def visible(p, points, q, T, S):
if points.index(q) == 0:
ant_point = None
else:
ant_point = points[points.index(q) - 1]
for poly in S:
if q in poly.vertices:
for edge in poly.edges:
if GeoUtils.edge_intersect(p, q, edge): return False
elif ant_point == None or not GeoUtils.is_on(p, ant_point, q):
for edge in poly.edges:
found = T.min_item() == edge
if found and GeoUtils.edge_intersect(p, q, edge): return False
else: return True
elif not visible(p, points, ant_point, T, S): return False
else:
for edge in T:
if GeoUtils.edge_intersect(p, q, edge):
return False
else: return True
def visible(p, points, q, T, S):
if points.index(q) == 0:
ant_point = None
else:
ant_point = points[points.index(q) - 1]
for poly in S:
if q in poly.vertices:
for edge in poly.edges:
if GeoUtils.edge_intersect(p, q, edge): return False
elif ant_point == None or not GeoUtils.is_on(p, ant_point, q):
for edge in poly.edges:
found = T.min_item() == edge
if found and GeoUtils.edge_intersect(p, q, edge): return False
else: return True
elif not visible(p, points, ant_point, T, S): return False
else:
for edge in T:
if GeoUtils.edge_intersect(p, q, edge):
return False
else:
return True
def visible_vertices(p, S, start, goal):
#NAIVE:
V = getAllVertices(S)
V.append(start)
V.append(goal)
V.remove(p)
W = []
for point in V:
visible = True
for poly in S:
for edge in poly.edges:
if p not in edge and point not in edge: #the two vertexs of the same edge can see each other, disjoint polygons
if GeoUtils.edge_intersect(p, point, edge): visible = False
if p in poly.vertices and point in poly.vertices:
if GeoUtils.midpoint_in_polygon([p, point], poly): visible = False
else:
for poly2 in S:
if GeoUtils.midpoint_in_polygon([p, point], poly2): visible = False
if visible:
W.append(point)
return W
def visible_vertices(p, S, start, goal):
#NAIVE:
V = getAllVertices(S)
V.append(start)
V.append(goal)
V.remove(p)
W = []
for point in V:
visible = True
for poly in S:
for edge in poly.edges:
if p not in edge and point not in edge: #the two vertexs of the same edge can see each other, disjoint polygons
if GeoUtils.edge_intersect(p, point, edge): visible = False
if p in poly.vertices and point in poly.vertices:
if GeoUtils.midpoint_in_polygon([p, point], poly):
visible = False
else:
for poly2 in S:
if GeoUtils.midpoint_in_polygon([p, point], poly2):
visible = False
if visible:
W.append(point)
return W