private void DrawPolygon(SimplePolygon polygon)
{
var pointCollection = new PointCollection();
foreach (var vertex in polygon.Vertices)
{
var position = vertex.Position;
pointCollection.Add(new Point(position.X, position.Y));
}
var polygonImage = new Polygon()
{
Fill = Brushes.Pink,
Stroke = Brushes.Black,
StrokeThickness = 3,
Points = pointCollection
};
mainCanvas.Children.Add(polygonImage);
}
public SimplePolygon UnionWith(SimplePolygon other)
{
throw new NotImplementedException();
if (!this.Overlaps(other))
{
throw new ArgumentException("Polygons must overlap.");
}
foreach (var edge1 in this.Edges)
{
foreach (var edge2 in other.Edges)
{
if (edge1.Intersects(edge2))
{
var intersection = edge1.GetIntersection(edge2);
}
}
}
}
public bool Overlaps(SimplePolygon other)
{
foreach (var edge1 in this.Edges)
{
foreach (var edge2 in other.Edges)
{
if (edge1.Intersects(edge2))
{
return(true);
}
}
}
if (other.ContainsPoint(this.firstEdge.Origin.Position))
{
return(true);
}
if (this.ContainsPoint(other.firstEdge.Origin.Position))
{
return(true);
}
return(false);
}
public SimplePolygon UnionWith(SimplePolygon other)
{
throw new NotImplementedException();
if (!this.Overlaps(other))
throw new ArgumentException("Polygons must overlap.");
foreach (var edge1 in this.Edges)
foreach (var edge2 in other.Edges)
if (edge1.Intersects(edge2))
{
var intersection = edge1.GetIntersection(edge2);
}
}
public bool Overlaps(SimplePolygon other)
{
foreach (var edge1 in this.Edges)
foreach (var edge2 in other.Edges)
if (edge1.Intersects(edge2))
return true;
if (other.ContainsPoint(this.firstEdge.Origin.Position))
return true;
if (this.ContainsPoint(other.firstEdge.Origin.Position))
return true;
return false;
}
private void Init()
{
Vector2 v1 = new Vector2(1, 1), v2 = new Vector2(3, 1), v3 = new Vector2(2, 3);
var vertices = new[] { v1, v2, v3 };
var polygon1 = new SimplePolygon(vertices);
planner = new MotionPlanner(new[] { polygon1 });
Vector2 start = new Vector2(0.5, 0.5),
goal = new Vector2(3.5, 3.5);
var path = planner.CalculatePath(start, goal);
DrawPolygon(polygon1);
DrawPath(path);
DrawBox();
ResizeToFitContent();
}
