// Note: Holes in polytree are in reverse clockness than lands.
private static IntVector2[] FindContourWaypoints(this PolyNode node)
{
if (node.visibilityGraphNodeData.ContourWaypoints != null)
{
return(node.visibilityGraphNodeData.ContourWaypoints);
}
var results = new List <IntVector2>();
var contour = node.Contour;
var contourIsOpen = contour.First() != contour.Last();
var pointCount = contourIsOpen ? node.Contour.Count : node.Contour.Count - 1;
for (var i = 0; i < pointCount; i++)
{
var a = contour[i];
var b = contour[(i + 1) % pointCount];
var c = contour[(i + 2) % pointCount];
var clockness = GeometryOperations.Clockness(a.X, a.Y, b.X, b.Y, c.X, c.Y);
if (clockness == Clockness.CounterClockwise)
{
results.Add(b);
}
}
return(node.visibilityGraphNodeData.ContourWaypoints = results.ToArray());
}
private static void RenderRandomVisualizationFrames()
{
for (var i = 0; i < 100; i++)
{
var(p, segments) = RandomInput();
p = new DoubleVector2(bounds.Width / 2, bounds.Height / 2);
segments = segments.Where(s => GeometryOperations.Clockness(p.X, p.Y, s.X1, s.Y1, s.X2, s.Y2) == Clockness.Clockwise).ToArray();
RenderVisualizationFrame(p, segments);
}
}
private static void Z(this IDebugCanvas canvas, IntVector2 visibilityPolygonOrigin, TerrainOverlayNetworkNode terrainNode, IReadOnlyCollection <IntLineSegment2> inboundCrossoverSegments, HashSet <TerrainOverlayNetworkNode> visited, FillStyle fillStyle)
{
canvas.Transform = terrainNode.SectorNodeDescription.WorldTransform;
// canvas.DrawPoint(visibilityPolygonOrigin, StrokeStyle.RedThick25Solid);
var visibilityPolygon = new VisibilityPolygon(
visibilityPolygonOrigin.ToDoubleVector2(),
new[] {
new VisibilityPolygon.IntervalRange {
Id = VisibilityPolygon.RANGE_ID_INFINITESIMALLY_NEAR,
ThetaStart = 0,
ThetaEnd = VisibilityPolygon.TwoPi
},
});
foreach (var inboundCrossoverSegment in inboundCrossoverSegments)
{
visibilityPolygon.ClearBefore(inboundCrossoverSegment);
}
// Console.WriteLine("====");
foreach (var seg in terrainNode.LandPolyNode.FindContourAndChildHoleBarriers())
{
if (GeometryOperations.Clockness(visibilityPolygon.Origin, seg.First.ToDoubleVector2(), seg.Second.ToDoubleVector2()) == Clockness.CounterClockwise)
{
continue;
}
visibilityPolygon.Insert(seg);
// Console.WriteLine(seg);
}
// Console.WriteLine("====");
var visibleCrossoverSegmentsByNeighbor = FindVisibleCrossoverSegmentsByNeighborAndClearLocalAt(canvas, terrainNode, visibilityPolygon, visibilityPolygonOrigin, visited);
canvas.DrawVisibilityPolygon(visibilityPolygon, fillStyle: fillStyle ?? kDefaultFillStyle, angleBoundaryStrokeStyle: StrokeStyle.None, visibleWallStrokeStyle: StrokeStyle.None);
var visibilityPolygonOriginWorld = Vector3.Transform(new Vector3(visibilityPolygonOrigin.ToDotNetVector(), 0), terrainNode.SectorNodeDescription.WorldTransform);
foreach (var(neighbor, nextInboundCrossoverSegments) in visibleCrossoverSegmentsByNeighbor)
{
var neighborPolygonOrigin = Vector3.Transform(visibilityPolygonOriginWorld, neighbor.SectorNodeDescription.WorldTransformInv);
//visibilityPolygonOrigin
Z(canvas, new IntVector2((int)neighborPolygonOrigin.X, (int)neighborPolygonOrigin.Y), neighbor, nextInboundCrossoverSegments,
visited.Concat(new[] { terrainNode }).ToHashSet(), fillStyle);
}
}
public bool ContainsOrIntersects(ref IntLineSegment2 segment)
{
var tl = GeometryOperations.Clockness(segment.X1, segment.Y1, segment.X2, segment.Y2, Left, Top);
var tr = GeometryOperations.Clockness(segment.X1, segment.Y1, segment.X2, segment.Y2, Right, Top);
var bl = GeometryOperations.Clockness(segment.X1, segment.Y1, segment.X2, segment.Y2, Left, Bottom);
var br = GeometryOperations.Clockness(segment.X1, segment.Y1, segment.X2, segment.Y2, Right, Bottom);
// If all on same side (and assuming assume not all collinear), then not intersecting!
