static void
gv_to_gml(Agraph_t* G, FILE* outFile)
{
Agnode_t* n;
Agedge_t* e;
fprintf (outFile, "graph [\n version 2\n");
if (agisdirected(G))
fprintf (outFile, " directed 1\n");
else
fprintf (outFile, " directed 0\n");
emitGraphAttrs (G, outFile);
/* FIX: Not sure how to handle default attributes or subgraphs */
for (n = agfstnode(G); n; n = agnxtnode (G, n)) {
emitNode (G, n, outFile);
}
for (n = agfstnode(G); n; n = agnxtnode (G, n)) {
for (e = agfstout(G, n); e; e = agnxtout (G, e)) {
emitEdge (G, e, outFile);
}
}
fprintf (outFile, "]\n");
}
void BoxConvex::getFeatures(const MatrixF& mat,const VectorF& n, ConvexFeature* cf)
{
cf->material = 0;
cf->object = mObject;
S32 v = 0;
v += (n.x >= 0)? 1: 0;
v += (n.y >= 0)? 2: 0;
v += (n.z >= 0)? 4: 0;
PlaneF plane;
plane.set(getVertex(v),n);
// Emit vertex and edge
S32 mask = 0;
Corner& corner = sCorner[v];
mask |= isOnPlane(getVertex(corner.a),plane)? 1: 0;
mask |= isOnPlane(getVertex(corner.b),plane)? 2: 0;
mask |= isOnPlane(getVertex(corner.c),plane)? 4: 0;
switch(mask) {
case 0: {
cf->mVertexList.increment();
mat.mulP(getVertex(v),&cf->mVertexList.last());
break;
}
case 1:
emitEdge(v,corner.a,mat,cf);
break;
case 2:
emitEdge(v,corner.b,mat,cf);
break;
case 4:
emitEdge(v,corner.c,mat,cf);
break;
case 1 | 2:
emitFace(corner.ab,mat,cf);
break;
case 2 | 4:
emitFace(corner.bc,mat,cf);
break;
case 1 | 4:
emitFace(corner.ac,mat,cf);
break;
}
}
static void
emitGraph (FILE* fp, maze* mp, int n_edges, route* route_list, epair_t es[])
{
int i;
boxf bb, absbb;
box bbox;
absbb.LL.x = absbb.LL.y = MAXDOUBLE;
absbb.UR.x = absbb.UR.y = -MAXDOUBLE;
fprintf (fp, "%s", prolog2);
fprintf (fp, "%d %d translate\n", TRANS, TRANS);
fputs ("0 0 1 setrgbcolor\n", fp);
for (i = 0; i < mp->ngcells; i++) {
bb = mp->gcells[i].bb;
fprintf (fp, "%f %f %f %f node\n", bb.LL.x, bb.LL.y, bb.UR.x, bb.UR.y);
}
for (i = 0; i < n_edges; i++) {
absbb = emitEdge (fp, es[i].e, route_list[i], mp, i, absbb);
}
fputs ("0.8 0.8 0.8 setrgbcolor\n", fp);
for (i = 0; i < mp->ncells; i++) {
bb = mp->cells[i].bb;
fprintf (fp, "%f %f %f %f cell\n", bb.LL.x, bb.LL.y, bb.UR.x, bb.UR.y);
absbb.LL.x = MIN(absbb.LL.x, bb.LL.x);
absbb.LL.y = MIN(absbb.LL.y, bb.LL.y);
absbb.UR.x = MAX(absbb.UR.x, bb.UR.x);
absbb.UR.y = MAX(absbb.UR.y, bb.UR.y);
}
bbox.LL.x = absbb.LL.x + TRANS;
bbox.LL.y = absbb.LL.y + TRANS;
bbox.UR.x = absbb.UR.x + TRANS;
bbox.UR.y = absbb.UR.y + TRANS;
fprintf (fp, epilog2, bbox.LL.x, bbox.LL.y, bbox.UR.x, bbox.UR.y);
}
