/// <summary>
/// Calculates navigation graph based on the largest grid in the surroundings of the character.
/// </summary>
/// NOTE: The graph is calculated each time from scratch, it can probably be modified to allow for incremental
/// updates, but it would be non-trivial. (Extending the platform should be easy, removing blocks or adding
/// obstacles less easy.
/// <returns></returns>
public FatNavGraph GetGraph()
{
var sphere = m_lowLevelObserver.GetBoundingSphere(
m_lowLevelObserver.Radius * 2d); // Get some look-ahead
var grid = m_lowLevelObserver.CollectSurroundingBlocks(sphere, ObservationMode.BLOCKS)
.OrderByDescending(g => g.Blocks.Count).First(); // Get the biggest grid.
// TODO: guess which face of the blocks in the grid is "up" (which surface to walk on)
// perhaps compare the angle of all vectors with the up vector of the character?
// TODO: offset the start position to be below the character's feet
// TODO: calculate which direction is actually up
return(CreateGraph(grid, m_lowLevelObserver.CurrentPlayerPosition(), Vector3I.Up));
}
/// <summary>
/// Calculates navigation graph based on the largest grid in the surroundings of the character.
/// </summary>
/// NOTE: The graph is calculated each time from scratch, it can probably be modified to allow for incremental
/// updates, but it would be non-trivial. (Extending the platform should be easy, removing blocks or adding
/// obstacles less easy.
/// <returns></returns>
public FatNavGraph GetGraph()
{
var sphere = m_lowLevelObserver.GetBoundingSphere(
null,
m_lowLevelObserver.Radius * 2d); // Get some look-ahead
var sourceGrid = m_lowLevelObserver.Grids().ToList()
.OrderByDescending(g => g.BlocksCount).First(); // Get the biggest grid.
// Convert both "ends" of the orientation vector
var zeroInGridCoordinates = sourceGrid.WorldToGridScaledLocal(Vector3D.Zero);
var characterOrientationUpInGrid = sourceGrid.WorldToGridScaledLocal(
m_lowLevelObserver.CurrentPlayerOrientationUp()) - zeroInGridCoordinates;
// TODO: offset the start position to be below the character's feet
return(CreateGraph(m_lowLevelObserver.ConvertToSeGrid(sourceGrid, sphere),
m_lowLevelObserver.CurrentPlayerPosition(),
GuessWhichSideIsUp(characterOrientationUpInGrid)));
}
