internal void AddToAdjacentVertex(TransientGraphUtility transUtil
, VisibilityVertex targetVertex, Directions dirToExtend, Rectangle limitRect) {
if (!PointComparer.Equal(this.Point, targetVertex.Point)) {
transUtil.FindOrAddEdge(this.Vertex, targetVertex, InitialWeight);
}
ExtendEdgeChain(transUtil, targetVertex, dirToExtend, limitRect);
}
// Adds an edge from this.Vertex to a (possibly new) vertex at an intersection with an
// existing Edge that adjoins the point. We take 'dir' as an input parameter for edge
// extension because we may be on the edge so can't calculate the direction.
internal VisibilityVertex AddEdgeToAdjacentEdge(TransientGraphUtility transUtil
, VisibilityEdge targetEdge, Directions dirToExtend, Rectangle limitRect) {
Point targetIntersect = StaticGraphUtility.SegmentIntersection(targetEdge, this.Point);
VisibilityVertex targetVertex = transUtil.VisGraph.FindVertex(targetIntersect);
if (null != targetVertex) {
AddToAdjacentVertex(transUtil, targetVertex, dirToExtend, limitRect);
}
else {
targetVertex = transUtil.AddEdgeToTargetEdge(this.Vertex, targetEdge, targetIntersect);
}
ExtendEdgeChain(transUtil, targetVertex, dirToExtend, limitRect);
return targetVertex;
}
internal void ExtendEdgeChain(TransientGraphUtility transUtil, VisibilityVertex targetVertex, Directions dirToExtend, Rectangle limitRect) {
// Extend the edge chain to the opposite side of the limit rectangle.
StaticGraphUtility.Assert(PointComparer.Equal(this.Point, targetVertex.Point)
|| (PointComparer.GetPureDirection(this.Point, targetVertex.Point) == dirToExtend)
, "input dir does not match with to-targetVertex direction", transUtil.ObstacleTree, transUtil.VisGraph);
var extendOverlapped = IsOverlapped;
if (extendOverlapped)
{
// The initial vertex we connected to may be on the border of the enclosing obstacle,
// or of another also-overlapped obstacle. If the former, we turn off overlap now.
extendOverlapped = transUtil.ObstacleTree.PointIsInsideAnObstacle(targetVertex.Point, dirToExtend);
}
// If we're inside an obstacle's boundaries we'll never extend past the end of the obstacle
// due to encountering the boundary from the inside. So start the extension at targetVertex.
SegmentAndCrossings segmentAndCrossings = GetSegmentAndCrossings(this.IsOverlapped ? targetVertex : this.Vertex, dirToExtend, transUtil);
transUtil.ExtendEdgeChain(targetVertex, limitRect, segmentAndCrossings.Item1, segmentAndCrossings.Item2, extendOverlapped);
}
internal void ExtendEdgeChain(TransientGraphUtility transUtil, VisibilityVertex targetVertex, Directions dirToExtend, Rectangle limitRect)
{
// Extend the edge chain to the opposite side of the limit rectangle.
StaticGraphUtility.Assert(PointComparer.Equal(this.Point, targetVertex.Point) ||
(PointComparer.GetPureDirection(this.Point, targetVertex.Point) == dirToExtend)
, "input dir does not match with to-targetVertex direction", transUtil.ObstacleTree, transUtil.VisGraph);
var extendOverlapped = IsOverlapped;
if (extendOverlapped)
{
// The initial vertex we connected to may be on the border of the enclosing obstacle,
// or of another also-overlapped obstacle. If the former, we turn off overlap now.
extendOverlapped = transUtil.ObstacleTree.PointIsInsideAnObstacle(targetVertex.Point, dirToExtend);
}
// If we're inside an obstacle's boundaries we'll never extend past the end of the obstacle
// due to encountering the boundary from the inside. So start the extension at targetVertex.
SegmentAndCrossings segmentAndCrossings = GetSegmentAndCrossings(this.IsOverlapped ? targetVertex : this.Vertex, dirToExtend, transUtil);
transUtil.ExtendEdgeChain(targetVertex, limitRect, segmentAndCrossings.Item1, segmentAndCrossings.Item2, extendOverlapped);
}
internal void ExtendFromBorderVertex(TransientGraphUtility transUtil, VisibilityVertex borderVertex
, Rectangle limitRect, bool routeToCenter)
{
ExtendEdgeChain(transUtil, borderVertex, borderVertex, limitRect, routeToCenter);
}
internal void GetVertex(TransientGraphUtility transUtil, Point point) {
this.Vertex = transUtil.FindOrAddVertex(point);
}
internal void AddToAdjacentVertex(TransientGraphUtility transUtil, VisibilityVertex targetVertex
, Rectangle limitRect, bool routeToCenter) {
VisibilityVertex borderVertex = transUtil.VisGraph.FindVertex(this.VisibilityBorderIntersect);
if (null != borderVertex) {
ExtendFromBorderVertex(transUtil, borderVertex, limitRect, routeToCenter);
return;
}
// There is no vertex at VisibilityBorderIntersect, so create it and link it to targetVertex.
