bool Comb::Crossing::findOutside(const Polygons& outside, const Point close_to, const bool fail_on_unavoidable_obstacles, Comb& comber) { out = in_or_mid; if (dest_is_inside || outside.inside(in_or_mid, true)) // start in_between { // move outside Point preferred_crossing_1_out = in_or_mid + normal(close_to - in_or_mid, comber.offset_from_inside_to_outside); std::function<int(Point)> close_to_penalty_function([preferred_crossing_1_out](Point candidate){ return vSize2((candidate - preferred_crossing_1_out) / 2); }); std::optional<ClosestPolygonPoint> crossing_1_out_cpp = PolygonUtils::findClose(in_or_mid, outside, comber.getOutsideLocToLine(), close_to_penalty_function); if (crossing_1_out_cpp) { out = PolygonUtils::moveOutside(*crossing_1_out_cpp, comber.offset_dist_to_get_from_on_the_polygon_to_outside); } else { PolygonUtils::moveOutside(outside, out, comber.offset_dist_to_get_from_on_the_polygon_to_outside); } } int64_t in_out_dist2_1 = vSize2(out - in_or_mid); if (dest_is_inside && in_out_dist2_1 > comber.max_crossing_dist2) // moveInside moved too far { // if move is too far over in_between // find crossing closer by assert(dest_crossing_poly && "destination crossing poly should have been instantiated!"); std::shared_ptr<std::pair<ClosestPolygonPoint, ClosestPolygonPoint>> best = findBestCrossing(outside, *dest_crossing_poly, dest_point, close_to, comber); if (best) { in_or_mid = PolygonUtils::moveInside(best->first, comber.offset_dist_to_get_from_on_the_polygon_to_outside); out = PolygonUtils::moveOutside(best->second, comber.offset_dist_to_get_from_on_the_polygon_to_outside); } if (fail_on_unavoidable_obstacles && vSize2(out - in_or_mid) > comber.max_crossing_dist2) // moveInside moved still too far { return false; } } return true; }
bool Comb::calc(Point startPoint, Point endPoint, CombPaths& combPaths, bool startInside, bool endInside, int64_t max_comb_distance_ignored) { if (shorterThen(endPoint - startPoint, max_comb_distance_ignored)) { return true; } //Move start and end point inside the comb boundary unsigned int start_inside_poly = NO_INDEX; if (startInside) { start_inside_poly = PolygonUtils::moveInside(boundary_inside, startPoint, offset_extra_start_end, max_moveInside_distance2); if (!boundary_inside.inside(start_inside_poly) || start_inside_poly == NO_INDEX) { if (start_inside_poly != NO_INDEX) { // if not yet inside because of overshoot, try again start_inside_poly = PolygonUtils::moveInside(boundary_inside, startPoint, offset_extra_start_end, max_moveInside_distance2); } if (start_inside_poly == NO_INDEX) //If we fail to move the point inside the comb boundary we need to retract. { startInside = false; } } } unsigned int end_inside_poly = NO_INDEX; if (endInside) { end_inside_poly = PolygonUtils::moveInside(boundary_inside, endPoint, offset_extra_start_end, max_moveInside_distance2); if (!boundary_inside.inside(endPoint) || end_inside_poly == NO_INDEX) { if (end_inside_poly != NO_INDEX) { // if not yet inside because of overshoot, try again end_inside_poly = PolygonUtils::moveInside(boundary_inside, endPoint, offset_extra_start_end, max_moveInside_distance2); } if (end_inside_poly == NO_INDEX) //If we fail to move the point inside the comb boundary we need to retract. { endInside = false; } } } unsigned int start_part_boundary_poly_idx; unsigned int end_part_boundary_poly_idx; unsigned int start_part_idx = (start_inside_poly == NO_INDEX)? NO_INDEX : partsView_inside.getPartContaining(start_inside_poly, &start_part_boundary_poly_idx); unsigned int end_part_idx = (end_inside_poly == NO_INDEX)? NO_INDEX : partsView_inside.getPartContaining(end_inside_poly, &end_part_boundary_poly_idx); if (startInside && endInside && start_part_idx == end_part_idx) { // normal combing within part PolygonsPart part = partsView_inside.assemblePart(start_part_idx); combPaths.emplace_back(); LinePolygonsCrossings::comb(part, startPoint, endPoint, combPaths.back(), -offset_dist_to_get_from_on_the_polygon_to_outside, max_comb_distance_ignored); return true; } else { // comb inside part to edge (if needed) >> move through air avoiding other parts >> comb inside end part upto the endpoint (if needed) // INSIDE | in_between | OUTSIDE | in_between | INSIDE // ^crossing_1_in ^crossing_1_mid ^crossing_1_out ^crossing_2_out ^crossing_2_mid ^crossing_2_in // // when startPoint is inside crossing_1_in is of interest // when it is in between inside and outside it is equal to crossing_1_mid Point crossing_1_in_or_mid; // the point inside the starting polygon if startPoint is inside or the startPoint itself if it is not inside Point crossing_1_out; Point crossing_2_in_or_mid; // the point inside the ending polygon if endPoint is inside or the endPoint itself if it is not inside Point crossing_2_out; { // find crossing over the in-between area between inside and outside if (startInside) { ClosestPolygonPoint crossing_1_in_cp = PolygonUtils::findClosest(endPoint, boundary_inside[start_part_boundary_poly_idx]); crossing_1_in_or_mid = PolygonUtils::moveInside(crossing_1_in_cp, offset_dist_to_get_from_on_the_polygon_to_outside); // in-case } else { crossing_1_in_or_mid = startPoint; // mid-case } if (endInside) { ClosestPolygonPoint crossing_2_in_cp = PolygonUtils::findClosest(crossing_1_in_or_mid, boundary_inside[end_part_boundary_poly_idx]); crossing_2_in_or_mid = PolygonUtils::moveInside(crossing_2_in_cp, offset_dist_to_get_from_on_the_polygon_to_outside); // in-case } else { crossing_2_in_or_mid = endPoint; // mid-case } } bool avoid_other_parts_now = avoid_other_parts; if (avoid_other_parts_now && vSize2(crossing_1_in_or_mid - crossing_2_in_or_mid) < offset_from_outlines_outside * offset_from_outlines_outside * 4) { // parts are next to eachother, i.e. the direct crossing will always be smaller than two crossings via outside avoid_other_parts_now = false; } if (avoid_other_parts_now) { // compute the crossing points when moving through air Polygons& outside = getBoundaryOutside(); // comb through all air, since generally the outside consists of a single part crossing_1_out = crossing_1_in_or_mid; if (startInside || outside.inside(crossing_1_in_or_mid, true)) // start in_between { // move outside ClosestPolygonPoint* crossing_1_out_cpp = PolygonUtils::findClose(crossing_1_in_or_mid, outside, getOutsideLocToLine()); if (crossing_1_out_cpp) { crossing_1_out = PolygonUtils::moveOutside(*crossing_1_out_cpp, offset_dist_to_get_from_on_the_polygon_to_outside); } else { PolygonUtils::moveOutside(outside, crossing_1_out, offset_dist_to_get_from_on_the_polygon_to_outside); } } int64_t in_out_dist2_1 = vSize2(crossing_1_out - crossing_1_in_or_mid); if (startInside && in_out_dist2_1 > max_crossing_dist2) // moveInside moved too far { // if move is to far over in_between // find crossing closer by std::shared_ptr<std::pair<ClosestPolygonPoint, ClosestPolygonPoint>> best = findBestCrossing(boundary_inside[start_part_boundary_poly_idx], startPoint, endPoint); if (best) { crossing_1_in_or_mid = PolygonUtils::moveInside(best->first, offset_dist_to_get_from_on_the_polygon_to_outside); crossing_1_out = PolygonUtils::moveOutside(best->second, offset_dist_to_get_from_on_the_polygon_to_outside); } } crossing_2_out = crossing_2_in_or_mid; if (endInside || outside.inside(crossing_2_in_or_mid, true)) { // move outside ClosestPolygonPoint* crossing_2_out_cpp = PolygonUtils::findClose(crossing_2_in_or_mid, outside, getOutsideLocToLine()); if (crossing_2_out_cpp) { crossing_2_out = PolygonUtils::moveOutside(*crossing_2_out_cpp, offset_dist_to_get_from_on_the_polygon_to_outside); } else { PolygonUtils::moveOutside(outside, crossing_2_out, offset_dist_to_get_from_on_the_polygon_to_outside); } } int64_t in_out_dist2_2 = vSize2(crossing_2_out - crossing_2_in_or_mid); if (endInside && in_out_dist2_2 > max_crossing_dist2) // moveInside moved too far { // if move is to far over in_between // find crossing closer by std::shared_ptr<std::pair<ClosestPolygonPoint, ClosestPolygonPoint>> best = findBestCrossing(boundary_inside[end_part_boundary_poly_idx], endPoint, crossing_1_out); if (best) { crossing_2_in_or_mid = PolygonUtils::moveInside(best->first, offset_dist_to_get_from_on_the_polygon_to_outside); crossing_2_out = PolygonUtils::moveOutside(best->second, offset_dist_to_get_from_on_the_polygon_to_outside); } } } if (startInside) { // start to boundary PolygonsPart part_begin = partsView_inside.assemblePart(start_part_idx); // comb through the starting part only combPaths.emplace_back(); LinePolygonsCrossings::comb(part_begin, startPoint, crossing_1_in_or_mid, combPaths.back(), -offset_dist_to_get_from_on_the_polygon_to_outside, max_comb_distance_ignored); } // throught air from boundary to boundary if (avoid_other_parts_now) { combPaths.emplace_back(); combPaths.throughAir = true; if ( vSize(crossing_1_in_or_mid - crossing_2_in_or_mid) < vSize(crossing_1_in_or_mid - crossing_1_out) + vSize(crossing_2_in_or_mid - crossing_2_out) ) { // via outside is moving more over the in-between zone combPaths.back().push_back(crossing_1_in_or_mid); combPaths.back().push_back(crossing_2_in_or_mid); } else { LinePolygonsCrossings::comb(getBoundaryOutside(), crossing_1_out, crossing_2_out, combPaths.back(), offset_dist_to_get_from_on_the_polygon_to_outside, max_comb_distance_ignored); } } else { // directly through air (not avoiding other parts) combPaths.emplace_back(); combPaths.throughAir = true; combPaths.back().cross_boundary = true; // TODO: calculate whether we cross a boundary! combPaths.back().push_back(crossing_1_in_or_mid); combPaths.back().push_back(crossing_2_in_or_mid); } if (endInside) { // boundary to end PolygonsPart part_end = partsView_inside.assemblePart(end_part_idx); // comb through end part only combPaths.emplace_back(); LinePolygonsCrossings::comb(part_end, crossing_2_in_or_mid, endPoint, combPaths.back(), -offset_dist_to_get_from_on_the_polygon_to_outside, max_comb_distance_ignored); } return true; } }