def isThereCrossMovement(cable, dest1, dest2):
# I've also included the case where the polygon is not simple
cable = getLongCable(cable, dest1, dest2)
cable = removeRepeatedVertsOrdered(cable)
if len(cable) < 3: return False
p = Polygon([convertToPoint(v) for v in cable])
return not p.is_simple()
def _getOriginalBoundary(self) -> None:
extendedCable = [self.dest1] + self.cable + [self.dest2]
extendedCable = VertexUtils.removeRepeatedVertsOrdered(extendedCable)
self.boundaryPts = [
VertexUtils.convertToPoint(vert) for vert in extendedCable
]
self.originalPolygon = Polygon(self.boundaryPts)
def isUndoingLastMove(node, v, index):
if not node.parent: return False
if v.name == "D1" or v.name == "D2": return False
if convertToPoint(node.parent.cable[index]) != convertToPoint(v):
return False
path = node._getPath(index == 0)
path = removeRepeatedVertsOrdered(path)
if convertToPoint(node.parent.cable[-2]) != convertToPoint(v): return False
return True
def preprocessTheCable(cable: VertList, destA: Vertex, destB: Vertex) -> tuple: """ If moves are happening along the current cable """ if convertToPoint(destB) == convertToPoint(cable[-2]) or Geom.isCollinear(cable[-2], cable[-1], destB): cable[-1] = destB if convertToPoint(destA) == convertToPoint(cable[1]) or Geom.isCollinear(cable[1], cable[0], destA): cable[0] = destA cable = removeRepeatedVertsOrdered(cable) return (cable, destA, destB)
def getShortestPath(tri: Triangulation, dest1: Vertex, dest2: Vertex, sleeve: list):
# We need to do this because the funnel algorithm assumes that the path lies inside the triangulation
if len(sleeve) == 0:
raise RuntimeError("Here we are.")
funnel = Funnel(dest1, tri, sleeve)
pathPt = funnel.getShortestPath(dest2)
pathVt = [getClosestVertex(pt) for pt in pathPt]
pathVt = removeRepeatedVertsOrdered(pathVt)
if len(pathVt) < 2: return [getClosestVertex(dest1), getClosestVertex(dest2)]
return pathVt
def _tightenCable(cable: VertList, destA: Vertex, destB: Vertex, isLeft:bool, debugTri=False) -> VertList:
"""
This is an altered version of "Hershberger, J., & Snoeyink, J. (1994). Computing minimum length paths of a given homotopy class."
https://doi.org/10.1016/0925-7721(94)90010-8
"""
(cable, destA, destB) = preprocessTheCable(cable, destA, destB)
(cable, destA, destB) = pushCableAwayFromObstacles(cable, destA, destB)
longCable = getLongCable(cable, destA, destB)
if len(longCable) == 2: return [getClosestVertex(pt) for pt in longCable]
longCable = removeRepeatedVertsOrdered(longCable)
if len(longCable) == 2: return [getClosestVertex(pt) for pt in longCable]
tri = Triangulation(cable, destA, destB, debug=debugTri)
# Edge case where the two robots go to the same point and cable is not making contact
if tri.triangleCount == 1:
return [getClosestVertex(pt) for pt in [destA, destB]]
allCurrentTries = []
# We represent an edge by a python set to make checks easier
currE = getEdge(longCable[0], longCable[1])
currTri = tri.getIncidentTriangles(currE)
currTri = chooseTriangleBySide(longCable[0], longCable[1], currTri, isLeft)
for i in range(1, len(longCable) - 1):
allCurrentTries.append(currTri)
e = getEdge(longCable[i], longCable[i + 1])
pivot = e & currE
if len(pivot) != 1:
raise RuntimeError("The intersection of e and currE must yield only 1 vertex")
pivot = next(iter(pivot))
tries = tri.getIncidentTriangles(e)
tries = chooseTriangleBySide(longCable[i], longCable[i + 1], tries, isLeft)
while not tries & currTri:
(flipEdge, currTri) = getFlipEdgeAndCurrentTriangle(tri, pivot, currE, currTri, tries)
if flipEdge: currE = flipEdge
# FIXME: This happens if the dest1 + cable + dest2 is not a simple polygon
else: raise RuntimeError("Deal with this at some point.")
allCurrentTries.append(currTri)
# Debugging
# tri.getCanvasEdge(currE).highlightEdge()
currTri = tries & currTri
currE = e
sleeve = findSleeve(allCurrentTries)
return getShortestPath(tri, destA, destB, sleeve)
def _isCorrectSolution(self, paths: list, presetName: str):
paths = [removeRepeatedVertsOrdered(p) for p in paths]
return repr(paths[0]) == self._tests[presetName][0] and repr(
paths[1]) == self._tests[presetName][1]
def polygonAndObstacleIntersection(polyVerts, obstacle) -> List[Point]:
result = SHGeom.polygonIntersection(polyVerts, obstacle.polygon.vertices())
result = removeRepeatedVertsOrdered(result)
return result
