changes to Floorplan 3D

navMesh/NavMeshFactory.h

@@ -137,16 +137,24 @@ namespace NM {
 					// get all obstacles of this floor and remove them from the polygon as well (many will be outside of the added polygon)
 					for (Floorplan::FloorObstacle* obs : floor->obstacles) {
 
+						// wall-obstacles
+						Floorplan::FloorObstacleWall* wall = dynamic_cast<Floorplan::FloorObstacleWall*>(obs);
+						if (wall != nullptr) {
+							for (const Floorplan::Polygon2& poly : getPolygons(wall, false)) {
+								nmPoly.remove(poly);
+							}
+						}
+
 						// line-obstacles
 						Floorplan::FloorObstacleLine* line = dynamic_cast<Floorplan::FloorObstacleLine*>(obs);
 						if (line != nullptr) {
-                            nmPoly.remove(getPolygon(line));
+							nmPoly.remove(getPolygon(line));
 						}
 
 						// object-obstacles
 						Floorplan::FloorObstacleObject* obj = dynamic_cast<Floorplan::FloorObstacleObject*>(obs);
 						if (obj != nullptr) {
-                            nmPoly.remove(getPolygon(obj));
+							nmPoly.remove(getPolygon(obj));
 						}
 
 					}
@@ -201,6 +209,15 @@ namespace NM {
 					}
 				}
 
+				for (Floorplan::FloorObstacle* obs : floor->obstacles) {
+					Floorplan::FloorObstacleWall* wall = dynamic_cast<Floorplan::FloorObstacleWall*>(obs);
+					if (wall != nullptr) {
+						for (const Floorplan::Polygon2& poly : getPolygons(wall, true)) {
+							nmDoors.add(poly);
+						}
+					}
+				}
+
 				// construct and add triangles
 				std::vector<std::vector<Point3>> tmp = nmDoors.get();
 				for (const std::vector<Point3>& tria : tmp) {
@@ -626,6 +643,58 @@ namespace NM {
 			return res;
 		}
 
+		/** create all polygons describing the walls floor outline, excluding doors */
+		std::vector<Floorplan::Polygon2> getPolygons(const Floorplan::FloorObstacleWall* wall, bool invert) const {
+
+			// invert = true -> door polygons
+			// invert = false -> wall polygons
+
+			const float thickness_m = std::max(wall->thickness_m, settings.maxQuality_m);	// wall's thickness (make thin walls big enough to be detected)
+
+			// get all points along the wall   start, doorstart,doorend, doorstart,doorend, .., end
+			std::vector<Point2> pts;
+			pts.push_back(wall->from);
+			pts.push_back(wall->to);
+			for (const Floorplan::FloorObstacleWallDoor* door : wall->doors) {
+				pts.push_back(door->getStart(wall));
+				pts.push_back(door->getEnd(wall));
+			}
+
+			// sort all points by distance from start (correct on-off-on-off-on order)
+			auto comp = [wall] (const Point2 p1, const Point2 p2) {
+				return wall->from.getDistance(p1) < wall->from.getDistance(p2);
+			};
+			std::sort(pts.begin(), pts.end(), comp);
+
+			std::vector<Floorplan::Polygon2> polys;
+
+			const size_t start = (invert) ? (1) : (0);
+
+			// from wall segment to wall segment, excluding doors
+			for (size_t i = start; i < pts.size()-start; i += 2) {
+
+				const Point2 ps = pts[i+0];
+				const Point2 pe = pts[i+1];
+
+				const Point2 dir = (pe - ps);							// part's direction
+				const Point2 perp = dir.perpendicular().normalized();	// perpendicular direction (90 degree)
+				const Point2 p1 = ps + perp * thickness_m/2;			// start-up
+				const Point2 p2 = ps - perp * thickness_m/2;			// start-down
+				const Point2 p3 = pe + perp * thickness_m/2;			// end-up
+				const Point2 p4 = pe - perp * thickness_m/2;			// end-down
+				Floorplan::Polygon2 res;
+				res.points.push_back(p1);
+				res.points.push_back(p2);
+				res.points.push_back(p4);
+				res.points.push_back(p3);
+				polys.push_back(res);
+
+			}
+
+			return polys;
+
+		}
+
 		/** convert the given 3D object to a polygon outline */
 		Floorplan::Polygon2 getPolygon(const Floorplan::FloorObstacleObject* obj) const {