Ejemplo n.º 1
0
 public void clearTempConnectedNodes() {
   for (int k = tempConnectedNodes.size() - 1; k >= 0; k--) {
     ArrayList<KNode> otherConnectedNodes = tempConnectedNodes.get(k).getTempConnectedNodes();
     boolean nodeRemoved = otherConnectedNodes.remove(this);
     assert nodeRemoved == true;
   }
   tempConnectedNodes.clear();
 }
Ejemplo n.º 2
0
 public void clearConnectedNodes() {
   for (int k = connectedNodes.size() - 1; k >= 0; k--) {
     ArrayList<KNode> otherConnectedNodes = connectedNodes.get(k).getConnectedNodes();
     int index = otherConnectedNodes.indexOf(this);
     assert index != -1;
     otherConnectedNodes.remove(index);
   }
   connectedNodes.clear();
 }
Ejemplo n.º 3
0
 public KPolygon createPolygonFromVisiblePoints(ArrayList<VisiblePoint> visiblePoints) {
   KPolygon visiblePolygon;
   ArrayList<Vector2f> pointList = new ArrayList<Vector2f>(visiblePoints.size());
   for (int i = 0; i < visiblePoints.size(); i++) {
     pointList.add(visiblePoints.get(i).getPoint().clone());
   }
   if (pointList.size() >= 3) {
     // should check that points do not make intersecting lines
     // KPolygon.isValidNoLineIntersections(pointList);
     visiblePolygon = new KPolygon(pointList);
   } else {
     visiblePolygon = null; // visiblePolygon.copy();
   }
   return visiblePolygon;
 }
Ejemplo n.º 4
0
  // CodeTimer codeTimer = new CodeTimer("calc", CodeTimer.Output.Millis, CodeTimer.Output.Millis);
  //	{
  //		codeTimer.setEnabled(true);
  //	}
  public VisionData calc(
      VisionData cache,
      List<? extends Occluder> fixedOccluders,
      List<VPOccluderOccluderIntersection> fixedOccludersIntersectionPoints,
      List<? extends Occluder> movingOccluders) {
    Vector2f eye = cache.eye;
    KPolygon boundaryPolygon = cache.boundaryPolygon;
    cache.visiblePoints = null;
    cache.visiblePolygon = null;
    int[] boundaryPolygonXIndicators = cache.boundaryPolygonXIndicators;
    int[] boundaryPolygonYIndicators = cache.boundaryPolygonYIndicators;
    double maxEyeToBoundaryPolygonPointDist = cache.maxEyeToBoundaryPolygonPointDist;
    double minEyeToBoundaryPolygonPointDist = cache.minEyeToBoundaryPolygonPointDist;
    double maxEyeToBoundaryPolygonPointDistSq = cache.maxEyeToBoundaryPolygonPointDistSq;
    double minEyeToBoundaryPolygonPointDistSq = cache.minEyeToBoundaryPolygonPointDistSq;
    // double[] boundaryPolygonPointAngles = cache.boundaryPolygonPointAngles;
    // double boundaryPolygonRotationAroundEye = cache.getBoundaryPolygonRotationAroundEye();

    ArrayList<Vector2f> boundaryPolygonPoints = boundaryPolygon.getPoints();
    ArrayList<VisiblePoint> visiblePoints =
        new ArrayList<VisiblePoint>(
            boundaryPolygonPoints.size()); // size is likely to be boundaryPolygon.size() or more.
