/polygon-patrol-movement/polygon-patrol-movement.lsl |
@@ -0,0 +1,557 @@ |
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) Wizardry and Steamworks 2014 - License: GNU GPLv3 // |
/////////////////////////////////////////////////////////////////////////// |
// |
// This is an automatic teleporter, and patrol script for the Corrade |
// Second Life / OpenSim bot. You can find more details about the bot |
// by following the URL: http://was.fm/secondlife/scripted_agents/corrade |
// |
// The purpose of this script is to demonstrate patroling with Corrade and |
// you are free to use, change, and commercialize it under the GNU/GPLv3 |
// license which can be found at: http://www.gnu.org/licenses/gpl.html |
// |
/////////////////////////////////////////////////////////////////////////// |
|
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) 2014 Wizardry and Steamworks - License: GNU GPLv3 // |
/////////////////////////////////////////////////////////////////////////// |
string wasKeyValueGet(string k, string data) { |
if(llStringLength(data) == 0) return ""; |
if(llStringLength(k) == 0) return ""; |
list a = llParseString2List(data, ["&", "="], []); |
integer i = llListFindList(a, [ k ]); |
if(i != -1) return llList2String(a, i+1); |
return ""; |
} |
|
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) 2013 Wizardry and Steamworks - License: GNU GPLv3 // |
/////////////////////////////////////////////////////////////////////////// |
string wasKeyValueEncode(list data) { |
list k = llList2ListStrided(data, 0, -1, 2); |
list v = llList2ListStrided(llDeleteSubList(data, 0, 0), 0, -1, 2); |
data = []; |
do { |
data += llList2String(k, 0) + "=" + llList2String(v, 0); |
k = llDeleteSubList(k, 0, 0); |
v = llDeleteSubList(v, 0, 0); |
} while(llGetListLength(k) != 0); |
return llDumpList2String(data, "&"); |
} |
|
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) 2013 Wizardry and Steamworks - License: GNU GPLv3 // |
/////////////////////////////////////////////////////////////////////////// |
list wasDualQuicksort(list a, list b) { |
if(llGetListLength(a) <= 1) return a+b; |
|
float pivot_a = llList2Float(a, 0); |
a = llDeleteSubList(a, 0, 0); |
vector pivot_b = llList2Vector(b, 0); |
b = llDeleteSubList(b, 0, 0); |
|
list less = []; |
list less_b = []; |
list more = []; |
list more_b = []; |
|
do { |
if(llList2Float(a, 0) > pivot_a) { |
less += llList2List(a, 0, 0); |
less_b += llList2List(b, 0, 0); |
jump continue; |
} |
more += llList2List(a, 0, 0); |
more_b += llList2List(b, 0, 0); |
@continue; |
a = llDeleteSubList(a, 0, 0); |
b = llDeleteSubList(b, 0, 0); |
} while(llGetListLength(a)); |
return wasDualQuicksort(less, less_b) + [ pivot_a ] + [ pivot_b ] + wasDualQuicksort(more, more_b); |
} |
|
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) 2014 Wizardry and Steamworks - License: GNU GPLv3 // |
/////////////////////////////////////////////////////////////////////////// |
// determines whether the segment AB intersects the segment CD |
integer wasSegmentIntersect(vector A, vector B, vector C, vector D) { |
vector s1 = <B.x - A.x, B.y - A.y, B.z - A.z>; |
vector s2 = <D.x - C.x, D.y - C.y, D.y - C.z>; |
|
float d = (s1.x * s2.y -s2.x * s1.y); |
|
if(d == 0) return FALSE; |
|
float s = (s1.x * (A.y - C.y) - s1.y * (A.x - C.x)) / d; |
float t = (s2.x * (A.y - C.y) - s2.y * (A.x - C.x)) / d; |
|
// intersection at <A.x + (t * s1.x), A.y + (t * s1.y), A.z + (t * s1.z)>; |
return (integer)(s >= 0 && s <= 1 && t >= 0 && t <= 1 && |
A.z + t*(B.z - A.z) == C.z + s*(D.z - C.z)); |
} |
|
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) 2013 Wizardry and Steamworks - License: GNU GPLv3 // |
// www.ecse.rpi.edu/Homepages/wrf/Research/Short_Notes/pnpoly.html // |
