public static bool polygonCollidesWithlineSegment(Polygon poly, IntPoint transformed_startPoint, IntPoint transformed_endPoint, PointMatrix transformation_matrix)
{
IntPoint p0 = transformation_matrix.apply(poly.back());
foreach (IntPoint p1_ in poly)
{
IntPoint p1 = transformation_matrix.apply(p1_);
if ((p0.Y >= transformed_startPoint.Y && p1.Y <= transformed_startPoint.Y) || (p1.Y >= transformed_startPoint.Y && p0.Y <= transformed_startPoint.Y))
{
long x;
if (p1.Y == p0.Y)
{
x = p0.X;
}
else
{
x = p0.X + (p1.X - p0.X) * (transformed_startPoint.Y - p0.Y) / (p1.Y - p0.Y);
}
if (x >= transformed_startPoint.X && x <= transformed_endPoint.X)
{
return(true);
}
}
p0 = p1;
}
return(false);
}
public static bool polygonCollidesWithlineSegment(Polygon poly, IntPoint startPoint, IntPoint endPoint)
{
IntPoint diff = endPoint - startPoint;
PointMatrix transformation_matrix = new PointMatrix(diff);
IntPoint transformed_startPoint = transformation_matrix.apply(startPoint);
IntPoint transformed_endPoint = transformation_matrix.apply(endPoint);
return(polygonCollidesWithlineSegment(poly, transformed_startPoint, transformed_endPoint, transformation_matrix));
}
public static void ApplyMatrix(this Polygons polygons, PointMatrix matrix)
{
for (int i = 0; i < polygons.Count; i++)
{
for (int j = 0; j < polygons[i].Count; j++)
{
polygons[i][j] = matrix.apply(polygons[i][j]);
}
}
}
public static void ApplyMatrix(this Polygons polygons, PointMatrix matrix)
{
for (int i = 0; i < polygons.Count; i++)
{
for (int j = 0; j < polygons[i].Count; j++)
{
polygons[i][j] = matrix.apply(polygons[i][j]);
}
}
}
private void CalcMinMax()
{
int errorDist = 100;
for (int bounderyIndex = 0; bounderyIndex < bounderyPolygons.Count; bounderyIndex++)
{
Polygon boundryPolygon = bounderyPolygons[bounderyIndex];
minXPosition[bounderyIndex] = long.MaxValue;
maxXPosition[bounderyIndex] = long.MinValue;
IntPoint previousPosition = lineToSameYMatrix.apply(boundryPolygon[boundryPolygon.Count - 1]);
for (int pointIndex = 0; pointIndex < boundryPolygon.Count; pointIndex++)
{
IntPoint currentPosition = lineToSameYMatrix.apply(boundryPolygon[pointIndex]);
if ((previousPosition.Y + errorDist >= rotatedStartPoint.Y && currentPosition.Y - errorDist <= rotatedStartPoint.Y) ||
(currentPosition.Y + errorDist >= rotatedStartPoint.Y && previousPosition.Y - errorDist <= rotatedStartPoint.Y)) // prev -> current crosses the start -> end
{
if (currentPosition.Y != previousPosition.Y)
{
long x = previousPosition.X + (currentPosition.X - previousPosition.X) * (rotatedStartPoint.Y - previousPosition.Y) / (currentPosition.Y - previousPosition.Y);
if (x + errorDist >= rotatedStartPoint.X && x - errorDist <= rotatedEndPoint.X)
{
if (x - errorDist <= minXPosition[bounderyIndex])
{
minXPosition[bounderyIndex] = x;
indexOfMinX[bounderyIndex] = pointIndex;
}
if (x + errorDist > maxXPosition[bounderyIndex])
{
maxXPosition[bounderyIndex] = x;
indexOfMaxX[bounderyIndex] = pointIndex;
}
}
}
}
previousPosition = currentPosition;
}
}
}
void calcMinMax()
{
for (int bounderyIndex = 0; bounderyIndex < bounderyPolygons.Count; bounderyIndex++)
{
Polygon boundryPolygon = bounderyPolygons[bounderyIndex];
minXPosition[bounderyIndex] = long.MaxValue;
maxXPosition[bounderyIndex] = long.MinValue;
IntPoint previousPosition = matrix.apply(boundryPolygon[boundryPolygon.Count - 1]);
for (int pointIndex = 0; pointIndex < boundryPolygon.Count; pointIndex++)
{
IntPoint currentPosition = matrix.apply(boundryPolygon[pointIndex]);
if ((previousPosition.Y > nomalizedStartPoint.Y && currentPosition.Y < nomalizedStartPoint.Y) ||
(currentPosition.Y > nomalizedStartPoint.Y && previousPosition.Y < nomalizedStartPoint.Y))
{
long x = previousPosition.X + (currentPosition.X - previousPosition.X) * (nomalizedStartPoint.Y - previousPosition.Y) / (currentPosition.Y - previousPosition.Y);
if (x >= nomalizedStartPoint.X && x <= normalizedEndPoint.X)
{
