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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111
tests/navMesh/TestNavMeshDijkstra.cpp
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#ifdef WITH_TESTS
#include "../Tests.h"
#include "../../navMesh/NavMeshFactory.h"
#include "../../navMesh/walk/NavMeshSub.h"
#include "../../navMesh/meta/NavMeshDijkstra.h"
#include "../../navMesh/NavMeshDebug.h"
#include "../../floorplan/v2/FloorplanReader.h"
using namespace NM;
struct MyNMT1231902345 : public NM::NavMeshTriangle, public NM::NavMeshTriangleDijkstra {
MyNMT1231902345(const Point3 p1, const Point3 p2, const Point3 p3, const uint8_t type) : NavMeshTriangle(p1, p2, p3, type) {;}
};
TEST(NavMeshDijkstra, build) {
NavMeshSettings set;
NavMesh<MyNMT1231902345> nm;
Floorplan::IndoorMap map;
Floorplan::Floor floor; map.floors.push_back(&floor); floor.atHeight = 0; floor.height = 3;
Floorplan::FloorOutlinePolygon outline; floor.outline.push_back(&outline);
// circle (many triangles)
int i = 0;
for (float f = 0; f < M_PI*2; f += 0.8) {
const float x = std::cos(f) * 10;
const float y = std::sin(f) * 10;
outline.poly.points.push_back(Point2(x,y));
++i;
}
outline.outdoor = false;
outline.method = Floorplan::OutlineMethod::ADD;
Floorplan::FloorOutlinePolygon remove; floor.outline.push_back(&remove);
remove.outdoor = false;
remove.method = Floorplan::OutlineMethod::REMOVE;
remove.poly.points.push_back(Point2(+4,-3));
remove.poly.points.push_back(Point2(+11,-3));
remove.poly.points.push_back(Point2(+11,+1));
remove.poly.points.push_back(Point2(+4,+1));
Floorplan::FloorOutlinePolygon remove2; floor.outline.push_back(&remove2);
remove2.outdoor = false;
remove2.method = Floorplan::OutlineMethod::REMOVE;
remove2.poly.points.push_back(Point2(-11,-2));
remove2.poly.points.push_back(Point2(-2,-2));
remove2.poly.points.push_back(Point2(-2,+2));
remove2.poly.points.push_back(Point2(-11,+2));
NavMeshFactory<MyNMT1231902345> fac(&nm, set);
fac.build(&map);
// nm.add(Point3(0,0,0), Point3(10,10,0), Point3(0,10,0), 1);
// nm.add(Point3(0,10,0), Point3(10,10,0), Point3(0,20,0), 1);
// nm.add(Point3(0,20,0), Point3(10,10,0), Point3(10,20,0), 1);
NavMeshDebug dbg;
dbg.addMesh(nm);
dbg.draw();
NM::NavMeshDijkstra::stamp(nm, Point3(4,4,0));
dbg.addDijkstra(nm);
dbg.draw();
int xxx = 0; (void) xxx;
}
TEST(NavMeshDijkstra, build2) {
NavMeshSettings set;
NavMesh<MyNMT1231902345> nm;
//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/apps/paper/diss/data/maps/map_stair1.xml");
//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/apps/paper/diss/data/maps/SHL41_nm.xml");
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/apps/paper/diss/data/maps/museum31.xml");
NavMeshFactory<MyNMT1231902345> fac(&nm, set);
fac.build(map);
NavMeshDebug dbg;
dbg.addMesh(nm);
dbg.draw();
NM::NavMeshDijkstra::stamp(nm, Point3(4,4,0));
dbg.addDijkstra(nm);
dbg.draw();
int xxx = 0; (void) xxx;
}
#endif