// Connect according to MPQ data
public Spot AddAndConnectSpot(Spot s)
{
s = AddSpot(s);
List<Spot> close = FindAllSpots(s.location, MaxStepLength);
if (!s.GetFlag(Spot.FLAG_MPQ_MAPPED))
{
foreach (Spot cs in close)
{
if (cs.HasPathTo(this, s) && s.HasPathTo(this, cs) ||
cs.IsBlocked())
{
}
else if (!triangleWorld.IsStepBlocked(s.X, s.Y, s.Z, cs.X, cs.Y, cs.Z,
toonHeight, toonSize, null))
{
float mid_x = (s.X + cs.X) / 2;
float mid_y = (s.Y + cs.Y) / 2;
float mid_z = (s.Z + cs.Z) / 2;
float stand_z;
int flags;
if (triangleWorld.FindStandableAt(mid_x, mid_y,
mid_z - WantedStepLength * .75f, mid_z + WantedStepLength * .75f,
out stand_z, out flags, toonHeight, toonSize))
{
s.AddPathTo(cs);
cs.AddPathTo(s);
}
}
}
}
return s;
}
// return old spot at conflicting poision
// or the same as passed the function if all was ok
public Spot AddSpot(Spot s)
{
Spot old = GetSpot(s.X, s.Y, s.Z);
if (old != null)
return old;
int x, y;
s.chunk = this;
LocalCoords(s.X, s.Y, out x, out y);
s.next = spots[x, y];
spots[x, y] = s;
modified = true;
return s;
}
public Path CreatePath(Spot from, Spot to, Location realDst,
float minHowClose, bool AllowInvented,
ILocationHeuristics locationHeuristics)
{
Spot newTo = search(from, to, realDst, minHowClose, AllowInvented,
locationHeuristics);
if (newTo != null)
{
if (newTo.GetDistanceTo(to) <= minHowClose)
{
List <Spot> path = FollowTraceBack(from, newTo);
return(new Path(path));
}
}
return(null);
}
public List <Spot> FindAllSpots(Location l, float max_d)
{
List <Spot> sl = new List <Spot>();
int d = 0;
while ((float)d <= max_d + 0.1f)
{
for (int i = -d; i <= d; i++)
{
float x_up = l.X + (float)d;
float x_dn = l.X - (float)d;
float y_up = l.Y + (float)d;
float y_dn = l.Y - (float)d;
Spot s0 = GetSpot2D(x_up, l.Y + i);
Spot s2 = GetSpot2D(x_dn, l.Y + i);
Spot s1 = GetSpot2D(l.X + i, y_dn);
Spot s3 = GetSpot2D(l.X + i, y_up);
Spot[] sv = { s0, s1, s2, s3 };
foreach (Spot s in sv)
{
Spot ss = s;
while (ss != null)
{
float di = ss.GetDistanceTo(l);
if (di < max_d)
{
sl.Add(ss);
}
ss = ss.next;
if (Cancel)
{
goto loop_end;
}
}
}
}
d++;
}
loop_end:
return(sl);
}
public List <Spot> GetAllSpots()
{
List <Spot> l = new List <Spot>();
for (int x = 0; x < CHUNK_SIZE; x++)
{
for (int y = 0; y < CHUNK_SIZE; y++)
{
Spot s = spots[x, y];
while (s != null)
{
l.Add(s);
s = s.next;
}
}
}
return(l);
}
// return old spot at conflicting poision
// or the same as passed the function if all was ok
public Spot AddSpot(Spot s)
{
Spot old = GetSpot(s.X, s.Y, s.Z);
if (old != null)
{
return(old);
}
int x, y;
s.chunk = this;
LocalCoords(s.X, s.Y, out x, out y);
s.next = spots[x, y];
spots[x, y] = s;
modified = true;
return(s);
}
public void MarkBlockedAt(Location loc)
{
Spot s = new Spot(loc);
s = AddSpot(s);
s.SetFlag(Spot.FLAG_BLOCKED, true);
// Find all paths leading though this one
List <Spot> sl = FindAllSpots(loc, 5.0f);
foreach (Spot sp in sl)
{
List <Location> paths = sp.GetPaths();
