static public Vector2f point_line_intersect(Vector2f pt, LineSegf line)
{
Vector2f linedir = new Vector2f(line.vertex1.x - line.vertex0.x, line.vertex1.y - line.vertex0.y);
float length = linedir.length();
if (length <= 0)
{
return(line.vertex0);
}
linedir.x /= length;
linedir.y /= length;
float nu = linedir.x * (pt.x - line.vertex0.x) + linedir.y * (pt.y - line.vertex0.y);
float n = nu / 1;
if (n < 0)
{
return(line.vertex0);
}
if (n > length)
{
return(line.vertex1);
}
return(new Vector2f(line.vertex0.x + linedir.x * n, line.vertex0.y + linedir.y * n));
}
static public float point_lineseg_side(Vector2f pt, LineSegf line)
{
Vector2f vec1 = new Vector2f(line.vertex1.x - line.vertex0.x, line.vertex1.y - line.vertex0.y);
Vector2f vec2 = new Vector2f(pt.x - line.vertex1.x, pt.y - line.vertex1.y);
return(vector_ccw_vector(vec1, vec2));
}
static public bool lineseg_intersect_rectangle(LineSegf lineseg, Rectanglef rect)
{
if (point_in_rectangle(lineseg.vertex0, rect))
{
return(true);
}
if (point_in_rectangle(lineseg.vertex1, rect))
{
return(true);
}
if (lineseg_intersect_lineseg(lineseg, rect.side(0)))
{
return(true);
}
if (lineseg_intersect_lineseg(lineseg, rect.side(1)))
{
return(true);
}
if (lineseg_intersect_lineseg(lineseg, rect.side(2)))
{
return(true);
}
if (lineseg_intersect_lineseg(lineseg, rect.side(3)))
{
return(true);
}
return(false);
}
static public bool overlap(SceneShapeLine shape1, SceneShapeRound shape2)
{
LineSegf line = new LineSegf(new Vector2f(shape1.mVertex1.x, shape1.mVertex1.y), new Vector2f(shape1.mVertex2.x, shape1.mVertex2.y));
Vector2f tarPos = Geometryalgorithm2d.point_line_intersect(new Vector2f(shape2.mCenter.x, shape2.mCenter.y), line);
return((tarPos.Subtract(new Vector2f(shape2.mCenter.x, shape2.mCenter.y))).length() <= shape2.mRadius);
}
static public bool point_in_triangle(Vector2f pt, Trianglef triangle)
{
float minX = triangle.v0.x;
float minY = triangle.v0.y;
float maxX = triangle.v0.x;
float maxY = triangle.v0.y;
minX = minX < triangle.v1.x ? minX : triangle.v1.x;
minX = minX < triangle.v2.x ? minX : triangle.v2.x;
minY = minY < triangle.v1.y ? minY : triangle.v1.y;
minY = minY < triangle.v2.y ? minY : triangle.v2.y;
maxX = maxX > triangle.v1.x ? maxX : triangle.v1.x;
maxX = maxX > triangle.v2.x ? maxX : triangle.v2.x;
maxY = maxY > triangle.v1.y ? maxY : triangle.v1.y;
maxY = maxY > triangle.v2.y ? maxY : triangle.v2.y;
if (pt.x < minX || pt.x > maxX || pt.y < minY || pt.y > maxY)
{
return(false);
}
int count = 0;
for (uint i = 0; i < 3; i++)
{
LineSegf line = triangle.side(i);
if (point_in_lineseg(pt, line))
{
return(true);
}
if (point_lineseg_side(pt, line) > 0)
{
if (count != 0 && count != 1)
{
return(false);
}
count = 1;
}
else
{
if (count != 0 || count != -1)
{
return(false);
}
count = -1;
}
}
return(true);
}
static public Rectanglef lineseg_box(LineSegf l1)
{
float minx = l1.vertex0.x < l1.vertex1.x ? l1.vertex0.x : l1.vertex1.x;
float maxx = l1.vertex0.x > l1.vertex1.x ? l1.vertex0.x : l1.vertex1.x;
float miny = l1.vertex0.y < l1.vertex1.y ? l1.vertex0.y : l1.vertex1.y;
float maxy = l1.vertex0.y > l1.vertex1.y ? l1.vertex0.y : l1.vertex1.y;
return(new Rectanglef(new Vector2f(minx, miny), new Vector2f(maxx, maxy)));
}
static public bool point_in_lineseg(Vector2f pt, LineSegf line)
