public void findLines(PolyData data)
{
//For every figure, iterate through the vertices and check if it's possible
//to draw a line to a vertice in any other figure
for (int i = 0; i < data.figures.Count; i++)
{
PolyNode curFig = data.figures[i];
foreach (Vector3 curVertice in curFig.vertices)
{
for (int j = 0; j < data.figures.Count; i++)
{
//If it's the same figure continue;
if (i == j)
{
continue;
}
PolyNode curTestFigure = data.figures[j];
foreach (Vector3 endVertice in curTestFigure.vertices)
{
Line testLine = new Line(curVertice, endVertice);
if (!this.doIntersect(data, testLine))
{
possibleLines.Add(testLine);
}
}
}
}
}
}
// Use this for initialization
void Start()
{
map = new PolyMapLoaderT3("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button", "polygMap1/customerPos");
mapData = map.polyData;
R = 5;
agents = new List <PolyAgent> ();
for (int i = 0; i < mapData.start.Count; i++)
{
Vector3 start = mapData.start[i];
Vector3 end = mapData.end[i];
agents.Add(new PolyAgent("Agent " + i, start, end, R, "point"));
agents [i].agent.renderer.material.color = Color.blue;
agents[i].model = gameObject.AddComponent <DynamicPointModel> ();
}
vrp = new VRPPL(mapData.customers, agents.Count);
foreach (PolyAgent agent in agents)
{
List <Vector3> path = new List <Vector3> ();
path.Add(agent.end);
agent.model.SetPath(path, agent, mapData.lines);
agent.model.StartCoroutineMove();
}
}
void Start()
{
PolyMapLoader loader = new PolyMapLoader("x", "y", "goalPos", "startPos", "button");
polyData = loader.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
CreateObstacles();
ConstructWalkableLines();
// CreateInterObstacleWalk ();
// print ("Walkable lines: " + walkableLines.Count);
// graph.PrintGraph ();
kinematic_vel = 20f;
path = pathFinder.AStarSearch(polyData.start, polyData.end, graph);
// print ("path length: " + path.Count);
// Choose model
transform.position = polyData.start;
//model = gameObject.AddComponent<KinematicPointModel> ();
//model = gameObject.AddComponent<DynamicPointModel> ();
model = gameObject.AddComponent <DifferentialDriveModel> ();
model.SetPath(path);
model.StartCoroutineMove();
}
// Use this for initialization
void Start()
{
Application.runInBackground = true;
map = new PolyMapLoader("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button");
polyData = map.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
//Create visibility graph
CreateObstacles();
ConstructWalkableLines();
CreateInterObstacleWalk();
agents = new List <T5Agent>();
agentColors = new List <Color>();
agentColors.Add(Color.black);
agentColors.Add(Color.blue);
agentColors.Add(Color.yellow);
agentColors.Add(Color.cyan);
agentColors.Add(Color.green);
paths = new List <Vector3> [map.polyData.start.Count];
agentAtWaypoint = new int[map.polyData.start.Count];
int agentCounter = 0;
for (int i = 0; i < map.polyData.start.Count; i = i + 1)
{
Vector3 startNode = map.polyData.start[i];
Vector3 endNode = map.polyData.end[i];
T5Agent newAgent = new T5Agent("Agent " + agentCounter, startNode, endNode, agentCounter, true);
newAgent.agent.gameObject.renderer.material.color = agentColors[i];
List <PolyNode> ppath = pathFinder.AStarSearch(startNode, endNode, graph);
List <Vector3> temp = new List <Vector3> ();
foreach (PolyNode p in ppath)
{
temp.Add(p.pos);
}
//temp.Add(endNode);
paths[i] = temp;
agentAtWaypoint[i] = 0;
agents.Add(newAgent);
agentCounter++;
}
Debug.Log("Agents size:" + agents.Count);
StartCoroutine("Move");
}
// Use this for initialization
void Awake()
{
PolyMapLoader map = new PolyMapLoader("x", "y", "goalPos", "startPos", "button");
polyData = map.polyData;
