/// <summary>
/// 与线段的关系
/// </summary>
/// <param name="line"></param>
/// <returns></returns>
public LineRelation CheckLineRelation(LineSegment2D line)
{
// 快速排斥实验,后续优化实现
// 进行跨立实验
double r1 = Double2.Cross(this.normalizedDir, line.startPoint - this.startPoint);
double r2 = Double2.Cross(this.normalizedDir, line.endPoint - this.startPoint);
double cross1 = r1 * r2;
double t1 = Double2.Cross(line.normalizedDir, this.startPoint - line.startPoint);
double t2 = Double2.Cross(line.normalizedDir, this.endPoint - line.startPoint);
double cross2 = t1 * t2;
if (cross1 > 0 || cross2 > 0)
{
return(LineRelation.Detach);
}
else if (cross1 == 0 || cross2 == 0)
{
if (cross1 == 0)
{
if (r1 == 0)
{
if (Double2.Dot(line.startPoint - this.startPoint, line.startPoint - this.endPoint) <= 0)
{
return(LineRelation.Intersect);
}
}
if (r2 == 0)
{
if (Double2.Dot(line.endPoint - this.startPoint, line.endPoint - this.endPoint) <= 0)
{
return(LineRelation.Intersect);
}
}
}
if (cross2 == 0)
{
if (t1 == 0)
{
if (Double2.Dot(this.startPoint - line.startPoint, this.startPoint - line.endPoint) <= 0)
{
return(LineRelation.Intersect);
}
}
if (t2 == 0)
{
if (Double2.Dot(this.endPoint - line.startPoint, this.endPoint - line.endPoint) <= 0)
{
return(LineRelation.Intersect);
}
}
}
return(LineRelation.Detach);
}
return(LineRelation.Intersect);
}
/// <summary>
/// 修正near far 点
/// </summary>
/// <param name="line"></param>
/// <param name="nearPoint"></param>
/// <param name="farPoint"></param>
protected void ReviseNearFar(LineSegment2D line)
{
if (Double2.Dot(nearPoint - line.startPoint, line.normalizedDir) <= 0)
{
nearPoint = line.startPoint;
}
if (Double2.Dot(line.endPoint - farPoint, line.normalizedDir) <= 0)
{
farPoint = line.endPoint;
}
}
/// <summary>
/// 获取挡格附近出生点
/// </summary>
/// <param name="line"></param>
/// <param name="offset"></param>
/// <param name="bornPoint"></param>
/// <returns></returns>
public override bool GetBornPoint(LineSegment2D line, double offset, ref Double2 bornPoint)
{
Double2 pos1 = Double2.zero;
for (int i = 0; i < GetEdgeNum(); i++)
{
if (line.GetIntersectPoint(GetEdge(i), ref bornPoint, ref pos1) == true)
{
bornPoint = line.normalizedDir * ((bornPoint - line.startPoint).magnitude + offset) + line.startPoint;
return(true);
}
}
return(false);
}
/// <summary>
/// 与线段的关系
/// </summary>
/// <param name="line"></param>
/// <returns></returns>
public override LineRelation CheckLineRelation(LineSegment2D line)
{
Double2 pos = Double2.zero;
Double2 pos1 = Double2.zero;
for (int i = 0; i < GetEdgeNum(); i++)
{
if (line.GetIntersectPoint(GetEdge(i), ref pos, ref pos1) == true)
{
return(LineRelation.Intersect);
}
}
return(LineRelation.Detach);
}
/// <summary>
/// 计算其他辅助数据
/// </summary>
/// <param name="line"></param>
public void CalcHelpData(LineSegment2D line, double offset, Double2 near, Double2 far)
{
isCross = true;
if (this.listpath != null && this.listpath.Count > 0)
{
this.nearPoint = near;
this.nearPoint -= offset * line.normalizedDir;
this.farPoint = far;
this.farPoint += offset * line.normalizedDir;
this.ReviseNearFar(line);
// 计算时针方向
this.isCounterclockwiseDir = CaclCounterclockwiseDir(line, this.listpath);
this.distance = (line.startPoint - nearPoint).sqrMagnitude;
}
}
/// <summary>
/// 获取交点
/// </summary>
/// <param name="line"></param>
/// <param name="intersectStart"></param>
/// <param name="intersectEnd"></param>
/// <returns></returns>
