private void HandleWithPoints(RotationTreeNode p, RotationTreeNode q)
{
if (p == null || q == null)
{
return;
}
if (p.X > q.X)
{
return;
}
if (p.IsSinglePoint && !q.IsSinglePoint && p.Obstacle == q.Obstacle)
{
p.VisibleSegment = q.VisibleSegment;
//AddEdge(p, q);
}
else if (q.IsSinglePoint && !p.IsSinglePoint && q.Obstacle == p.Obstacle)
{
//AddEdge(p, q);
}
else if (q.IsSinglePoint && p.VisibleSegment != null && q.Obstacle == p.VisibleSegment.Obstacle)
{
AddEdge(p, q);
}
else if (p.IsAdjacent(q))
{
ObstacleSegment higher = GetHigherSegment(q, p);
p.VisibleSegment = higher ?? q.VisibleSegment;
if (!SameObstacle(p, q))
{
AddEdge(p, q);
}
}
else if (p.VisibleSegment != null && p.VisibleSegment.Contains(q))
{
ObstacleSegment left = GetLeftSegment(q, p);
p.VisibleSegment = left ?? q.VisibleSegment;
if (!SameObstacle(p, q))
{
AddEdge(p, q);
}
}
else if (PointLiesNearerThanSegment(p, q))
{
p.VisibleSegment = q.IsSinglePoint ? q.VisibleSegment : GetNearerSegment(q, p);
if (!SameObstacle(p, q))
{
AddEdge(p, q);
}
}
}