/*
* Debugging
* map.polyData.printNodes ();
* map.polyData.printStart ();
* map.polyData.printEnd ();
* map.polyData.printButtons ();
*/
}
public PolyMapLoader(string x, string y, string goal, string start, string buttons)
{
polyData = new PolyData();
string xFile = prefix + x + postfix;
string yFile = prefix + y + postfix;
string goalFile = prefix + goal + postfix;
string startFile = prefix + start + postfix;
string buttonsFile = prefix + buttons + postfix;
System.IO.StreamReader xReader = new System.IO.StreamReader(xFile);
System.IO.StreamReader yReader = new System.IO.StreamReader(yFile);
string xpos, ypos;
while ((xpos = xReader.ReadLine()) != null)
{
ypos = yReader.ReadLine(); // xFile and yFile matches each other
xpos = xpos.Replace(",", ".");
ypos = ypos.Replace(",", ".");
polyData.nodes.Add(new Vector3(float.Parse(xpos), 1f, float.Parse(ypos)));
}
xReader.Close();
yReader.Close();
System.IO.StreamReader startReader = new System.IO.StreamReader(startFile);
string line;
line = startReader.ReadLine();
string[] startPos = line.Split(' ');
polyData.start = new Vector3(Mathf.Round(float.Parse(startPos [0])), 1f, float.Parse(startPos [1]));
startReader.Close();
System.IO.StreamReader endReader = new System.IO.StreamReader(goalFile);
line = endReader.ReadLine();
string[] endPos = line.Split(' ');
polyData.end = new Vector3(Mathf.Round(float.Parse(endPos [0])), 1f, float.Parse(endPos [1]));
endReader.Close();
System.IO.StreamReader buttonReader = new System.IO.StreamReader(buttonsFile);
string button;
while ((button = buttonReader.ReadLine()) != null)
{
polyData.buttons.Add(Convert.ToInt32(button));
}
buttonReader.Close();
}
//Checks if a line intersect any obstacle line
private bool doIntersect(PolyData data, Line testLine)
{
foreach (Line curLine in data.lines)
{
if (testLine.intersect(curLine))
{
//Debug.Log("TestLine:"+testLine.point1+" "+testLine.point2);
//Debug.Log("Obs line:"+curLine.point1+" "+curLine.point2);
return(true);
}
}
return(false);
}
void Start()
{
map = new PolyMapLoaderT3("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button", "polygMap1/customerPos");
polyData = map.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
// START VRP
R = 3;
agents = new List <PolyAgent> ();
for (int i = 0; i < polyData.start.Count; i++)
{
Vector3 start = polyData.start[i];
Vector3 end = polyData.end[i];
agents.Add(new PolyAgent("Agent " + i, start, end, R, "car"));
agents [i].agent.renderer.material.color = Color.black;
agents[i].model = gameObject.AddComponent <DynamicCarModel> ();
//agents[i].model = gameObject.AddComponent<DynamicPointModel> ();
}
List <Vector3> customers = new List <Vector3> (); // for plotting
foreach (Vector3 v in polyData.customers)
{
customers.Add(v);
}
vrp = new VRPPL(customers, agents.Count);
// END VRP
CreateObstacles();
ConstructWalkableLines();
CreateInterObstacleWalk();
// print ("Walkable lines: " + walkableLines.Count);
// graph.PrintGraph ();
stopwatch.Start();
ready = new List <PolyAgent> ();
}
void Start()
{
map = new PolyMapLoaderT3("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button", "polygMap1/customerPos");
polyData = map.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
// START VRP
R = 3;
CreateObstacles();
ConstructWalkableLines();
CreateInterObstacleWalk();
agents = new List <T5PolyAgent> ();
for (int i = 0; i < polyData.start.Count; i++)
{
Vector3 start = polyData.start[i];
Vector3 end = polyData.end[i];
agents.Add(new T5PolyAgent("Agent " + i, start, end, R, "car"));
agents [i].agent.renderer.material.color = Color.black;
agents[i].model = gameObject.AddComponent <T5DynCar> ();
