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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33
navMesh/walk/NavMeshSub.h
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@@ -28,6 +28,14 @@ namespace NM {
return false;
}
/** does this submesh contain the given point? */
bool contains(const Point3 p3) const {
for (const Tria* t : toVisit) {
if (t->contains(p3)) {return true;}
}
return false;
}
/** get the triangle that contains the given point (if any) */
const Tria* getContainingTriangle(const Point2 p2) const {
for (const Tria* t : toVisit) {
@@ -37,24 +45,36 @@ namespace NM {
}
/** perform random operations on the submesh */
NavMeshRandom<Tria> getRandom() {
NavMeshRandom<Tria> getRandom() const {
return NavMeshRandom<Tria>(toVisit);
}
/** allows for-each iteration over all included triangles */
decltype(toVisit.begin()) begin() {return toVisit.begin();}
/** allows for-each iteration over all included triangles */
decltype(toVisit.end()) end() {return toVisit.end();}
private:
void build(const NavMeshLocation<Tria>& loc, float radius_m) {
PERF_REGION(6, "NavMeshSub::build()");
std::unordered_set<const Tria*> visited;
// starting-triangle + all its (max 3) neighbors
toVisit.push_back(loc.tria);
visited.insert(loc.tria);
for (const auto* n : *loc.tria) {
toVisit.push_back( (const Tria*)n );
}
// for (const auto* n : *loc.tria) {
// toVisit.push_back( (const Tria*)n );
// }
// size_t next = 1; // start with the first neighbor (skip starting triangle itself)
size_t next = 1; // start with the first neighbor (skip starting triangle itself)
size_t next = 0;
while (next < toVisit.size()) {
// next triangle
@@ -63,7 +83,8 @@ namespace NM {
// neighbors
for (const auto* n : *cur) {
const Tria* t = (const Tria*) n;
const float dist = loc.pos.getDistance(n->getCenter());
//const float dist = loc.pos.getDistance(n->getCenter());
const float dist = n->getDistanceApx(loc.pos);
if (dist > radius_m) {continue;}
if (visited.find(t) != visited.end()) {continue;}
toVisit.push_back(t);