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This commit is contained in:
kanhuang 2013-09-12 09:32:44 -04:00
parent 08aa9c27f8
commit d35ac74685
1 changed files with 74 additions and 75 deletions
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139
Visibility_2/include/CGAL/Rotational_sweep_visibility_2.h
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@ -83,25 +83,25 @@ public:
private: private:
typedef std::vector<Point_2> Pvec; typedef std::vector<Point_2> Pvec;
typedef std::pair<Point_2, Point_2> Pair; typedef std::pair<Point_2, Point_2> Edge;
const Geometry_traits_2 *geom_traits; const Geometry_traits_2 *geom_traits;
const Input_arrangement_2 *p_arr; const Input_arrangement_2 *p_arr;
Point_2 q; Point_2 q;
Point_2 dp; Point_2 dp;
Pvec polygon; //visibility polygon Pvec polygon; //visibility polygon
std::map<Point_2, Pvec> neighbors; //vertex and two edges incident to it that might block vision std::map<Point_2, Pvec> neighbors; //vertex and its neighbours that are relevant to visibility polygon
std::map<Pair, int> edx; //index of edge in the heap std::map<Edge, int> edx; //index of edge in the heap
std::vector<Pair> heap; std::vector<Edge> active_edges; //a heap of edges that interset the current vision ray.
Pvec vs; //angular sorted vertices Pvec vs; //angular sorted vertices
bool is_vertex_query; bool is_vertex_query;
bool is_edge_query; bool is_edge_query;
bool is_big_cone; //whether the angle of visibility_cone is greater than pi. bool is_big_cone; //whether the angle of visibility_cone is greater than pi.
std::vector<Halfedge_const_handle> bad_edge_handles; std::vector<Halfedge_const_handle> bad_edge;
Vertex_const_handle query_vertex; Vertex_const_handle query_vertex;
Point_2 source; Point_2 source; //one end of visibility cone
Point_2 target; Point_2 target; //another end of visibility cone
public: public:
@ -112,10 +112,10 @@ public:
Face_handle compute_visibility(const Point_2& q, const Halfedge_const_handle e, Arrangement_2& arr_out) { Face_handle compute_visibility(const Point_2& q, const Halfedge_const_handle e, Arrangement_2& arr_out) {
arr_out.clear(); arr_out.clear();
bad_edge_handles.clear(); bad_edge.clear();
this->q = q; this->q = q;
if (q == e->target()->point()) { if (Visibility_2::compare_xy_2(geom_traits, q, e->target()->point())==EQUAL) {
query_vertex = e->target(); query_vertex = e->target();
is_vertex_query = true; is_vertex_query = true;
is_edge_query = false; is_edge_query = false;
@ -127,9 +127,9 @@ public:
first = curr = e->target()->incident_halfedges(); first = curr = e->target()->incident_halfedges();
do { do {
if (curr->face() == e->face()) if (curr->face() == e->face())
bad_edge_handles.push_back(curr); bad_edge.push_back(curr);
else if (curr->twin()->face() == e->face()) else if (curr->twin()->face() == e->face())
bad_edge_handles.push_back(curr->twin()); bad_edge.push_back(curr->twin());
} while (++curr != first); } while (++curr != first);
} }
else { else {
@ -137,7 +137,7 @@ public:
is_edge_query = true; is_edge_query = true;
source = e->source()->point(); source = e->source()->point();
target = e->target()->point(); target = e->target()->point();
bad_edge_handles.push_back(e); bad_edge.push_back(e);
is_big_cone = false; is_big_cone = false;
} }
visibility_region_impl(e->face(), q); visibility_region_impl(e->face(), q);
@ -248,7 +248,6 @@ const Input_arrangement_2& arr() {
private: private:
bool do_intersect_ray(const Point_2& q, bool do_intersect_ray(const Point_2& q,
const Point_2& dp, const Point_2& dp,
const Point_2& p1, const Point_2& p1,
@ -299,7 +298,7 @@ private:
vs[i+l+right.size()] = left[left.size()-1-l]; vs[i+l+right.size()] = left[left.size()-1-l];