foreach (Location to in paths)
{
if (LineCrosses(sp.location, to, loc))
{
sp.RemovePathTo(to);
}
}
}
}
public void AddPathTo(Spot s)
{
AddPathTo(s.X, s.Y, s.Z);
}
public Spot AddSpot(Spot s)
{
LoadChunk(s.X, s.Y);
GraphChunk gc = GetChunkAt(s.X, s.Y);
return gc.AddSpot(s);
}
//////////////////////////////////////////////////////
// Searching
//////////////////////////////////////////////////////
float TurnCost(Spot from, Spot to)
{
Spot prev = from.traceBack;
if (prev == null)
return 0.0f;
return TurnCost(prev.X, prev.Y, prev.Z, from.X, from.Y, from.Z, to.X, to.Y, to.Z);
}
private Spot search(Spot src, Spot dst, Location realDst, float minHowClose, bool AllowInvented, ILocationHeuristics locationHeuristics)
{
searchID++;
int count = 0;
Cancel = false;
int prevCount = 0;
int currentSearchID = searchID;
float heuristicsFactor = 1.3f;
System.DateTime pre = System.DateTime.Now;
System.DateTime lastSpam = pre;
// lowest first queue
PriorityQueue<Spot, float> q = new PriorityQueue<Spot, float>(); // (new SpotSearchComparer(dst, score)); ;
q.Enqueue(src, -src.GetDistanceTo(dst) * heuristicsFactor);
Spot BestSpot = null;
//Set<Spot> closed = new Set<Spot>();
//SpotData<float> score = new SpotData<float>();
src.SearchScoreSet(currentSearchID, 0.0f);
src.traceBack = null;
// A* -ish algorithm
while ((q.Count != 0) && !Cancel) // && count < 100000)
{
float prio;
Spot spot = q.Dequeue(out prio); // .Value;
//q.Remove(spot);
if (spot.SearchIsClosed(currentSearchID))
continue;
spot.SearchClose(currentSearchID);
if (count % 100 == 0)
{
System.TimeSpan span = System.DateTime.Now.Subtract(lastSpam);
if (span.Seconds != 0 && BestSpot != null)
{
Thread.Sleep(50); // give glider a chance to stop us
int t = span.Seconds * 1000 + span.Milliseconds;
if (t == 0)
Log("searching.... " + (count + 1) + " d: " + BestSpot.location.GetDistanceTo(realDst));
else
Log("searching.... " + (count + 1) + " d: " + BestSpot.location.GetDistanceTo(realDst) + " " + (count - prevCount) * 1000 / t + " steps/s");
lastSpam = System.DateTime.Now;
prevCount = count;
}
}
count++;
if (spot.Equals(dst) || spot.location.GetDistanceTo(realDst) <= minHowClose)
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
int t = ts.Seconds * 1000 + ts.Milliseconds;
/*if(t == 0)
Log(" search found the way there. " + count);
else
Log(" search found the way there. " + count + " " + (count * 1000) / t + " steps/s");
*/
return spot; // got there
}
if (BestSpot == null ||
spot.location.GetDistanceTo(realDst) < BestSpot.location.GetDistanceTo(realDst))
{
BestSpot = spot;
}
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
if (ts.Seconds > 120)
{
Log("too long search, aborting");
break;
}
}
float src_score = spot.SearchScoreGet(currentSearchID);
//Console.WriteLine("inspect: " + c + " score " + s);
int new_found = 0;
List<Spot> ll = spot.GetPathsToSpots(this);
foreach (Spot to in ll)
{
//Spot to = GetSpot(l);
if (to != null && !to.IsBlocked() && !to.SearchIsClosed(currentSearchID))
