//returns true if the bbox described by other intersects with this one
public bool isOverlappedWith(InvertedAABBox2D other)
{
return(!((other.Top() > Bottom()) ||
(other.Bottom() < Top()) ||
(other.Left() > Right()) ||
(other.Right() < Left())));
}
//----------------------- CalculateNeighbors ----------------------------
//
// This must be called to create the collection of neighbors. This method
// examines each cell within range of the target, If the
// cells contain entities then they are tested to see if they are situated
// within the target's neighborhood region. If they are they are added to
// neighbor list
//------------------------------------------------------------------------
public void CalculateNeighbors(Vector2D TargetPos, double QueryRadius)
{
//create the query box that is the bounding box of the target's query area
InvertedAABBox2D QueryBox = new InvertedAABBox2D(TargetPos - new Vector2D(QueryRadius, QueryRadius),
TargetPos + new Vector2D(QueryRadius, QueryRadius));
m_Neighbors.Clear();
Double dblDoubleRadius = QueryRadius * QueryRadius;
//iterate through each cell and test to see if its bounding box overlaps
//with the query box. If it does and it also contains entities then make further proximity tests.
foreach (Cell curCell in m_Cells)
{
if ((curCell.Members.Count != 0) && curCell.BBox.isOverlappedWith(QueryBox))
{
//add any entities found within query radius to the neighbor list
foreach (MovingEntity objEntity in curCell.Members)
{
if (Vector2D.Vec2DDistanceSq(objEntity.Pos, TargetPos) < dblDoubleRadius)
{
m_Neighbors.Add(objEntity);
}
}
}
} // next cell
}
private void renderBox(InvertedAABBox2D objBox, Graphics objGraphics, Pen objPen)
{
objGraphics.DrawLine(objPen, (int)objBox.Left(), (int)objBox.Top(), (int)objBox.Right(), (int)objBox.Top());
objGraphics.DrawLine(objPen, (int)objBox.Left(), (int)objBox.Bottom(), (int)objBox.Right(), (int)objBox.Bottom());
objGraphics.DrawLine(objPen, (int)objBox.Left(), (int)objBox.Top(), (int)objBox.Left(), (int)objBox.Bottom());
objGraphics.DrawLine(objPen, (int)objBox.Right(), (int)objBox.Top(), (int)objBox.Right(), (int)objBox.Bottom());
}
//this method calculates all a target's neighbors and stores them in
//the neighbor vector. After you have called this method use the begin,
//next and end methods to iterate through the vector.
public void CalculateNeighbors(Vector2 targetPos, float queryRadius)
{
if (neighbors_.Length <= 0)
{
Debug.LogError("CellSpacePartition::CalculateNeighbors: invalid neighbors since it is empty");
return;
}
//create an iterator and set it to the beginning of the neighbor vector
int currNeighborIndex = 0;
//NavGraphNode curNbor = neighbors_.begin();
//create the query box that is the bounding box of the target's query
//area
InvertedAABBox2D queryBox = new InvertedAABBox2D(targetPos - new Vector2(queryRadius, queryRadius),
targetPos + new Vector2(queryRadius, queryRadius));
//iterate through each cell and test to see if its bounding box overlaps
//with the query box. If it does and it also contains entities then
//make further proximity tests.
Cell currCell = null;
NavGraphNode currNode = null;
for (int i = 0; i < cells_.Count; ++i)
{
currCell = cells_[i];
//test to see if this cell contains members and if it overlaps the
//query box
if (currCell.bbox.isOverlappedWith(queryBox) &&
currCell.members.Count > 0)
{
//add any entities found within query radius to the neighbor list
//std::list<NavGraphNode>::iterator it = currCell->memebers.begin();
for (int j = 0; j < currCell.members.Count; ++j)
{
currNode = currCell.members[j];
if ((currNode.Position() - targetPos).sqrMagnitude < queryRadius * queryRadius)
{
neighbors_[currNeighborIndex++] = currNode;
//*curNbor++ = *it;
}
}
}
} //next cell
//mark the end of the list with a zero.
neighbors_[currNeighborIndex] = null;
}
//returns true if the bbox described by other intersects with this one
public bool isOverlappedWith( InvertedAABBox2D other)
{
return !( (other.Top() > Bottom()) ||
(other.Bottom() < Top()) ||
(other.Left() > Right()) ||
(other.Right() < Left()));
}
public Cell(Vector2 topleft, Vector2 botright)
{
bbox = new InvertedAABBox2D(topleft, botright);
members = new List<NavGraphNode>();
}
//this method calculates all a target's neighbors and stores them in
//the neighbor vector. After you have called this method use the begin,
//next and end methods to iterate through the vector.
public void CalculateNeighbors(Vector2 targetPos, float queryRadius)
{
if ( neighbors_.Length <= 0 ) {
Debug.LogError ( "CellSpacePartition::CalculateNeighbors: invalid neighbors since it is empty" );
return ;
}
//create an iterator and set it to the beginning of the neighbor vector
int currNeighborIndex = 0;
//NavGraphNode curNbor = neighbors_.begin();
//create the query box that is the bounding box of the target's query
//area
InvertedAABBox2D queryBox = new InvertedAABBox2D( targetPos - new Vector2(queryRadius, queryRadius),
targetPos + new Vector2(queryRadius, queryRadius));
//iterate through each cell and test to see if its bounding box overlaps
//with the query box. If it does and it also contains entities then
//make further proximity tests.
