FHWS/Indoor
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adjusted 3D modeling for walls

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refactoring
new helper classes / methods
This commit is contained in:
FrankE
2018-07-22 13:47:07 +02:00
parent da06bacb6b
commit 8ea7b7f3b6
13 changed files with 693 additions and 104 deletions
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4
floorplan/v2/Floorplan.h
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@@ -452,7 +452,7 @@ namespace Floorplan {
/** snap quad-edges together if their distance is below the given maximum. is used to close minor gaps */
static void snapQuads(std::vector<Floorplan::Quad3>& quads, const float maxDist) {
static inline void snapQuads(std::vector<Floorplan::Quad3>& quads, const float maxDist) {
for (Floorplan::Quad3& quad1 : quads) {
for (int i1 = 0; i1 < 4; ++i1) {
@@ -479,7 +479,7 @@ namespace Floorplan {
}
/** convert stair-parts to quads. the scaling factor may be used to slightly grow each quad. e.g. needed to ensure that the quads overlap */
static std::vector<Quad3> getQuads(const std::vector<StairPart>& parts, const Floor* floor, const float s = 1.0f) {
static inline std::vector<Quad3> getQuads(const std::vector<StairPart>& parts, const Floor* floor, const float s = 1.0f) {
std::vector<Quad3> vec;

88
geo/Line2.h
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@@ -33,29 +33,41 @@ public:
// }
/** get intersection between these two lines (unlimited length!) */
bool getLineIntersection(const Line2& other, Point2& result) const {
float getAngle() const {
return std::atan2(p2.y-p1.y, p2.x-p1.x);
}
double bx = p2.x - p1.x;
double by = p2.y - p1.y;
void reverse() {
std::swap(p1, p2);
}
double dx = other.p2.x - other.p1.x;
double dy = other.p2.y - other.p1.y;
float getLength() const {
return p1.getDistance(p2);
}
double b_dot_d_perp = bx*dy - by*dx;
/** get intersection between these two lines (unlimited length!) */
bool getLineIntersection(const Line2& other, Point2& result) const {
if(b_dot_d_perp == 0) {return false;}
double bx = p2.x - p1.x;
double by = p2.y - p1.y;
double cx = other.p1.x - p1.x;
double cy = other.p1.y - p1.y;
double t = (cx*dy - cy*dx) / b_dot_d_perp;
double dx = other.p2.x - other.p1.x;
double dy = other.p2.y - other.p1.y;
result.x = p1.x + t * bx;
result.y = p1.y + t * by;
double b_dot_d_perp = bx*dy - by*dx;
return true;
if(b_dot_d_perp == 0) {return false;}
}
double cx = other.p1.x - p1.x;
double cy = other.p1.y - p1.y;
double t = (cx*dy - cy*dx) / b_dot_d_perp;
result.x = p1.x + t * bx;
result.y = p1.y + t * by;
return true;
}
bool getSegmentIntersection(const Line2& other) const {
@@ -207,4 +219,50 @@ public:
};
static inline bool intersects(const Line2& l1, const Line2& l2, bool limit, Point2& pos) {
// (sx1,sy1) + (dx1, dy1)*u = (sx2, sy2) + (dx2, dy2)*v
// solve((c+d*v-a)/b = (g+h*v-e)/f, v)
// solve((a+b*u-c)/d = (e+f*u-g)/h, u)
// bf != 0
// dh != 0
// df != bh // kollinear (b/d != f/h)
const float sx1 = l1.p1.x; // a
const float sy1 = l1.p1.y; // e
const float dx1 = l1.p2.x - l1.p1.x; // b
const float dy1 = l1.p2.y - l1.p1.y; // f
const float sx2 = l2.p1.x; // c
const float sy2 = l2.p1.y; // g
const float dx2 = l2.p2.x - l2.p1.x; // d
const float dy2 = l2.p2.y - l2.p1.y; // h
// collinear?
