public void AddModelPathObject(bool logPathGeneration, PathObjectType type, string modelName,
Vector3 modelPosition, Matrix4 modelTransform,
List <CollisionShape> shapes, float terrainHeight)
{
PathGenerator pathGenerator = new PathGenerator(logPathGeneration, modelName, type, terrainHeight,
modelTransform, shapes);
// Perform traversal and creation of polygons, arcs
// between polygons, and portals to the terrain
pathGenerator.GeneratePolygonsArcsAndPortals();
List <PathPolygon> polygons = new List <PathPolygon>();
List <PathArc> portals = new List <PathArc>();
List <PathArc> arcs = new List <PathArc>();
foreach (GridPolygon r in pathGenerator.CVPolygons)
{
polygons.Add(new PathPolygon(r.Index, PolygonKind.CV, r.CornerLocs));
}
foreach (GridPolygon r in pathGenerator.TerrainPolygons)
{
polygons.Add(new PathPolygon(r.Index, PolygonKind.Terrain, r.CornerLocs));
}
foreach (PolygonArc portal in pathGenerator.TerrainPortals)
{
portals.Add(new PathArc(portal.Kind, portal.Poly1Index, portal.Poly2Index, MakePathEdge(portal.Edge)));
}
foreach (PolygonArc arc in pathGenerator.PolygonArcs)
{
arcs.Add(new PathArc(arc.Kind, arc.Poly1Index, arc.Poly2Index, MakePathEdge(arc.Edge)));
}
pathObjects.Add(new PathObject(pathGenerator.ModelName, type.name, pathGenerator.FirstTerrainIndex,
new PathPolygon(0, PolygonKind.Bounding, pathGenerator.ModelCorners),
polygons, portals, arcs));
}
public PathObjectType(PathObjectType other)
{
name = other.name;
height = other.height;
width = other.width;
maxClimbSlope = other.maxClimbSlope;
gridResolution = other.gridResolution;
maxDisjointDistance = other.maxDisjointDistance;
minimumFeatureSize = other.minimumFeatureSize;
}
public void Execute()
{
float modelHeight = 1.8f;
float modelWidth = .5f;
float maxClimbSlope = 0.3f;
float gridResolution = .25f;
float maxDisjointDistance = .1f; //.1f * oneMeter;
int minimumFeatureSize = 3; // 3 grid cells
float terrainLevel = WorldEditor.Instance.GetTerrainHeight(modelObj.Position.x, modelObj.Position.z) - modelObj.Position.y;
PathObjectType poType = new PathObjectType(modelObj.Name, modelHeight, modelWidth, maxClimbSlope,
gridResolution, maxDisjointDistance, minimumFeatureSize);
List<CollisionShape> shapes = WorldEditor.Instance.FindMeshCollisionShapes(modelObj.MeshName, modelObj.DisplayObject.Entity);
PathGenerator pathGenerator = new PathGenerator(WorldEditor.Instance.LogPathGeneration, modelObj.Name, poType, terrainLevel,
modelObj.DisplayObject.SceneNode.FullTransform, shapes);
// Perform traversal and creation of rectangles, arcs
// between rectangles, and portals to the terrain
pathGenerator.GeneratePolygonsArcsAndPortals();
}
public PathGenerator(bool logPathGeneration, string modelName, PathObjectType poType, float terrainLevel,
Matrix4 modelTransform, List<CollisionShape> collisionVolumes)
{
this.dumpGrid = logPathGeneration;
this.modelName = modelName;
this.poType = poType;
this.modelWidth = poType.width * oneMeter;
this.cellWidth = poType.gridResolution * modelWidth;
this.boxHeight = poType.height * oneMeter;
this.maxClimbDistance = poType.maxClimbSlope * cellWidth;
this.maxDisjointDistance = poType.maxDisjointDistance * oneMeter;
this.minimumFeatureSize = poType.minimumFeatureSize;
this.terrainLevel = terrainLevel;
this.modelTransform = modelTransform;
this.collisionVolumes = collisionVolumes;
stopwatch = new Stopwatch();
stopwatch.Start();
// Create the collisionAPI object
collisionAPI = new CollisionAPI(false);
// Ugly workaround for a modularity problem do to
// unadvised use of static variables: remember the
