public static Point2D FindNondegenerateIntersection(Point2D p1, Vector2D v1, Point2D p2, Vector2D v2)
{
// :: neither is vertical or horizontal, reparameterize line to start at m_p.x
var lineStart = p2 - (p2.X - p1.X) * v2;
// let height = y difference, also find dHeight/dX
var height = lineStart.Y - p1.Y;
var dhdx = (v2.Y / v2.X) - (v1.Y / v1.X);
return p1 + v1 * (height / dhdx);
}
public Line2D(Point2D p, Vector2D v)
: base(ShapeType2D.Line)
{
m_p = p;
m_v = v;
// thetas pi/2 and -pi/2 indicate verticalnes, GATXPlus returns in range [-pi, pi]
var absAngle = Math.Abs(m_v.GetAngleToXPlus());
m_isEssentiallyVertical = Math.Abs(absAngle - Math.PI / 2) < kVerticalThetaEpsilon;
m_isEssentiallyHorizontal = absAngle < kVerticalThetaEpsilon || Math.Abs(absAngle - Math.PI) < kVerticalThetaEpsilon;
}
private static void Main(string[] args)
{
Application.EnableVisualStyles();
// Implement the Gruenes Schaf
new Thread(() => {
while (true) {
GC.Collect();
Thread.Sleep(5000);
}
}).Start();
var gridWidth = 2;
var gridHeight = 2;
var grid = new GridFactory().Create(gridWidth, gridHeight);
var manipulator = new GridManipulator(grid, new Random(0));
var spiral = new SpiralParametricFunction(1, 10, 3, (float)gridWidth / 2, (float)gridHeight / 2, 0);
manipulator.CutParametric(spiral.TInitial, spiral.TFinal, 20f, spiral.PointAt);
var lastSpiralPoint = spiral.PointAt(spiral.TFinal - 30);
var v = new Vector2D(lastSpiralPoint, new Point2D(gridWidth / 2.0f, gridHeight / 2.0f));
v = v.ToUnitVector();
var cutDestination = lastSpiralPoint + v * 3;
manipulator.CutLine(new Line2D(lastSpiralPoint, cutDestination));
var entranceCell = grid.Cells[(gridHeight / 2) * grid.Width + (gridWidth / 2)];
var cells = manipulator.FillRegion(entranceCell);
var graphicsConfiguration = new GraphicsConfiguration { Width = 1600, Height = 900 };
var gridletFactory = new GridletFactory();
// IReadOnlyList<NavigationGridlet> gridlets = CreateGridletsFromDungeonGrid(grid, gridletFactory);
IReadOnlyList<NavigationGridlet> gridlets = new List<NavigationGridlet> {
gridletFactory.Quad(0, 0, 0, 0, 0, 0, 60, 60),
// gridletFactory.Quad(37, 0, 2, -0.3f, 0, 0, 15, 7),
// gridletFactory.Quad(47.60f, -9.0f, 4.22f, 0, 0, 0, 7, 25),
// gridletFactory.Quad(58.05f, -18.0f, 4.22f, 0, 0, 0, 15, 7)
};
var navigationGrid = new NavigationGrid(gridlets);
navigationGrid.Initialize();
var pathfinder = new Pathfinder(navigationGrid);
var renderer = new Renderer();
CommandFactory commandFactory = new CommandFactory(pathfinder);
var entityFactory = new EntityFactory();
var entitySystem = new EntitySystem();
entitySystem.AddEntity(entityFactory.CreateUnitCubeEntity());
navigationGrid.Gridlets.ForEach(gridlet => entitySystem.AddEntity(entityFactory.CreateAndAssociateGridletEntity(navigationGrid, gridlet, pathfinder, commandFactory)));
var characterEntity = entityFactory.CreateCharacterEntity(pathfinder);
entitySystem.AddEntity(characterEntity);
entitySystem.AddEntity(entityFactory.CreateCameraEntity(graphicsConfiguration, characterEntity));