List <PolyNode> ppath = pathFinder.AStarSearch(start, end, graph);
List <Vector3> path = new List <Vector3> ();
foreach (PolyNode node in ppath)
{
path.Add(node.pos);
}
agents[i].model.SetPath(path, agents[i], new List <Line> ());
}
foreach (T5PolyAgent agent in agents)
{
agent.model.SetAgents(ref agents);
agent.model.StartCoroutineMove();
}
stopwatch.Start();
ready = new List <T5PolyAgent> ();
}
public void Read(string filename)
{
FileData fileData = new FileData(filename);
Data = fileData;
SourceFile = filename;
fileData.Endian = Endianness.Big;
fileData.seek(0);
// read header
string magic = fileData.readString(0, 4);
if (magic.Equals("NDWD"))
{
fileData.Endian = Endianness.Little;
}
Endian = fileData.Endian;
fileData.seek(0xA);
int polysets = fileData.readUShort();
boneCount = fileData.readUShort();
fileData.skip(2); // somethingsets
int polyClumpStart = fileData.readInt() + 0x30;
int polyClumpSize = fileData.readInt();
int vertClumpStart = polyClumpStart + polyClumpSize;
int vertClumpSize = fileData.readInt();
int vertaddClumpStart = vertClumpStart + vertClumpSize;
int vertaddClumpSize = fileData.readInt();
int nameStart = vertaddClumpStart + vertaddClumpSize;
boundingSphere[0] = fileData.readFloat();
boundingSphere[1] = fileData.readFloat();
boundingSphere[2] = fileData.readFloat();
boundingSphere[3] = fileData.readFloat();
// object descriptors
ObjectData[] obj = new ObjectData[polysets];
List <float[]> boundingSpheres = new List <float[]>();
int[] boneflags = new int[polysets];
for (int i = 0; i < polysets; i++)
{
float[] boundingSphere = new float[8];
boundingSphere[0] = fileData.readFloat();
boundingSphere[1] = fileData.readFloat();
boundingSphere[2] = fileData.readFloat();
boundingSphere[3] = fileData.readFloat();
boundingSphere[4] = fileData.readFloat();
boundingSphere[5] = fileData.readFloat();
boundingSphere[6] = fileData.readFloat();
boundingSphere[7] = fileData.readFloat();
boundingSpheres.Add(boundingSphere);
int temp = fileData.pos() + 4;
fileData.seek(nameStart + fileData.readInt());
obj[i].name = (fileData.readString());
// read name string
fileData.seek(temp);
boneflags[i] = fileData.readInt();
obj[i].singlebind = fileData.readShort();
obj[i].polyCount = fileData.readUShort();
obj[i].positionb = fileData.readInt();
}
// reading polygon data
foreach (var o in obj)
{
Mesh m = new Mesh();
meshes.Add(m);
m.Nodes = new List <Polygon>();
//m.Text = o.name;
//m.boneflag = boneflags[meshIndex];
//m.singlebind = (short)o.singlebind;
//m.boundingSphere = boundingSpheres[meshIndex++];
for (int i = 0; i < o.polyCount; i++)
{
PolyData polyData = new PolyData();
polyData.polyStart = fileData.readInt() + polyClumpStart;
polyData.vertStart = fileData.readInt() + vertClumpStart;
polyData.verAddStart = fileData.readInt() + vertaddClumpStart;
polyData.vertCount = fileData.readUShort();
polyData.vertSize = fileData.readByte();
polyData.UVSize = fileData.readByte();
polyData.texprop1 = fileData.readInt();
polyData.texprop2 = fileData.readInt();
polyData.texprop3 = fileData.readInt();
polyData.texprop4 = fileData.readInt();
polyData.polyCount = fileData.readUShort();
polyData.polySize = fileData.readByte();
polyData.polyFlag = fileData.readByte();
fileData.skip(0xC);
int temp = fileData.pos();
// read vertex
//Polygon poly = ReadVertex(fileData, polyData, o);
Polygon poly = new Polygon();
m.Nodes.Add(poly);
poly.materials = ReadMaterials(fileData, polyData, nameStart);
fileData.seek(temp);
}
}
foreach (Mesh m in meshes)
{
if (m.Nodes == null)
{
continue;
}
foreach (Polygon p in m.Nodes)
{
foreach (Material mat in p.materials)
{
