Cleaned up whitespace and detabified files.
Kevin Cozens
parent
2e06c0b2d8
commit
654a74ecc7
|
|
@ -31,343 +31,343 @@ using OpenMetaverse;
|
|||
|
||||
namespace Flocking
|
||||
{
|
||||
public class Bird
|
||||
{
|
||||
private static readonly ILog m_log = LogManager.GetLogger (System.Reflection.MethodBase.GetCurrentMethod ().DeclaringType);
|
||||
private string m_id;
|
||||
|
||||
private Vector3 m_loc;
|
||||
private Vector3 m_vel;
|
||||
private Vector3 m_acc;
|
||||
private Random m_rndnums = new Random (Environment.TickCount);
|
||||
|
||||
private FlockingModel m_model;
|
||||
private FlowMap m_flowMap;
|
||||
public class Bird
|
||||
{
|
||||
private static readonly ILog m_log = LogManager.GetLogger (System.Reflection.MethodBase.GetCurrentMethod ().DeclaringType);
|
||||
private string m_id;
|
||||
|
||||
private Vector3 m_loc;
|
||||
private Vector3 m_vel;
|
||||
private Vector3 m_acc;
|
||||
private Random m_rndnums = new Random (Environment.TickCount);
|
||||
|
||||
private FlockingModel m_model;
|
||||
private FlowMap m_flowMap;
|
||||
private int m_regionX;
|
||||
private int m_regionY;
|
||||
private int m_regionZ;
|
||||
private float m_regionBorder;
|
||||
|
||||
/// <summary>
|
||||
/// Initializes a new instance of the <see cref="Flocking.Bird"/> class.
|
||||
/// </summary>
|
||||
/// <param name='l'>
|
||||
/// L. the initial position of this bird
|
||||
/// </param>
|
||||
/// <param name='ms'>
|
||||
/// Ms. max speed this bird can attain
|
||||
/// </param>
|
||||
/// <param name='mf'>
|
||||
/// Mf. max force / acceleration this bird can extert
|
||||
/// </param>
|
||||
public Bird (string id, FlockingModel model, FlowMap flowMap)
|
||||
{
|
||||
m_id = id;
|
||||
m_acc = Vector3.Zero;
|
||||
m_vel = new Vector3 (m_rndnums.Next (-1, 1), m_rndnums.Next (-1, 1), m_rndnums.Next (-1, 1));
|
||||
m_model = model;
|
||||
m_flowMap = flowMap;
|
||||
|
||||
/// <summary>
|
||||
/// Initializes a new instance of the <see cref="Flocking.Bird"/> class.
|
||||
/// </summary>
|
||||
/// <param name='l'>
|
||||
/// L. the initial position of this bird
|
||||
/// </param>
|
||||
/// <param name='ms'>
|
||||
/// Ms. max speed this bird can attain
|
||||
/// </param>
|
||||
/// <param name='mf'>
|
||||
/// Mf. max force / acceleration this bird can extert
|
||||
/// </param>
|
||||
public Bird (string id, FlockingModel model, FlowMap flowMap)
|
||||
{
|
||||
m_id = id;
|
||||
m_acc = Vector3.Zero;
|
||||
m_vel = new Vector3 (m_rndnums.Next (-1, 1), m_rndnums.Next (-1, 1), m_rndnums.Next (-1, 1));
|
||||
m_model = model;
|
||||
m_flowMap = flowMap;
|
||||
m_regionX = m_flowMap.LengthX;
|
||||
m_regionY = m_flowMap.LengthY;
|
||||
m_regionZ = m_flowMap.LengthZ;
|
||||
m_regionBorder = m_flowMap.Border;
|
||||
}
|
||||
|
||||
public Vector3 Location {
|
||||
get { return m_loc;}
|
||||
set { m_loc = value; }
|
||||
}
|
||||
}
|
||||
|
||||
public Vector3 Velocity {
|
||||
get { return m_vel;}
|
||||
}
|
||||
|
||||
public String Id {
|
||||
get {return m_id;}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Moves our bird in the scene relative to the rest of the flock.
|
||||
/// </summary>
|
||||
/// <param name='birds'>
|
||||
/// Birds. all the other chaps in the scene
|
||||
/// </param>
|
||||
public void MoveInSceneRelativeToFlock (List<Bird> birds)
|
||||
{
|
||||
// we would like to stay with our mates
|
||||
Flock (birds);
|
||||
public Vector3 Location {
|
||||
get { return m_loc;}
|
||||
set { m_loc = value; }
|
||||
}
|
||||
|
||||
// our first priority is to not hurt ourselves
|
||||
AvoidObstacles ();
|
||||
|
||||
// then we want to avoid any threats
|
||||
// this not implemented yet
|
||||
|
||||
|
||||
// ok so we worked our where we want to go, so ...
|
||||
UpdatePositionInScene ();
|
||||
|
||||
}
|
||||
public Vector3 Velocity {
|
||||
get { return m_vel;}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Move within our flock
|
||||
///
|
||||
/// We accumulate a new acceleration each time based on three rules
|
||||
/// these are:
|
||||
/// our separation from our closest neighbours,
|
||||
/// our desire to keep travelling within the local flock,
|
||||
/// our desire to move towards the flock centre
|
||||
///
|
||||
/// </summary>
|
||||
void Flock (List<Bird> birds)
|
||||
{
|
||||
|
||||
// calc the force vectors on this bird
|
||||
Vector3 sep = Separate (birds); // Separation
|
||||
Vector3 ali = Align (birds); // Alignment
|
||||
Vector3 coh = Cohesion (birds); // Cohesion
|
||||
|
||||
// Arbitrarily weight these forces
|
||||
//TODO: expose these consts
|
||||
sep *= 1.5f; //.mult(1.5);
|
||||
//ali.mult(1.0);
|
||||
ali *= 1.0f;
|
||||
//coh.mult(1.0);
|
||||
coh *= 1.0f;
|
||||
|
||||
// Add the force vectors to the current acceleration of the bird
|
||||
//acc.add(sep);
|
||||
m_acc += sep;
|
||||
//acc.add(ali);
|
||||
m_acc += ali;
|
||||
//acc.add(coh);
|
||||
m_acc += coh;
|
||||
}
|
||||
|
||||
public String Id {
|
||||
get {return m_id;}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Method to update our location within the scene.
|
||||
/// update our location in the world based on our
|
||||
/// current location, velocity and acceleration
|
||||
/// taking into account our max speed
|
||||
///
|
||||
/// </summary>
|
||||
void UpdatePositionInScene ()
|
||||
{
|
||||
// Update velocity
|
||||
//vel.add(acc);
|
||||
m_vel += m_acc;
|
||||
// Limit speed
|
||||
//m_vel.limit(maxspeed);
|
||||
m_vel = BirdsUtil.Limit (m_vel, m_model.MaxSpeed);
|
||||
m_loc += m_vel;
|
||||
// Reset accelertion to 0 each cycle
|
||||
m_acc *= 0.0f;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Seek the specified target. Move into that flock
|
||||
/// Accelerate us towards where we want to go
|
||||
/// </summary>
|
||||
/// <param name='target'>
|
||||
/// Target. the position within the flock we would like to achieve
|
||||
/// </param>
|
||||
void Seek (Vector3 target)
|
||||
{
|
||||
m_acc += Steer (target, false);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Arrive the specified target. Slow us down, as we are almost there
|
||||
/// </summary>
|
||||
/// <param name='target'>
|
||||
/// Target. the flock we would like to think ourselves part of
|
||||
/// </param>
|
||||
void arrive (Vector3 target)
|
||||
{
|
||||
m_acc += Steer (target, true);
|
||||
}
|
||||
/// <summary>
|
||||
/// Moves our bird in the scene relative to the rest of the flock.
