/// <summary>
/// Checks the cross.
/// </summary>
/// <returns><c>true</c>, if cross was checked, <c>false</c> otherwise.</returns>
/// <param name="line">Line.</param>
/// <param name="pos">Position.</param>
/// <param name="radius">Radius.</param>
public static bool CheckCross(Line2D line, Vector2 pos, float radius)
{
float fDis = line.GetLength();
Vector2 d;
d.x = (line.GetEndPoint().x - line.GetStartPoint().x) / fDis;
d.y = (line.GetEndPoint().y - line.GetStartPoint().y) / fDis;
Vector2 E;
E.x = pos.x - line.GetStartPoint().x;
E.y = pos.y - line.GetStartPoint().y;
float a = E.x * d.x + E.y * d.y;
float a2 = a * a;
float e2 = E.x * E.x + E.y * E.y;
float r2 = radius * radius;
if ((r2 - e2 + a2) < 0)
{
return(false);
}
return(true);
}
// void SplitBigTriangle(ref List<Triangle> triangles)
// {
// // 将面积过大的三角形拆分成三个小三角形
// for (int i = 0; i < triangles.Count; i++)
// {
// if (triangles[i].Area() > NeedSplitSize)
// {
// }
// }
// }
/// <summary>
/// 判断点是否是线段的可见点，组成的三角形没有和其他边相交
/// </summary>
/// <param name="line"></param>
/// <param name="point"></param>
/// <returns></returns>
private bool IsPointVisibleOfLine(Line2D line, Vector2 point)
{
if (line == null)
{
return(false);
}
Vector2 sPnt = line.GetStartPoint();
Vector2 ePnt = line.GetEndPoint();
// 是否是线段端点
if (point == sPnt || point == ePnt)
{
return(false);
}
//点不在线段的右侧（多边形顶点顺序为顺时针）
if (line.ClassifyPoint(point) != PointSide.RIGHT_SIDE)
{
return(false);
}
if (!IsVisibleIn2Point(sPnt, point))
{
return(false);
}
if (!IsVisibleIn2Point(ePnt, point))
{
return(false);
}
return(true);
}
/// <summary>
/// 根据线段生成矩形
/// </summary>
/// <param name="linePath">线段</param>
/// <returns>矩形</returns>
public static Rect LineRect(Line2D linePath)
{
Rect lineRect = new Rect();
if (linePath.GetStartPoint().x < linePath.GetEndPoint().x)
{
lineRect.xMin = linePath.GetStartPoint().x;
}
else
{
lineRect.xMin = linePath.GetEndPoint().x;
}
if (linePath.GetStartPoint().y < linePath.GetEndPoint().y)
{
lineRect.yMin = linePath.GetStartPoint().y;
}
else
{
lineRect.yMin = linePath.GetEndPoint().y;
}
lineRect.width = Math.Abs(linePath.GetEndPoint().x - linePath.GetStartPoint().x);
lineRect.height = Math.Abs(linePath.GetEndPoint().y - linePath.GetStartPoint().y);
return(lineRect);
}
/// <summary>
/// Checks the cross.
/// </summary>
/// <returns><c>true</c>, if cross was checked, <c>false</c> otherwise.</returns>
/// <param name="line">Line.</param>
/// <param name="tri">Tri.</param>
public static bool CheckCross(Line2D line, Triangle tri)
{
for (int i = 0; i < 3; i++)
{
Line2D lineTri = tri.GetSide(i);
if (CheckCross(line.GetStartPoint(), line.GetEndPoint(),
lineTri.GetStartPoint(), lineTri.GetEndPoint())
)
{
return(true);
}
}
return(false);
}
/// <summary>
/// 根据拐点计算法获得导航网格的下一个拐点
/// </summary>
/// <param name="way"></param>
/// <param name="triPathList"></param>
/// <param name="endPos"></param>
/// <param name="offSet"></param>
/// <returns></returns>
private WayPoint GetFurthestWayPoint(WayPoint way, List <NavTriangle> triPathList, Vector2 endPos, int offSet)
{
WayPoint nextWay = null;
Vector2 currPnt = way.GetPoint();
NavTriangle currTri = way.GetTriangle();
NavTriangle lastTriA = currTri;
NavTriangle lastTriB = currTri;
int startIndex = triPathList.IndexOf(currTri); //开始路点所在的网格索引
Line2D outSide = currTri.GetSide(currTri.GetOutWallIndex()); //路径线在网格中的穿出边?
