1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
|
/*************************************************************************
* Copyright (c) 2011 AT&T Intellectual Property
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* which accompanies this distribution, and is available at
* https://www.eclipse.org/legal/epl-v10.html
*
* Contributors: Details at https://graphviz.org
*************************************************************************/
#include <assert.h>
#include <limits.h>
#include <stdlib.h>
#include <pathplan/pathutil.h>
#include <util/alloc.h>
void freePath(Ppolyline_t* p)
{
free(p->ps);
free(p);
}
int Ppolybarriers(Ppoly_t ** polys, int npolys, Pedge_t ** barriers,
int *n_barriers)
{
Ppoly_t pp;
int i, n, b;
n = 0;
for (i = 0; i < npolys; i++) {
assert(polys[i]->pn <= INT_MAX);
n += (int)polys[i]->pn;
}
Pedge_t *bar = gv_calloc(n, sizeof(Pedge_t));
b = 0;
for (i = 0; i < npolys; i++) {
pp = *polys[i];
for (size_t j = 0; j < pp.pn; j++) {
size_t k = j + 1;
if (k >= pp.pn)
k = 0;
bar[b].a = pp.ps[j];
bar[b].b = pp.ps[k];
b++;
}
}
assert(b == n);
*barriers = bar;
*n_barriers = n;
return 1;
}
/* make_polyline:
*/
void
make_polyline(Ppolyline_t line, Ppolyline_t* sline)
{
static size_t isz = 0;
static Ppoint_t* ispline = 0;
const size_t npts = 4 + 3 * (line.pn - 2);
if (npts > isz) {
ispline = gv_recalloc(ispline, isz, npts, sizeof(Ppoint_t));
isz = npts;
}
size_t j = 0;
size_t i = 0;
ispline[j+1] = ispline[j] = line.ps[i];
j += 2;
i++;
for (; i + 1 < line.pn; i++) {
ispline[j+2] = ispline[j+1] = ispline[j] = line.ps[i];
j += 3;
}
ispline[j+1] = ispline[j] = line.ps[i];
sline->pn = npts;
sline->ps = ispline;
}
/**
* @dir lib/pathplan
* @brief finds and smooths shortest paths, API pathplan.h
*
* [man 3 pathplan](https://graphviz.org/pdf/pathplan.3.pdf)
*
*/
|
