PathNode* CollisionManager::findNearestPathNode(TriangleNode* triangle, FloorMesh* floor, const Vector3& finalTarget) {
	// this is overkill TODO: find something faster
	PathGraph* graph = floor->getPathGraph();

	if (graph == NULL)
		return NULL;

	Vector<PathNode*>* pathNodes = graph->getPathNodes();

	PathNode* returnNode = NULL;
	float distance = 16000;
	Vector3 trianglePos(triangle->getBarycenter());
	//trianglePos.set(trianglePos.getX(), trianglePos.getY(), trianglePos.getZ());*/

	for (int i = 0; i < pathNodes->size(); ++i) {
		PathNode* node = pathNodes->get(i);

		TriangleNode* triangleOfPathNode = getTriangle(node->getPosition(), floor);

		Vector<Triangle*>* path = TriangulationAStarAlgorithm::search(trianglePos, triangleOfPathNode->getBarycenter(), triangle, triangleOfPathNode);

		if (path == NULL)
			continue;
		else {
			delete path;

			float sqrDistance = node->getPosition().squaredDistanceTo(finalTarget);

			if (sqrDistance < distance) {
				distance = sqrDistance;
				returnNode = node;
			}
		}
	}

	return returnNode;
}
Ejemplo n.º 2
0
Vector<WorldCoordinates>* PathFinderManager::findPathFromCellToWorld(const WorldCoordinates& pointA, const WorldCoordinates& pointB, Zone *zone) {
	Vector<WorldCoordinates>* path = new Vector<WorldCoordinates>(5, 1);

	if (path == NULL)
		return NULL;

	path->add(pointA);

	CellObject* ourCell = pointA.getCell();
	ManagedReference<BuildingObject*> building = cast<BuildingObject*>( ourCell->getParent().get().get());
	int ourCellID = ourCell->getCellNumber();
	SharedObjectTemplate* templateObject = ourCell->getParent().get()->getObjectTemplate();

	if (templateObject == NULL) {
		delete path;
		return NULL;
	}

	PortalLayout* portalLayout = templateObject->getPortalLayout();

	if (portalLayout == NULL) {
		delete path;
		return NULL;
	}

	FloorMesh* sourceFloorMesh = portalLayout->getFloorMesh(ourCellID);

	if (sourceFloorMesh == NULL) {
		delete path;
		return NULL;
	}

	PathGraph* sourcePathGraph = sourceFloorMesh->getPathGraph();

	if (sourcePathGraph == NULL) {
		delete path;
		return NULL;
	}

	FloorMesh* exteriorFloorMesh = portalLayout->getFloorMesh(0);

	if (exteriorFloorMesh == NULL) {
		delete path;
		return NULL;
	}

	PathGraph* exteriorPathGraph = exteriorFloorMesh->getPathGraph();

	if (exteriorPathGraph == NULL) {
		delete path;
		return NULL;
	}

	// we need to move world position into model space
	Vector3 transformedPosition = transformToModelSpace(pointB.getPoint(), building);

	//find exit node in our cell
	//PathNode* exitNode = sourcePathGraph->findNearestNode(pointA.getPoint());
	TriangleNode* nearestTargetNodeTriangle = CollisionManager::getTriangle(pointA.getPoint(), sourceFloorMesh);

	if (nearestTargetNodeTriangle == NULL) {
		delete path;
		return NULL;
	}

	PathNode* exitNode = CollisionManager::findNearestPathNode(nearestTargetNodeTriangle, sourceFloorMesh, transformedPosition);//targetPathGraph->findNearestNode(pointB.getPoint());

	if (exitNode == NULL) {
		delete path;
		return NULL;
	}

	//find exterior node
	PathNode* exteriorNode = exteriorPathGraph->findNearestGlobalNode(transformedPosition);

	if (exteriorNode == NULL) {
		delete path;
		return NULL;
	}

	//find path to the exit
	Vector<PathNode*>* exitPath = portalLayout->getPath(exitNode, exteriorNode);

	if (exitPath == NULL) {
		error("exitPath == NULL");
		delete path;
		return NULL;
	}

