| public static DistancePointSegmentStrict ( Vector3 a, Vector3 b, Vector3 p ) : float | ||
| a | Vector3 | |
| b | Vector3 | |
| p | Vector3 | |
| return | float | |
public static void SimplifyPath2(IRaycastableGraph rcg, List <GraphNode> nodes, int start, int end, List <GraphNode> result, Vector3 startPoint, Vector3 endPoint)
{
int count = result.Count;
if (end <= start + 1)
{
result.Add(nodes[start]);
result.Add(nodes[end]);
return;
}
GraphHitInfo graphHitInfo;
if (rcg.Linecast(startPoint, endPoint, nodes[start], out graphHitInfo, result) || result[result.Count - 1] != nodes[end])
{
result.RemoveRange(count, result.Count - count);
int num = -1;
float num2 = float.PositiveInfinity;
for (int i = start + 1; i < end; i++)
{
float num3 = AstarMath.DistancePointSegmentStrict(startPoint, endPoint, (Vector3)nodes[i].position);
if (num == -1 || num3 < num2)
{
num = i;
num2 = num3;
}
}
RichFunnel.SimplifyPath2(rcg, nodes, start, num, result, startPoint, (Vector3)nodes[num].position);
result.RemoveAt(result.Count - 1);
RichFunnel.SimplifyPath2(rcg, nodes, num, end, result, (Vector3)nodes[num].position, endPoint);
}
}
public static void SimplifyPath3(IRaycastableGraph rcg, List <GraphNode> nodes, int start, int end, List <GraphNode> result, Vector3 startPoint, Vector3 endPoint, int depth = 0)
{
if (start == end)
{
result.Add(nodes[start]);
return;
}
if (start + 1 == end)
{
result.Add(nodes[start]);
result.Add(nodes[end]);
return;
}
int count = result.Count;
GraphHitInfo graphHitInfo;
if (rcg.Linecast(startPoint, endPoint, nodes[start], out graphHitInfo, result) || result[result.Count - 1] != nodes[end])
{
result.RemoveRange(count, result.Count - count);
int num = 0;
float num2 = 0f;
for (int i = start + 1; i < end - 1; i++)
{
float num3 = AstarMath.DistancePointSegmentStrict(startPoint, endPoint, (Vector3)nodes[i].position);
if (num3 > num2)
{
num = i;
num2 = num3;
}
}
int num4 = (num + start) / 2;
int num5 = (num + end) / 2;
if (num4 == num5)
{
RichFunnel.SimplifyPath3(rcg, nodes, start, num4, result, startPoint, (Vector3)nodes[num4].position, 0);
result.RemoveAt(result.Count - 1);
RichFunnel.SimplifyPath3(rcg, nodes, num4, end, result, (Vector3)nodes[num4].position, endPoint, depth + 1);
}
else
{
RichFunnel.SimplifyPath3(rcg, nodes, start, num4, result, startPoint, (Vector3)nodes[num4].position, depth + 1);
result.RemoveAt(result.Count - 1);
RichFunnel.SimplifyPath3(rcg, nodes, num4, num5, result, (Vector3)nodes[num4].position, (Vector3)nodes[num5].position, depth + 1);
result.RemoveAt(result.Count - 1);
RichFunnel.SimplifyPath3(rcg, nodes, num5, end, result, (Vector3)nodes[num5].position, endPoint, depth + 1);
}
}
}
public static void SimplifyPath2(IRaycastableGraph rcg, List <GraphNode> nodes, int start, int end, List <GraphNode> result, Vector3 startPoint, Vector3 endPoint)
{
int resCount = result.Count;
//Debug.DrawLine (startPoint, endPoint, Color.black);
//Debug.Break();
if (end <= start + 1)
{
result.Add(nodes[start]);
result.Add(nodes[end]);
//t--;
return;
}
GraphHitInfo hit;
if ((rcg.Linecast(startPoint, endPoint, nodes[start], out hit, result) || result[result.Count - 1] != nodes[end]))
{
//System.Console.WriteLine ("Hit");
//Obstacle
//Refine further
result.RemoveRange(resCount, result.Count - resCount);
int minDistNode = -1;
float minDist = float.PositiveInfinity;
for (int i = start + 1; i < end; i++)
{
float dist = AstarMath.DistancePointSegmentStrict(startPoint, endPoint, (Vector3)nodes[i].position);
if (minDistNode == -1 || dist < minDist)
{
minDistNode = i;
minDist = dist;
}
}
SimplifyPath2(rcg, nodes, start, minDistNode, result, startPoint, (Vector3)nodes[minDistNode].position);
//Remove start node of next part so that it is not added twice
result.RemoveAt(result.Count - 1);
SimplifyPath2(rcg, nodes, minDistNode, end, result, (Vector3)nodes[minDistNode].position, endPoint);
}
}
public static void SimplifyPath3(IRaycastableGraph rcg, List <GraphNode> nodes, int start, int end, List <GraphNode> result, Vector3 startPoint, Vector3 endPoint, int depth = 0)
{
if (start == end)
{
result.Add(nodes[start]);
return;
}
if (start + 1 == end)
{
result.Add(nodes[start]);
result.Add(nodes[end]);
return;
}
int resCount = result.Count;
GraphHitInfo hit;
bool linecast = rcg.Linecast(startPoint, endPoint, nodes[start], out hit, result);
if (linecast || result[result.Count - 1] != nodes[end])
{
//Debug.DrawLine (startPoint, endPoint, Color.black);
//Obstacle
//Refine further
result.RemoveRange(resCount, result.Count - resCount);
int maxDistNode = 0;
float maxDist = 0;
for (int i = start + 1; i < end - 1; i++)
{
float dist = AstarMath.DistancePointSegmentStrict(startPoint, endPoint, (Vector3)nodes[i].position);
if (dist > maxDist)
{
maxDistNode = i;
maxDist = dist;
}
}
int mid1 = (maxDistNode + start) / 2;
int mid2 = (maxDistNode + end) / 2;
if (mid1 == mid2)
{
SimplifyPath3(rcg, nodes, start, mid1, result, startPoint, (Vector3)nodes[mid1].position);
//Remove start node of next part so that it is not added twice
result.RemoveAt(result.Count - 1);
SimplifyPath3(rcg, nodes, mid1, end, result, (Vector3)nodes[mid1].position, endPoint, depth + 1);
}
else
{
SimplifyPath3(rcg, nodes, start, mid1, result, startPoint, (Vector3)nodes[mid1].position, depth + 1);
//Remove start node of next part so that it is not added twice
result.RemoveAt(result.Count - 1);
SimplifyPath3(rcg, nodes, mid1, mid2, result, (Vector3)nodes[mid1].position, (Vector3)nodes[mid2].position, depth + 1);
//Remove start node of next part so that it is not added twice
result.RemoveAt(result.Count - 1);
SimplifyPath3(rcg, nodes, mid2, end, result, (Vector3)nodes[mid2].position, endPoint, depth + 1);
}
}
}
