/// <summary>
/// Converts a rectangle into an equivalent polygon
/// </summary>
/// <param name="r"></param>
/// <returns></returns>
public static Polygon GetFromRectangle(Rectangle r)
{
Polygon tmp = new Polygon(UNIT_SQUARE(), LocationManager.getVectorFromPoint(r.Center), 0);
tmp.Scale(r.Width, r.Height);
return(tmp);
}
protected static bool[,] ScanOctant(Point Source, bool[,] World, bool[,] Ret, int pDepth, int pOctant, double pStartSlope, double pEndSlope, int range)
{
int visrange2 = range * range;
int x = 0;
int y = 0;
switch (pOctant)
{
case 1: //nnw // 0, -1
// -1, 0
y = Source.Y - pDepth;
if (y < 0)
{
return(Ret);
}
x = Source.X - Convert.ToInt32((pStartSlope * Convert.ToDouble(pDepth)));
if (x < 0)
{
x = 0;
}
while (GetSlope(x, y, Source.X, Source.Y, false) >= pEndSlope)
{
if (LocationManager.distanceCheck(LocationManager.getVectorFromPoint(Source), new Vector2(x, y), range))
{
Ret[x, y] = true;
if (World[x, y]) //current cell blocked
{
if (x - 1 >= 0 && !World[x - 1, y]) //prior cell within range AND open...
//...incremenet the depth, adjust the endslope and recurse
{
ScanOctant(Source, World, Ret, pDepth + 1, pOctant, pStartSlope, GetSlope(x - 0.5, y + 0.5, Source.X, Source.Y, false), range);
}
}
else
{
if (x - 1 >= 0 && World[x - 1, y]) //prior cell within range AND open...
//..adjust the startslope
{
pStartSlope = GetSlope(x - 0.5, y - 0.5, Source.X, Source.Y, false);
}
}
}
x++;
}
x--;
break;
case 2: //nne
y = Source.Y - pDepth;
if (y < 0)
{
return(Ret);
}
x = Source.X + Convert.ToInt32((pStartSlope * Convert.ToDouble(pDepth)));
if (x >= World.GetLength(0))
{
x = World.GetLength(0) - 1;
}
while (GetSlope(x, y, Source.X, Source.Y, false) <= pEndSlope)
{
if (GetVisDistance(x, y, Source.X, Source.Y) <= visrange2)
{
Ret[x, y] = true;
if (World[x, y])
{
if (x + 1 < World.GetLength(0) && !World[x + 1, y])
{
ScanOctant(Source, World, Ret, pDepth + 1, pOctant, pStartSlope, GetSlope(x + 0.5, y + 0.5, Source.X, Source.Y, false), range);
}
}
else
{
if (x + 1 < World.GetLength(0) && World[x + 1, y])
{
pStartSlope = -GetSlope(x + 0.5, y - 0.5, Source.X, Source.Y, false);
}
}
}
x--;
}
x++;
break;
case 3:
x = Source.X + pDepth;
if (x >= World.GetLength(0))
{
return(Ret);
}
y = Source.Y - Convert.ToInt32((pStartSlope * Convert.ToDouble(pDepth)));
if (y < 0)
{
y = 0;
}
while (GetSlope(x, y, Source.X, Source.Y, true) <= pEndSlope)
{
if (GetVisDistance(x, y, Source.X, Source.Y) <= visrange2)
{
Ret[x, y] = true;
if (World[x, y])
{
if (y - 1 >= 0 && !World[x, y - 1])
{
ScanOctant(Source, World, Ret, pDepth + 1, pOctant, pStartSlope, GetSlope(x - 0.5, y - 0.5, Source.X, Source.Y, true), range);
}
}
else
{
if (y - 1 >= 0 && World[x, y - 1])
{
pStartSlope = -GetSlope(x + 0.5, y - 0.5, Source.X, Source.Y, true);
}
}
}
y++;
}
y--;
break;
case 4:
x = Source.X + pDepth;
if (x >= World.GetLength(0))
{
return(Ret);
}
y = Source.Y + Convert.ToInt32((pStartSlope * Convert.ToDouble(pDepth)));
if (y >= World.GetLength(1))
{
y = World.GetLength(1) - 1;
}
while (GetSlope(x, y, Source.X, Source.Y, true) >= pEndSlope)
{
if (GetVisDistance(x, y, Source.X, Source.Y) <= visrange2)
{
Ret[x, y] = true;
if (World[x, y])
{
if (y + 1 < World.GetLength(1) && !World[x, y + 1])
{
