public static boolean pointInPolygon(Polygon poly, Mat point) {
ArrayList<Point2D.Double> points = new ArrayList<Point2D.Double>();
for (Mat v : poly.vertices) {
points.add(new Point2D.Double(v.data[0][0], v.data[1][0]));
}
PolygonObstacle po = GeomUtils.convexHull(points);
return po.contains(point.data[0][0], point.data[1][0]);
/*Mat farPoint = Mat.encodePoint(0, 0);
double maxDist = -1;
double dist;
for (Mat vertex : poly.vertices) {
dist = Mat.dist(point, vertex);
if (maxDist < dist) {
maxDist = dist;
}
}
farPoint = Mat.add(point, Mat.mul(maxDist + 1, Mat.encodePoint(1, 0)));
int size = poly.vertices.size();
int intersections = 0;
for (int i = 0; i < size; i++) {
if (lineSegIntersect(point, farPoint, poly.vertices.get(i), poly.vertices.get((i + 1) % size))) {
intersections++;
}
}
return ((intersections % 2) == 1);*/
}
public PolygonObstacle getRobot() {
Point2D.Double center = polymap.getRobotStart();
PolygonObstacle robot = new PolygonObstacle();
double x, y, angle;
for (int i = 0; i < NUM_SIDES; i++) {
angle = i * 2.0 * Math.PI / NUM_SIDES;
x = RADIUS * Math.cos(angle);
y = RADIUS * Math.sin(angle);
robot.addVertex(x, y);
}
robot.close();
return robot;
}
public void addObstacle(PolygonObstacle obstacle) {
ArrayList<Mat> vertices = new ArrayList<Mat>();
for (Point2D.Double vert : obstacle.getVertices()) {
vertices.add(Mat.encodePoint(vert.x, vert.y));
}
addObstacle(new Polygon(vertices));
}
// assumes that there will be no enclosed empty spaces in the result, and that the result will
// be contiguous, and that everything is convex
public static Polygon minkowskiSumSimple(Polygon poly1, Polygon poly2) {
ArrayList<Mat> verts = new ArrayList<Mat>();
for (Mat v1 : poly1.vertices) {
for (Mat v2 : poly2.vertices) {
verts.add(Mat.add(v1, v2));
}
}
ArrayList<Point2D.Double> points = new ArrayList<Point2D.Double>();
for (Mat v : verts) {
points.add(new Point2D.Double(v.data[0][0], v.data[1][0]));
}
PolygonObstacle po = GeomUtils.convexHull(points);
verts = new ArrayList<Mat>();
for (Point2D.Double vert : po.getVertices()) {
verts.add(Mat.encodePoint(vert.x, vert.y));
}
return new Polygon(verts);
}
