int HullToObjectModule::getContourToLineIntersectionIndexed(std::vector<cv::Point> &polygon,
cv::Point3f &rline,
cv::Point2f &r1, cv::Point2f &r2,
int &n1, int &n2) {
int i, k1 = 0, k2 = 0, n = polygon.size();
cv::Point2f p1_1, p2_1, p1_2, p2_2, r;
bool ready1 = false, ready2 = false, got_same = false;
p1_1 = polygon[n1];
p2_1 = polygon[(n1+1 == n ? 0 : n1+1)];
if(lineSegmentIntersection(rline, p1_1, p2_1, r))
got_same = true;
n1 = (n1+1 == n ? 0 : n1+1);
n2 = (n2-1 == -1) ? n-1 : n2-1;
do {
if(!ready1) {
p1_1 = polygon[n1];
p2_1 = polygon[(n1+1 == n ? 0 : n1+1)];
if(lineSegmentIntersection(rline, p1_1, p2_1, r1)) {
ready1 = true;
if(got_same) {
r2 = r;
break;
}
} else
n1 = (n1+1 == n ? 0 : n1+1);
k1++;
}
if(!ready2) {
p1_2 = polygon[n2];
p2_2 = polygon[(n2+1 == n ? 0 : n2+1)];
if(lineSegmentIntersection(rline, p1_2, p2_2, r2)) {
ready2 = true;
if(got_same) {
r1 = r;
break;
}
} else
n2 = (n2-1 == -1) ? n-1 : n2-1;
k2++;
}
if(k1 > n && k2 > n) //If true, there is a problem
break;
} while (!ready1 || !ready2);
if(k1 > n && k2 > n) //If true, there is a problem
return 0;
else if(k1 > n || k2 > n) //If true, there is a problem
return 1;
return 2;
}
//Checks for collision of the ship with ground, called from timer.c critical zone
int checkCollision(Ship *ship, iArgs input) {
//Compare every line from ship structure with file input
double shipx[3];
double shipy[3];
MapStructure *mapStructure = input.mapStructure;
int n = mapStructure -> n;
double *mapx = malloc(n*sizeof(double));
double *mapy = malloc(n*sizeof(double));
double dumpResultx = 0;
double dumpResulty = 0;
int i = 0;
for (i = 0; i < 3; i++) {
shipx[i] = ship -> structure[0][i];
shipy[i] = ship -> structure[1][i];
}
for (i = 0; i < n; i++) {
mapx[i] = (mapStructure -> x)[i];
mapy[i] = (mapStructure -> y)[i];
}
//Check landed: bottom points of ship equal to some
//Check collision for all possible lines
for (i = 0; i < n - 1; i++) {
//line 1
if (lineSegmentIntersection(shipx[0], shipy[0], shipx[1], shipy[1],
mapx[i], mapy[i], mapx[i+1], mapy[i+1],
&dumpResultx, &dumpResulty))
return freeAndQuit(mapx, mapy, 1);
//line 2
else if (lineSegmentIntersection(shipx[1], shipy[1], shipx[2], shipy[2],
mapx[i], mapy[i], mapx[i+1], mapy[i+1],
&dumpResultx, &dumpResulty))
return freeAndQuit(mapx, mapy, 1);
//line 3
else if (lineSegmentIntersection(shipx[2], shipy[2], shipx[0], shipy[0],
mapx[i], mapy[i], mapx[i+1], mapy[i+1],
&dumpResultx, &dumpResulty))
return freeAndQuit(mapx, mapy, 1);
}
return freeAndQuit(mapx, mapy, 0);
}
bool lineSegmentIntersection(
const SEGMENT& _seg0,
const SEGMENT& _seg1,
POINT& _point)
{
return lineSegmentIntersection(_seg0.p0(),_seg0.p1(),_seg1.p0(),_seg1.p1(),_point);
}
int HullToObjectModule::getContourToLineIntersection(std::vector<cv::Point> &polygon,
cv::Point3f &rline,
cv::Point2f &r1, cv::Point2f &r2,
int *n1, int *n2) {
int i, ind[3], n = polygon.size();
int num_found = 0;
cv::Point2f p1, p2, pts[3]; //Max 4 for a convex polygon (2 in 2 corners)
p2 = polygon[n-1];
for(i=0; i<n; i++) {
p1 = p2;
p2 = polygon[i];
if(lineSegmentIntersection(rline, p1, p2, pts[num_found])) {
ind[num_found] = i == 0 ? n-1 : i-1;
if(++num_found == 3)
break;
}
}
if (num_found == 1) {
if(n1 != NULL)
*n1 = ind[0];
if(n2 != NULL)
*n2 = ind[0];
r1 = pts[0];
return 1;
} else if(num_found == 2) {
r1 = pts[0];
r2 = pts[1];
if(n1 != NULL)
*n1 = ind[0];
if(n2 != NULL)
*n2 = ind[1];
return 2;
}
//If more than two, the intersection repeated a polygon point
if( fabs(pts[0].y - pts[1].y) < /*EPS*/1e-8
