/// <summary>
/// Is the point to the left of the edge?
/// </summary>
bool ToTheLeft(int pi, int li0, int li1)
{
if (li0 == -2)
{
return(Higher(li1, pi));
}
else if (li0 == -1)
{
return(Higher(pi, li1));
}
else if (li1 == -2)
{
return(Higher(pi, li0));
}
else if (li1 == -1)
{
return(Higher(li0, pi));
}
else
{
Debug.Assert(li0 >= 0);
Debug.Assert(li1 >= 0);
return(Geom.ToTheLeft(verts[pi], verts[li0], verts[li1]));
}
}
/// <summary>
/// Is the edge legal, or does it need to be flipped?
/// </summary>
bool LegalEdge(int k, int l, int i, int j)
{
Debug.Assert(k != highest && k >= 0);
var lMagic = l < 0;
var iMagic = i < 0;
var jMagic = j < 0;
Debug.Assert(!(iMagic && jMagic));
if (lMagic)
{
return(true);
}
else if (iMagic)
{
Debug.Assert(!jMagic);
var p = verts[l];
var l0 = verts[k];
var l1 = verts[j];
return(Geom.ToTheLeft(p, l0, l1));
}
else if (jMagic)
{
Debug.Assert(!iMagic);
var p = verts[l];
var l0 = verts[k];
var l1 = verts[i];
return(!Geom.ToTheLeft(p, l0, l1));
}
else {
Debug.Assert(k >= 0 && l >= 0 && i >= 0 && j >= 0);
var p = verts[l];
var c0 = verts[k];
var c1 = verts[i];
var c2 = verts[j];
Debug.Assert(Geom.ToTheLeft(c2, c0, c1));
Debug.Assert(Geom.ToTheLeft(c2, c1, p));
return(!Geom.InsideCircumcircle(p, c0, c1, c2));
}
}
/// <summary>
/// Non-allocating version of CalculateDiagram.
///
/// I guess it's not strictly true that it generates NO garbage, because
/// it might if it has to resize internal buffers, but all buffers are
/// reused from invocation to invocation.
/// </summary>
public void CalculateDiagram(IList <Vector2> inputVertices, ref VoronoiDiagram result)
{
// TODO: special case for 1 points
// TODO: special case for 2 points
// TODO: special case for 3 points
// TODO: special case for collinear points
if (inputVertices.Count < 3)
{
throw new NotImplementedException("Not implemented for < 3 vertices");
}
if (result == null)
{
result = new VoronoiDiagram();
}
var trig = result.Triangulation;
result.Clear();
Profiler.BeginSample("Delaunay triangulation");
delCalc.CalculateTriangulation(inputVertices, ref trig);
Profiler.EndSample();
pts.Clear();
var verts = trig.Vertices;
var tris = trig.Triangles;
var centers = result.Vertices;
var edges = result.Edges;
if (tris.Count > pts.Capacity)
{
{
pts.Capacity = tris.Count;
}
}
if (tris.Count > edges.Capacity)
{
edges.Capacity = tris.Count;
}
for (int ti = 0; ti < tris.Count; ti += 3)
{
var p0 = verts[tris[ti]];
var p1 = verts[tris[ti + 1]];
var p2 = verts[tris[ti + 2]];
// Triangle is in CCW order
Debug.Assert(Geom.ToTheLeft(p2, p0, p1));
centers.Add(Geom.CircumcircleCenter(p0, p1, p2));
}
for (int ti = 0; ti < tris.Count; ti += 3)
{
pts.Add(new PointTriangle(tris[ti], ti));
pts.Add(new PointTriangle(tris[ti + 1], ti));
pts.Add(new PointTriangle(tris[ti + 2], ti));
}
cmp.tris = tris;
cmp.verts = verts;
Profiler.BeginSample("Sorting");
pts.Sort(cmp);
Profiler.EndSample();
// The comparer lives on between runs of the algorithm, so clear the
// reference to the arrays so that the reference is lost. It may be
// the case that the calculator lives on much longer than the
// results, and not clearing these would keep the results alive,
// leaking memory.
