void insert(rbtree **root, rbtree *z) {
current+=1;
if (*root == NULL) {
*root = z;
}
rbtree *n = *root;
while (1) {
int comparisonResult = n->T-z->T;
if (comparisonResult == 0) {
return;
} else if (comparisonResult < 0) {
if (leftOf(n) == NULL) {
n->left=z;
adjustAfterInsertion(*root, z);
break;
}
n = leftOf(n);
} else { // comparisonResult > 0
if (rightOf(n) == NULL) {
n->right=z;
adjustAfterInsertion(*root,z);
break;
}
n = rightOf(n);
}
}
}
bool KdTree::queryVisibilityRecursive(const Vector2& q1, const Vector2& q2, float radius, const ObstacleTreeNode* node) const
{
if (node == 0) {
return true;
} else {
const Obstacle* const obstacle1 = node->obstacle;
const Obstacle* const obstacle2 = obstacle1->nextObstacle;
const float q1LeftOfI = leftOf(obstacle1->point_, obstacle2->point_, q1);
const float q2LeftOfI = leftOf(obstacle1->point_, obstacle2->point_, q2);
const float invLengthI = 1.0f / absSq(obstacle2->point_ - obstacle1->point_);
if (q1LeftOfI >= 0.0f && q2LeftOfI >= 0.0f) {
return queryVisibilityRecursive(q1, q2, radius, node->left) && ((sqr(q1LeftOfI) * invLengthI >= sqr(radius) && sqr(q2LeftOfI) * invLengthI >= sqr(radius)) || queryVisibilityRecursive(q1, q2, radius, node->right));
} else if (q1LeftOfI <= 0.0f && q2LeftOfI <= 0.0f) {
return queryVisibilityRecursive(q1, q2, radius, node->right) && ((sqr(q1LeftOfI) * invLengthI >= sqr(radius) && sqr(q2LeftOfI) * invLengthI >= sqr(radius)) || queryVisibilityRecursive(q1, q2, radius, node->left));
} else if (q1LeftOfI >= 0.0f && q2LeftOfI <= 0.0f) {
/* One can see through obstacle from left to right. */
return queryVisibilityRecursive(q1, q2, radius, node->left) && queryVisibilityRecursive(q1, q2, radius, node->right);
} else {
const float point1LeftOfQ = leftOf(q1, q2, obstacle1->point_);
const float point2LeftOfQ = leftOf(q1, q2, obstacle2->point_);
const float invLengthQ = 1.0f / absSq(q2 - q1);
return (point1LeftOfQ * point2LeftOfQ >= 0.0f && sqr(point1LeftOfQ) * invLengthQ > sqr(radius) && sqr(point2LeftOfQ) * invLengthQ > sqr(radius) && queryVisibilityRecursive(q1, q2, radius, node->left) && queryVisibilityRecursive(q1, q2, radius, node->right));
}
}
}
static int edgesIntersect(Point * P, Point * Q, int n, int m)
{
int a = 0;
int b = 0;
int aa = 0;
int ba = 0;
int a1, b1;
Point A, B;
double cross;
int bHA, aHB;
Point p;
int inflag = Unknown;
/* int i = 0; */
/* int Reset = 0; */
do {
a1 = (a + n - 1) % n;
b1 = (b + m - 1) % m;
subpt(&A, P[a], P[a1]);
subpt(&B, Q[b], Q[b1]);
cross = area_2(origin, A, B);
bHA = leftOf(P[a1], P[a], Q[b]);
aHB = leftOf(Q[b1], Q[b], P[a]);
/* If A & B intersect, update inflag. */
if (intersection(P[a1], P[a], Q[b1], Q[b], &p))
return 1;
/* Advance rules. */
if ((cross == 0) && !bHA && !aHB) {
if (inflag == Pin)
advance(b, ba, m);
else
advance(a, aa, n);
} else if (cross >= 0)
if (bHA)
advance(a, aa, n);
else {
advance(b, ba, m);
} else { /* if ( cross < 0 ) */
if (aHB)
advance(b, ba, m);
else
advance(a, aa, n);
}
} while (((aa < n) || (ba < m)) && (aa < 2 * n) && (ba < 2 * m));
return 0;
}
bool Line::operator &&(const Line &l2) const {
// only for closed polys!