	//find triangle path to exitNode
	Vector<Triangle*>* trianglePath = NULL;

	int res = getFloorPath(pointA.getPoint(), exitNode->getPosition(), sourceFloorMesh, trianglePath);

	if (res != -1 && trianglePath != NULL)
		addTriangleNodeEdges(pointA.getPoint(), exitNode->getPosition(), trianglePath, path, ourCell);

	if (trianglePath != NULL)
		delete trianglePath;

	path->add(WorldCoordinates(exitNode->getPosition(), ourCell));

	//populate cell traversing
	for (int i = 0; i < exitPath->size(); ++i) {
		PathNode* pathNode = exitPath->get(i);
		PathGraph* pathGraph = pathNode->getPathGraph();

		FloorMesh* floorMesh = pathGraph->getFloorMesh();

		int cellID = floorMesh->getCellID();

		if (cellID == 0) { // we are outside
			WorldCoordinates coord(pathNode->getPosition(), ourCell);

			path->add(WorldCoordinates(coord.getWorldPosition(), NULL));
		} else { // we are inside the building
			CellObject* pathCell = building->getCell(cellID);

			path->add(WorldCoordinates(pathNode->getPosition(), pathCell));
		}
	}

	delete exitPath;
	exitPath = NULL;
	
	if (path->size()) {
		Vector<WorldCoordinates>* newPath = findPathFromWorldToWorld(path->get(path->size()-1), pointB, zone);
		if (newPath) {
			path->addAll(*newPath);
			delete newPath;
		}
	} else
		path->add(pointB);

	return path;
}
Ejemplo n.º 3
0
Vector<WorldCoordinates>* PathFinderManager::findPathFromCellToDifferentCell(const WorldCoordinates& pointA, const WorldCoordinates& pointB) {
	//info ("findPathFromCellToDifferentCell", true);

	CellObject* ourCell = pointA.getCell();
	CellObject* targetCell = pointB.getCell();

	int ourCellID = ourCell->getCellNumber();
	int targetCellID = targetCell->getCellNumber();

	ManagedReference<BuildingObject*> building1 = cast<BuildingObject*>( ourCell->getParent().get().get());
	ManagedReference<BuildingObject*> building2 = cast<BuildingObject*>( targetCell->getParent().get().get());

	if (building1 != building2) // TODO: implement path finding between 2 buildings
		return NULL;

	SharedObjectTemplate* templateObject = building1->getObjectTemplate();

	if (templateObject == NULL)
		return NULL;

	PortalLayout* portalLayout = templateObject->getPortalLayout();

	if (portalLayout == NULL)
		return NULL;

	FloorMesh* floorMesh1 = portalLayout->getFloorMesh(ourCellID);
	FloorMesh* floorMesh2 = portalLayout->getFloorMesh(targetCellID);

	if (floorMesh2->getCellID() != targetCellID)
		error("floorMes2 cellID != targetCellID");

	//info("targetCellID:" + String::valueOf(targetCellID), true);

	PathGraph* pathGraph1 = floorMesh1->getPathGraph();
	PathGraph* pathGraph2 = floorMesh2->getPathGraph();

	Vector<WorldCoordinates>* path = new Vector<WorldCoordinates>(5, 1);
	path->add(pointA); // adding source

