FHWS/Indoor
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worked on nav-mesh

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added dijkstra support for nav mesh
some minor changes to distributions
minor fixes
This commit is contained in:
k-a-z-u
2018-01-17 16:36:37 +01:00
parent e81e8c112d
commit 3c72bc814c
15 changed files with 696 additions and 48 deletions
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34
navMesh/NavMeshDebug.h
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@@ -9,9 +9,12 @@
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
#include <KLib/misc/gnuplot/objects/GnuplotObjectPolygon.h>
#include "../math/Distributions.h"
namespace NM {
class NavMeshTriangleDijkstra;
/**
* debug plot NavMeshes
*/
@@ -25,6 +28,7 @@ namespace NM {
K::GnuplotSplotElementPoints border;
K::GnuplotSplotElementColorPoints particles;
K::GnuplotSplotElementLines pathEstimated;
K::GnuplotSplotElementColorPoints distances;
private:
@@ -45,7 +49,7 @@ namespace NM {
plot.add(&border);
plot.add(&particles); particles.setPointType(7); particles.setPointSize(0.2);
plot.add(&pathEstimated); pathEstimated.getStroke().setWidth(2); pathEstimated.setShowPoints(false); pathEstimated.getStroke().getColor().setHexStr("#00ff00");
plot.add(&distances); distances.setPointSize(2); distances.setPointType(7);
}
void draw() {
@@ -112,6 +116,34 @@ namespace NM {
}
template <typename Tria> void addDijkstra(NavMesh<Tria>& mesh) {
// ensure Tria extends NavMeshTriangleDijkstra
StaticAssert::AinheritsB<Tria, NavMeshTriangleDijkstra>();
NavMeshRandom<Tria> rnd = mesh.getRandom();
for (int i = 0; i < 900; ++i) {
NavMeshLocation<Tria> loc = rnd.draw();
float v = loc.tria->interpolate(loc.pos, loc.tria->distAtP1, loc.tria->distAtP2, loc.tria->distAtP3);
distances.add(K::GnuplotPoint3(loc.pos.x, loc.pos.y, loc.pos.z), v);
}
// Distribution::Uniform<float> dist (-0.5, +0.5);
// for (const Tria* t : mesh) {
// const Point3 posC = t->getCenter();
// distances.add(K::GnuplotPoint3(posC.x+dist.draw(), posC.y+dist.draw(), posC.z), t->distAtCenter);
// const Point3 pos1 = t->getP1();
// distances.add(K::GnuplotPoint3(pos1.x+dist.draw(), pos1.y+dist.draw(), pos1.z), t->distAtP1);
// const Point3 pos2 = t->getP2();
// distances.add(K::GnuplotPoint3(pos2.x+dist.draw(), pos2.y+dist.draw(), pos2.z), t->distAtP2);
// const Point3 pos3 = t->getP3();
// distances.add(K::GnuplotPoint3(pos3.x+dist.draw(), pos3.y+dist.draw(), pos3.z), t->distAtP3);
// }
}
void setGT(const Point3 pt) {
gp << "set arrow 31337 from " << pt.x << "," << pt.y << "," << (pt.z+1.4) << " to " << pt.x << "," << pt.y << "," << pt.z << " front \n";