int n = size()-1,
m = l2.size()-1;
int a = 0;
int b = 0;
int aa = 0;
int ba = 0;
int a1, b1;
Coord A, B;
double cross;
bool bHA, aHB;
int inflag = Unknown;
do {
a1 = (a + n - 1) % n;
b1 = (b + m - 1) % m;
A = at(a) - at(a1);
B = l2[b] - l2[b1];
cross = tri_area_2(Coord(0,0), A, B );
bHA = leftOf( at(a1), at(a), l2[b] );
aHB = leftOf( l2[b1], l2[b], at(a) );
/* If A & B intersect, update inflag. */
if (intersection( at(a1), at(a), l2[b1], l2[b]).valid )
return 1;
/* Advance rules. */
if ( (cross == 0) && !bHA && !aHB ) {
if ( inflag == Pin )
advance( b, ba, m);
else
advance( a, aa, n);
}
else if ( cross >= 0 )
if ( bHA )
advance( a, aa, n);
else {
advance( b, ba, m);
}
else /* if ( cross < 0 ) */{
if ( aHB )
advance( b, ba, m);
else
advance( a, aa, n);
}
} while ( ((aa < n) || (ba < m)) && (aa < 2*n) && (ba < 2*m) );
return 0;
}
sf::IntRect& fitRectByShrinking(sf::IntRect& innerRect, const sf::IntRect& outerRect)
{
int iLeft = leftOf(innerRect);
int iRight = rightOf(innerRect);
int iTop = topOf(innerRect);
int iBottom = bottomOf(innerRect);
int oLeft = leftOf(outerRect);
int oRight = rightOf(outerRect);
int oTop = topOf(outerRect);
int oBottom = bottomOf(outerRect);
iLeft = iLeft < oLeft ? oLeft : iLeft;
iRight = iRight > oRight ? oRight : iRight;
iTop = iTop < oTop ? oTop : iTop;
iBottom = iBottom > oBottom ? oBottom : iBottom;
return setRectByCorners(innerRect, iLeft, iTop, iRight, iBottom);
}
void KdTree::queryObstacleTreeRecursive(Agent* agent, float rangeSq, const ObstacleTreeNode* node) const
{
if (node == 0) {
return;
} else {
const Obstacle* const obstacle1 = node->obstacle;
const Obstacle* const obstacle2 = obstacle1->nextObstacle;
const float agentLeftOfLine = leftOf(obstacle1->point_, obstacle2->point_, agent->position_);
queryObstacleTreeRecursive(agent, rangeSq, (agentLeftOfLine >= 0.0f ? node->left : node->right));
const float distSqLine = sqr(agentLeftOfLine) / absSq(obstacle2->point_ - obstacle1->point_);
if (distSqLine < rangeSq) {
if (agentLeftOfLine < 0.0f) {
/*
* Try obstacle at this node only if agent is on right side of
* obstacle (and can see obstacle).
*/
agent->insertObstacleNeighbor(node->obstacle, rangeSq);
}
/* Try other side of line. */
queryObstacleTreeRecursive(agent, rangeSq, (agentLeftOfLine >= 0.0f ? node->right : node->left));
}
}
}
void ObstacleKDTree::queryTreeRecursive( ProximityQuery *filter, Vector2 pt, float& rangeSq, const ObstacleTreeNode* node) const {
if (node == 0) {
return;
} else {
const Obstacle* const obstacle1 = node->_obstacle;
const Vector2 P0 = obstacle1->getP0();
const Vector2 P1 = obstacle1->getP1();
const float agentLeftOfLine = leftOf( P0, P1, pt);
queryTreeRecursive(filter, pt, rangeSq, (agentLeftOfLine >= 0.0f ? node->_left : node->_right));
const float distSqLine = sqr(agentLeftOfLine) / absSq(P1 - P0);
if (distSqLine < rangeSq) {
if ( obstacle1->_doubleSided || agentLeftOfLine < 0.0f) {
/*
* Try obstacle at this node only if agent is on right side of
* obstacle (and can see obstacle).