cmp.tris = null;
cmp.verts = null;
for (int i = 0; i < pts.Count; i++)
{
result.FirstEdgeBySite.Add(edges.Count);
var start = i;
var end = -1;
for (int j = i + 1; j < pts.Count; j++)
{
if (pts[i].Point != pts[j].Point)
{
end = j - 1;
break;
}
}
if (end == -1)
{
end = pts.Count - 1;
}
i = end;
var count = end - start;
Debug.Assert(count >= 0);
for (int ptiCurr = start; ptiCurr <= end; ptiCurr++)
{
bool isEdge;
var ptiNext = ptiCurr + 1;
if (ptiNext > end)
{
ptiNext = start;
}
var ptCurr = pts[ptiCurr];
var ptNext = pts[ptiNext];
var tiCurr = ptCurr.Triangle;
var tiNext = ptNext.Triangle;
var p0 = verts[ptCurr.Point];
var v2nan = new Vector2(float.NaN, float.NaN);
if (count == 0)
{
isEdge = true;
}
else if (count == 1)
{
var cCurr = Geom.TriangleCentroid(verts[tris[tiCurr]], verts[tris[tiCurr + 1]], verts[tris[tiCurr + 2]]);
var cNext = Geom.TriangleCentroid(verts[tris[tiNext]], verts[tris[tiNext + 1]], verts[tris[tiNext + 2]]);
isEdge = Geom.ToTheLeft(cCurr, p0, cNext);
}
else
{
isEdge = !SharesEdge(tris, tiCurr, tiNext);
}
if (isEdge)
{
Vector2 v0, v1;
if (ptCurr.Point == tris[tiCurr])
{
v0 = verts[tris[tiCurr + 2]] - verts[tris[tiCurr + 0]];
}
else if (ptCurr.Point == tris[tiCurr + 1])
{
v0 = verts[tris[tiCurr + 0]] - verts[tris[tiCurr + 1]];
}
else
{
Debug.Assert(ptCurr.Point == tris[tiCurr + 2]);
v0 = verts[tris[tiCurr + 1]] - verts[tris[tiCurr + 2]];
}
if (ptNext.Point == tris[tiNext])
{
v1 = verts[tris[tiNext + 0]] - verts[tris[tiNext + 1]];
}
else if (ptNext.Point == tris[tiNext + 1])
{
v1 = verts[tris[tiNext + 1]] - verts[tris[tiNext + 2]];
}
else
{
Debug.Assert(ptNext.Point == tris[tiNext + 2]);
v1 = verts[tris[tiNext + 2]] - verts[tris[tiNext + 0]];
}
edges.Add(new VoronoiDiagram.Edge(
VoronoiDiagram.EdgeType.RayCCW,
ptCurr.Point,
tiCurr / 3,
-1,
Geom.RotateRightAngle(v0)
));
edges.Add(new VoronoiDiagram.Edge(
VoronoiDiagram.EdgeType.RayCW,
ptCurr.Point,
tiNext / 3,
-1,
Geom.RotateRightAngle(v1)
));
}
else
{
if (!Geom.AreCoincident(centers[tiCurr / 3], centers[tiNext / 3]))
{
edges.Add(new VoronoiDiagram.Edge(
VoronoiDiagram.EdgeType.Segment,
ptCurr.Point,
tiCurr / 3,
tiNext / 3,
v2nan
));
}
}
}
}
}
/// <summary>
/// Clip site of voronoi diagram using polygon (must be convex),
/// returning the clipped vertices in clipped list. Modifies neither
/// polygon nor diagram, so can be run in parallel for several sites at
/// once.
