// Helper: leftOf(segment, point) returns true if point is "left"
// of segment treated as a vector. Note that this assumes a 2D
// coordinate system in which the Y axis grows downwards, which
// matches common 2D graphics libraries, but is the opposite of
// the usual convention from mathematics and in 3D graphics
// libraries.
public static bool GetIsLeft(Segment s, Vector2 p)
{
// This is based on a 3d cross product, but we don't need to
// use z coordinate inputs (they're 0), and we only need the
// sign. If you're annoyed that cross product is only defined
// in 3d, see "outer product" in Geometric Algebra.
// <http://en.wikipedia.org/wiki/Geometric_algebra>
var cross =
(s.End.Point.x - s.Start.Point.x) * (p.y - s.Start.Point.y)
- (s.End.Point.y - s.Start.Point.y) * (p.x - s.Start.Point.x);
return cross < 0;
// Also note that this is the naive version of the test and
// isn't numerically robust. See
// <https://github.com/mikolalysenko/robust-arithmetic> for a
// demo of how this fails when a point is very close to the
// line.
}
// Helper: do we know that segment a is in front of b?
// Implementation not anti-symmetric (that is to say,
// _segment_in_front_of(a, b) != (!_segment_in_front_of(b, a)).
// Also note that it only has to work in a restricted set of cases
// in the visibility algorithm; I don't think it handles all
// cases. See http://www.redblobgames.com/articles/visibility/segment-sorting.html
public static IntersectionResult IsInFrontOf(Segment a, Segment b, Vector2 relativeTo)
{
// NOTE: we slightly shorten the segments so that
// intersections of the endpoints (common) don't count as
// intersections in this algorithm
const float epsilon = 0.01f;
bool A1 = ShadowMathUtils.GetIsLeft(a, ShadowMathUtils.Interpolate(b.Start.Point, b.End.Point, epsilon));
bool A2 = ShadowMathUtils.GetIsLeft(a, ShadowMathUtils.Interpolate(b.End.Point, b.Start.Point, epsilon));
bool A3 = ShadowMathUtils.GetIsLeft(a, relativeTo);
bool B1 = ShadowMathUtils.GetIsLeft(b, ShadowMathUtils.Interpolate(a.Start.Point, a.End.Point, epsilon));
bool B2 = ShadowMathUtils.GetIsLeft(b, ShadowMathUtils.Interpolate(a.End.Point, a.Start.Point, epsilon));
bool B3 = ShadowMathUtils.GetIsLeft(b, relativeTo);
// NOTE: this algorithm is probably worthy of a short article
// but for now, draw it on paper to see how it works. Consider
// the line A1-A2. If both B1 and B2 are on one side and
// relativeTo is on the other side, then A is in between the
// viewer and B. We can do the same with B1-B2: if A1 and A2
// are on one side, and relativeTo is on the other side, then
// B is in between the viewer and A.
if (B1 == B2 && B2 != B3) return IntersectionResult.InFront;
if (A1 == A2 && A2 == A3) return IntersectionResult.InFront;
if (A1 == A2 && A2 != A3) return IntersectionResult.Behind;
if (B1 == B2 && B2 == B3) return IntersectionResult.Behind;
// If A1 != A2 and B1 != B2 then we have an intersection.
// Expose it for the GUI to show a message. A more robust
// implementation would split segments at intersections so
// that part of the segment is in front and part is behind.
//demo_intersectionsDetected.push([a.p1, a.p2, b.p1, b.p2]);
return IntersectionResult.Intersects;
// NOTE: previous implementation was a.d < b.d. That's simpler
// but trouble when the segments are of dissimilar sizes. If
// you're on a grid and the segments are similarly sized, then
// using distance will be a simpler and faster implementation.
}
private void Split(Segment segment, Vector2 middle, Queue<Segment> open)
{
Vector2 start = segment.Start.Point;
Vector2 end = segment.End.Point;
//Debug.LogFormat("Splitting {0}-{1} at {2}", start, end, middle);
open.Enqueue(new Segment(start, middle));
open.Enqueue(new Segment(middle, end));
//Segment endSegment = new Segment(position, segment.End.Point);
//segment.End.Point = position;
//open.Enqueue(segment);
//open.Enqueue(endSegment);
}
private void AddTriangle(float angle1, float angle2, Segment segment, Segment previous)
{
Vector2 delta1 = new Vector2(Mathf.Cos(angle1), Mathf.Sin(angle1));
Vector2 delta2 = new Vector2(Mathf.Cos(angle2), Mathf.Sin(angle2));
Vector2 p1 = Center;
Vector2 p2 = p1 + delta1;
Vector2 p3 = new Vector2(0.0f, 0.0f);
Vector2 p4 = new Vector2(0.0f, 0.0f);
Gizmos.color = Color.blue;
if (segment != null)
{
// Stop the triangle at the intersecting segment
p3 = segment.Start.Point;
p4 = segment.End.Point;
}
else
{
// Stop the triangle at a fixed distance; this probably is
// not what we want, but it never gets used in the demo
p3 = p1 + delta1 * 500;
p4 = p1 + delta2 * 500;
}
Vector2 pBegin = ShadowMathUtils.LineIntersection(p3, p4, p1, p2);
p2 = p1 + delta2;
Vector2 pEnd = ShadowMathUtils.LineIntersection(p3, p4, p1, p2);
if (_drawGizmos)
{
Gizmos.color = Color.green;
Gizmos.DrawLine(p1, pBegin);
Gizmos.DrawLine(p2, pEnd);
//Gizmos.DrawLine(pBegin, pEnd);
Gizmos.color = Color.yellow;
Gizmos.DrawSphere(pBegin, 0.1f);
Gizmos.color = Color.blue;
Gizmos.DrawSphere(pEnd, 0.1f);
}
if (previous != null
&& ShadowMathUtils.Approximately(segment.Slope, previous.Slope)
&& ShadowMathUtils.Approximately(Output.Last(),pBegin))
{
// It's a continuation of the previous segment!
Output.RemoveAt(Output.Count-1);
Output.Add(pEnd);
}
else
{
Output.Add(pBegin);
Output.Add(pEnd);
}
}
public EndPoint(Vector2 point, Segment segment)
{
Point = point;
Segment = segment;
}
public static SideTestResult SideTest(Segment s, Vector2 p)
{
float cross =
(s.End.Point.x - s.Start.Point.x) * (p.y - s.Start.Point.y)
- (s.End.Point.y - s.Start.Point.y) * (p.x - s.Start.Point.x);
if (Math.Abs(cross) < 0.00001f)
{
return SideTestResult.On;
}
if (cross < 0)
{
return SideTestResult.Left;
}
return SideTestResult.Right;
}