frank
ca6fed5371
worked on grid-generation added helper library for nav-meshes started working on nav meshes
127 lines
2.1 KiB
C++
127 lines
2.1 KiB
C++
#ifndef NAVMESHTRIANGLE_H
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#define NAVMESHTRIANGLE_H
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#include "../geo/Point3.h"
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#include "../geo/Point2.h"
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class NavMeshTriangle {
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public:
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Point3 p1;
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Point3 p2;
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Point3 p3;
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uint8_t type;
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private:
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template<typename> friend class NavMesh;
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int _neighbors[3];
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int _numNeighbors;
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/** precalculated stuff */
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private:
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Point2 v0;
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Point2 v1;
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float dot00;
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float dot01;
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float dot11;
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float invDenom;
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float area;
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const Point3 center;
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const Point3 v12;
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const Point3 v13;
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public:
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/** ctor */
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NavMeshTriangle(const Point3 p1, const Point3 p2, const Point3 p3, const uint8_t type) :
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p1(p1), p2(p2), p3(p3), type(type),
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_neighbors(), _numNeighbors(0),
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center((p1+p2+p3)/3), v12(p2-p1), v13(p3-p1) {
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precompute();
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}
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bool operator == (const NavMeshTriangle& o) const {
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return (p1 == o.p1) && (p2 == o.p2) && (p3 == o.p3);
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}
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Point3 getA() const {
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return p1;
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}
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Point3 getAB() const {
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return v12;
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}
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Point3 getAC() const {
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return v13;
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}
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bool contains(const Point3 p) const {
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const Point2 v2 = p.xy() - p1.xy();
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// Compute dot products
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float dot02 = dot(v0, v2);
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float dot12 = dot(v1, v2);
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// Compute barycentric coordinates
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float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
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float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
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// Check if point is in triangle
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return (u >= 0) && (v >= 0) && (u + v <= 1);
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}
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/** get the triangle's size */
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float getArea() const {
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return area;
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}
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/** get the triangle's center-point */
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Point3 getCenter() const {
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return center;
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}
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private:
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/** perform some pre-calculations to speed things up */
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void precompute() {
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// Compute vectors
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v0 = p3.xy() - p1.xy();
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v1 = p2.xy() - p1.xy();
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// Compute dot products
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dot00 = dot(v0, v0);
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dot01 = dot(v0, v1);
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dot11 = dot(v1, v1);
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// Compute barycentric coordinates
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invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
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const float a = (p2-p1).length();
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const float b = (p3-p1).length();
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const float c = (p2-p3).length();
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const float s = 0.5f * (a+b+c);
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area = std::sqrt( s * (s-a) * (s-b) * (s-c) );
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}
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};
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#endif // NAVMESHTRIANGLE_H
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