worked on nav-meshes

navMesh/walk/NavMeshSub.h

@@ -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