{
float old_score = 1E30f;
float new_score = src_score + spot.GetDistanceTo(to) + TurnCost(spot, to);
if (locationHeuristics != null)
new_score += locationHeuristics.Score(spot.X, spot.Y, spot.Z);
if (to.GetFlag(Spot.FLAG_WATER))
new_score += 30;
if (to.SearchScoreIsSet(currentSearchID))
{
old_score = to.SearchScoreGet(currentSearchID);
}
if (new_score < old_score)
{
// shorter path to here found
to.traceBack = spot;
//if (q.Contains(to))
// q.Remove(to); // very sloppy to not dequeue it
to.SearchScoreSet(currentSearchID, new_score);
q.Enqueue(to, -(new_score + to.GetDistanceTo(dst) * heuristicsFactor));
new_found++;
}
}
if (Cancel)
break;
}
//hmm search the triangles :p
if (!spot.GetFlag(Spot.FLAG_MPQ_MAPPED))
{
float PI = (float)Math.PI;
spot.SetFlag(Spot.FLAG_MPQ_MAPPED, true);
for (float a = 0; a < PI * 2; a += PI / 8)
{
float nx = spot.X + (float)Math.Sin(a) * WantedStepLength;// *0.8f;
float ny = spot.Y + (float)Math.Cos(a) * WantedStepLength;// *0.8f;
Spot s = GetSpot(nx, ny, spot.Z);
if (s == null)
s = FindClosestSpot(new Location(nx, ny, spot.Z), MinStepLength); // TODO: this is slow
if (s != null)
{
// hmm, they should already be connected
}
else
{
float new_z;
int flags;
// gogo find a new one
//Console.WriteLine("gogo brave new world");
if (!triangleWorld.FindStandableAt(nx, ny,
spot.Z - WantedStepLength * .75f, spot.Z + WantedStepLength * .75f,
out new_z, out flags, toonHeight, toonSize))
{
//Spot blocked = new Spot(nx, ny, spot.Z);
//blocked.SetFlag(Spot.FLAG_BLOCKED, true);
//AddSpot(blocked);
}
else
{
s = FindClosestSpot(new Location(nx, ny, new_z), MinStepLength);
if (s == null)
{
if (!triangleWorld.IsStepBlocked(spot.X, spot.Y, spot.Z, nx, ny, new_z,
toonHeight, toonSize, null))
{
Spot n = new Spot(nx, ny, new_z);
Spot to = AddAndConnectSpot(n);
if ((flags & ChunkedTriangleCollection.TriangleFlagDeepWater) != 0)
{
to.SetFlag(Spot.FLAG_WATER, true);
}
if (((flags & ChunkedTriangleCollection.TriangleFlagModel) != 0) ||
((flags & ChunkedTriangleCollection.TriangleFlagObject) != 0))
{
to.SetFlag(Spot.FLAG_INDOORS, true);
}
if (to != n || to.SearchIsClosed(currentSearchID))
{
// Console.WriteLine("/sigh");
}
else
{
// There should be a path from source to this one now
if (spot.HasPathTo(to.location))
{
float old_score = 1E30f;
float new_score = src_score + spot.GetDistanceTo(to) + TurnCost(spot, to);
if (locationHeuristics != null)
new_score += locationHeuristics.Score(spot.X, spot.Y, spot.Z);
if (to.GetFlag(Spot.FLAG_WATER))
new_score += 30;
if (to.SearchScoreIsSet(currentSearchID))
{
old_score = to.SearchScoreGet(currentSearchID);
}
if (new_score < old_score)
{
// shorter path to here found
to.traceBack = spot;
//if (q.Contains(to))
// q.Remove(to);
to.SearchScoreSet(currentSearchID, new_score);
q.Enqueue(to, -(new_score + to.GetDistanceTo(dst) * heuristicsFactor));
new_found++;
}
}
else
{
// woot! I added a new one and it is not connected!?!?
