package lujing;
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import java.util.ArrayList;
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import java.util.Collections;
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import java.util.List;
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/**
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* 异形草地路径规划 - 障碍物裁剪优化版 V9.0
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* 核心逻辑：先生成全覆盖扫描路径，再利用外扩后的障碍物对路径进行裁剪。
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*/
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public class YixinglujingHaveObstacel {
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/**
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* 规划路径主入口
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*/
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public static List<PathSegment> planPath(String coordinates, String obstaclesStr, String widthStr, String marginStr) {
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// 1. 解析参数
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List<Point> rawPoints = parseCoordinates(coordinates);
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if (rawPoints.size() < 3) return new ArrayList<>();
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double mowWidth = Double.parseDouble(widthStr);
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double safeMargin = Double.parseDouble(marginStr);
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// 2. 预处理地块边界 (确保逆时针)
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ensureCounterClockwise(rawPoints);
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// 3. 生成地块内缩的安全作业边界 (Inset)
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List<Point> mowingBoundary = getOffsetPolygon(rawPoints, safeMargin); // 正数内缩
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if (mowingBoundary.size() < 3) return new ArrayList<>();
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// 4. 第一步：生成“无视障碍物”的全覆盖扫描路径
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// 直接使用扫描线算法生成填满整个内缩边界的路径
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List<PathSegment> rawPath = generateFullCoveragePath(mowingBoundary, mowWidth);
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// 5. 解析障碍物并进行外扩 (Outset)
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// 注意：障碍物外扩距离 = 割草机安全边距，确保不发生碰撞
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List<Obstacle> obstacles = parseObstacles(obstaclesStr, safeMargin);
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// 6. 第二步：使用障碍物裁剪路径 (核心步骤)
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return clipPathWithObstacles(rawPath, obstacles);
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}
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/**
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* 使用障碍物集合裁剪原始路径
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*/
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private static List<PathSegment> clipPathWithObstacles(List<PathSegment> rawPath, List<Obstacle> obstacles) {
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List<PathSegment> finalPath = new ArrayList<>();
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Point currentPos = (rawPath.isEmpty()) ? new Point(0,0) : rawPath.get(0).start;
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for (PathSegment segment : rawPath) {
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// 将当前这一段路径，拿去跟所有障碍物进行碰撞检测和裁剪
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// 初始时，这一段是完整的
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List<PathSegment> segmentsToProcess = new ArrayList<>();
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segmentsToProcess.add(segment);
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for (Obstacle obs : obstacles) {
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List<PathSegment> nextIterSegments = new ArrayList<>();
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for (PathSegment seg : segmentsToProcess) {
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// 如果是割草路径，需要裁剪；如果是空走路径，通常也需要避障，
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// 但这里主要处理扫描线的裁剪。
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if (seg.isMowing) {
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nextIterSegments.addAll(obs.clip(seg));
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} else {
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// 空走路径暂时保留（高级避障需要A*算法，此处简化为保留）
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nextIterSegments.add(seg);
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}
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}
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segmentsToProcess = nextIterSegments;
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}
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// 将裁剪后剩余的线段加入最终路径
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for (PathSegment s : segmentsToProcess) {
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// 过滤掉因为裁剪产生的极短线段
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if (distance(s.start, s.end) < 0.05) continue;
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// 如果当前点和线段起点不连贯，加入连接路径（空走）
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if (distance(currentPos, s.start) > 0.05) {
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finalPath.add(new PathSegment(currentPos, s.start, false));
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}
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finalPath.add(s);
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currentPos = s.end;
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}
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}
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return finalPath;
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}
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// --- 路径生成核心算法 (移植自 NoObstacle 类) ---
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private static List<PathSegment> generateFullCoveragePath(List<Point> boundary, double width) {
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// 1. 寻找最优角度
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double angle = findOptimalAngle(boundary);
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// 2. 旋转多边形以对齐坐标轴
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List<Point> rotatedPoly = new ArrayList<>();
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for (Point p : boundary) rotatedPoly.add(rotatePoint(p, -angle));
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double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
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for (Point p : rotatedPoly) {
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minY = Math.min(minY, p.y);
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maxY = Math.max(maxY, p.y);
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}
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// 3. 生成扫描线
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List<PathSegment> segments = new ArrayList<>();
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boolean l2r = true;
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// 围边路径先生成
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Point scanStartPoint = null;
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// 这里我们先计算扫描线，最后再决定围边起点以减少空走
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List<List<PathSegment>> scanRows = new ArrayList<>();
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for (double y = minY + width/2; y <= maxY - width/2; y += width) {
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List<Double> xInters = getXIntersections(rotatedPoly, y);
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if (xInters.size() < 2) continue;
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Collections.sort(xInters);
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List<PathSegment> row = new ArrayList<>();
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// 两两配对形成线段
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for (int i = 0; i < xInters.size() - 1; i += 2) {