const float a1 = dx2*dy1;
const float a2 = dx1*dy2;
if (std::abs(a1-a2) < 0.0001) {return false;}
const float v = (dy1*(sx1-sx2) + dx1*(sy2-sy1)) / (dx2*dy1 - dx1*dy2);
const float u = (dy2*(sx1-sx2) + dx2*(sy2-sy1)) / (dx2*dy1 - dx1*dy2);
//const float x = sx2 + v*dx2;
//const float y = sy2 + v*dy2;
const float x = sx1 + u*dx1;
const float y = sy1 + u*dy1;
if (!limit || (u >= 0 && v >= 0 && u <= 1 && v <= 1)) {
pos = Point2(x,y);
return true;
}
return false;
}
#endif // LINE2D_H

10
geo/Point2.h
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@@ -78,4 +78,14 @@ inline void swap(Point2& p1, Point2& p2) {
std::swap(p1.y, p2.y);
}
namespace std {
template <> struct hash<Point2> {
std::size_t operator()(const Point2& p) const {
uint32_t x = *((uint32_t*)&(p.x));
uint32_t y = *((uint32_t*)&(p.y));
return std::hash<uint32_t>()(x^y);
}
};
}
#endif // POINT2_H

125
geo/Polygon2.h Normal file
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@@ -0,0 +1,125 @@
#ifndef POLYGON2_H
#define POLYGON2_H
#include "Point2.h"
#include <vector>
#include "Line2.h"
#include "BBox2.h"
static bool polygonContainsPoint(const std::vector<Point2>& poly, const Point2 p);
class Polygon2 {
std::vector<Point2> pts;
public:
void add(const Point2 p) {
pts.push_back(p);
}
std::vector<Point2>::iterator begin() {return pts.begin();}
std::vector<Point2>::iterator end() {return pts.end();}
std::vector<Point2>::const_iterator begin() const {return pts.begin();}
std::vector<Point2>::const_iterator end() const {return pts.end();}
std::vector<Point2>& getVector() {return pts;}
Point2& operator [] (const size_t idx) {
return pts[idx];
}
/** get polygon as list of lines */
std::vector<Line2> getLines() const {
std::vector<Line2> res;
for (size_t i = 0; i < pts.size(); ++i) {
const Point2 p1 = pts[(i+0)];
const Point2 p2 = pts[(i+1)%pts.size()];
res.push_back(Line2(p1, p2));
}
return res;
}
struct CutRes {
Point2 p;
size_t i1,i2; // line, given by two points, within this poly
size_t j1,j2; // line, given by two points, within other, given poly
CutRes(Point2 p, size_t i1, size_t i2, size_t j1, size_t j2) : p(p), i1(i1), i2(i2), j1(j1), j2(j2) {;}
};
BBox2 getBBox() const {
BBox2 bb;
for (const Point2 p : pts) {bb.add(p);}
return bb;
}
bool contains(const Point2 p) const {
return polygonContainsPoint(pts, p);
}
std::vector<CutRes> getIntersections(const Polygon2& o, bool limit = true) const {
std::vector<CutRes> res;
for (size_t i = 0; i < pts.size(); ++i) {
const size_t i1 = (i+0);
const size_t i2 = (i+1) % pts.size();
const Line2 l1(pts[i1], pts[i2]);
for (size_t j = 0; j < o.pts.size(); ++j) {
const size_t j1 = (j+0);
const size_t j2 = (j+1) % o.pts.size();
const Line2 l2(o.pts[j1], o.pts[j2]);
Point2 p;
//if (l1.getSegmentIntersection(l2, p)) {
if (intersects(l1, l2, limit, p)) {
res.push_back(CutRes(p, i1,i2, j1,j2));
}
}
}
return res;
}
};
/** does the given polygon (list of points) contain the given point? */
static bool polygonContainsPoint(const std::vector<Point2>& poly, const Point2 p) {
// https://en.wikipedia.org/wiki/Winding_number
// http://geomalgorithms.com/a03-_inclusion.html
// BBox2 bb
// bb.grow(Point2(0.001, 0.001));
// if (!bb.contains(p)) {return false;}
double sum = 0;
for (size_t i = 0; i < poly.size(); ++i) {
const Point2 p1 = poly[i];
const Point2 p2 = poly[(i+1)%poly.size()];
const Point2 d1 = (p1-p).normalized();
