public TriangleOctree GetOctree()
{
if (oct == null)
{
oct = new TriangleOctree(this);
}
return(oct);
}
public bool IsInWater(float x, float y, float min_z, float max_z)
{
TriangleCollection tc = GetChunkAt(x, y);
ICollection <int> ts, tsm, tst;
float minCliffD = 0.5f;
ts = null;
if (UseOctree)
{
TriangleOctree ot = tc.GetOctree();
tst = ts = ot.FindTrianglesInBox(x - minCliffD, y - minCliffD, min_z, x + minCliffD, y + minCliffD, max_z);
}
if (UseMatrix)
{
TriangleMatrix tm = tc.GetTriangleMatrix();
tsm = ts = tm.GetAllCloseTo(x, y, 1.0f);
}
Vector s0, s1;
s0.x = x;
s0.y = y;
s0.z = min_z;
s1.x = x;
s1.y = y;
s1.z = max_z;
foreach (int t in ts)
{
Vector vertex0;
Vector vertex1;
Vector vertex2;
Vector intersect;
int t_flags, sequence;
tc.GetTriangleVertices(t,
out vertex0.x, out vertex0.y, out vertex0.z,
out vertex1.x, out vertex1.y, out vertex1.z,
out vertex2.x, out vertex2.y, out vertex2.z, out t_flags, out sequence);
Vector normal;
Utils.GetTriangleNormal(vertex0, vertex1, vertex2, out normal);
if (Utils.SegmentTriangleIntersect(s0, s1, vertex0, vertex1, vertex2, out intersect))
{
if ((t_flags & TriangleFlagDeepWater) != 0)
{
return(true);
}
}
}
return(false);
}
public Node(TriangleOctree tree,
Vector min,
Vector max)
{
this.tree = tree;
this.min = min;
this.max = max;
this.mid.x = (min.x + max.x) / 2;
this.mid.y = (min.y + max.y) / 2;
this.mid.z = (min.z + max.z) / 2;
//triangles = new SimpleLinkedList(); // assume being a leaf node
}
public bool IsSpotBlocked(float x, float y, float z,
float toonHeight, float toonSize)
{
TriangleCollection tc = GetChunkAt(x, y);
ICollection <int> ts, tst, tsm;
ts = null;
if (UseOctree)
{
TriangleOctree ot = tc.GetOctree();
tst = ts = ot.FindTrianglesInBox(x - toonSize, y - toonSize, z + toonHeight - toonSize,
x + toonSize, y + toonSize, z + toonHeight + toonSize);
}
if (UseMatrix)
{
TriangleMatrix tm = tc.GetTriangleMatrix();
tsm = ts = tm.GetAllCloseTo(x, y, toonSize);
}
Vector toon;
toon.x = x;
toon.y = y;
toon.z = z + toonHeight;
// for(int t = 0 ; t<tc.GetNumberOfTriangles(); t++)
// {
foreach (int t in ts)
{
Vector vertex0;
Vector vertex1;
Vector vertex2;
int flags;
tc.GetTriangleVertices(t,
out vertex0.x, out vertex0.y, out vertex0.z,
out vertex1.x, out vertex1.y, out vertex1.z,
out vertex2.x, out vertex2.y, out vertex2.z, out flags);
float d = Utils.PointDistanceToTriangle(toon, vertex0, vertex1, vertex2);
if (d < toonSize)
{
return(true);
}
}
return(false);
}
public bool FindStandableAt1(float x, float y, float min_z, float max_z,
out float z0, out int flags, float toonHeight, float toonSize, bool IgnoreGradient, int[] allowedFlags)
{
TriangleCollection tc = GetChunkAt(x, y);
ICollection <int> ts, tsm, tst;
float minCliffD = 0.5f;
ts = null;
if (UseOctree)
{
TriangleOctree ot = tc.GetOctree();
tst = ts = ot.FindTrianglesInBox(x - minCliffD, y - minCliffD, min_z, x + minCliffD, y + minCliffD, max_z);
}
if (UseMatrix)
{
TriangleMatrix tm = tc.GetTriangleMatrix();
tsm = ts = tm.GetAllCloseTo(x, y, 1.0f);
}
Vector s0, s1;
s0.x = x;
s0.y = y;
s0.z = min_z;
s1.x = x;
s1.y = y;
s1.z = max_z;
float best_z = -1E30f;
int best_flags = 0;
bool found = false;
foreach (int t in ts)
{
Vector vertex0;
Vector vertex1;
Vector vertex2;
Vector intersect;
int t_flags, sequence;
tc.GetTriangleVertices(t,
out vertex0.x, out vertex0.y, out vertex0.z,
