private static List <IRectangularF> GetLineOfSight(this IRectangularF from, IRectangularF to, List <IRectangularF> obstacles, float increment = .5f)
{
IRectangularF current = from;
var currentDistance = current.CalculateDistanceTo(to);
var a = current.Center().CalculateAngleTo(to.Center());
var path = new List <IRectangularF>();
while (currentDistance > increment)
{
current = RectangularF.Create(MoveTowards(current.Center(), a, increment), current);
current = RectangularF.Create(current.Left - current.Width / 2, current.Top - current.Height / 2, current.Width, current.Height);
foreach (var obstacle in obstacles)
{
if (obstacle == to || obstacle == from)
{
continue;
}
else if (obstacle.OverlapPercentage(current) > 0)
{
return(null);
}
}
path.Add(current);
currentDistance = current.CalculateDistanceTo(to);
}
return(path);
}
public static float CalculateNormalizedDistanceTo(IRectangularF a, IRectangularF b) => NormalizeQuantity(a.CalculateDistanceTo(b), a.CalculateAngleTo(b), true);
