735 lines
26 KiB
C#
735 lines
26 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Threading.Tasks;
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using OpenNest.Converters;
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using OpenNest.Geometry;
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using OpenNest.Math;
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namespace OpenNest
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{
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public static class Helper
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{
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public static List<Line> GetPartLines(Part part, double chordTolerance = 0.001)
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{
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var entities = ConvertProgram.ToGeometry(part.Program);
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var shapes = ShapeBuilder.GetShapes(entities.Where(e => e.Layer != SpecialLayers.Rapid));
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var lines = new List<Line>();
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foreach (var shape in shapes)
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{
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var polygon = shape.ToPolygonWithTolerance(chordTolerance);
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polygon.Offset(part.Location);
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lines.AddRange(polygon.ToLines());
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}
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return lines;
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}
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public static List<Line> GetPartLines(Part part, PushDirection facingDirection, double chordTolerance = 0.001)
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{
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var entities = ConvertProgram.ToGeometry(part.Program);
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var shapes = ShapeBuilder.GetShapes(entities.Where(e => e.Layer != SpecialLayers.Rapid));
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var lines = new List<Line>();
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foreach (var shape in shapes)
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{
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var polygon = shape.ToPolygonWithTolerance(chordTolerance);
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polygon.Offset(part.Location);
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lines.AddRange(GetDirectionalLines(polygon, facingDirection));
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}
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return lines;
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}
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public static List<Line> GetOffsetPartLines(Part part, double spacing, double chordTolerance = 0.001)
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{
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var entities = ConvertProgram.ToGeometry(part.Program);
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var shapes = ShapeBuilder.GetShapes(entities.Where(e => e.Layer != SpecialLayers.Rapid));
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var lines = new List<Line>();
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foreach (var shape in shapes)
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{
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// Add chord tolerance to compensate for inscribed polygon chords
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// being inside the actual offset arcs.
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var offsetEntity = shape.OffsetEntity(spacing + chordTolerance, OffsetSide.Left) as Shape;
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if (offsetEntity == null)
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continue;
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var polygon = offsetEntity.ToPolygonWithTolerance(chordTolerance);
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polygon.RemoveSelfIntersections();
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polygon.Offset(part.Location);
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lines.AddRange(polygon.ToLines());
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}
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return lines;
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}
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public static List<Line> GetOffsetPartLines(Part part, double spacing, PushDirection facingDirection, double chordTolerance = 0.001)
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{
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var entities = ConvertProgram.ToGeometry(part.Program);
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var shapes = ShapeBuilder.GetShapes(entities.Where(e => e.Layer != SpecialLayers.Rapid));
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var lines = new List<Line>();
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foreach (var shape in shapes)
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{
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var offsetEntity = shape.OffsetEntity(spacing + chordTolerance, OffsetSide.Left) as Shape;
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if (offsetEntity == null)
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continue;
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var polygon = offsetEntity.ToPolygonWithTolerance(chordTolerance);
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polygon.RemoveSelfIntersections();
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polygon.Offset(part.Location);
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lines.AddRange(GetDirectionalLines(polygon, facingDirection));
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}
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return lines;
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}
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/// <summary>
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/// Returns only polygon edges whose outward normal faces the specified direction.
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/// </summary>
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private static List<Line> GetDirectionalLines(Polygon polygon, PushDirection facingDirection)
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{
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if (polygon.Vertices.Count < 3)
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return polygon.ToLines();
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var sign = polygon.RotationDirection() == RotationType.CCW ? 1.0 : -1.0;
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var lines = new List<Line>();
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var last = polygon.Vertices[0];
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for (int i = 1; i < polygon.Vertices.Count; i++)
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{
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var current = polygon.Vertices[i];
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var dx = current.X - last.X;
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var dy = current.Y - last.Y;
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bool keep;
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switch (facingDirection)
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{
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case PushDirection.Left: keep = -sign * dy > 0; break;
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case PushDirection.Right: keep = sign * dy > 0; break;
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case PushDirection.Up: keep = -sign * dx > 0; break;
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case PushDirection.Down: keep = sign * dx > 0; break;
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default: keep = true; break;
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}
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if (keep)
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lines.Add(new Line(last, current));
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last = current;
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}
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return lines;
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}
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/// <summary>
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/// Finds the distance from a vertex to a line segment along a push axis.
