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added nav-mesh support to indoor-map

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some fixes/changes
This commit is contained in:
FrankE
2018-01-16 12:43:45 +01:00
parent 281ef3f7dc
commit 4dda7e656b
16 changed files with 524 additions and 60 deletions
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4
mapview/2D/MV2DElementStair.h
View File

@@ -104,8 +104,8 @@ public:
QLinearGradient gradient(p.s.xms(part.start.x), p.s.yms(part.start.y), p.s.xms(part.end.x), p.s.yms(part.end.y));
const float p1 = 0.1 + clamp01( part.start.z / floor->height) * 0.8;
const float p2 = 0.1 + clamp01( part.end.z / floor->height) * 0.8;
gradient.setColorAt(0, QColor(p1*255, p1*255, p1*255, 128));
gradient.setColorAt(1, QColor(p2*255, p2*255, p2*255, 128));
gradient.setColorAt(0, QColor(p1*128, p1*128, p1*255, 128));
gradient.setColorAt(1, QColor(p2*128, p2*128, p2*255, 128));
p.setBrush(gradient);
p.setPen(QColor(0,0,0,128));

3
mapview/3D/MV3DElementStair.h
View File

@@ -26,7 +26,8 @@ protected:
glDisable(GL_CULL_FACE);
glColor3f(1.0, 0.55, 0.55);
//glColor3f(1.0, 0.55, 0.55);
glColor3f(0.3, 0.3, 0.3);
glBegin(GL_QUADS);
const std::vector<Floorplan::StairPart> parts = stair->getParts();

79
mapview/3D/MapView3D.cpp
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@@ -7,6 +7,9 @@
#include "../3DGrid/GridModel.h"
#include "../3DGrid/GridRenderer.h"
#include "../3DNavMesh/NavMeshModel.h"
#include "../3DNavMesh/NavMeshRenderer.h"
MapView3D::MapView3D(QWidget *parent) : QGLWidget(parent) {
rot.x = 45;
@@ -180,12 +183,20 @@ void MapView3D::wheelEvent(QWheelEvent* e) {
}
void MapView3D::showFloorplan() {
if (gridModel) {delete gridModel; gridModel = nullptr;}
void MapView3D::setShowFloorplan(bool show) {
this->showFloorplan = show;
//if (gridModel) {delete gridModel; gridModel = nullptr;}
//if (navMeshModel) {delete navMeshModel; navMeshModel = nullptr;}
update();
}
void MapView3D::showGrid() {
void MapView3D::setShowGrid(bool show) {
this->showGrid = show;
if (!show) {update(); return;}
// delete the previous grid (if any)
if (gridModel) {delete gridModel; gridModel = nullptr;}
@@ -203,31 +214,53 @@ void MapView3D::showGrid() {
}
void MapView3D::setShowNavMesh(bool show) {
this->showNavMesh = show;
if (!show) {update(); return;}
// delete the previous grid (if any)
if (navMeshModel) {delete navMeshModel; navMeshModel = nullptr;}
// build a new model
NavMeshModel* nm = new NavMeshModel();
Floorplan::IndoorMap* im = getModel()->getMap();
nm->rebuild(im);
// remember
this->navMeshModel = nm;
// update UI
update();
}
void MapView3D::draw() {
if (gridModel) {
// show grid
gridRenderer->paintGL(gridModel->getGrid());
} else {
// solid floorplan parts
if (showFloorplan) {
std::vector<MapModelElement*> elements = getModel()->getVisibleElements();
// order: transparent last
auto func = [] (const MapModelElement* e1, const MapModelElement* e2) {
if (e1->getMV3D() == nullptr) {return false;}
if (e2->getMV3D() == nullptr) {return true;}
const bool e1t = e1->getMV3D()->isTransparent();
const bool e2t = e2->getMV3D()->isTransparent();
return e1t < e2t;
};
std::sort(elements.begin(), elements.end(), func);
// show floorplan
for (MapModelElement* el : elements) {
if (el->getMV3D()) {el->getMV3D()->paintGL();}
if (el->getMV3D() && !el->getMV3D()->isTransparent()) {el->getMV3D()->paintGL();}
}
}
if (showGrid) {
gridRenderer->paintGL(gridModel->getGrid());
}
if (showNavMesh) {
navMeshRenderer->paintGL(navMeshModel->getNavMesh(), this);
}
// transparant floorplan parts
if (showFloorplan) {
std::vector<MapModelElement*> elements = getModel()->getVisibleElements();
for (MapModelElement* el : elements) {
if (el->getMV3D() && el->getMV3D()->isTransparent()) {el->getMV3D()->paintGL();}
}
}

