FHWS/Indoor
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added support for .obj objects within the floorplan

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include objects within navmesh calculation
include objects within 3d mesh generation
minor changes/fixes
This commit is contained in:
FrankE
2018-02-17 17:20:43 +01:00
parent 42a3a47317
commit 8358f45674
15 changed files with 770 additions and 114 deletions
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89
geo/Point3.h
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@@ -1,5 +1,5 @@
#ifndef GEO_POINT3_H
#define GEO_POINT3_H
#ifndef GEO_Point3_H
#define GEO_Point3_H
#include "../Assertions.h"
#include <cmath>
@@ -8,76 +8,76 @@
/**
* 3D Point
*/
struct Point3 {
template <typename Scalar> struct _Point3 {
float x;
float y;
float z;
Scalar x;
Scalar y;
Scalar z;
/** ctor */
Point3() : x(0), y(0), z(0) {;}
_Point3() : x(0), y(0), z(0) {;}
/** ctor */
Point3(const float x, const float y, const float z) : x(x), y(y), z(z) {;}
_Point3(const Scalar x, const Scalar y, const Scalar z) : x(x), y(y), z(z) {;}
Point3 operator - () const {return Point3(-x, -y, -z);}
_Point3 operator - () const {return _Point3(-x, -y, -z);}
Point3 operator + (const Point3& o) const {return Point3(x+o.x, y+o.y, z+o.z);}
_Point3 operator + (const _Point3& o) const {return _Point3(x+o.x, y+o.y, z+o.z);}
Point3 operator - (const Point3& o) const {return Point3(x-o.x, y-o.y, z-o.z);}
_Point3 operator - (const _Point3& o) const {return _Point3(x-o.x, y-o.y, z-o.z);}
Point3 operator * (const Point3& o) const {return Point3(x*o.x, y*o.y, z*o.z);}
_Point3 operator * (const _Point3& o) const {return _Point3(x*o.x, y*o.y, z*o.z);}
Point3 operator * (const float v) const {return Point3(v*x, v*y, v*z);}
_Point3 operator * (const Scalar v) const {return _Point3(v*x, v*y, v*z);}
Point3 operator / (const float v) const {return Point3(x/v, y/v, z/v);}
_Point3 operator / (const Scalar v) const {return _Point3(x/v, y/v, z/v);}
Point3& operator *= (const float v) {x*=v; y*=v; z*=v; return *this;}
_Point3& operator *= (const Scalar v) {x*=v; y*=v; z*=v; return *this;}
Point3& operator /= (const float v) {x/=v; y/=v; z/=v; return *this;}
_Point3& operator /= (const Scalar v) {x/=v; y/=v; z/=v; return *this;}
Point3& operator += (const Point3& o) {x+=o.x; y+=o.y; z+=o.z; return *this;}
_Point3& operator += (const _Point3& o) {x+=o.x; y+=o.y; z+=o.z; return *this;}
Point3& operator -= (const Point3& o) {x-=o.x; y-=o.y; z-=o.z; return *this;}
_Point3& operator -= (const _Point3& o) {x-=o.x; y-=o.y; z-=o.z; return *this;}
Point3& operator *= (const Point3& o) {x*=o.x; y*=o.y; z*=o.z; return *this;}
_Point3& operator *= (const _Point3& o) {x*=o.x; y*=o.y; z*=o.z; return *this;}
Point3& operator /= (const Point3& o) {x/=o.x; y/=o.y; z/=o.z; return *this;}
_Point3& operator /= (const _Point3& o) {x/=o.x; y/=o.y; z/=o.z; return *this;}
bool operator < (const Point3& o) const {return x<o.x && y<o.y && z<o.z;}
bool operator < (const _Point3& o) const {return x<o.x && y<o.y && z<o.z;}
bool operator == (const Point3& o) const {return x==o.x && y==o.y && z==o.z;}
