DistancePointSegmentStrict() public static method

public static DistancePointSegmentStrict ( Vector3 a, Vector3 b, Vector3 p ) : float
a Vector3
b Vector3
p Vector3
return float
Example #1
0
        public static void SimplifyPath2(IRaycastableGraph rcg, List <GraphNode> nodes, int start, int end, List <GraphNode> result, Vector3 startPoint, Vector3 endPoint)
        {
            int count = result.Count;

            if (end <= start + 1)
            {
                result.Add(nodes[start]);
                result.Add(nodes[end]);
                return;
            }
            GraphHitInfo graphHitInfo;

            if (rcg.Linecast(startPoint, endPoint, nodes[start], out graphHitInfo, result) || result[result.Count - 1] != nodes[end])
            {
                result.RemoveRange(count, result.Count - count);
                int   num  = -1;
                float num2 = float.PositiveInfinity;
                for (int i = start + 1; i < end; i++)
                {
                    float num3 = AstarMath.DistancePointSegmentStrict(startPoint, endPoint, (Vector3)nodes[i].position);
                    if (num == -1 || num3 < num2)
                    {
                        num  = i;
                        num2 = num3;
                    }
                }
                RichFunnel.SimplifyPath2(rcg, nodes, start, num, result, startPoint, (Vector3)nodes[num].position);
                result.RemoveAt(result.Count - 1);
                RichFunnel.SimplifyPath2(rcg, nodes, num, end, result, (Vector3)nodes[num].position, endPoint);
            }
        }
Example #2
0
        public static void SimplifyPath3(IRaycastableGraph rcg, List <GraphNode> nodes, int start, int end, List <GraphNode> result, Vector3 startPoint, Vector3 endPoint, int depth = 0)
        {
            if (start == end)
            {
                result.Add(nodes[start]);
                return;
            }
            if (start + 1 == end)
            {
                result.Add(nodes[start]);
                result.Add(nodes[end]);
                return;
            }
            int          count = result.Count;
            GraphHitInfo graphHitInfo;

            if (rcg.Linecast(startPoint, endPoint, nodes[start], out graphHitInfo, result) || result[result.Count - 1] != nodes[end])
            {
                result.RemoveRange(count, result.Count - count);
                int   num  = 0;
                float num2 = 0f;
                for (int i = start + 1; i < end - 1; i++)
                {
                    float num3 = AstarMath.DistancePointSegmentStrict(startPoint, endPoint, (Vector3)nodes[i].position);
                    if (num3 > num2)
                    {
                        num  = i;
                        num2 = num3;
                    }
                }
                int num4 = (num + start) / 2;
                int num5 = (num + end) / 2;
                if (num4 == num5)
                {
                    RichFunnel.SimplifyPath3(rcg, nodes, start, num4, result, startPoint, (Vector3)nodes[num4].position, 0);
                    result.RemoveAt(result.Count - 1);
                    RichFunnel.SimplifyPath3(rcg, nodes, num4, end, result, (Vector3)nodes[num4].position, endPoint, depth + 1);
                }
                else
                {
                    RichFunnel.SimplifyPath3(rcg, nodes, start, num4, result, startPoint, (Vector3)nodes[num4].position, depth + 1);
                    result.RemoveAt(result.Count - 1);
                    RichFunnel.SimplifyPath3(rcg, nodes, num4, num5, result, (Vector3)nodes[num4].position, (Vector3)nodes[num5].position, depth + 1);
                    result.RemoveAt(result.Count - 1);
                    RichFunnel.SimplifyPath3(rcg, nodes, num5, end, result, (Vector3)nodes[num5].position, endPoint, depth + 1);
                }
            }
        }
Example #3
0
        public static void SimplifyPath2(IRaycastableGraph rcg, List <GraphNode> nodes, int start, int end, List <GraphNode> result, Vector3 startPoint, Vector3 endPoint)
        {
            int resCount = result.Count;

            //Debug.DrawLine (startPoint, endPoint, Color.black);
            //Debug.Break();

            if (end <= start + 1)
            {
                result.Add(nodes[start]);
                result.Add(nodes[end]);
                //t--;
                return;
            }

            GraphHitInfo hit;

            if ((rcg.Linecast(startPoint, endPoint, nodes[start], out hit, result) || result[result.Count - 1] != nodes[end]))
            {
                //System.Console.WriteLine ("Hit");
                //Obstacle
                //Refine further
                result.RemoveRange(resCount, result.Count - resCount);

                int   minDistNode = -1;
                float minDist     = float.PositiveInfinity;
                for (int i = start + 1; i < end; i++)
                {
                    float dist = AstarMath.DistancePointSegmentStrict(startPoint, endPoint, (Vector3)nodes[i].position);
                    if (minDistNode == -1 || dist < minDist)
                    {
                        minDistNode = i;
                        minDist     = dist;
                    }
                }

                SimplifyPath2(rcg, nodes, start, minDistNode, result, startPoint, (Vector3)nodes[minDistNode].position);
                //Remove start node of next part so that it is not added twice
                result.RemoveAt(result.Count - 1);
                SimplifyPath2(rcg, nodes, minDistNode, end, result, (Vector3)nodes[minDistNode].position, endPoint);
            }
        }
Example #4
0
        public static void SimplifyPath3(IRaycastableGraph rcg, List <GraphNode> nodes, int start, int end, List <GraphNode> result, Vector3 startPoint, Vector3 endPoint, int depth = 0)
        {
            if (start == end)
            {
                result.Add(nodes[start]);
                return;
            }
            if (start + 1 == end)
            {
                result.Add(nodes[start]);
                result.Add(nodes[end]);
                return;
            }

            int resCount = result.Count;

            GraphHitInfo hit;
            bool         linecast = rcg.Linecast(startPoint, endPoint, nodes[start], out hit, result);

            if (linecast || result[result.Count - 1] != nodes[end])
            {
                //Debug.DrawLine (startPoint, endPoint, Color.black);
                //Obstacle
                //Refine further
                result.RemoveRange(resCount, result.Count - resCount);

                int   maxDistNode = 0;
                float maxDist     = 0;
                for (int i = start + 1; i < end - 1; i++)
                {
                    float dist = AstarMath.DistancePointSegmentStrict(startPoint, endPoint, (Vector3)nodes[i].position);
                    if (dist > maxDist)
                    {
                        maxDistNode = i;
                        maxDist     = dist;
                    }
                }

                int mid1 = (maxDistNode + start) / 2;
                int mid2 = (maxDistNode + end) / 2;

                if (mid1 == mid2)
                {
                    SimplifyPath3(rcg, nodes, start, mid1, result, startPoint, (Vector3)nodes[mid1].position);
                    //Remove start node of next part so that it is not added twice
                    result.RemoveAt(result.Count - 1);
                    SimplifyPath3(rcg, nodes, mid1, end, result, (Vector3)nodes[mid1].position, endPoint, depth + 1);
                }
                else
                {
                    SimplifyPath3(rcg, nodes, start, mid1, result, startPoint, (Vector3)nodes[mid1].position, depth + 1);

                    //Remove start node of next part so that it is not added twice
                    result.RemoveAt(result.Count - 1);
                    SimplifyPath3(rcg, nodes, mid1, mid2, result, (Vector3)nodes[mid1].position, (Vector3)nodes[mid2].position, depth + 1);

                    //Remove start node of next part so that it is not added twice
                    result.RemoveAt(result.Count - 1);
                    SimplifyPath3(rcg, nodes, mid2, end, result, (Vector3)nodes[mid2].position, endPoint, depth + 1);
                }
            }
        }