public static byte[] EncodeWaypoints(INavGrid navGrid, List <Vector2> waypoints)
{
var mapSize = navGrid.GetSize();
var numCoords = waypoints.Count * 2;
var maskBytes = new byte[(numCoords - 3) / 8 + 1];
var tempStream = new MemoryStream();
var resultStream = new MemoryStream();
var tempBuffer = new BinaryWriter(tempStream);
var resultBuffer = new BinaryWriter(resultStream);
var lastCoord = new Vector2();
var coordinate = 0;
foreach (var waypoint in waypoints)
{
var curVector = new Vector2((waypoint.X - mapSize.X) / 2, (waypoint.Y - mapSize.Y) / 2);
if (coordinate == 0)
{
tempBuffer.Write((short)curVector.X);
tempBuffer.Write((short)curVector.Y);
}
else
{
var relative = new Vector2(curVector.X - lastCoord.X, curVector.Y - lastCoord.Y);
var isAbsolute = IsAbsolute(relative);
if (isAbsolute.Item1)
{
tempBuffer.Write((short)curVector.X);
}
else
{
tempBuffer.Write((byte)relative.X);
}
if (isAbsolute.Item2)
{
tempBuffer.Write((short)curVector.Y);
}
else
{
tempBuffer.Write((byte)relative.Y);
}
SetBitmaskValue(ref maskBytes, coordinate - 2, !isAbsolute.Item1);
SetBitmaskValue(ref maskBytes, coordinate - 1, !isAbsolute.Item2);
}
lastCoord = curVector;
coordinate += 2;
}
if (numCoords > 2)
{
resultBuffer.Write(maskBytes);
}
resultBuffer.Write(tempStream.ToArray());
return(resultStream.ToArray());
}
