private WayPointInfo[][] GenerateWayPoints(Vector2f[] points, int radius)
{
int step = 1;
int count = 2 * (int)(2 * Math.PI * radius);
int preCount = (int)(count * 0.9);
int postCount = (int)(count * 0.1);
WayPointInfo[][] result = new WayPointInfo[points.Length][];
for (int i = 0; i < points.Length; i++)
{
result[i] = new WayPointInfo[count];
int r = radius;
for (int j = 0; j < preCount; j++)
{
double angle = j * Math.PI * 2 / count;
result[i][j] = new WayPointInfo(j == 0 ? null : result[i][j - 1], new Vector2f(points[i].X + (float)(Math.Sin(angle) * r), points[i].Y + (float)(Math.Cos(angle) * r)));
}
for (int j = preCount; j < count; j++)
{
result[i][j] = new WayPointInfo(result[i][preCount - 1], new Vector2f(
result[i][preCount - 1].Point.X - (result[i][preCount - 1].Point.X - result[i][0].Point.X) * (j - (preCount - 1)) / postCount,
result[i][preCount - 1].Point.Y - (result[i][preCount - 1].Point.Y - result[i][0].Point.Y) * (j - (preCount - 1)) / postCount));
}
result[i][0] = new WayPointInfo(result[i][count - 1], result[i][0].Point);
if (rnd.Next(0, 2) == 0)
{
Array.Reverse(result[i]);
foreach (var info in result[i])
{
info.Angle = info.Angle >= 0 ? info.Angle - Math.PI : info.Angle + Math.PI;
}
}
}
return(result);
}
public WayPointInfo(WayPointInfo prevPoint, Vector2f point)
{
Point = point;
if (prevPoint != null)
{
float xDiff = point.X - prevPoint.Point.X;
float yDiff = point.Y - prevPoint.Point.Y;
Angle = Math.Atan2(yDiff, xDiff);//*180.0/Math.PI;
}
}
