private bool SeeIfSpliceIsStillOverlapped(Directions extendDir, VisibilityVertex nextExtendVertex)
{
// If we've spliced out of overlapped space into free space, we may be able to turn off the
// overlapped state if we have a perpendicular non-overlapped edge.
var edge = this.FindNextEdge(nextExtendVertex, CompassVector.RotateLeft(extendDir));
var maybeFreeSpace = (null == edge) ? false : (ScanSegment.NormalWeight == edge.Weight);
if (!maybeFreeSpace)
{
edge = this.FindNextEdge(nextExtendVertex, CompassVector.RotateRight(extendDir));
maybeFreeSpace = (null == edge) ? false : (ScanSegment.NormalWeight == edge.Weight);
}
return(!maybeFreeSpace || this.ObstacleTree.PointIsInsideAnObstacle(nextExtendVertex.Point, extendDir));
}
private void ExtendEdgeChain(VisibilityVertex startVertex, Directions extendDir
, LineSegment maxDesiredSegment, LineSegment maxVisibilitySegment
, PointAndCrossingsList pacList, bool isOverlapped)
{
StaticGraphUtility.Assert(PointComparer.GetPureDirection(maxDesiredSegment.Start, maxDesiredSegment.End) == extendDir
, "maxDesiredSegment is reversed", ObstacleTree, VisGraph);
// Direction*s*, because it may return None, which is valid and means startVertex is on the
// border of an obstacle and we don't want to go inside it.
Directions segmentDir = PointComparer.GetDirections(startVertex.Point, maxDesiredSegment.End);
if (segmentDir != extendDir)
{
// OppositeDir may happen on overlaps where the boundary has a gap in its ScanSegments due to other obstacles
// overlapping it and each other. This works because the port has an edge connected to startVertex,
// which is on a ScanSegment outside the obstacle.
StaticGraphUtility.Assert(isOverlapped || (segmentDir != CompassVector.OppositeDir(extendDir))
, "obstacle encountered between prevPoint and startVertex", ObstacleTree, VisGraph);
return;
}
// We'll find the segment to the left (or right if to the left doesn't exist),
// then splice across in the opposite direction.
Directions spliceSourceDir = CompassVector.RotateLeft(extendDir);
VisibilityVertex spliceSource = StaticGraphUtility.FindNextVertex(startVertex, spliceSourceDir);
if (null == spliceSource)
{
spliceSourceDir = CompassVector.OppositeDir(spliceSourceDir);
spliceSource = StaticGraphUtility.FindNextVertex(startVertex, spliceSourceDir);
if (null == spliceSource)
{
return;
}
}
// Store this off before ExtendSpliceWorker, which overwrites it.
Directions spliceTargetDir = CompassVector.OppositeDir(spliceSourceDir);
VisibilityVertex spliceTarget;
if (ExtendSpliceWorker(spliceSource, extendDir, spliceTargetDir, maxDesiredSegment, maxVisibilitySegment, isOverlapped, out spliceTarget))
{
// We ended on the source side and may have dead-ends on the target side so reverse sides.
ExtendSpliceWorker(spliceTarget, extendDir, spliceSourceDir, maxDesiredSegment, maxVisibilitySegment, isOverlapped, out spliceTarget);
}
SpliceGroupBoundaryCrossings(pacList, startVertex, maxDesiredSegment);
}