28
mapview/3D/MapView3D.h
View File

@@ -9,6 +9,8 @@
class MapModel;
class GridModel;
class GridRenderer;
class NavMeshRenderer;
class NavMeshModel;
class MapView3D : public QGLWidget {
@@ -34,13 +36,27 @@ public:
/** get the renderer to use for the grid */
GridRenderer* getGridRenderer() {return gridRenderer;}
/** get the renderer to use for the NavMesh */
NavMeshRenderer* getNavMeshRenderer() {return navMeshRenderer;}
// /** show 3D rendered floorplan */
// void showFloorplan();
// /** show 3D rendered grid derived from the floorplan */
// void showGrid();
// /** show 3D rendered NavMesh derived from the floorplan */
// void showNavMesh();
/** show 3D rendered floorplan */
void showFloorplan();
void setShowFloorplan(bool show);
/** show 3D rendered grid derived from the floorplan */
void showGrid();
void setShowGrid(bool show);
/** show 3D rendered NavMesh derived from the floorplan */
void setShowNavMesh(bool show);
private:
@@ -50,6 +66,13 @@ private:
GridModel* gridModel = nullptr;
GridRenderer* gridRenderer = nullptr;
NavMeshModel* navMeshModel = nullptr;
NavMeshRenderer* navMeshRenderer = nullptr;
bool showFloorplan = true;
bool showGrid = false;
bool showNavMesh = false;
Point3 rot;
Point3 center;
Point3 scale;
@@ -67,6 +90,7 @@ private:
protected:
void initializeGL();
void paintGL();
void resizeGL(int width, int height);

85
mapview/3DNavMesh/NavMeshModel.h Normal file
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@@ -0,0 +1,85 @@
#ifndef NAVMESHMODEL_H
#define NAVMESHMODEL_H
#include <Indoor/floorplan/v2/Floorplan.h>
#include <Indoor/navMesh/NavMesh.h>
#include <Indoor/navMesh/NavMeshFactory.h>
#include <Indoor/navMesh/NavMeshFactoryListener.h>
#include <QProgressDialog>
#include <QApplication>
#include <QVBoxLayout>
#include <QLabel>
#include <QProgressBar>
#include "QNavMeshSettings.h"
/**
* used for 3D NavMesh rendering
*/
class NavMeshModel {
private:
NM::NavMesh<NM::NavMeshTriangle> navMesh;
NM::NavMeshSettings settings;
Floorplan::IndoorMap* im;
public:
NavMeshModel() : navMesh() {
;
}
NM::NavMesh<NM::NavMeshTriangle>* getNavMesh() {return &navMesh;}
class Listener : public NM::NavMeshFactoryListener {
private:
QDialog dlg;
QLabel* lbl1;
QProgressBar* bar1;
public:
Listener() {
QVBoxLayout* lay = new QVBoxLayout(&dlg);
lbl1 = new QLabel(); lay->addWidget(lbl1);
bar1 = new QProgressBar(); lay->addWidget(bar1);
dlg.resize(350, 90);
dlg.setWindowTitle("NavMesh building");
dlg.show();
}
~Listener() {
dlg.close();
}
void onNavMeshBuildUpdateMajor(const std::string& what) override {
lbl1->setText(what.c_str());
QApplication::processEvents();
}
void onNavMeshBuildUpdateMajor(const int cnt, const int cur) override {
bar1->setValue(cur*100/cnt);
QApplication::processEvents();
}
};
void rebuild(Floorplan::IndoorMap* im) {
Listener l;
QNavMeshSettings qs(&settings);
qs.exec();
if (qs.ok) {
NM::NavMeshFactory<NM::NavMeshTriangle> fac(&navMesh, settings);
fac.build(im, &l);
}
}
};
#endif // NAVMESHMODEL_H

