FHWS/Indoor
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toni
2018-01-24 11:44:59 +01:00
parent b207e5e0f2 1a1f249e9b
commit 4663c7d9e5
22 changed files with 1025 additions and 77 deletions
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183
tests/navMesh/TestNavMeshDijkstra.cpp Normal file
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@@ -0,0 +1,183 @@
#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;
}
TEST(NavMeshDijkstra, path) {
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));
//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/mnt/vm/paper/diss/data/maps/map_stair1.xml");
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/apps/paper/diss/data/maps/map_stair1.xml");
NavMeshFactory<MyNMT1231902345> fac(&nm, set);
fac.build(map);
NavMeshDebug dbg;
dbg.addMesh(nm);
dbg.draw();
NM::NavMeshRandom<MyNMT1231902345> rnd = nm.getRandom();
const Point3 dst = rnd.draw().pos;
for (int i = 0; i < 1000; ++i) {
NM::NavMeshLocation<MyNMT1231902345> start = rnd.draw();
start.tria->getDistanceToDestination<MyNMT1231902345>(start.pos); // just a compiler-test
NM::NavMeshDijkstra::stamp(nm, dst);
//NM::NavMeshLocation<MyNMT1231902345> start = start;//nm.getLocation(Point3(0,-6,0));
std::vector<NM::NavMeshLocation<MyNMT1231902345>> path = start.tria->getPathToDestination<MyNMT1231902345>(start.pos);
std::cout << path.size() << std::endl;
dbg.addDijkstra(nm);
dbg.addDijkstra(path);
dbg.draw();
sleep(1);
}
}
#endif

79
tests/navMesh/TestNavMeshTriangle.cpp
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@@ -5,6 +5,70 @@
#include "../../navMesh/NavMeshTriangle.h"
using namespace NM;
TEST(NavMeshTriangle, uv_2D_on_2D) {
NavMeshTriangle t1(Point3(0,0,0), Point3(1,0,0), Point3(0,1,0), 1); // flat triangle
ASSERT_NEAR(0.5, t1.getArea(), 0.0001);
float u, v;
std::vector<float> testVals = {1.0,0.0, 0.0,1.0, 0.4,0.4, 0.8,0.1, 0.1,0.8, 0.3,0.6, 0.6,0.3};
// point -> uv -> point
for (size_t i = 0; i < testVals.size(); i+=2) {
Point2 pt1(testVals[i], testVals[i+1]);
t1.getUV(pt1, u, v);
Point3 pt2 = t1.getPoint(u,v);
ASSERT_NEAR(pt1.x, pt2.x, 0.0001);
ASSERT_NEAR(pt1.y, pt2.y, 0.0001);
}
}
TEST(NavMeshTriangle, uv_2D_on_3D) {
NavMeshTriangle t1(Point3(0,0,0), Point3(2,0,0), Point3(0,1,1), 1); // non-flat triangle
float u, v;
std::vector<float> testVals = {1.0,0.0, 0.0,1.0, 0.4,0.4, 0.8,0.1, 0.1,0.8, 0.3,0.6, 0.6,0.3};
// point -> uv -> point
for (size_t i = 0; i < testVals.size(); i+=2) {
Point2 pt1(testVals[i], testVals[i+1]);
t1.getUV(pt1, u, v);
Point3 pt2 = t1.getPoint(u,v);
ASSERT_NEAR(pt1.x, pt2.x, 0.0001);
ASSERT_NEAR(pt1.y, pt2.y, 0.0001);
}
}
TEST(NavMeshTriangle, uv_3D_on_3D) {
NavMeshTriangle t1(Point3(0,0,0), Point3(1,0,0), Point3(0,1,1), 1); // non-flat triangle
float u, v;
std::vector<float> testVals = {1.0,0.0,0.0, 0.0,1.0,1.0};
// point -> uv -> point
for (size_t i = 0; i < testVals.size(); i+=3) {
Point3 pt1(testVals[i], testVals[i+1], testVals[i+2]);
t1.getUV(pt1, u, v);
Point3 pt2 = t1.getPoint(u,v);
ASSERT_NEAR(pt1.x, pt2.x, 0.0001);
ASSERT_NEAR(pt1.y, pt2.y, 0.0001);
ASSERT_NEAR(pt1.z, pt2.z, 0.0001);
}
}
TEST(NavMeshTriangle, contains) {
NavMeshTriangle t1(Point3(0,0,0), Point3(1,0,0), Point3(0,1,0), 1);
@@ -31,6 +95,21 @@ TEST(NavMeshTriangle, area) {
}
TEST(NavMeshTriangle, interpolate) {
NavMeshTriangle t1(Point3(0,0,0), Point3(1,0,0), Point3(0,1,0), 1);
ASSERT_NEAR(1.0f, t1.interpolate(Point3(0,0,0), 1.0, 2.0, 3.0), 0.001);
ASSERT_NEAR(2.0f, t1.interpolate(Point3(1,0,0), 1.0, 2.0, 3.0), 0.001);
ASSERT_NEAR(3.0f, t1.interpolate(Point3(0,1,0), 1.0, 2.0, 3.0), 0.001);
ASSERT_NEAR(1.5f, t1.interpolate(Point3(0.5,0,0), 1.0, 2.0, 3.0), 0.01); // between 1/2
ASSERT_NEAR(1.9f, t1.interpolate(Point3(0.9,0,0), 1.0, 2.0, 3.0), 0.01);
ASSERT_NEAR(2.0f, t1.interpolate(Point3(0,0.5,0), 1.0, 2.0, 3.0), 0.01); // between 1/3
ASSERT_NEAR(2.8f, t1.interpolate(Point3(0,0.9,0), 1.0, 2.0, 3.0), 0.01);
}
#endif