// calculate the left break point of a particular beach section,
// given a particular sweep line
public float LeftBreakPoint(BeachSection arc, float directrix)
{
// http://en.wikipedia.org/wiki/Parabola
// http://en.wikipedia.org/wiki/Quadratic_equation
// h1 = x1,
// k1 = (y1+directrix)/2,
// h2 = x2,
// k2 = (y2+directrix)/2,
// p1 = k1-directrix,
// a1 = 1/(4*p1),
// b1 = -h1/(2*p1),
// c1 = h1*h1/(4*p1)+k1,
// p2 = k2-directrix,
// a2 = 1/(4*p2),
// b2 = -h2/(2*p2),
// c2 = h2*h2/(4*p2)+k2,
// x = (-(b2-b1) + Math.sqrt((b2-b1)*(b2-b1) - 4*(a2-a1)*(c2-c1))) / (2*(a2-a1))
// When x1 become the x-origin:
// h1 = 0,
// k1 = (y1+directrix)/2,
// h2 = x2-x1,
// k2 = (y2+directrix)/2,
// p1 = k1-directrix,
// a1 = 1/(4*p1),
// b1 = 0,
// c1 = k1,
// p2 = k2-directrix,
// a2 = 1/(4*p2),
// b2 = -h2/(2*p2),
// c2 = h2*h2/(4*p2)+k2,
// x = (-b2 + Math.sqrt(b2*b2 - 4*(a2-a1)*(c2-k1))) / (2*(a2-a1)) + x1
// change code below at your own risk: care has been taken to
// reduce errors due to computers' finite arithmetic precision.
// Maybe can still be improved, will see if any more of this
// kind of errors pop up again.
Point site = arc.site;
float rfocx = site.x;
float rfocy = site.y;
float pby2 = rfocy - directrix;
// parabola in degenerate case where focus is on directrix
if (pby2 == 0)
{
return(rfocx);
}
BeachSection lArc = arc.Prev;
if (!lArc)
{
return(-Mathf.Infinity);
}
site = lArc.site;
float lfocx = site.x;
float lfocy = site.y;
float plby2 = lfocy - directrix;
// parabola in degenerate case where focus is on directrix
if (plby2 == 0)
{
return(lfocx);
}
float hl = lfocx - rfocx;
float aby2 = 1 / pby2 - 1 / plby2;
float b = hl / plby2;
if (aby2 != 0)
{
return((-b + Mathf.Sqrt(b * b - 2 * aby2 * (hl * hl / (-2 * plby2) - lfocy + plby2 / 2 + rfocy - pby2 / 2))) / aby2 + rfocx);
}
// both parabolas have same distance to directrix, thus break point is midway
return((rfocx + lfocx) / 2);
}
public void AttachCircleEvent(BeachSection arc)
{
BeachSection lArc = arc.Prev;
BeachSection rArc = arc.Next;
if (!lArc || !rArc)
{
return;
} // does that ever happen?
Point lSite = lArc.site;
Point cSite = arc.site;
Point rSite = rArc.site;
// If site of Left beachsection is same as site of
// Right beachsection, there can't be convergence
if (lSite == rSite)
{
return;
}
// Find the circumscribed circle for the three sites associated
// with the beachsection triplet.
// rhill 2011-05-26: It is more efficient to calculate in-place
// rather than getting the resulting circumscribed circle from an
// object returned by calling Voronoi.circumcircle()
// http://mathforum.org/library/drmath/view/55002.html
// Except that I bring the origin at cSite to simplify calculations.
// The bottom-most part of the circumcircle is our Fortune 'circle
// event', and its center is a vertex potentially part of the final
// Voronoi diagram.
float bx = cSite.x;
float by = cSite.y;
float ax = lSite.x - bx;
float ay = lSite.y - by;
float cx = rSite.x - bx;
float cy = rSite.y - by;
// If points l.c.r are clockwise, then center beach section does not
// collapse, hence it can't end up as a vertex (we reuse 'd' here, which
// sign is reverse of the orientation, hence we reverse the test.
// http://en.wikipedia.org/wiki/Curveorientation#Orientationofasimplepolygon
// rhill 2011-05-21: Nasty finite precision error which caused circumcircle() to
// return infinites: 1e-12 seems to fix the problem.
