private static double FinalIntersectionAngle(ArbiterLanePartition alp1)
{
Coordinates iVec = alp1.Vector().Normalize(1.0);
double iRot = -iVec.ArcTan;
Coordinates fVec = alp1.Final.NextPartition.Vector().Normalize(1.0);
fVec = fVec.Rotate(iRot);
double fDeg = fVec.ToDegrees();
double arcTan = Math.Atan2(fVec.Y, fVec.X) * 180.0 / Math.PI;
return(arcTan);
}
/// <summary>
/// Generates the bounding waypoints of the acceptable U-Turn area given Rndf Hazards and specified exit and entry waypoints
/// </summary>
/// <returns></returns>
public static Polygon uTurnBounds(VehicleState state, List <ArbiterLane> involved)
{
Coordinates exit = state.Front;
// initialize the bounding box
List <Coordinates> boundingBox = new List <Coordinates>();
// put in coords for every available lane
foreach (ArbiterLane al in involved)
{
PointOnPath?pop = null;
if (!al.IsInside(exit))
{
ArbiterWaypoint aw = al.GetClosestWaypoint(exit, 10.0);
if (aw != null)
{
pop = al.PartitionPath.GetClosest(aw.Position);
}
}
else
{
pop = al.PartitionPath.GetClosest(exit);
}
if (pop != null)
{
ArbiterLanePartition alp = al.GetClosestPartition(exit);
Coordinates vector = alp.Vector().Normalize(15);
Coordinates back = pop.Value.pt - vector;
vector = vector.Normalize(30);
boundingBox.AddRange(InflatePartition(back, vector, alp.Lane.Width));
}
}
// return the box
return(new Polygon(Polygon.GrahamScan(boundingBox)));
}
/// <summary>
/// Generates the bounding waypoints of the acceptable U-Turn area given Rndf Hazards and specified exit and entry waypoints
/// </summary>
/// <returns></returns>
public static Polygon uTurnBounds(Coordinates exit, ArbiterSegment segment)
{
// initialize the bounding box
List <Coordinates> boundingBox = new List <Coordinates>();
// put in coords for every available lane
foreach (ArbiterLane al in segment.Lanes.Values)
{
PointOnPath?pop = null;
if (!al.IsInside(exit))
{
ArbiterWaypoint aw = al.GetClosestWaypoint(exit, 10.0);
if (aw != null)
{
pop = al.PartitionPath.GetClosest(aw.Position);
}
}
else
{
pop = al.PartitionPath.GetClosest(exit);
}
if (pop != null)
{
ArbiterLanePartition alp = al.GetClosestPartition(exit);
Coordinates vector = alp.Vector().Normalize(15);
Coordinates back = pop.Value.pt - vector;
vector = vector.Normalize(30);
boundingBox.AddRange(InflatePartition(back, vector, alp.Lane.Width));
}
}
// return the box
return(GeneralToolkit.JarvisMarch(boundingBox));
}
/// <summary>
/// Write partition informaton
/// </summary>
/// <param name="sw"></param>
private void WritePartitionInformation(StreamWriter sw)
{
// get list of all partitions that connect waypoints
List <IConnectAreaWaypoints> icaws = new List <IConnectAreaWaypoints>();
#region Populate partitions
// get lane partitions
foreach (ArbiterSegment asg in roadNetwork.ArbiterSegments.Values)
{
foreach (ArbiterLane al in asg.Lanes.Values)
{
foreach (ArbiterLanePartition alp in al.Partitions)
{
icaws.Add(alp);
}
}
}
// get interconnects
foreach (ArbiterInterconnect ai in roadNetwork.ArbiterInterconnects.Values)
