/// <summary>
/// Create the grid with rectangluar cells
/// </summary>
/// <param name="mapmeta"></param>
private static void BuildMapGrid(MapMetaData mapmeta)
{
PosX = PosX = (int)mapmeta.CoordOriginX;
PosY = PosY = (int)mapmeta.CoordOriginY;
MapWidth = (int)mapmeta.Width;
MapHeight = (int)mapmeta.Height;
CellEdgeLength = (int)Math.Ceiling((double)MapWidth / Cellamount);
var currentx = PosX;
var currenty = PosY;
var cells = (MapHeight / CellEdgeLength) * (MapWidth / CellEdgeLength);
MapGrid = new MapGridCell[MapHeight / CellEdgeLength][];
for (int k = 0; k < MapGrid.Length; k++)
{
MapGrid[k] = new MapGridCell[MapWidth / CellEdgeLength];
for (int l = 0; l < MapGrid[k].Length; l++)
{
MapGrid[k][l] = new MapGridCell
{
Index_X = k,
Index_Y = l,
Bounds = new Rectangle2D(new Point2D(currentx, currenty), CellEdgeLength, CellEdgeLength),
Blocked = false
};
currentx += CellEdgeLength;
}
currentx = PosX;
currenty -= CellEdgeLength;
}
}
/// <summary>
/// Reads a map info file "<mapname>".txt and extracts the relevant data about the map
/// </summary>
/// <param name="path"></param>
public static MapMetaData ReadProperties(string path)
{
string line;
var fmt = new NumberFormatInfo();
fmt.NegativeSign = "-";
MapMetaData metadata = new MapMetaData();
using (var file = new StreamReader(path))
{
while ((line = file.ReadLine()) != null)
{
var resultString = Regex.Match(line, @"-?\d+").Value; //Match negative and positive int numbers
if (line.Contains("pos_x"))
{
metadata.CoordOriginX = double.Parse(resultString, fmt);
}
else if (line.Contains("pos_y"))
{
metadata.CoordOriginY = double.Parse(resultString, fmt);
}
else if (line.Contains("scale"))
{
metadata.scale = Double.Parse(resultString);
}
else if (line.Contains("rotate"))
{
metadata.rotate = Int32.Parse(resultString);
}
else if (line.Contains("zoom"))
{
metadata.zoom = Double.Parse(resultString);
}
else if (line.Contains("width"))
{
metadata.Width = double.Parse(resultString, fmt);
}
else if (line.Contains("height"))
{
metadata.Height = double.Parse(resultString, fmt);
}
}
file.Close();
}
return(metadata);
}
/// <summary>
/// This function takes a list of all registered points on the map and tries to
/// reconstruct a polygonal represenatation of the map with serveral levels
/// </summary>
/// <param name="ps"></param>
public static Map CreateMap(MapMetaData mapmeta, List <Point3D> ps)
{
PosX = (int)mapmeta.CoordOriginX;
PosY = (int)mapmeta.CoordOriginY;
MapWidth = (int)mapmeta.Width;
MapHeight = (int)mapmeta.Height;
CellEdgeLength = (int)Math.Ceiling((double)MapWidth / Cellamount);
var currentx = PosX;
var currenty = PosY;
var cells = (MapHeight / CellEdgeLength) * (MapWidth / CellEdgeLength);
MapGrid = new MapGridCell[MapHeight / CellEdgeLength][];
for (int k = 0; k < MapGrid.Length; k++)
{
MapGrid[k] = new MapGridCell[MapWidth / CellEdgeLength];
for (int l = 0; l < MapGrid[k].Length; l++)
{
MapGrid[k][l] = new MapGridCell
{
Index_X = k,
Index_Y = l,
Bounds = new Rectangle2D(new Point2D(currentx, currenty), CellEdgeLength, CellEdgeLength),
Blocked = false
};
currentx += CellEdgeLength;
}
currentx = PosX;
currenty -= CellEdgeLength;
}
// Create the map levels
MapLevel[] maplevels = CreateMapLevels(ps);
var map_width_x = ps.Max(point => point.X) - ps.Min(point => point.X);
var map_width_y = ps.Max(point => point.Y) - ps.Min(point => point.Y);
Console.WriteLine("Max x: " + ps.Max(point => point.X) + " Min x: " + ps.Min(point => point.X));
Console.WriteLine("Mapwidth in x-Range: " + map_width_x + " Mapwidth in y-Range: " + map_width_y);
return(new Map(map_width_x, map_width_y, maplevels));
}
/// <summary>
/// This function takes a list of all registered points on the map and tries to
/// reconstruct a polygonal represenatation of the map with serveral levels
/// </summary>
/// <param name="ps"></param>
public static Map CreateMap(MapMetaData mapmeta, List <Point3D> ps)
{
BuildMapGrid(mapmeta);
var min_z = ps.Min(point => point.Z);
var max_z = ps.Max(point => point.Z);
var maplevel = new MapLevel(0, min_z, max_z);
AssignCellTypes(maplevel, ps.ToArray());
MapLevel[] maplevels = new MapLevel[] { maplevel }; // This constructor only creates one maplevel
var map_width_x = ps.Max(point => point.X) - ps.Min(point => point.X);
var map_width_y = ps.Max(point => point.Y) - ps.Min(point => point.Y);
Console.WriteLine("Mapwidth in x-Range: " + map_width_x + " Mapwidth in y-Range: " + map_width_y);
return(new Map(map_width_x, map_width_y, maplevels));
}