/////////////////////////////////////////////////////////////////////////// |
integer wasPointInPolygon(vector p, list polygon) { |
integer inside = FALSE; |
integer i = 0; |
integer nvert = llGetListLength(polygon); |
integer j = nvert-1; |
do { |
vector pi = llList2Vector(polygon, i); |
vector pj = llList2Vector(polygon, j); |
if ((pi.y > p.y) != (pj.y > p.y)) |
if(p.x < (pj.x - pi.x) * (p.y - pi.y) / (pj.y - pi.y) + pi.x) |
inside = !inside; |
j = i++; |
} while(i<nvert); |
return inside; |
} |
|
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) 2013 Wizardry and Steamworks - License: GNU GPLv3 // |
// www.ecse.rpi.edu/Homepages/wrf/Research/Short_Notes/pnpoly.html // |
/////////////////////////////////////////////////////////////////////////// |
list wasPointToPolygon(list polygon, vector point) { |
integer i = llGetListLength(polygon)-1; |
list l = []; |
do { |
l = llListInsertList(l, (list)llVecDist(point, llList2Vector(polygon, i)), 0); |
} while(--i>-1); |
l = wasDualQuicksort(l, polygon); |
return [llList2Float(l, 0), llList2Vector(l, 1)]; |
|
} |
|
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) 2013 Wizardry and Steamworks - License: GNU GPLv3 // |
// www.ecse.rpi.edu/Homepages/wrf/Research/Short_Notes/pnpoly.html // |
/////////////////////////////////////////////////////////////////////////// |
vector wasPolygonCentroid(list polygon, vector start, float tollerance, integer power) { |
// calculate the distance to the point farthest away from the start. |
list wpf = wasPointToPolygon(polygon, start); |
float dist = llList2Float(wpf, 0); |
vector next = llList2Vector(wpf, 1); |
|
// now calculate the next jump point |
next = start + ((dist/power)/dist) * (next-start); |
|
// if it falls withing the tollerance range, return it; |
if(llVecMag(start-next) < tollerance) return next; |
return wasPolygonCentroid(polygon, next, tollerance, power*power); |
} |
|
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) 2011 Wizardry and Steamworks - License: GNU GPLv3 // |
/////////////////////////////////////////////////////////////////////////// |
vector wasCirclePoint(float radius) { |
float x = llPow(-1, 1 + (integer) llFrand(2)) * llFrand(radius*2); |
float y = llPow(-1, 1 + (integer) llFrand(2)) * llFrand(radius*2); |
if(llPow(x,2) + llPow(y,2) <= llPow(radius,2)) |
return <x, y, 0>; |
return wasCirclePoint(radius); |
} |
|
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) 2011 Wizardry and Steamworks - License: GNU GPLv3 // |
/////////////////////////////////////////////////////////////////////////// |
vector wasPolygonPoint(list polygon) { |
vector c = wasPolygonCentroid(polygon, llList2Vector(polygon, 0), 0.05, 2); |
float r = llList2Float(wasPointToPolygon(polygon, c), 0); |
vector d; |
do { |
d = c + wasCirclePoint(r); |
} while(wasPointInPolygon(d, polygon) == FALSE); |
return d; |
} |
|
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) 2015 Wizardry and Steamworks - License: GNU GPLv3 // |
/////////////////////////////////////////////////////////////////////////// |
// determines whether the path between the current positon m and the |
// computed next position d will intersect any two sides of the polygon |
vector wasPolygonPath(vector m, list polygon) { |
integer c = llGetListLength(polygon) - 1; |
vector d = wasPolygonPoint(polygon); |
integer i = 0; |
do { |
vector s = llList2Vector(polygon, c); |
vector p = llList2Vector(polygon, c-1); |
// project in plane |
if(wasSegmentIntersect( |
<m.x, m.y, 0>, |
<d.x, d.y, 0>, |
<s.x, s.y, 0>, |
<p.x, p.y, 0>)) |
++i; |
} while(--c > 0); |
if(i > 1) return wasPolygonPath(m, polygon); |
return d; |
} |
|
