/**
* @brief Dumps contents of the entire client routing table to CSV file.
* @sa CL_InitLocal
*/
void Grid_DumpClientRoutes_f (void)
{
ipos3_t wpMins, wpMaxs;
VecToPos(cl.mapData->mapBox.mins, wpMins);
VecToPos(cl.mapData->mapBox.maxs, wpMaxs);
RT_WriteCSVFiles(cl.mapData->routing, "ufoaiclient", GridBox(wpMins, wpMaxs));
}
void ac::Grid::createGrid(cv::Mat &frame, int w, int h, int size) {
cleanBoxes();
g_w = w;
g_h = h;
g_s = size;
boxes = new GridBox*[g_w];
for(int i = 0; i < g_w; ++i) {
boxes[i] = new GridBox[h];
}
if(!points.empty()) {
points.erase(points.begin(), points.end());
}
for(int i = 0; i < g_w; ++i) {
for(int z = 0; z < g_h; ++z) {
cv::Vec3b pixel = frame.at<cv::Vec3b>(z*size, i*size);
Point p(i, z);
points.push_back(p);
boxes[i][z] = GridBox(pixel);
if(g_random)
boxes[i][z].on = ((rand()%4) == 0) ? false : true;
}
}
std::shuffle(points.begin(), points.end(), rng);
current_offset = 0;
}
void ofApp::setupScene(int width, int height)
{
/* setup camera */
double aspectRatio = static_cast<double>(width) / height;
ofVec3f topLeft (-CAMERA_SIZE * aspectRatio, CAMERA_SIZE, 0.0);
ofVec3f botLeft (-CAMERA_SIZE * aspectRatio, -CAMERA_SIZE, 0.0);
ofVec3f botRight( CAMERA_SIZE * aspectRatio, -CAMERA_SIZE, 0.0);
cam = OffAxisCamera(topLeft, botLeft, botRight);
cam.setPosition(ofVec3f(0.0, 0.0, 50.0f));
/* calculate grid box dimension */
ofVec3f camWidthVec = botRight - botLeft;
double camWidth = camWidthVec.length();
gridBox = GridBox(ofVec3f(-CAMERA_SIZE * aspectRatio, -CAMERA_SIZE, 0.0f),
camWidth, camWidth / aspectRatio, 8.0f);
}
void ac::Grid::fillGrid(cv::Mat &frame) {
if(current_offset < points.size())
return;
for(int i = 0; i < g_w; ++i) {
for(int z = 0; z < g_h; ++z) {
cv::Vec3b pixel = frame.at<cv::Vec3b>(z*g_s, i*g_s);
boxes[i][z] = GridBox(pixel);
if(g_random)
boxes[i][z].on = ((rand()%4) == 0) ? false : true;
}
}
current_offset = 0;
std::shuffle(points.begin(), points.end(), rng);
}
/**
* @brief Calculates the routing of a map
* @sa CheckUnit
* @sa CheckConnections
* @sa ProcessWorldModel
*/
void DoRouting (void)
{
int i;
byte* data;
pos3_t pos;
/* Turn on trace debugging if requested. */
if (config.generateDebugTrace)
debugTrace = true;
/* Record the current mapTiles[0] state so we can remove all CLIPS when done. */
PushInfo();
/* build tracing structure */
EmitBrushes();
EmitPlanes(); /** This is needed for tracing to work!!! */
/** @note LEVEL_TRACING is not an actual level */
MakeTracingNodes(LEVEL_ACTORCLIP + 1);
/* Reset the whole block of map data to 0 */
Nmap.init();
/* get world bounds for optimizing */
AABB tileBox;
RT_GetMapSize(&mapTiles, tileBox);
VecToPos(tileBox.mins, wpMins);
VecToPos(tileBox.maxs, wpMaxs);
/* wpMaxs is on a 32 boundary. This causes VecToPos to calculate a pos *above* wpMAxs. We have to compensate. */
wpMaxs[0]--;
wpMaxs[1]--;
wpMaxs[2]--;
/* Verify the world extents are not lopsided. */
assert(wpMins[0] <= wpMaxs[0]);
assert(wpMins[1] <= wpMaxs[1]);
assert(wpMins[2] <= wpMaxs[2]);
/* scan area heights */
RunSingleThreadOn(CheckUnitThread, PATHFINDING_WIDTH * PATHFINDING_WIDTH * ACTOR_MAX_SIZE, config.verbosity >= VERB_NORMAL, "UNITCHECK");
/* scan connections */
RunSingleThreadOn(CheckConnectionsThread, PATHFINDING_WIDTH * PATHFINDING_WIDTH * (CORE_DIRECTIONS / (1 + RT_IS_BIDIRECTIONAL)) * (ACTOR_MAX_SIZE), config.verbosity >= VERB_NORMAL, "CONNCHECK");
/* Try to shrink the world bounds along the x and y coordinates */
for (i = 0; i < 2; i++) { /* for x and y, but not z */
int j = i ^ 1; /* if i points to x, j points to y and vice versa */
/* Increase the mins */
while (wpMaxs[j] > wpMins[j]) {
VectorSet(pos, wpMins[0], wpMins[1], wpMaxs[2]);
for (pos[i] = wpMins[i]; pos[i] <= wpMaxs[i]; pos[i]++) { /* for all cells in an x or y row */
if (Nmap.getFloor(1, pos[0], pos[1], wpMaxs[2]) + wpMaxs[2] * CELL_HEIGHT != -1) /* no floor ? */
break;
}
if (pos[i] <= wpMaxs[i]) /* found a floor before the end of the row ? */
break; /* break while */
wpMins[j]++; /* if it was an x-row, increase y-value of mins and vice versa */
}
/* Decrease the maxs */
while (wpMaxs[j] > wpMins[j]) {
VectorCopy(wpMaxs, pos);
for (pos[i] = wpMins[i]; pos[i] <= wpMaxs[i]; pos[i]++) {
if (Nmap.getFloor(1, pos[0], pos[1], wpMaxs[2]) + wpMaxs[2] * CELL_HEIGHT != -1)
break;
}
if (pos[i] <= wpMaxs[i])
break;
wpMaxs[j]--;
}
}
/* Output the floor trace file if set */
if (config.generateTraceFile) {
RT_WriteCSVFiles(Nmap, baseFilename, GridBox(wpMins, wpMaxs));
}
/* store the data */
data = curTile->routedata;
for (i = 0; i < 3; i++)
wpMins[i] = LittleLong(wpMins[i]);
data = CompressRouting((byte*)wpMins, data, sizeof(wpMins));
for (i = 0; i < 3; i++)
wpMaxs[i] = LittleLong(wpMaxs[i]);
data = CompressRouting((byte*)wpMaxs, data, sizeof(wpMaxs));
data = CompressRouting((byte*)&Nmap, data, sizeof(Nmap));
curTile->routedatasize = data - curTile->routedata;
/* Ensure that we did not exceed our allotment of memory for this data. */
assert(curTile->routedatasize <= MAX_MAP_ROUTING);
/* Remove the CLIPS fom the tracing structure by resetting it. */
PopInfo();
}
