worked on nav-mesh

added dijkstra support for nav mesh
some minor changes to distributions
minor fixes

navMesh/walk/NavMeshWalkSemiDirected.h

@@ -1,4 +1,128 @@
 #ifndef NAVMESHWALKSEMIDIRECTED_H
 #define NAVMESHWALKSEMIDIRECTED_H
 
+
+#include "../NavMesh.h"
+#include "../NavMeshLocation.h"
+#include "../../geo/Heading.h"
+
+#include "NavMeshSub.h"
+#include "NavMeshWalkParams.h"
+#include "NavMeshWalkEval.h"
+
+namespace NM {
+
+	template <typename Tria> class NavMeshWalkSemiDirected {
+
+	private:
+
+		const NavMesh<Tria>& mesh;
+
+		std::vector<NavMeshWalkEval<Tria>*> evals;
+
+	public:
+
+
+		/** single result */
+		struct ResultEntry {
+			NavMeshLocation<Tria> location;
+			Heading heading;
+			double probability;
+			ResultEntry() : heading(0) {;}
+		};
+
+		/** list of results */
+		using ResultList = std::vector<ResultEntry>;
+
+	public:
+
+		/** ctor */
+		NavMeshWalkSemiDirected(const NavMesh<Tria>& mesh) : mesh(mesh) {
+
+		}
+
+		/** add a new evaluator to the walker */
+		void addEvaluator(NavMeshWalkEval<Tria>* eval) {
+			this->evals.push_back(eval);
+		}
+
+
+
+		ResultEntry getOne(const NavMeshWalkParams<Tria>& params) {
+
+			ResultEntry re;
+
+			static Distribution::Uniform<float> dHead(-0.10, +0.10, 1337);
+			static Distribution::Uniform<float> dDist(-0.10, +0.10, 7331);
+
+			float impactHead = 1;
+			float impactDist = 1;
+			int runs = 0;
+
+			// construct reachable region once
+			// must be large enough to also contain increased distances!
+			const float searchRegion = 2.0 + params.getToBeWalkedDistance() * 1.1;
+			const NavMeshSub<Tria> reachable(params.start, searchRegion);
+
+			while(true) {
+
+				// not to be found.. plan B
+				if (++runs > 8) {
+					NM::NavMeshRandom<Tria> rnd = reachable.getRandom();
+					re.location = rnd.drawWithin(params.start.pos, params.getToBeWalkedDistance());
+					re.heading = Heading(params.start.pos.xy(), re.location.pos.xy());
+					break;
+				}
+
+				// to-be-walked distance;
+				const float modHead = dHead.draw() * impactHead;
+				const float modDist = dDist.draw() * impactDist;
+				impactHead += 3;
+				impactDist += 1.05;
+
+				const float toBeWalkedDist = params.getToBeWalkedDistance() + modDist;
+				const Heading head = params.heading + modHead;
+
+				if (toBeWalkedDist < 0.01)			{continue;}
+				if (toBeWalkedDist > searchRegion)	{continue;}
+
+				// get the to-be-reached destination's position (using start+distance+heading)
+				const Point2 dir = head.asVector();
+				const Point2 dst = params.start.pos.xy() + (dir * toBeWalkedDist);
+				const Tria* dstTria = reachable.getContainingTriangle(dst);
+
+				// is above destination reachable?
+				if (dstTria) {
+
+					re.heading = head;											// adjust walked heading
+					re.location.pos = dstTria->toPoint3(dst);					// new destination position
+					re.location.tria = dstTria;									// new destination triangle
+					break;
+
+				}
+
+			}
+
+			// calculate probability
+			const NavMeshPotentialWalk<Tria> pwalk(params, re.location);
+			re.probability = 1.0;
+			for (const NavMeshWalkEval<Tria>* eval : evals) {
+				const double p1 = eval->getProbability(pwalk);
+				re.probability *= p1;
+			}
+
+			// done
+			return re;
+
+		}
+
+		ResultList getMany(const NavMeshWalkParams<Tria>& params) {
+			return {getOne(params)};
+		}
+
+
+	};
+
+}
+
 #endif // NAVMESHWALKSEMIDIRECTED_H