FHWS/Indoor
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worked on nav-meshes

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This commit is contained in:
FrankE
2018-01-10 08:31:14 +01:00
parent ca6fed5371
commit 3fc9688825
9 changed files with 165 additions and 36 deletions
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58
navMesh/NavMesh.h
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@@ -7,11 +7,12 @@
#include <random>
#include "../math/DrawList.h"
#include "NavMeshRandom.h"
#include "NavMeshLocation.h"
template <typename Tria> class NavMesh {
/** all triangles within the mesh */
std::vector<Tria> triangles;
std::vector<Tria*> triangles;
BBox3 bbox;
@@ -28,12 +29,21 @@ public:
/** add a new triangle */
void add(const Point3 p1, const Point3 p2, const Point3 p3, const uint8_t type) {
triangles.push_back(Tria(p1,p2,p3,type));
triangles.push_back(new Tria(p1,p2,p3,type));
bbox.add(p1);
bbox.add(p2);
bbox.add(p3);
}
NavMeshLocation<Tria> getLocation(const Point3 pos) {
for (const Tria* tria : triangles) {
if (tria->contains(pos)) {
return NavMeshLocation<Tria>(pos, tria);
}
}
throw Exception("location not found");
}
/** connect both triangles */
void connectBiDir(int idx1, int idx2) {
connectUniDir(idx1,idx2);
@@ -42,8 +52,8 @@ public:
/** connect both triangles */
void connectUniDir(int idxFrom, int idxTo) {
NavMeshTriangle& tria = triangles[idxFrom];
tria._neighbors[tria._numNeighbors] = idxTo;
NavMeshTriangle* tria = triangles[idxFrom];
tria->_neighbors[tria->_numNeighbors] = triangles[idxTo];
}
/** allows for-each iteration over all included triangles */
@@ -53,7 +63,7 @@ public:
decltype(triangles.end()) end() {return triangles.end();}
/** array access */
Tria& operator [] (const size_t idx) {
Tria* operator [] (const size_t idx) {
Assert::isBetween(idx, (size_t)0, getNumTriangles()-1, "index out of bounds");
return triangles[idx];
}
@@ -70,29 +80,29 @@ public:
return NavMeshRandom<Tria>(triangles);
}
/** ---------------- NEIGHBORS ---------------- */
// /** ---------------- NEIGHBORS ---------------- */
/** get the number of neighbors for the given element */
int getNumNeighbors(const size_t idx) const {
return getNumNeighbors(triangles[idx]);
}
// /** get the number of neighbors for the given element */
// int getNumNeighbors(const size_t idx) const {
// return getNumNeighbors(triangles[idx]);
// }
/** get the number of neighbors for the given element */
int getNumNeighbors(const Tria& e) const {
return e._numNeighbors;
}
// /** get the number of neighbors for the given element */
// int getNumNeighbors(const Tria& e) const {
// return e._numNeighbors;
// }
/** get the n-th neighbor for the given node */
Tria& getNeighbor(const size_t nodeIdx, const size_t nth) const {
const Tria& node = triangles[nodeIdx];
return getNeighbor(node, nth);
}
// /** get the n-th neighbor for the given node */
// Tria& getNeighbor(const size_t nodeIdx, const size_t nth) const {
// const Tria& node = triangles[nodeIdx];
// return getNeighbor(node, nth);
// }
/** get the n-th neighbor for the given node */
Tria& getNeighbor(const Tria& tria, const size_t nth) const {
const Tria& neighbor = triangles[tria._neighbors[nth]];
return (Tria&) neighbor;
}
// /** get the n-th neighbor for the given node */
// Tria& getNeighbor(const Tria& tria, const size_t nth) const {
// const Tria& neighbor = triangles[tria._neighbors[nth]];
// return (Tria&) neighbor;
// }
};

19
navMesh/NavMeshLocation.h Normal file
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@@ -0,0 +1,19 @@
#ifndef NAVMESHLOCATION_H
#define NAVMESHLOCATION_H
#include "../geo/Point3.h"
template <typename Tria> struct NavMeshLocation {
const Tria* tria;
Point3 pos;
/** ctor */
NavMeshLocation(Point3 pos, const Tria* tria) : pos(pos), tria(tria) {
;
}
};
#endif // NAVMESHLOCATION_H

13
navMesh/NavMeshRandom.h
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@@ -5,12 +5,13 @@
#include <vector>
#include "../math/DrawList.h"
#include "../geo/Point3.h"
#include "NavMeshLocation.h"
template <typename Tria> class NavMeshRandom {
std::minstd_rand gen;
std::uniform_real_distribution<float> dOnTriangle = std::uniform_real_distribution<float>(0.0f, 1.0f);
const std::vector<Tria>& triangles;
const std::vector<Tria*>& triangles;
DrawList<size_t> lst;
public:
@@ -22,24 +23,24 @@ public:
};
/** ctor */
NavMeshRandom(const std::vector<Tria>& triangles) : triangles(triangles) {
NavMeshRandom(const std::vector<Tria*>& triangles) : triangles(triangles) {
for (size_t idx = 0; idx < triangles.size(); ++idx) {
lst.add(idx, triangles[idx].getArea());
lst.add(idx, triangles[idx]->getArea());
}
}
/** draw a random point within the map */
Result draw() {
NavMeshLocation<Tria> draw() {
const size_t idx = lst.get();
const Tria& tria = triangles[idx];
const Tria* tria = triangles[idx];
while (true) {
const float u = dOnTriangle(gen);
const float v = dOnTriangle(gen);
if (u+v > 1) {continue;}
const Point3 pos = tria.getA() + (tria.getAB() * u) + (tria.getAC() * v);
return Result(pos, idx);
return NavMeshLocation<Tria>(pos, tria);
}
}