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/// Returns double.MaxValue if the ray does not hit the segment.
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/// </summary>
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private static double RayEdgeDistance(Vector vertex, Line edge, PushDirection direction)
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{
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return RayEdgeDistance(
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vertex.X, vertex.Y,
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edge.pt1.X, edge.pt1.Y, edge.pt2.X, edge.pt2.Y,
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direction);
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}
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[System.Runtime.CompilerServices.MethodImpl(
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System.Runtime.CompilerServices.MethodImplOptions.AggressiveInlining)]
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private static double RayEdgeDistance(
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double vx, double vy,
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double p1x, double p1y, double p2x, double p2y,
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PushDirection direction)
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{
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switch (direction)
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{
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case PushDirection.Left:
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case PushDirection.Right:
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{
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var dy = p2y - p1y;
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if (System.Math.Abs(dy) < Tolerance.Epsilon)
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return double.MaxValue;
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var t = (vy - p1y) / dy;
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if (t < -Tolerance.Epsilon || t > 1.0 + Tolerance.Epsilon)
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return double.MaxValue;
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var ix = p1x + t * (p2x - p1x);
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var dist = direction == PushDirection.Left ? vx - ix : ix - vx;
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if (dist > Tolerance.Epsilon) return dist;
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if (dist >= -Tolerance.Epsilon) return 0;
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return double.MaxValue;
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}
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case PushDirection.Down:
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case PushDirection.Up:
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{
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var dx = p2x - p1x;
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if (System.Math.Abs(dx) < Tolerance.Epsilon)
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return double.MaxValue;
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var t = (vx - p1x) / dx;
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if (t < -Tolerance.Epsilon || t > 1.0 + Tolerance.Epsilon)
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return double.MaxValue;
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var iy = p1y + t * (p2y - p1y);
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var dist = direction == PushDirection.Down ? vy - iy : iy - vy;
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if (dist > Tolerance.Epsilon) return dist;
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if (dist >= -Tolerance.Epsilon) return 0;
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return double.MaxValue;
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}
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default:
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return double.MaxValue;
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}
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}
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/// <summary>
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/// Computes the minimum translation distance along a push direction before
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/// any edge of movingLines contacts any edge of stationaryLines.
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/// Returns double.MaxValue if no collision path exists.
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/// </summary>
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public static double DirectionalDistance(List<Line> movingLines, List<Line> stationaryLines, PushDirection direction)
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{
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var minDist = double.MaxValue;
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// Case 1: Each moving vertex -> each stationary edge
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var movingVertices = new HashSet<Vector>();
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for (int i = 0; i < movingLines.Count; i++)
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{
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movingVertices.Add(movingLines[i].pt1);
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movingVertices.Add(movingLines[i].pt2);
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}
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var stationaryEdges = new (Vector start, Vector end)[stationaryLines.Count];
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for (int i = 0; i < stationaryLines.Count; i++)
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stationaryEdges[i] = (stationaryLines[i].pt1, stationaryLines[i].pt2);
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// Sort edges for pruning if not already sorted (usually they aren't here)
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if (direction == PushDirection.Left || direction == PushDirection.Right)
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stationaryEdges = stationaryEdges.OrderBy(e => System.Math.Min(e.start.Y, e.end.Y)).ToArray();
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else
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stationaryEdges = stationaryEdges.OrderBy(e => System.Math.Min(e.start.X, e.end.X)).ToArray();
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foreach (var mv in movingVertices)
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{
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var d = OneWayDistance(mv, stationaryEdges, Vector.Zero, direction);
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if (d < minDist) minDist = d;
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}
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// Case 2: Each stationary vertex -> each moving edge (opposite direction)
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var opposite = OppositeDirection(direction);
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var stationaryVertices = new HashSet<Vector>();
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for (int i = 0; i < stationaryLines.Count; i++)
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{
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stationaryVertices.Add(stationaryLines[i].pt1);
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stationaryVertices.Add(stationaryLines[i].pt2);
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}
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var movingEdges = new (Vector start, Vector end)[movingLines.Count];
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for (int i = 0; i < movingLines.Count; i++)
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movingEdges[i] = (movingLines[i].pt1, movingLines[i].pt2);
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if (opposite == PushDirection.Left || opposite == PushDirection.Right)
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movingEdges = movingEdges.OrderBy(e => System.Math.Min(e.start.Y, e.end.Y)).ToArray();
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else
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movingEdges = movingEdges.OrderBy(e => System.Math.Min(e.start.X, e.end.X)).ToArray();
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foreach (var sv in stationaryVertices)
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{
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var d = OneWayDistance(sv, movingEdges, Vector.Zero, opposite);
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if (d < minDist) minDist = d;
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}
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return minDist;
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}
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/// <summary>
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/// Computes the minimum directional distance with the moving lines translated
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/// by (movingDx, movingDy) without creating new Line objects.
