void CreateScanSegments(Obstacle obstacle, NeighborSides neighborSides, BasicVertexEvent vertexEvent)
{
this.CreateScanSegments(obstacle, (HighObstacleSide)neighborSides.LowNeighbor.Item
, (null == neighborSides.LowOverlapEnd) ? null : neighborSides.LowOverlapEnd.Item
, (null == neighborSides.HighOverlapEnd) ? null : neighborSides.HighOverlapEnd.Item
, (LowObstacleSide)neighborSides.HighNeighbor.Item, vertexEvent);
}
protected void FindNeighbors(BasicVertexEvent vertexEvent, RBNode<BasicObstacleSide> sideNode, NeighborSides neighborSides) {
// vertexEvent.Site is on one of vertexEvent.Obstacle.Active(Low|High)Side, so we must get the
// appropriate vertex on whichever one of those Active*Sides is sideNode.
var sideReferencePoint = (vertexEvent is OpenVertexEvent) ? sideNode.Item.Start : sideNode.Item.End;
RBNode<BasicObstacleSide> initialLowNbor, initialHighNbor;
this.FindInitialNeighborSides(sideNode, out initialLowNbor, out initialHighNbor);
this.SkipToNeighbor(this.ScanDirection.OppositeDirection, sideNode.Item, sideReferencePoint, initialLowNbor, neighborSides);
this.SkipToNeighbor(this.ScanDirection.Direction, sideNode.Item, sideReferencePoint, initialHighNbor, neighborSides);
}
// As described in the doc, we stop at the first neighbor of the appropriate side type that we touch
// the border of, even if that's just skimming along the extreme vertex of it, because those will
// continue the chain of open/close+addSegment, and we don't want to follow the full length of the
// segment each time if there are a lot of collinear obstacle open/close events.
protected void FindNeighbors(BasicVertexEvent vertexEvent, RBNode<BasicObstacleSide> lowSideNode, RBNode<BasicObstacleSide> highSideNode) {
LowNeighborSides.Clear();
HighNeighborSides.Clear();
// Find the first HighObstacleSide in the low (scanline-decreasing) direction (this may be the low
// sentinel) and the lowest LowObstacleSide toward that that we cross *through*, if any. Then do
// the same thing in the high direction. If we are not overlapped, then we'll jump out immediately
// from SkipToNeighbor, so there won't be a lot of redundant effort in that case.
FindNeighbors(vertexEvent, lowSideNode, LowNeighborSides);
FindNeighbors(vertexEvent, highSideNode, HighNeighborSides);
}
protected override void ProcessVertexEvent(RBNode <BasicObstacleSide> lowSideNode,
RBNode <BasicObstacleSide> highSideNode, BasicVertexEvent vertexEvent)
{
var vertexPoints = (base.ScanDirection.IsHorizontal) ? this.horizontalVertexPoints : this.verticalVertexPoints;
vertexPoints.Insert(vertexEvent.Site);
// For easier reading...
var lowNborSide = LowNeighborSides.LowNeighbor.Item;
var highNborSide = HighNeighborSides.HighNeighbor.Item;
var highDir = base.ScanDirection.Direction;
var lowDir = base.ScanDirection.OppositeDirection;
// Generate the neighbor side intersections, regardless of overlaps; these are the type-2 Steiner points.
var lowSteiner = ScanLineIntersectSide(vertexEvent.Site, lowNborSide);
var highSteiner = ScanLineIntersectSide(vertexEvent.Site, highNborSide);
// Add the intersections at the neighbor bounding boxes if the intersection is not at a sentinel.
// Go in the opposite direction from the neighbor intersection to find the border between the Steiner
// point and vertexEvent.Site (unless vertexEvent.Site is inside the bounding box).
if (ObstacleTree.GraphBox.Contains(lowSteiner))
{
var bboxIntersectBeforeLowSteiner = StaticGraphUtility.RectangleBorderIntersect(lowNborSide.Obstacle.VisibilityBoundingBox, lowSteiner, highDir);
if (PointComparer.IsPureLower(bboxIntersectBeforeLowSteiner, vertexEvent.Site))
{
this.boundingBoxSteinerPoints.Insert(bboxIntersectBeforeLowSteiner);
}
}
if (ObstacleTree.GraphBox.Contains(highSteiner))
{
var bboxIntersectBeforeHighSteiner = StaticGraphUtility.RectangleBorderIntersect(highNborSide.Obstacle.VisibilityBoundingBox, highSteiner, lowDir);
if (PointComparer.IsPureLower(vertexEvent.Site, bboxIntersectBeforeHighSteiner))
{
this.boundingBoxSteinerPoints.Insert(bboxIntersectBeforeHighSteiner);
}
}
// Add the corners of the bounding box of the vertex obstacle, if they are visible to the event site.
