private MyVector3 GetLocalTangential(int p, List <MyVector3> boundary3, MyVector3 curDir)
{
// Get Nearnest Pointss
List <NearPoint> nearPs = new List <NearPoint>();
for (int i = 0; i < boundary3.Count; i++)
{
NearPoint p_i = new NearPoint();
p_i.v = boundary3[i];
p_i.dist = (boundary3[p] - p_i.v).Length();
p_i.index = i;
nearPs.Add(p_i);
}
// Fit Line with k nearest points
int k = 100;
List <NearPoint> kNearPs = (from a in nearPs orderby a.dist ascending select a).Take(k).ToList();
List <MyVector3> kNearPv = new List <MyVector3>();
foreach (var kNearP in kNearPs)
{
kNearPv.Add(kNearP.v);
}
var fitline = new RansacLine3d(0.00005, 0.9);
Line3 line3d = fitline.Estimate(kNearPv);
// Check Local Tangential Direction
if (line3d.dir.Dot(curDir) < 0)
{
line3d.dir = -1 * line3d.dir;
}
return(line3d.dir.Normalize());
}
public void Near()
{
List <Point> listPoints = GameObject.Find("Map").GetComponent <MapManager>()._listPoints;
_pos = listPoints.FindIndex(x => x == this);
_nearPoints.Clear();
GetComponent <PolygonCollider2D>().enabled = false;
for (int i = 0; i < (int)Dir.Max; ++i)
{
Dir dir = (Dir)i;
NearPoint near = new NearPoint();
near.dir = dir;
near.name = dir.ToString();
RaycastHit2D hit = Physics2D.Raycast(Get_Pos(), _points[i].position - Get_Pos());
if (null != hit.collider)
{
near.point = hit.collider.GetComponent <Point>();
}
_nearPoints.Add(near);
}
GetComponent <PolygonCollider2D>().enabled = true;
}
public Point Get_NearPoint(Dir dir)
{
NearPoint near = _nearPoints.Find(x => x.dir == dir);
if (null != near)
{
return(near.point);
}
return(null);
}
private void SetCurrentDirection(NearPoint nearPoint = null)
{
_currentDirection = nearPoint?.Direction ?? Direction.Stop;
Global.Me.NextStep = nearPoint;
}