//Console.WriteLine("/cry");
}
}
}
}
}
}
if (Cancel)
break;
}
}
}
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
int t = ts.Seconds * 1000 + ts.Milliseconds;
if (t == 0)
t = 1;
Log(" search failed. " + (count * 1000) / t + " steps/s");
}
return BestSpot; // :(
}
// Per spot:
// uint32 magic
// uint32 reserved;
// uint32 flags;
// float x;
// float y;
// float z;
// uint32 no_paths
// for each path
// float x;
// float y;
// float z;
public bool Load(string baseDir)
{
string fileName = FileName();
string filenamebin = baseDir + fileName;
System.IO.Stream stream = null;
System.IO.BinaryReader file = null;
int n_spots = 0;
int n_steps = 0;
try
{
stream = System.IO.File.OpenRead(filenamebin);
if (stream != null)
{
file = new System.IO.BinaryReader(stream);
if (file != null)
{
uint magic = file.ReadUInt32();
if (magic == FILE_MAGIC)
{
uint type;
while ((type = file.ReadUInt32()) != FILE_ENDMAGIC)
{
n_spots++;
uint reserved = file.ReadUInt32();
uint flags = file.ReadUInt32();
float x = file.ReadSingle();
float y = file.ReadSingle();
float z = file.ReadSingle();
uint n_paths = file.ReadUInt32();
if (x != 0 && y != 0)
{
Spot s = new Spot(x, y, z);
s.flags = flags;
for (uint i = 0; i < n_paths; i++)
{
n_steps++;
float sx = file.ReadSingle();
float sy = file.ReadSingle();
float sz = file.ReadSingle();
s.AddPathTo(sx, sy, sz);
}
AddSpot(s);
}
}
}
}
}
}
catch (System.IO.FileNotFoundException e)
{
Console.WriteLine(e.Message);
}
catch (System.IO.DirectoryNotFoundException e)
{
Console.WriteLine(e.Message);
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
if (file != null)
{
file.Close();
}
if (stream != null)
{
stream.Close();
}
Log("Loaded " + fileName + " " + n_spots + " spots " + n_steps + " steps");
modified = false;
return false;
}
public void UpdateMyPos()
{
BoogieCore.Log(LogType.System, "[Update] 1");
//radar.Update();
if (world != null)
{
Coordinate loc = BoogieCore.world.getPlayerObject().GetCoordinates();
Location isAt = new Location(loc.X, loc.Y, loc.Z);
BoogieCore.Log(LogType.System, "[Update] 2");
//if(WasAt != null) Context.Log("was " + WasAt.location);
//Context.Log("isAt " + isAt);
if (WasAt != null)
{
BoogieCore.Log(LogType.System, "[Update] 3");
if (WasAt.GetLocation().GetDistanceTo(isAt) > 20)
WasAt = null;
}
BoogieCore.Log(LogType.System, "[Update] 4");
WasAt = world.TryAddSpot(WasAt, isAt);
BoogieCore.Log(LogType.System, "[Update] 5");
}
}
public void MarkBlockedAt(Location loc)
{
Spot s = new Spot(loc);
s = AddSpot(s);
s.SetFlag(Spot.FLAG_BLOCKED, true);
// Find all paths leading though this one
List<Spot> sl = FindAllSpots(loc, 5.0f);
foreach (Spot sp in sl)
{
List<Location> paths = sp.GetPaths();
foreach (Location to in paths)
{
if (LineCrosses(sp.location, to, loc))
{
sp.RemovePathTo(to);
}
}
}
}
public Path CreatePath(Spot from, Spot to, Location realDst,
float minHowClose, bool AllowInvented,
ILocationHeuristics locationHeuristics)
{
Spot newTo = search(from, to, realDst, minHowClose, AllowInvented,
