136 lines
3.5 KiB
C++
136 lines
3.5 KiB
C++
#ifndef NAV_MESH_H
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#define NAV_MESH_H
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#include "NavMeshTriangle.h"
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#include <vector>
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#include "../geo/BBox3.h"
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#include <random>
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#include "../math/DrawList.h"
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#include "NavMeshRandom.h"
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#include "NavMeshLocation.h"
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namespace NM {
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template <typename Tria> class NavMesh {
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/** all triangles within the mesh */
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std::vector<Tria*> triangles;
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BBox3 bbox;
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public:
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/** ctor */
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NavMesh() {
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}
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/** dtor */
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~NavMesh() {
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for (const Tria* t : triangles) {delete t;}
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triangles.clear();
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}
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/** the overall bounding-box */
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const BBox3 getBBox() const {
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return bbox;
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}
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/** add a new triangle */
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void add(const Point3 p1, const Point3 p2, const Point3 p3, const uint8_t type) {
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triangles.push_back(new Tria(p1,p2,p3,type));
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bbox.add(p1);
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bbox.add(p2);
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bbox.add(p3);
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}
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/** get the triangle this point belongs to (if any) */
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NavMeshLocation<Tria> getLocation(const Point3 pos) const {
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for (const Tria* tria : triangles) {
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if (tria->contains(pos)) {
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return NavMeshLocation<Tria>(pos, tria);
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}
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}
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throw Exception("location not found within NavMesh: " + pos.asString());
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}
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/** get the triangle/point on the mesh that is nearest to the given location */
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NavMeshLocation<Tria> getLocationNearestTo(const Point3 pos) const {
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auto comp = [pos] (const Tria* t1, const Tria* t2) {
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//return t1->getCenter().getDistance(pos) < t2->getCenter().getDistance(pos);
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return t1->getDistanceApx(pos) < t2->getDistanceApx(pos);
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};
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auto it = std::min_element(triangles.begin(), triangles.end(), comp);
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const Tria* best = *it;
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Point3 rPos = best->toPoint3Near(pos.xy());
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return NavMeshLocation<Tria>(rPos, best);
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}
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/** connect both triangles */
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void connectBiDir(int idx1, int idx2) {
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connectUniDir(idx1,idx2);
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connectUniDir(idx2,idx1);
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}
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/** connect both triangles */
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void connectUniDir(int idxFrom, int idxTo) {
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Tria* tria = triangles[idxFrom];
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tria->addNeighbor(triangles[idxTo]);
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}
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/** allows for-each iteration over all included triangles */
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decltype(triangles.begin()) begin() {return triangles.begin();}
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/** allows for-each iteration over all included triangles */
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decltype(triangles.end()) end() {return triangles.end();}
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/** array access */
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Tria* operator [] (const size_t idx) {
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Assert::isBetween(idx, (size_t)0, getNumTriangles()-1, "index out of bounds");
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return triangles[idx];
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}
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/** get the number of triangles used */
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size_t getNumTriangles() const {
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return triangles.size();
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}
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/** ---------------- MISC ---------------- */
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/** get a random-generator for several mesh-actions */
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NavMeshRandom<Tria> getRandom() const {
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return NavMeshRandom<Tria>(triangles);
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}
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// /** ---------------- NEIGHBORS ---------------- */
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// /** get the number of neighbors for the given element */
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// int getNumNeighbors(const size_t idx) const {
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// return getNumNeighbors(triangles[idx]);
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// }
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// /** get the number of neighbors for the given element */
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// int getNumNeighbors(const Tria& e) const {
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// return e._numNeighbors;
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// }
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// /** get the n-th neighbor for the given node */
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// Tria& getNeighbor(const size_t nodeIdx, const size_t nth) const {
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// const Tria& node = triangles[nodeIdx];
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// return getNeighbor(node, nth);
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// }
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// /** get the n-th neighbor for the given node */
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// Tria& getNeighbor(const Tria& tria, const size_t nth) const {
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// const Tria& neighbor = triangles[tria._neighbors[nth]];
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// return (Tria&) neighbor;
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// }
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};
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}
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#endif
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