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Fixes using gameobject like chairs, also fixes indoor checks

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This commit is contained in:
hondacrx
2022-07-13 15:02:06 -04:00
parent 206c5afcca
commit d05595e44c
9 changed files with 168 additions and 48 deletions
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Source/Framework/GameMath/Box.cs
+4 -2
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@@ -29,6 +29,8 @@ namespace Framework.GameMath
public Box(Vector3 min, Vector3 max)
{
_center = (max + min) * 0.5f;
Vector3 bounds = new Vector3(max.X - min.X, max.Y - min.Y, max.Z - min.Z);
_edgeVector[0] = new Vector3(bounds.X, 0, 0);
_edgeVector[1] = new Vector3(0, bounds.Y, 0);
@@ -67,12 +69,12 @@ namespace Framework.GameMath
Vector3 v = _edgeVector[1];
Vector3 w = _edgeVector[0];
Matrix4x4 M = new(u.X, v.X, w.X, 0.0f, u.Y, v.Y, w.Y, 0.0f, u.Z, v.Z, w.Z, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
Matrix4x4 M = new(u.X, v.X, w.X, 0.0f, u.Y, v.Y, w.Y, 0.0f, u.Z, v.Z, w.Z, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
// M^-1 * (point - _corner[0]) = point in unit cube's object space
// compute the inverse of M
Matrix4x4.Invert(M, out M);
Vector3 osPoint = Vector3.TransformNormal(point - Corner(0), M);
Vector3 osPoint = M.Multiply(point - Corner(0));
return (osPoint.X >= 0) && (osPoint.Y >= 0) && (osPoint.Z >= 0) &&
(osPoint.X <= 1) && (osPoint.Y <= 1) && (osPoint.Z <= 1);
Source/Framework/RecastDetour/Detour/DetourCommon.cs
+17
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@@ -1,4 +1,5 @@
using System;
using System.Numerics;
public static partial class Detour
{
@@ -180,6 +181,22 @@ public static partial class Detour
return dx * dx + dz * dz;
}
public static float dtDistancePtSegSqr2D(float[] pt, int ptStart, Vector3 p, Vector3 q, ref float t)
{
float pqx = q.GetAt(0) - p.GetAt(0);
float pqz = q.GetAt(2) - p.GetAt(2);
float dx = pt[ptStart + 0] - p.GetAt(0);
float dz = pt[ptStart + 2] - p.GetAt(2);
float d = pqx * pqx + pqz * pqz;
t = pqx * dx + pqz * dz;
if (d > 0) t /= d;
if (t < 0) t = 0;
else if (t > 1) t = 1;
dx = p.GetAt(0) + t * pqx - pt[ptStart + 0];
dz = p.GetAt(2) + t * pqz - pt[ptStart + 2];
return dx * dx + dz * dz;
}
/// Derives the centroid of a convex polygon.
/// @param[out] tc The centroid of the polgyon. [(x, y, z)]
/// @param[in] idx The polygon indices. [(vertIndex) * @p nidx]
Source/Framework/RecastDetour/Detour/DetourNavMesh.cs
+12 -11
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@@ -1,6 +1,8 @@
using System;
using System.Diagnostics;
using System.Linq;
using System.Numerics;
/**
@typedef dtPolyRef
@par
@@ -735,31 +737,30 @@ public static partial class Detour
float tmin = 0;
int pmin = 0;
int pmax = 0;
float[] v = new float[0];
Vector3[] v = new Vector3[3];
for (int i = 0; i < pd.triCount; i++)
{
int trisIndex = (int)((pd.triBase + i) * 4);
Span<byte> tris = tile.detailTris.AsSpan().Slice((int)(pd.triBase + i) * 4);
const int ANY_BOUNDARY_EDGE =
((int)dtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY << 0) |
((int)dtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY << 2) |
((int)dtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY << 4);
if (onlyBoundary && (tile.detailTris[trisIndex + 3] & ANY_BOUNDARY_EDGE) == 0)
if (onlyBoundary && (tris[3] & ANY_BOUNDARY_EDGE) == 0)
continue;
v = new float[3];
for (int j = 0; j < 3; ++j)
{
if (tile.detailTris[trisIndex + j] < poly.vertCount)
v[j] = tile.verts[poly.verts[tile.detailTris[trisIndex + j]] * 3];
if (tris[j] < poly.vertCount)
v[j] = new(tile.verts.AsSpan(poly.verts[tris[j]] * 3));
else
v[j] = tile.detailVerts[(pd.vertBase + (tile.detailTris[trisIndex + j] - poly.vertCount)) * 3];
v[j] = new(tile.detailVerts.AsSpan((int)(pd.vertBase + (tris[j] - poly.vertCount)) * 3));
}
for (int k = 0, j = 2; k < 3; j = k++)
{
if ((dtGetDetailTriEdgeFlags(tile.detailTris[trisIndex + 3], j) & (int)dtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0 &&
(onlyBoundary || tile.detailTris[trisIndex + j] < tile.detailTris[trisIndex + k]))
if ((dtGetDetailTriEdgeFlags(tris[3], j) & (int)dtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0 &&
(onlyBoundary || tris[j] < tris[k]))
{
// Only looking at boundary edges and this is internal, or
// this is an inner edge that we will see again or have already seen.
