hondacrx
1030 lines
37 KiB
C#
1030 lines
37 KiB
C#
using System;
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using System.Numerics;
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public static partial class Detour
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{
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/**
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@defgroup detour Detour
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Members in this module are used to create, manipulate, and query navigation
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meshes.
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@note This is a summary list of members. Use the index or search
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feature to find minor members.
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*/
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/// Derives the closest point on a triangle from the specified reference point.
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/// @param[out] closest The closest point on the triangle.
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/// @param[in] p The reference point from which to test. [(x, y, z)]
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/// @param[in] a Vertex A of triangle ABC. [(x, y, z)]
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/// @param[in] b Vertex B of triangle ABC. [(x, y, z)]
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/// @param[in] c Vertex C of triangle ABC. [(x, y, z)]
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public static void dtClosestPtPointTriangle(float[] closest, float[] p, float[] a, float[] b, float[] c)
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{
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// Check if P in vertex region outside A
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float[] ab = new float[3];//, ac[3], ap[3];
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float[] ac = new float[3];
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float[] ap = new float[3];
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dtVsub(ab, b, a);
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dtVsub(ac, c, a);
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dtVsub(ap, p, a);
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float d1 = dtVdot(ab, ap);
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float d2 = dtVdot(ac, ap);
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if (d1 <= 0.0f && d2 <= 0.0f)
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{
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// barycentric coordinates (1,0,0)
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dtVcopy(closest, a);
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return;
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}
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// Check if P in vertex region outside B
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float[] bp = new float[3];
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dtVsub(bp, p, b);
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float d3 = dtVdot(ab, bp);
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float d4 = dtVdot(ac, bp);
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if (d3 >= 0.0f && d4 <= d3)
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{
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// barycentric coordinates (0,1,0)
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dtVcopy(closest, b);
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return;
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}
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// Check if P in edge region of AB, if so return projection of P onto AB
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float vc = d1 * d4 - d3 * d2;
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if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f)
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{
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// barycentric coordinates (1-v,v,0)
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float _v = d1 / (d1 - d3);
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closest[0] = a[0] + _v * ab[0];
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closest[1] = a[1] + _v * ab[1];
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closest[2] = a[2] + _v * ab[2];
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return;
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}
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// Check if P in vertex region outside C
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float[] cp = new float[3];
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dtVsub(cp, p, c);
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float d5 = dtVdot(ab, cp);
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float d6 = dtVdot(ac, cp);
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if (d6 >= 0.0f && d5 <= d6)
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{
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// barycentric coordinates (0,0,1)
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dtVcopy(closest, c);
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return;
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}
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// Check if P in edge region of AC, if so return projection of P onto AC
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float vb = d5 * d2 - d1 * d6;
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if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f)
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{
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// barycentric coordinates (1-w,0,w)
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float _w = d2 / (d2 - d6);
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closest[0] = a[0] + _w * ac[0];
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closest[1] = a[1] + _w * ac[1];
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closest[2] = a[2] + _w * ac[2];
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return;
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}
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// Check if P in edge region of BC, if so return projection of P onto BC
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float va = d3 * d6 - d5 * d4;
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if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f)
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{
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// barycentric coordinates (0,1-w,w)
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float _w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
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closest[0] = b[0] + _w * (c[0] - b[0]);
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closest[1] = b[1] + _w * (c[1] - b[1]);
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closest[2] = b[2] + _w * (c[2] - b[2]);
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return;
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}
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// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
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float denom = 1.0f / (va + vb + vc);
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float v = vb * denom;
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float w = vc * denom;
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closest[0] = a[0] + ab[0] * v + ac[0] * w;
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closest[1] = a[1] + ab[1] * v + ac[1] * w;
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closest[2] = a[2] + ab[2] * v + ac[2] * w;
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}
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public static bool dtIntersectSegmentPoly2D(float[] p0, float[] p1, float[] verts, int nverts, ref float tmin, ref float tmax, ref int segMin, ref int segMax)
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{
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const float EPS = 0.00000001f;
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tmin = 0;
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tmax = 1;
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segMin = -1;
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segMax = -1;
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float[] dir = new float[3];
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dtVsub(dir, p1, p0);
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for (int i = 0, j = nverts - 1; i < nverts; j = i++)
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{
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float[] edge = new float[3];
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float[] diff = new float[3];
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dtVsub(edge, 0, verts, i * 3, verts, j * 3);
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dtVsub(diff, 0, p0, 0, verts, j * 3);
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float n = dtVperp2D(edge, diff);
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float d = dtVperp2D(dir, edge);
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if (Math.Abs(d) < EPS)
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{
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// S is nearly parallel to this edge
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if (n < 0)
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return false;
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else
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continue;
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}
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float t = n / d;
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if (d < 0)
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{
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// segment S is entering across this edge
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if (t > tmin)
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{
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tmin = t;
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segMin = j;
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// S enters after leaving polygon
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if (tmin > tmax)
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return false;
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}
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}
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else
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{
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// segment S is leaving across this edge
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if (t < tmax)
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{
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tmax = t;
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segMax = j;
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// S leaves before entering polygon
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if (tmax < tmin)
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return false;
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}
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}
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}
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return true;
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}
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public static float dtDistancePtSegSqr2D(float[] pt, int ptStart, float[] p, int pStart, float[] q, int qStart, ref float t)
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{
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float pqx = q[qStart + 0] - p[pStart + 0];
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float pqz = q[qStart + 2] - p[pStart + 2];
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float dx = pt[ptStart + 0] - p[pStart + 0];
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float dz = pt[ptStart + 2] - p[pStart + 2];
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float d = pqx * pqx + pqz * pqz;
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t = pqx * dx + pqz * dz;
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if (d > 0) t /= d;
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if (t < 0) t = 0;
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else if (t > 1) t = 1;
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dx = p[pStart + 0] + t * pqx - pt[ptStart + 0];
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dz = p[pStart + 2] + t * pqz - pt[ptStart + 2];
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return dx * dx + dz * dz;
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}
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public static float dtDistancePtSegSqr2D(float[] pt, int ptStart, Vector3 p, Vector3 q, ref float t)
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{
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float pqx = q.GetAt(0) - p.GetAt(0);
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float pqz = q.GetAt(2) - p.GetAt(2);
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float dx = pt[ptStart + 0] - p.GetAt(0);
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float dz = pt[ptStart + 2] - p.GetAt(2);
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float d = pqx * pqx + pqz * pqz;
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t = pqx * dx + pqz * dz;
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if (d > 0) t /= d;
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if (t < 0) t = 0;
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else if (t > 1) t = 1;
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dx = p.GetAt(0) + t * pqx - pt[ptStart + 0];
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dz = p.GetAt(2) + t * pqz - pt[ptStart + 2];
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return dx * dx + dz * dz;
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}
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/// Derives the centroid of a convex polygon.
