forked from mirror/DotRecast
55 lines
2.1 KiB
C#
55 lines
2.1 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 CapsuleCollider : AbstractCollider
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{
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private readonly Vector3f start;
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private readonly Vector3f end;
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private readonly float radius;
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public CapsuleCollider(Vector3f start, Vector3f end, float radius, int area, float flagMergeThreshold) :
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base(area, flagMergeThreshold, Bounds(start, end, radius))
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{
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this.start = start;
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this.end = end;
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this.radius = radius;
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}
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public override void Rasterize(Heightfield hf, Telemetry telemetry)
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{
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RecastFilledVolumeRasterization.RasterizeCapsule(hf, start, end, radius, area, (int)Math.Floor(flagMergeThreshold / hf.ch),
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telemetry);
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}
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private static float[] Bounds(Vector3f start, Vector3f end, float radius)
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{
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return new float[]
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{
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Math.Min(start.x, end.x) - radius, Math.Min(start.y, end.y) - radius,
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Math.Min(start.z, end.z) - radius, Math.Max(start.x, end.x) + radius, Math.Max(start.y, end.y) + radius,
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Math.Max(start.z, end.z) + radius
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};
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}
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}
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} |