//loop through all rigidbodies and add each one to the graph
public static void PopulateGraph(Physics.PhysicsEngine physEng, Node topNode)
{
foreach (var rb in physEng.staticPhysicsObjects)
{
//create the rigibody's node
topNode.AddNode(GraphBuilder.CreateNodesFromRB(rb, topNode.index, topNode.internalNodes.Count));
AddInternalConnections(topNode.internalNodes[topNode.internalNodes.Count - 1]);
//connect the new node to the previous nodes
for (int i = 0; i < topNode.internalNodes.Count - 1; ++i)
{
GraphBuilder.AddConnections(topNode.internalNodes[topNode.internalNodes.Count - 1], topNode.internalNodes[i]);
}
}
foreach (Physics.MovingPlatform mp in physEng.movingPlatforms)
{
//create the rigibody's node
topNode.AddNode(new NodeOnRails(GraphBuilder.CreateNodesFromRB(mp.platform, topNode.index, topNode.internalNodes.Count), mp.point1, mp.point2));
AddInternalConnections(topNode.internalNodes[topNode.internalNodes.Count - 1]);
//connect the new node to the previous nodes
for (int j = 0; j < topNode.internalNodes.Count - 1; ++j)
{
GraphBuilder.AddConnections(topNode.internalNodes[topNode.internalNodes.Count - 1], topNode.internalNodes[j]);
}
}
//Note: this method does not cull connections that get blocked by new rigidbodies.
//The naive solution to this would increase an already long graph generation time, and as such has not been implemented.
}
//given a rigidbody, create its node and its child nodes, then return its node
public static Node CreateNodesFromRB(Physics.RigidBody theRB, NodeIndex parentIndex, int localIndex)
{
//create the node for the rigidbody
Node rigidBody = new Node(theRB.Position, new NodeIndex(parentIndex, localIndex), NODE_TYPE.RIGIDBODY);
//this temporary position is used to place the child nodes
Physics.Vector2D nodePosition = new Physics.Vector2D();
nodePosition.Y = theRB.Shape.ComputeAABB().MIN.Y - (Physics.Player.playerRadius + 1);
//Create the leftmost fall node
nodePosition.X = theRB.Shape.ComputeAABB().MIN.X - (Physics.Player.playerRadius + 1);
rigidBody.AddNode(new Node(new Physics.Vector2D(nodePosition), new NodeIndex(rigidBody.index, rigidBody.internalNodes.Count), NODE_TYPE.FALL));
//Move the node position so it is not above a sheer drop
nodePosition.X = theRB.Shape.ComputeAABB().MIN.X + (Physics.Player.playerRadius / 2);
//Create the regular nodes an even distance apart
float surfaceWidth = theRB.Shape.ComputeAABB().MAX.X - theRB.Shape.ComputeAABB().MIN.X;
int numberOfNodes = (int)(surfaceWidth / (Physics.Player.playerRadius * 2) + 0.5);
float step = (surfaceWidth - Physics.Player.playerRadius) / numberOfNodes;
for (int i = 0; i <= numberOfNodes; ++i)
{
rigidBody.AddNode(new Node(new Physics.Vector2D(nodePosition), new NodeIndex(rigidBody.index, rigidBody.internalNodes.Count), NODE_TYPE.FLOOR));
nodePosition.X += step;
}
//Create the rightmost fall node
nodePosition.X = theRB.Shape.ComputeAABB().MAX.X + (Physics.Player.playerRadius + 1);
rigidBody.AddNode(new Node(new Physics.Vector2D(nodePosition), new NodeIndex(rigidBody.index, rigidBody.internalNodes.Count), NODE_TYPE.FALL));
return(rigidBody);
}