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/// </summary>
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public static double DirectionalDistance(
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List<Line> movingLines, double movingDx, double movingDy,
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List<Line> stationaryLines, PushDirection direction)
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{
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var minDist = double.MaxValue;
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var movingOffset = new Vector(movingDx, movingDy);
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// Case 1: Each moving vertex -> each stationary edge
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var movingVertices = new HashSet<Vector>();
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for (int i = 0; i < movingLines.Count; i++)
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{
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movingVertices.Add(movingLines[i].pt1 + movingOffset);
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movingVertices.Add(movingLines[i].pt2 + movingOffset);
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}
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var stationaryEdges = new (Vector start, Vector end)[stationaryLines.Count];
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for (int i = 0; i < stationaryLines.Count; i++)
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stationaryEdges[i] = (stationaryLines[i].pt1, stationaryLines[i].pt2);
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if (direction == PushDirection.Left || direction == PushDirection.Right)
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stationaryEdges = stationaryEdges.OrderBy(e => System.Math.Min(e.start.Y, e.end.Y)).ToArray();
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else
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stationaryEdges = stationaryEdges.OrderBy(e => System.Math.Min(e.start.X, e.end.X)).ToArray();
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foreach (var mv in movingVertices)
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{
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var d = OneWayDistance(mv, stationaryEdges, Vector.Zero, direction);
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if (d < minDist) minDist = d;
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}
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// Case 2: Each stationary vertex -> each moving edge (opposite direction)
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var opposite = OppositeDirection(direction);
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var stationaryVertices = new HashSet<Vector>();
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for (int i = 0; i < stationaryLines.Count; i++)
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{
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stationaryVertices.Add(stationaryLines[i].pt1);
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stationaryVertices.Add(stationaryLines[i].pt2);
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}
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var movingEdges = new (Vector start, Vector end)[movingLines.Count];
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for (int i = 0; i < movingLines.Count; i++)
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movingEdges[i] = (movingLines[i].pt1, movingLines[i].pt2);
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if (opposite == PushDirection.Left || opposite == PushDirection.Right)
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movingEdges = movingEdges.OrderBy(e => System.Math.Min(e.start.Y, e.end.Y)).ToArray();
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else
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movingEdges = movingEdges.OrderBy(e => System.Math.Min(e.start.X, e.end.X)).ToArray();
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foreach (var sv in stationaryVertices)
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{
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var d = OneWayDistance(sv, movingEdges, movingOffset, opposite);
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if (d < minDist) minDist = d;
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}
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return minDist;
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}
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/// <summary>
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/// Packs line segments into a flat double array [x1,y1,x2,y2, ...] for GPU transfer.
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/// </summary>
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public static double[] FlattenLines(List<Line> lines)
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{
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var result = new double[lines.Count * 4];
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for (int i = 0; i < lines.Count; i++)
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{
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var line = lines[i];
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result[i * 4] = line.pt1.X;
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result[i * 4 + 1] = line.pt1.Y;
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result[i * 4 + 2] = line.pt2.X;
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result[i * 4 + 3] = line.pt2.Y;
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}
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return result;
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}
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/// <summary>
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/// Computes the minimum directional distance using raw edge arrays and location offsets
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/// to avoid all intermediate object allocations.
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/// </summary>
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public static double DirectionalDistance(
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(Vector start, Vector end)[] movingEdges, Vector movingOffset,
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(Vector start, Vector end)[] stationaryEdges, Vector stationaryOffset,
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PushDirection direction)
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{
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var minDist = double.MaxValue;
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// Extract unique vertices from moving edges.