    //		codeTimer.click("polygonAndDists clear");
    polygonAndDists.clear();
    //		codeTimer.click("polygonAndDists");
    // add the fixedPolygons to polygonAndDists
    for (int n = 0; n < fixedOccluders.size(); n++) {
      Occluder occluder = fixedOccluders.get(n);
      KPolygon poly = occluder.getPolygon();
      double distCenterToEyeLessCircBound = eye.distance(poly.getCenter()) - poly.getRadius();
      double distCenterToEyeLessCircBoundSq =
          distCenterToEyeLessCircBound * distCenterToEyeLessCircBound;
      if (distCenterToEyeLessCircBound < 0) {
        distCenterToEyeLessCircBoundSq *= -1;
      }
      int xIndicator = getXIndicator(poly, eye);
      int yIndicator = getYIndicator(poly, eye);
      OccluderDistAndQuad polygonAndDist =
          new OccluderDistAndQuad(
              occluder,
              distCenterToEyeLessCircBound,
              distCenterToEyeLessCircBoundSq,
              xIndicator,
              yIndicator);
      polygonAndDists.add(polygonAndDist);
    }
    // add the movingPolygons to polygonAndDists
    for (int n = 0; n < movingOccluders.size(); n++) {
      Occluder occluder = movingOccluders.get(n);
      KPolygon poly = occluder.getPolygon();
      double distCenterToEyeLessCircBound = eye.distance(poly.getCenter()) - poly.getRadius();
      double distCenterToEyeLessCircBoundSq =
          distCenterToEyeLessCircBound * distCenterToEyeLessCircBound;
      if (distCenterToEyeLessCircBound < 0) {
        distCenterToEyeLessCircBoundSq *= -1;
      }
      int xIndicator = getXIndicator(poly, eye);
      int yIndicator = getYIndicator(poly, eye);
      OccluderDistAndQuad polygonAndDist =
          new OccluderDistAndQuad(
              occluder,
              distCenterToEyeLessCircBound,
              distCenterToEyeLessCircBoundSq,
              xIndicator,
              yIndicator);
      polygonAndDists.add(polygonAndDist);
    }
    //		codeTimer.click("sort");
    // Sort the list.
    Collections.sort(polygonAndDists);
    // codeTimer.click();

    //		codeTimer.click("visiblePoints clear");
    visiblePoints.clear();

    //		codeTimer.click("Add occluder points");
    // Add occluder points
    for (int i = 0; i < polygonAndDists.size(); i++) {
      OccluderDistAndQuad polygonAndDist = polygonAndDists.get(i);
      // check if it's possible for occluder to be inside the boundaryPolygon
      if (polygonAndDist.getDistEyeToCenterLessRadius() > maxEyeToBoundaryPolygonPointDist) {
        continue;
      }
      KPolygon polygon = polygonAndDist.getPolygon();
      ArrayList<Vector2f> points = polygon.getPoints();
      boolean allPointsInsideBoundaryPolygon =
          (polygonAndDist.getDistEyeToCenterLessRadius() + 2 * polygon.getRadius())
              < minEyeToBoundaryPolygonPointDist;
      PointLoop:
      for (int j = 0; j < points.size(); j++) {
        Vector2f p = points.get(j);
        double eyeToPDistSq = eye.distanceSquared(p);
        // Only add occluder points if they're inside the boundaryPolygon and they're unobstructed.
        if (allPointsInsideBoundaryPolygon == false) {
          // The polygon points may not all be inside the boundaryPolygon so need to check that this
          // point is using the contains method.
          if (eyeToPDistSq > maxEyeToBoundaryPolygonPointDistSq) {
            continue;
          } else if (eyeToPDistSq >= minEyeToBoundaryPolygonPointDistSq) {
            if (boundaryPolygon.contains(p) == false) {
              continue;
            }
          }
        }

        // check if the line from the eye to the polygon point intersects other lines that make up
        // the polygon
        for (int m = 0; m < points.size(); m++) {
          int nextM = (m + 1 >= points.size() ? 0 : m + 1);
          if (j == m || j == nextM) {
            continue;
          }
          if (Vector2fUtils.linesIntersect(p, eye, points.get(m), points.get(nextM))) {
            continue PointLoop;
          }
        }

        // check if the line from the eye to the polygon point intersects other polygons