if (x < minXPosition[bounderyIndex])
{
minXPosition[bounderyIndex] = x;
indexOfMinX[bounderyIndex] = pointIndex;
}
if (x > maxXPosition[bounderyIndex])
{
maxXPosition[bounderyIndex] = x;
indexOfMaxX[bounderyIndex] = pointIndex;
}
}
}
previousPosition = currentPosition;
}
}
}
bool collisionTest(IntPoint startPoint, IntPoint endPoint)
{
IntPoint diff = endPoint - startPoint;
matrix = new PointMatrix(diff);
this.nomalizedStartPoint = matrix.apply(startPoint);
this.normalizedEndPoint = matrix.apply(endPoint);
for (int bounderyIndex = 0; bounderyIndex < bounderyPolygons.Count; bounderyIndex++)
{
Polygon boundryPolygon = bounderyPolygons[bounderyIndex];
if (boundryPolygon.Count < 1)
{
continue;
}
IntPoint lastPosition = matrix.apply(boundryPolygon[boundryPolygon.Count - 1]);
for (int pointIndex = 0; pointIndex < boundryPolygon.Count; pointIndex++)
{
IntPoint currentPosition = matrix.apply(boundryPolygon[pointIndex]);
if ((lastPosition.Y > nomalizedStartPoint.Y && currentPosition.Y < nomalizedStartPoint.Y) ||
(currentPosition.Y > nomalizedStartPoint.Y && lastPosition.Y < nomalizedStartPoint.Y))
{
long x = lastPosition.X + (currentPosition.X - lastPosition.X) * (nomalizedStartPoint.Y - lastPosition.Y) / (currentPosition.Y - lastPosition.Y);
if (x > nomalizedStartPoint.X && x < normalizedEndPoint.X)
{
return(true);
}
}
lastPosition = currentPosition;
}
}
return(false);
}
public static bool polygonCollidesWithlineSegment(Polygons polys, IntPoint startPoint, IntPoint endPoint)
{
IntPoint diff = endPoint - startPoint;
PointMatrix transformation_matrix = new PointMatrix(diff);
IntPoint transformed_startPoint = transformation_matrix.apply(startPoint);
IntPoint transformed_endPoint = transformation_matrix.apply(endPoint);
return polygonCollidesWithlineSegment(polys, transformed_startPoint, transformed_endPoint, transformation_matrix);
}
public bool CreatePathInsideBoundary(IntPoint startPoint, IntPoint endPoint, List <IntPoint> pathThatIsInside)
{
if (saveDebugData)
{
using (StreamWriter sw = File.AppendText("test.txt"))
{
if (boundry)
{
string pointsString = bounderyPolygons.WriteToString();
sw.WriteLine(pointsString);
}
sw.WriteLine(startPoint.ToString() + " " + endPoint.ToString());
}
}
if ((endPoint - startPoint).ShorterThen(1500))
{
// If the movement is very short (not a lot of time to ooze filament)
// then don't add any points
return(true);
}
bool addEndpoint = false;
//Check if we are inside the comb boundaries
if (!PointIsInsideBoundary(startPoint))
{
if (!MovePointInsideBoundary(ref startPoint))
{
//If we fail to move the point inside the comb boundary we need to retract.
return(false);
}
pathThatIsInside.Add(startPoint);
}
if (!PointIsInsideBoundary(endPoint))
{
if (!MovePointInsideBoundary(ref endPoint))
{
//If we fail to move the point inside the comb boundary we need to retract.
return(false);
}
addEndpoint = true;
}
// Check if we are crossing any bounderies
if (!DoesLineCrossBoundery(startPoint, endPoint))
{
//We're not crossing any boundaries. So skip the comb generation.
if (!addEndpoint && pathThatIsInside.Count == 0)
{
//Only skip if we didn't move the start and end point.
return(true);
}
}
// Calculate the matrix to change points so they are in the direction of the line segment.
{
IntPoint diff = endPoint - startPoint;
lineToSameYMatrix = new PointMatrix(diff);
this.rotatedStartPoint = lineToSameYMatrix.apply(startPoint);
this.rotatedEndPoint = lineToSameYMatrix.apply(endPoint);
}
// Calculate the minimum and maximum positions where we cross the comb boundary
CalcMinMax();
long nomalizedStartX = rotatedStartPoint.X;
List <IntPoint> pointList = new List <IntPoint>();
// Now walk trough the crossings, for every boundary we cross, find the initial cross point and the exit point.
// Then add all the points in between to the pointList and continue with the next boundary we will cross,
// until there are no more boundaries to cross.