{
float f1 = (new Vector2f(line.vertex0.x - pt.x, line.vertex0.y - pt.y)).length();
float f2 = (new Vector2f(line.vertex1.x - pt.x, line.vertex1.y - pt.y)).length();
float v = Math.Abs(f1 + f2 - line.length());
return(v < 1E-5f);
}
static public bool overlap(SceneShapeLine shape1, SceneShapePolygon shape2)
{
LineSegf line = new LineSegf(new Vector2f(shape1.mVertex1.x, shape1.mVertex1.y), new Vector2f(shape1.mVertex2.x, shape1.mVertex2.y));
for (int i = 1; i < shape2.mPts.Count; i++)
{
Vector2f p1 = new Vector2f(shape2.mPts[i - 1].x, shape2.mPts[i - 1].y);
Vector2f p2 = new Vector2f(shape2.mPts[i].x, shape2.mPts[i].y);
if (Geometryalgorithm2d.lineseg_intersect_lineseg(line, new LineSegf(p1, p2)))
{
return(true);
}
}
return(false);
}
static public bool circle_intersect_triangle(Vector2f center, float radius, Trianglef triangle)
{
if (Geometryalgorithm2d.point_in_triangle(center, triangle))
{
return(true);
}
for (uint i = 0; i < 3; i++)
{
LineSegf line = triangle.side(i);
Vector2f pt = Geometryalgorithm2d.point_line_intersect(center, line);
float distance = pt.Subtract(center).length();
if (distance < radius)
{
return(true);
}
}
return(false);
}
static public bool lineseg_intersect_triangle(LineSegf lineseg, Trianglef triangle)
{
if (point_in_triangle(lineseg.vertex0, triangle))
{
return(true);
}
if (point_in_triangle(lineseg.vertex1, triangle))
{
return(true);
}
for (uint j = 0; j < 3; j++)
{
if (lineseg_intersect_lineseg(lineseg, triangle.side(j)))
{
return(true);
}
}
return(false);
}
static public bool lineseg_intersect_lineseg(LineSegf l1, LineSegf l2)
{
Rectanglef r1 = lineseg_box(l1);
Rectanglef r2 = lineseg_box(l2);
if (r1.minv.x > r2.maxv.x || r1.maxv.x < r2.minv.x ||
r1.minv.y > r2.maxv.y || r1.maxv.y < r2.minv.y)
{
return(false);
}
float d1 = point_lineseg_side(l1.vertex0, l2);
float d2 = point_lineseg_side(l1.vertex1, l2);
float d3 = point_lineseg_side(l2.vertex0, l1);
float d4 = point_lineseg_side(l2.vertex1, l1);
if (d1 * d2 < 0 && d3 * d4 < 0)
{
return(true);
}
else if (d1 == 0 && point_in_lineseg(l1.vertex0, l2))
{
return(true);
}
else if (d2 == 0 && point_in_lineseg(l1.vertex1, l2))
{
return(true);
}
else if (d3 == 0 && point_in_lineseg(l2.vertex0, l1))
{
return(true);
}
else if (d4 == 0 && point_in_lineseg(l2.vertex1, l1))
{
return(true);
}
return(false);
}
static public bool IsPointInPolygon(List <Vector2> polygon, Vector2 pt, bool side = true)
{
int wn = 0;
for (int i = 0; i < polygon.Count; i++)
{
Vector2 pt1 = polygon[i];
Vector2 pt2 = polygon[(i + 1) % (int)polygon.Count];
LineSegf line = new LineSegf(new Vector2f(pt1.x, pt1.y), new Vector2f(pt2.x, pt2.y));
if (point_in_lineseg(new Vector2f(pt.x, pt.y), line))
{
return(side);
}
if (point_lineseg_side(new Vector2f(pt.x, pt.y), line) > 0)
{
if (wn != 0 && wn != 1)
{
return(false);
}
wn = 1;
}
else
{
if (wn != 0 && wn != -1)
{
return(false);
}
wn = -1;
}
}
return(true);
}
private UpdateRetCode UpdateMovePos(uint elapsed)
{
if (mPathNodes == null)
{
return(UpdateRetCode.Aborted);
}
float movDist = elapsed * mOwner.GetSpeed() / 1000f;
if (movDist < 0.001f)
{
return(UpdateRetCode.Continue);
}
Vector3f toPos = mOwner.GetPosition3f();
Vector3f curPos = mOwner.GetPosition3f();
while (movDist > 0 && mCurrentIndex < mPathNodes.Count)
{