        for (int k = 0; k < polygonAndDists.size(); k++) {
          OccluderDistAndQuad polygonAndDist2 = polygonAndDists.get(k);
          if (polygonAndDist == polygonAndDist2) {
            // check if the line from the eye to the polygon point intersects other lines that make
            // up the polygon
            //						for (int m = 0; m < points.size(); m++){
            //							int nextM = (m+1 >= points.size() ? 0 : m+1);
            //							if (j == m || j == nextM){
            //								continue;
            //							}
            //							if (KPolygon.isValidNoLineIntersections(p, eye, points.get(m),
            // points.get(nextM))){
            //								continue PointLoop;
            //							}
            //						}
            continue;
          }
          if (polygonAndDist2.getDistEyeToCenterLessRadiusSqSigned() > eyeToPDistSq) {
            break;
          }
          if (polygonAndDist.getXIndicator() * polygonAndDist2.getXIndicator() == -1
              || polygonAndDist.getYIndicator() * polygonAndDist2.getYIndicator() == -1) {
            continue;
          }
          KPolygon polygon2 = polygonAndDist2.getPolygon();
          if (polygon2.intersectionPossible(p, eye) && polygon2.intersectsLine(p, eye)) {
            continue PointLoop;
          }
        }
        // double angleRelativeToEye = eye.findAngle(p);
        // VisiblePoint vp = new VPOccluder(p, polygonAndDist.getOccluder(), j, angleRelativeToEye);
        VisiblePoint vp = new VPOccluder(p, polygonAndDist.getOccluder(), j);
        visiblePoints.add(vp);
      }
    }
    //		codeTimer.click("Find intersection between occluders and the boundaryPolygon");
    // Add all points of intersection between occluders and the boundaryPolygon
    boundaryOccluderIntersectionPoints.clear();
    {
      for (int j = 0; j < boundaryPolygonPoints.size(); j++) {
        Vector2f p = boundaryPolygonPoints.get(j);
        int jPlus = (j + 1 >= boundaryPolygonPoints.size() ? 0 : j + 1);
        Vector2f p2 = boundaryPolygonPoints.get(jPlus);

        int xIndicator = getXIndicator(p, p2, eye);
        int yIndicator = getYIndicator(p, p2, eye);
        boundaryPolygonXIndicators[j] = xIndicator;
        boundaryPolygonYIndicators[j] = yIndicator;
        for (int k = 0; k < polygonAndDists.size(); k++) {
          OccluderDistAndQuad polygonAndDist = polygonAndDists.get(k);
          KPolygon polygon = polygonAndDist.getPolygon();
          if ((xIndicator * polygonAndDist.getXIndicator() == -1
                  || yIndicator * polygonAndDist.getYIndicator() == -1)
              == true) {
            continue;
          }
          if (polygon.intersectionPossible(p, p2) == false) {
            // intersection is not possible, so skip to next occluder.
            continue;
          }
          ArrayList<Vector2f> points = polygon.getPoints();
          for (int i = 0; i < points.size(); i++) {
            int nextI = (i + 1 >= points.size() ? 0 : i + 1);
            Vector2f p3 = points.get(i);
            Vector2f p4 = points.get(nextI);
            if (Vector2fUtils.linesIntersect(p, p2, p3, p4)) {
              Vector2f intersection = Vector2fUtils.getLineLineIntersection(p, p2, p3, p4);
              if (intersection != null) {
                boundaryOccluderIntersectionPoints.add(
                    new VPOccluderBoundaryIntersection(
                        intersection, polygonAndDist.getOccluder(), i));
              }
            }
          }
        }
      }
    }
    //		codeTimer.click("Only add boundary-occluder intersection points that are unoccluded");
    // Only add boundary-occluder intersection points that are unoccluded
    OuterLoop:
    for (int j = 0; j < boundaryOccluderIntersectionPoints.size(); j++) {
      VPOccluderBoundaryIntersection visiblePoint = boundaryOccluderIntersectionPoints.get(j);
      Vector2f p = visiblePoint.getPoint();
      // see if the occluder that makes this visiblePoint intersection occludes this point from the
      // eye.
