private int getx2y2() { long xy = _x * _x + _y * _y; xy = xy < 0 ? -xy : xy; int v = KMath.isqrt(xy); return(v); }
public Segment(KInt2 first, KInt2 second, int id) { this.start = first; this.end = second; cachedir = null; uid = id; this.MinX = KMath.Min(this.start.IntX, this.end.IntX); this.MaxX = KMath.Max(this.start.IntX, this.end.IntX); this.MinY = KMath.Min(this.start.IntY, this.end.IntY); this.MaxY = KMath.Max(this.start.IntY, this.end.IntY); }
void RemoveUnused() { //sort BeginSample("SortByXcoordinate"); SortByXcoordinate(segments); EndSample(); BeginSample("connectlines check"); HashSet <KInt2> allpoints = new HashSet <KInt2> (); Dictionary <KInt2, HashSet <KInt2> > connectlines = new Dictionary <KInt2, HashSet <KInt2> >(segments.Count); for (int i = 0; i < segments.Count; ++i) { Segment seg = segments [i]; if (allpoints.Add(seg.start)) { connectlines [seg.start] = new HashSet <KInt2> (); } if (allpoints.Add(seg.end)) { connectlines [seg.end] = new HashSet <KInt2> (); } } KInt2 p1, p2, p3; for (int i = 0; i < segments.Count; ++i) { Segment firstline = segments [i]; for (int j = i + 1; j < segments.Count; ++j) { Segment secondline = segments [j]; if (firstline.MinX > secondline.MaxX) { break; } long maxminy = KMath.Max(firstline.MinY, secondline.MinY); long minmaxy = KMath.Min(firstline.MaxY, secondline.MaxY); if (maxminy > minmaxy) { continue; } if (Segment.isConnectRetPoints(firstline, secondline, out p1, out p2, out p3)) { //only three point connectlines [p1].Add(p2); connectlines [p1].Add(p3); } } ShowProgress("创建链接点", (float)i / segments.Count); } EndSample(); this.segments.Clear(); HashSet <Segment> realList = new HashSet <Segment> (); List <KInt2> linequeue = new List <KInt2> (segments.Count); HashSet <KInt2> openlist = new HashSet <KInt2> (); HashSet <KInt2> enabledlist = new HashSet <KInt2> (); BeginSample("combine polygon check"); int progress = 0; var pointen = allpoints.GetEnumerator(); while (pointen.MoveNext()) { KInt2 pt = pointen.Current; if (enabledlist.Contains(pt) || connectlines [pt].Count < 2) { continue; } openlist.Clear(); linequeue.Clear(); linequeue.Add(pt); if (TryConnectUntilFindTarget(pt, pt, linequeue, openlist, connectlines)) { if (!isAllLine(linequeue)) { AddtoList(realList, linequeue); for (int k = 0; k < linequeue.Count; ++k) { enabledlist.Add(linequeue [k]); } } else { #if UNITY_EDITOR if (ObstacleDebug >= DebugMode.ShowAndLog) { LogMgr.LogFormat("准备剔除 原始目标点 为 :{0}", pt); for (int k = 0; k < linequeue.Count; ++k) { LogMgr.LogFormat("准备剔除 :{0}", linequeue [k]); } LogMgr.Log("剔除结束"); } #endif } } progress++; ShowProgress("检测非多边形点", (float)progress / allpoints.Count); } EndSample(); segments.Capacity = realList.Count; var realen = realList.GetEnumerator(); while (realen.MoveNext()) { segments.Add(realen.Current); } if (ExactMode >= ExactType.TWO) { BeginSample("PolygonIntersect"); PolygonIntersect(); EndSample(); } }
long doublearea(KInt2 p1, KInt2 p2, KInt2 p3) { return(KMath.Abs((p1.IntX * (p2.IntY - p3.IntY) + p2.IntX * (p3.IntY - p1.IntY) + p3.IntX * (p1.IntY - p2.IntY)))); }
void PolygonIntersect() { //相交检测 BeginSample("PolygonIntersect - SegmentIntersect"); this.SortByXcoordinate(segments); List <Segment> removeList = new List <Segment> (segments.Count / 2); Dictionary <Segment, intersectCls> SegPointsdict = new Dictionary <Segment, intersectCls> (segments.Count / 2); Dictionary <KInt2, HashSet <Segment> > dic = new Dictionary <KInt2, HashSet <Segment> >(); for (int i = 0; i < segments.Count; ++i) { Segment firstline = segments [i]; for (int j = i + 1; j < segments.Count; ++j) { Segment secondline = segments [j]; if (firstline.MinX > secondline.MaxX) { break; } long maxminy = KMath.Max(segments[i].MinY, segments[j].MinY); long minmaxy = KMath.Min(segments[i].MaxY, segments[j].MaxY); if (maxminy > minmaxy) { continue; } KInt2 result; if (!firstline.isConnect(secondline) && Segment.Intersect(firstline.start, firstline.end, secondline.start, secondline.end, out result)) { if (dic.ContainsKey(result)) { dic[result].Add(firstline); dic[result].Add(secondline); } else { HashSet <Segment> hashdata = new HashSet <Segment>(); hashdata.Add(firstline); hashdata.Add(secondline); dic[result] = hashdata; } if (firstline.start != result && firstline.end != result) { if (SegPointsdict.ContainsKey(firstline)) { SegPointsdict [firstline].points.TryAdd(result); } else { intersectCls data = new intersectCls(); data.points.Add(result); data.intersectseg = secondline; SegPointsdict [firstline] = data; } removeList.Add(firstline); } if (secondline.start != result && secondline.end != result) { if (SegPointsdict.ContainsKey(secondline)) { SegPointsdict [secondline].points.TryAdd(result); } else { intersectCls data = new intersectCls(); data.points.Add(result); data.intersectseg = firstline; SegPointsdict [secondline] = data; } removeList.Add(secondline); } // LogMgr.LogError("first =>" + firstline.uid + " => " + secondline.uid); } } ShowProgress("相交检测", (float)i / segments.Count); } EndSample(); //remove old segments 即使有重复也无所谓,减少多次检查的开销 for (int i = 0; i < removeList.Count; ++i) { segments.Remove(removeList [i]); } BeginSample("PolygonIntersect - SortAndAdd2Segments"); SortAndAdd2Segments(SegPointsdict); EndSample(); DefineIDforSegments(segments); // BeginSample("Build - TriangleTree"); tree = new TriangleTree(); tree.Build(ObsTriangles, 2); EndSample(); // List <NavmeshTriangle> testtriangles = new List <NavmeshTriangle> (10); List <KInt2> nearestidxs = new List <KInt2>(10); removeList.Clear(); BeginSample("Build - Test Triangle"); for (int i = 0; i < segments.Count; ++i) { Segment seg = segments [i]; testtriangles.Clear(); nearestidxs.Clear(); tree.ball_queryPoints((seg.start + seg.end) / 2, Seekrange, nearestidxs); for (int k = 0; k < nearestidxs.Count; ++k) { List <NavmeshTriangle> list = point2triangle [nearestidxs [k]]; for (int v = 0; v < list.Count; ++v) { testtriangles.Add(list [v]); } } ShowProgress("获取邻近三角形", (float)i / segments.Count); TriangleCheck(testtriangles, dic, removeList, seg); } EndSample(); // #if UNITY_EDITOR willremoveList.AddRange(removeList); #endif for (int i = 0; i < removeList.Count; ++i) { segments.Remove(removeList [i]); } }