locationHeuristics);
if (newTo != null)
{
if (newTo.GetDistanceTo(to) <= minHowClose)
{
List<Spot> path = FollowTraceBack(from, newTo);
return new Path(path);
}
}
return null;
}
public void AddPathTo(Spot s)
{
AddPathTo(s.X, s.Y, s.Z);
}
public bool HasPathTo(PathGraph pg, Spot s)
{
for (int i = 0; i < n_paths; i++)
{
Spot to = GetToSpot(pg, i);
if (to == s)
return true;
}
return false;
}
public float GetDistanceTo(Spot s)
{
float dx = s.X - X;
float dy = s.Y - Y;
float dz = s.Z - Z;
return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
}
public void ResetMyPos()
{
WasAt = null;
}
private Spot search(Spot src, Spot dst,
Location realDst,
float minHowClose, bool AllowInvented,
ILocationHeuristics locationHeuristics)
{
searchID++;
int count = 0;
int prevCount = 0;
int currentSearchID = searchID;
float heuristicsFactor = 1.3f;
System.DateTime pre = System.DateTime.Now;
System.DateTime lastSpam = pre;
// lowest first queue
PriorityQueue <Spot, float> q = new PriorityQueue <Spot, float>(); // (new SpotSearchComparer(dst, score)); ;
q.Enqueue(src, -src.GetDistanceTo(dst) * heuristicsFactor);
Spot BestSpot = null;
//Set<Spot> closed = new Set<Spot>();
//SpotData<float> score = new SpotData<float>();
src.SearchScoreSet(currentSearchID, 0.0f);
src.traceBack = null;
// A* -ish algorithm
while (q.Count != 0) // && count < 100000)
{
float prio;
Spot spot = q.Dequeue(out prio); // .Value;
//q.Remove(spot);
if (spot.SearchIsClosed(currentSearchID))
{
continue;
}
spot.SearchClose(currentSearchID);
if (count % 100 == 0)
{
System.TimeSpan span = System.DateTime.Now.Subtract(lastSpam);
if (span.Seconds != 0 && BestSpot != null)
{
Thread.Sleep(50); // give glider a chance to stop us
int t = span.Seconds * 1000 + span.Milliseconds;
if (t == 0)
{
Log("searching.... " + (count + 1) + " d: " + BestSpot.location.GetDistanceTo(realDst));
}
else
{
Log("searching.... " + (count + 1) + " d: " + BestSpot.location.GetDistanceTo(realDst) + " " + (count - prevCount) * 1000 / t + " steps/s");
}
lastSpam = System.DateTime.Now;
prevCount = count;
}
}
count++;
if (spot.Equals(dst) || spot.location.GetDistanceTo(realDst) <= minHowClose)
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
int t = ts.Seconds * 1000 + ts.Milliseconds;
/*if(t == 0)
* Log(" search found the way there. " + count);
* else
* Log(" search found the way there. " + count + " " + (count * 1000) / t + " steps/s");
*/
return(spot); // got there
}
if (BestSpot == null ||
spot.location.GetDistanceTo(realDst) < BestSpot.location.GetDistanceTo(realDst))
{
BestSpot = spot;
}
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
if (ts.Seconds > 15)
{
Log("too long search, aborting");
break;
}
}
float src_score = spot.SearchScoreGet(currentSearchID);
//PPather.WriteLine("inspect: " + c + " score " + s);
int new_found = 0;
List <Spot> ll = spot.GetPathsToSpots(this);
foreach (Spot to in ll)
{
//Spot to = GetSpot(l);