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/// @param[out] tc The centroid of the polgyon. [(x, y, z)]
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/// @param[in] idx The polygon indices. [(vertIndex) * @p nidx]
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/// @param[in] nidx The number of indices in the polygon. [Limit: >= 3]
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/// @param[in] verts The polygon vertices. [(x, y, z) * vertCount]
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public static void dtCalcPolyCenter(float[] tc, ushort[] idx, int nidx, float[] verts)
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{
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tc[0] = 0.0f;
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tc[1] = 0.0f;
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tc[2] = 0.0f;
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for (int j = 0; j < nidx; ++j)
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{
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int vIndex = idx[j] * 3;
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tc[0] += verts[vIndex + 0];
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tc[1] += verts[vIndex + 1];
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tc[2] += verts[vIndex + 2];
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}
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float s = 1.0f / nidx;
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tc[0] *= s;
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tc[1] *= s;
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tc[2] *= s;
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}
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/// Derives the y-axis height of the closest point on the triangle from the specified reference point.
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/// @param[in] p The reference point from which to test. [(x, y, z)]
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/// @param[in] a Vertex A of triangle ABC. [(x, y, z)]
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/// @param[in] b Vertex B of triangle ABC. [(x, y, z)]
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/// @param[in] c Vertex C of triangle ABC. [(x, y, z)]
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/// @param[out] h The resulting height.
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public static bool dtClosestHeightPointTriangle(float[] p, int pStart, float[] a, int aStart, float[] b, int bStart, float[] c, int cStart, ref float h)
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{
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const float EPS = 1e-6f;
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float[] v0 = new float[3];
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float[] v1 = new float[3];
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float[] v2 = new float[3];
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dtVsub(v0, 0, c, cStart, a, aStart);
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dtVsub(v1, 0, b, bStart, a, aStart);
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dtVsub(v2, 0, p, pStart, a, aStart);
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// Compute scaled barycentric coordinates
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float denom = v0[0] * v1[2] - v0[2] * v1[0];
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if (MathF.Abs(denom) < EPS)
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return false;
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float u = v1[2] * v2[0] - v1[0] * v2[2];
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float v = v0[0] * v2[2] - v0[2] * v2[0];
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if (denom < 0)
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{
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denom = -denom;
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u = -u;
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v = -v;
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}
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if (u >= 0.0f && v >= 0.0f && (u + v) <= denom)
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{
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h = a[aStart + 1] + (v0[1] * u + v1[1] * v) / denom;
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return true;
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}
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return false;
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}
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/// Determines if the specified point is inside the convex polygon on the xz-plane.
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/// @param[in] pt The point to check. [(x, y, z)]
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/// @param[in] verts The polygon vertices. [(x, y, z) * @p nverts]
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/// @param[in] nverts The number of vertices. [Limit: >= 3]
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// @return True if the point is inside the polygon.
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// @par
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///
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/// All points are projected onto the xz-plane, so the y-values are ignored.
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public static bool dtPointInPolygon(float[] pt, float[] verts, int nverts)
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{
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// TODO: Replace pnpoly with triArea2D tests?
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int i, j;
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bool c = false;
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for (i = 0, j = nverts - 1; i < nverts; j = i++)
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{
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int viIndex = i * 3;
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int vjIndex = j * 3;
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if (((verts[viIndex + 2] > pt[2]) != (verts[vjIndex + 2] > pt[2])) &&
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(pt[0] < (verts[vjIndex + 0] - verts[viIndex + 0]) * (pt[2] - verts[viIndex + 2]) / (verts[vjIndex + 2] - verts[viIndex + 2]) + verts[viIndex + 0]))
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c = !c;
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}
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return c;
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}
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public static bool dtDistancePtPolyEdgesSqr(float[] pt, int ptStart, float[] v, int nverts, float[] ed, float[] et)
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{
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// TODO: Replace pnpoly with triArea2D tests?
