minor changes to floorplan

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

navMesh/walk/NavMeshWalkSemiRandom.h

@@ -0,0 +1,169 @@
+#ifndef NAVMESHWALKSEMIRANDOM_H
+#define NAVMESHWALKSEMIRANDOM_H
+
+#include "../NavMesh.h"
+#include "../NavMeshLocation.h"
+#include "../../geo/Heading.h"
+
+#include "NavMeshSub.h"
+#include "NavMeshWalkParams.h"
+#include "NavMeshWalkEval.h"
+
+
+namespace NM {
+
+	/**
+	 * similar to NavMeshWalkRandom but:
+	 * pick a semi random destination within the reachable area (requested distance/heading + strong deviation)
+	 * if this destination is reachable:
+	 * weight this area (evaluators)
+	 * repeat this some times to find a robus destination
+	 */
+	template <typename Tria> class NavMeshWalkSemiRandom {
+
+	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 : public std::vector<ResultEntry> {};
+
+	public:
+
+		/** ctor */
+		NavMeshWalkSemiRandom(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 {
+
+			static Distribution::Normal<float> dDist(1.0, 0.4);
+			static Distribution::Normal<float> dHead(0.0, 1.0);
+
+			// construct reachable region
+			const float toBeWalkedDistSafe = 1.0 + params.getToBeWalkedDistance() * 1.1;
+			const NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe);
+
+			ResultEntry re;
+
+			NavMeshPotentialWalk<Tria> pwalk(params);
+			pwalk.end = reachable.getRandom().draw();	// to have at least a non-start solution
+			re.probability = eval(pwalk);
+			re.location = pwalk.end;
+
+
+			for (int i = 0; i < 25; ++i) {
+
+				const float distance = params.getToBeWalkedDistance() * dDist.draw();
+				const Heading head = params.heading + dHead.draw();
+
+				// only forward!
+				if (distance < 0.01) {continue;}
+
+				// get the to-be-reached destination's position (using start+distance+heading)
+				const Point2 dir = head.asVector();
+				const Point2 dst = params.start.pos.xy() + (dir * distance);
+
+				const Tria* dstTria = reachable.getContainingTriangle(dst);
+
+				// is above destination reachable?
+				if (dstTria) {
+
+					pwalk.end.pos = dstTria->toPoint3(dst);
+					pwalk.end.tria = dstTria;
+					const double p = eval(pwalk);
+
+					// better?
+					if (p > re.probability) {
+						re.location = pwalk.end;
+						re.probability = p;
+						re.heading = head;
+					}
+
+				}
+
+			}
+
+			return re;
+
+		}
+
+		ResultList getMany(const NavMeshWalkParams<Tria>& params) const {
+
+			static Distribution::Normal<float> dDist(1.0, 0.4);
+			static Distribution::Normal<float> dHead(0.0, 1.0);
+
+			ResultList res;
+
+			// construct reachable region
+			const float toBeWalkedDistSafe = 1.0 + params.getToBeWalkedDistance() * 1.1;
+			const NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe);
+
+			NavMeshPotentialWalk<Tria> pwalk(params);
+
+			for (int i = 0; i < 25; ++i) {
+
+				const float distance = params.getToBeWalkedDistance() * dDist.draw();
+				const Heading head = params.heading + dHead.draw();
+
+				// only forward!
+				if (distance < 0.01) {continue;}
+
+				// get the to-be-reached destination's position (using start+distance+heading)
+				const Point2 dir = head.asVector();
+				const Point2 dst = params.start.pos.xy() + (dir * distance);
+
+				const Tria* dstTria = reachable.getContainingTriangle(dst);
+
+				// is above destination reachable?
+				if (dstTria) {
+
+					pwalk.end.pos = dstTria->toPoint3(dst);
+					pwalk.end.tria = dstTria;
+					const double p = eval(pwalk);
+
+					ResultEntry re;
+					re.location = pwalk.end;
+					re.probability = p;
+					re.heading = head;
+					res.push_back(re);
+
+				}
+
+			}
+
+			return res;
+
+		}
+
+		double eval(const NM::NavMeshPotentialWalk<Tria>& pwalk) const {
+			double p = 1.0;
+			for (const NavMeshWalkEval<Tria>* eval : evals) {
+				const double p1 = eval->getProbability(pwalk);
+				p *= p1;
+			}
+			return p;
+		}
+
+
+	};
+
+}
+
+#endif // NAVMESHWALKSEMIRANDOM_H