@@ -767,7 +768,7 @@ public static partial class Detour
}
float t = 0;
float d = dtDistancePtSegSqr2D(pos, 0, v, j, v, k, ref t);
float d = dtDistancePtSegSqr2D(pos, 0, v[j], v[k], ref t);
if (d < dmin)
{
dmin = d;
@@ -778,7 +779,7 @@ public static partial class Detour
}
}
dtVlerp(closest, 0, v, pmin, v, pmax, tmin);
dtVlerp(closest, 0, new float[] { v[pmin].X, v[pmin].Y, v[pmin].Z }, 0, new float[] { v[pmax].X, v[pmax].Y, v[pmax].Z }, 0, tmin);
}
public bool getPolyHeight(dtMeshTile tile, dtPoly poly, float[] pos, float height)
Source/Framework/RecastDetour/Detour/DetourNavMeshQuery.cs
+1 -1
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@@ -1911,7 +1911,7 @@ public static partial class Detour
for (int i = 0; i < pathSize; ++i)
{
float[] left = new float[3];//, right[3];
float[] left = new float[3];
float[] right = new float[3];
byte fromType = 0, toType = 0;
Source/Framework/Util/Extensions.cs
+14 -2
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@@ -264,7 +264,7 @@ namespace System
// cy*sz cx*cz+sx*sy*sz -cz*sx+cx*sy*sz
// -sy cy*sx cx*cy
var matrix = Matrix4x4.CreateFromQuaternion(quaternion);
var matrix = quaternion.ToMatrix();
if (matrix.M31 < 1.0)
{
if (matrix.M31 > -1.0)
@@ -292,7 +292,19 @@ namespace System
public static Matrix4x4 fromEulerAnglesZYX(float fYAngle, float fPAngle, float fRAngle)
{
return Matrix4x4.CreateFromYawPitchRoll(fYAngle, fPAngle, fRAngle);
float fCos = MathF.Cos(fYAngle);
float fSin = MathF.Sin(fYAngle);
Matrix4x4 kZMat = new(fCos, -fSin, 0.0f, 0.0f, fSin, fCos, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
fCos = MathF.Cos(fPAngle);
fSin = MathF.Sin(fPAngle);
Matrix4x4 kYMat = new(fCos, 0.0f, fSin, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, -fSin, 0.0f, fCos, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
fCos = MathF.Cos(fRAngle);
fSin = MathF.Sin(fRAngle);
Matrix4x4 kXMat = new(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, fCos, -fSin, 0.0f, 0.0f, fSin, fCos, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
return kZMat * (kYMat * kXMat);
}
#region Strings
Source/Framework/Util/MathFunctions.cs
+90 -2
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@@ -292,13 +292,101 @@ public static class MathFunctions
if (!box.isFinite())
return box;
box._center = new(rotation.M11 * box._center.GetAt(0) + rotation.M12 * box._center.GetAt(1) + rotation.M13 * box._center.GetAt(2) + translation.GetAt(0),
Box outBox = box;
outBox._center = new(rotation.M11 * box._center.GetAt(0) + rotation.M12 * box._center.GetAt(1) + rotation.M13 * box._center.GetAt(2) + translation.GetAt(0),
rotation.M21 * box._center.GetAt(0) + rotation.M22 * box._center.GetAt(1) + rotation.M23 * box._center.GetAt(2) + translation.GetAt(1),
rotation.M31 * box._center.GetAt(0) + rotation.M32 * box._center.GetAt(1) + rotation.M33 * box._center.GetAt(2) + translation.GetAt(2));
for (int i = 0; i < 3; ++i)
box._edgeVector[i] = Vector3.TransformNormal(box._edgeVector[i], rotation);
outBox._edgeVector[i] = rotation.Multiply(box._edgeVector[i]);
outBox._area = box._area;
outBox._volume = box._volume;
return box;
}
public static Matrix4x4 Inverse(this Matrix4x4 elt)
{
Matrix4x4 kInverse;
elt.Inverse(out kInverse);
return kInverse;
}
public static bool Inverse(this Matrix4x4 elt, out Matrix4x4 rkInverse)
{
// Invert a 3x3 using cofactors. This is about 8 times faster than
// the Numerical Recipes code which uses Gaussian elimination.