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int i, j;
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bool c = false;
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for (i = 0, j = nverts - 1; i < nverts; j = i++)
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{
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int vi = i * 3;
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int vj = j * 3;
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if (((v[vi + 2] > pt[ptStart + 2]) != (v[vj + 2] > pt[ptStart + 2])) &&
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(pt[ptStart + 0] < (v[vj + 0] - v[vi + 0]) * (pt[ptStart + 2] - v[vi + 2]) / (v[vj + 2] - v[vi + 2]) + v[vi + 0]))
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c = !c;
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ed[j] = dtDistancePtSegSqr2D(pt, ptStart, v, vj, v, vi, ref et[j]);
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}
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return c;
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}
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public static void projectPoly(float[] axis, float[] poly, int npoly, ref float rmin, ref float rmax)
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{
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rmin = rmax = dtVdot2D(axis, poly);
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for (int i = 1; i < npoly; ++i)
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{
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float d = dtVdot2D(axis, 0, poly, i * 3);
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rmin = Math.Min(rmin, d);
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rmax = Math.Max(rmax, d);
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}
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}
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public static bool overlapRange(float amin, float amax, float bmin, float bmax, float eps)
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{
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return ((amin + eps) > bmax || (amax - eps) < bmin) ? false : true;
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}
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/// Determines if the two convex polygons overlap on the xz-plane.
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/// @param[in] polya Polygon A vertices. [(x, y, z) * @p npolya]
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/// @param[in] npolya The number of vertices in polygon A.
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/// @param[in] polyb Polygon B vertices. [(x, y, z) * @p npolyb]
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/// @param[in] npolyb The number of vertices in polygon B.
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// @return True if the two polygons overlap.
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// @par
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///
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/// All vertices are projected onto the xz-plane, so the y-values are ignored.
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public static bool dtOverlapPolyPoly2D(float[] polya, int npolya, float[] polyb, int npolyb)
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{
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const float eps = 1e-4f;
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for (int i = 0, j = npolya - 1; i < npolya; j = i++)
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{
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int vaStart = j * 3;
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int vbStart = i * 3;
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float[] n = new float[] { polya[vbStart + 2] - polya[vaStart + 2], 0, -(polya[vbStart + 0] - polya[vaStart + 0]) };
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float amin = 0.0f, amax = 0.0f, bmin = 0.0f, bmax = 0.0f;
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projectPoly(n, polya, npolya, ref amin, ref amax);
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projectPoly(n, polyb, npolyb, ref bmin, ref bmax);
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if (!overlapRange(amin, amax, bmin, bmax, eps))
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{
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// Found separating axis
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return false;
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}
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}
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for (int i = 0, j = npolyb - 1; i < npolyb; j = i++)
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{
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int vaStart = j * 3;
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int vbStart = i * 3;
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float[] n = new float[] { polyb[vbStart + 2] - polyb[vaStart + 2], 0, -(polyb[vbStart + 0] - polyb[vaStart + 0]) };
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float amin = 0.0f, amax = 0.0f, bmin = 0.0f, bmax = 0.0f;
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projectPoly(n, polya, npolya, ref amin, ref amax);
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projectPoly(n, polyb, npolyb, ref bmin, ref bmax);
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if (!overlapRange(amin, amax, bmin, bmax, eps))
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{
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// Found separating axis
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return false;
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}
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}
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return true;
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}
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// Returns a random point in a convex polygon.
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// Adapted from Graphics Gems article.
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public static void dtRandomPointInConvexPoly(float[] pts, int npts, float[] areas, float s, float t, float[] _out)
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{
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// Calc triangle araes
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float areasum = 0.0f;
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for (int i = 2; i < npts; i++)
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{
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areas[i] = dtTriArea2D(pts, 0, pts, (i - 1) * 3, pts, i * 3);
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areasum += Math.Max(0.001f, areas[i]);
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}
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// Find sub triangle weighted by area.
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float thr = s * areasum;
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float acc = 0.0f;
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float u = 1.0f;
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int tri = npts - 1;
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for (int i = 2; i < npts; i++)
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{
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float dacc = areas[i];
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if (thr >= acc && thr < (acc + dacc))
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{
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u = (thr - acc) / dacc;
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tri = i;
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break;
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}
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acc += dacc;
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}
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float v = (float)Math.Sqrt(t);
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float a = 1 - v;
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float b = (1 - u) * v;
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float c = u * v;
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int paStart = 0;
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int pbStart = (tri - 1) * 3;
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int pcStart = tri * 3;
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_out[0] = a * pts[paStart + 0] + b * pts[pbStart + 0] + c * pts[pcStart + 0];
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_out[1] = a * pts[paStart + 1] + b * pts[pbStart + 1] + c * pts[pcStart + 1];
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_out[2] = a * pts[paStart + 2] + b * pts[pbStart + 2] + c * pts[pcStart + 2];
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}
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public static float vperpXZ(float[] a, float[] b)
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{
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return a[0] * b[2] - a[2] * b[0];
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}
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public static bool dtIntersectSegSeg2D(float[] ap, float[] aq, float[] bp, float[] bq, ref float s, ref float t)
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{
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float[] u = new float[3];
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float[] v = new float[3];
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float[] w = new float[3];
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dtVsub(u, aq, ap);
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dtVsub(v, bq, bp);
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dtVsub(w, ap, bp);
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float d = vperpXZ(u, v);
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if (Math.Abs(d) < 1e-6f) return false;
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s = vperpXZ(v, w) / d;
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t = vperpXZ(u, w) / d;
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return true;
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}
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public static bool dtIntersectSegSeg2D(float[] ap, int apStart, float[] aq, int aqStart, float[] bp, int bpStart, float[] bq, int bqStart, ref float s, ref float t)
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{
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float[] u = new float[3];
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float[] v = new float[3];
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float[] w = new float[3];
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dtVsub(u, 0, aq, aqStart, ap, apStart);
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dtVsub(v, 0, bq, bqStart, bp, bpStart);
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dtVsub(w, 0, ap, apStart, bp, bpStart);
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float d = vperpXZ(u, v);
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if (Math.Abs(d) < 1e-6f) return false;
|
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s = vperpXZ(v, w) / d;
|
|
t = vperpXZ(u, w) / d;
|
|
return true;
|
|
}
|
|
|
|
/// Swaps the values of the two parameters.
