void NavMesh::BuildPointsTriangle(int width, int depth, std::function<bool (int, int)> predicate) {
for (int i=0; i<triangles.size(); i++) {
delete triangles[i];
}
triangles.clear();
navigation.clear();
collision.clear();
trianglesPerVertex.clear();
std::vector<double> outer = {
0,0,
(double)width,0,
0,(double)depth,
(double)width,(double)depth,
};
std::vector<int> segments = {
0,1,
1,3,
3,2,
2,0,
};
std::vector<double> holes;
int lastPos = width - 1;
for (int z=0; z<depth; ++z) {
int unblockPos = 0;
for (int x=0; x<width; ++x) {
bool blocked = predicate(x,z);
//if (blocked) {
// AddHole(outer, segments, holes, {(float)x,(float)z}, {1.0f, 1.0f});
//}
//continue;
if (!blocked || x == lastPos) {
int size = x - unblockPos;
if (x == lastPos ) {
size++;
}
if (size>0) {
AddHole(outer, segments, holes, {(float)unblockPos,(float)z}, {(float)size, 1.0f});
}
unblockPos = x + 1;
}
}
}
triangulateio in;
memset(&in, 0, sizeof(triangulateio));
in.numberofpoints = (int)outer.size()/2;
in.pointlist = &outer[0];
in.holelist = &holes[0];
in.numberofholes = (int)holes.size()/2;
in.segmentlist = &segments[0];
in.numberofsegments = (int)segments.size()/2;
triangulateio out;
memset(&out, 0, sizeof(triangulateio));
triangulate("zpnQ", &in, &out, (struct triangulateio *) NULL );
triangles.resize(out.numberoftriangles);
for (int i=0; i<out.numberoftriangles; i++) {
triangles[i] = new NavTriangle();
}
collision.resize(out.numberofpoints);
trianglesPerVertex.resize(out.numberofpoints);
for (int i=0; i<out.numberofpoints; i++) {
double* pos = &out.pointlist[i*2];
collision[i].x = (float)pos[0];
collision[i].y = (float)pos[1];
}
navigation = collision;
std::cout<<"-------------"<<std::endl;
for (int i=0; i<out.numberoftriangles; i++) {
int* triangleIndex = &out.trianglelist[i*3];
//std::cout<<triangle[0]<<", "<<triangle[1]<<", " <<triangle[2]<<std::endl;
NavTriangle& tri = *triangles[i];
tri.corners[0]= triangleIndex[0];
tri.corners[1]= triangleIndex[1];
tri.corners[2]= triangleIndex[2];
int* neighbor = &out.neighborlist[i*3];
tri.neighbors[1] = neighbor[0]>=0 ? triangles[neighbor[0]] : 0;
tri.neighbors[2] = neighbor[1]>=0 ? triangles[neighbor[1]] : 0;
tri.neighbors[0] = neighbor[2]>=0 ? triangles[neighbor[2]] : 0;
// std::cout<<"neightbor"<<std::endl;
// std::cout<<neighbor[0]<<", "<<neighbor[1]<<", " <<neighbor[2]<<std::endl;
}
trifree(out.pointlist);
trifree(out.neighborlist);
trifree(out.trianglelist);
TrimSmallTriangles();
Grow(navigation, -0.5f);
version++;
}
int delaunay_triangulation(Point2f* points, int size, int** edges)
{
struct triangulateio in, mid;
/* Define input points. */
in.numberofpoints = size;
in.numberofpointattributes = 0;
in.pointlist = (REAL *) malloc(in.numberofpoints * 2 * sizeof(REAL));
for (int i = 0; i < size; i++)
{
in.pointlist[i*2] = points[i].x;
in.pointlist[i*2+1] = points[i].y;
}
in.pointattributelist = (REAL *) NULL;
in.pointmarkerlist = (int *) NULL;
in.numberofsegments = 0;
in.numberofholes = 0;
in.numberofregions = 0;
in.regionlist = (REAL *) NULL;
mid.pointlist = (REAL *) NULL; /* Not needed if -N switch used. */
/* Not needed if -N switch used or number of point attributes is zero: */
mid.pointattributelist = (REAL *) NULL;
mid.pointmarkerlist = (int *) NULL; /* Not needed if -N or -B switch used. */
mid.trianglelist = (int *) NULL; /* Not needed if -E switch used. */
mid.trianglearealist = (double *) NULL; /* Not needed if -E switch used. */
/* Not needed if -E switch used or number of triangle attributes is zero: */
mid.triangleattributelist = (REAL *) NULL;
mid.neighborlist = (int *) NULL; /* Needed only if -n switch used. */
/* Needed only if segments are output (-p or -c) and -P not used: */
mid.segmentlist = (int *) NULL;
/* Needed only if segments are output (-p or -c) and -P and -B not used: */
mid.segmentmarkerlist = (int *) NULL;
mid.edgelist = (int *) NULL; /* Needed only if -e switch used. */
mid.edgemarkerlist = (int *) NULL; /* Needed if -e used and -B not used. */
/* Triangulate the points. Switches are chosen to read and write a */
/* PSLG (p), preserve the convex hull (c), number everything from */
/* zero (z), assign a regional attribute to each element (A), and */
/* produce an edge list (e), a Voronoi diagram (v), and a triangle */
/* neighbor list (n). */
triangulate("zeQ", &in, &mid, NULL);
trifree(in.pointlist);
trifree(in.pointattributelist);
trifree(in.pointmarkerlist);
trifree(in.regionlist);
trifree(mid.pointlist);
trifree(mid.pointattributelist);
trifree(mid.pointmarkerlist);
trifree(mid.trianglelist);
trifree(mid.triangleattributelist);
trifree(mid.trianglearealist);
trifree(mid.neighborlist);
trifree(mid.segmentlist);
trifree(mid.segmentmarkerlist);
trifree(mid.edgemarkerlist);
*edges = mid.edgelist;
return mid.numberofedges;
//trifree(mid.edgelist);
}
