public void Initialize(NavigationPolygons polygons)
{
Reset();
this.polygons = polygons;
Tesselation();
for (int i = 0; i < this.tesselationAlgorithm.ElementCount; i++)
{
var v0 = this.tesselationAlgorithm.Vertices[this.tesselationAlgorithm.Elements[i * 3]].Position.ToIntPoint();
var v1 = this.tesselationAlgorithm.Vertices[this.tesselationAlgorithm.Elements[i * 3 + 1]].Position.ToIntPoint();
var v2 = this.tesselationAlgorithm.Vertices[this.tesselationAlgorithm.Elements[i * 3 + 2]].Position.ToIntPoint();
var triangle = new NavigationTriangle(v0, v1, v2);
AllTriangle.Add(triangle);
}
// Refine();
foreach (var triangle in AllTriangle)
{
AddTriangleToPointMap(triangle.U, triangle);
AddTriangleToPointMap(triangle.V, triangle);
AddTriangleToPointMap(triangle.W, triangle);
AddTriangleToPointMap(triangle.S0.Midpoint(), triangle);
AddTriangleToPointMap(triangle.S1.Midpoint(), triangle);
AddTriangleToPointMap(triangle.S2.Midpoint(), triangle);
}
}
private static void DrawPolygons(NavigationPolygons polygons, Color color)
{
foreach (var polygon in polygons)
{
DrawPolygon(polygon, color);
}
}
private void ProzessFloorAndStaticObjects(NavigationFloorComponent floorObject,
NavigationStaticObjectComponent[] staticObjects, out NavigationPolygons staticObjectsPoly, out NavigationPolygon floorObjectsPoly)
{
floorObjectsPoly = ToPolygon(floorObject.gameObject, 0);
staticObjectsPoly = new NavigationPolygons();
foreach (var staticObj in staticObjects)
{
staticObjectsPoly.Add(ToPolygon(staticObj.gameObject, 0));
}
}
public AStar(NavigationMesh navMesh, NavigationPolygons constrainedEdgePolygons)
{
this.navMesh = navMesh;
this.constrainedEdgePolygons = constrainedEdgePolygons;
}