entitySystem.AddBehavior(new PhysicsBehavior(navigationGrid));
entitySystem.AddBehavior(new CommandQueueBehavior());
// Dungeon Stuff
DungeonKeyInventory dungeonKeyInventory = new DungeonKeyInventory();
// entitySystem.AddEntity(entityFactory.CreateDungeonKeyEntity(new Vector3(5, 10, 0), new Vector4(1, 0, 0, 1), commandFactory, dungeonKeyInventory));
// entitySystem.AddEntity(entityFactory.CreateDungeonLockEntity(new Vector3(0, 35, 0), new Vector4(1, 0, 0, 1), commandFactory, dungeonKeyInventory));
// entitySystem.AddBehavior(new DungeonLockDisablesGroundPathingBehavior(navigationGrid));
foreach (var cell in cells) {
if (cell.KeyColor != Color.Empty) {
var color = new Vector4(cell.KeyColor.R / 255f, cell.KeyColor.G / 255f, cell.KeyColor.B / 255f, 1);
entitySystem.AddEntity(entityFactory.CreateDungeonKeyEntity(new Vector3(cell.X * 70 + 5, cell.Y * 70 + 10, 0), color, commandFactory, dungeonKeyInventory));
}
if (cell.LockColor != Color.Empty) {
var color = new Vector4(cell.LockColor.R / 255f, cell.LockColor.G / 255f, cell.LockColor.B / 255f, 1);
entitySystem.AddEntity(entityFactory.CreateDungeonLockEntity(new Vector3(cell.X * 70, cell.Y * 70, 0), color, commandFactory, dungeonKeyInventory, navigationGrid));
}
}
using (var game = new ShadeGame(graphicsConfiguration, renderer, entitySystem)) {
game.Run();
}
}
public static void Main(string[] args)
{
var width = 45;
var height = 30;
var grid = new GridFactory().Create(width, height);
var manipulator = new GridManipulator(grid, new Random());
// manipulator.CutLine(new Line2D(new Point2D(0, 0), new Point2D(20, 40)));
Renderer renderer = null;//new Renderer(grid);//.RenderGrid(grid);
var spiral = new SpiralParametricFunction(1, 9, 3, width / 2.0f, height / 2.0f, 0);
manipulator.CutParametric(spiral.TInitial, spiral.TFinal, 20f, spiral.PointAt, renderer);
var lastSpiralPoint = spiral.PointAt(spiral.TFinal - 30);
var v = new Vector2D(lastSpiralPoint, new Point2D(width / 2.0f, height / 2.0f));
v = v.ToUnitVector();
var cutDestination = lastSpiralPoint + v * 3;
manipulator.CutLine(new Line2D(lastSpiralPoint, cutDestination), renderer);
Application.DoEvents();
var entranceCell = grid.Cells[(height / 2) * grid.Width + (width / 2)];
var cells = manipulator.FillRegion(entranceCell, renderer);
renderer = new Renderer(grid);//.RenderGrid(grid);
manipulator.PlaceLocksAndKeys(entranceCell, cells, new[] {
Color.Red,
Color.Blue,
Color.DarkGreen,
Color.DeepPink,
Color.Magenta,
Color.Cyan,
Color.Yellow,
Color.Gold,
Color.Black,
Color.DarkOrange,
Color.Gray,
Color.Aquamarine,
Color.AliceBlue,
Color.Azure,
Color.DodgerBlue,
Color.Indigo,
Color.DeepSkyBlue,
Color.PaleGreen,
Color.PaleGoldenrod,
Color.PaleTurquoise});
Console.WriteLine("Cell Count: " + cells.Count);
entranceCell.Type = CellType.Entrance;
while (true) {
renderer.RenderGrid(grid);
Application.DoEvents();
}
}
private void HandleRender(object sender, RenderEventArgs e)
{
var startPoint = new Point2D(15, 5);
var endPoint = new Point2D(55, 40);
this.gridlet.Cells[(int)(startPoint.X + startPoint.Y * gridlet.XLength)].Flags |= CellFlags.Debug;