foreach (MatTexture t in mat.textures)
{
bool found = false;
for (ushort j = 0; j < allTextures.Count; ++j)
{
if (t.hashPos == allTextures[j].hashPos)
{
found = true;
break;
}
}
if (found)
{
continue;
}
allTextures.Add(t);
}
}
}
}
}
public static List <Material> ReadMaterials(FileData d, PolyData p, int nameOffset)
{
int propoff = p.texprop1;
List <Material> mats = new List <Material>();
while (propoff != 0)
{
d.seek(propoff);
Material m = new Material();
mats.Add(m);
m.textures = new List <MatTexture>();
d.skip(4); //m.Flags = (uint)d.readInt();
d.skip(4);
d.skip(2); //m.srcFactor = d.readUShort();
ushort texCount = d.readUShort();
d.skip(2); //m.dstFactor = d.readUShort();
d.skip(1); //m.alphaTest = d.readByte();
d.skip(1); //m.alphaFunction = d.readByte();
d.skip(1); // unknown
d.skip(1); //m.RefAlpha = d.readByte();
d.skip(2); //m.cullMode = d.readUShort();
d.skip(4); // padding
d.skip(4); //m.unkownWater = d.readInt();
d.skip(4); //m.zBufferOffset = d.readInt();
for (ushort i = 0; i < texCount; i++)
{
MatTexture tex = new MatTexture();
tex.hashPos = d.pos();
tex.hash = d.readInt();
d.skip(6); // padding?
d.skip(2); //tex.mapMode = d.readUShort();
d.skip(1); //tex.wrapModeS = d.readByte();
d.skip(1); //tex.wrapModeT = d.readByte();
d.skip(1); //tex.minFilter = d.readByte();
d.skip(1); //tex.magFilter = d.readByte();
d.skip(1); //tex.mipDetail = d.readByte();
d.skip(1); //tex.unknown = d.readByte();
d.skip(4); // padding?
d.skip(2); //tex.unknown2 = d.readShort();
m.textures.Add(tex);
}
int head = 0x20;
if (d.Endian != Endianness.Little)
{
while (head != 0)
{
head = d.readInt();
int nameStart = d.readInt();
string name = d.readString(nameOffset + nameStart, -1);
int pos = d.pos();
int valueCount = d.readInt();
d.skip(4);
// Material properties should always have 4 values. Use 0 for remaining values.
float[] values = new float[4];
for (int i = 0; i < values.Length; i++)
{
if (i < valueCount)
{
values[i] = d.readFloat();
}
else
{
values[i] = 0;
}
}
//m.entries.Add(name, values);
d.seek(pos);
if (head == 0)
{
d.skip(0x20 - 8);
}
else
{
d.skip(head - 8);
}
}
}
if (propoff == p.texprop1)
{
propoff = p.texprop2;
}
else if (propoff == p.texprop2)
{
propoff = p.texprop3;
}
else if (propoff == p.texprop3)
{
propoff = p.texprop4;
}
}
return(mats);
}
public PolyMapLoaderT3(string x, string y, string goal, string start, string buttons, string customers)
{
polyData = new PolyData();
string xFile = prefix + x + postfix;
string yFile = prefix + y + postfix;
string goalFile = prefix + goal + postfix;
string startFile = prefix + start + postfix;
string buttonsFile = prefix + buttons + postfix;
string customerFile = prefix + customers + postfix;
System.IO.StreamReader xReader = new System.IO.StreamReader(xFile);
System.IO.StreamReader yReader = new System.IO.StreamReader(yFile);
System.IO.StreamReader buttonReader = new System.IO.StreamReader(buttonsFile);
string xpos, ypos;
PolyNode curFigure = new PolyNode();
int curFirstPoint = 0;
int index = 0;
bool newOne = true;
while ((xpos = xReader.ReadLine()) != null)
{
ypos = yReader.ReadLine(); // xFile and yFile matches each other
int curButton = int.Parse(buttonReader.ReadLine());
// Här funkar det inte
float xfloat;
float yfloat;
xpos = xpos.Replace(",", ".");
ypos = ypos.Replace(",", ".");
Vector3 curVec = new Vector3(float.Parse(xpos), 1f, float.Parse(ypos));
curFigure.vertices.Add(curVec);
polyData.buttons.Add(curButton);
//New Figure
if (curButton == 3)
{
polyData.figures.Add(curFigure);
curFigure = new PolyNode();
Line newLine1 = new Line(curVec, polyData.nodes[curFirstPoint]);