|
|
/// @param[in,out] a Value A
|
|
/// @param[in,out] b Value B
|
|
static void dtSwap<T>(ref T lhs, ref T rhs)
|
|
{
|
|
T temp = lhs;
|
|
lhs = rhs;
|
|
rhs = temp;
|
|
}
|
|
|
|
/// Returns the square of the value.
|
|
/// @param[in] a The value.
|
|
/// @return The square of the value.
|
|
public static float dtSqr(float a)
|
|
{
|
|
return a * a;
|
|
}
|
|
public static int dtSqr(int a)
|
|
{
|
|
return a * a;
|
|
}
|
|
public static uint dtSqr(uint a)
|
|
{
|
|
return a * a;
|
|
}
|
|
public static byte dtSqr(byte a)
|
|
{
|
|
return (byte)(a * a);
|
|
}
|
|
|
|
/// Clamps the value to the specified range.
|
|
/// @param[in] v The value to clamp.
|
|
/// @param[in] mn The minimum permitted return value.
|
|
/// @param[in] mx The maximum permitted return value.
|
|
/// @return The value, clamped to the specified range.
|
|
// C#: Originally a template function but operators and template types in c# are a no
|
|
public static int dtClamp(int v, int mn, int mx)
|
|
{
|
|
return v < mn ? mn : (v > mx ? mx : v);
|
|
}
|
|
public static uint dtClamp(uint v, uint mn, uint mx)
|
|
{
|
|
return v < mn ? mn : (v > mx ? mx : v);
|
|
}
|
|
public static byte dtClamp(byte v, byte mn, byte mx)
|
|
{
|
|
return v < mn ? mn : (v > mx ? mx : v);
|
|
}
|
|
public static ushort dtClamp(ushort v, ushort mn, ushort mx)
|
|
{
|
|
return v < mn ? mn : (v > mx ? mx : v);
|
|
}
|
|
public static float dtClamp(float v, float mn, float mx)
|
|
{
|
|
return v < mn ? mn : (v > mx ? mx : v);
|
|
}
|
|
|
|
// @}
|
|
// @name Vector helper functions.
|
|
// @{
|
|
|
|
/// Derives the cross product of two vectors. (@p v1 x @p v2)
|
|
/// @param[out] dest The cross product. [(x, y, z)]
|
|
/// @param[in] v1 A Vector [(x, y, z)]
|
|
/// @param[in] v2 A vector [(x, y, z)]
|
|
public static void dtVcross(float[] dest, float[] v1, float[] v2)
|
|
{
|
|
dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
|
|
dest[1] = v1[2] * v2[0] - v1[0] * v2[2];
|
|
dest[2] = v1[0] * v2[1] - v1[1] * v2[0];
|
|
}
|
|
/// Derives the dot product of two vectors. (@p v1 . @p v2)
|
|
/// @param[in] v1 A Vector [(x, y, z)]
|
|
/// @param[in] v2 A vector [(x, y, z)]
|
|
// @return The dot product.
|
|
public static float dtVdot(float[] v1, float[] v2)
|
|
{
|
|
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
|
|
}
|
|
public static float dtVdot(float[] v1, int v1Start, float[] v2, int v2Start)
|
|
{
|
|
return v1[v1Start + 0] * v2[v2Start + 0] + v1[v1Start + 1] * v2[v2Start + 1] + v1[v1Start + 2] * v2[v2Start + 2];
|
|
}
|
|
|
|
/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
|
|
/// @param[out] dest The result vector. [(x, y, z)]
|
|
/// @param[in] v1 The base vector. [(x, y, z)]
|
|
/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)]
|
|
/// @param[in] s The amount to scale @p v2 by before adding to @p v1.
|
|
public static void dtVmad(float[] dest, float[] v1, float[] v2, float s)
|
|
{
|
|
dest[0] = v1[0] + v2[0] * s;
|
|
dest[1] = v1[1] + v2[1] * s;
|
|
dest[2] = v1[2] + v2[2] * s;
|
|
}
|
|
|
|
/// Performs a linear interpolation between two vectors. (@p v1 toward @p v2)
|
|
/// @param[out] dest The result vector. [(x, y, x)]
|
|
/// @param[in] v1 The starting vector.
|
|
/// @param[in] v2 The destination vector.