Vector2 lastPntA = outSide.GetStartPoint();
Vector2 lastPntB = outSide.GetEndPoint();
Line2D lastLineA = new Line2D(currPnt, lastPntA);
Line2D lastLineB = new Line2D(currPnt, lastPntB);
Vector2 testPntA, testPntB;
for (int i = startIndex + 1; i < triPathList.Count; i++)
{
currTri = triPathList[i];
outSide = currTri.GetSide(currTri.GetOutWallIndex());
if (i == triPathList.Count - 1)
{
testPntA = endPos;
testPntB = endPos;
}
else
{
testPntA = outSide.GetStartPoint();
testPntB = outSide.GetEndPoint();
}
if (lastPntA != testPntA)
{
if (lastLineB.ClassifyPoint(testPntA) == PointSide.RIGHT_SIDE)
{
nextWay = new WayPoint(lastPntB, lastTriB);
return(nextWay);
}
else if (lastLineA.ClassifyPoint(testPntA) != PointSide.LEFT_SIDE)
{
lastPntA = testPntA;
lastTriA = currTri;
//重设直线
lastLineA = new Line2D(lastLineA.GetStartPoint(), lastPntA);
}
}
if (lastPntB != testPntB)
{
if (lastLineA.ClassifyPoint(testPntB) == PointSide.LEFT_SIDE)
{
nextWay = new WayPoint(lastPntA, lastTriA);
return(nextWay);
}
else if (lastLineB.ClassifyPoint(testPntB) != PointSide.RIGHT_SIDE)
{
lastPntB = testPntB;
lastTriB = currTri;
//重设直线
lastLineB = new Line2D(lastLineB.GetStartPoint(), lastPntB);
}
}
}
//到达终点
nextWay = new WayPoint(endPos, triPathList[triPathList.Count - 1]);
return(nextWay);
}
/// <summary>
/// 根据拐点计算法获得导航网格的下一个拐点
/// </summary>
/// <param name="way"></param>
/// <param name="triPathList"></param>
/// <param name="endPos"></param>
/// <param name="offSet"></param>
/// <returns></returns>
private WayPoint GetFurthestWayPoint(WayPoint way, List<NavTriangle> triPathList, Vector2 endPos, int offSet)
{
WayPoint nextWay = null;
Vector2 currPnt = way.GetPoint();
NavTriangle currTri = way.GetTriangle();
NavTriangle lastTriA = currTri;
NavTriangle lastTriB = currTri;
int startIndex = triPathList.IndexOf(currTri);//开始路点所在的网格索引
Line2D outSide = currTri.GetSide(currTri.GetOutWallIndex());//路径线在网格中的穿出边?
