fixed grid factory issue with stairs

added some sanity checks

grid/GridNode.h

@@ -54,6 +54,7 @@ public:
 
 	static const uint8_t TYPE_OUTDOOR = 100;
 
+
 public:
 
 	/** ctor */

grid/factory/v2/GridFactory.h

@@ -42,6 +42,8 @@ private:
 	Elevators<T> elevators;
 
 
+	std::vector<GridPoint> withinRemovePolygon;
+
 	bool _buildStairs = true;
 	bool _removeIsolated = true;
 
@@ -60,6 +62,14 @@ public:
 	void setRemoveIsolated(const bool remove) {this->_removeIsolated = remove;}
 
 
+	/** does the given grid-node have a stair-neighbor? */
+	bool hasStairNeighbor(const T& node) const {
+		for (const T& n : grid.neighbors(node)) {
+			if (n.getType() == GridNode::TYPE_STAIR) {return true;}
+		}
+		return false;
+	}
+
 	/** build using the given map */
 	void build(const Floorplan::IndoorMap* map, GridFactoryListener* listener = nullptr) {
 
@@ -93,6 +103,27 @@ public:
 			}
 		}
 
+		// remove nodes within remove-OutlinePolygons
+		// this must happen AFTER stairs have been added, otherwise stairs might not be connectable due to removed/missing nodes.
+		// also, within this loop we prevent the deltion of nodes that are a direct neighbor of a stair!
+		// [otherwise the same thing would happen again!]
+		if (true) {
+
+			for (const GridPoint& gp : withinRemovePolygon) {
+				T* n = (T*) grid.getNodePtrFor(gp);
+
+				// delete if node is present and is no direct neighbor of a stair
+				if (n && !hasStairNeighbor(*n)) {
+					grid.remove(*n);
+				}
+
+			}
+
+			// remove all nodes that were just marked for removal
+			grid.cleanup();
+
+		}
+
 		// remove isolated nodes
 		if (_removeIsolated) {
 			if (listener) {listener->onGridBuildUpdateMajor("removing isolated nodes");}
@@ -114,31 +145,36 @@ public:
 		return bb;
 	}
 
-	enum class PartOfOutline {
-		NO,
-		INDOOR,
-		OUTDOOR,
+	struct PartOfOutline {
+		bool contained = false;			// contained within at-least one polygon?
+		bool markedForRemove = false;	// part of a "to-be-removed" polygon?
+		bool outdoor = false;			// otherwise: indoor
 	};
 
 	/** get the part of outline the given location belongs to. currently: none, indoor, outdoor */
 	static PartOfOutline isPartOfFloorOutline(const int x_cm, const int y_cm, const Floorplan::FloorOutline& outline) {
 
 		// assume the point is not part of the outline
-		PartOfOutline res = PartOfOutline::NO;
+		PartOfOutline res;
+		res.contained = false;
+		res.markedForRemove = false;
 
 		// process every outline polygon
 		for (Floorplan::FloorOutlinePolygon* poly : outline) {
 			HelperPoly pol(*poly);
 			if (pol.contains(Point2(x_cm, y_cm))) {
 
+				// mark as "contained"
+				res.contained = true;
+
 				// belongs to a "remove" polygon? -> directly ignore this location!
 				if (poly->method == Floorplan::OutlineMethod::REMOVE) {
-					return PartOfOutline::NO;
+					res.markedForRemove = true;
 				}
 
 				// belongs to a "add" polygon? -> remember until all polygons were checked
 				// [might still belong to a "remove" polygon]
-				res = poly->outdoor ? PartOfOutline::OUTDOOR : PartOfOutline::INDOOR;
+				res.outdoor = poly->outdoor;
 
 			}
 		}
@@ -173,7 +209,7 @@ public:
 
 				// does the outline-polygon contain this position?
 				const PartOfOutline part = isPartOfFloorOutline(x_cm, y_cm, floor->outline);
-				if (part == PartOfOutline::NO) {continue;}
+				if (!part.contained) {continue;}
 
 				// check intersection with the floorplan
 				GridNodeBBox bbox(GridPoint(x_cm, y_cm, z_cm), helper.gridSize());
@@ -188,6 +224,11 @@ public:
 				updateType(t, part, bbox, floor);
 				grid.add(t);
 
+				// node part of remove-region?
+				// if so, remove >>AFTER<< stairs have been added
+				if (part.markedForRemove) {
+					withinRemovePolygon.push_back(t);
+				}
 
