Exemple #1
0
        /// <summary>
        /// 生成最终的路径点
        /// </summary>
        /// <param name="startPos">起始点</param>
        /// <param name="endPos">终点</param>
        /// <param name="triPathList">三角形路径列表</param>
        /// <param name="wayPoints">路径点</param>
        /// <param name="offSet">移动物体宽度</param>
        /// <returns></returns>
        private PathResCode CreateWayPoints(Vector2 startPos, Vector2 endPos
            , List<NavTriangle> triPathList, out List<Vector2> wayPoints, int offSet)
        {
            wayPoints = new List<Vector2>();
            if (triPathList.Count == 0 || startPos == null || endPos == null)
                return PathResCode.Failed;

            // 保证从起点到终点的顺序
            triPathList.Reverse();

            // 保存出边编号
            for (int i = 0; i < triPathList.Count; i++)
            {
                NavTriangle tri = triPathList[i];
                if (i != triPathList.Count - 1)
                {
                    NavTriangle nextTri = triPathList[i + 1];
                    tri.SetOutWallIndex(tri.GetWallIndex(nextTri.GetID()));
                }
            }

            wayPoints.Add(startPos);

            //起点与终点在同一三角形中
            if (triPathList.Count == 1)
            {
                wayPoints.Add(endPos);
                return PathResCode.Success;
            }

            WayPoint way = new WayPoint(startPos, triPathList[0]);
            while (!NMath.IsEqualZero(way.GetPoint() - endPos))
            {
                way = GetFurthestWayPoint(way, triPathList, endPos, offSet);
                if (way == null)
                    return PathResCode.CanNotGetNextWayPoint;
                wayPoints.Add(way.GetPoint());
            }

            return PathResCode.Success;
        }
Exemple #2
0
        /// <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;
        }
Exemple #3
0
        /// <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);
        }