public HashSet <uint> BuildRegionHashSet(out string errMsg)
{
var bezierCurve = _map.GetBezierCurve(_region.BezierCurveId);
if (bezierCurve == null)
{
errMsg = "RegionBuilder.BuildRegionHashSet: bezierCurve is null! BezierCurveId: " + _region.BezierCurveId;
return(null);
}
if (!bezierCurve.Closed)
{
errMsg = "RegionBuilder.BuildRegionHashSet: bezierCurve is not Closed! BezierCurveId: " + _region.BezierCurveId;
return(null);
}
errMsg = "";
float fInvGridSize = 1.0f / _mapGridSize;
Vector2 mins = _mapRect.max;
Vector2 maxs = _mapRect.min;
_polygon.Clear();
foreach (var point in bezierCurve.BezierNodes)
{
Vector2 v = new Vector2(point.PositionX, point.PositionZ);
_polygon.Add(v);
if (v.x < mins.x)
{
mins.x = v.x;
}
if (v.y < mins.y)
{
mins.y = v.y;
}
if (v.x > maxs.x)
{
maxs.x = v.x;
}
if (v.y > maxs.y)
{
maxs.y = v.y;
}
}
Rect rcRegion = new Rect(mins, maxs - mins);
int nWidth = (int)(_mapXLen * fInvGridSize);
int nHeight = (int)(_mapZLen * fInvGridSize);
HashSet <uint> regionSet = new HashSet <uint>();
Vector2 vOrg = new Vector2(_mapRect.xMin + 0.5f * _mapGridSize, _mapRect.yMax - 0.5f * _mapGridSize);
for (int h = 0; h < nHeight; ++h)
{
for (int w = 0; w < nWidth; ++w)
{
Vector2 vPos = vOrg + new Vector2(w * _mapGridSize, -h * _mapGridSize);
if (!RegionUtility.IsPointInRect(vPos, rcRegion)) //快速判断点是否在region的rect内
{
continue;
}
if (PolygonFunc.IsInPolygon2(vPos.x, vPos.y, _polygon))
{
uint col = (uint)w;
uint row = (uint)h;
uint data = (col | row << 16);
regionSet.Add(data);
}
}
}
return(regionSet);
}
public HashSet <uint> BuildRegionHashSet(out string errMsg)
{
if (_template == null)
{
errMsg = "ObstacleBuilder.BuildRegionHashSet: _template is null! ObstacleId: " + _obstacle.EntityInfos[0].EntityId;
return(null);
}
errMsg = "";
//欧拉角到方向
var quaternion = Quaternion.Euler(_obstacle.RotationX, _obstacle.RotationY, _obstacle.RotationZ);
Vector3 vDir = quaternion * Vector3.forward;
vDir.y = 0;
vDir.Normalize();
Vector3 vCenter = new Vector3(_obstacle.PositionX, _obstacle.PositionY, _obstacle.PositionZ);
Vector3 ExtX;
Vector3 ExtY;
Vector3 ExtZ;
Vector3 vExtent = new Vector3(_obstacle.Length * 0.5f, _template.Height * 0.5f, _template.Width * 0.5f);
Matrix4x4 mat;
RegionUtility.a3d_TransformMatrix(vDir, Vector3.up, vCenter, out mat);
ExtX = new Vector3(mat.m00, mat.m10, mat.m20) * vExtent.x;
ExtY = new Vector3(mat.m01, mat.m11, mat.m21) * vExtent.y;
ExtZ = new Vector3(mat.m02, mat.m12, mat.m22) * vExtent.z;
float fInvGridSize = 1.0f / _mapGridSize;
Vector2 mins = _mapRect.max;
Vector2 maxs = _mapRect.min;
Vector3[] points = new Vector3[4];
points[0] = vCenter - ExtX + ExtY + ExtZ;
points[1] = points[0] + 2 * ExtX;
points[2] = points[1] - 2 * ExtZ;
points[3] = points[2] - 2 * ExtX;
_polygon.Clear();
foreach (var point in points)
{
Vector2 v = new Vector2(point.x, point.z);
_polygon.Add(v);
if (v.x < mins.x)
{
mins.x = v.x;
}
if (v.y < mins.y)
{
mins.y = v.y;
}
if (v.x > maxs.x)
{
maxs.x = v.x;
}
if (v.y > maxs.y)
{
maxs.y = v.y;
}
}
Rect rcRegion = new Rect(mins, maxs - mins);
int nWidth = (int)(_mapXLen * fInvGridSize);
int nHeight = (int)(_mapZLen * fInvGridSize);
HashSet <uint> regionSet = new HashSet <uint>();
Vector2 vOrg = new Vector2(_mapRect.xMin + 0.5f * _mapGridSize, _mapRect.yMax - 0.5f * _mapGridSize);
for (int h = 0; h < nHeight; ++h)
{
for (int w = 0; w < nWidth; ++w)
{
Vector2 vPos = vOrg + new Vector2(w * _mapGridSize, -h * _mapGridSize);
if (!RegionUtility.IsPointInRect(vPos, rcRegion)) //快速判断点是否在region的rect内
{
continue;
}
if (PolygonFunc.IsInPolygon2(vPos.x, vPos.y, _polygon))
{
uint col = (uint)w;
uint row = (uint)h;
uint data = (col | row << 16);
regionSet.Add(data);
}
}
}
if (regionSet.Count == 0)
{
errMsg = HobaText.Format("ObstacleBuilder.BuildRegionHashSet: RegionSet Count is zero! ObstacleId: {0}, EntityGeneratorId: {1} generator len: {2}, template wid: {3}, template hei: {4}",
_obstacle.EntityInfos[0].EntityId, _obstacle.Id, _obstacle.Length, _template.Width, _template.Height);
}
return(regionSet);
}