*/
float distSq = distSqPointLineSegment(node->_obstacle->getP0(), node->_obstacle->getP1(), pt);
filter->filterObstacle(node->_obstacle, distSq);
rangeSq = filter->getMaxObstacleRange();
}
/* Try other side of line. */
queryTreeRecursive(filter, pt, rangeSq, (agentLeftOfLine >= 0.0f ? node->_right : node->_left));
}
}
}
size_t RVOSimulator::addObstacle(const std::vector<Vector2>& vertices)
{
if (vertices.size() < 2) {
return RVO_ERROR;
}
size_t obstacleNo = obstacles_.size();
for (size_t i = 0; i < vertices.size(); ++i) {
Obstacle* obstacle = new Obstacle();
obstacle->point_ = vertices[i];
if (i != 0) {
obstacle->prevObstacle = obstacles_.back();
obstacle->prevObstacle->nextObstacle = obstacle;
}
if (i == vertices.size() - 1) {
obstacle->nextObstacle = obstacles_[obstacleNo];
obstacle->nextObstacle->prevObstacle = obstacle;
}
obstacle->unitDir_ = normalize(vertices[(i == vertices.size() - 1 ? 0 : i+1)] - vertices[i]);
if (vertices.size() == 2) {
obstacle->isConvex_ = true;
} else {
obstacle->isConvex_ = (leftOf(vertices[(i == 0 ? vertices.size() - 1 : i-1)], vertices[i], vertices[(i == vertices.size() - 1 ? 0 : i+1)]) >= 0);
}
obstacle->id_ = obstacles_.size();
obstacles_.push_back(obstacle);
}
return obstacleNo;
}
Edge *Subdivision::locate(const Vec2& x, Edge *start)
{
Edge *e = start;
double t = triArea(x, e->Dest(), e->Org());
if (t>0) { // x is to the right of edge e
t = -t;
e = e->Sym();
}
while (true)
{
Edge *eo = e->Onext();
Edge *ed = e->Dprev();
double to = triArea(x, eo->Dest(), eo->Org());
double td = triArea(x, ed->Dest(), ed->Org());
if (td>0) // x is below ed
if (to>0 || to==0 && t==0) {// x is interior, or origin endpoint
startingEdge = e;
return e;
}
else { // x is below ed, below eo
t = to;
e = eo;
}
else // x is on or above ed
if (to>0) // x is above eo
if (td==0 && t==0) { // x is destination endpoint
startingEdge = e;
return e;
}
else { // x is on or above ed and above eo
t = td;
e = ed;
}
else // x is on or below eo
if (t==0 && !leftOf(eo->Dest(), e))
// x on e but subdiv. is to right
e = e->Sym();
else if (rand()&1) { // x is on or above ed and
t = to; // on or below eo; step randomly
e = eo;
}
else {
t = td;
e = ed;
}
}
}
void Reg::ConvexHull() {
cerr << "Calculating Convex Hull Start\n";
vector<Pt> lt = getPoints();
std::sort(lt.begin(), lt.end());
lt[0].angle = -1.0;
for (unsigned int a = 1; a < lt.size(); a++) {
lt[a].calcAngle(lt[0]);
}
std::sort(lt.begin(), lt.end(), sortAngle);
vector<Pt> uh = vector<Pt > ();
uh.push_back(lt[0]);
uh.push_back(lt[1]);
for (int a = 2; a < (int) lt.size();) {
cerr << "List len: " << uh.size() << "\n";
assert(uh.size() >= 2);
Pt point1 = uh[uh.size() - 1];
Pt point2 = uh[uh.size() - 2];
Pt next = lt[a];
cerr << "P1: " << point1.ToString()
<< "P2: " << point2.ToString()
<< "Nx: " << next.ToString()
<< "\n";
if (leftOf(point2, point1, next)) {
uh.push_back(next);
a++;
} else {
uh.pop_back();
}
}
for (unsigned int i = 0; i < uh.size(); i++) {
Pt p1 = uh[i];
Pt p2 = uh[(i + 1) % uh.size()];
Seg s = Seg(p1.x, p1.y, p2.x, p2.y);
convexhull.push_back(s);
}
// convexhull = sortSegs(convexhull);
cerr << "Calculating Convex Hull End\n";
}
// Helper: do we know that segment a is in front of b?
