public void setLine(Improbable.Vector3f startPoint, Improbable.Vector3f endPoint)
{
// setting the size of each step as we are walking along the line; this should be 1 meter
Improbable.Vector3f incrementationVector = endPoint - startPoint;
incrementationVector = incrementationVector.Normalized() * SIZE_OF_A_STEP;
Improbable.Vector3f prevPoint = startPoint;
int[] prevCoord = findAndSetPointInGrid(startPoint);
while (!nextPointIsEndpoint(prevPoint, endPoint))
{
Improbable.Vector3f currentPoint = prevPoint + incrementationVector;
int[] currCoord = findAndSetPointInGrid(currentPoint);
if (currCoord[0] != prevCoord[0] && currCoord[1] != prevCoord[1])
{
// if diagonal, set the box lower to the diagonalization
if (gridPointsAreDiagonal(prevCoord, currCoord))
{
int[] higherCoordinate = findHigherGridCoordinate(prevCoord, currCoord);
setGridCell(higherCoordinate[0], higherCoordinate[1] + 1, GridType.NEAR);
}
}
prevPoint = currentPoint;
prevCoord = currCoord;
}
findAndSetPointInGrid(endPoint);
}
private bool nextPointIsEndpoint(Improbable.Vector3f currentPoint, Improbable.Vector3f endPoint)
{
double distanceToEndPoint = Math.Sqrt(Math.Pow(endPoint.x - currentPoint.x, 2) +
Math.Pow(endPoint.z - currentPoint.z, 2));
return(distanceToEndPoint < SIZE_OF_A_STEP);
}
public static EntityTemplate CreatePlayerEntityTemplate(string workerId, Improbable.Vector3f position)
{
var clientAttribute = $"workerId:{workerId}";
var template = new EntityTemplate();
template.AddComponent(new Position.Snapshot(), clientAttribute);
template.AddComponent(new Metadata.Snapshot {
EntityType = "User"
}, UnityGameLogicConnector.WorkerType);
template.AddComponent(new Player.PlayerInput.Snapshot(), clientAttribute);
/*
* template.AddComponent(new Launcher.Snapshot { EnergyLeft = 100, RechargeTimeLeft = 0 },
* UnityGameLogicConnector.WorkerType);
* template.AddComponent(new Score.Snapshot(), WorkerUtils.UnityGameLogic);
* template.AddComponent(new CubeSpawner.Snapshot { SpawnedCubes = new List<EntityId>() },
* UnityGameLogicConnector.WorkerType);
*/
template.AddComponent(new Player.PlayerAuth.Snapshot {
IsAuthed = false, PlayerName = "unauthorized player"
},
"GRPCManager");
TransformSynchronizationHelper.AddTransformSynchronizationComponents(template, clientAttribute);
PlayerLifecycleHelper.AddPlayerLifecycleComponents(template, workerId, clientAttribute,
UnityGameLogicConnector.WorkerType);
template.SetReadAccess(UnityClientConnector.WorkerType, UnityGameLogicConnector.WorkerType, "GRPCManager");
template.SetComponentWriteAccess(EntityAcl.ComponentId, UnityGameLogicConnector.WorkerType);
return(template);
}
public static EntityTemplate CreatePlayerEntityTemplate(string workerId, Improbable.Vector3f position)
{
var clientAttribute = $"workerId:{workerId}";
var template = new EntityTemplate();
template.AddComponent(new Position.Snapshot(), clientAttribute);
template.AddComponent(new Metadata.Snapshot {
EntityType = "Character"
}, WorkerUtils.UnityGameLogic);
template.AddComponent(new PlayerInput.Snapshot(), clientAttribute);
template.AddComponent(new Launcher.Snapshot {
EnergyLeft = 100, RechargeTimeLeft = 0
},
WorkerUtils.UnityGameLogic);
template.AddComponent(new Score.Snapshot(), WorkerUtils.UnityGameLogic);
template.AddComponent(new CubeSpawner.Snapshot {
SpawnedCubes = new List <EntityId>()
},
WorkerUtils.UnityGameLogic);
TransformSynchronizationHelper.AddTransformSynchronizationComponents(template, clientAttribute);
PlayerLifecycleHelper.AddPlayerLifecycleComponents(template, workerId, clientAttribute,
WorkerUtils.UnityGameLogic);
template.SetReadAccess(WorkerUtils.UnityClient, WorkerUtils.UnityGameLogic);
template.SetComponentWriteAccess(EntityAcl.ComponentId, WorkerUtils.UnityGameLogic);
return(template);
}
public void InitGlobalLayer(Improbable.Vector3f topLeft, Improbable.Vector3f bottomRight)
{
//Debug.LogWarning("call init bitmap " + bitmap != null);
bitmap.InitialiseBitmap(topLeft, bottomRight);
//Debug.LogWarning("Bitmap Ready");
bitmap.updateWithNoFlyZones(GlobalLayerWriter.Data.zones);
//Debug.LogWarning("Bitmap w/NFZs Ready");
}
// Returns positive infinity if no point is found within a certain amount of layers.