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Point s = rotatePoint(new Point(xInters.get(i), y), angle);
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Point e = rotatePoint(new Point(xInters.get(i + 1), y), angle);
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row.add(new PathSegment(s, e, true));
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}
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// 蛇形排序
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if (!l2r) {
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Collections.reverse(row);
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for (PathSegment s : row) {
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Point tmp = s.start; s.start = s.end; s.end = tmp;
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}
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}
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scanRows.add(row);
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if (scanStartPoint == null && !row.isEmpty()) scanStartPoint = row.get(0).start;
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l2r = !l2r;
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}
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// 4. 生成围边路径 (对齐到第一个扫描点)
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List<Point> alignedBoundary = alignBoundaryStart(boundary, scanStartPoint);
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for (int i = 0; i < alignedBoundary.size(); i++) {
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segments.add(new PathSegment(alignedBoundary.get(i), alignedBoundary.get((i+1)%alignedBoundary.size()), true));
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}
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// 5. 加入扫描路径
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for (List<PathSegment> row : scanRows) {
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segments.addAll(row);
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}
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return segments;
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}
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// --- 障碍物处理类 ---
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private static List<Obstacle> parseObstacles(String obsStr, double margin) {
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List<Obstacle> list = new ArrayList<>();
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if (obsStr == null || obsStr.trim().isEmpty()) return list;
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// 处理格式 (x,y;...)(x,y;...) 或 $ 分隔
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String cleanStr = obsStr.replaceAll("\\s+", "");
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String[] parts;
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if (cleanStr.contains("(") && cleanStr.contains(")")) {
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List<String> matches = new ArrayList<>();
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java.util.regex.Matcher m = java.util.regex.Pattern.compile("\\(([^)]+)\\)").matcher(cleanStr);
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while (m.find()) matches.add(m.group(1));
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parts = matches.toArray(new String[0]);
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} else {
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parts = cleanStr.split("\\$");
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}
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for (String pStr : parts) {
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List<Point> pts = parseCoordinates(pStr);
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if (pts.isEmpty()) continue;
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if (pts.size() == 2) {
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// 圆形障碍物
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double r = distance(pts.get(0), pts.get(1));
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list.add(new CircleObstacle(pts.get(0), r + margin)); // 半径增加margin
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} else {
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// 多边形障碍物
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ensureCounterClockwise(pts);
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// 外扩障碍物 (Offset Out)
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// 注意：在通用偏移算法中，逆时针多边形，负数通常表示外扩，或者使用特定算法
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// 这里我们复用 getOffsetPolygon，并传入负的margin来实现外扩
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// *但在本类目前的 getOffsetPolygon 实现中（基于角平分线），如果是逆时针：
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// 正数是向左（内缩），负数是向右（外扩）*
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List<Point> expanded = getOffsetPolygon(pts, -margin);
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list.add(new PolyObstacle(expanded));
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}
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}
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return list;
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}
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abstract static class Obstacle {
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// 返回裁剪后的线段列表（即保留在障碍物外部的线段）
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abstract List<PathSegment> clip(PathSegment seg);
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}
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static class CircleObstacle extends Obstacle {
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Point c; double r;
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CircleObstacle(Point c, double r) { this.c = c; this.r = r; }
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@Override
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List<PathSegment> clip(PathSegment seg) {
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// 计算直线与圆的交点 t值 (0..1)
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double dx = seg.end.x - seg.start.x;
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double dy = seg.end.y - seg.start.y;
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double fx = seg.start.x - c.x;
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double fy = seg.start.y - c.y;
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double A = dx*dx + dy*dy;
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double B = 2*(fx*dx + fy*dy);
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double C = (fx*fx + fy*fy) - r*r;
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double delta = B*B - 4*A*C;
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List<PathSegment> result = new ArrayList<>();
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if (delta < 0) {
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// 无交点，全保留或全剔除
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if (!isInside(seg.start)) result.add(seg);
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return result;
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}
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double t1 = (-B - Math.sqrt(delta)) / (2*A);
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double t2 = (-B + Math.sqrt(delta)) / (2*A);
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List<Double> ts = new ArrayList<>();
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ts.add(0.0);
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if (t1 > 0 && t1 < 1) ts.add(t1);
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if (t2 > 0 && t2 < 1) ts.add(t2);
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ts.add(1.0);
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Collections.sort(ts);
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for (int i = 0; i < ts.size()-1; i++) {
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double midT = (ts.get(i) + ts.get(i+1)) / 2;
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Point mid = interpolate(seg.start, seg.end, midT);