      ArrayList<Vector2f> points = visiblePoint.getPolygon().getPoints();
      for (int m = 0; m < points.size(); m++) {
        int nextM = (m + 1 >= points.size() ? 0 : m + 1);
        if (visiblePoint.getPolygonPointNum() == m) {
          continue;
        }
        if (Vector2fUtils.linesIntersect(p, eye, points.get(m), points.get(nextM))) {
          continue OuterLoop;
        }
      }
      int xIndicator = getXIndicator(p, eye);
      int yIndicator = getYIndicator(p, eye);
      // see if any other occluders cause an obstruction
      double eyeToPDistSq = eye.distanceSquared(p);
      for (int k = 0; k < polygonAndDists.size(); k++) {
        OccluderDistAndQuad polygonAndDist2 = polygonAndDists.get(k);
        KPolygon polygon2 = polygonAndDists.get(k).getPolygon();
        if (visiblePoint.getPolygon() == polygon2) {
          continue;
        }
        if (polygonAndDists.get(k).getDistEyeToCenterLessRadiusSqSigned() > eyeToPDistSq) {
          break;
        }
        if (xIndicator * polygonAndDist2.getXIndicator() == -1
            || yIndicator * polygonAndDist2.getYIndicator() == -1) {
          continue;
        }
        if (polygon2.intersectionPossible(p, eye) && polygon2.intersectsLine(p, eye)) {
          continue OuterLoop;
        }
      }
      visiblePoints.add(visiblePoint);
    }
    //		codeTimer.click("movingOccluders intersections");
    boundaryOccluderIntersectionPoints.clear();
    // Add all points of intersection between movingOccluders and fixedOccluders and other
    // movingOccluders
    occluderIntersectionPoints.clear();
    occluderIntersectionPoints.addAll(fixedOccludersIntersectionPoints);
    for (int i = 0; i < movingOccluders.size(); i++) {
      Occluder occluder = movingOccluders.get(i);
      KPolygon polygon = occluder.getPolygon();
      if (boundaryPolygon.getCenter().distance(polygon.getCenter())
          > boundaryPolygon.getRadius() + polygon.getRadius()) {
        continue;
      }
      for (int j = 0; j < polygon.getPoints().size(); j++) {
        Vector2f p = polygon.getPoints().get(j);
        int jPlus = (j + 1 >= polygon.getPoints().size() ? 0 : j + 1);
        Vector2f p2 = polygon.getPoints().get(jPlus);
        // first intersect with other movingPolygons
        for (int k = i + 1; k < movingOccluders.size(); k++) {
          Occluder occluder2 = movingOccluders.get(k);
          KPolygon polygon2 = occluder2.getPolygon();
          if (polygon2.intersectionPossible(p, p2) == false) {
            // intersection is not possible, so skip to next occluder.
            continue;
          }
          ArrayList<Vector2f> points = polygon2.getPoints();
          for (int m = 0; m < points.size(); m++) {
            int nextM = (m + 1 >= points.size() ? 0 : m + 1);
            if (Vector2fUtils.linesIntersect(p, p2, points.get(m), points.get(nextM))) {
              Vector2f intersection =
                  Vector2fUtils.getLineLineIntersection(p, p2, points.get(m), points.get(nextM));
              if (intersection != null) {
                occluderIntersectionPoints.add(
                    new VPOccluderOccluderIntersection(intersection, occluder, j, occluder2, m));
              }
            }
          }
        }
        // intersect with fixedPolygons
        for (int k = 0; k < fixedOccluders.size(); k++) {
          Occluder occluder2 = fixedOccluders.get(k);
          KPolygon polygon2 = occluder2.getPolygon();
          if (polygon2.intersectionPossible(p, p2) == false) {
            // intersection is not possible, so skip to next occluder.
            continue;
          }
          ArrayList<Vector2f> points = polygon2.getPoints();
          for (int m = 0; m < points.size(); m++) {
            int nextM = (m + 1 >= points.size() ? 0 : m + 1);
            if (Vector2fUtils.linesIntersect(p, p2, points.get(m), points.get(nextM))) {
              Vector2f intersection =
                  Vector2fUtils.getLineLineIntersection(p, p2, points.get(m), points.get(nextM));
              if (intersection != null) {
                occluderIntersectionPoints.add(
                    new VPOccluderOccluderIntersection(intersection, occluder, j, occluder2, m));
              }
            }
          }
        }
      }
    }
    //		codeTimer.click("take out occluder points unobstructed");
    // only add occluder intersection points that are unobstructed
    OuterLoop:
    for (int j = 0; j < occluderIntersectionPoints.size(); j++) {
      VPOccluderOccluderIntersection visiblePoint = occluderIntersectionPoints.get(j);
      Vector2f p = visiblePoint.getPoint();
      // it's not guaranteed that the occluder intersection points are actually inside the
      // boundaryPolygon so must check this.