// This ensures that we "go around" the obstacle, as with the non-orthogonal edges in the paper.
Point lowCorner, highCorner;
GetBoundingCorners(lowSideNode.Item.Obstacle.VisibilityBoundingBox, vertexEvent is OpenVertexEvent, this.ScanDirection.IsHorizontal,
out lowCorner, out highCorner);
if (PointComparer.IsPureLower(lowSteiner, lowCorner) || lowNborSide.Obstacle.IsInSameClump(vertexEvent.Obstacle))
{
vertexPoints.Insert(lowCorner);
}
if (PointComparer.IsPureLower(highCorner, highSteiner) || highNborSide.Obstacle.IsInSameClump(vertexEvent.Obstacle))
{
vertexPoints.Insert(highCorner);
}
}
protected override void ProcessVertexEvent(RBNode<BasicObstacleSide> lowSideNode,
RBNode<BasicObstacleSide> highSideNode, BasicVertexEvent vertexEvent) {
// Create the scan segment from the low side.
CreateScanSegmentFromLowSide(lowSideNode, vertexEvent);
// If the low segment covered up to our high neighbor, we're done. Otherwise, there were overlaps
// inside a flat boundary and now we need to come in from the high side. In this case there's a chance
// that we're redoing a single subsegment in the event of two obstacles' outside edges crossing
// the middle of a flat boundary of the event obstacle, but that should be sufficiently rare that
// we don't need to optimize it away as the segments will be merged by ScanSegmentTree.MergeSegments.
// TODOgroup TODOperf: currentGroupBoundaryCrossingMap still has the Low-side stuff in it but it shouldn't
// matter much - profile to see how much time GetOrderedIndexBetween takes.
if (LowNeighborSides.HighNeighbor.Item != HighNeighborSides.HighNeighbor.Item) {
CreateScanSegmentFromHighSide(highSideNode, vertexEvent);
}
}
void CreateScanSegmentFromHighSide(RBNode<BasicObstacleSide> highSideNode, BasicVertexEvent vertexEvent) {
// Create one or more segments from low to high using the neighbors of the HighObstacleSide.
this.CreateScanSegments(highSideNode.Item.Obstacle, this.HighNeighborSides, vertexEvent);
}
private void CreateScanSegmentFromLowSide(RBNode<BasicObstacleSide> lowSideNode, BasicVertexEvent vertexEvent) {
// Create one or more segments from low to high using the neighbors of the LowObstacleSide.
this.CreateScanSegments(lowSideNode.Item.Obstacle, this.LowNeighborSides, vertexEvent);
}
// As described in the document, we currently don't create ScanSegments where a flat top/bottom boundary may have
// intervals that are embedded within overlapped segments:
// obstacle1 | |obstacle2 | obstacle3 | | obstacle4 | obstacle2| |
// | +-----------|===========|??????????|===========|----------+ | obstacle5
// ...__________| |___________| |___________| |__________...
// Here, there will be no ScanSegment created at ??? along the border of obstacle2 between obstacle3
// and obstacle4. This is not a concern because that segment is useless anyway; a path from outside
// obstacle2 will not be able to see it unless there is another obstacle in that gap, and then that
// obstacle's side-derived ScanSegments will create non-overlapped edges; and there are already edges
// from the upper/lower extreme vertices of obstacle 3 and obstacle4 to ensure a connected graph.
// If there is a routing from an obstacle outside obstacle2 to one embedded within obstacle2, the
// port visibility will create the necessary edges.
//
// We don't try to determine nesting depth and create different VisibilityEdge weights to prevent spurious
// nested-obstacle crossings; we just care about overlapped vs. not-overlapped.
// If this changes, we would have to: Find the overlap depth at the lowNborSide intersection,
// then increment/decrement according to side type as we move from low to high, then create a different
// ScanSegment at each obstacle-side crossing, making ScanSegment.IsOverlapped a depth instead of bool.