Cell currCell = null;
NavGraphNode currNode = null;
for ( int i=0; i<cells_.Count; ++i ) {
currCell = cells_[i];
//test to see if this cell contains members and if it overlaps the
//query box
if (currCell.bbox.isOverlappedWith(queryBox) &&
currCell.members.Count > 0) {
//add any entities found within query radius to the neighbor list
//std::list<NavGraphNode>::iterator it = currCell->memebers.begin();
for ( int j=0; j<currCell.members.Count; ++j ) {
currNode = currCell.members[j];
if ( ( currNode.Position() - targetPos ).sqrMagnitude < queryRadius * queryRadius ) {
neighbors_[currNeighborIndex++] = currNode;
//*curNbor++ = *it;
}
}
}
} //next cell
//mark the end of the list with a zero.
neighbors_[currNeighborIndex] = null;
}
public Cell(Vector2 topleft, Vector2 botright)
{
bbox = new InvertedAABBox2D(topleft, botright);
members = new List <NavGraphNode>();
}
public Cell(Vector2D topleft, Vector2D botright)
{
BBox = new InvertedAABBox2D(topleft, botright);
Members = new List <MovingEntity>();
}
public void Render(Graphics objGraphics)
{
if (isFollowPathOn())
{
MovingEntity objSharkie = getVehicleByID(m_intSharkieID);
RenderPath2D(objSharkie.Steering().GetPath(), objGraphics, objPathPen);
}
foreach (MovingEntity objVehicle in m_Vehicles)
{
Pen objDrawPen = objVehiclePen;
if (isPursuitOn() && (objVehicle.ID() == m_intVictimID))
{
objDrawPen = objTargetPen;
}
if (m_blnNonePenetrationOn)
{
List <MovingEntity> ListTouched = MovingEntity.EnforceNonPenetrationConstraint(objVehicle, m_Vehicles);
if (ListTouched.Count > 0)
{
if (objVehicle.ID() == m_intSharkieID)
{
objDrawPen = objRedPen;
}
else
{
objDrawPen = objDarkPen;
}
}
}
RenderVehicle(objVehicle, objGraphics, objDrawPen);
if (m_blnRenderAids)
{
if ((objVehicle.ID() == m_intSharkieID))
{
Vector2D vecForce = (Vector2D)(objVehicle.Steering().Force() / SteerParams.Instance.SteeringForceTweaker);
vecForce.X = (vecForce.X * 2) * objVehicle.Scale().X;
vecForce.Y = (vecForce.Y * 2) * objVehicle.Scale().Y;
objGraphics.DrawLine(objRedPen, (PointF)objVehicle.Pos, (PointF)(objVehicle.Pos + vecForce));
objGraphics.DrawEllipse(objVehiclePen, (int)(objVehicle.Pos.X - SteerParams.Instance.ViewDistance), (int)(objVehicle.Pos.Y - SteerParams.Instance.ViewDistance),
(int)SteerParams.Instance.ViewDistance * 2, (int)SteerParams.Instance.ViewDistance * 2);
renderDetectionBox(objVehicle, objGraphics, objVehiclePen);
}
else if ((objVehicle.ID() == m_intVictimID) && GameWorld.Instance.SpacePartitioningOn && isPursuitOn())
{
InvertedAABBox2D box = new InvertedAABBox2D(objVehicle.Pos - new Vector2D(SteerParams.Instance.ViewDistance, SteerParams.Instance.ViewDistance),
objVehicle.Pos + new Vector2D(SteerParams.Instance.ViewDistance, SteerParams.Instance.ViewDistance));
renderBox(box, objGraphics, objTargetPen);
GameWorld.Instance.CellSpaces.CalculateNeighbors(objVehicle.Pos, SteerParams.Instance.ViewDistance);
foreach (MovingEntity objNeighbour in GameWorld.Instance.CellSpaces.ListOfNeighbours())
{
if (objNeighbour.ID() != m_intSharkieID)
{
RenderObstacle(objNeighbour, objGraphics, objGrayPen);
}
}
objGraphics.DrawEllipse(objGrayPen, (int)(objVehicle.Pos.X - SteerParams.Instance.ViewDistance), (int)(objVehicle.Pos.Y - SteerParams.Instance.ViewDistance),
(int)SteerParams.Instance.ViewDistance * 2, (int)SteerParams.Instance.ViewDistance * 2);
}
}
}
if (GameWorld.Instance.SpacePartitioningOn)
{
foreach (Cell objCell in m_pCellSpace.ListOfCells())
{
renderCell(objCell, objGraphics, objCellPen, true);
}
}
foreach (Wall2D objWall in m_Walls)
{
RenderWall2D(objWall, objGraphics, objWallPen, true);
}
foreach (BaseGameEntity objObs in m_Obstacles)
{
RenderObstacle(objObs, objGraphics, objObstaclePen);
}
if (!isPursuitOn() && !isFollowPathOn())
{
RenderTarget(GameWorld.Instance.TargetPos, objGraphics, objTargetPen);
}
}