Vector2 lastPntA = outSide.GetStartPoint();
Vector2 lastPntB = outSide.GetEndPoint();
Line2D lastLineA = new Line2D(currPnt, lastPntA);
Line2D lastLineB = new Line2D(currPnt, lastPntB);
Vector2 testPntA, testPntB;
for (int i = startIndex + 1; i < triPathList.Count; i++)
{
currTri = triPathList[i];
outSide = currTri.GetSide(currTri.GetOutWallIndex());
if (i == triPathList.Count - 1)
{
testPntA = endPos;
testPntB = endPos;
}
else
{
testPntA = outSide.GetStartPoint();
testPntB = outSide.GetEndPoint();
}
if (lastPntA != testPntA)
{
if (lastLineB.ClassifyPoint(testPntA) == PointSide.RIGHT_SIDE)
{
nextWay = new WayPoint(lastPntB, lastTriB);
return nextWay;
}
else if (lastLineA.ClassifyPoint(testPntA) != PointSide.LEFT_SIDE)
{
lastPntA = testPntA;
lastTriA = currTri;
//重设直线
lastLineA = new Line2D(lastLineA.GetStartPoint(), lastPntA);
}
}
if (lastPntB != testPntB)
{
if (lastLineA.ClassifyPoint(testPntB) == PointSide.LEFT_SIDE)
{
nextWay = new WayPoint(lastPntA, lastTriA);
return nextWay;
}
else if (lastLineB.ClassifyPoint(testPntB) != PointSide.RIGHT_SIDE)
{
lastPntB = testPntB;
lastTriB = currTri;
//重设直线
lastLineB = new Line2D(lastLineB.GetStartPoint(), lastPntB);
}
}
}
//到达终点
nextWay = new WayPoint(endPos, triPathList[triPathList.Count - 1]);
return nextWay;
}
/// <summary>
/// 找到指定边的约束边DT
/// </summary>
/// <param name="line"></param>
/// <returns></returns>
private bool FindDT(Line2D line, out Vector2 dtPoint)
{
dtPoint = new Vector2();
if (line == null)
return false;
Vector2 ptA = line.GetStartPoint();
Vector2 ptB = line.GetEndPoint();
List<Vector2> visiblePnts = new List<Vector2>();
foreach (Vector2 point in allPoints)
{
if (IsPointVisibleOfLine(line, point))
visiblePnts.Add(point);
}
if (visiblePnts.Count == 0)
return false;
bool bContinue = false;
dtPoint = visiblePnts[0];
do
{
bContinue = false;
//Step1.构造三角形的外接圆，以及外接圆的包围盒
Circle circle = NMath.CreateCircle(ptA, ptB, dtPoint);
Rect boundBox = NMath.GetCircleBoundBox(circle);
//Step2. 依次访问网格包围盒内的每个网格单元：
//若某个网格单元中存在可见点 p, 并且 ∠p1pp2 > ∠p1p3p2，则令 p3=p，转Step1；
//否则，转Step3.
float angOld = (float)Math.Abs(NMath.LineRadian(ptA, dtPoint, ptB));
foreach (Vector2 pnt in visiblePnts)
{
if (pnt == ptA || pnt == ptB || pnt == dtPoint)
continue;
if (!boundBox.Contains(pnt))
continue;
float angNew = (float)Math.Abs(NMath.LineRadian(ptA, pnt, ptB));
if (angNew > angOld)
{
dtPoint = pnt;
bContinue = true;
break;
}
}
//false 转Step3
} while (bContinue);
//Step3. 若当前网格包围盒内所有网格单元都已被处理完，
// 也即C（p1，p2，p3）内无可见点，则 p3 为的 p1p2 的 DT 点
return true;
}
// void SplitBigTriangle(ref List<Triangle> triangles)
// {
// // 将面积过大的三角形拆分成三个小三角形
// for (int i = 0; i < triangles.Count; i++)
// {
// if (triangles[i].Area() > NeedSplitSize)
// {
// }
// }
// }
/// <summary>
/// 判断点是否是线段的可见点，组成的三角形没有和其他边相交
/// </summary>
/// <param name="line"></param>
/// <param name="point"></param>
/// <returns></returns>
