private Vector2 GetCenterPoint(ITrapezoid trapezoid)
{
double leftEdgeX = trapezoid.LeftBound,
rightEdgeX = trapezoid.RightBound,
centerX = (leftEdgeX + rightEdgeX) / 2;
double topY, bottomY;
ISegment top = trapezoid.TopSegment,
bottom = trapezoid.BottomSegment;
if (top == null)
{
topY = trapezoidalMap.BoundingBox.Top;
}
else
{
topY = GetYComponent(top, centerX);
}
if (bottom == null)
{
bottomY = trapezoidalMap.BoundingBox.Bottom;
}
else
{
bottomY = GetYComponent(bottom, centerX);
}
double centerY = (topY + bottomY) / 2;
return(new Vector2(centerX, centerY));
}
public IEnumerable <Vector2> CalculatePath(Vector2 start, Vector2 goal)
{
var box = trapezoidalMap.BoundingBox;
if (!box.Contains(start) || !box.Contains(goal))
{
yield break;
}
ITrapezoid startingTrapezoid = trapezoidalMap.PointLocation(start),
finalTrapezoid = trapezoidalMap.PointLocation(goal);
if (forbiddenSpace.Contains(startingTrapezoid) || forbiddenSpace.Contains(finalTrapezoid))
{
yield break;
}
Junction startingJunction = junctionByTrapezoid[startingTrapezoid],
finalJunction = junctionByTrapezoid[finalTrapezoid];
yield return(start);
foreach (var junction in SearchForPath(startingJunction, finalJunction))
{
yield return(junction.Position);
}
yield return(goal);
}
private Vector2 GetCenterPoint(ITrapezoid trapezoid)
{
double leftEdgeX = trapezoid.LeftBound,
rightEdgeX = trapezoid.RightBound,
centerX = (leftEdgeX + rightEdgeX) / 2;
double topY, bottomY;
ISegment top = trapezoid.TopSegment,
bottom = trapezoid.BottomSegment;
if (top == null)
topY = trapezoidalMap.BoundingBox.Top;
else
topY = GetYComponent(top, centerX);
if (bottom == null)
bottomY = trapezoidalMap.BoundingBox.Bottom;
else
bottomY = GetYComponent(bottom, centerX);
double centerY = (topY + bottomY) / 2;
return new Vector2(centerX, centerY);
}