/*public bool reach(Trajectory.Node origin, LineHandler origin_line, LineHandler destiny, Dictionary<Trajectory.Node, bool> visited_nodes, Dictionary<LineHandler, bool> visited_lines, List<Vector2> route){
* bool reached = true;
* if(visited_nodes[origin] == false && !destiny.containsNode(origin)){
* visited_nodes [origin] = true;
* foreach (LineHandler line in origin_line.getNeighborLines()) {
* if(visited_lines[line] == false && line.containsNode(origin)){
* visited_lines[line.Key] = true;
* if (!visited_nodes[line.Key.start] && reach (line.Key.start, destiny, visited_nodes, visited_lines, route))
* route.Add (new Vector2(line.Key.start.getX () / 10f, 60 - line.Key.start.getY () / 10f));
* else if (!visited_nodes[line.Key.end] && reach (line.Key.end, destiny, visited_nodes, visited_lines, route))
* route.Add (new Vector2(line.Key.end.getX () / 10f, 60 - line.Key.end.getY () / 10f));
* else
* reached = false;
* }
* }
* }
* return reached;
* }*/
/*public bool reach(Trajectory.Node origin, LineHandler origin_line, LineHandler destiny, Dictionary<Trajectory.Node, bool> visited_nodes, Dictionary<LineHandler, bool> visited_lines, List<Vector2> route){
* bool reached = true;
* if (!destiny.containsNode (origin)) {
* visited_nodes [origin] = true;
* foreach (LineHandler line in origin_line.getNeighborLines()) {
* if (!visited_lines [line] && !visited_nodes [line.getOtherPoint (origin)] && reach (line.getOtherPoint (origin), origin_line, destiny, visited_nodes, visited_lines, route)) {
* Trajectory.Node n = line.getOtherPoint (origin);
* route.Add (new Vector2(n.getX () / 10f, 60 - n.getY () / 10f));
* }
* }
* }
* return reached;
* }*/
public bool reach(LineHandler origin, LineHandler destiny, Dictionary <LineHandler, bool> visited, List <KeyValuePair <Vector2, float> > route)
{
bool ret = false;
if (origin == destiny)
{
ret = true;
}
else if (visited[origin])
{
ret = false;
}
else
{
visited[origin] = true;
foreach (LineHandler neighbor in origin.getNeighborLines())
{
if (reach(neighbor, destiny, visited, route))
{
Trajectory.Node point = LineHandler.commonPoint(origin, neighbor);
route.Add(new KeyValuePair <Vector2, float>(LineHandler.nodeToVector2(point), point.getScale()));
ret = true;
break;
}
}
}
return(ret);
}
public KeyValuePair <Vector2, float>[] reach(LineHandler origin, LineHandler destiny)
{
List <KeyValuePair <Vector2, float> > route = new List <KeyValuePair <Vector2, float> >();
//Scene s = (Scene) sd;
//WE STORE IN A BOOLEAN IF WE HAVE VISITED OR NOT THAT LINE
// Dictionary<LineHandler, bool> visited_lines = new Dictionary<LineHandler, bool>();
// Dictionary<Trajectory.Node, bool> visited_nodes = new Dictionary<Trajectory.Node, bool>();
//
// foreach (LineHandler line in lines)
// visited_lines.Add (line, false);
//
// reach (origin, destiny, visited_lines, route);
Dictionary <LineHandler, KeyValuePair <float, LineHandler> > stickered = stick(origin);
LineHandler current = destiny;
while (current != origin)
{
KeyValuePair <float, LineHandler> node = stickered[current];
Trajectory.Node tmp = LineHandler.commonPoint(current, node.Value);
route.Add(new KeyValuePair <Vector2, float>(LineHandler.nodeToVector2(tmp), tmp.getScale()));
current = node.Value;
}
route.Reverse();
return(route.ToArray());
}
public static void DivideSideByRect(Rectangle rect, Trajectory original, Trajectory.Side side, Trajectory outputTrajectory)