172
mapview/3DNavMesh/NavMeshRenderer.h Normal file
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@@ -0,0 +1,172 @@
#ifndef NAVMESHRENDERER_H
#define NAVMESHRENDERER_H
#include <unordered_set>
#include <Indoor/navMesh/NavMesh.h>
#include <Indoor/navMesh/NavMeshTriangle.h>
#include <Indoor/navMesh/NavMeshType.h>
#include <QPainter>
#include <QGLWidget>
//enum class GridRendererColorMode {
// SHOW_NODE_TYPE,
// SHOW_NODE_IMPORTANCE,
//};
class NavMeshRenderer {
private:
// settings
//GridRendererColorMode colorMode = GridRendererColorMode::SHOW_NODE_IMPORTANCE;
bool showEdges = false;
struct Color {
float r,g,b;
Color() : r(1), g(0), b(0) {;}
Color(float r, float g, float b) : r(r), g(g), b(b) {;}
};
/** node color depending on the node's type. see ctor */
Color colors[200];
public:
/** ctor */
NavMeshRenderer() {
colors[GridNode::TYPE_FLOOR] = Color(0.4, 0.4, 0.4);
colors[GridNode::TYPE_STAIR] = Color(0,0,1);
colors[GridNode::TYPE_ELEVATOR] = Color(0,0,1);
colors[GridNode::TYPE_DOOR] = Color(0.0, 0.0, 0.0);
colors[GridNode::TYPE_OUTDOOR] = Color(0.0, 0.5, 0.0);
}
// void setNodeColorMode(const GridRendererColorMode mode) {this->colorMode = mode;}
void setShowEdges(const bool show) {this->showEdges = show;}
/** render the given grid using GL commands */
void paintGL(NM::NavMesh<NM::NavMeshTriangle>* navMesh, QGLWidget* dst) {
if (navMesh == nullptr) {return;}
// QPainter qp;
// qp.begin(dst);
glDisable(GL_LIGHTING);
const float s = 2;
glBegin(GL_TRIANGLES);
for (const NM::NavMeshTriangle* tria : *navMesh) {
// // get the color to use
// switch(colorMode) {
// case GridRendererColorMode::SHOW_NODE_TYPE: {
// const Color c = colors[n.getType()];
// glColor3f(c.r, c.g, c.b);
// break;
// }
// case GridRendererColorMode::SHOW_NODE_IMPORTANCE: {
// const float xx = n.navImportance - 0.6;
// glColor3f(xx, xx, xx);
// break;
// }
// }
switch (tria->getType()) {
case (int) NM::NavMeshType::FLOOR_INDOOR: glColor3f(0.8, 0.8, 0.8); break;
case (int) NM::NavMeshType::FLOOR_OUTDOOR: glColor3f(0.1, 0.8, 0.1); break;
case (int) NM::NavMeshType::DOOR: glColor3f(0.7, 0.7, 0.8); break;
case (int) NM::NavMeshType::STAIR_LEVELED: glColor3f(0.5, 0.5, 0.5); break;
case (int) NM::NavMeshType::STAIR_SKEWED: glColor3f(0.6, 0.6, 0.6); break;
}
glVertex3f(tria->getP1().x, tria->getP1().z, tria->getP1().y);