public override bool GetIntersectPoint(LineSegment2D line, ref Double2 intersectStart, ref Double2 intersectEnd)
{
List <Double2> listPt = new List <Double2>();
Double2 pos = Double2.zero;
Double2 pos1 = Double2.zero;
for (int i = 0; i < GetEdgeNum(); i++)
{
if (GetEdge(i).GetIntersectPoint(line, ref pos, ref pos1) == true)
{
if (pos == pos1)
{
if (listPt.Contains(pos) == false)
{
listPt.Add(pos);
}
}
else
{
if (listPt.Contains(pos) == false)
{
listPt.Add(pos);
}
if (listPt.Contains(pos1) == false)
{
listPt.Add(pos1);
}
}
}
}
// 排序从近到远
listPt.Sort((a, b) => MathUtil.GetCompareDis(a, line.startPoint).CompareTo(MathUtil.GetCompareDis(b, line.startPoint)));
//
if (listPt.Count > 0)
{
intersectStart = listPt[0];
intersectEnd = listPt[listPt.Count - 1];
return(true);
}
return(false);
}
/// <summary>
/// 与多边形的关系
/// </summary>
/// <param name="ab"></param>
/// <returns>true 相交： false 不相交</returns>
public override bool CheckIntersect(Polygon2D ab)
{
if (ab == null)
{
return(false);
}
if (ab.CheckIn(this.circleCenter) == true)
{
return(true);
}
for (int i = 0; i < ab.GetEdgeNum(); i++)
{
LineSegment2D ls = ab.GetEdge(i);
if (this.CheckLineRelation(ls) != LineRelation.Detach)
{
return(true);
}
}
return(false);
}
/// <summary>
/// 计算超出线段范围
/// </summary>
/// <param name="lineStart"></param>
/// <param name="lineEnd"></param>
/// <param name="listMidPoint"></param>
/// <param name="nearestIndex"></param>
/// <param name="farestIndex"></param>
private static void CalcNearFarest(Double2 lineStart, Double2 lineEnd, List <Double2> listMidPoint, ref int nearestIndex, ref int farestIndex)
{
if (listMidPoint == null || listMidPoint.Count == 0)
{
return;
}
nearestIndex = -1;
farestIndex = -1;
double outStartdis = 0;
double outEnddis = 0;
LineSegment2D line = new LineSegment2D(lineStart, lineEnd);
for (int i = 0; i < listMidPoint.Count; i++)
{
ProjectPointInLine pp = line.CheckProjectInLine(listMidPoint[i]);
if (pp == ProjectPointInLine.In)
{
continue;
}
Double2 projectPoint = line.ProjectPoint(listMidPoint[i]);
if (pp == ProjectPointInLine.OutStart)
{
double dis = (projectPoint - lineStart).sqrMagnitude;
if (dis > outStartdis)
{
outStartdis = dis;
nearestIndex = i;
}
}
else if (pp == ProjectPointInLine.OutStart)
{
double dis = (projectPoint - lineEnd).sqrMagnitude;
if (dis > outEnddis)
{
outEnddis = dis;
farestIndex = i;
}
}
}
}
public override bool Equals(System.Object obj)
{
if (obj == null)
{
return(false);
}
LineSegment2D p = (LineSegment2D)obj;
if ((System.Object)p == null)
{
return(false);
}
if ((startPoint == p.startPoint && endPoint == p.endPoint) || (startPoint == p.endPoint && endPoint == p.startPoint))
{
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// 与线段的关系
/// </summary>
/// <param name="line"></param>
/// <returns></returns>
public override LineRelation CheckLineRelation(LineSegment2D line)
{
double dis = line.CalcDistance(this.circleCenter);
if (dis > this.radius)
{
return(LineRelation.Detach);
}
else
{
double sqrRadius = this.radius * this.radius;
if ((this.circleCenter - line.startPoint).sqrMagnitude > sqrRadius)
{
return(LineRelation.Intersect);
}
if ((this.circleCenter - line.endPoint).sqrMagnitude > sqrRadius)
{
return(LineRelation.Intersect);
}
return(LineRelation.Coincide);
}
}
/// <summary>
/// 计算时钟方向
/// </summary>
/// <param name="line"></param>
/// <param name="paths"></param>
/// <returns></returns>
protected bool CaclCounterclockwiseDir(LineSegment2D line, List <Double2> paths)
