public Path(Vector3[] waypoints, Vector3 startPos, float turnDist, float stoppingDist)
{
lookPoints = waypoints;
turnBoundaries = new PathLine[lookPoints.Length];
finishLineIndex = turnBoundaries.Length - 1;
Vector2 previousPoint = V3ToV2(startPos);
for (int i = 0; i < lookPoints.Length; i++)
{
Vector2 currentPoint = V3ToV2(lookPoints[i]);
Vector2 dirToCurrentPoint = (currentPoint - previousPoint).normalized;
Vector2 turnBoundaryPoint = (i == finishLineIndex) ? currentPoint : currentPoint - dirToCurrentPoint * turnDist;
turnBoundaries[i] = new PathLine(turnBoundaryPoint, previousPoint - dirToCurrentPoint * turnDist);
previousPoint = turnBoundaryPoint;
}
float distFromEndPoint = 0;
for (int i = lookPoints.Length - 1; i > 0; i--)
{
distFromEndPoint += Vector3.Distance(lookPoints[i], lookPoints[i - 1]);
if (distFromEndPoint > stoppingDist)
{
slowDownIndex = i;
break;
}
}
}
/// <summary>
/// Draws a line between two waypoints.
/// </summary>
/// <param name="start">The starting waypoint of the line.</param>
/// <param name="end">The ending waypoint of the line.</param>
private void DrawLine(Waypoint start, Waypoint end)
{
PathLine line = Instantiate(lineRenderer) as PathLine;
line.SetEndpoints(start.transform.position, end.transform.position);
line.transform.parent = pathLines.transform;
}
private void textBoxName_TextChanged(object sender, System.EventArgs e)
{
if (this.curPathList.Count > 0)
{
foreach (PathLine pl in this.curPathList)
{
this.worldWindow.CurrentWorld.RenderableObjects.Remove(pl.Name);
pl.Dispose();
}
this.curPathList.Clear();
}
this.listBoxPaths.Items.Clear();
DirectoryInfo inDir = new DirectoryInfo(this.saveDirPath + "/" + this.textBoxName.Text);
if (inDir.Exists)
{
foreach (FileInfo file in inDir.GetFiles("*.wwb"))
{
this.listBoxPaths.Items.Add(file.Name);
PathLine newPathLine = new PathLine(this.textBoxName.Text + " - " + file.Name, this.worldWindow.CurrentWorld, file.FullName, (float)this.numericUpDownHeight.Value, System.Drawing.Color.Red);
newPathLine.IsOn = true;
this.curPathList.Add(newPathLine);
this.worldWindow.CurrentWorld.RenderableObjects.Add(newPathLine);
}
}
}
private void buttonStop_Click(object sender, System.EventArgs e)
{
try
{
this.timer.Stop();
string saveFileName = this.saveDirPath + "/" + this.textBoxName.Text + "/" + this.getAvailableLineNumber() + ".wwb";
if (this.curPathLine != null)
{
this.curPathLine.SaveToFile(saveFileName);
if (File.Exists(saveFileName))
{
this.listBoxPaths.Items.Add(Path.GetFileName(saveFileName));
}
this.curPathList.Add(this.curPathLine);
this.curPathLine = null;
}
this.listBoxPaths.Enabled = true;
this.textBoxName.Enabled = true;
this.buttonStart.Enabled = true;
this.buttonStop.Enabled = false;
this.buttonSave.Enabled = true;
this.numericUpDownHeight.Enabled = true;
this.numericUpDownFrequency.Enabled = true;
}
catch (Exception caught)
{
Log.Write(caught);
}
}
private void touchBeganHandler(Touch touch)
{
Vector3 touchPosition = Camera.main.ScreenToWorldPoint(touch.position);
RaycastHit2D[] hits = Physics2D.RaycastAll(touchPosition, -Vector2.up);
GameObject spaceCarrierGO = null;
for (int i = 0; i < hits.Length; i++)
{
GameObject colliderGO = hits[i].collider.gameObject;
if (colliderGO.tag == "TouchRadar")
{
spaceCarrierGO = colliderGO;
break;
}
}
if (spaceCarrierGO == null)
{
return;
}
PathLine pathLine = spaceCarrierGO.GetComponentInParent <PathLine>();
TouchCarrier touchCarrier = new TouchCarrier(touch.fingerId, touch, pathLine);
touches.Add(touchCarrier);
touchCarrier.pathLine.touchBegan(getTouchWorldPosition(touchCarrier));
}
/// <summary>
/// Finds the navigator.