      double eyeToPDistSq = eye.distanceSquared(p);
      if (eyeToPDistSq > maxEyeToBoundaryPolygonPointDistSq) {
        continue;
      } else if (eyeToPDistSq >= minEyeToBoundaryPolygonPointDistSq) {
        if (boundaryPolygon.contains(p) == false) {
          continue;
        }
      }
      int xIndicator = getXIndicator(p, eye);
      int yIndicator = getYIndicator(p, eye);
      for (int k = 0; k < polygonAndDists.size(); k++) {
        OccluderDistAndQuad polygonAndDist = polygonAndDists.get(k);
        KPolygon polygon = polygonAndDist.getPolygon();
        if (visiblePoint.getPolygon() == polygon) {
          ArrayList<Vector2f> points = polygon.getPoints();
          for (int m = 0; m < points.size(); m++) {
            int nextM = (m + 1 >= points.size() ? 0 : m + 1);
            if (visiblePoint.getPolygonPointNum() == m) {
              continue;
            }
            if (Vector2fUtils.linesIntersect(p, eye, points.get(m), points.get(nextM))) {
              continue OuterLoop;
            }
          }
        } else if (visiblePoint.getPolygon2() == polygon) {
          ArrayList<Vector2f> points = polygon.getPoints();
          for (int m = 0; m < points.size(); m++) {
            int nextM = (m + 1 >= points.size() ? 0 : m + 1);
            if (visiblePoint.getPolygonPointNum2() == m) {
              continue;
            }
            if (Vector2fUtils.linesIntersect(p, eye, points.get(m), points.get(nextM))) {
              continue OuterLoop;
            }
          }
        } else {
          if (polygonAndDist.getDistEyeToCenterLessRadiusSqSigned() > eyeToPDistSq) {
            break;
          }
          if (xIndicator * polygonAndDist.getXIndicator() == -1
              || yIndicator * polygonAndDist.getYIndicator() == -1) {
            continue;
          }
          if (polygon.intersectionPossible(p, eye) && polygon.intersectsLine(p, eye)) {
            continue OuterLoop;
          }
        }
      }
      VPOccluderOccluderIntersection occluderIntersectionVisiblePoint =
          occluderIntersectionPoints.get(j);
      visiblePoints.add(occluderIntersectionVisiblePoint);
    }
    occluderIntersectionPoints.clear();
    //		codeTimer.click("add visible boundaryPolygon points");
    // Add all points on the boundaryPolygon if they're unobstructed.
    OuterLoop:
    for (int j = 0; j < boundaryPolygonPoints.size(); j++) {
      Vector2f p = boundaryPolygonPoints.get(j);
      int xIndicator = getXIndicator(p, eye);
      int yIndicator = getYIndicator(p, eye);
      for (int k = 0; k < polygonAndDists.size(); k++) {
        OccluderDistAndQuad polygonAndDist = polygonAndDists.get(k);
        KPolygon polygon = polygonAndDists.get(k).getPolygon();
        if (xIndicator * polygonAndDist.getXIndicator() == -1
            || yIndicator * polygonAndDist.getYIndicator() == -1) {
          continue;
        }
        if (polygon.intersectionPossible(p, eye) && polygon.intersectsLine(p, eye)) {
          continue OuterLoop;
        }
      }
      VPBoundary vp = new VPBoundary(p);
      visiblePoints.add(vp);
    }
    //		codeTimer.click("sort visiblePoints");
    for (int i = 0; i < visiblePoints.size(); i++) {
      visiblePoints.get(i).preSortCalcs(eye);
    }
    Collections.sort(visiblePoints);
    //		codeTimer.click("add shadow points");
    // Make new points by casting a ray from the eye thru each occluder end point and finding the
    // closest intersection.
