public static void DrawVisibilityGraph(this IDebugCanvas canvas, PolyNodeVisibilityGraph visibilityGraph)
{
canvas.DrawLineList(
visibilityGraph.Barriers.SelectMany(barrier => barrier.Points.Select(p => new IntVector3(p))).ToList(),
BarrierStrokeStyle);
if (visibilityGraph.Waypoints.Any())
{
canvas.DrawLineList(
(from sourceIndex in Enumerable.Range(0, visibilityGraph.Waypoints.Length)
let sourceWaypoint = new IntVector3(visibilityGraph.Waypoints[sourceIndex])
let offset = visibilityGraph.Offsets[sourceIndex]
let end = visibilityGraph.Offsets[sourceIndex + 1]
from edgeIndex in Enumerable.Range(offset, end - offset)
let edge = visibilityGraph.Edges[edgeIndex]
let destWaypoint = new IntVector3(visibilityGraph.Waypoints[edge.NextIndex])
select new IntLineSegment3(sourceWaypoint, destWaypoint)).ToList(),
VisibilityEdgeStrokeStyle);
canvas.DrawPoints(
visibilityGraph.Waypoints.Select(p => new IntVector3(p)).ToList(),
WaypointStrokeStyle);
foreach (var(i, waypoint) in visibilityGraph.Waypoints.Enumerate())
{
canvas.DrawText("" + i, waypoint);
}
}
}
public PolyNodeCrossoverPointManager(PolyNode landPolyNode)
{
this.landPolyNode = landPolyNode;
waypoints = landPolyNode.FindAggregateContourCrossoverWaypoints();
allWaypointIndices = waypoints.Map((_, i) => i);
visibilityGraph = landPolyNode.ComputeVisibilityGraph();
waypointToWaypointLut = visibilityGraph.BuildWaypointToWaypointLut();
}
public static PolyNodeVisibilityGraph ComputeVisibilityGraph(this PolyNode landNode)
{
if (landNode.visibilityGraphNodeData.VisibilityDistanceMatrix != null)
{
return(landNode.visibilityGraphNodeData.VisibilityDistanceMatrix);
}
// Console.WriteLine("Compute Visibility Graph");
var waypoints = FindAggregateContourCrossoverWaypoints(landNode);
var barriers = FindContourAndChildHoleBarriers(landNode);
return(landNode.visibilityGraphNodeData.VisibilityDistanceMatrix = PolyNodeVisibilityGraph.Construct(landNode, waypoints, barriers));
}