} }
void compare_heap(std::vector<Pair>& heap1, std::vector<Pair>& heap2) { void compare_heap(std::vector<Edge>& heap1, std::vector<Edge>& heap2) {
if (heap1.size() != heap2.size()) { if (heap1.size() != heap2.size()) {
print_heap(heap1); print_heap(heap1);
print_heap(heap2); print_heap(heap2);
@ -311,10 +310,10 @@ private:
print_heap(heap2); print_heap(heap2);
return; return;
} }
std::cout<<"right heap has edges: "<<heap.size()<<std::endl; std::cout<<"right heap has edges: "<<active_edges.size()<<std::endl;
} }
void print_heap(std::vector<Pair> heap) { void print_heap(std::vector<Edge> heap) {
for (int i=0; i<heap.size(); i++) { for (int i=0; i<heap.size(); i++) {
std::cout<<i<<':'<< heap[i].first<<','<<heap[i].second<<std::endl; std::cout<<i<<':'<< heap[i].first<<','<<heap[i].second<<std::endl;
} }
@ -323,11 +322,11 @@ private:
void visibility_region_impl(const Face_const_handle f, const Point_2& q) { void visibility_region_impl(const Face_const_handle f, const Point_2& q) {
vs.clear(); vs.clear();
polygon.clear(); polygon.clear();
heap.clear(); active_edges.clear();
neighbors.clear(); neighbors.clear();
edx.clear(); edx.clear();
std::vector<Pair> good_edges; std::vector<Edge> good_edges;
if (is_vertex_query || is_edge_query) if (is_vertex_query || is_edge_query)
input_face(f, good_edges); input_face(f, good_edges);
else else
@ -344,7 +343,7 @@ private:
dp = q + dir; dp = q + dir;
std::vector<Pair> heapc; std::vector<Edge> heapc;
heapc.clear(); heapc.clear();
//initiation of active_edges //initiation of active_edges
if (is_vertex_query || is_edge_query) { if (is_vertex_query || is_edge_query) {
@ -385,13 +384,13 @@ private:
//angular sweep begins //angular sweep begins
for (int i=0; i!=vs.size(); i++) { for (int i=0; i!=vs.size(); i++) {
dp = vs[i]; dp = vs[i];
Pair closest_e = heap.front(); //save the closest edge; Edge closest_e = active_edges.front(); //save the closest edge;
int insert_cnt(0), remove_cnt(0); int insert_cnt(0), remove_cnt(0);
std::vector<Point_2>& neis=neighbors[dp]; std::vector<Point_2>& neis=neighbors[dp];
std::vector<Pair> insert_e, remove_e; std::vector<Edge> insert_e, remove_e;
for (int j=0; j!=neis.size(); j++) { for (int j=0; j!=neis.size(); j++) {
Pair e = create_pair(dp, neis[j]); Edge e = create_pair(dp, neis[j]);
// Orientation o=Visibility_2::orientation_2(geom_traits, q, dp, nei); // Orientation o=Visibility_2::orientation_2(geom_traits, q, dp, nei);
/* if (o==RIGHT_TURN || /* if (o==RIGHT_TURN ||
(o==COLLINEAR && i>0 && Visibility_2::compare_xy_2(geom_traits, nei, vs[i-1])==EQUAL))*/ (o==COLLINEAR && i>0 && Visibility_2::compare_xy_2(geom_traits, nei, vs[i-1])==EQUAL))*/
@ -408,7 +407,7 @@ private:
remove_cnt = remove_e.size(); remove_cnt = remove_e.size();
if (remove_e.size()==1 && insert_e.size()==1) { if (remove_e.size()==1 && insert_e.size()==1) {
int remove_idx = edx[remove_e.front()]; int remove_idx = edx[remove_e.front()];
heap[remove_idx] = insert_e.front(); active_edges[remove_idx] = insert_e.front();
edx[insert_e.front()] = remove_idx; edx[insert_e.front()] = remove_idx;
edx.erase(remove_e.front()); edx.erase(remove_e.front());
} }
@ -421,7 +420,7 @@ private:
} }
} }
if (closest_e != heap.front()) { if (closest_e != active_edges.front()) {
//when the closest edge changed //when the closest edge changed
if (remove_cnt > 0 && insert_cnt > 0) { if (remove_cnt > 0 && insert_cnt > 0) {
//some edges are added and some are deleted, which means the vertice sweeped is a vertice of visibility polygon. //some edges are added and some are deleted, which means the vertice sweeped is a vertice of visibility polygon.
