C++ PNS_LINE::Line方法代码示例

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 );
        }
//.........这里部分代码省略.........

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( &current_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;
}