private void CalculateVisibilityGraph()
{
DateTime startTime = DateTime.Now;
Waypoints = new Waypoint[CollisionAreas.Sum(p => p.Points.Length)];
int x = 0;
foreach (Polygon poly in CollisionAreas)
{
for (int i = 0; i < poly.Points.Length; i++)
{
poly.Points[i] = poly.Points[i] * SCALE_FACTOR;
Waypoints[x] = new Waypoint(x)
{
Position = poly.Points[i]
};
x++;
}
poly.UpdateBounds();
}
x = 0;
foreach (Polygon poly in CollisionAreas)
{
for (int i = 0, j = poly.Points.Length - 1; i < poly.Points.Length; j = i++)
{
Waypoints[x + i].AddConnectionTo(Waypoints[x + j]);
}
x += poly.Points.Length;
}
Parallel.ForEach(Waypoints, (w1) =>
{
foreach (Waypoint w2 in Waypoints)
{
if (!w1.IsConnectedTo(w2))
{
if (HasClearLineOfSight(w1.Position, w2.Position))
{
w1.AddConnectionTo(w2);
}
}
}
});
TimeSpan calculationTime = DateTime.Now - startTime;
s_log.Debug("Calculate waypoints took {0}", calculationTime);
}
public Bitmap RenderMap(int height)
{
BoundingBox bounds = BoundingBox.CreateFromPoints(CollisionAreas.SelectMany(p => p.Points));
Vector2 scale = bounds.Max - bounds.Min;
float aspect = scale.X / scale.Y;
int width = (int)(height * aspect);
Bitmap render = new Bitmap(width, height);
Vector2 size = new Vector2(width - 24, height - 24);
using (Graphics g = Graphics.FromImage(render))
using (Font font = new Font("Arial", 24, FontStyle.Bold))
using (SolidBrush b = new SolidBrush(Color.Red))
{
g.Clear(Color.White);
Pen connectionPen = new Pen(Color.Green, 1);
foreach (WaypointConnection connection in Waypoints.SelectMany(w => w.Connections))
{
Point p1 = NormaliseVector(connection.Source.Position, bounds.Min, scale, size);
Point p2 = NormaliseVector(connection.Target.Position, bounds.Min, scale, size);
g.DrawLine(connectionPen, p1, p2);
}
Pen polyPen = new Pen(Color.Red, 3);
foreach (Polygon poly in CollisionAreas)
{
for (int i = 0, j = poly.Points.Length - 1; i < poly.Points.Length; j = i++)
{
Point p1 = NormaliseVector(poly.Points[i], bounds.Min, scale, size);
Point p2 = NormaliseVector(poly.Points[j], bounds.Min, scale, size);
g.DrawLine(polyPen, p1, p2);
}
}
Pen pathPen = new Pen(Color.Blue, 3);
Vector2 from = new Vector2(120, 92);
Vector2 to = new Vector2(70, 88);
List <Vector2> path = FindPath(from, to);
Point a1 = NormaliseVector(from * 1000, bounds.Min, scale, size);
Point a2 = NormaliseVector(path[0] * 1000, bounds.Min, scale, size);
PointF c = new PointF(a1.X, a1.Y);
g.DrawLine(pathPen, a1, a2);
g.DrawString("From", font, b, c);
for (int i = 0; i < path.Count - 1; i++)
{
Point p1 = NormaliseVector(path[i] * 1000, bounds.Min, scale, size);
Point p2 = NormaliseVector(path[i + 1] * 1000, bounds.Min, scale, size);
PointF f = new PointF(p1.X, p1.Y);
g.DrawLine(pathPen, p1, p2);
g.DrawString(i.ToString(), font, b, f);
}
}
return(render);
}