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if (!isInside(mid)) {
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result.add(new PathSegment(interpolate(seg.start, seg.end, ts.get(i)),
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interpolate(seg.start, seg.end, ts.get(i+1)),
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seg.isMowing));
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}
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}
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return result;
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}
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boolean isInside(Point p) {
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return (p.x-c.x)*(p.x-c.x) + (p.y-c.y)*(p.y-c.y) < r*r;
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}
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}
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static class PolyObstacle extends Obstacle {
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List<Point> points;
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double minX, maxX, minY, maxY;
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PolyObstacle(List<Point> pts) {
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this.points = pts;
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updateBounds();
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}
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void updateBounds() {
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minX = minY = Double.MAX_VALUE;
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maxX = maxY = -Double.MAX_VALUE;
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for (Point p : points) {
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minX = Math.min(minX, p.x); maxX = Math.max(maxX, p.x);
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minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y);
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}
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}
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boolean isInside(Point p) {
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if (p.x < minX || p.x > maxX || p.y < minY || p.y > maxY) return false;
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boolean result = false;
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for (int i = 0, j = points.size() - 1; i < points.size(); j = i++) {
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if ((points.get(i).y > p.y) != (points.get(j).y > p.y) &&
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(p.x < (points.get(j).x - points.get(i).x) * (p.y - points.get(i).y) / (points.get(j).y - points.get(i).y) + points.get(i).x)) {
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result = !result;
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}
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}
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return result;
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}
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@Override
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List<PathSegment> clip(PathSegment seg) {
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List<Double> ts = new ArrayList<>();
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ts.add(0.0);
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ts.add(1.0);
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// 计算线段与障碍物每一条边的交点
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for (int i = 0; i < points.size(); i++) {
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Point p1 = points.get(i);
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Point p2 = points.get((i+1)%points.size());
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double t = getIntersectionT(seg.start, seg.end, p1, p2);
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if (t > 1e-6 && t < 1 - 1e-6) {
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ts.add(t);
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}
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}
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Collections.sort(ts);
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List<PathSegment> result = new ArrayList<>();
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// 检查每一小段的中点是否在障碍物内
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for (int i = 0; i < ts.size() - 1; i++) {
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double tMid = (ts.get(i) + ts.get(i+1)) / 2.0;
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// 如果两点极其接近，跳过
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if (ts.get(i+1) - ts.get(i) < 1e-6) continue;
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Point mid = interpolate(seg.start, seg.end, tMid);
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if (!isInside(mid)) {
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// 在外部，保留
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Point s = interpolate(seg.start, seg.end, ts.get(i));
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Point e = interpolate(seg.start, seg.end, ts.get(i+1));
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result.add(new PathSegment(s, e, seg.isMowing));
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}
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}
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return result;
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}
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}
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// --- 通用几何算法 ---
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private static List<Point> getOffsetPolygon(List<Point> points, double offset) {
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List<Point> result = new ArrayList<>();
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int n = points.size();
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for (int i = 0; i < n; i++) {
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Point p1 = points.get((i - 1 + n) % n);
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Point p2 = points.get(i);
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Point p3 = points.get((i + 1) % n);
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// 向量 p1->p2 和 p2->p3
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double v1x = p2.x - p1.x, v1y = p2.y - p1.y;
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double v2x = p3.x - p2.x, v2y = p3.y - p2.y;
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double l1 = Math.hypot(v1x, v1y), l2 = Math.hypot(v2x, v2y);
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if (l1 < 1e-5 || l2 < 1e-5) continue;
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// 法向量 (向左转90度: -y, x)
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double n1x = -v1y / l1, n1y = v1x / l1;
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double n2x = -v2y / l2, n2y = v2x / l2;
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// 角平分线
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double bx = n1x + n2x, by = n1y + n2y;
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double bl = Math.hypot(bx, by);
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if (bl < 1e-5) { bx = n1x; by = n1y; }
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else { bx /= bl; by /= bl; }
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// 修正长度 offset / sin(theta/2) = offset / dot(n1, b)
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double dot = n1x * bx + n1y * by;
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double dist = offset / Math.max(Math.abs(dot), 0.1); // 防止尖角过长
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// 阈值限制，防止自交或畸变过大
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dist = Math.signum(offset) * Math.min(Math.abs(dist), Math.abs(offset) * 3);
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result.add(new Point(p2.x + bx * dist, p2.y + by * dist));
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}
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return result;