// Then pass that depth through to VisibilityEdge as an increased weight. (This would also automatically
// handle the foregoing situation of non-overlapped intervals in the middle of a flat top/bottom border,
// not that it would really gain anything).
void CreateScanSegments(Obstacle obstacle, HighObstacleSide lowNborSide, BasicObstacleSide lowOverlapSide,
BasicObstacleSide highOverlapSide, LowObstacleSide highNborSide, BasicVertexEvent vertexEvent)
{
// If we have either of the high/low OverlapSides, we'll need to see if they're inside
// another obstacle. If not, they end the overlap.
if ((null == highOverlapSide) || IntersectionAtSideIsInsideAnotherObstacle(highOverlapSide, vertexEvent))
{
highOverlapSide = highNborSide;
}
if ((null == lowOverlapSide) || IntersectionAtSideIsInsideAnotherObstacle(lowOverlapSide, vertexEvent))
{
lowOverlapSide = lowNborSide;
}
// There may be up to 3 segments; for a simple diagram, |# means low-side border of
// obstacle '#' and #| means high-side, with 'v' meaning our event vertex. Here are
// the two cases where we create a single non-overlapped ScanSegment (from the Low
// side in the diagram, but the same logic works for the High side).
// - non-overlapped: 1| v |2
// ...---+ +---...
// - non-overlapped to an "inner" highNbor on a flat border: 1| vLow |2 vHigh
// ...---+ +-----+=========...
// This may be the low side of a flat bottom or top border, so lowNbor or highNbor
// may be in the middle of the border.
Point lowNborIntersect = ScanLineIntersectSide(vertexEvent.Site, lowNborSide);
Point highNborIntersect = ScanLineIntersectSide(vertexEvent.Site, highNborSide);
bool lowNborEndpointIsOverlapped = IntersectionAtSideIsInsideAnotherObstacle(lowNborSide,
vertexEvent.Obstacle /*obstacleToIgnore*/, lowNborIntersect);
if (!lowNborEndpointIsOverlapped && (lowNborSide == lowOverlapSide))
{
// Nothing is overlapped so create one segment.
AddSegment(lowNborIntersect, highNborIntersect, obstacle, lowNborSide, highNborSide, vertexEvent,
ScanSegment.NormalWeight);
return;
}
// Here are the different interval combinations for overlapped cases.
// - non-overlapped, overlapped: 1| |2 v |3
// ...---+ +------+===...
// - non-overlapped, overlapped, non-overlapped: 1| |2 v 2| |3
// ==+ +-------+ +--...
// - overlapped: |1 2| v |3 ...1|
// ...---+====+-----+===...-+
// - overlapped, non-overlapped: |1 2| v 1| |3
// ...---+====+------+ +---...
// We will not start overlapped and then go to non-overlapped and back to overlapped,
// because we would have found the overlap-ending/beginning sides as nearer neighbors.
// Get the other intersections we'll want.
Point highOverlapIntersect = (highOverlapSide == highNborSide) ? highNborIntersect
: ScanLineIntersectSide(vertexEvent.Site, highOverlapSide);
Point lowOverlapIntersect = (lowOverlapSide == lowNborSide) ? lowNborIntersect
: ScanLineIntersectSide(vertexEvent.Site, lowOverlapSide);
// Create the segments.
if (!lowNborEndpointIsOverlapped)
{
// First interval is non-overlapped; there is a second overlapped interval, and may be a
// third non-overlapping interval if another obstacle surrounded this vertex.
AddSegment(lowNborIntersect, lowOverlapIntersect, obstacle, lowNborSide, lowOverlapSide, vertexEvent,
ScanSegment.NormalWeight);
AddSegment(lowOverlapIntersect, highOverlapIntersect, obstacle, lowOverlapSide, highOverlapSide, vertexEvent,
ScanSegment.OverlappedWeight);
if (highOverlapSide != highNborSide)
{
AddSegment(highOverlapIntersect, highNborIntersect, obstacle, highOverlapSide, highNborSide, vertexEvent,
ScanSegment.NormalWeight);
}
}
else
{
// Starts off overlapped so ignore lowOverlapSide.
AddSegment(lowNborIntersect, highOverlapIntersect, obstacle, lowNborSide, highOverlapSide, vertexEvent,
ScanSegment.OverlappedWeight);
if (highOverlapSide != highNborSide)
{
AddSegment(highOverlapIntersect, highNborIntersect, obstacle, highOverlapSide, highNborSide, vertexEvent,
ScanSegment.NormalWeight);
}
}
}
// As described in the document, we currently don't create ScanSegments where a flat top/bottom boundary may have
// intervals that are embedded within overlapped segments:
// obstacle1 | |obstacle2 | obstacle3 | | obstacle4 | obstacle2| |
// | +-----------|===========|??????????|===========|----------+ | obstacle5
// ...__________| |___________| |___________| |__________...