 				// debug
 				++numNodes;
@@ -395,7 +436,19 @@ public:
 		Log::add(name, "removing all nodes NOT connected to " + (std::string) n1, false);
 		Log::tick();
 		for (T& n2 : grid) {
-			if (set.find(n2.getIdx()) == set.end()) {grid.remove(n2);}
+			if (set.find(n2.getIdx()) == set.end()) {
+
+				// sanity check
+				// wouldn't make sense that a stair-node is removed..
+				// maybe something went wrong elsewhere???
+				Assert::notEqual(n2.getType(), GridNode::TYPE_STAIR, "detected an isolated stair?!");
+				Assert::notEqual(n2.getType(), GridNode::TYPE_ELEVATOR, "detected an isolated elevator?!");
+				//Assert::notEqual(n2.getType(), GridNode::TYPE_DOOR, "detected an isolated door?!");
+
+				// proceed ;)
+				grid.remove(n2);
+
+			}
 		}
 		Log::tock();
 
@@ -510,10 +563,10 @@ private:
 	static inline void updateType(T& t, const PartOfOutline part, const GridNodeBBox& bbox, const Floorplan::Floor* floor) {
 
 		// first, assume the type of the outline polygon
-		switch (part) {
-			case PartOfOutline::OUTDOOR:	t.setType(GridNode::TYPE_OUTDOOR); break;
-			case PartOfOutline::INDOOR:		t.setType(GridNode::TYPE_FLOOR); break;
-			default:						throw Exception("should not happen");
+		if (part.outdoor) {
+			t.setType(GridNode::TYPE_OUTDOOR);
+		} else {
+			//t.setType(GridNode::TYPE_FLOOR);
 		}
 
 		// hereafter, process each obstacle and mark doors

grid/factory/v2/Stairs2.h

@@ -157,18 +157,24 @@ public:
 				// remember the z-position of the already-existing grid-node we connected the stair to
 				connectedWithHeights.insert(grid[sn.gridIdx].z_cm);
 
+				// mark the node as stair-node
+				//grid[sn.gridIdx].setType(GridNode::TYPE_STAIR);
+
 			} else  {
 
 				sn.gridIdx = grid.add(T(gp.x_cm, gp.y_cm, gp.z_cm));
 
 				// check if there is a nearby floor-node to delete
+				// -> remove nodes directly above/below the stair
 				const int deleteDist_cm = 100;
 				const float distToBelow = gp.z_cm - floor->getStartingZ()*100;
 				const float distToAbove = floor->getEndingZ()*100 - gp.z_cm;
-				if (distToBelow > gs_cm && distToBelow < deleteDist_cm) {
+				//if (distToBelow > gs_cm && distToBelow < deleteDist_cm) {
+				if (distToBelow > 0 && distToBelow < deleteDist_cm) {
 					T* n = (T*) grid.getNodePtrFor(GridPoint(gp.x_cm, gp.y_cm, floor->getStartingZ()*100));
 					if (n) {toDelete.push_back(n);}
-				} else if (distToAbove > gs_cm && distToAbove < deleteDist_cm) {
+				//} else if (distToAbove > gs_cm && distToAbove < deleteDist_cm) {
+				} else if (distToAbove > 0 && distToAbove < deleteDist_cm) {
 					T* n = (T*) grid.getNodePtrFor(GridPoint(gp.x_cm, gp.y_cm, floor->getEndingZ()*100));
 					if (n) {toDelete.push_back(n);}
 				}
@@ -181,7 +187,11 @@ public:
 		}
 
 		// sanity check
-		Assert::isTrue(connectedWithHeights.size() == 2, "stair is not correctly connected to starting and ending floor!");
+		// connectedWithHeights should contain 2 entries:
+		// one for the starting floor
+		// one for the ending floor
+		// this mainly fails, when there is a REMOVING outline-area that removes to many nodes and the stair can not be connected
+	Assert::isTrue(connectedWithHeights.size() == 2, "stair is not correctly connected to starting and ending floor!");
 
 		// now connect all new nodes with their neighbors
 		// do not perform normal grid-connection but examine the nodes within the generated vector
@@ -225,6 +235,9 @@ public:
 
 	void finalize() {
 
+		//std::cout << "stairs.finalize() crashes!" << std::endl;
+		//return;
+
 		// delete all pending nodes and perform a cleanup
 		if (!toDelete.empty()) {
 			for (T* n : toDelete) {grid.remove(*n);}