private bool IsPointVisibleOfLine(Line2D line, Vector2 point)
{
if (line == null)
return false;
Vector2 sPnt = line.GetStartPoint();
Vector2 ePnt = line.GetEndPoint();
// 是否是线段端点
if (point == sPnt || point == ePnt)
return false;
//点不在线段的右侧（多边形顶点顺序为顺时针）
if (line.ClassifyPoint(point) != PointSide.RIGHT_SIDE)
return false;
if (!IsVisibleIn2Point(sPnt, point))
return false;
if (!IsVisibleIn2Point(ePnt, point))
return false;
return true;
}
/// <summary>
/// 找到指定边的约束边DT
/// </summary>
/// <param name="line"></param>
/// <returns></returns>
private bool FindDT(Line2D line, out Vector2 dtPoint)
{
dtPoint = new Vector2();
if (line == null)
{
return(false);
}
Vector2 ptA = line.GetStartPoint();
Vector2 ptB = line.GetEndPoint();
List <Vector2> visiblePnts = new List <Vector2>();
foreach (Vector2 point in allPoints)
{
if (IsPointVisibleOfLine(line, point))
{
visiblePnts.Add(point);
}
}
if (visiblePnts.Count == 0)
{
return(false);
}
bool bContinue = false;
dtPoint = visiblePnts[0];
do
{
bContinue = false;
//Step1.构造三角形的外接圆，以及外接圆的包围盒
Circle circle = NMath.CreateCircle(ptA, ptB, dtPoint);
Rect boundBox = NMath.GetCircleBoundBox(circle);
//Step2. 依次访问网格包围盒内的每个网格单元：
//若某个网格单元中存在可见点 p, 并且 ∠p1pp2 > ∠p1p3p2，则令 p3=p，转Step1；
//否则，转Step3.
float angOld = (float)Math.Abs(NMath.LineRadian(ptA, dtPoint, ptB));
foreach (Vector2 pnt in visiblePnts)
{
if (pnt == ptA || pnt == ptB || pnt == dtPoint)
{
continue;
}
if (!boundBox.Contains(pnt))
{
continue;
}
float angNew = (float)Math.Abs(NMath.LineRadian(ptA, pnt, ptB));
if (angNew > angOld)
{
dtPoint = pnt;
bContinue = true;
break;
}
}
//false 转Step3
} while (bContinue);
//Step3. 若当前网格包围盒内所有网格单元都已被处理完，
// 也即C（p1，p2，p3）内无可见点，则 p3 为的 p1p2 的 DT 点
return(true);
}
/// <summary>
/// 创建导航网格
/// </summary>
/// <param name="polyAll">所有阻挡区域</param>
/// <param name="triAll">输出的导航网格</param>
/// <returns></returns>
public NavResCode CreateNavMesh(List <Polygon> polyAll, ref int id, int groupid, ref List <Triangle> triAll)
{
triAll.Clear();
List <Line2D> allLines = new List <Line2D>(); //线段堆栈
//Step1 保存顶点和边
NavResCode initRes = InitData(polyAll);
if (initRes != NavResCode.Success)
{
return(initRes);
}
int lastNeighborId = -1;
Triangle lastTri = null;
//Step2.遍历边界边作为起点
{
Line2D sEdge = startEdge;
allLines.Add(sEdge);
Line2D edge = null;
do
{
//Step3.选出计算出边的DT点，构成约束Delaunay三角形
edge = allLines[allLines.Count - 1];
allLines.Remove(edge);
Vector2 dtPoint;
bool isFindDt = FindDT(edge, out dtPoint);
if (!isFindDt)
{
continue;
}
Line2D lAD = new Line2D(edge.GetStartPoint(), dtPoint);
Line2D lDB = new Line2D(dtPoint, edge.GetEndPoint());
//创建三角形
Triangle delaunayTri = new Triangle(edge.GetStartPoint(), edge.GetEndPoint(), dtPoint, id++, groupid);
// 保存邻居节点
// if (lastNeighborId != -1)
// {
// delaunayTri.SetNeighbor(lastNeighborId);
// if(lastTri != null)
// lastTri.SetNeighbor(delaunayTri.ID);
// }
//save result triangle
