internal Point MaxVisibilityInDirectionForNonOverlappedFreePoint(Directions dirToExtend, TransientGraphUtility transUtil)
{
Debug.Assert(!this.IsOverlapped, "Do not precalculate overlapped obstacle visibility as we should extend from the outer target vertex instead");
SegmentAndCrossings segmentAndCrossings = GetSegmentAndCrossings(this.Vertex, dirToExtend, transUtil);
return(segmentAndCrossings.Item1.End);
}
internal void ExtendEdgeChain(TransientGraphUtility transUtil, VisibilityVertex targetVertex, Directions dirToExtend, Rectangle limitRect)
{
// Extend the edge chain to the opposite side of the limit rectangle.
StaticGraphUtility.Assert(PointComparer.Equal(this.Point, targetVertex.Point) ||
(PointComparer.GetPureDirection(this.Point, targetVertex.Point) == dirToExtend)
, "input dir does not match with to-targetVertex direction", transUtil.ObstacleTree, transUtil.VisGraph);
var extendOverlapped = IsOverlapped;
if (extendOverlapped)
{
// The initial vertex we connected to may be on the border of the enclosing obstacle,
// or of another also-overlapped obstacle. If the former, we turn off overlap now.
extendOverlapped = transUtil.ObstacleTree.PointIsInsideAnObstacle(targetVertex.Point, dirToExtend);
}
// If we're inside an obstacle's boundaries we'll never extend past the end of the obstacle
// due to encountering the boundary from the inside. So start the extension at targetVertex.
SegmentAndCrossings segmentAndCrossings = GetSegmentAndCrossings(this.IsOverlapped ? targetVertex : this.Vertex, dirToExtend, transUtil);
transUtil.ExtendEdgeChain(targetVertex, limitRect, segmentAndCrossings.Item1, segmentAndCrossings.Item2, extendOverlapped);
}
private SegmentAndCrossings GetSegmentAndCrossings(VisibilityVertex startVertex, Directions dirToExtend, TransientGraphUtility transUtil)
{
var dirIndex = CompassVector.ToIndex(dirToExtend);
var segmentAndCrossings = this.maxVisibilitySegmentsAndCrossings[dirIndex];
if (null == segmentAndCrossings)
{
PointAndCrossingsList pacList;
var maxVisibilitySegment = transUtil.ObstacleTree.CreateMaxVisibilitySegment(startVertex.Point, dirToExtend, out pacList);
segmentAndCrossings = new SegmentAndCrossings(maxVisibilitySegment, pacList);
this.maxVisibilitySegmentsAndCrossings[dirIndex] = segmentAndCrossings;
}
else
{
// For a waypoint this will be a target and then a source, so there may be a different lateral edge to
// connect to. In that case make sure we are consistent in directions - back up the start point if needed.
if (PointComparer.GetDirections(startVertex.Point, segmentAndCrossings.Item1.Start) == dirToExtend)
{
segmentAndCrossings.Item1.Start = startVertex.Point;
}
}
return(segmentAndCrossings);
}
private SegmentAndCrossings GetSegmentAndCrossings(VisibilityVertex startVertex, Directions dirToExtend, TransientGraphUtility transUtil) {
var dirIndex = CompassVector.ToIndex(dirToExtend);
var segmentAndCrossings = this.maxVisibilitySegmentsAndCrossings[dirIndex];
if (null == segmentAndCrossings) {
PointAndCrossingsList pacList;
var maxVisibilitySegment = transUtil.ObstacleTree.CreateMaxVisibilitySegment(startVertex.Point, dirToExtend, out pacList);
segmentAndCrossings = new SegmentAndCrossings(maxVisibilitySegment, pacList);
this.maxVisibilitySegmentsAndCrossings[dirIndex] = segmentAndCrossings;
} else {
// For a waypoint this will be a target and then a source, so there may be a different lateral edge to
// connect to. In that case make sure we are consistent in directions - back up the start point if needed.
if (PointComparer.GetDirections(startVertex.Point, segmentAndCrossings.Item1.Start) == dirToExtend) {
segmentAndCrossings.Item1.Start = startVertex.Point;
}
}
return segmentAndCrossings;
}
