Annotation of /branches/taiga-0.1/ModularRex/RexBot/NavMesh.cs
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| 1 : | tuco | 88 | /* |
| 2 : | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 : | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 : | * | ||
| 5 : | * Redistribution and use in source and binary forms, with or without | ||
| 6 : | * modification, are permitted provided that the following conditions are met: | ||
| 7 : | * * Redistributions of source code must retain the above copyright | ||
| 8 : | * notice, this list of conditions and the following disclaimer. | ||
| 9 : | * * Redistributions in binary form must reproduce the above copyright | ||
| 10 : | * notice, this list of conditions and the following disclaimer in the | ||
| 11 : | * documentation and/or other materials provided with the distribution. | ||
| 12 : | * * Neither the name of the OpenSim Project nor the | ||
| 13 : | * names of its contributors may be used to endorse or promote products | ||
| 14 : | * derived from this software without specific prior written permission. | ||
| 15 : | * | ||
| 16 : | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 : | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 : | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 : | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 : | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 : | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 : | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 : | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 : | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 : | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 : | */ | ||
| 27 : | |||
| 28 : | using System; | ||
| 29 : | using System.Collections.Generic; | ||
| 30 : | using OpenMetaverse; | ||
| 31 : | using OpenSim.Framework; | ||
| 32 : | |||
| 33 : | namespace OpenSim.Region.Examples.RexBot | ||
| 34 : | { | ||
| 35 : | public enum TravelMode { Walk, Fly, None }; | ||
| 36 : | |||
| 37 : | public struct Edge | ||
| 38 : | { | ||
| 39 : | public int Start; | ||
| 40 : | public int End; | ||
| 41 : | public TravelMode Mode; | ||
| 42 : | }; | ||
| 43 : | |||
| 44 : | public struct Node | ||
| 45 : | { | ||
| 46 : | public Vector3 Position; | ||
| 47 : | public TravelMode Mode; | ||
| 48 : | public int Index; | ||
| 49 : | |||
| 50 : | public Node(int index) | ||
| 51 : | { | ||
| 52 : | Index = index; | ||
| 53 : | Mode = TravelMode.None; | ||
| 54 : | Position = Vector3.Zero; | ||
| 55 : | } | ||
| 56 : | }; | ||
| 57 : | |||
| 58 : | public class NavMesh | ||
| 59 : | { | ||
| 60 : | private List<Vector3> m_nodes; | ||
| 61 : | private List<Edge> m_edges; | ||
| 62 : | |||
| 63 : | public NavMesh() | ||
| 64 : | { | ||
| 65 : | m_nodes = new List<Vector3>(); | ||
| 66 : | m_edges = new List<Edge>(); | ||
| 67 : | } | ||
| 68 : | |||
| 69 : | public void AddNode(Vector3 node) | ||
| 70 : | { | ||
| 71 : | m_nodes.Add(node); | ||
| 72 : | } | ||
| 73 : | |||
| 74 : | public Vector3 GetNode(int index) | ||
| 75 : | { | ||
| 76 : | return m_nodes[index]; | ||
| 77 : | } | ||
| 78 : | |||
| 79 : | // Returns next node | ||
| 80 : | public Node GetNextNode(Node previous) | ||
| 81 : | { | ||
| 82 : | foreach (Edge edge in m_edges) | ||
| 83 : | { | ||
| 84 : | if (edge.Start == previous.Index) | ||
| 85 : | { | ||
| 86 : | Node node = new Node(edge.End); | ||
| 87 : | node.Mode = edge.Mode; | ||
| 88 : | try | ||
| 89 : | { | ||
| 90 : | node.Position = m_nodes[edge.End]; | ||
| 91 : | } | ||
| 92 : | catch (System.Exception) | ||
| 93 : | { | ||
| 94 : | node.Position = previous.Position; | ||
| 95 : | } | ||