{
icaws.Add(ai);
}
// zones (holy stuff what a hack)
foreach (ArbiterZone az in roadNetwork.ArbiterZones.Values)
{
icaws.Add(new SceneZonePartition(az));
}
#endregion
// notify
sw.WriteLine("NumberOfPartitions" + "\t" + icaws.Count.ToString());
string completionPercent = "";
#region Create Partitions in Road Graph
// write each
for (int i = 0; i < icaws.Count; i++)
{
IConnectAreaWaypoints icaw = icaws[i];
sw.WriteLine("Partition");
string id = "";
if (icaw is SceneZonePartition)
{
id = ("PartitionId" + "\t" + ((SceneZonePartition)icaw).Zone.ToString());
}
else
{
id = ("PartitionId" + "\t" + icaw.ConnectionId.ToString());
}
sw.WriteLine(id);
// notify
double percent = ((double)i) / ((double)icaws.Count) * 100.0;
string tmpP = percent.ToString("F0") + "% Complete";
if (tmpP != completionPercent)
{
completionPercent = tmpP;
EditorOutput.WriteLine(completionPercent);
}
#region Interconnect
if (icaw is ArbiterInterconnect)
{
ArbiterInterconnect ai = (ArbiterInterconnect)icaw;
sw.WriteLine("PartitionType" + "\t" + "Interconnect");
sw.WriteLine("Sparse" + "\t" + "False");
sw.WriteLine("FitType" + "\t" + "Line");
Coordinates c = ai.FinalGeneric.Position - ai.InitialGeneric.Position;
sw.WriteLine("FitParameters" + "\t" + c.ArcTan.ToString("F6"));
sw.WriteLine("LeftBoundary" + "\t" + "None");
sw.WriteLine("RightBoundary" + "\t" + "None");
sw.WriteLine("NumberOfPoints" + "\t" + "2");
sw.WriteLine("Points");
sw.WriteLine(ai.InitialGeneric.ToString());
sw.WriteLine(ai.FinalGeneric.ToString());
sw.WriteLine("End_Points");
List <ArbiterWaypoint> aws = this.GetNearbyStops(ai);
sw.WriteLine("NumberOfNearbyStoplines" + "\t" + aws.Count);
if (aws.Count != 0)
{
sw.WriteLine("NearbyStoplines");
foreach (ArbiterWaypoint aw in aws)
{
sw.WriteLine(aw.ToString());
}
sw.WriteLine("End_NearbyStoplines");
}
#region Adjacent
List <string> adjacentPartitions = new List <string>();
// add current
adjacentPartitions.Add(ai.ToString());
#region Initial
if (icaw.InitialGeneric is ArbiterWaypoint)
{
// wp
ArbiterWaypoint aw = (ArbiterWaypoint)icaw.InitialGeneric;
// prev
if (aw.PreviousPartition != null)
{
adjacentPartitions.Add(aw.PreviousPartition.ToString());
}
// next
if (aw.NextPartition != null)
{
adjacentPartitions.Add(aw.NextPartition.ToString());
}
// exits
if (aw.IsExit)
{
foreach (ArbiterInterconnect ais in aw.Exits)
{
if (!ais.Equals(ai))
{
adjacentPartitions.Add(ais.ToString());
}
}
}
if (aw.IsEntry)
{
foreach (ArbiterInterconnect ais in aw.Entries)
{
if (!ais.Equals(ai))
{
adjacentPartitions.Add(ais.ToString());
}
}
}
}
else if (icaw.InitialGeneric is ArbiterPerimeterWaypoint)
{
adjacentPartitions.Add((new SceneZonePartition(((ArbiterPerimeterWaypoint)icaw.InitialGeneric).Perimeter.Zone)).ToString());
}
#endregion
#region Final
if (icaw.FinalGeneric is ArbiterWaypoint)
{
// wp
ArbiterWaypoint aw = (ArbiterWaypoint)icaw.FinalGeneric;
// prev
if (aw.PreviousPartition != null)
{
adjacentPartitions.Add(aw.PreviousPartition.ToString());