ScanOctant(Source, World, Ret, pDepth + 1, pOctant, pStartSlope, GetSlope(x - 0.5, y + 0.5, Source.X, Source.Y, true), range);
}
}
else
{
if (y + 1 < World.GetLength(1) && World[x, y + 1])
{
pStartSlope = GetSlope(x + 0.5, y + 0.5, Source.X, Source.Y, true);
}
}
}
y--;
}
y++;
break;
case 5:
y = Source.Y + pDepth;
if (y >= World.GetLength(1))
{
return(Ret);
}
x = Source.X + Convert.ToInt32((pStartSlope * Convert.ToDouble(pDepth)));
if (x >= World.GetLength(0))
{
x = World.GetLength(0) - 1;
}
while (GetSlope(x, y, Source.X, Source.Y, false) >= pEndSlope)
{
if (GetVisDistance(x, y, Source.X, Source.Y) <= visrange2)
{
Ret[x, y] = true;
if (World[x, y])
{
if (x + 1 < World.GetLength(1) && !World[x + 1, y])
{
ScanOctant(Source, World, Ret, pDepth + 1, pOctant, pStartSlope, GetSlope(x + 0.5, y - 0.5, Source.X, Source.Y, false), range);
}
}
else
{
if (x + 1 < World.GetLength(1) &&
World[x + 1, y])
{
pStartSlope = GetSlope(x + 0.5, y + 0.5, Source.X, Source.Y, false);
}
}
}
x--;
}
x++;
break;
case 6:
y = Source.Y + pDepth;
if (y >= World.GetLength(1))
{
return(Ret);
}
x = Source.X - Convert.ToInt32((pStartSlope * Convert.ToDouble(pDepth)));
if (x < 0)
{
x = 0;
}
while (GetSlope(x, y, Source.X, Source.Y, false) <= pEndSlope)
{
if (GetVisDistance(x, y, Source.X, Source.Y) <= visrange2)
{
Ret[x, y] = true;
if (World[x, y])
{
if (x - 1 >= 0 && !World[x - 1, y])
{
ScanOctant(Source, World, Ret, pDepth + 1, pOctant, pStartSlope, GetSlope(x - 0.5, y - 0.5, Source.X, Source.Y, false), range);
}
}
else
{
if (x - 1 >= 0 &&
World[x - 1, y])
{
pStartSlope = -GetSlope(x - 0.5, y + 0.5, Source.X, Source.Y, false);
}
}
}
x++;
}
x--;
break;
case 7:
x = Source.X - pDepth;
if (x < 0)
{
return(Ret);
}
y = Source.Y + Convert.ToInt32((pStartSlope * Convert.ToDouble(pDepth)));
if (y >= World.GetLength(1))
{
y = World.GetLength(1) - 1;
}
while (GetSlope(x, y, Source.X, Source.Y, true) <= pEndSlope)
{
if (GetVisDistance(x, y, Source.X, Source.Y) <= visrange2)
{
Ret[x, y] = true;
if (World[x, y])
{
if (y + 1 < World.GetLength(1) && !World[x, y + 1])
{
ScanOctant(Source, World, Ret, pDepth + 1, pOctant, pStartSlope, GetSlope(x + 0.5, y + 0.5, Source.X, Source.Y, true), range);
}
}
else
{
if (y + 1 < World.GetLength(1) && World[x, y + 1])
{
pStartSlope = -GetSlope(x - 0.5, y + 0.5, Source.X, Source.Y, true);
}
}
}
y--;
}
y++;
break;
case 8: //wnw
x = Source.X - pDepth;
if (x < 0)
{
return(Ret);
}
y = Source.Y - Convert.ToInt32((pStartSlope * Convert.ToDouble(pDepth)));
if (y < 0)
{
y = 0;
}
while (GetSlope(x, y, Source.X, Source.Y, true) >= pEndSlope)
{
if (GetVisDistance(x, y, Source.X, Source.Y) <= visrange2)
{
Ret[x, y] = true;
if (World[x, y])
{
if (y - 1 >= 0 && !World[x, y - 1])
{
ScanOctant(Source, World, Ret, pDepth + 1, pOctant, pStartSlope, GetSlope(x + 0.5, y - 0.5, Source.X, Source.Y, true), range);
}
}
else
{
if (y - 1 >= 0 && World[x, y - 1])
{
pStartSlope = GetSlope(x - 0.5, y - 0.5, Source.X, Source.Y, true);
}
}
}
y++;
}
y--;
break;
}
if (x < 0)
{
x = 0;
}
else if (x >= World.GetLength(0))
{
x = World.GetLength(0) - 1;
}
if (y < 0)
{
y = 0;
}
else if (y >= World.GetLength(1))
{
y = World.GetLength(1) - 1;
}
if (pDepth < range & !World[x, y])
{
ScanOctant(Source, World, Ret, pDepth + 1, pOctant, pStartSlope, pEndSlope, range);
}
return(Ret);
}
