void
arrangement::compute_pointInCells(Arrangement_2 &arr, std::vector<std::vector<double> > &points)
{
Walk_pl walk_pl(arr);
int cpt = 0;
for (Arrangement_2::Face_iterator face = arr.faces_begin(); face != arr.faces_end(); ++face)
{
if (face->is_unbounded())
face->set_data(-1);
else
{
// set data to each face
face->set_data(cpt++);
// find a point in this face
Arrangement_2::Ccb_halfedge_circulator previous = face->outer_ccb();
Arrangement_2::Ccb_halfedge_circulator first_edge = face->outer_ccb();
Arrangement_2::Ccb_halfedge_circulator edge = face->outer_ccb();
++edge;
do
{
std::vector<double> p1 = getPointMiddle(previous);
std::vector<double> p2 = getPointMiddle(edge);
std::vector<double> m;
m.push_back((p1[0]+p2[0])/2);
m.push_back((p1[1]+p2[1])/2);
Rational x_(m[0]);
Rational y_(m[1]);
Conic_point_2 p(x_,y_);
Arrangement_2::Vertex_handle v = insert_point(arr, p, walk_pl);
try
{
if (v->face()->data() == (cpt-1))
{
bool flag = false;
// test if it is not in holes and not in unbounded face
for (int i = 0; i < (int) convolutions_o.size(); ++i)
{
Walk_pl wpl(convolutions_o[i]);
Arrangement_2::Vertex_handle t = insert_point(convolutions_o[i], p, wpl);
if (t->face()->data() == 1)
{
convolutions_o[i].remove_isolated_vertex(t);
break;
}
else if (t->face()->data() == 2 || t->face()->data() == 0)
{
flag = true;
convolutions_o[i].remove_isolated_vertex(t);
break;
}
}
// then continue
if (!flag)
points.push_back(m);
else
{
--cpt;
face->set_data(-1);
}
arr.remove_isolated_vertex(v);
break;
}
arr.remove_isolated_vertex(v);
}
catch (const std::exception exn) {}
previous = edge;
++edge;
} while (edge != first_edge);
}
}
}
GeometryPtr
Overlay::process(const Polyline2DPtr& p1, const Polyline2DPtr& p2)
{
if (!p1 || !p2 || p1->getPointListSize() < 2 || p2->getPointListSize() < 2) return GeometryPtr();
#ifdef WITH_CGAL
// Construct the first arrangement, containing a polyline 1.
Arrangement_2 arr1;
for (Point2Array::const_iterator it1 = p1->getPointList()->begin()+1; it1 != p1->getPointList()->end(); ++it1)
insert_non_intersecting_curve(arr1,toSegment(*(it1-1),*it1));
// to be a closed face, first and last point should be exactly the same.
// However we should not duplicate the same point twice at the end.
Vector2& fp1 = p1->getPointList()->getAt(0);
Vector2& lp1 = *(p1->getPointList()->end()-1);
if (fp1.x() != lp1.x() || fp1.y() != lp1.y())
insert_non_intersecting_curve(arr1,toSegment(lp1,fp1));
// std::cerr << arr1.number_of_vertices() << " " << arr1.number_of_edges() << " " << arr1.number_of_faces() << std::endl;
// Mark just the bounded face.
Arrangement_2::Face_iterator fit;
CGAL_assertion (arr1.number_of_faces() == 2);
for (fit = arr1.faces_begin(); fit != arr1.faces_end(); ++fit)
fit->set_data (fit != arr1.unbounded_face());
// Construct the second arrangement.
Arrangement_2 arr2;
for (Point2Array::const_iterator it2 = p2->getPointList()->begin()+1; it2 != p2->getPointList()->end(); ++it2)
insert(arr2,toSegment(*(it2-1),*it2));
// to be a closed face, first and last point should be exactly the same.
// However we should not duplicate the same point twice at the end.
Vector2& fp2 = p2->getPointList()->getAt(0);
Vector2& lp2 = *(p2->getPointList()->end()-1);
if (fp2.x() != lp2.x() || fp2.y() != lp2.y())
insert(arr2,toSegment(lp2,fp2));
// std::cerr << arr2.number_of_vertices() << " " << arr2.number_of_edges() << " " << arr2.number_of_faces() << std::endl;
CGAL_assertion (arr2.number_of_faces() == 2);
for (fit = arr2.faces_begin(); fit != arr2.faces_end(); ++fit)
fit->set_data (fit != arr2.unbounded_face());
// Compute the overlay of the two arrangements.
Arrangement_2 overlay_arr;
Overlay_traits overlay_traits;
overlay (arr1, arr2, overlay_arr, overlay_traits);
// std::cerr << overlay_arr.number_of_vertices() << " " << overlay_arr.number_of_edges() << " " << overlay_arr.number_of_faces() << std::endl;
// conversion between cgal structures and plantgl ones.