float d = 2 * (ax * cy - ay * cx);
if (d >= -2e-12)
{
return;
}
float ha = ax * ax + ay * ay;
float hc = cx * cx + cy * cy;
float x = (cy * ha - ay * hc) / d;
float y = (ax * hc - cx * ha) / d;
float ycenter = y + by;
// Important: ybottom should always be under or at sweep, so no need
// to waste CPU cycles by checking
// recycle circle event object if possible
CircleEvent circleEvent = this.circleEventJunkyard.Count > 0 ? this.circleEventJunkyard.Last() : null;
this.circleEventJunkyard.Remove(circleEvent);
if (!circleEvent)
{
circleEvent = new CircleEvent();
}
circleEvent.arc = arc;
circleEvent.site = cSite;
circleEvent.x = x + bx;
circleEvent.y = ycenter + Mathf.Sqrt(x * x + y * y); // y bottom
circleEvent.yCenter = ycenter;
arc.circleEvent = circleEvent;
// find insertion point in RB-tree: circle events are ordered from
// smallest to largest
CircleEvent predecessor = null;
CircleEvent node = this.circleEvents.Root;
while (node)
{
if (circleEvent.y < node.y || (circleEvent.y == node.y && circleEvent.x <= node.x))
{
if (node.Left)
{
node = node.Left;
}
else
{
predecessor = node.Prev;
break;
}
}
else
{
if (node.Right)
{
node = node.Right;
}
else
{
predecessor = node;
break;
}
}
}
this.circleEvents.Insert(predecessor, circleEvent);
if (!predecessor)
{
this.firstCircleEvent = circleEvent;
}
}
public void RemoveBeachSection(BeachSection beachSection)
{
CircleEvent circle = beachSection.circleEvent;
float x = circle.x;
float y = circle.yCenter;
Point vertex = new Point(x, y);
BeachSection previous = beachSection.Prev;
BeachSection next = beachSection.Next;
LinkedList <BeachSection> disappearingTransitions = new LinkedList <BeachSection>();
disappearingTransitions.AddLast(beachSection);
// remove collapsed beachsection from beachline
this.DetachBeachSection(beachSection);
// there could be more than one empty arc at the deletion point, this
// happens when more than two edges are linked by the same vertex,
// so we will collect all those edges by looking up both sides of
// the deletion point.
// by the way, there is *always* a predecessor/successor to any collapsed
// beach section, it's just impossible to have a collapsing first/last
// beach sections on the beachline, since they obviously are unconstrained
// on their left/right side.
// look left
BeachSection lArc = previous;
while (lArc.circleEvent &&
Mathf.Abs(x - lArc.circleEvent.x) < EPSILON &&
Mathf.Abs(y - lArc.circleEvent.yCenter) < EPSILON)
{
previous = lArc.Prev;
disappearingTransitions.AddFirst(lArc);
this.DetachBeachSection(lArc); // mark for reuse
lArc = previous;
}
// even though it is not disappearing, I will also add the beach section
// immediately to the left of the left-most collapsed beach section, for
// convenience, since we need to refer to it later as this beach section
// is the 'left' site of an edge for which a start point is set.
disappearingTransitions.AddFirst(lArc);
this.DetachCircleEvent(lArc);
// look right
BeachSection rArc = next;
while (rArc.circleEvent &&
Mathf.Abs(x - rArc.circleEvent.x) < EPSILON &&
Mathf.Abs(y - rArc.circleEvent.yCenter) < EPSILON)
{
next = rArc.Next;
disappearingTransitions.AddLast(rArc);
this.DetachBeachSection(rArc);
rArc = next;
}
// we also have to add the beach section immediately to the right of the
// right-most collapsed beach section, since there is also a disappearing
// transition representing an edge's start point on its left.
disappearingTransitions.AddLast(rArc);
this.DetachCircleEvent(rArc);
// walk through all the disappearing transitions between beach sections and
// set the start point of their (implied) edge.
int nArcs = disappearingTransitions.Count;
for (int iArc = 1; iArc < nArcs; iArc++)
{
rArc = disappearingTransitions.ElementAt(iArc);
lArc = disappearingTransitions.ElementAt(iArc - 1);
rArc.edge.SetStartPoint(lArc.site, rArc.site, vertex);
}
// create a new edge as we have now a new transition between
// two beach sections which were previously not adjacent.
// since this edge appears as a new vertex is defined, the vertex
// actually define an end point of the edge (relative to the site
// on the left)
lArc = disappearingTransitions.ElementAt(0);
rArc = disappearingTransitions.ElementAt(nArcs - 1);
rArc.edge = this.CreateEdge(lArc.site, rArc.site, null, vertex);
// create circle events if any for beach sections left in the beachline
// adjacent to collapsed sections
this.AttachCircleEvent(lArc);
this.AttachCircleEvent(rArc);
}
public void AddBeachSection(Point site)
{
float x = site.x;
float directrix = site.y;
// find the left and right beach sections which will surround the newly
// created beach section.
// rhill 2011-06-01: This loop is one of the most often executed,
// hence we expand in-place the comparison-against-epsilon calls.
