✨ 网格寻路建立连接

utils/geometry/navmesh/navmesh.go

@@ -0,0 +1,71 @@
+package navmesh
+
+import (
+	"github.com/kercylan98/minotaur/utils/generic"
+	"github.com/kercylan98/minotaur/utils/geometry"
+	"github.com/kercylan98/minotaur/utils/maths"
+)
+
+type Navmesh[V generic.SignedNumber] struct {
+	meshShapes []*shape[V]
+}
+
+func (slf *Navmesh[V]) generateLink() {
+	refer := len(slf.meshShapes)
+	for i := 0; i < refer; i++ {
+		shapePkg := slf.meshShapes[i]
+		shape := shapePkg.Shape
+		shapeCentroid := geometry.CalcRectangleCentroid(shape)
+		shapeBoundingRadius := geometry.CalcBoundingRadiusWithCentroid(shape, shapeCentroid)
+		shapeEdges := shape.Edges()
+		for t := i + 1; t < len(slf.meshShapes); t++ {
+			targetShapePkg := slf.meshShapes[t]
+			targetShape := targetShapePkg.Shape
+			targetShapeCentroid := geometry.CalcRectangleCentroid(targetShape)
+			targetShapeBoundingRadius := geometry.CalcBoundingRadiusWithCentroid(shape, targetShapeCentroid)
+			centroidDistance := geometry.CalcDistance(geometry.DoublePointToCoordinate(shapeCentroid, targetShapeCentroid))
+			if centroidDistance > shapeBoundingRadius+targetShapeBoundingRadius {
+				continue
+			}
+
+			for _, shapeEdge := range shapeEdges {
+				for _, targetEdge := range targetShape.Edges() {
+					if !geometry.CalcLineIsCollinear(shapeEdge, targetEdge, V(maths.GetDefaultTolerance())) {
+						continue
+					}
+
+					var overlapLine, overlap = geometry.CalcLineIsOverlap(shapeEdge, targetEdge)
+					if !overlap {
+						continue
+					}
+
+					shapePkg.links = append(shapePkg.links, targetShapePkg)
+					targetShapePkg.links = append(targetShapePkg.links, shapePkg)
+
+					edgeAngle := geometry.CalcAngle(geometry.DoublePointToCoordinate(shapeCentroid, shapeEdge.GetStart()))
+					a1 := geometry.CalcAngle(geometry.DoublePointToCoordinate(shapeCentroid, overlapLine.GetStart()))
+					a2 := geometry.CalcAngle(geometry.DoublePointToCoordinate(shapeCentroid, overlapLine.GetEnd()))
+					a3 := geometry.CalcAngleDifference(edgeAngle, a1)
+					a4 := geometry.CalcAngleDifference(edgeAngle, a2)
+					if a3 < a4 {
+						shapePkg.portals = append(shapePkg.portals, geometry.NewLine(overlapLine.GetStart(), overlapLine.GetEnd()))
+					} else {
+						shapePkg.portals = append(shapePkg.portals, geometry.NewLine(overlapLine.GetEnd(), overlapLine.GetStart()))
+					}
+
+					edgeAngle = geometry.CalcAngle(geometry.DoublePointToCoordinate(targetShapeCentroid, targetEdge.GetStart()))
+					a1 = geometry.CalcAngle(geometry.DoublePointToCoordinate(targetShapeCentroid, overlapLine.GetStart()))
+					a2 = geometry.CalcAngle(geometry.DoublePointToCoordinate(targetShapeCentroid, overlapLine.GetEnd()))
+					a3 = geometry.CalcAngleDifference(edgeAngle, a1)
+					a4 = geometry.CalcAngleDifference(edgeAngle, a2)
+					if a3 < a4 {
+						targetShapePkg.portals = append(targetShapePkg.portals, geometry.NewLine(overlapLine.GetStart(), overlapLine.GetEnd()))
+					} else {
+						targetShapePkg.portals = append(targetShapePkg.portals, geometry.NewLine(overlapLine.GetEnd(), overlapLine.GetStart()))
+					}
+				}
+			}
+
+		}
+	}
+}

utils/geometry/navmesh/shape.go

@@ -0,0 +1,18 @@
+package navmesh
+
+import (
+	"github.com/kercylan98/minotaur/utils/generic"
+	"github.com/kercylan98/minotaur/utils/geometry"
+)
+
+func newShape[V generic.SignedNumber](s geometry.Shape[V]) *shape[V] {
+	return &shape[V]{
+		Shape: s,
+	}
+}
+
+type shape[V generic.SignedNumber] struct {
+	geometry.Shape[V]
+	links   []*shape[V]
+	portals []geometry.Line[V]
+}