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Refactor engine to support double-precision vectors

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This commit is contained in:
Wojtek Figat
2022-06-13 00:40:32 +02:00
parent f82e370392
commit a881c90b2e
744 changed files with 19062 additions and 12467 deletions
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56
Source/Engine/Navigation/NavMeshBuilder.cpp
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@@ -11,7 +11,7 @@
#include "NavMeshRuntime.h"
#include "Engine/Core/Log.h"
#include "Engine/Core/Math/BoundingBox.h"
#include "Engine/Core/Math/Int3.h"
#include "Engine/Core/Math/Vector3.h"
#include "Engine/Physics/Colliders/BoxCollider.h"
#include "Engine/Physics/Colliders/SphereCollider.h"
#include "Engine/Physics/Colliders/CapsuleCollider.h"
@@ -55,8 +55,8 @@ int32 BoxTrianglesIndicesCache[] =
struct OffMeshLink
{
Vector3 Start;
Vector3 End;
Float3 Start;
Float3 End;
float Radius;
bool BiDir;
int32 Id;
@@ -77,7 +77,7 @@ struct NavigationSceneRasterization
rcConfig* Config;
rcHeightfield* Heightfield;
float WalkableThreshold;
Array<Vector3> VertexBuffer;
Array<Float3> VertexBuffer;
Array<int32> IndexBuffer;
Array<OffMeshLink>* OffMeshLinks;
Array<Modifier>* Modifiers;
@@ -117,7 +117,7 @@ struct NavigationSceneRasterization
DEBUG_DRAW_TRIANGLE(v0, v1, v2, Color::Orange.AlphaMultiplied(0.3f), 1.0f, true);
#endif
auto n = Vector3::Cross(v0 - v1, v0 - v2);
auto n = Float3::Cross(v0 - v1, v0 - v2);
n.Normalize();
const char area = n.Y > WalkableThreshold ? RC_WALKABLE_AREA : 0;
rcRasterizeTriangle(Context, &v0.X, &v1.X, &v2.X, area, *Heightfield);
@@ -129,14 +129,14 @@ struct NavigationSceneRasterization
const Matrix worldToNavMesh = WorldToNavMesh;
for (int32 i0 = 0; i0 < ib.Count();)
{
auto v0 = Vector3::Transform(vb[ib[i0++]], worldToNavMesh);
auto v1 = Vector3::Transform(vb[ib[i0++]], worldToNavMesh);
auto v2 = Vector3::Transform(vb[ib[i0++]], worldToNavMesh);
auto v0 = Float3::Transform(vb[ib[i0++]], worldToNavMesh);
auto v1 = Float3::Transform(vb[ib[i0++]], worldToNavMesh);
auto v2 = Float3::Transform(vb[ib[i0++]], worldToNavMesh);
#if NAV_MESH_BUILD_DEBUG_DRAW_GEOMETRY
DEBUG_DRAW_TRIANGLE(v0, v1, v2, Color::Orange.AlphaMultiplied(0.3f), 1.0f, true);
#endif
auto n = Vector3::Cross(v0 - v1, v0 - v2);
auto n = Float3::Cross(v0 - v1, v0 - v2);
n.Normalize();
const char area = n.Y > WalkableThreshold ? RC_WALKABLE_AREA : RC_NULL_AREA;
rcRasterizeTriangle(Context, &v0.X, &v1.X, &v2.X, area, *Heightfield);
@@ -144,49 +144,49 @@ struct NavigationSceneRasterization
}
}
static void TriangulateBox(Array<Vector3>& vb, Array<int32>& ib, const OrientedBoundingBox& box)
static void TriangulateBox(Array<Float3>& vb, Array<int32>& ib, const OrientedBoundingBox& box)
{
vb.Resize(8);
box.GetCorners(vb.Get());
ib.Add(BoxTrianglesIndicesCache, 36);
}
static void TriangulateBox(Array<Vector3>& vb, Array<int32>& ib, const BoundingBox& box)
static void TriangulateBox(Array<Float3>& vb, Array<int32>& ib, const BoundingBox& box)
{
vb.Resize(8);
box.GetCorners(vb.Get());
ib.Add(BoxTrianglesIndicesCache, 36);
}
static void TriangulateSphere(Array<Vector3>& vb, Array<int32>& ib, const BoundingSphere& sphere)
static void TriangulateSphere(Array<Float3>& vb, Array<int32>& ib, const BoundingSphere& sphere)
{
const int32 sphereResolution = 12;
const int32 verticalSegments = sphereResolution;
const int32 horizontalSegments = sphereResolution * 2;
// Generate vertices for unit sphere
Vector3 vertices[(verticalSegments + 1) * (horizontalSegments + 1)];
Float3 vertices[(verticalSegments + 1) * (horizontalSegments + 1)];
int32 vertexCount = 0;
for (int32 j = 0; j <= horizontalSegments; j++)
vertices[vertexCount++] = Vector3(0, -1, 0);
vertices[vertexCount++] = Float3(0, -1, 0);
for (int32 i = 1; i < verticalSegments; i++)
{
const float latitude = (float)i * PI / verticalSegments - PI / 2.0f;
const float dy = Math::Sin(latitude);
