/// <summary>
/// Gets the 3D data from map centered in pos.
/// </summary>
/// <param name="pos">The center of square</param>
/// <param name="size">The size of the square</param>
/// <returns></returns>
public Frame getPosition(Vector2 pos, uint size = 10)
{
Contract.Requires(map.ValidPosition(new Vector3(pos, 2)));
//ToDo: work the case when some blocks don't exist because they are outside the map. In that case the frontier blocks should be repeated.
List <VertexPositionNormalTexture> VertexPosList = new List <VertexPositionNormalTexture>();
List <int> IndexBufferList = new List <int>();
for (uint i = (uint)pos.X - size; i < pos.X + size; i++)
{
for (uint j = (uint)(pos.Y) - size; j < pos.Y + size; j++)
{
for (uint k = 0; k < map.Height; k++)
{
Block block = map.GetBlock(new Vector3(i, j, k));
int idx = 0;
foreach (VertexPositionNormalTexture vx in block.Coors)
{
VertexPosList.Add(vx);
idx++;
}
int c = VertexPosList.Count - idx;
foreach (int ib in block.IndexBufferCollection)
{
IndexBufferList.Add(c + ib);
}
}
}
}
List <VertexPositionNormalTexture> objectsVertexPosList = new List <VertexPositionNormalTexture>();
List <int> objectsIndexBufferList = new List <int>();
foreach (Pedestrian ped in pedList)
{
Frame md = ped.Draw();
int idx = 0;
foreach (VertexPositionNormalTexture vx in md.ObjectVertexList)
{
objectsVertexPosList.Add(vx);
idx++;
}
int c = objectsVertexPosList.Count - idx;
foreach (int ib in md.ObjectIndexList)
{
objectsIndexBufferList.Add(c + ib);
}
}
return(new Frame(VertexPosList, IndexBufferList, objectsVertexPosList, objectsIndexBufferList, pos));
}
/// <summary>
/// Initialize the physic world with the geometric detail of map.
/// </summary>
/// <param name="map">The base to create the physic world.</param>
private void Initialize(Map.Map map)
{
List<JVector> vertices = new List<JVector>();
List<TriangleVertexIndices> indices = new List<TriangleVertexIndices>();
for (uint i = 0; i < map.Width; i++)
for (uint j = 0; j < map.Length; j++)
for (uint k = 0; k < map.Height; k++)
{
int pos = 0;
Block block = map.GetBlock(new Vector3(i, j, k));
block.CreateColisions();
foreach (JVector vertice in block.CollisionVertices)
{
vertices.Add(vertice);
pos++;
}
int newPos = vertices.Count - pos;
foreach (TriangleVertexIndices indice in block.CollisionTriangles)
{
TriangleVertexIndices t = new TriangleVertexIndices(indice.I0 + newPos, indice.I1 + newPos, indice.I2 + newPos);
indices.Add(t);
}
}
//ToDo: The vertices list has duplicated vertices. In the worst case each vertices has 4 different instantiation.
//Probably some performance can be expected by remove the duplicated ones.
//However it is also necessary to update the indies List with the correct positions.
