128 lines
2.8 KiB
C++
128 lines
2.8 KiB
C++
#ifndef FLOORPLAN_3D_OBSTACLE3_H
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#define FLOORPLAN_3D_OBSTACLE3_H
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#include <vector>
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#include "../../geo/Triangle3.h"
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#include "../../geo/Sphere3.h"
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#include "../v2/Floorplan.h"
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namespace Floorplan3D {
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/**
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* 3D obstacle
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* based on multiple triangles
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* has a material and a type
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*/
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struct Obstacle3D {
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enum class Type {
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UNKNOWN,
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GROUND_INDOOR,
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GROUND_OUTDOOR,
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STAIR,
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HANDRAIL,
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DOOR,
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WALL,
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WINDOW,
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OBJECT,
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ERROR,
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};
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Type type;
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Floorplan::Material mat;
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std::vector<Triangle3> triangles;
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/** empty ctor */
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Obstacle3D() : type(Type::UNKNOWN), mat() {;}
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/** ctor */
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Obstacle3D(Type type, Floorplan::Material mat) : type(type), mat(mat) {;}
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/** append a new triangle. REFERENCE ONLY VALID UNTIL NEXT ADD */
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Triangle3& addTriangle(const Point3 p1, const Point3 p2, const Point3 p3) {
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triangles.push_back(Triangle3(p1, p2, p3));
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return triangles.back();
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}
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/** append a new quad by splitting into two triangles */
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void addQuad(const Point3 p1, const Point3 p2, const Point3 p3, const Point3 p4) {
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addTriangle(p1, p2, p3);
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addTriangle(p1, p3, p4);
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}
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/** reverse all faces (CW<->CCW) */
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void reverseFaces() {
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for (Triangle3& t : triangles) {
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t.reverse();
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}
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}
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/** scaled copy */
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Obstacle3D scaled(const Point3 scale) const {
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Obstacle3D copy = *this;
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for (Triangle3& tria : copy.triangles) {
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tria *= scale;
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}
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return copy;
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}
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/** translated copy */
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Obstacle3D translated(const Point3 pos) const {
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Obstacle3D copy = *this;
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for (Triangle3& tria : copy.triangles) {
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tria += pos;
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}
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return copy;
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}
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/** rotated [around (0,0,0)] copy */
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Obstacle3D rotated_deg(const Point3 rot) const {
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Obstacle3D copy = *this;
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for (Triangle3& tria : copy.triangles) {
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// tria.p1 = tria.p1.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
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// tria.p2 = tria.p2.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
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// tria.p3 = tria.p3.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
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tria.rotate_deg(rot);
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}
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return copy;
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}
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/** get all triangle-edge-points (x,y) within the obstacle */
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std::vector<Point2> getPoints2D() const {
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std::vector<Point2> res;
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for (const Triangle3& tria : triangles) {
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res.push_back(tria.p1.xy());
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res.push_back(tria.p2.xy());
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res.push_back(tria.p3.xy());
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}
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return res;
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}
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/** get all triangle-edge-points (x,y,z) within the obstacle */
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std::vector<Point3> getPoints3D() const {
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std::vector<Point3> res;
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for (const Triangle3& tria : triangles) {
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res.push_back(tria.p1);
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res.push_back(tria.p2);
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res.push_back(tria.p3);
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}
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return res;
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}
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/** perform sanity checks */
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bool isValid() const {
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for (const Triangle3& t : triangles) {
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if (!t.isValid()) {return false;}
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}
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return true;
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}
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};
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}
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#endif // FLOORPLAN_3D_OBSTACLE3_H
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