private void drawEllipticalObstacle(EllipticalObstacle o)
{
Coordinate relLoc = calculateRelativeCanvasPosition(new Coordinate(o.location.x - o.width / 2,
o.location.y - o.length / 2));
Rectangle rectangle = new Rectangle(relLoc.x, relLoc.y, o.width, o.length);
graphicsObj.DrawEllipse(obstaclePen, rectangle);
graphicsObj.FillEllipse(brush, rectangle);
}
private BoolExpr handleEllipticalObstacle(EllipticalObstacle obstacle, Context ctx, IntExpr[] destinationsX,
IntExpr[] destinationsY, IntExpr[] sourcesX, IntExpr[] sourcesY)
{
if (obstacle.length != obstacle.width)
{
RectangularObstacle rectangle = new RectangularObstacle(obstacle.length, obstacle.width,
new Coordinate(obstacle.location.x - obstacle.width / 2, obstacle.location.y - obstacle.length / 2));
return(handleRectangularObstacle(rectangle, ctx, sourcesX, sourcesY, destinationsX, destinationsY));
}
else
{
BoolExpr[] avoidingCircle = new BoolExpr[pathSegments];
NumberFormatInfo dot = new NumberFormatInfo();
dot.NumberDecimalSeparator = ".";
for (int i = 0; i < pathSegments; i++)
{
double radius = obstacle.length / 2.0 + obstaclePassDistance;
int translateX = obstacle.location.x;
int translateY = obstacle.location.y;
IntExpr dist = ctx.MkInt((int)radius);
ArithExpr adjustedSourceX = ctx.MkSub(sourcesX[i], ctx.MkInt(translateX));
ArithExpr adjustedSourceY = ctx.MkSub(sourcesY[i], ctx.MkInt(translateY));
ArithExpr adjustedDestX = ctx.MkSub(destinationsX[i], ctx.MkInt(translateX));
ArithExpr adjustedDestY = ctx.MkSub(destinationsY[i], ctx.MkInt(translateY));
ArithExpr dx = ctx.MkSub(adjustedDestX, adjustedSourceX);
ArithExpr dy = ctx.MkSub(adjustedDestY, adjustedSourceY);
ArithExpr dr_2 = ctx.MkAdd(ctx.MkMul(dx, dx), ctx.MkMul(dy, dy));
ArithExpr D = ctx.MkSub(ctx.MkMul(adjustedSourceX, adjustedDestY), ctx.MkMul(adjustedDestX, adjustedSourceY));
ArithExpr incidence = ctx.MkSub(ctx.MkMul(ctx.MkMul(dist, dist), dr_2), ctx.MkMul(D, D));
BoolExpr final = ctx.MkLe(incidence, ctx.MkInt(0));
avoidingCircle[i] = final;
}
return(ctx.MkAnd(avoidingCircle));
}
}