public int Waypoint; // Current waypoint in the path
#endregion Fields
#region Constructors
public Entity( int index )
{
Index = index;
Transform = new InstanceTransformRef();
Type = EntityType.Civilian;
HalfSize = 1f;
AABB = new AABB();
NextPosition = Vector3.Zero;
NextAngle = 0f;
ListNode = null;
Direction = Vector3.Zero;
StateTime = 0;
StateDuration = 0;
Behavior = null;
Collision = 0;
Path = new List<Vector2>( 60 );
Waypoint = -1;
MoveSpeed = 1f;
Beacon = null;
BeaconVersion = 0;
}
private bool DetermineIfPathCellIsWalkable( AABB aabb, Building[] buildings )
{
for ( int i = 0; i < buildings.Length; ++i )
{
if ( TestBuildingVsAABB( buildings[i], aabb ) )
return false;
}
return true;
}
private bool TestBuildingVsAABB( Building building, AABB aabb )
{
Vector2 min = Vector2.Clamp( building.AABB.Min, Min, Max );
Vector2 max = Vector2.Clamp( building.AABB.Max, Min, Max );
float cellWidth = ( Max.X - Min.X ) / Cols;
int colMin = (int)( ( min.X - Min.X ) / cellWidth );
int colMax = (int)( ( max.X - Min.X ) / cellWidth );
float cellHeight = ( Max.Y - Min.Y ) / Rows;
int rowMin = (int)( ( min.Y - Min.Y ) / cellHeight );
int rowMax = (int)( ( max.Y - Min.Y ) / cellHeight );
// make sure the maxs don't go out of bounds
if ( colMax == Cols )
colMax = colMin;
if ( rowMax == Rows )
rowMax = rowMin;
// test polygon's aabb against aabb (effectively aabb version of SAT)
if ( aabb.Max.X < min.X || aabb.Min.X > max.X ) return false;
if ( aabb.Max.Y < min.Y || aabb.Min.Y > max.Y ) return false;
tempAABBVerts[0] = aabb.Min;
tempAABBVerts[1] = new Vector2( aabb.Min.X, aabb.Max.Y );
tempAABBVerts[2] = aabb.Max;
tempAABBVerts[3] = new Vector2( aabb.Max.X, aabb.Min.Y );
// SAT using building's axes
for ( int i = 0; i < building.Boundary.Length; ++i )
{
float lower = float.MaxValue;
float upper = float.MinValue;
for ( int j = 0; j < tempAABBVerts.Length; ++j )
{
Vector2 disp = building.Boundary[i] - tempAABBVerts[j];
float proj = Vector2.Dot( disp, building.Normals[i] );
if ( proj < lower ) lower = proj;
if ( proj > upper ) upper = proj;
}
if ( upper < 0 || lower > building.SATProjections[i] )
return false;
}
return true;
}
CellState[] states; // true if open, false if closed
#endregion Fields
#region Constructors
public PathGrid( Vector2 min, Vector2 max, int rows, int cols, WalkablePredicate walkablePredicate )
{
smoothStep = .25f * ( max.X - min.X ) / cols;
Min = min;
Max = max;
Rows = rows;
Cols = cols;
openList = new List<int>( 100 );
int cellCount = Rows * Cols;
cells = new PathCell[cellCount];
costs = new PathCellCost[cellCount];
states = new CellState[cellCount];
float xStep = ( Max.X - Min.X ) / Cols;
float yStep = ( Max.Y - Min.Y ) / Rows;
AABB aabb = new AABB();
aabb.Min.Y = Min.Y;
aabb.Max.Y = Min.Y + yStep;
for ( int r = 0; r < Rows; ++r )
{
aabb.Min.X = Min.X;
aabb.Max.X = Min.X + xStep;
for ( int c = 0; c < Cols; ++c )
{
int index = r * Cols + c;
bool walkable = walkablePredicate != null ? walkablePredicate( aabb, Building.Buildings ) : true;
cells[index] = new PathCell( walkable, index, Vector2.Lerp( aabb.Min, aabb.Max, .5f ) );
aabb.Min.X += xStep;
aabb.Max.X += xStep;
}
aabb.Min.Y += yStep;
aabb.Max.Y += yStep;
}
// do the a* stuffs here
for ( int r = 0; r < Rows; ++r )
{
for ( int c = 0; c < Cols; ++c )
{
int index = r * Cols + c;
if ( cells[index].Walkable )
{
for ( int r2 = 0; r2 < Rows; ++r2 )
{
for ( int c2 = 0; c2 < Cols; ++c2 )
{
//FindPath( r, c, r2, c2 );
}
}
}
}
}
debugGrid = new DebugGrid( Min, Max, Rows, Cols, Color.LightGray, ZombieCraft.Instance.GraphicsDevice );
}