void GridMap::getSuccessorNodes(Navigator& navigator, int nodeID, std::vector<SuccessorNodeInfo>& result) const
{
NodeCoord coord = toNodeCoord(nodeID);
const bool bLeft = tryAddSuccessorNode(navigator, result, NodeCoord(coord.x-1,coord.y), COST_STRAIGHT, nodeID);
const bool bTop = tryAddSuccessorNode(navigator, result, NodeCoord(coord.x,coord.y-1), COST_STRAIGHT, nodeID);
const bool bRight = tryAddSuccessorNode(navigator, result, NodeCoord(coord.x+1,coord.y), COST_STRAIGHT, nodeID);
const bool bBottom = tryAddSuccessorNode(navigator, result, NodeCoord(coord.x,coord.y+1), COST_STRAIGHT, nodeID);
if (bLeft && bTop)
{
tryAddSuccessorNode(navigator, result, NodeCoord(coord.x-1,coord.y-1), COST_DIAGONAL, nodeID);
}
if (bTop && bRight)
{
tryAddSuccessorNode(navigator, result, NodeCoord(coord.x+1,coord.y-1), COST_DIAGONAL, nodeID);
}
if (bRight && bBottom)
{
tryAddSuccessorNode(navigator, result, NodeCoord(coord.x+1,coord.y+1), COST_DIAGONAL, nodeID);
}
if (bBottom && bLeft)
{
tryAddSuccessorNode(navigator, result, NodeCoord(coord.x-1,coord.y+1), COST_DIAGONAL, nodeID);
}
}
DBCoordinate *DBVPolyIF::Vertexes (const DBObjRecord *polyRec) const
{
DBInt vertex, i, line;
DBObjRecord *lineRec, *nodeRec,*firstNodeRec;
DBCoordinate *lcoords;
vertex = 0;
lineRec = FirstLine (polyRec);
firstNodeRec = nodeRec = LineRightPoly (lineRec) == polyRec ? FromNode (lineRec) : ToNode (lineRec);
for (line = 0;line < LineNum (polyRec);++line)
{
if (LineRightPoly (lineRec) == polyRec)
{
if (nodeRec != FromNode (lineRec))
{
CoordsPTR [vertex++] = NodeCoord (nodeRec);
if (nodeRec != firstNodeRec) CoordsPTR [vertex++] = NodeCoord (firstNodeRec);
nodeRec = FromNode (lineRec);
}
CoordsPTR [vertex++] = NodeCoord (nodeRec);
if (DBVLineIF::VertexNum(lineRec) > 0)
{
lcoords = DBVLineIF::Vertexes (lineRec);
for (i = 0;i < DBVLineIF::VertexNum (lineRec);++i) CoordsPTR [vertex++] = lcoords [i];
}
nodeRec = ToNode (lineRec);
lineRec = LineNextLine (lineRec);
}
else
{
if (nodeRec != ToNode (lineRec))
{
CoordsPTR [vertex++] = NodeCoord (nodeRec);
if (nodeRec != firstNodeRec) CoordsPTR [vertex++] = NodeCoord (firstNodeRec);
nodeRec = ToNode (lineRec);
}
CoordsPTR [vertex++] = NodeCoord (nodeRec);
if (DBVLineIF::VertexNum (lineRec) > 0)
{
lcoords = (DBCoordinate *) (DBVLineIF::Vertexes (lineRec));
for (i = DBVLineIF::VertexNum (lineRec);i > 0;--i) CoordsPTR [vertex++] = lcoords [i - 1];
}
nodeRec = FromNode (lineRec);
lineRec = LinePrevLine (lineRec);
}
}
CoordsPTR [vertex++] = NodeCoord (nodeRec);
if (nodeRec != firstNodeRec) CoordsPTR [vertex++] = NodeCoord (firstNodeRec);
if (VertexNum (polyRec) != vertex)
CMmsgPrint (CMmsgAppError, "Warning in Polygon %d VertexNum [%d %d] in: %s %d",polyRec->RowID (), VertexNum (polyRec),vertex,__FILE__,__LINE__);
return (CoordsPTR);
}
void GridMap::annotateMap()
{
for (int x = m_nodes.size_x()-1; x >= 0; --x)
{
for (int y = m_nodes.size_y()-1; y>=0; --y)
{
annotateNode(NodeCoord(x, y));
}
}
}
GridEnv::NodeCoord GridEnv::toNodeCoord(int nodeID) const
{
FDK_ASSERT(isValidNodeID(nodeID));
return NodeCoord(nodeID % getSizeX(), nodeID / getSizeX());
}