    for (int j = 0; j < visiblePoints.size(); j++) {
      int jPlus = (j + 1 >= visiblePoints.size() ? 0 : j + 1);
      if (visiblePoints.get(j).getType() == VisiblePoint.OCCLUDER) {
        // see if the the points on the polygon on either side of this one are on the same side so a
        // shadow can be cast
        VPOccluder sp = (VPOccluder) visiblePoints.get(j);
        Vector2f p = sp.getPoint();
        KPolygon polygon = sp.getPolygon();
        int pNum = sp.getPolygonPointNum();
        int pNumPlus = (pNum + 1 >= polygon.getPoints().size() ? 0 : pNum + 1);
        Vector2f pPlus = polygon.getPoints().get(pNumPlus);
        int pNumMinus = (pNum - 1 < 0 ? polygon.getPoints().size() - 1 : pNum - 1);
        Vector2f pMinus = polygon.getPoints().get(pNumMinus);
        int pPlusRCCW = Vector2fUtils.relCCW(eye, p, pPlus.x, pPlus.y);
        int pMinusRCCW = Vector2fUtils.relCCW(eye, p, pMinus.x, pMinus.y);
        if (pPlusRCCW == pMinusRCCW) {
          double pToEyeDist = p.distance(eye);
          Vector2f endOfRayPoint =
              Vector2fUtils.createPointToward(
                  eye,
                  p,
                  pToEyeDist
                      + boundaryPolygon.getRadius()
                          * 2); // p.createPointFromAngle(angleRelativeToEye,
          // getOriginalSightPolygon().getRadius()*2);
          Vector2f closestIntersectionPoint = null;
          double closestDist = Double.MAX_VALUE;
          Occluder closestOccluder = null;
          int closestObstPolygonEdgeIndex = -1;
          boolean obstCloser = false;
          int xIndicator = getXIndicator(p, eye);
          int yIndicator = getYIndicator(p, eye);
          // cast a ray from the shadow point and find the closest intersection with the occluders
          for (int k = 0; k < polygonAndDists.size(); k++) {
            OccluderDistAndQuad polygonAndDist = polygonAndDists.get(k);
            KPolygon polygon2 = polygonAndDist.getPolygon();
            if (pToEyeDist
                > polygonAndDist.getDistEyeToCenterLessRadius() + polygon2.getRadius() * 2) {
              // intersection not possible since the polygon is even closer than the ray start
              // point.
              continue;
            }
            if (closestDist < polygonAndDist.getDistEyeToCenterLessRadius()) {
              // break since this polygon is further away than the existing closestIntersection.
              break;
            }
            if (xIndicator * polygonAndDist.getXIndicator() == -1
                || yIndicator * polygonAndDist.getYIndicator() == -1) {
              // intersection is not possible since the point and
              // the occluders are in different quadrants, so skip to next occluder.
              continue;
            }
            if (polygon2.intersectionPossible(p, endOfRayPoint) == false) {
              // intersection is not possible, so skip to next occluder.
              continue;
            }
            ArrayList<Vector2f> points = polygon2.getPoints();
            for (int m = 0; m < points.size(); m++) {
              int mPlus = (m + 1 >= points.size() ? 0 : m + 1);
              if (polygon == polygon2 && (pNum == m || pNum == mPlus)) {
                continue;
              }

              if (Vector2fUtils.linesIntersect(
                  p, endOfRayPoint, points.get(m), points.get(mPlus))) {
                Vector2f intersection =
                    Vector2fUtils.getLineLineIntersection(
                        p, endOfRayPoint, points.get(m), points.get(mPlus));
                if (intersection != null) {
                  double dist = eye.distance(intersection);
                  if (dist < closestDist) {
                    closestDist = dist;
                    closestIntersectionPoint = intersection;
                    closestOccluder = polygonAndDist.getOccluder();
                    closestObstPolygonEdgeIndex = m;
                    obstCloser = true;
                  }
                }
              }
            }
          }
          int closestBoundaryPolygonEdgeIndex = -1;
          // also see if the closest intersection is with the boundaryPolygon
          if (closestIntersectionPoint == null || closestDist > minEyeToBoundaryPolygonPointDist) {
            ArrayList<Vector2f> points = boundaryPolygon.getPoints();
            for (int m = 0; m < points.size(); m++) {
              if (xIndicator * boundaryPolygonXIndicators[m] == -1
                  || yIndicator * boundaryPolygonYIndicators[m] == -1) {
                // intersection is not possible since the boundaryPolygon points and
                // the endOfRayPoint are in different quadrants, so skip to next occluder.