| 96 : | |||
| 97 : | return node; | ||
| 98 : | } | ||
| 99 : | } | ||
| 100 : | throw new Exception("Path node number " + previous.Index.ToString() + " does not exist for path " + Name + "."); | ||
| 101 : | } | ||
| 102 : | |||
| 103 : | // returns previous node | ||
| 104 : | public Node GetPreviousNode(Node previous) | ||
| 105 : | { | ||
| 106 : | foreach (Edge edge in m_edges) | ||
| 107 : | { | ||
| 108 : | if (edge.End == previous.Index) | ||
| 109 : | { | ||
| 110 : | Node node = new Node(edge.Start); | ||
| 111 : | node.Mode = edge.Mode; | ||
| 112 : | try | ||
| 113 : | { | ||
| 114 : | node.Position = m_nodes[edge.Start]; | ||
| 115 : | } | ||
| 116 : | catch (System.Exception) | ||
| 117 : | { | ||
| 118 : | node.Position = previous.Position; | ||
| 119 : | } | ||
| 120 : | |||
| 121 : | return node; | ||
| 122 : | } | ||
| 123 : | } | ||
| 124 : | throw new Exception("Path node number " + previous.Index.ToString() + " does not exist for path " + Name + "."); | ||
| 125 : | } | ||
| 126 : | |||
| 127 : | // returns random node connected to the specified previous node | ||
| 128 : | public Node GetRandomNode(Node previous, bool allowU) | ||
| 129 : | { | ||
| 130 : | List<Node> nodes = new List<Node>(); | ||
| 131 : | foreach (Edge edge in m_edges) | ||
| 132 : | { | ||
| 133 : | if (allowU && edge.End == previous.Index) | ||
| 134 : | { | ||
| 135 : | Node node = new Node(edge.Start); | ||
| 136 : | node.Mode = edge.Mode; | ||
| 137 : | try | ||
| 138 : | { | ||
| 139 : | node.Position = m_nodes[edge.Start]; | ||
| 140 : | } | ||
| 141 : | catch (System.Exception) | ||
| 142 : | { | ||
| 143 : | node.Position = previous.Position; | ||
| 144 : | } | ||
| 145 : | |||
| 146 : | |||
| 147 : | nodes.Add(node); | ||
| 148 : | } | ||
| 149 : | if (edge.Start == previous.Index) | ||
| 150 : | { | ||
| 151 : | Node node = new Node(edge.End); | ||
| 152 : | node.Mode = edge.Mode; | ||
| 153 : | try | ||
| 154 : | { | ||
| 155 : | node.Position = m_nodes[edge.End]; | ||
| 156 : | } | ||
| 157 : | catch (System.Exception) | ||
| 158 : | { | ||
| 159 : | node.Position = previous.Position; | ||
| 160 : | } | ||
| 161 : | |||
| 162 : | nodes.Add(node); | ||
| 163 : | } | ||
| 164 : | } | ||
| 165 : | |||
| 166 : | if (nodes.Count > 0) | ||
| 167 : | { | ||
| 168 : | int index = Util.RandomClass.Next(0, nodes.Count); | ||
| 169 : | return nodes[index]; | ||
| 170 : | } | ||
| 171 : | throw new Exception("Path node number " + previous.Index.ToString() + " does not exist for path " + Name + "."); | ||
| 172 : | } | ||
| 173 : | |||
| 174 : | public void AddEdge(int e1, int e2, TravelMode mode) | ||
| 175 : | { | ||
| 176 : | Edge edge = new Edge(); | ||
| 177 : | edge.Start = e1; | ||
| 178 : | edge.End = e2; | ||
| 179 : | edge.Mode = mode; | ||
| 180 : | m_edges.Add(edge); | ||
| 181 : | } | ||
| 182 : | |||
| 183 : | private string m_name; | ||
| 184 : | public string Name | ||
| 185 : | { | ||
| 186 : | get { return m_name; } | ||
| 187 : | set { m_name = value; } | ||
| 188 : | } | ||
| 189 : | |||
| 190 : | private TravelMode m_defaultMode; | ||
| 191 : | public TravelMode DefaultMode | ||
| 192 : | { | ||
| 193 : | get { return m_defaultMode; } | ||
| 194 : | set { m_defaultMode = value; } | ||
| 195 : | } | ||
| 196 : | |||
| 197 : | static public TravelMode ParseTravelMode(string mode) | ||
| 198 : | { | ||
| 199 : | if (mode == "fly") | ||
| 200 : | return TravelMode.Fly; | ||
| 201 : | else if (mode == "walk") | ||
| 202 : | return TravelMode.Walk; | ||
| 203 : | |||
| 204 : | return TravelMode.None; | ||
| 205 : | } | ||
| 206 : | } | ||
| 207 : | } |
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