Octree tree = new Octree(vertices, indices);
TriangleMeshShape shape = new TriangleMeshShape(tree);
RigidBody body = new RigidBody(shape);
body.IsStatic = true;
world.AddBody(body);
}
private static IEnumerable<Block> GetAssociatedBlocks(IEnumerable<List<Vector2>> convexPolygons, Map.Map map, int layer, IDictionary<Block, List<Vector2>> blockPointsDictionary)
{
var blocks = new List<Block>();
foreach (var convexPolygon in convexPolygons)
{
float minX;
float maxX;
float minY;
float maxY;
CalculateBounds(convexPolygon, out minX, out maxX, out minY, out maxY);
maxX = (float)Math.Ceiling(maxX);
maxY = (float)Math.Ceiling(maxY);
var pointsCache = new Dictionary<Vector2, bool>();
for (var y = (int)minY; y < maxY; y++)
{
for (var x = (int)minX; x < maxX; x++)
{
var block = map.GetBlock(new Vector3(x, y, layer));
List<Vector2> blockPoints;
if (!blockPointsDictionary.TryGetValue(block, out blockPoints))
{
blockPoints = GetBlockPoints(block, layer);
blockPointsDictionary.Add(block, blockPoints);
}
var addBlock = false;
foreach (var blockPoint in blockPoints)
{
bool isOnPolygon;
if (pointsCache.TryGetValue(blockPoint, out isOnPolygon))
continue;
isOnPolygon = IsPointInPolygonOrEdge(convexPolygon, blockPoint);
pointsCache.Add(blockPoint, isOnPolygon);
if (!isOnPolygon)
continue;
addBlock = true;
break;
}
if (addBlock && !blocks.Contains(block))
blocks.Add(block);
}
}
}
return blocks;
}
private static bool CheckBlocksAbove(Block block, Map.Map map, int layer, Dictionary<int, List<IObstacle>> layerObstacles, Dictionary<Block, List<Vector2>> blockPointsDictionary)
{
List<Vector2> blockPoints;
if (!blockPointsDictionary.TryGetValue(block, out blockPoints))
{
blockPoints = GetBlockPoints(block, layer);
blockPointsDictionary.Add(block, blockPoints);
}
for (var z = (int)block.Position.Z + 1; z < 8; z++)
{
if (map.GetBlock(new Vector3(block.Position.X, block.Position.Y, z)).Lid)
return true;
var blockFilled = false;
foreach (var layerObstacle in layerObstacles[z])
{
var containAll = false;
var polygonObstacle = layerObstacle as PolygonObstacle;
if (polygonObstacle != null)
containAll = blockPoints.All(polygonObstacle.Contains);
var rectangleObstacle = layerObstacle as RectangleObstacle;
if (rectangleObstacle != null)
containAll = blockPoints.All(rectangleObstacle.Contains);
if (!containAll)
continue;
//all points are within the polygon, block is ok
blockFilled = true;
break;
}
if (blockFilled)
return true;
}
return false;
}
/// <summary>
/// Gets the 3D data from map centered in pos.
/// </summary>
/// <param name="pos">The center of square</param>
/// <param name="size">The size of the square</param>
/// <returns></returns>
public Frame getPosition(Vector2 pos, uint size = 10)
{
Contract.Requires(map.ValidPosition(new Vector3(pos, 2)));
//ToDo: work the case when some blocks don't exist because they are outside the map. In that case the frontier blocks should be repeated.
List <VertexPositionNormalTexture> VertexPosList = new List <VertexPositionNormalTexture>();
List <int> IndexBufferList = new List <int>();
for (uint i = (uint)pos.X - size; i < pos.X + size; i++)
{
for (uint j = (uint)(pos.Y) - size; j < pos.Y + size; j++)
{
for (uint k = 0; k < map.Height; k++)
{
Block block = map.GetBlock(new Vector3(i, j, k));
int idx = 0;
foreach (VertexPositionNormalTexture vx in block.Coors)
{
VertexPosList.Add(vx);
idx++;
}
int c = VertexPosList.Count - idx;
foreach (int ib in block.IndexBufferCollection)
{
IndexBufferList.Add(c + ib);
}
}
}
}
List <VertexPositionNormalTexture> objectsVertexPosList = new List <VertexPositionNormalTexture>();
List <int> objectsIndexBufferList = new List <int>();
foreach (Pedestrian ped in pedList)
{
Frame md = ped.Draw();
int idx = 0;
foreach (VertexPositionNormalTexture vx in md.ObjectVertexList)
{
objectsVertexPosList.Add(vx);
idx++;
}
int c = objectsVertexPosList.Count - idx;
foreach (int ib in md.ObjectIndexList)
{
objectsIndexBufferList.Add(c + ib);
}
}
Frame frame = new Frame(VertexPosList, IndexBufferList, objectsVertexPosList, objectsIndexBufferList, pos);
if (debugDraw)
{
drawer = new DebugDrawer();
foreach (RigidBody body in _physics.RigidBodiesList)
{
body.DebugDraw(drawer);
body.AllowDeactivation = false;
body.EnableDebugDraw = true;
}
frame.TriangleDebug = drawer.DrawInfo.TriangleDebug;
frame.LineDebug = drawer.DrawInfo.LineDebug;
}
return(frame);
}
