Point delta = new Point(); //鼠标手动偏移量
private void frmSec_MouseDown(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Middle)
{
from.X = e.X;
from.Y = e.Y;
}
else
{
//完成屏幕坐标->DisplayTopology映射
PointF[] pos = { new PointF(e.X, e.Y) };
trans_C2D.TransformPoints(pos);
if (e.Button == MouseButtons.Left)
{
d = new FPoint(pos[0].X, pos[0].Y);
}
else if (e.Button == MouseButtons.Right)
{
s = new FPoint(pos[0].X, pos[0].Y);
}
//高精度计时器测量寻径耗时
QueryPerformance.Start();
w = pf.PathFinding(s, d);
QueryPerformance.End();
this.Text = QueryPerformance.GetMessage();
//选择多边形
selected = display.SelectPolygon(pos[0].X, pos[0].Y);
Refresh();
}
}
//========================================================================================================
public void LOS_Engine(FPoint from, FPoint to)
{
int srcp = topo.SelectPolygon(from.x, from.y);
int dstp = topo.SelectPolygon(to.x, to.y);
if (srcp == -1 || dstp == -1)
{
return;
}
if (!topo.polys[srcp].enterable || !topo.polys[dstp].enterable)
{
return;
}
lfp.Add(from);
if (srcp == dstp)
{
lfp.Add(to);
return;
}
Vector2 n0 = GetV2(from, to);
n0.Normalize();
TestBorderCall(from, n0, topo.polys[srcp]);
do
{
switch (ret.result)
{
case RESULT.TEST_BORDER:
TestVertexPolygon(ret.p0, ret.n0, ret.poly);
break;
case RESULT.TEST_VERTEX:
TestPureVertex(ret.p0, ret.n0);
break;
}
//以下是检测LOS是否可终止
Polygon dst = topo.polys[dstp];
switch (ret.result)
{
case RESULT.TEST_BORDER:
if (ret.poly == dst)
{
lfp.Add(to);
return;
}
break;
case RESULT.TEST_VERTEX:
FPoint fp = lfp[lfp.Count - 1];
foreach (Border b in dst.borders)
{
if (fp.Equals(b.from))
{
lfp.Add(to);
return;
}
}
break;
}
} while (ret.result != RESULT.TEST_END);
}
int[] dst_fpidx; //目标多边形的顶点索引，用于判断VertexWaypoint是否与目标点直接相邻
public Waypoint PathFinding(FPoint srcfp, FPoint dstfp)
{
//起点、终点必须不为空
if (srcfp == null || dstfp == null)
{
return(null);
}
//验证起点、终点所在多边形的合法性
int srcp = topo.SelectPolygon(srcfp.x, srcfp.y);
int dstp = topo.SelectPolygon(dstfp.x, dstfp.y);
if (srcp == -1 || dstp == -1 || !polys[srcp].enterable || !polys[dstp].enterable)
{
return(null);
}
//设置路径规划终点
Waypoint.SetDest(dstfp);
//设置目标多边形
dst_poly = polys[dstp];
//标记目标多边形的顶点
dst_fpidx = new int[dst_poly.num_borders];
for (int i = 0; i < dst_poly.num_borders; i++)
{
dst_fpidx[i] = dst_poly.borders[i].from_idx;
}
//----------------------------------------------------------------------------
open.Clear();
close.Clear();
Waypoint start = new Waypoint(srcfp, null, false);
close.Add(start); //!!!保证open里面只有edgew和vertexw两类位点
if (srcp == dstp)
{
Waypoint end = new Waypoint(dstfp, start, true);
return(end);
}
else
{
ExtendStartWaypoint(start, srcp);
}
//----------------------------------------------------------------------------
Waypoint w;
while (!open.IsEmpty())
{
w = open.GetLeastWaypoint();
if (w.done) //如果w与目标点直接相邻
{
Waypoint end = new Waypoint(dstfp, w, true);
return(end);
}
open.Delete(w);
close.Add(w);
ExtendAdjacentWaypoints(w);
}
return(null);
}