kercylan98
72 lines
2.9 KiB
Go
72 lines
2.9 KiB
Go
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()))
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|