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); }