From 28df1f23d046a9a19f87b9f86df7db83552f6869 Mon Sep 17 00:00:00 2001
From: Christopher Latza <latzachristopher@live.de>
Date: Thu, 11 Jun 2020 12:24:03 +0200
Subject: [PATCH] remove nodes and use bitmap

---
 src/PathFinder.cs | 110 ++++------------------------------------------
 1 file changed, 9 insertions(+), 101 deletions(-)

diff --git a/src/PathFinder.cs b/src/PathFinder.cs
index bbbeba9..e9bc14f 100644
--- a/src/PathFinder.cs
+++ b/src/PathFinder.cs
@@ -12,32 +12,27 @@ 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;
+        private Bitmap m_bitmap = null;
 
         public PathFinder(UUID requestID, Scene localScene)
         {
             m_requestID = requestID;
 
             m_scene = localScene;
+
+            m_bitmap = new Bitmap((int)m_scene.RegionInfo.RegionSizeX, (int)m_scene.RegionInfo.RegionSizeY);
         }
 
         public void preparePathFindingScene(bool terrain)
         {
-            generateEmptryNodeGrid(new Vector2((int)m_scene.RegionInfo.RegionSizeX, (int)m_scene.RegionInfo.RegionSizeY));
-            convertRegionToNodeList(terrain);
+            convertRegionToBitmap(terrain);
             saveDebugImageToDisc();
         }
 
-        public void generatePath(Vector2 start, Vector2 target)
-        {
-
-
-        }
-
-        private void convertRegionToNodeList(bool terrain)
+        private void convertRegionToBitmap(bool terrain)
         {
             if (terrain == true)
             {
@@ -49,109 +44,22 @@ namespace OpenSim.Modules.PathFinding
 
                         //Block the position then water is on this place.
                         if (baseheight <= m_scene.RegionInfo.RegionSettings.WaterHeight)
-                            setNoteBlocked(new Vector2(X, Y), true);
+                            m_bitmap.SetPixel(X, Y, Color.Black);
 
                         //Allow all positions they have terrain over the water height.
                         if (baseheight > m_scene.RegionInfo.RegionSettings.WaterHeight)
-                            setNoteBlocked(new Vector2(X, Y), false);
+                            m_bitmap.SetPixel(X, Y, Color.White);
                     }
                 }
             }
 
-            Bitmap _objectData = new Bitmap((int)m_scene.RegionInfo.RegionSizeX, (int)m_scene.RegionInfo.RegionSizeY);
-            PathFindingSceneGenerator.DrawObjectVolume(m_scene, ref _objectData);
-            convertBitmapToNodeList(ref _objectData);
+            PathFindingSceneGenerator.DrawObjectVolume(m_scene, ref m_bitmap);
         }
 
-        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;
-            }
-            else
-            {
-                Console.WriteLine("setNoteBlocked: Cant find Node at " + position.ToString());
-            }
-        }
-
-        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;
-            }
-            else
-            {
-                Console.WriteLine("getNoteBlocked: Cant find Node at " + position.ToString());
-            }
-
-            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);
-
-                    Console.WriteLine("convertBitmapToNodeList: X:"+X+" Y:"+Y+" COLOR:" + _pixelColor.R +";" + _pixelColor.G + ";" + _pixelColor.B);
-
-                    bool blocking = true;
-
-                    if (_pixelColor.R == 255)
-                        blocking = false;
-
-                    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);
+            m_bitmap.Save(m_requestID + ".png", ImageFormat.Png);
         }
     }
 }