public static SimWaypoint CreateLocal(Vector3 from, CollisionPlane CP)
{
SimPathStore PathStore = CP.PathStore;
float POINTS_PER_METER = PathStore.POINTS_PER_METER;
int PX = PathStore.ARRAY_X(from.X);
int PY = PathStore.ARRAY_Y(from.Y);
SimWaypoint WP;
CollisionIndex CI = CollisionIndex.CreateCollisionIndex(from, PathStore);
lock (CI)
{
WP = CI.FindWayPoint(from.Z);
if (WP != null)
{
return(WP);
}
from.X = PX / POINTS_PER_METER;
from.Y = PY / POINTS_PER_METER;
Vector3d GlobalPos = PathStore.LocalToGlobal(from);
if (GlobalPos.X < 256 || GlobalPos.Y < 256)
{
CollisionPlane.Debug("bad global " + GlobalPos);
}
WP = new SimWaypointImpl(from, GlobalPos, CI, CP, PathStore);
WP.IsPassable = true;
}
// wp._IncomingArcs = new ArrayList();
// wp._OutgoingArcs = new ArrayList();
// PathStore.EnsureKnown(wp);
return(WP);
}
public void CreateDefaultRoutes()
{
CollisionPlane.Debug("CreateDefaultRoutes <{0},{1}>-<{2},{3}> StepSize={4}", StartX, StartY, EndX, EndY, StepSize);
return;
double W = 0.75f;
int made = 0;
for (int x = StartX; x < EndX; x += StepSize)
{
for (int y = StartY; y < EndY; y += StepSize)
{
made++;
SimWaypoint sw00 = CreateXYZ(x, y);
SimWaypoint sw01 = CreateXYZ(x, y + StepSize);
SimWaypoint sw10 = CreateXYZ(x + StepSize, y);
SimWaypoint sw11 = CreateXYZ(x + StepSize, y + StepSize);
/*
*
* Draws two-way Routes StepSize meters appart
*
* - *
| X
* *
*
*
*/
AddNewArcs(sw00, sw01, W); //dirrection |
AddNewArcs(sw00, sw10, W); //dirrection -
AddNewArcs(sw00, sw11, W); //dirrection \
AddNewArcs(sw10, sw01, W); //dirrection /
}
}
CollisionPlane.Debug("CreateDefaultRoutes Made {0} waypoints", made);
}
public SimRoute Intern2Arc(SimWaypoint s, SimWaypoint e, double W)
{
InternArc(e, s, W);
CollisionPlane.Debug("Intern2Arc: " + s + " <-> " + e);
return(InternArc(s, e, W));
}
void ComputeLandingHeightsOld()
{
float fromZ = MaxZ + 10;
float StepSize = PathStore.StepSize; //0.2f
int MAPSPACE = PathStore.MAPSPACE;
int MAPSPACE1 = MAPSPACE - 1; // 1279
bool needsInit = false;
float[,] _HeightMap = HeightMap;
if (LandingHieghts == null)
{
if (_HeightMap != null)
{
LandingHieghts = (float[, ])_HeightMap.Clone();
}
else
{
LandingHieghts = new float[MAPSPACE, MAPSPACE];
needsInit = true;
}
}
CollisionIndex[,] MeshIndex = PathStore.MeshIndex;
// FallingPrims = new FallingPrim[MAPSPACE, MAPSPACE];
float fy = 256.1f;
OdeScene ps = PathStore.odeScene;
fallingPrims = 0;
for (int y = MAPSPACE1; y >= 0; y--)
{
fy = fy - StepSize;
float fx = 256.1f;
for (int x = MAPSPACE1; x >= 0; x--)
{
fx = fx - StepSize;
if (needsInit)
{
LandingHieghts[x, y] = float.MinValue;
}
if (MeshIndex[x, y] == null)
{
continue;
}
//FallingPrims[x, y] = new
FallingPrim(ps, this, new PhysicsVector(fx, fy, fromZ), x, y, 0f);
fallingPrims++;
}
int MaxTries = 100;
while (fallingPrims > 0 && MaxTries-- > 0)
{
// CollisionPlane.Debug("fallingPrims=" + fallingPrims);
ps.Simulate(0.133f);
}
//CollisionPlane.Debug("fallingPrims left over {0} MaxTries Left over = {1}", fallingPrims, MaxTries);
ps.Simulate(0.133f); // for removal of remainders or not needed?
if (fallingPrims < 10)
{
_HeightMap = LandingHieghts;
}
if (fallingPrims != 0)
{
CollisionPlane.Debug("fallingPrims left over {0} MaxTries Left over = {1}", fallingPrims, MaxTries);
}
else if (y % 100 == 0)
{
CollisionPlane.Debug("Y={0} MaxTries Left over = {1}", y, MaxTries);
}
}
}
