FHWS/Indoor
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added dijkstra support to navmesh

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This commit is contained in:
FrankE
2018-01-21 13:41:17 +01:00
parent 3c72bc814c
commit c9d02d440a
6 changed files with 536 additions and 56 deletions
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16
navMesh/NavMeshDebug.h
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@@ -29,6 +29,7 @@ namespace NM {
K::GnuplotSplotElementColorPoints particles;
K::GnuplotSplotElementLines pathEstimated;
K::GnuplotSplotElementColorPoints distances;
K::GnuplotSplotElementLines shortestPath;
private:
@@ -50,6 +51,7 @@ namespace NM {
plot.add(&particles); particles.setPointType(7); particles.setPointSize(0.2);
plot.add(&pathEstimated); pathEstimated.getStroke().setWidth(2); pathEstimated.setShowPoints(false); pathEstimated.getStroke().getColor().setHexStr("#00ff00");
plot.add(&distances); distances.setPointSize(2); distances.setPointType(7);
plot.add(&shortestPath); shortestPath.getStroke().setWidth(3);
}
void draw() {
@@ -118,6 +120,8 @@ namespace NM {
template <typename Tria> void addDijkstra(NavMesh<Tria>& mesh) {
distances.clear();
// ensure Tria extends NavMeshTriangleDijkstra
StaticAssert::AinheritsB<Tria, NavMeshTriangleDijkstra>();
@@ -125,7 +129,7 @@ namespace NM {
for (int i = 0; i < 900; ++i) {
NavMeshLocation<Tria> loc = rnd.draw();
float v = loc.tria->interpolate(loc.pos, loc.tria->distAtP1, loc.tria->distAtP2, loc.tria->distAtP3);
float v = loc.tria->interpolate(loc.pos, loc.tria->spFromP1.distance, loc.tria->spFromP2.distance, loc.tria->spFromP3.distance);
distances.add(K::GnuplotPoint3(loc.pos.x, loc.pos.y, loc.pos.z), v);
}
@@ -144,6 +148,16 @@ namespace NM {
}
template <typename Tria> void addDijkstra(std::vector<NM::NavMeshLocation<Tria>>& path) {
shortestPath.clear();
for (auto& e : path) {
K::GnuplotPoint3 gp(e.pos.x, e.pos.y, e.pos.z);
shortestPath.add(gp);
}
}
void setGT(const Point3 pt) {
gp << "set arrow 31337 from " << pt.x << "," << pt.y << "," << (pt.z+1.4) << " to " << pt.x << "," << pt.y << "," << pt.z << " front \n";