package lujing;
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import java.util.*;
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/**
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* 异形草地路径规划 - 凹多边形兼容优化版 V5.0
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* 修复：解决凹多边形扫描线跨越边界的问题，优化路径对齐
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*/
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public class YixinglujingNoObstacle {
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// 开关：是否强制所有非作业连接沿安全边界行走（避免任何内区直线跨越）
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// 改为可动态设置，自动依据地块形状启用
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private static boolean FORCE_BOUNDARY_TRAVEL = true;
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// 用法说明（无障碍物路径规划）：
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// - 方法用途：根据地块边界、割草宽度与安全边距，生成覆盖全区域的割草路径。
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// - 参数：
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// coordinates：地块边界坐标字符串，格式 "x1,y1;x2,y2;..."，至少3个点，单位为米。
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// widthStr：割草宽度（字符串，单位米），用于确定扫描线间距。
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// marginStr：安全边距（字符串，单位米），用于将地块边界向内收缩，避免贴边作业。
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// - 返回值：List<PathSegment>，其中 PathSegment.start/end 为坐标点，isMowing 为 true 表示割草段，false 表示空走段。
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// - 失败情况：当边界点不足或内缩后区域过小，返回空列表。
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// - 使用示例：
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// String boundary = "0,0;20,0;20,15;0,15";
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// String width = "0.3";
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// String margin = "0.5";
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// List<YixinglujingNoObstacle.PathSegment> path =
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// YixinglujingNoObstacle.planPath(boundary, width, margin);
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public static List<PathSegment> planPath(String coordinates, String widthStr, String marginStr) {
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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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// 1. 预处理：确保逆时针顺序
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ensureCounterClockwise(rawPoints);
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// 2. 生成内缩多边形（安全边界）
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List<Point> boundary = getInsetPolygon(rawPoints, safeMargin);
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if (boundary.size() < 3) return new ArrayList<>();
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// 3. 确定最优作业角度
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double bestAngle = findOptimalAngle(boundary);
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// 3.1 自动判断是否需要强制沿边界旅行（检测凹部/多段扫描行）
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FORCE_BOUNDARY_TRAVEL = shouldForceBoundaryTravel(boundary, mowWidth, bestAngle);
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// 4. 获取首个作业点，用于对齐围边起点
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Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle);
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// 5. 对齐围边：使围边最后结束于靠近扫描起点的位置
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List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart);
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List<PathSegment> finalPath = new ArrayList<>();
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// 6. 第一阶段：围边路径
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for (int i = 0; i < alignedBoundary.size(); i++) {
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Point pStart = alignedBoundary.get(i);
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Point pEnd = alignedBoundary.get((i + 1) % alignedBoundary.size());
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finalPath.add(new PathSegment(pStart, pEnd, true));
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}
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// 7. 第二阶段：生成内部扫描路径（修复凹部空越问题）
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Point lastEdgePos = alignedBoundary.get(0);
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List<PathSegment> scanPath = generateGlobalScanPath(boundary, mowWidth, bestAngle, lastEdgePos);
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finalPath.addAll(scanPath);
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// 8. 最终安全净化：确保所有段在内缩边界上或内部（自动贴边阈值）
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sanitizePath(finalPath, boundary, mowWidth, safeMargin);
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// 9. 格式化坐标：保留两位小数
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for (PathSegment segment : finalPath) {
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segment.start.x = Math.round(segment.start.x * 100.0) / 100.0;
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segment.start.y = Math.round(segment.start.y * 100.0) / 100.0;
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segment.end.x = Math.round(segment.end.x * 100.0) / 100.0;
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segment.end.y = Math.round(segment.end.y * 100.0) / 100.0;
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}
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return finalPath;
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}
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// 对所有路径段进行安全净化：
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// - 非作业段：统一沿边界路径替换
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// - 作业段：若端点在外或段与边界相交，吸附端点到边界并向内侧偏移 epsilon
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private static void sanitizePath(List<PathSegment> segments, List<Point> polygon, double width, double margin) {
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double epsilon = computeAutoInnerOffset(polygon, width, margin);
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List<PathSegment> sanitized = new ArrayList<>();
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for (PathSegment s : segments) {
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boolean startInside = isPointInPolygon(s.start, polygon);
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boolean endInside = isPointInPolygon(s.end, polygon);
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boolean intersects = segmentIntersectsBoundary(s.start, s.end, polygon);
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if (!s.isMowing) {
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// 非作业段：若AB直线安全（不跨越边界且中点在内），保留直线；否则沿边界替换
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if (isSegmentSafe(s.start, s.end, polygon)) {
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sanitized.add(s);
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} else {
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List<Point> path = getBoundaryPathWithSnap(s.start, s.end, polygon);
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for (int i = 0; i < path.size() - 1; i++) {
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sanitized.add(new PathSegment(path.get(i), path.get(i+1), false));
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}
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}
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} else {
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if (!startInside || !endInside || intersects) {
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SnapResult s1 = snapToBoundary(s.start, polygon);
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SnapResult s2 = snapToBoundary(s.end, polygon);
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Point p1 = pushInsideOnEdge(s1, polygon, epsilon);
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Point p2 = pushInsideOnEdge(s2, polygon, epsilon);
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sanitized.add(new PathSegment(p1, p2, true));
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} else {
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sanitized.add(s);
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}
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}
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}
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segments.clear();
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segments.addAll(sanitized);
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}