// Here, there will be no ScanSegment created at ??? along the border of obstacle2 between obstacle3
// and obstacle4. This is not a concern because that segment is useless anyway; a path from outside
// obstacle2 will not be able to see it unless there is another obstacle in that gap, and then that
// obstacle's side-derived ScanSegments will create non-overlapped edges; and there are already edges
// from the upper/lower extreme vertices of obstacle 3 and obstacle4 to ensure a connected graph.
// If there is a routing from an obstacle outside obstacle2 to one embedded within obstacle2, the
// port visibility will create the necessary edges.
//
// We don't try to determine nesting depth and create different VisibilityEdge weights to prevent spurious
// nested-obstacle crossings; we just care about overlapped vs. not-overlapped.
// If this changes, we would have to: Find the overlap depth at the lowNborSide intersection,
// then increment/decrement according to side type as we move from low to high, then create a different
// ScanSegment at each obstacle-side crossing, making ScanSegment.IsOverlapped a depth instead of bool.
// Then pass that depth through to VisibilityEdge as an increased weight. (This would also automatically
// handle the foregoing situation of non-overlapped intervals in the middle of a flat top/bottom border,
// not that it would really gain anything).
void CreateScanSegments(Obstacle obstacle, HighObstacleSide lowNborSide, BasicObstacleSide lowOverlapSide,
BasicObstacleSide highOverlapSide, LowObstacleSide highNborSide, BasicVertexEvent vertexEvent) {
// If we have either of the high/low OverlapSides, we'll need to see if they're inside
// another obstacle. If not, they end the overlap.
if ((null == highOverlapSide) || IntersectionAtSideIsInsideAnotherObstacle(highOverlapSide, vertexEvent)) {
highOverlapSide = highNborSide;
}
if ((null == lowOverlapSide) || IntersectionAtSideIsInsideAnotherObstacle(lowOverlapSide, vertexEvent)) {
lowOverlapSide = lowNborSide;
}
// There may be up to 3 segments; for a simple diagram, |# means low-side border of
// obstacle '#' and #| means high-side, with 'v' meaning our event vertex. Here are
// the two cases where we create a single non-overlapped ScanSegment (from the Low
// side in the diagram, but the same logic works for the High side).
// - non-overlapped: 1| v |2
// ...---+ +---...
// - non-overlapped to an "inner" highNbor on a flat border: 1| vLow |2 vHigh
// ...---+ +-----+=========...
// This may be the low side of a flat bottom or top border, so lowNbor or highNbor
// may be in the middle of the border.
Point lowNborIntersect = ScanLineIntersectSide(vertexEvent.Site, lowNborSide);
Point highNborIntersect = ScanLineIntersectSide(vertexEvent.Site, highNborSide);
bool lowNborEndpointIsOverlapped = IntersectionAtSideIsInsideAnotherObstacle(lowNborSide,
vertexEvent.Obstacle /*obstacleToIgnore*/, lowNborIntersect);
if (!lowNborEndpointIsOverlapped && (lowNborSide == lowOverlapSide)) {
// Nothing is overlapped so create one segment.
AddSegment(lowNborIntersect, highNborIntersect, obstacle, lowNborSide, highNborSide, vertexEvent,
ScanSegment.NormalWeight);
return;
}
// Here are the different interval combinations for overlapped cases.
// - non-overlapped, overlapped: 1| |2 v |3
// ...---+ +------+===...
// - non-overlapped, overlapped, non-overlapped: 1| |2 v 2| |3
// ==+ +-------+ +--...
// - overlapped: |1 2| v |3 ...1|
// ...---+====+-----+===...-+
// - overlapped, non-overlapped: |1 2| v 1| |3
// ...---+====+------+ +---...
// We will not start overlapped and then go to non-overlapped and back to overlapped,
// because we would have found the overlap-ending/beginning sides as nearer neighbors.
// Get the other intersections we'll want.
Point highOverlapIntersect = (highOverlapSide == highNborSide) ? highNborIntersect
: ScanLineIntersectSide(vertexEvent.Site, highOverlapSide);
Point lowOverlapIntersect = (lowOverlapSide == lowNborSide) ? lowNborIntersect
: ScanLineIntersectSide(vertexEvent.Site, lowOverlapSide);
// Create the segments.
if (!lowNborEndpointIsOverlapped) {
// First interval is non-overlapped; there is a second overlapped interval, and may be a
// third non-overlapping interval if another obstacle surrounded this vertex.