}
// next
if (aw.NextPartition != null)
{
adjacentPartitions.Add(aw.NextPartition.ToString());
}
// exits
if (aw.IsExit)
{
foreach (ArbiterInterconnect ais in aw.Exits)
{
adjacentPartitions.Add(ais.ToString());
}
}
if (aw.IsEntry)
{
foreach (ArbiterInterconnect ais in aw.Entries)
{
if (!ais.Equals(ai))
{
adjacentPartitions.Add(ais.ToString());
}
}
}
}
else if (icaw.FinalGeneric is ArbiterPerimeterWaypoint)
{
adjacentPartitions.Add((new SceneZonePartition(((ArbiterPerimeterWaypoint)icaw.FinalGeneric).Perimeter.Zone)).ToString());
}
#endregion
sw.WriteLine("NumberOfLaneAdjacentPartitions" + "\t" + adjacentPartitions.Count.ToString());
if (adjacentPartitions.Count != 0)
{
sw.WriteLine("LaneAdjacentPartitions");
foreach (string s in adjacentPartitions)
{
sw.WriteLine(s);
}
sw.WriteLine("End_LaneAdjacentPartitions");
}
#endregion
sw.WriteLine("NumberOfLeftLaneAdjacentPartitions" + "\t" + "0");
sw.WriteLine("NumberOfRightLaneAdjacentPartitions" + "\t" + "0");
List <IConnectAreaWaypoints> nearby = this.GetNearbyPartitions(ai, icaws);
sw.WriteLine("NumberOfNearbyPartitions" + "\t" + nearby.Count.ToString());
if (nearby.Count != 0)
{
sw.WriteLine("NearbyPartitions");
foreach (IConnectAreaWaypoints tmp in nearby)
{
sw.WriteLine(tmp.ToString());
}
sw.WriteLine("End_NearbyPartitions");
}
sw.WriteLine("End_Partition");
}
#endregion
#region Zone
else if (icaw is SceneZonePartition)
{
SceneZonePartition szp = (SceneZonePartition)icaw;
sw.WriteLine("PartitionType" + "\t" + "Zone");
sw.WriteLine("Sparse" + "\t" + "False");
sw.WriteLine("FitType" + "\t" + "Polygon");
string count = szp.Zone.Perimeter.PerimeterPoints.Count.ToString();
string wps = "";
foreach (ArbiterPerimeterWaypoint apw in szp.Zone.Perimeter.PerimeterPoints.Values)
{
wps = wps + "\t" + apw.Position.X.ToString("f6") + "\t" + apw.Position.Y.ToString("f6");
}
sw.WriteLine("FitParameters" + "\t" + count + wps);
sw.WriteLine("LeftBoundary" + "\t" + "None");
sw.WriteLine("RightBoundary" + "\t" + "None");
sw.WriteLine("NumberOfPoints" + "\t" + szp.Zone.Perimeter.PerimeterPoints.Count.ToString());
sw.WriteLine("Points");
foreach (ArbiterPerimeterWaypoint apw in szp.Zone.Perimeter.PerimeterPoints.Values)
{
sw.WriteLine(apw.WaypointId.ToString());
}
sw.WriteLine("End_Points");
List <ArbiterWaypoint> aws = this.GetNearbyStops(szp);
sw.WriteLine("NumberOfNearbyStoplines" + "\t" + aws.Count);
if (aws.Count != 0)
{
sw.WriteLine("NearbyStoplines");
foreach (ArbiterWaypoint aw in aws)
{
sw.WriteLine(aw.ToString());
}
sw.WriteLine("End_NearbyStoplines");
}
#region Adjacent
List <string> adjacentStrings = new List <string>();
// add current
adjacentStrings.Add(szp.ToString());
foreach (ArbiterPerimeterWaypoint apw in szp.Zone.Perimeter.PerimeterPoints.Values)
{
if (apw.IsExit)
{
foreach (ArbiterInterconnect ai in apw.Exits)
{
adjacentStrings.Add(ai.ToString());
}
}
if (apw.IsEntry)
{
foreach (ArbiterInterconnect ais in apw.Entries)
{
adjacentStrings.Add(ais.ToString());
}
}
}