// existing state of rendering collision volumes
RenderedNode.RenderState oldRenderState = RenderedNode.renderState;
RenderedNode.renderState = RenderedNode.RenderState.None;
// Form the union of the collision volumes; we don't care
// about Y coordinate, only the X and Z coordinates
Vector3 min = Vector3.Zero;
Vector3 max = Vector3.Zero;
for (int i=0; i<collisionVolumes.Count; i++) {
CollisionShape shape = collisionVolumes[i];
// Add the shape to the sphere tree
collisionAPI.SphereTree.AddCollisionShape(shape);
AxisAlignedBox vol = shape.BoundingBox();
// If this is the first iteration, set up the min and
// max
if (i == 0) {
min = vol.Minimum;
max = vol.Maximum;
min.y = terrainLevel;
max.y = terrainLevel;
continue;
}
// Enlarge the box by the dimensions of the shape
min.x = Math.Min(min.x, vol.Minimum.x);
min.z = Math.Min(min.z, vol.Minimum.z);
max.x = Math.Max(max.x, vol.Maximum.x);
max.z = Math.Max(max.z, vol.Maximum.z);
}
// Restore RenderState
RenderedNode.renderState = oldRenderState;
// Round out the max and min by 4 times the grid
// resolution, so we can just divide to find the
// horizontal and vertical numbers are cells
Vector3 margin = Vector3.UnitScale * 4 * cellWidth;
min -= margin;
max += margin;
// Now adjust the max the min coords so that they are
// exactly a multiple of the grid resolution
min.x = MultipleOfResolution(min.x);
min.z = MultipleOfResolution(min.z);
max.x = MultipleOfResolution(max.x);
max.z = MultipleOfResolution(max.z);
// Set the lower left and upper right corners
lowerLeftCorner = min;
upperRightCorner = max;
// Set the horizontal and vertical counts
xCount = (int)((max.x - min.x) / cellWidth);
zCount = (int)((max.z - min.z) / cellWidth);
// Initial the gridBox
gridBox = new AxisAlignedBox(min, max);
// Allocate the grid
grid = new List<GridCell>[xCount, zCount];
for (int i=0; i<xCount; i++)
for (int j=0; j<zCount; j++)
grid[i,j] = new List<GridCell>();
// Initialize the work list, adding the cell at 0,0 and
// the terrain height as the first member
workList = new List<CellLocation>();
workList.Add(new CellLocation(0, 0, terrainLevel, null));
// Create the moving box at the center of the 0, 0 cell,
// and the MovingObject object that contains the moving box
movingBox = new CollisionAABB(
new Vector3(min.x, terrainLevel, min.z),
new Vector3(min.x + cellWidth, terrainLevel + boxHeight, min.z + terrainLevel));
movingObject = new MovingObject(collisionAPI);
movingObject.AddPart(movingBox);
}
private void okButton_Click(object sender, EventArgs e)
{
// Validate the fields
string name = pathObjectTypeName.Text;
if (name.Length == 0) {
barf("The path object type name may not be null");
return;
}
int minimumFeatureSize;
float height, width, maxClimbSlope, gridResolution, maxDisjointDistance;
if (parseFloat(pathObjectTypeHeight, out height, "path object type class height", float.MaxValue) &&
parseFloat(pathObjectTypeWidth, out width, "path object type class width", float.MaxValue) &&
parseFloat(pathObjectTypeSlope, out maxClimbSlope, "path object type class maximum climb slope", 1.0f) &&
parseFloat(pathObjectTypeGridResolution, out gridResolution, "path object type class grid resolution fraction", 1.0f) &&
parseFloat(pathObjectTypeMaxDisjointDistance, out maxDisjointDistance,
"path object type class distance between collision volumes", float.MaxValue) &&
parseInt(pathObjectTypeMinimumFeatureSize, out minimumFeatureSize,
"maximum number of grid cells to ignore when constructing grid rectangles", int.MaxValue)) {
// If we're editing, copy updated values to the instance
