1 /*
2 * Copyright (C) 2013 AMIS research group, Faculty of Mathematics and Physics, Charles University in Prague, Czech Republic
3 *
4 * This program is free software: you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation, either version 3 of the License, or
7 * (at your option) any later version.
8 *
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
13 *
14 * You should have received a copy of the GNU General Public License
15 * along with this program. If not, see <http://www.gnu.org/licenses/>.
16 */
17 package cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh;
18
19 import cz.cuni.amis.pogamut.base3d.worldview.object.Location;
20 import java.util.ArrayList;
21 import java.util.List;
22
23 /**
24 * Implementation of INavMeshAtom for polygons
25 * @author Jakub
26 */
27 public class NavMeshPolygon implements INavMeshAtom {
28 private int pId;
29
30 NavMeshPolygon(int pId) {
31 this.pId = pId;
32 }
33
34 public int getPolygonId() {
35 return pId;
36 }
37
38 @Override
39 public List<INavMeshAtom> getNeighbours(NavMesh mesh) {
40 List<INavMeshAtom> neighbours = new ArrayList<INavMeshAtom>();
41
42 // add all nearby polygons
43 List<Integer> pn = mesh.getNeighbourIdsToPolygon(pId);
44 for(Integer i : pn) {
45 neighbours.add(new NavMeshPolygon(i));
46 }
47
48 // add all offmesh points on this polgon
49 List<OffMeshPoint> ops = mesh.getOffMeshPointsOnPolygon(pId);
50 for(OffMeshPoint op : ops) {
51 neighbours.add(op);
52 }
53
54 return neighbours;
55 }
56
57 /**
58 * Compares ids of polygons and returns true if they are the same
59 * returns false if p is point
60 * @param p
61 * @return
62 */
63 public boolean equals(INavMeshAtom atom) {
64 if(atom.getClass() == NavMeshPolygon.class) {
65 NavMeshPolygon p = (NavMeshPolygon) atom;
66 return (p.getPolygonId()==pId);
67 }
68 else return false;
69 }
70 }