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OpenSim.Modules.PathFinding
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use the mapImageModule to generate the scene.

master
Christopher Latza 2020-06-10 20:15:00 +02:00
parent 4c30705e5b
commit bc15406d8f
3 changed files with 376 additions and 4 deletions
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2
prebuild.xml
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@ -19,7 +19,9 @@
<Reference name="Mono.Addins.dll" path="../../../bin"/>
<Reference name="OpenMetaverseTypes.dll" path="../../../bin"/>
<Reference name="OpenMetaverse.dll" path="../../../bin"/>
<Reference name="OpenSim.Region.CoreModules" path="../../../bin"/>
<Reference name="OpenSim.Region.Framework" path="../../../bin"/>
<Reference name="OpenSim.Region.ScriptEngine.Shared.Api" path="../../../bin"/>
<Reference name="OpenSim.Framework" path="../../../bin"/>
<Reference name="OpenSim.Framework.Console" path="../../../bin"/>
<Reference name="OpenSim.Framework.Servers" path="../../../bin"/>

15
src/BasicPathFinding.cs
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@ -2,6 +2,7 @@
using Mono.Addins;
using Nini.Config;
using OpenMetaverse;
using OpenSim.Region.CoreModules.World.LegacyMap;
using OpenSim.Region.Framework.Interfaces;
using OpenSim.Region.Framework.Scenes;
using System;
@ -183,6 +184,12 @@ namespace OpenSim.Modules.PathFinding
{
Bitmap _map = new Bitmap((int)m_scene.RegionInfo.RegionSizeX, (int)m_scene.RegionInfo.RegionSizeY);
PathFindingSceneGenerator.DrawObjectVolume(m_scene, ref _map);
_map.Save(imageName + ".png", ImageFormat.Png);
return;
for (int X = 0; X < m_scene.RegionInfo.RegionSizeX; X++)
{
for (int Y = 0; Y < m_scene.RegionInfo.RegionSizeY; Y++)
@ -195,18 +202,18 @@ namespace OpenSim.Modules.PathFinding
if (baseheight > m_scene.RegionInfo.RegionSettings.WaterHeight)
_map.SetPixel(Y, X, Color.Yellow);
drawAllBlocketPositions(ref _map);
//drawAllBlocketPositions(ref _map);
drawAllAllowedPaths(ref _map);
//drawAllAllowedPaths(ref _map);
}
}
_map.Save(imageName + ".png", ImageFormat.Png);
}
[ScriptInvocation]
public string osCreateNewPathFindingScene(UUID hostID, UUID scriptID)
{
MapImageModule _mapModule = new MapImageModule();
String imageName = UUID.Random().ToString();
(new Thread(delegate () { createPathFindingScene(imageName); })).Start();

363
src/PathFindingSceneGenerator.cs Normal file
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@ -0,0 +1,363 @@
using OpenMetaverse;
using OpenSim.Region.CoreModules.World.LegacyMap;
using OpenSim.Region.Framework.Interfaces;
using OpenSim.Region.Framework.Scenes;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OpenSim.Modules.PathFinding
{
class PathFindingSceneGenerator
{
public static Bitmap DrawObjectVolume(Scene whichScene, ref Bitmap mapbmp)
{
int tc = 0;
ITerrainChannel hm = whichScene.Heightmap;
tc = Environment.TickCount;
EntityBase[] objs = whichScene.GetEntities();
List<float> z_sortheights = new List<float>();
List<uint> z_localIDs = new List<uint>();
Dictionary<uint, DrawStruct> z_sort = new Dictionary<uint, DrawStruct>();
try
{
lock (objs)
{
foreach (EntityBase obj in objs)
{
// Only draw the contents of SceneObjectGroup
if (obj is SceneObjectGroup)
{
SceneObjectGroup mapdot = (SceneObjectGroup)obj;
Color mapdotspot = Color.Gray; // Default color when prim color is white
// Loop over prim in group
foreach (SceneObjectPart part in mapdot.Parts)
{
if (part == null)
continue;
// Draw if the object is at least 1 meter wide in any direction
if (part.Scale.X > 1f || part.Scale.Y > 1f || part.Scale.Z > 1f)
{
// Try to get the RGBA of the default texture entry..
