public static Polygon LanePolygon(ArbiterLane al)
{
// fist get the right boundary of the lane
LinePath lb = al.LanePath().ShiftLateral(-al.Width / 2.0);
LinePath rb = al.LanePath().ShiftLateral(al.Width / 2.0);
rb.Reverse();
List <Coordinates> defaultPoly = lb;
defaultPoly.AddRange(rb);
// start the polygon
Polygon poly = new Polygon(defaultPoly);
// loop through partitions
foreach (ArbiterLanePartition alp in al.Partitions)
{
//if (alp.Initial.PreviousPartition != null && alp.Final.NextPartition != null)
//{
// get the good polygon
Polygon pPoly = PartitionPolygon(alp);
// check not null
if (pPoly != null)
{
poly = PolygonToolkit.PolygonUnion(new List <Polygon>(new Polygon[] { poly, pPoly }));
}
//}
}
// circles for intersections of partitions
foreach (ArbiterLanePartition alp in al.Partitions)
{
if (alp.Final.NextPartition != null)
{
double interAngle = Math.Abs(FinalIntersectionAngle(alp));
if (interAngle > 15)
{
Circle connect = new Circle((alp.Lane.Width / 2.0) + (interAngle / 15.0 * 0.5), alp.Final.Position);
poly = PolygonToolkit.PolygonUnion(new List <Polygon>(new Polygon[] { poly, connect.ToPolygon(16) }));
}
}
}
// return the polygon
return(poly);
}
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);
}
