109 lines
3.1 KiB
C#
109 lines
3.1 KiB
C#
// Copyright (c) 2013-2015 Robert Rouhani <robert.rouhani@gmail.com> and other contributors (see CONTRIBUTORS file).
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// Licensed under the MIT License - https://raw.github.com/Robmaister/SharpNav/master/LICENSE
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using System;
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using SharpNav.Geometry;
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#if MONOGAME
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using Vector3 = Microsoft.Xna.Framework.Vector3;
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#elif OPENTK
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using Vector3 = OpenTK.Vector3;
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#elif SHARPDX
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using Vector3 = SharpDX.Vector3;
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#endif
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namespace SharpNav.Pathfinding
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{
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/// <summary>
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/// Store constants, structs, methods in this single class so that other classes can access this information.
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/// </summary>
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public class PathfindingCommon
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{
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public const int VERTS_PER_POLYGON = 6; //max number of vertices
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public const int STRAIGHTPATH_START = 0x01; //vertex is in start position of path
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public const int STRAIGHTPATH_END = 0x02; //vertex is in end position of path
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public const int STRAIGHTPATH_OFFMESH_CONNECTION = 0x04; //vertex is at start of an off-mesh connection
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/// <summary>
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/// Generate an accurate sample of random points in the convex polygon and pick a point.
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/// </summary>
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/// <param name="pts">The polygon's points data</param>
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/// <param name="npts">The number of points</param>
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/// <param name="areas">The triangle areas</param>
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/// <param name="s">A random float</param>
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/// <param name="t">Another random float</param>
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/// <param name="pt">The resulting point</param>
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public static void RandomPointInConvexPoly(Vector3[] pts, int npts, float[] areas, float s, float t, out Vector3 pt)
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{
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//Calculate triangle areas
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float areaSum = 0.0f;
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float area;
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for (int i = 2; i < npts; i++)
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{
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Triangle3.Area2D(ref pts[0], ref pts[i - 1], ref pts[i], out area);
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areaSum += Math.Max(0.001f, area);
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areas[i] = area;
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}
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//Find sub triangle weighted by area
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float threshold = s * areaSum;
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float accumulatedArea = 0.0f;
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float u = 0.0f;
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int triangleVertex = 0;
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for (int i = 2; i < npts; i++)
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{
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float currentArea = areas[i];
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if (threshold >= accumulatedArea && threshold < (accumulatedArea + currentArea))
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{
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u = (threshold - accumulatedArea) / currentArea;
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triangleVertex = i;
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break;
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}
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accumulatedArea += currentArea;
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}
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float v = (float)Math.Sqrt(t);
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float a = 1 - v;
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float b = (1 - u) * v;
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float c = u * v;
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Vector3 pointA = pts[0];
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Vector3 pointB = pts[triangleVertex - 1];
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Vector3 pointC = pts[triangleVertex];
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pt = a * pointA + b * pointB + c * pointC;
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}
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/// <summary>
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/// Contains information about a navigation mesh
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/// </summary>
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public class NavMeshInfo
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{
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public int X;
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public int Y;
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public int Layer;
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public int PolyCount;
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public int VertCount;
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public int MaxLinkCount;
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public int DetailMeshCount;
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public int DetailVertCount;
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public int DetailTriCount;
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public int BvNodeCount;
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public int OffMeshConCount;
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public int OffMeshBase; //index of first polygon which is off-mesh connection
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public float WalkableHeight;
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public float WalkableRadius;
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public float WalkableClimb;
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public BBox3 Bounds;
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public float BvQuantFactor;
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}
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}
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}
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