glVertex3f(tria->getP2().x, tria->getP2().z, tria->getP2().y);
glVertex3f(tria->getP3().x, tria->getP3().z, tria->getP3().y);
}
glEnd();
glEnable(GL_MULTISAMPLE);
//glEnable(GL_LINE_SMOOTH);
glBegin(GL_LINES);
//glColor3f(0.2,0.2,0.2);
for (const NM::NavMeshTriangle* tria : *navMesh) {
switch (tria->getType()) {
case (int) NM::NavMeshType::FLOOR_INDOOR: glColor3f(0.6, 0.6, 0.6); break;
case (int) NM::NavMeshType::FLOOR_OUTDOOR: glColor3f(0.0, 0.6, 0.0); break;
case (int) NM::NavMeshType::DOOR: glColor3f(0.5, 0.5, 0.6); break;
case (int) NM::NavMeshType::STAIR_LEVELED: glColor3f(0.4, 0.4, 0.4); break;
case (int) NM::NavMeshType::STAIR_SKEWED: glColor3f(0.4, 0.4, 0.4); break;
}
glVertex3f(tria->getP1().x, tria->getP1().z+0.01, tria->getP1().y);
glVertex3f(tria->getP2().x, tria->getP2().z+0.01, tria->getP2().y);
glVertex3f(tria->getP2().x, tria->getP2().z+0.01, tria->getP2().y);
glVertex3f(tria->getP3().x, tria->getP3().z+0.01, tria->getP3().y);
glVertex3f(tria->getP3().x, tria->getP3().z+0.01, tria->getP3().y);
glVertex3f(tria->getP1().x, tria->getP1().z+0.01, tria->getP1().y);
// glBegin(GL_LINE_LOOP);
// glVertex3f(tria->getP1().x, tria->getP1().z+0.01, tria->getP1().y);
// glVertex3f(tria->getP2().x, tria->getP2().z+0.01, tria->getP2().y);
// glVertex3f(tria->getP3().x, tria->getP3().z+0.01, tria->getP3().y);
// glEnd();
}
glEnd();
glEnable(GL_LIGHTING);
// qp.drawText(20,20, "sdfsdkflsdfjasfklsdklfsdklfsdf");
// qp.drawText(20,-20, "sdfsdkflsdfjasfklsdklfsdklfsdf");
// qp.drawText(0.5,0.5, "sdfsdkflsdfjasfklsdklfsdklfsdf");
// qp.end();
// renderText(1,1,1, "123");
const QString str1 = "Triangles: " + QString::number(navMesh->getNumTriangles());
const QString str2 = "Size: ~" + QString::number(navMesh->getNumTriangles() * sizeof(NM::NavMeshTriangle) / 1024) + " kB";
glColor3f(0.0, 0.0, 0.0);
dst->renderText(20,20, str1);
dst->renderText(20,35, str2);
// dst->renderText(0,0, "2342342342342423423423423423423432");
// dst->renderText(0.1, 0.1, 0.1, "lsdfsdfsdfsdfsdfsdfsdfol");
}
// std::vector<MyNode> lint() {
// std::vector<MyNode> vec;
// lintStair(vec);
// return vec;
// }
// void lintStair(std::vector<MyNode>& vec) {
// for (MyNode& n1 : *grid) {
// if (n1.getNumNeighbors() <= 5) { vec.push_back(n1);}
// }
// }
};
#endif // NAVMESHRENDERER_H