out vertex1.x, out vertex1.y, out vertex1.z,
out vertex2.x, out vertex2.y, out vertex2.z, out t_flags, out sequence);
if (allowedFlags == null || allowedFlags.Contains(t_flags))
{
Vector normal;
Utils.GetTriangleNormal(vertex0, vertex1, vertex2, out normal);
float angle_z = (float)Math.Sin(45.0 / 360.0 * Math.PI * 2); //
if (Utils.abs(normal.z) > angle_z)
{
if (Utils.SegmentTriangleIntersect(s0, s1, vertex0, vertex1, vertex2, out intersect))
{
if (intersect.z > best_z)
{
if (!IsSpotBlocked(intersect.x, intersect.y, intersect.z, toonHeight, toonSize))
{
best_z = intersect.z;
best_flags = t_flags;
found = true;
}
}
}
}
}
}
if (found)
{
Vector up, dn, tmp;
up.z = best_z + 2;
dn.z = best_z - 5;
bool[] nearCliff = { true, true, true, true };
bool allGood = true;
foreach (int t in ts)
{
Vector vertex0;
Vector vertex1;
Vector vertex2;
tc.GetTriangleVertices(t,
out vertex0.x, out vertex0.y, out vertex0.z,
out vertex1.x, out vertex1.y, out vertex1.z,
out vertex2.x, out vertex2.y, out vertex2.z);
float[] dx = { minCliffD, -minCliffD, 0, 0 };
float[] dy = { 0, 0, minCliffD, -minCliffD };
// Check if it is close to a "cliff"
allGood = true;
for (int i = 0; i < 4; i++)
{
if (nearCliff[i])
{
up.x = dn.x = x + dx[i];
up.y = dn.y = y + dy[i];
if (Utils.SegmentTriangleIntersect(up, dn, vertex0, vertex1, vertex2, out tmp))
{
nearCliff[i] = false;
}
}
allGood &= !nearCliff[i];
}
if (allGood)
{
break;
}
}
allGood = true;
for (int i = 0; i < 4; i++)
{
allGood &= !nearCliff[i];
}
if (!allGood)
{
z0 = best_z;
flags = best_flags;
return(false); // too close to cliff
}
}
z0 = best_z;
flags = best_flags;
return(found);
}
public bool FindStandableAt2(double xx, double yy, float min_z, float max_z,
out float z0, out int flags, float toonHeight, float toonSize, bool IgnoreGradient)
{
float x = (float)xx;
float y = (float)yy;
TriangleCollection tc = GetChunkAt(x, y);
ICollection <int> ts, tsm, tst;
float minCliffD = 0.5f;
ts = null;
if (UseOctree)
{
TriangleOctree ot = tc.GetOctree();
tst = ts = ot.FindTrianglesInBox(x - minCliffD, y - minCliffD, min_z, x + minCliffD, y + minCliffD, max_z);
}
if (UseMatrix)
{
TriangleMatrix tm = tc.GetTriangleMatrix();
tsm = ts = tm.GetAllCloseTo(x, y, 2.0f);
}
Vector s0, s1, s2, s3, s4, s5, s6, s7, s8, s9;
s0.x = x; s0.y = y; s0.z = min_z;
s1.x = x; s1.y = y; s1.z = max_z;
float gap = (float)0.2;
s2.x = x + gap; s2.y = y; s2.z = min_z;
s3.x = x + gap; s3.y = y; s3.z = max_z;
s4.x = x - gap; s4.y = y; s4.z = min_z;
s5.x = x - gap; s5.y = y; s5.z = max_z;
s6.x = x; s6.y = y + gap; s6.z = min_z;
s7.x = x; s7.y = y + gap; s7.z = max_z;
s8.x = x; s8.y = y - gap; s8.z = min_z;
s9.x = x; s9.y = y - gap; s9.z = max_z;
float best_z = -1E30f;
int best_flags = 0;
bool found = false;
//logger.WriteLine(string.Format("x: {0} y: {1} min_z: {2} max_z: {3}", x, y, min_z, max_z));
foreach (int t in ts)
{
Vector vertex0;
Vector vertex1;
Vector vertex2;
Vector intersect;
int t_flags, sequence;
tc.GetTriangleVertices(t,
out vertex0.x, out vertex0.y, out vertex0.z,
out vertex1.x, out vertex1.y, out vertex1.z,
out vertex2.x, out vertex2.y, out vertex2.z, out t_flags, out sequence);
// logger.WriteLine(string.Format("x: {0},{1},{2} y: {3},{4},{5} z: {6},{7},{8}",vertex0.x,vertex1.x,vertex2.x,vertex0.y,vertex1.y,vertex2.y,vertex0.z,vertex1.z,vertex2.z));
Vector normal;
