visibility.c File Reference

#include "config.h"
#include <assert.h>
#include <pathplan/vis.h>
#include <stdbool.h>
#include <stdlib.h>
#include <util/alloc.h>

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Functions
static array2	allocArray (int V, int extra)
COORD	area2 (Ppoint_t a, Ppoint_t b, Ppoint_t c)
int	wind (Ppoint_t a, Ppoint_t b, Ppoint_t c)
static bool	inBetween (Ppoint_t a, Ppoint_t b, Ppoint_t c)
static bool	intersect (Ppoint_t a, Ppoint_t b, Ppoint_t c, Ppoint_t d)
static bool	in_cone (Ppoint_t a0, Ppoint_t a1, Ppoint_t a2, Ppoint_t b)
COORD	dist2 (Ppoint_t a, Ppoint_t b)
static COORD	dist (Ppoint_t a, Ppoint_t b)
static bool	inCone (int i, int j, Ppoint_t pts[], int nextPt[], int prevPt[])
static bool	clear (Ppoint_t pti, Ppoint_t ptj, int start, int end, int V, Ppoint_t pts[], int nextPt[])
static void	compVis (vconfig_t *conf)
void	visibility (vconfig_t *conf)
static int	polyhit (vconfig_t *conf, Ppoint_t p)
COORD *	ptVis (vconfig_t *conf, int pp, Ppoint_t p)
bool	directVis (Ppoint_t p, int pp, Ppoint_t q, int qp, vconfig_t *conf)

Function Documentation

allocArray()

static array2 allocArray ( int  V, int  extra  )

static

Definition at line 26 of file visibility.c.

References gv_calloc(), NULL, and V.

Referenced by visibility().

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area2()

COORD area2	(	Ppoint_t	a,
		Ppoint_t	b,
		Ppoint_t	c
	)

Definition at line 46 of file visibility.c.

References Pxy_t::x, and Pxy_t::y.

Referenced by inCone(), make_CW(), and make_map_internal().

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clear()

static bool clear ( Ppoint_t  pti, Ppoint_t  ptj, int  start, int  end, int  V, Ppoint_t  pts[], int  nextPt[]  )

static

Definition at line 147 of file visibility.c.

References intersect(), and V.

Referenced by compVis(), gobble(), and ptVis().

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compVis()

static void compVis ( vconfig_t *  conf )

static

Definition at line 171 of file visibility.c.

References clear(), dist(), inCone(), vconfig_s::N, vconfig_s::next, vconfig_s::P, vconfig_s::prev, V, and vconfig_s::vis.

Referenced by visibility().

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directVis()

bool directVis	(	Ppoint_t	p,
		int	pp,
		Ppoint_t	q,
		int	qp,
		vconfig_t *	conf
	)

Definition at line 306 of file visibility.c.

References intersect(), vconfig_s::N, vconfig_s::next, vconfig_s::P, s1(), vconfig_s::start, and V.

Referenced by makePath().

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dist()

static COORD dist ( Ppoint_t  a, Ppoint_t  b  )

static

Definition at line 133 of file visibility.c.

References dist2().

Referenced by compVis(), and ptVis().

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dist2()

COORD dist2	(	Ppoint_t	a,
		Ppoint_t	b
	)

Definition at line 122 of file visibility.c.

References Pxy_t::x, and Pxy_t::y.

Referenced by applyAttr(), cmpf(), dist(), doNeighbor(), doRep(), doRep(), edge_compatibility(), and edge_compatibility_full().

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in_cone()

static bool in_cone ( Ppoint_t  a0, Ppoint_t  a1, Ppoint_t  a2, Ppoint_t  b  )

static

Definition at line 108 of file visibility.c.

References wind().

Referenced by inCone(), and ptVis().

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inBetween()

static bool inBetween ( Ppoint_t  a, Ppoint_t  b, Ppoint_t  c  )

static

Definition at line 67 of file visibility.c.

References Pxy_t::x, and Pxy_t::y.

Referenced by intersect().

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inCone()

static bool inCone ( int  i, int  j, Ppoint_t  pts[], int  nextPt[], int  prevPt[]  )

static

Definition at line 138 of file visibility.c.

References in_cone().

Referenced by compVis().

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intersect()

static bool intersect ( Ppoint_t  a, Ppoint_t  b, Ppoint_t  c, Ppoint_t  d  )

static

Definition at line 80 of file visibility.c.

References inBetween(), and wind().

Referenced by clear(), directVis(), extract_adjacency(), mkConstraintG(), and mkNConstraintG().

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polyhit()

static int polyhit ( vconfig_t *  conf, Ppoint_t  p  )

static

Definition at line 224 of file visibility.c.

References in_poly(), vconfig_s::Npoly, vconfig_s::P, POLYID_NONE, and vconfig_s::start.

Referenced by ptVis().

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ptVis()

COORD * ptVis	(	vconfig_t *	conf,
		int	pp,
		Ppoint_t	p
	)

Definition at line 247 of file visibility.c.

References clear(), dist(), gv_calloc(), in_cone(), vconfig_s::N, vconfig_s::next, vconfig_s::P, polyhit(), POLYID_UNKNOWN, vconfig_s::prev, vconfig_s::start, and V.

Referenced by Pobspath().

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visibility()

void visibility

(

vconfig_t *

conf

)

Definition at line 213 of file visibility.c.

References allocArray(), compVis(), vconfig_s::N, and vconfig_s::vis.

Referenced by Pobsopen(), and set_visibility().

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wind()

int wind	(	Ppoint_t	a,
		Ppoint_t	b,
		Ppoint_t	c
	)

Definition at line 55 of file visibility.c.

References Pxy_t::x, and Pxy_t::y.

Referenced by in_cone(), in_poly(), intersect(), mkCtrlPts(), and raySeg().

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