{
var startNode = original.getNodeForId(side.getIDStart());
var endNode = original.getNodeForId(side.getIDEnd());
Math3DFunc scaleFunc = new Math3DFunc(
new Vector3(startNode.getX(), startNode.getY(), startNode.getScale()),
new Vector3(endNode.getX(), endNode.getY(), endNode.getScale()));
Math3DFunc lengthFunc = new Math3DFunc(
new Vector3(startNode.getX(), startNode.getY(), 0),
new Vector3(endNode.getX(), endNode.getY(), side.getLength()));
var startInside = outputTrajectory.getNodeForId(side.getIDStart()) == null;
var endInside = outputTrajectory.getNodeForId(side.getIDEnd()) == null;
if (startInside && endInside)
{
return;
}
Vector2 start = LineHandler.nodeToVector2(startNode),
end = LineHandler.nodeToVector2(endNode);
Vector2[] intersections;
if (LineRectangleIntersections(rect, start, end, out intersections))
{
if (!startInside)
{
var cs = ClosestPoint(start, intersections);
var csId = createRandomNodeId(cs.x, cs.y);
outputTrajectory.addNode(csId, (int)cs.x, (int)cs.y, scaleFunc.getZ(cs.x, cs.y));
outputTrajectory.addSide(side.getIDStart(), csId, (int)lengthFunc.getZ(cs.x, cs.y));
}
if (!endInside)
{
var ce = ClosestPoint(end, intersections);
var ceId = createRandomNodeId(ce.x, ce.y);
outputTrajectory.addNode(ceId, (int)ce.x, (int)ce.y, scaleFunc.getZ(ce.x, ce.y));
outputTrajectory.addSide(side.getIDEnd(), ceId, (int)(side.getLength() - lengthFunc.getZ(ce.x, ce.y)));
}
}
else
{
outputTrajectory.addSide(side.getIDStart(), side.getIDEnd(), (int)side.getLength());
}
}
public static bool TrajectoryRectangleIntersections(Rectangle rect, TrajectoryHandler trajectory, out Vector2[] intersections)
{
List <Vector2> intersectionsList = new List <Vector2>();
Vector2[] currentIntersections;
foreach (var side in trajectory.lines)
{
if (LineRectangleIntersections(rect, LineHandler.nodeToVector2(side.start),
LineHandler.nodeToVector2(side.end), out currentIntersections))
{
intersectionsList.AddRange(currentIntersections);
}
}
intersections = intersectionsList.ToArray();
return(intersections.Length > 0);
}
public static Trajectory CreateBlockedTrajectory(Trajectory original, Rectangle blockingObject)
{
var trajectory = new Trajectory();
// Fist we add the nodes
foreach (var node in original.getNodes())
{
if (!Inside(LineHandler.nodeToVector2(node), blockingObject))
{
trajectory.addNode(node.getID(), node.getX(), node.getY(), node.getScale());
}
}
// Then we add the sides
foreach (var side in original.getSides())
{
//Dividing them with the rect
DivideSideByRect(blockingObject, original, side, trajectory);
}
return(trajectory);
}
public List <MovementPoint> route_d(Vector2 origin, Vector2 destiny, LineHandler originline, LineHandler destinyline)
{
Graph <string> g = new Graph <string>();
Dictionary <string, Dictionary <string, float> > d = new Dictionary <string, Dictionary <string, float> >();
Dictionary <string, Dictionary <string, MovementPoint> > ps = new Dictionary <string, Dictionary <string, MovementPoint> >();
foreach (Trajectory.Node n in this.trajectory.getNodes())
{
d.Add(n.getID(), new Dictionary <string, float>());
ps.Add(n.getID(), new Dictionary <string, MovementPoint>());
}
foreach (Trajectory.Side s in this.trajectory.getSides())
{
var start = trajectory.getNodeForId(s.getIDStart());
var end = trajectory.getNodeForId(s.getIDEnd());