|
||||
/// </summary>
|
||||
/// <param name='birds'>
|
||||
/// Birds. all the other chaps in the scene
|
||||
/// </param>
|
||||
public void MoveInSceneRelativeToFlock (List<Bird> birds)
|
||||
{
|
||||
// we would like to stay with our mates
|
||||
Flock (birds);
|
||||
|
||||
/// A method that calculates a steering vector towards a target
|
||||
/// Takes a second argument, if true, it slows down as it approaches the target
|
||||
Vector3 Steer (Vector3 target, bool slowdown)
|
||||
{
|
||||
Vector3 steer; // The steering vector
|
||||
Vector3 desired = Vector3.Subtract(target, m_loc); // A vector pointing from the location to the target
|
||||
float d = desired.Length (); // Distance from the target is the magnitude of the vector
|
||||
// If the distance is greater than 0, calc steering (otherwise return zero vector)
|
||||
if (d > 0) {
|
||||
// Normalize desired
|
||||
desired.Normalize ();
|
||||
// Two options for desired vector magnitude (1 -- based on distance, 2 -- maxspeed)
|
||||
if ((slowdown) && (d < 100.0f)) {
|
||||
desired *= (m_model.MaxSpeed * (d / 100.0f)); // This damping is somewhat arbitrary
|
||||
} else {
|
||||
desired *= m_model.MaxSpeed;
|
||||
}
|
||||
// Steering = Desired minus Velocity
|
||||
//steer = target.sub(desired,m_vel);
|
||||
steer = Vector3.Subtract (desired, m_vel);
|
||||
//steer.limit(maxforce); // Limit to maximum steering force
|
||||
steer = BirdsUtil.Limit (steer, m_model.MaxForce);
|
||||
} else {
|
||||
steer = Vector3.Zero;
|
||||
}
|
||||
return steer;
|
||||
}
|
||||
// our first priority is to not hurt ourselves
|
||||
AvoidObstacles ();
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// Borders this instance.
|
||||
/// if we get too close wrap us around
|
||||
/// CHANGE THIS to navigate away from whatever it is we are too close to
|
||||
/// </summary>
|
||||
void AvoidObstacles ()
|
||||
{
|
||||
//look tolerance metres ahead
|
||||
Vector3 normVel = Vector3.Normalize(m_vel);
|
||||
Vector3 inFront = m_loc + Vector3.Multiply(normVel, m_model.Tolerance);
|
||||
if( m_flowMap.WouldHitObstacle( m_loc, inFront ) ) {
|
||||
AdjustVelocityToAvoidObstacles ();
|
||||
|
||||
}
|
||||
}
|
||||
// then we want to avoid any threats
|
||||
// this not implemented yet
|
||||
|
||||
void AdjustVelocityToAvoidObstacles ()
|
||||
{
|
||||
for( int i = 1; i < 5; i++ ) {
|
||||
Vector3 normVel = Vector3.Normalize(m_vel);
|
||||
int xDelta = m_rndnums.Next (-i, i);
|
||||
int yDelta = m_rndnums.Next (-i, i);
|
||||
int zDelta = m_rndnums.Next (-i, i);
|
||||
normVel.X += xDelta;
|
||||
normVel.Y += yDelta;
|
||||
normVel.Z += zDelta;
|
||||
Vector3 inFront = m_loc + Vector3.Multiply(normVel, m_model.Tolerance);
|
||||
if( !m_flowMap.WouldHitObstacle( m_loc, inFront ) ) {
|
||||
m_vel.X += xDelta;
|
||||
m_vel.Y += yDelta;
|
||||
m_vel.Z += zDelta;
|
||||
//m_log.Info("avoided");
|
||||
return;
|
||||
}
|
||||
}
|
||||
//m_log.Info("didn't avoid");
|
||||
// try increaing our acceleration
|
||||
// or try decreasing our acceleration
|
||||
// or turn around - coz where we came from was OK
|
||||
if (m_loc.X < m_regionBorder || m_loc.X > m_regionX - m_regionBorder)
|
||||
m_vel.X = -m_vel.X;
|
||||
|
||||
// ok so we worked our where we want to go, so ...
|
||||
UpdatePositionInScene ();
|
||||
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Move within our flock
|
||||
///
|
||||
/// We accumulate a new acceleration each time based on three rules
|
||||
/// these are:
|
||||
/// our separation from our closest neighbours,
|
||||
/// our desire to keep travelling within the local flock,
|
||||
/// our desire to move towards the flock centre
|
||||
///
|
||||
/// </summary>
|
||||
void Flock (List<Bird> birds)
|
||||
{
|
||||
|
||||
// calc the force vectors on this bird
|
||||
Vector3 sep = Separate (birds); // Separation
|
||||
Vector3 ali = Align (birds); // Alignment
|
||||
Vector3 coh = Cohesion (birds); // Cohesion
|
||||
|
||||
// Arbitrarily weight these forces
|
||||
//TODO: expose these consts
|
||||
sep *= 1.5f; //.mult(1.5);
|
||||
//ali.mult(1.0);
|
||||
ali *= 1.0f;
|
||||
//coh.mult(1.0);
|
||||
coh *= 1.0f;
|
||||
|
||||
// Add the force vectors to the current acceleration of the bird
|
||||
//acc.add(sep);
|
||||
m_acc += sep;
|
||||
//acc.add(ali);
|
||||
m_acc += ali;
|
||||
//acc.add(coh);
|
||||
m_acc += coh;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// Method to update our location within the scene.
