public FreeOrWayPoint this[String wpName]
{
get {
wpName = wpName.Trim().ToLower();
WayPoint wp = null;
FreePoint fp = null;
mWayPointDict.TryGetValue(wpName, out wp);
if (wp == null)
{
mFreePointDict.TryGetValue(wpName, out fp);
}
if (wp != null)
{
return(wp);
}
else if (fp != null)
{
return(fp);
}
else
{
return(null);
}
}
}
public FreePoint getNearestFreepoint(Vec3f position)
{
float nearestDistance = 0;
FreePoint foundWP = null;
foreach (FreePoint wp in mFreePointList)
{
float distance = wp.Position.getDistance(position);
if (foundWP == null)
{
foundWP = wp;
nearestDistance = distance;
continue;
}
if (distance < nearestDistance)
{
foundWP = wp;
nearestDistance = distance;
}
}
return(foundWP);
}
/// <summary>
/// Loads the files file[.wp/.fp]
/// </summary>
/// <param name="file"></param>
/// <returns></returns>
public static WayNet loadFromFile(String file)
{
WayNet wnet = new WayNet();
if (File.Exists(file + ".wp"))
{
String[] lines = File.ReadAllLines(file + ".wp");
foreach (String line in lines)
{
String[] values = line.Split(new char[] { ';' }, StringSplitOptions.RemoveEmptyEntries);
if (values.Length < 5)
{
continue;
}
String name = values[0].Trim().ToLower();
float x = float.Parse(values[1].Trim(), System.Globalization.CultureInfo.InvariantCulture);
float y = float.Parse(values[2].Trim(), System.Globalization.CultureInfo.InvariantCulture);
float z = float.Parse(values[3].Trim(), System.Globalization.CultureInfo.InvariantCulture);
float dirX = float.Parse(values[4].Trim(), System.Globalization.CultureInfo.InvariantCulture);
float dirY = float.Parse(values[5].Trim(), System.Globalization.CultureInfo.InvariantCulture);
String[] list = new String[values.Length - 6];
Array.Copy(values, 6, list, 0, list.Length);
WayPoint wp = new WayPoint(name, new Vec3f(x, y, z), new Vec3f(dirX, 0, dirY), list);
wnet.mWayPointList.Add(wp);
wnet.mWayPointDict.Add(wp.Name, wp);
}
foreach (WayPoint wp in wnet.mWayPointList)
{
WayPoint[] wpList = new WayPoint[wp.ConnectedWPString.Length];
int i = 0;
foreach (String wpName in wp.ConnectedWPString)
{
wpList[i] = wnet.mWayPointDict[wpName];
i += 1;
}
wp.ConnectedWP = wpList;
}
}
if (File.Exists(file + ".fp"))
{
String[] lines = File.ReadAllLines(file + ".fp");
foreach (String line in lines)
{
String[] values = line.Split(new char[] { ';' }, StringSplitOptions.RemoveEmptyEntries);
if (values.Length < 5)
{
continue;
}
String name = values[0].Trim().ToLower();
float x = float.Parse(values[1].Trim(), System.Globalization.CultureInfo.InvariantCulture);
float y = float.Parse(values[2].Trim(), System.Globalization.CultureInfo.InvariantCulture);
float z = float.Parse(values[3].Trim(), System.Globalization.CultureInfo.InvariantCulture);
float dirX = float.Parse(values[4].Trim(), System.Globalization.CultureInfo.InvariantCulture);
float dirZ = float.Parse(values[5].Trim(), System.Globalization.CultureInfo.InvariantCulture);
//float dirZ = float.Parse(values[6].Trim(), System.Globalization.CultureInfo.InvariantCulture);
FreePoint fp = new FreePoint(name, new Vec3f(x, y, z), new Vec3f(dirX, 0.0f, dirZ));
wnet.mFreePointList.Add(fp);
wnet.mFreePointDict.Add(fp.Name, fp);
}
}
return(wnet);
}