AddSegment(lowNborIntersect, lowOverlapIntersect, obstacle, lowNborSide, lowOverlapSide, vertexEvent,
ScanSegment.NormalWeight);
AddSegment(lowOverlapIntersect, highOverlapIntersect, obstacle, lowOverlapSide, highOverlapSide, vertexEvent,
ScanSegment.OverlappedWeight);
if (highOverlapSide != highNborSide) {
AddSegment(highOverlapIntersect, highNborIntersect, obstacle, highOverlapSide, highNborSide, vertexEvent,
ScanSegment.NormalWeight);
}
}
else {
// Starts off overlapped so ignore lowOverlapSide.
AddSegment(lowNborIntersect, highOverlapIntersect, obstacle, lowNborSide, highOverlapSide, vertexEvent,
ScanSegment.OverlappedWeight);
if (highOverlapSide != highNborSide) {
AddSegment(highOverlapIntersect, highNborIntersect, obstacle, highOverlapSide, highNborSide, vertexEvent,
ScanSegment.NormalWeight);
}
}
}
private bool IntersectionAtSideIsInsideAnotherObstacle(BasicObstacleSide side, BasicVertexEvent vertexEvent) {
Point intersect = ScanLineIntersectSide(vertexEvent.Site, side);
return IntersectionAtSideIsInsideAnotherObstacle(side, vertexEvent.Obstacle, intersect);
}
protected override void ProcessVertexEvent(RBNode <BasicObstacleSide> lowSideNode,
RBNode <BasicObstacleSide> highSideNode, BasicVertexEvent vertexEvent)
{
// Create the scan segment from the low side.
CreateScanSegmentFromLowSide(lowSideNode, vertexEvent);
// If the low segment covered up to our high neighbor, we're done. Otherwise, there were overlaps
// inside a flat boundary and now we need to come in from the high side. In this case there's a chance
// that we're redoing a single subsegment in the event of two obstacles' outside edges crossing
// the middle of a flat boundary of the event obstacle, but that should be sufficiently rare that
// we don't need to optimize it away as the segments will be merged by ScanSegmentTree.MergeSegments.
// TODOgroup TODOperf: currentGroupBoundaryCrossingMap still has the Low-side stuff in it but it shouldn't
// matter much - profile to see how much time GetOrderedIndexBetween takes.
if (LowNeighborSides.HighNeighbor.Item != HighNeighborSides.HighNeighbor.Item)
{
CreateScanSegmentFromHighSide(highSideNode, vertexEvent);
}
}
void CreateScanSegmentFromHighSide(RBNode <BasicObstacleSide> highSideNode, BasicVertexEvent vertexEvent)
{
// Create one or more segments from low to high using the neighbors of the HighObstacleSide.
this.CreateScanSegments(highSideNode.Item.Obstacle, this.HighNeighborSides, vertexEvent);
}
private void CreateScanSegmentFromLowSide(RBNode <BasicObstacleSide> lowSideNode, BasicVertexEvent vertexEvent)
{
// Create one or more segments from low to high using the neighbors of the LowObstacleSide.
this.CreateScanSegments(lowSideNode.Item.Obstacle, this.LowNeighborSides, vertexEvent);
}
void FindNeighborsAndProcessVertexEvent(RBNode<BasicObstacleSide> lowSideNode
, RBNode<BasicObstacleSide> highSideNode
, BasicVertexEvent vertexEvent) {
CurrentGroupBoundaryCrossingMap.Clear();
FindNeighbors(vertexEvent, lowSideNode, highSideNode);
this.ProcessVertexEvent(lowSideNode, highSideNode, vertexEvent);
// Clear this again because we don't want Reflections to access stale values.
CurrentGroupBoundaryCrossingMap.Clear();
}
void CreateScanSegments(Obstacle obstacle, NeighborSides neighborSides, BasicVertexEvent vertexEvent) {
this.CreateScanSegments(obstacle, (HighObstacleSide)neighborSides.LowNeighbor.Item
, (null == neighborSides.LowOverlapEnd) ? null : neighborSides.LowOverlapEnd.Item
, (null == neighborSides.HighOverlapEnd) ? null : neighborSides.HighOverlapEnd.Item
, (LowObstacleSide)neighborSides.HighNeighbor.Item, vertexEvent);
}
protected abstract void ProcessVertexEvent(RBNode<BasicObstacleSide> lowSideNode,
RBNode<BasicObstacleSide> highSideNode, BasicVertexEvent vertexEvent);
private bool IntersectionAtSideIsInsideAnotherObstacle(BasicObstacleSide side, BasicVertexEvent vertexEvent)
{
Point intersect = ScanLineIntersectSide(vertexEvent.Site, side);
return(IntersectionAtSideIsInsideAnotherObstacle(side, vertexEvent.Obstacle, intersect));
}