sw.WriteLine("NumberOfLaneAdjacentPartitions" + "\t" + adjacentStrings.Count.ToString());
if (adjacentStrings.Count != 0)
{
sw.WriteLine("LaneAdjacentPartitions");
foreach (string s in adjacentStrings)
{
sw.WriteLine(s);
}
sw.WriteLine("End_LaneAdjacentPartitions");
}
#endregion
sw.WriteLine("NumberOfLeftLaneAdjacentPartitions" + "\t" + "0");
sw.WriteLine("NumberOfRightLaneAdjacentPartitions" + "\t" + "0");
List <IConnectAreaWaypoints> nearby = this.GetNearbyPartitions(szp, icaws);
sw.WriteLine("NumberOfNearbyPartitions" + "\t" + nearby.Count.ToString());
if (nearby.Count != 0)
{
sw.WriteLine("NearbyPartitions");
foreach (IConnectAreaWaypoints tmp in nearby)
{
sw.WriteLine(tmp.ToString());
}
sw.WriteLine("End_NearbyPartitions");
}
sw.WriteLine("End_Partition");
}
#endregion
#region Lane
else if (icaw is ArbiterLanePartition)
{
ArbiterLanePartition alp = (ArbiterLanePartition)icaw;
sw.WriteLine("PartitionType" + "\t" + "Lane");
string sparseString = alp.Type == PartitionType.Sparse ? "True" : "False";
sw.WriteLine("Sparse" + "\t" + sparseString);
if (alp.Type != PartitionType.Sparse) //alp.UserPartitions.Count <= 1)
{
sw.WriteLine("FitType" + "\t" + "Line");
sw.WriteLine("FitParameters" + "\t" + alp.Vector().ArcTan.ToString("F6"));
}
else
{
sw.WriteLine("FitType" + "\t" + "Polygon");
/*List<Coordinates> polyCoords = new List<Coordinates>();
* polyCoords.Add(alp.Initial.Position);
* polyCoords.AddRange(alp.NotInitialPathCoords());
* LinePath lpr = (new LinePath(polyCoords)).ShiftLateral(-TahoeParams.VL * 3.0);
* LinePath lpl = (new LinePath(polyCoords)).ShiftLateral(TahoeParams.VL * 3.0);
* List<Coordinates> finalCoords = new List<Coordinates>(polyCoords.ToArray());
* finalCoords.AddRange(lpr);
* finalCoords.AddRange(lpl);
* Polygon p = Polygon.GrahamScan(finalCoords);*/
if (alp.SparsePolygon == null)
{
alp.SetDefaultSparsePolygon();
}
string coordinateString = "";
foreach (Coordinates c in alp.SparsePolygon)
{
coordinateString = coordinateString + "\t" + c.X.ToString("F6") + "\t" + c.Y.ToString("F6");
}
sw.WriteLine("FitParameters" + "\t" + alp.SparsePolygon.Count.ToString() + coordinateString);
}
sw.WriteLine("LaneWidth" + "\t" + alp.Lane.Width.ToString("F6"));
sw.WriteLine("LeftBoundary" + "\t" + alp.Lane.BoundaryLeft.ToString());
sw.WriteLine("RightBoundary" + "\t" + alp.Lane.BoundaryRight.ToString());
sw.WriteLine("NumberOfPoints" + "\t" + "2");
sw.WriteLine("Points");
sw.WriteLine(alp.InitialGeneric.ToString());
sw.WriteLine(alp.FinalGeneric.ToString());
sw.WriteLine("End_Points");
List <ArbiterWaypoint> aws = this.GetNearbyStops(alp);
sw.WriteLine("NumberOfNearbyStoplines" + "\t" + aws.Count);
if (aws.Count != 0)
{
sw.WriteLine("NearbyStoplines");
foreach (ArbiterWaypoint aw in aws)
{
sw.WriteLine(aw.ToString());
}
sw.WriteLine("End_NearbyStoplines");
}
#region Adjacent
List <string> adjacentPartitions = new List <string>();
// add current
adjacentPartitions.Add(alp.ToString());
#region Initial
if (icaw.InitialGeneric is ArbiterWaypoint)
{