Utils.GetTriangleNormal(vertex0, vertex1, vertex2, out normal);
float angle_z = (float)Math.Sin(40.0 / 360.0 * Math.PI * 2); //
if (Utils.abs(normal.z) > angle_z || IgnoreGradient)
{
bool hasIntersected = false;
hasIntersected = Utils.SegmentTriangleIntersect(s0, s1, vertex0, vertex1, vertex2, out intersect);
if (!hasIntersected)
{
hasIntersected = Utils.SegmentTriangleIntersect(s2, s3, vertex0, vertex1, vertex2, out intersect);
}
if (!hasIntersected)
{
hasIntersected = Utils.SegmentTriangleIntersect(s4, s5, vertex0, vertex1, vertex2, out intersect);
}
if (!hasIntersected)
{
hasIntersected = Utils.SegmentTriangleIntersect(s6, s7, vertex0, vertex1, vertex2, out intersect);
}
if (!hasIntersected)
{
hasIntersected = Utils.SegmentTriangleIntersect(s8, s9, vertex0, vertex1, vertex2, out intersect);
}
if (hasIntersected)
{
if (intersect.z > best_z)
{
if (!IsSpotBlocked(intersect.x, intersect.y, intersect.z, toonHeight, toonSize))
{
logger.WriteLine("new best z:" + intersect.z.ToString());
best_z = intersect.z;
best_flags = t_flags;
found = true;
}
}
else
{
//logger.WriteLine("not best");
}
}
else
{
//logger.WriteLine("Utils.SegmentTriangleIntersect false");
}
}
else
{
//logger.WriteLine(string.Format("utils.abs(normal.z) {0} > angle_z {1}", Utils.abs(normal.z), angle_z));
}
}
if (found)
{
Vector up, dn, tmp;
up.z = best_z + 2;
dn.z = best_z - 5;
bool[] nearCliff = { true, true, true, true };
bool allGood = true;
foreach (int t in ts)
{
Vector vertex0;
Vector vertex1;
Vector vertex2;
tc.GetTriangleVertices(t,
out vertex0.x, out vertex0.y, out vertex0.z,
out vertex1.x, out vertex1.y, out vertex1.z,
out vertex2.x, out vertex2.y, out vertex2.z);
float[] dx = { minCliffD, -minCliffD, 0, 0 };
float[] dy = { 0, 0, minCliffD, -minCliffD };
// Check if it is close to a "cliff"
allGood = true;
for (int i = 0; i < 4; i++)
{
if (nearCliff[i])
{
up.x = dn.x = x + dx[i];
up.y = dn.y = y + dy[i];
if (Utils.SegmentTriangleIntersect(up, dn, vertex0, vertex1, vertex2, out tmp))
{
nearCliff[i] = false;
}
}
allGood &= !nearCliff[i];
}
if (allGood)
{
break;
}
}
allGood = true;
for (int i = 0; i < 4; i++)
{
allGood &= !nearCliff[i];
}
if (!allGood)
{
z0 = best_z;
flags = best_flags;
return(false); // too close to cliff
}
}
z0 = best_z;
flags = best_flags;
return(found);
}
public bool IsStepBlocked(float x0, float y0, float z0,
float x1, float y1, float z1,
float toonHeight, float toonSize, TriangleCollection paintI)
{
TriangleCollection tc = GetChunkAt(x0, y0);
float dx = x0 - x1;
float dy = y0 - y1;
float dz = z0 - z1;
float stepLength = (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
// 1: check steepness
// TODO
// 2: check is there is a big step
float mid_x = (x0 + x1) / 2.0f;
float mid_y = (y0 + y1) / 2.0f;
float mid_z = (z0 + z1) / 2.0f;
float mid_z_hit = 0;
float mid_dz = Math.Abs(stepLength);
//if (mid_dz < 1.0f) mid_dz = 1.0f;
int mid_flags = 0;
if (FindStandableAt(mid_x, mid_y, mid_z - mid_dz, mid_z + mid_dz, out mid_z_hit, out mid_flags, toonHeight, toonSize))
{
float dz0 = Math.Abs(z0 - mid_z_hit);
float dz1 = Math.Abs(z1 - mid_z_hit);
// Console.WriteLine("z0 " + z0 + " z1 " + z1 + " dz0 " + dz0+ " dz1 " + dz1 );
if (dz0 > stepLength / 2.0 && dz0 > 1.0)
{
return(true); // too steep
}
if (dz1 > stepLength / 2.0 && dz1 > 1.0)
{
return(true); // too steep
}
}
else
{
// bad!