bool operator == (const _Point3& o) const {return x==o.x && y==o.y && z==o.z;}
bool operator != (const Point3& o) const {return x!=o.x || y!=o.y || z!=o.z;}
bool operator != (const _Point3& o) const {return x!=o.x || y!=o.y || z!=o.z;}
bool eq (const Point3& o, const float delta) const { return eq(x,o.x,delta) && eq(y,o.y,delta) && eq(z,o.z,delta); }
bool eq (const _Point3& o, const Scalar delta) const { return eq(x,o.x,delta) && eq(y,o.y,delta) && eq(z,o.z,delta); }
Point2 xy() const {return Point2(x,y);}
Point3 rotX(const float r) const {
return Point3(x, y*cos(r) - z*sin(r), y*sin(r) + z*cos(r));
_Point3 rotX(const Scalar r) const {
return _Point3(x, y*cos(r) - z*sin(r), y*sin(r) + z*cos(r));
}
Point3 rotY(const float r) const {
return Point3(z*sin(r) + x*cos(r), y, z*cos(r) - x*sin(r));
_Point3 rotY(const Scalar r) const {
return _Point3(z*sin(r) + x*cos(r), y, z*cos(r) - x*sin(r));
}
Point3 rotZ(const float r) const {
return Point3(x*cos(r) - y*sin(r), x*sin(r) + y*cos(r), z);
_Point3 rotZ(const Scalar r) const {
return _Point3(x*cos(r) - y*sin(r), x*sin(r) + y*cos(r), z);
}
Point3 rot(const float rx, const float ry, const float rz) const {
_Point3 rot(const Scalar rx, const Scalar ry, const Scalar rz) const {
return rotX(rx).rotY(ry).rotZ(rz);
//return rotZ(rz).rotY(ry).rotX(rx);
}
/** read-only array access */
float operator [] (const int idx) const {
Scalar operator [] (const int idx) const {
Assert::isBetween(idx, 0, 2, "index out of bounds");
if (0 == idx) {return x;}
if (1 == idx) {return y;}
@@ -85,19 +85,19 @@ struct Point3 {
}
/** get the distance between this point and the other one */
float getDistance(const Point3& o) const {
const float dx = x - o.x;
const float dy = y - o.y;
const float dz = z - o.z;
Scalar getDistance(const _Point3& o) const {
const Scalar dx = x - o.x;
const Scalar dy = y - o.y;
const Scalar dz = z - o.z;
return std::sqrt(dx*dx + dy*dy + dz*dz);
}
/** get a normalized copy */
Point3 normalized() const {return *this / this->length();}
_Point3 normalized() const {return *this / this->length();}
float length() const {return std::sqrt(x*x + y*y + z*z);}
Scalar length() const {return std::sqrt(x*x + y*y + z*z);}
float length(const float norm) const {
Scalar length(const Scalar norm) const {
return std::pow(
(std::pow(std::abs(x),norm) +
std::pow(std::abs(y),norm) +
@@ -111,12 +111,15 @@ struct Point3 {
private:
static inline bool eq(const float a, const float b, const float delta) {return std::abs(a-b) <= delta;}
static inline bool ne(const float a, const float b, const float delta) {return std::abs(a-b) > delta;}
static inline bool eq(const Scalar a, const Scalar b, const Scalar delta) {return std::abs(a-b) <= delta;}
static inline bool ne(const Scalar a, const Scalar b, const Scalar delta) {return std::abs(a-b) > delta;}
};
inline float dot(const Point3 p1, const Point3 p2) {
//using Point3 = _Point3<double>;
using Point3 = _Point3<float>;
inline double dot(const Point3 p1, const Point3 p2) {
return (p1.x*p2.x) + (p1.y*p2.y) + (p1.z*p2.z);
}
@@ -128,4 +131,4 @@ inline Point3 cross(const Point3 a, const Point3 b) {
);
}
#endif // GEO_POINT3_H
#endif // GEO__Point3_H