public float distanceToNoFlyZone(Improbable.Vector3f point)
{
Improbable.Vector3f p = nearestNoFlyZonePoint(point);
if (p.y >= 0)
{
float w = p.x - point.x;
float h = p.z - point.z;
return(Mathf.Sqrt(Mathf.Pow(w, 2) + Mathf.Pow(h, 2)));
}
return(float.PositiveInfinity);
}
public bool isPointInNoFlyZone(Improbable.Vector3f point)
{
foreach (Improbable.Controller.NoFlyZone zone in zones)
{
if (NoFlyZone.hasCollidedWith(zone, point))
{
return(true);
}
}
return(false);
}
public Improbable.Collections.List <Improbable.Vector3f> generatePointToPointPlan(Improbable.Vector3f p1, Improbable.Vector3f p2)
{
if (isPointInNoFlyZone(p2))
{
Debug.LogError("next target is in a NFZ");
return(null); // A plan can not be found
}
int[] coord1 = bitmap.findGridCoordinatesOfPoint(p1);
if (coord1 == null)
{
Debug.LogError("coord1 fail");
return(null);
}
int[] coord2 = bitmap.findGridCoordinatesOfPoint(p2);
if (coord1 == null)
{
Debug.LogError("coord2 fail");
return(null);
}
GridLocation l1 = new GridLocation(coord1[0], coord1[1]);
GridLocation l2 = new GridLocation(coord2[0], coord2[1]);
ASearch = new ThetaStarSearch(true); // Use AStarSearch or ThetaStarSearch here.
float droneHeight = UnityEngine.Random.Range(SimulationSettings.MinimumDroneHeight, SimulationSettings.MaximumDroneHeight);
List <GridLocation> locs = ASearch.run(bitmap, l1, l2);
if (locs == null)
{ // The case that a path could not be found.
Debug.LogError("search fail");
return(null); // Just return empty list.
}
//Debug.LogWarning("NUM VERTICES IN PATH: " + locs.Count);
Improbable.Collections.List <Improbable.Vector3f> result = new Improbable.Collections.List <Improbable.Vector3f>();
result.Add(p1);
foreach (GridLocation l in locs)
{
Improbable.Vector3f convertedLocation = convertLocation(l);
Improbable.Vector3f location = new Improbable.Vector3f(convertedLocation.x, droneHeight, convertedLocation.z);
result.Add(location);
}
result.Add(p2);
return(result);
}
public static bool isPointInTheBoundingBox(Improbable.Controller.NoFlyZone nfz, Improbable.Vector3f point)
{
bool res = false;
if (point.x >= nfz.boundingBoxBottomLeft.x & point.x <= nfz.boundingBoxTopRight.x)
{
if (point.z >= nfz.boundingBoxBottomLeft.z & point.z <= nfz.boundingBoxTopRight.z)
{
res = true;
}
}
return(res);
}
// Returns an int[] of the form {x, y}.