triAll.Add(delaunayTri);
// 保存上一次的id和三角形
lastNeighborId = delaunayTri.GetID();
lastTri = delaunayTri;
int lineIndex;
//Step4.检测刚创建的的线段ad,db；如果如果它们不是约束边
//并且在线段堆栈中，则将其删除，如果不在其中，那么将其放入
if (!Line2D.CheckLineIn(allEdges, lAD, out lineIndex))
{
if (!Line2D.CheckLineIn(allLines, lAD, out lineIndex))
{
allLines.Add(lAD);
}
else
{
allLines.RemoveAt(lineIndex);
}
}
if (!Line2D.CheckLineIn(allEdges, lDB, out lineIndex))
{
if (!Line2D.CheckLineIn(allLines, lDB, out lineIndex))
{
allLines.Add(lDB);
}
else
{
allLines.RemoveAt(lineIndex);
}
}
//Step5.如果堆栈不为空，则转到第Step3.否则结束循环
} while (allLines.Count > 0);
}
// 计算邻接边和每边中点距离
for (int i = 0; i < triAll.Count; i++)
{
Triangle tri = triAll[i];
//// 计算每个三角形每边中点距离
//tri.calcWallDistance();
// 计算邻居边
for (int j = 0; j < triAll.Count; j++)
{
Triangle triNext = triAll[j];
if (tri.GetID() == triNext.GetID())
{
continue;
}
int result = tri.isNeighbor(triNext);
if (result != -1)
{
tri.SetNeighbor(result, triNext.GetID());
}
}
}
return(NavResCode.Success);
}
/// <summary>
/// Checks the cross.
/// </summary>
/// <returns><c>true</c>, if cross was checked, <c>false</c> otherwise.</returns>
/// <param name="line">Line.</param>
/// <param name="pos">Position.</param>
/// <param name="radius">Radius.</param>
public static bool CheckCross( Line2D line , Vector2 pos , float radius )
{
float fDis = line.GetLength();
Vector2 d;
d.x = (line.GetEndPoint().x - line.GetStartPoint().x) / fDis;
d.y = (line.GetEndPoint().y - line.GetStartPoint().y) / fDis;
Vector2 E;
E.x = pos.x - line.GetStartPoint().x;
E.y = pos.y - line.GetStartPoint().y;
float a = E.x * d.x + E.y * d.y;
float a2 = a * a;
float e2 = E.x * E.x + E.y * E.y;
float r2 = radius * radius;
if ((r2 - e2 + a2) < 0)
{
return false;
}
return true;
}
/// <summary>
/// Checks the cross.
/// </summary>
/// <returns><c>true</c>, if cross was checked, <c>false</c> otherwise.</returns>
/// <param name="line">Line.</param>
/// <param name="tri">Tri.</param>
public static bool CheckCross( Line2D line , Triangle tri )
{
for(int i = 0 ; i < 3 ; i++ )
{
Line2D lineTri = tri.GetSide(i);
if( CheckCross(line.GetStartPoint() , line.GetEndPoint() ,
lineTri.GetStartPoint() , lineTri.GetEndPoint())
)
{
return true;
}
}
return false;
}
/// <summary>
/// 根据线段生成矩形
/// </summary>
/// <param name="linePath">线段</param>
/// <returns>矩形</returns>
public static Rect LineRect(Line2D linePath)
{
Rect lineRect = new Rect();
if (linePath.GetStartPoint().x < linePath.GetEndPoint().x)
lineRect.xMin = linePath.GetStartPoint().x;
else
lineRect.xMin = linePath.GetEndPoint().x;
if (linePath.GetStartPoint().y < linePath.GetEndPoint().y)
lineRect.yMin = linePath.GetStartPoint().y;
else
lineRect.yMin = linePath.GetEndPoint().y;
lineRect.width = Math.Abs(linePath.GetEndPoint().x - linePath.GetStartPoint().x);
lineRect.height = Math.Abs(linePath.GetEndPoint().y - linePath.GetStartPoint().y);
return lineRect;
}