public IList <Vector2> GetPathAroundObstacle(SegmentIntersection from, Vector2 closestTo)
{
int indexOfSegment = _segments.IndexOf(from.Segment);
var clockwise = new List <Vector2>();
bool finished = false;
for (int i = indexOfSegment; i < _segments.Count; ++i)
{
clockwise.Add(_segments[i].Point2);
SegmentIntersection si;
if (!GetClosestIntersection(new Segment(_segments[i].Point2, closestTo), out si))
{
finished = true;
break;
}
}
if (!finished)
{
for (int i = 0; i < indexOfSegment; ++i)
{
clockwise.Add(_segments[i].Point2);
SegmentIntersection si;
if (!GetClosestIntersection(new Segment(_segments[i].Point2, closestTo), out si))
{
break;
}
}
}
var counterClockwise = new List <Vector2>();
finished = false;
for (int i = indexOfSegment; i >= 0; --i)
{
counterClockwise.Add(_segments[i].Point1);
SegmentIntersection si;
if (!GetClosestIntersection(new Segment(_segments[i].Point1, closestTo), out si))
{
finished = true;
break;
}
}
if (!finished)
{
for (int i = _segments.Count - 1; i > indexOfSegment; --i)
{
counterClockwise.Add(_segments[i].Point1);
SegmentIntersection si;
if (!GetClosestIntersection(new Segment(_segments[i].Point1, closestTo), out si))
{
break;
}
}
}
float cwLen = GetLen(from.Point, clockwise);
float ccwLen = GetLen(from.Point, counterClockwise);
return((cwLen < ccwLen) ? clockwise : counterClockwise);
}
public bool GetClosestIntersection(Segment ray, out SegmentIntersection intersection)
{
List <SegmentIntersection> intersections = new List <SegmentIntersection>();
foreach (var segment in _segments)
{
Vector2 i = new Vector2();
if (MathHelper.SegmentToSegmentIntersection(segment, ray, ref i))
{
intersections.Add(new SegmentIntersection(segment, i));
}
}
if (intersections.Count == 0)
{
intersection = null;
return(false);
}
intersection = intersections[0];
float dist = (intersection.Point - ray.Point1).sqrMagnitude;
for (int i = 1; i < intersections.Count; ++i)
{
float tmp = (intersections[i].Point - ray.Point1).sqrMagnitude;
if (tmp < dist)
{
intersection = intersections[i];
dist = tmp;
}
}
return(true);
}