Vector3f nodePos = mPathNodes[mCurrentIndex];
Vector3f len3d = nodePos.Subtract(curPos);
len3d.y = 0;
float distToNode = len3d.Length();
if (movDist >= distToNode)
{
movDist -= distToNode;
toPos = nodePos;
++mCurrentIndex;
if (mCurrentIndex < mPathNodes.Count)
{
Vector3f nodePosNext = mPathNodes[mCurrentIndex];
Vector3f posOwner = mOwner.GetPosition3f();
if (Math.Abs(posOwner.x - nodePosNext.x) > 0.01f ||
Math.Abs(posOwner.z - nodePosNext.z) > 0.01f)
{
float dir = Utility.Angle2D(new UnityEngine.Vector3(nodePosNext.x, nodePosNext.y, nodePosNext.z), new UnityEngine.Vector3(posOwner.x, posOwner.y, posOwner.z)) * UnityEngine.Mathf.Deg2Rad;
mOwner.SetDirection(dir);
mOwner.SetMoveDirection(dir);
}
}
else
{
movDist = 0;
}
}
else
{
if (mCurrentIndex > 0)
{
Vector3f dir = mPathNodes[mCurrentIndex].Subtract(mPathNodes[mCurrentIndex - 1]);
dir.y = 0;
dir.Normalize();
dir.MultiplyBy(movDist);
toPos = curPos.Add(dir);
LineSegf line = new LineSegf(new Vector2f(mPathNodes[mCurrentIndex - 1].x, mPathNodes[mCurrentIndex - 1].z),
new Vector2f(mPathNodes[mCurrentIndex].x, mPathNodes[mCurrentIndex].z));
Vector2f tarPos = Geometryalgorithm2d.point_line_intersect(new Vector2f(toPos.x, toPos.z), line);
toPos.x = tarPos.x;
toPos.z = tarPos.y;
movDist = 0;
}
else
{
len3d.y = 0;
len3d.Normalize();
toPos = curPos.Add(len3d.MultiplyBy(movDist));
movDist = 0;
}
}
}
if (!mOwner.Scene.IsInWalkableRegion(toPos.x, toPos.z))
{
return(UpdateRetCode.Finished);
}
//if (mOwner.Scene.IsBarrierRegion(mOwner, toPos.x, toPos.z))
//{
// return UpdateRetCode.Finished;
//}
toPos.y = mOwner.Scene.GetHeight(toPos.x, toPos.z);
mOwner.SetPosition3f(toPos);
return(mCurrentIndex >= mPathNodes.Count ? UpdateRetCode.Finished : UpdateRetCode.Continue);
}
static public bool lineseg_in_rectangle(LineSegf lineseg, Rectanglef rect)
{
return(point_in_rectangle(lineseg.vertex0, rect) && point_in_rectangle(lineseg.vertex1, rect));
}
static public bool lineseg_intersect_rectangle_by_triangle(Vector2f p1_l1, Vector2f p2_l1,
Vector2f p1_r2, Vector2f p2_r2,
Vector2f p3_r2, Vector2f p4_r2)
{
Trianglef triangle = new Trianglef();
triangle.v0 = p1_r2;
triangle.v1 = p2_r2;
triangle.v2 = p3_r2;
if (point_in_triangle(p1_l1, triangle))
{
return(true);
}
triangle.v0 = p1_r2;
triangle.v1 = p4_r2;
triangle.v2 = p3_r2;
if (point_in_triangle(p1_l1, triangle))
{
return(true);
}
triangle.v0 = p1_r2;
triangle.v1 = p2_r2;
triangle.v2 = p3_r2;
if (point_in_triangle(p2_l1, triangle))
{
return(true);
}
triangle.v0 = p1_r2;
triangle.v1 = p4_r2;
triangle.v2 = p3_r2;
if (point_in_triangle(p2_l1, triangle))
{
return(true);
}
LineSegf l1 = new LineSegf();
LineSegf l2 = new LineSegf();
l1.vertex0 = p1_l1;
l1.vertex1 = p2_l1;
l2.vertex0 = p1_r2;
l2.vertex1 = p2_r2;
if (lineseg_intersect_lineseg(l1, l2))
{
return(true);
}
l2.vertex0 = p2_r2;
l2.vertex1 = p3_r2;
if (lineseg_intersect_lineseg(l1, l2))
{
return(true);
}
l2.vertex0 = p3_r2;
l2.vertex1 = p4_r2;
if (lineseg_intersect_lineseg(l1, l2))
{
return(true);
}
l2.vertex0 = p4_r2;
l2.vertex1 = p1_r2;
if (lineseg_intersect_lineseg(l1, l2))
{
return(true);
}
return(false);
}
public bool Equal(LineSegf rhs)
{
return((this.vertex0.Equal(rhs.vertex0) && this.vertex1.Equal(rhs.vertex1)) || (this.vertex0.Equal(rhs.vertex1) && this.vertex1.Equal(rhs.vertex0)));
}