| public NodeIntersectsCircle ( Pathfinding.MeshNode node, Vector3 p, float radius ) : bool | ||
| node | Pathfinding.MeshNode | |
| p | Vector3 | |
| radius | float | |
| return | bool | |
public bool NodeIntersectsCircle (MeshNode node, Vector3 p, float radius) {
if (float.IsPositiveInfinity(radius)) return true;
/*if (node.ContainsPoint ((Int3)p)) {
return true;
}*/
return (p - node.ClosestPointOnNode (p)).sqrMagnitude < radius*radius;
/*Int3[] vertices = graph.vertices;
Vector3 p1 = (Vector3)vertices[node[0]], p2 = (Vector3)vertices[node[1]], p3 = (Vector3)vertices[node[2]];
float r2 = radius*radius;
p1.y = p.y;
p2.y = p.y;
p3.y = p.y;
return Mathfx.DistancePointSegmentStrict (p1,p2,p) < r2 ||
Mathfx.DistancePointSegmentStrict (p2,p3,p) < r2 ||
Mathfx.DistancePointSegmentStrict (p3,p1,p) < r2;*/
}
private void SearchBoxClosest(int boxi, Vector3 p, ref float closestDist, NNConstraint constraint, ref NNInfoInternal nnInfo)
{
BBTree.BBTreeBox bbtreeBox = this.arr[boxi];
if (bbtreeBox.node != null)
{
if (BBTree.NodeIntersectsCircle(bbtreeBox.node, p, closestDist))
{
Vector3 vector = bbtreeBox.node.ClosestPointOnNode(p);
if (constraint == null || constraint.Suitable(bbtreeBox.node))
{
float sqrMagnitude = (vector - p).sqrMagnitude;
if (nnInfo.constrainedNode == null || sqrMagnitude < closestDist * closestDist)
{
nnInfo.constrainedNode = bbtreeBox.node;
nnInfo.constClampedPosition = vector;
closestDist = (float)Math.Sqrt((double)sqrMagnitude);
}
}
}
}
else
{
if (BBTree.RectIntersectsCircle(this.arr[bbtreeBox.left].rect, p, closestDist))
{
this.SearchBoxClosest(bbtreeBox.left, p, ref closestDist, constraint, ref nnInfo);
}
if (BBTree.RectIntersectsCircle(this.arr[bbtreeBox.right].rect, p, closestDist))
{
this.SearchBoxClosest(bbtreeBox.right, p, ref closestDist, constraint, ref nnInfo);
}
}
}