const Point2 d2 = (p2-p).normalized();
sum += std::acos(dot(d1, d2));
}
// normalize (x = number of windings)
const double x = sum / M_PI / 2;
// only look at the fractional part
//const double y = x - std::floor(x);
return std::abs(x) >= 0.975;// && (std::abs(y) >= 0.9 || std::abs(y) < 0.1);
}
#endif // POLYGON2_H

18
geo/Triangle3.h
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@@ -55,6 +55,24 @@ public:
return *this;
}
/** switch between CW<->CCW */
void reverse() {
std::swap(p2, p3);
}
void rotate_deg(const Point3 rot) {
p1 = p1.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
p2 = p2.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
p3 = p3.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
}
// void ensureCCW() {
// Point3 norm = cross(p3-p1, p2-p1);
// if (norm.z < 0) {
// reverse();
// }
// }
Point3 getNormal() const {
return cross( p2-p1, p3-p1 ).normalized();
}

2
navMesh/NavMeshFactory.h
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@@ -363,7 +363,7 @@ namespace NM {
return false;
}
bool m_keepInterResults = false;
// bool m_keepInterResults = false;
bool m_filterLowHangingObstacles = false;
bool m_filterLedgeSpans = false;
bool m_filterWalkableLowHeightSpans = false;

31
wifi/estimate/ray3/FloorPos.h Normal file
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@@ -0,0 +1,31 @@
#ifndef FLOORPOS_H
#define FLOORPOS_H
namespace Ray3D {
/** used to model ceiling thickness */
struct FloorPos {
float fh;
float z1;
float z2;
float height;
FloorPos(const Floorplan::Floor* f) : fh(0.01), z1(f->getStartingZ()), z2(f->getEndingZ()-fh), height(z2-z1) {;}
};
static Obstacle3D::Type getType(const Floorplan::FloorObstacleLine* l) {
switch (l->type) {
case Floorplan::ObstacleType::WALL: return Obstacle3D::Type::WALL;
case Floorplan::ObstacleType::WINDOW: return Obstacle3D::Type::WINDOW;
case Floorplan::ObstacleType::HANDRAIL: return Obstacle3D::Type::HANDRAIL;
default: return Obstacle3D::Type::UNKNOWN;
}
}
static Obstacle3D::Type getType(const Floorplan::FloorObstacleCircle* c) {
(void) c;
return Obstacle3D::Type::WALL;
}
}
#endif // FLOORPOS_H

3
wifi/estimate/ray3/FloorplanMesh.h
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@@ -205,7 +205,8 @@ namespace Ray3D {
for (const Obstacle3D& obs : elements) {
for (const Triangle3& tria : obs.triangles) {
(void) tria;
res << "3 " << (vidx++) << " " << (vidx++) << " " << (vidx++) << "\n";
res << "3 " << (vidx+0) << " " << (vidx+1) << " " << (vidx+2) << "\n";
vidx += 3;
}
}

104
wifi/estimate/ray3/ModelFactory.h
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@@ -10,6 +10,11 @@
#include "Tube.h"
#include "Cylinder.h"
#include "FloorplanMesh.h"
#include "FloorPos.h"
#include "Walls.h"
#include "WallsViaCubes.h"
#include "WallsViaCuttedQuads.h"
#include "OBJPool.h"
@@ -23,7 +28,7 @@ namespace Ray3D {
public:
bool exportCeilings = true;
bool exportObstacles = true;
bool exportObstacles = true;
bool exportStairs = true;
bool fancyStairs = true;
bool exportHandrails = true;
@@ -39,6 +44,9 @@ namespace Ray3D {
/** the to-be-exported map */
const Floorplan::IndoorMap* map;
//Walls* walls = new WallsViaCubes();
Walls* walls = new WallsViaCuttedQuads();
public:
@@ -82,6 +90,9 @@ namespace Ray3D {
if (!f->enabled) {continue;}
// reset wall-factory
walls->clear();
// triangulize the floor itself (floor/ceiling)
if (exportCeilings) {
