//
// creates a graph based on a grid layout. This function requires the
// dimensions of the environment and the number of cells required horizontally
// and vertically
public static void CreateGrid(NavGraph graph, int cySize, int cxSize, int numCellsY, int numCellsX)
{
//need some temporaries to help calculate each node center
float cellWidth = (float)cxSize / (float)numCellsX;
float cellHeight = (float)cySize / (float)numCellsY;
float midX = cellWidth / 2.0f;
float midY = cellHeight / 2.0f;
//first create all the nodes
for (int row = 0; row < numCellsY; ++row)
{
for (int col = 0; col < numCellsX; ++col)
{
graph.AddNode(new NavGraphNode(graph.GetNextFreeNodeIndex(), new Vector2(midX + col * cellWidth, midY + row * cellHeight)));
}
}
//now to calculate the edges. (A position in a 2d array [x][y] is the
//same as [y*numCellsX + x] in a 1d array). Each cell has up to eight
//neighbours.
for (int row = 0; row < numCellsY; ++row)
{
for (int col = 0; col < numCellsX; ++col)
{
AddAllNeighboursToGridNode(graph, row, col, numCellsX, numCellsY);
}
}
}
internal void CreateVertices()
{
Heap <MqoVert> mh = new Heap <MqoVert>();
foreach (TSOSubMesh sub_mesh in mesh.sub_meshes)
{
int cnt = 0;
ushort a, b = 0, c = 0;
MqoVert ma, mb = new MqoVert(), mc = new MqoVert();
foreach (Vertex v in sub_mesh.vertices)
{
MqoVert m = new MqoVert(v.position, v.normal, null);
ushort i;
if (mh.map.TryGetValue(m, out i))
{
//集約先はidx=i
m = mh.ary[i];
}
else
{
m.skin_weights = new MqoSkinWeight[4];
for (int w = 0; w < 4; w++)
{
m.skin_weights[w] = new MqoSkinWeight(sub_mesh.GetBone(v.skin_weights[w].bone_index), v.skin_weights[w].weight);
}
//mはidx=iになる
i = (ushort)mh.Count;
mh.Add(m);
}
//集約する
m.rel.Add(new TSOPair(v, sub_mesh));
cnt++;
a = b;
b = c;
c = i;
ma = mb;
mb = mc;
mc = m;
m.Index = i;
graph.AddNode(m);
if (cnt < 3)
{
continue;
}
if (a != b && b != c && c != a)
{
graph.AddEdge(new MqoEdge(a, b, GetCost(ma, mb)));
graph.AddEdge(new MqoEdge(b, c, GetCost(mb, mc)));
graph.AddEdge(new MqoEdge(c, a, GetCost(mc, ma)));
}
}
}
vertices = mh.ary.ToArray();
}