src/rrtext2.cc

   1 #include "rrtext.h"
   2 #define CUTE_C2_IMPLEMENTATION
   3 #include "cute_c2.h"
   4
   5 void RRTExt2::init()
   6 {
   7         BicycleCar bc;
   8         this->c2_bc().count = 4;
   9         this->c2_bc().verts[0].x = bc.lfx();
  10         this->c2_bc().verts[0].y = bc.lfy();
  11         this->c2_bc().verts[1].x = bc.lrx();
  12         this->c2_bc().verts[1].y = bc.lry();
  13         this->c2_bc().verts[2].x = bc.rrx();
  14         this->c2_bc().verts[2].y = bc.rry();
  15         this->c2_bc().verts[3].x = bc.rfx();
  16         this->c2_bc().verts[3].y = bc.rfy();
  17
  18         for (auto o: this->obstacles()) {
  19                 c2Poly c2tmp;
  20                 c2tmp.count = (o.poly().size() < C2_MAX_POLYGON_VERTS)
  21                         ? o.poly().size()
  22                         : C2_MAX_POLYGON_VERTS
  23                 ;
  24                 int i = 0;
  25                 for (auto c: o.poly()) {
  26                         if (i < C2_MAX_POLYGON_VERTS) {
  27                                 c2tmp.verts[i].x = std::get<0>(c);
  28                                 c2tmp.verts[i].y = std::get<1>(c);
  29                         }
  30                         i++;
  31                 }
  32                 this->c2_obstacles().push_back(c2tmp);
  33         }
  34 }
  35
  36 void RRTExt2::deinit()
  37 {
  38 }
  39
  40 std::tuple<bool, unsigned int, unsigned int>
  41 RRTExt2::collide_steered_from(RRTNode &f)
  42 {
  43         this->c2x_bc().p.x = f.x();
  44         this->c2x_bc().p.y = f.y();
  45         this->c2x_bc().r.c = cos(f.h());
  46         this->c2x_bc().r.s = sin(f.h());
  47         for (auto &o: this->c2_obstacles()) {
  48                 if (c2PolytoPoly(
  49                         &this->c2_bc(), &this->c2x_bc(),
  50                         &o, NULL
  51                 )) {
  52                         return std::make_tuple(true, 0, 0);
  53                 }
  54         }
  55         for (auto &n: this->steered()) {
  56                 this->c2x_bc().p.x = n.x();
  57                 this->c2x_bc().p.y = n.y();
  58                 this->c2x_bc().r.c = cos(n.h());
  59                 this->c2x_bc().r.s = sin(n.h());
  60                 for (auto &o: this->c2_obstacles()) {
  61                         if (c2PolytoPoly(
  62                                 &this->c2_bc(), &this->c2x_bc(),
  63                                 &o, NULL
  64                         )) {
  65                                 return std::make_tuple(true, 0, 0);
  66                         }
  67                 }
  68         }
  69         return std::make_tuple(false, 0, 0);
  70 }
  71
  72 std::tuple<bool, unsigned int, unsigned int>
  73 RRTExt2::collide_two_nodes(RRTNode &f, RRTNode &t)
  74 {
  75         this->c2x_bc().p.x = f.x();
  76         this->c2x_bc().p.y = f.y();
  77         this->c2x_bc().r.c = cos(f.h());
  78         this->c2x_bc().r.s = sin(f.h());
  79         for (auto &o: this->c2_obstacles()) {
  80                 if (c2PolytoPoly(
  81                         &this->c2_bc(), &this->c2x_bc(),
  82                         &o, NULL
  83                 )) {
  84                         return std::make_tuple(true, 0, 0);
  85                 }
  86         }
  87         this->c2x_bc().p.x = t.x();
  88         this->c2x_bc().p.y = t.y();
  89         this->c2x_bc().r.c = cos(t.h());
  90         this->c2x_bc().r.s = sin(t.h());
  91         for (auto &o: this->c2_obstacles()) {
  92                 if (c2PolytoPoly(
  93                         &this->c2_bc(), &this->c2x_bc(),
  94                         &o, NULL
  95                 )) {
  96                         return std::make_tuple(true, 0, 0);
  97                 }
  98         }
  99         return std::make_tuple(false, 0, 0);
 100 }