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);
}
}
void UpdateTriangulation(NavigationTriangle t, DeterministicVector2 p)
{
var v = new DeterministicVector2(p);
AllTriangle.Add(new NavigationTriangle(t.U, t.V, v));
AllTriangle.Add(new NavigationTriangle(t.V, t.W, v));
AllTriangle.Add(new NavigationTriangle(t.W, t.U, v));
AllTriangle.Remove(t);
}
private void AddTriangleToPointMap(DeterministicVector2 p, NavigationTriangle tri)
{
if (!triangleMapping.ContainsKey(p))
{
triangleMapping.Add(p, new List <NavigationTriangle>());
}
triangleMapping[p].Add(tri);
}
private void AddTriangleToQueue(NavigationTriangle triangle, AStarNode parent, AStarContext context)
{
AddPointToQueue(triangle.U, parent, context);
AddPointToQueue(triangle.V, parent, context);
AddPointToQueue(triangle.W, parent, context);
AddPointToQueue(triangle.S0.Midpoint(), parent, context);
AddPointToQueue(triangle.S1.Midpoint(), parent, context);
AddPointToQueue(triangle.S2.Midpoint(), parent, context);
}
void SplitTriangle(NavigationTriangle t)
{
if (t.S0.GetLengthSquared() <= 4 || t.S1.GetLengthSquared() <= 4 || t.S2.GetLengthSquared() <= 4)
{
return;
}
var c = t.GetMiddlePoint();
if (t.IsPointInTriangle(c))
{
UpdateTriangulation(t, c);
}
}
