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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72
tests/navMesh/TestNavMeshDijkstra.cpp
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@@ -90,7 +90,6 @@ TEST(NavMeshDijkstra, build2) {
NavMeshFactory<MyNMT1231902345> fac(&nm, set);
fac.build(map);
@@ -107,5 +106,76 @@ TEST(NavMeshDijkstra, build2) {
}
TEST(NavMeshDijkstra, path) {
NavMeshSettings set;
NavMesh<MyNMT1231902345> nm;
// Floorplan::IndoorMap map;
// Floorplan::Floor floor; map.floors.push_back(&floor); floor.atHeight = 0; floor.height = 3;
// Floorplan::FloorOutlinePolygon outline; floor.outline.push_back(&outline);
// // circle (many triangles)
// int i = 0;
// for (float f = 0; f < M_PI*2; f += 0.8) {
// const float x = std::cos(f) * 10;
// const float y = std::sin(f) * 10;
// outline.poly.points.push_back(Point2(x,y));
// ++i;
// }
// outline.outdoor = false;
// outline.method = Floorplan::OutlineMethod::ADD;
// Floorplan::FloorOutlinePolygon remove; floor.outline.push_back(&remove);
// remove.outdoor = false;
// remove.method = Floorplan::OutlineMethod::REMOVE;
// remove.poly.points.push_back(Point2(+4,-3));
// remove.poly.points.push_back(Point2(+11,-3));
// remove.poly.points.push_back(Point2(+11,+1));
// remove.poly.points.push_back(Point2(+4,+1));
// Floorplan::FloorOutlinePolygon remove2; floor.outline.push_back(&remove2);
// remove2.outdoor = false;
// remove2.method = Floorplan::OutlineMethod::REMOVE;
// remove2.poly.points.push_back(Point2(-11,-2));
// remove2.poly.points.push_back(Point2(-2,-2));
// remove2.poly.points.push_back(Point2(-2,+2));
// remove2.poly.points.push_back(Point2(-11,+2));
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/mnt/vm/paper/diss/data/maps/map_stair1.xml");
NavMeshFactory<MyNMT1231902345> fac(&nm, set);
fac.build(map);
NavMeshDebug dbg;
dbg.addMesh(nm);
dbg.draw();
NM::NavMeshRandom<MyNMT1231902345> rnd = nm.getRandom();
const Point3 dst = rnd.draw().pos;
for (int i = 0; i < 1000; ++i) {
NM::NavMeshLocation<MyNMT1231902345> start = rnd.draw();
NM::NavMeshDijkstra::stamp(nm, dst);
//NM::NavMeshLocation<MyNMT1231902345> start = start;//nm.getLocation(Point3(0,-6,0));
std::vector<NM::NavMeshLocation<MyNMT1231902345>> path = start.tria->getPathToDestination<MyNMT1231902345>(start.pos);
std::cout << path.size() << std::endl;
dbg.addDijkstra(nm);
dbg.addDijkstra(path);
dbg.draw();
sleep(1);
}
}
#endif