/// <summary>
/// 判断两条线段是否相交
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
static public bool IsCross ( Segment a, Segment b )
{
return Math.Max( a.startPoint.X, a.endPoint.X ) >= Math.Min( b.startPoint.X, b.endPoint.X ) &&
Math.Max( b.startPoint.X, b.endPoint.X ) >= Math.Min( a.startPoint.X, a.endPoint.X ) &&
Math.Max( a.startPoint.Y, a.endPoint.Y ) >= Math.Min( b.startPoint.Y, b.endPoint.Y ) &&
Math.Max( b.startPoint.Y, b.endPoint.Y ) >= Math.Min( a.startPoint.Y, a.endPoint.Y ) &&
MathTools.Vector2Cross( a.endPoint - b.startPoint, a.startPoint - a.endPoint ) *
MathTools.Vector2Cross( b.endPoint - a.endPoint, a.startPoint - b.endPoint ) > 0 &&
MathTools.Vector2Cross( b.endPoint - a.startPoint, b.startPoint - b.endPoint ) *
MathTools.Vector2Cross( a.endPoint - b.endPoint, b.startPoint - a.endPoint ) > 0;
}
private void AddCurPosToNaviMap ( GraphPoint<NaviPoint>[] map, GraphPoint<NaviPoint> curNaviP,
int prePointSum, List<Segment> guardLines, List<Segment> borderLines )
{
map[prePointSum] = curNaviP;
for (int i = 0; i < prePointSum; i++)
{
Segment seg = new Segment( curNaviP.value.Pos, map[i].value.Pos );
bool cross = false;
foreach (Segment guardLine in guardLines)
{
if (Segment.IsCross( guardLine, seg ))
{
cross = true;
break;
}
}
if (!cross)
{
foreach (Segment borderLine in borderLines)
{
if (Segment.IsCross( borderLine, seg ))
{
cross = true;
break;
}
}
}
if (!cross)
{
float weight = Vector2.Distance( curNaviP.value.Pos, map[i].value.Pos );
GraphPoint<NaviPoint>.Link( map[i], curNaviP, weight );
}
}
}
private void AddAimPosToNaviMap ( GraphPoint<NaviPoint>[] map, GraphPoint<NaviPoint> aimNaviP, GraphPoint<NaviPoint> curNaviP,
int prePointSum, List<Segment> guardLines, List<Segment> borderLines )
{
map[prePointSum + 1] = aimNaviP;
for (int i = 0; i < prePointSum; i++)
{
Segment seg = new Segment( aimNaviP.value.Pos, map[i].value.Pos );
bool cross = false;
foreach (Segment guardLine in guardLines)
{
if (Segment.IsCross( guardLine, seg ))
{
cross = true;
break;
}
}
if (!cross)
{
foreach (Segment borderLine in borderLines)
{
if (Segment.IsCross( borderLine, seg ))
{
cross = true;
break;
}
}
}
if (!cross)
{
float weight = Vector2.Distance( aimNaviP.value.Pos, map[i].value.Pos );
GraphPoint<NaviPoint>.Link( map[i], aimNaviP, weight );
}
}
Segment curToAim = new Segment( curNaviP.value.Pos, aimNaviP.value.Pos );
bool link = true;
foreach (Segment guardLine in guardLines)
{
if (Segment.IsCross( guardLine, curToAim ))
{
if (MathTools.Vector2Cross( guardLine.endPoint - guardLine.startPoint, curNaviP.value.Pos - guardLine.endPoint ) < 0)
{
link = false;
break;
}
}
}
if (link)
{
foreach (Segment borderLine in borderLines)
{
if (Segment.IsCross( borderLine, curToAim ))
{
link = false;
break;
}
}
}
if (link)
{
float weight = Vector2.Distance( curNaviP.value.Pos, aimNaviP.value.Pos );
GraphPoint<NaviPoint>.Link( curNaviP, aimNaviP, weight );
}
}
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<VisiBordPoint> 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
}