void make_biconnected_planar(Graph& g,
PlanarEmbedding embedding,
EdgeIndexMap em,
AddEdgeVisitor& vis
)
{
typedef typename graph_traits<Graph>::vertex_descriptor vertex_t;
typedef typename graph_traits<Graph>::edge_descriptor edge_t;
typedef typename graph_traits<Graph>::edges_size_type edge_size_t;
typedef typename
property_traits<PlanarEmbedding>::value_type embedding_value_t;
typedef typename embedding_value_t::const_iterator embedding_iterator_t;
typedef iterator_property_map
<std::vector<std::size_t>::iterator, EdgeIndexMap> component_map_t;
edge_size_t n_edges(num_edges(g));
std::vector<vertex_t> articulation_points;
std::vector<edge_size_t> component_vector(n_edges);
component_map_t component_map(component_vector.begin(), em);
biconnected_components(g, component_map,
std::back_inserter(articulation_points));
typename std::vector<vertex_t>::iterator ap, ap_end;
ap_end = articulation_points.end();
for(ap = articulation_points.begin(); ap != ap_end; ++ap)
{
vertex_t v(*ap);
embedding_iterator_t pi = embedding[v].begin();
embedding_iterator_t pi_end = embedding[v].end();
edge_size_t previous_component(n_edges + 1);
vertex_t previous_vertex = graph_traits<Graph>::null_vertex();
for(; pi != pi_end; ++pi)
{
edge_t e(*pi);
vertex_t e_source(source(e,g));
vertex_t e_target(target(e,g));
//Skip self-loops and parallel edges
if (e_source == e_target || previous_vertex == e_target)
continue;
vertex_t current_vertex = e_source == v ? e_target : e_source;
edge_size_t current_component = component_map[e];
if (previous_vertex != graph_traits<Graph>::null_vertex() &&
current_component != previous_component)
{
vis.visit_vertex_pair(current_vertex, previous_vertex, g);
}
previous_vertex = current_vertex;
previous_component = current_component;
}
}
}
bool is_straight_line_drawing(const Graph& g,
GridPositionMap drawing,
VertexIndexMap vm
)
{
typedef typename graph_traits<Graph>::vertex_descriptor vertex_t;
typedef typename graph_traits<Graph>::vertex_iterator vertex_iterator_t;
typedef typename graph_traits<Graph>::edge_descriptor edge_t;
typedef typename graph_traits<Graph>::edge_iterator edge_iterator_t;
typedef typename graph_traits<Graph>::edges_size_type e_size_t;
typedef typename graph_traits<Graph>::vertices_size_type v_size_t;
typedef std::size_t x_coord_t;
typedef std::size_t y_coord_t;
typedef boost::tuple<edge_t, x_coord_t, y_coord_t> edge_event_t;
typedef typename std::vector< edge_event_t > edge_event_queue_t;
typedef tuple<y_coord_t, y_coord_t, x_coord_t, x_coord_t> active_map_key_t;
typedef edge_t active_map_value_t;
typedef std::map< active_map_key_t, active_map_value_t > active_map_t;
typedef typename active_map_t::iterator active_map_iterator_t;
edge_event_queue_t edge_event_queue;
active_map_t active_edges;
edge_iterator_t ei, ei_end;
for(tie(ei,ei_end) = edges(g); ei != ei_end; ++ei)
{
edge_t e(*ei);
vertex_t s(source(e,g));
vertex_t t(target(e,g));
edge_event_queue.push_back
(make_tuple(e,
static_cast<std::size_t>(drawing[s].x),
static_cast<std::size_t>(drawing[s].y)
)
);
edge_event_queue.push_back
(make_tuple(e,
static_cast<std::size_t>(drawing[t].x),
static_cast<std::size_t>(drawing[t].y)
)
);
}
// Order by edge_event_queue by first, then second coordinate
// (bucket_sort is a stable sort.)
bucket_sort(edge_event_queue.begin(), edge_event_queue.end(),
property_map_tuple_adaptor<edge_event_t, 2>()
);
bucket_sort(edge_event_queue.begin(), edge_event_queue.end(),
property_map_tuple_adaptor<edge_event_t, 1>()
);
typedef typename edge_event_queue_t::iterator event_queue_iterator_t;
event_queue_iterator_t itr_end = edge_event_queue.end();
for(event_queue_iterator_t itr = edge_event_queue.begin();
itr != itr_end; ++itr
)
{
edge_t e(get<0>(*itr));
vertex_t source_v(source(e,g));
vertex_t target_v(target(e,g));
if (drawing[source_v].y > drawing[target_v].y)
std::swap(source_v, target_v);
active_map_key_t key(get(drawing, source_v).y,
get(drawing, target_v).y,
get(drawing, source_v).x,
get(drawing, target_v).x
);
active_map_iterator_t a_itr = active_edges.find(key);
if (a_itr == active_edges.end())
{
active_edges[key] = e;
}
else
{
active_map_iterator_t before, after;
if (a_itr == active_edges.begin())
before = active_edges.end();
else
before = prior(a_itr);
after = boost::next(a_itr);
if (before != active_edges.end())
{
edge_t f = before->second;
vertex_t e_source(source(e,g));
vertex_t e_target(target(e,g));
vertex_t f_source(source(f,g));
vertex_t f_target(target(f,g));
if (intersects(drawing[e_source].x,
drawing[e_source].y,
