|
public static SimplifyPath2 ( IRaycastableGraph rcg, List |
||
| rcg | IRaycastableGraph | |
| nodes | List |
|
| start | int | |
| end | int | |
| result | List |
|
| startPoint | ||
| endPoint | ||
| return | void | |
public static void SimplifyPath2(IRaycastableGraph rcg, List <GraphNode> nodes, int start, int end, List <GraphNode> result, Vector3 startPoint, Vector3 endPoint)
{
int count = result.Count;
if (end <= start + 1)
{
result.Add(nodes[start]);
result.Add(nodes[end]);
return;
}
GraphHitInfo graphHitInfo;
if (rcg.Linecast(startPoint, endPoint, nodes[start], out graphHitInfo, result) || result[result.Count - 1] != nodes[end])
{
result.RemoveRange(count, result.Count - count);
int num = -1;
float num2 = float.PositiveInfinity;
for (int i = start + 1; i < end; i++)
{
float num3 = AstarMath.DistancePointSegmentStrict(startPoint, endPoint, (Vector3)nodes[i].position);
if (num == -1 || num3 < num2)
{
num = i;
num2 = num3;
}
}
RichFunnel.SimplifyPath2(rcg, nodes, start, num, result, startPoint, (Vector3)nodes[num].position);
result.RemoveAt(result.Count - 1);
RichFunnel.SimplifyPath2(rcg, nodes, num, end, result, (Vector3)nodes[num].position, endPoint);
}
}
public void BuildFunnelCorridor(List <GraphNode> nodes, int start, int end)
{
this.exactStart = (nodes[start] as MeshNode).ClosestPointOnNode(this.exactStart);
this.exactEnd = (nodes[end] as MeshNode).ClosestPointOnNode(this.exactEnd);
this.left.Clear();
this.right.Clear();
this.left.Add(this.exactStart);
this.right.Add(this.exactStart);
this.nodes.Clear();
IRaycastableGraph raycastableGraph = this.graph as IRaycastableGraph;
if (raycastableGraph != null && this.funnelSimplificationMode != RichFunnel.FunnelSimplification.None)
{
List <GraphNode> list = ListPool <GraphNode> .Claim(end - start);
switch (this.funnelSimplificationMode)
{
case RichFunnel.FunnelSimplification.Iterative:
this.SimplifyPath(raycastableGraph, nodes, start, end, list, this.exactStart, this.exactEnd);
break;
case RichFunnel.FunnelSimplification.RecursiveBinary:
RichFunnel.SimplifyPath2(raycastableGraph, nodes, start, end, list, this.exactStart, this.exactEnd);
break;
case RichFunnel.FunnelSimplification.RecursiveTrinary:
RichFunnel.SimplifyPath3(raycastableGraph, nodes, start, end, list, this.exactStart, this.exactEnd, 0);
break;
}
if (this.nodes.Capacity < list.Count)
{
this.nodes.Capacity = list.Count;
}
for (int i = 0; i < list.Count; i++)
{
TriangleMeshNode triangleMeshNode = list[i] as TriangleMeshNode;
if (triangleMeshNode != null)
{
this.nodes.Add(triangleMeshNode);
}
}
ListPool <GraphNode> .Release(list);
}
else
{
if (this.nodes.Capacity < end - start)
{
this.nodes.Capacity = end - start;
}
for (int j = start; j <= end; j++)
{
TriangleMeshNode triangleMeshNode2 = nodes[j] as TriangleMeshNode;
if (triangleMeshNode2 != null)
{
this.nodes.Add(triangleMeshNode2);
}
}
}
for (int k = 0; k < this.nodes.Count - 1; k++)
{
this.nodes[k].GetPortal(this.nodes[k + 1], this.left, this.right, false);
}
this.left.Add(this.exactEnd);
this.right.Add(this.exactEnd);
}