public int[] findGridCoordinatesOfPoint(Improbable.Vector3f point)
{
int x = (int)Math.Floor((point.x - TopLeft.x) / BIT_SIZE);
int z = (int)Math.Floor((TopLeft.z - point.z) / BIT_SIZE);
if (x < 0 || x >= GridWidth || z < 0 || z >= GridHeight)
{
Debug.LogError("Invalid bitmap index: x= " + x + ", z= " + z);
Debug.LogError("G->P || point: " + point + " ,topLeft: " + TopLeft);
return(null);
}
int[] result = { x, z };
return(result);
}
/*
* Sets the corresponding bit in the grid and returns the coordinates
*/
public int[] findAndSetPointInGrid(Improbable.Vector3f point)
{
int[] coord = findGridCoordinatesOfPoint(point);
GridLocation loc = new GridLocation(coord[0], coord[1]);
foreach (var n in GeneralNeighbours(loc, SimulationSettings.NFZ_PADDING))
{
if (getGridCell(n.x, n.z) != GridType.IN)
{
setGridCell(n.x, n.z, GridType.NEAR);
}
}
setGridCell(coord[0], coord[1], GridType.IN);
return(coord);
}
public static EntityTemplate CreatePlayerEntityTemplate(string workerId, Improbable.Vector3f position)
{
var clientAttribute = $"workerId:{workerId}";
var serverAttribute = WorkerType;
var entityBuilder = EntityBuilder.Begin()
.AddPosition(UnityEngine.Random.Range(-8, 8), 0, 0, serverAttribute)
.AddMetadata("Player", serverAttribute)
.SetPersistence(false)
.SetReadAcl(AllWorkerAttributes)
.SetEntityAclComponentWriteAccess(serverAttribute)
.AddComponent(Player.PlayerEntity.Component.CreateSchemaComponentData(true), serverAttribute)
.AddPlayerLifecycleComponents(workerId, clientAttribute, serverAttribute)
.AddTransformSynchronizationComponents(clientAttribute);
return(entityBuilder.Build());
}
private static bool isInPolygon(Improbable.Controller.NoFlyZone nfz, Improbable.Vector3f point)
{
bool isInside = false;
for (int i = 0, j = nfz.vertices.Count - 1; i < nfz.vertices.Count; j = i++)
{
bool isInZRange = ((nfz.vertices[i].z > point.z) != (nfz.vertices[j].z > point.z));
if (isInZRange &&
(point.x < (nfz.vertices[j].x - nfz.vertices[i].x) * (point.z - nfz.vertices[i].z)
/ (nfz.vertices[j].z - nfz.vertices[i].z) + nfz.vertices[i].x))
{
isInside = !isInside;
}
}
return(isInside);
}
public void addNoFlyZone(Improbable.Controller.NoFlyZone noFlyZone, bool sendUpdate = true)
{
Improbable.Vector3f[] vertices = noFlyZone.vertices.ToArray();
Improbable.Vector3f previousWaypoint = vertices[0];
for (int i = 1; i < vertices.Length; i++)
{
Improbable.Vector3f currentWaypoint = vertices[i];
setLine(previousWaypoint, currentWaypoint);
previousWaypoint = currentWaypoint;
}
setLine(previousWaypoint, vertices[0]); // setting the final line
if (sendUpdate)
{
sendGridUpdate();
}
}
private void OnEnable()
{
BIT_SIZE = SimulationSettings.BIT_SIZE; // meters that each bit in the grid corresponds to
SIZE_OF_A_STEP = SimulationSettings.SIZE_OF_A_STEP; // used when setting bits from a no fly zone
//BitmapWriter.ComponentUpdated.Add(HandleAction);
if (BitmapWriter.Data.initialised)
{
TopLeft = BitmapWriter.Data.topLeft;
BottomRight = BitmapWriter.Data.bottomRight;
Width = BitmapWriter.Data.width;
Height = BitmapWriter.Data.height;
GridHeight = BitmapWriter.Data.gridHeight;
GridWidth = BitmapWriter.Data.gridWidth;
Grid = BitmapWriter.Data.grid;
}
}
private static EntityTemplate CreatePlayerEntityTemplate(string workerId, Improbable.Vector3f position)
{
var clientAttribute = $"workerId:{workerId}";
var serverAttribute = WorkerType;
var template = new EntityTemplate();
template.AddComponent(new Position.Snapshot(), clientAttribute);
template.AddComponent(new Metadata.Snapshot {
EntityType = "Player"
}, serverAttribute);
TransformSynchronizationHelper.AddTransformSynchronizationComponents(template, clientAttribute);
PlayerLifecycleHelper.AddPlayerLifecycleComponents(template, workerId, clientAttribute, serverAttribute);
template.SetReadAccess(UnityClientConnector.WorkerType, AndroidClientWorkerConnector.WorkerType, iOSClientWorkerConnector.WorkerType, serverAttribute);
template.SetComponentWriteAccess(EntityAcl.ComponentId, serverAttribute);
return(template);
}
public void InitialiseBitmap(Improbable.Vector3f topLeft, Improbable.Vector3f bottomRight)
{
//Debug.LogWarning("first if");
if (BitmapWriter.Data.initialised)
{
Debug.LogError("Bitmap already initialised");
return;
}
//Debug.LogWarning("second if");
if (topLeft.x > bottomRight.x || bottomRight.z > topLeft.z)
{
Debug.LogError("Unsupported grid coordinates");
return;
}
//Debug.LogWarning("harmless shit");
TopLeft = topLeft;
BottomRight = bottomRight;
Width = (int)Math.Ceiling(Math.Abs(bottomRight.x - topLeft.x));
Height = (int)Math.Ceiling(Math.Abs(topLeft.z - bottomRight.z));
//Debug.LogWarning("potential danger");
createBitmapOfGivenSize(Width, Height);
//Debug.LogWarning("init || topLeft: " + TopLeft);
BitmapWriter.Send(new BitmapComponent.Update()
.SetTopLeft(TopLeft)
.SetBottomRight(BottomRight)
.SetWidth(Width)
.SetHeight(Height)
.SetGrid(Grid)
.SetGridWidth(GridWidth)
.SetGridHeight(GridHeight)
.SetInitialised(true));
WaitUntil.Equals(BitmapWriter.Data.initialised, true);
}
public static bool hasCollidedWith(Improbable.Controller.NoFlyZone nfz, Improbable.Vector3f point)
{
return(isInPolygon(nfz, point));
}
public Improbable.Vector3f nearestNoFlyZonePoint(Improbable.Vector3f point)
{
// Find out where point is in the grid
int[] gridCo = findGridCoordinatesOfPoint(point);
int x = gridCo[0];
int z = gridCo[1];
GridLocation anchor = new GridLocation(x, z);
double nearestDistance = Double.PositiveInfinity;
GridLocation nearestLocation = new GridLocation(0, 0); // placeholder.