/// </summary>
public void ClipSite(VoronoiDiagram diag, IList <Vector2> polygon, int site, ref List <Vector2> clipped)
{
pointsIn.Clear();
pointsIn.AddRange(polygon);
int firstEdge, lastEdge;
if (site == diag.Sites.Count - 1)
{
firstEdge = diag.FirstEdgeBySite[site];
lastEdge = diag.Edges.Count - 1;
}
else
{
firstEdge = diag.FirstEdgeBySite[site];
lastEdge = diag.FirstEdgeBySite[site + 1] - 1;
}
for (int ei = firstEdge; ei <= lastEdge; ei++)
{
pointsOut.Clear();
var edge = diag.Edges[ei];
Vector2 lp, ld;
if (edge.Type == VoronoiDiagram.EdgeType.RayCCW || edge.Type == VoronoiDiagram.EdgeType.RayCW)
{
lp = diag.Vertices[edge.Vert0];
ld = edge.Direction;
if (edge.Type == VoronoiDiagram.EdgeType.RayCW)
{
ld *= -1;
}
}
else if (edge.Type == VoronoiDiagram.EdgeType.Segment)
{
var lp0 = diag.Vertices[edge.Vert0];
var lp1 = diag.Vertices[edge.Vert1];
lp = lp0;
ld = lp1 - lp0;
}
else if (edge.Type == VoronoiDiagram.EdgeType.Line)
{
throw new NotSupportedException("Haven't implemented voronoi halfplanes yet");
}
else
{
Debug.Assert(false);
return;
}
for (int pi0 = 0; pi0 < pointsIn.Count; pi0++)
{
var pi1 = pi0 == pointsIn.Count - 1 ? 0 : pi0 + 1;
var p0 = pointsIn[pi0];
var p1 = pointsIn[pi1];
var p0Inside = Geom.ToTheLeft(p0, lp, lp + ld);
var p1Inside = Geom.ToTheLeft(p1, lp, lp + ld);
if (p0Inside && p1Inside)
{
pointsOut.Add(p1);
}
else if (!p0Inside && !p1Inside)
{
// Do nothing, both are outside
}
else
{
var intersection = Geom.LineLineIntersection(lp, ld.normalized, p0, (p1 - p0).normalized);
if (p0Inside)
{
pointsOut.Add(intersection);
}
else if (p1Inside)
{
pointsOut.Add(intersection);
pointsOut.Add(p1);
}
else
{
Debug.Assert(false);
}
}
}
var tmp = pointsIn;
pointsIn = pointsOut;
pointsOut = tmp;
}
if (clipped == null)
{
clipped = new List <Vector2>();
}
else
{
clipped.Clear();
}
clipped.AddRange(pointsIn);
/*
* pointsIn.Clear();
*
* pointsIn.AddRange(polygon);
*
* int firstEdge, lastEdge;
*
* if (site == diag.Sites.Count - 1)
* {
* firstEdge = diag.FirstEdgeBySite[site];
* lastEdge = diag.Edges.Count - 1;
* }
* else
* {
* firstEdge = diag.FirstEdgeBySite[site];
* lastEdge = diag.FirstEdgeBySite[site + 1] - 1;
* }
*
* for (int ei = firstEdge; ei <= lastEdge; ei++)
* {
* pointsOut.Clear();
*
* var edge = diag.Edges[ei];
*
* Vector2 lp, ld;
*
* if (edge.Type == VoronoiDiagram.EdgeType.RayCCW || edge.Type == VoronoiDiagram.EdgeType.RayCW)
* {
* lp = diag.Vertices[edge.Vert0];
* ld = edge.Direction;
*
* if (edge.Type == VoronoiDiagram.EdgeType.RayCW)
* {
* ld *= -1;
* }
* }
* else if (edge.Type == VoronoiDiagram.EdgeType.Segment)
* {
* var lp0 = diag.Vertices[edge.Vert0];
* var lp1 = diag.Vertices[edge.Vert1];
*
* lp = lp0;
* ld = lp1 - lp0;
* }
* else if (edge.Type == VoronoiDiagram.EdgeType.Line)
* {
* throw new NotSupportedException("Haven't implemented voronoi halfplanes yet");
* }
* else
* {
* Debug.Assert(false);
* return;
* }
*
* for (int pi0 = 0; pi0 < pointsIn.Count; pi0++)
* {
* var pi1 = pi0 == pointsIn.Count - 1 ? 0 : pi0 + 1;
*
* var p0 = pointsIn[pi0];
* var p1 = pointsIn[pi1];
*
* var p0Inside = Geom.ToTheLeft(p0, lp, lp + ld);
* var p1Inside = Geom.ToTheLeft(p1, lp, lp + ld);
*
* if (p0Inside && p1Inside)
* {
* pointsOut.Add(p1);
* }
* else if (!p0Inside && !p1Inside)
* {
* // Do nothing, both are outside
* }
* else
* {
* var intersection = Geom.LineLineIntersection(lp, ld.normalized, p0, (p1 - p0).normalized);
*
* if (p0Inside)
* {
* pointsOut.Add(intersection);
* }
* else if (p1Inside)
* {
* pointsOut.Add(intersection);
* pointsOut.Add(p1);
* }
* else
* {
* Debug.Assert(false);
* }
* }
* }
*
* if(pointsOut.Count == 0)
* {
* //pointsOut = new List<Vector2>(pointsIn);
* }
*
* var tmp = pointsIn;
* pointsIn = pointsOut;
* pointsOut = tmp;
* }
*
* if (clipped == null)
* {
* clipped = new List<Vector2>();
* }
* else
* {
* clipped.Clear();
* }
*
* clipped.AddRange(pointsIn);
*
*/
}