|
||||
/// update our location in the world based on our
|
||||
/// current location, velocity and acceleration
|
||||
/// taking into account our max speed
|
||||
///
|
||||
/// </summary>
|
||||
void UpdatePositionInScene ()
|
||||
{
|
||||
// Update velocity
|
||||
//vel.add(acc);
|
||||
m_vel += m_acc;
|
||||
// Limit speed
|
||||
//m_vel.limit(maxspeed);
|
||||
m_vel = BirdsUtil.Limit (m_vel, m_model.MaxSpeed);
|
||||
m_loc += m_vel;
|
||||
// Reset accelertion to 0 each cycle
|
||||
m_acc *= 0.0f;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Seek the specified target. Move into that flock
|
||||
/// Accelerate us towards where we want to go
|
||||
/// </summary>
|
||||
/// <param name='target'>
|
||||
/// Target. the position within the flock we would like to achieve
|
||||
/// </param>
|
||||
void Seek (Vector3 target)
|
||||
{
|
||||
m_acc += Steer (target, false);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Arrive the specified target. Slow us down, as we are almost there
|
||||
/// </summary>
|
||||
/// <param name='target'>
|
||||
/// Target. the flock we would like to think ourselves part of
|
||||
/// </param>
|
||||
void arrive (Vector3 target)
|
||||
{
|
||||
m_acc += Steer (target, true);
|
||||
}
|
||||
|
||||
/// A method that calculates a steering vector towards a target
|
||||
/// Takes a second argument, if true, it slows down as it approaches the target
|
||||
Vector3 Steer (Vector3 target, bool slowdown)
|
||||
{
|
||||
Vector3 steer; // The steering vector
|
||||
Vector3 desired = Vector3.Subtract(target, m_loc); // A vector pointing from the location to the target
|
||||
float d = desired.Length (); // Distance from the target is the magnitude of the vector
|
||||
// If the distance is greater than 0, calc steering (otherwise return zero vector)
|
||||
if (d > 0) {
|
||||
// Normalize desired
|
||||
desired.Normalize ();
|
||||
// Two options for desired vector magnitude (1 -- based on distance, 2 -- maxspeed)
|
||||
if ((slowdown) && (d < 100.0f)) {
|
||||
desired *= (m_model.MaxSpeed * (d / 100.0f)); // This damping is somewhat arbitrary
|
||||
} else {
|
||||
desired *= m_model.MaxSpeed;
|
||||
}
|
||||
// Steering = Desired minus Velocity
|
||||
//steer = target.sub(desired,m_vel);
|
||||
steer = Vector3.Subtract (desired, m_vel);
|
||||
//steer.limit(maxforce); // Limit to maximum steering force
|
||||
steer = BirdsUtil.Limit (steer, m_model.MaxForce);
|
||||
} else {
|
||||
steer = Vector3.Zero;
|
||||
}
|
||||
return steer;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// Borders this instance.
|
||||
/// if we get too close wrap us around
|
||||
/// CHANGE THIS to navigate away from whatever it is we are too close to
|
||||
/// </summary>
|
||||
void AvoidObstacles ()
|
||||
{
|
||||
//look tolerance metres ahead
|
||||
Vector3 normVel = Vector3.Normalize(m_vel);
|
||||
Vector3 inFront = m_loc + Vector3.Multiply(normVel, m_model.Tolerance);
|
||||
if( m_flowMap.WouldHitObstacle( m_loc, inFront ) ) {
|
||||
AdjustVelocityToAvoidObstacles ();
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void AdjustVelocityToAvoidObstacles ()
|
||||
{
|
||||
for( int i = 1; i < 5; i++ ) {
|
||||
Vector3 normVel = Vector3.Normalize(m_vel);
|
||||
int xDelta = m_rndnums.Next (-i, i);
|
||||
int yDelta = m_rndnums.Next (-i, i);
|
||||
int zDelta = m_rndnums.Next (-i, i);
|
||||
normVel.X += xDelta;
|
||||
normVel.Y += yDelta;
|
||||
normVel.Z += zDelta;
|
||||
Vector3 inFront = m_loc + Vector3.Multiply(normVel, m_model.Tolerance);
|
||||
if( !m_flowMap.WouldHitObstacle( m_loc, inFront ) ) {
|
||||
m_vel.X += xDelta;
|
||||
m_vel.Y += yDelta;
|
||||
m_vel.Z += zDelta;
|
||||
//m_log.Info("avoided");
|
||||
return;
|
||||
}
|
||||
}
|
||||
//m_log.Info("didn't avoid");
|
||||
// try increaing our acceleration
|
||||
// or try decreasing our acceleration
|
||||
// or turn around - coz where we came from was OK
|
||||
if (m_loc.X < m_regionBorder || m_loc.X > m_regionX - m_regionBorder)
|
||||
m_vel.X = -m_vel.X;
|
||||
if (m_loc.Y < m_regionBorder || m_loc.Y > m_regionY - m_regionBorder)
|
||||
m_vel.Y = -m_vel.Y;
|
||||
if (m_loc.Z < 21 || m_loc.Z > m_regionZ )
|
||||
m_vel.Z = -m_vel.Z;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Separate ourselves from the specified birds.
|
||||
/// keeps us a respectable distance from our closest neighbours whilst still
|
||||
/// being part of our local flock
|
||||
/// </summary>
|
||||
/// <param name='birds'>
|
||||
/// Birds. all the birds in the scene
|
||||
/// </param>
|
||||
Vector3 Separate (List<Bird> birds)
|
||||
{
|
||||
Vector3 steer = new Vector3 (0, 0, 0);
|
||||
int count = 0;
|
||||
// For every bird in the system, check if it's too close
|
||||
foreach (Bird other in birds) {
|
||||
float d = Vector3.Distance (m_loc, other.Location);
|
||||
// If the distance is greater than 0 and less than an arbitrary amount (0 when you are yourself)
|
||||
if ((d > 0) && (d < m_model.DesiredSeparation)) {
|
||||
// Calculate vector pointing away from neighbor
|
||||
Vector3 diff = Vector3.Subtract (m_loc, other.Location);
|
||||
diff.Normalize ();
|
||||
diff = Vector3.Divide (diff, d);
|
||||
steer = Vector3.Add (steer, diff);
|
||||
count++; // Keep track of how many
|
||||
}
|
||||
}
|
||||
// Average -- divide by how many
|
||||
if (count > 0) {
|
||||
steer /= (float)count;
|
||||
}
|
||||
m_vel.Y = -m_vel.Y;
|
||||
if (m_loc.Z < 21 || m_loc.Z > m_regionZ )
|
||||
m_vel.Z = -m_vel.Z;
|
||||
}
|
||||
|
||||
// As long as the vector is greater than 0
|
||||
if (steer.Length () > 0) {
|
||||
// Implement Reynolds: Steering = Desired - Velocity
|
||||
steer.Normalize ();
|
||||
steer *= m_model.MaxSpeed;
|
||||
steer -= m_vel;
|
||||
//steer.limit(maxforce);
|
||||
steer = BirdsUtil.Limit (steer, m_model.MaxForce);
|
||||
}
|
||||
return steer;
|
||||
}
|
||||
/// <summary>
|
||||
/// Separate ourselves from the specified birds.
|
||||
/// keeps us a respectable distance from our closest neighbours whilst still
|
||||
/// being part of our local flock
|
||||
/// </summary>
|
||||
/// <param name='birds'>
|
||||
/// Birds. all the birds in the scene
|
||||
/// </param>
|
||||
Vector3 Separate (List<Bird> birds)
|
||||
{
|
||||
Vector3 steer = new Vector3 (0, 0, 0);
|
||||
int count = 0;
|
||||
// For every bird in the system, check if it's too close
|
||||
foreach (Bird other in birds) {
|
||||
float d = Vector3.Distance (m_loc, other.Location);
|
||||
// If the distance is greater than 0 and less than an arbitrary amount (0 when you are yourself)
|
||||
if ((d > 0) && (d < m_model.DesiredSeparation)) {
|
||||
// Calculate vector pointing away from neighbor
|
||||
Vector3 diff = Vector3.Subtract (m_loc, other.Location);
|
||||
diff.Normalize ();
|
||||
diff = Vector3.Divide (diff, d);
|
||||
steer = Vector3.Add (steer, diff);
|
||||
count++; // Keep track of how many
|
||||
}
|
||||
}
|
||||
// Average -- divide by how many
|
||||
if (count > 0) {
|
||||
steer /= (float)count;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Align our bird within the flock.
