Scarfski/recastnavigation
1
0
Fork 0
mirror of https://github.com/recastnavigation/recastnavigation.git synced 2026-09-30 14:05:45 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fix for earlier raycast speed up and another speedup.

Browse Source
This commit is contained in:
Mikko Mononen
2010-10-15 13:00:18 +00:00
parent c83be9f214
commit 43a79f600f
6 changed files with 314 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files

51
RecastDemo/Source/InputGeom.cpp
View File

@@ -281,16 +281,57 @@ bool InputGeom::save(const char* filepath)
return true;
}
static bool isectSegAABB(const float* sp, const float* sq,
const float* amin, const float* amax,
float& tmin, float& tmax)
{
static const float EPS = 1e-6f;
float d[3];
d[0] = sq[0] - sp[0];
d[1] = sq[1] - sp[1];
d[2] = sq[2] - sp[2];
tmin = 0.0;
tmax = 1.0f;
for (int i = 0; i < 3; i++)
{
if (fabsf(d[i]) < EPS)
{
if (sp[i] < amin[i] || sp[i] > amax[i])
return false;
}
else
{
const float ood = 1.0f / d[i];
float t1 = (amin[i] - sp[i]) * ood;
float t2 = (amax[i] - sp[i]) * ood;
if (t1 > t2) { float tmp = t1; t1 = t2; t2 = tmp; }
if (t1 > tmin) tmin = t1;
if (t2 < tmax) tmax = t2;
if (tmin > tmax) return false;
}
}
return true;
}
bool InputGeom::raycastMesh(float* src, float* dst, float& tmin)
{
float dir[3];
rcVsub(dir, dst, src);
// Prune hit ray.
float btmin, btmax;
if (!isectSegAABB(src, dst, m_meshBMin, m_meshBMax, btmin, btmax))
return false;
float p[2], q[2];
p[0] = src[0];
p[1] = src[2];
q[0] = dst[0];
q[1] = dst[2];
p[0] = src[0] + (dst[0]-src[0])*btmin;
p[1] = src[2] + (dst[2]-src[2])*btmin;
q[0] = src[0] + (dst[0]-src[0])*btmax;
q[1] = src[2] + (dst[2]-src[2])*btmax;
int cid[512];
const int ncid = rcGetChunksOverlappingSegment(m_chunkyMesh, p, q, cid, 512);
if (!ncid)
@@ -306,7 +347,7 @@ bool InputGeom::raycastMesh(float* src, float* dst, float& tmin)
const int* tris = &m_chunkyMesh->tris[node.i*3];
const int ntris = node.n;
for (int j = 0; j < ntris*3; ++j)
for (int j = 0; j < ntris*3; j += 3)
{
float t = 1;
if (intersectSegmentTriangle(src, dst,