/// <summary>
/// 生成最终的路径点
/// </summary>
/// <param name="startPos">起始点</param>
/// <param name="endPos">终点</param>
/// <param name="triPathList">三角形路径列表</param>
/// <param name="wayPoints">路径点</param>
/// <param name="offSet">移动物体宽度</param>
/// <returns></returns>
private PathResCode CreateWayPoints(Vector2 startPos, Vector2 endPos
, List <NavTriangle> triPathList, out List <Vector2> wayPoints, int offSet)
{
wayPoints = new List <Vector2>();
if (triPathList.Count == 0 || startPos == null || endPos == null)
{
return(PathResCode.Failed);
}
// 保证从起点到终点的顺序
triPathList.Reverse();
// 保存出边编号
for (int i = 0; i < triPathList.Count; i++)
{
NavTriangle tri = triPathList[i];
if (i != triPathList.Count - 1)
{
NavTriangle nextTri = triPathList[i + 1];
tri.SetOutWallIndex(tri.GetWallIndex(nextTri.GetID()));
}
}
wayPoints.Add(startPos);
//起点与终点在同一三角形中
if (triPathList.Count == 1)
{
wayPoints.Add(endPos);
return(PathResCode.Success);
}
WayPoint way = new WayPoint(startPos, triPathList[0]);
while (!NMath.IsEqualZero(way.GetPoint() - endPos))
{
way = GetFurthestWayPoint(way, triPathList, endPos, offSet);
if (way == null)
{
return(PathResCode.CanNotGetNextWayPoint);
}
wayPoints.Add(way.GetPoint());
}
return(PathResCode.Success);
}
/// <summary>
/// 根据拐点计算法获得导航网格的下一个拐点
/// </summary>
/// <param name="way"></param>
/// <param name="triPathList"></param>
/// <param name="endPos"></param>
/// <param name="offSet"></param>
/// <returns></returns>
private WayPoint GetFurthestWayPoint(WayPoint way, List <NavTriangle> triPathList, Vector2 endPos, int offSet)
{
WayPoint nextWay = null;
Vector2 currPnt = way.GetPoint();
NavTriangle currTri = way.GetTriangle();
NavTriangle lastTriA = currTri;
NavTriangle lastTriB = currTri;
int startIndex = triPathList.IndexOf(currTri); //开始路点所在的网格索引
Line2D outSide = currTri.GetSide(currTri.GetOutWallIndex()); //路径线在网格中的穿出边?
Vector2 lastPntA = outSide.GetStartPoint();
Vector2 lastPntB = outSide.GetEndPoint();
Line2D lastLineA = new Line2D(currPnt, lastPntA);
Line2D lastLineB = new Line2D(currPnt, lastPntB);
Vector2 testPntA, testPntB;
for (int i = startIndex + 1; i < triPathList.Count; i++)
{
currTri = triPathList[i];
outSide = currTri.GetSide(currTri.GetOutWallIndex());
if (i == triPathList.Count - 1)
{
testPntA = endPos;
testPntB = endPos;
}
else
{
testPntA = outSide.GetStartPoint();
testPntB = outSide.GetEndPoint();
}
if (lastPntA != testPntA)
{
if (lastLineB.ClassifyPoint(testPntA) == PointSide.RIGHT_SIDE)
{
nextWay = new WayPoint(lastPntB, lastTriB);
return(nextWay);
}
else if (lastLineA.ClassifyPoint(testPntA) != PointSide.LEFT_SIDE)
{
lastPntA = testPntA;
lastTriA = currTri;
//重设直线
lastLineA = new Line2D(lastLineA.GetStartPoint(), lastPntA);
}
}
if (lastPntB != testPntB)
{
if (lastLineA.ClassifyPoint(testPntB) == PointSide.LEFT_SIDE)
{
nextWay = new WayPoint(lastPntA, lastTriA);
return(nextWay);
}
else if (lastLineB.ClassifyPoint(testPntB) != PointSide.RIGHT_SIDE)
{
lastPntB = testPntB;
lastTriB = currTri;
//重设直线
lastLineB = new Line2D(lastLineB.GetStartPoint(), lastPntB);
}
}
}
//到达终点
nextWay = new WayPoint(endPos, triPathList[triPathList.Count - 1]);
return(nextWay);
}
/// <summary>
/// 根据拐点计算法获得导航网格的下一个拐点
/// </summary>
/// <param name="way"></param>
/// <param name="triPathList"></param>
/// <param name="endPos"></param>
/// <param name="offSet"></param>
/// <returns></returns>
private WayPoint GetFurthestWayPoint(WayPoint way, List<NavTriangle> triPathList, Vector2 endPos, int offSet)
{
WayPoint nextWay = null;
Vector2 currPnt = way.GetPoint();
NavTriangle currTri = way.GetTriangle();
NavTriangle lastTriA = currTri;
NavTriangle lastTriB = currTri;
int startIndex = triPathList.IndexOf(currTri);//开始路点所在的网格索引
Line2D outSide = currTri.GetSide(currTri.GetOutWallIndex());//路径线在网格中的穿出边?
