internal bool Combine ( EyeableBorderObjInfo borderObjInfo )
{
bool objUpdated = false;
if (borderObjInfo.eyeableInfo.Pos != this.eyeableInfo.Pos)
objUpdated = true;
this.eyeableInfo = borderObjInfo.eyeableInfo;
if (this.border.Combine( borderObjInfo.border.VisiBorder ))
objUpdated = true;
isDisappeared = false;
return objUpdated;
}
//public NavigateMap NavigateMap
//{
// get { return naviMap; }
//}
internal bool ApplyEyeableBorderObjInfo ( EyeableBorderObjInfo objInfo )
{
bool objUpdated = false;
if (memoryObjs.ContainsKey( objInfo.Obj ))
{
if (memoryObjs[objInfo.Obj].Combine( objInfo ))
objUpdated = true;
}
else
{
memoryObjs.Add( objInfo.Obj, objInfo );
objUpdated = true;
}
return objUpdated;
}
internal bool Combine(EyeableBorderObjInfo borderObjInfo)
{
bool objUpdated = false;
if (borderObjInfo.eyeableInfo.Pos != this.eyeableInfo.Pos)
{
objUpdated = true;
}
this.eyeableInfo = borderObjInfo.eyeableInfo;
if (this.border.Combine(borderObjInfo.border.VisiBorder))
{
objUpdated = true;
}
isDisappeared = false;
return(objUpdated);
}
//public NavigateMap NavigateMap
//{
// get { return naviMap; }
//}
internal bool ApplyEyeableBorderObjInfo(EyeableBorderObjInfo objInfo)
{
bool objUpdated = false;
if (memoryObjs.ContainsKey(objInfo.Obj))
{
if (memoryObjs[objInfo.Obj].Combine(objInfo))
{
objUpdated = true;
}
}
else
{
memoryObjs.Add(objInfo.Obj, objInfo);
objUpdated = true;
}
return(objUpdated);
}
public NaviPoint(EyeableBorderObjInfo objInfo, int index, Vector2 pos)
{
this.objInfo = objInfo;
this.index = index;
this.pos = pos;
}
public void BorderObjUpdated(EyeableBorderObjInfo[] borderObjInfo)
{
if (onBorderObjUpdated != null)
onBorderObjUpdated(borderObjInfo);
}
public EyeableBorderObjInfo[] GetEyeableBorderObjInfos()
{
EyeableBorderObjInfo[] result = new EyeableBorderObjInfo[memoryObjs.Values.Count];
memoryObjs.Values.CopyTo(result, 0);
return(result);
}
public NaviPoint ( EyeableBorderObjInfo objInfo, int index, Vector2 pos )
{
this.objInfo = objInfo;
this.index = index;
this.pos = pos;
}
public void BuildMap ( EyeableBorderObjInfo[] objInfos, Rectanglef mapBorder, float spaceForTank )
{
#region 对每一个BorderObj生成逻辑坐标上的凸包点集，并向外扩展
borderLines = new List<Segment>();
convexs = new List<GuardConvex>();
foreach (EyeableBorderObjInfo obj in objInfos)
{
if (obj.ConvexHall == null || obj.IsDisappeared || obj.ConvexHall.Points == null)
continue;
Matrix matrix = obj.EyeableInfo.CurTransMatrix;
GraphPoint<NaviPoint>[] convexHall;
List<BordPoint> bordPoints = obj.ConvexHall.Points;
if (bordPoints.Count > 2)
{
List<GraphPoint<NaviPoint>> list = new List<GraphPoint<NaviPoint>>();
for (int i = 0; i < bordPoints.Count; i++)
{
Vector2 lastPos = Vector2.Transform( ConvertHelper.PointToVector2( bordPoints[i - 1 < 0 ? bordPoints.Count - 1 : i - 1].p ), matrix );
Vector2 curPos = Vector2.Transform( ConvertHelper.PointToVector2( bordPoints[i].p ), matrix );
Vector2 nextPos = Vector2.Transform( ConvertHelper.PointToVector2( bordPoints[(i + 1) % bordPoints.Count].p ), matrix );