const float dxz = Math::Cos(latitude);
auto& firstHorizontalVertex = vertices[vertexCount++];
firstHorizontalVertex = Vector3(0, dy, dxz);
firstHorizontalVertex = Float3(0, dy, dxz);
for (int32 j = 1; j < horizontalSegments; j++)
{
const float longitude = (float)j * 2.0f * PI / horizontalSegments;
const float dx = Math::Sin(longitude) * dxz;
const float dz = Math::Cos(longitude) * dxz;
vertices[vertexCount++] = Vector3(dx, dy, dz);
vertices[vertexCount++] = Float3(dx, dy, dz);
}
vertices[vertexCount++] = firstHorizontalVertex;
}
for (int32 j = 0; j <= horizontalSegments; j++)
vertices[vertexCount++] = Vector3(0, 1, 0);
vertices[vertexCount++] = Float3(0, 1, 0);
// Transform vertices into world space vertex buffer
vb.Resize(vertexCount);
@@ -280,7 +280,7 @@ struct NavigationSceneRasterization
Matrix meshColliderToWorld;
meshCollider->GetLocalToWorldMatrix(meshColliderToWorld);
for (auto& v : vb)
Vector3::Transform(v, meshColliderToWorld, v);
Float3::Transform(v, meshColliderToWorld, v);
e.RasterizeTriangles();
}
@@ -321,9 +321,9 @@ struct NavigationSceneRasterization
OffMeshLink link;
link.Start = navLink->GetTransform().LocalToWorld(navLink->Start);
Vector3::Transform(link.Start, e.WorldToNavMesh, link.Start);
Float3::Transform(link.Start, e.WorldToNavMesh, link.Start);
link.End = navLink->GetTransform().LocalToWorld(navLink->End);
Vector3::Transform(link.End, e.WorldToNavMesh, link.End);
Float3::Transform(link.End, e.WorldToNavMesh, link.End);
link.Radius = navLink->Radius;
link.BiDir = navLink->BiDirectional;
link.Id = GetHash(navLink->GetID());
@@ -438,8 +438,8 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
tileBoundsNavMesh.Minimum -= tileBorderSize;
tileBoundsNavMesh.Maximum += tileBorderSize;
rcVcopy(config.bmin, &tileBoundsNavMesh.Minimum.X);
rcVcopy(config.bmax, &tileBoundsNavMesh.Maximum.X);
*(Float3*)&config.bmin = tileBoundsNavMesh.Minimum;
*(Float3*)&config.bmax = tileBoundsNavMesh.Maximum;
rcHeightfield* heightfield = rcAllocHeightfield();
if (!heightfield)
@@ -485,7 +485,9 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
for (auto& modifier : modifiers)
{
const unsigned char areaId = modifier.NavArea ? modifier.NavArea->Id : RC_NULL_AREA;
rcMarkBoxArea(&context, &modifier.Bounds.Minimum.X, &modifier.Bounds.Maximum.X, areaId, *compactHeightfield);
Float3 bMin = modifier.Bounds.Minimum;
Float3 bMax = modifier.Bounds.Maximum;
rcMarkBoxArea(&context, &bMin.X, &bMax.X, areaId, *compactHeightfield);
}
if (!rcBuildDistanceField(&context, *compactHeightfield))
@@ -578,7 +580,7 @@ bool GenerateTile(NavMesh* navMesh, NavMeshRuntime* runtime, int32 x, int32 y, B
params.buildBvTree = false;
// Prepare navmesh links
Array<Vector3> offMeshStartEnd;
Array<Float3> offMeshStartEnd;
Array<float> offMeshRadius;
Array<unsigned char> offMeshDir;
Array<unsigned char> offMeshArea;
@@ -711,7 +713,6 @@ Array<class NavMeshTileBuildTask*> NavBuildTasks;
class NavMeshTileBuildTask : public ThreadPoolTask
{
public:
Scene* Scene;
ScriptingObjectReference<NavMesh> NavMesh;
NavMeshRuntime* Runtime;
@@ -723,7 +724,6 @@ public:
rcConfig Config;
public:
// [ThreadPoolTask]
bool Run() override
{
@@ -861,8 +861,8 @@ void BuildDirtyBounds(Scene* scene, NavMesh* navMesh, const BoundingBox& dirtyBo
BoundingBox dirtyBoundsNavMesh;
BoundingBox::Transform(dirtyBounds, worldToNavMesh, dirtyBoundsNavMesh);
BoundingBox dirtyBoundsAligned;
dirtyBoundsAligned.Minimum = Vector3::Floor(dirtyBoundsNavMesh.Minimum / tileSize) * tileSize;
dirtyBoundsAligned.Maximum = Vector3::Ceil(dirtyBoundsNavMesh.Maximum / tileSize) * tileSize;
dirtyBoundsAligned.Minimum = Float3::Floor(dirtyBoundsNavMesh.Minimum / tileSize) * tileSize;
dirtyBoundsAligned.Maximum = Float3::Ceil(dirtyBoundsNavMesh.Maximum / tileSize) * tileSize;
// Calculate tiles range for the given navigation dirty bounds (aligned to tiles size)
const Int3 tilesMin(dirtyBoundsAligned.Minimum / tileSize);