std::vector<Obstacle3D> tmp = getFloor(f);
@@ -96,12 +107,14 @@ namespace Ray3D {
}
}
// append all created walls
const std::vector<Obstacle3D>& oWalls = walls->get();
res.insert(res.end(),oWalls.begin(), oWalls.end());
// stairs
if (f->stairs.enabled) {
for (const Floorplan::Stair* stair : f->stairs) {
if (exportStairs) {res.push_back(getStairs(f, stair));}
}
}
@@ -265,7 +278,8 @@ namespace Ray3D {
case Floorplan::ObstacleType::WINDOW:
return getWindow(f, fol, aboveDoor);
case Floorplan::ObstacleType::WALL:
return getWall(f, fol, aboveDoor);
addWall(f, fol, aboveDoor);
return Obstacle3D();
default:
throw Exception("invalid obstacle type");
}
@@ -273,7 +287,8 @@ namespace Ray3D {
}
Obstacle3D getWindow(const Floorplan::Floor* f, const Floorplan::FloorObstacleLine* fol, const Floorplan::FloorObstacleDoor* aboveDoor) const {
return getWall(f, fol, aboveDoor);
//return getWall(f, fol, aboveDoor);
return Obstacle3D();
}
Obstacle3D getPillar(const Floorplan::Floor* f, const Floorplan::FloorObstacleCircle* foc) const {
@@ -297,39 +312,8 @@ namespace Ray3D {
}
Obstacle3D getWall(const Floorplan::Floor* f, const Floorplan::FloorObstacleLine* fol, const Floorplan::FloorObstacleDoor* aboveDoor) const {
FloorPos fpos(f);
const float thickness_m = fol->thickness_m;
const Point2 from = (!aboveDoor) ? (fol->from) : (aboveDoor->from);
const Point2 to = (!aboveDoor) ? (fol->to) : (aboveDoor->to);
const Point2 cen2 = (from+to)/2;
const float rad = std::atan2(to.y - from.y, to.x - from.x);
const float deg = rad * 180 / M_PI;
// cube's destination center
const float _height = (fol->height_m > 0) ? (fol->height_m) : (fpos.height); // use either floor's height or user height
const double height = (!aboveDoor) ? (_height) : (fpos.height - aboveDoor->height);
const double cenZ = (!aboveDoor) ? (fpos.z1 + height/2) : (fpos.z1 + aboveDoor->height + height/2);// (fpos.z2 - (fpos.height - aboveDoor->height) / 2);
const Point3 pos(cen2.x, cen2.y, cenZ);
// div by 2.01 to prevent overlapps and z-fighting
const float sx = from.getDistance(to) / 2;
const float sy = thickness_m / 2;
const float sz = height / 2.01f; // prevent overlaps
const Point3 size(sx, sy, sz);
const Point3 rot(0,0,deg);
// build
Cube cube(pos, size, rot, cubeParts);
// done
Obstacle3D res(getType(fol), fol->material);
res.triangles = cube.getTriangles();
return res;
void addWall(const Floorplan::Floor* f, const Floorplan::FloorObstacleLine* fol, const Floorplan::FloorObstacleDoor* aboveDoor) const {
walls->add(f, fol, aboveDoor);
}
/** 3D Obstacle from .obj 3D mesh */
@@ -351,26 +335,6 @@ namespace Ray3D {
obs = obs.translated(foo->pos + Point3(0,0,fpos.z1));
obs.type = Obstacle3D::Type::OBJECT;
// std::vector<Triangle3> trias;
// for (const OBJReader::Face& face : reader.getData().faces) {
// Point3 p1 = face.vnt[0].vertex;
// Point3 p2 = face.vnt[1].vertex;
// Point3 p3 = face.vnt[2].vertex;
// p1 = p1.rot(foo->rot.x/180.0f*M_PI, foo->rot.y/180.0f*M_PI, foo->rot.z/180.0f*M_PI);
// p2 = p2.rot(foo->rot.x/180.0f*M_PI, foo->rot.y/180.0f*M_PI, foo->rot.z/180.0f*M_PI);
// p3 = p3.rot(foo->rot.x/180.0f*M_PI, foo->rot.y/180.0f*M_PI, foo->rot.z/180.0f*M_PI);
// p1 += foo->pos; p1.z += fpos.z1;
// p2 += foo->pos; p2.z += fpos.z1;
// p3 += foo->pos; p3.z += fpos.z1;
// const Triangle3 tria(p1, p2, p3);
// trias.push_back(tria);
// }
// // done
