geometry changes/fixes/new features

new grid walkers + fixes
new test-cases
worked on step/and turn detection
android offline-data-reader
worked on vap-grouping

grid/factory/v2/GridFactory.h

@@ -18,18 +18,7 @@
 #include <functional>
 
 
-/** listen for events during the build process */
-class GridFactoryListener {
-
-public:
-
-	virtual void onGridBuildUpdateMajor(const std::string& what) = 0;
-	virtual void onGridBuildUpdateMajor(const int cnt, const int cur) = 0;
-
-	virtual void onGridBuildUpdateMinor(const std::string& what) = 0;
-	virtual void onGridBuildUpdateMinor(const int cnt, const int cur) = 0;
-
-};
+#include "GridFactoryListener.h"
 
 
 template <typename T> class GridFactory {
@@ -156,7 +145,7 @@ public:
 				GridNodeBBox bbox(GridPoint(x_cm, y_cm, z_cm), helper.gridSize());
 
 				// slightly grow the bbox to ensure even obstacles that are directly aligned to the bbox are hit
-				bbox.grow(0.012345);
+				bbox.grow(0.42345);
 				if (intersects(bbox, floor)) {continue;}
 
 				// add to the grid
@@ -170,7 +159,7 @@ public:
 		}
 
 		// connect the g
-		connectAdjacent(z_cm);
+		connectAdjacent(floor, z_cm);
 
 	}
 
@@ -186,6 +175,9 @@ public:
 			if (listener) {listener->onGridBuildUpdateMinor(total, ++cur);}
 		}
 
+		// cleanup
+		stairs.finalize();
+
 	}
 
 
@@ -273,7 +265,7 @@ public:
 	}
 
 	/** connect all neighboring nodes located on the given height-plane */
-	void connectAdjacent(const float z_cm) {
+	void connectAdjacent(const Floorplan::Floor* floor, const float z_cm) {
 
 		Log::add(name, "connecting all adjacent nodes at height " + std::to_string(z_cm), false);
 		Log::tick();
@@ -285,7 +277,7 @@ public:
 			if (n1.z_cm != z_cm) {continue;}
 
 			// connect the node with its neighbors
-			connectAdjacent(n1);
+			connectAdjacent(floor, n1);
 
 		}
 
@@ -293,8 +285,13 @@ public:
 
 	}
 
-	/** connect the given node with its neighbors */
-	void connectAdjacent(T& n1) {
+	/**
+	 * connect the given node with its neighbors.
+	 * even though a node has a neighbor, it might still be blocked by an obstacle:
+	 * e.g. a 45° wall directly between nodes. a neighbor exists, but is unreachable due to the wall.
+	 * we thus perform an additional intersection check with all obstacles within the floor the node n1 belongs to
+	 */
+	void connectAdjacent(const Floorplan::Floor* floor, T& n1) {
 
 		const int gridSize_cm = grid.getGridSize_cm();
 
@@ -313,6 +310,7 @@ public:
 				// does the grid contain the potential neighbor?
 				const T* n2 = grid.getNodePtrFor(p);
 				if (n2 != nullptr) {
+					if (isBlocked(floor, n1, *n2)) {continue;}		// is there a (e.g. small) obstacle between the two?
 					grid.connectUniDir(n1, *n2);			// UNI-dir connection as EACH node is processed!
 				}
 
@@ -479,7 +477,46 @@ private:
 			}
 
 		}
+
 		return false;
+
+	}
+
+	/**
+	 * normally, the algorithm will not try to connect two nodes that are neighbors but have an obstacle between them.
+	 * however, especially for 45° obstacles it might happen that a neighbor exists but is blocked by an obstacle.
+	 * we thus need this additional check to ensure everything is fine... even though it needs performance...
+	 */
+	static inline bool isBlocked(const Floorplan::Floor* floor, const GridPoint& n1, const GridPoint& n2) {
+
+		// (obstacles use meter, while the nodes are in centimeter!
+		const Point2 p1_m = n1.inMeter().xy();
+		const Point2 p2_m = n2.inMeter().xy();
+		const Line2 lineNodes(p1_m, p2_m);
+
+		// process each obstacle
+		for (Floorplan::FloorObstacle* fo : floor->obstacles) {
+
+			// depends on the type of obstacle
+			if (dynamic_cast<Floorplan::FloorObstacleLine*>(fo)) {
+				const Floorplan::FloorObstacleLine* line = (Floorplan::FloorObstacleLine*) fo;
+				const Line2 lineObstacle(line->from, line->to);
+				if (lineObstacle.getSegmentIntersection(lineNodes)) {return true;}
+
+			} else if (dynamic_cast<Floorplan::FloorObstacleCircle*>(fo)) {
+				throw Exception("should not happen");
+
+			} else if (dynamic_cast<Floorplan::FloorObstacleDoor*>(fo)) {
+				// DOORS ARE NOT AN OBSTACLE
+
+			} else {
+				throw Exception("TODO: not yet implemented obstacle type");
+
+			}
+
+		}
+		return false;
+
 	}
 
 	/** does the bbox intersect with any of the floor's walls? */