148 lines
3.5 KiB
C++
148 lines
3.5 KiB
C++
/*
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* © Copyright 2014 – Urheberrechtshinweis
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* Alle Rechte vorbehalten / All Rights Reserved
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*
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* Programmcode ist urheberrechtlich geschuetzt.
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* Das Urheberrecht liegt, soweit nicht ausdruecklich anders gekennzeichnet, bei Frank Ebner.
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* Keine Verwendung ohne explizite Genehmigung.
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* (vgl. § 106 ff UrhG / § 97 UrhG)
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*/
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#ifndef NAVMESHWALKSEMIDIRECTED_H
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#define NAVMESHWALKSEMIDIRECTED_H
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#include "../NavMesh.h"
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#include "../NavMeshLocation.h"
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#include "../../geo/Heading.h"
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#include "../../math/distribution/Uniform.h"
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#include "NavMeshSub.h"
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#include "NavMeshWalkParams.h"
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#include "NavMeshWalkEval.h"
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namespace NM {
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template <typename Tria> class NavMeshWalkSemiDirected {
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private:
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const NavMesh<Tria>& mesh;
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std::vector<NavMeshWalkEval<Tria>*> evals;
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public:
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/** single result */
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struct ResultEntry {
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NavMeshLocation<Tria> location;
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Heading heading;
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double probability;
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ResultEntry() : heading(0) {;}
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};
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/** list of results */
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using ResultList = std::vector<ResultEntry>;
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public:
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/** ctor */
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NavMeshWalkSemiDirected(const NavMesh<Tria>& mesh) : mesh(mesh) {
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}
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/** add a new evaluator to the walker */
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void addEvaluator(NavMeshWalkEval<Tria>* eval) {
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this->evals.push_back(eval);
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}
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ResultEntry getOne(const NavMeshWalkParams<Tria>& params) {
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// sanity checks
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params.check();
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ResultEntry re;
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static Distribution::Uniform<float> dHead(-0.10, +0.10, 1337);
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static Distribution::Uniform<float> dDist(-0.10, +0.10, 7331);
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float impactHead = 1;
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float impactDist = 1;
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int runs = 0;
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// construct reachable region once
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// must be large enough to also contain increased distances!
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const float searchRegion = 2.0 + params.getToBeWalkedDistance() * 1.1;
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const NavMeshSub<Tria> reachable(params.start, searchRegion);
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while(true) {
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// not to be found.. plan B
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if (++runs > 8) {
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NM::NavMeshRandom<Tria> rnd = reachable.getRandom();
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re.location = rnd.drawWithin(params.start.pos, params.getToBeWalkedDistance());
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re.heading = Heading(params.start.pos.xy(), re.location.pos.xy());
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break;
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}
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// to-be-walked distance;
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const float modHead = dHead.draw() * impactHead;
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const float modDist = dDist.draw() * impactDist;
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impactHead += 3;
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impactDist += 1.05;
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const float toBeWalkedDist = params.getToBeWalkedDistance() + modDist;
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const Heading head = params.heading + modHead;
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if (toBeWalkedDist < 0.01) {continue;}
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if (toBeWalkedDist > searchRegion) {continue;}
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// get the to-be-reached destination's position (using start+distance+heading)
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const Point2 dir = head.asVector();
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const Point2 dst = params.start.pos.xy() + (dir * toBeWalkedDist);
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const Tria* dstTria = reachable.getContainingTriangle(dst);
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// is above destination reachable?
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if (dstTria) {
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re.heading = head; // adjust walked heading
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re.location.pos = dstTria->toPoint3(dst); // new destination position
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re.location.tria = dstTria; // new destination triangle
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break;
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}
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}
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// calculate probability
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const NavMeshPotentialWalk<Tria> pwalk(params, re.location);
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re.probability = 1.0;
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for (const NavMeshWalkEval<Tria>* eval : evals) {
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const double p1 = eval->getProbability(pwalk);
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re.probability *= p1;
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}
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// done
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return re;
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}
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ResultList getMany(const NavMeshWalkParams<Tria>& params) {
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// sanity checks
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params.check();
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return {getOne(params)};
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}
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};
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}
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#endif // NAVMESHWALKSEMIDIRECTED_H
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