public IList <Position> GetFirstLongestNaturalLine(IList <Position> jumpPoints, Func <Position, bool> isWalkable)
{
if (jumpPoints.Count == 1)
{
return(jumpPoints);
}
IList <Position> naturalJumpPoints = GetNaturalJumpPoints(jumpPoints);
if (naturalJumpPoints.Count == 2)
{
return(_rasterLineCreator.GetRasterLinePermissive(jumpPoints[0].x, jumpPoints[0].y, jumpPoints[1].x, jumpPoints[1].y,
isWalkable, -1, false));
}
IList <Position> firstThreeNaturalJumpPoints = naturalJumpPoints.Take(3).ToList();
Position firstJumpPoint = firstThreeNaturalJumpPoints[0];
Position rangeCheckBeginning = firstThreeNaturalJumpPoints[1];
Position rangeCheckEnd = firstThreeNaturalJumpPoints[2];
IList <Position> rangeToCheck = // note that it's going from range end to range beginning
_rasterLineCreator.GetRasterLinePermissive(rangeCheckEnd.x, rangeCheckEnd.y, rangeCheckBeginning.x, rangeCheckBeginning.y,
position => true, -1);
IList <Position> naturalWay = null;
foreach (Position checkedPosition in rangeToCheck)
{
var xxx
= _rasterLineCreator.GetRasterLinePermissive(3, 0, 5, 2, isWalkable, -1, false);
IList <Position> bresenhamLineToChecked =
_rasterLineCreator.GetRasterLinePermissive(firstJumpPoint.x, firstJumpPoint.y, checkedPosition.x, checkedPosition.y, isWalkable, -1, false);
bool clearWayToThirdExists = bresenhamLineToChecked.Any() && bresenhamLineToChecked.Last() == checkedPosition;
if (clearWayToThirdExists)
{
naturalWay = bresenhamLineToChecked;
break;
}
}
return(naturalWay);
}
public virtual NavigationData GetNavigationData(Position startPosition, Position targetPosition)
{
if (!_grid.IsWalkable(targetPosition))
{
return(null);
}
var navigationData = new NavigationData
{
Destination = targetPosition,
RemainingStepsInCurrentSegment = new Stack <Position>(),
LastStep = startPosition
};
if (startPosition == targetPosition)
{
return(navigationData);
}
IList <Position> line = _rasterLineCreator.GetRasterLinePermissive(startPosition.x, startPosition.y, targetPosition.x,
targetPosition.y, _grid.IsWalkable);
bool rasterLineReachesTarget = line.Last() == targetPosition;
if (rasterLineReachesTarget)
{
_debugPathPresenter.PresentStraight(line);
// performance: if GetRasterLinePermissive returned a stack, we wouldn't need to allocate memory for the list
navigationData.RemainingNodes = new[] { targetPosition }.ToList();
return(navigationData);
}
PathfindingResponse result = _pathfinder.FindJumpPointsWithJps(startPosition, targetPosition);
if (result.Result != PathfindingResult.Success)
{
return(null);
}
IEnumerable <Position> naturalJumpPoints = _naturalLineCreator.GetNaturalJumpPoints(result.Positions).Skip(1);
navigationData.RemainingNodes = naturalJumpPoints.ToList();
_debugPathPresenter.PresentNonStraight(navigationData.RemainingNodes);
return(navigationData);
}