if (pathObjectType != null) {
pathObjectType.AcceptValues(name, height, width, maxClimbSlope,
gridResolution, maxDisjointDistance, minimumFeatureSize);
}
// Else create a new instance
else {
pathObjectType = new PathObjectType(name, height, width, maxClimbSlope,
gridResolution, maxDisjointDistance, minimumFeatureSize);
}
WorldRoot.Instance.PathObjectTypes.AllObjectsDirty = true;
DialogResult = DialogResult.OK;
}
}
public AddPathObjectTypeCommand(WorldEditor worldEditor, PathObjectTypeContainer parent, PathObjectType pathObjectType)
{
this.app = worldEditor;
this.parent = parent;
this.pathObjectType = pathObjectType;
}
public PathObjectTypeNode(WorldEditor app, PathObjectTypeContainer parent, XmlReader r)
{
this.app = app;
this.parent = parent;
this.pathObjectType = new PathObjectType(r);
}
public PathObjectTypeNode(WorldEditor app, PathObjectTypeContainer parent, PathObjectType pathObjectType)
{
this.app = app;
this.pathObjectType = pathObjectType;
this.parent = parent;
}
public ICommand CreateCommand()
{
PathObjectTypeDialog dialog = new PathObjectTypeDialog();
dialog.pathObjectType = pathObjectTypeNode.PathObjectType;
PathObjectType beforePathObjectType = new PathObjectType(dialog.pathObjectType);
if (dialog.ShowDialog() == DialogResult.OK) {
PathObjectType afterPathObjectType = new PathObjectType(dialog.pathObjectType);
ICommand cmd = new EditPathObjectTypeCommand(app, parent, pathObjectTypeNode,
beforePathObjectType, afterPathObjectType);
return cmd;
}
else
return null;
}
public EditPathObjectTypeCommand(WorldEditor worldEditor, IWorldObject parent, PathObjectTypeNode pathObjectTypeNode,
PathObjectType beforePathObjectType, PathObjectType afterPathObjectType)
{
this.app = worldEditor;
this.parent = parent;
this.pathObjectTypeNode = pathObjectTypeNode;
this.beforePathObjectType = beforePathObjectType;
this.afterPathObjectType = afterPathObjectType;
}
public PathObjectType(PathObjectType other)
{
name = other.name;
height = other.height;
width = other.width;
maxClimbSlope = other.maxClimbSlope;
gridResolution = other.gridResolution;
maxDisjointDistance = other.maxDisjointDistance;
minimumFeatureSize = other.minimumFeatureSize;
}
public void AddModelPathObject(bool logPathGeneration, PathObjectType type, string modelName,
Vector3 modelPosition, Matrix4 modelTransform,
List<CollisionShape> shapes, float terrainHeight)
{
PathGenerator pathGenerator = new PathGenerator(logPathGeneration, modelName, type, terrainHeight,
modelTransform, shapes);
// Perform traversal and creation of polygons, arcs
// between polygons, and portals to the terrain
pathGenerator.GeneratePolygonsArcsAndPortals();
List<PathPolygon> polygons = new List<PathPolygon>();
List<PathArc> portals = new List<PathArc>();
List<PathArc> arcs = new List<PathArc>();
foreach(GridPolygon r in pathGenerator.CVPolygons)
polygons.Add(new PathPolygon(r.Index, PolygonKind.CV, r.CornerLocs));
foreach(GridPolygon r in pathGenerator.TerrainPolygons)
polygons.Add(new PathPolygon(r.Index, PolygonKind.Terrain, r.CornerLocs));
foreach(PolygonArc portal in pathGenerator.TerrainPortals)
portals.Add(new PathArc(portal.Kind, portal.Poly1Index, portal.Poly2Index, MakePathEdge(portal.Edge)));
foreach(PolygonArc arc in pathGenerator.PolygonArcs)
arcs.Add(new PathArc(arc.Kind, arc.Poly1Index, arc.Poly2Index, MakePathEdge(arc.Edge)));
pathObjects.Add(new PathObject(pathGenerator.ModelName, type.name, pathGenerator.FirstTerrainIndex,
new PathPolygon(0, PolygonKind.Bounding, pathGenerator.ModelCorners),
polygons, portals, arcs));
}
