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);
}
}
