/// <summary>
/// Create "fake" Portal Node inside NavArea.
/// I will auto-link one way to other Portal Nodes. = other Portal Nodes will not be affected, will not know about the links.
/// </summary>
public static TNode CreateFakeStartNode(ref Point position, List <TNode> availablePortals)
{
var node = _CreateFakeNode(ref position, availablePortals, -1);
float distanceToTravel;
foreach (var otherPortalNode in availablePortals)
{
distanceToTravel = (float)RUtils.Distance2D(ref node.Position, ref otherPortalNode.Position);
node._FakeLinkToOneWay(otherPortalNode, distanceToTravel);
}
return(node);
}
/// <summary>
/// - Create "fake" Portal Node in the "middle" of NavArea.
/// - Tell all Portal Nodes in containing NavArea to link (one way) to the new fake Node.
/// = other Portal Nodes will create links to this fake Node.
/// CleanupFakeEndNodeLinks() has to be called after fake Node is not needed anymore to remove those "fake" links.
/// </summary>
/// <param name="position"></param>
/// <param name="availablePortals"></param>
/// <param name="containingNavAreaID"></param>
/// <returns></returns>
public static TNode CreateFakeEndNode(ref Point position, List <TNode> availablePortals, NavArea <TNode, TLink> containingNavArea)
{
var fakePortalNode = _CreateFakeNode(ref position, availablePortals, -2);
float distanceBetweeNodes;
foreach (var otherPortalNode in availablePortals)
{
distanceBetweeNodes = (float)RUtils.Distance2D(ref fakePortalNode.Position, ref otherPortalNode.Position);
otherPortalNode.LinkToOneWay(
fakePortalNode,
distanceBetweeNodes, // cost
// Add real portal line here.
containingNavArea
);
}
return(fakePortalNode);
}
/// <summary>Goes through all Nodes and ties to find Node which rect the point is inside of.</summary>
/// <returns>Node of which rect the point is inside of, or null if point is not inside any node's rect.</returns>
public NavArea <TNode, TLink> FindNavRectFromPoint(ref Point point)
{
NavArea <TNode, TLink> containingNavArea = null;
double bestDistance = double.PositiveInfinity;
double d;
float r;
// Find the closest poly for the starting and ending point
foreach (var navArea in _NavAreas)
{
r = navArea.Polygon.BoundingRadius;
// Start
d = RUtils.Distance2D(ref navArea.Polygon.Position, ref point);
if (d <= bestDistance && d <= r && navArea.Polygon.IsPointInside((float)point.X, (float)point.Y)) // @
{
containingNavArea = navArea;
bestDistance = d;
}
}
// No matching polygons locations for the point (so no path can be found)
// = point not on nav mesh
return(containingNavArea);
}
private void _CalculateNeighbors()
{
#if o
D.WriteLine(" * NavMesh._CalculateNeighbors()");
#endif
// Fill out the neighbor information for each NavArea
// Find and create Portals (Portal Nodes) for each NavArea
#region
NavArea <TNode, TLink> navArea;
NavArea <TNode, TLink> otherNavArea;
AxisAlignedRectangle navAreaPolygon;
AxisAlignedRectangle otherNavAreaPolygon;
TNode portalNode;
SimpleLine portal;
int portalId = 1;
for (int i = 0; i < _NavAreas.Count; i++)
{
navArea = _NavAreas[i];
navAreaPolygon = navArea.Polygon;
#if o
D.WriteLine(" navArea: " + navAreaPolygon.Name);
//(navArea as PositionedNode).CheckedAsMain = true;
#endif
for (int j = i + 1; j < _NavAreas.Count; j++)
{
otherNavArea = _NavAreas[j];
otherNavAreaPolygon = otherNavArea.Polygon;
#if o
D.WriteLine(" otherNavPoly: " + otherNavAreaPolygon.Name);
#endif
#region - Check polygons distance