// Note: VisibilityBorderIntersect may == targetIntersect if that is on our border, *and*
// targetIntersect may be on the border of a touching obstacle, in which case this will splice
// into or across the adjacent obstacle, which is consistent with "touching is overlapped".
// So we don't use UnpaddedBorderIntersect as prevPoint when calling ExtendEdgeChain.
// VisibilityBorderIntersect may be rounded just one Curve.DistanceEpsilon beyond the ScanSegment's
// perpendicular coordinate; e.g. our X may be targetIntersect.X + Curve.DistanceEpsilon, thereby
// causing the direction from VisibilityBorderIntersect to targetIntersect to be W instead of E.
// So use the targetIntersect if they are close enough; they will be equal for flat borders, and
// otherwise the exact value we use only needs be "close enough" to the border. (We can't use
// CenterVertex as the prevPoint because that could be an impure direction).
// Update: With the change to carry MaxVisibilitySegment within the PortEntrance, PortManager finds
// targetVertex between VisibilityBorderIntersect and MaxVisibilitySegment.End, so this should no longer
// be able to happen.
// See RectilinearTests.PaddedBorderIntersectMeetsIncomingScanSegment for an example of what happens
// when VisibilityBorderIntersect is on the incoming ScanSegment (it jumps out above with borderVertex found).
if (OutwardDirection == PointComparer.GetPureDirection(targetVertex.Point, this.VisibilityBorderIntersect)) {
Debug.Assert(false, "Unexpected reversed direction between VisibilityBorderIntersect and targetVertex");
// ReSharper disable HeuristicUnreachableCode
this.VisibilityBorderIntersect = targetVertex.Point;
borderVertex = targetVertex;
// ReSharper restore HeuristicUnreachableCode
}
else {
borderVertex = transUtil.FindOrAddVertex(this.VisibilityBorderIntersect);
transUtil.FindOrAddEdge(borderVertex, targetVertex, InitialWeight);
}
ExtendEdgeChain(transUtil, borderVertex, targetVertex, limitRect, routeToCenter);
}
internal void AddOobEdgesFromGraphCorner(TransientGraphUtility transUtil, Point cornerPoint) {
Directions dirs = PointComparer.GetDirections(cornerPoint, Vertex.Point);
VisibilityVertex cornerVertex = transUtil.VisGraph.FindVertex(cornerPoint);
// For waypoints we want to be able to enter in both directions.
transUtil.ConnectVertexToTargetVertex(cornerVertex, this.Vertex, dirs & (Directions.North | Directions.South), ScanSegment.NormalWeight);
transUtil.ConnectVertexToTargetVertex(cornerVertex, this.Vertex, dirs & (Directions.East | Directions.West), ScanSegment.NormalWeight);
}
// Called if we must create the vertex.
internal FreePoint(TransientGraphUtility transUtil, Point point) {
OutOfBoundsDirectionFromGraph = Directions. None;
this.GetVertex(transUtil, point);
}
internal Point MaxVisibilityInDirectionForNonOverlappedFreePoint(Directions dirToExtend, TransientGraphUtility transUtil) {
Debug.Assert(!this.IsOverlapped, "Do not precalculate overlapped obstacle visibility as we should extend from the outer target vertex instead");
SegmentAndCrossings segmentAndCrossings = GetSegmentAndCrossings(this.Vertex, dirToExtend, transUtil);
return segmentAndCrossings.Item1.End;
}
// Splits an existing Edge to splice in this.Vertex.
internal void SpliceIntoEdge(TransientGraphUtility transUtil, VisibilityEdge edge) {
transUtil.SplitEdge(edge, this.Vertex);
}
internal void ExtendFromBorderVertex(TransientGraphUtility transUtil, VisibilityVertex borderVertex
, Rectangle limitRect, bool routeToCenter) {
ExtendEdgeChain(transUtil, borderVertex, borderVertex, limitRect, routeToCenter);
}
// Splits an existing Edge to splice in this.Vertex.