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}
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private static double findOptimalAngle(List<Point> poly) {
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double bestA = 0, minH = Double.MAX_VALUE;
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for (int i = 0; i < poly.size(); i++) {
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Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
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double a = Math.atan2(p2.y - p1.y, p2.x - p1.x);
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double h = calcHeight(poly, a);
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if (h < minH) { minH = h; bestA = a; }
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}
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return bestA;
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}
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private static double calcHeight(List<Point> poly, double ang) {
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double min = Double.MAX_VALUE, max = -Double.MAX_VALUE;
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for (Point p : poly) {
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Point r = rotatePoint(p, -ang);
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min = Math.min(min, r.y); max = Math.max(max, r.y);
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}
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return max - min;
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}
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private static double getIntersectionT(Point a, Point b, Point c, Point d) {
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double ux = b.x - a.x, uy = b.y - a.y;
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double vx = d.x - c.x, vy = d.y - c.y;
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double det = vx * uy - vy * ux;
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if (Math.abs(det) < 1e-8) return -1;
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double wx = c.x - a.x, wy = c.y - a.y;
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double t = (vx * wy - vy * wx) / det;
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double u = (ux * wy - uy * wx) / det;
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if (u >= 0 && u <= 1) return t; // 只保证交点在线段CD上，t是AB上的比例
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return -1;
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}
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private static List<Double> getXIntersections(List<Point> poly, double y) {
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List<Double> res = new ArrayList<>();
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for (int i = 0; i < poly.size(); i++) {
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Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
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if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) {
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res.add(p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y));
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}
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}
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return res;
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}
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private static List<Point> alignBoundaryStart(List<Point> poly, Point target) {
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if (target == null) return poly;
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int idx = 0; double minD = Double.MAX_VALUE;
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for (int i = 0; i < poly.size(); i++) {
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double d = distance(poly.get(i), target);
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if (d < minD) { minD = d; idx = i; }
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}
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List<Point> res = new ArrayList<>();
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for (int i = 0; i < poly.size(); i++) res.add(poly.get((idx + i) % poly.size()));
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return res;
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}
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private static void ensureCounterClockwise(List<Point> pts) {
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double s = 0;
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for (int i = 0; i < pts.size(); i++) {
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Point p1 = pts.get(i), p2 = pts.get((i + 1) % pts.size());
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s += (p2.x - p1.x) * (p2.y + p1.y);
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}
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if (s > 0) Collections.reverse(pts); // 假设屏幕坐标系Y向下？通常多边形面积公式s>0是顺时针(Y向下)或逆时针(Y向上)
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// 此处沿用您代码的逻辑：如果Sum>0 则反转。
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}
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private static Point rotatePoint(Point p, double a) {
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double c = Math.cos(a), s = Math.sin(a);
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return new Point(p.x * c - p.y * s, p.x * s + p.y * c);
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}
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private static Point interpolate(Point a, Point b, double t) {
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return new Point(a.x + (b.x - a.x) * t, a.y + (b.y - a.y) * t);
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}
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private static double distance(Point a, Point b) {
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return Math.hypot(a.x - b.x, a.y - b.y);
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}
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private static List<Point> parseCoordinates(String s) {
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List<Point> pts = new ArrayList<>();
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if (s == null || s.isEmpty()) return pts;
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for (String p : s.split(";")) {
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String[] xy = p.split(",");
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if (xy.length >= 2) pts.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
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}
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if (pts.size() > 1 && distance(pts.get(0), pts.get(pts.size() - 1)) < 1e-4) pts.remove(pts.size() - 1);
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return pts;
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}
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// --- 数据结构 ---
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public static class Point {
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public double x, y;
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public Point(double x, double y) { this.x = x; this.y = y; }
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}
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public static class PathSegment {
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public Point start, end;
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public boolean isMowing;
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public PathSegment(Point s, Point e, boolean m) { this.start = s; this.end = e; this.isMowing = m; }
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@Override
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public String toString() { return String.format("%.6f,%.6f;%.6f,%.6f", start.x, start.y, end.x, end.y); }
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}
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}
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