// Implementation not anti-symmetric (that is to say,
// _segment_in_front_of(a, b) != (!_segment_in_front_of(b, a)).
// Also note that it only has to work in a restricted set of cases
// in the visibility algorithm; I don't think it handles all
// cases. See http://www.redblobgames.com/articles/visibility/segment-sorting.html
bool _segment_in_front_of(const Wall* a, const Wall* b, const Vector_* relativeTo) {
// NOTE: we slightly shorten the segments so that
// intersections of the endpoints (common) don't count as
// intersections in this algorithm
Vector_ temp;
bool A1 = leftOf(a, interpolate(&temp, &b->start, &b->end, 0.01));
bool A2 = leftOf(a, interpolate(&temp, &b->end, &b->start, 0.01));
bool A3 = leftOf(a, relativeTo);
bool B1 = leftOf(b, interpolate(&temp, &a->start, &a->end, 0.01));
bool B2 = leftOf(b, interpolate(&temp, &a->end, &a->start, 0.01));
bool B3 = leftOf(b, relativeTo);
// NOTE: this algorithm is probably worthy of a short article
// but for now, draw it on paper to see how it works. Consider
// the line A1-A2. If both B1 and B2 are on one side and
// relativeTo is on the other side, then A is in between the
// viewer and B. We can do the same with B1-B2: if A1 and A2
// are on one side, and relativeTo is on the other side, then
// B is in between the viewer and A.
if (B1 == B2 && B2 != B3) return true;
if (A1 == A2 && A2 == A3) return true;
if (A1 == A2 && A2 != A3) return false;
if (B1 == B2 && B2 == B3) return false;
// If A1 != A2 and B1 != B2 then we have an intersection.
// Expose it for the GUI to show a message. A more robust
// implementation would split segments at intersections so
// that part of the segment is in front and part is behind.
//demo_intersectionsDetected.push([a.p1, a.p2, b.p1, b.p2]);
return false;
// NOTE: previous implementation was a.d < b.d. That's simpler
// but trouble when the segments are of dissimilar sizes. If
// you're on a grid and the segments are similarly sized, then
// using distance will be a simpler and faster implementation.
}
KdTree::ObstacleTreeNode* KdTree::buildObstacleTreeRecursive(const std::vector<Obstacle*>& obstacles)
{
if (obstacles.empty()) {
return 0;
} else {
ObstacleTreeNode* const node = new ObstacleTreeNode;
size_t optimalSplit = 0;
size_t minLeft = obstacles.size();
size_t minRight = obstacles.size();
for (size_t i = 0; i < obstacles.size(); ++i) {
size_t leftSize = 0;
size_t rightSize = 0;
const Obstacle* const obstacleI1 = obstacles[i];
const Obstacle* const obstacleI2 = obstacleI1->nextObstacle;
/* Compute optimal split node. */
for (size_t j = 0; j < obstacles.size(); ++j) {
if (i == j) {
continue;
}
const Obstacle* const obstacleJ1 = obstacles[j];
const Obstacle* const obstacleJ2 = obstacleJ1->nextObstacle;
const float j1LeftOfI = leftOf(obstacleI1->point_, obstacleI2->point_, obstacleJ1->point_);
const float j2LeftOfI = leftOf(obstacleI1->point_, obstacleI2->point_, obstacleJ2->point_);
if (j1LeftOfI >= -RVO_EPSILON && j2LeftOfI >= -RVO_EPSILON) {
++leftSize;
