// todo: make smarter, should use driveways of buildings of void paths
private void updateApproachRoute(Sequence <PathDescription> pathSequence)
{
Vector3 start, startTangent, end, endTangent;
var startTransform = CurrentTransform;
start = startTransform.MultiplyPoint3x4(Vector3.zero);
startTangent = startTransform.MultiplyVector(Vector3.forward);
var pathDesc = pathSequence[0];
var path = pathDesc.Path;
path.LoftPath.SnapTo(start, out end, out var distance);
var approachProgress = path.GetDistanceFromLoftPath(distance);
var transform = path.GetTransform(approachProgress);
pathSequence[0] = new PathDescription(path, approachProgress / path.GetLength(), 1);
endTangent = -transform.MultiplyVector(Vector3.forward);
var loft = new BiArcLoftPath(start, startTangent, end, endTangent);
var approachPath = new AgentAIPath(loft);
var descr = new PathDescription(Path: approachPath, Start: 0, End: 1);
pathSequence.Insert(0, descr);
}
public void TestBiArc()
{
var biArc = new BiArcLoftPath(new Vector3(-1, 0, -1), new Vector3(0, 0, -1), new Vector3(1, 0, 1), new Vector3(0, 0, -1));
var points = string.Join(" ", Enumerable.Range(0, 100).Select(i => i / 100.0f).Select(i => biArc.GetTransformedPoint(i * biArc.Length, Vector3.zero))
.Select(t => "(" + t.x.ToString(CultureInfo.InvariantCulture) + "," + t.z.ToString(CultureInfo.InvariantCulture) + ")"));
var point1 = new Vector3(-1, 0, 0);
var point2 = new Vector3(1, 0, 0);
biArc.SnapTo(point1, out var snapped1, out float distance1);
biArc.SnapTo(point2, out var snapped2, out float distance2);
var sqrt2inv = 0.70710678818f;
//var inc = biArc.Length / 100;
//var items = new StringBuilder();
//for (float i = 0; i <= biArc.Length; i += inc)
//{
// var v = biArc.GetTransform(i).MultiplyPoint3x4(Vector3.zero);
// items.AppendLine($"{v.x.ToString(CultureInfo.InvariantCulture)}, {v.z.ToString(CultureInfo.InvariantCulture)}");
//}
var pointExpected1 = new Vector3(-sqrt2inv, 0, sqrt2inv - 1);
Assert.AreEqual(pointExpected1.Round(0.0001f), snapped1.Round(0.0001f));
var pointExpected2 = new Vector3(sqrt2inv, 0, 1 - sqrt2inv);
Assert.AreEqual(pointExpected2.Round(0.0001f), snapped2.Round(0.0001f));
}
// todo: make smarter, should use driveways of buildings instead of void paths
private void updateDepartRoute(Sequence <PathDescription> pathSequence)
{
Vector3 start, startTangent, end, endTangent;
var index = pathSequence.Count - 1;
var pathDesc = pathSequence[index];
var path = pathDesc.Path;
path.LoftPath.SnapTo(Destination, out start, out var distance);
var departProgress = path.GetDistanceFromLoftPath(distance);
var endProgress = departProgress / path.GetLength();
pathSequence[index] = new PathDescription(path, 0, endProgress);
end = Destination;
startTangent = -path.GetTransform(departProgress).MultiplyVector(Vector3.forward);
endTangent = (start - end).normalized;
var loft = new BiArcLoftPath(start, startTangent, end, endTangent);
var departPath = new AgentAIPath(loft);
var desc = new PathDescription(departPath, 0, 1);
pathSequence.Add(desc);
}
public void TestJShape()
{
var tangentStart = new Vector3(0, 0, 1);
var tangentEnd = new Vector3(1, 0, 0);
var start = new Vector3(0, 0, 2);
var end = new Vector3(-1, 0, 0);
var a = new BiArcLoftPath(start, tangentStart, end, tangentEnd);
var points = string.Join(" ", Enumerable.Range(0, 100).Select(i => i / 100.0f).Select(i => a.GetTransformedPoint(i * a.Length, Vector3.zero))
