List <Point> GetPfsPath(Vector2 unitCoords, Vector2 finPoint)
{
//Now find path to that point:
var pathFinder = new PathFinder();
var mapGenerator = GameObject.Find("ObstaclesMapGenerator").GetComponent <ObstaclesMapGenerator>();
CoordConverter = new TileCoordSystemConverter(mapGenerator.WorldSize, mapGenerator.CellSize);
Point start = CoordConverter.UW_To_PFS(unitCoords);
Point goal = CoordConverter.UW_To_PFS(finPoint);
var pfsPath = pathFinder.FindPath(start, goal);
return(pfsPath);
}
/// <summary>
/// Возвращает долю занятой поверхности
/// тайла с коорд. tileCoords коллайдером
/// с точками colliderPoints.
/// Помимо этого коллайдера, учитывает также
/// коллайдер тайла-препятствия, если таковой на этом тайле присутствует
/// </summary>
/// <param name="tileCoords"></param>
/// <param name="currentColliderIndex"></param>
/// <param name="colliderPoints"></param>
/// <param name="resultArray"></param>
/// <param name="currentColliderGameObject"></param>
void ProcessTileDuringMapGeneration
(
Point tileCoords
, int currentColliderIndex
, List <Vector2> colliderPoints
, double[,] resultArray
, GameObject currentColliderGameObject
)
{
int tx = tileCoords.X, ty = tileCoords.Y, i = currentColliderIndex;
var coordSystemConverter = new TileCoordSystemConverter(WorldSize, CellSize);
Point usCoords = new Point(tx, ty);
Point pfsCoords = coordSystemConverter.US_To_PFS(usCoords);
//Сразу же проверим, является ли этот тайл тайлом-препятствием
//И если да, то возвращаем 1 - полностью занятый тайл
if (TileIsObstacle(usCoords))
{
resultArray[pfsCoords.X, pfsCoords.Y] = 1f;
return;
}
var cell = GetVerticesOfCell(usCoords);
ClipperForFloats clipper = new ClipperForFloats();
clipper.AddPolygon(cell, PolyType.ptSubject);
clipper.AddPolygon(colliderPoints, PolyType.ptClip);
double intersectionArea = clipper.GetIntersectionArea();
double occupiedFraction = intersectionArea / CellArea;
var intersectionInfo = new ColliderAndCellIntersectionInfo
(
occupiedFraction,
tileCoords,
currentColliderGameObject,
i
);
//-------------------------------------------------------------
//if (intersectionInfo.CellFraction != 0
// && !currentColliderGameObject.name.ToLower().Contains("letov"))
//{
// Debug.Log(intersectionInfo);
// Debug.Log("Cell (World):" + StringManipulation.ListToString(cell));
// Debug.Log($"Cell (US): {tileCoords}");
// Debug.Log("Collider points (World): " + StringManipulation.ListToString<Vector2>(colliderPoints));
//}
//-------------------------------------------------------------
resultArray[pfsCoords.X, pfsCoords.Y] += occupiedFraction;
}
protected bool PointIsOccupied(Vector2 uwPoint)
{
var mapGenerator = GameObject.Find("ObstaclesMapGenerator").GetComponent <ObstaclesMapGenerator>();
var converter = new TileCoordSystemConverter(mapGenerator.WorldSize, mapGenerator.CellSize);
var usPoint = converter.UW_To_US(uwPoint);
var tileAtLocation = Map.GetTile(new Vector3Int(usPoint.X, usPoint.Y, 0));
bool result = tileAtLocation != null;
if (result)
{
return(result);
}
//bool result = false;
var colliderOnPoint = Physics2D.OverlapCircle(uwPoint, 0.01f, 0, -100f, 100f);
result = colliderOnPoint != null;
return(result);
}
