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OpenSim.Modules.PathFinding
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add try

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Christopher Latza 2020-06-23 17:19:45 +02:00
parent 4ac5da4ee2
commit d3d8eb1d45
1 changed files with 45 additions and 39 deletions
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84
src/BasicPathFinding.cs
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@ -320,66 +320,72 @@ namespace OpenSim.Modules.PathFinding
private void generatePath(ScriptRequestData requestData) private void generatePath(ScriptRequestData requestData)
{ {
lock (m_environments) try
{ {
Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID); lock (m_environments)
if(_env.Start != null && _env.Target != null)
{ {
if(_env.Start.PositionX == _env.Target.PositionX && _env.Start.PositionY == _env.Target.PositionY) Environment _env = m_environments.Find(X => X.ID == requestData.EnvironmentID);
m_scriptModule.DispatchReply(requestData.ScriptID, 19850, "", requestData.RequestID.ToString());
GridSize _pathFindingGridSize = new GridSize(_env.Size, _env.Size); if (_env.Start != null && _env.Target != null)
Roy_T.AStar.Primitives.Size _pathFindingCellSize = new Roy_T.AStar.Primitives.Size(Distance.FromMeters(1), Distance.FromMeters(1));
Velocity _pathFindingVelocity = Velocity.FromKilometersPerHour(11.5f);
Grid _pathFindingGrid = Grid.CreateGridWithLateralAndDiagonalConnections(_pathFindingGridSize, _pathFindingCellSize, _pathFindingVelocity);
foreach(INode _thisNode in _pathFindingGrid.GetAllNodes())
{ {
PathNode _node = _env.Nodes.Find(X => X.PositionX == (int)_thisNode.Position.X && X.PositionY == (int)_thisNode.Position.Y); if (_env.Start.PositionX == _env.Target.PositionX && _env.Start.PositionY == _env.Target.PositionY)
m_scriptModule.DispatchReply(requestData.ScriptID, 19850, "", requestData.RequestID.ToString());
if(_node == null) GridSize _pathFindingGridSize = new GridSize(_env.Size, _env.Size);
Roy_T.AStar.Primitives.Size _pathFindingCellSize = new Roy_T.AStar.Primitives.Size(Distance.FromMeters(1), Distance.FromMeters(1));
Velocity _pathFindingVelocity = Velocity.FromKilometersPerHour(11.5f);
Grid _pathFindingGrid = Grid.CreateGridWithLateralAndDiagonalConnections(_pathFindingGridSize, _pathFindingCellSize, _pathFindingVelocity);
foreach (INode _thisNode in _pathFindingGrid.GetAllNodes())
{ {
_pathFindingGrid.DisconnectNode(new GridPosition((int)_thisNode.Position.X, (int)_thisNode.Position.Y)); PathNode _node = _env.Nodes.Find(X => X.PositionX == (int)_thisNode.Position.X && X.PositionY == (int)_thisNode.Position.Y);
_pathFindingGrid.RemoveDiagonalConnectionsIntersectingWithNode(new GridPosition((int)_thisNode.Position.X, (int)_thisNode.Position.Y));
if (_node == null)
{
_pathFindingGrid.DisconnectNode(new GridPosition((int)_thisNode.Position.X, (int)_thisNode.Position.Y));
_pathFindingGrid.RemoveDiagonalConnectionsIntersectingWithNode(new GridPosition((int)_thisNode.Position.X, (int)_thisNode.Position.Y));
}
} }
}
PathFinder pathFinder = new PathFinder(); PathFinder pathFinder = new PathFinder();
Path _pathFindingPath = pathFinder.FindPath(new GridPosition(_env.Start.PositionX, _env.Start.PositionY), new GridPosition(_env.Target.PositionX, _env.Target.PositionY), _pathFindingGrid); Path _pathFindingPath = pathFinder.FindPath(new GridPosition(_env.Start.PositionX, _env.Start.PositionY), new GridPosition(_env.Target.PositionX, _env.Target.PositionY), _pathFindingGrid);
String _pathString = ""; String _pathString = "";
int lastX = 0; int lastX = 0;
int lastY = 0; int lastY = 0;
foreach (var _thisEdge in _pathFindingPath.Edges) foreach (var _thisEdge in _pathFindingPath.Edges)
{
if(lastX != (int)_thisEdge.End.Position.X && lastY != (int)_thisEdge.End.Position.Y)
{ {
_pathString += "<" + _thisEdge.End.Position.X + ", " + _thisEdge.End.Position.Y + ", 0>;"; if (lastX != (int)_thisEdge.End.Position.X && lastY != (int)_thisEdge.End.Position.Y)
{
_pathString += "<" + _thisEdge.End.Position.X + ", " + _thisEdge.End.Position.Y + ", 0>;";
lastX = (int)_thisEdge.End.Position.X; lastX = (int)_thisEdge.End.Position.X;
lastY = (int)_thisEdge.End.Position.Y; lastY = (int)_thisEdge.End.Position.Y;
}
} }
}
_pathString += "<" + _pathFindingPath.Edges[_pathFindingPath.Edges.Count-1].End.Position.X + ", " + _pathFindingPath.Edges[_pathFindingPath.Edges.Count - 1].End.Position.Y + ", 0>;"; _pathString += "<" + _pathFindingPath.Edges[_pathFindingPath.Edges.Count - 1].End.Position.X + ", " + _pathFindingPath.Edges[_pathFindingPath.Edges.Count - 1].End.Position.Y + ", 0>;";
if (_pathFindingPath.Type == PathType.Complete) if (_pathFindingPath.Type == PathType.Complete)
{ {
m_scriptModule.DispatchReply(requestData.ScriptID, 19850, _pathString, requestData.RequestID.ToString()); m_scriptModule.DispatchReply(requestData.ScriptID, 19850, _pathString, requestData.RequestID.ToString());
}
else
{
m_scriptModule.DispatchReply(requestData.ScriptID, 19855, _pathString, requestData.RequestID.ToString());
}
} }
else else
{ {
m_scriptModule.DispatchReply(requestData.ScriptID, 19855, _pathString, requestData.RequestID.ToString()); m_scriptModule.DispatchReply(requestData.ScriptID, 19854, "", requestData.RequestID.ToString());
} }
} }
else }catch(Exception _error)
{ {
m_scriptModule.DispatchReply(requestData.ScriptID, 19854, "", requestData.RequestID.ToString()); m_scriptModule.DispatchReply(requestData.ScriptID, 19860, _error.Message, requestData.RequestID.ToString());
}
} }
} }