worked on grid-walking

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

navMesh/NavMeshTriangle.h

@@ -0,0 +1,126 @@
+#ifndef NAVMESHTRIANGLE_H
+#define NAVMESHTRIANGLE_H
+
+#include "../geo/Point3.h"
+#include "../geo/Point2.h"
+
+class NavMeshTriangle {
+
+public:
+
+	Point3 p1;
+	Point3 p2;
+	Point3 p3;
+	uint8_t type;
+
+private:
+
+	template<typename> friend class NavMesh;
+
+	int _neighbors[3];
+	int _numNeighbors;
+
+	/** precalculated stuff */
+
+private:
+
+	Point2 v0;
+	Point2 v1;
+	float dot00;
+	float dot01;
+	float dot11;
+	float invDenom;
+	float area;
+
+	const Point3 center;
+	const Point3 v12;
+	const Point3 v13;
+
+public:
+
+	/** ctor */
+	NavMeshTriangle(const Point3 p1, const Point3 p2, const Point3 p3, const uint8_t type) :
+		p1(p1), p2(p2), p3(p3), type(type),
+		_neighbors(), _numNeighbors(0),
+		center((p1+p2+p3)/3), v12(p2-p1), v13(p3-p1) {
+		precompute();
+	}
+
+	bool operator == (const NavMeshTriangle& o) const {
+		return (p1 == o.p1) && (p2 == o.p2) && (p3 == o.p3);
+	}
+
+
+	Point3 getA() const {
+		return p1;
+	}
+
+	Point3 getAB() const {
+		return v12;
+	}
+
+	Point3 getAC() const {
+		return v13;
+	}
+
+	bool contains(const Point3 p) const {
+
+		const Point2 v2 = p.xy() - p1.xy();
+
+		// Compute dot products
+		float dot02 = dot(v0, v2);
+		float dot12 = dot(v1, v2);
+
+		// Compute barycentric coordinates
+		float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
+		float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
+
+		// Check if point is in triangle
+		return (u >= 0) && (v >= 0) && (u + v <= 1);
+
+	}
+
+	/** get the triangle's size */
+	float getArea() const {
+		return area;
+	}
+
+	/** get the triangle's center-point */
+	Point3 getCenter() const {
+		return center;
+	}
+
+
+
+private:
+
+	/** perform some pre-calculations to speed things up */
+	void precompute() {
+
+		// Compute vectors
+		v0 = p3.xy() - p1.xy();
+		v1 = p2.xy() - p1.xy();
+
+		// Compute dot products
+		dot00 = dot(v0, v0);
+		dot01 = dot(v0, v1);
+		dot11 = dot(v1, v1);
+
+		// Compute barycentric coordinates
+		invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
+
+
+
+
+		const float a = (p2-p1).length();
+		const float b = (p3-p1).length();
+		const float c = (p2-p3).length();
+		const float s = 0.5f * (a+b+c);
+		area = std::sqrt( s * (s-a) * (s-b) * (s-c) );
+
+	}
+
+
+};
+
+#endif // NAVMESHTRIANGLE_H