/// </summary>
private void Start()
{
navigator = GetComponent <Navigator>();
user = FindObjectOfType <Camera>().gameObject;
if (items != null && items.Length > 0)
{
currentItem = items[0];
userLine = Instantiate(navigator.lineRenderer) as PathLine;
userLine.name = "User Line";
}
}
void Awake()
{
containerManager = GetComponentInChildren <ContainerManager>();
engine = GetComponentInChildren <Engine>();
proximityRadar = GetComponentInChildren <ProximityRadar>();
pathLine = GetComponent <PathLine>();
rigidBody = GetComponent <Rigidbody2D>();
rigidBody.velocity = new Vector2(0, 0);
turnToCenter();
}
//create path out of perpendicular lines as checkpoints
public Path(Vector2[] _waypoints, Vector2 _startPos)
{
points = _waypoints;
turnBounds = new PathLine[points.Length];
finishLine = turnBounds.Length - 1;
Vector2 previousPoint = _startPos;
for (int i = 0; i < points.Length; i++)
{
Vector2 currentPoint = points[i];
Vector2 dirToCurrentPoint = (currentPoint - previousPoint).normalized;
Vector2 boundaryPoint = currentPoint - dirToCurrentPoint;
turnBounds[i] = new PathLine(boundaryPoint, previousPoint - dirToCurrentPoint); //set checkpoint bounds for turning as perpendicular lines
previousPoint = currentPoint;
}
}
private void buttonStart_Click(object sender, System.EventArgs e)
{
try
{
this.listBoxPaths.Enabled = false;
this.textBoxName.Enabled = false;
this.buttonStop.Enabled = true;
this.buttonStart.Enabled = false;
this.buttonSave.Enabled = false;
this.numericUpDownHeight.Enabled = false;
this.numericUpDownFrequency.Enabled = false;
World.Settings.ShowCrosshairs = true;
this.curPathLine = new PathLine(this.textBoxName.Text + " - " + this.getAvailableLineNumber() + ".wwb",
this.worldWindow.CurrentWorld,
null,
(float)this.numericUpDownHeight.Value,
System.Drawing.Color.Red);
this.worldWindow.CurrentWorld.RenderableObjects.Add(this.curPathLine);
this.curPathLine.IsOn = true;
this.curHeight = (float)this.numericUpDownHeight.Value;
this.lastPosition = new Microsoft.DirectX.Vector2((float)this.worldWindow.DrawArgs.WorldCamera.Latitude.Degrees, (float)this.worldWindow.DrawArgs.WorldCamera.Longitude.Degrees);
this.curPathLine.AddPointToPath(this.lastPosition.X, this.lastPosition.Y, false, (float)this.numericUpDownHeight.Value);
if (this.timer == null)
{
this.timer = new System.Timers.Timer((double)this.numericUpDownFrequency.Value);
this.timer.Elapsed += new System.Timers.ElapsedEventHandler(timer_Elapsed);
}
else
{
this.timer.Interval = (double)this.numericUpDownFrequency.Value;
}
this.timer.Start();
}
catch (Exception caught)
{
Log.Write(caught);
}
}
public static List <Point2D> FindPath(Line lineA, Line lineB, PathLine pathLine = PathLine.Orthogonal, double angle = 0)
{
List <Point2D> linkPoints = new List <Point2D>();
linkPoints.Add(lineA.ToStartPoint2D());
switch (pathLine)
{
case PathLine.Straight:
break;
case PathLine.Orthogonal:
