private int AddTriangle(int index)
{
if (!m_funnelConstructed)
{
ConstructFunnel(index);
}
else
{
MyPath <MyNavigationPrimitive> .PathNode tri = m_input[index];
Vector3 left, right;
var triangle = tri.Vertex as MyNavigationTriangle;
Debug.Assert(triangle != null, "Path did not consist of triangles only!");
var edge = triangle.GetNavigationEdge(tri.nextVertex);
GetEdgeVerticesSafe(triangle, tri.nextVertex, out left, out right);
PointTestResult leftResult = TestPoint(left);
PointTestResult rightResult = TestPoint(right);
if (leftResult == PointTestResult.INSIDE)
{
NarrowFunnel(left, index, left: true);
}
if (rightResult == PointTestResult.INSIDE)
{
NarrowFunnel(right, index, left: false);
}
if (leftResult == PointTestResult.RIGHT)
{
m_apex = m_rightPoint;
m_funnelConstructed = false;
ConstructFunnel(m_rightIndex + 1);
return(m_rightIndex + 1);
}
if (rightResult == PointTestResult.LEFT)
{
m_apex = m_leftPoint;
m_funnelConstructed = false;
ConstructFunnel(m_leftIndex + 1);
return(m_leftIndex + 1);
}
if (leftResult == PointTestResult.INSIDE || rightResult == PointTestResult.INSIDE)
{
m_debugFunnel.Add(new FunnelState()
{
Apex = m_apex, Left = m_leftPoint, Right = m_rightPoint
});
}
}
return(index + 1);
}
public void Calculate(MyPath <MyNavigationPrimitive> inputPath, List <Vector4D> refinedPath, ref Vector3 start, ref Vector3 end, int startIndex, int endIndex)
{
m_debugFunnel.Clear();
m_debugPointsLeft.Clear();
m_debugPointsRight.Clear();
m_end = end;
m_endIndex = endIndex;
m_input = inputPath;
m_output = refinedPath;
m_apex = start;
m_funnelConstructed = false;
m_segmentDangerous = false;
int i = startIndex;
while (i < endIndex)
{
i = AddTriangle(i);
if (i == endIndex)
{
PointTestResult result = TestPoint(end);
if (result == PointTestResult.LEFT)
{
m_apex = m_leftPoint;
m_funnelConstructed = false;
ConstructFunnel(m_leftIndex);
i = m_leftIndex + 1;
}
else if (result == PointTestResult.RIGHT)
{
m_apex = m_rightPoint;
m_funnelConstructed = false;
ConstructFunnel(m_rightIndex);
i = m_rightIndex + 1;
}
if (result == PointTestResult.INSIDE || i == endIndex)
{
AddPoint(ProjectEndOnTriangle(i));
}
}
}
if (startIndex == endIndex)
{
AddPoint(ProjectEndOnTriangle(i));
}
m_input = null;
m_output = null;
}
private int AddTriangle(int index)
{
if (!this.m_funnelConstructed)
{
this.ConstructFunnel(index);
}
else
{
Vector3 vector;
Vector3 vector2;
MyPath <MyNavigationPrimitive> .PathNode node = this.m_input[index];
MyNavigationTriangle vertex = node.Vertex as MyNavigationTriangle;
vertex.GetNavigationEdge(node.nextVertex);
this.GetEdgeVerticesSafe(vertex, node.nextVertex, out vector, out vector2);
PointTestResult result = this.TestPoint(vector);
PointTestResult result2 = this.TestPoint(vector2);
if (result == PointTestResult.INSIDE)
{
this.NarrowFunnel(vector, index, true);
}
if (result2 == PointTestResult.INSIDE)
{
this.NarrowFunnel(vector2, index, false);
}
if (result == PointTestResult.RIGHT)
{
this.m_apex = this.m_rightPoint;
this.m_funnelConstructed = false;
this.ConstructFunnel(this.m_rightIndex + 1);
return(this.m_rightIndex + 1);
}
if (result2 == PointTestResult.LEFT)
{
this.m_apex = this.m_leftPoint;
this.m_funnelConstructed = false;
this.ConstructFunnel(this.m_leftIndex + 1);
return(this.m_leftIndex + 1);
}
if ((result == PointTestResult.INSIDE) || (result2 == PointTestResult.INSIDE))
{
MyNavigationMesh.FunnelState item = new MyNavigationMesh.FunnelState {
Apex = this.m_apex,
Left = this.m_leftPoint,
Right = this.m_rightPoint
};
MyNavigationMesh.m_debugFunnel.Add(item);
}
}
return(index + 1);
}
public void Calculate(MyPath <MyNavigationPrimitive> inputPath, List <Vector4D> refinedPath, ref Vector3 start, ref Vector3 end, int startIndex, int endIndex)
{
MyNavigationMesh.m_debugFunnel.Clear();
MyNavigationMesh.m_debugPointsLeft.Clear();
MyNavigationMesh.m_debugPointsRight.Clear();
this.m_end = end;
this.m_endIndex = endIndex;
this.m_input = inputPath;
this.m_output = refinedPath;
this.m_apex = start;
this.m_funnelConstructed = false;
this.m_segmentDangerous = false;
int index = startIndex;
while (index < endIndex)
{
index = this.AddTriangle(index);
if (index == endIndex)
{
PointTestResult result = this.TestPoint(end);
if (result == PointTestResult.LEFT)
{
this.m_apex = this.m_leftPoint;
this.m_funnelConstructed = false;
this.ConstructFunnel(this.m_leftIndex);
index = this.m_leftIndex + 1;
}
else if (result == PointTestResult.RIGHT)
{
this.m_apex = this.m_rightPoint;
this.m_funnelConstructed = false;
this.ConstructFunnel(this.m_rightIndex);
index = this.m_rightIndex + 1;
}
if ((result == PointTestResult.INSIDE) || (index == endIndex))
{
this.AddPoint(this.ProjectEndOnTriangle(index));
}
}
}
if (startIndex == endIndex)
{
this.AddPoint(this.ProjectEndOnTriangle(index));
}
this.m_input = null;
this.m_output = null;
}