if (tl == tr && tr == bl && bl == br && br != Clockness.Neither)
{
return(false);
}
// Some point (or cross-sectional segment!) of rect intersects with line formed by segment
return((segment.X1 >= Left || segment.X2 >= Left) &&
(segment.X1 <= Right || segment.X2 <= Right) &&
(segment.Y1 >= Top || segment.Y2 >= Top) &&
(segment.Y1 <= Bottom || segment.Y2 <= Bottom));
}
private void TriangulateHelper(PolyNode node, List <TriangulationIsland> islands)
{
DebugPrint("TriangulateRoot out");
var cps = new Polygon(ConvertToTriangulationPoints(node.Contour));
foreach (var hole in node.Childs)
{
cps.AddHole(new Polygon(ConvertToTriangulationPoints(hole.Contour)));
}
P2T.Triangulate(cps);
var triangles = new Triangle3[cps.Triangles.Count];
var p2tTriangleToIndex = new Dictionary <Poly2Tri.Triangulation.Delaunay.DelaunayTriangle, int>();
for (int i = 0; i < cps.Triangles.Count; i++)
{
triangles[i].Index = i;
p2tTriangleToIndex[cps.Triangles[i]] = i;
}
for (var i = 0; i < cps.Triangles.Count; i++)
{
var p2tTriangle = cps.Triangles[i];
ref Triangle3 t = ref triangles[i];
t.Points = new Array3 <DoubleVector2>(
p2tTriangle.Points[0].ToOpenMobaPointD(),
p2tTriangle.Points[1].ToOpenMobaPointD(),
p2tTriangle.Points[2].ToOpenMobaPointD()
);
// Console.WriteLine(string.Join(", ", p2tTriangle.Points.Select(p => p.Z)));
t.Centroid = (t.Points[0] + t.Points[1] + t.Points[2]) / 3.0;
t.IntPaddedBounds2D = CreatePaddedIntAxisAlignedBoundingBoxXY2D(ref triangles[i].Points);
for (int j = 0; j < 3; j++)
{
if (p2tTriangle.Neighbors[j] != null && p2tTriangle.Neighbors[j].IsInterior)
{
triangles[i].NeighborOppositePointIndices[j] = p2tTriangleToIndex[p2tTriangle.Neighbors[j]];
}
else
{
triangles[i].NeighborOppositePointIndices[j] = Triangle3.NO_NEIGHBOR_INDEX;
}
#if DEBUG
var p0 = triangles[i].Points[0];
var p1 = triangles[i].Points[1];
var p2 = triangles[i].Points[2];
var centroid = triangles[i].Centroid;
var cp0 = p0 - centroid;
var cp1 = p1 - centroid;
var cp2 = p2 - centroid;
var cl01 = GeometryOperations.Clockness(cp0, cp1);
var cl12 = GeometryOperations.Clockness(cp1, cp2);
var cl20 = GeometryOperations.Clockness(cp2, cp0);
var cond = cl01 == cl12 && cl12 == cl20 && cl20 == Clockness.CounterClockwise;
if (!cond)
{
throw new ArgumentException("P2T Triangle Clockness wasn't expected");
}
#endif
}
}
private static MultiValueDictionary <TerrainOverlayNetworkNode, IntLineSegment2> FindVisibleCrossoverSegmentsByNeighborAndClearLocalAt(
IDebugCanvas canvas,
TerrainOverlayNetworkNode terrainNode,
VisibilityPolygon visibilityPolygon,
IntVector2 visibilityPolygonOrigin,
HashSet <TerrainOverlayNetworkNode> visited = null)
{
var visibleCrossoverSegmentsByNeighbor = MultiValueDictionary <TerrainOverlayNetworkNode, IntLineSegment2> .Create(() => new HashSet <IntLineSegment2>());
foreach (var outboundEdgeGroup in terrainNode.OutboundEdgeGroups)
{
var otherTerrainNode = outboundEdgeGroup.Key;
if (visited?.Contains(otherTerrainNode) ?? false)
{
continue;
}
foreach (var outboundEdge in outboundEdgeGroup.Value)
{
var ranges = visibilityPolygon.Get();
(IntLineSegment2, bool) FlipMaybeSorta(IntLineSegment2 x) =>
