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Changed RcChunkyTriMesh to separate the function and variable.
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@ikpil
ikpil committed Jun 11, 2024
1 parent 650849b commit 5827a43
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7 changes: 4 additions & 3 deletions CHANGELOG.md
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Expand Up @@ -13,9 +13,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
- Fixed bug where the dynamic voxel save file browser doesn't appear in Recast.Demo

### Changed
- Changed to reuse samples and edges list in BuildPolyDetail()
- Changed 'heights', 'areas', 'cons', and 'regs' arrays to byte arrays for uniformity and efficiency in DtTileCacheLayer
- Changed 'reg', 'area' arrays to byte arrays for uniformity and efficiency in DtTileCacheContour
- Changed to reuse samples and edges list in `BuildPolyDetail()`
- Changed `heights`, `areas`, `cons`, and `regs` arrays to byte arrays for uniformity and efficiency in `DtTileCacheLayer`
- Changed `reg`, `area` arrays to byte arrays for uniformity and efficiency in `DtTileCacheContour`
- Changed `RcChunkyTriMesh` to separate the function and variable.

### Removed
- Removed RcMeshDetails.VdistSq2(float[], float[])
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2 changes: 1 addition & 1 deletion src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
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Expand Up @@ -150,7 +150,7 @@ public bool RaycastMesh(RcVec3f src, RcVec3f dst, out float tmin)
q.X = src.X + (dst.X - src.X) * btmax;
q.Y = src.Z + (dst.Z - src.Z) * btmax;

List<RcChunkyTriMeshNode> chunks = _mesh.chunkyTriMesh.GetChunksOverlappingSegment(p, q);
List<RcChunkyTriMeshNode> chunks = RcChunkyTriMeshs.GetChunksOverlappingSegment(_mesh.chunkyTriMesh, p, q);
if (0 == chunks.Count)
{
return false;
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270 changes: 3 additions & 267 deletions src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs
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Expand Up @@ -18,278 +18,14 @@ misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

using System;
using System.Collections.Generic;
using DotRecast.Core.Numerics;

namespace DotRecast.Recast.Geom
{
public class RcChunkyTriMesh
{
private List<RcChunkyTriMeshNode> nodes;
private int ntris;
private int maxTrisPerChunk;

private void CalcExtends(BoundsItem[] items, int imin, int imax, ref RcVec2f bmin, ref RcVec2f bmax)
{
bmin.X = items[imin].bmin.X;
bmin.Y = items[imin].bmin.Y;

bmax.X = items[imin].bmax.X;
bmax.Y = items[imin].bmax.Y;

for (int i = imin + 1; i < imax; ++i)
{
BoundsItem it = items[i];
if (it.bmin.X < bmin.X)
{
bmin.X = it.bmin.X;
}

if (it.bmin.Y < bmin.Y)
{
bmin.Y = it.bmin.Y;
}

if (it.bmax.X > bmax.X)
{
bmax.X = it.bmax.X;
}

if (it.bmax.Y > bmax.Y)
{
bmax.Y = it.bmax.Y;
}
}
}

private int LongestAxis(float x, float y)
{
return y > x ? 1 : 0;
}

private void Subdivide(BoundsItem[] items, int imin, int imax, int trisPerChunk, List<RcChunkyTriMeshNode> nodes, int[] inTris)
{
int inum = imax - imin;

RcChunkyTriMeshNode node = new RcChunkyTriMeshNode();
nodes.Add(node);

if (inum <= trisPerChunk)
{
// Leaf
CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);

// Copy triangles.
node.i = nodes.Count;
node.tris = new int[inum * 3];

int dst = 0;
for (int i = imin; i < imax; ++i)
{
int src = items[i].i * 3;
node.tris[dst++] = inTris[src];
node.tris[dst++] = inTris[src + 1];
node.tris[dst++] = inTris[src + 2];
}
}
else
{
// Split
CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);

int axis = LongestAxis(node.bmax.X - node.bmin.X, node.bmax.Y - node.bmin.Y);

if (axis == 0)
{
Array.Sort(items, imin, imax - imin, BoundsItemXComparer.Shared);
// Sort along x-axis
}
else if (axis == 1)
{
Array.Sort(items, imin, imax - imin, BoundsItemYComparer.Shared);
// Sort along y-axis
}

int isplit = imin + inum / 2;

