/*
* Return all possible start points for nodgraph.
*/
private static Queue <(Point3, Point3)> GetStartPoints(DistanceGrid distanceGrid)
{
// First is start point, second is the immediate neighbor to go to
Queue <(Point3, Point3)> startPoints = new Queue <(Point3, Point3)>();
bool done = false;
// Find a "starting point" to traverse from.
// A voxel is a "starting point" if it only has one "26-neighbor"
for (int x = 1; x < distanceGrid.xBound; x++)
{
for (int y = 1; y < distanceGrid.yBound; y++)
{
for (int z = 1; z < distanceGrid.zBound; z++)
{
if (distanceGrid.grid[x][y][z] == 0)
{
continue;
}
// If coordinate is a valid startpoint
if (distanceGrid.Get26AdjacentNeighbors(x, y, z).Count == 1)
{
Point3 nextPoint = new Point3();
for (int xi = -1; xi <= 1; xi++)
{
for (int yi = -1; yi <= 1; yi++)
{
for (int zi = -1; zi <= 1; zi++)
{
if (xi == 0 && yi == 0 && zi == 0)
{
continue;
}
if (distanceGrid.grid[x + xi][y + yi][z + zi] > 0)
{
nextPoint = new Point3(x + xi, y + yi, z + zi);
}
}
}
}
startPoints.Enqueue((new Point3(x, y, z), nextPoint));
done = true;
break;
}
}
if (done)
{
break;
}
}
if (done)
{
break;
}
}
return(startPoints);
}
/**
* Generates a NodeGraph from a skeletonized voxelgrid, by traversing neighboring
* voxels and creating nodes connected by edges to maintain the topology of the voxelgrid.
*/
private static NodeGraph CreateNodeGraph(DistanceGrid distanceGrid, VoxelGrid voxelGrid)
{
bool[][][] visitedGrid = new bool[distanceGrid.xBound + 1][][];
for (int i = 0; i < visitedGrid.Length; i++)
{
visitedGrid[i] = new bool[distanceGrid.yBound + 1][];
for (int j = 0; j < visitedGrid[i].Length; j++)
{
visitedGrid[i][j] = new bool[distanceGrid.zBound + 1];
}
}
NodeGraph nodeGraph = new NodeGraph();
Queue <(Point3, Point3)> startPoints = GetStartPoints(distanceGrid);
Point3 initialPoint = startPoints.Peek().Item1;
nodeGraph.AddNode(voxelGrid.LowestPositionAtCoordinate(initialPoint));
visitedGrid[initialPoint.x][initialPoint.y][initialPoint.z] = true;
//Breadth-first traversing of the Voxels
while (startPoints.Count > 0)
{
(Point3 startPoint, Point3 currentPoint) = startPoints.Dequeue();
//Special case for when connecting to an allready visited node
if (visitedGrid[currentPoint.x][currentPoint.y][currentPoint.z])
{
Vect3 pos1 = voxelGrid.LowestPositionAtCoordinate(startPoint);
Vect3 pos2 = voxelGrid.LowestPositionAtCoordinate(currentPoint);
Node startNode = nodeGraph.GetNode(pos1);
Node currentNode = nodeGraph.GetNode(pos2);
if (nodeGraph.GetNode(pos1) == null || nodeGraph.GetNode(pos2) == null)
{
continue;
}
bool shouldLink = true;
foreach (var neighbor in currentNode.neighbors)
{
if (neighbor.nodeIndex == startNode.index)
{
shouldLink = false;
}
else
{
Node neighborNode = nodeGraph.GetNode(neighbor.nodeIndex);
foreach (var nextNeighbor in neighborNode.neighbors)
{
if (nextNeighbor.nodeIndex == startNode.index)
{
shouldLink = false;
}
}
}
if (!shouldLink)
{
break;
}
}
if (shouldLink)
{
nodeGraph.LinkNodes(pos1, pos2);
}
else
{
continue;
}
}
Point3 cameFrom = startPoint;
List <Point3> pathPoints = new List <Point3>()
{
startPoint
};
Vect3 startCoordinate = voxelGrid.LowestPositionAtCoordinate(startPoint);
Vect3 currentCoordinate = voxelGrid.LowestPositionAtCoordinate(currentPoint);
List <Vect3> intermediateCoords = new List <Vect3>();
List <Point3> neighbors = new List <Point3>();
bool distanceWasValid = false;
//Traversing untill the Nodeplacement would make the Edge to far away from the voxels it represents,
//an already visited node is reached, an intersection is found or it's a dead end.
while (DistancesAreValid(startCoordinate, currentCoordinate, intermediateCoords, voxelGrid.resolution))
{
// Node we found was visited
if (visitedGrid[currentPoint.x][currentPoint.y][currentPoint.z])
{
// Ensures nothing happens after we break
distanceWasValid = true;
break;
}
neighbors = distanceGrid.Get26AdjacentNeighbors(currentPoint);
pathPoints.Add(currentPoint);
if (neighbors.Count != 2)
{
visitedGrid[currentPoint.x][currentPoint.y][currentPoint.z] = true;
distanceWasValid = true;
break;
}
// Only one new neighbor
intermediateCoords.Add(voxelGrid.LowestPositionAtCoordinate(currentPoint));
Point3 temp = currentPoint;
currentPoint = neighbors[0] == cameFrom ? neighbors[1] : neighbors[0];
currentCoordinate = voxelGrid.LowestPositionAtCoordinate(currentPoint);
cameFrom = temp;
visitedGrid[cameFrom.x][cameFrom.y][cameFrom.z] = true;
}
double maxDistanceValue = 0;
foreach (var point in pathPoints)
{
maxDistanceValue += distanceGrid.grid[point.x][point.y][point.z] * voxelGrid.resolution * SquareRootOfThree; // Distance is 26-distance from edge
// double distanceValue = distanceGrid.grid[point.x][point.y][point.z]*voxelGrid.resolution*2;
// maxDistanceValue = distanceValue > maxDistanceValue ? distanceValue : maxDistanceValue;
}
maxDistanceValue /= (double)pathPoints.Count;
double minWidth = maxDistanceValue;
double minHeight = maxDistanceValue;
if (!distanceWasValid)
{
nodeGraph.AddNode(intermediateCoords[intermediateCoords.Count - 1], minWidth, minHeight, nodeGraph.GetNode(startCoordinate).index);
visitedGrid[cameFrom.x][cameFrom.y][cameFrom.z] = true;
if (!visitedGrid[currentPoint.x][currentPoint.y][currentPoint.z])
{
startPoints.Enqueue((cameFrom, currentPoint));
}
}
else
{
nodeGraph.AddNode(currentCoordinate, minWidth, minHeight, nodeGraph.GetNode(startCoordinate).index);
foreach (var neighbor in neighbors)
{
if (neighbor == cameFrom ||
visitedGrid[neighbor.x][neighbor.y][neighbor.z])
{
continue;
}
startPoints.Enqueue((currentPoint, neighbor));
}
}
}
return(nodeGraph);
}