FHWS/Indoor
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merged duplicated code regarding GPCPolygon

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This commit is contained in:
Markus Bullmann
2018-04-04 09:37:05 +02:00
parent e6444ceeb7
commit 3b76c09986
5 changed files with 144 additions and 224 deletions
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115
navMesh/NavMeshFactory.h
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@@ -7,6 +7,7 @@
#include "../floorplan/v2/FloorplanHelper.h"
#include "../geo/ConvexHull2.h"
#include "../geo/GPCPolygon2.h"
#include "../wifi/estimate/ray3/OBJPool.h"
#include "NavMesh.h"
@@ -15,121 +16,11 @@
#include "NavMeshType.h"
#include "NavMeshSettings.h"
#include "../lib/gpc/gpc.cpp.h"
#include "../lib/Recast/Recast.h"
#include <string.h> // memset
namespace NM {
class NavMeshPoly {
struct GPCPolygon : gpc_polygon {
GPCPolygon() {
num_contours = 0;
contour = nullptr;
hole = nullptr;
}
~GPCPolygon() {
if (contour) {
gpc_free_polygon(this);
//free(contour->vertex); contour->vertex = nullptr;
}
free(contour); contour = nullptr;
free(hole); hole = nullptr;
}
GPCPolygon& operator = (const GPCPolygon& o) = delete;
GPCPolygon& operator = (GPCPolygon& o) {
this->contour = o.contour;
this->hole = o.hole;
this->num_contours = o.num_contours;
o.contour = nullptr;
o.hole = nullptr;
return *this;
}
};
private:
GPCPolygon state;
float z;
public:
NavMeshPoly(float z) : z(z) {
;
}
void add(const Floorplan::Polygon2& poly) {
GPCPolygon cur = toGPC(poly);
gpc_polygon_clip(GPC_UNION, &state, &cur, &state);
}
void remove(const Floorplan::Polygon2& poly) {
GPCPolygon cur = toGPC(poly);
gpc_polygon_clip(GPC_DIFF, &state, &cur, &state);
}
std::vector<std::vector<Point3>> get() {
gpc_tristrip res;
res.num_strips = 0;
res.strip = nullptr;
//res.strip = (gpc_vertex_list*) malloc(1024);
gpc_polygon_to_tristrip(&state, &res);
std::vector<std::vector<Point3>> trias;
for (int i = 0; i < res.num_strips; ++i) {
gpc_vertex_list lst = res.strip[i];
for (int j = 2; j < lst.num_vertices; ++j) {
std::vector<Point3> tria;
gpc_vertex& v1 = lst.vertex[j-2];
gpc_vertex& v2 = lst.vertex[j-1];
gpc_vertex& v3 = lst.vertex[j];
tria.push_back(Point3(v1.x, v1.y, z));
tria.push_back(Point3(v2.x, v2.y, z));
tria.push_back(Point3(v3.x, v3.y, z));
trias.push_back(tria);
}
}
gpc_free_tristrip(&res);
return std::move(trias);
}
private:
GPCPolygon toGPC(Floorplan::Polygon2 poly) {
std::vector<gpc_vertex> verts;
for (Point2 p2 : poly.points) {
gpc_vertex vert; vert.x = p2.x; vert.y = p2.y;
verts.push_back(vert);
}
GPCPolygon gpol;
gpc_vertex_list list;
list.num_vertices = verts.size();
list.vertex = verts.data();
gpc_add_contour(&gpol, &list, 0);
return gpol;
}
};
struct TriangleIn {
Point3 p1;
Point3 p2;
@@ -233,7 +124,7 @@ namespace NM {
// if this is a to-be-added polygon, add it
if (poly->method == Floorplan::OutlineMethod::ADD) {
NavMeshPoly nmPoly(floor->atHeight);
GPCPolygon2 nmPoly(floor->atHeight);
nmPoly.add(poly->poly);
// get all other polygons of this floor, that are tagged as "remove" and remove them (many will be outside of the added polygon)
@@ -302,7 +193,7 @@ namespace NM {
{
// add (overlay) all doors for tagging them within the plan
NavMeshPoly nmDoors(floor->atHeight);
GPCPolygon2 nmDoors(floor->atHeight);
for (Floorplan::FloorObstacle* obs : floor->obstacles) {
Floorplan::FloorObstacleDoor* door = dynamic_cast<Floorplan::FloorObstacleDoor*>(obs);
if (door != nullptr) {