private int getx2y2()
{
long xy = _x * _x + _y * _y;
xy = xy < 0 ? -xy : xy;
int v = KMath.isqrt(xy);
return(v);
}
public Segment(KInt2 first, KInt2 second, int id)
{
this.start = first;
this.end = second;
cachedir = null;
uid = id;
this.MinX = KMath.Min(this.start.IntX, this.end.IntX);
this.MaxX = KMath.Max(this.start.IntX, this.end.IntX);
this.MinY = KMath.Min(this.start.IntY, this.end.IntY);
this.MaxY = KMath.Max(this.start.IntY, this.end.IntY);
}
void RemoveUnused()
{
//sort
BeginSample("SortByXcoordinate");
SortByXcoordinate(segments);
EndSample();
BeginSample("connectlines check");
HashSet <KInt2> allpoints = new HashSet <KInt2> ();
Dictionary <KInt2, HashSet <KInt2> > connectlines = new Dictionary <KInt2, HashSet <KInt2> >(segments.Count);
for (int i = 0; i < segments.Count; ++i)
{
Segment seg = segments [i];
if (allpoints.Add(seg.start))
{
connectlines [seg.start] = new HashSet <KInt2> ();
}
if (allpoints.Add(seg.end))
{
connectlines [seg.end] = new HashSet <KInt2> ();
}
}
KInt2 p1, p2, p3;
for (int i = 0; i < segments.Count; ++i)
{
Segment firstline = segments [i];
for (int j = i + 1; j < segments.Count; ++j)
{
Segment secondline = segments [j];
if (firstline.MinX > secondline.MaxX)
{
break;
}
long maxminy = KMath.Max(firstline.MinY, secondline.MinY);
long minmaxy = KMath.Min(firstline.MaxY, secondline.MaxY);
if (maxminy > minmaxy)
{
continue;
}
if (Segment.isConnectRetPoints(firstline, secondline, out p1, out p2, out p3))
{
//only three point
connectlines [p1].Add(p2);
connectlines [p1].Add(p3);
}
}
ShowProgress("创建链接点", (float)i / segments.Count);
}
EndSample();
this.segments.Clear();
HashSet <Segment> realList = new HashSet <Segment> ();
List <KInt2> linequeue = new List <KInt2> (segments.Count);
HashSet <KInt2> openlist = new HashSet <KInt2> ();
HashSet <KInt2> enabledlist = new HashSet <KInt2> ();
BeginSample("combine polygon check");
int progress = 0;
var pointen = allpoints.GetEnumerator();
while (pointen.MoveNext())
{
KInt2 pt = pointen.Current;
if (enabledlist.Contains(pt) || connectlines [pt].Count < 2)
{
continue;
}
openlist.Clear();
linequeue.Clear();
linequeue.Add(pt);
if (TryConnectUntilFindTarget(pt, pt, linequeue, openlist, connectlines))
{
if (!isAllLine(linequeue))
{
AddtoList(realList, linequeue);
for (int k = 0; k < linequeue.Count; ++k)
{
enabledlist.Add(linequeue [k]);
}
}
else
{
#if UNITY_EDITOR
if (ObstacleDebug >= DebugMode.ShowAndLog)
{
LogMgr.LogFormat("准备剔除 原始目标点 为 :{0}", pt);
for (int k = 0; k < linequeue.Count; ++k)
{
LogMgr.LogFormat("准备剔除 :{0}", linequeue [k]);
}
LogMgr.Log("剔除结束");
}
#endif
}
}
progress++;
ShowProgress("检测非多边形点", (float)progress / allpoints.Count);
}
EndSample();
segments.Capacity = realList.Count;
var realen = realList.GetEnumerator();
while (realen.MoveNext())
{
segments.Add(realen.Current);
}
if (ExactMode >= ExactType.TWO)
{
BeginSample("PolygonIntersect");
PolygonIntersect();
EndSample();
}
}
long doublearea(KInt2 p1, KInt2 p2, KInt2 p3)
{
return(KMath.Abs((p1.IntX * (p2.IntY - p3.IntY) + p2.IntX * (p3.IntY - p1.IntY) + p3.IntX * (p1.IntY - p2.IntY))));
}
void PolygonIntersect()