|
|
/// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0]
|
|
public static void dtVlerp(float[] dest, float[] v1, float[] v2, float t)
|
|
{
|
|
dest[0] = v1[0] + (v2[0] - v1[0]) * t;
|
|
dest[1] = v1[1] + (v2[1] - v1[1]) * t;
|
|
dest[2] = v1[2] + (v2[2] - v1[2]) * t;
|
|
}
|
|
public static void dtVlerp(float[] dest, int destStart, float[] v1, int v1Start, float[] v2, int v2Start, float t)
|
|
{
|
|
dest[destStart + 0] = v1[v1Start + 0] + (v2[v2Start + 0] - v1[v1Start + 0]) * t;
|
|
dest[destStart + 1] = v1[v1Start + 1] + (v2[v2Start + 1] - v1[v1Start + 1]) * t;
|
|
dest[destStart + 2] = v1[v1Start + 2] + (v2[v2Start + 2] - v1[v1Start + 2]) * t;
|
|
}
|
|
/// Performs a vector addition. (@p v1 + @p v2)
|
|
/// @param[out] dest The result vector. [(x, y, z)]
|
|
/// @param[in] v1 The base vector. [(x, y, z)]
|
|
/// @param[in] v2 The vector to add to @p v1. [(x, y, z)]
|
|
public static void dtVadd(float[] dest, float[] v1, float[] v2)
|
|
{
|
|
dest[0] = v1[0] + v2[0];
|
|
dest[1] = v1[1] + v2[1];
|
|
dest[2] = v1[2] + v2[2];
|
|
}
|
|
public static void dtVadd(float[] dest, int destStart, float[] v1, int v1Start, float[] v2, int v2Start)
|
|
{
|
|
dest[destStart + 0] = v1[v1Start + 0] + v2[v2Start + 0];
|
|
dest[destStart + 1] = v1[v1Start + 1] + v2[v2Start + 1];
|
|
dest[destStart + 2] = v1[v1Start + 2] + v2[v2Start + 2];
|
|
}
|
|
|
|
/// Performs a vector subtraction. (@p v1 - @p v2)
|
|
/// @param[out] dest The result vector. [(x, y, z)]
|
|
/// @param[in] v1 The base vector. [(x, y, z)]
|
|
/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)]
|
|
public static void dtVsub(float[] dest, float[] v1, float[] v2)
|
|
{
|
|
dest[0] = v1[0] - v2[0];
|
|
dest[1] = v1[1] - v2[1];
|
|
dest[2] = v1[2] - v2[2];
|
|
}
|
|
public static void dtVsub(float[] dest, int destStart, float[] v1, int v1Start, float[] v2, int v2Start)
|
|
{
|
|
dest[destStart + 0] = v1[v1Start + 0] - v2[v2Start + 0];
|
|
dest[destStart + 1] = v1[v1Start + 1] - v2[v2Start + 1];
|
|
dest[destStart + 2] = v1[v1Start + 2] - v2[v2Start + 2];
|
|
}
|
|
|
|
/// Scales the vector by the specified value. (@p v * @p t)
|
|
/// @param[out] dest The result vector. [(x, y, z)]
|
|
/// @param[in] v The vector to scale. [(x, y, z)]
|
|
/// @param[in] t The scaling factor.
|
|
public static void dtVscale(float[] dest, float[] v, float t)
|
|
{
|
|
dest[0] = v[0] * t;
|
|
dest[1] = v[1] * t;
|
|
dest[2] = v[2] * t;
|
|
}
|
|
public static void dtVscale(float[] dest, int destStart, float[] v, int vStart, float t)
|
|
{
|
|
dest[destStart + 0] = v[vStart + 0] * t;
|
|
dest[destStart + 1] = v[vStart + 1] * t;
|
|
dest[destStart + 2] = v[vStart + 2] * t;
|
|
}
|
|
/// Selects the minimum value of each element from the specified vectors.
|
|
/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)]
|
|
/// @param[in] v A vector. [(x, y, z)]
|
|
public static void dtVmin(float[] mn, float[] v)
|
|
{
|
|
mn[0] = Math.Min(mn[0], v[0]);
|
|
mn[1] = Math.Min(mn[1], v[1]);
|
|
mn[2] = Math.Min(mn[2], v[2]);
|
|
}
|
|
public static void dtVmin(float[] mn, int mnStart, float[] v, int vStart)
|
|
{
|
|
mn[mnStart + 0] = Math.Min(mn[mnStart + 0], v[vStart + 0]);
|
|
mn[mnStart + 1] = Math.Min(mn[mnStart + 1], v[vStart + 1]);
|
|
mn[mnStart + 2] = Math.Min(mn[mnStart + 2], v[vStart + 2]);
|
|
}
|
|
|
|
/// Selects the maximum value of each element from the specified vectors.
|
|
/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)]
|
|
/// @param[in] v A vector. [(x, y, z)]
|
|
public static void dtVmax(float[] mx, float[] v)
|
|
{
|
|
mx[0] = Math.Max(mx[0], v[0]);
|
|
mx[1] = Math.Max(mx[1], v[1]);
|
|
mx[2] = Math.Max(mx[2], v[2]);
|
|
}
|
|
public static void dtVmax(float[] mx, int mxStart, float[] v, int vStart)
|
|
{
|
|
mx[mxStart + 0] = Math.Max(mx[mxStart + 0], v[vStart + 0]);
|
|
mx[mxStart + 1] = Math.Max(mx[mxStart + 1], v[vStart + 1]);
|
|
mx[mxStart + 2] = Math.Max(mx[mxStart + 2], v[vStart + 2]);
|
|
}
|
|
|
|
/// Sets the vector elements to the specified values.
|
|
/// @param[out] dest The result vector. [(x, y, z)]
|
|
/// @param[in] x The x-value of the vector.
|
|
/// @param[in] y The y-value of the vector.
|
|
/// @param[in] z The z-value of the vector.
|
|
public static void dtVset(float[] dest, float x, float y, float z)
|
|
{
|
|
dest[0] = x; dest[1] = y; dest[2] = z;
|
|
}
|
|
public static void dtVset(float[] dest, int destStart, float x, float y, float z)
|
|
{
|
|
dest[destStart + 0] = x; dest[destStart + 1] = y; dest[destStart + 2] = z;
|
|
}
|
|
|
|
/// Performs a vector copy.
