C++ PNS_LINE::SetShape方法代码示例

bool PNS_LINE_PLACER::buildInitialLine( const VECTOR2I& aP, PNS_LINE& aHead )
{
    SHAPE_LINE_CHAIN l;

    if( m_p_start == aP )
    {
        l.Clear();
    }
    else
    {
        if( Settings().GetFreeAngleMode() && Settings().Mode() == RM_MarkObstacles )
        {
            l = SHAPE_LINE_CHAIN( m_p_start, aP );
        }
        else
        {
            l = m_direction.BuildInitialTrace( m_p_start, aP );
        }

        if( l.SegmentCount() > 1 && m_orthoMode )
        {
            VECTOR2I newLast = l.CSegment( 0 ).LineProject( l.CPoint( -1 ) );

            l.Remove( -1, -1 );
            l.Point( 1 ) = newLast;
        }
    }

    aHead.SetShape( l );

    if( !m_placingVia )
        return true;

    PNS_VIA v( makeVia( aP ) );
    v.SetNet( aHead.Net() );

    if( m_currentMode == RM_MarkObstacles )
    {
        aHead.AppendVia( v );
        return true;
    }

    VECTOR2I force;
    VECTOR2I lead = aP - m_p_start;

    bool solidsOnly = ( m_currentMode != RM_Walkaround );

    if( v.PushoutForce( m_currentNode, lead, force, solidsOnly, 40 ) )
    {
        SHAPE_LINE_CHAIN line = m_direction.BuildInitialTrace( m_p_start, aP + force );
        aHead = PNS_LINE( aHead, line );

        v.SetPos( v.Pos() + force );
        return true;
    }

    return false; // via placement unsuccessful
}

PNS_WALKAROUND::WalkaroundStatus 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.GetCLine().CPoint( -1 );

    if( ( current_obs->hull ).PointInside( last ) )
    {
        m_recursiveBlockageCount++;

        if( m_recursiveBlockageCount < 3 )
            aPath.GetLine().Append( current_obs->hull.NearestPoint( last ) );
        else
        {
            aPath = aPath.ClipToNearestObstacle( m_world );
            return STUCK;
        }
    }

    aPath.NewWalkaround( current_obs->hull, path_pre[0], path_walk[0],
            path_post[0], aWindingDirection );
    aPath.NewWalkaround( current_obs->hull, path_pre[1], path_walk[1],
            path_post[1], !aWindingDirection );

    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_solids_only ? PNS_ITEM::SOLID : PNS_ITEM::ANY );

    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] );

        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] );

        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;
}

PNS_WALKAROUND::WalkaroundStatus PNS_WALKAROUND::Route( const PNS_LINE& aInitialPath,
        PNS_LINE& aWalkPath,
        bool aOptimize )
{
    PNS_LINE path_cw( aInitialPath ), path_ccw( aInitialPath );
    WalkaroundStatus 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;

    while( m_iteration < m_iteration_limit )
    {
        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.GetCLine().Length();
            int len_ccw = path_ccw.GetCLine().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_iteration_limit )
    {
        int len_cw  = path_cw.GetCLine().Length();
        int len_ccw = path_ccw.GetCLine().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.GetCLine();

        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 )
            {
                // PNSDisplayDebugLine( l, 3 );
                l.Remove( i + 1, -1 );
                l.Append( nearest );
                l.Simplify();
                found = true;
                break;
            }
        }

        if( found )
        {
            aWalkPath = aInitialPath;
            aWalkPath.SetShape( l );
        }
    }

    aWalkPath.SetWorld( m_world );
    aWalkPath.GetLine().Simplify();

    WalkaroundStatus st = s_ccw == DONE || s_cw == DONE ? DONE : STUCK;
//.........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;
}