From 76938f165403050ce1e6db8aca1158124c2d5923 Mon Sep 17 00:00:00 2001
From: John Turner <7strbass@gmail.com>
Date: Tue, 16 Jan 2024 12:48:07 -0500
Subject: [PATCH] --more cleanup.

---
 src/esp/bindings/SensorBindings.cpp |   1 +
 src/esp/core/EspEigen.h             | 105 +++++++++++++---------------
 src/esp/nav/PathFinder.cpp          |   7 +-
 src/esp/nav/PathFinder.h            |   2 +-
 4 files changed, 55 insertions(+), 60 deletions(-)

diff --git a/src/esp/bindings/SensorBindings.cpp b/src/esp/bindings/SensorBindings.cpp
index f21bf121a3..d7b7d7cd2a 100644
--- a/src/esp/bindings/SensorBindings.cpp
+++ b/src/esp/bindings/SensorBindings.cpp
@@ -13,6 +13,7 @@
 
 #include <utility>
 
+#include "esp/core/EspEigen.h"
 #include "esp/sensor/CameraSensor.h"
 #include "esp/sensor/CubeMapSensorBase.h"
 #include "esp/sensor/EquirectangularSensor.h"
diff --git a/src/esp/core/EspEigen.h b/src/esp/core/EspEigen.h
index 20b017ab46..8477c48c9b 100644
--- a/src/esp/core/EspEigen.h
+++ b/src/esp/core/EspEigen.h
@@ -14,66 +14,59 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-#include <Magnum/EigenIntegration/GeometryIntegration.h>
-#include <Magnum/EigenIntegration/Integration.h>
-#include <Magnum/Math/Range.h>
-#include <Magnum/Math/RectangularMatrix.h>
-
-#include "esp/core/configure.h"
-
 namespace Eigen {
 
 typedef Matrix<float, Dynamic, Dynamic, RowMajor> RowMatrixXf;
 
-//! Eigen JSON string format specification
-static const IOFormat kJsonFormat(StreamPrecision,
-                                  DontAlignCols,
-                                  ",",   // coef separator
-                                  ",",   // row separator
-                                  "",    // row prefix
-                                  "",    // col prefix
-                                  "[",   // mat prefix
-                                  "]");  // mat suffix
-
-template <typename T, int numRows, int numCols>
-std::ostream& operator<<(std::ostream& os,
-                         const Matrix<T, numRows, numCols>& matrix) {
-  return os << matrix.format(kJsonFormat);
-}
-
-//! Write Eigen matrix types into ostream in JSON string format
-template <typename T, int numRows, int numCols>
-typename std::enable_if<numRows == Dynamic || numCols == Dynamic,
-                        Corrade::Utility::Debug&>::type
-operator<<(Corrade::Utility::Debug& os,
-           const Matrix<T, numRows, numCols>& matrix) {
-  return os << matrix.format(kJsonFormat);
-}
-
-template <typename T, int numRows, int numCols>
-typename std::enable_if<(numRows != Dynamic && numCols != Dynamic) &&
-                            (numRows != 1 && numCols != 1),
-                        Corrade::Utility::Debug&>::type
-operator<<(Corrade::Utility::Debug& os,
-           const Matrix<T, numRows, numCols>& matrix) {
-  return os << Magnum::Math::RectangularMatrix<numRows, numCols, T>{matrix};
-}
-
-template <typename T, int numRows, int numCols>
-typename std::enable_if<(numRows != Dynamic && numCols != Dynamic) &&
-                            (numRows == 1 || numCols == 1),
-                        Corrade::Utility::Debug&>::type
-operator<<(Corrade::Utility::Debug& os,
-           const Matrix<T, numRows, numCols>& matrix) {
-  return os << Magnum::Math::Vector<(numRows == 1 ? numCols : numRows), T>{
-             matrix};
-}
-
-//! Write Eigen map into ostream in JSON string format
-template <typename T>
-std::ostream& operator<<(std::ostream& os, const Map<T>& m) {
-  return os << m.format(kJsonFormat);
-}
+// //! Eigen JSON string format specification
+// static const IOFormat kJsonFormat(StreamPrecision,
+//                                   DontAlignCols,
+//                                   ",",   // coef separator
+//                                   ",",   // row separator
+//                                   "",    // row prefix
+//                                   "",    // col prefix
+//                                   "[",   // mat prefix
+//                                   "]");  // mat suffix
+
+// template <typename T, int numRows, int numCols>
+// std::ostream& operator<<(std::ostream& os,
+//                          const Matrix<T, numRows, numCols>& matrix) {
+//   return os << matrix.format(kJsonFormat);
+// }
+
+// //! Write Eigen matrix types into ostream in JSON string format
+// template <typename T, int numRows, int numCols>
+// typename std::enable_if<numRows == Dynamic || numCols == Dynamic,
+//                         Corrade::Utility::Debug&>::type
+// operator<<(Corrade::Utility::Debug& os,
+//            const Matrix<T, numRows, numCols>& matrix) {
+//   return os << matrix.format(kJsonFormat);
+// }
+
+// template <typename T, int numRows, int numCols>
+// typename std::enable_if<(numRows != Dynamic && numCols != Dynamic) &&
+//                             (numRows != 1 && numCols != 1),
+//                         Corrade::Utility::Debug&>::type
+// operator<<(Corrade::Utility::Debug& os,
+//            const Matrix<T, numRows, numCols>& matrix) {
+//   return os << Magnum::Math::RectangularMatrix<numRows, numCols, T>{matrix};
+// }
+
+// template <typename T, int numRows, int numCols>
+// typename std::enable_if<(numRows != Dynamic && numCols != Dynamic) &&
+//                             (numRows == 1 || numCols == 1),
+//                         Corrade::Utility::Debug&>::type
+// operator<<(Corrade::Utility::Debug& os,
+//            const Matrix<T, numRows, numCols>& matrix) {
+//   return os << Magnum::Math::Vector<(numRows == 1 ? numCols : numRows), T>{
+//              matrix};
+// }
+
+// //! Write Eigen map into ostream in JSON string format
+// template <typename T>
+// std::ostream& operator<<(std::ostream& os, const Map<T>& m) {
+//   return os << m.format(kJsonFormat);
+// }
 