|
|
/// @param[out] dest The result. [(x, y, z)]
|
|
/// @param[in] a The vector to copy. [(x, y, z)]
|
|
public static void dtVcopy(float[] dest, float[] a)
|
|
{
|
|
dest[0] = a[0];
|
|
dest[1] = a[1];
|
|
dest[2] = a[2];
|
|
}
|
|
public static void dtVcopy(float[] dest, int destStart, float[] a, int aStart)
|
|
{
|
|
dest[destStart + 0] = a[aStart + 0];
|
|
dest[destStart + 1] = a[aStart + 1];
|
|
dest[destStart + 2] = a[aStart + 2];
|
|
}
|
|
/// Derives the scalar length of the vector.
|
|
/// @param[in] v The vector. [(x, y, z)]
|
|
// @return The scalar length of the vector.
|
|
public static float dtVlen(float[] v)
|
|
{
|
|
return (float)Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
|
|
}
|
|
public static float dtVlen(float[] v, int vStart)
|
|
{
|
|
return (float)Math.Sqrt(v[0 + vStart] * v[0 + vStart] + v[1 + vStart] * v[1 + vStart] + v[2 + vStart] * v[2 + vStart]);
|
|
}
|
|
|
|
/// Derives the square of the scalar length of the vector. (len * len)
|
|
/// @param[in] v The vector. [(x, y, z)]
|
|
// @return The square of the scalar length of the vector.
|
|
public static float dtVlenSqr(float[] v)
|
|
{
|
|
return v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
|
|
}
|
|
public static float dtVlenSqr(float[] v, int vStart)
|
|
{
|
|
return v[0 + vStart] * v[0 + vStart] + v[1 + vStart] * v[1 + vStart] + v[2 + vStart] * v[2 + vStart];
|
|
}
|
|
|
|
/// Returns the distance between two points.
|
|
/// @param[in] v1 A point. [(x, y, z)]
|
|
/// @param[in] v2 A point. [(x, y, z)]
|
|
// @return The distance between the two points.
|
|
public static float dtVdist(float[] v1, float[] v2)
|
|
{
|
|
float dx = v2[0] - v1[0];
|
|
float dy = v2[1] - v1[1];
|
|
float dz = v2[2] - v1[2];
|
|
return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
|
|
}
|
|
public static float dtVdist(float[] v1, int v1Start, float[] v2, int v2Start)
|
|
{
|
|
float dx = v2[v2Start + 0] - v1[v1Start + 0];
|
|
float dy = v2[v2Start + 1] - v1[v1Start + 1];
|
|
float dz = v2[v2Start + 2] - v1[v1Start + 2];
|
|
return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
|
|
}
|
|
|
|
/// Returns the square of the distance between two points.
|
|
/// @param[in] v1 A point. [(x, y, z)]
|
|
/// @param[in] v2 A point. [(x, y, z)]
|
|
// @return The square of the distance between the two points.
|
|
public static float dtVdistSqr(float[] v1, float[] v2)
|
|
{
|
|
float dx = v2[0] - v1[0];
|
|
float dy = v2[1] - v1[1];
|
|
float dz = v2[2] - v1[2];
|
|
return dx * dx + dy * dy + dz * dz;
|
|
}
|
|
public static float dtVdistSqr(float[] v1, int v1Start, float[] v2, int v2Start)
|
|
{
|
|
float dx = v2[v2Start + 0] - v1[v1Start + 0];
|
|
float dy = v2[v2Start + 1] - v1[v1Start + 1];
|
|
float dz = v2[v2Start + 2] - v1[v1Start + 2];
|
|
return dx * dx + dy * dy + dz * dz;
|
|
}
|
|
|
|
/// Derives the distance between the specified points on the xz-plane.
|
|
/// @param[in] v1 A point. [(x, y, z)]
|
|
/// @param[in] v2 A point. [(x, y, z)]
|
|
// @return The distance between the point on the xz-plane.
|
|
///
|
|
/// The vectors are projected onto the xz-plane, so the y-values are ignored.
|
|
public static float dtVdist2D(float[] v1, float[] v2)
|
|
{
|
|
float dx = v2[0] - v1[0];
|
|
float dz = v2[2] - v1[2];
|
|
return (float)Math.Sqrt(dx * dx + dz * dz);
|
|
}
|
|
public static float dtVdist2D(float[] v1, int v1Start, float[] v2, int v2Start)
|
|
{
|
|
float dx = v2[v2Start + 0] - v1[v1Start + 0];
|
|
float dz = v2[v2Start + 2] - v1[v1Start + 2];
|
|
return (float)Math.Sqrt(dx * dx + dz * dz);
|
|
}
|
|
/// Derives the square of the distance between the specified points on the xz-plane.
|
|
/// @param[in] v1 A point. [(x, y, z)]
|
|
/// @param[in] v2 A point. [(x, y, z)]
|
|
// @return The square of the distance between the point on the xz-plane.
|
|
public static float dtVdist2DSqr(float[] v1, float[] v2)
|
|
{
|
|
float dx = v2[0] - v1[0];
|
|
float dz = v2[2] - v1[2];
|
|
return dx * dx + dz * dz;
|
|
}
|
|
public static float dtVdist2DSqr(float[] v1, int v1Start, float[] v2, int v2Start)
|
|
{
|
|
float dx = v2[v2Start + 0] - v1[v1Start + 0];
|
|
float dz = v2[v2Start + 2] - v1[v1Start + 2];
|
|
return dx * dx + dz * dz;
|
|
}
|
|
/// Normalizes the vector.