Vector2 lastPntA = outSide.GetStartPoint();
Vector2 lastPntB = outSide.GetEndPoint();
Line2D lastLineA = new Line2D(currPnt, lastPntA);
Line2D lastLineB = new Line2D(currPnt, lastPntB);
Vector2 testPntA, testPntB;
for (int i = startIndex + 1; i < triPathList.Count; i++)
{
currTri = triPathList[i];
outSide = currTri.GetSide(currTri.GetOutWallIndex());
if (i == triPathList.Count - 1)
{
testPntA = endPos;
testPntB = endPos;
}
else
{
testPntA = outSide.GetStartPoint();
testPntB = outSide.GetEndPoint();
}
if (lastPntA != testPntA)
{
if (lastLineB.ClassifyPoint(testPntA) == PointSide.RIGHT_SIDE)
{
nextWay = new WayPoint(lastPntB, lastTriB);
return nextWay;
}
else if (lastLineA.ClassifyPoint(testPntA) != PointSide.LEFT_SIDE)
{
lastPntA = testPntA;
lastTriA = currTri;
//重设直线
lastLineA = new Line2D(lastLineA.GetStartPoint(), lastPntA);
}
}
if (lastPntB != testPntB)
{
if (lastLineA.ClassifyPoint(testPntB) == PointSide.LEFT_SIDE)
{
nextWay = new WayPoint(lastPntA, lastTriA);
return nextWay;
}
else if (lastLineB.ClassifyPoint(testPntB) != PointSide.RIGHT_SIDE)
{
lastPntB = testPntB;
lastTriB = currTri;
//重设直线
lastLineB = new Line2D(lastLineB.GetStartPoint(), lastPntB);
}
}
}
//到达终点
nextWay = new WayPoint(endPos, triPathList[triPathList.Count - 1]);
return nextWay;
}
/// <summary>
/// 生成最终的路径点
/// </summary>
/// <param name="startPos">起始点</param>
/// <param name="endPos">终点</param>
/// <param name="triPathList">三角形路径列表</param>
/// <param name="wayPoints">路径点</param>
/// <param name="offSet">移动物体宽度</param>
/// <returns></returns>
private PathResCode CreateWayPoints(Vector2 startPos, Vector2 endPos
, List<NavTriangle> triPathList, out List<Vector2> wayPoints, int offSet)
{
wayPoints = new List<Vector2>();
if (triPathList.Count == 0 || startPos == null || endPos == null)
return PathResCode.Failed;
// 保证从起点到终点的顺序
triPathList.Reverse();
// 保存出边编号
for (int i = 0; i < triPathList.Count; i++)
{
NavTriangle tri = triPathList[i];
if (i != triPathList.Count - 1)
{
NavTriangle nextTri = triPathList[i + 1];
tri.SetOutWallIndex(tri.GetWallIndex(nextTri.GetID()));
}
}
wayPoints.Add(startPos);
//起点与终点在同一三角形中
if (triPathList.Count == 1)
{
wayPoints.Add(endPos);
return PathResCode.Success;
}
WayPoint way = new WayPoint(startPos, triPathList[0]);
while (!NMath.IsEqualZero(way.GetPoint() - endPos))
{
way = GetFurthestWayPoint(way, triPathList, endPos, offSet);
if (way == null)
return PathResCode.CanNotGetNextWayPoint;
wayPoints.Add(way.GetPoint());
}
return PathResCode.Success;
}