if (to != null && !to.IsBlocked() && !to.SearchIsClosed(currentSearchID))
{
float old_score = 1E30f;
float new_score = src_score + spot.GetDistanceTo(to) + TurnCost(spot, to);
if (locationHeuristics != null)
{
new_score += locationHeuristics.Score(spot.X, spot.Y, spot.Z);
}
if (to.GetFlag(Spot.FLAG_WATER))
{
new_score += 30;
}
if (to.SearchScoreIsSet(currentSearchID))
{
old_score = to.SearchScoreGet(currentSearchID);
}
if (new_score < old_score)
{
// shorter path to here found
to.traceBack = spot;
//if (q.Contains(to))
// q.Remove(to); // very sloppy to not dequeue it
to.SearchScoreSet(currentSearchID, new_score);
q.Enqueue(to, -(new_score + to.GetDistanceTo(dst) * heuristicsFactor));
new_found++;
}
}
}
//hmm search the triangles :p
if (!spot.GetFlag(Spot.FLAG_MPQ_MAPPED))
{
float PI = (float)Math.PI;
spot.SetFlag(Spot.FLAG_MPQ_MAPPED, true);
for (float a = 0; a < PI * 2; a += PI / 8)
{
float nx = spot.X + (float)Math.Sin(a) * WantedStepLength; // *0.8f;
float ny = spot.Y + (float)Math.Cos(a) * WantedStepLength; // *0.8f;
Spot s = GetSpot(nx, ny, spot.Z);
if (s == null)
{
s = FindClosestSpot(new Location(nx, ny, spot.Z), MinStepLength); // TODO: this is slow
}
if (s != null)
{
// hmm, they should already be connected
}
else
{
float new_z;
int flags;
// gogo find a new one
//PPather.WriteLine("gogo brave new world");
if (!triangleWorld.FindStandableAt(nx, ny,
spot.Z - WantedStepLength * .75f, spot.Z + WantedStepLength * .75f,
out new_z, out flags, toonHeight, toonSize))
{
//Spot blocked = new Spot(nx, ny, spot.Z);
//blocked.SetFlag(Spot.FLAG_BLOCKED, true);
//AddSpot(blocked);
}
else
{
s = FindClosestSpot(new Location(nx, ny, new_z), MinStepLength);
if (s == null)
{
if (!triangleWorld.IsStepBlocked(spot.X, spot.Y, spot.Z, nx, ny, new_z,
toonHeight, toonSize, null))
{
Spot n = new Spot(nx, ny, new_z);
Spot to = AddAndConnectSpot(n);
if ((flags & ChunkedTriangleCollection.TriangleFlagDeepWater) != 0)
{
to.SetFlag(Spot.FLAG_WATER, true);
}
if (((flags & ChunkedTriangleCollection.TriangleFlagModel) != 0) ||
((flags & ChunkedTriangleCollection.TriangleFlagObject) != 0))
{
to.SetFlag(Spot.FLAG_INDOORS, true);
}
if (to != n || to.SearchIsClosed(currentSearchID))
{
// PPather.WriteLine("/sigh");
}
else
{
// There should be a path from source to this one now
if (spot.HasPathTo(to.location))
{
float old_score = 1E30f;
float new_score = src_score + spot.GetDistanceTo(to) + TurnCost(spot, to);
if (locationHeuristics != null)
{
new_score += locationHeuristics.Score(spot.X, spot.Y, spot.Z);
}
if (to.GetFlag(Spot.FLAG_WATER))
{
new_score += 30;
}
if (to.SearchScoreIsSet(currentSearchID))
{
old_score = to.SearchScoreGet(currentSearchID);
}
if (new_score < old_score)
{
// shorter path to here found
to.traceBack = spot;
//if (q.Contains(to))
// q.Remove(to);
to.SearchScoreSet(currentSearchID, new_score);
q.Enqueue(to, -(new_score + to.GetDistanceTo(dst) * heuristicsFactor));
new_found++;
}
}
else
{
// woot! I added a new one and it is not connected!?!?
