internal static RectangleNode <Polyline> ReplaceTightObstaclesWithConvexHulls(Set <Polyline> tightObsts, IEnumerable <Tuple <Polyline, Polyline> > overlappingPairSet)
{
var overlapping = new Set <Polyline>();
foreach (var pair in overlappingPairSet)
{
overlapping.Insert(pair.Item1);
overlapping.Insert(pair.Item2);
}
var intToPoly = overlapping.ToArray();
var polyToInt = MapToInt(intToPoly);
var graph = new BasicGraph <IntPair>(
overlappingPairSet.
Select(pair => new IntPair(polyToInt[pair.Item1], polyToInt[pair.Item2])));
var connectedComponents = ConnectedComponentCalculator <IntPair> .GetComponents(graph);
foreach (var component in connectedComponents)
{
var polys = component.Select(i => intToPoly[i]);
var points = polys.SelectMany(p => p);
var convexHull = ConvexHull.CreateConvexHullAsClosedPolyline(points);
foreach (var poly in polys)
{
tightObsts.Remove(poly);
}
tightObsts.Insert(convexHull);
}
return(CalculateHierarchy(tightObsts));
}
private bool CreateConvexHulls()
{
var found = false;
var graph = new BasicGraph <IntPair>(this.overlapPairs);
var connectedComponents = ConnectedComponentCalculator <IntPair> .GetComponents(graph);
foreach (var component in connectedComponents)
{
// GetComponents returns at least one self-entry for each index - including the < FirstNonSentinelOrdinal ones.
if (component.Count() == 1)
{
continue;
}
found = true;
var obstacles = component.Select(this.OrdinalToObstacle);
var points = obstacles.SelectMany(obs => obs.VisibilityPolyline);
var och = new OverlapConvexHull(ConvexHull.CreateConvexHullAsClosedPolyline(points), obstacles);
foreach (var obstacle in obstacles)
{
obstacle.SetConvexHull(och);
}
}
return(found);
}
private static void GrowGroupAroundLoosePolyline(Obstacle group, Polyline loosePolyline)
{
var points = group.VisibilityPolyline.Select(p => p).Concat(loosePolyline.Select(p => p));
group.SetConvexHull(new OverlapConvexHull(ConvexHull.CreateConvexHullAsClosedPolyline(points), new[] { group }));
}