drawing[e_target].x,
drawing[e_target].y,
drawing[f_source].x,
drawing[f_source].y,
drawing[f_target].x,
drawing[f_target].y
)
)
return false;
}
if (after != active_edges.end())
{
edge_t f = after->second;
vertex_t e_source(source(e,g));
vertex_t e_target(target(e,g));
vertex_t f_source(source(f,g));
vertex_t f_target(target(f,g));
if (intersects(drawing[e_source].x,
drawing[e_source].y,
drawing[e_target].x,
drawing[e_target].y,
drawing[f_source].x,
drawing[f_source].y,
drawing[f_target].x,
drawing[f_target].y
)
)
return false;
}
active_edges.erase(a_itr);
}
}
return true;
}
void
NavGraph::edge_add_split_intersection(const NavGraphEdge &edge)
{
std::list<std::pair<cart_coord_2d_t, NavGraphEdge>> intersections;
const NavGraphNode &n1 = node(edge.from());
const NavGraphNode &n2 = node(edge.to());
try {
for (const NavGraphEdge &e : edges_) {
cart_coord_2d_t ip;
if (e.intersection(n1.x(), n1.y(), n2.x(), n2.y(), ip)) {
// we need to split the edge at the given intersection point,
// and the new line segments as well
intersections.push_back(std::make_pair(ip, e));
}
}
std::list<std::list<std::pair<cart_coord_2d_t, NavGraphEdge> >::iterator> deletions;
for (auto i1 = intersections.begin(); i1 != intersections.end(); ++i1) {
const std::pair<cart_coord_2d_t, NavGraphEdge> &p1 = *i1;
const cart_coord_2d_t &c1 = p1.first;
const NavGraphEdge &e1 = p1.second;
const NavGraphNode &n1_from = node(e1.from());
const NavGraphNode &n1_to = node(e1.to());
for (auto i2 = std::next(i1); i2 != intersections.end(); ++i2) {
const std::pair<cart_coord_2d_t, NavGraphEdge> &p2 = *i2;
const cart_coord_2d_t &c2 = p2.first;
const NavGraphEdge &e2 = p2.second;
if (points_different(c1.x, c1.y, c2.x, c2.y)) continue;
float d = 1.;
if (e1.from() == e2.from() || e1.from() == e2.to()) {
d = point_dist(n1_from.x(), n1_from.y(), c1.x, c1.y);
} else if (e1.to() == e2.to() || e1.to() == e2.from()) {
d = point_dist(n1_to.x(), n1_to.y(), c1.x, c1.y);
}
if (d < 1e-4) {
// the intersection point is the same as a common end
// point of the two edges, only keep it once
deletions.push_back(i1);
break;
}
}
}
for (auto d = deletions.rbegin(); d != deletions.rend(); ++d) {
intersections.erase(*d);
}
if (intersections.empty()) {
NavGraphEdge e(edge);
e.set_property("created-for", edge.from() + "--" + edge.to());
add_edge(e, EDGE_FORCE);
} else {
Eigen::Vector2f e_origin(n1.x(), n1.y());
Eigen::Vector2f e_target(n2.x(), n2.y());
Eigen::Vector2f e_dir = (e_target - e_origin).normalized();
intersections.sort([&e_origin, &e_dir](const std::pair<cart_coord_2d_t, NavGraphEdge> &p1,
const std::pair<cart_coord_2d_t, NavGraphEdge> &p2)
{
const Eigen::Vector2f p1p(p1.first.x, p1.first.y);
const Eigen::Vector2f p2p(p2.first.x, p2.first.y);
const float k1 = e_dir.dot(p1p - e_origin);
const float k2 = e_dir.dot(p2p - e_origin);
return k1 < k2;
});
std::string en_from = edge.from();
cart_coord_2d_t ec_from(n1.x(), n1.y());
std::string prev_to;
for (const auto &i : intersections) {
const cart_coord_2d_t &c = i.first;
const NavGraphEdge &e = i.second;
// add intersection point (if necessary)
NavGraphNode ip = closest_node(c.x, c.y);
if (! ip || points_different(c.x, c.y, ip.x(), ip.y())) {
ip = NavGraphNode(gen_unique_name(), c.x, c.y);
add_node(ip);
}
// if neither edge end node is the intersection point, split the edge
if (ip.name() != e.from() && ip.name() != e.to()) {
NavGraphEdge e1(e.from(), ip.name(), e.is_directed());
NavGraphEdge e2(ip.name(), e.to(), e.is_directed());
remove_edge(e);
e1.set_properties(e.properties());
e2.set_properties(e.properties());
add_edge(e1, EDGE_FORCE, /* allow existing */ true);
add_edge(e2, EDGE_FORCE, /* allow existing */ true);
// this is a special case: we might intersect an edge
// which has the same end node and thus the new edge
// from the intersection node to the end node would
// be added twice
prev_to = e.to();
}
// add segment edge
if (en_from != ip.name() && prev_to != ip.name()) {
NavGraphEdge e3(en_from, ip.name(), edge.is_directed());
e3.set_property("created-for", en_from + "--" + ip.name());
add_edge(e3, EDGE_FORCE, /* allow existing */ true);
}
en_from = ip.name();
ec_from = c;
}
if (en_from != edge.to()) {
NavGraphEdge e3(en_from, edge.to(), edge.is_directed());
e3.set_property("created-for", en_from + "--" + edge.to());
add_edge(e3, EDGE_FORCE, /* allow existing */ true);
}
}
} catch (Exception &ex) {
throw Exception("Failed to add edge %s-%s%s: %s",
edge.from().c_str(), edge.is_directed() ? ">" : "-", edge.to().c_str(),
ex.what_no_backtrace());
}
}
