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
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@@ -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
}
};