public PotentialMap(NavigationManager navManager, PotentialMapType type = PotentialMapType.Exponential)
{
m_navManager = navManager;
m_type = type;
m_grid = new Grid <PotentielMapCell>(navManager.NavigationGrid.Width, navManager.NavigationGrid.Height);
m_sources = new List <PotentialMapInfluence>();
m_costs = new List <PotentialMapInfluence>();
m_linearParameters = new PotentialMapLinearParameters();
m_linearParameters.MinValue = 0;
m_linearParameters.SpatialDecay = Engine.Debug.EditSingle("LinearDecay", 0.1f);
//Initialise data points
for (int i = 0; i < m_grid.Width; i++)
{
for (int j = 0; j < m_grid.Height; j++)
{
Point index = new Point(i, j);
m_grid[index] = new PotentielMapCell();
m_grid[index].NavCell = navManager.NavigationGrid[index];
}
}
}
private void ExponentialInfluence(PotentielMapCell cell, NavigationCell navCell)
{
float influence = 0;
for (int iNeighbour = 0; iNeighbour < navCell.Neighbours.Length; iNeighbour++)
{
var nextNavCell = navCell.Neighbours[iNeighbour];
if (navCell.Neighbours[iNeighbour] == null || !navCell.CanNavigateToNeighbour[iNeighbour])
{
continue;
}
var nextCell = m_grid[nextNavCell.Index];
float dist = Vector2.Distance(nextNavCell.Position, navCell.Position) / m_navManager.Parameters.GridSpacing;
float costFactor = 1 / (1 + cell.CostValue); costFactor = LBE.MathHelper.Clamp(0, 1, costFactor);
float cellInfluence = nextCell.Value * (float)Math.Exp(-dist * m_influenceDecay * (1 + cell.CostValue));
if (cellInfluence > Math.Abs(influence))
{
influence = cellInfluence;
}
}
cell.Influence = LBE.MathHelper.Clamp(-1, 1, influence);
}
private void LinearInfluence(float linearDecay, PotentielMapCell cell, NavigationCell navCell)
{
float influence = float.NegativeInfinity;
for (int iNeighbour = 0; iNeighbour < navCell.Neighbours.Length; iNeighbour++)
{
var nextNavCell = navCell.Neighbours[iNeighbour];
if (navCell.Neighbours[iNeighbour] == null || !navCell.CanNavigateToNeighbour[iNeighbour])
{
continue;
}
var nextCell = m_grid[nextNavCell.Index];
//Linear approx. of distance, that is exact for distSq = 1 or distSq = 2
float distSq = Vector2.DistanceSquared(nextNavCell.Position, navCell.Position) / (m_navManager.Parameters.GridSpacing * m_navManager.Parameters.GridSpacing);
float sq2minusOne = 1.414213f - 1;
float fastDist = (1 - sq2minusOne) + sq2minusOne * distSq;
float cellInfluence = nextCell.Value - linearDecay * (1 + cell.CostValue) * fastDist * fastDist;
influence = Math.Max(influence, cellInfluence);
}
cell.Influence = LBE.MathHelper.Clamp(m_linearParameters.MinValue, 1, influence);
}