.Select(t => "(" + t.x.ToString(CultureInfo.InvariantCulture) + "," + t.z.ToString(CultureInfo.InvariantCulture) + ")"));
}
public void TestSShape()
{
// data from actual bogus case:
var tangentStart = new Vector3(1, 0, 0); // fromString3("AACAvw== AAAAgA== AAAAgA==");
var tangentEnd = new Vector3(1, 0, 0); // fromString3("AACAPw== AAAAgA== AAAAgA==");
var start = new Vector3(0, 0, 2); // fromString3("AMAuRA== AAAAAA== VVXtQg==") - new Vector3(699,0,116.6667f);
var end = new Vector3(0, 0, -2); // fromString3("AMAuRA== AAAAAA== VVXlQg==") - new Vector3(699, 0, 116.6667f);
var a = new BiArcLoftPath(start, tangentStart, end, tangentEnd);
var p1 = a.GetTransformedPoint(a.Length / 4, Vector3.zero);
var p2 = a.GetTransformedPoint(a.Length / 2, Vector3.zero);
var p3 = a.GetTransformedPoint(a.Length / 4 * 3, Vector3.zero);
var points = string.Join(" ", Enumerable.Range(0, 100).Select(i => i / 100.0f).Select(i => a.GetTransformedPoint(i * a.Length, Vector3.zero))
.Select(t => "(" + t.x.ToString(CultureInfo.InvariantCulture) + "," + t.z.ToString(CultureInfo.InvariantCulture) + ")"));
Assert.AreEqual(new Vector3(-1, 0, 1).Round(precision), p1.Round(precision));
Assert.AreEqual(new Vector3(0, 0, 0).Round(precision), p2.Round(precision));
Assert.AreEqual(new Vector3(1, 0, -1).Round(precision), p3.Round(precision));
}
public NodeAIPath[] Create(AINode node)
{
var nodeRadius = 10;
var segments = node.Segments.Select(t => t.Segment).OfType <AISegment>().Where(t => t.Start != null && t.End != null).ToArray();
var nodePaths = new List <NodeAIPath>();
for (int iA = 1; iA < segments.Length; iA++)
{
for (int iB = 0; iB < iA; iB++)
{
var segA = segments[iA];
var loftA = segA.LoftPath;
var segB = segments[iB];
var loftB = segB.LoftPath;
var isAStart = segA.End?.Node == node;
var isBStart = segB.Start?.Node == node;
var offsetA = isAStart ? nodeRadius : loftA.Length - nodeRadius;
var offsetB = isBStart ? nodeRadius : loftB.Length - nodeRadius;
var headingA = isAStart ? segA.Start.GetHeading() : segB.End.GetHeading();
var headingB = isBStart ? segB.Start.GetHeading() : segB.End.GetHeading();
var pointA = loftA.GetTransformedPoint(offsetA, Vector3.zero);
var pointB = loftB.GetTransformedPoint(offsetB, Vector3.zero);
var loft = new BiArcLoftPath(pointA, headingA, pointB, headingB);
//nodePaths.Add()
}
}
return(nodePaths.ToArray());
}
public void TestReverseCShape()
{
// data from actual bogus case:
var tangentStart = new Vector3(1, 0, 0);
var tangentEnd = new Vector3(-1, 0, 0);
var start = new Vector3(0, 0, 2);
var end = new Vector3(0, 0, -2);
var a = new BiArcLoftPath(start, tangentStart, end, tangentEnd);
var p1 = a.GetTransformedPoint(a.Length / 4, Vector3.zero);
var p2 = a.GetTransformedPoint(a.Length / 2, Vector3.zero);
var p3 = a.GetTransformedPoint(a.Length / 4 * 3, Vector3.zero);
var points = string.Join(" ", Enumerable.Range(0, 100).Select(i => i / 100.0f).Select(i => a.GetTransformedPoint(i * a.Length, Vector3.zero))
.Select(t => "(" + t.x.ToString(CultureInfo.InvariantCulture) + "," + t.z.ToString(CultureInfo.InvariantCulture) + ")"));
var s2 = Mathf.Sqrt(2);
Assert.AreEqual(new Vector3(-s2, 0, s2).Round(precision), p1.Round(precision));
Assert.AreEqual(new Vector3(-2, 0, 0).Round(precision), p2.Round(precision));
Assert.AreEqual(new Vector3(-s2, 0, -s2).Round(precision), p3.Round(precision));
}
public AgentAIPath(BiArcLoftPath loft)
{
this.LoftPath = loft;
}
private void IsValid(BiArcLoftPath value)
{
IsValid(value.Arc1);
IsValid(value.Arc2);
}