this.gridlet.Cells[(int)(endPoint.X + endPoint.Y * gridlet.XLength)].Flags |= CellFlags.Debug;
if (!isGraphicsInitialized) {
InitializeGraphics(e.GraphicsDevice);
isGraphicsInitialized = true;
}
var graphicsDevice = e.GraphicsDevice;
var renderer = e.Renderer;
e.BasicEffect.World = gridlet.Orientation * Matrix.Translation(gridlet.X, gridlet.Y, gridlet.Z);
e.BasicEffect.Texture = debugTexture;
e.BasicEffect.TextureEnabled = true;
e.BasicEffect.DiffuseColor = Vector4.One;
var samplerStateDescription = SamplerStateDescription.Default();
samplerStateDescription.Filter = Filter.ComparisonMinMagMipPoint;
e.BasicEffect.Sampler = SamplerState.New(graphicsDevice, samplerStateDescription);
e.BasicEffect.CurrentTechnique.Passes[0].Apply();
graphicsDevice.SetRasterizerState(graphicsDevice.RasterizerStates.CullBack);
graphicsDevice.SetVertexBuffer(0, vertexBuffer, 0);
graphicsDevice.SetVertexInputLayout(vertexInputLayout);
graphicsDevice.SetIndexBuffer(indexBuffer, true);
graphicsDevice.DrawIndexed(PrimitiveType.TriangleList, indexBuffer.ElementCount);
var meshTransform = gridlet.Orientation * Matrix.Translation(gridlet.X, gridlet.Y, gridlet.Z);
foreach (var meshTriangle in gridlet.Mesh) {
var a = new Vector3((float)meshTriangle.Points[0].X, (float)meshTriangle.Points[0].Y, 0);
var b = new Vector3((float)meshTriangle.Points[1].X, (float)meshTriangle.Points[1].Y, 0);
var c = new Vector3((float)meshTriangle.Points[2].X, (float)meshTriangle.Points[2].Y, 0);
Vector3.Transform(ref a, ref meshTransform, out a);
Vector3.Transform(ref b, ref meshTransform, out b);
Vector3.Transform(ref c, ref meshTransform, out c);
// var n = meshTriangle. Vector3.Cross((a - b), b - c);
var color = true ? Color.Cyan : Color.Green;
renderer.DrawDebugLine(a, b, color);
;
renderer.DrawDebugLine(b, c, color);
renderer.DrawDebugLine(c, a, color);
foreach (var neighbor in meshTriangle.Neighbors.Where(n => n != null)) {
Console.WriteLine(neighbor.IsInterior);
}
foreach (var neighbor in meshTriangle.Neighbors.Where(n => n != null && n.IsInterior)) {
Console.WriteLine("!@#!@#@#");
var meshCentroid = meshTriangle.Centroid();
var neighborCentroid = neighbor.Centroid();
var centroidA = new Vector3(meshCentroid.Xf, meshCentroid.Yf, 0);
var centroidB = new Vector3(neighborCentroid.Xf, neighborCentroid.Yf, 0);
Vector3.Transform(ref centroidA, ref meshTransform, out centroidA);
Vector3.Transform(ref centroidB, ref meshTransform, out centroidB);
renderer.DrawDebugLine(
centroidA,
centroidB,
Color.Red
);
}
}
foreach (var neighbor in gridlet.Neighbors) {
renderer.DrawDebugLine(
gridlet.OrientedBoundingBox.Center,
neighbor.OrientedBoundingBox.Center,
Color.Magenta
);
}
var mesh = gridlet.Mesh;
var startTriangle = mesh.First(
x => new Triangle2D(
new Point2D(x.Points[0].Xf, x.Points[0].Yf),
new Point2D(x.Points[1].Xf, x.Points[1].Yf),
new Point2D(x.Points[2].Xf, x.Points[2].Yf)).Contains(startPoint - new Point2D(gridlet.XLength / 2.0, gridlet.YLength / 2.0))
);
var endTriangle = mesh.First(
x => new Triangle2D(
new Point2D(x.Points[0].Xf, x.Points[0].Yf),
