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/* $Id: vis.h,v 1.6 2009/06/03 01:10:54 ellson Exp $ $Revision: 1.6 $ */
/* vim:set shiftwidth=4 ts=8: */
/**********************************************************
* This software is part of the graphviz package *
* http://www.graphviz.org/ *
* *
* Copyright (c) 1994-2004 AT&T Corp. *
* and is licensed under the *
* Common Public License, Version 1.0 *
* by AT&T Corp. *
* *
* Information and Software Systems Research *
* AT&T Research, Florham Park NJ *
**********************************************************/
#ifndef VISIBILITY_H
#define VISIBILITY_H
#include <assert.h>
#include <math.h>
#include <stdlib.h>
#include <limits.h>
#include "vispath.h"
#include "pathutil.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef COORD **array2;
#define OBSCURED 0.0
#define EQ(p,q) ((p.x == q.x) && (p.y == q.y))
#define NEQ(p,q) (!EQ(p,q))
#define NIL(p) ((p)0)
#define CW 0
#define CCW 1
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 WIN32_DLL
#ifndef PATHPLAN_EXPORTS
#define extern __declspec(dllimport)
#endif
#endif
/*end visual studio*/
extern COORD *ptVis(vconfig_t *, int, Ppoint_t);
extern int directVis(Ppoint_t, int, Ppoint_t, int, vconfig_t *);
extern void visibility(vconfig_t *);
extern int *makePath(Ppoint_t p, int pp, COORD * pvis,
Ppoint_t q, int qp, COORD * qvis,
vconfig_t * conf);
#undef extern
#ifdef __cplusplus
}
#endif
#endif
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