// Obstacle3D res(Obstacle3D::Type::OBJECT, Floorplan::Material::WOOD);
// res.triangles = trias;
// return res;
return obs;
}
@@ -672,30 +636,6 @@ namespace Ray3D {
}
*/
static Obstacle3D::Type getType(const Floorplan::FloorObstacleLine* l) {
switch (l->type) {
case Floorplan::ObstacleType::WALL: return Obstacle3D::Type::WALL;
case Floorplan::ObstacleType::WINDOW: return Obstacle3D::Type::WINDOW;
case Floorplan::ObstacleType::HANDRAIL: return Obstacle3D::Type::HANDRAIL;
default: return Obstacle3D::Type::UNKNOWN;
}
}
static Obstacle3D::Type getType(const Floorplan::FloorObstacleCircle* c) {
(void) c;
return Obstacle3D::Type::WALL;
}
/** used to model ceiling thickness */
struct FloorPos {
float fh;
float z1;
float z2;
float height;
FloorPos(const Floorplan::Floor* f) : fh(0.01), z1(f->getStartingZ()), z2(f->getEndingZ()-fh), height(z2-z1) {;}
};
};
}

28
wifi/estimate/ray3/Obstacle3.h
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@@ -38,6 +38,27 @@ namespace Ray3D {
/** ctor */
Obstacle3D(Type type, Floorplan::Material mat) : type(type), mat(mat) {;}
/** append a new triangle. REFERENCE ONLY VALID UNTIL NEXT ADD */
Triangle3& addTriangle(const Point3 p1, const Point3 p2, const Point3 p3) {
triangles.push_back(Triangle3(p1, p2, p3));
return triangles.back();
}
/** append a new quad by splitting into two triangles */
void addQuad(const Point3 p1, const Point3 p2, const Point3 p3, const Point3 p4) {
addTriangle(p1, p2, p3);
addTriangle(p1, p3, p4);
}
/** reverse all faces (CW<->CCW) */
void reverseFaces() {
for (Triangle3& t : triangles) {
t.reverse();
}
}
/** scaled copy */
Obstacle3D scaled(const Point3 scale) const {
Obstacle3D copy = *this;
@@ -60,9 +81,10 @@ namespace Ray3D {
Obstacle3D rotated_deg(const Point3 rot) const {
Obstacle3D copy = *this;
for (Triangle3& tria : copy.triangles) {
tria.p1 = tria.p1.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
tria.p2 = tria.p2.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
tria.p3 = tria.p3.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
// tria.p1 = tria.p1.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
// tria.p2 = tria.p2.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
// tria.p3 = tria.p3.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
tria.rotate_deg(rot);
}
return copy;
}

22
wifi/estimate/ray3/Walls.h Normal file
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@@ -0,0 +1,22 @@
#ifndef WALLS_H
#define WALLS_H
#include "Obstacle3.h"
namespace Ray3D {
class Walls {
public:
virtual void clear() = 0;
virtual void add(const Floorplan::Floor* f, const Floorplan::FloorObstacleLine* fol, const Floorplan::FloorObstacleDoor* aboveDoor) = 0;
virtual const std::vector<Obstacle3D>& get() = 0;
};
}
#endif // WALLS_H

69
wifi/estimate/ray3/WallsViaCubes.h Normal file
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@@ -0,0 +1,69 @@
#ifndef WALLSVIACUBE_H
#define WALLSVIACUBE_H
#include "Walls.h"
#include "FloorPos.h"
#include "Cube.h"
namespace Ray3D {
/**
* simply use one 3D cube per wall
* if walls intersect in the 2D view, cubes will also intersect
*/
class WallsViaCubes : public Walls {
Cube::Part cubeParts = (Cube::Part) 63; // leftright,topbottom,rearfront
std::vector<Obstacle3D> vec;
public:
void clear() override {
vec.clear();
}
void add(const Floorplan::Floor* f, const Floorplan::FloorObstacleLine* fol, const Floorplan::FloorObstacleDoor* aboveDoor) override {
