forked from mirror/DotRecast
92 lines
3.4 KiB
C#
92 lines
3.4 KiB
C#
/*
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recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
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DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
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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 DotRecast.Core;
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using DotRecast.Core.Numerics;
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namespace DotRecast.Detour
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{
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/**
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* Simple helper to find an intersection between a ray and a nav mesh
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*/
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public static class DtNavMeshRaycast
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{
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public static bool Raycast(DtNavMesh mesh, RcVec3f src, RcVec3f dst, out float hitTime)
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{
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hitTime = 0.0f;
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for (int t = 0; t < mesh.GetMaxTiles(); ++t)
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{
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DtMeshTile tile = mesh.GetTile(t);
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if (tile != null && tile.data != null)
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{
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if (Raycast(tile, src, dst, out hitTime))
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{
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return true;
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}
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}
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}
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return false;
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}
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private static bool Raycast(DtMeshTile tile, RcVec3f sp, RcVec3f sq, out float hitTime)
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{
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hitTime = 0.0f;
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for (int i = 0; i < tile.data.header.polyCount; ++i)
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{
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DtPoly p = tile.data.polys[i];
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if (p.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
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{
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continue;
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}
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ref DtPolyDetail pd = ref tile.data.detailMeshes[i];
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RcVec3f[] verts = new RcVec3f[3];
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for (int j = 0; j < pd.triCount; ++j)
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{
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int t = (pd.triBase + j) * 4;
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for (int k = 0; k < 3; ++k)
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{
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int v = tile.data.detailTris[t + k];
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if (v < p.vertCount)
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{
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verts[k].X = tile.data.verts[p.verts[v] * 3];
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verts[k].Y = tile.data.verts[p.verts[v] * 3 + 1];
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verts[k].Z = tile.data.verts[p.verts[v] * 3 + 2];
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}
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else
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{
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verts[k].X = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3];
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verts[k].Y = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 1];
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verts[k].Z = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 2];
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}
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}
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if (RcIntersections.IntersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2], out hitTime))
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{
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return true;
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}
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}
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}
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return false;
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}
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}
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} |