly, DtMeshTile fromTile, long to, protected Result<RcVec3f> GetEdgeMidPoint(long from, DtPoly fromPoly, DtMeshTile fromTile, long to,
DtPoly toPoly, DtMeshTile toTile) DtPoly toPoly, DtMeshTile toTile)
{ {
Result<PortalResult> ppoints = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, 0, 0); var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right);
if (ppoints.Failed()) if (ppStatus.Failed())
{ {
return Results.Of<RcVec3f>(ppoints.status, ppoints.message); return Results.Of<RcVec3f>(ppStatus, "");
} }
var left = ppoints.result.left;
var right = ppoints.result.right;
RcVec3f mid = new RcVec3f(); RcVec3f mid = new RcVec3f();
mid.x = (left.x + right.x) * 0.5f; mid.x = (left.x + right.x) * 0.5f;
mid.y = (left.y + right.y) * 0.5f; mid.y = (left.y + right.y) * 0.5f;
@ -2114,14 +2110,12 @@ namespace DotRecast.Detour
protected Result<RcVec3f> GetEdgeIntersectionPoint(RcVec3f fromPos, long from, DtPoly fromPoly, DtMeshTile fromTile, protected Result<RcVec3f> GetEdgeIntersectionPoint(RcVec3f fromPos, long from, DtPoly fromPoly, DtMeshTile fromTile,
RcVec3f toPos, long to, DtPoly toPoly, DtMeshTile toTile) RcVec3f toPos, long to, DtPoly toPoly, DtMeshTile toTile)
{ {
Result<PortalResult> ppoints = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, 0, 0); var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right);
if (ppoints.Failed()) if (ppStatus.Failed())
{ {
return Results.Of<RcVec3f>(ppoints.status, ppoints.message); return Results.Of<RcVec3f>(ppStatus, "");
} }
RcVec3f left = ppoints.result.left;
RcVec3f right = ppoints.result.right;
float t = 0.5f; float t = 0.5f;
if (DetourCommon.IntersectSegSeg2D(fromPos, toPos, left, right, out var _, out var t2)) if (DetourCommon.IntersectSegSeg2D(fromPos, toPos, left, right, out var _, out var t2))
{ {
@ -2529,16 +2523,13 @@ namespace DotRecast.Detour
} }
// Find edge and calc distance to the edge. // Find edge and calc distance to the edge.
Result<PortalResult> pp = GetPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, var ppStatus = GetPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly,
neighbourTile, 0, 0); neighbourTile, out var va, out var vb);
if (pp.Failed()) if (ppStatus.Failed())
{ {
continue; continue;
} }
var va = pp.result.left;
var vb = pp.result.right;
// If the circle is not touching the next polygon, skip it. // If the circle is not touching the next polygon, skip it.
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var _); var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var _);
if (distSqr > radiusSqr) if (distSqr > radiusSqr)
@ -2711,16 +2702,13 @@ namespace DotRecast.Detour
} }
// Find edge and calc distance to the edge. // Find edge and calc distance to the edge.
Result<PortalResult> pp = GetPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, var ppStatus = GetPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly,
neighbourTile, 0, 0); neighbourTile, out var va, out var vb);
if (pp.Failed()) if (ppStatus.Failed())
{ {
continue; continue;
} }
var va = pp.result.left;
var vb = pp.result.right;
// If the poly is not touching the edge to the next polygon, skip the connection it. // If the poly is not touching the edge to the next polygon, skip the connection it.
IntersectResult ir = DetourCommon.IntersectSegmentPoly2D(va, vb, verts, nverts); IntersectResult ir = DetourCommon.IntersectSegmentPoly2D(va, vb, verts, nverts);
if (!ir.intersects) if (!ir.intersects)
@ -2883,16 +2871,13 @@ namespace DotRecast.Detour
} }
// Find edge and calc distance to the edge. // Find edge and calc distance to the edge.
Result<PortalResult> pp = GetPortalPoints(curRef, curPoly, curTile, neighbourRef, neighbourPoly, var ppStatus = GetPortalPoints(curRef, curPoly, curTile, neighbourRef, neighbourPoly,
neighbourTile, 0, 0); neighbourTile, out var va, out var vb);
if (pp.Failed()) if (ppStatus.Failed())
{ {
continue; continue;
} }
var va = pp.result.left;
var vb = pp.result.right;
// If the circle is not touching the next polygon, skip it. // If the circle is not touching the next polygon, skip it.
var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var _); var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var _);
if (distSqr > radiusSqr) if (distSqr > radiusSqr)