@ -436,28 +435,28 @@ private:
if (remove_cnt > 0 && insert_cnt == 0) { if (remove_cnt > 0 && insert_cnt == 0) {
//only delete some edges, means some block is moved and the view ray can reach the segments after the block. //only delete some edges, means some block is moved and the view ray can reach the segments after the block.
update_visibility(dp); update_visibility(dp);
update_visibility(ray_seg_intersection(q, dp, heap.front().first, heap.front().second)); update_visibility(ray_seg_intersection(q, dp, active_edges.front().first, active_edges.front().second));
} }
} }
} }
} }
Pair create_pair(const Point_2& p1, const Point_2& p2) const{ Edge create_pair(const Point_2& p1, const Point_2& p2) const{
assert(p1 != p2); assert(p1 != p2);
if (Visibility_2::compare_xy_2(geom_traits, p1, p2)==SMALLER) if (Visibility_2::compare_xy_2(geom_traits, p1, p2)==SMALLER)
return Pair(p1, p2); return Edge(p1, p2);
else else
return Pair(p2, p1); return Edge(p2, p1);
} }
void heap_insert(const Pair& e) { void heap_insert(const Edge& e) {
// timer.reset(); // timer.reset();
// timer.start(); // timer.start();
heap.push_back(e); active_edges.push_back(e);
int i = heap.size()-1; int i = active_edges.size()-1;
edx[e] = i; edx[e] = i;
int parent = (i-1)/2; int parent = (i-1)/2;
while (i!=0 && is_closer(q, heap[i], heap[parent])){ while (i!=0 && is_closer(q, active_edges[i], active_edges[parent])){
heap_swap(i, parent); heap_swap(i, parent);
i = parent; i = parent;
parent = (i-1)/2; parent = (i-1)/2;
@ -470,19 +469,19 @@ private:
// timer.reset(); // timer.reset();
// timer.start(); // timer.start();
edx.erase(heap[i]); edx.erase(active_edges[i]);
if (i== heap.size()-1) if (i== active_edges.size()-1)
{ {
heap.pop_back(); active_edges.pop_back();
} }
else { else {
heap[i] = heap.back(); active_edges[i] = active_edges.back();
edx[heap[i]] = i; edx[active_edges[i]] = i;
heap.pop_back(); active_edges.pop_back();
int i_before_swap = i; int i_before_swap = i;
int parent = (i-1)/2; int parent = (i-1)/2;
while (i!=0 && is_closer(q, heap[i], heap[parent])){ while (i!=0 && is_closer(q, active_edges[i], active_edges[parent])){
heap_swap(i, parent); heap_swap(i, parent);
i = parent; i = parent;
parent = (i-1)/2; parent = (i-1)/2;
@ -493,10 +492,10 @@ private:
int left_son = i*2+1; int left_son = i*2+1;
int right_son = i*2+2; int right_son = i*2+2;
int closest_idx = i; int closest_idx = i;
if (left_son < heap.size() && is_closer(q, heap[left_son], heap[i])) { if (left_son < active_edges.size() && is_closer(q, active_edges[left_son], active_edges[i])) {
closest_idx = left_son; closest_idx = left_son;
} }
if (right_son < heap.size() && is_closer(q, heap[right_son], heap[closest_idx])) { if (right_son < active_edges.size() && is_closer(q, active_edges[right_son], active_edges[closest_idx])) {
closest_idx = right_son; closest_idx = right_son;
} }
swapped = false; swapped = false;
@ -517,11 +516,11 @@ private:
// timer.reset(); // timer.reset();
// timer.start(); // timer.start();
edx[heap[i]] = j; edx[active_edges[i]] = j;
edx[heap[j]] = i; edx[active_edges[j]] = i;
Pair temp = heap[i]; Edge temp = active_edges[i];
