public static void DrawVisibilityGraph(this IDebugCanvas canvas, PolyNodeVisibilityGraph visibilityGraph)
{
canvas.DrawLineList(
visibilityGraph.Barriers.SelectMany(barrier => barrier.Points.Select(p => new IntVector3(p))).ToList(),
BarrierStrokeStyle);
if (visibilityGraph.Waypoints.Any())
{
canvas.DrawLineList(
(from sourceIndex in Enumerable.Range(0, visibilityGraph.Waypoints.Length)
let sourceWaypoint = new IntVector3(visibilityGraph.Waypoints[sourceIndex])
let offset = visibilityGraph.Offsets[sourceIndex]
let end = visibilityGraph.Offsets[sourceIndex + 1]
from edgeIndex in Enumerable.Range(offset, end - offset)
let edge = visibilityGraph.Edges[edgeIndex]
let destWaypoint = new IntVector3(visibilityGraph.Waypoints[edge.NextIndex])
select new IntLineSegment3(sourceWaypoint, destWaypoint)).ToList(),
VisibilityEdgeStrokeStyle);
canvas.DrawPoints(
visibilityGraph.Waypoints.Select(p => new IntVector3(p)).ToList(),
WaypointStrokeStyle);
foreach (var(i, waypoint) in visibilityGraph.Waypoints.Enumerate())
{
canvas.DrawText("" + i, waypoint);
}
}
}
public static void DrawLineList(this IDebugCanvas canvas, IReadOnlyList <IntLineSegment2> segments, StrokeStyle strokeStyle)
{
canvas.DrawLineList(segments.Map(ToILS3), strokeStyle);
}
public static void DrawLineList(this IDebugCanvas canvas, IReadOnlyList <DoubleVector2> points, StrokeStyle strokeStyle)
{
canvas.DrawLineList(points.Map(ToDV3), strokeStyle);
}
public static void DrawLineList(this IDebugCanvas canvas, IReadOnlyList <IntLineSegment3> segments, StrokeStyle strokeStyle)
{
canvas.DrawLineList(segments.SelectMany(s => s.Points).Select(p => p.ToDoubleVector3()).ToList(), strokeStyle);
}
public static void DrawLineList(this IDebugCanvas canvas, IReadOnlyList <IntVector3> points, StrokeStyle strokeStyle)
{
canvas.DrawLineList(ToDoublePoints(points), strokeStyle);
}