// This gives a path from the start to finish curved around the holes that it encounters.
while (true)
{
// if we go up enough we should run into the boundry
int abovePolyIndex = GetPolygonIndexAbove(nomalizedStartX);
if (abovePolyIndex < 0)
{
break;
}
pointList.Add(lineToSameYMatrix.unapply(new IntPoint(minXPosition[abovePolyIndex] - 200, rotatedStartPoint.Y)));
if ((indexOfMinX[abovePolyIndex] - indexOfMaxX[abovePolyIndex] + bounderyPolygons[abovePolyIndex].Count) % bounderyPolygons[abovePolyIndex].Count > (indexOfMaxX[abovePolyIndex] - indexOfMinX[abovePolyIndex] + bounderyPolygons[abovePolyIndex].Count) % bounderyPolygons[abovePolyIndex].Count)
{
for (int i = indexOfMinX[abovePolyIndex]; i != indexOfMaxX[abovePolyIndex]; i = (i < bounderyPolygons[abovePolyIndex].Count - 1) ? (i + 1) : (0))
{
pointList.Add(GetBounderyPointWithOffset(abovePolyIndex, i));
}
}
else
{
indexOfMinX[abovePolyIndex]--;
if (indexOfMinX[abovePolyIndex] == -1)
{
indexOfMinX[abovePolyIndex] = bounderyPolygons[abovePolyIndex].Count - 1;
}
indexOfMaxX[abovePolyIndex]--;
if (indexOfMaxX[abovePolyIndex] == -1)
{
indexOfMaxX[abovePolyIndex] = bounderyPolygons[abovePolyIndex].Count - 1;
}
for (int i = indexOfMinX[abovePolyIndex]; i != indexOfMaxX[abovePolyIndex]; i = (i > 0) ? (i - 1) : (bounderyPolygons[abovePolyIndex].Count - 1))
{
pointList.Add(GetBounderyPointWithOffset(abovePolyIndex, i));
}
}
pointList.Add(lineToSameYMatrix.unapply(new IntPoint(maxXPosition[abovePolyIndex] + 200, rotatedStartPoint.Y)));
nomalizedStartX = maxXPosition[abovePolyIndex];
}
pointList.Add(endPoint);
if (addEndpoint)
{
pointList.Add(endPoint);
}
#if false
// Optimize the pointList, skip each point we could already reach by connecting directly to the next point.
for (int startIndex = 0; startIndex < pointList.Count - 2; startIndex++)
{
IntPoint startPosition = pointList[startIndex];
// make sure there is at least one point between the start and the end to optomize
if (pointList.Count > startIndex + 2)
{
for (int checkIndex = pointList.Count - 1; checkIndex > startIndex + 1; checkIndex--)
{
IntPoint checkPosition = pointList[checkIndex];
if (!DoesLineCrossBoundery(startPosition, checkPosition))
{
// Remove all the points from startIndex+1 to checkIndex-1, inclusive.
for (int i = startIndex + 1; i < checkIndex; i++)
{
pointList.RemoveAt(startIndex + 1);
}
// we removed all the points up to start so we are done with the inner loop
break;
}
}
}
}
#endif
foreach (IntPoint point in pointList)
{
pathThatIsInside.Add(point);
}
return(true);
}
public bool CreatePathInsideBoundary(IntPoint startPoint, IntPoint endPoint, List<IntPoint> pathThatIsInside)
{
if (saveDebugData)
{
using (StreamWriter sw = File.AppendText("test.txt"))
{
if (boundry)
{
string pointsString = bounderyPolygons.WriteToString();
sw.WriteLine(pointsString);
}
sw.WriteLine(startPoint.ToString() + " " + endPoint.ToString());
}
}
if ((endPoint - startPoint).ShorterThen(1500))
{
// If the movement is very short (not a lot of time to ooze filament)
// then don't add any points
return true;
}
bool addEndpoint = false;
//Check if we are inside the comb boundaries
if (!PointIsInsideBoundary(startPoint))
{
if (!MovePointInsideBoundary(ref startPoint))
{
//If we fail to move the point inside the comb boundary we need to retract.
return false;
}
pathThatIsInside.Add(startPoint);
}
if (!PointIsInsideBoundary(endPoint))
{
if (!MovePointInsideBoundary(ref endPoint))
{
//If we fail to move the point inside the comb boundary we need to retract.
return false;
}
addEndpoint = true;
}
// Check if we are crossing any bounderies
if (!DoesLineCrossBoundery(startPoint, endPoint))
{
//We're not crossing any boundaries. So skip the comb generation.
if (!addEndpoint && pathThatIsInside.Count == 0)
{
//Only skip if we didn't move the start and end point.
return true;
}
}
// Calculate the matrix to change points so they are in the direction of the line segment.