// wp
ArbiterWaypoint aw = (ArbiterWaypoint)icaw.InitialGeneric;
// prev
if (aw.PreviousPartition != null)
{
adjacentPartitions.Add(aw.PreviousPartition.ToString());
}
// next
if (aw.NextPartition != null && !aw.NextPartition.Equals(alp))
{
adjacentPartitions.Add(aw.NextPartition.ToString());
}
// exits
if (aw.IsExit)
{
foreach (ArbiterInterconnect ais in aw.Exits)
{
adjacentPartitions.Add(ais.ToString());
}
}
if (aw.IsEntry)
{
foreach (ArbiterInterconnect ais in aw.Entries)
{
adjacentPartitions.Add(ais.ToString());
}
}
}
#endregion
#region Final
if (icaw.FinalGeneric is ArbiterWaypoint)
{
// wp
ArbiterWaypoint aw = (ArbiterWaypoint)icaw.FinalGeneric;
// prev
if (aw.PreviousPartition != null && !aw.PreviousPartition.Equals(alp))
{
adjacentPartitions.Add(aw.PreviousPartition.ToString());
}
// next
if (aw.NextPartition != null)
{
adjacentPartitions.Add(aw.NextPartition.ToString());
}
// exits
if (aw.IsExit)
{
foreach (ArbiterInterconnect ais in aw.Exits)
{
adjacentPartitions.Add(ais.ToString());
}
}
if (aw.IsEntry)
{
foreach (ArbiterInterconnect ais in aw.Entries)
{
adjacentPartitions.Add(ais.ToString());
}
}
}
#endregion
sw.WriteLine("NumberOfLaneAdjacentPartitions" + "\t" + adjacentPartitions.Count.ToString());
if (adjacentPartitions.Count != 0)
{
sw.WriteLine("LaneAdjacentPartitions");
foreach (string s in adjacentPartitions)
{
sw.WriteLine(s);
}
sw.WriteLine("End_LaneAdjacentPartitions");
}
#endregion
List <string> leftAlps = new List <string>();
List <string> rightAlps = new List <string>();
foreach (ArbiterLanePartition tmpAlp in alp.NonLaneAdjacentPartitions)
{
if (tmpAlp.Lane.Equals(alp.Lane.LaneOnLeft))
{
leftAlps.Add(tmpAlp.ToString());
}
else
{
rightAlps.Add(tmpAlp.ToString());
}
}
sw.WriteLine("NumberOfLeftLaneAdjacentPartitions" + "\t" + leftAlps.Count.ToString());
if (leftAlps.Count != 0)
{
sw.WriteLine("LeftLaneAdjacentPartitions");
foreach (string s in leftAlps)
{
sw.WriteLine(s);
}
sw.WriteLine("End_LeftLaneAdjacentPartitions");
}
sw.WriteLine("NumberOfRightLaneAdjacentPartitions" + "\t" + rightAlps.Count.ToString());
if (rightAlps.Count != 0)
{
sw.WriteLine("RightLaneAdjacentPartitions");
foreach (string s in rightAlps)
{
sw.WriteLine(s);
}
sw.WriteLine("End_RightLaneAdjacentPartitions");
}
List <IConnectAreaWaypoints> nearby = this.GetNearbyPartitions(alp, icaws);
sw.WriteLine("NumberOfNearbyPartitions" + "\t" + nearby.Count.ToString());
if (nearby.Count != 0)
{
sw.WriteLine("NearbyPartitions");
foreach (IConnectAreaWaypoints tmp in nearby)
{
sw.WriteLine(tmp.ToString());
}
sw.WriteLine("End_NearbyPartitions");
}
sw.WriteLine("End_Partition");
}
#endregion
}
#endregion
}
/// <summary>
/// What to do when mouse moves
/// </summary>
/// <param name="e"></param>
protected override void OnMouseMove(MouseEventArgs e)
{
#region Left
if (e.Button == MouseButtons.Left)
{
// dragging vehicle
if (this.selected != null && this.selected is CarDisplayObject && isDragging && this.temporaryCoordinate.HasValue)
{
// Get the offset.