return(true);
}
ICollection <int> ts, tsm, tst;
ts = null;
if (UseOctree)
{
TriangleOctree ot = tc.GetOctree();
tst = ts = ot.FindTrianglesInBox(Utils.min(x0, x1), Utils.min(y0, y1), Utils.min(z0, z1),
Utils.max(x0, x1), Utils.max(y0, y1), Utils.max(z0, z1));
}
if (UseMatrix)
{
TriangleMatrix tm = tc.GetTriangleMatrix();
tsm = ts = tm.GetAllInSquare(Utils.min(x0, x1), Utils.min(y0, y1), Utils.max(x0, x1), Utils.max(y0, y1));
}
// 3: check collision with objects
Vector from, from_up, from_low;
Vector to, to_up, to_low;
from.x = x0;
from.y = y0;
from.z = z0 + toonSize; //+0.5
to.x = x1;
to.y = y1;
to.z = z1 + toonSize;
from_up = new Vector(from);
from_up.z = z0 + toonHeight - toonSize;
to_up = new Vector(to);
to_up.z = z1 + toonHeight - toonSize;
//diagonal
if (CheckForCollision(tc, ts, ref from, ref to_up))
{
return(true);
}
//diagonal
if (CheckForCollision(tc, ts, ref from_up, ref to))
{
return(true);
}
//head height
// if (CheckForCollision(tc, ts, ref from_up, ref to_up)) { return true; }
//close to the ground
from_low = new Vector(from);
from_low.z = z0 + 0.2f;
to_low = new Vector(to);
to_low.z = z1 + 0.2f;
if (CheckForCollision(tc, ts, ref from_low, ref to_low))
{
return(true);
}
float ddx, ddy;
GetNormal(x0, y0, x1, y1, out ddx, out ddy, 0.2f);
from_low.x += ddy;
from_low.y += ddx;
to_low.x += ddy;
to_low.y += ddx;
if (CheckForCollision(tc, ts, ref from_low, ref to_low))
{
return(true);
}
from_low.x -= 2 * ddy;
from_low.y -= 2 * ddx;
to_low.x -= 2 * ddy;
to_low.y -= 2 * ddx;
if (CheckForCollision(tc, ts, ref from_low, ref to_low))
{
return(true);
}
return(false);
}
public bool IsStepBlocked(float x0, float y0, float z0,
float x1, float y1, float z1,
float toonHeight, float toonSize, TriangleCollection paintI)
{
TriangleCollection tc = GetChunkAt(x0, y0);
ICollection <int> ts, tsm, tst;
ts = null;
if (UseOctree)
{
TriangleOctree ot = tc.GetOctree();
tst = ts = ot.FindTrianglesInBox(Utils.min(x0, x1), Utils.min(y0, y1), Utils.min(z0, z1),
Utils.max(x0, x1), Utils.max(y0, y1), Utils.max(z0, z1));
}
if (UseMatrix)
{
TriangleMatrix tm = tc.GetTriangleMatrix();
tsm = ts = tm.GetAllInSquare(Utils.min(x0, x1), Utils.min(y0, y1), Utils.max(x0, x1), Utils.max(y0, y1));
}
bool coll = false;
Vector from, from_up;
Vector to, to_up;
from.x = x0; from.y = y0; from.z = z0 + toonSize;
from_up.x = x0; from_up.y = y0; from_up.z = z0 + toonHeight - toonSize;
to.x = x1; to.y = y1; to.z = z1 + toonSize;
to_up.x = x1; to_up.y = y1; to_up.z = z1 + toonHeight - toonSize;
foreach (int t in ts)
//for(int t = 0 ; t<tc.GetNumberOfTriangles(); t++)
{
Vector vertex0;
Vector vertex1;
Vector vertex2;
Vector intersect;
tc.GetTriangleVertices(t,
out vertex0.x, out vertex0.y, out vertex0.z,
out vertex1.x, out vertex1.y, out vertex1.z,
out vertex2.x, out vertex2.y, out vertex2.z);
if (Utils.SegmentTriangleIntersect(from, to_up, vertex0, vertex1, vertex2, out intersect) ||
Utils.SegmentTriangleIntersect(from_up, to, vertex0, vertex1, vertex2, out intersect))
{
if (paintI != null)
{
//paintI.AddMarker(intersect.x, intersect.y, intersect.z);
}
//Console.WriteLine("Collided at " + intersect);
coll = true;
return(true);
// blocked!