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var movingVertices = new HashSet<Vector>();
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for (var i = 0; i < movingEdges.Length; i++)
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{
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movingVertices.Add(movingEdges[i].start + movingOffset);
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movingVertices.Add(movingEdges[i].end + movingOffset);
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}
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// Case 1: Each moving vertex -> each stationary edge
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foreach (var mv in movingVertices)
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{
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var d = OneWayDistance(mv, stationaryEdges, stationaryOffset, direction);
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if (d < minDist) minDist = d;
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}
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// Case 2: Each stationary vertex -> each moving edge (opposite direction)
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var opposite = OppositeDirection(direction);
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var stationaryVertices = new HashSet<Vector>();
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for (var i = 0; i < stationaryEdges.Length; i++)
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{
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stationaryVertices.Add(stationaryEdges[i].start + stationaryOffset);
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stationaryVertices.Add(stationaryEdges[i].end + stationaryOffset);
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}
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foreach (var sv in stationaryVertices)
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{
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var d = OneWayDistance(sv, movingEdges, movingOffset, opposite);
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if (d < minDist) minDist = d;
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}
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return minDist;
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}
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public static double OneWayDistance(
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Vector vertex, (Vector start, Vector end)[] edges, Vector edgeOffset,
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PushDirection direction)
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{
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var minDist = double.MaxValue;
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var vx = vertex.X;
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var vy = vertex.Y;
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// Pruning: edges are sorted by their perpendicular min-coordinate in PartBoundary.
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if (direction == PushDirection.Left || direction == PushDirection.Right)
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{
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for (var i = 0; i < edges.Length; i++)
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{
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var e1 = edges[i].start + edgeOffset;
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var e2 = edges[i].end + edgeOffset;
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var minY = e1.Y < e2.Y ? e1.Y : e2.Y;
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var maxY = e1.Y > e2.Y ? e1.Y : e2.Y;
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// Since edges are sorted by minY, if vy < minY, then vy < all subsequent minY.
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if (vy < minY - Tolerance.Epsilon)
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break;
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if (vy > maxY + Tolerance.Epsilon)
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continue;
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var d = RayEdgeDistance(vx, vy, e1.X, e1.Y, e2.X, e2.Y, direction);
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if (d < minDist) minDist = d;
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}
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}
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else // Up/Down
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{
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for (var i = 0; i < edges.Length; i++)
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{
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var e1 = edges[i].start + edgeOffset;
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var e2 = edges[i].end + edgeOffset;
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var minX = e1.X < e2.X ? e1.X : e2.X;
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var maxX = e1.X > e2.X ? e1.X : e2.X;
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// Since edges are sorted by minX, if vx < minX, then vx < all subsequent minX.
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if (vx < minX - Tolerance.Epsilon)
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break;
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if (vx > maxX + Tolerance.Epsilon)