	//PathNode* source = pathGraph1->findNearestNode(pointA.getPoint());
	TriangleNode* nearestSourceNodeTriangle = CollisionManager::getTriangle(pointA.getPoint(), floorMesh1);

	if (nearestSourceNodeTriangle == NULL) {
		delete path;
		return NULL;
	}

	PathNode* source = CollisionManager::findNearestPathNode(nearestSourceNodeTriangle, floorMesh1, pointB.getPoint());//targetPathGraph->findNearestNode(pointB.getPoint());

	if (source == NULL) {
		delete path;
		return NULL;
	}

	//PathNode* target = pathGraph2->findNearestNode(pointB.getPoint());
	TriangleNode* nearestTargetNodeTriangle = CollisionManager::getTriangle(pointB.getPoint(), floorMesh2);

	if (nearestTargetNodeTriangle == NULL) {
		delete path;
		return NULL;
	}

	PathNode* target = CollisionManager::findNearestPathNode(nearestTargetNodeTriangle, floorMesh2, pointB.getPoint());//targetPathGraph->findNearestNode(pointB.getPoint());

	if (target == NULL) {
		delete path;
		return NULL;
	}

	Vector<PathNode*>* nodes = portalLayout->getPath(source, target);

	if (nodes == NULL) {
		StringBuffer str;
		str << "Could not find path from node: " << source->getID()
				<< " to node: " << target->getID() << " in building: "
				<< templateObject->getFullTemplateString();

		log(str.toString());

		delete path;
		return NULL;
	}

	// FIXME (dannuic): Sometimes nodes only have one entry.... why?
	if (nodes->size() == 1) {
		error("Only one node");

		delete path;
		return NULL;
	}

	// path from our position to path node
	Vector<Triangle*>* trianglePath = NULL;

	int res = getFloorPath(pointA.getPoint(), nodes->get(1)->getPosition(), floorMesh1, trianglePath);

	if (res != -1 && trianglePath != NULL)
		addTriangleNodeEdges(pointA.getPoint(), nodes->get(1)->getPosition(), trianglePath, path, ourCell);

	if (trianglePath != NULL) {
		delete trianglePath;
		trianglePath = NULL;
	}

	path->add(WorldCoordinates(source->getPosition(), ourCell));

	//traversing cells
	for (int i = 1; i < nodes->size(); ++i) {
		PathNode* pathNode = nodes->get(i);
		PathGraph* pathGraph = pathNode->getPathGraph();

		FloorMesh* floorMesh = pathGraph->getFloorMesh();

		int cellID = floorMesh->getCellID();

		if (cellID == 0) {
			//info("cellID == 0", true);
			WorldCoordinates coord(pathNode->getPosition(), ourCell);

			path->add(WorldCoordinates(coord.getWorldPosition(), NULL));
		} else {
			CellObject* pathCell = building1->getCell(cellID);

			WorldCoordinates coord(pathNode->getPosition(), pathCell);

			path->add(coord);

			//info("cellID:" + String::valueOf(cellID), true);

			if (i == nodes->size() - 1) {
				if (pathNode != target) {
					StringBuffer msg;
					msg << "pathNode != target pathNode: " << pathNode->getID() << " target:" << target->getID();
					error(msg.toString());
				}

				if (pathCell != targetCell) {
					error("final cell not target cell");
				}
			}
		}
	}

	delete nodes;
	nodes = NULL;

	// path from cell entrance to destination point
	trianglePath = NULL;

	res = getFloorPath(path->get(path->size() - 1).getPoint(), pointB.getPoint(), floorMesh2, trianglePath);

	if (res != -1 && trianglePath != NULL)
		addTriangleNodeEdges(path->get(path->size() - 1).getPoint(), pointB.getPoint(), trianglePath, path, targetCell);

	if (trianglePath != NULL)
		delete trianglePath;

	path->add(pointB);

	return path;
}
Ejemplo n.º 4
0
Vector<WorldCoordinates>* PathFinderManager::findPathFromWorldToCell(const WorldCoordinates& pointA, const WorldCoordinates& pointB, Zone *zone) {
	CellObject* targetCell = pointB.getCell();

	if (targetCell == NULL)
		return NULL;

	ManagedReference<BuildingObject*> building = dynamic_cast<BuildingObject*>(targetCell->getParent().get().get());

	if (building == NULL) {
		error("building == NULL in PathFinderManager::findPathFromWorldToCell");
		return NULL;
	}

