def placeCrowdAgents():
"""place crowd agents randomly"""
global navMesh, sceneNP, crowdAgent
for i in range(NUMAGENTS):
# remove agent from nav mesh
navMesh.remove_crowd_agent(NodePath.any_path(crowdAgent[i]))
# set its random position
randPos = getRandomPos(sceneNP)
NodePath.any_path(crowdAgent[i]).set_pos(randPos)
# re-add agent to nav mesh
navMesh.add_crowd_agent(NodePath.any_path(crowdAgent[i]))
def placeCrowdAgent():
"""place crowd agent"""
global navMesh, crowdAgent
if navMesh == None or crowdAgent == None:
return
# get the collision entry, if any
entry0 = getCollisionEntryFromCamera()
if entry0:
# remove agent from nav mesh
navMesh.remove_crowd_agent(NodePath.any_path(crowdAgent))
point = entry0.get_surface_point(NodePath())
NodePath.any_path(crowdAgent).set_pos(point)
# re-add agent to nav mesh
navMesh.add_crowd_agent(NodePath.any_path(crowdAgent))
def writeToBamFileAndExit(fileName):
"""write scene to a file (and exit)"""
OSSteerManager.get_global_ptr().write_to_bam_file(fileName)
# # this is for testing explicit removal and destruction of all elements
steerMgr = OSSteerManager.get_global_ptr()
# remove steer vehicles from steer plug-ins
for plugInTmp in steerMgr.get_steer_plug_ins():
for vehicleTmp in plugInTmp:
# remove vehicleTmp
plugInTmp.remove_steer_vehicle(NodePath.any_path(vehicleTmp))
# destroy steer vehicles
for vehicleTmp in steerMgr.get_steer_vehicles():
# destroy vehicleTmp
steerMgr.destroy_steer_vehicle(NodePath.any_path(vehicleTmp))
# destroy steer plug-ins
for plugInTmp in steerMgr.get_steer_plug_ins():
# destroy vehicleTmp
steerMgr.destroy_steer_plug_in(NodePath.any_path(plugInTmp))
# #
#
sys.exit(0)
def cycleQueries():
"""cycle over queries"""
global query, navMesh, crowdAgent
if (crowdAgent == None) or (navMesh == None):
return
crowdAgentNP = NodePath.any_path(crowdAgent)
startPos, endPos = (crowdAgentNP.get_pos(), crowdAgent.get_move_target())
if query == 0:
print("get path find to follow and its cost:")
print("\tfrom " + str(startPos) + " to " + str(endPos))
areaPointList = navMesh.path_find_follow(startPos, endPos)
for p in areaPointList:
print("\t" + str(p))
print("\tcost: " +
str(navMesh.path_find_follow_cost(startPos, endPos)))
elif query == 1:
print("get path find to follow straight:")
print("\tfrom " + str(startPos) + " to " + str(endPos))
pointFlagList = navMesh.path_find_straight(startPos, endPos,
RNNavMesh.NONE_CROSSINGS)
for pF in pointFlagList:
pathFlag = None
flag = pF.get_second()
if flag == RNNavMesh.START:
pathFlag = "START"
elif flag == RNNavMesh.END:
pathFlag = "END"
elif flag == RNNavMesh.OFFMESH_CONNECTION:
pathFlag = "OFFMESH_CONNECTION"
print("\t" + str(pF.get_first()) + ", " + str(pathFlag))
elif query == 2:
print("check visibility:")
print("\tfrom " + str(startPos) + " to " + str(endPos))
hitPoint = navMesh.ray_cast(startPos, endPos)
RES = ""
if hitPoint != endPos:
RES = "not "
print("\thit " + str(hitPoint) + " : " + RES + "visible!")
elif query == 3:
print("get distance to wall:")
print("\tfrom " + str(startPos))
distance = navMesh.distance_to_wall(startPos)
print("\t" + str(distance))
else:
pass
query += 1
query = query % 4
def toggleSetupCleanup():
"""toggle setup/cleanup"""
global navMesh, app, setupCleanupFlag, toggleDebugFlag, firstSetup
if setupCleanupFlag:
# true: setup
navMesh.set_owner_node_path(sceneNP)
navMesh.setup()
navMesh.enable_debug_drawing(app.camera)
#
if firstSetup:
# first set initial position and target
NodePath.any_path(crowdAgent).set_pos(LPoint3f(0.0, 15.0, 10.0))
# then attach the crowd agent to the nav mesh
navMesh.add_crowd_agent(NodePath.any_path(crowdAgent))
crowdAgent.set_move_target(LPoint3f(0.0, 20.0, 10.0))
NodePath.any_path(crowdAgent).show()
firstSetup = False
# show debug draw
navMesh.toggle_debug_drawing(True)
toggleDebugFlag = False
# show areas
for ref in list(areaRefs):
points = navMesh.get_convex_volume_by_ref(ref)
if points.get_num_values() == 0:
print("Area's invalid ref: " + str(ref) + " ...removing")
areaRefs.remove(ref)
continue
centroid = LPoint3f(0, 0, 0)
for p in points:
centroid += p
centroid /= points.get_num_values()
settings = navMesh.get_convex_volume_settings(centroid)
if not (settings == navMesh.get_convex_volume_settings(ref)):
print(
"assertion failed: settings == navMesh.get_convex_volume_settings(ref)"
)
print("Area n. " + str(areaRefs.index(ref)))
print("\tref: " + str(settings.get_ref()) + " | "
"area: " + str(settings.get_area()) + " | "
"flags: " + str(settings.get_flags()))
# show links
for ref in list(linkRefs):
points = navMesh.get_off_mesh_connection_by_ref(ref)
if points.get_num_values() == 0:
print("Link's invalid ref: " + str(ref) + " ...removing")
linkRefs.remove(ref)
continue
settings = navMesh.get_off_mesh_connection_settings(points[0])
if not (settings == navMesh.get_off_mesh_connection_settings(ref)):
print(
"assertion failed: settings == navMesh.get_off_mesh_connection_settings(ref)"
)
print("Link n. " + str(linkRefs.index(ref)))
print("\tref: " + str(settings.get_ref()) + " | "
"rad: " + str(settings.get_rad()) + " | "
"bidir: " + str(settings.get_bidir()) + " | "
"area: " + str(settings.get_area()) + " | "
"flags: " + str(settings.get_flags()))
else:
# false: cleanup
navMesh.cleanup()
areaPointList.clear()
linkPointPair.clear()
# now crowd agents and obstacles are detached
# from navMesh's NodePath, so we need to
# prevent them to disappear from the scene:
# reparent to navMeshNP's parent (i.e. commonNP)
for agent in navMesh:
NodePath.any_path(agent).reparent_to(
NodePath.any_path(navMesh).get_parent())
setupCleanupFlag = not setupCleanupFlag
def handleVehicleEvent(name, vehicle):
"""handle vehicle's events"""
vehicleNP = NodePath.any_path(vehicle)
print ("got " + name + " event from '"+ vehicleNP.get_name() + "' at " + str(vehicleNP.get_pos()))
def handleCrowdAgentEvent(crowAgent):
"""handle crowd agent's events"""
agent = NodePath.any_path(crowAgent)
print("move-event - " + agent.get_name() + " - " + str(agent.get_pos()))
