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refactor: aligned the parameter order of RasterizeTriangles() to matc…
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…h that of rcRasterizeTriangles() in the recastnavigation project.
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@ikpil
ikpil committed Jan 4, 2024
1 parent 48a1e18 commit 507e354
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Showing 4 changed files with 93 additions and 73 deletions.
4 changes: 2 additions & 2 deletions src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -62,8 +62,8 @@ public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
{
for (int i = 0; i < triangles.Length; i += 3)
{
RcRasterizations.RasterizeTriangle(hf, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area,
(int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
RcRasterizations.RasterizeTriangle(telemetry, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area,
hf, (int)MathF.Floor(flagMergeThreshold / hf.ch));
}
}
}
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156 changes: 88 additions & 68 deletions src/DotRecast.Recast/RcRasterizations.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -177,7 +177,7 @@ public static void AddSpan(RcHeightfield heightfield, int x, int z, int min, int
RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, outVerts1 + poly1Vert * 3);
poly1Vert++;
poly2Vert++;

// add the i'th point to the right polygon. Do NOT add points that are on the dividing line
// since these were already added above
if (inVertAxisDelta[inVertA] > 0)
Expand Down Expand Up @@ -229,31 +229,35 @@ public static void AddSpan(RcHeightfield heightfield, int x, int z, int min, int
/// @param[in] inverseCellHeight 1 / cellHeight
/// @param[in] flagMergeThreshold The threshold in which area flags will be merged
/// @returns true if the operation completes successfully. false if there was an error adding spans to the heightfield.
private static void RasterizeTri(float[] verts, int v0, int v1, int v2, int area, RcHeightfield heightfield,
private static bool RasterizeTri(float[] verts, int v0, int v1, int v2,
int areaID, RcHeightfield heightfield,
RcVec3f heightfieldBBMin, RcVec3f heightfieldBBMax,
float cellSize, float inverseCellSize, float inverseCellHeight,
int flagMergeThreshold)
{
float by = heightfieldBBMax.Y - heightfieldBBMin.Y;

// Calculate the bounding box of the triangle.
RcVec3f tmin = RcVecUtils.Create(verts, v0 * 3);
RcVec3f tmax = RcVecUtils.Create(verts, v0 * 3);
tmin = RcVecUtils.Min(tmin, verts, v1 * 3);
tmin = RcVecUtils.Min(tmin, verts, v2 * 3);
tmax = RcVecUtils.Max(tmax, verts, v1 * 3);
tmax = RcVecUtils.Max(tmax, verts, v2 * 3);

// If the triangle does not touch the bbox of the heightfield, skip the triagle.
if (!OverlapBounds(heightfieldBBMin, heightfieldBBMax, tmin, tmax))
return;
RcVec3f triBBMin = RcVecUtils.Create(verts, v0 * 3);
triBBMin = RcVecUtils.Min(triBBMin, verts, v1 * 3);
triBBMin = RcVecUtils.Min(triBBMin, verts, v2 * 3);

// Calculate the footprint of the triangle on the grid's y-axis
int z0 = (int)((tmin.Z - heightfieldBBMin.Z) * inverseCellSize);
int z1 = (int)((tmax.Z - heightfieldBBMin.Z) * inverseCellSize);
RcVec3f triBBMax = RcVecUtils.Create(verts, v0 * 3);
triBBMax = RcVecUtils.Max(triBBMax, verts, v1 * 3);
triBBMax = RcVecUtils.Max(triBBMax, verts, v2 * 3);

// If the triangle does not touch the bounding box of the heightfield, skip the triangle.
if (!OverlapBounds(triBBMin, triBBMax, heightfieldBBMin, heightfieldBBMax))
{
return true;
}

int w = heightfield.width;
int h = heightfield.height;
float by = heightfieldBBMax.Y - heightfieldBBMin.Y;

// Calculate the footprint of the triangle on the grid's y-axis
int z0 = (int)((triBBMin.Z - heightfieldBBMin.Z) * inverseCellSize);
int z1 = (int)((triBBMax.Z - heightfieldBBMin.Z) * inverseCellSize);