|
||||
/// For every nearby bird in the system, calculate the average velocity
|
||||
/// and move us towards that - this keeps us moving with the flock.
|
||||
/// </summary>
|
||||
/// <param name='birds'>
|
||||
/// Birds. all the birds in the scene - we only really care about those in the neighbourdist
|
||||
/// </param>
|
||||
Vector3 Align (List<Bird> birds)
|
||||
{
|
||||
Vector3 steer = new Vector3 (0, 0, 0);
|
||||
int count = 0;
|
||||
foreach (Bird other in birds) {
|
||||
float d = Vector3.Distance (m_loc, other.Location);
|
||||
if ((d > 0) && (d < m_model.NeighbourDistance)) {
|
||||
steer += other.Velocity;
|
||||
count++;
|
||||
}
|
||||
}
|
||||
if (count > 0) {
|
||||
steer /= (float)count;
|
||||
}
|
||||
// As long as the vector is greater than 0
|
||||
if (steer.Length () > 0) {
|
||||
// Implement Reynolds: Steering = Desired - Velocity
|
||||
steer.Normalize ();
|
||||
steer *= m_model.MaxSpeed;
|
||||
steer -= m_vel;
|
||||
//steer.limit(maxforce);
|
||||
steer = BirdsUtil.Limit (steer, m_model.MaxForce);
|
||||
}
|
||||
return steer;
|
||||
}
|
||||
|
||||
// As long as the vector is greater than 0
|
||||
if (steer.Length () > 0) {
|
||||
// Implement Reynolds: Steering = Desired - Velocity
|
||||
steer.Normalize ();
|
||||
steer *= m_model.MaxSpeed;
|
||||
steer -= m_vel;
|
||||
//steer.limit(maxforce);
|
||||
steer = BirdsUtil.Limit (steer, m_model.MaxForce);
|
||||
|
||||
}
|
||||
return steer;
|
||||
}
|
||||
/// <summary>
|
||||
/// Align our bird within the flock.
|
||||
/// For every nearby bird in the system, calculate the average velocity
|
||||
/// and move us towards that - this keeps us moving with the flock.
|
||||
/// </summary>
|
||||
/// <param name='birds'>
|
||||
/// Birds. all the birds in the scene - we only really care about those in the neighbourdist
|
||||
/// </param>
|
||||
Vector3 Align (List<Bird> birds)
|
||||
{
|
||||
Vector3 steer = new Vector3 (0, 0, 0);
|
||||
int count = 0;
|
||||
foreach (Bird other in birds) {
|
||||
float d = Vector3.Distance (m_loc, other.Location);
|
||||
if ((d > 0) && (d < m_model.NeighbourDistance)) {
|
||||
steer += other.Velocity;
|
||||
count++;
|
||||
}
|
||||
}
|
||||
if (count > 0) {
|
||||
steer /= (float)count;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// MAintain the cohesion of our local flock
|
||||
/// For the average location (i.e. center) of all nearby birds, calculate our steering vector towards that location
|
||||
/// </summary>
|
||||
/// <param name='birds'>
|
||||
/// Birds. the birds in the scene
|
||||
/// </param>
|
||||
Vector3 Cohesion (List<Bird> birds)
|
||||
{
|
||||
|
||||
Vector3 sum = Vector3.Zero; // Start with empty vector to accumulate all locations
|
||||
int count = 0;
|
||||
|
||||
foreach (Bird other in birds) {
|
||||
float d = Vector3.Distance (m_loc, other.Location);
|
||||
if ((d > 0) && (d < m_model.NeighbourDistance)) {
|
||||
sum += other.Location; // Add location
|
||||
count++;
|
||||
}
|
||||
}
|
||||
if (count > 0) {
|
||||
sum /= (float)count;
|
||||
return Steer (sum, false); // Steer towards the location
|
||||
}
|
||||
return sum;
|
||||
}
|
||||
}
|
||||
// As long as the vector is greater than 0
|
||||
if (steer.Length () > 0) {
|
||||
// Implement Reynolds: Steering = Desired - Velocity
|
||||
steer.Normalize ();
|
||||
steer *= m_model.MaxSpeed;
|
||||
steer -= m_vel;
|
||||
//steer.limit(maxforce);
|
||||
steer = BirdsUtil.Limit (steer, m_model.MaxForce);
|
||||
|
||||
}
|
||||
return steer;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// MAintain the cohesion of our local flock
|
||||
/// For the average location (i.e. center) of all nearby birds, calculate our steering vector towards that location
|
||||
/// </summary>
|
||||
/// <param name='birds'>
|
||||
/// Birds. the birds in the scene
|
||||
/// </param>
|
||||
Vector3 Cohesion (List<Bird> birds)
|
||||
{
|
||||
|
||||
Vector3 sum = Vector3.Zero; // Start with empty vector to accumulate all locations
|
||||
int count = 0;
|
||||
|
||||
foreach (Bird other in birds) {
|
||||
float d = Vector3.Distance (m_loc, other.Location);
|
||||
if ((d > 0) && (d < m_model.NeighbourDistance)) {
|
||||
sum += other.Location; // Add location
|
||||
count++;
|
||||
}
|
||||
}
|
||||
if (count > 0) {
|
||||
sum /= (float)count;
|
||||
return Steer (sum, false); // Steer towards the location
|
||||
}
|
||||
return sum;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -30,23 +30,23 @@ using OpenMetaverse;
|
|||
|
||||
namespace Flocking
|
||||
{
|
||||
public class BirdsUtil
|
||||
{
|
||||
public static Vector3 Limit (Vector3 initial, float maxLen)
|
||||
{
|
||||
float currLen = initial.Length ();
|
||||
float ratio = 1.0f;
|
||||
|
||||
if (currLen > maxLen) {
|
||||
ratio = currLen / maxLen;
|
||||
}
|
||||
|
||||
return initial /= ratio;
|
||||
|
||||
}
|
||||
|
||||
|
||||
public class BirdsUtil
|
||||
{
|
||||
public static Vector3 Limit (Vector3 initial, float maxLen)
|
||||
{
|
||||
float currLen = initial.Length ();
|
||||
float ratio = 1.0f;
|
||||
|
||||
}
|
||||
if (currLen > maxLen) {
|
||||
ratio = currLen / maxLen;
|
||||
}
|
||||
|
||||
return initial /= ratio;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -31,105 +31,105 @@ using OpenMetaverse;
|
|||
|
||||
namespace Flocking
|
||||
{
|
||||
public class FlockingModel
|
||||
{
|
||||
public class FlockingModel
|
||||
{
|
||||
