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/*************************************************************************
* 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
*************************************************************************/
#pragma once
#include <assert.h>
#include <math.h>
#include <stdbool.h>
#include <stdlib.h>
#include <limits.h>
#include "vispath.h"
#include "pathutil.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef COORD **array2;
#define EQ(p,q) ((p.x == q.x) && (p.y == q.y))
struct vconfig_s {
int Npoly;
int N; /* number of points in walk of barriers */
Ppoint_t *P; /* barrier points */
int *start;
int *next;
int *prev;
/* this is computed from the above */
array2 vis;
};
#ifdef GVDLL
#ifdef PATHPLAN_EXPORTS
#define VIS_API __declspec(dllexport)
#else
#define VIS_API __declspec(dllimport)
#endif
#endif
#ifndef VIS_API
#define VIS_API /* nothing */
#endif
VIS_API COORD *ptVis(vconfig_t *, int, Ppoint_t);
VIS_API bool directVis(Ppoint_t, int, Ppoint_t, int, vconfig_t *);
VIS_API void visibility(vconfig_t *);
VIS_API int *makePath(Ppoint_t p, int pp, COORD * pvis,
Ppoint_t q, int qp, COORD * qvis,
vconfig_t * conf);
#undef VIS_API
#ifdef __cplusplus
}
#endif
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