//Constructs the grid based on the polygon's bounding box and generates a random point if inside polygon
Points PathPlanner::getRandGridPoints(){
//Grid
CGAL::Bbox_2 box = this->BPpoly.bbox();
long double xmini = box.xmin();
long double ymini = box.ymin();
long double xmaxi = box.xmax();
long double ymaxi = box.ymax();
cout<<xmini<<" "<<xmaxi<<" "<<ymini<<" "<<ymaxi<<'\n';
Point_2 iterator;
vector<Grid> grids;
Points randGridPoints;
for(long double i =ymini; i<ymaxi; i += this->gridSideLen ){
for(long double j = xmini; j<xmaxi; j+= this->gridSideLen ){
grids.push_back( Grid( Point_2(j,i) , this->gridSideLen) );
cout<<"row: "<<i<<" column: "<<j<<'\n';
}
}
for (int i =0 ; i <grids.size();i++){
if(grids[i].is_bounded(BPpoly)){
randGridPoints.push_back(grids[i].genRandPoint());
grids[i].printGrid();
}
}
return randGridPoints;
}
void MyWindow::open_linear_polygon_file()
{
QString s = QFileDialog::getOpenFileName(file_name,
QString::null,
this,
"open file dialog",
"Choose a file" );
if (s==QString::null)
return;
file_name=s;
std::ifstream in_file(s.ascii());
if (!in_file.is_open())
{
QMessageBox::warning( widget,"Open","Can't open file");
return ;
}
CGAL::Bbox_2 box = CGAL::Bbox_2 (widget->x_min(), widget->y_min(),
widget->x_max(), widget->y_max());
QCursor old = widget->cursor();
widget->setCursor(Qt::WaitCursor);
widget->lock();
widget->clear_history();
Linear_polygon_2 pgn;
in_file >> pgn;
if (pgn.is_empty())
{
widget->unlock();
widget->setCursor(old);
return;
}
if (pgn.orientation() != CGAL::COUNTERCLOCKWISE)
pgn.reverse_orientation();
const Polygon_2& circ_pgn = linear_2_circ(pgn);
if (red_active)
red_set.join(circ_pgn);
else
blue_set.join(circ_pgn);
box = box + circ_pgn.bbox();
widget->set_window(box.xmin(),
box.xmax(),
box.ymin(),
box.ymax());
widget->unlock();
newtoolbar->reset();
something_changed();
widget->setCursor(old);
}
// clears current internal nodes and generates new ones from the current state of the object
void update_boundary_and_internal_nodes()
{
mBoundaryNodes.clear();
mInternalNodes.clear();
mMissingPopulationIndexMap.clear();
mIsCurrentlyAnInternalNode.clear();
CGAL::Bbox_2 boundingBox = mCircle->bbox();
// iterate through bounding box nodes with 1 node lee way on all 4 sides
for (int i = std::floor(CGAL::to_double(boundingBox.xmin())) - 2; i <= std::ceil(CGAL::to_double(boundingBox.xmax())) + 2; i++) {
for (int j = std::floor(CGAL::to_double(boundingBox.ymin())) - 2; j <= std::ceil(CGAL::to_double(boundingBox.ymax())) + 2; j++) {
// current point being checked
Point query_point(i,j);
// check if point is within the shape or right on the boundary
if(!mCircle->has_on_unbounded_side(query_point) ||
mCircle->has_on_boundary(query_point))
{
mInternalNodes.push_back(lb::coordinate<int>(i,j));
mIsCurrentlyAnInternalNode.push_back(make_pair(i,j));
continue;
}
bool is_boundary = false;
vector<int> outGoingVelocityIndices;
// check if the shape is on a boundary
for (int velocity_index = 0; velocity_index < lb::velocity_set().size; velocity_index++)
{
query_point = Point(i+lb::velocity_set().c[0][velocity_index],j+lb::velocity_set().c[1][velocity_index]);
if(!mCircle->has_on_unbounded_side(query_point) ||
mCircle->has_on_boundary(query_point))
{
// reflect the velocity index to get the corresponding outgoing velocity at the node
// and add it to the outgoing velocity indices of the current (boundary) node
outGoingVelocityIndices.push_back(lb::velocity_set().incoming_velocity_to_outgoing_velocity(velocity_index));
is_boundary = true;
}
}
// update boundary data
if (is_boundary)
{
mBoundaryNodes.push_back(lb::coordinate<int>(i,j));
mMissingPopulationIndexMap.insert(make_pair(make_pair(i,j),outGoingVelocityIndices));
}
}
}
}
void TreeNode::draw() const
{
std::ofstream ofs(NODE_FILENAME);
cairo_t *cr;
cairo_surface_t *surface;
CGAL::Bbox_2 bbox = region.bbox();
assert(bbox.xmin() >= 0.0);
assert(bbox.ymin() >= 0.0);
#ifdef PDF_OUTPUT
surface = cairo_pdf_surface_create(IMG_FILENAME, bbox.xmax(), bbox.ymax());
#endif
#ifdef PNG_OUTPUT
surface = cairo_image_surface_create(CAIRO_FORMAT_ARGB32, bbox.xmax(), bbox.ymax());
#endif
cr = cairo_create(surface);
cairo_select_font_face(cr, "serif", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_BOLD);
cairo_set_font_size(cr, 10.0);