{
if (paths == null || paths.Count == 0)
{
return(true);
}
Double2 f = Double2.zero;
for (int i = 0; i < paths.Count; i++)
{
f += paths[i];
}
f /= paths.Count;
double sinAngle = Double2.SinAngle(line.normalizedDir, f - line.startPoint);
if (sinAngle < 0)
{
return(false);
}
else
{
return(true);
}
}
/// <summary>
/// 与线段的关系
/// </summary>
/// <param name="line"></param>
/// <returns></returns>
public virtual LineRelation CheckLineRelation(LineSegment2D line)
{
return(LineRelation.Intersect);
}
/// <summary>
/// 获取挡格附近出生点
/// </summary>
/// <param name="line"></param>
/// <param name="offset"></param>
/// <param name="bornPoint"></param>
/// <returns></returns>
public virtual bool GetBornPoint(LineSegment2D line, float offset, ref Float2 bornPoint)
{
return(false);
}
/// <summary>
/// 获取交点
/// </summary>
/// <param name="line"></param>
/// <param name="intersectPoint"></param>
/// <returns></returns>
public bool GetIntersectPoint(LineSegment2D line, ref Double2 intersectStartPoint, ref Double2 intersectEndPoint)
{
if (CheckLineRelation(line) == LineRelation.Intersect)
{
Double2 aixsVector = AixsVector(line.startPoint);
double distance = aixsVector.magnitude;
if (distance == 0)
{
if (Double2.Cross(line.normalizedDir, this.normalizedDir) == 0)
{
if (Double2.Dot(line.normalizedDir, this.normalizedDir) > 0)
{
if (Double2.Dot(line.normalizedDir, this.startPoint - line.startPoint) > 0)
{
intersectStartPoint = this.startPoint;
}
else
{
intersectStartPoint = line.startPoint;
}
//
if (Double2.Dot(line.normalizedDir, this.endPoint - line.endPoint) > 0)
{
intersectEndPoint = line.endPoint;
}
else
{
intersectEndPoint = this.endPoint;
}
}
else
{
if (Double2.Dot(line.normalizedDir, this.startPoint - line.endPoint) > 0)
{
intersectEndPoint = line.endPoint;
}
else
{
intersectEndPoint = line.startPoint;
}
//
if (Double2.Dot(line.normalizedDir, this.endPoint - line.startPoint) > 0)
{
intersectStartPoint = this.endPoint;
}
else
{
intersectStartPoint = line.startPoint;
}
}
}
else
{
intersectStartPoint = line.startPoint;
intersectEndPoint = line.startPoint;
}
return(true);
}
else
{
if (CalcDistance(line.endPoint) == 0)
{
intersectStartPoint = line.endPoint;
intersectEndPoint = intersectStartPoint;
return(true);
}
//
double dot = Double2.Dot(aixsVector.normalized, line.normalizedDir);
if (dot == 0)
{
return(false);
}
else
{
intersectStartPoint = line.startPoint - distance / dot * line.normalizedDir;
intersectEndPoint = intersectStartPoint;
return(true);
}
}
}
return(false);
}
/// <summary>
/// 获取交点
/// </summary>
/// <param name="line"></param>
/// <param name="intersectStart"></param>
/// <param name="intersectEnd"></param>
/// <returns></returns>
public virtual bool GetIntersectPoint(LineSegment2D line, ref Float2 intersectStart, ref Float2 intersectEnd)
{
return(false);
}
/// <summary>
/// 获取交点
/// </summary>
/// <param name="line"></param>
/// <param name="intersectPoint"></param>
/// <returns></returns>
public bool GetIntersectPoint(LineSegment2D line, ref Double2 intersectStartPoint, ref Double2 intersectEndPoint)
{
return(line.GetIntersectPoint(this, ref intersectStartPoint));
}
/// <summary>
/// 与线段的关系
/// </summary>
/// <param name="line"></param>
/// <returns></returns>
public LineRelation CheckLineRelation(LineSegment2D line)
{
return(line.CheckLineRelation(this));
}
/// <summary>
/// 最短射线包围盒路径
/// </summary>
/// <param name="line">线段</param>
