public List <EdgeIntersectionResult> CalculateMultipleIntersection(NavigationEdge edge, int maximum)
{
List <EdgeIntersectionResult> result = new List <EdgeIntersectionResult>();
foreach (var poly in this)
{
if (poly.GetBoundingIntersection(edge))
{
foreach (var constrainedEdge in poly.ConstraintedEdges)
{
var r = edge.CalculateIntersection(constrainedEdge);
if (r.SegmentsIntersect)
{
result.Add(r);
}
if (result.Count > maximum)
{
return(result);
}
}
}
}
return(result);
}
public NavigationEdge GetBounding()
{
if (cachedBoundingBox == null)
{
DeterministicVector2 min = new DeterministicVector2(0, 0);
DeterministicVector2 max = new DeterministicVector2(0, 0);
if (this.Count > 0)
{
var p = this[0];
min.X = p.X;
max.X = p.X;
min.Y = p.Y;
max.Y = p.Y;
}
for (var i = 1; i < this.Count; i++)
{
var p = this[i];
min.X = DeterministicFloat.Min(p.X, min.X);
min.Y = DeterministicFloat.Min(p.Y, min.Y);
max.X = DeterministicFloat.Max(p.X, max.X);
max.Y = DeterministicFloat.Max(p.Y, max.Y);
}
cachedBoundingBox = new NavigationEdge(min, max);
}
return(cachedBoundingBox);
}
public override bool Equals(object obj)
{
NavigationEdge other = obj as NavigationEdge;
if (other == null)
{
return(false);
}
return(this == other);
}
public EdgeIntersectionResult CalculateIntersection(NavigationEdge other)
{
var result = new EdgeIntersectionResult();
var dx12 = this.B.X - this.A.X;
var dy12 = this.B.Y - this.A.Y;
var dx34 = other.B.X - other.A.X;
var dy34 = other.B.Y - other.A.Y;
var denominator = dy12 * dx34 - dx12 * dy34;
if (denominator == 0)
{
return(result);
}
// normally t1 is 0 -> 1 (or no hit), but for us it's 0 -> 1
var t1 = ((this.A.X - other.A.X) * dy34 + (other.A.Y - this.A.Y) * dx34) / denominator;
result.LinesIntersect = true;
// normally t1 is 0 -> 1 (or no hit), but for us it's 0 -> 1
var t2 = ((other.A.X - this.A.X) * dy12 + (this.A.Y - other.A.Y) * dx12) / -denominator;
// result.IntersectionPoint = new DeterministicVector2(this.A.X + dx12 * t1, this.A.Y + dy12 * t1);
result.SegmentsIntersect = t1 >= 0 && t1 <= 1 && t2 >= 0 && t2 <= 1;
result.Deltas = new DeterministicVector2(t1, t2);
if (t1 < 0)
{
t1 = new DeterministicFloat(0);
}
else if (t1 > 1)
{
t1 = new DeterministicFloat(1);
}
if (t2 < 0)
{
t1 = new DeterministicFloat(0);
}
else if (t2 > 1)
{
t2 = new DeterministicFloat(1);
}
// result.SegmentIntersection = new NavigationEdge(new DeterministicVector2(this.A.X + dx12 * t1, this.A.Y + dy12 * t1), new DeterministicVector2(other.A.X + dx34 * t2, other.A.Y + dy34 * t2));
return(result);
}
public EdgeIntersectionResult CalculateAnyIntersection(NavigationEdge edge)
{
foreach (var poly in this)
{
foreach (var constrainedEdge in poly.ConstraintedEdges)
{
var result = edge.CalculateIntersection(constrainedEdge);
if (result.SegmentsIntersect)
{
return(result);
}
}
}
return(new EdgeIntersectionResult());
}
public void Initialize(NavigationPolygon floor)
{
Bounding = floor.GetBounding();
Cells.Clear();
for (DeterministicFloat y = Bounding.A.Y; y < Bounding.B.Y; y++)
{
for (DeterministicFloat x = Bounding.A.X; x < Bounding.B.X; x++)
{
Cells.Add(new GridCell(x, y)
{
Type = GridCellType.Free
});
}
}
}
public void CalculateConstraintedEdges()
{
ConstraintedEdges.Clear();
if (this.Count < 2)
{
return;
}
var p0 = this[this.Count - 1];
var p1 = this[0];
ConstraintedEdges.Add(new NavigationEdge(p0, p1));
for (int i = 1; i < this.Count; i++)
{
p0 = this[i - 1];
p1 = this[i];
ConstraintedEdges.Add(new NavigationEdge(p0, p1));
}
cachedBoundingBox = null;
}
public bool GetBoundingIntersection(NavigationEdge edge)
{
if (GetBoundingDistance(edge.A) == 0)
{
return(true);
}
if (GetBoundingDistance(edge.B) == 0)
{
return(true);
}
var bounding = this.GetBounding();
var otherBounding = new NavigationEdge(new DeterministicVector2(bounding.A.X, bounding.B.Y), new DeterministicVector2(bounding.B.X, bounding.A.Y));
if (edge.CalculateIntersection(new NavigationEdge(bounding.A, otherBounding.B)).SegmentsIntersect)
{
return(true);
}
if (edge.CalculateIntersection(new NavigationEdge(otherBounding.B, bounding.B)).SegmentsIntersect)
{
return(true);
}
if (edge.CalculateIntersection(new NavigationEdge(bounding.B, otherBounding.A)).SegmentsIntersect)
{
return(true);
}
if (edge.CalculateIntersection(new NavigationEdge(otherBounding.A, bounding.A)).SegmentsIntersect)
{
return(true);
}
return(false);
}