	SharedObjectTemplate* templateObject = building->getObjectTemplate();

	if (templateObject == NULL)
		return NULL;

	PortalLayout* portalLayout = templateObject->getPortalLayout();

	if (portalLayout == NULL)
		return NULL;

	//find nearest entrance
	FloorMesh* exteriorFloorMesh = portalLayout->getFloorMesh(0); // get outside layout

	if (exteriorFloorMesh == NULL)
		return NULL;

	PathGraph* exteriorPathGraph = exteriorFloorMesh->getPathGraph();

	FloorMesh* targetFloorMesh = portalLayout->getFloorMesh(targetCell->getCellNumber());
	PathGraph* targetPathGraph = targetFloorMesh->getPathGraph();

	Vector<WorldCoordinates>* path = new Vector<WorldCoordinates>(5, 1);
	path->add(pointA);

	Vector3 transformedPosition = transformToModelSpace(pointA.getPoint(), building);

	PathNode* nearestEntranceNode = exteriorPathGraph->findNearestNode(transformedPosition);

	if (nearestEntranceNode == NULL) {
		error("NULL entrance node for building " + templateObject->getFullTemplateString());
		delete path;
		return NULL;
	}
	//PathNode* nearestTargetNode = targetPathGraph->findNearestNode(pointB.getPoint());
	TriangleNode* nearestTargetNodeTriangle = CollisionManager::getTriangle(pointB.getPoint(), targetFloorMesh);

	if (nearestTargetNodeTriangle == NULL) {
		delete path;
		return NULL;
	}

	PathNode* nearestTargetNode = CollisionManager::findNearestPathNode(nearestTargetNodeTriangle, targetFloorMesh, pointB.getPoint());//targetPathGraph->findNearestNode(pointB.getPoint());

	if (nearestTargetNode == NULL) {
		delete path;
		return NULL;
	}

	/*if (nearestEntranceNode == nearestTargetNode)
		info("nearestEntranceNode == nearestTargetNode", true);*/

	//find graph from outside to appropriate cell
	Vector<PathNode*>* pathToCell = portalLayout->getPath(nearestEntranceNode, nearestTargetNode);

	if (pathToCell == NULL) {
		error("pathToCell = portalLayout->getPath(nearestEntranceNode, nearestTargetNode); == NULL");
		delete path;
		return NULL;
	}

	for (int i = 0; i < pathToCell->size(); ++i) {
		PathNode* pathNode = pathToCell->get(i);
		PathGraph* pathGraph = pathNode->getPathGraph();

		FloorMesh* floorMesh = pathGraph->getFloorMesh();

		int cellID = floorMesh->getCellID();

		//info("cellID:" + String::valueOf(cellID), true);

		if (cellID == 0) { // we are still outside
			WorldCoordinates coord(pathNode->getPosition(), targetCell);

			path->add(WorldCoordinates(coord.getWorldPosition(), NULL));
		} else { // we are inside the building
			CellObject* pathCell = building->getCell(cellID);

			path->add(WorldCoordinates(pathNode->getPosition(), pathCell));

			if (i == pathToCell->size() - 1)
				if (pathCell != targetCell) {
					error("final cell not target cell");
				}
		}
	}

	delete pathToCell;
	pathToCell = NULL;

	// path from cell path node to destination point
	Vector<Triangle*>* trianglePath = NULL;

	int res = getFloorPath(path->get(path->size() - 1).getPoint(), pointB.getPoint(), targetFloorMesh, trianglePath);

	if (res != -1 && trianglePath != NULL)
		addTriangleNodeEdges(path->get(path->size() - 1).getPoint(), pointB.getPoint(), trianglePath, path, targetCell);

	if (trianglePath != NULL)
		delete trianglePath;

	path->add(pointB);

	return path;
}