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MMaps Updates, Needs tested.

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Port From (https://github.com/TrinityCore/TrinityCore)
This commit is contained in:
hondacrx
2021-12-02 14:50:55 -05:00
parent 30265c0716
commit f5695f0cf2
11 changed files with 279 additions and 257 deletions
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Source/Framework/RecastDetour/Detour/DetourNavMesh.cs
+115 -56
View File
@@ -1,5 +1,6 @@
using System;
using System.Diagnostics;
using System.Linq;
/**
@typedef dtPolyRef
@par
@@ -725,68 +726,84 @@ public static partial class Detour
}
}
public void closestPointOnPoly(dtPolyRef polyRef, float[] pos, int posStart, float[] closest, ref bool posOverPoly)
void closestPointOnDetailEdges(bool onlyBoundary, dtMeshTile tile, dtPoly poly, float[] pos, float[] closest)
{
dtMeshTile tile = null;
dtPoly poly = null;
uint ip = 0;
getTileAndPolyByRefUnsafe(polyRef, ref tile, ref poly, ref ip);
// Off-mesh connections don't have detail polygons.
if (poly.getType() == (byte)dtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
{
//const float* v0 = &tile.verts[poly.verts[0]*3];
//const float* v1 = &tile.verts[poly.verts[1]*3];
int v0Start = poly.verts[0] * 3;
int v1Start = poly.verts[1] * 3;
float d0 = dtVdist(pos, posStart, tile.verts, v0Start);
float d1 = dtVdist(pos, posStart, tile.verts, v1Start);
float u = d0 / (d0 + d1);
dtVlerp(closest, 0, tile.verts, v0Start, tile.verts, v1Start, u);
posOverPoly = false;
return;
}
//uint ip = (uint)(poly - tile.polys);
uint ip = (uint)tile.polys.ToList().IndexOf(poly);
dtPolyDetail pd = tile.detailMeshes[ip];
float dmin = float.MaxValue;
float tmin = 0;
int pmin = 0;
int pmax = 0;
float[] v = new float[0];
for (int i = 0; i < pd.triCount; i++)
{
int trisIndex = (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)
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];
else
v[j] = tile.detailVerts[(pd.vertBase + (tile.detailTris[trisIndex + 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]))
{
// Only looking at boundary edges and this is internal, or
// this is an inner edge that we will see again or have already seen.
continue;
}
float t = 0;
float d = dtDistancePtSegSqr2D(pos, 0, v, j, v, k, ref t);
if (d < dmin)
{
dmin = d;
tmin = t;
pmin = j;
pmax = k;
}
}
}
dtVlerp(closest, 0, v, pmin, v, pmax, tmin);
}
public bool getPolyHeight(dtMeshTile tile, dtPoly poly, float[] pos, float height)
{
// Off-mesh connections do not have detail polys and getting height
// over them does not make sense.
if (poly.getType() == (byte)dtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
return false;
uint ip = (uint)tile.polys.ToList().IndexOf(poly);
dtPolyDetail pd = tile.detailMeshes[ip];
// Clamp point to be inside the polygon.
float[] verts = new float[DT_VERTS_PER_POLYGON * 3];
float[] edged = new float[DT_VERTS_PER_POLYGON];
float[] edget = new float[DT_VERTS_PER_POLYGON];
int nv = poly.vertCount;
for (int i = 0; i < nv; ++i)
{
dtVcopy(verts, i * 3, tile.verts, poly.verts[i] * 3);
}
dtVcopy(closest, 0, pos, posStart);
if (!dtDistancePtPolyEdgesSqr(pos, posStart, verts, nv, edged, edget))
{
// Point is outside the polygon, dtClamp to nearest edge.
float dmin = float.MaxValue;
int imin = -1;
for (int i = 0; i < nv; ++i)
{
if (edged[i] < dmin)
{
dmin = edged[i];
imin = i;
}
}
//float[] va = &verts[imin*3];
//const float* vb = &verts[((imin+1)%nv)*3];
int vaStart = imin * 3;
int vbStart = ((imin + 1) % nv) * 3;
dtVlerp(closest, 0, verts, vaStart, verts, vbStart, edget[imin]);
if (!dtPointInPolygon(pos, verts, nv))
return false;
posOverPoly = false;
}
else
{
posOverPoly = true;
}
if (height == 0)
return true;
// Find height at the location.
for (int j = 0; j < pd.triCount; ++j)
@@ -812,12 +829,54 @@ public static partial class Detour
}
}
float h = .0f;
if (dtClosestHeightPointTriangle(closest, posStart, vArrays[0], vIndices[0], vArrays[1], vIndices[1], vArrays[2], vIndices[2], ref h))
if (dtClosestHeightPointTriangle(pos, 0, vArrays[0], vIndices[0], vArrays[1], vIndices[1], vArrays[2], vIndices[2], ref h))
{
closest[1] = h;
break;
height = h;
return true;
}
}
// If all triangle checks failed above (can happen with degenerate triangles
// or larger floating point values) the point is on an edge, so just select
// closest. This should almost never happen so the extra iteration here is
// ok.
float[] closest = new float[3];
closestPointOnDetailEdges(false, tile, poly, pos, closest);
height = closest[1];
return true;
}
public void closestPointOnPoly(dtPolyRef polyRef, float[] pos, float[] closest, ref bool posOverPoly)
{
dtMeshTile tile = new();
dtPoly poly = new();
getTileAndPolyByRefUnsafe(polyRef, ref tile, ref poly);
dtVcopy(closest, pos);
if (getPolyHeight(tile, poly, pos, closest[1]))
{
if (posOverPoly)
posOverPoly = true;
return;
}
if (posOverPoly)
posOverPoly = false;
// Off-mesh connections don't have detail polygons.
if (poly.getType() == (byte)dtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
{
int v0 = poly.verts[0] * 3;
int v1 = poly.verts[1] * 3;
float t = 0;
dtDistancePtSegSqr2D(pos, 0, tile.verts, v0, tile.verts, v1, ref t);
dtVlerp(closest, 0, tile.verts, v0, tile.verts, v1, t);
return;
}
// Outside poly that is not an offmesh connection.
closestPointOnDetailEdges(true, tile, poly, pos, closest);
}
public dtPolyRef findNearestPolyInTile(dtMeshTile tile, float[] center, int centerStart, float[] halfExtents, float[] nearestPt)
@@ -841,7 +900,7 @@ public static partial class Detour
float[] diff = new float[3];
bool posOverPoly = false;
float d = 0;
closestPointOnPoly(polyRef, center, centerStart, closestPtPoly, ref posOverPoly);
closestPointOnPoly(polyRef, center, closestPtPoly, ref posOverPoly);
// If a point is directly over a polygon and closer than
// climb height, favor that instead of straight line nearest point.
@@ -996,7 +1055,7 @@ public static partial class Detour
// Make sure the location is free.
if (getTileAt(header.x, header.y, header.layer) != null)
return DT_FAILURE;
return DT_FAILURE | DT_ALREADY_OCCUPIED;
// Allocate a tile.
dtMeshTile tile = null;