GridDiscretization(const Workspace &workspace, const Agent &agent, const std::vector<double> &discretizationSizes) :
discretizationSizes(discretizationSizes.begin(), discretizationSizes.end()) {
bounds = workspace.getBounds();
assert(bounds.size() == discretizationSizes.size());
unsigned int cellCount = 1;
for(unsigned int i = 0; i < discretizationSizes.size(); i++) {
double range = fabs(bounds[i].first - bounds[i].second);
if(range == 0) {
dimensions.push_back(1);
} else {
dimensions.push_back(ceil(range / discretizationSizes[i]));
}
cellCount *= dimensions.back();
}
grid.resize(cellCount);
for(unsigned int i = 0; i < cellCount; i++) {
auto pt = getGridCenter(i);
if(workspace.safePoses(agent, agent.getRepresentivePosesForLocation(pt))) {
grid[i] = true;
} else {
grid[i] = false;
}
}
populateGridNeighborOffsets();
}
void Scene::update (float duration, bool paused)
{
if (mNeedMapUpdate)
{
// Note: exterior cell maps must be updated, even if they were visited before, because the set of surrounding cells might be different
// (and objects in a different cell can "bleed" into another cells map if they cross the border)
std::set<MWWorld::CellStore*> cellsToUpdate;
for (CellStoreCollection::iterator active = mActiveCells.begin(); active!=mActiveCells.end(); ++active)
{
cellsToUpdate.insert(*active);
}
MWBase::Environment::get().getWindowManager()->requestMap(cellsToUpdate);
mNeedMapUpdate = false;
if (mCurrentCell->isExterior())
{
int cellX, cellY;
getGridCenter(cellX, cellY);
MWBase::Environment::get().getWindowManager()->setActiveMap(cellX,cellY,false);
}
}
mRendering.update (duration, paused);
}
std::vector< std::vector<double> > getCellBoundingHyperRect(unsigned int n) const {
std::vector< std::vector<double> > bounds(dimensions.size());
auto center = getGridCenter(n);
for(unsigned int i = 0; i < center.size(); ++i) {
double halfDisc = discretizationSizes[i];
bounds[i].push_back(center[i] - halfDisc);
bounds[i].push_back(center[i] + halfDisc);
}
return bounds;
}
void Scene::playerMoved(const Ogre::Vector3 &pos)
{
if (!mCurrentCell || !mCurrentCell->isExterior())
return;
// figure out the center of the current cell grid (*not* necessarily mCurrentCell, which is the cell the player is in)
int cellX, cellY;
getGridCenter(cellX, cellY);
float centerX, centerY;
MWBase::Environment::get().getWorld()->indexToPosition(cellX, cellY, centerX, centerY, true);
const float maxDistance = 8192/2 + 1024; // 1/2 cell size + threshold
float distance = std::max(std::abs(centerX-pos.x), std::abs(centerY-pos.y));
if (distance > maxDistance)
{
int newX, newY;
MWBase::Environment::get().getWorld()->positionToIndex(pos.x, pos.y, newX, newY);
changeCellGrid(newX, newY);
mRendering.updateTerrain();
}
}