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OpenSim.Modules.PathFinding
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change from bitmap to NodeList

master
Christopher Latza 2020-06-11 11:47:24 +02:00
parent 6b2c7f2a04
commit 22fe9c2b2e
3 changed files with 155 additions and 86 deletions
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94
src/BasicPathFinding.cs
View File

@ -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>();
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);
}
PathFinder _worker = new PathFinder(requestID, m_scene);
_worker.preparePathFindingScene(terrain);
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();
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;
SceneObjectGroup _host = m_scene.GetSceneObjectGroup(hostID);
(new Thread(delegate () { createPathFindingScene(scriptID, requestKey, terrain); })).Start();
return requestKey.ToString();
}
#endregion

5
src/PixelInfo.cs → src/NodeInfo.cs
View File

@ -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;
}

142
src/PathFinder.cs Normal file
View File

@ -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);
}
}
}