// use -1 rather than 0 to cut the polygon properly at the start of the tile
z0 = Math.Clamp(z0, -1, h - 1);
z1 = Math.Clamp(z1, 0, h - 1);
Expand All @@ -268,7 +272,8 @@ public static void AddSpan(RcHeightfield heightfield, int x, int z, int min, int
RcVecUtils.Copy(buf, 0, verts, v0 * 3);
RcVecUtils.Copy(buf, 3, verts, v1 * 3);
RcVecUtils.Copy(buf, 6, verts, v2 * 3);
int nvRow, nvIn = 3;
int nvRow;
int nvIn = 3;

for (int z = z0; z <= z1; ++z)
{
Expand All @@ -278,15 +283,18 @@ public static void AddSpan(RcHeightfield heightfield, int x, int z, int min, int
(@in, p1) = (p1, @in);

if (nvRow < 3)
{
continue;
}

if (z < 0)
{
continue;
}

// find the horizontal bounds in the row
float minX = buf[inRow], maxX = buf[inRow];
// find X-axis bounds of the row
float minX = buf[inRow];
float maxX = buf[inRow];
for (int i = 1; i < nvRow; ++i)
{
float v = buf[inRow + i * 3];
Expand All @@ -304,7 +312,8 @@ public static void AddSpan(RcHeightfield heightfield, int x, int z, int min, int
x0 = Math.Clamp(x0, -1, w - 1);
x1 = Math.Clamp(x1, 0, w - 1);

int nv, nv2 = nvRow;
int nv;
int nv2 = nvRow;
for (int x = x0; x <= x1; ++x)
{
// Clip polygon to column. store the remaining polygon as well
Expand All @@ -313,7 +322,9 @@ public static void AddSpan(RcHeightfield heightfield, int x, int z, int min, int
(inRow, p2) = (p2, inRow);

if (nv < 3)
{
continue;
}

if (x < 0)
{
Expand All @@ -331,78 +342,87 @@ public static void AddSpan(RcHeightfield heightfield, int x, int z, int min, int

spanMin -= heightfieldBBMin.Y;
spanMax -= heightfieldBBMin.Y;

// Skip the span if it is outside the heightfield bbox
if (spanMax < 0.0f)
{
continue;
}

if (spanMin > by)
{
continue;
}

// Clamp the span to the heightfield bbox.
if (spanMin < 0.0f)
{
spanMin = 0;
}

if (spanMax > by)
{
spanMax = by;
}

// Snap the span to the heightfield height grid.
int spanMinCellIndex = Math.Clamp((int)MathF.Floor(spanMin * inverseCellHeight), 0, RC_SPAN_MAX_HEIGHT);
int spanMaxCellIndex = Math.Clamp((int)MathF.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, RC_SPAN_MAX_HEIGHT);

AddSpan(heightfield, x, z, spanMinCellIndex, spanMaxCellIndex, area, flagMergeThreshold);
AddSpan(heightfield, x, z, spanMinCellIndex, spanMaxCellIndex, areaID, flagMergeThreshold);
}
}

return true;
}

/**
* Rasterizes a single triangle into the specified heightfield. Calling this for each triangle in a mesh is less
* efficient than calling rasterizeTriangles. No spans will be added if the triangle does not overlap the
* heightfield grid.
*
* @param heightfield
* An initialized heightfield.
* @param verts
* An array with vertex coordinates [(x, y, z) * N]
* @param v0
* Index of triangle vertex 0, will be multiplied by 3 to get vertex coordinates
* @param v1
* Triangle vertex 1 index
* @param v2
* Triangle vertex 2 index
* @param areaId
* The area id of the triangle. [Limit: <= WALKABLE_AREA)
* @param flagMergeThreshold
* The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx]
* @see Heightfield
*/
public static void RasterizeTriangle(RcHeightfield heightfield, float[] verts, int v0, int v1, int v2, int area,
int flagMergeThreshold, RcTelemetry ctx)
/// Rasterizes a single triangle into the specified heightfield.
///
/// Calling this for each triangle in a mesh is less efficient than calling rcRasterizeTriangles
///
/// No spans will be added if the triangle does not overlap the heightfield grid.
///
/// @see rcHeightfield
/// @ingroup recast
/// @param[in,out] context The build context to use during the operation.
/// @param[in] v0 Triangle vertex 0 [(x, y, z)]
/// @param[in] v1 Triangle vertex 1 [(x, y, z)]
/// @param[in] v2 Triangle vertex 2 [(x, y, z)]
/// @param[in] areaID The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA]
/// @param[in,out] heightfield An initialized heightfield.
/// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag.
/// [Limit: >= 0] [Units: vx]
/// @returns True if the operation completed successfully.
public static void RasterizeTriangle(RcTelemetry context, float[] verts, int v0, int v1, int v2, int areaID,
RcHeightfield heightfield, int flagMergeThreshold)
{
using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);

