public void GenerateInterconnectPolygon(ArbiterInterconnect ai)
{
List <Coordinates> polyPoints = new List <Coordinates>();
try
{
// width
double width = 3.0;
if (ai.InitialGeneric is ArbiterWaypoint)
{
ArbiterWaypoint aw = (ArbiterWaypoint)ai.InitialGeneric;
width = width < aw.Lane.Width ? aw.Lane.Width : width;
}
if (ai.FinalGeneric is ArbiterWaypoint)
{
ArbiterWaypoint aw = (ArbiterWaypoint)ai.FinalGeneric;
width = width < aw.Lane.Width ? aw.Lane.Width : width;
}
if (ai.TurnDirection == ArbiterTurnDirection.UTurn ||
ai.TurnDirection == ArbiterTurnDirection.Straight ||
!(ai.InitialGeneric is ArbiterWaypoint) ||
!(ai.FinalGeneric is ArbiterWaypoint))
{
LinePath lp = ai.InterconnectPath.ShiftLateral(width / 2.0);
LinePath rp = ai.InterconnectPath.ShiftLateral(-width / 2.0);
polyPoints.AddRange(lp);
polyPoints.AddRange(rp);
ai.TurnPolygon = Polygon.GrahamScan(polyPoints);
if (ai.TurnDirection == ArbiterTurnDirection.UTurn)
{
List <Coordinates> updatedPts = new List <Coordinates>();
LinePath interTmp = ai.InterconnectPath.Clone();
Coordinates pathVec = ai.FinalGeneric.Position - ai.InitialGeneric.Position;
interTmp[1] = interTmp[1] + pathVec.Normalize(width / 2.0);
interTmp[0] = interTmp[0] - pathVec.Normalize(width / 2.0);
lp = interTmp.ShiftLateral(TahoeParams.VL);
rp = interTmp.ShiftLateral(-TahoeParams.VL);
updatedPts.AddRange(lp);
updatedPts.AddRange(rp);
ai.TurnPolygon = Polygon.GrahamScan(updatedPts);
}
}
else
{
// polygon points
List <Coordinates> interPoints = new List <Coordinates>();
// waypoint
ArbiterWaypoint awI = (ArbiterWaypoint)ai.InitialGeneric;
ArbiterWaypoint awF = (ArbiterWaypoint)ai.FinalGeneric;
// left and right path
LinePath leftPath = new LinePath();
LinePath rightPath = new LinePath();
// some initial points
LinePath initialPath = new LinePath(new Coordinates[] { awI.PreviousPartition.Initial.Position, awI.Position });
LinePath il = initialPath.ShiftLateral(width / 2.0);
LinePath ir = initialPath.ShiftLateral(-width / 2.0);
leftPath.Add(il[1]);
rightPath.Add(ir[1]);
// some final points
LinePath finalPath = new LinePath(new Coordinates[] { awF.Position, awF.NextPartition.Final.Position });
LinePath fl = finalPath.ShiftLateral(width / 2.0);
LinePath fr = finalPath.ShiftLateral(-width / 2.0);
leftPath.Add(fl[0]);
rightPath.Add(fr[0]);
// initial and final paths
Line iPath = new Line(awI.PreviousPartition.Initial.Position, awI.Position);
Line fPath = new Line(awF.Position, awF.NextPartition.Final.Position);
// get where the paths intersect and vector to normal path
Coordinates c;
iPath.Intersect(fPath, out c);
Coordinates vector = ai.InterconnectPath.GetClosestPoint(c).Location - c;
Coordinates center = c + vector.Normalize((vector.Length / 2.0));
// get width expansion
Coordinates iVec = awI.PreviousPartition != null?awI.PreviousPartition.Vector().Normalize(1.0) : awI.NextPartition.Vector().Normalize(1.0);
double iRot = -iVec.ArcTan;
Coordinates fVec = awF.NextPartition != null?awF.NextPartition.Vector().Normalize(1.0) : awF.PreviousPartition.Vector().Normalize(1.0);
fVec = fVec.Rotate(iRot);
double fDeg = fVec.ToDegrees();
double arcTan = Math.Atan2(fVec.Y, fVec.X) * 180.0 / Math.PI;
double centerWidth = width + width * 2.0 * Math.Abs(arcTan) / 90.0;
// get inner point (small scale)
Coordinates innerPoint = center + vector.Normalize(centerWidth / 4.0);
// get outer
Coordinates outerPoint = center - vector.Normalize(centerWidth / 2.0);
if (ai.TurnDirection == ArbiterTurnDirection.Right)
{
rightPath.Insert(1, innerPoint);
ai.InnerCoordinates = rightPath;
leftPath.Reverse();
leftPath.Insert(1, outerPoint);
Polygon p = new Polygon(leftPath.ToArray());
p.AddRange(rightPath.ToArray());
ai.TurnPolygon = p;
}
else
{
leftPath.Insert(1, innerPoint);
ai.InnerCoordinates = leftPath;
rightPath.Reverse();
rightPath.Insert(1, outerPoint);
Polygon p = new Polygon(leftPath.ToArray());
p.AddRange(rightPath.ToArray());
ai.TurnPolygon = p;
}
}
}
catch (Exception e)
{
Console.WriteLine("error generating turn polygon: " + ai.ToString());
ai.TurnPolygon = ai.DefaultPoly();
}
