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00018 #include <vis.h>
00019 #include <stdio.h>
00020
00021 #ifdef DMALLOC
00022 #include "dmalloc.h"
00023 #endif
00024
00025 typedef Ppoint_t ilcoord_t;
00026
00027 #ifdef DEBUG
00028 static void printVconfig(vconfig_t * cp);
00029 static void printVis(char *lbl, COORD * vis, int n);
00030 static void printDad(int *vis, int n);
00031 #endif
00032
00033 #ifdef GASP
00034 static void gasp_print_obstacles(vconfig_t * conf);
00035 static void gasp_print_point(Ppoint_t p);
00036 static void gasp_print_polyline(Ppolyline_t * route);
00037 static void gasp_print_bezier(Ppolyline_t * route);
00038 #endif
00039
00040 #if 0
00041 static void *myrealloc(void *p, size_t newsize)
00042 {
00043 void *rv;
00044
00045 if (p == (void *) 0)
00046 rv = malloc(newsize);
00047 else
00048 rv = realloc(p, newsize);
00049 return rv;
00050 }
00051 #endif
00052
00053 static void *mymalloc(size_t newsize)
00054 {
00055 void *rv;
00056
00057 if (newsize > 0)
00058 rv = malloc(newsize);
00059 else
00060 rv = (void *) 0;
00061 return rv;
00062 }
00063
00064
00065 vconfig_t *Pobsopen(Ppoly_t ** obs, int n_obs)
00066 {
00067 vconfig_t *rv;
00068 int poly_i, pt_i, i, n;
00069 int start, end;
00070
00071 rv = malloc(sizeof(vconfig_t));
00072
00073
00074 n = 0;
00075 for (poly_i = 0; poly_i < n_obs; poly_i++)
00076 n = n + obs[poly_i]->pn;
00077 rv->P = mymalloc(n * sizeof(Ppoint_t));
00078 rv->start = mymalloc((n_obs + 1) * sizeof(int));
00079 rv->next = mymalloc(n * sizeof(int));
00080 rv->prev = mymalloc(n * sizeof(int));
00081 rv->N = n;
00082 rv->Npoly = n_obs;
00083
00084
00085 i = 0;
00086 for (poly_i = 0; poly_i < n_obs; poly_i++) {
00087 start = i;
00088 rv->start[poly_i] = start;
00089 end = start + obs[poly_i]->pn - 1;
00090 for (pt_i = 0; pt_i < obs[poly_i]->pn; pt_i++) {
00091 rv->P[i] = obs[poly_i]->ps[pt_i];
00092 rv->next[i] = i + 1;
00093 rv->prev[i] = i - 1;
00094 i++;
00095 }
00096 rv->next[end] = start;
00097 rv->prev[start] = end;
00098 }
00099 rv->start[poly_i] = i;
00100 visibility(rv);
00101 return rv;
00102 }
00103
00104 void Pobsclose(vconfig_t * config)
00105 {
00106 free(config->P);
00107 free(config->start);
00108 free(config->next);
00109 free(config->prev);
00110 free(config->vis);
00111 free(config);
00112 }
00113
00114 int Pobspath(vconfig_t * config, Ppoint_t p0, int poly0, Ppoint_t p1,
00115 int poly1, Ppolyline_t * output_route)
00116 {
00117 int i, j, *dad;
00118 int opn;
00119 Ppoint_t *ops;
00120 COORD *ptvis0, *ptvis1;
00121
00122 #ifdef GASP
00123 gasp_print_obstacles(config);
00124 #endif
00125 ptvis0 = ptVis(config, poly0, p0);
00126 ptvis1 = ptVis(config, poly1, p1);
00127
00128 #ifdef GASP
00129 gasp_print_point(p0);
00130 gasp_print_point(p1);
00131 #endif
00132 dad = makePath(p0, poly0, ptvis0, p1, poly1, ptvis1, config);
00133
00134 opn = 1;
00135 for (i = dad[config->N]; i != config->N + 1; i = dad[i])
00136 opn++;
00137 opn++;
00138 ops = malloc(opn * sizeof(Ppoint_t));
00139
00140 j = opn - 1;
00141 ops[j--] = p1;
00142 for (i = dad[config->N]; i != config->N + 1; i = dad[i])
00143 ops[j--] = config->P[i];
00144 ops[j] = p0;
00145 assert(j == 0);
00146
00147 #ifdef DEBUG
00148 printVconfig(config);
00149 printVis("p", ptvis0, config->N + 1);
00150 printVis("q", ptvis1, config->N + 1);
00151 printDad(dad, config->N + 1);
00152 #endif
00153
00154 if (ptvis0)
00155 free(ptvis0);
00156 if (ptvis1)
00157 free(ptvis1);
00158
00159 output_route->pn = opn;
00160 output_route->ps = ops;
00161 #ifdef GASP
00162 gasp_print_polyline(output_route);
00163 #endif
00164 return TRUE;
00165 }
00166
00167 int Pobsbarriers(vconfig_t * config, Pedge_t ** barriers, int *n_barriers)
00168 {
00169 int i, j;
00170
00171 *barriers = malloc(config->N * sizeof(Pedge_t));
00172 *n_barriers = config->N;
00173
00174 for (i = 0; i < config->N; i++) {
00175 barriers[i]->a.x = config->P[i].x;
00176 barriers[i]->a.y = config->P[i].y;
