private void CreateOutOfBoundsFreePoint(FreePoint freePoint) {
// For an out of bounds (OOB) point, we'll link one edge from it to the inbounds edge if it's
// out of bounds in only one direction; if in two, we'll add a bend. Currently we don't need
// to do any more because multiple waypoints are processed as multiple subpaths.
var oobLocation = freePoint.Point;
Point inboundsLocation = graphGenerator.MakeInBoundsLocation(oobLocation);
Directions dirFromGraph = PointComparer.GetDirections(inboundsLocation, oobLocation);
freePoint.OutOfBoundsDirectionFromGraph = dirFromGraph;
if (!PointComparer.IsPureDirection(dirFromGraph)) {
// It's OOB in two directions so will need a bend, but we know inboundsLocation
// is a graph corner so it has a vertex already and we don't need to look up sides.
StaticGraphUtility.Assert(null != VisGraph.FindVertex(inboundsLocation), "graph corner vertex not found", ObstacleTree, VisGraph);
freePoint.AddOobEdgesFromGraphCorner(TransUtil, inboundsLocation);
return;
}
// We know inboundsLocation is on the nearest graphBox border ScanSegment, so this won't return a
// null edge, and we'll just do normal join-to-one-edge handling, extending in the direction to the graph.
var inboundsVertex = this.VisGraph.FindVertex(inboundsLocation);
var dirToGraph = CompassVector.OppositeDir(dirFromGraph);
if (null != inboundsVertex) {
freePoint.AddToAdjacentVertex(this.TransUtil, inboundsVertex, dirToGraph, this.portSpliceLimitRectangle);
}
else {
var edge = this.FindorCreateNearestPerpEdge(oobLocation, inboundsLocation, dirFromGraph, ScanSegment.NormalWeight);
if (null != edge) {
inboundsVertex = freePoint.AddEdgeToAdjacentEdge(this.TransUtil, edge, dirToGraph, this.portSpliceLimitRectangle);
}
}
// This may be an oob waypoint, in which case we want to add additional edges so we can
// go outside graph, cross the waypoint, and come back in. Shortest-paths will do the
// work of determining the optimal path, to avoid backtracking.
var inboundsLeftVertex = StaticGraphUtility.FindNextVertex(inboundsVertex, CompassVector.RotateLeft(dirToGraph));
if (inboundsLeftVertex != null) {
this.TransUtil.ConnectVertexToTargetVertex(freePoint.Vertex, inboundsLeftVertex, dirToGraph, ScanSegment.NormalWeight);
}
var inboundsRightVertex = StaticGraphUtility.FindNextVertex(inboundsVertex, CompassVector.RotateRight(dirToGraph));
if (inboundsRightVertex != null) {
this.TransUtil.ConnectVertexToTargetVertex(freePoint.Vertex, inboundsRightVertex, dirToGraph, ScanSegment.NormalWeight);
}
}
private void ConnectFreePointToLateralEdge(FreePoint freePoint, Directions lateralDir) {
// Turn on pivot vertex to either side to find the next edge to connect to. If the freepoint is
// overlapped (inside an obstacle), just find the closest ScanSegment outside the obstacle and
// start extending from there; otherwise, we can have the FreePoint calculate its max visibility.
var end = freePoint.IsOverlapped ? this.InBoundsGraphBoxIntersect(freePoint.Point, lateralDir)
: freePoint.MaxVisibilityInDirectionForNonOverlappedFreePoint(lateralDir, this.TransUtil);
var lateralEdge = this.FindorCreateNearestPerpEdge(end, freePoint.Point, lateralDir, freePoint.InitialWeight);
// There may be no VisibilityEdge between the current point and any adjoining obstacle in that direction.
if (null != lateralEdge) {
freePoint.AddEdgeToAdjacentEdge(TransUtil, lateralEdge, lateralDir, this.portSpliceLimitRectangle);
}
}