&& fabs(pts[0].x - pts[1].x) < /*EPS*/1e-8) { //Take 1 and 3
r1 = pts[0];
r2 = pts[2];
if(n1 != NULL)
*n1 = ind[0];
if(n2 != NULL)
*n2 = ind[2];
return 3;
}
r1 = pts[0];
r2 = pts[1];
if(n1 != NULL)
*n1 = ind[0];
if(n2 != NULL)
*n2 = ind[1];
return 3;
}
//performs testing to see if a possible new edge overlaps any existing edges
//function is used in creating the adjacency matrix for the board
int overlaps(Board *B, int start, int end)
{
int x1, y1;
int x2, y2;
int indS = findIndex(B, start); //extract vertex list indexes
int indE = findIndex(B, end);
x1 = B->Vertices[indS].x;
y1 = B->Vertices[indS].y;
x2 = B->Vertices[indE].x;
y2 = B->Vertices[indE].y;
int x3 = 0;
int y3 = 0;
int x4 = 0;
int y4 = 0;
int indTS;
int indTE;
for (int i = 0; i < B->num; i++) //loop through edges starts
{
for (int j = 0; j < B->num; j++) //loop through edge ends
{
indTS = findIndex(B, i); //find index in vertex list
indTE = findIndex(B, j);
if ((indS != indE) && (indTS != indTE)){ //edge does not start and end on same node
if (!((B->edges[start][end] != noArc) || (B->edges[end][start] != noArc))) //edge does not already exists
{
if (!(((indTS == indS) && (indTE == indE)) || ((indTE == indS) && (indTS == indE)))){//ensure there is no tests for same edge
if (((B->edges[i][j] != noArc) || (B->edges[j][i] != noArc))){ //ensure an edge exists between two nodes before looking to calc intersect
x3 = B->Vertices[indTS].x; //extract coordinates of line segment for test edge
y3 = B->Vertices[indTS].y;
x4 = B->Vertices[indTE].x;
y4 = B->Vertices[indTE].y;
if (lineSegmentIntersection((double)x1, (double)y1, (double)x2, (double)y2, (double)x3, (double)y3, (double)x4, (double)y4)){//determine if two segments intersect
return 1;
}
}
}
}
}
}
}
return 0;
}
int lineSegmentPolyIntersections(const P2Vector &points,
LineSegment2 line,
std::vector<PolyIntersectionInfo> &out) {
int count = 0;
if (line.v2 < line.v1) { line.flip(); }
out.clear();
for (P2Vector::size_type i = 0, l = points.size(); i < l; i++) {
P2Vector::size_type j = (i + 1) % l;
LineIntersectionInfo e =
lineSegmentIntersection(LineSegment2(points[i], points[j]), line);
switch (e.iclass) {
case INTERSECTION_PL: {
out.push_back(PolyIntersectionInfo(INTERSECT_EDGE, e.ipoint, i));
count++;
break;
}
case INTERSECTION_PP: {
out.push_back(PolyIntersectionInfo(INTERSECT_VERTEX, e.ipoint, i + e.p2 - 2));
count++;
break;
}
case INTERSECTION_LP: {
out.push_back(PolyIntersectionInfo(INTERSECT_VERTEX, e.ipoint, i + e.p2 - 2));
count++;
break;
}
case INTERSECTION_LL: {
out.push_back(PolyIntersectionInfo(INTERSECT_EDGE, e.ipoint, i));
count++;
break;
}
case COLINEAR: {
int n1 = (int)i, n2 = (int)j;
P2 q1 = points[i], q2 = points[j];
if (q2 < q1) { std::swap(q1, q2); std::swap(n1, n2); }
if (equal(q1, line.v1)) {
out.push_back(PolyIntersectionInfo(INTERSECT_VERTEX, q1, n1));
} else if (q1.x < line.v1.x) {
out.push_back(PolyIntersectionInfo(INTERSECT_EDGE, line.v1, i));
} else {
out.push_back(PolyIntersectionInfo(INTERSECT_VERTEX, q1, n1));
}
if (equal(q2, line.v2)) {
out.push_back(PolyIntersectionInfo(INTERSECT_VERTEX, q2, n2));
} else if (line.v2.x < q2.x) {
out.push_back(PolyIntersectionInfo(INTERSECT_EDGE, line.v2, i));
} else {
out.push_back(PolyIntersectionInfo(INTERSECT_VERTEX, q2, n2));
}
count += 2;
break;
}
default:
break;
}
}
return count;
}
LineIntersectionInfo lineSegmentIntersection(const LineSegment2 &l1,
const LineSegment2 &l2) {
return lineSegmentIntersection(l1.v1, l1.v2, l2.v1, l2.v2);
}