|
|
/// @param[in,out] v The vector to normalize. [(x, y, z)]
|
|
public static void dtVnormalize(float[] v)
|
|
{
|
|
float d = 1.0f / (float)Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
|
|
v[0] *= d;
|
|
v[1] *= d;
|
|
v[2] *= d;
|
|
}
|
|
public static void dtVnormalize(float[] v, int vStart)
|
|
{
|
|
float d = 1.0f / (float)Math.Sqrt(v[vStart + 0] * v[vStart + 0] + v[vStart + 1] * v[vStart + 1] + v[vStart + 2] * v[vStart + 2]);
|
|
v[vStart + 0] *= d;
|
|
v[vStart + 1] *= d;
|
|
v[vStart + 2] *= d;
|
|
}
|
|
|
|
/// Performs a 'sloppy' colocation check of the specified points.
|
|
/// @param[in] p0 A point. [(x, y, z)]
|
|
/// @param[in] p1 A point. [(x, y, z)]
|
|
// @return True if the points are considered to be at the same location.
|
|
///
|
|
/// Basically, this function will return true if the specified points are
|
|
/// close enough to eachother to be considered colocated.
|
|
public static bool dtVequal(float[] p0, float[] p1)
|
|
{
|
|
const float thrSqrt = (1.0f / 16384.0f);
|
|
const float thr = thrSqrt * thrSqrt;
|
|
float d = dtVdistSqr(p0, p1);
|
|
return d < thr;
|
|
}
|
|
public static bool dtVequal(float[] p0, int p0Start, float[] p1, int p1Start)
|
|
{
|
|
const float thrSqrt = (1.0f / 16384.0f);
|
|
const float thr = thrSqrt * thrSqrt;
|
|
float d = dtVdistSqr(p0, p0Start, p1, p1Start);
|
|
return d < thr;
|
|
}
|
|
|
|
/// Checks that the specified vector's components are all finite.
|
|
/// @param[in] v A point. [(x, y, z)]
|
|
/// @return True if all of the point's components are finite, i.e. not NaN
|
|
/// or any of the infinities.
|
|
public static bool dtVisfinite(float[] v)
|
|
{
|
|
|
|
bool result =
|
|
float.IsFinite(v[0]) &&
|
|
float.IsFinite(v[1]) &&
|
|
float.IsFinite(v[2]);
|
|
|
|
return result;
|
|
}
|
|
|
|
/// Checks that the specified vector's 2D components are finite.
|
|
/// @param[in] v A point. [(x, y, z)]
|
|
public static bool dtVisfinite2D(float[] v)
|
|
{
|
|
bool result = float.IsFinite(v[0]) && float.IsFinite(v[2]);
|
|
return result;
|
|
}
|
|
|
|
/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
|
|
/// @param[in] u A vector [(x, y, z)]
|
|
/// @param[in] v A vector [(x, y, z)]
|
|
// @return The dot product on the xz-plane.
|
|
///
|
|
/// The vectors are projected onto the xz-plane, so the y-values are ignored.
|
|
public static float dtVdot2D(float[] u, float[] v)
|
|
{
|
|
return u[0] * v[0] + u[2] * v[2];
|
|
}
|
|
public static float dtVdot2D(float[] u, int uStart, float[] v, int vStart)
|
|
{
|
|
return u[uStart + 0] * v[vStart + 0] + u[uStart + 2] * v[vStart + 2];
|
|
}
|
|
|
|
/// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz)
|
|
/// @param[in] u The LHV vector [(x, y, z)]
|
|
/// @param[in] v The RHV vector [(x, y, z)]
|
|
// @return The dot product on the xz-plane.
|
|
///
|
|
/// The vectors are projected onto the xz-plane, so the y-values are ignored.
|
|
public static float dtVperp2D(float[] u, float[] v)
|
|
{
|
|
return u[2] * v[0] - u[0] * v[2];
|
|
}
|
|
public static float dtVperp2D(float[] u, int uStart, float[] v, int vStart)
|
|
{
|
|
return u[uStart + 2] * v[vStart + 0] - u[uStart + 0] * v[vStart + 2];
|
|
}
|
|
// @}
|
|
// @name Computational geometry helper functions.
|
|
// @{
|
|
|
|
/**
|
|
|
|
@fn float dtTriArea2D(const float* a, const float* b, const float* c)
|
|
@par
|
|
|
|
The vertices are projected onto the xz-plane, so the y-values are ignored.
|
|
|
|
This is a low cost function than can be used for various purposes. Its main purpose
|
|
is for point/line relationship testing.
|
|
|
|
In all cases: A value of zero indicates that all vertices are collinear or represent the same point.
|
|
(On the xz-plane.)
|
|
|
|
When used for point/line relationship tests, AB usually represents a line against which
|
|
the C point is to be tested. In this case:
|
|
|
|
A positive value indicates that point C is to the left of line AB, looking from A toward B.<br/>
|
|
A negative value indicates that point C is to the right of lineAB, looking from A toward B.
|
|
|
|
When used for evaluating a triangle:
|
|
|
|
The absolute value of the return value is two times the area of the triangle when it is
|
|
projected onto the xz-plane.
|
|
|
|
A positive return value indicates:
|
|
|
|
<ul>
|
|
<li>The vertices are wrapped in the normal Detour wrap direction.</li>
|
|
<li>The triangle's 3D face normal is in the general up direction.</li>
|
|
</ul>
|
|
|
|
A negative return value indicates:
|
|
|
|
<ul>
|
|
<li>The vertices are reverse wrapped. (Wrapped opposite the normal Detour wrap direction.)</li>
|
|
<li>The triangle's 3D face normal is in the general down direction.</li>
|
|
</ul>
|
|
|
|
*/
|
|
|
|
/// Derives the signed xz-plane area of the triangle ABC, or the relationship of line AB to point C.