// Check if the other navpoly is within range to touch
// Distance between centers
var distanceBetweenCenters = RUtils.Distance2D(ref navAreaPolygon.Position, ref otherNavAreaPolygon.Position);
// If Distance between centers is bigger than combined radii, they are not in range
// If Distance between centers is smaller or equal, they are in range (not necessarily touching)
if (distanceBetweenCenters >= navAreaPolygon.BoundingRadius + otherNavAreaPolygon.BoundingRadius)
{
// Not in range => proceed to another navpoly
#if o
D.WriteLine($" Not in range (distanceBetweenCenters: {distanceBetweenCenters} totalRadii: {navAreaPolygon.BoundingRadius + otherNavAreaPolygon.BoundingRadius})");
#endif
continue;
}
#if o
D.WriteLine($" In range (distanceBetweenCenters: {distanceBetweenCenters} totalRadii: {navAreaPolygon.BoundingRadius + otherNavAreaPolygon.BoundingRadius})"); \
#endif
#endregion - Check polygons distance END
// The are in range, so check each edge pairing
// to find shared edge and shared part of edges = portal
#region - Using common sense
// Here I know they do overlap
// Calculate the portal between the two polygons
// - THIS NEEDS TO BE IN CLOCKWISE ORDER, RELATIVE TO EACH POLYGON
// _GetSegmentOverlap()
// returns horizontal: always left-to-right
// returns vertical: always bottom-to-top
portal = null;
// other is above
if (navAreaPolygon.Top == otherNavAreaPolygon.Bottom)
{
#if o
D.WriteLine($" Other above -- Touching this Top ({navAreaPolygon.Top}) - other Bottom ({otherNavAreaPolygon.Bottom})");
#endif
portal = _GetSegmentOverlap(navArea.EdgeTop, otherNavArea.EdgeBottom, true, false);
#if o
// Debug visuals
if (portal != null)
{
//_DrawDebugVisualForPortal(portal.Start.X + 3f, portal.Start.Y - 3f, portal.End.X - 3f, portal.End.Y - 3f);
Debug.ShowLine(portal, Color.Yellow);
}
#endif
}
// other is below
else if (navAreaPolygon.Bottom == otherNavAreaPolygon.Top)
{
#if o
D.WriteLine($" Other below -- Touching this Bottom ({navAreaPolygon.Bottom}) - other Top ({otherNavAreaPolygon.Top})");
#endif
portal = _GetSegmentOverlap(navArea.EdgeBottom, otherNavArea.EdgeTop, true, true);
#if o
// Debug visuals
if (portal != null)
{
//_DrawDebugVisualForPortal(portal.Start.X - 3f, portal.Start.Y + 3f, portal.End.X + 3f, portal.End.Y + 3f);
Debug.ShowLine(portal, Color.Yellow);
}
#endif
}
// other is to left
else if (navAreaPolygon.Left == otherNavAreaPolygon.Right)
{
#if o
D.WriteLine($" Other to left -- Touching this Left ({navAreaPolygon.Left}) - other Right ({otherNavAreaPolygon.Right})");
#endif
portal = _GetSegmentOverlap(navArea.EdgeLeft, otherNavArea.EdgeRight, false, false);
#if o
// Debug visuals
if (portal != null)
{
//_DrawDebugVisualForPortal(portal.Start.X + 3f, portal.Start.Y + 3f, portal.End.X + 3f, portal.End.Y - 3f);
Debug.ShowLine(portal, Color.Yellow);
}
#endif
}
// other is to right
else if (navAreaPolygon.Right == otherNavAreaPolygon.Left)
{
#if o
D.WriteLine($" Other to right -- Touching this Right ({navAreaPolygon.Right}) - other Left ({otherNavAreaPolygon.Left})");
#endif
portal = _GetSegmentOverlap(navArea.EdgeRight, otherNavArea.EdgeLeft, false, true);
#if o
// Debug visuals
if (portal != null)
{
//_DrawDebugVisualForPortal(portal.Start.X - 3f, portal.Start.Y - 3f, portal.End.X - 3f, portal.End.Y + 3f);
Debug.ShowLine(portal, Color.Yellow);
}
#endif
}
// not touching
else
{
// Not actually touching => proceed to another navpoly
#if o
D.WriteLine($" Not Touching");
#endif
continue;