private List<Bird> m_flock = new List<Bird>();
|
||||
private FlowMap m_flowMap;
|
||||
private float m_maxSpeed;
|
||||
private float m_maxForce;
|
||||
private float m_neighbourDistance;
|
||||
private float m_desiredSeparation;
|
||||
private float m_tolerance;
|
||||
private FlowMap m_flowMap;
|
||||
private float m_maxSpeed;
|
||||
private float m_maxForce;
|
||||
private float m_neighbourDistance;
|
||||
private float m_desiredSeparation;
|
||||
private float m_tolerance;
|
||||
private float m_border;
|
||||
private string m_name;
|
||||
|
||||
private Random m_rnd = new Random(Environment.TickCount);
|
||||
|
||||
public int Size {
|
||||
get {return m_flock.Count;}
|
||||
set {
|
||||
//if( value < m_flock.Count ) {
|
||||
// m_flock.RemoveRange( 0, m_flock.Count - value );
|
||||
//} else
|
||||
|
||||
private Random m_rnd = new Random(Environment.TickCount);
|
||||
|
||||
public int Size {
|
||||
get {return m_flock.Count;}
|
||||
set {
|
||||
//if( value < m_flock.Count ) {
|
||||
// m_flock.RemoveRange( 0, m_flock.Count - value );
|
||||
//} else
|
||||
m_flock = new List<Bird>();
|
||||
while( value > m_flock.Count ) {
|
||||
AddBird(m_name + m_flock.Count);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public FlockingModel(string moduleName, float maxSpeed, float maxForce, float neighbourDistance, float desiredSeparation, float tolerance, float border) {
|
||||
AddBird(m_name + m_flock.Count);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public FlockingModel(string moduleName, float maxSpeed, float maxForce, float neighbourDistance, float desiredSeparation, float tolerance, float border) {
|
||||
m_name = moduleName;
|
||||
m_maxSpeed = maxSpeed;
|
||||
m_maxForce = maxForce;
|
||||
m_neighbourDistance = neighbourDistance;
|
||||
m_desiredSeparation = desiredSeparation;
|
||||
m_tolerance = tolerance;
|
||||
m_maxForce = maxForce;
|
||||
m_neighbourDistance = neighbourDistance;
|
||||
m_desiredSeparation = desiredSeparation;
|
||||
m_tolerance = tolerance;
|
||||
m_border = border;
|
||||
}
|
||||
}
|
||||
|
||||
void AddBird (string name)
|
||||
{
|
||||
Bird Bird = new Bird (name, this, m_flowMap);
|
||||
|
||||
// find an initial random location for this Bird
|
||||
// somewhere not within an obstacle
|
||||
int xInit = m_rnd.Next(m_flowMap.LengthX);
|
||||
int yInit = m_rnd.Next(m_flowMap.LengthY);
|
||||
int zInit = m_rnd.Next(m_flowMap.LengthZ);
|
||||
|
||||
while( m_flowMap.IsWithinObstacle( xInit, yInit, zInit ) ){
|
||||
xInit = m_rnd.Next(m_flowMap.LengthX);
|
||||
yInit = m_rnd.Next(m_flowMap.LengthY);
|
||||
zInit = m_rnd.Next(m_flowMap.LengthZ);
|
||||
}
|
||||
|
||||
Bird.Location = new Vector3 (Convert.ToSingle(xInit), Convert.ToSingle(yInit), Convert.ToSingle(zInit));
|
||||
m_flock.Add (Bird);
|
||||
}
|
||||
|
||||
public float MaxSpeed {
|
||||
get {return m_maxSpeed;}
|
||||
void AddBird (string name)
|
||||
{
|
||||
Bird Bird = new Bird (name, this, m_flowMap);
|
||||
|
||||
// find an initial random location for this Bird
|
||||
// somewhere not within an obstacle
|
||||
int xInit = m_rnd.Next(m_flowMap.LengthX);
|
||||
int yInit = m_rnd.Next(m_flowMap.LengthY);
|
||||
int zInit = m_rnd.Next(m_flowMap.LengthZ);
|
||||
|
||||
while( m_flowMap.IsWithinObstacle( xInit, yInit, zInit ) ){
|
||||
xInit = m_rnd.Next(m_flowMap.LengthX);
|
||||
yInit = m_rnd.Next(m_flowMap.LengthY);
|
||||
zInit = m_rnd.Next(m_flowMap.LengthZ);
|
||||
}
|
||||
|
||||
Bird.Location = new Vector3 (Convert.ToSingle(xInit), Convert.ToSingle(yInit), Convert.ToSingle(zInit));
|
||||
m_flock.Add (Bird);
|
||||
}
|
||||
|
||||
public float MaxSpeed {
|
||||
get {return m_maxSpeed;}
|
||||
set { m_maxSpeed = value; }
|
||||
}
|
||||
|
||||
public float MaxForce {
|
||||
get {return m_maxForce;}
|
||||
}
|
||||
|
||||
public float MaxForce {
|
||||
get {return m_maxForce;}
|
||||
set { m_maxForce = value; }
|
||||
}
|
||||
}
|
||||
|
||||
public float NeighbourDistance {
|
||||
get {return m_neighbourDistance;}
|
||||
public float NeighbourDistance {
|
||||
get {return m_neighbourDistance;}
|
||||
set { m_neighbourDistance = value; }
|
||||
}
|
||||
|
||||
public float DesiredSeparation {
|
||||
get {return m_desiredSeparation;}
|
||||
}
|
||||
|
||||
public float DesiredSeparation {
|
||||
get {return m_desiredSeparation;}
|
||||
set { m_desiredSeparation = value; }
|
||||
}
|
||||
|
||||
public float Tolerance {
|
||||
get {return m_tolerance;}
|
||||
}
|
||||
|
||||
public float Tolerance {
|
||||
get {return m_tolerance;}
|
||||
set { m_tolerance = value; }
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void Initialise (int num, FlowMap flowMap)
|
||||
{
|
||||
m_flowMap = flowMap;
|
||||
for (int i = 0; i < num; i++) {
|
||||
AddBird (m_name + i );
|
||||
}
|
||||
}
|
||||
|
||||
public List<Bird> UpdateFlockPos ()
|
||||
{
|
||||
foreach (Bird b in m_flock) {
|
||||
b.MoveInSceneRelativeToFlock(m_flock); // Passing the entire list of Birds to each Bird individually
|
||||
}
|
||||
|
||||
return m_flock;
|
||||
}
|
||||
}
|
||||
public void Initialise (int num, FlowMap flowMap)
|
||||
{
|
||||
m_flowMap = flowMap;
|
||||
for (int i = 0; i < num; i++) {
|
||||
AddBird (m_name + i );
|
||||
}
|
||||
}
|
||||
|
||||
public List<Bird> UpdateFlockPos ()
|
||||
{
|
||||
foreach (Bird b in m_flock) {
|
||||
b.MoveInSceneRelativeToFlock(m_flock); // Passing the entire list of Birds to each Bird individually
|
||||
