/// <summary>
/// 在轮廓中查找keyPoint
/// </summary>
/// <returns></returns>
public bool FindKeyPoint(RLEGridMap grid, ref Float2 keyPoint)
{
if (grid == null)
{
return(false);
}
Polygon2D poly = new Polygon2D(pts.ToArray());
Double2 lb = poly.leftBottom;
Double2 ru = poly.rightUp;
Short2 slb = grid.GetIndex(lb) + Short2.one;
Short2 sru = grid.GetIndex(ru) - Short2.one;
for (int x = slb.x; x < sru.x; x++)
{
double xpos = x * (double)grid.TileSize;
Double2 yminPos1 = Double2.zero;
Double2 ymaxPos2 = Double2.zero;
if (poly.GetPointsInAreabyXaixs(xpos, 1.0f, ref yminPos1, ref ymaxPos2) == true)
{
int ymin = (int)(yminPos1.y / grid.TileSize);
int ymax = (int)(ymaxPos2.y / grid.TileSize);
if (grid.CheckXDirHaveBlock(x, ymin, ymax) == true)
{
keyPoint = new Float2(x * grid.TileSize, ymax * grid.TileSize);
return(true);
}
}
}
return(false);
}
/// <summary>
/// 获取轮廓起点及轮廓挡格起点
/// </summary>
/// <param name="ContourStartPoint">轮廓起点</param>
/// <param name="ContourStartBlockPoint">轮廓挡格起点</param>
/// <param name="startSearchPoint">悬针搜索点</param>
/// <param name="grid"></param>
/// <returns></returns>
public bool GetStartingPoint(ref Short2 ContourStartPoint, ref Short2 ContourStartBlockPoint, Float2 startSearchPoint, RLEGridMap grid)
{
Short2 center = grid.GetIndex(startSearchPoint);
if (grid.CheckInMap(center) == false)
{
return(false);
}
for (int j = 0; j <= center.y; j++)
{
if (grid.CheckBlock(center - new Short2(0, j)) == true)
{
ContourStartPoint = center - new Short2(0, j - 1);
ContourStartBlockPoint = center - new Short2(0, j);
return(true);
}
}
return(false);
}