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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/DetourNavMeshQuery.cs
+87 -170
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@@ -36,6 +36,7 @@ using System;
using System.Diagnostics;
using dtPolyRef = System.UInt64;
using dtStatus = System.UInt32;
using System.Collections.Generic;
// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter.
// On certain platforms indirect or virtual function call is expensive. The default
@@ -310,6 +311,9 @@ public static partial class Detour
{
Debug.Assert(m_nav != null);
if (filter == null || frand == null || randomPt == null)
return DT_FAILURE | DT_INVALID_PARAM;
// Randomly pick one tile. Assume that all tiles cover roughly the same area.
dtMeshTile tile = null;
float tsum = 0.0f;
@@ -409,14 +413,17 @@ public static partial class Detour
/// @param[out] randomRef The reference id of the random location.
/// @param[out] randomPt The random location. [(x, y, z)]
// @returns The status flags for the query.
public dtStatus findRandomPointAroundCircle(dtPolyRef startRef, float[] centerPos, float radius, dtQueryFilter filter, randomFloatGenerator frand, ref dtPolyRef randomRef, ref float[] randomPt)
public dtStatus findRandomPointAroundCircle(dtPolyRef startRef, float[] centerPos, float maxRadius, dtQueryFilter filter, randomFloatGenerator frand, ref dtPolyRef randomRef, ref float[] randomPt)
{
Debug.Assert(m_nav != null);
Debug.Assert(m_nodePool != null);
Debug.Assert(m_openList != null);
// Validate input
if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
if (!m_nav.isValidPolyRef(startRef) ||
centerPos == null || !dtVisfinite(centerPos) ||
maxRadius < 0 || !float.IsFinite(maxRadius) ||
filter == null || frand == null || randomPt == null)
return DT_FAILURE | DT_INVALID_PARAM;
dtMeshTile startTile = null;
@@ -439,7 +446,7 @@ public static partial class Detour
dtStatus status = DT_SUCCESS;
float radiusSqr = dtSqr(radius);
float radiusSqr = dtSqr(maxRadius);
float areaSum = 0.0f;
dtMeshTile randomTile = null;
@@ -617,104 +624,13 @@ public static partial class Detour
public dtStatus closestPointOnPoly(dtPolyRef polyRef, float[] pos, float[] closest, ref bool posOverPoly)
{
Debug.Assert(m_nav != null);
dtMeshTile tile = null;
dtPoly poly = null;
uint ip = 0;
if (dtStatusFailed(m_nav.getTileAndPolyByRef(polyRef, ref tile, ref poly, ref ip)))
return DT_FAILURE | DT_INVALID_PARAM;
if (tile == null)
if (!m_nav.isValidPolyRef(polyRef) ||
pos == null || !dtVisfinite(pos) ||
closest == null)
return DT_FAILURE | DT_INVALID_PARAM;
// 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, 0, tile.verts, v0Start);
float d1 = dtVdist(pos, 0, tile.verts, v1Start);
float u = d0 / (d0 + d1);
dtVlerp(closest, 0, tile.verts, v0Start, tile.verts, v1Start, u);
//if (posOverPoly)
posOverPoly = false;
return DT_SUCCESS;
}
//uint ip = (uint)(poly - tile.polys);
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, pos);
if (!dtDistancePtPolyEdgesSqr(pos, 0, 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;
}
}
//const 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 (posOverPoly)
posOverPoly = false;
}
else
{
//if (posOverPoly)
posOverPoly = true;
}
// Find height at the location.