FloorPos fpos(f);
const float thickness_m = fol->thickness_m;
const Point2 from = (!aboveDoor) ? (fol->from) : (aboveDoor->from);
const Point2 to = (!aboveDoor) ? (fol->to) : (aboveDoor->to);
const Point2 cen2 = (from+to)/2;
const float rad = std::atan2(to.y - from.y, to.x - from.x);
const float deg = rad * 180 / M_PI;
// cube's destination center
const float _height = (fol->height_m > 0) ? (fol->height_m) : (fpos.height); // use either floor's height or user height
const double height = (!aboveDoor) ? (_height) : (fpos.height - aboveDoor->height);
const double cenZ = (!aboveDoor) ? (fpos.z1 + height/2) : (fpos.z1 + aboveDoor->height + height/2);// (fpos.z2 - (fpos.height - aboveDoor->height) / 2);
const Point3 pos(cen2.x, cen2.y, cenZ);
// div by 2.01 to prevent overlapps and z-fighting
const float sx = from.getDistance(to) / 2;
const float sy = thickness_m / 2;
const float sz = height / 2.01f; // prevent overlaps
const Point3 size(sx, sy, sz);
const Point3 rot(0,0,deg);
// build
Cube cube(pos, size, rot, cubeParts);
// done
Obstacle3D res(getType(fol), fol->material);
res.triangles = cube.getTriangles();
vec.push_back(res);
}
const std::vector<Obstacle3D>& get() override {
return vec;
}
};
}
#endif // WALLSVIACUBE_H

293
wifi/estimate/ray3/WallsViaCuttedQuads.h Normal file
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@@ -0,0 +1,293 @@
#ifndef WALLSVIACUTTEDQUADS_H
#define WALLSVIACUTTEDQUADS_H
#include "../../../geo/Line2.h"
#include "../../../geo/Polygon2.h"
#include "Walls.h"
namespace Ray3D {
/**
* interpret walls als quads (polygons)
* intersect them with each other to prevent overlaps
*/
class WallsViaCuttedQuads : public Walls {
private:
struct Wall {
const Floorplan::FloorObstacleLine* line;
Line2 l1;
Line2 l2;
Wall(const Floorplan::FloorObstacleLine* line) : line(line) {
const Point2 from = line->from;
const Point2 to = line->to;
const Point2 dir = (to-from).normalized();
const Point2 dirP = dir.perpendicular();
const float w = line->thickness_m;
const float w2 = w/2;
const Point2 p1 = from + dirP * w2;
const Point2 p2 = from - dirP * w2;
const Point2 p3 = to - dirP * w2;
const Point2 p4 = to + dirP * w2;
l1 = Line2(p1, p4);
l2 = Line2(p2, p3);
}
Point2 getP1() const {return l1.p1;}
Point2 getP2() const {return l1.p2;}
Point2 getP3() const {return l2.p2;}
Point2 getP4() const {return l2.p1;}
struct CutRes {
Point2 p;
Line2* l1; // within this wall
Line2* l2; // within the other wall
CutRes(Point2 p, Line2* l1, Line2* l2) : p(p), l1(l1), l2(l2) {;}
};
std::vector<CutRes> getIntersections(Wall& o, bool limit = true) {
std::vector<CutRes> res;
Point2 p;
if (intersects(l1, o.l1, limit, p)) {res.push_back(CutRes(p,&l1, &o.l1));}
if (intersects(l1, o.l2, limit, p)) {res.push_back(CutRes(p,&l1, &o.l2));}
if (intersects(l2, o.l1, limit, p)) {res.push_back(CutRes(p,&l2, &o.l1));}
if (intersects(l2, o.l2, limit, p)) {res.push_back(CutRes(p,&l2, &o.l2));}
return res;
}
bool containsPoint(const Point2 p) {
return polygonContainsPoint({l1.p1, l1.p2, l2.p2, l2.p1}, p);
}
};
void cropLine(Line2* l, Point2 p) {
// determine which line-end to crop
if (p.getDistance(l->p1) < p.getDistance(l->p2)) {
l->p1 = p;
} else {
l->p2 = p;
}
}
std::vector<Wall> walls;
const Floorplan::Floor* floor;
std::vector<Obstacle3D> obs;
public:
void clear() override {
walls.clear();