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continue;
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var d = RayEdgeDistance(vx, vy, e1.X, e1.Y, e2.X, e2.Y, direction);
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if (d < minDist) minDist = d;
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}
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}
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return minDist;
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}
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public static PushDirection OppositeDirection(PushDirection direction)
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{
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switch (direction)
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{
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case PushDirection.Left: return PushDirection.Right;
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case PushDirection.Right: return PushDirection.Left;
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case PushDirection.Up: return PushDirection.Down;
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case PushDirection.Down: return PushDirection.Up;
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default: return direction;
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}
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}
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public static bool IsHorizontalDirection(PushDirection direction)
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{
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return direction is PushDirection.Left or PushDirection.Right;
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}
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public static double EdgeDistance(Box box, Box boundary, PushDirection direction)
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{
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switch (direction)
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{
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case PushDirection.Left: return box.Left - boundary.Left;
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case PushDirection.Right: return boundary.Right - box.Right;
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case PushDirection.Up: return boundary.Top - box.Top;
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case PushDirection.Down: return box.Bottom - boundary.Bottom;
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default: return double.MaxValue;
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}
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}
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public static Vector DirectionToOffset(PushDirection direction, double distance)
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{
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switch (direction)
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{
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case PushDirection.Left: return new Vector(-distance, 0);
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case PushDirection.Right: return new Vector(distance, 0);
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case PushDirection.Up: return new Vector(0, distance);
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case PushDirection.Down: return new Vector(0, -distance);
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default: return new Vector();
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}
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}
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public static double DirectionalGap(Box from, Box to, PushDirection direction)
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{
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switch (direction)
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{
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case PushDirection.Left: return from.Left - to.Right;
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case PushDirection.Right: return to.Left - from.Right;
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case PushDirection.Up: return to.Bottom - from.Top;
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case PushDirection.Down: return from.Bottom - to.Top;
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default: return double.MaxValue;
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}
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}
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public static double ClosestDistanceLeft(Box box, List<Box> boxes)
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{
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var closestDistance = double.MaxValue;
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for (int i = 0; i < boxes.Count; i++)
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{
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var compareBox = boxes[i];
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RelativePosition pos;
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if (!box.IsHorizontalTo(compareBox, out pos))
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continue;
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if (pos != RelativePosition.Right)
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continue;
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var distance = box.Left - compareBox.Right;
