public void Authorize()
{
lastArea = FindCurArea();
Vector2 curDir = orderServer.Direction;
Vector2 aimDir = Vector2.Zero;
if (lastArea == Area.UpLeft || lastArea == Area.UpRight ||
lastArea == Area.DownLeft || lastArea == Area.DownRight)
{
aimDir = FindMirrorNormal(lastArea);
}
else
{
Vector2 mirrorNormal = FindMirrorNormal(lastArea);
if (Vector2.Dot(mirrorNormal, curDir) > -0.5)
{
aimDir = mirrorNormal;
}
else
{
aimDir = MathTools.ReflectVector(curDir, mirrorNormal);
}
}
rotaAng = MathTools.AngBetweenVectors(curDir, aimDir);
float turnRight = MathTools.Vector2Cross(curDir, aimDir);
Vector2 curPos = orderServer.Pos;
float r = CalTurnRadius(curPos, curDir, turnRight);
turnRightSpeed = orderServer.MaxRotaSpeed * Math.Sign(turnRight == 0 ? 1 : turnRight);
forwardSpeed = orderServer.MaxRotaSpeed * r;
orderServer.TurnRightSpeed = turnRightSpeed;
orderServer.ForwardSpeed = forwardSpeed;
turning = true;
}
public void BuildMap(EyeableBorderObjInfo[] objInfos, Rectanglef mapBorder, float spaceForTank)
{
#region 对每一个BorderObj生成逻辑坐标上的凸包点集，并向外扩展
borderLines = new List <Segment>();
convexs = new List <GuardConvex>();
foreach (EyeableBorderObjInfo obj in objInfos)
{
if (obj.ConvexHall == null || obj.IsDisappeared || obj.ConvexHall.Points == null)
{
continue;
}
Matrix matrix = obj.EyeableInfo.CurTransMatrix;
GraphPoint <NaviPoint>[] convexHall;
List <BordPoint> bordPoints = obj.ConvexHall.Points;
if (bordPoints.Count > 2)
{
List <GraphPoint <NaviPoint> > list = new List <GraphPoint <NaviPoint> >();
for (int i = 0; i < bordPoints.Count; i++)
{
Vector2 lastPos = Vector2.Transform(ConvertHelper.PointToVector2(bordPoints[i - 1 < 0 ? bordPoints.Count - 1 : i - 1].p), matrix);
Vector2 curPos = Vector2.Transform(ConvertHelper.PointToVector2(bordPoints[i].p), matrix);
Vector2 nextPos = Vector2.Transform(ConvertHelper.PointToVector2(bordPoints[(i + 1) % bordPoints.Count].p), matrix);
Vector2 v1 = curPos - lastPos;
Vector2 v2 = curPos - nextPos;
float ang = MathTools.AngBetweenVectors(v1, v2);
if (ang >= MathHelper.PiOver2)
{
float halfDes = (float)(spaceForTank / Math.Sin(ang));
Vector2 delta = halfDes * Vector2.Normalize(v1) + halfDes * Vector2.Normalize(v2);
list.Add(new GraphPoint <NaviPoint>(
new NaviPoint(obj, bordPoints[i].index, curPos + delta), new List <GraphPath <NaviPoint> >()));
}
else
{
v1.Normalize();
v2.Normalize();
Vector2 cenV = Vector2.Normalize(v1 + v2);
Vector2 vertiV = new Vector2(cenV.Y, -cenV.X);
float ang2 = MathHelper.PiOver4 - 0.25f * ang;
float vertiL = (float)(spaceForTank * Math.Tan(ang2));
list.Add(new GraphPoint <NaviPoint>(
new NaviPoint(obj, bordPoints[i].index, curPos + spaceForTank * cenV + vertiL * vertiV),
new List <GraphPath <NaviPoint> >()));
list.Add(new GraphPoint <NaviPoint>(
new NaviPoint(obj, bordPoints[i].index, curPos + spaceForTank * cenV - vertiL * vertiV),
new List <GraphPath <NaviPoint> >()));
}
// 添加borderLine
borderLines.Add(new Segment(curPos, nextPos));
}
convexHall = list.ToArray();
convexs.Add(new GuardConvex(convexHall));
}
else if (bordPoints.Count == 2)
{
convexHall = new GraphPoint <NaviPoint> [4];
Vector2 startPos = Vector2.Transform(ConvertHelper.PointToVector2(bordPoints[0].p), matrix);
Vector2 endPos = Vector2.Transform(ConvertHelper.PointToVector2(bordPoints[1].p), matrix);
Vector2 dir = endPos - startPos;
dir.Normalize();
Vector2 normal = new Vector2(dir.Y, -dir.X);