draw_region(cr);
draw_text(cr);
write_centroid(ofs);
cairo_show_page(cr);
cairo_destroy(cr);
#ifdef PNG_OUTPUT
cairo_surface_write_to_png(surface, IMG_FILENAME);
#endif
cairo_surface_destroy(surface);
}
virtual QRectF boundingRect() const
{
return QRectF(_bb.xmin(),
_bb.ymin(),
_bb.xmax() - _bb.xmin(),
_bb.ymax() - _bb.ymin());
}
void MyWindow::open_dxf_file()
{
QString s = QFileDialog::getOpenFileName(file_name,
QString::null,
this,
"open file dialog",
"Choose a file" );
if (s==QString::null)
return;
file_name=s;
std::ifstream in_file(s.ascii());
if (!in_file.is_open())
{
QMessageBox::warning( widget,"Open","Can't open file");
return ;
}
bool are_simple;
int answer = 0;
answer =
QMessageBox::question(this, QString("Open file"),
QString("Are all polygons simple and without holes?"),
QString("Yes"), QString("No"), QString::null, 0 , 0);
if (answer == 0)
are_simple = true;
else
are_simple = false;
CGAL::Bbox_2 box = CGAL::Bbox_2 (widget->x_min(), widget->y_min(),
widget->x_max(), widget->y_max());
QCursor old = widget->cursor();
widget->setCursor(Qt::WaitCursor);
widget->lock();
widget->clear_history();
CGAL::Dxf_bsop_reader<Kernel> reader;
std::vector<Polygon_2> circ_polygons;
std::vector<Polygon_with_holes> circ_polygons_with_holes;
reader(in_file,
std::back_inserter(circ_polygons),
std::back_inserter(circ_polygons_with_holes),
!are_simple);
if (red_active)
{
red_set.join(circ_polygons.begin(),
circ_polygons.end(),
circ_polygons_with_holes.begin(),
circ_polygons_with_holes.end());
}
else
{
blue_set.join(circ_polygons.begin(),
circ_polygons.end(),
circ_polygons_with_holes.begin(),
circ_polygons_with_holes.end());
}
if (!circ_polygons.empty())
{
box = circ_polygons.front().bbox();
}
else if (!circ_polygons_with_holes.empty())
{
box = circ_polygons_with_holes.front().outer_boundary().bbox();
}
std::vector<Polygon_2>::iterator itr1 = circ_polygons.begin();
for(itr1 = circ_polygons.begin();
itr1 != circ_polygons.end();
++itr1)
{
box = box + itr1->bbox();
}
std::vector<Polygon_with_holes>::iterator itr2;
for (itr2 = circ_polygons_with_holes.begin();
itr2 != circ_polygons_with_holes.end();
++itr2)
{
box = box + itr2->outer_boundary().bbox();
}
widget->set_window(box.xmin(),
box.xmax(),
box.ymin(),
box.ymax());
widget->unlock();
newtoolbar->reset();
something_changed();
widget->setCursor(old);
}
int main()
{
// A start-shaped polygon, oriented counter-clockwise as required for outer contours.
Point_2 pts[] = { Point_2(-1,-1)
, Point_2(0,-12)
, Point_2(1,-1)
, Point_2(12,0)
, Point_2(1,1)
, Point_2(0,12)
, Point_2(-1,1)
, Point_2(-12,0)
} ;
std::vector<Point_2> star(pts,pts+8);
// We want an offset contour in the outside.
// Since the package doesn't support that operation directly, we use the following trick:
// (1) Place the polygon as a hole of a big outer frame.
// (2) Construct the skeleton on the interior of that frame (with the polygon as a hole)
// (3) Construc the offset contours
// (4) Identify the offset contour that corresponds to the frame and remove it from the result
double offset = 3 ; // The offset distance
// First we need to determine the proper separation between the polygon and the frame.
// We use this helper function provided in the package.
boost::optional<double> margin = CGAL::compute_outer_frame_margin(star.begin(),star.end(),offset);
// Proceed only if the margin was computed (an extremely sharp corner might cause overflow)
if ( margin )
{
// Get the bbox of the polygon
CGAL::Bbox_2 bbox = CGAL::bbox_2(star.begin(),star.end());
// Compute the boundaries of the frame
double fxmin = bbox.xmin() - *margin ;
double fxmax = bbox.xmax() + *margin ;
double fymin = bbox.ymin() - *margin ;
double fymax = bbox.ymax() + *margin ;
// Create the rectangular frame
Point_2 frame[4]= { Point_2(fxmin,fymin)
, Point_2(fxmax,fymin)
, Point_2(fxmax,fymax)
, Point_2(fxmin,fymax)
} ;
// Instantiate the skeleton builder
SsBuilder ssb ;
// Enter the frame
ssb.enter_contour(frame,frame+4);
// Enter the polygon as a hole of the frame (NOTE: as it is a hole we insert it in the opposite orientation)
ssb.enter_contour(star.rbegin(),star.rend());
// Construct the skeleton
boost::shared_ptr<Ss> ss = ssb.construct_skeleton();
// Proceed only if the skeleton was correctly constructed.
