private void CollectEdgesBetweenFloorLists(int bx, int by,
List <NavMeshBuilderFloorDesc> center, int nx, int ny,
Dictionary <EdgeVertex, List <EdgeVertex> > edgesOut)
{
List <NavMeshBuilderFloorDesc> neighbor = GetFloorDescListNoCheck(nx, ny);
if (neighbor == null)
{
return;
}
var directionToNeighbor = NavMeshUtil.DetermineDirection(bx, by, nx, ny);
var directionFromNeighbor = NavMeshUtil.GetInverseDirection(directionToNeighbor);
foreach (var floor in center)
{
// check if direction to neighbor is blocked.
if ((floor.DirectionFlags & directionToNeighbor) != 0)
{
continue;
}
List <EdgeVertex> list = null;
foreach (var neighborFloor in neighbor)
{
// check if direction from neighbor is blocked.
if ((neighborFloor.DirectionFlags & directionFromNeighbor) != 0)
{
continue;
}
if (Math.Abs(floor.Z100i - neighborFloor.Z100i) / 100.0f > m_maxZStep)
{
continue;
}
if (list == null)
{
var p0 = new EdgeVertex {
BX = (ushort)bx, BY = (ushort)by, Z100i = floor.Z100i
};
if (!edgesOut.TryGetValue(p0, out list))
{
list = new List <EdgeVertex>();
edgesOut.Add(p0, list);
}
}
list.Add(new EdgeVertex {
BX = (ushort)nx, BY = (ushort)ny, Z100i = neighborFloor.Z100i
});
break; // each floor connects to 0 or 1 neighbor in 1 direction.
}
}
}
//private void RemoveSteepEdges(Dictionary<EdgeVertex, List<EdgeVertex>> edges)
//{
// // foreach KEY,
// // if slope is too steep to vertex in VALUE,
// // remove vertex from VALUE
// // find KEY=vertex, remove KEY from vertex's VALUE.
// // remove all KEYs with VALUE count = 0
// //
//}
private List <HashSet <EdgeVertex> > ComputeSubgraphs(Dictionary <EdgeVertex, List <EdgeVertex> > edges)
{
var subgraphs = new List <HashSet <EdgeVertex> >();
var totalVisited = new HashSet <EdgeVertex>();
foreach (var startVertex in edges.Keys)
{
if (totalVisited.Contains(startVertex))
{
continue;
}
// start gathering a new subgraph.
var pleaseVisit = new Queue <EdgeVertex>();
pleaseVisit.Enqueue(startVertex);
// walk all connected edges and add to this subgraph.
var currentSubgraph = new HashSet <EdgeVertex>();
while (pleaseVisit.Count > 0)
{
EdgeVertex cur = pleaseVisit.Dequeue();
if (currentSubgraph.Contains(cur))
{
continue;
}
currentSubgraph.Add(cur);
totalVisited.Add(cur);
foreach (var v in edges[cur])
{
pleaseVisit.Enqueue(v);
}
}
subgraphs.Add(currentSubgraph);
}
return(subgraphs);
}