}
void add(const Floorplan::Floor* f, const Floorplan::FloorObstacleLine* fol, const Floorplan::FloorObstacleDoor* aboveDoor) override {
if (fol->type != Floorplan::ObstacleType::WALL) {return;}
if (aboveDoor) {return;}
this->floor = f;
walls.push_back(Wall(fol));
}
virtual const std::vector<Obstacle3D>& get() override {
std::vector<Wall> tmp = cut(walls);
obs = toObs(tmp, floor);
return obs;
}
private:
/** convert all walls to obstacles */
std::vector<Obstacle3D> toObs(const std::vector<Wall>& walls, const Floorplan::Floor* f) {
std::vector<Obstacle3D> res;
for (const Wall& w : walls) {
res.push_back(toObs(w, f));
}
return res;
}
// bool isCW(Line2 l) {
// float a = l.getAngle();
// return a < 0 || a <= M_PI/2 || a >= M_PI*1.5;
// //return a >= 0 && a <= M_PI;
// }
/** convert one wall into an obstacle */
Obstacle3D toObs(const Wall& wall, const Floorplan::Floor* f) {
Obstacle3D obs(getType(wall.line), wall.line->material);
const float z1 = f->getStartingZ();
const float z2 = f->getEndingZ();
// Line2 l1(wall.getP1(), wall.getP2());
// Line2 l2(wall.getP3(), wall.getP4());
// float len1 = l1.getLength();
// float a1 = l1.getAngle() * 180 / M_PI;
// float a2 = l2.getAngle() * 180 / M_PI;
const Point3 p1 = Point3(wall.getP1().x, wall.getP1().y, z1);
const Point3 p2 = Point3(wall.getP2().x, wall.getP2().y, z1);
const Point3 p3 = Point3(wall.getP3().x, wall.getP3().y, z1);
const Point3 p4 = Point3(wall.getP4().x, wall.getP4().y, z1);
const Point3 p1u = Point3(wall.getP1().x, wall.getP1().y, z2);
const Point3 p2u = Point3(wall.getP2().x, wall.getP2().y, z2);
const Point3 p3u = Point3(wall.getP3().x, wall.getP3().y, z2);
const Point3 p4u = Point3(wall.getP4().x, wall.getP4().y, z2);
obs.addQuad(p1, p2, p2u, p1u);
obs.addQuad(p2, p3, p3u, p2u);
obs.addQuad(p3, p4, p4u, p3u);
obs.addQuad(p4, p1, p1u, p4u);
obs.addQuad(p1u, p2u, p3u, p4u);
obs.addQuad(p4, p3, p2, p1);
obs.reverseFaces();
// // front
// Triangle3 t1( Point3(0, 0, z1), Point3(len1, 0, z1), Point3(len1, 0, z2) );
// t1.reverse(); t1.rotate_deg(Point3(0,0,a1)); t1 += Point3(l1.p1.x, l1.p1.y, 0);
// Triangle3 t2( Point3(0, 0, z1), Point3(len1, 0, z2), Point3(0, 0, z2) );
// t2.reverse(); t2.rotate_deg(Point3(0,0,a1)); t2 += Point3(l1.p1.x, l1.p1.y, 0);
// // rear
// Triangle3 t3( Point3(0, 0, z1), Point3(len1, 0, z1), Point3(len1, 0, z2) );
// t3.reverse(); t3.rotate_deg(Point3(0,0,a2)); t3 += Point3(l2.p1.x, l2.p1.y, 0);
// Triangle3 t4( Point3(0, 0, z1), Point3(len1, 0, z2), Point3(0, 0, z2) );
// t4.reverse(); t4.rotate_deg(Point3(0,0,a2)); t4 += Point3(l2.p1.x, l2.p1.y, 0);
// obs.triangles.push_back(t1);
// obs.triangles.push_back(t2);
// obs.triangles.push_back(t3);
// obs.triangles.push_back(t4);
//// obs.triangles.push_back(t4);
return obs;
}
std::vector<Wall> cut(std::vector<Wall> walls) {
for (size_t i = 0; i < walls.size(); ++i) {
Wall& w1 = walls[i];
for (size_t j = i+1; j < walls.size(); ++j) {
Wall& w2 = walls[j];
if (i == j) {continue;}
std::vector<Wall::CutRes> isect = w1.getIntersections(w2);
// for (const auto c : isect) {
// out << "<circle cx='" << ox+c.p.x*s << "' cy='" << oy+(h-c.p.y)*s << "' r='2.0'/>\n";
// }
// check all detected intersections
for (const auto c : isect) {
// we have two polygons and need to decide which line to crop:
// we want to cut-off the polygon, that has ending points within the other polygon!
