void mesh::add_triangle(const glm::vec3& a, const glm::vec3& b,
const glm::vec3& c)
{
int index_a = find_index(a);
int index_b = find_index(b);
int index_c = find_index(c);
index_a = update_vertex(a, index_a);
index_b = update_vertex(b, index_b);
index_c = update_vertex(c, index_c);
triangles.push_back(glm::ivec3(index_a, index_b, index_c));
glm::vec3 normal(glm::normalize(glm::cross((b - a), (c - a))));
face_normals.push_back(normal);
int tri_index = static_cast<int>(triangles.size()) - 1;
update_neighbors(index_a, tri_index);
update_neighbors(index_b, tri_index);
update_neighbors(index_c, tri_index);
}
auto replan(Cells const& cells_to_toggle = {})
{
reset_statistics();
for (auto c : cells_to_toggle)
{
at(c).bad = !at(c).bad;
if (!at(c).bad)
update_vertex(at(c));
else
at(c).g = at(c).r = huge();
update_neighbours_of(c);
}
compute_shortest_path();
}
auto compute_shortest_path()
{
Timing t{ run_time };
while (!q.empty() && (Key{ at(q.top()) } < Key{ at(goal) } || at(goal).r != at(goal).g))
{
auto c = q.pop();
if (at(c).g > at(c).r)
at(c).g = at(c).r;
else
at(c).g = huge(),
update_vertex(at(c));
update_neighbours_of(c);
{
max_q_size = max(max_q_size, q.size());
expansions.insert(c);
}
}
path = build_path();
}
void Ball::move(){
location.x += velocity.x;
location.y += velocity.y;
update_vertex();
}
void Ball::change_location(glm::vec2 new_loc){
location = new_loc;
update_vertex();
}
auto update_neighbours_of(Cell cell)
{
for (auto neighbour : valid_neighbours_of(cell))
if (!at(neighbour).bad)
update_vertex(at(neighbour));
}