d[s.getIDStart()].Add(s.getIDEnd(), s.getLength());
d[s.getIDEnd()].Add(s.getIDStart(), s.getLength());
ps[s.getIDStart()].Add(s.getIDEnd(), new MovementPoint()
{
distance = s.getLength(),
scale = end.getScale(),
destination = new Vector2(end.getX(), end.getY())
});
ps[s.getIDEnd()].Add(s.getIDStart(), new MovementPoint()
{
distance = s.getLength(),
scale = start.getScale(),
destination = new Vector2(start.getX(), start.getY())
});
}
Trajectory.Node no = new Trajectory.Node("origin", Mathf.RoundToInt(origin.x), Mathf.RoundToInt(origin.y), 1f);
Trajectory.Node nd = new Trajectory.Node("destiny", Mathf.RoundToInt(destiny.x), Mathf.RoundToInt(destiny.y), 1f);
Vector2 oStartV2 = LineHandler.nodeToVector2(originline.start), oEndV2 = LineHandler.nodeToVector2(originline.end),
dStartV2 = LineHandler.nodeToVector2(destinyline.start), dEndV2 = LineHandler.nodeToVector2(destinyline.end);
float od1 = originline.getSegmentDistance(origin, oStartV2),
od2 = originline.getSegmentDistance(origin, oEndV2);
float dd1 = destinyline.getSegmentDistance(destiny, dStartV2),
dd2 = destinyline.getSegmentDistance(destiny, dEndV2);
d[originline.start.getID()].Add(no.getID(), od1);
d[originline.end.getID()].Add(no.getID(), od2);
d.Add("origin", new Dictionary <string, float>()
{
{ originline.start.getID(), od1 }, { originline.end.getID(), od2 }
});
ps[originline.start.getID()].Add(no.getID(), new MovementPoint()
{
distance = od1,
scale = originline.getScaleFor(origin),
destination = origin
});
ps[originline.end.getID()].Add(no.getID(), new MovementPoint()
{
distance = od2,
scale = originline.getScaleFor(origin),
destination = origin
});
ps.Add("origin", new Dictionary <string, MovementPoint>()
{
{ originline.start.getID(), new MovementPoint()
{
distance = od1,
scale = originline.getScaleFor(LineHandler.nodeToVector2(originline.start)),
destination = LineHandler.nodeToVector2(originline.start)
} },
{ originline.end.getID(), new MovementPoint()
{
distance = od2,
scale = originline.getScaleFor(LineHandler.nodeToVector2(originline.end)),
destination = LineHandler.nodeToVector2(originline.end)
} }
});
d[destinyline.start.getID()].Add(nd.getID(), dd1);
d[destinyline.end.getID()].Add(nd.getID(), dd2);
d.Add("destiny", new Dictionary <string, float>()
{
{ destinyline.start.getID(), dd1 }, { destinyline.end.getID(), dd2 }
});
ps[destinyline.start.getID()].Add(nd.getID(), new MovementPoint()
{
distance = dd1,
scale = destinyline.getScaleFor(destiny),
destination = destiny
});
ps[destinyline.end.getID()].Add(nd.getID(), new MovementPoint()
{
distance = dd2,
scale = destinyline.getScaleFor(destiny),
destination = destiny
});
ps.Add("destiny", new Dictionary <string, MovementPoint>()
{
{ destinyline.start.getID(), new MovementPoint()
{
distance = dd1,
scale = destinyline.getScaleFor(LineHandler.nodeToVector2(destinyline.start)),
destination = LineHandler.nodeToVector2(destinyline.start)
} },
{ destinyline.end.getID(), new MovementPoint()
{
distance = dd2,
scale = destinyline.getScaleFor(LineHandler.nodeToVector2(destinyline.end)),
destination = LineHandler.nodeToVector2(destinyline.end)
} }
});
g.set_vertices(d);
List <string> l = g.shortest_path("origin", "destiny");
l.Reverse();
List <MovementPoint> ret = new List <MovementPoint>();
string last = "origin";
foreach (string n in l)
{
ret.Add(ps[last][n]);
last = n;
}
return(ret);
}
