forked from mirror/DotRecast
94 lines
3.8 KiB
C#
94 lines
3.8 KiB
C#
/*
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recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
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This software is provided 'as-is', without any express or implied
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warranty. In no event will the authors be held liable for any damages
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arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it
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freely, subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not
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claim that you wrote the original software. If you use this software
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in a product, an acknowledgment in the product documentation would be
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appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be
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misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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using System;
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using DotRecast.Core;
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using DotRecast.Recast;
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namespace DotRecast.Detour.Dynamic.Colliders
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{
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public class BoxCollider : AbstractCollider
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{
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private readonly Vector3f center;
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private readonly Vector3f[] halfEdges;
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public BoxCollider(Vector3f center, Vector3f[] halfEdges, int area, float flagMergeThreshold) :
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base(area, flagMergeThreshold, bounds(center, halfEdges))
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{
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this.center = center;
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this.halfEdges = halfEdges;
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}
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private static float[] bounds(Vector3f center, Vector3f[] halfEdges)
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{
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float[] bounds = new float[]
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{
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float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,
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float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity
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};
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for (int i = 0; i < 8; ++i)
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{
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float s0 = (i & 1) != 0 ? 1f : -1f;
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float s1 = (i & 2) != 0 ? 1f : -1f;
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float s2 = (i & 4) != 0 ? 1f : -1f;
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float vx = center[0] + s0 * halfEdges[0][0] + s1 * halfEdges[1][0] + s2 * halfEdges[2][0];
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float vy = center[1] + s0 * halfEdges[0][1] + s1 * halfEdges[1][1] + s2 * halfEdges[2][1];
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float vz = center[2] + s0 * halfEdges[0][2] + s1 * halfEdges[1][2] + s2 * halfEdges[2][2];
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bounds[0] = Math.Min(bounds[0], vx);
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bounds[1] = Math.Min(bounds[1], vy);
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bounds[2] = Math.Min(bounds[2], vz);
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bounds[3] = Math.Max(bounds[3], vx);
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bounds[4] = Math.Max(bounds[4], vy);
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bounds[5] = Math.Max(bounds[5], vz);
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}
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return bounds;
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}
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public void rasterize(Heightfield hf, Telemetry telemetry)
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{
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RecastFilledVolumeRasterization.rasterizeBox(
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hf, center, halfEdges, area, (int)Math.Floor(flagMergeThreshold / hf.ch), telemetry);
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}
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public static Vector3f[] getHalfEdges(Vector3f up, Vector3f forward, Vector3f extent)
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{
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Vector3f[] halfEdges =
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{
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Vector3f.Zero,
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Vector3f.Of(up[0], up[1], up[2]),
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Vector3f.Zero
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};
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RecastVectors.normalize(ref halfEdges[1]);
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RecastVectors.cross(ref halfEdges[0], up, forward);
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RecastVectors.normalize(ref halfEdges[0]);
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RecastVectors.cross(ref halfEdges[2], halfEdges[0], up);
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RecastVectors.normalize(ref halfEdges[2]);
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halfEdges[0][0] *= extent[0];
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halfEdges[0][1] *= extent[0];
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halfEdges[0][2] *= extent[0];
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halfEdges[1][0] *= extent[1];
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halfEdges[1][1] *= extent[1];
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halfEdges[1][2] *= extent[1];
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halfEdges[2][0] *= extent[2];
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halfEdges[2][1] *= extent[2];
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halfEdges[2][2] *= extent[2];
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return halfEdges;
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}
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}
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} |