FHWS/Indoor
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some refactorings/fixes

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worked on nav-mesh stuff
new tests
This commit is contained in:
k-a-z-u
2018-01-24 11:27:11 +01:00
parent c9d02d440a
commit 1a1f249e9b
10 changed files with 70 additions and 264 deletions
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18
navMesh/walk/NavMeshWalkEval.h
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@@ -47,7 +47,7 @@ namespace NM {
/**
* evaluate the difference between head(start,end) and the requested heading
*/
template <typename Tria> class WalkEvalHeadingStartEnd : public NavMeshWalkEval<Tria> {
template <typename Tria> class WalkEvalHeadingStartEndVonMises : public NavMeshWalkEval<Tria> {
const double sigma_rad;
const double kappa;
@@ -58,7 +58,7 @@ namespace NM {
// kappa = 1/var = 1/sigma^2
// https://en.wikipedia.org/wiki/Von_Mises_distribution
WalkEvalHeadingStartEnd(const double sigma_rad = 0.04) :
WalkEvalHeadingStartEndVonMises(const double sigma_rad = 0.04) :
sigma_rad(sigma_rad), kappa(1.0/(sigma_rad*sigma_rad)), _dist(0, kappa), dist(_dist.getLUT()) {
;
}
@@ -144,10 +144,14 @@ namespace NM {
*/
template <typename Tria> class WalkEvalApproachesTarget : public NavMeshWalkEval<Tria> {
const double p = 0.65;
const double p;
public:
WalkEvalApproachesTarget(const double pApproaching = 0.65) : p(pApproaching) {
;
}
virtual double getProbability(const NavMeshPotentialWalk<Tria>& walk) const override {
// sanity check
@@ -156,10 +160,12 @@ namespace NM {
const NavMeshLocation<Tria> locStart = walk.requested.start;
const NavMeshLocation<Tria> locEnd = walk.end;
const float distFromNew = locEnd.tria->getDistanceToDestination<Tria>(locEnd.pos);
const float distFromOld = locStart.tria->getDistanceToDestination<Tria>(locStart.pos);
const float distFromNew = locEnd.tria-> template getDistanceToDestination<Tria>(locEnd.pos);
const float distFromOld = locStart.tria-> template getDistanceToDestination<Tria>(locStart.pos);
return (distFromNew <= distFromOld) ? (p) : (1.0 - p);
const double pRemain = 1.0 / (2+distFromNew);
return ((distFromNew <= distFromOld) ? (p) : (1.0 - p)) + std::pow(pRemain, 0.2);
}