for (int j = 0; j < pd.triCount; ++j)
{
//byte[] t = &tile.detailTris[(pd.triBase+j)*4];
//const float* v[3];
int tStart = (int)(pd.triBase + j) * 4;
int[] vStarts = new int[3];
float[][] vSrc = new float[3][];
for (int k = 0; k < 3; ++k)
{
byte tk = tile.detailTris[tStart + k];
byte vCount = poly.vertCount;
if (tk < vCount)
{
//v[k] = &tile.verts[poly.verts[tile.detailTris[tStart + k]]*3];
vStarts[k] = poly.verts[tk] * 3;
vSrc[k] = tile.verts;
}
else
{
//v[k] = &tile.detailVerts[(pd.vertBase+(t[k]-poly.vertCount))*3];
vStarts[k] = (int)(pd.vertBase + (tk - vCount)) * 3;
vSrc[k] = tile.detailVerts;
}
}
float h = .0f;
if (dtClosestHeightPointTriangle(closest, 0, vSrc[0], vStarts[0], vSrc[1], vStarts[1], vSrc[2], vStarts[2], ref h))
{
closest[1] = h;
break;
}
}
m_nav.closestPointOnPoly(polyRef, pos, closest, ref posOverPoly);
return DT_SUCCESS;
}
@@ -745,6 +661,9 @@ public static partial class Detour
if (dtStatusFailed(m_nav.getTileAndPolyByRef(polyRef, ref tile, ref poly)))
return DT_FAILURE | DT_INVALID_PARAM;
if (pos == null || !dtVisfinite(pos) || closest == null)
return DT_FAILURE | DT_INVALID_PARAM;
// Collect vertices.
float[] verts = new float[DT_VERTS_PER_POLYGON * 3];
float[] edged = new float[DT_VERTS_PER_POLYGON];
@@ -792,10 +711,10 @@ public static partial class Detour
// @returns The status flags for the query.
// @par
///
/// Will return #DT_FAILURE if the provided position is outside the xz-bounds
/// Will return #DT_FAILURE | DT_INVALID_PARAM if the provided position is outside the xz-bounds
/// of the polygon.
///
public dtStatus getPolyHeight(dtPolyRef polyRef, float[] pos, ref float height)
public dtStatus getPolyHeight(dtPolyRef polyRef, float[] pos, ref float height)
{
Debug.Assert(m_nav != null);
@@ -805,57 +724,26 @@ public static partial class Detour
if (dtStatusFailed(m_nav.getTileAndPolyByRef(polyRef, ref tile, ref poly, ref ip)))
return DT_FAILURE | DT_INVALID_PARAM;
if (pos == null || !dtVisfinite2D(pos))
return DT_FAILURE | DT_INVALID_PARAM;
// We used to return success for offmesh connections, but the
// getPolyHeight in DetourNavMesh does not do this, so special
// case it here.
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 = dtVdist2D(pos, 0, tile.verts, v0Start);
float d1 = dtVdist2D(pos, 0, tile.verts, v1Start);
float u = d0 / (d0 + d1);
float t = 0;
dtDistancePtSegSqr2D(pos, 0, tile.verts, v0Start, tile.verts, v1Start, ref t);
//if (height)
height = tile.verts[v0Start + 1] + (tile.verts[v1Start + 1] - tile.verts[v0Start + 1]) * u;
height = tile.verts[v0Start + 1] + (tile.verts[v1Start + 1] - tile.verts[v0Start + 1]) * t;
return DT_SUCCESS;
}
else
{
//const uint ip = (uint)(poly - tile.polys);
dtPolyDetail pd = tile.detailMeshes[ip];
for (int j = 0; j < pd.triCount; ++j)
{