if ( ss )
{
print_straight_skeleton(*ss);
// Instantiate the container of offset contours
ContourSequence offset_contours ;
// Instantiate the offset builder with the skeleton
OffsetBuilder ob(*ss);
// Obtain the offset contours
ob.construct_offset_contours(offset, std::back_inserter(offset_contours));
// Locate the offset contour that corresponds to the frame
// That must be the outmost offset contour, which in turn must be the one
// with the largetst unsigned area.
ContourSequence::iterator f = offset_contours.end();
double lLargestArea = 0.0 ;
for (ContourSequence::iterator i = offset_contours.begin(); i != offset_contours.end(); ++ i )
{
double lArea = CGAL_NTS abs( (*i)->area() ) ; //Take abs() as Polygon_2::area() is signed.
if ( lArea > lLargestArea )
{
f = i ;
lLargestArea = lArea ;
}
}
// Remove the offset contour that corresponds to the frame.
offset_contours.erase(f);
print_polygons(offset_contours);
}
}
return 0;
}
PwhPtr CstmCGAL::applyOffset(double offset, const Polygon_with_holes_2& poly) {
// This code is inspired from the CGAL example Straight_skeleton_2/Low_level_API
// As the offset can only produce an interior polygon, we need to produce a frame
// that encloses the polygon and is big enough so that the offset of the contour
// does not interfere with the one ot the polygon. See CGAL doc page for more info
boost::optional<double> margin = CGAL::compute_outer_frame_margin(
poly.outer_boundary().vertices_begin(),poly.outer_boundary().vertices_end(),offset);
if ( margin ) {
CGAL::Bbox_2 bbox = CGAL::bbox_2(poly.outer_boundary().vertices_begin(),poly.outer_boundary().vertices_end());
double fxmin = bbox.xmin() - *margin ;
double fxmax = bbox.xmax() + *margin ;
double fymin = bbox.ymin() - *margin ;
double fymax = bbox.ymax() + *margin ;
// Create the rectangular frame
Point_2 frame[4]= { Point_2(fxmin,fymin)
, Point_2(fxmax,fymin)
, Point_2(fxmax,fymax)
, Point_2(fxmin,fymax)
} ;
SsBuilder ssb ;
ssb.enter_contour(frame,frame+4);
// We have to revert the orientation of the polygon
std::vector<Point_2> outerBoundary = std::vector<Point_2>(
poly.outer_boundary().vertices_begin(),poly.outer_boundary().vertices_end());
ssb.enter_contour(outerBoundary.rbegin(), outerBoundary.rend());
SsPtr ss = ssb.construct_skeleton();
if ( ss ) {
std::vector<Polygon_2Ptr> offset_contours ;
OffsetBuilder ob(*ss);
ob.construct_offset_contours(offset, std::back_inserter(offset_contours));
// Locate the offset contour that corresponds to the frame
// That must be the outmost offset contour, which in turn must be the one
// with the largest unsigned area.
std::vector<Polygon_2Ptr>::iterator f = offset_contours.end();
double lLargestArea = 0.0 ;
for (std::vector<Polygon_2Ptr>::iterator i = offset_contours.begin(); i != offset_contours.end(); ++ i) {
double lArea = CGAL_NTS abs( (*i)->area() ) ; //Take abs() as Polygon_2::area() is signed.
if ( lArea > lLargestArea ) {
f = i ;
lLargestArea = lArea ;
}
}
offset_contours.erase(f);
// Construct result polygon
std::vector<Point_2> newOuterBoundary = std::vector<Point_2>(
offset_contours.front()->vertices_begin(), offset_contours.front()->vertices_end());
Polygon_with_holes_2 result = Polygon_with_holes_2(Polygon_2(newOuterBoundary.rbegin(), newOuterBoundary.rend()));
// We have to handle the holes separately
for (auto it = poly.holes_begin() ; it != poly.holes_end() ; it++) {
std::vector<Point_2> hole = std::vector<Point_2>(it->vertices_begin(),it->vertices_end());
std::vector<PwhPtr> holeOffsets =
CGAL::create_interior_skeleton_and_offset_polygons_with_holes_2(offset,
Polygon_with_holes_2(Polygon_2(hole.begin(), hole.end())));
for (auto it2 = holeOffsets.begin() ; it2 != holeOffsets.end() ; it++) {
std::vector<Point_2> revertNewHoles = std::vector<Point_2>(
(*it2)->outer_boundary().vertices_begin(),(*it2)->outer_boundary().vertices_end());
result.add_hole(Polygon_2(revertNewHoles.rbegin(), revertNewHoles.rend()));
}
}
return boost::make_shared<Polygon_with_holes_2>(result);
}
}
return NULL;
}
