private void solve() {
if (pe == null) {
GuiUtils.errorMessage(getConsole(), "Coverage Plan Solver", "The polygon is not valid");
return;
}
double north, east, south, west;
double[] bounds = pe.getBounds3d();
south = bounds[PathElement.SOUTH_COORD];
west = bounds[PathElement.WEST_COORD];
north = bounds[PathElement.NORTH_COORD];
east = bounds[PathElement.EAST_COORD];
CoverageCell[][] cells =
new CoverageCell[(int) ((north - south) / grid) + 1][(int) ((east - west) / grid) + 1];
for (int i = 0; i < cells.length; i++)
for (int j = 0; j < cells[i].length; j++) {
cells[i][j] = new CoverageCell();
cells[i][j].i = i;
cells[i][j].j = j;
}
int i = 0, j = 0;
int desiredCells = 0;
for (double n = south + grid / 2; n < north; n += grid) {
j = 0;
for (double e = west + grid / 2; e < east; e += grid) {
LocationType lt = new LocationType(pe.getCenterLocation());
lt.translatePosition(n, e, 0);
CoverageCell cell = cells[i][j];
cell.realWorldLoc = lt.getNewAbsoluteLatLonDepth();
if (pe.containsPoint(lt, null)) {
cell.desired = true;
desiredCells++;
}
cells[i][j] = cell;
j++;
}
i++;
}
CoverageCell initialCell = null;
i = 0;
for (j = 0; j < cells[0].length - 1 && initialCell == null; j++)
for (i = 0; i < cells.length && initialCell == null; i++)
if (cells[i][j].desired) initialCell = cells[i][j];
if (initialCell == null) {
GuiUtils.errorMessage("Polygon coverage", "Polygon area is invalid");
return;
}
CoverageCell current = initialCell;
desiredCells--;
int dir = -1;
while (desiredCells > 0) {
current.visited = true;
current.active = false;
if (dir == 1) {
if (current.i < cells.length - 1
&& cells[current.i + 1][current.j].desired == true
&& cells[current.i + 1][current.j].visited == false) {
current.next = cells[current.i + 1][current.j];
cells[current.i + 1][current.j].previous = current;
current = current.next;
current.active = true;
} else {
dir = -1;
if (current.j == cells[0].length - 1) break;
while (!cells[current.i][current.j + 1].desired && i > 0 && current.previous != null) {
current.active = false;
current = current.previous;
}
if (i == 0) break;
current.next = cells[current.i][current.j + 1];
cells[current.i][current.j + 1].previous = current;
current = current.next;
current.active = true;
}
} else {
if (current.i > 0
&& cells[current.i - 1][current.j].desired == true
&& cells[current.i - 1][current.j].visited == false) {
current.next = cells[current.i - 1][current.j];
cells[current.i - 1][current.j].previous = current;
current = current.next;
current.active = true;
} else {
dir = 1;
if (current.j == cells[0].length - 1) break;
while (current.previous != null
&& !cells[current.i][current.j + 1].desired
&& i < cells.length) {
current.active = false;
current = current.previous;
}
if (i == cells.length) break;
current.next = cells[current.i][current.j + 1];
cells[current.i][current.j + 1].previous = current;
current = current.next;
current.active = true;
}
}
desiredCells--;
}
generatePlans(cells, initialCell);
}
