/// <summary>
/// GridMapに障害物の線を追加
/// </summary>
/// <param name="startX"></param>
/// <param name="startY"></param>
/// <param name="endX"></param>
/// <param name="endY"></param>
/// <param name="size"></param>
public void DrawLine(int startX, int startY, int endX, int endY, int size)
{
LineDelegate f = delegate(GridMap map, int x, int y) {
if (size == 0)
{
map[x, y] = Grid.Fill;
}
else
{
// 太さ(size)分 グリッドを埋める
for (int dx = -size; dx < size; ++dx)
{
for (int dy = -size; dy < size; ++dy)
{
if (0 < x + dx && x + dx < W && 0 < y + dy && y + dy < H)
{
map[x + dx, y + dy] = Grid.Fill;
}
}
}
}
};
DrawLine(startX, startY, endX, endY, f);
}
public void DrawLine(int startX, int startY, int endX, int endY, LineDelegate f)
{
int deltaX = 2 * (endX - startX);
int deltaY = 2 * (endY - startY);
int stepX = deltaX < 0 ? -1 : 1;
int stepY = deltaY < 0 ? -1 : 1;
int nextX = startX;
int nextY = startY;
int fraction;
deltaX = Math.Abs(deltaX);
deltaY = Math.Abs(deltaY);
f(this, startX, startY);
if (deltaX > deltaY)
{
fraction = deltaY - deltaX / 2;
while (nextX != endX)
{
if (fraction >= 0)
{
nextY += stepY;
fraction -= deltaX;
f(this, nextX, nextY);
}
nextX += stepX;
fraction += deltaY;
//処理
f(this, nextX, nextY);
}
}
else
{
fraction = deltaX - deltaY / 2;
while (nextY != endY)
{
if (fraction >= 0)
{
nextX += stepX;
fraction -= deltaY;
f(this, nextX, nextY);
}
nextY += stepY;
fraction += deltaX;
//処理
f(this, nextX, nextY);
}
}
}
internal static void DrawCapsuleFast(Vector3 point1, Vector3 point2, float radius, Vector3 axis, Vector3 crossA, Vector3 crossB, LineDelegate lineDelegate)
{
//Circles
DrawCircleFast(point1, axis, crossB, radius, lineDelegate);
DrawCircleFast(point2, axis, crossB, radius, lineDelegate);
//Caps
DrawArc(point1, crossB, crossA, radius, 180, lineDelegate, 25);
DrawArc(point1, crossA, crossB, radius, -180, lineDelegate, 25);
DrawArc(point2, crossB, crossA, radius, -180, lineDelegate, 25);
DrawArc(point2, crossA, crossB, radius, 180, lineDelegate, 25);
//Joining Lines
Vector3 a = crossA * radius;
Vector3 b = crossB * radius;
lineDelegate.Invoke(point1 + a, point2 + a, 0);
lineDelegate.Invoke(point1 - a, point2 - a, 0);
lineDelegate.Invoke(point1 + b, point2 + b, 0);
lineDelegate.Invoke(point1 - b, point2 - b, 0);
}
internal static void DrawCapsule2DFast(Vector2 offset, DrawCapsuleStructure2D capsuleStructure2D, LineDelegate lineDelegate)
{
Vector2 r1 = offset + capsuleStructure2D.VerticalOffset;
Vector2 r2 = offset - capsuleStructure2D.VerticalOffset;
DrawArc2D(r1, capsuleStructure2D.Left, capsuleStructure2D.Radius, 180, lineDelegate);
DrawArc2D(r2, capsuleStructure2D.Left, capsuleStructure2D.Radius, -180, lineDelegate);
lineDelegate(r1 + capsuleStructure2D.ScaledLeft, r2 + capsuleStructure2D.ScaledLeft, 0);
lineDelegate(r1 + capsuleStructure2D.ScaledRight, r2 + capsuleStructure2D.ScaledRight, 0);
}
internal static void DrawArc2D(Vector2 center, Vector2 startDirection, float radius, float totalAngle, LineDelegate lineDelegate, int segmentCount = 50)
{
Vector2 direction = startDirection * radius;
Vector2 lastPos = center + direction;
GetRotationCoefficients(1 / (float)segmentCount * totalAngle, out var s, out var c);
Vector2 currentDirection = direction;
for (int i = 1; i <= segmentCount; i++)
{
currentDirection = RotateFast(currentDirection, s, c);
Vector2 nextPos = center + currentDirection;
lineDelegate(lastPos, nextPos, (i - 1) / (float)segmentCount);
lastPos = nextPos;
}
}
internal static void DrawArc(Vector3 center, Vector3 normal, Vector3 startDirection, float radius, float totalAngle, LineDelegate lineDelegate, int segmentCount = 50)
{
Vector3 direction = startDirection * radius;
Vector3 lastPos = center + direction;
Quaternion rotation = Quaternion.AngleAxis(1 / (float)segmentCount * totalAngle, normal);
Quaternion currentRotation = rotation;
for (int i = 1; i <= segmentCount; i++)
{
Vector3 nextPos = center + currentRotation * direction;
lineDelegate(lastPos, nextPos, (i - 1) / (float)segmentCount);
currentRotation = rotation * currentRotation;
lastPos = nextPos;
}
}
internal static void DrawCircleFast(Vector3 center, Vector3 normal, Vector3 cross, float radius, LineDelegate lineDelegate, int segmentCount = 100)
{
Vector3 direction = cross * radius;
Vector3 lastPos = center + direction;
Quaternion rotation = Quaternion.AngleAxis(1 / (float)segmentCount * 360, normal);
Quaternion currentRotation = rotation;
for (int i = 1; i <= segmentCount; i++)
{
Vector3 nextPos = center + currentRotation * direction;
lineDelegate(lastPos, nextPos, (i - 1) / (float)segmentCount);
currentRotation = rotation * currentRotation;
lastPos = nextPos;
}
}
public AsciiSendLineAndApplyMethodUnit(string line, string terminator, LineDelegate method)
{
_line = line;
_terminator = terminator;
_method = method;
}
public void DrawLine(int startX, int startY, int endX, int endY, LineDelegate f)
{
int deltaX = 2 * (endX - startX);
int deltaY = 2 * (endY - startY);
int stepX = deltaX < 0 ? -1 : 1;
int stepY = deltaY < 0 ? -1 : 1;
int nextX = startX;
int nextY = startY;
int fraction;
deltaX = Math.Abs(deltaX);
deltaY = Math.Abs(deltaY);
f(this, startX, startY);
if (deltaX > deltaY) {
fraction = deltaY - deltaX / 2;
while (nextX != endX) {
if (fraction >= 0) {
nextY += stepY;
fraction -= deltaX;
f(this, nextX, nextY);
}
nextX += stepX;
fraction += deltaY;
//処理
f(this, nextX, nextY);
}
} else {
fraction = deltaX - deltaY / 2;
while (nextY != endY) {
if (fraction >= 0) {
nextX += stepX;
fraction -= deltaY;
f(this, nextX, nextY);
}
nextY += stepY;
fraction += deltaX;
//処理
f(this, nextX, nextY);
}
}
}
