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100 lines
3.2 KiB
C++
100 lines
3.2 KiB
C++
//
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// Created by Vlad on 28.07.2024.
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//
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#include "omath/pathfinding/navigation_mesh.hpp"
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#include <algorithm>
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#include <sstream>
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#include <stdexcept>
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namespace omath::pathfinding
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{
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std::expected<Vector3<float>, std::string>
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NavigationMesh::get_closest_vertex(const Vector3<float>& point) const noexcept
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{
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const auto res = std::ranges::min_element(m_vertex_map, [&point](const auto& a, const auto& b)
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{ return a.first.distance_to(point) < b.first.distance_to(point); });
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if (res == m_vertex_map.cend())
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return std::unexpected("Failed to get closest point");
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return res->first;
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}
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const std::vector<Vector3<float>>& NavigationMesh::get_neighbors(const Vector3<float>& vertex) const noexcept
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{
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return m_vertex_map.at(vertex);
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}
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bool NavigationMesh::empty() const
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{
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return m_vertex_map.empty();
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}
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void NavigationMesh::set_event(const Vector3<float>& vertex, std::string event_id)
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{
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m_vertex_events[vertex] = std::move(event_id);
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}
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void NavigationMesh::clear_event(const Vector3<float>& vertex)
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{
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m_vertex_events.erase(vertex);
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}
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std::optional<std::string> NavigationMesh::get_event(const Vector3<float>& vertex) const noexcept
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{
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const auto it = m_vertex_events.find(vertex);
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if (it == m_vertex_events.end())
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return std::nullopt;
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return it->second;
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}
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// Serialization format per vertex line:
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// x y z neighbor_count event_id
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// where event_id is "-" when no event is set.
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// Neighbor lines follow: nx ny nz
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std::string NavigationMesh::serialize() const noexcept
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{
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std::ostringstream oss;
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for (const auto& [vertex, neighbors] : m_vertex_map)
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{
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const auto event_it = m_vertex_events.find(vertex);
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const std::string& event = (event_it != m_vertex_events.end()) ? event_it->second : "-";
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oss << vertex.x << ' ' << vertex.y << ' ' << vertex.z
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<< ' ' << neighbors.size() << ' ' << event << '\n';
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for (const auto& n : neighbors)
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oss << n.x << ' ' << n.y << ' ' << n.z << '\n';
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}
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return oss.str();
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}
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void NavigationMesh::deserialize(const std::string& raw)
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{
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m_vertex_map.clear();
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m_vertex_events.clear();
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std::istringstream iss(raw);
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Vector3<float> vertex;
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std::size_t neighbors_count;
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std::string event;
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while (iss >> vertex.x >> vertex.y >> vertex.z >> neighbors_count >> event)
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{
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std::vector<Vector3<float>> neighbors;
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neighbors.reserve(neighbors_count);
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for (std::size_t i = 0; i < neighbors_count; ++i)
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{
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Vector3<float> n;
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if (!(iss >> n.x >> n.y >> n.z))
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throw std::runtime_error("Deserialize: Unexpected end of data.");
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neighbors.push_back(n);
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}
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m_vertex_map.emplace(vertex, std::move(neighbors));
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if (event != "-")
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m_vertex_events.emplace(vertex, std::move(event));
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}
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}
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} // namespace omath::pathfinding
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