{
IntPoint diff = endPoint - startPoint;
lineToSameYMatrix = new PointMatrix(diff);
this.rotatedStartPoint = lineToSameYMatrix.apply(startPoint);
this.rotatedEndPoint = lineToSameYMatrix.apply(endPoint);
}
// Calculate the minimum and maximum positions where we cross the comb boundary
CalcMinMax();
long nomalizedStartX = rotatedStartPoint.X;
List<IntPoint> pointList = new List<IntPoint>();
// Now walk trough the crossings, for every boundary we cross, find the initial cross point and the exit point.
// Then add all the points in between to the pointList and continue with the next boundary we will cross,
// until there are no more boundaries to cross.
// This gives a path from the start to finish curved around the holes that it encounters.
while (true)
{
// if we go up enough we should run into the boundry
int abovePolyIndex = GetPolygonIndexAbove(nomalizedStartX);
if (abovePolyIndex < 0)
{
break;
}
pointList.Add(lineToSameYMatrix.unapply(new IntPoint(minXPosition[abovePolyIndex] - 200, rotatedStartPoint.Y)));
if ((indexOfMinX[abovePolyIndex] - indexOfMaxX[abovePolyIndex] + bounderyPolygons[abovePolyIndex].Count) % bounderyPolygons[abovePolyIndex].Count > (indexOfMaxX[abovePolyIndex] - indexOfMinX[abovePolyIndex] + bounderyPolygons[abovePolyIndex].Count) % bounderyPolygons[abovePolyIndex].Count)
{
for (int i = indexOfMinX[abovePolyIndex]; i != indexOfMaxX[abovePolyIndex]; i = (i < bounderyPolygons[abovePolyIndex].Count - 1) ? (i + 1) : (0))
{
pointList.Add(GetBounderyPointWithOffset(abovePolyIndex, i));
}
}
else
{
indexOfMinX[abovePolyIndex]--;
if (indexOfMinX[abovePolyIndex] == -1)
{
indexOfMinX[abovePolyIndex] = bounderyPolygons[abovePolyIndex].Count - 1;
}
indexOfMaxX[abovePolyIndex]--;
if (indexOfMaxX[abovePolyIndex] == -1)
{
indexOfMaxX[abovePolyIndex] = bounderyPolygons[abovePolyIndex].Count - 1;
}
for (int i = indexOfMinX[abovePolyIndex]; i != indexOfMaxX[abovePolyIndex]; i = (i > 0) ? (i - 1) : (bounderyPolygons[abovePolyIndex].Count - 1))
{
pointList.Add(GetBounderyPointWithOffset(abovePolyIndex, i));
}
}
pointList.Add(lineToSameYMatrix.unapply(new IntPoint(maxXPosition[abovePolyIndex] + 200, rotatedStartPoint.Y)));
nomalizedStartX = maxXPosition[abovePolyIndex];
}
pointList.Add(endPoint);
if (addEndpoint)
{
pointList.Add(endPoint);
}
#if false
// Optimize the pointList, skip each point we could already reach by connecting directly to the next point.
for (int startIndex = 0; startIndex < pointList.Count - 2; startIndex++)
{
IntPoint startPosition = pointList[startIndex];
// make sure there is at least one point between the start and the end to optomize
if (pointList.Count > startIndex + 2)
{
for (int checkIndex = pointList.Count - 1; checkIndex > startIndex + 1; checkIndex--)
{
IntPoint checkPosition = pointList[checkIndex];
if (!DoesLineCrossBoundery(startPosition, checkPosition))
{
// Remove all the points from startIndex+1 to checkIndex-1, inclusive.
for (int i = startIndex + 1; i < checkIndex; i++)
{
pointList.RemoveAt(startIndex + 1);
}
// we removed all the points up to start so we are done with the inner loop
break;
}
}
}
}
#endif
foreach (IntPoint point in pointList)
{
pathThatIsInside.Add(point);
}
return true;
}
public static bool polygonCollidesWithlineSegment(Polygon poly, IntPoint transformed_startPoint, IntPoint transformed_endPoint, PointMatrix transformation_matrix)
{
IntPoint p0 = transformation_matrix.apply(poly.back());
foreach (IntPoint p1_ in poly)
{
IntPoint p1 = transformation_matrix.apply(p1_);
if ((p0.Y >= transformed_startPoint.Y && p1.Y <= transformed_startPoint.Y) || (p1.Y >= transformed_startPoint.Y && p0.Y <= transformed_startPoint.Y))
{
long x;
if (p1.Y == p0.Y)
{
x = p0.X;
}
else
{
x = p0.X + (p1.X - p0.X) * (transformed_startPoint.Y - p0.Y) / (p1.Y - p0.Y);
}
if (x >= transformed_startPoint.X && x <= transformed_endPoint.X)
return true;
}
p0 = p1;
}
return false;
}
