PNS_WALKAROUND::WALKAROUND_STATUS PNS_WALKAROUND::Route( const PNS_LINE& aInitialPath,
PNS_LINE& aWalkPath, bool aOptimize )
{
PNS_LINE path_cw( aInitialPath ), path_ccw( aInitialPath );
WALKAROUND_STATUS s_cw = IN_PROGRESS, s_ccw = IN_PROGRESS;
SHAPE_LINE_CHAIN best_path;
start( aInitialPath );
m_currentObstacle[0] = m_currentObstacle[1] = nearestObstacle( aInitialPath );
m_recursiveBlockageCount = 0;
aWalkPath = aInitialPath;
if( m_forceWinding )
{
s_cw = m_forceCw ? IN_PROGRESS : STUCK;
s_ccw = m_forceCw ? STUCK : IN_PROGRESS;
m_forceSingleDirection = true;
} else {
m_forceSingleDirection = false;
}
while( m_iteration < m_iterationLimit )
{
if( s_cw != STUCK )
s_cw = singleStep( path_cw, true );
if( s_ccw != STUCK )
s_ccw = singleStep( path_ccw, false );
if( ( s_cw == DONE && s_ccw == DONE ) || ( s_cw == STUCK && s_ccw == STUCK ) )
{
int len_cw = path_cw.CLine().Length();
int len_ccw = path_ccw.CLine().Length();
if( m_forceLongerPath )
aWalkPath = ( len_cw > len_ccw ? path_cw : path_ccw );
else
aWalkPath = ( len_cw < len_ccw ? path_cw : path_ccw );
break;
}
else if( s_cw == DONE && !m_forceLongerPath )
{
aWalkPath = path_cw;
break;
}
else if( s_ccw == DONE && !m_forceLongerPath )
{
aWalkPath = path_ccw;
break;
}
m_iteration++;
}
if( m_iteration == m_iterationLimit )
{
int len_cw = path_cw.CLine().Length();
int len_ccw = path_ccw.CLine().Length();
if( m_forceLongerPath )
aWalkPath = ( len_cw > len_ccw ? path_cw : path_ccw );
else
aWalkPath = ( len_cw < len_ccw ? path_cw : path_ccw );
}
if( m_cursorApproachMode )
{
// int len_cw = path_cw.GetCLine().Length();
// int len_ccw = path_ccw.GetCLine().Length();
bool found = false;
SHAPE_LINE_CHAIN l = aWalkPath.CLine();
for( int i = 0; i < l.SegmentCount(); i++ )
{
const SEG s = l.Segment( i );
VECTOR2I nearest = s.NearestPoint( m_cursorPos );
VECTOR2I::extended_type dist_a = ( s.A - m_cursorPos ).SquaredEuclideanNorm();
VECTOR2I::extended_type dist_b = ( s.B - m_cursorPos ).SquaredEuclideanNorm();
VECTOR2I::extended_type dist_n = ( nearest - m_cursorPos ).SquaredEuclideanNorm();
if( dist_n <= dist_a && dist_n < dist_b )
{
l.Remove( i + 1, -1 );
l.Append( nearest );
l.Simplify();
found = true;
break;
}
}
if( found )
{
aWalkPath = aInitialPath;
aWalkPath.SetShape( l );
}
}
aWalkPath.Line().Simplify();
if( aWalkPath.SegmentCount() < 1 )
return STUCK;
if( aWalkPath.CPoint( -1 ) != aInitialPath.CPoint( -1 ) )
return STUCK;
if( aWalkPath.CPoint( 0 ) != aInitialPath.CPoint( 0 ) )
return STUCK;
WALKAROUND_STATUS st = s_ccw == DONE || s_cw == DONE ? DONE : STUCK;
if( st == DONE )
{
if( aOptimize )
PNS_OPTIMIZER::Optimize( &aWalkPath, PNS_OPTIMIZER::MERGE_OBTUSE, m_world );
}
return st;
}
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;
}
bool PNS_DIFF_PAIR_PLACER::attemptWalk( PNS_NODE* aNode, PNS_DIFF_PAIR* aCurrent,
PNS_DIFF_PAIR& aWalk, bool aPFirst, bool aWindCw, bool aSolidsOnly )
{
PNS_WALKAROUND walkaround( aNode, Router() );
PNS_WALKAROUND::WALKAROUND_STATUS wf1;
Router()->GetRuleResolver()->OverrideClearance( true,
aCurrent->NetP(), aCurrent->NetN(), aCurrent->Gap() );
walkaround.SetSolidsOnly( aSolidsOnly );
walkaround.SetIterationLimit( Settings().WalkaroundIterationLimit() );
PNS_SHOVE shove( aNode, Router() );
PNS_LINE walkP, walkN;
aWalk = *aCurrent;
int iter = 0;
PNS_DIFF_PAIR cur( *aCurrent );
bool currentIsP = aPFirst;
int mask = aSolidsOnly ? PNS_ITEM::SOLID : PNS_ITEM::ANY;
do
{
PNS_LINE preWalk = ( currentIsP ? cur.PLine() : cur.NLine() );
PNS_LINE preShove = ( currentIsP ? cur.NLine() : cur.PLine() );
PNS_LINE postWalk;
if( !aNode->CheckColliding ( &preWalk, mask ) )
{
currentIsP = !currentIsP;
if( !aNode->CheckColliding( &preShove, mask ) )
break;
else
continue;
}
wf1 = walkaround.Route( preWalk, postWalk, false );
if( wf1 != PNS_WALKAROUND::DONE )
return false;
PNS_LINE postShove( preShove );
shove.ForceClearance( true, cur.Gap() - 2 * PNS_HULL_MARGIN );
PNS_SHOVE::SHOVE_STATUS sh1;
sh1 = shove.ProcessSingleLine( postWalk, preShove, postShove );
if( sh1 != PNS_SHOVE::SH_OK )
return false;
postWalk.Line().Simplify();
postShove.Line().Simplify();
cur.SetShape( postWalk.CLine(), postShove.CLine(), !currentIsP );
currentIsP = !currentIsP;
if( !aNode->CheckColliding( &postShove, mask ) )
break;
iter++;
}
while( iter < 3 );
if( iter == 3 )
return false;
aWalk.SetShape( cur.CP(), cur.CN() );
Router()->GetRuleResolver()->OverrideClearance( false );
return true;
}