}
|
||||
|
||||
return m_flock;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -34,34 +34,34 @@ using log4net;
|
|||
|
||||
namespace Flocking
|
||||
{
|
||||
public class FlockingView
|
||||
{
|
||||
public class FlockingView
|
||||
{
|
||||
private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
|
||||
private Scene m_scene;
|
||||
private UUID m_owner;
|
||||
private UUID m_owner;
|
||||
private String m_name;
|
||||
private String m_birdPrim;
|
||||
|
||||
private Dictionary<string, SceneObjectGroup> m_sogMap = new Dictionary<string, SceneObjectGroup> ();
|
||||
|
||||
public FlockingView (String moduleName, Scene scene)
|
||||
{
|
||||
m_name = moduleName;
|
||||
m_scene = scene;
|
||||
}
|
||||
|
||||
public void PostInitialize (UUID owner)
|
||||
{
|
||||
m_owner = owner;
|
||||
}
|
||||
|
||||
public String BirdPrim {
|
||||
get { return m_birdPrim; }
|
||||
set{ m_birdPrim = value;}
|
||||
}
|
||||
private String m_birdPrim;
|
||||
|
||||
public void Clear ()
|
||||
{
|
||||
private Dictionary<string, SceneObjectGroup> m_sogMap = new Dictionary<string, SceneObjectGroup> ();
|
||||
|
||||
public FlockingView (String moduleName, Scene scene)
|
||||
{
|
||||
m_name = moduleName;
|
||||
m_scene = scene;
|
||||
}
|
||||
|
||||
public void PostInitialize (UUID owner)
|
||||
{
|
||||
m_owner = owner;
|
||||
}
|
||||
|
||||
public String BirdPrim {
|
||||
get { return m_birdPrim; }
|
||||
set{ m_birdPrim = value;}
|
||||
}
|
||||
|
||||
public void Clear ()
|
||||
{
|
||||
//trash everything we have
|
||||
foreach (string name in m_sogMap.Keys)
|
||||
{
|
||||
|
|
@ -71,103 +71,103 @@ namespace Flocking
|
|||
}
|
||||
m_sogMap.Clear();
|
||||
m_scene.ForceClientUpdate();
|
||||
}
|
||||
}
|
||||
|
||||
public void Render(List<Bird> birds)
|
||||
{
|
||||
foreach (Bird bird in birds) {
|
||||
DrawBird (bird);
|
||||
}
|
||||
}
|
||||
|
||||
private void DrawBird (Bird bird)
|
||||
{
|
||||
SceneObjectPart existing = m_scene.GetSceneObjectPart (bird.Id);
|
||||
{
|
||||
foreach (Bird bird in birds) {
|
||||
DrawBird (bird);
|
||||
}
|
||||
}
|
||||
|
||||
private void DrawBird (Bird bird)
|
||||
{
|
||||
SceneObjectPart existing = m_scene.GetSceneObjectPart (bird.Id);
|
||||
|
||||
|
||||
SceneObjectGroup sog;
|
||||
SceneObjectGroup sog;
|
||||
SceneObjectPart rootPart;
|
||||
|
||||
if (existing == null) {
|
||||
if (existing == null) {
|
||||
m_log.InfoFormat("[{0}]: Adding prim {1} in region {2}", m_name, bird.Id, m_scene.RegionInfo.RegionName);
|
||||
SceneObjectGroup group = findByName (m_birdPrim);
|
||||
sog = CopyPrim (group, bird.Id);
|
||||
sog = CopyPrim (group, bird.Id);
|
||||
rootPart = sog.RootPart;
|
||||
rootPart.AddFlag(PrimFlags.Temporary);
|
||||
rootPart.AddFlag(PrimFlags.Phantom);
|
||||
//set prim to phantom
|
||||
//sog.UpdatePrimFlags(rootPart.LocalId, false, false, true, false);
|
||||
m_sogMap [bird.Id] = sog;
|
||||
m_scene.AddNewSceneObject (sog, false);
|
||||
m_sogMap [bird.Id] = sog;
|
||||
m_scene.AddNewSceneObject (sog, false);
|
||||
// Fire script on_rez
|
||||
sog.CreateScriptInstances(0, true, m_scene.DefaultScriptEngine, 1);
|
||||
rootPart.ParentGroup.ResumeScripts();
|
||||
rootPart.ScheduleFullUpdate();
|
||||
sog.DetachFromBackup();
|
||||
} else {
|
||||
sog = existing.ParentGroup;
|
||||
} else {
|
||||
sog = existing.ParentGroup;
|
||||
m_sogMap[bird.Id] = sog;
|
||||
//rootPart = sog.RootPart;
|
||||
//set prim to phantom
|
||||
//sog.UpdatePrimFlags(rootPart.LocalId, false, false, true, false);
|
||||
}
|
||||
|
||||
Quaternion rotation = CalcRotationToEndpoint (sog, sog.AbsolutePosition, bird.Location);
|
||||
sog.UpdateGroupRotationPR( bird.Location, rotation);
|
||||
}
|
||||
|
||||
private static Quaternion CalcRotationToEndpoint (SceneObjectGroup copy, Vector3 sv, Vector3 ev)
|
||||
{
|
||||
//llSetRot(llRotBetween(<1,0,0>,llVecNorm(targetPosition - llGetPos())));
|
||||
// bird wil fly x forwards and Z up
|
||||
|
||||
Vector3 currDirVec = Vector3.UnitX;
|
||||
Vector3 desiredDirVec = Vector3.Subtract (ev, sv);
|
||||
desiredDirVec.Normalize ();
|
||||
}
|
||||
|
||||
Quaternion rot = Vector3.RotationBetween (currDirVec, desiredDirVec);
|
||||
return rot;
|
||||
}
|
||||
|
||||
private SceneObjectGroup CopyPrim (SceneObjectGroup prim, string name)
|
||||
{
|
||||
SceneObjectGroup copy = prim.Copy (true);
|
||||
copy.Name = name;
|
||||
copy.DetachFromBackup ();
|
||||
return copy;
|
||||
}
|
||||
|
||||
private SceneObjectGroup findByName (string name)
|
||||
{
|
||||
SceneObjectGroup retVal = null;
|
||||
foreach (EntityBase e in m_scene.GetEntities()) {
|
||||
if (e.Name == name) {
|
||||
retVal = (SceneObjectGroup)e;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// can't find it so make a default one
|
||||
if (retVal == null) {
|
||||
Quaternion rotation = CalcRotationToEndpoint (sog, sog.AbsolutePosition, bird.Location);
|
||||
sog.UpdateGroupRotationPR( bird.Location, rotation);
|
||||
}
|
||||
|
||||
private static Quaternion CalcRotationToEndpoint (SceneObjectGroup copy, Vector3 sv, Vector3 ev)
|
||||
{
|
||||
//llSetRot(llRotBetween(<1,0,0>,llVecNorm(targetPosition - llGetPos())));
|
||||
// bird wil fly x forwards and Z up
|
||||
|
||||
Vector3 currDirVec = Vector3.UnitX;
|
||||
Vector3 desiredDirVec = Vector3.Subtract (ev, sv);
|
||||
desiredDirVec.Normalize ();
|
||||
|
||||
Quaternion rot = Vector3.RotationBetween (currDirVec, desiredDirVec);