//byte[] t = tile.detailTris[(pd.triBase+j)*4] ;
//float* v[3];
int tStart = (int)(pd.triBase + j) * 4;
int[] vStarts = new int[3];
float[][] vSrc = new float[3][];
for (int k = 0; k < 3; ++k)
{
if (tile.detailTris[tStart + k] < poly.vertCount)
{
//v[k] = &tile.verts[poly.verts[tile.detailTris[tStart + k]]*3];
vStarts[k] = poly.verts[tile.detailTris[tStart + k]] * 3;
vSrc[k] = tile.verts;
}
else
{
//v[k] = &tile.detailVerts[(pd.vertBase+(tile.detailTris[tStart + k]-poly.vertCount))*3];
vStarts[k] = (int)(pd.vertBase + (tile.detailTris[tStart + k] - poly.vertCount)) * 3;
vSrc[k] = tile.detailVerts;
}
}
float h = .0f;
if (dtClosestHeightPointTriangle(pos, 0, vSrc[0], vStarts[0], vSrc[1], vStarts[1], vSrc[2], vStarts[2], ref h))
{
//if (height)
height = h;
return DT_SUCCESS;
}
}
}
return DT_FAILURE | DT_INVALID_PARAM;
return m_nav.getPolyHeight(tile, poly, pos, height) ? DT_SUCCESS : DT_FAILURE | DT_INVALID_PARAM;
}
// @}
@@ -884,6 +772,8 @@ public static partial class Detour
nearestRef = 0;
// queryPolygons below will check rest of params
dtFindNearestPolyQuery query = new(this, center);
dtStatus status = queryPolygons(center, halfExtents, filter, query);
@@ -1049,6 +939,13 @@ public static partial class Detour
{
Debug.Assert(m_nav != null);
if (center == null || !dtVisfinite(center) ||
halfExtents == null || !dtVisfinite(halfExtents) ||
filter == null || query == null)
{
return DT_FAILURE | DT_INVALID_PARAM;
}
float[] bmin = new float[3];
float[] bmax = new float[3];
dtVsub(bmin, center, halfExtents);
@@ -1106,12 +1003,11 @@ public static partial class Detour
pathCount = 0;
if (maxPath <= 0)
return DT_FAILURE | DT_INVALID_PARAM;
// Validate input
if (!m_nav.isValidPolyRef(startRef) || !m_nav.isValidPolyRef(endRef) ||
startPos == null || endPos == null || filter == null || maxPath <= 0 || path == null)
startPos == null || !dtVisfinite(startPos) ||
endPos == null || !dtVisfinite(endPos) ||
filter == null || path == null || maxPath <= 0)
return DT_FAILURE | DT_INVALID_PARAM;
if (startRef == endRef)
@@ -1372,11 +1268,10 @@ public static partial class Detour
m_query.options = options;
m_query.raycastLimitSqr = float.MaxValue;
if (startRef == 0 || endRef == 0)
return DT_FAILURE | DT_INVALID_PARAM;
// Validate input
if (!m_nav.isValidPolyRef(startRef) || !m_nav.isValidPolyRef(endRef))
if (!m_nav.isValidPolyRef(startRef) || !m_nav.isValidPolyRef(endRef) ||
startPos == null || !dtVisfinite(startPos) ||
endPos == null || !dtVisfinite(endPos) || filter == null)
return DT_FAILURE | DT_INVALID_PARAM;
// trade quality with performance?
@@ -1646,6 +1541,9 @@ public static partial class Detour
{
pathCount = 0;
if (path == null || maxPath <= 0)
return DT_FAILURE | DT_INVALID_PARAM;
if (dtStatusFailed(m_query.status))
{
// Reset query.