// -> check which line (that contains the intersection point) ends within the other polygon
const bool p1EndsWithinP2 = w2.containsPoint(c.l1->p1) || w2.containsPoint(c.l1->p2);
const bool p2EndsWithinP1 = w1.containsPoint(c.l2->p1) || w1.containsPoint(c.l2->p2);
// if both polygons end within the other one (this is the case for edges where two lines are conencted) -> ignore
if (p1EndsWithinP2 && p2EndsWithinP1) {
isect = w1.getIntersections(w2, false);
if (isect.size() != 4) {continue;}
// center of the 4 intersections
Point2 isectCen;
for (const auto c2 : isect) {isectCen += c2.p;}
isectCen /= isect.size();
// 2 vectors along the two walls, both pointing AWAY from the center of intersection
const Point2 dir1 = isectCen.getDistance(w1.line->from) < isectCen.getDistance(w1.line->to) ? (w1.line->to - w1.line->from) : (w1.line->from - w1.line->to);
const Point2 dir2 = isectCen.getDistance(w2.line->from) < isectCen.getDistance(w2.line->to) ? (w2.line->to - w2.line->from) : (w2.line->from - w2.line->to);
// average between both, after normalization
const Point2 dirFromCen = (dir1.normalized()+dir2.normalized()) / 2;
// pointing INWARDS (between both walls) away from the intersection center
const Point2 innerCenter = isectCen + dirFromCen * 10;
// sort the 4 intersections by distance from innerCenter
// we want to know the farthest and the nearest of the 4
auto comp = [innerCenter] (const Wall::CutRes& a, const Wall::CutRes& b) {
return a.p.getDistance(innerCenter) < b.p.getDistance(innerCenter);
};
std::sort(isect.begin(), isect.end(), comp);
// w1 will be made longer
// w2 will be made shorter
bool use45 = false;
if (use45) {
// farthest from center
cropLine(isect[3].l1, isect[3].p);
cropLine(isect[3].l2, isect[3].p);
// nearest to center
cropLine(isect[0].l2, isect[0].p);
cropLine(isect[0].l1, isect[0].p);
} else {
// farthest from center
cropLine(isect[3].l1, isect[3].p);
// nearest to center
cropLine(isect[0].l2, isect[0].p);
//cropLine(isect[2].l2, isect[2].p);
// shared point
if (isect[3].l1 != isect[2].l1) {
cropLine(isect[2].l2, isect[2].p);
cropLine(isect[2].l1, isect[2].p);
} else {
cropLine(isect[1].l2, isect[1].p);
cropLine(isect[1].l1, isect[1].p);
}
}
} else if (p1EndsWithinP2) {
// crop the intersecting line within polygon 1
cropLine(c.l1, c.p);
} else if (p2EndsWithinP1) {
// crop the intersecting line within polygon 2
cropLine(c.l2, c.p);
}
}
}
}
return walls;
}
};
}
#endif // WALLSVIACUTTEDQUADS_H