|
||||
return rot;
|
||||
}
|
||||
|
||||
private SceneObjectGroup CopyPrim (SceneObjectGroup prim, string name)
|
||||
{
|
||||
SceneObjectGroup copy = prim.Copy (true);
|
||||
copy.Name = name;
|
||||
copy.DetachFromBackup ();
|
||||
return copy;
|
||||
}
|
||||
|
||||
private SceneObjectGroup findByName (string name)
|
||||
{
|
||||
SceneObjectGroup retVal = null;
|
||||
foreach (EntityBase e in m_scene.GetEntities()) {
|
||||
if (e.Name == name) {
|
||||
retVal = (SceneObjectGroup)e;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// can't find it so make a default one
|
||||
if (retVal == null) {
|
||||
m_log.InfoFormat("[{0}]: Prim named {1} was not found in region {2}. Making default wooden sphere.", m_name, name, m_scene.RegionInfo.RegionName);
|
||||
retVal = MakeDefaultPrim (name);
|
||||
}
|
||||
retVal = MakeDefaultPrim (name);
|
||||
}
|
||||
|
||||
return retVal;
|
||||
}
|
||||
return retVal;
|
||||
}
|
||||
|
||||
private SceneObjectGroup MakeDefaultPrim (string name)
|
||||
{
|
||||
PrimitiveBaseShape shape = PrimitiveBaseShape.CreateSphere ();
|
||||
shape.Scale = new Vector3 (0.5f, 0.5f, 0.5f);
|
||||
private SceneObjectGroup MakeDefaultPrim (string name)
|
||||
{
|
||||
PrimitiveBaseShape shape = PrimitiveBaseShape.CreateSphere ();
|
||||
shape.Scale = new Vector3 (0.5f, 0.5f, 0.5f);
|
||||
|
||||
SceneObjectGroup prim = new SceneObjectGroup(m_owner, new Vector3((float)m_scene.RegionInfo.RegionSizeX / 2, (float)m_scene.RegionInfo.RegionSizeY / 2, 25f), shape);
|
||||
prim.Name = name;
|
||||
prim.DetachFromBackup ();
|
||||
m_scene.AddNewSceneObject (prim, false);
|
||||
prim.Name = name;
|
||||
prim.DetachFromBackup ();
|
||||
m_scene.AddNewSceneObject (prim, false);
|
||||
|
||||
return prim;
|
||||
}
|
||||
return prim;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -32,170 +32,170 @@ using OpenSim.Region.Framework.Scenes;
|
|||
|
||||
namespace Flocking
|
||||
{
|
||||
public class FlowMap
|
||||
{
|
||||
private Scene m_scene;
|
||||
public class FlowMap
|
||||
{
|
||||
private Scene m_scene;
|
||||
private float[, ,] m_flowMap;
|
||||
private uint regionX;
|
||||
private uint regionY;
|
||||
private uint regionZ;
|
||||
private float regionBorder;
|
||||
|
||||
public FlowMap (Scene scene, int maxHeight, float borderSize)
|
||||
{
|
||||
m_scene = scene;
|
||||
|
||||
public FlowMap (Scene scene, int maxHeight, float borderSize)
|
||||
{
|
||||
m_scene = scene;
|
||||
regionX = m_scene.RegionInfo.RegionSizeX;
|
||||
regionY = m_scene.RegionInfo.RegionSizeY;
|
||||
regionZ = (uint)maxHeight;
|
||||
regionBorder = borderSize;
|
||||
m_flowMap = new float[regionX, regionY, regionZ];
|
||||
}
|
||||
|
||||
public int LengthX {
|
||||
get {return (int)regionX;}
|
||||
}
|
||||
public int LengthY {
|
||||
get {return (int)regionY;}
|
||||
}
|
||||
public int LengthZ {
|
||||
get {return (int)regionZ;}
|
||||
}
|
||||
}
|
||||
|
||||
public int LengthX {
|
||||
get {return (int)regionX;}
|
||||
}
|
||||
public int LengthY {
|
||||
get {return (int)regionY;}
|
||||
}
|
||||
public int LengthZ {
|
||||
get {return (int)regionZ;}
|
||||
}
|
||||
public int Border {
|
||||
get {return (int)regionBorder;}
|
||||
}
|
||||
|
||||
public void Initialise() {
|
||||
//fill in the boundaries
|
||||
for( int x = 0; x < regionX; x++ ) {
|
||||
for( int y = 0; y < regionY; y++ ) {
|
||||
m_flowMap[x,y,0] = 100f;
|
||||
m_flowMap[x,y, regionZ-1] = 100f;
|
||||
}
|
||||
}
|
||||
for( int x = 0; x < regionX; x++ ) {
|
||||
for( int z = 0; z < regionZ; z++ ) {
|
||||
m_flowMap[x,0,z] = 100f;
|
||||
m_flowMap[x,regionY-1,z] = 100f;
|
||||
}
|
||||
}
|
||||
for( int y = 0; y < regionY; y++ ) {
|
||||
for( int z = 0; z < regionZ; z++ ) {
|
||||
m_flowMap[0,y,z] = 100f;
|
||||
m_flowMap[regionX-1,y,z] = 100f;
|
||||
}
|
||||
}
|
||||
|
||||
//fill in the terrain
|
||||
for( int x = 0; x < regionX; x++ ) {
|
||||
for( int y = 0; y < regionY; y++ ) {
|
||||
int zMax = Convert.ToInt32(m_scene.GetGroundHeight( x, y ));
|
||||
for( int z = 1; z < zMax; z++ ) {
|
||||
m_flowMap[x,y,z] = 100f;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// fill in the things
|
||||
foreach( EntityBase entity in m_scene.GetEntities() ) {
|
||||
if( entity is SceneObjectGroup ) {
|
||||
SceneObjectGroup sog = (SceneObjectGroup)entity;
|
||||
|
||||
//todo: ignore phantom
|
||||
float fmaxX, fminX, fmaxY, fminY, fmaxZ, fminZ;
|
||||
int maxX, minX, maxY, minY, maxZ, minZ;
|
||||
sog.GetAxisAlignedBoundingBoxRaw( out fminX, out fmaxX, out fminY, out fmaxY, out fminZ, out fmaxZ );
|
||||
|
||||
minX = Convert.ToInt32(fminX);
|
||||
maxX = Convert.ToInt32(fmaxX);
|
||||
minY = Convert.ToInt32(fminY);
|
||||
maxY = Convert.ToInt32(fmaxX);
|
||||
minZ = Convert.ToInt32(fminZ);
|
||||
maxZ = Convert.ToInt32(fmaxZ);
|
||||
|
||||
for( int x = minX; x < maxX; x++ ) {
|
||||
for( int y = minY; y < maxY; y++ ) {
|
||||
for( int z = minZ; z < maxZ; z++ ) {
|
||||
m_flowMap[x,y,z] = 100f;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public bool WouldHitObstacle (Vector3 currPos, Vector3 targetPos)
|
||||
{
|
||||
bool retVal = false;
|
||||
//fail fast
|
||||
if( IsOutOfBounds(targetPos) ) {
|
||||
retVal = true;
|
||||
} else if( IsWithinObstacle(targetPos) ) {
|
||||
retVal = true;
|
||||
} else if( IntersectsObstacle (currPos, targetPos) ) {
|
||||
retVal = true;
|
||||
}
|
||||
|
||||
return retVal;
|
||||
}
|
||||
|
||||
