public WaypointsTraverser(EntityAgent entity) : base(entity)
{
if (entity?.Properties.Server?.Attributes?.GetTreeAttribute("pathfinder") != null)
{
minTurnAnglePerSec = (float)entity.Properties.Server.Attributes.GetTreeAttribute("pathfinder").GetDecimal("minTurnAnglePerSec", 250);
maxTurnAnglePerSec = (float)entity.Properties.Server.Attributes.GetTreeAttribute("pathfinder").GetDecimal("maxTurnAnglePerSec", 450);
}
else
{
minTurnAnglePerSec = 250;
maxTurnAnglePerSec = 450;
}
psys = entity.World.Api.ModLoader.GetModSystem <PathfindSystem>();
asyncPathfinder = entity.World.Api.ModLoader.GetModSystem <PathfindingAsync>();
}
private void onCmdAStar(IServerPlayer player, int groupId, CmdArgs args)
{
string subcmd = args.PopWord();
BlockPos plrPos = player.Entity.ServerPos.XYZ.AsBlockPos;
PathfindSystem pfs = sapi.ModLoader.GetModSystem <PathfindSystem>();
Cuboidf narrow = new Cuboidf(-0.4f, 0, -0.4f, 0.4f, 1.5f, 0.4f);
Cuboidf narrower = new Cuboidf(-0.2f, 0, -0.2f, 0.2f, 1.5f, 0.2f);
Cuboidf wide = new Cuboidf(-0.6f, 0, -0.6f, 0.6f, 1.5f, 0.6f);
Cuboidf collbox = narrow;
int maxFallHeight = 3;
float stepHeight = 1.01f;
switch (subcmd)
{
case "start":
start = plrPos.Copy();
sapi.World.HighlightBlocks(player, 26, new List <BlockPos>()
{
start
}, new List <int>()
{
ColorUtil.ColorFromRgba(255, 255, 0, 128)
}, EnumHighlightBlocksMode.Absolute, EnumHighlightShape.Arbitrary);
break;
case "end":
end = plrPos.Copy();
sapi.World.HighlightBlocks(player, 27, new List <BlockPos>()
{
end
}, new List <int>()
{
ColorUtil.ColorFromRgba(255, 0, 255, 128)
}, EnumHighlightBlocksMode.Absolute, EnumHighlightShape.Arbitrary);
break;
case "bench":
if (start == null || end == null)
{
return;
}
Stopwatch sw = new Stopwatch();
sw.Start();
for (int i = 0; i < 15; i++)
{
List <PathNode> nodes = pfs.FindPath(start, end, maxFallHeight, stepHeight, collbox);
}
sw.Stop();
float timeMs = (float)sw.ElapsedMilliseconds / 15f;
player.SendMessage(groupId, string.Format("15 searches average: {0} ms", (int)timeMs), EnumChatType.Notification);
return;
case "clear":
start = null;
end = null;
sapi.World.HighlightBlocks(player, 2, new List <BlockPos>(), EnumHighlightBlocksMode.Absolute, EnumHighlightShape.Arbitrary);
sapi.World.HighlightBlocks(player, 26, new List <BlockPos>(), EnumHighlightBlocksMode.Absolute, EnumHighlightShape.Arbitrary);
sapi.World.HighlightBlocks(player, 27, new List <BlockPos>(), EnumHighlightBlocksMode.Absolute, EnumHighlightShape.Arbitrary);
break;
}
if (start == null || end == null)
{
sapi.World.HighlightBlocks(player, 2, new List <BlockPos>(), EnumHighlightBlocksMode.Absolute, EnumHighlightShape.Arbitrary);
}
if (start != null && end != null)
{
Stopwatch sw = new Stopwatch();
sw.Start();
List <PathNode> nodes = pfs.FindPath(start, end, maxFallHeight, stepHeight, collbox);
sw.Stop();
int timeMs = (int)sw.ElapsedMilliseconds;
player.SendMessage(groupId, string.Format("Search took {0} ms, {1} nodes checked", timeMs, pfs.astar.NodesChecked), EnumChatType.Notification);
if (nodes == null)
{
player.SendMessage(groupId, "No path found", EnumChatType.CommandError);
sapi.World.HighlightBlocks(player, 2, new List <BlockPos>(), EnumHighlightBlocksMode.Absolute, EnumHighlightShape.Arbitrary);
sapi.World.HighlightBlocks(player, 3, new List <BlockPos>(), EnumHighlightBlocksMode.Absolute, EnumHighlightShape.Arbitrary);
return;
}
List <BlockPos> poses = new List <BlockPos>();
foreach (var node in nodes)
{
poses.Add(node);
}
sapi.World.HighlightBlocks(player, 2, poses, new List <int>()
{
ColorUtil.ColorFromRgba(128, 128, 128, 30)
}, EnumHighlightBlocksMode.Absolute, EnumHighlightShape.Arbitrary);
List <Vec3d> wps = pfs.ToWaypoints(nodes);
poses = new List <BlockPos>();
foreach (var node in wps)
{
poses.Add(node.AsBlockPos);
}
sapi.World.HighlightBlocks(player, 3, poses, new List <int>()
{
ColorUtil.ColorFromRgba(128, 0, 0, 100)
}, EnumHighlightBlocksMode.Absolute, EnumHighlightShape.Arbitrary);
}
}
