worked on grid-walking

worked on grid-generation
added helper library for nav-meshes
started working on nav meshes

navMesh/NavMesh.h

@@ -0,0 +1,99 @@
+#ifndef NAV_MESH_H
+#define NAV_MESH_H
+
+#include "NavMeshTriangle.h"
+#include <vector>
+#include "../geo/BBox3.h"
+#include <random>
+#include "../math/DrawList.h"
+#include "NavMeshRandom.h"
+
+template <typename Tria> class NavMesh {
+
+	/** all triangles within the mesh */
+	std::vector<Tria> triangles;
+
+	BBox3 bbox;
+
+public:
+
+	NavMesh() {
+
+	}
+
+	/** the overall bounding-box */
+	const BBox3 getBBox() const {
+		return bbox;
+	}
+
+	/** add a new triangle */
+	void add(const Point3 p1, const Point3 p2, const Point3 p3, const uint8_t type) {
+		triangles.push_back(Tria(p1,p2,p3,type));
+		bbox.add(p1);
+		bbox.add(p2);
+		bbox.add(p3);
+	}
+
+	/** connect both triangles */
+	void connectBiDir(int idx1, int idx2) {
+		connectUniDir(idx1,idx2);
+		connectUniDir(idx2,idx1);
+	}
+
+	/** connect both triangles */
+	void connectUniDir(int idxFrom, int idxTo) {
+		NavMeshTriangle& tria = triangles[idxFrom];
+		tria._neighbors[tria._numNeighbors] = idxTo;
+	}
+
+	/** allows for-each iteration over all included triangles */
+	decltype(triangles.begin()) begin() {return triangles.begin();}
+
+	/** allows for-each iteration over all included triangles */
+	decltype(triangles.end()) end() {return triangles.end();}
+
+	/** array access */
+	Tria& operator [] (const size_t idx) {
+		Assert::isBetween(idx, (size_t)0, getNumTriangles()-1, "index out of bounds");
+		return triangles[idx];
+	}
+
+	/** get the number of triangles used */
+	size_t getNumTriangles() const {
+		return triangles.size();
+	}
+
+	/** ---------------- MISC ---------------- */
+
+
+	NavMeshRandom<Tria> getRandomizer() {
+		return NavMeshRandom<Tria>(triangles);
+	}
+
+	/** ---------------- NEIGHBORS ---------------- */
+
+	/** get the number of neighbors for the given element */
+	int getNumNeighbors(const size_t idx) const {
+		return getNumNeighbors(triangles[idx]);
+	}
+
+	/** get the number of neighbors for the given element */
+	int getNumNeighbors(const Tria& e) const {
+		return e._numNeighbors;
+	}
+
+	/** get the n-th neighbor for the given node */
+	Tria& getNeighbor(const size_t nodeIdx, const size_t nth) const {
+		const Tria& node = triangles[nodeIdx];
+		return getNeighbor(node, nth);
+	}
+
+	/** get the n-th neighbor for the given node */
+	Tria& getNeighbor(const Tria& tria, const size_t nth) const {
+		const Tria& neighbor = triangles[tria._neighbors[nth]];
+		return (Tria&) neighbor;
+	}
+
+};
+
+#endif