GeometryArrayPtr geomarray(new GeometryArray(0));
for (Arrangement_2::Face_iterator face = overlay_arr.faces_begin(); face != overlay_arr.faces_end(); ++face)
{
if (face->is_fictitious () || face->is_unbounded())
continue;
if (! face->data())
continue;
Arrangement_2::Ccb_halfedge_circulator curr = face->outer_ccb();
Point2ArrayPtr pointSet( new Point2Array(1,toVec2(curr->source()->point())));
do
{
pointSet->push_back(toVec2(curr->target()->point()));
++curr;
} while (curr != face->outer_ccb());
if (pointSet->size() == 1){
geomarray->push_back(GeometryPtr(new PointSet2D(pointSet)));
}
else if(pointSet->size() > 1){
geomarray->push_back(GeometryPtr(new Polyline2D(pointSet)));
}
}
if (geomarray->empty())return GeometryPtr();
else if (geomarray->size() == 1) return geomarray->getAt(0);
else return GeometryPtr(new Group(geomarray));
#else
#ifdef _MSC_VER
#pragma message("CGAL not included. Overlay routine will not work.")
#else
#warning "CGAL not included. Overlay routine will not work."
#endif
pglError("CGAL not included. Overlay routine will not work.");
return GeometryPtr();
#endif
}
void
arrangement::compute_admissible_configuration()
{
// transform environment into polygons
std::list<Rat_point_2> pts;
for (int i=0;i<(int)frontier.size();++i)
pts.push_back(Rat_point_2(frontier[i].x(), frontier[i].y()));
env.insert(env.vertices_circulator(), pts.begin(), pts.end());
// compute inset
inset_of_polygon(env, manipulator_diametre, inset);
inset_of_polygon(env, target_diametre, inset_o);
// transform and compute offset of obstacles
std::vector<std::list<Rat_point_2> > pts2;
pts2.resize((int)obstacles.size());
obs.resize((int)obstacles.size());
for(int k = 0; k < (int)obstacles.size()-1; ++k)
{
for (int i=0;i<(int)obstacles[k].size();++i)
pts2[k].push_back(Rat_point_2(obstacles[k][i].x(),obstacles[k][i].y()));
obs[k].insert(obs[k].vertices_circulator(), pts2[k].begin(), pts2[k].end());
offset_of_polygon(obs[k],manipulator_diametre, offsets);
offset_of_polygon(obs[k],target_diametre, offsets_o);
}
// compute admissible configuration
for (Op2_it pgn=inset.begin(); pgn != inset.end(); ++pgn)
admissible_configuration(pgn, offsets, admissible);
for (Op2_it pgn=inset_o.begin(); pgn != inset_o.end(); ++pgn)
admissible_configuration(pgn, offsets_o, admissible_o);
// add all curves of admissible_R space in arrangement
for (int i = 0; i < (int) admissible.size(); ++i)
{
Arrangement_2 arr;
for (X_curve_2_it curve = admissible[i].outer_boundary().curves_begin(); curve != admissible[i].outer_boundary().curves_end(); ++curve)
insert(arr, *curve);
if (admissible[i].has_holes())
for(Op2_it hol = admissible[i].holes_begin(); hol != admissible[i].holes_end(); ++hol)
for (X_curve_2_it curve = hol->curves_begin(); curve != hol->curves_end(); ++curve)
insert(arr, *curve);
convolutions.push_back(arr);
}
for (int i = 0; i < (int) convolutions.size(); ++i)
{
int cpt = 0;
for (Arrangement_2::Face_iterator face = convolutions[i].faces_begin(); face != convolutions[i].faces_end(); ++face)
face->set_data(cpt++);
}
// add all curves of admissible_R space in arrangement
for (int i = 0; i < (int) admissible_o.size(); ++i)
{
Arrangement_2 arr;
for (X_curve_2_it curve = admissible_o[i].outer_boundary().curves_begin(); curve != admissible_o[i].outer_boundary().curves_end(); ++curve)
{
insert(arr, *curve);
insert(nonCriticalRegions, *curve);
}
if (admissible_o[i].has_holes())
for(Op2_it hol = admissible_o[i].holes_begin(); hol != admissible_o[i].holes_end(); ++hol)
for (X_curve_2_it curve = hol->curves_begin(); curve != hol->curves_end(); ++curve)
{
insert(arr, *curve);
insert(nonCriticalRegions, *curve);
}
convolutions_o.push_back(arr);
}
for (int i = 0; i < (int) convolutions_o.size(); ++i)
{
int cpt = 0;
for (Arrangement_2::Face_iterator face = convolutions_o[i].faces_begin(); face != convolutions_o[i].faces_end(); ++face)
face->set_data(cpt++);
}
// save environment vertices
for (int i = 0; i < (int)frontier.size(); ++i)
env_points.push_back(frontier[i]);
for (int i = 0; i < (int) obstacles.size(); ++i)
for (int j = 0; j < (int) obstacles[i].size(); ++j)
env_points.push_back(obstacles[i][j]);
}