public override void Tokenize(ObstacleCollection obstacles)
{
var polygons = SplitPolygon(Lines, obstacles);
var blocks = Polygon.GetAssociatedBlocks(polygons, Map, Layer).ToList();
var polygonEdges = new List <LineSegment>();
foreach (var polygon in polygons)
{
for (int i = 0, j = polygon.Count - 1; i < polygon.Count; j = i++)
{
polygonEdges.Add(GetLine(polygon[i], polygon[j], false, Lines));
}
}
var intersectionLines = polygonEdges.GroupBy(x => x).Where(group => group.Count() > 1).Select(group => group.Key).ToList(); //finds duplicated items
var blockLines = new Dictionary <Block, List <LineSegment> >(); //create a dictionary of block which intersection line they belong to. Because if the intersection line does not match,
//all intersecting lines of that block must be set invalid. Otherwise they engine would not not create a separate polygon.
var mismatchBlocks = new List <Block>();
foreach (var intersectionLine in intersectionLines)
{
Block blockX;
Block blockY;
Orientation orientation;
GetNeighborBlocks(intersectionLine, blocks, out blockX, out blockY, out orientation);
if (BlocksMatch(blockX, blockY, orientation))
{
Lines.Remove(intersectionLine);
}
else
{
if (blockX != null & !mismatchBlocks.Contains(blockX))
{
mismatchBlocks.Add(blockX);
}
if (blockY != null & !mismatchBlocks.Contains(blockY))
{
mismatchBlocks.Add(blockY);
}
}
AddBlockLines(blockLines, blockX, intersectionLine);
AddBlockLines(blockLines, blockY, intersectionLine);
}
foreach (var mismatchBlock in mismatchBlocks)
{
//Restore all lines of the mismatched blocks
List <LineSegment> blockLineSegments;
if (!blockLines.TryGetValue(mismatchBlock, out blockLineSegments))
{
continue;
}
foreach (var blockSegment in blockLineSegments.Where(blockSegment => !Lines.Contains(blockSegment)))
{
Lines.Add(blockSegment);
}
}
polygons.Clear();
polygons = SplitPolygon(Lines, obstacles);
foreach (var polygon in polygons)
{
var simplePolygon = SimplifyTools.CollinearSimplify(polygon);
AddSlopeObstacle(simplePolygon, VerticesEx.IsRectangle(simplePolygon), obstacles, Layer);
}
}
