FHWS/Indoor
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worked on grid-walking

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worked on grid-generation
added helper library for nav-meshes
started working on nav meshes
This commit is contained in:
FrankE
2018-01-08 20:55:50 +01:00
parent c346b7f222
commit ca6fed5371
33 changed files with 12991 additions and 1913 deletions
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18
grid/Grid.h
View File

@@ -16,6 +16,11 @@
#include "../geo/BBox3.h"
#include "../misc/Debug.h"
#define GM_BOX 1
#define GM_HOBEYCOMB 2
#define GRID_MODE GM_BOX
/**
* grid of a given-size, storing some user-data-value which
* - extends GridPoint and GridNode
@@ -240,9 +245,18 @@ public:
const uint64_t center = 1 << 19;
// build
#if (GRID_MODE == GM_HOBEYCOMB)
const int xx = ((int)std::round(p.y_cm / gridSize_cm) % 2 == 0) ? (0) : (gridSize_cm/2);
const uint64_t x = center + (int64_t) idxX(p.x_cm-xx);
const uint64_t y = center + (int64_t) idxY(p.y_cm);
const uint64_t z = center + (int64_t) idxZ(p.z_cm);
#elif (GRID_MODE == GM_BOX)
const uint64_t x = center + (int64_t) idxX(p.x_cm);
const uint64_t y = center + (int64_t) idxY(p.y_cm);
const uint64_t z = center + (int64_t) idxZ(p.z_cm);
#endif
return (z << 40) | (y << 20) | (x << 0);
@@ -527,9 +541,13 @@ private:
/** asssert that the given element is aligned to the grid */
void assertAligned(const T& elem) {
#if (GRID_MODE == GM_HOBEYCOMB)
#elif (GRID_MODE == GM_BOX)
if (((int)elem.x_cm % gridSize_cm) != 0) {throw Exception("element's x is not aligned!");}
if (((int)elem.y_cm % gridSize_cm) != 0) {throw Exception("element's y is not aligned!");}
//if (((int)elem.z_cm % gridSize_cm) != 0) {throw Exception("element's z is not aligned!");}
#endif
}
};

33
grid/factory/v3/GridFactory3.h
View File

@@ -4,7 +4,20 @@
#include "../../Grid.h"
#include "../../../floorplan/v2/Floorplan.h"
#include "HelperPoly3.h"
#include <unordered_set>
#if (GRID_MODE == GM_BOX)
#define GF3_ITER_XY for (int y = y1; y <= y2; y += gs_cm) { for (int x = x1; x <= x2; x += gs_cm) {
#elif (GRID_MODE == GM_HOBEYCOMB)
#define GF3_ITER_XY\
for (int y = y1; y <= y2; y += gs_cm) {\
const int xx = (y / gs_cm % 2 == 0) ? (0) : (gs_cm/2);\
for (int x = x1-xx; x <= x2; x += gs_cm) {
#endif
template <typename Node> class GridFactory3 {
@@ -125,6 +138,7 @@ public:
if (n1 == n2) {continue;}
// stair with floor
if (
(n1.getType() == GridNode::TYPE_STAIR && n2.getType() == GridNode::TYPE_FLOOR) ||
(n2.getType() == GridNode::TYPE_STAIR && n1.getType() == GridNode::TYPE_FLOOR)
@@ -132,25 +146,28 @@ public:
const float distxy = n1.inMeter().xy().getDistance(n2.inMeter().xy());
const float distz_cm = std::abs(n1.z_cm - n2.z_cm);
if (distxy > 0 && distxy < gs_cm * 1.5 / 100.0f && distz_cm < gs_cm) {
if (distxy > 0 && distxy < gs_cm * 1.2 / 100.0f && distz_cm < gs_cm) { // [1.85]
if (n1.fullyConnected()) {continue;}
if (n2.fullyConnected()) {continue;}
grid.connectUniDir(n1, n2);
}
// floor with floor
} else if (n1.getType() == GridNode::TYPE_FLOOR && n2.getType() == GridNode::TYPE_FLOOR) {
if (n1.getDistanceInCM(n2) < gs_cm * 1.45 && !isBlocked(map, n1, n2)) {
if (n1.getDistanceInCM(n2) < gs_cm * 1.2 && !isBlocked(map, n1, n2)) { // [1.2 | 1.845]
if (n1.fullyConnected()) {continue;}
if (n2.fullyConnected()) {continue;}
grid.connectUniDir(n1, n2);
}
// stair with stair
} else if (n1.getType() == GridNode::TYPE_STAIR && n2.getType() == GridNode::TYPE_STAIR) {
const float distxy = n1.inMeter().xy().getDistance(n2.inMeter().xy());
const float distz_cm = std::abs(n1.z_cm - n2.z_cm);
// if (n1.getDistanceInCM(n2) < gs_cm * 1.45 && !isBlocked(map, n1, n2)) {
if (distxy < gs_cm * 1.45 / 100.0f && distz_cm <= gs_cm) {
if (distxy < gs_cm * 1.2 / 100.0f && distz_cm <= gs_cm) { // [1.845]
if (n1.fullyConnected()) {continue;}
if (n2.fullyConnected()) {continue;}
grid.connectUniDir(n1, n2);
@@ -328,8 +345,7 @@ public:
polygons.push_back(Combo(pol, poly));
}
for (int y = y1; y <= y2; y += gs_cm) {
for (int x = x1; x <= x2; x += gs_cm) {
GF3_ITER_XY
int type = GridNode::TYPE_FLOOR;
bool remove = false;
@@ -429,8 +445,11 @@ public:
//int zFloor = floor->atHeight * 100;
for (int y = y1; y <= y2; y += gs_cm) {
for (int x = x1; x <= x2; x += gs_cm) {
// for (int y = y1; y <= y2; y += gs_cm) {
// const int xx = (y / gs_cm % 2 == 0) ? (0) : (gs_cm/2);
// for (int x = x1-xx; x <= x2; x += gs_cm) {
GF3_ITER_XY
int z = 0;
Point2 p(x/100.0f, y/100.0f);

2
grid/walk/v3/Walker.h
View File

@@ -184,7 +184,9 @@ namespace GW3 {
}
#if (GRID_MODE == GM_BOX)
Assert::isTrue(grid.hasNodeFor(grid.toGridPoint(res.position)), "end-point not found on grid");
#endif
return res;