worked on 3d models within map

adjusted grid factory
adjusted nav mesh factory
minoor changes/fixes
new helper classes
refactoring

math/distribution/NormalN.h

@@ -8,6 +8,8 @@
 
 #include "../../Assertions.h"
 #include "../random/RandomGenerator.h"
+#include "../../geo/Point2.h"
+#include "ChiSquared.h"
 
 namespace Distribution {
 
@@ -96,6 +98,43 @@ namespace Distribution {
                 return NormalDistributionN(mean, cov);
         }
 
+		std::vector<Point2> getContour2(const double percentWithin) {
+
+			const int degreesOfFreedom = 2;	// 2D distribution
+			const ChiSquared<double> chi(degreesOfFreedom);
+
+			// https://people.richland.edu/james/lecture/m170/tbl-chi.html
+			Assert::isNear(0.103, chi.getInvCDF(0.05), 0.01, "error within chi-squared distribution");
+			Assert::isNear(0.211, chi.getInvCDF(0.10), 0.01, "error within chi-squared distribution");
+			Assert::isNear(4.605, chi.getInvCDF(0.90), 0.01, "error within chi-squared distribution");
+			Assert::isNear(5.991, chi.getInvCDF(0.95), 0.03, "error within chi-squared distribution");
+
+			// size of the ellipse using confidence intervals
+			const float mul = chi.getInvCDF(percentWithin);
+
+			std::vector<Point2> res;
+
+			std::cout << sigma << std::endl;
+			Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> solver(this->sigma);
+
+			Eigen::Vector2d evec1 = solver.eigenvectors().col(0);
+			Eigen::Vector2d evec2 = solver.eigenvectors().col(1);
+
+			double eval1 = solver.eigenvalues()(0);
+			double eval2 = solver.eigenvalues()(1);
+
+			for (int deg = 0; deg <= 360; deg += 5) {
+				const float rad = deg / 180.0f * M_PI;
+				Eigen::Vector2d pos =
+						std::cos(rad) * std::sqrt(mul * eval1) * evec1 +
+						std::sin(rad) * std::sqrt(mul * eval2) * evec2;
+				res.push_back(Point2(pos(0), pos(1)));
+			}
+
+			return res;
+
+		}
+
     };
 
 }