heap[i] = heap[j]; active_edges[i] = active_edges[j];
heap[j] = temp; active_edges[j] = temp;
// timer.stop(); // timer.stop();
// heap_swap_t += timer.time(); // heap_swap_t += timer.time();
@ -597,8 +596,8 @@ private:
// }; // };
bool is_closer(const Point_2& q, bool is_closer(const Point_2& q,
const Pair& e1, const Edge& e1,
const Pair& e2) { const Edge& e2) {
const Point_2& s1=e1.first, t1=e1.second, s2=e2.first, t2=e2.second; const Point_2& s1=e1.first, t1=e1.second, s2=e2.first, t2=e2.second;
Orientation e1q = Visibility_2::orientation_2(geom_traits, s1, t1, q); Orientation e1q = Visibility_2::orientation_2(geom_traits, s1, t1, q);
switch (e1q) switch (e1q)
@ -672,23 +671,24 @@ private:
Ray_2 ray(q,dp); Ray_2 ray(q,dp);
Segment_2 seg(s,t); Segment_2 seg(s,t);
CGAL::Object result = CGAL::intersection(ray, seg); CGAL::Object result = CGAL::intersection(ray, seg);
if (const Point_2 *ipoint = CGAL::object_cast<Point_2>(&result)) { return *(CGAL::object_cast<Point_2>(&result));
return *ipoint; // if (const Point_2 *ipoint = CGAL::object_cast<Point_2>(&result)) {
} // return *ipoint;
else { // }
if (const Segment_2 *iseg = CGAL::object_cast<Segment_2 >(&result)) { // else {
switch (CGAL::compare_distance_to_point(ray.source(), iseg->source(), iseg->target())) { // if (const Segment_2 *iseg = CGAL::object_cast<Segment_2 >(&result)) {
case (CGAL::SMALLER): // switch (CGAL::compare_distance_to_point(ray.source(), iseg->source(), iseg->target())) {
return iseg->source(); // case (CGAL::SMALLER):
break; // return iseg->source();
case (CGAL::LARGER) : // break;
return iseg->target(); // case (CGAL::LARGER) :
break; // return iseg->target();
} // break;
} else { // }
assert(false); // } else {
} // assert(false);
} // }
// }
} }
void update_visibility(const Point_2& p){ void update_visibility(const Point_2& p){
@ -696,7 +696,6 @@ private:
polygon.push_back(p); polygon.push_back(p);
else else
{ {
// if (polygon.back() != p){
if (Visibility_2::compare_xy_2(geom_traits, polygon.back(), p) != EQUAL) { if (Visibility_2::compare_xy_2(geom_traits, polygon.back(), p) != EQUAL) {
polygon.push_back(p); polygon.push_back(p);
} }
@ -775,9 +774,9 @@ private:
//for vertex and edge query: the visibility is limited in a cone. //for vertex and edge query: the visibility is limited in a cone.
void input_edge(const Halfedge_const_handle e, void input_edge(const Halfedge_const_handle e,
std::vector<Pair>& good_edges) { std::vector<Edge>& good_edges) {
for (int i=0; i<bad_edge_handles.size(); i++) for (int i=0; i<bad_edge.size(); i++)
if (e == bad_edge_handles[i]) if (e == bad_edge[i])
return; return;
Point_2 v1 = e->target()->point(); Point_2 v1 = e->target()->point();
@ -829,7 +828,7 @@ private:
} }
//for vertex or edge query: traverse the face to get all edges and sort vertices in counter-clockwise order. //for vertex or edge query: traverse the face to get all edges and sort vertices in counter-clockwise order.
void input_face (Face_const_handle fh, void input_face (Face_const_handle fh,
std::vector<Pair>& good_edges) std::vector<Edge>& good_edges)
{ {
// timer.reset(); // timer.reset();
// timer.start(); // timer.start();