//
try
{
// get the null checks out of the way
// skip the ones that break
if (part == null)
continue;
if (part.Shape == null)
continue;
if (part.Shape.PCode == (byte)PCode.Tree || part.Shape.PCode == (byte)PCode.NewTree || part.Shape.PCode == (byte)PCode.Grass)
continue; // eliminates trees from this since we don't really have a good tree representation
// if you want tree blocks on the map comment the above line and uncomment the below line
//mapdotspot = Color.PaleGreen;
Primitive.TextureEntry textureEntry = part.Shape.Textures;
if (textureEntry == null || textureEntry.DefaultTexture == null)
continue;
Color4 texcolor = textureEntry.DefaultTexture.RGBA;
// Not sure why some of these are null, oh well.
int colorr = 255 - (int)(texcolor.R * 255f);
int colorg = 255 - (int)(texcolor.G * 255f);
int colorb = 255 - (int)(texcolor.B * 255f);
if (!(colorr == 255 && colorg == 255 && colorb == 255))
{
//Try to set the map spot color
try
{
// If the color gets goofy somehow, skip it *shakes fist at Color4
mapdotspot = Color.FromArgb(colorr, colorg, colorb);
}
catch (ArgumentException)
{
}
}
}
catch (IndexOutOfRangeException)
{
// Windows Array
}
catch (ArgumentOutOfRangeException)
{
// Mono Array
}
Vector3 pos = part.GetWorldPosition();
// skip prim outside of region
if (!whichScene.PositionIsInCurrentRegion(pos))
continue;
// skip prim in non-finite position
if (Single.IsNaN(pos.X) || Single.IsNaN(pos.Y) ||
Single.IsInfinity(pos.X) || Single.IsInfinity(pos.Y))
continue;
// Figure out if object is under 256m above the height of the terrain
bool isBelow256AboveTerrain = false;
try
{
isBelow256AboveTerrain = (pos.Z < ((float)hm[(int)pos.X, (int)pos.Y] + 256f));
}
catch (Exception)
{
}
if (isBelow256AboveTerrain)
{
// Translate scale by rotation so scale is represented properly when object is rotated
Vector3 lscale = new Vector3(part.Shape.Scale.X, part.Shape.Scale.Y, part.Shape.Scale.Z);
lscale *= 0.5f;
Vector3 scale = new Vector3();
Vector3 tScale = new Vector3();
Vector3 axPos = new Vector3(pos.X, pos.Y, pos.Z);
Quaternion rot = part.GetWorldRotation();
scale = lscale * rot;
// negative scales don't work in this situation
scale.X = Math.Abs(scale.X);
scale.Y = Math.Abs(scale.Y);
scale.Z = Math.Abs(scale.Z);
// This scaling isn't very accurate and doesn't take into account the face rotation :P
int mapdrawstartX = (int)(pos.X - scale.X);
int mapdrawstartY = (int)(pos.Y - scale.Y);
int mapdrawendX = (int)(pos.X + scale.X);
int mapdrawendY = (int)(pos.Y + scale.Y);
// If object is beyond the edge of the map, don't draw it to avoid errors
if (mapdrawstartX < 0
|| mapdrawstartX > (hm.Width - 1)
|| mapdrawendX < 0
|| mapdrawendX > (hm.Width - 1)
|| mapdrawstartY < 0
|| mapdrawstartY > (hm.Height - 1)
|| mapdrawendY < 0
|| mapdrawendY > (hm.Height - 1))
continue;
#region obb face reconstruction part duex