new Point2D(x.Points[1].Xf, x.Points[1].Yf),
new Point2D(x.Points[2].Xf, x.Points[2].Yf)).Contains(endPoint - new Point2D(gridlet.XLength / 2.0, gridlet.YLength / 2.0))
);
ConcurrentDictionary<DelaunayTriangle, double> distancesByTriangle = new ConcurrentDictionary<DelaunayTriangle, double>();
distancesByTriangle.TryAdd(startTriangle, 0);
var lastCount = 0;
while (lastCount != distancesByTriangle.Count) {
lastCount = distancesByTriangle.Count;
foreach (var kvp in distancesByTriangle) {
var triangle = kvp.Key;
var distance = kvp.Value;
foreach (var neighbor in triangle.Neighbors.Where(n => n != null && n.IsInterior).Where(n => n.Points.Union(triangle.Points).Distinct().Count() == 4)) {
var triangleCentroid = triangle.Centroid();
if (triangle == startTriangle) {
triangleCentroid = new TriangulationPoint(startPoint.X - gridlet.XLength / 2.0, startPoint.Y - gridlet.YLength / 2.0);
} else if (triangle == endTriangle) {
triangleCentroid = new TriangulationPoint(endPoint.X - gridlet.XLength / 2.0, endPoint.Y - gridlet.YLength / 2.0);
}
var neighborCentorid = neighbor.Centroid();
var neighborDistance = distance + Math.Pow(triangleCentroid.X - neighborCentorid.X, 2) + Math.Pow(triangleCentroid.Y - neighborCentorid.Y, 2);
distancesByTriangle.AddOrUpdate(
neighbor,
add => neighborDistance,
(update, existing) => Math.Min(existing, neighborDistance)
);
}
}
}
foreach (var kvp in distancesByTriangle) {
var triangle = kvp.Key;
var distance = kvp.Value;
foreach (var neighbor in triangle.Neighbors.Where(n => n != null && n.IsInterior)) {
var triangleCentroid = triangle.Centroid();
var neighborCentorid = neighbor.Centroid();
var neighborDistance = distance + Math.Pow(triangleCentroid.X - neighborCentorid.X, 2) + Math.Pow(triangleCentroid.Y - neighborCentorid.Y, 2);
distancesByTriangle.AddOrUpdate(
neighbor,
add => neighborDistance,
(update, existing) => Math.Min(existing, neighborDistance)
);
}
}
var path = new List<DelaunayTriangle>();
{
var currentNode = endTriangle;
while (currentNode != startTriangle) {
path.Insert(0, currentNode);
currentNode = currentNode.Neighbors.Where(n => n != null && n.IsInterior).MinBy(distancesByTriangle.Get);
}
path.Insert(0, currentNode);
}
for (var i = 0; i < path.Count - 1; i++) {
var startCentroid = new Vector3(path[i].Centroid().Xf, path[i].Centroid().Yf, 0);
var endCentroid = new Vector3(path[i + 1].Centroid().Xf, path[i + 1].Centroid().Yf, 0);
Vector3.Transform(ref startCentroid, ref meshTransform, out startCentroid);
Vector3.Transform(ref endCentroid, ref meshTransform, out endCentroid);
e.Renderer.DrawDebugLine(startCentroid, endCentroid, Color.White);
}
// path = new[] { 5, 6, 13, 12, 11, 0 }.Select(mesh.Get).ToList();
{
var finalPath = new List<Point2D>();
var currentPoint = new Point2D(startPoint.X - Gridlet.XLength / 2.0, startPoint.Y - gridlet.YLength / 2.0);
var currentSharedPoints = path[0].Points.Intersect(path[1].Points).ToArray();
finalPath.Add(currentPoint);
try {
for (var i = 1; i < path.Count; i++) {
TriangulationPoint[] sharedPoints;