} else if (j1LeftOfI <= RVO_EPSILON && j2LeftOfI <= RVO_EPSILON) {
++rightSize;
} else {
++leftSize;
++rightSize;
}
if (std::make_pair(std::max(leftSize, rightSize), std::min(leftSize, rightSize)) >= std::make_pair(std::max(minLeft, minRight), std::min(minLeft, minRight))) {
break;
}
}
if (std::make_pair(std::max(leftSize, rightSize), std::min(leftSize, rightSize)) < std::make_pair(std::max(minLeft, minRight), std::min(minLeft, minRight))) {
minLeft = leftSize;
minRight = rightSize;
optimalSplit = i;
}
}
/* Build split node. */
std::vector<Obstacle*> leftObstacles(minLeft);
std::vector<Obstacle*> rightObstacles(minRight);
size_t leftCounter = 0;
size_t rightCounter = 0;
const size_t i = optimalSplit;
const Obstacle* const obstacleI1 = obstacles[i];
const Obstacle* const obstacleI2 = obstacleI1->nextObstacle;
for (size_t j = 0; j < obstacles.size(); ++j) {
if (i == j) {
continue;
}
Obstacle* const obstacleJ1 = obstacles[j];
Obstacle* const obstacleJ2 = obstacleJ1->nextObstacle;
const float j1LeftOfI = leftOf(obstacleI1->point_, obstacleI2->point_, obstacleJ1->point_);
const float j2LeftOfI = leftOf(obstacleI1->point_, obstacleI2->point_, obstacleJ2->point_);
if (j1LeftOfI >= -RVO_EPSILON && j2LeftOfI >= -RVO_EPSILON) {
leftObstacles[leftCounter++] = obstacles[j];
} else if (j1LeftOfI <= RVO_EPSILON && j2LeftOfI <= RVO_EPSILON) {
rightObstacles[rightCounter++] = obstacles[j];
} else {
/* Split obstacle j. */
const float t = det(obstacleI2->point_ - obstacleI1->point_, obstacleJ1->point_ - obstacleI1->point_) / det(obstacleI2->point_ - obstacleI1->point_, obstacleJ1->point_ - obstacleJ2->point_);
const Vector2 splitpoint = obstacleJ1->point_ + t * (obstacleJ2->point_ - obstacleJ1->point_);
Obstacle* const newObstacle = new Obstacle();
newObstacle->point_ = splitpoint;
newObstacle->prevObstacle = obstacleJ1;
newObstacle->nextObstacle = obstacleJ2;
newObstacle->isConvex_ = true;
newObstacle->unitDir_ = obstacleJ1->unitDir_;
newObstacle->id_ = sim_->obstacles_.size();
sim_->obstacles_.push_back(newObstacle);
obstacleJ1->nextObstacle = newObstacle;
obstacleJ2->prevObstacle = newObstacle;
if (j1LeftOfI > 0.0f) {
leftObstacles[leftCounter++] = obstacleJ1;
rightObstacles[rightCounter++] = newObstacle;
} else {
rightObstacles[rightCounter++] = obstacleJ1;
leftObstacles[leftCounter++] = newObstacle;
}
}
}
node->obstacle = obstacleI1;
node->left = buildObstacleTreeRecursive(leftObstacles);
node->right = buildObstacleTreeRecursive(rightObstacles);
return node;
}
}
ObstacleTreeNode* ObstacleKDTree::buildTreeRecursive( const std::vector<Obstacle*>& obstacles) {
if ( obstacles.empty() ) {
return 0x0;
} else {
ObstacleTreeNode* const node = new ObstacleTreeNode;
size_t optimalSplit = 0;
size_t minLeft = obstacles.size();
size_t minRight = obstacles.size();
for (size_t i = 0; i < obstacles.size(); ++i) {
size_t leftSize = 0;
size_t rightSize = 0;
const Obstacle* const obstacleI = obstacles[i];
const Vector2 I0 = obstacleI->getP0();
const Vector2 I1 = obstacleI->getP1();
/* Compute optimal split node. */
