bool PNS_LINE_PLACER::rhWalkOnly( const VECTOR2I& aP, PNS_LINE& aNewHead ) { PNS_LINE initTrack( m_head ); PNS_LINE walkFull; int effort = 0; bool rv = true, viaOk; viaOk = buildInitialLine( aP, initTrack ); PNS_WALKAROUND walkaround( m_currentNode, Router() ); walkaround.SetSolidsOnly( false ); walkaround.SetIterationLimit( Settings().WalkaroundIterationLimit() ); PNS_WALKAROUND::WALKAROUND_STATUS wf = walkaround.Route( initTrack, walkFull, false ); switch( Settings().OptimizerEffort() ) { case OE_LOW: effort = 0; break; case OE_MEDIUM: case OE_FULL: effort = PNS_OPTIMIZER::MERGE_SEGMENTS; break; } if( Settings().SmartPads() ) effort |= PNS_OPTIMIZER::SMART_PADS; if( wf == PNS_WALKAROUND::STUCK ) { walkFull = walkFull.ClipToNearestObstacle( m_currentNode ); rv = true; } else if( m_placingVia && viaOk ) { walkFull.AppendVia( makeVia( walkFull.CPoint( -1 ) ) ); } PNS_OPTIMIZER::Optimize( &walkFull, effort, m_currentNode ); if( m_currentNode->CheckColliding( &walkFull ) ) { aNewHead = m_head; return false; } m_head = walkFull; aNewHead = walkFull; return rv; }
PNS_WALKAROUND::WalkaroundStatus PNS_WALKAROUND::singleStep( PNS_LINE& aPath, bool aWindingDirection ) { optional<PNS_OBSTACLE>& current_obs = aWindingDirection ? m_currentObstacle[0] : m_currentObstacle[1]; bool& prev_recursive = aWindingDirection ? m_recursiveCollision[0] : m_recursiveCollision[1]; if( !current_obs ) return DONE; SHAPE_LINE_CHAIN path_pre[2], path_walk[2], path_post[2]; VECTOR2I last = aPath.GetCLine().CPoint( -1 ); if( ( current_obs->hull ).PointInside( last ) ) { m_recursiveBlockageCount++; if( m_recursiveBlockageCount < 3 ) aPath.GetLine().Append( current_obs->hull.NearestPoint( last ) ); else { aPath = aPath.ClipToNearestObstacle( m_world ); return STUCK; } } aPath.NewWalkaround( current_obs->hull, path_pre[0], path_walk[0], path_post[0], aWindingDirection ); aPath.NewWalkaround( current_obs->hull, path_pre[1], path_walk[1], path_post[1], !aWindingDirection ); int len_pre = path_walk[0].Length(); int len_alt = path_walk[1].Length(); PNS_LINE walk_path( aPath, path_walk[1] ); bool alt_collides = m_world->CheckColliding( &walk_path, m_solids_only ? PNS_ITEM::SOLID : PNS_ITEM::ANY ); SHAPE_LINE_CHAIN pnew; if( !m_forceSingleDirection && len_alt < len_pre && !alt_collides && !prev_recursive ) { pnew = path_pre[1]; pnew.Append( path_walk[1] ); pnew.Append( path_post[1] ); current_obs = nearestObstacle( PNS_LINE( aPath, path_post[1] ) ); prev_recursive = false; } else { pnew = path_pre[0]; pnew.Append( path_walk[0] ); pnew.Append( path_post[0] ); current_obs = nearestObstacle( PNS_LINE( aPath, path_walk[0] ) ); if( !current_obs ) { prev_recursive = false; current_obs = nearestObstacle( PNS_LINE( aPath, path_post[0] ) ); } else prev_recursive = true; } pnew.Simplify(); aPath.SetShape( pnew ); return IN_PROGRESS; }
PNS_WALKAROUND::WALKAROUND_STATUS PNS_WALKAROUND::singleStep( PNS_LINE& aPath, bool aWindingDirection ) { optional<PNS_OBSTACLE>& current_obs = aWindingDirection ? m_currentObstacle[0] : m_currentObstacle[1]; bool& prev_recursive = aWindingDirection ? m_recursiveCollision[0] : m_recursiveCollision[1]; if( !current_obs ) return DONE; SHAPE_LINE_CHAIN path_pre[2], path_walk[2], path_post[2]; VECTOR2I last = aPath.CPoint( -1 ); if( ( current_obs->m_hull ).PointInside( last ) || ( current_obs->m_hull ).PointOnEdge( last ) ) { m_recursiveBlockageCount++; if( m_recursiveBlockageCount < 3 ) aPath.Line().Append( current_obs->m_hull.NearestPoint( last ) ); else { aPath = aPath.ClipToNearestObstacle( m_world ); return DONE; } } aPath.Walkaround( current_obs->m_hull, path_pre[0], path_walk[0], path_post[0], aWindingDirection ); aPath.Walkaround( current_obs->m_hull, path_pre[1], path_walk[1], path_post[1], !aWindingDirection ); #ifdef DEBUG m_logger.NewGroup( aWindingDirection ? "walk-cw" : "walk-ccw", m_iteration ); m_logger.Log( &path_walk[0], 0, "path-walk" ); m_logger.Log( &path_pre[0], 1, "path-pre" ); m_logger.Log( &path_post[0], 4, "path-post" ); m_logger.Log( ¤t_obs->m_hull, 2, "hull" ); m_logger.Log( current_obs->m_item, 3, "item" ); #endif int len_pre = path_walk[0].Length(); int len_alt = path_walk[1].Length(); PNS_LINE walk_path( aPath, path_walk[1] ); bool alt_collides = m_world->CheckColliding( &walk_path, m_itemMask ); SHAPE_LINE_CHAIN pnew; if( !m_forceSingleDirection && len_alt < len_pre && !alt_collides && !prev_recursive ) { pnew = path_pre[1]; pnew.Append( path_walk[1] ); pnew.Append( path_post[1] ); if( !path_post[1].PointCount() || !path_walk[1].PointCount() ) current_obs = nearestObstacle( PNS_LINE( aPath, path_pre[1] ) ); else current_obs = nearestObstacle( PNS_LINE( aPath, path_post[1] ) ); prev_recursive = false; } else { pnew = path_pre[0]; pnew.Append( path_walk[0] ); pnew.Append( path_post[0] ); if( !path_post[0].PointCount() || !path_walk[0].PointCount() ) current_obs = nearestObstacle( PNS_LINE( aPath, path_pre[0] ) ); else current_obs = nearestObstacle( PNS_LINE( aPath, path_walk[0] ) ); if( !current_obs ) { prev_recursive = false; current_obs = nearestObstacle( PNS_LINE( aPath, path_post[0] ) ); } else prev_recursive = true; } pnew.Simplify(); aPath.SetShape( pnew ); return IN_PROGRESS; }