public void Clear()
{
NavObstacles.Clear();
NavSurfaces.Clear();
Obstacles.Clear();
Surfaces.Clear();
}
public void Build()
{
NavObstacles.Clear();
NavSurfaces.Clear();
if (Obstacles.Count == 1 && Surfaces.Count == 0)
{
NavObstacles.Add(new NavShape(Obstacles.First().navElementPoints, NavElement.Type.Obstacle));
return;
}
if (Obstacles.Count == 0 && Surfaces.Count > 0)
{
foreach (var surface in Surfaces)
{
NavSurfaces.Add(new NavShape(surface.navElementPoints, NavElement.Type.Surface));
}
return;
}
List <NavElement> obstacles = new List <NavElement>(Obstacles);
List <NavElement> surfaces = new List <NavElement>(Surfaces);
List <List <IntPoint> > obstaclesIntPoints = new List <List <IntPoint> >();
foreach (var obstacle in obstacles)
{
obstaclesIntPoints.Add(obstacle.intNavElementPoints);
}
if (Obstacles.Count > 0)
{
if (Obstacles.Count == 1)
{
NavObstacles.Add(new NavShape(obstacles[0].navElementPoints, NavElement.Type.Obstacle));
}
else
{
_Nav2D.clipper.Clear();
_Nav2D.polyTree.Clear();
_Nav2D.clipper.AddPaths(obstaclesIntPoints, PolyType.ptSubject, true);
_Nav2D.clipper.Execute(ClipType.ctUnion, _Nav2D.polyTree, PolyFillType.pftNonZero);
// We got more separated ones
if (_Nav2D.polyTree.IsHole)
{
foreach (var child in _Nav2D.polyTree.Childs)
{
NavObstacles.Add(new NavShape(_Nav2D, child.Contour, child.IsHole, child.Childs, null, NavElement.Type.Obstacle));
}
}
else // We got one big containing everyone
{
NavObstacles.Add(new NavShape(_Nav2D, _Nav2D.polyTree.Contour, false, _Nav2D.polyTree.Childs, null, NavElement.Type.Obstacle));
}
}
}
if (surfaces.Count == 0)
{
return;
}
foreach (var surface in surfaces)
{
_Nav2D.clipper.Clear();
_Nav2D.polyTree.Clear();
_Nav2D.clipper.AddPath(surface.intNavElementPoints, PolyType.ptSubject, true);
_Nav2D.clipper.AddPaths(obstaclesIntPoints, PolyType.ptClip, true);
_Nav2D.clipper.Execute(ClipType.ctDifference, _Nav2D.polyTree, PolyFillType.pftNonZero);
// We got more separated ones
if (_Nav2D.polyTree.IsHole)
{
foreach (var child in _Nav2D.polyTree.Childs)
{
NavSurfaces.Add(new NavShape(_Nav2D, child.Contour, false, null, null, NavElement.Type.Surface));
}
}
else // We got one big containing everyone
{
NavSurfaces.Add(new NavShape(_Nav2D, _Nav2D.polyTree.Contour, false, null, null, NavElement.Type.Surface));
}
}
}