public bool IsOutOfBounds(Vector3 targetPos) {
|
||||
bool retVal = false;
|
||||
if( targetPos.X < regionBorder ||
|
||||
targetPos.X > regionX - regionBorder ||
|
||||
public void Initialise() {
|
||||
//fill in the boundaries
|
||||
for( int x = 0; x < regionX; x++ ) {
|
||||
for( int y = 0; y < regionY; y++ ) {
|
||||
m_flowMap[x,y,0] = 100f;
|
||||
m_flowMap[x,y, regionZ-1] = 100f;
|
||||
}
|
||||
}
|
||||
for( int x = 0; x < regionX; x++ ) {
|
||||
for( int z = 0; z < regionZ; z++ ) {
|
||||
m_flowMap[x,0,z] = 100f;
|
||||
m_flowMap[x,regionY-1,z] = 100f;
|
||||
}
|
||||
}
|
||||
for( int y = 0; y < regionY; y++ ) {
|
||||
for( int z = 0; z < regionZ; z++ ) {
|
||||
m_flowMap[0,y,z] = 100f;
|
||||
m_flowMap[regionX-1,y,z] = 100f;
|
||||
}
|
||||
}
|
||||
|
||||
//fill in the terrain
|
||||
for( int x = 0; x < regionX; x++ ) {
|
||||
for( int y = 0; y < regionY; y++ ) {
|
||||
int zMax = Convert.ToInt32(m_scene.GetGroundHeight( x, y ));
|
||||
for( int z = 1; z < zMax; z++ ) {
|
||||
m_flowMap[x,y,z] = 100f;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// fill in the things
|
||||
foreach( EntityBase entity in m_scene.GetEntities() ) {
|
||||
if( entity is SceneObjectGroup ) {
|
||||
SceneObjectGroup sog = (SceneObjectGroup)entity;
|
||||
|
||||
//todo: ignore phantom
|
||||
float fmaxX, fminX, fmaxY, fminY, fmaxZ, fminZ;
|
||||
int maxX, minX, maxY, minY, maxZ, minZ;
|
||||
sog.GetAxisAlignedBoundingBoxRaw( out fminX, out fmaxX, out fminY, out fmaxY, out fminZ, out fmaxZ );
|
||||
|
||||
minX = Convert.ToInt32(fminX);
|
||||
maxX = Convert.ToInt32(fmaxX);
|
||||
minY = Convert.ToInt32(fminY);
|
||||
maxY = Convert.ToInt32(fmaxX);
|
||||
minZ = Convert.ToInt32(fminZ);
|
||||
maxZ = Convert.ToInt32(fmaxZ);
|
||||
|
||||
for( int x = minX; x < maxX; x++ ) {
|
||||
for( int y = minY; y < maxY; y++ ) {
|
||||
for( int z = minZ; z < maxZ; z++ ) {
|
||||
m_flowMap[x,y,z] = 100f;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public bool WouldHitObstacle (Vector3 currPos, Vector3 targetPos)
|
||||
{
|
||||
bool retVal = false;
|
||||
//fail fast
|
||||
if( IsOutOfBounds(targetPos) ) {
|
||||
retVal = true;
|
||||
} else if( IsWithinObstacle(targetPos) ) {
|
||||
retVal = true;
|
||||
} else if( IntersectsObstacle (currPos, targetPos) ) {
|
||||
retVal = true;
|
||||
}
|
||||
|
||||
return retVal;
|
||||
}
|
||||
|
||||
public bool IsOutOfBounds(Vector3 targetPos) {
|
||||
bool retVal = false;
|
||||
if( targetPos.X < regionBorder ||
|
||||
targetPos.X > regionX - regionBorder ||
|
||||
targetPos.Y < regionBorder ||
|
||||
targetPos.Y > regionY - regionBorder ||
|
||||
targetPos.Z < regionBorder ||
|
||||
targetPos.Z > regionZ - regionBorder ) {
|
||||
|
||||
retVal = true;
|
||||
}
|
||||
|
||||
return retVal;
|
||||
}
|
||||
targetPos.Y > regionY - regionBorder ||
|
||||
targetPos.Z < regionBorder ||
|
||||
targetPos.Z > regionZ - regionBorder ) {
|
||||
|
||||
public bool IntersectsObstacle (Vector3 currPos, Vector3 targetPos)
|
||||
{
|
||||
bool retVal = false;
|
||||
// Ray trace the Vector and fail as soon as we hit something
|
||||
Vector3 direction = targetPos - currPos;
|
||||
float length = direction.Length();
|
||||
// check every metre
|
||||
for( float i = 1f; i < length; i += 1f ) {
|
||||
Vector3 rayPos = currPos + ( direction * i );
|
||||
//give up if we go OOB on this ray
|
||||
if( IsOutOfBounds( rayPos ) ){
|
||||
retVal = true;
|
||||
break;
|
||||
}
|
||||
else if( IsWithinObstacle( rayPos ) ) {
|
||||
retVal = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return retVal;
|
||||
}
|
||||
|
||||
public bool IsWithinObstacle( Vector3 targetPos ) {
|
||||
return IsWithinObstacle(Convert.ToInt32(targetPos.X), Convert.ToInt32(targetPos.Y),Convert.ToInt32(targetPos.Z));
|
||||
}
|
||||
|
||||
public bool IsWithinObstacle( int x, int y, int z ) {
|
||||
bool retVal = false;
|
||||
retVal = true;
|
||||
}
|
||||
|
||||
return retVal;
|
||||
}
|
||||
|
||||
public bool IntersectsObstacle (Vector3 currPos, Vector3 targetPos)
|
||||
{
|
||||
bool retVal = false;
|
||||
// Ray trace the Vector and fail as soon as we hit something
|
||||
Vector3 direction = targetPos - currPos;
|
||||
float length = direction.Length();
|
||||
// check every metre
|
||||
for( float i = 1f; i < length; i += 1f ) {
|
||||
Vector3 rayPos = currPos + ( direction * i );
|
||||
//give up if we go OOB on this ray
|
||||
if( IsOutOfBounds( rayPos ) ){
|
||||
retVal = true;
|
||||
break;
|
||||
}
|
||||
else if( IsWithinObstacle( rayPos ) ) {
|
||||
retVal = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return retVal;
|
||||
}
|
||||
|
||||
public bool IsWithinObstacle( Vector3 targetPos ) {
|
||||
return IsWithinObstacle(Convert.ToInt32(targetPos.X), Convert.ToInt32(targetPos.Y),Convert.ToInt32(targetPos.Z));
|
||||
}
|
||||
|
||||
public bool IsWithinObstacle( int x, int y, int z ) {
|
||||
bool retVal = false;
|
||||
if (x >= LengthX || y >= LengthY || z >= LengthZ)
|
||||
{
|
||||
retVal = true;
|
||||
retVal = true;
|
||||
}
|
||||
else if (x < 0 || y < 0 || z < 0)
|
||||
{
|
||||
retVal = true;
|
||||
} else if (m_flowMap[x,y,z] > 50f) {
|
||||
retVal = true;
|
||||
}
|
||||
return retVal;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
retVal = true;
|
||||
} else if (m_flowMap[x,y,z] > 50f) {
|
||||
retVal = true;
|
||||
}
|
||||
return retVal;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue