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44
.classpath
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44
.classpath
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<?xml version="1.0" encoding="UTF-8"?>
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<classpath>
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<classpathentry kind="src" output="target/classes" path="src/main/java">
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<attributes>
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<attribute name="optional" value="true"/>
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<attribute name="maven.pomderived" value="true"/>
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</attributes>
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</classpathentry>
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<classpathentry kind="src" output="target/test-classes" path="src/test/java">
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<attributes>
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<attribute name="optional" value="true"/>
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<attribute name="maven.pomderived" value="true"/>
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<attribute name="test" value="true"/>
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</attributes>
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</classpathentry>
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<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/J2SE-1.5">
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<attributes>
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<attribute name="maven.pomderived" value="true"/>
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</attributes>
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</classpathentry>
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<classpathentry kind="con" path="org.eclipse.m2e.MAVEN2_CLASSPATH_CONTAINER">
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<attributes>
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<attribute name="maven.pomderived" value="true"/>
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</attributes>
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</classpathentry>
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<classpathentry kind="src" path="target/generated-sources/annotations">
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<attributes>
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<attribute name="optional" value="true"/>
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<attribute name="maven.pomderived" value="true"/>
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<attribute name="ignore_optional_problems" value="true"/>
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<attribute name="m2e-apt" value="true"/>
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</attributes>
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</classpathentry>
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<classpathentry kind="src" output="target/test-classes" path="target/generated-test-sources/test-annotations">
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<attributes>
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<attribute name="optional" value="true"/>
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<attribute name="maven.pomderived" value="true"/>
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<attribute name="ignore_optional_problems" value="true"/>
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<attribute name="m2e-apt" value="true"/>
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<attribute name="test" value="true"/>
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</attributes>
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</classpathentry>
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<classpathentry kind="output" path="target/classes"/>
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</classpath>
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34
.project
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34
.project
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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>PhysicalRealTimeRouteFinder</name>
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<comment></comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.jdt.core.javabuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>org.eclipse.m2e.core.maven2Builder</name>
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<arguments>
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>org.eclipse.jdt.core.javanature</nature>
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<nature>org.eclipse.m2e.core.maven2Nature</nature>
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</natures>
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<filteredResources>
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<filter>
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<id>1677335971077</id>
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<name></name>
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<type>30</type>
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<matcher>
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<id>org.eclipse.core.resources.regexFilterMatcher</id>
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<arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
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</matcher>
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</filter>
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</filteredResources>
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</projectDescription>
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3
.settings/org.eclipse.core.resources.prefs
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3
.settings/org.eclipse.core.resources.prefs
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eclipse.preferences.version=1
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encoding//src/main/java=UTF-8
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encoding/<project>=UTF-8
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2
.settings/org.eclipse.jdt.apt.core.prefs
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2
.settings/org.eclipse.jdt.apt.core.prefs
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eclipse.preferences.version=1
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org.eclipse.jdt.apt.aptEnabled=false
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9
.settings/org.eclipse.jdt.core.prefs
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9
.settings/org.eclipse.jdt.core.prefs
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eclipse.preferences.version=1
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org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.5
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org.eclipse.jdt.core.compiler.compliance=1.5
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org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
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org.eclipse.jdt.core.compiler.problem.forbiddenReference=warning
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org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=ignore
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org.eclipse.jdt.core.compiler.processAnnotations=disabled
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org.eclipse.jdt.core.compiler.release=disabled
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org.eclipse.jdt.core.compiler.source=1.5
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4
.settings/org.eclipse.m2e.core.prefs
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4
.settings/org.eclipse.m2e.core.prefs
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activeProfiles=
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eclipse.preferences.version=1
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resolveWorkspaceProjects=true
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version=1
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5
.vscode/settings.json
vendored
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5
.vscode/settings.json
vendored
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{
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"java.format.onType.enabled": false,
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"java.format.settings.url": "D:\\dformat.xml",
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"maven.view": "flat"
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}
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21
demo.json
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21
demo.json
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坐标系:z轴朝上
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{
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"DataType":"Map",//数据种类 Map地图数据
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"Map":[[0,1,2,1],[2,2,3,1]]
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//地图数据，数组内每个元素为一个block，[double x,double y,double z,int type] type参数为方块类型，目前只有1为实体方块
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}
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{
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"DataType":"Frame",//数据种类 Frame计算数据帧
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"Info":{
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"FrameNumber":0,//帧编号 int
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"RunTime":123456,//程序运算总时间 long
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"FrameCalculateTime":12345,//帧计算时间 long
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},
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"Route":[[1,2,3],[3,4,5]],//路径标记(可以用特效也可以半透明方块)同地图数据，[double x,double y,double z]
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"Entity":{
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"Position":[0,1,1],//实体方块位置(立方体底面中心为坐标原点) [double x,double y,double z]
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"BoundingBox":[1,1,1],//碰撞箱大小(立方体大小) [double x,double y,double z]
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"Rotation":[30,30]//[double pitch,double yaw] pitch为与z轴正方向的夹角(0-180)，yaw为与x轴正方向夹角(0-360)卦限顺序
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}
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}
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43
dependency-reduced-pom.xml
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43
dependency-reduced-pom.xml
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<?xml version="1.0" encoding="UTF-8"?>
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<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/maven-v4_0_0.xsd">
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<modelVersion>4.0.0</modelVersion>
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<groupId>cn.dxp</groupId>
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<artifactId>PhysicalRealTimeRouteFinder</artifactId>
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<name>PhysicalRealTimeRouteFinder</name>
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<version>1.0-SNAPSHOT</version>
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<url>http://maven.apache.org</url>
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<build>
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<plugins>
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<plugin>
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<artifactId>maven-shade-plugin</artifactId>
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<version>3.2.4</version>
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<executions>
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<execution>
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<phase>package</phase>
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<goals>
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<goal>shade</goal>
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</goals>
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<configuration>
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<transformers>
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<transformer>
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<mainClass>cn.dxp.PRTRF</mainClass>
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</transformer>
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</transformers>
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</configuration>
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</execution>
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</executions>
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</plugin>
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</plugins>
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</build>
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<dependencies>
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<dependency>
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<groupId>junit</groupId>
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<artifactId>junit</artifactId>
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<version>3.8.1</version>
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<scope>test</scope>
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</dependency>
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</dependencies>
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<properties>
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<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
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</properties>
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</project>
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56
pom.xml
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56
pom.xml
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<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/maven-v4_0_0.xsd">
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<modelVersion>4.0.0</modelVersion>
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<groupId>cn.dxp</groupId>
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<artifactId>PhysicalRealTimeRouteFinder</artifactId>
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<packaging>jar</packaging>
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<version>1.0-SNAPSHOT</version>
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<name>PhysicalRealTimeRouteFinder</name>
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<url>http://maven.apache.org</url>
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<dependencies>
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<dependency>
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<groupId>junit</groupId>
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<artifactId>junit</artifactId>
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<version>3.8.1</version>
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<scope>test</scope>
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</dependency>
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<dependency>
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<groupId>org.json</groupId>
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<artifactId>json</artifactId>
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<version>20210307</version>
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</dependency>
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<dependency>
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<groupId>org.apache.httpcomponents</groupId>
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<artifactId>httpclient</artifactId>
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<version>4.5.13</version>
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</dependency>
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</dependencies>
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<build>
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<plugins>
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<plugin>
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<groupId>org.apache.maven.plugins</groupId>
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<artifactId>maven-shade-plugin</artifactId>
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<version>3.2.4</version>
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<executions>
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<execution>
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<phase>package</phase>
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<goals>
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<goal>shade</goal>
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</goals>
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<configuration>
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<transformers>
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<transformer implementation="org.apache.maven.plugins.shade.resource.ManifestResourceTransformer">
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<mainClass>cn.dxp.PRTRF</mainClass>
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</transformer>
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</transformers>
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</configuration>
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</execution>
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</executions>
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</plugin>
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</plugins>
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</build>
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<properties>
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<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
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</properties>
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</project>
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5
run.bat
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5
run.bat
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@echo off
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call mvn package
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pause
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call java -Dfile.encoding=utf-8 -jar ./target/PhysicalRealTimeRouteFinder-1.0-SNAPSHOT.jar
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pause
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42
src/main/java/cn/dxp/PRTRF.java
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42
src/main/java/cn/dxp/PRTRF.java
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package cn.dxp;
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import cn.dxp.math.*;
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public class PRTRF{
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static final String version = "v1.0";
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static final int threadCount = 8;
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public static void main(String[] args){
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System.out.println("PhysicalRealTimeRouteFinder " + version);
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PhysicalRealTimeRouteFinder p = new PhysicalRealTimeRouteFinder();
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p.resetHttpSender();
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try{
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System.out.println("绘制地图中...");
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p.generateMap(500, 50, 500);
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while(true){
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if(p.hasMap()){
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System.out.println("地图数据绘制完成");
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break;
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}
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Thread.sleep(200);
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}
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System.out.println("生成地图耗时:" + p.mapGenerator.usedTime + "ms");
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System.out.println("发送地图数据");
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p.httpSender.addData(p.encodeMapJsonData());
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System.out.println("计算路线帧...线程数:" + threadCount);
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Entity e = new Entity(p.mapGenerator.startPoint);
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e.setBoundingBox(new Vector3(1, 1, 1));
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p.setEntity(e);
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p.findRoute(p.getMap(), p.mapGenerator.startPoint, p.mapGenerator.endPoint, 8);
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while(true){
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if(p.hasNewFrame()){
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System.out.println("发送帧 " + p.currentFrame);
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p.httpSender.addData(p.encodeFrameJsonData());
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}
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Thread.sleep(1);
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}
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}catch (Exception e){
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e.printStackTrace();
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}
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}
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}
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151
src/main/java/cn/dxp/PhysicalRealTimeRouteFinder.java
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151
src/main/java/cn/dxp/PhysicalRealTimeRouteFinder.java
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package cn.dxp;
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import cn.dxp.map.*;
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import cn.dxp.math.*;
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import cn.dxp.network.*;
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import cn.dxp.route.*;
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import java.util.*;
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import org.json.JSONArray;
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import org.json.JSONObject;
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public class PhysicalRealTimeRouteFinder{
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public HttpSender httpSender;
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public MapGenerator mapGenerator;
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public RouteFinder routeFinder;
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public Entity entity = new Entity(0, 0, 0);
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public ArrayList<HashMap<String, Object>> frameQueue = new ArrayList<HashMap<String, Object>>();
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public int currentFrame = 0;
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public long startTime = System.currentTimeMillis();
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public PhysicalRealTimeRouteFinder(){
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}
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public void generateMap(double x, double y, double z){
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this.mapGenerator = new MapGenerator(this, x, y, z);
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this.mapGenerator.start();
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}
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public boolean hasMap(){
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if(this.mapGenerator != null){
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if(this.mapGenerator.isSuccess()){
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return true;
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}
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}
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return false;
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}
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public HashMap<Vector3, Integer> getMap(){
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if(this.hasMap()){
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return this.mapGenerator.mapData;
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}
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return new HashMap<Vector3, Integer>();
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}
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public void findRoute(HashMap<Vector3, Integer> map, Vector3 startPoint, Vector3 endPoint,
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int threadCount){
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this.routeFinder = new AdvancedRouteFinder(this, map, this.entity, threadCount);
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this.routeFinder.setStart(startPoint);
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this.routeFinder.setDestination(endPoint);
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this.routeFinder.taskSearch();
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}
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public void setEntity(Entity e){
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this.entity = e;
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}
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public boolean hasNewFrame(){
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if(this.frameQueue.size() > 0){
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return true;
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}
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return false;
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}
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public HashMap<String, Object> getNewFrame(){
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return this.frameQueue.get(0);
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}
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public boolean deleteNewFrame(){
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this.frameQueue.remove(0);
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return true;
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}
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public void addNewFrame(HashMap<String, Object> f){
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this.frameQueue.add(f);
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}
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public void resetHttpSender(){
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if(this.httpSender == null){
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this.httpSender = new HttpSender(this);
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}else{
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HttpSender old = this.httpSender;
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this.httpSender = new HttpSender(this);
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this.httpSender.dataQueue = old.dataQueue;
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}
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this.httpSender.start();
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}
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public String encodeMapJsonData(){
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JSONObject jsonData = new JSONObject();
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HashMap<Vector3, Integer> mdata = this.mapGenerator.mapData;
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JSONArray map = new JSONArray();
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int mapindex = 0;
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Iterator<Vector3> it = (Iterator<Vector3>) mdata.keySet().iterator();
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while(it.hasNext()){
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Vector3 pos = (Vector3) it.next();
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JSONArray point = new JSONArray();
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point.put(0, pos.x);
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point.put(1, pos.y);
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point.put(2, pos.z);
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point.put(3, mdata.get(pos));
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map.put(mapindex, point);
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mapindex++;
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}
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jsonData.put("DataType", "Map");
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jsonData.put("Map", map);
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return jsonData.toString();
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}
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@SuppressWarnings("unchecked")
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public String encodeFrameJsonData(){
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HashMap<String, Object> fdata = this.getNewFrame();
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if(fdata == null){
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return "";
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}
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ArrayList<Vector3> rdata = (ArrayList<Vector3>) fdata.get("Route");
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JSONObject jsonData = new JSONObject();
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JSONObject en = new JSONObject();
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JSONArray route = new JSONArray();
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JSONObject info = new JSONObject();
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for(int i = 0; i < rdata.size(); i++){
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Vector3 pos = rdata.get(i);
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JSONArray point = new JSONArray();
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point.put(0, pos.x);
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point.put(1, pos.y);
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point.put(2, pos.z);
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route.put(i, point);
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}
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HashMap<String, Object> idata = (HashMap<String, Object>) fdata.get("Info");
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Iterator<String> it = (Iterator<String>) idata.keySet().iterator();
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while(it.hasNext()){
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String k = (String) it.next();
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info.put(k, idata.get(k));
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}
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info.put("RunTime", System.currentTimeMillis() - this.startTime);
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info.put("FrameNumber", this.currentFrame);
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en.put("Position",
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new JSONArray().put(0, this.entity.x).put(1, this.entity.y).put(2, this.entity.z));
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en.put("BoundingBox", new JSONArray().put(0, this.entity.getBoundingBox().x)
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.put(1, this.entity.getBoundingBox().y).put(2, this.entity.getBoundingBox().z));
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en.put("Rotation", new JSONArray().put(0, this.entity.pitch).put(1, this.entity.yaw));
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jsonData.put("DataType", "Frame");
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jsonData.put("Route", route);
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jsonData.put("Info", info);
|
||||
jsonData.put("Entity", en);
|
||||
System.out.println(this.currentFrame+"帧已打包，耗时"+String.valueOf(idata.get("FrameCalculateTime")));
|
||||
this.currentFrame++;
|
||||
this.deleteNewFrame();
|
||||
return jsonData.toString();
|
||||
}
|
||||
}
|
||||
137
src/main/java/cn/dxp/map/MapGenerator.java
Normal file
137
src/main/java/cn/dxp/map/MapGenerator.java
Normal file
@ -0,0 +1,137 @@
|
||||
package cn.dxp.map;
|
||||
|
||||
import java.util.*;
|
||||
|
||||
import cn.dxp.math.*;
|
||||
import cn.dxp.*;
|
||||
|
||||
public class MapGenerator extends Thread{
|
||||
|
||||
public PhysicalRealTimeRouteFinder p;
|
||||
public HashMap<Vector3, Integer> mapData = new HashMap<Vector3, Integer>();
|
||||
public Vector3 startPoint;
|
||||
public Vector3 endPoint;
|
||||
private boolean success = false;
|
||||
private Vector3 size;
|
||||
private long startTime;
|
||||
public long usedTime;
|
||||
|
||||
public MapGenerator(PhysicalRealTimeRouteFinder prtrf, double x, double y, double z){
|
||||
this.p = prtrf;
|
||||
this.size = new Vector3(x, y, z);
|
||||
}
|
||||
|
||||
// 0 air
|
||||
// 1 stone
|
||||
// 2 water
|
||||
// 3
|
||||
|
||||
@Override
|
||||
public void run(){
|
||||
startTime = System.currentTimeMillis();
|
||||
this.mapData.putAll(generateLand(this.size));
|
||||
this.mapData = addAir(this.mapData, this.size);
|
||||
this.spawnPos();
|
||||
this.success = true;
|
||||
usedTime = System.currentTimeMillis() - startTime;
|
||||
}
|
||||
|
||||
public void spawnPos(){
|
||||
for(int i = (int) size.y; i >= 0; i--){
|
||||
if(this.mapData.containsKey(new Vector3(0, i, 0))){
|
||||
if(this.mapData.get(new Vector3(0, i, 0)) == 1){
|
||||
if(i == (int) size.z){
|
||||
this.mapData.put(new Vector3(0, i - 1, 0), 1);
|
||||
this.mapData.remove(new Vector3(0, i, 0));
|
||||
i--;
|
||||
}else{
|
||||
this.startPoint = new Vector3(0, i + 1, 0);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
for(int i = (int) size.y; i >= 0; i--){
|
||||
if(this.mapData.containsKey(new Vector3(size.x - 1, i, size.z - 1))){
|
||||
if(this.mapData.get(new Vector3(size.x - 1, i, size.z - 1)) == 1){
|
||||
if(i == (int) size.z){
|
||||
this.mapData.put(new Vector3(size.x - 1, i - 1, size.z - 1), 1);
|
||||
this.mapData.remove(new Vector3(size.x - 1, i, size.z - 1));
|
||||
i--;
|
||||
}else{
|
||||
this.endPoint = new Vector3(size.x - 1, i + 1, size.z - 1);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static HashMap<Vector3, Integer> generateLand(double x, double y, double z){
|
||||
return generateLand(new Vector3(x, y, z));
|
||||
}
|
||||
|
||||
public static HashMap<Vector3, Integer> generateLand(Vector3 landSize){
|
||||
HashMap<Vector3, Integer> mapDataCache = new HashMap<Vector3, Integer>();
|
||||
double h = 6;
|
||||
if(landSize.z < 2){
|
||||
h = 1;
|
||||
}
|
||||
for(double x = -2; x < landSize.x + 2; x++){
|
||||
for(double z = -2; z < landSize.z + 2; z++){
|
||||
mapDataCache.put(new Vector3(x, -1, z), 1);
|
||||
}
|
||||
|
||||
}
|
||||
for(double x = 0; x < landSize.x; x++){
|
||||
for(double y = 0; y < h; y++){
|
||||
for(double z = 0; z < landSize.z; z++){
|
||||
mapDataCache.put(new Vector3(x, y, z), 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
return mapDataCache;
|
||||
}
|
||||
|
||||
public static HashMap<Vector3, Integer> generateObstacle(double x, double y, double z){
|
||||
return generateObstacle(new Vector3(x, y, z));
|
||||
}
|
||||
|
||||
public static HashMap<Vector3, Integer> generateObstacle(Vector3 landSize){
|
||||
HashMap<Vector3, Integer> mapDataCache = new HashMap<Vector3, Integer>();
|
||||
|
||||
for(double x = 0; x < landSize.x; x++){
|
||||
for(double z = 0; z < landSize.z; z++){
|
||||
if(Math.random() <= 0.2){
|
||||
int h = 0;
|
||||
if(Math.random() <= 0.6){
|
||||
h = 1;
|
||||
}else{
|
||||
h = 2;
|
||||
}
|
||||
for(double y = 6; y < 6 + h; y++){
|
||||
mapDataCache.put(new Vector3(x, y, z), 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return mapDataCache;
|
||||
}
|
||||
|
||||
public static HashMap<Vector3, Integer> addAir(HashMap<Vector3, Integer> map, Vector3 landSize){
|
||||
for(double x = -1; x < landSize.x; x++){
|
||||
for(double y = -1; y <= landSize.y + 1; y++){
|
||||
for(double z = -1; z < landSize.z; z++){
|
||||
if(!map.containsKey(new Vector3(x, y, z))){
|
||||
map.put(new Vector3(x, y, z), 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return map;
|
||||
}
|
||||
|
||||
public boolean isSuccess(){
|
||||
return(this.success && this.mapData.size() > 0);
|
||||
}
|
||||
}
|
||||
30
src/main/java/cn/dxp/math/Entity.java
Normal file
30
src/main/java/cn/dxp/math/Entity.java
Normal file
@ -0,0 +1,30 @@
|
||||
package cn.dxp.math;
|
||||
|
||||
public class Entity extends Vector3{
|
||||
|
||||
private Vector3 bb;
|
||||
public double pitch;
|
||||
public double yaw;
|
||||
|
||||
public Entity(Vector3 vec){
|
||||
this(vec.x, vec.y, vec.z);
|
||||
}
|
||||
|
||||
public Entity(double x, double y, double z){
|
||||
this(x, y, z, 0, 0);
|
||||
}
|
||||
|
||||
public Entity(double x, double y, double z, double pi, double ya){
|
||||
super(x, y, z);
|
||||
this.pitch = pi;
|
||||
this.pitch = pi;
|
||||
}
|
||||
|
||||
public Vector3 getBoundingBox(){
|
||||
return bb;
|
||||
}
|
||||
|
||||
public void setBoundingBox(Vector3 b){
|
||||
this.bb=b;
|
||||
}
|
||||
}
|
||||
280
src/main/java/cn/dxp/math/Vector3.java
Normal file
280
src/main/java/cn/dxp/math/Vector3.java
Normal file
@ -0,0 +1,280 @@
|
||||
package cn.dxp.math;
|
||||
|
||||
public class Vector3 implements Cloneable{
|
||||
|
||||
public double x;
|
||||
public double y;
|
||||
public double z;
|
||||
|
||||
public Vector3(){
|
||||
this(0, 0, 0);
|
||||
}
|
||||
|
||||
public Vector3(double x){
|
||||
this(x, 0, 0);
|
||||
}
|
||||
|
||||
public Vector3(double x, double y){
|
||||
this(x, y, 0);
|
||||
}
|
||||
|
||||
public Vector3(double x, double y, double z){
|
||||
this.x = x;
|
||||
this.y = y;
|
||||
this.z = z;
|
||||
}
|
||||
|
||||
public double getX(){
|
||||
return this.x;
|
||||
}
|
||||
|
||||
public double getY(){
|
||||
return this.y;
|
||||
}
|
||||
|
||||
public double getZ(){
|
||||
return this.z;
|
||||
}
|
||||
|
||||
public int getFloorX(){
|
||||
return (int) Math.floor(this.x);
|
||||
}
|
||||
|
||||
public int getFloorY(){
|
||||
return (int) Math.floor(this.y);
|
||||
}
|
||||
|
||||
public int getFloorZ(){
|
||||
return (int) Math.floor(this.z);
|
||||
}
|
||||
|
||||
public double getRight(){
|
||||
return this.x;
|
||||
}
|
||||
|
||||
public double getUp(){
|
||||
return this.y;
|
||||
}
|
||||
|
||||
public double getForward(){
|
||||
return this.z;
|
||||
}
|
||||
|
||||
public double getSouth(){
|
||||
return this.x;
|
||||
}
|
||||
|
||||
public double getWest(){
|
||||
return this.z;
|
||||
}
|
||||
|
||||
public Vector3 add(double x){
|
||||
return this.add(x, 0, 0);
|
||||
}
|
||||
|
||||
public Vector3 add(double x, double y){
|
||||
return this.add(x, y, 0);
|
||||
}
|
||||
|
||||
public Vector3 add(double x, double y, double z){
|
||||
return new Vector3(this.x + x, this.y + y, this.z + z);
|
||||
}
|
||||
|
||||
public Vector3 add(Vector3 x){
|
||||
return new Vector3(this.x + x.getX(), this.y + x.getY(), this.z + x.getZ());
|
||||
}
|
||||
|
||||
public Vector3 subtract(){
|
||||
return this.subtract(0, 0, 0);
|
||||
}
|
||||
|
||||
public Vector3 subtract(double x){
|
||||
return this.subtract(x, 0, 0);
|
||||
}
|
||||
|
||||
public Vector3 subtract(double x, double y){
|
||||
return this.subtract(x, y, 0);
|
||||
}
|
||||
|
||||
public Vector3 subtract(double x, double y, double z){
|
||||
return this.add(-x, -y, -z);
|
||||
}
|
||||
|
||||
public Vector3 subtract(Vector3 x){
|
||||
return this.add(-x.getX(), -x.getY(), -x.getZ());
|
||||
}
|
||||
|
||||
public Vector3 multiply(double number){
|
||||
return new Vector3(this.x * number, this.y * number, this.z * number);
|
||||
}
|
||||
|
||||
public Vector3 divide(double number){
|
||||
return new Vector3(this.x / number, this.y / number, this.z / number);
|
||||
}
|
||||
|
||||
public Vector3 ceil(){
|
||||
return new Vector3((int) Math.ceil(this.x), (int) Math.ceil(this.y),
|
||||
(int) Math.ceil(this.z));
|
||||
}
|
||||
|
||||
public Vector3 floor(){
|
||||
return new Vector3(this.getFloorX(), this.getFloorY(), this.getFloorZ());
|
||||
}
|
||||
|
||||
public Vector3 round(){
|
||||
return new Vector3(Math.round(this.x), Math.round(this.y), Math.round(this.z));
|
||||
}
|
||||
|
||||
public Vector3 abs(){
|
||||
return new Vector3((int) Math.abs(this.x), (int) Math.abs(this.y), (int) Math.abs(this.z));
|
||||
}
|
||||
|
||||
public double distance(Vector3 pos){
|
||||
return Math.sqrt(this.distanceSquared(pos));
|
||||
}
|
||||
|
||||
public double distanceSquared(Vector3 pos){
|
||||
return Math.pow(this.x - pos.x, 2) + Math.pow(this.y - pos.y, 2)
|
||||
+ Math.pow(this.z - pos.z, 2);
|
||||
}
|
||||
|
||||
public double length(){
|
||||
return Math.sqrt(this.lengthSquared());
|
||||
}
|
||||
|
||||
public double lengthSquared(){
|
||||
return this.x * this.x + this.y * this.y + this.z * this.z;
|
||||
}
|
||||
|
||||
public Vector3 normalize(){
|
||||
double len = this.lengthSquared();
|
||||
if(len > 0){
|
||||
return this.divide(Math.sqrt(len));
|
||||
}
|
||||
return new Vector3(0, 0, 0);
|
||||
}
|
||||
|
||||
public double dot(Vector3 v){
|
||||
return this.x * v.x + this.y * v.y + this.z * v.z;
|
||||
}
|
||||
|
||||
public Vector3 cross(Vector3 v){
|
||||
return new Vector3(this.y * v.z - this.z * v.y, this.z * v.x - this.x * v.z,
|
||||
this.x * v.y - this.y * v.x);
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns a new vector with x value equal to the second parameter, along the line between this
|
||||
* vector and the passed in vector, or null if not possible.
|
||||
*
|
||||
* @param v vector
|
||||
* @param x x value
|
||||
* @return intermediate vector
|
||||
*/
|
||||
public Vector3 getIntermediateWithXValue(Vector3 v, double x){
|
||||
double xDiff = v.x - this.x;
|
||||
double yDiff = v.y - this.y;
|
||||
double zDiff = v.z - this.z;
|
||||
if(xDiff * xDiff < 0.0000001){
|
||||
return null;
|
||||
}
|
||||
double f = (x - this.x) / xDiff;
|
||||
if(f < 0 || f > 1){
|
||||
return null;
|
||||
}else{
|
||||
return new Vector3(this.x + xDiff * f, this.y + yDiff * f, this.z + zDiff * f);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns a new vector with y value equal to the second parameter, along the line between this
|
||||
* vector and the passed in vector, or null if not possible.
|
||||
*
|
||||
* @param v vector
|
||||
* @param y y value
|
||||
* @return intermediate vector
|
||||
*/
|
||||
public Vector3 getIntermediateWithYValue(Vector3 v, double y){
|
||||
double xDiff = v.x - this.x;
|
||||
double yDiff = v.y - this.y;
|
||||
double zDiff = v.z - this.z;
|
||||
if(yDiff * yDiff < 0.0000001){
|
||||
return null;
|
||||
}
|
||||
double f = (y - this.y) / yDiff;
|
||||
if(f < 0 || f > 1){
|
||||
return null;
|
||||
}else{
|
||||
return new Vector3(this.x + xDiff * f, this.y + yDiff * f, this.z + zDiff * f);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns a new vector with z value equal to the second parameter, along the line between this
|
||||
* vector and the passed in vector, or null if not possible.
|
||||
*
|
||||
* @param v vector
|
||||
* @param z z value
|
||||
* @return intermediate vector
|
||||
*/
|
||||
public Vector3 getIntermediateWithZValue(Vector3 v, double z){
|
||||
double xDiff = v.x - this.x;
|
||||
double yDiff = v.y - this.y;
|
||||
double zDiff = v.z - this.z;
|
||||
if(zDiff * zDiff < 0.0000001){
|
||||
return null;
|
||||
}
|
||||
double f = (z - this.z) / zDiff;
|
||||
if(f < 0 || f > 1){
|
||||
return null;
|
||||
}else{
|
||||
return new Vector3(this.x + xDiff * f, this.y + yDiff * f, this.z + zDiff * f);
|
||||
}
|
||||
}
|
||||
|
||||
public Vector3 setComponents(double x, double y, double z){
|
||||
this.x = x;
|
||||
this.y = y;
|
||||
this.z = z;
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public String toString(){
|
||||
return "Vector3(x=" + this.x + ",y=" + this.y + ",z=" + this.z + ")";
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean equals(Object obj){
|
||||
if(!(obj instanceof Vector3)){
|
||||
return false;
|
||||
}
|
||||
|
||||
Vector3 other = (Vector3) obj;
|
||||
|
||||
return this.x == other.x && this.y == other.y && this.z == other.z;
|
||||
}
|
||||
|
||||
@Override
|
||||
public int hashCode(){
|
||||
return ((int) x ^ ((int) z << 12)) ^ ((int) y << 24);
|
||||
}
|
||||
|
||||
public int rawHashCode(){
|
||||
return super.hashCode();
|
||||
}
|
||||
|
||||
@Override
|
||||
public Vector3 clone(){
|
||||
try{
|
||||
return (Vector3) super.clone();
|
||||
}catch (CloneNotSupportedException e){
|
||||
return null;
|
||||
}
|
||||
}
|
||||
|
||||
public Vector3 random(){
|
||||
return new Vector3(this.x * Math.random(), this.getFloorY() * Math.random(),
|
||||
this.getFloorZ() * Math.random());
|
||||
}
|
||||
}
|
||||
182
src/main/java/cn/dxp/network/HttpSender.java
Normal file
182
src/main/java/cn/dxp/network/HttpSender.java
Normal file
@ -0,0 +1,182 @@
|
||||
package cn.dxp.network;
|
||||
|
||||
import java.util.*;
|
||||
import java.util.Map.Entry;
|
||||
import java.io.*;
|
||||
|
||||
import org.apache.http.HttpEntity;
|
||||
import org.apache.http.NameValuePair;
|
||||
import org.apache.http.client.ClientProtocolException;
|
||||
import org.apache.http.client.config.RequestConfig;
|
||||
import org.apache.http.client.entity.UrlEncodedFormEntity;
|
||||
import org.apache.http.client.methods.CloseableHttpResponse;
|
||||
import org.apache.http.client.methods.HttpGet;
|
||||
import org.apache.http.client.methods.HttpPost;
|
||||
import org.apache.http.impl.client.CloseableHttpClient;
|
||||
import org.apache.http.impl.client.HttpClients;
|
||||
import org.apache.http.message.BasicNameValuePair;
|
||||
import org.apache.http.util.EntityUtils;
|
||||
|
||||
import cn.dxp.*;
|
||||
|
||||
public class HttpSender extends Thread{
|
||||
static final String serverip = "http://10.100.233.123:8080";
|
||||
|
||||
public PhysicalRealTimeRouteFinder p;
|
||||
public ArrayList<HashMap<String, Object>> dataQueue = new ArrayList<HashMap<String, Object>>();
|
||||
|
||||
public HttpSender(PhysicalRealTimeRouteFinder prtrf){
|
||||
this.p = prtrf;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void run(){
|
||||
while(true){
|
||||
try{
|
||||
//sleep(500);
|
||||
if(this.dataQueue.size() != 0){
|
||||
System.out.println(doPost(this.dataQueue.get(0)));
|
||||
this.dataQueue.remove(0);
|
||||
}else{
|
||||
sleep(500);
|
||||
}
|
||||
}catch (InterruptedException e){
|
||||
e.getStackTrace();
|
||||
this.p.resetHttpSender();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void addData(final String s){
|
||||
if(s.isEmpty()){
|
||||
return;
|
||||
}
|
||||
this.dataQueue.add(new HashMap<String, Object>(){
|
||||
{
|
||||
put("json", s);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
public void addData(HashMap<String, Object> d){
|
||||
this.dataQueue.add(d);
|
||||
}
|
||||
|
||||
public static String doGet(){
|
||||
String url = serverip;
|
||||
CloseableHttpClient httpClient = null;
|
||||
CloseableHttpResponse response = null;
|
||||
String result = "";
|
||||
try{
|
||||
// 通过址默认配置创建一个httpClient实例
|
||||
httpClient = HttpClients.createDefault();
|
||||
// 创建httpGet远程连接实例
|
||||
HttpGet httpGet = new HttpGet(url);
|
||||
// 设置请求头信息，鉴权
|
||||
httpGet.setHeader("Authorization", "Bearer da3efcbf-0845-4fe3-8aba-ee040be542c0");
|
||||
// 设置配置请求参数
|
||||
RequestConfig requestConfig = RequestConfig.custom().setConnectTimeout(35000)// 连接主机服务超时时间
|
||||
.setConnectionRequestTimeout(35000)// 请求超时时间
|
||||
.setSocketTimeout(60000)// 数据读取超时时间
|
||||
.build();
|
||||
// 为httpGet实例设置配置
|
||||
httpGet.setConfig(requestConfig);
|
||||
// 执行get请求得到返回对象
|
||||
response = httpClient.execute(httpGet);
|
||||
// 通过返回对象获取返回数据
|
||||
HttpEntity entity = response.getEntity();
|
||||
// 通过EntityUtils中的toString方法将结果转换为字符串
|
||||
result = EntityUtils.toString(entity);
|
||||
}catch (ClientProtocolException e){
|
||||
e.printStackTrace();
|
||||
}catch (IOException e){
|
||||
e.printStackTrace();
|
||||
}
|
||||
finally{
|
||||
// 关闭资源
|
||||
if(null != response){
|
||||
try{
|
||||
response.close();
|
||||
}catch (IOException e){
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
if(null != httpClient){
|
||||
try{
|
||||
httpClient.close();
|
||||
}catch (IOException e){
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
public static String doPost(Map<String, Object> paramMap){
|
||||
String url = serverip;
|
||||
CloseableHttpClient httpClient = null;
|
||||
CloseableHttpResponse httpResponse = null;
|
||||
String result = "";
|
||||
// 创建httpClient实例
|
||||
httpClient = HttpClients.createDefault();
|
||||
// 创建httpPost远程连接实例
|
||||
HttpPost httpPost = new HttpPost(url);
|
||||
// 配置请求参数实例
|
||||
RequestConfig requestConfig = RequestConfig.custom().setConnectTimeout(35000)// 设置连接主机服务超时时间
|
||||
.setConnectionRequestTimeout(35000)// 设置连接请求超时时间
|
||||
.setSocketTimeout(60000)// 设置读取数据连接超时时间
|
||||
.build();
|
||||
// 为httpPost实例设置配置
|
||||
httpPost.setConfig(requestConfig);
|
||||
// 设置请求头
|
||||
httpPost.addHeader("Content-Type", "application/x-www-form-urlencoded");
|
||||
// 封装post请求参数
|
||||
if(null != paramMap && paramMap.size() > 0){
|
||||
List<NameValuePair> nvps = new ArrayList<NameValuePair>();
|
||||
// 通过map集成entrySet方法获取entity
|
||||
Set<Entry<String, Object>> entrySet = paramMap.entrySet();
|
||||
// 循环遍历，获取迭代器
|
||||
Iterator<Entry<String, Object>> iterator = entrySet.iterator();
|
||||
while(iterator.hasNext()){
|
||||
Entry<String, Object> mapEntry = iterator.next();
|
||||
nvps.add(new BasicNameValuePair(mapEntry.getKey(), mapEntry.getValue().toString()));
|
||||
}
|
||||
|
||||
// 为httpPost设置封装好的请求参数
|
||||
try{
|
||||
httpPost.setEntity(new UrlEncodedFormEntity(nvps, "UTF-8"));
|
||||
}catch (UnsupportedEncodingException e){
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
try{
|
||||
// httpClient对象执行post请求,并返回响应参数对象
|
||||
httpResponse = httpClient.execute(httpPost);
|
||||
// 从响应对象中获取响应内容
|
||||
HttpEntity entity = httpResponse.getEntity();
|
||||
result = EntityUtils.toString(entity);
|
||||
}catch (ClientProtocolException e){
|
||||
e.printStackTrace();
|
||||
}catch (IOException e){
|
||||
e.printStackTrace();
|
||||
}
|
||||
finally{
|
||||
// 关闭资源
|
||||
if(null != httpResponse){
|
||||
try{
|
||||
httpResponse.close();
|
||||
}catch (IOException e){
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
if(null != httpClient){
|
||||
try{
|
||||
httpClient.close();
|
||||
}catch (IOException e){
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
}
|
||||
298
src/main/java/cn/dxp/route/AdvancedRouteFinder.java
Normal file
298
src/main/java/cn/dxp/route/AdvancedRouteFinder.java
Normal file
@ -0,0 +1,298 @@
|
||||
package cn.dxp.route;
|
||||
|
||||
import cn.dxp.*;
|
||||
import cn.dxp.math.*;
|
||||
|
||||
import java.util.*;
|
||||
|
||||
public class AdvancedRouteFinder extends RouteFinder{
|
||||
private boolean succeed = false, searching = false;
|
||||
//private Vector3 realDestination = null;
|
||||
private HashSet<Node> open = new HashSet<Node>();
|
||||
private Grid grid = new Grid();
|
||||
public int heightLimit = 1;
|
||||
|
||||
|
||||
public AdvancedRouteFinder(PhysicalRealTimeRouteFinder prtrf, HashMap<Vector3, Integer> m,
|
||||
Entity entity, int threadCount){
|
||||
super(prtrf, m, entity, threadCount);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean search(){
|
||||
this.startTime = System.currentTimeMillis();
|
||||
this.stopRouteFindUntil = System.currentTimeMillis() + 10000;
|
||||
this.succeed = false;
|
||||
this.searching = true;
|
||||
this.resetNodes();
|
||||
this.grid.clear();
|
||||
open = new HashSet<Node>();
|
||||
|
||||
if(this.getStart() == null || this.getDestination() == null){
|
||||
return this.succeed = this.searching = false;
|
||||
}
|
||||
Vector3 r = this.getWalkablePosition((Vector3) this.getDestination()).floor();
|
||||
/*if(r.equals(new Vector3(-1, -100, -1)) || r.equals(new Vector3(-1, -101, -1))){
|
||||
return this.succeed = this.searching = false;
|
||||
}*/
|
||||
|
||||
Node start = new Node(this.getStart().floor());
|
||||
Node endNode = new Node(r);
|
||||
try{
|
||||
start.f = start.g = 0;
|
||||
open.add(start);
|
||||
this.grid.putNode(start);
|
||||
this.grid.putNode(endNode);
|
||||
}catch (Exception e){
|
||||
return this.succeed = this.searching = false;
|
||||
}
|
||||
|
||||
int limit = 100000;
|
||||
while(!open.isEmpty() && limit-- > 0){
|
||||
if(this.forceStop){
|
||||
this.resetNodes();
|
||||
this.forceStop = false;
|
||||
return this.succeed = this.searching = false;
|
||||
}
|
||||
Node node = null;
|
||||
|
||||
double f = Double.MAX_VALUE;
|
||||
try{
|
||||
for(Node cur: this.open){
|
||||
if(cur.f < f && cur.f != -1){
|
||||
node = cur;
|
||||
f = cur.f;
|
||||
}
|
||||
}
|
||||
}catch (Exception e){
|
||||
this.searching = false;
|
||||
this.succeed = true;
|
||||
nodes.add(new Node(this.getDestination()));
|
||||
return true;
|
||||
}
|
||||
|
||||
if(node == null){
|
||||
this.searching = false;
|
||||
this.succeed = true;
|
||||
nodes.add(new Node(this.getDestination()));
|
||||
return true;
|
||||
}
|
||||
|
||||
if(endNode.equals(node)){
|
||||
ArrayList<Node> nodes = new ArrayList<Node>();
|
||||
nodes.add(node);
|
||||
//Node last = node;
|
||||
while((node = node.getParent()) != null){
|
||||
nodes.add(new Node(node.getVector3().add(0.5, 0, 0.5)));
|
||||
if(this.forceStop){
|
||||
this.resetNodes();
|
||||
this.forceStop = false;
|
||||
return this.succeed = this.searching = false;
|
||||
}
|
||||
}
|
||||
nodes.remove(nodes.size() - 1);
|
||||
Collections.reverse(nodes);
|
||||
|
||||
|
||||
this.addNodes(nodes);
|
||||
|
||||
this.succeed = true;
|
||||
this.searching = false;
|
||||
return true;
|
||||
}
|
||||
node.closed = true;
|
||||
open.remove(node);
|
||||
|
||||
for(Node neighbor: this.getNeighbors(node)){
|
||||
if(neighbor.closed)
|
||||
continue;
|
||||
|
||||
double tentative_gScore = node.g + 1;
|
||||
|
||||
if(!open.contains(neighbor))
|
||||
open.add(neighbor);
|
||||
else if(neighbor.g != -1 && tentative_gScore >= neighbor.g)
|
||||
continue;
|
||||
|
||||
neighbor.setParent(node);
|
||||
neighbor.g = tentative_gScore;
|
||||
neighbor.f = neighbor.g + neighbor.getVector3().distance(endNode.getVector3());
|
||||
|
||||
if(this.forceStop){
|
||||
this.resetNodes();
|
||||
this.forceStop = false;
|
||||
return this.succeed = this.searching = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if(!this.succeed){
|
||||
this.searching = false;
|
||||
this.succeed = true;
|
||||
nodes.add(new Node(this.getDestination()));
|
||||
}
|
||||
return this.succeed;
|
||||
}
|
||||
|
||||
public Set<Node> getNeighbors(Node node){
|
||||
HashSet<Node> neighbors = new HashSet<Node>();
|
||||
Vector3 vec = node.getVector3();
|
||||
boolean bb = false;
|
||||
boolean b1 = false;
|
||||
boolean b2 = false;
|
||||
boolean b3 = false;
|
||||
boolean b4 = false;
|
||||
Vector3 vec1 = this.getWalkablePosition(vec.add(1, 0, 0));
|
||||
Vector3 vec2 = this.getWalkablePosition(vec.add(0, 0, 1));
|
||||
Vector3 vec3 = this.getWalkablePosition(vec.add(-1, 0, 0));
|
||||
Vector3 vec4 = this.getWalkablePosition(vec.add(0, 0, -1));
|
||||
Vector3 vec5;
|
||||
Vector3 vec6;
|
||||
Vector3 vec7;
|
||||
Vector3 vec8;
|
||||
Vector3 a = new Vector3(-1, -1, -1);
|
||||
Vector3 b = new Vector3(-1, -2, -1);
|
||||
int bt = map.get(vec.add(0, 2, 0));
|
||||
if(bt == 0){
|
||||
bb = true;
|
||||
}
|
||||
|
||||
if(!vec1.equals(b)){
|
||||
if(vec1.y <= vec.y){
|
||||
b1 = true;
|
||||
}
|
||||
if(!vec1.equals(a) && bb){
|
||||
neighbors.add(this.grid.getNode(vec1));
|
||||
}
|
||||
}
|
||||
if(!vec2.equals(b)){
|
||||
if(vec2.y <= vec.y){
|
||||
b2 = true;
|
||||
}
|
||||
if(!vec2.equals(a) && bb){
|
||||
neighbors.add(this.grid.getNode(vec2));
|
||||
}
|
||||
}
|
||||
if(!vec3.equals(b)){
|
||||
if(vec3.y <= vec.y){
|
||||
b3 = true;
|
||||
}
|
||||
if(!vec3.equals(a) && bb){
|
||||
neighbors.add(this.grid.getNode(vec3));
|
||||
}
|
||||
}
|
||||
if(!vec4.equals(b)){
|
||||
if(vec4.y <= vec.y){
|
||||
b4 = true;
|
||||
}
|
||||
if(!vec4.equals(a) && bb){
|
||||
neighbors.add(this.grid.getNode(vec4));
|
||||
}
|
||||
}
|
||||
|
||||
if(b1 && b2){
|
||||
vec5 = this.getWalkablePosition(vec.add(1, 0, 1));
|
||||
if(!vec5.equals(a) && !vec5.equals(b)){
|
||||
neighbors.add(this.grid.getNode(vec5));
|
||||
}
|
||||
}
|
||||
if(b2 && b3){
|
||||
vec6 = this.getWalkablePosition(vec.add(-1, 0, 1));
|
||||
if(!vec6.equals(a) && !vec6.equals(b)){
|
||||
neighbors.add(this.grid.getNode(vec6));
|
||||
}
|
||||
}
|
||||
if(b3 && b4){
|
||||
vec7 = this.getWalkablePosition(vec.add(-1, 0, -1));
|
||||
if(!vec7.equals(a) && !vec7.equals(b)){
|
||||
neighbors.add(this.grid.getNode(vec7));
|
||||
}
|
||||
}
|
||||
if(b4 && b1){
|
||||
vec8 = this.getWalkablePosition(vec.add(1, 0, -1));
|
||||
if(!vec8.equals(a) && !vec8.equals(b)){
|
||||
neighbors.add(this.grid.getNode(vec8));
|
||||
}
|
||||
}
|
||||
return neighbors;
|
||||
}
|
||||
|
||||
public Vector3 getWalkablePosition(Vector3 vec){
|
||||
if(this.grid.hasNode(vec)){
|
||||
return vec;
|
||||
}
|
||||
int block = map.get(vec.add(0, 1, 0));
|
||||
int block1 = map.get(vec.add(0, 2, 0));
|
||||
int block2;
|
||||
if(map.get(vec) == 2){
|
||||
for(double i = vec.y + 1; i < 255; i++){
|
||||
Vector3 v = new Vector3(vec.x, i, vec.z);
|
||||
if(map.get(v) == 0){
|
||||
return v.add(0, -1, 0);
|
||||
}
|
||||
if(map.get(v) == 1){
|
||||
break;
|
||||
}
|
||||
}
|
||||
return vec;
|
||||
}
|
||||
for(double i = vec.y; i > 0; i--){
|
||||
Vector3 v = new Vector3(vec.x, i, vec.z);
|
||||
block2 = map.get(v);
|
||||
if(block == 0){
|
||||
if(this.canWalkOn(block, block1, block2)){
|
||||
return v.add(0, 1, 0);
|
||||
}
|
||||
}else{
|
||||
return new Vector3(-1, -101, -1);
|
||||
}
|
||||
block1 = block;
|
||||
block = block2;
|
||||
}
|
||||
return new Vector3(-1, -100, -1);
|
||||
}
|
||||
|
||||
private boolean canWalkOn(int block, int block1, int block2){
|
||||
if(block1 == 0 || block1 == 0){
|
||||
if(block2 == 1){
|
||||
return true;
|
||||
}/*
|
||||
* else{ if(this.getEntity() instanceof Swimable && (id == Block.WATER || id ==
|
||||
* Block.STILL_WATER)){ if(block.getId() != 0){ return true; } } }
|
||||
*/
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
/*private double heuristic(Vector3 one, Vector3 two){
|
||||
double dx = Math.abs(one.x - two.x);
|
||||
double dy = Math.abs(one.y - two.y);
|
||||
double dz = Math.abs(one.z - two.z);
|
||||
|
||||
double max = Math.max(dx, dz);
|
||||
double min = Math.min(dx, dz);
|
||||
|
||||
return 0.414 * min + max + dy;
|
||||
}*/
|
||||
|
||||
@Override
|
||||
public synchronized void resetNodes(){
|
||||
super.resetNodes();
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean research(){
|
||||
this.resetNodes();
|
||||
return this.search();
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isSearching(){
|
||||
return this.searching;
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isSuccess(){
|
||||
return this.succeed;
|
||||
}
|
||||
}
|
||||
46
src/main/java/cn/dxp/route/Grid.java
Normal file
46
src/main/java/cn/dxp/route/Grid.java
Normal file
@ -0,0 +1,46 @@
|
||||
package cn.dxp.route;
|
||||
|
||||
import cn.dxp.math.*;
|
||||
|
||||
import java.util.concurrent.ConcurrentHashMap;
|
||||
|
||||
public class Grid{
|
||||
private ConcurrentHashMap<Double, ConcurrentHashMap<Double, ConcurrentHashMap<Double, Node>>> grid =
|
||||
new ConcurrentHashMap<Double, ConcurrentHashMap<Double, ConcurrentHashMap<Double, Node>>>();
|
||||
|
||||
public void clear(){
|
||||
grid.clear();
|
||||
}
|
||||
|
||||
public void putNode(Node node){
|
||||
Vector3 vec = node.getVector3().floor();
|
||||
if(!grid.containsKey(vec.x)){
|
||||
grid.put(vec.x, new ConcurrentHashMap<Double, ConcurrentHashMap<Double, Node>>());
|
||||
}
|
||||
ConcurrentHashMap<Double, ConcurrentHashMap<Double, Node>> gx = grid.get(vec.x);
|
||||
if(!gx.containsKey(vec.y)){
|
||||
gx.put(vec.y, new ConcurrentHashMap<Double, Node>());
|
||||
}
|
||||
gx.get(vec.y).put(vec.z, node);
|
||||
}
|
||||
|
||||
public Node getNode(Vector3 vec){
|
||||
vec = vec.floor();
|
||||
if(!grid.containsKey(vec.x) || !grid.get(vec.x).containsKey(vec.y)
|
||||
|| !grid.get(vec.x).get(vec.y).containsKey(vec.z)){
|
||||
Node node = new Node(vec.x, vec.y, vec.z);
|
||||
this.putNode(node);
|
||||
return node;
|
||||
}
|
||||
return grid.get(vec.x).get(vec.y).get(vec.z);
|
||||
}
|
||||
|
||||
public boolean hasNode(Vector3 vec){
|
||||
vec = vec.floor();
|
||||
if(!grid.containsKey(vec.x) || !grid.get(vec.x).containsKey(vec.y)
|
||||
|| !grid.get(vec.x).get(vec.y).containsKey(vec.z)){
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
}
|
||||
64
src/main/java/cn/dxp/route/Node.java
Normal file
64
src/main/java/cn/dxp/route/Node.java
Normal file
@ -0,0 +1,64 @@
|
||||
package cn.dxp.route;
|
||||
|
||||
import cn.dxp.math.Vector3;
|
||||
|
||||
public class Node{
|
||||
private Node parent = null;
|
||||
public boolean closed = false;
|
||||
|
||||
private Vector3 node;
|
||||
public double f = -1;
|
||||
public double g = -1;
|
||||
|
||||
public Node(double x, double y, double z){
|
||||
this.node = new Vector3(x, y, z);
|
||||
}
|
||||
|
||||
public Node(Vector3 vec){
|
||||
if(vec == null){
|
||||
throw new IllegalArgumentException("Node cannot be null");
|
||||
}
|
||||
|
||||
this.node = new Vector3(vec.x, vec.y, vec.z);
|
||||
}
|
||||
|
||||
public Vector3 getVector3(){
|
||||
return new Vector3(node.x, node.y, node.z);
|
||||
}
|
||||
|
||||
public Vector3 getRawVector3(){
|
||||
return this.node;
|
||||
}
|
||||
|
||||
public double getX(){
|
||||
return this.node.x;
|
||||
}
|
||||
|
||||
public double getY(){
|
||||
return this.node.y;
|
||||
}
|
||||
|
||||
public double getZ(){
|
||||
return this.node.z;
|
||||
}
|
||||
|
||||
public void add(double x, double y, double z){
|
||||
this.node = this.node.add(x, y, z);
|
||||
}
|
||||
|
||||
public String toString(){
|
||||
return "Node (x=" + this.node.x + ", y=" + this.node.y + ", " + this.node.z + ")";
|
||||
}
|
||||
|
||||
public void setParent(Node node){
|
||||
this.parent = node;
|
||||
}
|
||||
|
||||
public Node getParent(){
|
||||
return this.parent;
|
||||
}
|
||||
|
||||
public boolean equals(Node node){
|
||||
return this.getVector3().equals(node.getVector3());
|
||||
}
|
||||
}
|
||||
127
src/main/java/cn/dxp/route/RouteFinder.java
Normal file
127
src/main/java/cn/dxp/route/RouteFinder.java
Normal file
@ -0,0 +1,127 @@
|
||||
package cn.dxp.route;
|
||||
|
||||
import cn.dxp.*;
|
||||
import cn.dxp.math.*;
|
||||
|
||||
import java.util.*;
|
||||
|
||||
public abstract class RouteFinder{
|
||||
private int current = 0;
|
||||
protected Vector3 destination = null, start = null;
|
||||
protected ArrayList<Node> nodes = new ArrayList<Node>();
|
||||
protected boolean forceStop = false;
|
||||
private boolean arrived = false;
|
||||
public long stopRouteFindUntil = System.currentTimeMillis();
|
||||
public boolean firstSearch = false;
|
||||
|
||||
public HashMap<Vector3, Integer> map;
|
||||
private Entity entity;
|
||||
public PhysicalRealTimeRouteFinder prtrf;
|
||||
public RouteTask rtask;
|
||||
public long startTime;
|
||||
|
||||
public RouteFinder(PhysicalRealTimeRouteFinder prtrf, HashMap<Vector3, Integer> m,
|
||||
Entity entity, int threadCount){
|
||||
this.map = m;
|
||||
this.entity = entity;
|
||||
this.prtrf = prtrf;
|
||||
}
|
||||
|
||||
public void setEntity(Entity e){
|
||||
this.entity = e;
|
||||
}
|
||||
|
||||
public Entity getEntity(){
|
||||
return this.entity;
|
||||
}
|
||||
|
||||
public void setStart(Vector3 start){
|
||||
this.start = start.clone();
|
||||
}
|
||||
|
||||
public Vector3 getStart(){
|
||||
return (this.firstSearch ?start : this.entity);
|
||||
}
|
||||
|
||||
public void setDestination(Vector3 destination){
|
||||
this.destination = destination.clone();
|
||||
}
|
||||
|
||||
public Vector3 getDestination(){
|
||||
return destination;
|
||||
}
|
||||
|
||||
protected void resetNodes(){
|
||||
this.nodes.clear();
|
||||
this.arrived = false;
|
||||
this.current = 0;
|
||||
}
|
||||
|
||||
public void forceStop(){
|
||||
this.forceStop = true;
|
||||
if(!this.isSearching()){
|
||||
this.forceStop = false;
|
||||
this.resetNodes();
|
||||
}
|
||||
}
|
||||
|
||||
public void addNode(Node node){
|
||||
this.nodes.add(node);
|
||||
}
|
||||
|
||||
public void addNodes(ArrayList<Node> node){
|
||||
this.nodes.addAll(node);
|
||||
}
|
||||
|
||||
public boolean hasNext(){
|
||||
return !this.arrived && nodes.size() > this.current + 1;
|
||||
}
|
||||
|
||||
public boolean next(){
|
||||
if(this.hasNext()){
|
||||
this.current++;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
public boolean hasReachedNode(Vector3 vec){
|
||||
Vector3 cur = this.get().getVector3();
|
||||
return vec.x == cur.x && vec.y == cur.y && vec.z == cur.z;
|
||||
}
|
||||
|
||||
public Node get(){
|
||||
if(nodes.size() == 0){
|
||||
if(this.getDestination() != null){
|
||||
return new Node(this.getDestination());
|
||||
}else{
|
||||
throw new IllegalStateException("There is no path found.");
|
||||
}
|
||||
}
|
||||
if(this.arrived)
|
||||
return null;
|
||||
return nodes.get(current);
|
||||
}
|
||||
|
||||
public void arrived(){
|
||||
this.current = 0;
|
||||
this.arrived = true;
|
||||
}
|
||||
|
||||
public boolean hasRoute(){
|
||||
return this.nodes.size() > 0;
|
||||
}
|
||||
|
||||
public void taskSearch(){
|
||||
this.rtask = new RouteTask(this);
|
||||
this.rtask.start();
|
||||
}
|
||||
|
||||
public abstract boolean search();
|
||||
|
||||
public abstract boolean research();
|
||||
|
||||
public abstract boolean isSearching();
|
||||
|
||||
public abstract boolean isSuccess();
|
||||
}
|
||||
34
src/main/java/cn/dxp/route/RouteTask.java
Normal file
34
src/main/java/cn/dxp/route/RouteTask.java
Normal file
@ -0,0 +1,34 @@
|
||||
package cn.dxp.route;
|
||||
|
||||
import java.util.*;
|
||||
|
||||
public class RouteTask extends Thread{
|
||||
|
||||
public RouteFinder route;
|
||||
|
||||
public RouteTask(RouteFinder route){
|
||||
this.route = route;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void run(){
|
||||
try{
|
||||
while(true){
|
||||
this.route.research();
|
||||
if(!this.route.isSuccess()){
|
||||
System.out.println("寻路超时");
|
||||
continue;
|
||||
}
|
||||
long usedTime = System.currentTimeMillis() - this.route.startTime;
|
||||
HashMap<String, Object> fdata = new HashMap<String, Object>();
|
||||
HashMap<String, Object> idata = new HashMap<String, Object>();
|
||||
idata.put("FrameCalculateTime", usedTime);
|
||||
fdata.put("Route", this.route.nodes);
|
||||
fdata.put("Info", idata);
|
||||
this.route.prtrf.addNewFrame(fdata);
|
||||
}
|
||||
}catch (Exception e){
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
BIN
target/PhysicalRealTimeRouteFinder-1.0-SNAPSHOT-shaded.jar
Normal file
BIN
target/PhysicalRealTimeRouteFinder-1.0-SNAPSHOT-shaded.jar
Normal file
Binary file not shown.
BIN
target/PhysicalRealTimeRouteFinder-1.0-SNAPSHOT.jar
Normal file
BIN
target/PhysicalRealTimeRouteFinder-1.0-SNAPSHOT.jar
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/PRTRF.class
Normal file
BIN
target/classes/cn/dxp/PRTRF.class
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/PhysicalRealTimeRouteFinder.class
Normal file
BIN
target/classes/cn/dxp/PhysicalRealTimeRouteFinder.class
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/map/MapGenerator.class
Normal file
BIN
target/classes/cn/dxp/map/MapGenerator.class
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/math/Entity.class
Normal file
BIN
target/classes/cn/dxp/math/Entity.class
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/math/Vector3.class
Normal file
BIN
target/classes/cn/dxp/math/Vector3.class
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/network/HttpSender$1.class
Normal file
BIN
target/classes/cn/dxp/network/HttpSender$1.class
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/network/HttpSender.class
Normal file
BIN
target/classes/cn/dxp/network/HttpSender.class
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/route/AdvancedRouteFinder.class
Normal file
BIN
target/classes/cn/dxp/route/AdvancedRouteFinder.class
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/route/Grid.class
Normal file
BIN
target/classes/cn/dxp/route/Grid.class
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/route/Node.class
Normal file
BIN
target/classes/cn/dxp/route/Node.class
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/route/RouteFinder.class
Normal file
BIN
target/classes/cn/dxp/route/RouteFinder.class
Normal file
Binary file not shown.
BIN
target/classes/cn/dxp/route/RouteTask.class
Normal file
BIN
target/classes/cn/dxp/route/RouteTask.class
Normal file
Binary file not shown.
