public NavShape(Nav2D nav2D, List <IntPoint> points, bool hole, List <PolyNode> children, NavShape parent, NavElement.Type navType)
{
Points = new Vector2[points.Count];
for (int i = 0; i < Points.Length; ++i)
{
Points[i] = nav2D.ParseToVector2(points[i]);
}
Hole = hole;
NavType = navType;
Parent = parent;
if (children == null || children.Count == 0)
{
Children = null;
return;
}
Children = new List <NavShape>();
foreach (var child in children)
{
Children.Add(new NavShape(nav2D, child.Contour, child.IsHole, child.Childs, this, navType));
}
}
private void CreateEdgePoints()
{
foreach (var element in elementsGroups)
{
for (var i = 0; i < element.NavSurfaces.Count; ++i)
{
NavShape surface = element.NavSurfaces[i];
HashSet <NavPoint> forbiddenConnection = new HashSet <NavPoint>();
FillTheEdgePoints(ref surface, ref forbiddenConnection);
}
Queue <NavShape> obstacles = new Queue <NavShape>(element.NavObstacles);
Dictionary <NavShape, HashSet <NavPoint> > parentForbiddenConnection = new Dictionary <NavShape, HashSet <NavPoint> >();
while (obstacles.Count != 0)
{
NavShape obstacle = obstacles.Dequeue();
HashSet <NavPoint> forbiddenConnection = obstacle.Hole ? parentForbiddenConnection[obstacle.Parent] : new HashSet <NavPoint>();
FillTheEdgePoints(ref obstacle, ref forbiddenConnection);
if (!obstacle.Hole)
{
parentForbiddenConnection.Add(obstacle, forbiddenConnection);
}
if (obstacle.Children == null)
{
continue;
}
foreach (var child in obstacle.Children)
{
obstacles.Enqueue(child);
}
}
}
}
private void FillTheEdgePoints(ref NavShape navShape, ref HashSet <NavPoint> forbiddenConnection)
{
NavPoint lastPoint = new NavPoint(_ConnectionOrderId++, navShape.Points[navShape.Points.Length - 1], forbiddenConnection);
NavPoint previousPoint = lastPoint;
for (int i = 0; i < navShape.Points.Length - 1; ++i)
{
NavPoint point = new NavPoint(_ConnectionOrderId++, navShape.Points[i], forbiddenConnection);
_NavPoints.Add(point);
point.Neighbours.Add(previousPoint);
previousPoint.Neighbours.Add(point);
AddToConnectionDictionary(previousPoint, point);
forbiddenConnection.Add(point);
previousPoint = point;
}
_NavPoints.Add(lastPoint);
previousPoint.Neighbours.Add(lastPoint);
lastPoint.Neighbours.Add(previousPoint);
AddToConnectionDictionary(previousPoint, lastPoint);
forbiddenConnection.Add(lastPoint);
}