Vector3[] vertexes = new Vector3[8];
// float[] distance = new float[6];
Vector3[] FaceA = new Vector3[6]; // vertex A for Facei
Vector3[] FaceB = new Vector3[6]; // vertex B for Facei
Vector3[] FaceC = new Vector3[6]; // vertex C for Facei
Vector3[] FaceD = new Vector3[6]; // vertex D for Facei
tScale = new Vector3(lscale.X, -lscale.Y, lscale.Z);
scale = ((tScale * rot));
vertexes[0] = (new Vector3((pos.X + scale.X), (pos.Y + scale.Y), (pos.Z + scale.Z)));
// vertexes[0].x = pos.X + vertexes[0].x;
//vertexes[0].y = pos.Y + vertexes[0].y;
//vertexes[0].z = pos.Z + vertexes[0].z;
FaceA[0] = vertexes[0];
FaceB[3] = vertexes[0];
FaceA[4] = vertexes[0];
tScale = lscale;
scale = ((tScale * rot));
vertexes[1] = (new Vector3((pos.X + scale.X), (pos.Y + scale.Y), (pos.Z + scale.Z)));
// vertexes[1].x = pos.X + vertexes[1].x;
// vertexes[1].y = pos.Y + vertexes[1].y;
//vertexes[1].z = pos.Z + vertexes[1].z;
FaceB[0] = vertexes[1];
FaceA[1] = vertexes[1];
FaceC[4] = vertexes[1];
tScale = new Vector3(lscale.X, -lscale.Y, -lscale.Z);
scale = ((tScale * rot));
vertexes[2] = (new Vector3((pos.X + scale.X), (pos.Y + scale.Y), (pos.Z + scale.Z)));
//vertexes[2].x = pos.X + vertexes[2].x;
//vertexes[2].y = pos.Y + vertexes[2].y;
//vertexes[2].z = pos.Z + vertexes[2].z;
FaceC[0] = vertexes[2];
FaceD[3] = vertexes[2];
FaceC[5] = vertexes[2];
tScale = new Vector3(lscale.X, lscale.Y, -lscale.Z);
scale = ((tScale * rot));
vertexes[3] = (new Vector3((pos.X + scale.X), (pos.Y + scale.Y), (pos.Z + scale.Z)));
//vertexes[3].x = pos.X + vertexes[3].x;
// vertexes[3].y = pos.Y + vertexes[3].y;
// vertexes[3].z = pos.Z + vertexes[3].z;
FaceD[0] = vertexes[3];
FaceC[1] = vertexes[3];
FaceA[5] = vertexes[3];
tScale = new Vector3(-lscale.X, lscale.Y, lscale.Z);
scale = ((tScale * rot));
vertexes[4] = (new Vector3((pos.X + scale.X), (pos.Y + scale.Y), (pos.Z + scale.Z)));
// vertexes[4].x = pos.X + vertexes[4].x;
// vertexes[4].y = pos.Y + vertexes[4].y;
// vertexes[4].z = pos.Z + vertexes[4].z;
FaceB[1] = vertexes[4];
FaceA[2] = vertexes[4];
FaceD[4] = vertexes[4];
tScale = new Vector3(-lscale.X, lscale.Y, -lscale.Z);
scale = ((tScale * rot));
vertexes[5] = (new Vector3((pos.X + scale.X), (pos.Y + scale.Y), (pos.Z + scale.Z)));
// vertexes[5].x = pos.X + vertexes[5].x;
// vertexes[5].y = pos.Y + vertexes[5].y;
// vertexes[5].z = pos.Z + vertexes[5].z;
FaceD[1] = vertexes[5];
FaceC[2] = vertexes[5];
FaceB[5] = vertexes[5];
tScale = new Vector3(-lscale.X, -lscale.Y, lscale.Z);
scale = ((tScale * rot));
vertexes[6] = (new Vector3((pos.X + scale.X), (pos.Y + scale.Y), (pos.Z + scale.Z)));
// vertexes[6].x = pos.X + vertexes[6].x;
// vertexes[6].y = pos.Y + vertexes[6].y;
// vertexes[6].z = pos.Z + vertexes[6].z;
FaceB[2] = vertexes[6];
FaceA[3] = vertexes[6];
FaceB[4] = vertexes[6];
tScale = new Vector3(-lscale.X, -lscale.Y, -lscale.Z);