5
target/maven-archiver/pom.properties
Normal file
5
target/maven-archiver/pom.properties
Normal file
@ -0,0 +1,5 @@
|
||||
#Generated by Maven
|
||||
#Mon May 10 14:25:53 CST 2021
|
||||
groupId=cn.dxp
|
||||
artifactId=PhysicalRealTimeRouteFinder
|
||||
version=1.0-SNAPSHOT
|
||||
@ -0,0 +1,11 @@
|
||||
e:\PhysicalRealTimeRouteFinder\src\main\java\cn\dxp\PRTRF.java
|
||||
e:\PhysicalRealTimeRouteFinder\src\main\java\cn\dxp\route\Grid.java
|
||||
e:\PhysicalRealTimeRouteFinder\src\main\java\cn\dxp\route\AdvancedRouteFinder.java
|
||||
e:\PhysicalRealTimeRouteFinder\src\main\java\cn\dxp\route\RouteTask.java
|
||||
e:\PhysicalRealTimeRouteFinder\src\main\java\cn\dxp\math\Vector3.java
|
||||
e:\PhysicalRealTimeRouteFinder\src\main\java\cn\dxp\network\HttpSender.java
|
||||
e:\PhysicalRealTimeRouteFinder\src\main\java\cn\dxp\route\Node.java
|
||||
e:\PhysicalRealTimeRouteFinder\src\main\java\cn\dxp\PhysicalRealTimeRouteFinder.java
|
||||
e:\PhysicalRealTimeRouteFinder\src\main\java\cn\dxp\route\RouteFinder.java
|
||||
e:\PhysicalRealTimeRouteFinder\src\main\java\cn\dxp\map\MapGenerator.java
|
||||
e:\PhysicalRealTimeRouteFinder\src\main\java\cn\dxp\math\Entity.java
|
||||
@ -0,0 +1 @@
|
||||
cn\dxp\AppTest.class
|
||||
@ -0,0 +1 @@
|
||||
E:\PhysicalRealTimeRouteFinder\src\test\java\cn\dxp\AppTest.java
|
||||
BIN
target/original-PhysicalRealTimeRouteFinder-1.0-SNAPSHOT.jar
Normal file
BIN
target/original-PhysicalRealTimeRouteFinder-1.0-SNAPSHOT.jar
Normal file
Binary file not shown.
69
target/surefire-reports/TEST-cn.dxp.AppTest.xml
Normal file
69
target/surefire-reports/TEST-cn.dxp.AppTest.xml
Normal file
@ -0,0 +1,69 @@
|
||||
<?xml version="1.0" encoding="UTF-8" ?>
|
||||
<testsuite tests="1" failures="0" name="cn.dxp.AppTest" time="0.002" errors="0" skipped="0">
|
||||
<properties>
|
||||
<property name="java.runtime.name" value="Java(TM) SE Runtime Environment"/>
|
||||
<property name="java.vm.version" value="11.0.8+10-LTS"/>
|
||||
<property name="sun.boot.library.path" value="D:\Java\bin"/>
|
||||
<property name="maven.multiModuleProjectDirectory" value="E:\PhysicalRealTimeRouteFinder"/>
|
||||
<property name="java.vm.vendor" value="Oracle Corporation"/>
|
||||
<property name="java.vendor.url" value="https://openjdk.java.net/"/>
|
||||
<property name="guice.disable.misplaced.annotation.check" value="true"/>
|
||||
<property name="path.separator" value=";"/>
|
||||
<property name="java.vm.name" value="Java HotSpot(TM) 64-Bit Server VM"/>
|
||||
<property name="sun.os.patch.level" value=""/>
|
||||
<property name="user.script" value=""/>
|
||||
<property name="user.country" value="CN"/>
|
||||
<property name="sun.java.launcher" value="SUN_STANDARD"/>
|
||||
<property name="java.vm.specification.name" value="Java Virtual Machine Specification"/>
|
||||
<property name="user.dir" value="E:\PhysicalRealTimeRouteFinder"/>
|
||||
<property name="java.vm.compressedOopsMode" value="Zero based"/>
|
||||
<property name="java.runtime.version" value="11.0.8+10-LTS"/>
|
||||
<property name="java.awt.graphicsenv" value="sun.awt.Win32GraphicsEnvironment"/>
|
||||
<property name="os.arch" value="amd64"/>
|
||||
<property name="java.io.tmpdir" value="C:\Users\Dxp\AppData\Local\Temp\"/>
|
||||
<property name="line.separator" value="
|
||||
"/>
|
||||
<property name="java.vm.specification.vendor" value="Oracle Corporation"/>
|
||||
<property name="user.variant" value=""/>
|
||||
<property name="os.name" value="Windows 10"/>
|
||||
<property name="classworlds.conf" value="D:\Maven\bin\..\bin\m2.conf"/>
|
||||
<property name="sun.jnu.encoding" value="GBK"/>
|
||||
<property name="java.library.path" value="D:\Java\bin;C:\WINDOWS\Sun\Java\bin;C:\WINDOWS\system32;C:\WINDOWS;C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.0\bin;C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.0\libnvvp;;C:\Program Files (x86)\Common Files\Intel\Shared Libraries\redist\intel64\compiler;C:\Program Files\Common Files\Oracle\Java\javapath;C:\Windows\system32;C:\Windows;C:\Windows\System32\Wbem;C:\Windows\System32\WindowsPowerShell\v1.0\;C:\Windows\System32\OpenSSH\;C:\Program Files\NVIDIA Corporation\NVIDIA NvDLISR;C:\Program Files (x86)\NVIDIA Corporation\PhysX\Common;D:\Java\bin;D:\Java\jre\bin;D:\Maven\bin;C:\Program Files (x86)\Windows Kits\8.1\Windows Performance Toolkit\;C:\WINDOWS\system32;C:\WINDOWS;C:\WINDOWS\System32\Wbem;C:\WINDOWS\System32\WindowsPowerShell\v1.0\;C:\WINDOWS\System32\OpenSSH\;D:\putty\;C:\Users\Dxp\AppData\Local\Programs\Python\Python39-32\Scripts\;C:\Users\Dxp\AppData\Local\Programs\Python\Python39-32\;C:\Users\Dxp\AppData\Local\Microsoft\WindowsApps;C:\Users\Dxp\AppData\Local\Temp\Astcenc;;C:\Users\Dxp\AppData\Local\Microsoft\WindowsApps;D:\Microsoft VS Code\bin;."/>
|
||||
<property name="maven.conf" value="D:\Maven\bin\../conf"/>
|
||||
<property name="jdk.debug" value="release"/>
|
||||
<property name="java.class.version" value="55.0"/>
|
||||
<property name="java.specification.name" value="Java Platform API Specification"/>
|
||||
<property name="sun.management.compiler" value="HotSpot 64-Bit Tiered Compilers"/>
|
||||
<property name="os.version" value="10.0"/>
|
||||
<property name="library.jansi.path" value="D:\Maven\bin\..\lib\jansi-native"/>
|
||||
<property name="user.home" value="C:\Users\Dxp"/>
|
||||
<property name="user.timezone" value="Asia/Shanghai"/>
|
||||
<property name="java.awt.printerjob" value="sun.awt.windows.WPrinterJob"/>
|
||||
<property name="file.encoding" value="GBK"/>
|
||||
<property name="java.specification.version" value="11"/>
|
||||
<property name="user.name" value="Dxp"/>
|
||||
<property name="java.class.path" value="D:\Maven\bin\..\boot\plexus-classworlds-2.6.0.jar"/>
|
||||
<property name="java.vm.specification.version" value="11"/>
|
||||
<property name="sun.arch.data.model" value="64"/>
|
||||
<property name="sun.java.command" value="org.codehaus.plexus.classworlds.launcher.Launcher package"/>
|
||||
<property name="java.home" value="D:\Java"/>
|
||||
<property name="user.language" value="zh"/>
|
||||
<property name="java.specification.vendor" value="Oracle Corporation"/>
|
||||
<property name="awt.toolkit" value="sun.awt.windows.WToolkit"/>
|
||||
<property name="java.vm.info" value="mixed mode"/>
|
||||
<property name="java.version" value="11.0.8"/>
|
||||
<property name="java.vendor" value="Oracle Corporation"/>
|
||||
<property name="sun.stderr.encoding" value="ms936"/>
|
||||
<property name="maven.home" value="D:\Maven\bin\.."/>
|
||||
<property name="file.separator" value="\"/>
|
||||
<property name="java.version.date" value="2020-07-14"/>
|
||||
<property name="java.vendor.url.bug" value="https://bugreport.java.com/bugreport/"/>
|
||||
<property name="sun.io.unicode.encoding" value="UnicodeLittle"/>
|
||||
<property name="sun.cpu.endian" value="little"/>
|
||||
<property name="java.vendor.version" value="18.9"/>
|
||||
<property name="sun.stdout.encoding" value="ms936"/>
|
||||
<property name="sun.desktop" value="windows"/>
|
||||
<property name="sun.cpu.isalist" value="amd64"/>
|
||||
</properties>
|
||||
<testcase classname="cn.dxp.AppTest" name="testApp" time="0.002"/>
|
||||
</testsuite>
|
||||
4
target/surefire-reports/cn.dxp.AppTest.txt
Normal file
4
target/surefire-reports/cn.dxp.AppTest.txt
Normal file
@ -0,0 +1,4 @@
|
||||
-------------------------------------------------------------------------------
|
||||
Test set: cn.dxp.AppTest
|
||||
-------------------------------------------------------------------------------
|
||||
Tests run: 1, Failures: 0, Errors: 0, Skipped: 0, Time elapsed: 0.012 sec
|
||||
Loading…
x
Reference in New Issue
Block a user