Point2D commonPoint, newPoint, oldOther;
if (i < path.Count - 1) {
sharedPoints = path[i].Points.Intersect(path[i + 1].Points).ToArray();
var commonPoints = sharedPoints.Intersect(currentSharedPoints).ToArray();
Trace.Assert(commonPoints.Length == 1);
var commonPoint_ = commonPoints[0];
commonPoint = new Point2D(commonPoint_.X, commonPoint_.Y);
var newPoint_ = sharedPoints.First(p => !p.Equals(commonPoint_));
newPoint = new Point2D(newPoint_.X, newPoint_.Y);
var oldOther_ = currentSharedPoints.First(p => !p.Equals(commonPoint_));
oldOther = new Point2D(oldOther_.X, oldOther_.Y);
} else {
sharedPoints = null;
var commonPoint_ = currentSharedPoints.First();
commonPoint = new Point2D(commonPoint_.X, commonPoint_.Y);
var oldOther_ = currentSharedPoints.Skip(1).First();
oldOther = new Point2D(oldOther_.X, oldOther_.Y);
newPoint = new Point2D(endPoint.X - Gridlet.XLength / 2.0, endPoint.Y - gridlet.YLength / 2.0);
var windingOldCurrentNew = GeometryUtilities.GetClockness(oldOther, currentPoint, newPoint);
var windingOldCurrentCommon = GeometryUtilities.GetClockness(oldOther, currentPoint, commonPoint);
if (windingOldCurrentNew == windingOldCurrentCommon) {
var temp = commonPoint;
commonPoint = oldOther;
oldOther = temp;
}
}
var oldOtherVector = new Vector2D(currentPoint, oldOther).ToUnitVector();
var commonVector = new Vector2D(currentPoint, commonPoint).ToUnitVector();
var newVector = new Vector2D(currentPoint, newPoint).ToUnitVector();
var oldAngle = Math.Acos(oldOtherVector.Dot(commonVector));
var newAngle = Math.Acos(newVector.Dot(commonVector));
var oldWinding = GeometryUtilities.GetClockness(commonPoint, currentPoint, oldOther);
var newWinding = GeometryUtilities.GetClockness(commonPoint, currentPoint, newPoint);
if (oldAngle > newAngle && oldWinding == newWinding) {
currentSharedPoints = sharedPoints;
} else {
finalPath.Add(oldOther);
currentPoint = oldOther;
currentSharedPoints = sharedPoints;
}
// if (i == 4) {
// Console.WriteLine(i + " SDFDFSD " + path.Count);
// var currentPointVect = new Vector3((float)currentPoint.X, (float)currentPoint.Y, 0);
// var commonPointVect = new Vector3((float)commonPoint.X, (float)commonPoint.Y, 0);
// var oldOtherPointVect = new Vector3((float)oldOther.X, (float)oldOther.Y, 0);
// var newPointVect = new Vector3((float)newPoint.X, (float)newPoint.Y, 0);
//
// Vector3.Transform(ref currentPointVect, ref meshTransform, out currentPointVect);
// Vector3.Transform(ref commonPointVect, ref meshTransform, out commonPointVect);
// Vector3.Transform(ref oldOtherPointVect, ref meshTransform, out oldOtherPointVect);
// Vector3.Transform(ref newPointVect, ref meshTransform, out newPointVect);
// e.Renderer.DrawDebugLine(currentPointVect, commonPointVect, Color.Green);
// e.Renderer.DrawDebugLine(currentPointVect, oldOtherPointVect, Color.Orange);
// e.Renderer.DrawDebugLine(currentPointVect, newPointVect, Color.Chocolate);
// renderer.DrawCube(Matrix.Translation((float)currentPointVect.X, (float)currentPointVect.Y, 1), new Vector4(0, 0, 1, 1), false);