                continue;
              }
              int mPlus = (m + 1 >= points.size() ? 0 : m + 1);
              if (Vector2fUtils.linesIntersect(
                  p, endOfRayPoint, points.get(m), points.get(mPlus))) {
                //								atLeastOneIntersection = true;
                Vector2f intersection =
                    Vector2fUtils.getLineLineIntersection(
                        p, endOfRayPoint, points.get(m), points.get(mPlus));
                if (intersection != null) {
                  double dist = eye.distance(intersection);
                  if (dist < closestDist) {
                    closestDist = dist;
                    closestIntersectionPoint = intersection;
                    closestBoundaryPolygonEdgeIndex = m;
                    obstCloser = false;
                    // There should only be one intersection with the boundaryPolygon, so we can
                    // break.
                    break;
                  }
                }
              }
            }

            // for debugging:
            //						if (atLeastOneIntersection == false || closestIntersectionPoint != null &&
            // closestDist > maxEyeToBoundaryPolygonPointDist){
            //							System.out.println(this.getClass().getSimpleName()+": atLeastOneIntersection ==
            // "+atLeastOneIntersection+", closestIntersectionPoint != null, closestDist ==
            // "+closestDist+", maxEyeToBoundaryPolygonPointDist ==
            // "+maxEyeToBoundaryPolygonPointDist+", minEyeToBoundaryPolygonPointDist ==
            // "+minEyeToBoundaryPolygonPointDist+", boundaryPolygon.contains(p) ==
            // "+boundaryPolygon.contains(p)+", eye.distance(p) == "+eye.distance(p));
            //						}
          }
          if (closestIntersectionPoint != null) {
            VisiblePoint newSightPoint = null;
            if (obstCloser) {
              newSightPoint =
                  new VPShadowOnOccluder(
                      closestIntersectionPoint, closestOccluder, closestObstPolygonEdgeIndex, sp);
              //							newSightPoint.quadrant = sp.quadrant;
              //							newSightPoint.xOnY = sp.xOnY;
            } else {
              newSightPoint =
                  new VPShadowOnBoundary(
                      closestIntersectionPoint, closestBoundaryPolygonEdgeIndex, sp);
              //							newSightPoint.quadrant = sp.quadrant;
              //							newSightPoint.xOnY = sp.xOnY;
            }
            if (pPlusRCCW == -1 && pMinusRCCW == -1) {
              visiblePoints.add(jPlus, newSightPoint);
              j++;
              continue;
            } else if (pPlusRCCW == 1 && pMinusRCCW == 1) {
              visiblePoints.add(j, newSightPoint);
              j++;
              continue;
            }
            //						if (pPlusRCCW == -1 && pMinusRCCW == -1){
            //							shadowPointsToBeAdded.add(newSightPoint);
            //							shadowPointsToBeAddedIndexes.add(jPlus);
            //							continue;
            //						}else if (pPlusRCCW == 1 && pMinusRCCW == 1){
            //							shadowPointsToBeAdded.add(newSightPoint);
            //							shadowPointsToBeAddedIndexes.add(j);
            //							continue;
            //						}
          }
        }
      }
    }

    //		int nextInsert = 0;
    //		int lastInsert = 0;
    //		for (int i = 0; i < shadowPointsToBeAddedIndexes.size(); i++){
    //			nextInsert = shadowPointsToBeAddedIndexes.get(i);
    //			if (nextInsert == 0 && lastInsert > nextInsert){
    //				// nextInsert == jPlus == 0 because j == sightPoints.size()-1,
    //				// so the point can be inserted on the end or the beginning so
    //				// add it on the end so that this simple loop logic works.
    //				nextInsert = sightPoints.size();
    //			}
    //			for (int j = lastInsert; j < nextInsert; j++){
    //				sightPoints2.add(sightPoints.get(j));
    //			}
    //			sightPoints2.add(shadowPointsToBeAdded.get(i));
    //			lastInsert = nextInsert;
    //		}
    //		for (int j = lastInsert; j < sightPoints.size(); j++){
    //			sightPoints2.add(sightPoints.get(j));
    //		}
    //		sightPoints.clear();
    //		//sightPoints.addAll(sightPoints2);
    //		//sightPoints2.clear();
    //		shadowPointsToBeAdded.clear();
    //		shadowPointsToBeAddedIndexes.clear();

    //		codeTimer.click("make polygon");
    polygonAndDists.clear();
    cache.visiblePoints = visiblePoints;
    cache.visiblePolygon = createPolygonFromVisiblePoints(visiblePoints);
    //		codeTimer.lastClick();
    return cache;
  }