// Left
Subdivide(items, imin, isplit, trisPerChunk, nodes, inTris);
// Right
Subdivide(items, isplit, imax, trisPerChunk, nodes, inTris);

// Negative index means escape.
node.i = -nodes.Count;
}
}

public RcChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk)
{
int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk;

nodes = new List<RcChunkyTriMeshNode>(nchunks);
this.ntris = ntris;

// Build tree
BoundsItem[] items = new BoundsItem[ntris];

for (int i = 0; i < ntris; i++)
{
int t = i * 3;
BoundsItem it = items[i] = new BoundsItem();
it.i = i;
// Calc triangle XZ bounds.
it.bmin.X = it.bmax.X = verts[tris[t] * 3 + 0];
it.bmin.Y = it.bmax.Y = verts[tris[t] * 3 + 2];
for (int j = 1; j < 3; ++j)
{
int v = tris[t + j] * 3;
if (verts[v] < it.bmin.X)
{
it.bmin.X = verts[v];
}

if (verts[v + 2] < it.bmin.Y)
{
it.bmin.Y = verts[v + 2];
}

if (verts[v] > it.bmax.X)
{
it.bmax.X = verts[v];
}

if (verts[v + 2] > it.bmax.Y)
{
it.bmax.Y = verts[v + 2];
}
}
}

Subdivide(items, 0, ntris, trisPerChunk, nodes, tris);

// Calc max tris per node.
maxTrisPerChunk = 0;
foreach (RcChunkyTriMeshNode node in nodes)
{
bool isLeaf = node.i >= 0;
if (!isLeaf)
{
continue;
}

if (node.tris.Length / 3 > maxTrisPerChunk)
{
maxTrisPerChunk = node.tris.Length / 3;
}
}
}

private bool CheckOverlapRect(float[] amin, float[] amax, RcVec2f bmin, RcVec2f bmax)
{
bool overlap = true;
overlap = (amin[0] > bmax.X || amax[0] < bmin.X) ? false : overlap;
overlap = (amin[1] > bmax.Y || amax[1] < bmin.Y) ? false : overlap;
return overlap;
}

public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax)
{
// Traverse tree
List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
int i = 0;
while (i < nodes.Count)
{
RcChunkyTriMeshNode node = nodes[i];
bool overlap = CheckOverlapRect(bmin, bmax, node.bmin, node.bmax);
bool isLeafNode = node.i >= 0;

if (isLeafNode && overlap)
{
ids.Add(node);
}

if (overlap || isLeafNode)
{
i++;
}
else
{
i = -node.i;
}
}

return ids;
}

public List<RcChunkyTriMeshNode> GetChunksOverlappingSegment(RcVec2f p, RcVec2f q)
{
// Traverse tree
List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
int i = 0;
while (i < nodes.Count)
{
RcChunkyTriMeshNode node = nodes[i];
bool overlap = CheckOverlapSegment(p, q, node.bmin, node.bmax);
bool isLeafNode = node.i >= 0;

if (isLeafNode && overlap)
{
ids.Add(node);
}

if (overlap || isLeafNode)
{
i++;
}
else
{
i = -node.i;
}
}

return ids;
}

private bool CheckOverlapSegment(RcVec2f p, RcVec2f q, RcVec2f bmin, RcVec2f bmax)
{
const float EPSILON = 1e-6f;

float tmin = 0;
float tmax = 1;
var d = new RcVec2f();
d.X = q.X - p.X;
d.Y = q.Y - p.Y;

for (int i = 0; i < 2; i++)
{
if (MathF.Abs(d.Get(i)) < EPSILON)
{
// Ray is parallel to slab. No hit if origin not within slab
if (p.Get(i) < bmin.Get(i) || p.Get(i) > bmax.Get(i))
return false;
}
else
{
// Compute intersection t value of ray with near and far plane of slab
float ood = 1.0f / d.Get(i);
float t1 = (bmin.Get(i) - p.Get(i)) * ood;
float t2 = (bmax.Get(i) - p.Get(i)) * ood;
if (t1 > t2)
{
(t1, t2) = (t2, t1);
}

if (t1 > tmin)
tmin = t1;
if (t2 < tmax)
tmax = t2;
if (tmin > tmax)
return false;
}
}

return true;
}
public List<RcChunkyTriMeshNode> nodes;
public int ntris;
public int maxTrisPerChunk;
}
}
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