void IsCdt(Navmesh *lct, int constraint = -1, int vertex = -1)
{
var e = lct->GetEdgeEnumerator(true);
while (e.MoveNext())
{
if (e.Current->Constrained)
{
continue;
}
var o = e.Current->Org->Point;
var d = e.Current->Dest->Point;
if (Math.Contains(o, -lct->Extent, lct->Extent) && Math.Contains(d, -lct->Extent, lct->Extent))
{
var on = e.Current->ONext->Dest->Point;
var dn = e.Current->DNext->Org->Point;
if (Math.CircumcircleContains(o, d, on, dn) && Math.Ccw(dn, d, on) && Math.Ccw(on, o, dn))
{
Debug.Log($"delaunay fail, constraint: {constraint}, vertex:{vertex}, from: {o}, to: {d}");
throw new Exception();
}
}
}
}
// https://www.researchgate.net/publication/2478154_Fully_Dynamic_Constrained_Delaunay_Triangulations
void FlipEdges(float2 p)
{
while (_flipStack.Count > 0)
{
var e = _flipStack.Pop();
Assert.IsTrue(Math.Ccw(e->Org->Point, e->Dest->Point, p));
if (!e->Constrained && Math.CircumcircleContains(e->Org->Point, e->Dest->Point, p, e->DNext->Org->Point))
{
_flipStack.Push(e->OPrev);
_flipStack.Push(e->DNext);
Assert.IsTrue(Math.Ccw(e->OPrev->Org->Point, e->OPrev->Dest->Point, p));
Assert.IsTrue(Math.Ccw(e->DNext->Org->Point, e->DNext->Dest->Point, p));
Swap(e);
}
}
}
void FlipQuad()
{
while (_flipStack.Count > 0)
{
var edge = _flipStack.Pop();
if (!edge->Constrained && Math.CircumcircleContains(edge->Org->Point, edge->Dest->Point, edge->ONext->Dest->Point, edge->DNext->Org->Point))
{
_flipStack.Push(edge->OPrev);
_flipStack.Push(edge->DNext);
_flipStack.Push(edge->Sym->OPrev);
_flipStack.Push(edge->Sym->DNext);
Swap(edge);
}
}
}
// http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.61.3862&rep=rep1&type=pdf
// TriangulatePseudopolygonDelaunay()
void RetriangulateFace(Edge *edge)
{
Assert.IsTrue(edge != null);
Assert.IsTrue(edge != edge->LNext->LNext);
if (edge->LNext->LNext->LNext == edge)
{
NewTriangle(edge);
return;
}
InfiniteLoopDetection.Reset();
while (!Math.Ccw(edge->Org->Point, edge->Dest->Point, edge->LNext->Dest->Point))
{
InfiniteLoopDetection.Register(1000, "RetriangulateFace 0");
edge = edge->LNext;
}
var c = edge->LNext;
var e = c;
InfiniteLoopDetection.Reset();
while (true)
{
InfiniteLoopDetection.Register(1000, "RetriangulateFace 1");
e = e->LNext;
if (e->LNext == edge)
{
break;
}
if (Math.CircumcircleContains(edge->Org->Point, edge->Dest->Point, c->Dest->Point, e->Dest->Point))
{
c = e;
}
}
Assert.IsTrue(c != edge);
var connected = false;
if (c->LNext->LNext != edge)
{
V.TryAdd((IntPtr)edge->LPrev->Dest);
V.TryAdd((IntPtr)c->LNext->Org);
var b = Connect(edge->LPrev, c->LNext);
RetriangulateFace(b);
connected = true;
}
if (c != edge->LNext)
{
V.TryAdd((IntPtr)c->Dest);
V.TryAdd((IntPtr)edge->LNext->Org);
var a = Connect(c, edge->LNext);
RetriangulateFace(a);
connected = true;
}
if (connected)
{
NewTriangle(edge);
}
}