internal void SpliceIntoEdge(TransientGraphUtility transUtil, VisibilityEdge edge)
{
transUtil.SplitEdge(edge, this.Vertex);
}
internal void GetVertex(TransientGraphUtility transUtil, Point point)
{
this.Vertex = transUtil.FindOrAddVertex(point);
}
// Called if we must create the vertex.
internal FreePoint(TransientGraphUtility transUtil, Point point)
{
OutOfBoundsDirectionFromGraph = Directions.None;
this.GetVertex(transUtil, point);
}
internal Point MaxVisibilityInDirectionForNonOverlappedFreePoint(Directions dirToExtend, TransientGraphUtility transUtil)
{
Debug.Assert(!this.IsOverlapped, "Do not precalculate overlapped obstacle visibility as we should extend from the outer target vertex instead");
SegmentAndCrossings segmentAndCrossings = GetSegmentAndCrossings(this.Vertex, dirToExtend, transUtil);
return(segmentAndCrossings.Item1.End);
}
private SegmentAndCrossings GetSegmentAndCrossings(VisibilityVertex startVertex, Directions dirToExtend, TransientGraphUtility transUtil)
{
var dirIndex = CompassVector.ToIndex(dirToExtend);
var segmentAndCrossings = this.maxVisibilitySegmentsAndCrossings[dirIndex];
if (null == segmentAndCrossings)
{
PointAndCrossingsList pacList;
var maxVisibilitySegment = transUtil.ObstacleTree.CreateMaxVisibilitySegment(startVertex.Point, dirToExtend, out pacList);
segmentAndCrossings = new SegmentAndCrossings(maxVisibilitySegment, pacList);
this.maxVisibilitySegmentsAndCrossings[dirIndex] = segmentAndCrossings;
}
else
{
// For a waypoint this will be a target and then a source, so there may be a different lateral edge to
// connect to. In that case make sure we are consistent in directions - back up the start point if needed.
if (PointComparer.GetDirections(startVertex.Point, segmentAndCrossings.Item1.Start) == dirToExtend)
{
segmentAndCrossings.Item1.Start = startVertex.Point;
}
}
return(segmentAndCrossings);
}
internal void ExtendEdgeChain(TransientGraphUtility transUtil, VisibilityVertex paddedBorderVertex
, VisibilityVertex targetVertex, Rectangle limitRect, bool routeToCenter) {
// Extend the edge chain to the opposite side of the limit rectangle.
transUtil.ExtendEdgeChain(targetVertex, limitRect, this.MaxVisibilitySegment, this.pointAndCrossingsList, this.IsOverlapped);
// In order for Nudger to be able to map from the (near-) endpoint vertex to a PortEntry, we must
// always connect a vertex at UnpaddedBorderIntersect to the paddedBorderVertex, even if routeToCenter.
var unpaddedBorderVertex = transUtil.FindOrAddVertex(UnpaddedBorderIntersect);
transUtil.FindOrAddEdge(unpaddedBorderVertex, paddedBorderVertex, this.unpaddedToPaddedBorderWeight);
if (routeToCenter) {
// Link the CenterVertex to the vertex at UnpaddedBorderIntersect.
transUtil.ConnectVertexToTargetVertex(ObstaclePort.CenterVertex, unpaddedBorderVertex, OutwardDirection, InitialWeight);
}
}
private SegmentAndCrossings GetSegmentAndCrossings(VisibilityVertex startVertex, Directions dirToExtend, TransientGraphUtility transUtil) {
var dirIndex = CompassVector.ToIndex(dirToExtend);
var segmentAndCrossings = this.maxVisibilitySegmentsAndCrossings[dirIndex];
if (null == segmentAndCrossings) {
PointAndCrossingsList pacList;
var maxVisibilitySegment = transUtil.ObstacleTree.CreateMaxVisibilitySegment(startVertex.Point, dirToExtend, out pacList);
segmentAndCrossings = new SegmentAndCrossings(maxVisibilitySegment, pacList);
this.maxVisibilitySegmentsAndCrossings[dirIndex] = segmentAndCrossings;
} else {
// For a waypoint this will be a target and then a source, so there may be a different lateral edge to
// connect to. In that case make sure we are consistent in directions - back up the start point if needed.
if (PointComparer.GetDirections(startVertex.Point, segmentAndCrossings.Item1.Start) == dirToExtend) {
segmentAndCrossings.Item1.Start = startVertex.Point;
}
}
return segmentAndCrossings;
}
internal void AddToGraph(TransientGraphUtility transUtil, bool routeToCenter) {
// We use only border vertices if !routeToCenter.
if (routeToCenter) {
CenterVertex = transUtil.FindOrAddVertex(this.Location);
}
}