GeometryCore.PathCalculator.DetermineOrthogonalPoints(lineA.ToLine2D(), lineB.ToLine2D(), ref linkPoints);
break;
}
linkPoints.Add(lineB.ToStartPoint2D());
if (angle != 0)
{
List <Point> bpoints = null;
switch (pathLine)
{
case PathLine.Straight:
double radius = lineA.ToStartPoint2D().DetermineArcRadius(lineB.ToStartPoint2D(), angle);
bpoints = GetArcGeometry(lineA.ToStartPoint(), lineB.ToStartPoint(), radius).ToPointsList();
break;
case PathLine.Orthogonal:
bpoints = GetBezierGeometry(linkPoints.Select(a => a.ToPoint()).ToList()).ToPointsList();
break;
}
linkPoints.Clear();
foreach (var point in bpoints)
{
linkPoints.Add(point.ToPoint2D());
}
}
return(linkPoints);
}
public void end()
{
b__command = (PathType[])__command.ToArray(typeof(PathType));
b__coordinates = (float[])__coordinates.ToArray(typeof(float));
b__quats = (Quaternion[])__quats.ToArray(typeof(Quaternion));
int cmd_len = __cmd_index;
PathType c;
int ci = 0;
int roti = 0;
float x;
float y;
float z;
float px = 0;
float py = 0;
float pz = 0;
int path_i = 0;
__length = 0;
for (int i = 0; i < cmd_len; i++)
{
c = b__command[i];
switch (c)
{
case PathType.__MOVE_TO:
px = b__coordinates[ci];
py = b__coordinates[ci + 1];
pz = b__coordinates[ci + 2];
ci += 3;
break;
case PathType.__LINE_TO:
x = b__coordinates[ci];
y = b__coordinates[ci + 1];
z = b__coordinates[ci + 2];
PathLine pline = new PathLine(px, py, pz, x, y, z, b__quats[roti], b__quats[roti + 1]);
//__path[path_i] = pline;
__path.Add(pline);
__length += pline.length;
//__path_length[path_i] = __length;
__path_length.Add(__length);
path_i++;
px = x;
py = y;
pz = z;
ci += 3;
roti += 1;
break;
case PathType.__CURVE_TO:
x = b__coordinates[ci + 3];
y = b__coordinates[ci + 4];
z = b__coordinates[ci + 5];
QBezier pbezier = new QBezier(px, py, pz, b__coordinates[ci], b__coordinates[ci + 1], b__coordinates[ci + 2], x, y, z, b__quats[roti], b__quats[roti + 1]);
//__path[path_i] = pbezier;
__path.Add(pbezier);
__length += pbezier.length;
//__path_length[path_i] = __length;
__path_length.Add(__length);
path_i++;
px = x;
py = y;
pz = z;
ci += 6;
roti += 1;
break;
}
}
b__path = (IPath[])__path.ToArray(typeof(IPath));
b__path_length = (float[])__path_length.ToArray(typeof(float));
}
public void end()
{
b__command = (PathType[])__command.ToArray( typeof(PathType) );
b__coordinates = (float[])__coordinates.ToArray( typeof(float) );
b__quats = (Quaternion[])__quats.ToArray( typeof(Quaternion) );
int cmd_len = __cmd_index;
PathType c;
int ci = 0;
int roti = 0;
float x;
float y;
float z;
float px = 0;
float py = 0;
float pz = 0;
int path_i = 0;
__length = 0;
for ( int i = 0; i < cmd_len; i++ )
{
c = b__command[i];
switch( c )
{
case PathType.__MOVE_TO:
px = b__coordinates[ci];
py = b__coordinates[ci + 1];
pz = b__coordinates[ci + 2];
ci += 3;
break;
case PathType.__LINE_TO:
x = b__coordinates[ci];
y = b__coordinates[ci + 1];
z = b__coordinates[ci + 2];