|
|
/// @param[in] a Vertex A. [(x, y, z)]
|
|
/// @param[in] b Vertex B. [(x, y, z)]
|
|
/// @param[in] c Vertex C. [(x, y, z)]
|
|
// @return The signed xz-plane area of the triangle.
|
|
public static float dtTriArea2D(float[] a, float[] b, float[] c)
|
|
{
|
|
float abx = b[0] - a[0];
|
|
float abz = b[2] - a[2];
|
|
float acx = c[0] - a[0];
|
|
float acz = c[2] - a[2];
|
|
return acx * abz - abx * acz;
|
|
}
|
|
public static float dtTriArea2D(float[] a, int aStart, float[] b, int bStart, float[] c, int cStart)
|
|
{
|
|
float abx = b[bStart + 0] - a[aStart + 0];
|
|
float abz = b[bStart + 2] - a[aStart + 2];
|
|
float acx = c[cStart + 0] - a[aStart + 0];
|
|
float acz = c[cStart + 2] - a[aStart + 2];
|
|
return acx * abz - abx * acz;
|
|
}
|
|
/// Determines if two axis-aligned bounding boxes overlap.
|
|
/// @param[in] amin Minimum bounds of box A. [(x, y, z)]
|
|
/// @param[in] amax Maximum bounds of box A. [(x, y, z)]
|
|
/// @param[in] bmin Minimum bounds of box B. [(x, y, z)]
|
|
/// @param[in] bmax Maximum bounds of box B. [(x, y, z)]
|
|
// @return True if the two AABB's overlap.
|
|
// @see dtOverlapBounds
|
|
public static bool dtOverlapQuantBounds(ushort[] amin, ushort[] amax, ushort[] bmin, ushort[] bmax)
|
|
{
|
|
bool overlap = true;
|
|
overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
|
|
overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
|
|
overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
|
|
return overlap;
|
|
}
|
|
|
|
/// Determines if two axis-aligned bounding boxes overlap.
|
|
/// @param[in] amin Minimum bounds of box A. [(x, y, z)]
|
|
/// @param[in] amax Maximum bounds of box A. [(x, y, z)]
|
|
/// @param[in] bmin Minimum bounds of box B. [(x, y, z)]
|
|
/// @param[in] bmax Maximum bounds of box B. [(x, y, z)]
|
|
// @return True if the two AABB's overlap.
|
|
// @see dtOverlapQuantBounds
|
|
public static bool dtOverlapBounds(float[] amin, float[] amax, float[] bmin, float[] bmax)
|
|
{
|
|
bool overlap = true;
|
|
overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
|
|
overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
|
|
overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
|
|
return overlap;
|
|
}
|
|
|
|
// @}
|
|
// @name Miscellanious functions.
|
|
// @{
|
|
|
|
public static uint dtNextPow2(uint v)
|
|
{
|
|
v--;
|
|
v |= v >> 1;
|
|
v |= v >> 2;
|
|
v |= v >> 4;
|
|
v |= v >> 8;
|
|
v |= v >> 16;
|
|
v++;
|
|
return v;
|
|
}
|
|
|
|
public static int dtIlog2(uint v)
|
|
{
|
|
//C# not happy with shifting uints
|
|
int r;
|
|
int shift;
|
|
r = ((v > 0xffff) ? 1 : 0) << 4; v >>= r;
|
|
shift = ((v > 0xff) ? 1 : 0) << 3; v >>= shift; r |= shift;
|
|
shift = ((v > 0xf) ? 1 : 0) << 2; v >>= shift; r |= shift;
|
|
shift = ((v > 0x3) ? 1 : 0) << 1; v >>= shift; r |= shift;
|
|
r |= ((int)v >> 1);
|
|
return r;
|
|
}
|
|
|
|
public static int dtAlign4(int x)
|
|
{
|
|
return (x + 3) & ~3;
|
|
}
|
|
|
|
public static int dtOppositeTile(int side)
|
|
{
|
|
return (side + 4) & 0x7;
|
|
}
|
|
|
|
public static void dtSwapEndian(ref ushort v)
|
|
{
|
|
byte[] bytes = BitConverter.GetBytes(v);
|
|
System.Array.Reverse(bytes);
|
|
v = BitConverter.ToUInt16(bytes, 0);
|
|
}
|
|
|
|
public static void dtSwapEndian(ref short v)
|
|
{
|
|
byte[] bytes = BitConverter.GetBytes(v);
|
|
System.Array.Reverse(bytes);
|
|
v = BitConverter.ToInt16(bytes, 0);
|
|
}
|
|
|
|
public static void dtSwapEndian(ref uint v)
|
|
{
|
|
byte[] bytes = BitConverter.GetBytes(v);
|
|
System.Array.Reverse(bytes);
|
|
v = BitConverter.ToUInt32(bytes, 0);
|
|
}
|
|
|
|
public static void dtSwapEndian(ref int v)
|
|
{
|
|
byte[] bytes = BitConverter.GetBytes(v);
|
|
System.Array.Reverse(bytes);
|
|
v = BitConverter.ToInt32(bytes, 0);
|
|
}
|
|
|
|
public static void dtSwapEndian(ref float v)
|
|
{
|
|
byte[] bytes = BitConverter.GetBytes(v);
|
|
System.Array.Reverse(bytes);
|
|
v = BitConverter.ToSingle(bytes, 0);
|
|
}
|
|
|
|
public static void dtcsArrayItemsCreate<T>(T[] array) where T : class, new()
|
|
{
|
|
for (int i = 0; i < array.Length; ++i)
|
|
{
|
|
array[i] = new T();
|
|
}
|
|
}
|
|
} |