}
#endregion - Using common sense END
if (portal != null) // this check IS needed
{
// Found portal between 2 NavAreas
// - have to add portal Node
portalNode = PortalNodeBase <TLink, TNode> .Create(portalId, navArea, otherNavArea, portal);
portalId++;
//
// - have to link this portal node to all other Portal Nodes in both this and other NavArea
// BUT at this point I dont know all Portal Nodes in this or the other NavArea
// => store both portal lines (sides) in this Portal Node
// => store both NavAreas in this Portal Node
// => do the linking at the end of NavMesh creation
//
// - assign Portal Node to this NavArea
navArea.Portals.Add(portalNode);
//
// - assign Portal Node to other NavArea
otherNavArea.Portals.Add(portalNode);
//
//navArea.LinkTo(otherNavArea, portal);
_PortalNodes.Add(portalNode);
#if o
#region -- Debug / visuals
Debug.ShowText(ref portalNode.Position, portalNode.ID.ToString());
/*Debug.ShowLine(portal, Color.Yellow);
* var circle = ShapeManager.AddCircle();
* circle.Radius = 6f;
* circle.Color = Color.Yellow;
* circle.X = (float)portal.Start.X;
* circle.Y = (float)portal.Start.Y;
* Debug.ShowLine(navAreaPolygon.Position, otherNavAreaPolygon.Position, Debug.Gray32);*/
#endregion -- Debug / visuals END
#endif
}
#if o
else
{
D.WriteLine($" Not Touching");
}
#endif
} // for other j
} // for one i
#endregion
// Link Portal Nodes together inside each NavArea
#region
navArea = null;
portalNode = null;
#if o
TNode otherPortalNode = null;
//D.WriteLine("========== Portals' Linking ==========");
#endif
for (int i = 0; i < _NavAreas.Count; i++)
{
navArea = _NavAreas[i];
#if o
//D.WriteLine("NavArea Portals: " + navArea.Portals.Count + " " + navArea.Polygon.Name);
#endif
if (navArea.Portals.Count > 1)
{
for (int iPortalNode = 0; iPortalNode < navArea.Portals.Count; iPortalNode++)
{
portalNode = navArea.Portals[iPortalNode]; // as TNode;
#if o
//D.WriteLine(" PortalNode " + portalNode.ID);
#endif
for (int iOtherPortalNode = iPortalNode + 1; iOtherPortalNode < navArea.Portals.Count; iOtherPortalNode++)
{
#if o
otherPortalNode = navArea.Portals[iOtherPortalNode]; // as TNode;
//D.WriteLine(" Links to " + otherPortalNode.ID);
portalNode.LinkTo(otherPortalNode, navArea);
#else
portalNode.LinkTo(navArea.Portals[iOtherPortalNode], navArea);
#endif
}
}
}
}
#if o
//D.WriteLine("====================================\n");
#endif
#endregion
#region -- Debug / visuals for links
#if o
//D.WriteLine("========== Portals' Links ==========");
Xna.Vector3 linkLineShift = new Xna.Vector3(2f, 2f, 0f);
foreach (var navAreaa in NavAreas)
{
//D.WriteLine("NavArea " + navAreaa.Polygon.Name);
foreach (var portalNodee in navAreaa.Portals)
{
//D.WriteLine(" PortalNode " + portalNodee.ID);
foreach (var link in portalNodee.Links)
{
Debug.ShowLine(portalNodee.Position + linkLineShift, link.NodeLinkingTo.Position + linkLineShift, Debug.Gray32);
//D.WriteLine(" Links to " + link.NodeLinkingTo.ID);
}
}
}
//D.WriteLine("====================================");
/*// Debug
* var sb = new StringBuilder("--------------\n");
* PositionedNode cNode;
* foreach (var tNode in _NavPolygons)
* {
* cNode = tNode as PositionedNode;
* sb.Append(tNode.Polygon.Name).Append(" ").Append(cNode.CheckedAsMain).Append(" ").Append(cNode.CheckedAsOther)
* .Append(" ").Append(tNode.Links.Count)
* .AppendLine();
* }
* sb.AppendLine("--------------");
* D.WriteLine(sb.ToString());*/
#endif
#endregion -- Debug visuals END
}
