FHWS/Indoor
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added new sanity checks and compile-time assertions to prevent errors

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fixed stair-building issue
new test-cases
added elevator support
fixed/improved some walker modules
This commit is contained in:
FrankE
2016-09-10 15:12:39 +02:00
parent 7baeecb3f9
commit 82f8828a04
26 changed files with 996 additions and 198 deletions
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59
grid/factory/v2/Helper.h
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@@ -26,7 +26,12 @@ struct HelperPoly {
/** ctor from floorplan-quad */
HelperPoly(const Floorplan::Quad3& quad) {
add(quad.p1); add(quad.p2); add(quad.p3); add(quad.p4);
add(quad.p1*100); add(quad.p2*100); add(quad.p3*100); add(quad.p4*100);
}
/** ctor from floorplan-polygon */
HelperPoly(const Floorplan::Polygon2& poly) {
for (Point2 p : poly.points) { add(p * 100); }
}
void add(const Point2 p) {
@@ -67,6 +72,30 @@ struct HelperPoly {
}
/** call a user-function for each GRID-ALIGNED point within the polygon */
void forEachGridPoint(const int gridSize_cm, std::function<void(int x_cm, int y_cm)> callback) const {
int x1 = std::floor(bbox_cm.getMin().x / gridSize_cm) * gridSize_cm;
int x2 = std::ceil(bbox_cm.getMax().x / gridSize_cm) * gridSize_cm;
int y1 = std::floor(bbox_cm.getMin().y / gridSize_cm) * gridSize_cm;
int y2 = std::ceil(bbox_cm.getMax().y / gridSize_cm) * gridSize_cm;
// process each point within the (aligned) bbox
for (int y = y1; y <= y2; y += gridSize_cm) {
for (int x = x1; x <= x2; x += gridSize_cm) {
// does this point belong to the polygon?
if (!contains(Point2(x,y))) {continue;}
// call the callback
callback(x,y);
}
}
}
};
@@ -94,7 +123,7 @@ public:
}
/** connect the given node to all its neighbors */
/** connect the given node to all its neighbors (x,y) */
void connectToNeighbors(T& n1) {
const int gs_cm = grid.getGridSize_cm();
@@ -120,6 +149,32 @@ public:
}
/** connect the given node to all its neighbors )x,y,z) */
void connectToNeighborsXYZ(T& n1) {
const int gs_cm = grid.getGridSize_cm();
for (int z = -gs_cm; z <= +gs_cm; z += gs_cm) {
for (int y = -gs_cm; y <= +gs_cm; y += gs_cm) {
for (int x = -gs_cm; x <= +gs_cm; x += gs_cm) {
// skip the node itself
if (x == 0 && y == 0 && z == 0) {continue;}
// try to find a matching neighbor
const GridPoint gp(n1.x_cm + x, n1.y_cm + y, n1.z_cm + z);
const T* n2 = grid.getNodePtrFor(gp);
if (!n2) {continue;}
// connect
if (n1.hasNeighbor(n2->getIdx())) {continue;}
grid.connectUniDir(n1, *n2);
}
}
}
}
int gridSize() const {
return grid.getGridSize_cm();;