/// <param name="offset">偏移值</param>
/// <param name="rbi">包围盒信息</param>
/// <returns>true，表示线段与aabb有相交，并返回最短包围路径</returns>
public override RBIResultType RayboundingNearestPath(LineSegment2D line, double offset, ref RayboundingInfo rbi)
{
if (rbi == null)
{
rbi = new RayboundingInfo();
}
int index = 0;
Double3[] lineArray = new Double3[2];
Double2 intersectionPoint = Double2.zero;
Double2 pos1 = Double2.zero;
if (line.GetIntersectPoint(GetEdge(0), ref intersectionPoint, ref pos1) == true)
{
lineArray[index] = new Double3(intersectionPoint.x, intersectionPoint.y, 1);
index++;
}
if (line.GetIntersectPoint(GetEdge(2), ref intersectionPoint, ref pos1) == true)
{
lineArray[index] = new Double3(intersectionPoint.x, intersectionPoint.y, 3);
index++;
}
if (index < 2)
{
if (line.GetIntersectPoint(GetEdge(3), ref intersectionPoint, ref pos1) == true)
{
lineArray[index] = new Double3(intersectionPoint.x, intersectionPoint.y, 4);
index++;
}
}
if (index < 2)
{
if (line.GetIntersectPoint(GetEdge(1), ref intersectionPoint, ref pos1) == true)
{
lineArray[index] = new Double3(intersectionPoint.x, intersectionPoint.y, 2);
index++;
}
}
if (index == 2)
{
double v1 = (new Double2(lineArray[0].x, lineArray[0].y) - line.startPoint).sqrMagnitude;
double v2 = (new Double2(lineArray[1].x, lineArray[1].y) - line.startPoint).sqrMagnitude;
Double2 s;
Double2 e;
if (v1 < v2)
{
s = new Double2(lineArray[0].x, lineArray[0].y);
e = new Double2(lineArray[1].x, lineArray[1].y);
RayboundingNearestPath(new Double3(s.x, s.y, lineArray[0].z), new Double3(e.x, e.y, lineArray[1].z), offset, ref rbi.listpath);
}
else
{
e = new Double2(lineArray[0].x, lineArray[0].y);
s = new Double2(lineArray[1].x, lineArray[1].y);
RayboundingNearestPath(new Double3(s.x, s.y, lineArray[1].z), new Double3(e.x, e.y, lineArray[0].z), offset, ref rbi.listpath);
}
if (rbi.listpath != null && rbi.listpath.Count > 0)
{
rbi.CalcHelpData(line, offset, s, e);
return(RBIResultType.Succ);
}
return(RBIResultType.Fail);
}
else
{
return(RBIResultType.Fail);
}
}
/// <summary>
/// 最短射线包围盒路径
/// </summary>
/// <param name="line">线段</param>
/// <param name="offset">偏移值</param>
/// <param name="rbi">包围盒信息</param>
/// <returns>true，表示线段与aabb有相交，并返回最短包围路径</returns>
public override RBIResultType RayboundingNearestPath(LineSegment2D line, double offset, ref RayboundingInfo rbi)
{
if (rbi == null)
{
rbi = new RayboundingInfo();
}
Double2 diff = this.circleCenter - line.startPoint;
if (diff == Double2.zero)
{
return(RBIResultType.Fail);
}
//
Double2 projectoint = line.ProjectPoint(this.circleCenter);
diff = this.circleCenter - projectoint;
// 跟直线相交奥
double dis = diff.sqrMagnitude - this.radius * this.radius;
if (dis >= 0)
{
return(RBIResultType.Fail);
}
dis = -dis;
// 在同侧不行。
Double2 diff1 = line.startPoint - projectoint;
Double2 diff2 = line.endPoint - projectoint;
if (Double2.Dot(diff1, diff2) >= 0)
{
return(RBIResultType.Fail);
}
//
if (diff1.sqrMagnitude < dis || diff2.sqrMagnitude < dis)
{
return(RBIResultType.Fail);
}
dis = System.Math.Sqrt(dis) + offset;
Double2 p1 = projectoint - line.normalizedDir * dis;
Double2 p2 = projectoint + line.normalizedDir * dis;
double bigRadius = this.radius + offset;
double angle = SignedAngleInCircle(p1 - this.circleCenter, p2 - this.circleCenter, bigRadius);
int count = (int)(System.Math.Abs(angle / 0.25f));
double diffangle = angle / count;
List <Double2> listpath = new List <Double2>();