GeometryOperations.Clockness(visibilityPolygonOrigin, x.First, x.Second) == Clockness.CounterClockwise
? (new IntLineSegment2(x.Second, x.First), true)
: (x, false);
var(localCrossoverSegment, lcsFlipped) = FlipMaybeSorta(outboundEdge.EdgeJob.EdgeDescription.SourceSegment);
var(remoteCrossoverSegment, rcsFlipped) = FlipMaybeSorta(outboundEdge.EdgeJob.EdgeDescription.DestinationSegment);
// todo: clamp visibleStartT, visibleEndT to account for agent radius eroding crossover segmetmentnt
var rangeIndexIntervals = visibilityPolygon.RangeStab(localCrossoverSegment);
var locallyClearedSegments = new List <IntLineSegment2>();
foreach (var(startIndexInclusive, endIndexInclusive) in rangeIndexIntervals)
{
for (var i = startIndexInclusive; i <= endIndexInclusive; i++)
{
if (ranges[i].Id == VisibilityPolygon.RANGE_ID_INFINITELY_FAR || ranges[i].Id == VisibilityPolygon.RANGE_ID_INFINITESIMALLY_NEAR)
{
continue;
}
var seg = ranges[i].Segment;
var rstart = DoubleVector2.FromRadiusAngle(100, ranges[i].ThetaStart) * 100;
var rend = DoubleVector2.FromRadiusAngle(100, ranges[i].ThetaEnd) * 100;
double visibleStartT, visibleEndT;
if (!GeometryOperations.TryFindNonoverlappingLineLineIntersectionT(localCrossoverSegment.First.ToDoubleVector2(), localCrossoverSegment.Second.ToDoubleVector2(), visibilityPolygonOrigin.ToDoubleVector2(), visibilityPolygonOrigin.ToDoubleVector2() + rstart, out visibleStartT) ||
!GeometryOperations.TryFindNonoverlappingLineLineIntersectionT(localCrossoverSegment.First.ToDoubleVector2(), localCrossoverSegment.Second.ToDoubleVector2(), visibilityPolygonOrigin.ToDoubleVector2(), visibilityPolygonOrigin.ToDoubleVector2() + rend, out visibleEndT))
{
// wtf?
Console.WriteLine("???");
continue;
}
// Todo: I don't actually understand why visibleEndT > 1 is a thing?
// t values are for parameterization of crossover line segment, so must be within [0, 1]
if ((visibleStartT < 0 && visibleEndT < 0) || (visibleStartT > 1 && visibleEndT > 1))
{
continue;
}
visibleStartT = Math.Min(1.0, Math.Max(0.0, visibleStartT));
visibleEndT = Math.Min(1.0, Math.Max(0.0, visibleEndT));
if (visibilityPolygon.SegmentComparer.Compare(localCrossoverSegment, seg) < 0)
{
var localVisibleStart = localCrossoverSegment.PointAt(visibleStartT).LossyToIntVector2();
var localVisibleEnd = localCrossoverSegment.PointAt(visibleEndT).LossyToIntVector2();
var remoteVisibleStart = remoteCrossoverSegment.PointAt(lcsFlipped == rcsFlipped ? visibleStartT : 1.0 - visibleStartT).LossyToIntVector2();
var remoteVisibleEnd = remoteCrossoverSegment.PointAt(lcsFlipped == rcsFlipped ? visibleEndT : 1.0 - visibleEndT).LossyToIntVector2();
if (localVisibleStart == localVisibleEnd)
{
continue;
}
if (remoteVisibleStart == remoteVisibleEnd)
{
continue;
}
var locallyClearedSegment = new IntLineSegment2(localVisibleStart, localVisibleEnd);
locallyClearedSegments.Add(locallyClearedSegment);
visibleCrossoverSegmentsByNeighbor.Add(otherTerrainNode, new IntLineSegment2(remoteVisibleStart, remoteVisibleEnd));
}
}
}
foreach (var locallyClearedSegment in locallyClearedSegments)
{
visibilityPolygon.ClearBefore(locallyClearedSegment);
}
}
}
return(visibleCrossoverSegmentsByNeighbor);
}