private bool FindTrasingData(Segment l, ref TracingData data)
{
var intersections = new Dictionary <Vector2, int>();
var inDistances = new Dictionary <float, Vector2>();
var outDistances = new Dictionary <float, Vector2>();
for (var i = 0; i < Segments.Length; i++)
{
var segment = Segments[i];
var intersectPoint = new Vector2();
var isIntersects = Vector2.SegmentToSegmentIntersection(l.Start, l.End, segment.Start, segment.End, ref intersectPoint);
if (!isIntersects)
{
continue;
}
intersections[intersectPoint] = i;
inDistances[Vector2.Distance(intersectPoint, l.Start)] = intersectPoint;
outDistances[Vector2.Distance(intersectPoint, l.End)] = intersectPoint;
}
if (intersections.Count == 0)
{
return(false);
}
data.InPoint = inDistances[inDistances.Keys.Min()];
data.OutPoint = outDistances[outDistances.Keys.Min()];
data.InSegmentIndex = intersections[data.InPoint];
data.OutSegmentIndex = intersections[data.OutPoint];
return(true);
}
private List <Vector2> findIntersectPoints3(Vector2 start, Vector2 end, Segment[] segments)
{
var result = new List <Vector2>();
foreach (Segment segment in segments)
{
Vector2 res = Vector2.zero;
if (Vector2.SegmentToSegmentIntersection(segment.start, segment.end, start, end, ref res))
{
result.Add(res);
}
}
return(result);
}
private int findIntersectPoints2(Vector2 start, Vector2 end, Segment[] segments)
{
int count = 0;
foreach (Segment segment in segments)
{
Vector2 res = Vector2.zero;
if (Vector2.SegmentToSegmentIntersection(segment.start, segment.end, start, end, ref res))
{
count++;
}
}
return(count);
}
private IEnumerable <Vector2> findIntersectPoints(Vector2 startPath, Vector2 endPath)
{
var result = new List <Vector2>();
for (int i = 0; i < obstacles.Length; i++)
{
for (int j = 0; j < obstacles[i].Length; j++)
{
Vector2 v1;
Vector2 v2;
if (j == obstacles[i].Length - 1)
{
v1 = new Vector2(obstacles[i][j].x, obstacles[i][j].y);
v2 = new Vector2(obstacles[i][0].x, obstacles[i][0].y);
}
else
{
v1 = new Vector2(obstacles[i][j].x, obstacles[i][j].y);
v2 = new Vector2(obstacles[i][j + 1].x, obstacles[i][j + 1].y);
}
Vector2 v3 = new Vector2(startPath.x, startPath.y);
Vector2 v4 = new Vector2(endPath.x, endPath.y);
Vector2 res = new Vector2();
// Console.WriteLine("obstacle segment = " + v1 + " - " + v2);
// Console.WriteLine("path segment = " + v3 + " - " + v4);
var segmentToSegmentIntersection = Vector2.SegmentToSegmentIntersection(v1, v2, v3, v4, ref res);
// Console.WriteLine("intersect res = " + segmentToSegmentIntersection);
// Console.WriteLine("intersect point = " + v4);
// Console.WriteLine();
if (segmentToSegmentIntersection)
{
result.Add(res);
}
}
}
return(result);
}