for (size_t j = 0; j < obstacles.size(); ++j) {
if (i == j) {
continue;
}
const Obstacle* const obstacleJ = obstacles[j];
const Vector2 J0 = obstacleJ->getP0();
const Vector2 J1 = obstacleJ->getP1();
const float j1LeftOfI = leftOf( I0, I1, J0 );
const float j2LeftOfI = leftOf( I0, I1, J1 );
if (j1LeftOfI >= -EPS && j2LeftOfI >= -EPS) {
++leftSize;
} else if (j1LeftOfI <= EPS && j2LeftOfI <= EPS ) {
++rightSize;
} else {
++leftSize;
++rightSize;
}
if (std::make_pair(std::max(leftSize, rightSize), std::min(leftSize, rightSize)) >= std::make_pair(std::max(minLeft, minRight), std::min(minLeft, minRight))) {
break;
}
}
if (std::make_pair(std::max(leftSize, rightSize), std::min(leftSize, rightSize)) < std::make_pair(std::max(minLeft, minRight), std::min(minLeft, minRight))) {
minLeft = leftSize;
minRight = rightSize;
optimalSplit = i;
}
}
/* Build split node. */
std::vector<Obstacle*> leftObstacles(minLeft);
std::vector<Obstacle*> rightObstacles(minRight);
size_t leftCounter = 0;
size_t rightCounter = 0;
const size_t i = optimalSplit;
const Obstacle* const obstacleI = obstacles[i];
const Vector2 I0 = obstacleI->getP0();
const Vector2 I1 = obstacleI->getP1();
for (size_t j = 0; j < obstacles.size(); ++j) {
if (i == j) {
continue;
}
Obstacle* const obstacleJ = obstacles[j];
const Vector2 J0 = obstacleJ->getP0();
const Vector2 J1 = obstacleJ->getP1();
const float j1LeftOfI = leftOf( I0, I1, J0 );
const float j2LeftOfI = leftOf( I0, I1, J1 );
if (j1LeftOfI >= -EPS && j2LeftOfI >= -EPS ) {
leftObstacles[leftCounter++] = obstacles[j];
} else if (j1LeftOfI <= EPS && j2LeftOfI <= EPS ) {
rightObstacles[rightCounter++] = obstacles[j];
} else {
/* Split obstacle j. */
const float t = det( I1 - I0, J0 - I0 ) / det( I1 -I0, J0 - J1 );
const Vector2 splitpoint = J0 + t * ( J1 - J0 );
Obstacle* const newObstacle = new Obstacle();
newObstacle->_point = splitpoint;
newObstacle->_prevObstacle = obstacleJ;
newObstacle->_nextObstacle = obstacleJ->_nextObstacle;
if ( newObstacle->_nextObstacle ) {
obstacleJ->_nextObstacle = newObstacle;
}
newObstacle->_isConvex = true;
newObstacle->_unitDir = obstacleJ->_unitDir;
newObstacle->_length = abs( J1 - newObstacle->_point );
newObstacle->_id = _obstacles.size();
newObstacle->_class = obstacleJ->_class;
_obstacles.push_back(newObstacle);
obstacleJ->_nextObstacle = newObstacle;
obstacleJ->_length = abs( J0 - newObstacle->_point );
if (j1LeftOfI > 0.0f) {
leftObstacles[leftCounter++] = obstacleJ;
rightObstacles[rightCounter++] = newObstacle;
} else {
rightObstacles[rightCounter++] = obstacleJ;
leftObstacles[leftCounter++] = newObstacle;
}
}
}
node->_obstacle = obstacleI;
node->_left = buildTreeRecursive(leftObstacles);
node->_right = buildTreeRecursive(rightObstacles);
return node;
}
}
QModelIndex
QtTreeCursorNavigation::previousCellInThisRow(QModelIndex const &index) const {
return leftOf(index);
}
/*
1.27 IntegrateHoles is used to integrate all holes of a face into the main
cycle by creating "bridges". This usually yields an invalid face, it is
exclusively used to triangulate a face.
