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-rw-r--r--crates/fparkan-terrain/src/lib.rs72
1 files changed, 36 insertions, 36 deletions
diff --git a/crates/fparkan-terrain/src/lib.rs b/crates/fparkan-terrain/src/lib.rs
index d539577..65146b9 100644
--- a/crates/fparkan-terrain/src/lib.rs
+++ b/crates/fparkan-terrain/src/lib.rs
@@ -18,7 +18,7 @@
clippy::unwrap_used
)
)]
-//! Validated terrain runtime queries.
+//! Validated terrain runtime queries using XY ground coordinates and Z height.
use fparkan_terrain_format::{FullSurfaceMask, LandMapDocument, LandMeshDocument};
use std::collections::VecDeque;
@@ -36,7 +36,7 @@ pub struct TerrainWorld {
/// Surface hit.
#[derive(Clone, Copy, Debug, PartialEq)]
pub struct SurfaceHit {
- /// Height.
+ /// Source Z height.
pub height: f32,
/// Hit position.
pub position: [f32; 3],
@@ -135,7 +135,7 @@ impl std::error::Error for TerrainError {}
/// Surface query.
pub trait SurfaceQuery {
- /// Height at position.
+ /// Source Z height at an XY ground position.
///
/// # Errors
///
@@ -157,7 +157,7 @@ pub trait SurfaceQuery {
/// Navigation query.
pub trait NavigationQuery {
- /// Locate areal.
+ /// Locates an areal from the XY components of a world position.
///
/// # Errors
///
@@ -195,7 +195,7 @@ impl TerrainWorld {
polygon: areal
.vertices
.iter()
- .map(|vertex| [vertex[0], vertex[2]])
+ .map(|vertex| [vertex[0], vertex[1]])
.collect(),
});
}
@@ -302,7 +302,7 @@ impl TerrainWorld {
position: [f32; 3],
candidates: &[ArealId],
) -> Result<Option<ArealId>, TerrainError> {
- let point = [position[0], position[2]];
+ let point = [position[0], position[1]];
for candidate in candidates {
let Some(areal) = usize::try_from(candidate.0)
.ok()
@@ -427,7 +427,7 @@ impl SurfaceQuery for TerrainWorld {
origin[2] + direction[2] * distance,
];
best = Some(SurfaceHit {
- height: position[1],
+ height: position[2],
position,
distance,
face: triangle.face,
@@ -468,18 +468,18 @@ struct RuntimeTriangle {
impl RuntimeTriangle {
fn height_at(&self, position: [f32; 2]) -> Option<f32> {
- let a = [self.vertices[0][0], self.vertices[0][2]];
- let b = [self.vertices[1][0], self.vertices[1][2]];
- let c = [self.vertices[2][0], self.vertices[2][2]];
+ let a = [self.vertices[0][0], self.vertices[0][1]];
+ let b = [self.vertices[1][0], self.vertices[1][1]];
+ let c = [self.vertices[2][0], self.vertices[2][1]];
let weights = barycentric_2d(position, a, b, c)?;
if weights
.iter()
.all(|weight| *weight >= -1.0e-4 && *weight <= 1.0001)
{
Some(
- weights[0] * self.vertices[0][1]
- + weights[1] * self.vertices[1][1]
- + weights[2] * self.vertices[2][1],
+ weights[0] * self.vertices[0][2]
+ + weights[1] * self.vertices[1][2]
+ + weights[2] * self.vertices[2][2],
)
} else {
None
@@ -570,9 +570,9 @@ impl RuntimeGrid {
for areal in &map.areals {
for vertex in &areal.vertices {
bounds_min[0] = bounds_min[0].min(vertex[0]);
