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;
}
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;
}
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;
}
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;
}