0ee7e3102b
Adds 2D navigation mesh baking.
120 lines
4 KiB
C++
120 lines
4 KiB
C++
/*******************************************************************************
|
|
* Author : Angus Johnson *
|
|
* Date : 28 January 2023 *
|
|
* Website : http://www.angusj.com *
|
|
* Copyright : Angus Johnson 2010-2023 *
|
|
* Purpose : Minkowski Sum and Difference *
|
|
* License : http://www.boost.org/LICENSE_1_0.txt *
|
|
*******************************************************************************/
|
|
|
|
#ifndef CLIPPER_MINKOWSKI_H
|
|
#define CLIPPER_MINKOWSKI_H
|
|
|
|
#include <cstdlib>
|
|
#include <vector>
|
|
#include <string>
|
|
#include "clipper.core.h"
|
|
|
|
namespace Clipper2Lib
|
|
{
|
|
|
|
namespace detail
|
|
{
|
|
inline Paths64 Minkowski(const Path64& pattern, const Path64& path, bool isSum, bool isClosed)
|
|
{
|
|
size_t delta = isClosed ? 0 : 1;
|
|
size_t patLen = pattern.size(), pathLen = path.size();
|
|
if (patLen == 0 || pathLen == 0) return Paths64();
|
|
Paths64 tmp;
|
|
tmp.reserve(pathLen);
|
|
|
|
if (isSum)
|
|
{
|
|
for (const Point64& p : path)
|
|
{
|
|
Path64 path2(pattern.size());
|
|
std::transform(pattern.cbegin(), pattern.cend(),
|
|
path2.begin(), [p](const Point64& pt2) {return p + pt2; });
|
|
tmp.push_back(path2);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
for (const Point64& p : path)
|
|
{
|
|
Path64 path2(pattern.size());
|
|
std::transform(pattern.cbegin(), pattern.cend(),
|
|
path2.begin(), [p](const Point64& pt2) {return p - pt2; });
|
|
tmp.push_back(path2);
|
|
}
|
|
}
|
|
|
|
Paths64 result;
|
|
result.reserve((pathLen - delta) * patLen);
|
|
size_t g = isClosed ? pathLen - 1 : 0;
|
|
for (size_t h = patLen - 1, i = delta; i < pathLen; ++i)
|
|
{
|
|
for (size_t j = 0; j < patLen; j++)
|
|
{
|
|
Path64 quad;
|
|
quad.reserve(4);
|
|
{
|
|
quad.push_back(tmp[g][h]);
|
|
quad.push_back(tmp[i][h]);
|
|
quad.push_back(tmp[i][j]);
|
|
quad.push_back(tmp[g][j]);
|
|
};
|
|
if (!IsPositive(quad))
|
|
std::reverse(quad.begin(), quad.end());
|
|
result.push_back(quad);
|
|
h = j;
|
|
}
|
|
g = i;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
inline Paths64 Union(const Paths64& subjects, FillRule fillrule)
|
|
{
|
|
Paths64 result;
|
|
Clipper64 clipper;
|
|
clipper.AddSubject(subjects);
|
|
clipper.Execute(ClipType::Union, fillrule, result);
|
|
return result;
|
|
}
|
|
|
|
} // namespace internal
|
|
|
|
inline Paths64 MinkowskiSum(const Path64& pattern, const Path64& path, bool isClosed)
|
|
{
|
|
return detail::Union(detail::Minkowski(pattern, path, true, isClosed), FillRule::NonZero);
|
|
}
|
|
|
|
inline PathsD MinkowskiSum(const PathD& pattern, const PathD& path, bool isClosed, int decimalPlaces = 2)
|
|
{
|
|
int error_code = 0;
|
|
double scale = pow(10, decimalPlaces);
|
|
Path64 pat64 = ScalePath<int64_t, double>(pattern, scale, error_code);
|
|
Path64 path64 = ScalePath<int64_t, double>(path, scale, error_code);
|
|
Paths64 tmp = detail::Union(detail::Minkowski(pat64, path64, true, isClosed), FillRule::NonZero);
|
|
return ScalePaths<double, int64_t>(tmp, 1 / scale, error_code);
|
|
}
|
|
|
|
inline Paths64 MinkowskiDiff(const Path64& pattern, const Path64& path, bool isClosed)
|
|
{
|
|
return detail::Union(detail::Minkowski(pattern, path, false, isClosed), FillRule::NonZero);
|
|
}
|
|
|
|
inline PathsD MinkowskiDiff(const PathD& pattern, const PathD& path, bool isClosed, int decimalPlaces = 2)
|
|
{
|
|
int error_code = 0;
|
|
double scale = pow(10, decimalPlaces);
|
|
Path64 pat64 = ScalePath<int64_t, double>(pattern, scale, error_code);
|
|
Path64 path64 = ScalePath<int64_t, double>(path, scale, error_code);
|
|
Paths64 tmp = detail::Union(detail::Minkowski(pat64, path64, false, isClosed), FillRule::NonZero);
|
|
return ScalePaths<double, int64_t>(tmp, 1 / scale, error_code);
|
|
}
|
|
|
|
} // Clipper2Lib namespace
|
|
|
|
#endif // CLIPPER_MINKOWSKI_H
|