// renderer.DrawCube(Matrix.Translation((float)commonPointVect.X, (float)commonPointVect.Y, 1), new Vector4(0, 1, 0, 1), false);
// renderer.DrawCube(Matrix.Translation((float)oldOtherPointVect.X, (float)oldOtherPointVect.Y, 1), new Vector4(1, 0.5f, 0, 1), false);
// renderer.DrawCube(Matrix.Translation((float)newPointVect.X, (float)newPointVect.Y, 1), new Vector4(0.5f, 0.25f, 0, 1), false);
//
// foreach (var p in finalPath) {
// renderer.DrawCube(Matrix.Translation((float)p.X, (float)p.Y, 1.5f), new Vector4(1, 1, 1, 1), false);
// }
//
// for (var j = 0; j < finalPath.Count - 1; j++) {
// Console.WriteLine("!@#@!###!@ " + finalPath.Count);
// var startCentroid = new Vector3((float)finalPath[j].X, (float)finalPath[j].Y, 0);
// var endCentroid = new Vector3((float)finalPath[j + 1].X, (float)finalPath[j + 1].Y, 0);
//
// Vector3.Transform(ref startCentroid, ref meshTransform, out startCentroid);
// Vector3.Transform(ref endCentroid, ref meshTransform, out endCentroid);
// e.Renderer.DrawDebugLine(startCentroid, endCentroid, Color.Magenta);
// }
// break;
// }
}
finalPath.Add(new Point2D(endPoint.X - Gridlet.XLength / 2.0, endPoint.Y - gridlet.YLength / 2.0));
var simplePathLine = new Line2D(
new Point2D(startPoint.X - Gridlet.XLength / 2.0, startPoint.Y - gridlet.YLength / 2.0),
new Point2D(endPoint.X - Gridlet.XLength / 2.0, endPoint.Y - gridlet.YLength / 2.0)
);
// for (var t = 0.0f; t < 1.0f; t+= 0.1f) {
// var p = simplePathLine.PointAtT(t);
// renderer.DrawCube(Matrix.Scaling(2) * Matrix.Translation((float)p.X, (float)p.Y, 2), new Vector4(1, 1, 1, 1), false);
// }
// var triangle = new Triangle2D(
// new Point2D(-32.5, 32.5),
// new Point2D(-10, 0),
// new Point2D(-32.5, -32.5));
// MessageBox.Show(triangle.FindIntersection(simplePathLine)?.ToString() ?? "null");
// var abLine = new Line2D(triangle.A, triangle.B);
// var abIntersection = (Point2D)abLine.FindLineIntersection(simplePathLine);
// var bcLine = new Line2D(triangle.B, triangle.C);
// var bcIntersection = (Point2D)bcLine.FindLineIntersection(simplePathLine);
// Console.WriteLine("AB INTERSECTION: " + abLine.NearestT(abIntersection) + " " + abLine.PointAtT(abLine.NearestT(abIntersection)) + " " + abIntersection);
// Console.WriteLine("BC INTERSECTION: " + bcLine.NearestT(bcIntersection));
// var f = new Form();
// var pb = new PictureBox();
// var b = new Bitmap(100, 100);
// using (var g = Graphics.FromImage(b)) {
// for (var t = 0.0; t < 1.0f; t += 0.05f) {
// var p = abLine.PointAtT(t);
// g.DrawRectangle(Pens.Red, (float)(p.X + 50 - 1), (float)(p.Y + 50 - 1), 2, 2);
// }
//
// g.DrawRectangle(Pens.Orange, (float)(abIntersection.X + 50 - 3), (float)(abIntersection.Y + 50 - 3), 6, 6);
//
//
// g.DrawRectangle(Pens.Red, (float)(triangle.A.X + 50 - 1), (float)(triangle.A.Y + 50 - 1), 2, 2);
// g.DrawRectangle(Pens.Green, (float)(triangle.B.X + 50 - 1), (float)(triangle.B.Y + 50 - 1), 2, 2);
// g.DrawRectangle(Pens.Blue, (float)(triangle.C.X + 50 - 1), (float)(triangle.C.Y + 50 - 1), 2, 2);
// g.DrawLine(Pens.Lime, -25 + 50, -25 + 50, -20 + 50, 25 + 50);
// }