rkInverse = new();
rkInverse.M11 = elt.M22 * elt.M33 -
elt.M23 * elt.M32;
rkInverse.M12 = elt.M13 * elt.M32 -
elt.M12 * elt.M33;
rkInverse.M13 = elt.M12 * elt.M23 -
elt.M13 * elt.M22;
rkInverse.M21 = elt.M23 * elt.M31 -
elt.M21 * elt.M33;
rkInverse.M22 = elt.M11 * elt.M33 -
elt.M13 * elt.M31;
rkInverse.M23 = elt.M13 * elt.M21 -
elt.M11 * elt.M23;
rkInverse.M31 = elt.M21 * elt.M32 -
elt.M22 * elt.M31;
rkInverse.M32 = elt.M12 * elt.M31 -
elt.M11 * elt.M32;
rkInverse.M33 = elt.M11 * elt.M22 -
elt.M12 * elt.M21;
float fDet =
elt.M11 * rkInverse.M11 +
elt.M12 * rkInverse.M21 +
elt.M13 * rkInverse.M31;
if (Math.Abs(fDet) <= float.Epsilon)
return false;
float fInvDet = 1.0f / fDet;
rkInverse.M11 *= fInvDet;
rkInverse.M12 *= fInvDet;
rkInverse.M13 *= fInvDet;
rkInverse.M21 *= fInvDet;
rkInverse.M22 *= fInvDet;
rkInverse.M23 *= fInvDet;
rkInverse.M31 *= fInvDet;
rkInverse.M32 *= fInvDet;
rkInverse.M33 *= fInvDet;
return true;
}
public static Matrix4x4 ToMatrix(this Quaternion _q)
{
// Implementation from Watt and Watt, pg 362
// See also http://www.flipcode.com/documents/matrfaq.html#Q54
Quaternion q = _q;
q *= 1.0f / MathF.Sqrt((q.X * q.X) + (q.Y * q.Y) + (q.Z * q.Z) + (q.W * q.W));
float xx = 2.0f * q.X * q.X;
float xy = 2.0f * q.X * q.Y;
float xz = 2.0f * q.X * q.Z;
float xw = 2.0f * q.X * q.W;
float yy = 2.0f * q.Y * q.Y;
float yz = 2.0f * q.Y * q.Z;
float yw = 2.0f * q.Y * q.W;
float zz = 2.0f * q.Z * q.Z;
float zw = 2.0f * q.Z * q.W;
return new Matrix4x4(1.0f - yy - zz, xy - zw, xz + yw, 0.0f,
xy + zw, 1.0f - xx - zz, yz - xw, 0.0f,
xz - yw, yz + xw, 1.0f - xx - yy, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
}
public static Vector3 Multiply(this Matrix4x4 elt, Vector3 v)
{
return new(elt.M11 * v.GetAt(0) + elt.M12 * v.GetAt(1) + elt.M13 * v.GetAt(2),
elt.M21 * v.GetAt(0) + elt.M22 * v.GetAt(1) + elt.M23 * v.GetAt(2),
elt.M31 * v.GetAt(0) + elt.M32 * v.GetAt(1) + elt.M33 * v.GetAt(2));
}
}