change from bitmap to NodeList

src/BasicPathFinding.cs

@@ -30,8 +30,6 @@ namespace OpenSim.Modules.PathFinding
         private bool m_enabled = true;
         private string m_dataDirectory = "./PathFindingData";
         private IScriptModuleComms m_scriptModule;
-        private AsyncCommandManager m_asyncCommands = null;
-        private IScriptEngine m_scriptEngine = null;
 
         public string Name
         {
@@ -103,8 +101,7 @@ namespace OpenSim.Modules.PathFinding
                 try
                 {
                     m_scriptModule.RegisterScriptInvocation(this, "osCreateNewPathFindingScene");
-                    //m_scriptModule.RegisterScriptInvocation(this, "osAddObjectToPathFindingScene");
+                    m_scriptModule.RegisterScriptInvocation(this, "osGetPath");
-                    //m_scriptModule.RegisterScriptInvocation(this, "osGetPath");
                 }
                 catch (Exception e)
                 {
@@ -112,17 +109,6 @@ namespace OpenSim.Modules.PathFinding
                     m_enabled = false;
                 }
 
-                m_scriptEngine = m_scene.RequestModuleInterface<IScriptEngine>();
-
-                if (m_scriptEngine != null)
-                {
-                    m_asyncCommands = new AsyncCommandManager(m_scriptEngine);
-                }
-                else
-                {
-                    m_log.Error("[" + Name + "]: Error while loading AsyncCommandManager");
-                }
-
                 m_log.Info("[" + Name + "]: Region loading done!");
             }
         }
@@ -136,83 +122,23 @@ namespace OpenSim.Modules.PathFinding
 
         #region Script Funktions
 
-        private void createPathFindingScene(UUID script, String imageName, Vector3 start, Vector3 target)
+        private void createPathFindingScene(UUID script, UUID requestID, bool terrain)
         {
-            List<PixelInfo> _pixels = new List<PixelInfo>();
+            PathFinder _worker = new PathFinder(requestID, m_scene);
-
+            _worker.preparePathFindingScene(terrain);
-            try
-            {
-                Bitmap _map = new Bitmap((int)m_scene.RegionInfo.RegionSizeX, (int)m_scene.RegionInfo.RegionSizeY);
-
-                for (int X = 0; X < m_scene.RegionInfo.RegionSizeX; X++)
-                {
-                    for (int Y = 0; Y < m_scene.RegionInfo.RegionSizeY; Y++)
-                    {
-                        int _imageX = ((int)m_scene.RegionInfo.RegionSizeX - 1) - X;
-                        int _imageY = ((int)m_scene.RegionInfo.RegionSizeY - 1) - Y;
-
-                        _pixels.Add(new PixelInfo(new Vector2(_imageX, _imageY)));
-
-                        float baseheight = (float)m_scene.Heightmap[X, Y];
-
-                        if (baseheight <= m_scene.RegionInfo.RegionSettings.WaterHeight)
-                            _map.SetPixel(_imageX, _imageY, Color.Black);
-
-                        if (baseheight > m_scene.RegionInfo.RegionSettings.WaterHeight)
-                            _map.SetPixel(_imageX, _imageY, Color.White);
-                    }
-                }
-                
-                PathFindingSceneGenerator.DrawObjectVolume(m_scene, ref _map);
-
-
-
-
-                _map.Save(imageName + ".png", ImageFormat.Png);
-
-                m_scriptModule.DispatchReply(script, 0, "done", imageName);
-            }
-            catch(Exception _error)
-            {
-                m_log.Error(_error.Message);
-                m_scriptModule.DispatchReply(script, 0, "failed", imageName);
-            }
 
+            m_scriptModule.DispatchReply(script, 0, "", requestID.ToString());
         }
 
         [ScriptInvocation]
-        public string osCreateNewPathFindingScene(UUID hostID, UUID scriptID, Vector3 start, Vector3 target)
+        public string osCreateNewPathFindingScene(UUID hostID, UUID scriptID, bool terrain, Vector3 start, Vector3 target)
         {
-            m_log.Info("[" + Name + "]: Create new path scene!");
+            UUID requestKey = UUID.Random();
 
-            String imageName = UUID.Random().ToString();
+            SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
-
+            (new Thread(delegate () { createPathFindingScene(scriptID, requestKey, terrain); })).Start();
-            try
-            {
-                SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
-
-                if (_host != null)
-                {
-                    //createPathFindingScene(imageName);
-
-                    //UUID tid = m_asyncCommands.DataserverPlugin.RegisterRequest(_host.LocalId, _host.GroupID, imageName);
-
-                    (new Thread(delegate () { createPathFindingScene(scriptID, imageName, start, target); })).Start();
-                    
-                }
-                else
-                {
-                    m_log.ErrorFormat("[" + Name + "]: Host is null");
-                }
-            }
-            catch(Exception _error)
-            {
-                m_log.Error(_error.Message);
-                m_log.Error(_error.StackTrace);
-            }
-
-            return imageName;
 