BeachSection node = this.beachLine.Root;
BeachSection lArc = null;
BeachSection rArc = null;
float dxl, dxr;
while (node)
{
dxl = this.LeftBreakPoint(node, directrix) - x;
// x LessThanWithEpsilon xl => falls somewhere before the Left edge of the beachsection
if (dxl > EPSILON)
{
// this case should never happen
// if (!node.rbLeft) {
// rArc = node.rbLeft;
// break;
// }
/*if (!node.Left) {
* rArc = node.Left;
* break;
* } else {
* node = node.Left;
* }*/
node = node.Left;
}
else
{
dxr = x - this.RightBreakPoint(node, directrix);
// x GreaterThanWithEpsilon xr => falls somewhere after the Right edge of the beachsection
if (dxr > EPSILON)
{
if (!node.Right)
{
lArc = node;
break;
}
node = node.Right;
}
else
{
// x EqualWithEpsilon xl => falls exactly on the Left edge of the beachsection
if (dxl > -EPSILON)
{
lArc = node.Prev;
rArc = node;
}
// x EqualWithEpsilon xr => falls exactly on the Right edge of the beachsection
else if (dxr > -EPSILON)
{
lArc = node;
rArc = node.Next;
}
// falls exactly somewhere in the middle of the beachsection
else
{
lArc = rArc = node;
}
break;
}
}
}
// at this point, keep in mind that lArc and/or rArc could be
// undefined or null.
// create a new beach section object for the site and add it to RB-tree
BeachSection newArc = this.CreateBeachSection(site);
this.beachLine.Insert(lArc, newArc);
// cases:
//
// [null,null]
// least likely case: new beach section is the first beach section on the
// beachLine.
// This case means:
// no new transition appears
// no collapsing beach section
// new beachsection become root of the RB-tree
if (!lArc && !rArc)
{
return;
}
// [lArc,rArc] where lArc == rArc
// most likely case: new beach section split an existing beach
// section.
// This case means:
// one new transition appears
// the Left and Right beach section might be collapsing as a result
// two new nodes added to the RB-tree
if (lArc == rArc)
{
// invalidate circle event of split beach section
this.DetachCircleEvent(lArc);
// split the beach section into two separate beach sections
rArc = this.CreateBeachSection(lArc.site);
this.beachLine.Insert(newArc, rArc);
// since we have a new transition between two beach sections;
// a new edge is born
newArc.edge = rArc.edge = this.CreateEdge(lArc.site, newArc.site, null, null);
// check whether the Left and Right beach sections are collapsing
// and if so create circle events, to be notified when the point of
// collapse is reached.
this.AttachCircleEvent(lArc);
this.AttachCircleEvent(rArc);
return;
}
// [lArc,null]
// even less likely case: new beach section is the *last* beach section
// on the beachLine -- this can happen *only* if *all* the Prev beach
// sections currently on the beachLine share the same y value as
// the new beach section.
// This case means:
// one new transition appears
// no collapsing beach section as a result
// new beach section become Right-most node of the RB-tree
if (lArc && !rArc)
{
newArc.edge = this.CreateEdge(lArc.site, newArc.site, null, null);
return;
}
// [null,rArc]
// impossible case: because sites are strictly processed from top to bottom;
// and Left to Right, which guarantees that there will always be a beach section
// on the Left -- except of course when there are no beach section at all on
// the beach line, which case was handled above.
// rhill 2011-06-02: No point testing in non-debug version
//if (!lArc && rArc) {
// throw "Voronoi.addBeachsection(): What is this I don't even";
// }
if (!lArc && rArc)
{
Debug.LogError("Shouldn't appear");
}
// [lArc,rArc] where lArc != rArc
// somewhat less likely case: new beach section falls *exactly* in between two
// existing beach sections
// This case means:
// one transition disappears
// two new transitions appear
// the Left and Right beach section might be collapsing as a result
// only one new node added to the RB-tree
if (lArc != rArc)
{
// invalidate circle events of Left and Right sites
this.DetachCircleEvent(lArc);
this.DetachCircleEvent(rArc);
// an existing transition disappears, meaning a vertex is defined at
// the disappearance point.
// since the disappearance is caused by the new beachsection, the
// vertex is at the center of the circumscribed circle of the Left;
// new and Right beachsections.
// http://mathforum.org/library/drmath/view/55002.html
// Except that I bring the origin at A to simplify
// calculation
Point lSite = lArc.site;
float ax = lSite.x;
float ay = lSite.y;
float bx = site.x - ax;
float by = site.y - ay;
Point rSite = rArc.site;
float cx = rSite.x - ax;
float cy = rSite.y - ay;
float d = 2 * (bx * cy - by * cx);
float hb = bx * bx + by * by;
float hc = cx * cx + cy * cy;
Point vertex = new Point((cy * hb - by * hc) / d + ax, (bx * hc - cx * hb) / d + ay);
// one transition disappear
rArc.edge.SetStartPoint(lSite, rSite, vertex);
// two new transitions appear at the new vertex location
newArc.edge = this.CreateEdge(lSite, site, null, vertex);
rArc.edge = this.CreateEdge(site, rSite, null, vertex);
// check whether the Left and Right beach sections are collapsing
// and if so create circle events, to handle the point of collapse.
this.AttachCircleEvent(lArc);
this.AttachCircleEvent(rArc);
return;
}
}
public void DetachBeachSection(BeachSection beachSection)
{
this.DetachCircleEvent(beachSection); // detach potentially attached circle event
this.beachLine.Remove(beachSection); // remove from RB-tree
this.beachSectionJunkyard.Add(beachSection); // mark for reuse
}