// Todo: Can we support DV2s?
public int[] AddMany(DoubleLineSegment2 edgeSegment, IntVector2[] points)
{
Interlocked.Increment(ref AddManyInvocationCount);
// return points.Map(p => 0);
var segmentSeeingWaypoints = landPolyNode.ComputeSegmentSeeingWaypoints(edgeSegment);
// It's safe to assume <some> point in points will be new, so preprocess which segments are betwen us and other edge segments
var barriers = landPolyNode.FindContourAndChildHoleBarriers();
Dictionary <DoubleLineSegment2, IntLineSegment2[]> barriersBySegment = indicesBySegment.Map((s, _) => {
Interlocked.Increment(ref AddManyConvexHullsComputed);
var hull = GeometryOperations.ConvexHull4(s.First, s.Second, edgeSegment.First, edgeSegment.Second);
return(barriers.Where(b => {
var barrierDv2 = new DoubleLineSegment2(b.First.ToDoubleVector2(), b.Second.ToDoubleVector2());
return GeometryOperations.SegmentIntersectsConvexPolygonInterior(barrierDv2, hull);
}).ToArray());
});
return(indicesBySegment[edgeSegment] = points.Map(p => {
if (TryAdd(p, out var cpi))
{
Interlocked.Increment(ref CrossoverPointsAdded);
segmentByCrossoverPoint[p] = edgeSegment;
}
return cpi;
}));
bool TryAdd(IntVector2 crossoverPoint, out int crossoverPointIndex)
{
if (!crossoverPoints.TryAdd(crossoverPoint, out crossoverPointIndex))
{
return(false);
}
var(visibleWaypointLinks, visibleWaypointLinksLength, optimalLinkToWaypoints, optimalLinkToCrossovers) = FindOptimalLinksToCrossovers(crossoverPoint, segmentSeeingWaypoints, barriersBySegment);
// visibleWaypointLinksByCrossoverPointIndex.Add(visibleWaypointLinks);
optimalLinkToWaypointsByCrossoverPointIndex.Add(optimalLinkToWaypoints);
optimalLinkToOtherCrossoversByCrossoverPointIndex.Add(optimalLinkToCrossovers);
Trace.Assert(optimalLinkToOtherCrossoversByCrossoverPointIndex.Count == optimalLinkToCrossovers.Count);
for (var otherCpi = 0; otherCpi < crossoverPoints.Count - 1; otherCpi++)
{
var linkToOther = optimalLinkToCrossovers[otherCpi];
var linkFromOther = linkToOther.PriorIndex < 0
? new PathLink {
PriorIndex = linkToOther.PriorIndex, TotalCost = linkToOther.TotalCost
}
: new PathLink {
PriorIndex = optimalLinkToWaypointsByCrossoverPointIndex[otherCpi][linkToOther.PriorIndex].PriorIndex,
TotalCost = linkToOther.TotalCost
};
optimalLinkToOtherCrossoversByCrossoverPointIndex[otherCpi].Add(linkFromOther);
}
return(true);
}
}
public static BvhILS2 FindContourAndChildHoleBarriersBvh(this PolyNode node)
{
if (node.visibilityGraphNodeData.ContourAndChildHoleBarriersBvh != null)
{
return(node.visibilityGraphNodeData.ContourAndChildHoleBarriersBvh);
}
return(node.visibilityGraphNodeData.ContourAndChildHoleBarriersBvh = BvhILS2.Build(node.FindContourAndChildHoleBarriers()));
}