minor changes to floorplan

fixed some compile issues
worked on nav-meshes
added some tests

navMesh/walk/NavMeshWalkRandom.h

@@ -0,0 +1,146 @@
+#ifndef NAVMESHWALKRANDOM_H
+#define NAVMESHWALKRANDOM_H
+
+
+#include "../NavMesh.h"
+#include "../NavMeshLocation.h"
+#include "../../geo/Heading.h"
+
+#include "NavMeshSub.h"
+#include "NavMeshWalkParams.h"
+#include "NavMeshWalkEval.h"
+
+namespace NM {
+
+	/**
+	 * pick a truely random destination within the reachable area
+	 * weight this area (evaluators)
+	 * repeat this several times to find a robus destination
+	 */
+	template <typename Tria> class NavMeshWalkRandom {
+
+	private:
+
+		const NavMesh<Tria>& mesh;
+
+		std::vector<NavMeshWalkEval<Tria>*> evals;
+
+	public:
+
+		struct ResultEntry {
+			NavMeshLocation<Tria> location;
+			Heading heading;
+			double probability;
+			ResultEntry() : heading(0) {;}
+		};
+
+		struct ResultList : std::vector<ResultEntry> {};
+
+	public:
+
+		/** ctor */
+		NavMeshWalkRandom(const NavMesh<Tria>& mesh) : mesh(mesh) {
+
+		}
+
+		/** add a new evaluator to the walker */
+		void addEvaluator(NavMeshWalkEval<Tria>* eval) {
+			this->evals.push_back(eval);
+		}
+
+		ResultEntry getOne(const NavMeshWalkParams<Tria>& params) const {
+
+			ResultEntry res;
+			res.probability = 0;
+
+			// to-be-walked distance;
+			const float toBeWalkedDist = params.getToBeWalkedDistance();
+			const float toBeWalkedDistSafe = 1.0 + toBeWalkedDist * 1.1;
+
+			// construct reachable region
+			const NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe);
+
+			NavMeshRandom<Tria> rnd = reachable.getRandom();
+			NavMeshPotentialWalk<Tria> pwalk(params);
+
+			// improve quality (the higher, the better)
+			for (int i = 0; i < 25; ++i) {
+
+				PERF_REGION(1, "NavMeshWalkRandom::SampleLoop");
+
+				// draw a random destination
+				// is this destination within the reachable area? (triangles might be larger!)
+				pwalk.end = rnd.draw();
+				if (pwalk.end.pos.getDistance(params.start.pos) > toBeWalkedDistSafe) {
+					--i; continue;
+				}
+
+				// calculate the probability for this destination
+				const double p = eval(pwalk);
+
+				// better?
+				if (p > res.probability) {
+					res.location = pwalk.end;
+					res.probability = p;
+				}
+
+			}
+
+			// destination is known. update the heading
+			res.heading = Heading(params.start.pos.xy(), res.location.pos.xy());
+			return res;
+
+		}
+
+		ResultList getMany(const NavMeshWalkParams<Tria>& params) const {
+
+			ResultList res;
+
+			// to-be-walked distance;
+			const float toBeWalkedDist = params.getToBeWalkedDistance();
+			const float toBeWalkedDistSafe = 1.0 + toBeWalkedDist * 1.1;
+
+			// construct reachable region
+			const NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe);
+
+			NavMeshRandom<Tria> rnd = reachable.getRandom();
+			NavMeshPotentialWalk<Tria> pwalk(params);
+
+			// improve quality (the higher, the better)
+			for (int i = 0; i < 25; ++i) {
+
+				PERF_REGION(1, "NavMeshWalkRandom::SampleLoop");
+
+				pwalk.end = rnd.drawWithin(params.start.pos, toBeWalkedDistSafe);
+
+				// calculate the probability for this destination
+				const double p = eval(pwalk);
+
+				ResultEntry re;
+				re.heading = Heading(params.start.pos.xy(), pwalk.end.pos.xy());
+				re.location = pwalk.end;
+				re.probability = p;
+				res.push_back(re);
+
+			}
+
+			return res;
+
+		}
+
+		double eval(const NM::NavMeshPotentialWalk<Tria>& pwalk) const {
+			PERF_REGION(2, "NavMeshWalkRandom::EvalLoop");
+			double p = 1.0;
+			for (const NavMeshWalkEval<Tria>* eval : evals) {
+				const double p1 = eval->getProbability(pwalk);
+				p *= p1;
+			}
+			return p;
+		}
+
+
+	};
+
+}
+
+#endif // NAVMESHWALKRANDOM_H