void PolygonIntersect()
{
//相交检测
BeginSample("PolygonIntersect - SegmentIntersect");
this.SortByXcoordinate(segments);
List <Segment> removeList = new List <Segment> (segments.Count / 2);
Dictionary <Segment, intersectCls> SegPointsdict = new Dictionary <Segment, intersectCls> (segments.Count / 2);
Dictionary <KInt2, HashSet <Segment> > dic = new Dictionary <KInt2, HashSet <Segment> >();
for (int i = 0; i < segments.Count; ++i)
{
Segment firstline = segments [i];
for (int j = i + 1; j < segments.Count; ++j)
{
Segment secondline = segments [j];
if (firstline.MinX > secondline.MaxX)
{
break;
}
long maxminy = KMath.Max(segments[i].MinY, segments[j].MinY);
long minmaxy = KMath.Min(segments[i].MaxY, segments[j].MaxY);
if (maxminy > minmaxy)
{
continue;
}
KInt2 result;
if (!firstline.isConnect(secondline) && Segment.Intersect(firstline.start, firstline.end, secondline.start, secondline.end, out result))
{
if (dic.ContainsKey(result))
{
dic[result].Add(firstline);
dic[result].Add(secondline);
}
else
{
HashSet <Segment> hashdata = new HashSet <Segment>();
hashdata.Add(firstline);
hashdata.Add(secondline);
dic[result] = hashdata;
}
if (firstline.start != result && firstline.end != result)
{
if (SegPointsdict.ContainsKey(firstline))
{
SegPointsdict [firstline].points.TryAdd(result);
}
else
{
intersectCls data = new intersectCls();
data.points.Add(result);
data.intersectseg = secondline;
SegPointsdict [firstline] = data;
}
removeList.Add(firstline);
}
if (secondline.start != result && secondline.end != result)
{
if (SegPointsdict.ContainsKey(secondline))
{
SegPointsdict [secondline].points.TryAdd(result);
}
else
{
intersectCls data = new intersectCls();
data.points.Add(result);
data.intersectseg = firstline;
SegPointsdict [secondline] = data;
}
removeList.Add(secondline);
}
// LogMgr.LogError("first =>" + firstline.uid + " => " + secondline.uid);
}
}
ShowProgress("相交检测", (float)i / segments.Count);
}
EndSample();
//remove old segments 即使有重复也无所谓，减少多次检查的开销
for (int i = 0; i < removeList.Count; ++i)
{
segments.Remove(removeList [i]);
}
BeginSample("PolygonIntersect - SortAndAdd2Segments");
SortAndAdd2Segments(SegPointsdict);
EndSample();
DefineIDforSegments(segments);
//
BeginSample("Build - TriangleTree");
tree = new TriangleTree();
tree.Build(ObsTriangles, 2);
EndSample();
//
List <NavmeshTriangle> testtriangles = new List <NavmeshTriangle> (10);
List <KInt2> nearestidxs = new List <KInt2>(10);
removeList.Clear();
BeginSample("Build - Test Triangle");
for (int i = 0; i < segments.Count; ++i)
{
Segment seg = segments [i];
testtriangles.Clear();
nearestidxs.Clear();
tree.ball_queryPoints((seg.start + seg.end) / 2, Seekrange, nearestidxs);
for (int k = 0; k < nearestidxs.Count; ++k)
{
List <NavmeshTriangle> list = point2triangle [nearestidxs [k]];
for (int v = 0; v < list.Count; ++v)
{
testtriangles.Add(list [v]);
}
}
ShowProgress("获取邻近三角形", (float)i / segments.Count);
TriangleCheck(testtriangles, dic, removeList, seg);
}
EndSample();
//
#if UNITY_EDITOR
willremoveList.AddRange(removeList);
#endif
for (int i = 0; i < removeList.Count; ++i)
{
segments.Remove(removeList [i]);
}
}
void Add2Rvo()
{
BeginSample("Add2Rvo");
float firsttime = Time.realtimeSinceStartup;
if (ExactMode == ExactType.ZERO)
{
BeginSample("ZERO COST");
int[] uses = new int[20];
for (int i = 0; i < ObsTriangles.Length; i++)
{
NavmeshTriangle node = ObsTriangles [i];
uses [0] = uses [1] = uses [2] = 0;
if (node != null)
{
for (int j = 0; j < node.connections.Count; j++)
{
NavmeshTriangle other = node.connections [j];
if (other != null)
{
int a = node.SharedEdge(other);
if (a != -1)
{
uses [a] = 1;
}
}
}
for (int j = 0; j < 3; j++)
{
if (uses [j] == 0)
{
var v1 = node.GetVertex(j);
var v2 = node.GetVertex((j + 1) % 3);
Simulator.Instance.addObstacle(v1, v2);
}
}
}
ShowProgress("插入障碍点", (float)i / (ObsTriangles.Length));
}
EndSample();
}
if (ExactMode >= ExactType.ONE)
{
BeginSample("Buildsegments");
Buildsegments();
EndSample();
BeginSample("RemoveUnused");
RemoveUnused();
EndSample();
BeginSample("PushSegmentstoObstacles");
PushSegmentstoObstacles();
EndSample();
}
ShowProgress("准备构建ObstacleTree", 0);
float time = Time.realtimeSinceStartup;
BeginSample("processObstacles");
if (processObstacles)
{
Simulator.Instance.processObstacles();
}
EndSample();
LogMgr.LogFormat("Add2Rvo cost :{0} processObstacles cost :{1} ", Time.realtimeSinceStartup - firsttime, Time.realtimeSinceStartup - time);
ShowProgress("构建ObstacleTree 完成", 1);
this.ClearProgressBar();
EndSample();
#if !UNITY_EDITOR
ObsTriangles = null;
segments = null;
tree = null;
point2triangle = null;
#else
if (ObstacleDebug >= DebugMode.ShowAll && UnityEditor.EditorUtility.DisplayDialog("tips", "export kdtree asset or not ?", "OK", "NO"))
{
string assetpath = UnityEditor.EditorUtility.SaveFilePanelInProject("save", "kdtree", "asset", "please enter a filename");
if (!string.IsNullOrEmpty(assetpath))
{
KdtreeAsset node = ScriptableObject.CreateInstance <KdtreeAsset> ();
ScriptCommand cmd = ScriptCommand.Create((int)FrameWorkCmdDefine.GET_KDTREE);
cmd.Excute();
ScriptCommand obscmd = ScriptCommand.Create((int)FrameWorkCmdDefine.GET_OBSTACLES);
obscmd.Excute();
KdTree tree = cmd.ReturnParams.ReadObject() as KdTree;
IList <Obstacle> obstacles = obscmd.ReturnParams.ReadObject() as IList <Obstacle>;
node.CreateKdtree(tree, obstacles);
cmd.Release(true);
obscmd.Release(true);
UnityEditor.AssetDatabase.CreateAsset(node, assetpath);
}
}
#endif
}