*/
void Face::IntegrateHoles() {
vector<Seg> allsegs = v;
// First, get a list of all segments (inclusively all holes' segments)
for (unsigned int i = 0; i < holes.size(); i++) {
allsegs.insert(allsegs.end(), holes[i].v.begin(), holes[i].v.end());
}
for (unsigned int h = 0; h < holes.size(); h++) {
Face hole = holes[h]; // Integrate one hole after another
if (hole.isEmpty())
continue;
unsigned int i = 0, j;
bool found = false;
Pt s, e;
Seg se;
// Try to find a suitable bridge-segment by creating all segments
// which connect the hole to the face and testing them for intersection
// with any other segment
while (!found && i < v.size()) {
s = v[i].e;
j = 0;
while (!found && j < hole.v.size()) {
e = hole.v[j].s;
se = Seg(s, e); // A segment connecting the face to the hole
bool intersects = false;
for (unsigned int k = 0; k < allsegs.size(); k++) {
if (se.intersects(allsegs[k])) {
// We have found an intersection, so this segment is
// not our bridge
intersects = true;
break;
}
}
Seg tmp = v[(i+1)%v.size()];
if (leftOf(tmp.s, tmp.e, e) && !intersects) {
// No intersection was found, so this is the bridge we use
found = true;
break;
}
j = j + 1;
}
if (!found) {
i = i + 1;
}
}
assert(found); // We should always be able to find a bridge
// Now insert the bridge and the hole into the face-cycle
vector<Seg> newsegs;
// First copy the cycle from start to the begin of the bridge
newsegs.insert(newsegs.end(), v.begin(), v.begin()+i+1);
newsegs.push_back(Seg(s, e)); // Then add the bridge segment
unsigned int n = hole.v.size();
for (unsigned int k = 0; k < n; k++) {
// Now add the hole-segments clockwise
Seg ns = hole.v[(n + j - k - 1) % n];
ns.ChangeDir(); // and change the orientation of each segment
newsegs.push_back(ns);
}
newsegs.push_back(Seg(e, s)); // Bridge back to the original face
// and add the rest of the original cycle
newsegs.insert(newsegs.end(), v.begin() + i + 1, v.end());
v = newsegs;
// For the next holes we have to test intersection with the newly
// created bridge, too.
allsegs.push_back(Seg(s, e));
}
// All holes were integrated, so clear the list.
holes.clear();
}
/*
1.10 ConvexHull calculates the convex hull of this face and returns it as a
new face.
Corner-points on the convex hull are treated as members of the hull.
*/
Face Face::ConvexHull() {
if (isEmpty())
return Face();
// erase the previously calculated hull
convexhull.erase(convexhull.begin(), convexhull.end());
vector<Pt> lt = getPoints();
// Sort the points by the y-axis, begin with the lowest-(leftmost) point
std::sort(lt.begin(), lt.end());
// Now calculate the polar coordinates (angle and distance of each point
// with the lowest-(leftmost) point as origin.
for (unsigned int a = 1; a < lt.size(); a++) {
lt[a].calcPolar(lt[0]);
}
// Sort the other points by their angle (startpoint lt[0] remains in place)
std::sort(lt.begin()+1, lt.end(), sortAngle);
// since we want the corner-points on the hull, too, we need to list the
// points with the lowest angle in counter-clockwise order. We sorted with
// descending distance as second criterion, so we need to reverse these.
// For that reason the points with the highest angle are already in
// counter-clockwise order.
std::vector<Pt>::iterator s = lt.begin() + 1, e = s; // Start with the
// second point and find the last point with the same angle.
while (s->angle == e->angle)
e++;
std::reverse(s, e); // Now reverse these to get the correct order.
// This is the main part of the Graham scan. Initially, take the first two
// points and put them on a stack
vector<Pt> uh = vector<Pt> ();
uh.push_back(lt[0]);
uh.push_back(lt[1]);
for (int a = 2; a < (int) lt.size();) {
assert(uh.size() >= 2); // If the stack shrinks to 1, something went
// ugly wrong.
// Examine the two points on top of the stack ...
Pt point1 = uh[uh.size() - 1];
Pt point2 = uh[uh.size() - 2];
Pt next = lt[a]; // ... and the next candidate for the hull
if (leftOf(point2, point1, next)) {
// If the candidate is left of (or on) the segment made up of the
// two topmost points on the stack, we assume it is part of the hull
uh.push_back(next); // and push it on the stack
a++;
} else {
uh.pop_back(); // Otherwise it is right of the hull and the topmost
// point is definitively not part of the hull, so
// we kick it.
}
}
// Now make a face from the points on the convex hull, which the vector ~uh~
// now contains in counter-clockwise order.
for (unsigned int i = 0; i < uh.size(); i++) {
Pt p1 = uh[i];
Pt p2 = uh[(i + 1) % uh.size()];
Seg s = Seg(p1, p2);
convexhull.push_back(s);
}
return Face(convexhull);
}