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if (distance < closestDistance)
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closestDistance = distance;
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}
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return closestDistance == double.MaxValue ? double.NaN : closestDistance;
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}
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public static double ClosestDistanceRight(Box box, List<Box> boxes)
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{
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var closestDistance = double.MaxValue;
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for (int i = 0; i < boxes.Count; i++)
|
|
{
|
|
var compareBox = boxes[i];
|
|
|
|
RelativePosition pos;
|
|
|
|
if (!box.IsHorizontalTo(compareBox, out pos))
|
|
continue;
|
|
|
|
if (pos != RelativePosition.Left)
|
|
continue;
|
|
|
|
var distance = compareBox.Left - box.Right;
|
|
|
|
if (distance < closestDistance)
|
|
closestDistance = distance;
|
|
}
|
|
|
|
return closestDistance == double.MaxValue ? double.NaN : closestDistance;
|
|
}
|
|
|
|
public static double ClosestDistanceUp(Box box, List<Box> boxes)
|
|
{
|
|
var closestDistance = double.MaxValue;
|
|
|
|
for (int i = 0; i < boxes.Count; i++)
|
|
{
|
|
var compareBox = boxes[i];
|
|
|
|
RelativePosition pos;
|
|
|
|
if (!box.IsVerticalTo(compareBox, out pos))
|
|
continue;
|
|
|
|
if (pos != RelativePosition.Bottom)
|
|
continue;
|
|
|
|
var distance = compareBox.Bottom - box.Top;
|
|
|
|
if (distance < closestDistance)
|
|
closestDistance = distance;
|
|
}
|
|
|
|
return closestDistance == double.MaxValue ? double.NaN : closestDistance;
|
|
}
|
|
|
|
public static double ClosestDistanceDown(Box box, List<Box> boxes)
|
|
{
|
|
var closestDistance = double.MaxValue;
|
|
|
|
for (int i = 0; i < boxes.Count; i++)
|
|
{
|
|
var compareBox = boxes[i];
|
|
|
|
RelativePosition pos;
|
|
|
|
if (!box.IsVerticalTo(compareBox, out pos))
|
|
continue;
|
|
|
|
if (pos != RelativePosition.Top)
|
|
continue;
|
|
|
|
var distance = box.Bottom - compareBox.Top;
|
|
|
|
if (distance < closestDistance)
|
|
closestDistance = distance;
|
|
}
|
|
|
|
return closestDistance == double.MaxValue ? double.NaN : closestDistance;
|
|
}
|
|
|
|
public static Box GetLargestBoxVertically(Vector pt, Box bounds, IEnumerable<Box> boxes)
|
|
{
|
|
var verticalBoxes = boxes.Where(b => !(b.Left > pt.X || b.Right < pt.X)).ToList();
|
|
|
|
#region Find Top/Bottom Limits
|
|
|
|
var top = double.MaxValue;
|
|
var btm = double.MinValue;
|
|
|
|
foreach (var box in verticalBoxes)
|
|
{
|
|
var boxBtm = box.Bottom;
|
|
var boxTop = box.Top;
|
|
|
|
if (boxBtm > pt.Y && boxBtm < top)
|
|
top = boxBtm;
|
|
|
|
else if (box.Top < pt.Y && boxTop > btm)
|
|
btm = boxTop;
|
|
}
|
|
|
|
if (top == double.MaxValue)
|
|
{
|
|
if (bounds.Top > pt.Y)
|
|
top = bounds.Top;
|
|
else return Box.Empty;
|
|
}
|
|
|
|
if (btm == double.MinValue)
|
|
{
|
|
if (bounds.Bottom < pt.Y)
|
|
btm = bounds.Bottom;
|
|
else return Box.Empty;
|
|
}
|
|
|
|
#endregion
|
|
|
|
var horizontalBoxes = boxes.Where(b => !(b.Bottom >= top || b.Top <= btm)).ToList();
|
|
|
|
#region Find Left/Right Limits
|
|
|
|
var lft = double.MinValue;
|
|
var rgt = double.MaxValue;
|
|
|
|
foreach (var box in horizontalBoxes)
|
|
{
|
|
var boxLft = box.Left;
|
|
var boxRgt = box.Right;
|
|
|
|
if (boxLft > pt.X && boxLft < rgt)
|
|
rgt = boxLft;
|
|
|
|
else if (boxRgt < pt.X && boxRgt > lft)
|
|
lft = boxRgt;
|
|
}
|
|
|
|
if (rgt == double.MaxValue)
|
|
{
|
|
if (bounds.Right > pt.X)
|
|
rgt = bounds.Right;
|
|
else return Box.Empty;
|
|
}
|
|
|
|
if (lft == double.MinValue)
|
|
{
|
|
if (bounds.Left < pt.X)
|
|
lft = bounds.Left;
|
|
else return Box.Empty;
|
|
}
|
|
|
|
#endregion
|
|
|
|
return new Box(lft, btm, rgt - lft, top - btm);
|
|
}
|
|
|
|
public static Box GetLargestBoxHorizontally(Vector pt, Box bounds, IEnumerable<Box> boxes)
|
|
{
|
|
var horizontalBoxes = boxes.Where(b => !(b.Bottom > pt.Y || b.Top < pt.Y)).ToList();
|
|
|
|
#region Find Left/Right Limits
|
|
|
|
var lft = double.MinValue;
|
|
var rgt = double.MaxValue;
|
|
|
|
foreach (var box in horizontalBoxes)
|
|
{
|
|
var boxLft = box.Left;
|
|
var boxRgt = box.Right;
|
|
|
|
if (boxLft > pt.X && boxLft < rgt)
|
|
rgt = boxLft;
|
|
|
|
else if (boxRgt < pt.X && boxRgt > lft)
|
|
lft = boxRgt;
|
|
}
|
|
|
|
if (rgt == double.MaxValue)
|
|
{
|
|
if (bounds.Right > pt.X)
|
|
rgt = bounds.Right;
|
|
else return Box.Empty;
|
|
}
|
|
|
|
if (lft == double.MinValue)
|
|
{
|
|
if (bounds.Left < pt.X)
|
|
lft = bounds.Left;
|
|
else return Box.Empty;
|
|
}
|
|
|
|
#endregion
|
|
|
|
var verticalBoxes = boxes.Where(b => !(b.Left >= rgt || b.Right <= lft)).ToList();
|
|
|
|
#region Find Top/Bottom Limits
|
|
|
|
var top = double.MaxValue;
|
|
var btm = double.MinValue;
|
|
|
|
foreach (var box in verticalBoxes)
|
|
{
|
|
var boxBtm = box.Bottom;
|
|
var boxTop = box.Top;
|
|
|
|
if (boxBtm > pt.Y && boxBtm < top)
|
|
top = boxBtm;
|
|
|
|
else if (box.Top < pt.Y && boxTop > btm)
|
|
btm = boxTop;
|
|
}
|
|
|
|
if (top == double.MaxValue)
|
|
{
|
|
if (bounds.Top > pt.Y)
|
|
top = bounds.Top;
|
|
else return Box.Empty;
|
|
}
|
|
|
|
if (btm == double.MinValue)
|
|
{
|
|
if (bounds.Bottom < pt.Y)
|
|
btm = bounds.Bottom;
|
|
else return Box.Empty;
|
|
}
|
|
|
|
#endregion
|
|
|
|
return new Box(lft, btm, rgt - lft, top - btm);
|
|
}
|
|
}
|
|
}
|