6
navMesh/NavMeshTriangle.h
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@@ -17,7 +17,7 @@ private:
template<typename> friend class NavMesh;
int _neighbors[3];
NavMeshTriangle* _neighbors[3];
int _numNeighbors;
/** precalculated stuff */
@@ -51,6 +51,10 @@ public:
}
decltype(std::begin(_neighbors)) begin() {return std::begin(_neighbors);}
decltype(std::end(_neighbors)) end() {return std::end(_neighbors);}
Point3 getA() const {
return p1;
}

56
navMesh/walk/NavMeshSub.h Normal file
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@@ -0,0 +1,56 @@
#ifndef NAVMESHSUB_H
#define NAVMESHSUB_H
#include "../NavMesh.h"
#include "../NavMeshLocation.h"
#include <vector>
#include <unordered_set>
template <typename Tria> class NavMeshSub {
std::vector<const Tria*> toVisit;
public:
NavMeshSub(const NavMesh<Tria>& nm, const NavMeshLocation<Tria>& loc, float radius_m) {
build(nm,loc,radius_m);
}
private:
void build(const NavMesh<Tria>& nm, const NavMeshLocation<Tria>& loc, float radius_m) {
// center to start searching
const Point3 center = loc.pos;
toVisit.push_back(loc.tria);
std::unordered_set<const Tria*> visited;
size_t next = 0;
while (next < toVisit.size()) {
// next triangle
const Tria* cur = toVisit[next]; ++next;
// neighbors
for (const Tria* n : cur) {
const float dist = loc.pos.getDistance(n.getCenter());
if (dist > radius_m) {continue;}
if (visited.find(n) != visited.end()) {continue;}
toVisit.push_back(n);
visited.push_back(n);
}
}
return toVisit;
}
};
#endif // NAVMESHSUB_H

10
navMesh/walk/NavMeshWalkHelper.h Normal file
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@@ -0,0 +1,10 @@
#ifndef NAVMESHWALKHELPER_H
#define NAVMESHWALKHELPER_H
template <typename Tria> class NavMeshWalkHelper {
}
#endif // NAVMESHWALKHELPER_H

4
tests/navMesh/TestNavMeshFactory.cpp
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@@ -30,8 +30,8 @@ TEST(NavMeshFactory, build1) {
ASSERT_EQ(2, nm.getNumTriangles());
ASSERT_EQ(nm.getNeighbor(0,0), nm[1]);
ASSERT_EQ(nm.getNeighbor(1,0), nm[0]);
// ASSERT_EQ(nm.getNeighbor(0,0), nm[1]);
// ASSERT_EQ(nm.getNeighbor(1,0), nm[0]);
}

29
tests/navMesh/TestNavMeshSub.cpp Normal file
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@@ -0,0 +1,29 @@
#ifdef WITH_TESTS
#include "../Tests.h"
#include "../../navMesh/NavMeshFactory.h"
#include "../../navMesh/walk/NavMeshSub.h"
TEST(NavMeshSub, build1) {
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);
outline.poly.points.push_back(Point2(0,0));
outline.poly.points.push_back(Point2(10,0));
outline.poly.points.push_back(Point2(10,10));
outline.poly.points.push_back(Point2(0,10));
outline.outdoor = false;
outline.method = Floorplan::OutlineMethod::ADD;
NavMesh<NavMeshTriangle> nm;
NavMeshFactory<NavMeshTriangle> fac(&nm);
fac.build(&map);
NavMeshLocation<NavMeshTriangle> loc = nm.getLocation(Point3(1,1,1));
}
#endif

6
tests/navMesh/TestNavMeshTriangle.cpp
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@@ -6,7 +6,7 @@
TEST(NavMeshTriangle, contains) {
NavMeshTriangle t1(Point3(0,0,0), Point3(1,0,0), Point3(0,1,0));
NavMeshTriangle t1(Point3(0,0,0), Point3(1,0,0), Point3(0,1,0), 1);
ASSERT_TRUE(t1.contains(Point3(0,0,0)));
ASSERT_TRUE(t1.contains(Point3(1,0,0)));
@@ -21,10 +21,10 @@ TEST(NavMeshTriangle, contains) {
TEST(NavMeshTriangle, area) {
NavMeshTriangle t1(Point3(0,0,0), Point3(1,0,0), Point3(0,1,0));
NavMeshTriangle t1(Point3(0,0,0), Point3(1,0,0), Point3(0,1,0), 1);
ASSERT_NEAR(0.5, t1.getArea(), 0.0001);
NavMeshTriangle t2(Point3(0,0,9), Point3(1,0,9), Point3(0,1,9));
NavMeshTriangle t2(Point3(0,0,9), Point3(1,0,9), Point3(0,1,9), 1);
ASSERT_NEAR(0.5, t2.getArea(), 0.0001);
}