/// <summary>
/// Create the grid with rectangluar cells
/// </summary>
/// <param name="mapmeta"></param>
private static void BuildMapGrid(MapMetaData mapmeta)
{
PosX = PosX = (int)mapmeta.CoordOriginX;
PosY = PosY = (int)mapmeta.CoordOriginY;
MapWidth = (int)mapmeta.Width;
MapHeight = (int)mapmeta.Height;
CellEdgeLength = (int)Math.Ceiling((double)MapWidth / Cellamount);
var currentx = PosX;
var currenty = PosY;
var cells = (MapHeight / CellEdgeLength) * (MapWidth / CellEdgeLength);
MapGrid = new MapGridCell[MapHeight / CellEdgeLength][];
for (int k = 0; k < MapGrid.Length; k++)
{
MapGrid[k] = new MapGridCell[MapWidth / CellEdgeLength];
for (int l = 0; l < MapGrid[k].Length; l++)
{
MapGrid[k][l] = new MapGridCell
{
Index_X = k,
Index_Y = l,
Bounds = new Rectangle2D(new Point2D(currentx, currenty), CellEdgeLength, CellEdgeLength),
Blocked = false
};
currentx += CellEdgeLength;
}
currentx = PosX;
currenty -= CellEdgeLength;
}
}
/// <summary>
/// This function takes a list of all registered points on the map and tries to
/// reconstruct a polygonal represenatation of the map with serveral levels
/// </summary>
/// <param name="ps"></param>
public static Map CreateMap(MapMetaData mapmeta, List <Point3D> ps)
{
PosX = (int)mapmeta.CoordOriginX;
PosY = (int)mapmeta.CoordOriginY;
MapWidth = (int)mapmeta.Width;
MapHeight = (int)mapmeta.Height;
CellEdgeLength = (int)Math.Ceiling((double)MapWidth / Cellamount);
var currentx = PosX;
var currenty = PosY;
var cells = (MapHeight / CellEdgeLength) * (MapWidth / CellEdgeLength);
MapGrid = new MapGridCell[MapHeight / CellEdgeLength][];
for (int k = 0; k < MapGrid.Length; k++)
{
MapGrid[k] = new MapGridCell[MapWidth / CellEdgeLength];
for (int l = 0; l < MapGrid[k].Length; l++)
{
MapGrid[k][l] = new MapGridCell
{
Index_X = k,
Index_Y = l,
Bounds = new Rectangle2D(new Point2D(currentx, currenty), CellEdgeLength, CellEdgeLength),
Blocked = false
};
currentx += CellEdgeLength;
}
currentx = PosX;
currenty -= CellEdgeLength;
}
// Create the map levels
MapLevel[] maplevels = CreateMapLevels(ps);
var map_width_x = ps.Max(point => point.X) - ps.Min(point => point.X);
var map_width_y = ps.Max(point => point.Y) - ps.Min(point => point.Y);
Console.WriteLine("Max x: " + ps.Max(point => point.X) + " Min x: " + ps.Min(point => point.X));
Console.WriteLine("Mapwidth in x-Range: " + map_width_x + " Mapwidth in y-Range: " + map_width_y);
return(new Map(map_width_x, map_width_y, maplevels));
}