/////////////////////////////////////////////////////////////////////////// |
// Copyright (C) 2015 Wizardry and Steamworks - License: GNU GPLv3 // |
/////////////////////////////////////////////////////////////////////////// |
// escapes a string in conformance with RFC1738 |
string wasURLEscape(string i) { |
string o = ""; |
do { |
string c = llGetSubString(i, 0, 0); |
i = llDeleteSubString(i, 0, 0); |
if(c == "") jump continue; |
if(c == " ") { |
o += "+"; |
jump continue; |
} |
if(c == "\n") { |
o += "%0D" + llEscapeURL(c); |
jump continue; |
} |
o += llEscapeURL(c); |
@continue; |
} while(i != ""); |
return o; |
} |
|
// corrade data |
string CORRADE = ""; |
string GROUP = ""; |
string PASSWORD = ""; |
float RADIUS = 0; |
float WAIT = 0; |
list POLYGON = []; |
|
// for holding Corrade's current location |
vector location = ZERO_VECTOR; |
|
// for holding the callback URL |
string callback = ""; |
|
// for notecard reading |
integer line = 0; |
|
// key-value data will be read into this list |
list tuples = []; |
|
default { |
state_entry() { |
if(llGetInventoryType("configuration") != INVENTORY_NOTECARD) { |
llOwnerSay("Sorry, could not find an inventory notecard."); |
return; |
} |
// DEBUG |
llOwnerSay("Reading configuration file..."); |
llGetNotecardLine("configuration", line); |
} |
dataserver(key id, string data) { |
if(data == EOF) { |
// invariant, length(tuples) % 2 == 0 |
if(llGetListLength(tuples) % 2 != 0) { |
llOwnerSay("Error in configuration notecard."); |
return; |
} |
CORRADE = llList2String( |
tuples, |
llListFindList( |
tuples, |
[ |
"corrade" |
] |
) |
+1); |
if(CORRADE == "") { |
llOwnerSay("Error in configuration notecard: corrade"); |
return; |
} |
GROUP = llList2String( |
tuples, |
llListFindList( |
tuples, |
[ |
"group" |
] |
) |
+1); |
if(GROUP == "") { |
llOwnerSay("Error in configuration notecard: group"); |
return; |
} |
PASSWORD = llList2String( |
tuples, |
llListFindList( |
tuples, |
[ |
"password" |
] |
) |
+1); |
if(PASSWORD == "") { |
llOwnerSay("Error in configuration notecard: password"); |
return; |
} |
|
// BEGIN POLYGON |
integer i = llGetListLength(tuples)-1; |
do { |
string n = llList2String(tuples, i); |
if(llSubStringIndex(n, "point_") != -1) { |
list l = llParseString2List(n, ["_"], []); |
if(llList2String(l, 0) == "point") { |
integer x = llList2Integer( |
l, |
1 |
)-1; |
// extend the polygon to the number of points |
while(llGetListLength(POLYGON) < x) |
POLYGON += ""; |
// and insert the point at the location |
POLYGON = llListReplaceList( |
POLYGON, |
(list)( |
(vector)( |
"<" + llList2CSV( |
llParseString2List( |
llList2String( |
tuples, |
llListFindList( |
tuples, |
(list)n |
) |
+1 |
), |
["<", ",", ">"], |
[] |
) |
) + ">") |
), |
x, |
x |
); |
} |
} |
} while(--i>-1); |
// now clean up any empty slots |
i = llGetListLength(POLYGON)-1; |
do { |
if(llList2String(POLYGON, i) == "") |
POLYGON = llDeleteSubList(POLYGON, i, i); |
} while(--i > -1); |
// END POLYGON |
|
WAIT = llList2Float( |
tuples, |
llListFindList( |
tuples, |
[ |
"wait" |
] |
) |
+1); |
if(WAIT == 0) { |
llOwnerSay("Error in configuration notecard: wait"); |
return; |
} |
// DEBUG |
llOwnerSay("Read configuration file..."); |
state url; |
} |
if(data == "") jump continue; |
integer i = llSubStringIndex(data, "#"); |
if(i != -1) data = llDeleteSubString(data, i, -1); |
list o = llParseString2List(data, ["="], []); |
// get rid of starting and ending quotes |
string k = llDumpList2String( |
llParseString2List( |
llStringTrim( |
llList2String( |
o, |
0 |
), |
STRING_TRIM), |
["\""], [] |
), "\""); |
string v = llDumpList2String( |
llParseString2List( |
llStringTrim( |
llList2String( |
o, |
1 |
), |
STRING_TRIM), |
["\""], [] |
), "\""); |