convexHall[0] = new GraphPoint <NaviPoint>(
new NaviPoint(obj, bordPoints[0].index, startPos - dir * spaceForTank), new List <GraphPath <NaviPoint> >());
convexHall[1] = new GraphPoint <NaviPoint>(
new NaviPoint(obj, bordPoints[0].index, startPos + spaceForTank * normal), new List <GraphPath <NaviPoint> >());
convexHall[2] = new GraphPoint <NaviPoint>(
new NaviPoint(obj, bordPoints[1].index, endPos + spaceForTank * normal), new List <GraphPath <NaviPoint> >());
convexHall[3] = new GraphPoint <NaviPoint>(
new NaviPoint(obj, bordPoints[1].index, endPos + dir * spaceForTank), new List <GraphPath <NaviPoint> >());
//if (float.IsNaN( convexHall[0].value.Pos.X ) || float.IsNaN( convexHall[1].value.Pos.X ))
//{
//}
// 添加borderLine
borderLines.Add(new Segment(startPos, endPos));
convexs.Add(new GuardConvex(convexHall));
}
}
#endregion
#region 得到警戒线
guardLines = new List <Segment>();
foreach (GuardConvex convex in convexs)
{
for (int i = 0; i < convex.points.Length; i++)
{
guardLines.Add(new Segment(convex[i].value.Pos, convex[(i + 1) % convex.Length].value.Pos));
//if (float.IsNaN( convex[i].value.Pos.X ))
//{
//}
}
}
mapBorder = new Rectanglef(mapBorder.X + spaceForTank, mapBorder.Y + spaceForTank,
mapBorder.Width - 2 * spaceForTank, mapBorder.Height - 2 * spaceForTank);
guardLines.Add(new Segment(mapBorder.UpLeft, mapBorder.UpRight));
guardLines.Add(new Segment(mapBorder.UpRight, mapBorder.DownRight));
guardLines.Add(new Segment(mapBorder.DownRight, mapBorder.DownLeft));
guardLines.Add(new Segment(mapBorder.DownLeft, mapBorder.UpLeft));
#endregion
#region 检查凸包内部连线是否和警戒线相交,如不相交则连接该连线并计算权值
foreach (GuardConvex convex in convexs)
{
for (int i = 0; i < convex.Length; i++)
{
// 检查连线是否超出边界
if (!mapBorder.Contains(convex[i].value.Pos))
{
continue;
}
Segment link = new Segment(convex[i].value.Pos, convex[(i + 1) % convex.Length].value.Pos);
bool isCross = false;
foreach (Segment guardLine in guardLines)
{
if (link.Equals(guardLine))
{
continue;
}
if (Segment.IsCross(link, guardLine))
{
isCross = true;
break;
}
}
if (!isCross)
{
float weight = Vector2.Distance(convex[i].value.Pos, convex[(i + 1) % convex.Length].value.Pos);
//if (float.IsNaN( weight ))
//{
//}
GraphPoint <NaviPoint> .Link(convex[i], convex[(i + 1) % convex.Length], weight);
}
}
}
#endregion
#region 检查凸包之间连线是否与警戒线以及边界线相交，如不相交则连接并计算权值
for (int i = 0; i < convexs.Count - 1; i++)
{
for (int j = i + 1; j < convexs.Count; j++)
{
foreach (GraphPoint <NaviPoint> p1 in convexs[i].points)
{
// 检查连线是否超出边界
if (!mapBorder.Contains(p1.value.Pos))
{
continue;
}
foreach (GraphPoint <NaviPoint> p2 in convexs[j].points)
{
Segment link = new Segment(p1.value.Pos, p2.value.Pos);
bool isCross = false;
foreach (Segment guardLine in guardLines)
{
if (Segment.IsCross(link, guardLine))
{
isCross = true;
break;
}
}
if (!isCross)
{
foreach (Segment borderLine in borderLines)
{
if (Segment.IsCross(link, borderLine))
{
isCross = true;
break;
}
}
}
if (!isCross)
{
float weight = Vector2.Distance(p1.value.Pos, p2.value.Pos);
//if (float.IsNaN( weight ))
//{
//}
GraphPoint <NaviPoint> .Link(p1, p2, weight);
}
}
}
}
}
#endregion
#region 整理导航图
List <GraphPoint <NaviPoint> > points = new List <GraphPoint <NaviPoint> >();
foreach (GuardConvex convex in convexs)
{
foreach (GraphPoint <NaviPoint> p in convex.points)
{
points.Add(p);
}
}
naviGraph = points.ToArray();
#endregion
}