@@ -1747,10 +1645,8 @@ public static partial class Detour
{
pathCount = 0;
if (existingSize == 0)
{
return DT_FAILURE;
}
if (existing == null || existingSize <= 0 || path == null || maxPath <= 0)
return DT_FAILURE | DT_INVALID_PARAM;
if (dtStatusFailed(m_query.status))
{
@@ -1971,10 +1867,10 @@ public static partial class Detour
straightPathCount = 0;
if (maxStraightPath == 0)
return DT_FAILURE | DT_INVALID_PARAM;
if (path[0] == 0)
if (startPos == null || !dtVisfinite(startPos) ||
endPos == null || !dtVisfinite(endPos) ||
path == null || pathSize <= 0 || path[0] == 0 ||
maxStraightPath <= 0)
return DT_FAILURE | DT_INVALID_PARAM;
dtStatus stat = 0;
@@ -2225,9 +2121,11 @@ public static partial class Detour
visitedCount = 0;
// Validate input
if (startRef == 0)
return DT_FAILURE | DT_INVALID_PARAM;
if (!m_nav.isValidPolyRef(startRef))
if (!m_nav.isValidPolyRef(startRef) ||
startPos == null || !dtVisfinite(startPos) ||
endPos == null || !dtVisfinite(endPos) ||
filter == null || resultPos == null || visited == null ||
maxVisitedSize <= 0)
return DT_FAILURE | DT_INVALID_PARAM;
dtStatus status = DT_SUCCESS;
@@ -2578,7 +2476,6 @@ public static partial class Detour
///
public dtStatus raycast(dtPolyRef startRef, float[] startPos, float[] endPos, dtQueryFilter filter, ref float t, float[] hitNormal, dtPolyRef[] path, ref uint pathCount, int maxPath)
{
dtRaycastHit hit = new();
hit.path = path;
hit.maxPath = maxPath;
@@ -2647,15 +2544,19 @@ public static partial class Detour
{
Debug.Assert(m_nav != null);
if (hit == null)
return DT_FAILURE | DT_INVALID_PARAM;
hit.t = 0;
hit.pathCount = 0;
hit.pathCost = 0;
// Validate input
if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
return DT_FAILURE | DT_INVALID_PARAM;
if (prevRef != 0 && !m_nav.isValidPolyRef(prevRef))
if (!m_nav.isValidPolyRef(startRef) ||
startPos == null || !dtVisfinite(startPos) ||
endPos == null || !dtVisfinite(endPos) ||
filter == null ||
(prevRef != 0 && !m_nav.isValidPolyRef(prevRef)))
return DT_FAILURE | DT_INVALID_PARAM;
float[] dir = new float[3];
@@ -2925,7 +2826,10 @@ public static partial class Detour
resultCount = 0;
// Validate input
if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
if (!m_nav.isValidPolyRef(startRef) ||
centerPos == null || !dtVisfinite(centerPos) ||
radius < 0 || !float.IsFinite(radius) ||
filter == null || maxResult < 0)
return DT_FAILURE | DT_INVALID_PARAM;
m_nodePool.clear();
@@ -3113,6 +3017,11 @@ public static partial class Detour
resultCount = 0;
if (!m_nav.isValidPolyRef(startRef) ||
verts == null || nverts < 3 ||
filter == null || maxResult < 0)
return DT_FAILURE | DT_INVALID_PARAM;
// Validate input
if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
return DT_FAILURE | DT_INVALID_PARAM;
@@ -3305,8 +3214,10 @@ public static partial class Detour
resultCount = 0;
// Validate input
if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
if (!m_nav.isValidPolyRef(startRef) ||
centerPos == null || !dtVisfinite(centerPos) ||
radius < 0 || !float.IsFinite(radius) ||
filter == null || maxResult < 0)
return DT_FAILURE | DT_INVALID_PARAM;
const int MAX_STACK = 48;
@@ -3543,6 +3454,9 @@ public static partial class Detour
if (dtStatusFailed(m_nav.getTileAndPolyByRef(polyRef, ref tile, ref poly)))
return DT_FAILURE | DT_INVALID_PARAM;
if (filter == null || segmentVerts == null || maxSegments < 0)
return DT_FAILURE | DT_INVALID_PARAM;
int n = 0;
const int MAX_INTERVAL = 16;
dtSegInterval[] ints = new dtSegInterval[MAX_INTERVAL];
@@ -3705,7 +3619,10 @@ public static partial class Detour
Debug.Assert(m_openList != null);
// Validate input
if (startRef == 0 || !m_nav.isValidPolyRef(startRef))
if (!m_nav.isValidPolyRef(startRef) ||
centerPos == null || !dtVisfinite(centerPos) ||
maxRadius < 0 || !float.IsFinite(maxRadius) ||
filter == null || hitPos == null || hitNormal == null)
return DT_FAILURE | DT_INVALID_PARAM;
m_nodePool.clear();