00177 j = config->next[i];
00178 barriers[i]->b.x = config->P[j].x;
00179 barriers[i]->b.y = config->P[j].y;
00180 }
00181 return 1;
00182 }
00183
00184 #ifdef DEBUG
00185 static void printVconfig(vconfig_t * cp)
00186 {
00187 int i, j;
00188 int *next, *prev;
00189 Ppoint_t *pts;
00190 array2 arr;
00191
00192 next = cp->next;
00193 prev = cp->prev;
00194 pts = cp->P;
00195 arr = cp->vis;
00196
00197 printf("this next prev point\n");
00198 for (i = 0; i < cp->N; i++)
00199 printf("%3d %3d %3d (%3g,%3g)\n", i, next[i], prev[i],
00200 pts[i].x, pts[i].y);
00201
00202 printf("\n\n");
00203
00204 for (i = 0; i < cp->N; i++) {
00205 for (j = 0; j < cp->N; j++)
00206 printf("%4.1f ", arr[i][j]);
00207 printf("\n");
00208 }
00209 }
00210
00211 static void printVis(char *lbl, COORD * vis, int n)
00212 {
00213 int i;
00214
00215 printf("%s: ", lbl);
00216 for (i = 0; i < n; i++)
00217 printf("%4.1f ", vis[i]);
00218 printf("\n");
00219 }
00220
00221 static void printDad(int *vis, int n)
00222 {
00223 int i;
00224
00225 printf(" ");
00226 for (i = 0; i < n; i++) {
00227 printf("%3d ", i);
00228 }
00229 printf("\n");
00230 printf("dad: ");
00231 for (i = 0; i < n; i++) {
00232 printf("%3d ", vis[i]);
00233 }
00234 printf("\n");
00235 }
00236 #endif
00237
00238 static Ppoint_t Bezpt[1000];
00239 static int Bezctr;
00240
00241 static void addpt(Ppoint_t p)
00242 {
00243 if ((Bezctr == 0) ||
00244 (Bezpt[Bezctr - 1].x != p.x) || (Bezpt[Bezctr - 1].y != p.y))
00245 Bezpt[Bezctr++] = p;
00246 }
00247
00248 #define W_DEGREE 5
00249 static ilcoord_t Bezier(ilcoord_t * V, int degree, double t,
00250 ilcoord_t * Left, ilcoord_t * Right)
00251 {
00252 int i, j;
00253 ilcoord_t Vtemp[W_DEGREE + 1][W_DEGREE + 1];
00254
00255
00256 for (j = 0; j <= degree; j++) {
00257 Vtemp[0][j] = V[j];
00258 }
00259
00260
00261 for (i = 1; i <= degree; i++) {
00262 for (j = 0; j <= degree - i; j++) {
00263 Vtemp[i][j].x =
00264 (1.0 - t) * Vtemp[i - 1][j].x + t * Vtemp[i - 1][j + 1].x;
00265 Vtemp[i][j].y =
00266 (1.0 - t) * Vtemp[i - 1][j].y + t * Vtemp[i - 1][j + 1].y;
00267 }
00268 }
00269
00270 if (Left != NIL(ilcoord_t *))
00271 for (j = 0; j <= degree; j++)
00272 Left[j] = Vtemp[j][0];
00273 if (Right != NIL(ilcoord_t *))
00274 for (j = 0; j <= degree; j++)
00275 Right[j] = Vtemp[degree - j][j];
00276 return (Vtemp[degree][0]);
00277 }
00278
00279 static void append_bezier(Ppoint_t * bezier)
00280 {
00281 double a;
00282 ilcoord_t left[4], right[4];
00283
00284 a = fabs(area2(bezier[0], bezier[1], bezier[2]))
00285 + fabs(area2(bezier[2], bezier[3], bezier[0]));
00286 if (a < .5) {
00287 addpt(bezier[0]);
00288 addpt(bezier[3]);
00289 } else {
00290 (void) Bezier(bezier, 3, .5, left, right);
00291 append_bezier(left);
00292 append_bezier(right);
00293 }
00294 }
00295
00296 #ifdef GASP
00297
00298 FILE *GASPout = stderr;
00299
00300 static void gasp_print_point(Ppoint_t p)
00301 {
00302 fprintf(GASPout, "%3g %3g\n", p.x, p.y);
00303 }
00304
00305 void gasp_print_obstacles(vconfig_t * conf)
00306 {
00307 int i, j;
00308 Ppoly_t poly;
00309
00310 fprintf(GASPout, "%d\n", conf->Npoly);
00311 for (i = 0; i < conf->Npoly; i++) {
00312 poly.ps = &(conf->P[conf->start[i]]);
00313 poly.pn = conf->start[i + 1] - conf->start[i];
00314 fprintf(GASPout, "%d\n", poly.pn);
00315 for (j = 0; j < poly.pn; j++)
00316 gasp_print_point(poly.ps[j]);
00317 }
00318 }
00319
00320 void gasp_print_bezier(Ppolyline_t * route)
00321 {
00322 int i;
00323
00324 Bezctr = 0;
00325 for (i = 0; i + 3 < route->pn; i += 3)
00326 append_bezier(route->ps + i);
00327 fprintf(GASPout, "%d\n", Bezctr);
00328 for (i = 0; i < Bezctr; i++)
00329 gasp_print_point(Bezpt[i]);
00330 Bezctr = 0;
00331 }
00332
00333 void gasp_print_polyline(Ppolyline_t * route)
00334 {
00335 int i;
00336
00337 fprintf(GASPout, "%d\n", route->pn);
00338 for (i = 0; i < route->pn; i++)
00339 gasp_print_point(route->ps[i]);
00340 }
00341 #endif