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refactor: align variable names to match those of the recastnavigation…
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… project.
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@ikpil
ikpil committed Jan 4, 2024
1 parent 10bf4ce commit cbdc670
Showing 1 changed file with 66 additions and 65 deletions.
131 changes: 66 additions & 65 deletions src/DotRecast.Recast/RcRasterizations.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -27,35 +27,19 @@ namespace DotRecast.Recast
{
public static class RcRasterizations
{
/**
* Check whether two bounding boxes overlap
*
* @param amin
* Min axis extents of bounding box A
* @param amax
* Max axis extents of bounding box A
* @param bmin
* Min axis extents of bounding box B
* @param bmax
* Max axis extents of bounding box B
* @returns true if the two bounding boxes overlap. False otherwise
*/
private static bool OverlapBounds(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;
}

private static bool OverlapBounds(RcVec3f amin, RcVec3f amax, RcVec3f bmin, RcVec3f bmax)
/// Check whether two bounding boxes overlap
///
/// @param[in] aMin Min axis extents of bounding box A
/// @param[in] aMax Max axis extents of bounding box A
/// @param[in] bMin Min axis extents of bounding box B
/// @param[in] bMax Max axis extents of bounding box B
/// @returns true if the two bounding boxes overlap. False otherwise.
private static bool OverlapBounds(RcVec3f aMin, RcVec3f aMax, RcVec3f bMin, RcVec3f bMax)
{
bool overlap = true;
overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap;
overlap = (amin.Y > bmax.Y || amax.Y < bmin.Y) ? false : overlap;
overlap = (amin.Z > bmax.Z || amax.Z < bmin.Z) ? false : overlap;
return overlap;
return
aMin.X <= bMax.X && aMax.X >= bMin.X &&
aMin.Y <= bMax.Y && aMax.Y >= bMin.Y &&
aMin.Z <= bMax.Z && aMax.Z >= bMin.Z;
}


Expand All @@ -69,72 +53,89 @@ private static bool OverlapBounds(RcVec3f amin, RcVec3f amax, RcVec3f bmin, RcVe
/// @param[in] max The new span's maximum cell index
/// @param[in] areaID The new span's area type ID
/// @param[in] flagMergeThreshold How close two spans maximum extents need to be to merge area type IDs
public static void AddSpan(RcHeightfield heightfield, int x, int y, int spanMin, int spanMax, int areaId, int flagMergeThreshold)
public static void AddSpan(RcHeightfield heightfield, int x, int z, int min, int max, int areaID, int flagMergeThreshold)
{
int idx = x + y * heightfield.width;
// Create the new span.
RcSpan newSpan = new RcSpan();
newSpan.smin = min;
newSpan.smax = max;
newSpan.area = areaID;
newSpan.next = null;

RcSpan s = new RcSpan();
s.smin = spanMin;
s.smax = spanMax;
s.area = areaId;
s.next = null;
int columnIndex = x + z * heightfield.width;

// Empty cell, add the first span.
if (heightfield.spans[idx] == null)
if (heightfield.spans[columnIndex] == null)
{
heightfield.spans[idx] = s;
heightfield.spans[columnIndex] = newSpan;
return;
}

RcSpan prev = null;
RcSpan cur = heightfield.spans[idx];
RcSpan previousSpan = null;
RcSpan currentSpan = heightfield.spans[columnIndex];

// Insert and merge spans.
while (cur != null)
// Insert the new span, possibly merging it with existing spans.
while (currentSpan != null)
{
if (cur.smin > s.smax)
if (currentSpan.smin > newSpan.smax)
{
// Current span is further than the new span, break.
break;
}
else if (cur.smax < s.smin)

if (currentSpan.smax < newSpan.smin)
{
// Current span is before the new span advance.
prev = cur;
cur = cur.next;
// Current span is completely before the new span. Keep going.
previousSpan = currentSpan;
currentSpan = currentSpan.next;
}
else
{
// Merge spans.
if (cur.smin < s.smin)
s.smin = cur.smin;
if (cur.smax > s.smax)
s.smax = cur.smax;
// The new span overlaps with an existing span. Merge them.
if (currentSpan.smin < newSpan.smin)
{
newSpan.smin = currentSpan.smin;
}

if (currentSpan.smax > newSpan.smax)
{
newSpan.smax = currentSpan.smax;
}

// Merge flags.
if (MathF.Abs(s.smax - cur.smax) <= flagMergeThreshold)
s.area = Math.Max(s.area, cur.area);
if (MathF.Abs(newSpan.smax - currentSpan.smax) <= flagMergeThreshold)
{
// Higher area ID numbers indicate higher resolution priority.
newSpan.area = Math.Max(newSpan.area, currentSpan.area);
}

// Remove current span.
RcSpan next = cur.next;
if (prev != null)
prev.next = next;
// Remove the current span since it's now merged with newSpan.
// Keep going because there might be other overlapping spans that also need to be merged.
RcSpan next = currentSpan.next;
if (previousSpan != null)
{
previousSpan.next = next;
}
else
heightfield.spans[idx] = next;
cur = next;
{
heightfield.spans[columnIndex] = next;
}

currentSpan = next;
}
}

// Insert new span.
if (prev != null)
// Insert new span after prev
if (previousSpan != null)
{
s.next = prev.next;
prev.next = s;
newSpan.next = previousSpan.next;
previousSpan.next = newSpan;
}
else
{
s.next = heightfield.spans[idx];
heightfield.spans[idx] = s;
// This span should go before the others in the list
newSpan.next = heightfield.spans[columnIndex];
heightfield.spans[columnIndex] = newSpan;
}
}

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