public Form4()
{
InitializeComponent();
Circle circle = new Circle(new Vector3(), control_radius_);
control_obj_.SetCollideShape(circle);
control_obj_.SetPosition(new Vector3());
}
private void pictureBox1_MouseMove(object sender, MouseEventArgs e)
{
if (!IsValid())
{
return;
}
if (is_mouse_down_)
{
switch (left_button_function_)
{
case FunctionType.kMoveObj:
Vector3 new_pos = new Vector3(e.X, 0, map_height_ - e.Y);
control_obj_.SetPosition(new_pos);
break;
}
}
}
private void pictureBox1_MouseUp(object sender, MouseEventArgs e)
{
if (!IsValid())
{
return;
}
line_end_ = new Point(e.X, e.Y);
CellPos end = new CellPos();
cell_manager_.GetCell(new Vector3(e.X, 0, map_height_ - e.Y), out end.row, out end.col);
CellPos start = new CellPos();
cell_manager_.GetCell(new Vector3(line_start_.X, 0, map_height_ - line_start_.Y), out start.row, out start.col);
if (e.Button == MouseButtons.Left)
{
switch (left_button_function_)
{
case FunctionType.kSetStaticBlock:
{
int row = end.row;
int col = end.col;
byte obstacle = byte.Parse(obstacleType.Text);
byte oldObstacle = cell_manager_.GetCellStatus(row, col);
cell_manager_.SetCellStatus(row, col, obstacle);
if (map_patch_parser_.Exist(row, col))
{
map_patch_parser_.Update(row, col, obstacle);
}
else
{
map_patch_parser_.Update(row, col, obstacle, oldObstacle);
}
UpdateObstacleGraph();
}
break;
case FunctionType.kHitPoint:
{
long stTime = TimeUtility.Instance.GetElapsedTimeUs();
List <CellPos> result = cell_manager_.GetCellsCrossByLine(new Vector3(line_start_.X, 0, map_height_ - line_start_.Y),
new Vector3(line_end_.X, 0, map_height_ - line_end_.Y));
long edTime = TimeUtility.Instance.GetElapsedTimeUs();
this.Text = "pos(" + line_start_.X + "," + line_start_.Y + "->" + line_end_.X + "," + line_end_.Y + ") GetCellsCrossByLine consume " + (edTime - stTime) + "us";
hit_points_.Clear();
foreach (CellPos pos in result)
{
hit_points_.Add(pos);
}
}
break;
case FunctionType.kGetCell:
{
byte obstacle = cell_manager_.GetCellStatus(end.row, end.col);
obstacleType.Text = obstacle.ToString();
this.Text = "pos(" + e.X + "," + e.Y + ") cell(" + end.row + "," + end.col + ") obstacle:" + obstacle;
}
break;
case FunctionType.kAddObj:
{
TestSpaceObject obj = new TestSpaceObject(next_space_objid_);
++next_space_objid_;
obj.SetPosition(new Vector3(e.X, 0, e.Y));
space_objs_.Add(obj);
prkdtree_.Clear();
kdtree_.Clear();
int objCt = space_objs_.Count;
if (objCt > 0)
{
ISpaceObject[] temp = new ISpaceObject[objCt];
for (int i = 0; i < objCt; ++i)
{
temp[i] = space_objs_[i];
}
long stTime1 = TimeUtility.Instance.GetElapsedTimeUs();
prkdtree_.Build(temp);
long edTime1 = TimeUtility.Instance.GetElapsedTimeUs();
long stTime2 = TimeUtility.Instance.GetElapsedTimeUs();
kdtree_.Build(temp);
long edTime2 = TimeUtility.Instance.GetElapsedTimeUs();
System.Diagnostics.Stopwatch stopWatch = new System.Diagnostics.Stopwatch();
stopWatch.Start();
cell_manager_.ClearDynamic();
foreach (ISpaceObject spaceObj in space_objs_)
{
List <CellPos> cells = cell_manager_.GetCellsInCircle(Transform(spaceObj.GetPosition()), 20);
foreach (CellPos cellpos in cells)
{
cell_manager_.SetCellStatus(cellpos.row, cellpos.col, BlockType.DYNAMIC_BLOCK);
}
}
stopWatch.Stop();
