worked on navMesh stuff

- creation
- walking
- helper

navMesh/walk/NavMeshSub.h

@@ -3,54 +3,80 @@
 
 #include "../NavMesh.h"
 #include "../NavMeshLocation.h"
+#include "../NavMeshRandom.h"
 
 #include <vector>
 #include <unordered_set>
 
+namespace NM {
 
-template <typename Tria> class NavMeshSub {
+	template <typename Tria> class NavMeshSub {
 
-	std::vector<const Tria*> toVisit;
+		std::vector<const Tria*> toVisit;
 
-public:
+	public:
 
-	NavMeshSub(const NavMesh<Tria>& nm, const NavMeshLocation<Tria>& loc, float radius_m) {
-		build(nm,loc,radius_m);
-	}
+		NavMeshSub(const NavMeshLocation<Tria>& loc, float radius_m) {
+			build(loc,radius_m);
+		}
 
-private:
+		/** does this submesh contain the given point? */
+		bool contains(const Point2 p2) const {
+			for (const Tria* t : toVisit) {
+				if (t->contains(p2)) {return true;}
+			}
+			return false;
+		}
 
-	void build(const NavMesh<Tria>& nm, const NavMeshLocation<Tria>& loc, float radius_m) {
+		/** get the triangle that contains the given point (if any) */
+		const Tria* getContainingTriangle(const Point2 p2) const {
+			for (const Tria* t : toVisit) {
+				if (t->contains(p2)) {return t;}
+			}
+			return nullptr;
+		}
 
-		// center to start searching
-		const Point3 center = loc.pos;
+		/** perform random operations on the submesh */
+		NavMeshRandom<Tria> getRandom() {
+			return NavMeshRandom<Tria>(toVisit);
+		}
 
-		toVisit.push_back(loc.tria);
+	private:
 
-		std::unordered_set<const Tria*> visited;
+		void build(const NavMeshLocation<Tria>& loc, float radius_m) {
 
-		size_t next = 0;
-		while (next < toVisit.size()) {
+			std::unordered_set<const Tria*> visited;
 
-			// next triangle
-			const Tria* cur = toVisit[next]; ++next;
+			// starting-triangle + all its (max 3) neighbors
+			toVisit.push_back(loc.tria);
+			visited.insert(loc.tria);
+			for (const auto* n : *loc.tria) {
+				toVisit.push_back( (const Tria*)n );
+			}
+
+			size_t next = 1;	// start with the first neighbor (skip starting triangle itself)
+			while (next < toVisit.size()) {
+
+				// next triangle
+				const NavMeshTriangle* cur = toVisit[next]; ++next;
+
+				// neighbors
+				for (const auto* n : *cur) {
+					const Tria* t = (const Tria*) n;
+					const float dist = loc.pos.getDistance(n->getCenter());
+					if (dist > radius_m) {continue;}
+					if (visited.find(t) != visited.end()) {continue;}
+					toVisit.push_back(t);
+					visited.insert(t);
+				}
 
-			// neighbors
-			for (const Tria* n : cur) {
-				const float dist = loc.pos.getDistance(n.getCenter());
-				if (dist > radius_m) {continue;}
-				if (visited.find(n) != visited.end()) {continue;}
-				toVisit.push_back(n);
-				visited.push_back(n);
 			}
 
 		}
 
-		return toVisit;
 
-	}
+	};
 
-
-};
+}
 
 #endif // NAVMESHSUB_H