if(k == "" || v == "") jump continue; |
tuples += k; |
tuples += v; |
@continue; |
llGetNotecardLine("configuration", ++line); |
} |
on_rez(integer num) { |
llResetScript(); |
} |
changed(integer change) { |
if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) { |
llResetScript(); |
} |
} |
} |
|
state url { |
state_entry() { |
// DEBUG |
llOwnerSay("Requesting URL..."); |
llRequestURL(); |
} |
http_request(key id, string method, string body) { |
if(method != URL_REQUEST_GRANTED) return; |
callback = body; |
// DEBUG |
llOwnerSay("Got URL..."); |
state detect; |
} |
on_rez(integer num) { |
llResetScript(); |
} |
changed(integer change) { |
if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) { |
llResetScript(); |
} |
} |
} |
|
state detect { |
state_entry() { |
// DEBUG |
llOwnerSay("Detecting if Corrade is online..."); |
llSetTimerEvent(5); |
} |
timer() { |
llRequestAgentData((key)CORRADE, DATA_ONLINE); |
} |
dataserver(key id, string data) { |
if(data != "1") { |
// DEBUG |
llOwnerSay("Corrade is not online, sleeping..."); |
llSetTimerEvent(30); |
return; |
} |
llSensor("", (key)CORRADE, AGENT, 10, TWO_PI); |
} |
no_sensor() { |
// DEBUG |
llOwnerSay("Teleporting Corrade..."); |
llInstantMessage((key)CORRADE, |
wasKeyValueEncode( |
[ |
"command", "teleport", |
"group", wasURLEscape(GROUP), |
"password", wasURLEscape(PASSWORD), |
"entity", "region", |
"region", wasURLEscape(llGetRegionName()), |
"position", wasURLEscape( |
(string)( |
llGetPos() + wasCirclePoint(RADIUS) |
) |
), |
"callback", callback |
] |
) |
); |
llSensorRepeat("", (key)CORRADE, AGENT, 10, TWO_PI, 60); |
} |
sensor(integer num) { |
llSetTimerEvent(0); |
state wander; |
} |
http_request(key id, string method, string body) { |
llHTTPResponse(id, 200, "OK"); |
if(wasKeyValueGet("command", body) != "teleport" || |
wasKeyValueGet("success", body) != "True") { |
// DEBUG |
llOwnerSay("Teleport failed..."); |
return; |
} |
llSetTimerEvent(0); |
state wander; |
} |
on_rez(integer num) { |
llResetScript(); |
} |
changed(integer change) { |
if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) { |
llResetScript(); |
} |
} |
} |
|
state wander { |
state_entry() { |
// DEBUG |
llOwnerSay("Wandering ready..."); |
// initialize location from current location |
location = llGetPos(); |
llSetTimerEvent(1 + llFrand(WAIT)); |
} |
timer() { |
llRequestAgentData((key)CORRADE, DATA_ONLINE); |
} |
dataserver(key id, string data) { |
if(data != "1") { |
// DEBUG |
llOwnerSay("Corrade is not online, sleeping..."); |
llResetScript(); |
return; |
} |
// DEBUG |
//llOwnerSay("Sending stop..."); |
llInstantMessage(CORRADE, |
wasKeyValueEncode( |
[ |
"command", "autopilot", |
"group", wasURLEscape(GROUP), |
"password", wasURLEscape(PASSWORD), |
"action", "stop", |
"callback", wasURLEscape(callback) |
] |
) |
); |
} |
http_request(key id, string method, string body) { |
llHTTPResponse(id, 200, "OK"); |
if(wasKeyValueGet("command", body) != "autopilot" || |
wasKeyValueGet("success", body) != "True") { |
// DEBUG |
llOwnerSay("Could not get Corrade to stop, restarting script..."); |
llResetScript(); |
} |
// DEBUG |
llOwnerSay("Sending next move..."); |
// get the next location |
location = wasPolygonPath(location, POLYGON); |
vector pos = llGetPos(); |
llInstantMessage(CORRADE, |
wasKeyValueEncode( |
[ |
"command", "autopilot", |
"group", wasURLEscape(GROUP), |
"password", wasURLEscape(PASSWORD), |
"position", wasURLEscape( |
(string)(<location.x, location.y, pos.z>) |
), |
"action", "start" |
] |
) |
); |
llSetTimerEvent(1 + llFrand(WAIT)); |
} |
on_rez(integer num) { |
llResetScript(); |
} |
changed(integer change) { |
if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) { |
llResetScript(); |
} |
} |
} |