bool foundNoFlyZone = false;
for (int layer = 1, maxLayers = 6; !foundNoFlyZone && layer <= maxLayers; ++layer)
{
// Placeholders.
int k, xi;
// Loop from top left to top right.
int zi = z - layer;
if (0 <= zi && zi < Height)
{
for (k = -layer; k < layer; ++k)
{
xi = x + k;
if (InGridBounds(xi, zi) && getGridCell(xi, zi) == GridType.IN)
{
foundNoFlyZone = true;
GridLocation candidate = new GridLocation(xi, zi);
double dist = anchor.distanceTo(candidate);
if (dist < nearestDistance)
{
nearestDistance = Math.Min(nearestDistance, dist);
nearestLocation = candidate;
}
}
}
}
// Loop from top right to bottom right.
xi = x + layer;
if (0 <= xi && xi < Width)
{
for (k = -layer; k < layer; ++k)
{
zi = z + k;
if (InGridBounds(xi, zi) && getGridCell(xi, zi) == GridType.IN)
{
foundNoFlyZone = true;
GridLocation candidate = new GridLocation(xi, zi);
double dist = anchor.distanceTo(candidate);
if (dist < nearestDistance)
{
nearestDistance = Math.Min(nearestDistance, dist);
nearestLocation = candidate;
}
}
}
}
// Loop from bottom right to bottom left.
if (0 <= zi && zi < Height)
{
zi = z + layer;
for (k = layer; k > -layer; --k)
{
xi = x + k;
if (InGridBounds(xi, zi) && getGridCell(xi, zi) == GridType.IN)
{
foundNoFlyZone = true;
GridLocation candidate = new GridLocation(xi, zi);
double dist = anchor.distanceTo(candidate);
if (dist < nearestDistance)
{
nearestDistance = Math.Min(nearestDistance, dist);
nearestLocation = candidate;
}
}
}
}
// Loop from bottom left to top left.
xi = x - layer;
if (0 <= xi && xi < Width)
{
for (k = layer; k > -layer; --k)
{
zi = z + k;
if (InGridBounds(xi, zi) && getGridCell(xi, zi) == GridType.IN)
{
foundNoFlyZone = true;
GridLocation candidate = new GridLocation(xi, zi);
double dist = anchor.distanceTo(candidate);
if (dist < nearestDistance)
{
nearestDistance = Math.Min(nearestDistance, dist);
nearestLocation = candidate;
}
}
}
}
}
if (!foundNoFlyZone)
{
return(new Improbable.Vector3f(0, -1, 0));
}
//given set point, convert grid -> real world
Improbable.Vector3f nearPoint = getPointFromGridCoordinates(new int[] { nearestLocation.x, nearestLocation.z });
//assert vector.y is 0
//TODO: assert nearPoint only has 2 non-zero elements
return(nearPoint);
}
public Improbable.Vector3f GetClosestVector3fOnGrid(Improbable.Vector3f original)
{
return(bitmap.getPointFromGridCoordinates(bitmap.findGridCoordinatesOfPoint(original)));
}
public double distanceToNoFlyZone(Improbable.Vector3f point)
{
return(bitmap.distanceToNoFlyZone(point));
}
/**
* 'point' has components in cartesian format
*/
public bool isNoFlyZone(Improbable.Vector3f point)
{
int[] coord = findGridCoordinatesOfPoint(point);
return(isGridCellNoFlyZone(coord[0], coord[1]));
}