Line newLine2 = new Line(polyData.nodes[index - 1], curVec);
polyData.lines.Add(newLine1);
polyData.lines.Add(newLine2);
curFirstPoint = index + 1;
newOne = true;
}
else
{
if (polyData.nodes.Count != 0 && !newOne)
{
Line newLine = new Line(polyData.nodes[index - 1], curVec);
polyData.lines.Add(newLine);
}
newOne = false;
}
polyData.nodes.Add(curVec);
index++;
}
xReader.Close();
yReader.Close();
buttonReader.Close();
string line;
// read start
System.IO.StreamReader file;
file = new System.IO.StreamReader(startFile);
while ((line = file.ReadLine()) != null)
{
string[] pos = line.Split(' ');
polyData.start.Add(new Vector3(float.Parse(pos[0]) - 1, 1, float.Parse(pos[1]) - 1));
}
file.Close();
// read end
file = new System.IO.StreamReader(goalFile);
while ((line = file.ReadLine()) != null)
{
string[] pos = line.Split(' ');
polyData.end.Add(new Vector3(float.Parse(pos[0]) - 1, 1, float.Parse(pos[1]) - 1));
}
file.Close();
// read customers
file = new System.IO.StreamReader(customerFile);
while ((line = file.ReadLine()) != null)
{
string[] pos = line.Split(' ');
polyData.customers.Add(new Vector3(float.Parse(pos[0]) - 1, 1, float.Parse(pos[1]) - 1));
}
/*System.IO.StreamReader buttonReader = new System.IO.StreamReader (buttonsFile);
* string button;
* while ((button = buttonReader.ReadLine ()) != null) {
* polyData.buttons.Add (Convert.ToInt32(button));
* }
* buttonReader.Close ();*/
}
/// <summary>
/// 统计数据初始化
/// </summary>
private void initData()
{
list = new List <PolyData>();
polydata = new PolyData();
polydata.PlaceName = "温哥华";
polydata.X = -122.9856932188265;
polydata.Y = 49.31473826915955;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "维多利亚";
polydata.X = -123.5725403242023;
polydata.Y = 48.68274907875484;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "华盛顿";
polydata.X = -76.94979490634647;
polydata.Y = 38.91738753487638;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "墨西哥城";
polydata.X = -99.14502956293464;
polydata.Y = 19.46453454379436;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "危地马拉";
polydata.X = -90.53756250004767;
polydata.Y = 14.638845654204122;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "哈瓦那";
polydata.X = -82.42665837247868;
polydata.Y = 23.081544106735578;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "金斯敦";
polydata.X = -76.80646878637968;
polydata.Y = 18.02563058349792;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "太子港";
polydata.X = -72.35997341103229;
polydata.Y = 18.589906646359267;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "加拉加斯";
polydata.X = -66.91245230016885;
polydata.Y = 10.516244738939125;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "乔治敦";
polydata.X = -58.20002988958967;
polydata.Y = 6.792022724054252;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "基多";
polydata.X = -78.55911023762702;
polydata.Y = -0.18242941291198278;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "卡亚俄";
polydata.X = -76.86063928841438;
polydata.Y = -11.990470304348502;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "拉巴斯";
polydata.X = -68.17078792034965;
polydata.Y = -16.482107764724816;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "亚松森";
polydata.X = -57.68766722451156;
polydata.Y = -25.169702028538108;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "圣地亚哥";
polydata.X = -70.68068784795692;
polydata.Y = -33.460045944097;
list.Add(polydata);
polydata = new PolyData();
polydata.PlaceName = "布宜诺斯艾利斯";
polydata.X = -58.424611762608485;
polydata.Y = -34.6788822398775;
list.Add(polydata);
}
public PolyGraphCreator(PolyData data)
{
possibleLines = new List <Line> ();
this.findLines(data);
}
