private bool IsVisible(int a, int b, TriangulatorDataSet ds)
{
Vector2 aPos = ds.NodePosV2(a);
Vector2 bPos = ds.NodePosV2(b);
Vector2 dir = bPos - aPos;
float curSqrDist = SomeMath.SqrDistance(aPos, bPos);
foreach (var edge in ds.edges)
{
if (edge.Contains(a, b))
{
continue;
}
Vector2 intersection;
if (SomeMath.RayIntersectXZ(
aPos, dir, //from, direction
ds.NodePosV2(edge.a), ds.NodePosV2(edge.b), //a, b
out intersection) &&
SomeMath.SqrDistance(aPos, intersection) < curSqrDist)
{
//Debuger3.AddRay(new Vector3(intersection.x, 0, intersection.y), Vector3.up, Color.magenta);
//Debuger3.AddLine(ds.NodePosV3(a), new Vector3(intersection.x, 0, intersection.y), Color.magenta);
//Debuger3.AddLine(ds.NodePosV3(b), new Vector3(intersection.x, 0, intersection.y), Color.magenta);
return(false);
}
}
return(true);
}
/// <summary>
/// return ray intersection by top projection (if it occured)
/// </summary>
public bool RayIntersectXZ(float rayOriginX, float rayOriginY, float rayDirectionX, float rayDirectionZ, out Vector3 result)
{
float Rx, Ry, Rz;
bool Rb = SomeMath.RayIntersectXZ(rayOriginX, rayOriginY, rayDirectionX, rayDirectionZ, xLeft, yLeft, zLeft, xRight, yRight, zRight, out Rx, out Ry, out Rz);
result = new Vector3(Rx, Ry, Rz);
return(Rb);
}
private void Raycast(Vector3 origin, Vector3 direction, out RaycastHitNavMesh hit,
float length, int maxIterations, Passability expectedPassability, Area expectedArea, Cell cell)
{
HashSet <CellContentData> raycastExclude = new HashSet <CellContentData>();
List <RaycastSomeData> raycastTempData = new List <RaycastSomeData>();
float maxLengthSqr = length * length;
for (int iteration = 0; iteration < maxIterations; iteration++)
{
raycastTempData.Clear();//iteration data cleared
foreach (var pair in cell.dataContentPairs)
{
CellContentData curData = pair.Key;
if (!raycastExclude.Add(curData))//mean it's already contain this
{
continue;
}
Vector3 intersect;
if (SomeMath.RayIntersectXZ(origin, direction, curData.leftV3, curData.rightV3, out intersect))
{
if (pair.Value != null)
{
Cell otherCell = pair.Value.connection;
if (otherCell == cell | !otherCell.canBeUsed)
{
continue;
}
if (cell.passability != otherCell.passability || cell.area != otherCell.area)
{
hit = new RaycastHitNavMesh(intersect, SomeMath.SqrDistance(origin, intersect) < maxLengthSqr);//!!!
return;
}
raycastTempData.Add(new RaycastSomeData(intersect, otherCell));
}
else
{
raycastTempData.Add(new RaycastSomeData(intersect, null));
}
}
}
//check if there possible connection
for (int i = 0; i < raycastTempData.Count; i++)
{
if (raycastTempData[i].cell != null)
{
cell = raycastTempData[i].cell;
goto CONTINUE;
}
}
//now we definetly hit something and now find furthest
float furthestSqrDist = 0f;
Vector3 furthest = origin;
for (int i = 0; i < raycastTempData.Count; i++)
{
float curSqrDist = SomeMath.SqrDistance(raycastTempData[i].point, origin);
if (curSqrDist > furthestSqrDist)
{
furthestSqrDist = curSqrDist;
furthest = raycastTempData[i].point;
}
}
hit = new RaycastHitNavMesh(furthest, SomeMath.SqrDistance(origin, furthest) < maxLengthSqr);
return;
CONTINUE : { continue; }
}
hit = new RaycastHitNavMesh(origin, true, true);
return;
}
public bool RayIntersectXZ(float rayOriginX, float rayOriginY, float rayDirectionX, float rayDirectionZ, out float resultX, out float resultY, out float resultZ)
{
return(SomeMath.RayIntersectXZ(rayOriginX, rayOriginY, rayDirectionX, rayDirectionZ, xLeft, yLeft, zLeft, xRight, yRight, zRight, out resultX, out resultY, out resultZ));
}