this.Text = "obj num " + objCt + " prkdtree consume " + (edTime1 - stTime1) + "us kdtree consume " + (edTime2 - stTime1) + "us dynmic consume " + (stopWatch.ElapsedTicks) + "ticks";
}
}
break;
case FunctionType.kQueryObj:
{
Vector3 pos = new Vector3(e.X, 0, e.Y);
int objCt = space_objs_.Count;
if (objCt > 0)
{
float radius = float.Parse(queryRadius.Text);
long stTime1 = TimeUtility.Instance.GetElapsedTimeUs();
selected_objs_.Clear();
prkdtree_.Query(pos, radius * scale, (float distSqr, PrKdTreeObject treeObj) =>
{
selected_objs_.Add(treeObj.SpaceObject as TestSpaceObject);
});
long edTime1 = TimeUtility.Instance.GetElapsedTimeUs();
long stTime2 = TimeUtility.Instance.GetElapsedTimeUs();
selected_objs2_.Clear();
kdtree_.Query(pos, radius * scale, (float distSqr, KdTreeObject treeObj) =>
{
selected_objs2_.Add(treeObj.SpaceObject as TestSpaceObject);
});
long edTime2 = TimeUtility.Instance.GetElapsedTimeUs();
this.Text = "obj num " + objCt + " query prkdtree " + selected_objs_.Count + " consume " + (edTime1 - stTime1) + "us query kdtree " + selected_objs2_.Count + " consume " + (edTime2 - stTime2) + "us";
}
}
break;
}
}
else
{
if (e.Button == MouseButtons.Right && left_button_function_ == FunctionType.kSetStaticBlock)
{
int row, col;
cell_manager_.GetCell(new Vector3(e.X, 0, e.Y), out row, out col);
byte oldObstacle = cell_manager_.GetCellStatus(row, col);
byte obstacle = BlockType.NOT_BLOCK;
cell_manager_.SetCellStatus(end.row, end.col, obstacle);
if (map_patch_parser_.Exist(row, col))
{
map_patch_parser_.Update(row, col, obstacle);
}
else
{
map_patch_parser_.Update(row, col, obstacle, oldObstacle);
}
UpdateObstacleGraph();
}
else
{
long stTime = TimeUtility.Instance.GetElapsedTimeUs();
found_path_ = spatial_system_.FindPathWithCellMap(new Vector3(line_start_.X, 0, map_height_ - line_start_.Y), new Vector3(line_end_.X, 0, map_height_ - line_end_.Y));
long edTime = TimeUtility.Instance.GetElapsedTimeUs();
long stTime2 = TimeUtility.Instance.GetElapsedTimeUs();
int stRow, stCol, edRow, edCol;
spatial_system_.GetCell(new Vector3(line_start_.X, 0, map_height_ - line_start_.Y), out stRow, out stCol);
spatial_system_.GetCell(new Vector3(line_end_.X, 0, map_height_ - line_end_.Y), out edRow, out edCol);
//List<CellPos> path = new List<CellPos>();
//tree_cache_finder_.GetPath(new CellPos(stRow, stCol), new CellPos(edRow, edCol), path);
found_path_ = jump_point_finder_.FindPath(new CellPos(stRow, stCol), new CellPos(edRow, edCol));
long edTime2 = TimeUtility.Instance.GetElapsedTimeUs();
long stTime3 = TimeUtility.Instance.GetElapsedTimeUs();
found_path_ = spatial_system_.FindPath(new Vector3(line_start_.X, 0, map_height_ - line_start_.Y), new Vector3(line_end_.X, 0, map_height_ - line_end_.Y));
long edTime3 = TimeUtility.Instance.GetElapsedTimeUs();
/*//
* found_path_.Clear();
* if (path.Count > 0) {
* foreach (CellPos p in path) {
* found_path_.Add(spatial_system_.GetCellCenter(p.row, p.col));
* }
* }
* ///*/
this.Text = "findpath:" + new Vector2(line_start_.X, map_height_ - line_start_.Y).ToString() + " to " + new Vector2(line_end_.X, map_height_ - line_end_.Y).ToString() + " consume " + (edTime - stTime) / 1000.0f + "ms no preprocess consume " + (edTime2 - stTime2) / 1000.0f + "ms triangulation network consume " + (edTime3 - stTime3) / 1000.0f + "ms";
}
}
is_mouse_down_ = false;
key_hit_ = 0;
}
