public override float MapPointToPathDistance(Vector3 point)
{
if (_points.Count < 2)
{
return(0);
}
float d;
float minDistance = float.MaxValue;
float segmentLengthTotal = 0;
float pathDistance = 0;
for (int i = 1; i < _points.Count; i++)
{
float segmentProjection = 0;
float segmentLength = _lengths[i];
Vector3 segmentNormal = _normals[i];
d = OpenSteerUtility.PointToSegmentDistance(point, _points[i - 1], _points[i],
segmentNormal, segmentLength,
ref segmentProjection);
if (d < minDistance)
{
minDistance = d;
pathDistance = segmentLengthTotal + segmentProjection;
}
segmentLengthTotal += segmentLength;
}
// return distance along path of onPath point
return(pathDistance);
}
/// <summary>
/// Maps the reference point to a distance along the path.
/// </summary>
/// <param name="point">Reference point.</param>
/// <returns>The distance along the path for the point.</returns>
public virtual float MapPointToPathDistance(Vector3 point)
{
if (Path.Count < 2)
{
return(0);
}
var minDistance = float.MaxValue;
float segmentLengthTotal = 0;
float pathDistance = 0;
for (var i = 1; i < Path.Count; i++)
{
var segmentProjection = 0f;
var segmentLength = Lengths[i];
var segmentNormal = Normals[i];
var d = OpenSteerUtility.PointToSegmentDistance(point, Path[i - 1], Path[i],
segmentNormal, segmentLength,
ref segmentProjection);
segmentLengthTotal += segmentLength;
if (!(d < minDistance))
{
continue;
}
minDistance = d;
pathDistance = segmentLengthTotal + segmentProjection;
}
// return distance along path of onPath point
return(pathDistance);
}
public override Vector3 MapPointToPath(Vector3 point, ref PathRelativePosition pathRelative)
{
float d;
float minDistance = float.MaxValue;
Vector3 onPath = Vector3.zero;
pathRelative.segmentIndex = -1;
// loop over all segments, find the one nearest to the given point
for (int i = 1; i < _points.Count; i++)
{
float segmentLength = _lengths[i];
Vector3 segmentNormal = _normals[i];
Vector3 chosenPoint = Vector3.zero;
d = OpenSteerUtility.PointToSegmentDistance(point, _points[i - 1], _points[i],
segmentNormal, segmentLength,
ref chosenPoint);
if (d < minDistance)
{
minDistance = d;
onPath = chosenPoint;
pathRelative.tangent = segmentNormal;
pathRelative.segmentIndex = i;
}
}
// measure how far original point is outside the Pathway's "tube"
pathRelative.outside = (onPath - point).magnitude - Radius;
// return point on path
return(onPath);
}
/// <summary>
/// Given an arbitrary point ("A"), returns the nearest point ("P") on
/// this path. Also returns, via output arguments, the path Tangent at
/// P and a measure of how far A is Outside the Pathway's "tube". Note
/// that a negative distance indicates A is inside the Pathway.
/// </summary>
/// <param name="point">Reference point.</param>
/// <param name="pathRelative">Structure indicating the relative path position.</param>
/// <returns>The closest point to the received reference point.</returns>
public virtual Vector3 MapPointToPath(Vector3 point, ref PathRelativePosition pathRelative)
{
var minDistance = float.MaxValue;
var onPath = Vector3.zero;
pathRelative.SegmentIndex = -1;
// loop over all segments, find the one nearest to the given point
for (var i = 1; i < Path.Count; i++)
{
var segmentLength = Lengths[i];
var segmentNormal = Normals[i];
var chosenPoint = Vector3.zero;
var d = OpenSteerUtility.PointToSegmentDistance(point, Path[i - 1], Path[i],
segmentNormal, segmentLength,
ref chosenPoint);
if (!(d < minDistance))
{
continue;
}
minDistance = d;
onPath = chosenPoint;
pathRelative.Tangent = segmentNormal;
pathRelative.SegmentIndex = i;
}
// measure how far original point is Outside the Pathway's "tube"
pathRelative.Outside = (onPath - point).magnitude - Radius;
// return point on path
return(onPath);
}
public override Vector3 mapPointToPath(Vector3 point, ref mapReturnStruct tStruct)
{
float d;
float minDistance = float.MaxValue;
Vector3 onPath = Vector3.zero;
// loop over all segments, find the one nearest to the given point
for (int i = 1; i < points.Length; i++)
{
float segmentLength = lengths[i];
Vector3 segmentNormal = normals[i];
Vector3 chosenPoint = Vector3.zero;
d = OpenSteerUtility.PointToSegmentDistance(point, points[i - 1], points[i],
segmentNormal, segmentLength,
ref chosenPoint);
if (d < minDistance)
{
minDistance = d;
onPath = chosenPoint;
tStruct.tangent = segmentNormal;
}
}
// measure how far original point is outside the Pathway's "tube"
tStruct.outside = (onPath - point).magnitude - radius;
// return point on path
return(onPath);
}
public static float PointToSegmentDistance(Vector3 point, Vector3 ep0, Vector3 ep1, ref Vector3 chosenPoint, ref float segmentProjection)
{
Vector3 vector = ep1 - ep0;
float magnitude = vector.get_magnitude();
vector *= 1f / magnitude;
return(OpenSteerUtility.PointToSegmentDistance(point, ep0, ep1, vector, magnitude, ref chosenPoint, ref segmentProjection));
}
public static float PointToSegmentDistance(Vector3 point, Vector3 ep0, Vector3 ep1, Vector3 segmentNormal, float segmentLength, ref Vector3 chosenPoint)
{
float num = 0f;
return(OpenSteerUtility.PointToSegmentDistance(point, ep0, ep1, segmentNormal, segmentLength, ref chosenPoint, ref num));
}
public static float PointToSegmentDistance(Vector3 point, Vector3 ep0, Vector3 ep1, Vector3 segmentNormal, float segmentLength, ref float segmentProjection)
{
Vector3 zero = Vector3.get_zero();
return(OpenSteerUtility.PointToSegmentDistance(point, ep0, ep1, segmentNormal, segmentLength, ref zero, ref segmentProjection));
}