private void computeEdges()
{
edges.Clear();
ushort nextEdgeIndex = 0;
foreach (var point in Points)
{
foreach (var adjacent in point.AdjacentNodes)
{
var newEdge = new NavworldEdge();
newEdge.A = point;
newEdge.B = adjacent;
newEdge.ChunkIndex = point.ChunkIndex;
double squared =
Math.Pow(((point.Vec3Pos.X * WEIGHT_SCALE) - (adjacent.Vec3Pos.X * WEIGHT_SCALE)), 2) +
Math.Pow(((point.Vec3Pos.Y * WEIGHT_SCALE) - (adjacent.Vec3Pos.Y * WEIGHT_SCALE)), 2) +
Math.Pow(((point.Vec3Pos.Z * WEIGHT_SCALE) - (adjacent.Vec3Pos.Z * WEIGHT_SCALE)), 2);
double distance = Math.Sqrt(squared);
newEdge.Weight = (ushort)distance;
bool edgeFound = false;
foreach (var edge in edges)
{
if (newEdge.Equals(edge))
{
edgeFound = true;
break;
}
}
if (!edgeFound)
{
newEdge.Index = nextEdgeIndex;
edges.Add(newEdge);
nextEdgeIndex++;
}
}
}
}
private void writePayload(BinaryWriter writer)
{
writePayloadHeader(writer);
foreach (var point in Points)
{
point.WritePosition(writer);
}
var padding = Utils.GetPaddingSize((uint)(Points.Count * 6));
for (int i = 0; i < padding; i++)
{
writer.Write((byte)0);
}
ushort nextSectionOffset = 0;
foreach (var point in Points)
{
writer.Write(nextSectionOffset);
writer.Write((ushort)point.ChunkIndex);
writer.Write((byte)(point.AdjacentNodes.Count));
writer.Write((byte)(point.ZeroCostNode == null ? 0 : 1));
nextSectionOffset += (ushort)((point.AdjacentNodes.Count * 2) + (point.ZeroCostNode == null ? 0 : 1));
}
padding = Utils.GetPaddingSize((uint)(Points.Count * 6));
for (int i = 0; i < padding; i++)
{
writer.Write((byte)0);
}
foreach (var point in Points)
{
foreach (var adjacent in point.AdjacentNodes)
{
writer.Write(adjacent.Index);
var newEdge = new NavworldEdge();
newEdge.A = point;
newEdge.B = adjacent;
foreach (var edge in edges)
{
if (newEdge.Equals(edge))
{
writer.Write(edge.Index);
break;
}
}
}
if (point.ZeroCostNode != null)
{
writer.Write(point.ZeroCostNode.Index);
}
}
padding = Utils.GetPaddingSize(getSubsection3LengthWithoutPadding());
for (int i = 0; i < padding; i++)
{
writer.Write((byte)0);
}
foreach (var edge in edges)
{
writer.Write((ushort)edge.Weight); // weight
writer.Write((ushort)edge.ChunkIndex); // subsection5 index
writer.Write((byte)(edge.A.Index - edge_offsets[edge.A.ChunkIndex]));
writer.Write((byte)(edge.B.Index - edge_offsets[edge.B.ChunkIndex]));
}
padding = Utils.GetPaddingSize((uint)(edges.Count * 6));
for (int i = 0; i < padding; i++)
{
writer.Write((byte)0);
}
for (int i = 0; i < num_chunks; i++)
{
// TODO: Find what different values mean, flags?
writer.Write((ushort)1249);
}
padding = Utils.GetPaddingSize(2 * num_chunks);
for (int i = 0; i < padding; i++)
{
writer.Write((byte)0);
}
foreach (var point in Points)
{
writer.Write(point.FaceIndex);
}
padding = Utils.GetPaddingSize((uint)(Points.Count * 2));
for (int i = 0; i < padding; i++)
{
writer.Write((byte)0);
}
}