//PPather.WriteLine("/cry");
}
}
}
}
}
}
}
}
}
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
int t = ts.Seconds * 1000 + ts.Milliseconds;
if (t == 0)
{
t = 1;
}
Log(" search failed. " + (count * 1000) / t + " steps/s");
}
return(BestSpot); // :(
}
private List<Spot> FollowTraceBack(Spot from, Spot to)
{
List<Spot> path = new List<Spot>();
int count = 0;
Spot r = to;
path.Insert(0, to); // add last
while (r != null)
{
Spot s = r.traceBack;
if (s != null)
{
path.Insert(0, s); // add first
r = s;
if (r == from)
r = null; // fount source
}
else
r = null;
count++;
}
path.Insert(0, from); // add first
return path;
}
public bool IsSet(Spot s)
{
return(data.ContainsKey(s));
}
private void Startup()
{
RunState = RunState_e.Paused;
WantedState = RunState_e.Running;
BoogieCore.Log(LogType.System, "TotalMemory before " + System.GC.GetTotalMemory(true) / (1024 * 1024) + " MB");
WasAt = null;
string zone = FigureOutZone();
MPQTriangleSupplier mpq = new MPQTriangleSupplier();
CurrentContinent = mpq.SetZone(zone);
BoogieCore.Log(LogType.System, "Zone is : " + zone);
BoogieCore.Log(LogType.System, "Continent is : " + CurrentContinent);
string myFaction = "Unknown";
ChunkedTriangleCollection triangleWorld = new ChunkedTriangleCollection(512);
triangleWorld.SetMaxCached(9);
triangleWorld.AddSupplier(mpq);
world = new PathGraph(CurrentContinent, triangleWorld, null);
mover = new Mover();
radar = new UnitRadar();
BoogieCore.Log(LogType.System, "Pather loaded!");
while (ShouldRun)
{
Thread.Sleep(100);
}
}
public Spot TryAddSpot(Spot wasAt, Location isAt)
{
Spot isAtSpot = FindClosestSpot(isAt, WantedStepLength);
if (isAtSpot == null)
{
isAtSpot = GetSpot(isAt);
if (isAtSpot == null)
{
Spot s = new Spot(isAt);
s = AddSpot(s);
isAtSpot = s;
}
if (isAtSpot.GetFlag(Spot.FLAG_BLOCKED))
{
isAtSpot.SetFlag(Spot.FLAG_BLOCKED, false);
Log("Cleared blocked flag");
}
if (wasAt != null)
{
wasAt.AddPathTo(isAtSpot);
isAtSpot.AddPathTo(wasAt);
}
List<Spot> sl = FindAllSpots(isAtSpot.location, MaxStepLength);
int connected = 0;
foreach (Spot other in sl)
{
if (other != isAtSpot)
{
other.AddPathTo(isAtSpot);
isAtSpot.AddPathTo(other);
connected++;
// Log(" connect to " + other.location);
}
}
Log("Learned a new spot at " + isAtSpot.location + " connected to " + connected + " other spots");
wasAt = isAtSpot;
}
else
{
if (wasAt != null && wasAt != isAtSpot)
{
// moved to an old spot, make sure they are connected
wasAt.AddPathTo(isAtSpot);
isAtSpot.AddPathTo(wasAt);
}
wasAt = isAtSpot;
}
return wasAt;
}
// Per spot:
// uint32 magic
// uint32 reserved;
// uint32 flags;
// float x;
// float y;
// float z;
// uint32 no_paths
// for each path
// float x;
// float y;
// float z;
public bool Load(string baseDir)
{
string fileName = FileName();
string filenamebin = baseDir + fileName;
System.IO.Stream stream = null;
System.IO.BinaryReader file = null;
int n_spots = 0;
int n_steps = 0;
try
{
stream = System.IO.File.OpenRead(filenamebin);
if (stream != null)
{
file = new System.IO.BinaryReader(stream);
if (file != null)
{
uint magic = file.ReadUInt32();
if (magic == FILE_MAGIC)
{
uint type;
while ((type = file.ReadUInt32()) != FILE_ENDMAGIC)
{
n_spots++;
uint reserved = file.ReadUInt32();
uint flags = file.ReadUInt32();
float x = file.ReadSingle();
float y = file.ReadSingle();
float z = file.ReadSingle();
uint n_paths = file.ReadUInt32();
Spot s = new Spot(x, y, z);
s.flags = flags;
for (uint i = 0; i < n_paths; i++)
{
n_steps++;
float sx = file.ReadSingle();
float sy = file.ReadSingle();
float sz = file.ReadSingle();
s.AddPathTo(sx, sy, sz);
}
AddSpot(s);
}
}
}
}
}
catch (System.IO.FileNotFoundException e)
{
PPather.WriteLine(e.Message);
}
catch (System.IO.DirectoryNotFoundException e)
{
PPather.WriteLine(e.Message);
}
if (file != null)
{
file.Close();
}
if (stream != null)
{
stream.Close();
}
Log("Loaded " + fileName + " " + n_spots + " spots " + n_steps + " steps");
modified = false;
return(false);
}