PathLine pline = new PathLine( px, py, pz, x, y, z, b__quats[roti], b__quats[roti+1] );
//__path[path_i] = pline;
__path.Add( pline );
__length += pline.length;
//__path_length[path_i] = __length;
__path_length.Add( __length );
path_i++;
px = x;
py = y;
pz = z;
ci += 3;
roti += 1;
break;
case PathType.__CURVE_TO:
x = b__coordinates[ci + 3];
y = b__coordinates[ci + 4];
z = b__coordinates[ci + 5];
QBezier pbezier = new QBezier( px, py, pz, b__coordinates[ci], b__coordinates[ci + 1], b__coordinates[ci + 2], x, y, z, b__quats[roti], b__quats[roti+1] );
//__path[path_i] = pbezier;
__path.Add( pbezier );
__length += pbezier.length;
//__path_length[path_i] = __length;
__path_length.Add( __length );
path_i++;
px = x;
py = y;
pz = z;
ci += 6;
roti += 1;
break;
}
}
b__path = (IPath[])__path.ToArray( typeof(IPath) );
b__path_length = (float[])__path_length.ToArray( typeof(float) );
}
public PathLine OptimizePath(PathLine cluster)
{
PathLine line = new PathLine(new List <PathPoint>());
//Построение матрицы расстояний между точками
double[,] lengths = new double[cluster.Points.Count, cluster.Points.Count];
for (int i = 0; i < cluster.Points.Count; i++)
{
for (int j = 0; j < cluster.Points.Count; j++)
{
if (i == j)
{
lengths[i, j] = Double.MaxValue;
}
else if (i > j)
{
lengths[i, j] = lengths[j, i];
}
else
{
lengths[i, j] = cluster.Points[i].GetDistance(cluster.Points[j]);
}
}
}
int pointsCount = cluster.Points.Count;
while (cluster.Points.Count > 1) // проход алгоритма с уменьшением размерности матрицы расстояний
// приведение матрицы
{
int optI, optJ;
double koef1 = Adduction(lengths, out optI, out optJ);
double tmp = lengths[optJ, optI]; // для создания уменьшенной матрицы
lengths[optJ, optI] = Double.MaxValue;
// уменьшение матрицы
double[,] buf = new double[cluster.Points.Count - 1, cluster.Points.Count - 1];
for (int i = 0; i < buf.GetLength(0); i++) // убираются строки
{
for (int j = 0; j < buf.GetLength(0); j++)
{
if (i >= optI)
{
buf[i, j] = lengths[i + 1, j];
}
else
{
buf[i, j] = lengths[i, j];
}
}
}
for (int i = 0; i < buf.GetLength(0); i++) // убираются столбцы
{
for (int j = 0; j < buf.GetLength(0); j++)
{
if (j >= optJ && i >= optI)
{
buf[i, j] = lengths[i + 1, j + 1];
}
else if (j >= optJ)
{
buf[i, j] = lengths[i, j + 1];
}
}
}
lengths[optJ, optI] = tmp;
// приведение матрицы во второй ветви
double[,] lengths2 = (double[, ])buf.Clone();
double koef2 = Adduction(lengths2, out optI, out optJ);
if (koef2 < koef1 || cluster.Points.Count == 2) // добавляем точку и переходим к меньшей матрице
{
line.Points.Add(cluster.Points[optI]);
cluster.Points.RemoveAt(optI); // устраняет смещение индексов для выбора новых точек
lengths = buf;
}
}
line.Points.Add(cluster.Points[0]);
return(line);
}
void Awake()
{
instance = this;
pathfinding = GetComponent <PathLine>();
}
public TouchCarrier(int fingerId, Touch touch, PathLine pathLine)
{
this.fingerId = fingerId;
this.touch = touch;
this.pathLine = pathLine;
}
