FHWS/Indoor
Archived
4
0
Fork 0
Code Issues 19 Pull Requests Releases 1 Wiki Activity

minor changes to floorplan

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

46
navMesh/walk/NavMeshWalkSimple.h
View File

@@ -25,16 +25,17 @@ namespace NM {
public:
struct Result {
/** single result */
struct ResultEntry {
NavMeshLocation<Tria> location;
Heading heading;
double probability;
Result() : heading(0) {;}
ResultEntry() : heading(0) {;}
};
/** list of results */
using ResultList = std::vector<ResultEntry>;
public:
/** ctor */
@@ -47,10 +48,11 @@ namespace NM {
this->evals.push_back(eval);
}
Result getDestination(const NavMeshWalkParams<Tria>& params) {
Result res;
res.heading = params.heading;
ResultEntry getOne(const NavMeshWalkParams<Tria>& params) {
ResultEntry re;
// to-be-walked distance;
const float toBeWalkedDist = params.getToBeWalkedDistance();
@@ -60,7 +62,7 @@ namespace NM {
NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe);
// get the to-be-reached destination's position (using start+distance+heading)
const Point2 dir = res.heading.asVector();
const Point2 dir = params.heading.asVector();
const Point2 dst = params.start.pos.xy() + (dir * toBeWalkedDist);
const Tria* dstTria = reachable.getContainingTriangle(dst);
@@ -68,16 +70,16 @@ namespace NM {
// is above destination reachable?
if (dstTria) {
res.location.pos = dstTria->toPoint3(dst);
res.location.tria = dstTria;
re.heading = params.heading; // heading was OK -> keep
re.location.pos = dstTria->toPoint3(dst); // new destination position
re.location.tria = dstTria; // new destination triangle
++hits;
} else {
NavMeshRandom<Tria> rnd = reachable.getRandom();
NavMeshLocation<Tria> rndLoc = rnd.draw();
res.location = rndLoc;
res.heading = Heading(params.start.pos.xy(), rndLoc.pos.xy()); // update the heading
NavMeshRandom<Tria> rnd = reachable.getRandom(); // random-helper
re.location = rnd.draw(); // get a random destianation
re.heading = Heading(params.start.pos.xy(), re.location.pos.xy()); // update the heading
++misses;
}
@@ -87,17 +89,23 @@ namespace NM {
std::cout << "hits: " << (hits*100/total) << "%" << std::endl;
}
const NavMeshPotentialWalk<Tria> pwalk(params, res.location);
res.probability = 1.0;
// calculate probability
const NavMeshPotentialWalk<Tria> pwalk(params, re.location);
re.probability = 1.0;
for (const NavMeshWalkEval<Tria>* eval : evals) {
const double p1 = eval->getProbability(pwalk);
res.probability *= p1;
re.probability *= p1;
}
return res;
// done
return re;
}
ResultList getMany(const NavMeshWalkParams<Tria>& params) {
return {getOne(params)};
}
};