FHWS/Indoor
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minor changes to floorplan

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fixed some compile issues
worked on nav-meshes
added some tests
This commit is contained in:
FrankE
2018-01-16 12:41:05 +01:00
parent fee6cd3496
commit 55061ef0da
24 changed files with 1288 additions and 205 deletions
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48
navMesh/NavMeshTriangle.h
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@@ -34,7 +34,7 @@ namespace NM {
float dot00;
float dot01;
float dot11;
float invDenom;
double invDenom;
float area;
float minZ;
@@ -66,6 +66,44 @@ namespace NM {
Point3 getP3() const {return p3;}
/** get the distance between the given point and the triangle using approximate tests */
float getDistanceApx(const Point3 pt) const {
// const float d1 = pt.getDistance(p1);
// const float d2 = pt.getDistance(p2);
// const float d3 = pt.getDistance(p3);
// const float d4 = pt.getDistance(center);
// const float d5 = pt.getDistance((p1-p2)/2);
// const float d6 = pt.getDistance((p2-p3)/2);
// const float d7 = pt.getDistance((p3-p1)/2);
// return std::min(d1, std::min(d2, std::min(d3, std::min(d4, std::min(d5, std::min(d6,d7))))));
// const float d1 = pt.getDistance(p1);
// const float d2 = pt.getDistance(p2);
// const float d3 = pt.getDistance(p3);
// const float d4 = pt.getDistance(center);
// return std::min(d1, std::min(d2, std::min(d3,d4)));
float bestD = 99999;
Point3 bestP;
Point3 dir12 = p2-p1;
Point3 dir13 = p3-p1;
Point3 dir23 = p3-p2;
for (float f = 0; f < 1; f += 0.05f) {
const Point3 pos1 = p1 + dir12 * f; const float dist1 = pos1.getDistance(pt);
const Point3 pos2 = p1 + dir13 * f; const float dist2 = pos2.getDistance(pt);
const Point3 pos3 = p2 + dir23 * f; const float dist3 = pos3.getDistance(pt);
if (dist1 < bestD) {bestP = pos1; bestD = dist1;}
if (dist2 < bestD) {bestP = pos2; bestD = dist2;}
if (dist3 < bestD) {bestP = pos3; bestD = dist3;}
}
return bestD;
}
bool operator == (const NavMeshTriangle& o) const {
return (p1 == o.p1) && (p2 == o.p2) && (p3 == o.p3);
}
@@ -122,7 +160,11 @@ namespace NM {
float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
const Point3 res = getPoint(v,u);
return res;
Assert::isNear(res.x, p.x, 1.0f, "TODO: high difference while mapping from 2D to 3D");
Assert::isNear(res.y, p.y, 1.0f, "TODO: high difference while mapping from 2D to 3D");
//return res;
return Point3(p.x, p.y, res.z); // only use the new z, keep input as-is
}
@@ -159,7 +201,7 @@ namespace NM {
dot11 = dot(v1, v1);
// Compute barycentric coordinates
invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
invDenom = 1.0 / ((double)dot00 * (double)dot11 - (double)dot01 * (double)dot01);