159 lines
3.6 KiB
C#
159 lines
3.6 KiB
C#
using System;
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using OpenMetaverse;
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using OpenSim.Region.Framework.Scenes;
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namespace Flocking
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{
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public class FlowMap
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{
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private Scene m_scene;
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private float[,,] m_flowMap = new float[256,256,256];
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public FlowMap (Scene scene)
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{
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m_scene = scene;
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}
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public int LengthX {
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get {return 256;}
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}
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public int LengthY {
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get {return 256;}
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}
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public int LengthZ {
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get {return 256;}
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}
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public void Initialise() {
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//fill in the boundaries
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for( int x = 0; x < 256; x++ ) {
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for( int y = 0; y < 256; y++ ) {
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m_flowMap[x,y,0] = 100f;
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m_flowMap[x,y,255] = 100f;
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}
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}
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for( int x = 0; x < 256; x++ ) {
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for( int z = 0; z < 256; z++ ) {
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m_flowMap[x,0,z] = 100f;
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m_flowMap[x,255,z] = 100f;
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}
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}
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for( int y = 0; y < 256; y++ ) {
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for( int z = 0; z < 256; z++ ) {
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m_flowMap[0,y,z] = 100f;
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m_flowMap[255,y,z] = 100f;
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}
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}
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//fill in the terrain
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for( int x = 0; x < 256; x++ ) {
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for( int y = 0; y < 256; y++ ) {
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int zMax = Convert.ToInt32(m_scene.GetGroundHeight( x, y ));
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for( int z = 1; z < zMax; z++ ) {
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m_flowMap[x,y,z] = 100f;
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}
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}
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}
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// fill in the things
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foreach( EntityBase entity in m_scene.GetEntities() ) {
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if( entity is SceneObjectGroup ) {
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SceneObjectGroup sog = (SceneObjectGroup)entity;
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//todo: ignore phantom
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float fmaxX, fminX, fmaxY, fminY, fmaxZ, fminZ;
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int maxX, minX, maxY, minY, maxZ, minZ;
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sog.GetAxisAlignedBoundingBoxRaw( out fminX, out fmaxX, out fminY, out fmaxY, out fminZ, out fmaxZ );
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minX = Convert.ToInt32(fminX);
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maxX = Convert.ToInt32(fmaxX);
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minY = Convert.ToInt32(fminY);
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maxY = Convert.ToInt32(fmaxX);
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minZ = Convert.ToInt32(fminZ);
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maxZ = Convert.ToInt32(fmaxZ);
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for( int x = minX; x < maxX; x++ ) {
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for( int y = minY; y < maxY; y++ ) {
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for( int z = minZ; z < maxZ; z++ ) {
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m_flowMap[x,y,z] = 100f;
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}
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}
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}
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}
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}
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}
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public bool WouldHitObstacle (Vector3 currPos, Vector3 targetPos)
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{
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bool retVal = false;
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//fail fast
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if( IsOutOfBounds(targetPos) ) {
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retVal = true;
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} else if( IsWithinObstacle(targetPos) ) {
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retVal = true;
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} else if( IntersectsObstacle (currPos, targetPos) ) {
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retVal = true;
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}
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return retVal;
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}
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public bool IsOutOfBounds(Vector3 targetPos) {
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bool retVal = false;
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if( targetPos.X < 5f ||
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targetPos.X > 250f ||
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targetPos.Y < 5f ||
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targetPos.Y > 250f ||
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targetPos.Z < 5f ||
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targetPos.Z > 250f ) {
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retVal = true;
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}
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return retVal;
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}
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public bool IntersectsObstacle (Vector3 currPos, Vector3 targetPos)
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{
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bool retVal = false;
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// Ray trace the Vector and fail as soon as we hit something
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Vector3 direction = targetPos - currPos;
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float length = direction.Length();
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// check every metre
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for( float i = 1f; i < length; i += 1f ) {
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Vector3 rayPos = currPos + ( direction * i );
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//give up if we go OOB on this ray
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if( IsOutOfBounds( rayPos ) ){
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retVal = true;
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break;
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}
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else if( IsWithinObstacle( rayPos ) ) {
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retVal = true;
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break;
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}
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}
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return retVal;
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}
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public bool IsWithinObstacle( Vector3 targetPos ) {
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return IsWithinObstacle(Convert.ToInt32(targetPos.X), Convert.ToInt32(targetPos.Y),Convert.ToInt32(targetPos.Z));
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}
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public bool IsWithinObstacle( int x, int y, int z ) {
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bool retVal = false;
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if( x > LengthX || y > LengthY || z > LengthZ ) {
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retVal = true;
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} else if( x < 0 || y < 0 || z < 0 ) {
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retVal = true;
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} else if (m_flowMap[x,y,z] > 50f) {
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retVal = true;
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}
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return retVal;
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}
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}
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}
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