scale = ((tScale * rot));
vertexes[7] = (new Vector3((pos.X + scale.X), (pos.Y + scale.Y), (pos.Z + scale.Z)));
// vertexes[7].x = pos.X + vertexes[7].x;
// vertexes[7].y = pos.Y + vertexes[7].y;
// vertexes[7].z = pos.Z + vertexes[7].z;
FaceD[2] = vertexes[7];
FaceC[3] = vertexes[7];
FaceD[5] = vertexes[7];
#endregion
//int wy = 0;
//bool breakYN = false; // If we run into an error drawing, break out of the
// loop so we don't lag to death on error handling
DrawStruct ds = new DrawStruct();
ds.brush = new SolidBrush(mapdotspot);
//ds.rect = new Rectangle(mapdrawstartX, (255 - mapdrawstartY), mapdrawendX - mapdrawstartX, mapdrawendY - mapdrawstartY);
ds.trns = new face[FaceA.Length];
for (int i = 0; i < FaceA.Length; i++)
{
Point[] working = new Point[5];
working[0] = project(hm, FaceA[i], axPos);
working[1] = project(hm, FaceB[i], axPos);
working[2] = project(hm, FaceD[i], axPos);
working[3] = project(hm, FaceC[i], axPos);
working[4] = project(hm, FaceA[i], axPos);
face workingface = new face();
workingface.pts = working;
ds.trns[i] = workingface;
}
z_sort.Add(part.LocalId, ds);
z_localIDs.Add(part.LocalId);
z_sortheights.Add(pos.Z);
// for (int wx = mapdrawstartX; wx < mapdrawendX; wx++)
// {
// for (wy = mapdrawstartY; wy < mapdrawendY; wy++)
// {
// m_log.InfoFormat("[MAPDEBUG]: {0},{1}({2})", wx, (255 - wy),wy);
// try
// {
// // Remember, flip the y!
// mapbmp.SetPixel(wx, (255 - wy), mapdotspot);
// }
// catch (ArgumentException)
// {
// breakYN = true;
// }
// }
// if (breakYN)
// break;
// }
// }
//}
} // Object is within 256m Z of terrain
} // object is at least a meter wide
} // loop over group children
} // entitybase is sceneobject group
} // foreach loop over entities
float[] sortedZHeights = z_sortheights.ToArray();
uint[] sortedlocalIds = z_localIDs.ToArray();
// Sort prim by Z position
Array.Sort(sortedZHeights, sortedlocalIds);
using (Graphics g = Graphics.FromImage(mapbmp))
{
for (int s = 0; s < sortedZHeights.Length; s++)
{
if (z_sort.ContainsKey(sortedlocalIds[s]))
{
DrawStruct rectDrawStruct = z_sort[sortedlocalIds[s]];
for (int r = 0; r < rectDrawStruct.trns.Length; r++)
{
g.FillPolygon(rectDrawStruct.brush, rectDrawStruct.trns[r].pts);
}
//g.FillRectangle(rectDrawStruct.brush , rectDrawStruct.rect);
}
}
}
} // lock entities objs
}
finally
{
foreach (DrawStruct ds in z_sort.Values)
ds.brush.Dispose();
}
return mapbmp;
}
private static Point project(ITerrainChannel hm, Vector3 point3d, Vector3 originpos)
{
Point returnpt = new Point();
//originpos = point3d;
//int d = (int)(256f / 1.5f);
//Vector3 topos = new Vector3(0, 0, 0);
// float z = -point3d.z - topos.z;
returnpt.X = (int)point3d.X;//(int)((topos.x - point3d.x) / z * d);
returnpt.Y = (int)((hm.Width - 1) - point3d.Y);//(int)(255 - (((topos.y - point3d.y) / z * d)));
return returnpt;
}
}
}