Vector2 v1 = curPos - lastPos;
Vector2 v2 = curPos - nextPos;
float ang = MathTools.AngBetweenVectors( v1, v2 );
if (ang >= MathHelper.PiOver2)
{
float halfDes = (float)(spaceForTank / Math.Sin( ang ));
Vector2 delta = halfDes * Vector2.Normalize( v1 ) + halfDes * Vector2.Normalize( v2 );
list.Add( new GraphPoint<NaviPoint>(
new NaviPoint( obj, bordPoints[i].index, curPos + delta ), new List<GraphPath<NaviPoint>>() ) );
}
else
{
v1.Normalize();
v2.Normalize();
Vector2 cenV = Vector2.Normalize( v1 + v2 );
Vector2 vertiV = new Vector2( cenV.Y, -cenV.X );
float ang2 = MathHelper.PiOver4 - 0.25f * ang;
float vertiL = (float)(spaceForTank * Math.Tan( ang2 ));
list.Add( new GraphPoint<NaviPoint>(
new NaviPoint( obj, bordPoints[i].index, curPos + spaceForTank * cenV + vertiL * vertiV ),
new List<GraphPath<NaviPoint>>() ) );
list.Add( new GraphPoint<NaviPoint>(
new NaviPoint( obj, bordPoints[i].index, curPos + spaceForTank * cenV - vertiL * vertiV ),
new List<GraphPath<NaviPoint>>() ) );
}
// 添加borderLine
borderLines.Add( new Segment( curPos, nextPos ) );
}
convexHall = list.ToArray();
convexs.Add( new GuardConvex( convexHall ) );
}
else if (bordPoints.Count == 2)
{
convexHall = new GraphPoint<NaviPoint>[4];
Vector2 startPos = Vector2.Transform( ConvertHelper.PointToVector2( bordPoints[0].p ), matrix );
Vector2 endPos = Vector2.Transform( ConvertHelper.PointToVector2( bordPoints[1].p ), matrix );
Vector2 dir = endPos - startPos;
dir.Normalize();
Vector2 normal = new Vector2( dir.Y, -dir.X );
convexHall[0] = new GraphPoint<NaviPoint>(
new NaviPoint( obj, bordPoints[0].index, startPos - dir * spaceForTank ), new List<GraphPath<NaviPoint>>() );
convexHall[1] = new GraphPoint<NaviPoint>(
new NaviPoint( obj, bordPoints[0].index, startPos + spaceForTank * normal ), new List<GraphPath<NaviPoint>>() );
convexHall[2] = new GraphPoint<NaviPoint>(
new NaviPoint( obj, bordPoints[1].index, endPos + spaceForTank * normal ), new List<GraphPath<NaviPoint>>() );
convexHall[3] = new GraphPoint<NaviPoint>(
new NaviPoint( obj, bordPoints[1].index, endPos + dir * spaceForTank ), new List<GraphPath<NaviPoint>>() );
//if (float.IsNaN( convexHall[0].value.Pos.X ) || float.IsNaN( convexHall[1].value.Pos.X ))
//{
//}
// 添加borderLine
borderLines.Add( new Segment( startPos, endPos ) );
convexs.Add( new GuardConvex( convexHall ) );
}
}
#endregion
#region 得到警戒线
guardLines = new List<Segment>();
foreach (GuardConvex convex in convexs)
{
for (int i = 0; i < convex.points.Length; i++)
{
guardLines.Add( new Segment( convex[i].value.Pos, convex[(i + 1) % convex.Length].value.Pos ) );
//if (float.IsNaN( convex[i].value.Pos.X ))
//{
//}
}
}
mapBorder = new Rectanglef( mapBorder.X + spaceForTank, mapBorder.Y + spaceForTank,
mapBorder.Width - 2 * spaceForTank, mapBorder.Height - 2 * spaceForTank );
guardLines.Add( new Segment( mapBorder.UpLeft, mapBorder.UpRight ) );
