started testing a new grid-builder

minor fixes
worked on walkers

grid/factory/v3/HelperPoly3.h

@@ -0,0 +1,101 @@
+#ifndef HELPERPOLY3_H
+#define HELPERPOLY3_H
+
+#include "../../../geo/Point2.h"
+#include "../../../geo/Point3.h"
+#include "../../../geo/BBox2.h"
+#include "../../../geo/BBox3.h"
+#include "../../../floorplan/v2/Floorplan.h"
+#include "../../../grid/Grid.h"
+
+/** helper class for polygon methods */
+struct HelperPoly3 {
+
+	BBox2 bbox_cm;
+	std::vector<Point2> points_cm;
+
+	/** empty ctor */
+	HelperPoly3() {
+		;
+	}
+
+	/** ctor from floorplan-polygon */
+	HelperPoly3(const Floorplan::FloorOutlinePolygon& poly) {
+		for (Point2 p : poly.poly.points) { add(p * 100); }
+	}
+
+	/** ctor from floorplan-quad */
+	HelperPoly3(const Floorplan::Quad3& quad) {
+		add(quad.p1*100); add(quad.p2*100); add(quad.p3*100); add(quad.p4*100);
+	}
+
+	/** ctor from floorplan-polygon */
+	HelperPoly3(const Floorplan::Polygon2& poly) {
+		for (Point2 p : poly.points) { add(p * 100); }
+	}
+
+	void add(const Point2 p) {
+		points_cm.push_back(p);
+		bbox_cm.add(p);
+	}
+
+	void add(const Point3& p) {
+		points_cm.push_back(p.xy());
+		bbox_cm.add(p.xy());
+	}
+
+	/** does the polygon contain the given point (in cm)? */
+	bool contains(const Point2 p_cm) const {
+
+		// not within bbox? -> not within polygon
+		if (!bbox_cm.contains(p_cm)) {return false;}
+
+		// ensure the point is at least a bit outside of the polygon
+		const float x1_cm = bbox_cm.getMin().x - 17.71920;
+		const float y1_cm = bbox_cm.getMin().y - 23.10923891;
+
+		// construct line between point outside of the polygon and the point in question
+		const Line2 l(x1_cm, y1_cm, p_cm.x, p_cm.y);
+
+		// determine the number of intersections
+		int hits = 0;
+		const int cnt = points_cm.size();
+		for (int i = 0; i < cnt; ++i) {
+			const Point2 p1 = points_cm[(i+0)%cnt];
+			const Point2 p2 = points_cm[(i+1)%cnt];
+			const Line2 l12(p1, p2);
+			if (l12.getSegmentIntersection(l)) {++hits;}
+		}
+
+		// inside or outside?
+		return ((hits % 2) == 1);
+
+	}
+
+	/** 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);
+
+			}
+		}
+
+	}
+
+};
+
+#endif // HELPERPOLY3_H