}
}
return(coll);
}
public bool IsStepBlocked(float x0, float y0, float z0,
float x1, float y1, float z1,
float toonHeight, float toonSize, TriangleCollection paintI)
{
TriangleCollection tc = GetChunkAt(x0, y0);
float dx = x0 - x1;
float dy = y0 - y1;
float dz = z0 - z1;
var stepLength = (float)Math.Sqrt(dx * dx + dy * dy + dz + dz);
// 1: check steepness
// TODO
// 2: check is there is a big step
float mid_x = (x0 + x1) / 2.0f;
float mid_y = (y0 + y1) / 2.0f;
float mid_z = (z0 + z1) / 2.0f;
float mid_z_hit = 0;
float mid_dz = Math.Abs(stepLength);
//if (mid_dz < 1.0f) mid_dz = 1.0f;
int mid_flags = 0;
if (FindStandableAt(mid_x, mid_y, mid_z - mid_dz, mid_z + mid_dz, out mid_z_hit, out mid_flags, toonHeight,
toonSize))
{
float dz0 = Math.Abs(z0 - mid_z_hit);
float dz1 = Math.Abs(z1 - mid_z_hit);
// PathGraph.Log("z0 " + z0 + " z1 " + z1 + " dz0 " + dz0+ " dz1 " + dz1 );
if (dz0 > stepLength / 2.0 && dz0 > 1.0)
{
return(true); // too steep
}
if (dz1 > stepLength / 2.0 && dz1 > 1.0)
{
return(true); // too steep
}
}
else
{
// bad!
return(true);
}
ICollection <int> ts, tsm, tst;
ts = null;
if (UseOctree)
{
TriangleOctree ot = tc.GetOctree();
tst = ts = ot.FindTrianglesInBox(Utils.min(x0, x1), Utils.min(y0, y1), Utils.min(z0, z1),
Utils.max(x0, x1), Utils.max(y0, y1), Utils.max(z0, z1));
}
if (UseMatrix)
{
TriangleMatrix tm = tc.GetTriangleMatrix();
tsm = ts = tm.GetAllInSquare(Utils.min(x0, x1), Utils.min(y0, y1), Utils.max(x0, x1), Utils.max(y0, y1));
}
// 3: check collision with objects
bool coll = false;
Vector from, from_up;
Vector to, to_up;
from.x = x0;
from.y = y0;
from.z = z0 + toonSize;
from_up.x = x0;
from_up.y = y0;
from_up.z = z0 + toonHeight - toonSize;
to.x = x1;
to.y = y1;
to.z = z1 + toonSize;
to_up.x = x1;
to_up.y = y1;
to_up.z = z1 + toonHeight - toonSize;
foreach (int t in ts)
//for(int t = 0 ; t<tc.GetNumberOfTriangles(); t++)
{
Vector vertex0;
Vector vertex1;
Vector vertex2;
Vector intersect;
tc.GetTriangleVertices(t,
out vertex0.x, out vertex0.y, out vertex0.z,
out vertex1.x, out vertex1.y, out vertex1.z,
out vertex2.x, out vertex2.y, out vertex2.z);
if (Utils.SegmentTriangleIntersect(from, to_up, vertex0, vertex1, vertex2, out intersect) ||
Utils.SegmentTriangleIntersect(from_up, to, vertex0, vertex1, vertex2, out intersect))
{
if (paintI != null)
{
//paintI.AddMarker(intersect.x, intersect.y, intersect.z);
}
//PathGraph.Log("Collided at " + intersect);
coll = true;
return(true);
// blocked!
}
}
return(coll);
}