}
public void GenerateInterconnectPolygon(ArbiterInterconnect ai)
{
List<Coordinates> polyPoints = new List<Coordinates>();
try
{
// width
double width = 3.0;
if (ai.InitialGeneric is ArbiterWaypoint)
{
ArbiterWaypoint aw = (ArbiterWaypoint)ai.InitialGeneric;
width = width < aw.Lane.Width ? aw.Lane.Width : width;
}
if (ai.FinalGeneric is ArbiterWaypoint)
{
ArbiterWaypoint aw = (ArbiterWaypoint)ai.FinalGeneric;
width = width < aw.Lane.Width ? aw.Lane.Width : width;
}
if (ai.TurnDirection == ArbiterTurnDirection.UTurn ||
ai.TurnDirection == ArbiterTurnDirection.Straight ||
!(ai.InitialGeneric is ArbiterWaypoint) ||
!(ai.FinalGeneric is ArbiterWaypoint))
{
LinePath lp = ai.InterconnectPath.ShiftLateral(width / 2.0);
LinePath rp = ai.InterconnectPath.ShiftLateral(-width / 2.0);
polyPoints.AddRange(lp);
polyPoints.AddRange(rp);
ai.TurnPolygon = Polygon.GrahamScan(polyPoints);
if (ai.TurnDirection == ArbiterTurnDirection.UTurn)
{
List<Coordinates> updatedPts = new List<Coordinates>();
LinePath interTmp = ai.InterconnectPath.Clone();
Coordinates pathVec = ai.FinalGeneric.Position - ai.InitialGeneric.Position;
interTmp[1] = interTmp[1] + pathVec.Normalize(width / 2.0);
interTmp[0] = interTmp[0] - pathVec.Normalize(width / 2.0);
lp = interTmp.ShiftLateral(TahoeParams.VL);
rp = interTmp.ShiftLateral(-TahoeParams.VL);
updatedPts.AddRange(lp);
updatedPts.AddRange(rp);
ai.TurnPolygon = Polygon.GrahamScan(updatedPts);
}
}
else
{
// polygon points
List<Coordinates> interPoints = new List<Coordinates>();
// waypoint
ArbiterWaypoint awI = (ArbiterWaypoint)ai.InitialGeneric;
ArbiterWaypoint awF = (ArbiterWaypoint)ai.FinalGeneric;
// left and right path
LinePath leftPath = new LinePath();
LinePath rightPath = new LinePath();
// some initial points
LinePath initialPath = new LinePath(new Coordinates[] { awI.PreviousPartition.Initial.Position, awI.Position });
LinePath il = initialPath.ShiftLateral(width / 2.0);
LinePath ir = initialPath.ShiftLateral(-width / 2.0);
leftPath.Add(il[1]);
rightPath.Add(ir[1]);
// some final points
LinePath finalPath = new LinePath(new Coordinates[] { awF.Position, awF.NextPartition.Final.Position });
LinePath fl = finalPath.ShiftLateral(width / 2.0);
LinePath fr = finalPath.ShiftLateral(-width / 2.0);
leftPath.Add(fl[0]);
rightPath.Add(fr[0]);
// initial and final paths
Line iPath = new Line(awI.PreviousPartition.Initial.Position, awI.Position);
Line fPath = new Line(awF.Position, awF.NextPartition.Final.Position);
// get where the paths intersect and vector to normal path
Coordinates c;
iPath.Intersect(fPath, out c);
Coordinates vector = ai.InterconnectPath.GetClosestPoint(c).Location - c;
Coordinates center = c + vector.Normalize((vector.Length / 2.0));
// get width expansion
Coordinates iVec = awI.PreviousPartition != null ? awI.PreviousPartition.Vector().Normalize(1.0) : awI.NextPartition.Vector().Normalize(1.0);
double iRot = -iVec.ArcTan;
Coordinates fVec = awF.NextPartition != null ? awF.NextPartition.Vector().Normalize(1.0) : awF.PreviousPartition.Vector().Normalize(1.0);
fVec = fVec.Rotate(iRot);
double fDeg = fVec.ToDegrees();
double arcTan = Math.Atan2(fVec.Y, fVec.X) * 180.0 / Math.PI;
double centerWidth = width + width * 2.0 * Math.Abs(arcTan) / 90.0;
// get inner point (small scale)
Coordinates innerPoint = center + vector.Normalize(centerWidth / 4.0);
// get outer
Coordinates outerPoint = center - vector.Normalize(centerWidth / 2.0);
if (ai.TurnDirection == ArbiterTurnDirection.Right)
{
rightPath.Insert(1, innerPoint);
ai.InnerCoordinates = rightPath;
leftPath.Reverse();
leftPath.Insert(1, outerPoint);
Polygon p = new Polygon(leftPath.ToArray());
p.AddRange(rightPath.ToArray());
ai.TurnPolygon = p;
}
else
{
leftPath.Insert(1, innerPoint);
ai.InnerCoordinates = leftPath;
rightPath.Reverse();
rightPath.Insert(1, outerPoint);
Polygon p = new Polygon(leftPath.ToArray());
p.AddRange(rightPath.ToArray());
ai.TurnPolygon = p;
}
}
}
catch (Exception e)
{
Console.WriteLine("error generating turn polygon: " + ai.ToString());
ai.TurnPolygon = ai.DefaultPoly();
}
}