{
//相交检测
BeginSample("PolygonIntersect - SegmentIntersect");
this.SortByXcoordinate(segments);
List <Segment> removeList = new List <Segment> (segments.Count / 2);
Dictionary <Segment, intersectCls> SegPointsdict = new Dictionary <Segment, intersectCls> (segments.Count / 2);
Dictionary <KInt2, HashSet <Segment> > dic = new Dictionary <KInt2, HashSet <Segment> >();
for (int i = 0; i < segments.Count; ++i)
{
Segment firstline = segments [i];
for (int j = i + 1; j < segments.Count; ++j)
{
Segment secondline = segments [j];
if (firstline.MinX > secondline.MaxX)
{
break;
}
long maxminy = KMath.Max(segments[i].MinY, segments[j].MinY);
long minmaxy = KMath.Min(segments[i].MaxY, segments[j].MaxY);
if (maxminy > minmaxy)
{
continue;
}
KInt2 result;
if (!firstline.isConnect(secondline) && Segment.Intersect(firstline.start, firstline.end, secondline.start, secondline.end, out result))
{
if (dic.ContainsKey(result))
{
dic[result].Add(firstline);
dic[result].Add(secondline);
}
else
{
HashSet <Segment> hashdata = new HashSet <Segment>();
hashdata.Add(firstline);
hashdata.Add(secondline);
dic[result] = hashdata;
}
if (firstline.start != result && firstline.end != result)
{
if (SegPointsdict.ContainsKey(firstline))
{
SegPointsdict [firstline].points.TryAdd(result);
}
else
{
intersectCls data = new intersectCls();
data.points.Add(result);
data.intersectseg = secondline;
SegPointsdict [firstline] = data;
}
removeList.Add(firstline);
}
if (secondline.start != result && secondline.end != result)
{
if (SegPointsdict.ContainsKey(secondline))
{
SegPointsdict [secondline].points.TryAdd(result);
}
else
{
intersectCls data = new intersectCls();
data.points.Add(result);
data.intersectseg = firstline;
SegPointsdict [secondline] = data;
}
removeList.Add(secondline);
}
// LogMgr.LogError("first =>" + firstline.uid + " => " + secondline.uid);
}
}
ShowProgress("相交检测", (float)i / segments.Count);
}
EndSample();
//remove old segments 即使有重复也无所谓，减少多次检查的开销
for (int i = 0; i < removeList.Count; ++i)
{
segments.Remove(removeList [i]);
}
BeginSample("PolygonIntersect - SortAndAdd2Segments");
SortAndAdd2Segments(SegPointsdict);
EndSample();
DefineIDforSegments(segments);
//
BeginSample("Build - TriangleTree");
tree = new TriangleTree();
tree.Build(ObsTriangles, 2);
EndSample();
//
List <NavmeshTriangle> testtriangles = new List <NavmeshTriangle> (10);
List <KInt2> nearestidxs = new List <KInt2>(10);
removeList.Clear();
BeginSample("Build - Test Triangle");
for (int i = 0; i < segments.Count; ++i)
{
Segment seg = segments [i];
testtriangles.Clear();
nearestidxs.Clear();
tree.ball_queryPoints((seg.start + seg.end) / 2, Seekrange, nearestidxs);
for (int k = 0; k < nearestidxs.Count; ++k)
{
List <NavmeshTriangle> list = point2triangle [nearestidxs [k]];
for (int v = 0; v < list.Count; ++v)
{
testtriangles.Add(list [v]);
}
}
ShowProgress("获取邻近三角形", (float)i / segments.Count);
TriangleCheck(testtriangles, dic, removeList, seg);
}
EndSample();
//
#if UNITY_EDITOR
willremoveList.AddRange(removeList);
#endif
for (int i = 0; i < removeList.Count; ++i)
{
segments.Remove(removeList [i]);
}
}