private void Reset()
{
tiled_map_parser_ = new TiledMapParser();
nav_map_parser_ = new NavmeshMapParser();
map_patch_parser_ = new MapPatchParser();
spatial_system_ = new Spatial.SpatialSystem();
cell_manager_ = new CellManager();
back_image_ = Image.FromFile(map_image_);
pictureBox1.Image = back_image_;
pictureBox1.Size = back_image_.Size;
map_width_ = back_image_.Width;
map_height_ = back_image_.Height;
context_.MaximumBuffer = new Size((int)map_width_, (int)map_height_);
Graphics targetDC = this.pictureBox1.CreateGraphics();
graphics_ = context_.Allocate(targetDC, new Rectangle(0, 0, (int)map_width_, (int)map_height_));
obstacle_graphics_ = context_.Allocate(targetDC, new Rectangle(0, 0, (int)map_width_, (int)map_height_));
scale = map_width_ / map_actual_width_;
cell_width_ = cell_actual_width_ * scale;
if (cell_width_ < 1)
{
cell_width_ = 1;
}
map_actual_height_ = map_height_ * map_actual_width_ / map_width_;
///*
cell_manager_.Init(map_actual_width_, map_actual_height_, cell_actual_width_);
cell_manager_.Scale(map_width_ / map_actual_width_);
nav_map_parser_.ParseTileDataWithNavmeshUseFileScale(nav_file_, map_actual_width_, map_actual_height_);
nav_map_parser_.GenerateObstacleInfoWithNavmesh(cell_manager_);
//map_parser_.ParseTiledData(obstacle_file_, map_width_, map_height_);
//map_parser_.GenerateObstacleInfo(cell_manager_);
//map_parser_.SaveObstacleInfo(obs_file_);
cell_manager_.Scale(map_actual_width_ / map_width_);
cell_manager_.Save(map_file_);
//tree_cache_finder_.PreprocessMap(cell_manager_, path_file_);
//tree_cache_finder_.PrepareForSearch(path_file_);
jump_point_finder_ = new JumpPointFinder();
jump_point_finder_.Init(cell_manager_);
//jump_point_finder_.PreprocessMap(path_file_);
//*/
spatial_system_.Init(map_file_, path_file_);
long stTime = TimeUtility.Instance.GetElapsedTimeUs();
spatial_system_.LoadObstacle(obs_file_, true);
spatial_system_.TriangulationNetworkFinder.SparseDistance = 16.0f;
triangles = spatial_system_.TriangulationNetworkFinder.TriangulationNetwork;
long edTime = TimeUtility.Instance.GetElapsedTimeUs();
LogUtil.Info("triangulation consume " + (edTime - stTime) + "us");
spatial_system_.JumpPointFinder.RecordVisitedCells = false;
cell_manager_ = spatial_system_.GetCellManager();
cell_manager_.Scale(scale);
jump_point_finder_.Init(cell_manager_);
map_patch_parser_.Load(map_patch_file_);
map_patch_parser_.VisitPatches((int row, int col, byte obstacle) =>
{
cell_manager_.SetCellStatus(row, col, obstacle);
LogUtil.Info("map patch:{0},{1}->{2}", row, col, obstacle);
});
control_obj_.SetPosition(new Vector3(0, 0, 0));
spatial_system_.AddObj(control_obj_);
prkdtree_ = new PrKdTree(map_width_);
kdtree_.Clear();
space_objs_.Clear();
selected_objs_.Clear();
selected_objs2_.Clear();
hit_points_.Clear();
found_path_ = null;
UpdateObstacleGraph();
hit_points_.Clear();
}