static private void SmoothPath(ref List <Vector2> path, Cell[,] maze)
{
for (int i = 0; i < path.Count; i++)
{
while (i + 2 < path.Count)
{
VisibilityRay ray = new VisibilityRay(path[i], path[i + 2]);
if (!CollisionUtils.RayMapIntersectionTest(ray, maze))
{
path.RemoveAt(i + 1);
}
else
{
break;
}
}
}
}
public static bool RayMapIntersectionTest(VisibilityRay ray, Cell[,] maze)
{
// TODO
// Optimize testing only against the possible instersection cells instead of the whole maze.
// Use the Bresenham Line-Drawing Algorithm to find de cells to check.
// http://playtechs.blogspot.cz/2007/03/raytracing-on-grid.html
foreach (Cell cell in maze)
{
if (ray.AabbAabbIntersectionTest(cell))
{
if (ray.SatIntersectionTest(cell))
{
return(true);
}
}
}
return(false);
}