// with the manual startpoint, which is a hint
private static Point2F prepare_segments_w_hinted_starpoint(Topographer topo, List <Line2F> segments, Segpool pool, double min_dist_to_wall, double general_tolerance, Point2F startpoint)
{
// same as automatic, but seek the segment with the closest end to startpoint
double min_dist = double.MaxValue;
Point2F tree_start = Point2F.Undefined;
foreach (Line2F seg in segments)
{
double r1 = topo.Get_dist_to_wall(seg.p1);
double r2 = topo.Get_dist_to_wall(seg.p2);
if (r1 >= min_dist_to_wall)
{
pool.Add(seg, false);
double dist = startpoint.DistanceTo(seg.p1);
if (dist < min_dist)
{
min_dist = dist;
tree_start = seg.p1;
}
}
if (r2 >= min_dist_to_wall)
{
pool.Add(seg, true);
double dist = startpoint.DistanceTo(seg.p2);
if (dist < min_dist)
{
min_dist = dist;
tree_start = seg.p2;
}
}
}
return(tree_start);
}
// with the manual startpoint
private static Point2F prepare_segments_w_manual_starpoint(Topographer topo, List <Line2F> segments, Segpool pool, double min_dist_to_wall, double general_tolerance, Point2F startpoint)
{
// same as automatic, but seek the segment with the closest end to startpoint
if (!topo.Is_line_inside_region(new Line2F(startpoint, startpoint), general_tolerance))
{
Logger.warn("startpoint is outside the pocket");
return(Point2F.Undefined);
}
if (topo.Get_dist_to_wall(startpoint) < min_dist_to_wall)
{
Logger.warn("startpoint radius < tool radius");
return(Point2F.Undefined);
}
double min_dist = double.MaxValue;
Point2F tree_start = Point2F.Undefined;
foreach (Line2F seg in segments)
{
double r1 = topo.Get_dist_to_wall(seg.p1);
double r2 = topo.Get_dist_to_wall(seg.p2);
if (r1 >= min_dist_to_wall)
{
pool.Add(seg, false);
double dist = startpoint.DistanceTo(seg.p1);
if (dist < min_dist && topo.Is_line_inside_region(new Line2F(startpoint, seg.p1), general_tolerance))
{
min_dist = dist;
tree_start = seg.p1;
}
}
if (r2 >= min_dist_to_wall)
{
pool.Add(seg, true);
double dist = startpoint.DistanceTo(seg.p2);
if (dist < min_dist && topo.Is_line_inside_region(new Line2F(startpoint, seg.p2), general_tolerance))
{
min_dist = dist;
tree_start = seg.p2;
}
}
}
return(tree_start);
}
private static Point2F prepare_segments_w_auto_startpoint(Topographer topo, List <Line2F> segments, Segpool pool, double min_dist_to_wall)
{
// segments are analyzed for mic radius from both ends. passed segmens are inserted in segpool
// hashed by one or both endpoints. if endpoint is not hashed, segment wouldn't be followed
// from that side, preventing formation of bad tree.
// segments are connected later in a greedy fashion, hopefully forming a medial axis covering all
// pocket.
// start segment is the one with the largest mic
double max_r = double.MinValue;
Point2F tree_start = Point2F.Undefined;
foreach (Line2F seg in segments)
{
double r1 = topo.Get_dist_to_wall(seg.p1);
double r2 = topo.Get_dist_to_wall(seg.p2);
if (r1 >= min_dist_to_wall)
{
pool.Add(seg, false);
if (r1 > max_r)
{
max_r = r1;
tree_start = seg.p1;
}
}
if (r2 >= min_dist_to_wall)
{
pool.Add(seg, true);
if (r2 > max_r)
{
max_r = r2;
tree_start = seg.p2;
}
}
}
return(tree_start);
}
private double get_mic_radius(Point2F pt)
{
return(_topo.Get_dist_to_wall(pt) - _tool_r - _margin);
}