Navigation Graph(for Game Agent) generation/edition tools - c++

Question

I'm writing a 2d game in which an agent has to go to anywhere of large map, automatically.
Ofcourse, the map's got lots of obstacles, geometries, etc.
I decided to implement it with NavGraph (Navigation Graph), and read a very useful, great article here
After a few minutes, I worried about creating nav graph manually.
I googled hours to look up NavGraph generation tools, but there was nothing. (all result was for NavMesh, not NavGraph)
Is there anybody help me? Any suggestion or reply will be appreciated.
Thanks.

Answer 1

I used libpedsim
It provides a framework to set waypoints and obstacles:
Ped::Tscene* pedscene;
Ped::Twaypoint* w1;
Ped::Tobstacle* o;
Waypoints were simply created by random sampling - we created a texture where red means it is blocked and otherwise the cell is free. The hacky implementation looked like this and worked pretty well:
// setup
pedscene = new Ped::Tscene(-200, -200, 400, 400);
loadMap();
srand(time(NULL));
int x;
int y;
for (int i = 0; i<agnentCount_/10; i++)
{
Ped::Tagent *a = new Ped::Tagent();
while(true)
{
x = rand() % 99;
y = rand() % 99;
if(texData[y * tex_->getWidth() + x][0]==255)
{
break;
}
}
a->setPosition(
x,
-y,
0.2);
while(true)
{
x = std::rand() % 99;
y = std::rand() % 99;
if(texData[y * tex_->getWidth() + x][0]==255)
{
break;
}
}
PathFind seeker(
a->getPosition().x,
-a->getPosition().y,
x,
y,
tex_->getWidth(),
tex_->getHeight(),
texData);
std::vector<buw::vector2i> path;
path = seeker.findPath();
for(std::vector<buw::vector2i>::iterator it = path.begin(); it!=path.end(); it++)
{
w1 = new Ped::Twaypoint( it->x(), -it->y(), 5);
a->addWaypoint(w1);
}
pedscene->addAgent(a);