 }  // namespace Eigen
 
diff --git a/src/esp/nav/PathFinder.cpp b/src/esp/nav/PathFinder.cpp
index 91e3f41e2f..3ccfafbdb7 100644
--- a/src/esp/nav/PathFinder.cpp
+++ b/src/esp/nav/PathFinder.cpp
@@ -25,6 +25,7 @@
 
 #include "esp/assets/MeshData.h"
 #include "esp/core/Esp.h"
+#include "esp/core/EspEigen.h"
 
 #include "DetourCommon.h"
 #include "DetourNavMesh.h"
@@ -429,7 +430,7 @@ class IslandSystem {
       navMesh->getTileAndPolyByRefUnsafe(ref, &tile, &poly);
 
       for (int iVert = 0; iVert < poly->vertCount; ++iVert) {
-        islandVerts.emplace_back(Eigen::Map<Mn::Vector3>(
+        islandVerts.emplace_back(Mn::Vector3::from(
             &tile->verts[static_cast<size_t>(poly->verts[iVert]) * 3]));
       }
 
@@ -1749,8 +1750,8 @@ bool PathFinder::Impl::isNavigable(const Mn::Vector3& pt,
     return false;
 
   if (std::abs(polyPt[1] - pt[1]) > maxYDelta ||
-      (Eigen::Vector2f(pt[0], pt[2]) - Eigen::Vector2f(polyPt[0], polyPt[2]))
-              .norm() > 1e-2)
+      (Mn::Vector2(pt[0], pt[2]) - Mn::Vector2(polyPt[0], polyPt[2])).length() >
+          1e-2)
     return false;
 
   return true;
diff --git a/src/esp/nav/PathFinder.h b/src/esp/nav/PathFinder.h
index 79154f7bae..3383dbc711 100644
--- a/src/esp/nav/PathFinder.h
+++ b/src/esp/nav/PathFinder.h
@@ -6,11 +6,11 @@
 #define ESP_NAV_PATHFINDER_H_
 
 #include <Corrade/Containers/Optional.h>
+#include <Magnum/Math/Vector3.h>
 #include <string>
 #include <vector>
 
 #include "esp/core/Esp.h"
-#include "esp/core/EspEigen.h"
 
 namespace esp {
 // forward declaration