guardLines.Add( new Segment( mapBorder.UpRight, mapBorder.DownRight ) );
guardLines.Add( new Segment( mapBorder.DownRight, mapBorder.DownLeft ) );
guardLines.Add( new Segment( mapBorder.DownLeft, mapBorder.UpLeft ) );
#endregion
#region 检查凸包内部连线是否和警戒线相交,如不相交则连接该连线并计算权值
foreach (GuardConvex convex in convexs)
{
for (int i = 0; i < convex.Length; i++)
{
// 检查连线是否超出边界
if (!mapBorder.Contains( convex[i].value.Pos ))
continue;
Segment link = new Segment( convex[i].value.Pos, convex[(i + 1) % convex.Length].value.Pos );
bool isCross = false;
foreach (Segment guardLine in guardLines)
{
if (link.Equals( guardLine ))
continue;
if (Segment.IsCross( link, guardLine ))
{
isCross = true;
break;
}
}
if (!isCross)
{
float weight = Vector2.Distance( convex[i].value.Pos, convex[(i + 1) % convex.Length].value.Pos );
//if (float.IsNaN( weight ))
//{
//}
GraphPoint<NaviPoint>.Link( convex[i], convex[(i + 1) % convex.Length], weight );
}
}
}
#endregion
#region 检查凸包之间连线是否与警戒线以及边界线相交，如不相交则连接并计算权值
for (int i = 0; i < convexs.Count - 1; i++)
{
for (int j = i + 1; j < convexs.Count; j++)
{
foreach (GraphPoint<NaviPoint> p1 in convexs[i].points)
{
// 检查连线是否超出边界
if (!mapBorder.Contains( p1.value.Pos ))
continue;
foreach (GraphPoint<NaviPoint> p2 in convexs[j].points)
{
Segment link = new Segment( p1.value.Pos, p2.value.Pos );
bool isCross = false;
foreach (Segment guardLine in guardLines)
{
if (Segment.IsCross( link, guardLine ))
{
isCross = true;
break;
}
}
if (!isCross)
{
foreach (Segment borderLine in borderLines)
{
if (Segment.IsCross( link, borderLine ))
{
isCross = true;
break;
}
}
}
if (!isCross)
{
float weight = Vector2.Distance( p1.value.Pos, p2.value.Pos );
//if (float.IsNaN( weight ))
//{
//}
GraphPoint<NaviPoint>.Link( p1, p2, weight );
}
}
}
}
}
#endregion
#region 整理导航图
List<GraphPoint<NaviPoint>> points = new List<GraphPoint<NaviPoint>>();
foreach (GuardConvex convex in convexs)
{
foreach (GraphPoint<NaviPoint> p in convex.points)
{
points.Add( p );
}
}
naviGraph = points.ToArray();
#endregion
}
public NavigateMap ( EyeableBorderObjInfo[] objInfos, Rectanglef mapBorder, float spaceForTank )
{
BuildMap( objInfos, mapBorder, spaceForTank );
}
void orderServer_onBorderObjUpdated ( EyeableBorderObjInfo[] borderObjInfos )
{
}
void OnBorderObjUpdated( EyeableBorderObjInfo[] borderObjInfos )
{
UpdateNaviMap();
foreach (EyeableBorderObjInfo obj in orderServer.EyeableBorderObjInfos)
{
obj.UpdateConvexHall( orderServer.TankWidth );
}
if (hasOrder)
{
if (!naviMap.PointInConvexs( aimPos ))
{
// 由于使用A*算法计算路径的方法已经被NavigateMap收录，故这里用NavigateMap的方法替换了原来的方法。
//CalPath();
path = naviMap.CalPathUseAStar( orderServer.Pos, aimPos );
curPathIndex = 0;
MoveToNextKeyPoint();
}
else
{
hasOrder = false;
action.StopMove();
action.StopRota();
path = new NaviPoint[0] { };
}
}
}
public EyeableBorderObjInfo[] GetEyeableBorderObjInfos ()
{
EyeableBorderObjInfo[] result = new EyeableBorderObjInfo[memoryObjs.Values.Count];
memoryObjs.Values.CopyTo( result, 0 );
return result;
}