87
mapview/3DNavMesh/QNavMeshSettings.cpp Normal file
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@@ -0,0 +1,87 @@
#include "QNavMeshSettings.h"
#include <Indoor/navMesh/NavMeshSettings.h>
#include <QGridLayout>
#include <QLabel>
#include <QSlider>
#include <QSlider>
#include <QDialogButtonBox>
QNavMeshSettings::QNavMeshSettings(NM::NavMeshSettings* settings, QWidget* parent) : QDialog(parent) {
QGridLayout* lay = new QGridLayout(this);
this->setLayout(lay);
int row = 0;
this->setWindowTitle("NavMesh Settings");
this->setMinimumWidth(350);
// MAX QUALITY
{
lay->addWidget(new QLabel("smallest element"), row, 0);
QLabel* lblQuality = new QLabel("");
lay->addWidget(lblQuality, row, 2);
QSlider* sldQuality = new QSlider(Qt::Orientation::Horizontal); sldQuality->setMinimum(10); sldQuality->setMaximum(30);
connect(sldQuality, &QSlider::valueChanged, [settings, sldQuality, lblQuality] () {
settings->maxQuality_m = sldQuality->value() / 100.0f;
lblQuality->setText(QString("%1 m").arg(settings->maxQuality_m, 5, 'f', 2, 0));
});
sldQuality->setValue(settings->maxQuality_m * 100.0f);
lay->addWidget(sldQuality, row, 1);
++row;
}
// AGENT HEIGHT
{
lay->addWidget(new QLabel("agent height"), row, 0);
QLabel* lblHeight = new QLabel("");
lay->addWidget(lblHeight, row, 2);
QSlider* sldHeight = new QSlider(Qt::Orientation::Horizontal); sldHeight->setMinimum(10); sldHeight->setMaximum(200);
connect(sldHeight, &QSlider::valueChanged, [settings, sldHeight, lblHeight] () {
settings->agentHeight = sldHeight->value() / 100.0f;
lblHeight->setText(QString("%1 m").arg(settings->agentHeight, 5, 'f', 2, 0));
});
sldHeight->setValue(settings->agentHeight * 100.0f);
lay->addWidget(sldHeight, row, 1);
++row;
}
// AGENT RADIUS
{
lay->addWidget(new QLabel("agent radius"), row, 0);
QLabel* lblRadius = new QLabel("");
lay->addWidget(lblRadius, row, 2);
QSlider* sldRadius = new QSlider(Qt::Orientation::Horizontal); sldRadius->setMinimum(5); sldRadius->setMaximum(60);
connect(sldRadius, &QSlider::valueChanged, [settings, sldRadius, lblRadius] () {
settings->agentRadius = sldRadius->value() / 100.0f;
lblRadius->setText(QString("%1 m").arg(settings->agentRadius, 5, 'f', 2, 0));
});
sldRadius->setValue(settings->agentRadius * 100.0f);
lay->addWidget(sldRadius, row, 1);
++row;
}
// MAX EDGE LENGTH
{
lay->addWidget(new QLabel("max edge length"), row, 0);
QLabel* lblMaxEdgeLength = new QLabel("");
lay->addWidget(lblMaxEdgeLength, row, 2);
QSlider* sdlMaxEdgeLength = new QSlider(Qt::Orientation::Horizontal); sdlMaxEdgeLength->setMinimum(300); sdlMaxEdgeLength->setMaximum(2000);
connect(sdlMaxEdgeLength, &QSlider::valueChanged, [settings, sdlMaxEdgeLength, lblMaxEdgeLength] () {
settings->edgeMaxLen = sdlMaxEdgeLength->value() / 100.0f;
lblMaxEdgeLength->setText(QString("%1 m").arg(settings->edgeMaxLen, 5, 'f', 2, 0));
});
sdlMaxEdgeLength->setValue(settings->edgeMaxLen * 100.0f);
lay->addWidget(sdlMaxEdgeLength, row, 1);
++row;
}
QDialogButtonBox* box = new QDialogButtonBox(QDialogButtonBox::StandardButton::Ok | QDialogButtonBox::StandardButton::Close);
lay->addWidget(box, row, 0, 1, 3);
connect(box, &QDialogButtonBox::accepted, [&] () {ok = true; close();});
connect(box, &QDialogButtonBox::rejected, [&] () {ok = false; close();});
}

24
mapview/3DNavMesh/QNavMeshSettings.h Normal file
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@@ -0,0 +1,24 @@
#ifndef QNAVMESHSETTINGS_H
#define QNAVMESHSETTINGS_H
#include <QObject>
#include <QDialog>
namespace NM {
class NavMeshSettings;
}
class QNavMeshSettings : public QDialog {
Q_OBJECT
public:
QNavMeshSettings(NM::NavMeshSettings* settings, QWidget* parent = nullptr);
bool ok = false;
};
#endif // QNAVMESHSETTINGS_H

5
mapview/model/MMFloor.h
View File

@@ -58,6 +58,11 @@ public:
/** get the underlying model */
Floorplan::Floor& getFloor() {return *floor;}
virtual void setVisible(const bool visible) override {
floor->enabled = visible;
MapLayer::setVisible(visible);
}
std::string getLayerName() const override {return floor->name;}

2
mapview/model/MapLayer.h
View File

@@ -107,7 +107,7 @@ public:
bool isVisible() const {return visible;}
/** make this layer visible */
void setVisible(const bool visible) {
virtual void setVisible(const bool visible) {
this->visible = visible;
onVisibilityChanged(visible);
}