Point point = e.Location;
// new coord
Coordinates newCoord = this.transform.GetWorldPoint(new PointF(point.X, point.Y));
// calc offse
Coordinates offset = newCoord - this.temporaryCoordinate.Value;
// moving object
CarDisplayObject cdo = (CarDisplayObject)this.selected;
// check we are not tracking
if (this.tracked != null && cdo.Equals(this.tracked))
{
this.tracked = null;
}
// move
cdo.InMove(this.temporaryCoordinate.Value, offset, this.transform);
// check snap pos or heading
if (cdo.SnapHeading || cdo.SnapPosition)
{
// filter for vehicles
DisplayObjectFilter partitionDof = delegate(IDisplayObject target)
{
// check if target is network object
if (target is ArbiterLanePartition)
{
return(true);
}
else
{
return(false);
}
};
// check to see if selected a partition
HitTestResult vhcHtr = this.HitTest(transform.GetWorldPoint(new PointF(e.X, e.Y)), partitionDof);
// check hit
if (vhcHtr.Hit)
{
// get partition
ArbiterLanePartition alp = (ArbiterLanePartition)vhcHtr.DisplayObject;
// heading
Coordinates heading = alp.Vector();
// position
Coordinates closest = alp.PartitionPath.GetPoint(alp.PartitionPath.GetClosestPoint(transform.GetWorldPoint(new PointF(e.X, e.Y))));
if (cdo.SnapPosition)
{
cdo.Position = closest;
}
if (cdo.SnapHeading)
{
cdo.Heading = heading;
}
}
}
}
else if (this.selected != null && this.selected is SimObstacle && isDragging && this.temporaryCoordinate.HasValue)
{
// Get the offset.
Point point = e.Location;
// new coord
Coordinates newCoord = this.transform.GetWorldPoint(new PointF(point.X, point.Y));
// calc offse
Coordinates offset = newCoord - this.temporaryCoordinate.Value;
// moving object
SimObstacle so = (SimObstacle)this.selected;
// move
so.InMove(this.temporaryCoordinate.Value, offset, this.transform);
}
// check if user is dragging
else if (isDragging)
{
// Get the offset.
Point point = (Point)controlTag;
// Calculate change in position
double deltaX = e.X - point.X;
double deltaY = e.Y - point.Y;
// Update the world
Coordinates tempCenter = WorldTransform.CenterPoint;
tempCenter.X -= deltaX / WorldTransform.Scale;
tempCenter.Y += deltaY / WorldTransform.Scale;
WorldTransform.CenterPoint = tempCenter;
// update control
controlTag = new Point(e.X, e.Y);
}
// redraw
this.Invalidate();
}
#endregion
#region Right
else if (e.Button == MouseButtons.Right)
{
if (this.selected != null && this.selected is SimObstacle && isDragging && this.temporaryCoordinate.HasValue)
{
// Get the offset.
Point point = e.Location;
// new coord
Coordinates newCoord = this.transform.GetWorldPoint(new PointF(point.X, point.Y));
// moving object
SimObstacle so = (SimObstacle)this.selected;
// calc new rel heading
Coordinates offset = newCoord - so.Position;
// calc degree diff
//double rotDiff = offset.ToDegrees() - this.temporaryCoordinate.Value.ToDegrees();
// new head
//Coordinates newHead = so.Heading.Rotate(rotDiff);
// set
so.Heading = offset;
this.Invalidate();
}
}
#endregion
base.OnMouseMove(e);
}
public static Polygon PartitionPolygon(ArbiterLanePartition alp)
{
if (alp.Initial.PreviousPartition != null &&
alp.Final.NextPartition != null &&
alp.Length < 30.0 && alp.Length > 4.0)
{
// get partition turn direction