- bounds_min[1] = bounds_min[1].min(vertex[2]);
+ bounds_min[1] = bounds_min[1].min(vertex[1]);
bounds_max[0] = bounds_max[0].max(vertex[0]);
- bounds_max[1] = bounds_max[1].max(vertex[2]);
+ bounds_max[1] = bounds_max[1].max(vertex[1]);
}
}
if !bounds_min[0].is_finite()
@@ -622,7 +622,7 @@ impl RuntimeGrid {
if self.cells_x == 0 || self.cells_y == 0 || self.cells.is_empty() {
return None;
}
- let point = [position[0], position[2]];
+ let point = [position[0], position[1]];
if point[0] < self.min[0]
|| point[0] > self.max[0]
|| point[1] < self.min[1]
@@ -770,18 +770,18 @@ mod tests {
assert_eq!(world.areal_count(), 2);
assert_eq!(
- world.locate_areal([0.25, 0.0, 0.25]).expect("locate"),
+ world.locate_areal([0.25, 0.25, 41.0]).expect("locate"),
Some(ArealId(0))
);
assert_eq!(
- world.locate_areal([1.75, 0.0, 0.25]).expect("locate"),
+ world.locate_areal([1.75, 0.25, -12.0]).expect("locate"),
Some(ArealId(1))
);
assert_eq!(
world
.route(RouteRequest {
- start: [0.25, 0.0, 0.25],
- goal: [1.75, 0.0, 0.25],
+ start: [0.25, 0.25, 0.0],
+ goal: [1.75, 0.25, 0.0],
})
.expect("route"),
Some(ArealRoute {
@@ -797,8 +797,8 @@ mod tests {
assert_eq!(
world
.route(RouteRequest {
- start: [10.0, 0.0, 10.0],
- goal: [1.75, 0.0, 0.25],
+ start: [10.0, 10.0, 0.0],
+ goal: [1.75, 0.25, 0.0],
})
.expect("route"),
None
@@ -815,8 +815,8 @@ mod tests {
let hit = world
.raycast(
- [0.25, 2.0, 0.25],
- [0.0, -1.0, 0.0],
+ [0.25, 0.25, 2.0],
+ [0.0, 0.0, -1.0],
FullSurfaceMask(0x0000_0001),
)
.expect("raycast")
@@ -828,8 +828,8 @@ mod tests {
assert_eq!(
world
.raycast(
- [0.25, 2.0, 0.25],
- [0.0, -1.0, 0.0],
+ [0.25, 0.25, 2.0],
+ [0.0, 0.0, -1.0],
FullSurfaceMask(0x8000_0000)
)
.expect("raycast"),
@@ -942,9 +942,9 @@ mod tests {
},
positions: vec![
[0.0, 0.0, 0.0],
- [1.0, 1.0, 0.0],
+ [1.0, 0.0, 1.0],
[0.0, 1.0, 1.0],
- [1.0, 2.0, 1.0],
+ [1.0, 1.0, 2.0],
],
normals: Vec::new(),
uv0: Vec::new(),
@@ -987,10 +987,10 @@ mod tests {
areals: vec![
Areal {
prefix_raw: [0; 56],
- anchor: [0.5, 0.0, 0.5],
+ anchor: [0.5, 0.5, 0.0],
reserved_12: 0.0,
area_metric: 1.0,
- normal: [0.0, 1.0, 0.0],
+ normal: [0.0, 0.0, 1.0],
logic_flag: 0,
reserved_36: 0,
class_id: 0,
@@ -998,8 +998,8 @@ mod tests {
vertices: vec![
[0.0, 0.0, 0.0],
[1.0, 0.0, 0.0],
- [1.0, 0.0, 1.0],
- [0.0, 0.0, 1.0],
+ [1.0, 1.0, 0.0],
+ [0.0, 1.0, 0.0],
],
links: vec![
EdgeLink {
@@ -1031,10 +1031,10 @@ mod tests {
},
Areal {
prefix_raw: [0; 56],
- anchor: [1.5, 0.0, 0.5],
+ anchor: [1.5, 0.5, 0.0],
reserved_12: 0.0,
area_metric: 1.0,
- normal: [0.0, 1.0, 0.0],
+ normal: [0.0, 0.0, 1.0],
logic_flag: 0,
reserved_36: 0,
class_id: 0,
@@ -1042,8 +1042,8 @@ mod tests {
vertices: vec![
[1.0, 0.0, 0.0],
[2.0, 0.0, 0.0],
- [2.0, 0.0, 1.0],
- [1.0, 0.0, 1.0],
+ [2.0, 1.0, 0.0],
+ [1.0, 1.0, 0.0],
],
links: vec![
EdgeLink {
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