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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;
// }
};