private BoolExpr handlePolygonalObstacle(PolygonalObstacle obstacle, Context ctx, IntExpr[] sourcesX, IntExpr[] sourcesY,
IntExpr[] destinationsX, IntExpr[] destinationsY)
{
List <LineSegment> segments = obstacle.getLines();
List <BoolExpr> avoidingLines = new List <BoolExpr>();
foreach (LineSegment segment in segments)
{
if (segment.isHorizontal)
{
int leftX = (segment.start.x < segment.end.x ? segment.start.x : segment.end.x) - obstaclePassDistance;
int leftY = segment.start.y - obstaclePassDistance;
RectangularObstacle rectangle = new RectangularObstacle(2 * obstaclePassDistance,
Coordinate.getXDistanceBetweenCoordinates(segment.start, segment.end) + 2 * obstaclePassDistance,
new Coordinate(leftX, leftY));
avoidingLines.Add(handleRectangularObstacle(rectangle, ctx, sourcesX, sourcesY, destinationsX, destinationsY));
}
else if (segment.isVertical)
{
int leftY = (segment.start.y < segment.end.y ? segment.start.y : segment.end.y) - obstaclePassDistance;
int leftX = segment.start.x - obstaclePassDistance;
RectangularObstacle rectangle = new RectangularObstacle(Coordinate.getYDistanceBetweenCoordinates(segment.start, segment.end)
+ 2 * obstaclePassDistance, 2 * obstaclePassDistance, new Coordinate(leftX, leftY));
avoidingLines.Add(handleRectangularObstacle(rectangle, ctx, sourcesX, sourcesY, destinationsX, destinationsY));
}
else
{
avoidingLines.Add(handleCurvedLine(segment, ctx, sourcesX, sourcesY, destinationsX, destinationsY));
}
}
return(ctx.MkAnd(ctx.MkAnd(avoidingLines.ToArray())));
}
private void drawPolygonalObstacle(PolygonalObstacle o)
{
Coordinate[] relLocs = new Coordinate[o.points.Count];
for (int i = 0; i < o.points.Count; i++)
{
Coordinate c = calculateRelativeCanvasPosition(o.points[i]);
relLocs[i] = c;
}
graphicsObj.DrawPolygon(obstaclePen, relLocs.Select(item => new Point(item.x, item.y)).ToArray());
}
private BoolExpr handlePolygonEndPoints(PolygonalObstacle obstacle, Context ctx, IntExpr[] sourcesX, IntExpr[] sourcesY,
IntExpr[] destinationsX, IntExpr[] destinationsY)
{
List <BoolExpr> avoidingEndPoints = new List <BoolExpr>();
List <LineSegment> segments = obstacle.getLines();
foreach (LineSegment segment in segments)
{
RectangularObstacle first = new RectangularObstacle(obstaclePassDistance * 2, obstaclePassDistance * 2,
new Coordinate(segment.start.x - obstaclePassDistance, segment.start.y - obstaclePassDistance));
RectangularObstacle second = new RectangularObstacle(obstaclePassDistance * 2, obstaclePassDistance * 2,
new Coordinate(segment.end.x - obstaclePassDistance, segment.end.y - obstaclePassDistance));
avoidingEndPoints.Add(handleRectangularObstacle(first, ctx, destinationsX, destinationsY, sourcesX, sourcesY));
avoidingEndPoints.Add(handleRectangularObstacle(second, ctx, destinationsX, destinationsY, sourcesX, sourcesY));
}
return(ctx.MkAnd(avoidingEndPoints.ToArray()));
}
