frank
8358f45674
include objects within navmesh calculation include objects within 3d mesh generation minor changes/fixes
67 lines
1.3 KiB
C++
67 lines
1.3 KiB
C++
#ifndef OBSTACLE3_H
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#define 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 "../../../floorplan/v2/Floorplan.h"
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namespace Ray3D {
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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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};
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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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/** 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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}
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return copy;
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}
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};
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}
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#endif // OBSTACLE3_H
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