// pb.Image = b;
// pb.SizeMode = PictureBoxSizeMode.AutoSize;
// f.Controls.Add(pb);
// f.ClientSize = b.Size;
// f.Show();
// Application.Run();
var tritris = mesh.Where(
x => new Triangle2D(
new Point2D(x.Points[0].Xf, x.Points[0].Yf),
new Point2D(x.Points[1].Xf, x.Points[1].Yf),
new Point2D(x.Points[2].Xf, x.Points[2].Yf)).FindIntersection(simplePathLine) != null
).ToArray();
if (tritris.Any()) {
var sadfaces = new ICL.HashSet<DelaunayTriangle>(tritris);
var s = new Stack<DelaunayTriangle>();
s.Push(tritris.First());
var lastSadfacesCount = 0;
while (s.Any() && lastSadfacesCount != sadfaces.Count) {
lastSadfacesCount = sadfaces.Count;
var tri = s.Pop();
sadfaces.Remove(tri);
foreach (var other in sadfaces) {
if (other.Points.Union(tri.Points).Distinct().Count() <= 4) {
s.Push(other);
}
}
}
if (sadfaces.None()) {
// MessageBox.Show("!@#!#!@#");
finalPath.Clear();
finalPath.Add(simplePathLine.Start);
finalPath.Add(simplePathLine.PointAtT(1));
}
}
Console.WriteLine("!@#!@#!@ " + tritris.SelectMany(x => x.Points).Distinct().Count() + " " + tritris.Length);
Console.WriteLine("!@#!@##@@!#@!@!@# " + tritris.Length);
foreach (var tri in tritris) {
var centroid = tri.Centroid();
var centroidVector = new Vector3(centroid.Xf, centroid.Yf, 0);
renderer.DrawCube(Matrix.Scaling(4) * Matrix.Translation(centroidVector), new Vector4(0, 1, 1, 1), false);
}
foreach (var p in finalPath) {
renderer.DrawCube(Matrix.Translation((float)p.X, (float)p.Y, 1.5f), new Vector4(1, 1, 1, 1), false);
}
for (var j = 0; j < finalPath.Count - 1; j++) {
Console.WriteLine("!@#@!###!@ " + finalPath.Count);
var startCentroid = new Vector3((float)finalPath[j].X, (float)finalPath[j].Y, 0);
var endCentroid = new Vector3((float)finalPath[j + 1].X, (float)finalPath[j + 1].Y, 0);
Vector3.Transform(ref startCentroid, ref meshTransform, out startCentroid);
Vector3.Transform(ref endCentroid, ref meshTransform, out endCentroid);
e.Renderer.DrawDebugLine(startCentroid, endCentroid, Color.Magenta);
}
} catch (Exception exsaqsd) {
Console.WriteLine(exsaqsd);
}
// for (var i = 0; i < finalPath.Count - 1; i++) {
// var startCentroid = new Vector3((float)finalPath[i].X - Gridlet.XLength / 2.0f, (float)finalPath[i].Y - Gridlet.YLength / 2.0f, 0);
// var endCentroid = new Vector3((float)finalPath[i + 1].X - Gridlet.XLength / 2.0f, (float)finalPath[i + 1].Y - Gridlet.YLength / 2.0f, 0);
// Vector3.Transform(ref startCentroid, ref meshTransform, out startCentroid);
// Vector3.Transform(ref endCentroid, ref meshTransform, out endCentroid);
// e.Renderer.DrawDebugLine(startCentroid, endCentroid, Color.Magenta);
// }
}
}
public Triangle2D(Point2D a, Vector2D v1, Vector2D v2)
: this(a + v1, (Point2D)(a + v1), (Point2D)(a + v2))
{
}
public double Dot(Vector2D b)
{
return X * b.X + Y * b.Y;
}
public double Distance(Vector2D b)
{
return (b - this).Magnitude();
}
public double Cross(Vector2D b)
{
return X * b.Y - Y * b.X;
}
public static double Dot(Vector2D a, Vector2D b)
{
return a.Dot(b);
}
public static double Cross(Vector2D a, Vector2D b)
{
return a.Cross(b);
}