+            return requestKey.ToString();
         }
         #endregion
 

src/NodeInfo.cs

@@ -7,12 +7,13 @@ using System.Threading.Tasks;
 
 namespace OpenSim.Modules.PathFinding
 {
-    class PixelInfo
+    class NodeInfo
     {
         public Vector2 Position = new Vector2(0, 0);
         public int Counter = 0;
+        public bool Blocked = false;
 
-        public PixelInfo(Vector2 position)
+        public NodeInfo(Vector2 position)
         {
             Position = position;
         }

src/PathFinder.cs

@@ -0,0 +1,142 @@
+using OpenMetaverse;
+using OpenSim.Region.Framework.Scenes;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Drawing.Imaging;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace OpenSim.Modules.PathFinding
+{
+    class PathFinder
+    {
+        private List<NodeInfo> m_nodes = new List<NodeInfo>();
+        private UUID m_requestID = UUID.Zero;
+
+        private Scene m_scene = null;
+
+        public PathFinder(UUID requestID, Scene localScene)
+        {
+            m_requestID = requestID;
+
+            m_scene = localScene;
+        }
+
+        public void preparePathFindingScene(bool terrain)
+        {
+            generateEmptryNodeGrid(new Vector2((int)m_scene.RegionInfo.RegionSizeX, (int)m_scene.RegionInfo.RegionSizeY));
+            convertRegionToNodeList(terrain);
+            saveDebugImageToDisc();
+        }
+
+        public void generatePath(Vector2 start, Vector2 target)
+        {
+
+
+        }
+
+        private void convertRegionToNodeList(bool terrain)
+        {
+            if (terrain == true)
+            {
+                for (int X = 0; X < m_scene.RegionInfo.RegionSizeX; X++)
+                {
+                    for (int Y = 0; Y < m_scene.RegionInfo.RegionSizeY; Y++)
+                    {
+                        float baseheight = (float)m_scene.Heightmap[X, Y];
+
+                        //Block the position then water is on this place.
+                        if (baseheight <= m_scene.RegionInfo.RegionSettings.WaterHeight)
+                            setNoteBlocked(new Vector2(X, Y), true);
+
+                        //Allow all positions they have terrain over the water height.
+                        if (baseheight > m_scene.RegionInfo.RegionSettings.WaterHeight)
+                            setNoteBlocked(new Vector2(X, Y), false);
+                    }
+                }
+            }
+
+            Bitmap _objectData = new Bitmap((int)m_scene.RegionInfo.RegionSizeX, (int)m_scene.RegionInfo.RegionSizeY);
+            PathFindingSceneGenerator.DrawObjectVolume(m_scene, ref _objectData);
+            convertBitmapToNodeList(ref _objectData);
+        }
+
+        private void setNoteBlocked(Vector2 position, bool state)
+        {
+            NodeInfo _infoNode = m_nodes.Find(X => X.Position.X.Equals(position.X) && X.Position.Y.Equals(position.Y));
+
+            if(_infoNode != null)
+                _infoNode.Blocked = state;
+        }
+
+        private bool getNoteBlocked(Vector2 position)
+        {
+            NodeInfo _infoNode = m_nodes.Find(X => X.Position.X.Equals(position.X) && X.Position.Y.Equals(position.Y));
+
+            if (_infoNode != null)
+                return _infoNode.Blocked;
+
+            return false;
+        }
+
+        private void generateEmptryNodeGrid(Vector2 size)
+        {
+            for (int X = 0; X <= size.X; X++)
+            {
+                for (int Y = 0; Y <= size.Y; Y++)
+                {
+                    m_nodes.Add(new NodeInfo(new Vector2(X, Y)));
+                }
+            }
+        }
+
+        private void convertBitmapToNodeList(ref Bitmap bitmap)
+        {
+            for (int X = 0; X < bitmap.Width; X++)
+            {
+                for (int Y = 0; Y < bitmap.Height; Y++)
+                {
+                    Color _pixelColor = bitmap.GetPixel(X, Y);
+
+                    if (_pixelColor.Equals(Color.Black))
+                        setNoteBlocked(new Vector2(X, Y), true);
+
+                    if (_pixelColor.Equals(Color.White))
+                        setNoteBlocked(new Vector2(X, Y), false);
+                }
+            }
+        }
+
+        private Bitmap convertNodeListToBitmap()
+        {
+            Bitmap _bitmap = new Bitmap((int)m_scene.RegionInfo.RegionSizeX, (int)m_scene.RegionInfo.RegionSizeY);
+
+            for (int X = 0; X < _bitmap.Width; X++)
+            {
+                for (int Y = 0; Y < _bitmap.Height; Y++)
+                {
+                    bool _nodeState = getNoteBlocked(new Vector2(X, Y));
+
+                    if(_nodeState == true)
+                    {
+                        _bitmap.SetPixel(X, Y, Color.Black);
+                    }
+                    else
+                    {
+                        _bitmap.SetPixel(X, Y, Color.White);
+                    }
+                }
+            }
+
+            return _bitmap;
+        }
+
+        private void saveDebugImageToDisc()
+        {
+            Bitmap _bitmap = convertNodeListToBitmap();
+            _bitmap.Save(m_requestID + ".png", ImageFormat.Png);
+        }
+    }
+}