Double2 startVector = (p1 - this.circleCenter).normalized * bigRadius;
for (int i = 1; i <= count - 1; i++)
{
Double2 rorateVector = Double2.Rotate(startVector, -diffangle * i);
listpath.Add(rorateVector + this.circleCenter);
}
rbi.listpath = listpath;
if (rbi.listpath != null && rbi.listpath.Count > 0)
{
rbi.CalcHelpData(line, offset, p1, p2);
return(RBIResultType.Succ);
}
return(RBIResultType.Fail);
}
/// <summary>
/// 最短射线包围盒路径
/// </summary>
/// <param name="line">线段</param>
/// <param name="offset">偏移值</param>
/// <param name="paths">返回路径</param>
/// <returns>true，表示线段与aabb有相交，并返回最短包围路径</returns>
public virtual bool RayboundingNearestPath(LineSegment2D line, float offset, ref List <Float2> paths)
{
return(false);
}
/// <summary>
/// 最短射线包围盒路径
/// </summary>
/// <param name="line">线段</param>
/// <param name="offset">偏移值</param>
/// <param name="rbi">包围盒信息</param>
/// <returns>true，表示线段与aabb有相交，并返回最短包围路径</returns>
public override RBIResultType RayboundingNearestPath(LineSegment2D line, double offset, ref RayboundingInfo rbi)
{
if (rbi == null)
{
rbi = new RayboundingInfo();
}
List <Double3> lineArray = new List <Double3>();
Double2 intersectionPoint = Double2.zero;
Double2 pos1 = Double2.zero;
for (int i = 0; i < this.pointArr.Length; i++)
{
if (line.GetIntersectPoint(GetEdge(i), ref intersectionPoint, ref pos1) == true)
{
lineArray.Add(new Double3(intersectionPoint.x, intersectionPoint.y, i));
}
}
int count = lineArray.Count;
if (count == 0)
{
return(RBIResultType.Fail);
}
else if (count % 2 == 1)
{
lineArray.Sort((x, y) => MathUtil.GetCompareDis(new Double2(x.x, x.y), line.startPoint).CompareTo(MathUtil.GetCompareDis(new Double2(y.x, y.y), line.startPoint)));
if (CheckIn(line.startPoint) == true)
{
rbi.SetNear(line, offset, new Double2(lineArray[0].x, lineArray[0].y));
return(RBIResultType.UnCrossstartPointIn);
}
else
{
rbi.SetNear(line, offset, new Double2(lineArray[count - 1].x, lineArray[count - 1].y));
return(RBIResultType.UnCrossendPointIn);
}
}
else
{
// 先按距离进行排序。
lineArray.Sort((x, y) => MathUtil.GetCompareDis(new Double2(x.x, x.y), line.startPoint).CompareTo(MathUtil.GetCompareDis(new Double2(y.x, y.y), line.startPoint)));
//
bool isCross = true;
bool isPathDir = CheckPathDir(lineArray[0], lineArray[lineArray.Count - 1], ref isCross);
if (isCross == false)
{
rbi.SetNear(line, offset, new Double2(lineArray[0].x, lineArray[0].y));
return(RBIResultType.UnCross);
}
List <Double2> temppaths = new List <Double2>();
RayboundingNearestPath(lineArray[0], lineArray[lineArray.Count - 1], offset, isPathDir, ref temppaths);
if (rbi.listpath == null)
{
rbi.listpath = temppaths;
}
else
{
rbi.listpath.AddRange(temppaths);
}
// 排斥需要扣除的点。
for (int i = 1; i < lineArray.Count - 1; i += 2)
{
if (CheckisSubChild((int)lineArray[0].z, (int)lineArray[lineArray.Count - 1].z, isPathDir, (int)lineArray[i].z, (int)lineArray[i + 1].z) == false)
{
continue;
}
List <Double2> listTemp = new List <Double2>();
RayboundingNearestPath(lineArray[i], lineArray[i + 1], offset, isPathDir, ref listTemp);
if (listTemp.Count > 0)
{
foreach (Double2 pos in listTemp)
{
rbi.listpath.Remove(pos);
}
}
}
//
if (rbi.listpath != null && rbi.listpath.Count > 0)
{
rbi.CalcHelpData(line, offset, new Double2(lineArray[0].x, lineArray[0].y), new Double2(lineArray[lineArray.Count - 1].x, lineArray[lineArray.Count - 1].y));
return(RBIResultType.Succ);
}
return(RBIResultType.Fail);
}
}