// Rasterize the single triangle.
float inverseCellSize = 1.0f / heightfield.cs;
float inverseCellHeight = 1.0f / heightfield.ch;
RasterizeTri(verts, v0, v1, v2, area, heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize,
RasterizeTri(verts, v0, v1, v2, areaID, heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize,
inverseCellHeight, flagMergeThreshold);
}

/**
* Rasterizes an indexed triangle mesh into the specified heightfield. Spans will only be added for triangles that
* overlap the heightfield grid.
*
* @param heightfield
* An initialized heightfield.
* @param verts
* The vertices. [(x, y, z) * N]
* @param tris
* The triangle indices. [(vertA, vertB, vertC) * nt]
* @param areaIds
* The area id's of the triangles. [Limit: <= WALKABLE_AREA] [Size: numTris]
* @param numTris
* The number of triangles.
* @param flagMergeThreshold
* The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx]
* @see Heightfield
*/
public static void RasterizeTriangles(RcHeightfield heightfield, float[] verts, int[] tris, int[] areaIds, int numTris,
int flagMergeThreshold, RcTelemetry ctx)
/// Rasterizes an indexed triangle mesh into the specified heightfield.
///
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
/// @ingroup recast
/// @param[in,out] context The build context to use during the operation.
/// @param[in] verts The vertices. [(x, y, z) * @p nv]
/// @param[in] numVerts The number of vertices. (unused) TODO (graham): Remove in next major release
/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt]
/// @param[in] triAreaIDs The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
/// @param[in] numTris The number of triangles.
/// @param[in,out] heightfield An initialized heightfield.
/// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag.
/// [Limit: >= 0] [Units: vx]
/// @returns True if the operation completed successfully.
public static void RasterizeTriangles(RcTelemetry ctx, float[] verts, int[] tris, int[] triAreaIDs, int numTris,
RcHeightfield heightfield, int flagMergeThreshold)
{
using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);

Expand All @@ -413,7 +433,7 @@ public static void AddSpan(RcHeightfield heightfield, int x, int z, int min, int
int v0 = tris[triIndex * 3 + 0];
int v1 = tris[triIndex * 3 + 1];
int v2 = tris[triIndex * 3 + 2];
RasterizeTri(verts, v0, v1, v2, areaIds[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs,
RasterizeTri(verts, v0, v1, v2, triAreaIDs[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs,
inverseCellSize, inverseCellHeight, flagMergeThreshold);
}
}
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4 changes: 2 additions & 2 deletions src/DotRecast.Recast/RcVoxelizations.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -59,15 +59,15 @@ public static RcHeightfield BuildSolidHeightfield(IInputGeomProvider geomProvide
int[] tris = node.tris;
int ntris = tris.Length / 3;
int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
RcRasterizations.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx);
RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
}
}
else
{
int[] tris = geom.GetTris();
int ntris = tris.Length / 3;
int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
RcRasterizations.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx);
RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
}
}

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2 changes: 1 addition & 1 deletion test/DotRecast.Recast.Test/RecastSoloMeshTest.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -140,7 +140,7 @@ public void TestLayers()
// If your input data is multiple meshes, you can transform them here, calculate
// the are type for each of the meshes and rasterize them.
int[] m_triareas = RcCommons.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
RcRasterizations.RasterizeTriangles(m_solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, m_ctx);
RcRasterizations.RasterizeTriangles(m_ctx, verts, tris, m_triareas, ntris, m_solid, cfg.WalkableClimb);
}

//
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