FHWS/Indoor
Archived
4
0
Fork 0
Code Issues 19 Pull Requests Releases 1 Wiki Activity

worked on navMesh stuff

Browse Source 
- creation
- walking
- helper
This commit is contained in:
k-a-z-u
2018-01-10 16:57:19 +01:00
parent 3fc9688825
commit fee6cd3496
15 changed files with 1282 additions and 957 deletions
Download Patch File Download Diff File Expand all files Collapse all files

105
navMesh/NavMeshDebug.h
View File

@@ -9,67 +9,80 @@
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
#include <KLib/misc/gnuplot/objects/GnuplotObjectPolygon.h>
class NavMeshDebug {
namespace NM {
public:
/**
* debug plot NavMeshes
*/
class NavMeshDebug {
template <typename Tria> static void show(NavMesh<Tria>& nm) {
public:
K::GnuplotFill gFill[3] = {
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#111111"), 1),
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#aaaaaa"), 1),
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#aaaaff"), 1)
};
template <typename Tria> static void show(NavMesh<Tria>& nm) {
K::GnuplotStroke gStroke = K::GnuplotStroke(K::GnuplotDashtype::SOLID, 1, K::GnuplotColor::fromHexStr("#666600"));
K::GnuplotFill gFill[3] = {
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#111111"), 1),
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#aaaaaa"), 1),
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#aaaaff"), 1)
};
K::Gnuplot gp;
gp << "set view equal xy\n";
K::GnuplotStroke gStroke = K::GnuplotStroke(K::GnuplotDashtype::SOLID, 1, K::GnuplotColor::fromHexStr("#666600"));
K::GnuplotSplot plot;
K::GnuplotSplotElementLines lines; plot.add(&lines); lines.setShowPoints(true);
K::GnuplotSplotElementPoints points; plot.add(&points);
K::Gnuplot gp;
gp << "set view equal xy\n";
const BBox3 bbox = nm.getBBox();
K::GnuplotSplot plot;
K::GnuplotSplotElementLines lines; plot.add(&lines); lines.setShowPoints(true);
K::GnuplotSplotElementPoints points; plot.add(&points);
points.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z));
points.add(K::GnuplotPoint3(bbox.getMax().x,bbox.getMax().y,bbox.getMax().z));
// lines.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(bbox.getMax().x, 0, 0));
// lines.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(0,bbox.getMax().y,0));
// lines.addSegment(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(0,0,bbox.getMax().z));
const BBox3 bbox = nm.getBBox();
//stairs in eigene group? vlt gehen dann auch die dellen weg?
points.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z));
points.add(K::GnuplotPoint3(bbox.getMax().x,bbox.getMax().y,bbox.getMax().z));
// lines.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(bbox.getMax().x, 0, 0));
// lines.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(0,bbox.getMax().y,0));
// lines.addSegment(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(0,0,bbox.getMax().z));
//stairs in eigene group? vlt gehen dann auch die dellen weg?
for (const Tria* tria : nm) {
const uint8_t type = tria->getType();
if (type < 0 || type > 2) {
throw std::runtime_error("out of type-bounds");
}
K::GnuplotObjectPolygon* pol = new K::GnuplotObjectPolygon(gFill[type], gStroke);
pol->add(K::GnuplotCoordinate3(tria->getP1().x, tria->getP1().y, tria->getP1().z, K::GnuplotCoordinateSystem::FIRST));
pol->add(K::GnuplotCoordinate3(tria->getP2().x, tria->getP2().y, tria->getP2().z, K::GnuplotCoordinateSystem::FIRST));
pol->add(K::GnuplotCoordinate3(tria->getP3().x, tria->getP3().y, tria->getP3().z, K::GnuplotCoordinateSystem::FIRST));
pol->close();
pol->setZIndex(tria->getP3().z);
plot.getObjects().add(pol);
//for (int i = 0; i < nm.getNumNeighbors(tria); ++i) {
// const Tria* o = nm.getNeighbor(tria, i);
// const Point3 p1 = tria->getCenter();
// const Point3 p2 = o.getCenter();
// //lines.addSegment(K::GnuplotPoint3(p1.x,p1.y,p1.z+0.1), K::GnuplotPoint3(p2.x,p2.y,p2.z+0.1));
//}
for (const NavMeshTriangle* o : *tria) {
const Point3 p1 = tria->getCenter();
const Point3 p2 = o->getCenter();
// lines.addSegment(K::GnuplotPoint3(p1.x,p1.y,p1.z+0.1), K::GnuplotPoint3(p2.x,p2.y,p2.z+0.1));
}
for (const Tria& tria : nm) {
uint8_t type = tria.type;
if (type < 0 || type > 2) {
throw std::runtime_error("out of type-bounds");
}
K::GnuplotObjectPolygon* pol = new K::GnuplotObjectPolygon(gFill[type], gStroke);
pol->add(K::GnuplotCoordinate3(tria.p1.x, tria.p1.y, tria.p1.z, K::GnuplotCoordinateSystem::FIRST));
pol->add(K::GnuplotCoordinate3(tria.p2.x, tria.p2.y, tria.p2.z, K::GnuplotCoordinateSystem::FIRST));
pol->add(K::GnuplotCoordinate3(tria.p3.x, tria.p3.y, tria.p3.z, K::GnuplotCoordinateSystem::FIRST));
pol->close();
pol->setZIndex(tria.p3.z);
plot.getObjects().add(pol);
for (int i = 0; i < nm.getNumNeighbors(tria); ++i) {
const Tria& o = nm.getNeighbor(tria, i);
const Point3 p1 = tria.getCenter();
const Point3 p2 = o.getCenter();
//lines.addSegment(K::GnuplotPoint3(p1.x,p1.y,p1.z+0.1), K::GnuplotPoint3(p2.x,p2.y,p2.z+0.1));
}
plot.getObjects().reOrderByZIndex();
gp.draw(plot);
gp.flush();
sleep(1);
}
plot.getObjects().reOrderByZIndex();
};
gp.draw(plot);
gp.flush();
sleep(1);
}
};
}
#endif // NAVMESHDEBUG_H