ArbiterTurnDirection pTD = PartitionTurnDirection(alp);
// check if angles of previous and next are such that not straight through
if (pTD != ArbiterTurnDirection.Straight)
{
// get partition poly
ArbiterInterconnect tmpAi = alp.ToInterconnect;
tmpAi.TurnDirection = pTD;
GenerateInterconnectPolygon(tmpAi);
Polygon pPoly = tmpAi.TurnPolygon;
// here is default partition polygon
LinePath alplb = alp.PartitionPath.ShiftLateral(-alp.Lane.Width / 2.0);
LinePath alprb = alp.PartitionPath.ShiftLateral(alp.Lane.Width / 2.0);
alprb.Reverse();
List <Coordinates> alpdefaultPoly = alplb;
alpdefaultPoly.AddRange(alprb);
// get full poly
pPoly.AddRange(alpdefaultPoly);
pPoly = Polygon.GrahamScan(pPoly);
return(pPoly);
}
}
else if (alp.Length >= 30)
{
Polygon pBase = GenerateSimplePartitionPolygon(alp, alp.PartitionPath, alp.Lane.Width);
if (alp.Initial.PreviousPartition != null && Math.Abs(FinalIntersectionAngle(alp.Initial.PreviousPartition)) > 15)
{
// initial portion
Coordinates i1 = alp.Initial.Position - alp.Initial.PreviousPartition.Vector().Normalize(15.0);
Coordinates i2 = alp.Initial.Position;
Coordinates i3 = i2 + alp.Vector().Normalize(15.0);
LinePath il12 = new LinePath(new Coordinates[] { i1, i2 });
LinePath il23 = new LinePath(new Coordinates[] { i2, i3 });
LinePath il13 = new LinePath(new Coordinates[] { i1, i3 });
Coordinates iCC = il13.GetClosestPoint(i2).Location;
if (GeneralToolkit.TriangleArea(i1, i2, i3) < 0)
{
il13 = il13.ShiftLateral(iCC.DistanceTo(i2) + alp.Lane.Width / 2.0);
}
else
{
il13 = il13.ShiftLateral(-iCC.DistanceTo(i2) + alp.Lane.Width / 2.0);
}
LinePath.PointOnPath iCCP = il13.GetClosestPoint(iCC);
iCCP = il13.AdvancePoint(iCCP, -10.0);
il13 = il13.SubPath(iCCP, 20.0);
Polygon iBase = GenerateSimplePolygon(il23, alp.Lane.Width);
iBase.Add(il13[1]);
Polygon iP = Polygon.GrahamScan(iBase);
pBase = PolygonToolkit.PolygonUnion(new List <Polygon>(new Polygon[] { pBase, iP }));
}
if (alp.Final.NextPartition != null && Math.Abs(FinalIntersectionAngle(alp)) > 15)
{
// initial portion
Coordinates i1 = alp.Final.Position - alp.Vector().Normalize(15.0);
Coordinates i2 = alp.Final.Position;
Coordinates i3 = i2 + alp.Final.NextPartition.Vector().Normalize(15.0);
LinePath il12 = new LinePath(new Coordinates[] { i1, i2 });
LinePath il23 = new LinePath(new Coordinates[] { i2, i3 });
LinePath il13 = new LinePath(new Coordinates[] { i1, i3 });
Coordinates iCC = il13.GetClosestPoint(i2).Location;
if (GeneralToolkit.TriangleArea(i1, i2, i3) < 0)
{
il13 = il13.ShiftLateral(iCC.DistanceTo(i2) + alp.Lane.Width / 2.0);
}
else
{
il13 = il13.ShiftLateral(-iCC.DistanceTo(i2) + alp.Lane.Width / 2.0);
}
LinePath.PointOnPath iCCP = il13.GetClosestPoint(iCC);
iCCP = il13.AdvancePoint(iCCP, -10.0);
il13 = il13.SubPath(iCCP, 20.0);
Polygon iBase = GenerateSimplePolygon(il12, alp.Lane.Width);
iBase.Add(il13[0]);
Polygon iP = Polygon.GrahamScan(iBase);
pBase = PolygonToolkit.PolygonUnion(new List <Polygon>(new Polygon[] { pBase, iP }));
}
return(pBase);
}
// fall out
return(null);
}
private bool IsPartitionSameDirection(ArbiterLanePartition partition, Coordinates heading)
{
return(partition.Vector().Normalize().Dot(heading) > 0);
}