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private static boolean segmentIntersectsBoundary(Point a, Point b, List<Point> polygon) {
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for (int i = 0; i < polygon.size(); i++) {
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Point c = polygon.get(i);
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Point d = polygon.get((i + 1) % polygon.size());
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// 忽略共享端点的相交
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if (isSamePoint(a, c) || isSamePoint(a, d) || isSamePoint(b, c) || isSamePoint(b, d)) continue;
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if (segmentsIntersect(a, b, c, d)) return true;
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}
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return false;
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}
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// 将边界上的投影点向内侧偏移 epsilon
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private static Point pushInsideOnEdge(SnapResult sr, List<Point> poly, double epsilon) {
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int i = sr.edgeIndex;
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Point s = poly.get(i);
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Point e = poly.get((i + 1) % poly.size());
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double dx = e.x - s.x, dy = e.y - s.y;
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double len = Math.hypot(dx, dy);
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if (len < 1e-6) return sr.onEdge;
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// 对于逆时针（CCW）多边形，左转法向量 (-dy, dx) 指向内侧
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double nx = -dy / len, ny = dx / len;
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return new Point(sr.onEdge.x + nx * epsilon, sr.onEdge.y + ny * epsilon);
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}
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// 自动计算贴边内偏移阈值 epsilon：根据地块尺度、最短边、割草宽度与安全边距综合估算
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private static double computeAutoInnerOffset(List<Point> polygon, double width, double margin) {
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double minEdge = Double.MAX_VALUE;
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double minX = Double.MAX_VALUE, minY = Double.MAX_VALUE;
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double maxX = -Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
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for (int i = 0; i < polygon.size(); i++) {
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Point a = polygon.get(i);
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Point b = polygon.get((i + 1) % polygon.size());
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minEdge = Math.min(minEdge, Math.hypot(a.x - b.x, a.y - b.y));
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minX = Math.min(minX, a.x); minY = Math.min(minY, a.y);
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maxX = Math.max(maxX, a.x); maxY = Math.max(maxY, a.y);
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}
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double diag = Math.hypot(maxX - minX, maxY - minY);
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// 基础量：数值稳定需要的最小内偏移（取割幅的1%与对角线的0.2%之间的较大值）
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double base = Math.max(width * 0.01, diag * 0.002);
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// 上限：不超过安全边距的20%与割幅的10%
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double upper = Math.min(margin * 0.2, width * 0.1);
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// 受边长约束：不超过最短边的2%
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double edgeLimit = minEdge * 0.02;
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double eps = Math.min(upper, Math.max(base, edgeLimit * 0.5));
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// 下限/上限最终钳位：3mm 到 5cm
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eps = Math.max(0.003, Math.min(eps, 0.05));
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return eps;
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}
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// 根据扫描行的交点数量来判断是否存在“多段行”（>=2段），有凹部或窄通道时启用强制沿边界旅行
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private static boolean shouldForceBoundaryTravel(List<Point> polygon, double width, double angle) {
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List<Point> rotatedPoly = new ArrayList<>();
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for (Point p : polygon) 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) { minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y); }
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int multiSegmentRows = 0;
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int totalRows = 0;
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for (double y = minY + width/2; y <= maxY - width/2; y += width) {
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List<Double> xIntersections = getXIntersections(rotatedPoly, y);
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if (xIntersections.size() < 2) continue;
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totalRows++;
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if (xIntersections.size() >= 4) multiSegmentRows++; // 同一行出现两个及以上作业段
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}
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// 只要出现过“多段行”，就强制沿边界旅行；也可按比例阈值触发（例如 >=10%）
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if (multiSegmentRows > 0) return true;
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double ratio = totalRows == 0 ? 0.0 : (double) multiSegmentRows / (double) totalRows;
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return ratio >= 0.1; // 兜底阈值
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}
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private static List<PathSegment> generateGlobalScanPath(List<Point> polygon, double width, double angle, Point currentPos) {
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// 先尝试将凹陷处视为两个独立区域，分两次扫描，避免跨区直线连接
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List<PathSegment> all = new ArrayList<>();
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// 第一次扫描：优先处理左侧区域（groupIndex=0）
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List<PathSegment> leftScan = generateScanPathForSide(polygon, width, angle, currentPos, 0);
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all.addAll(leftScan);
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Point posAfterLeft = leftScan.isEmpty() ? currentPos : leftScan.get(leftScan.size() - 1).end;
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// 第二次扫描：处理右侧区域（groupIndex=1），从左侧结束点沿边界到右侧首段
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List<PathSegment> rightScan = generateScanPathForSide(polygon, width, angle, posAfterLeft, 1);
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all.addAll(rightScan);
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return all;
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}
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// 仅扫描指定侧（同一条扫描线的第 groupIndex 段），用于将“耳朵”视为独立区域
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private static List<PathSegment> generateScanPathForSide(List<Point> polygon, double width, double angle, Point currentPos, int sideIndex) {
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List<PathSegment> segments = new ArrayList<>();
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List<Point> rotatedPoly = new ArrayList<>();
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for (Point p : polygon) 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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boolean leftToRight = true;
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boolean firstSegmentConnected = false;
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for (double y = minY + width/2; y <= maxY - width/2; y += width) {
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List<Double> xIntersections = getXIntersections(rotatedPoly, y);
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if (xIntersections.size() < 2) continue;
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Collections.sort(xIntersections);
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// 构建本行的作业段（左到右）和组索引
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List<PathSegment> lineSegmentsInRow = new ArrayList<>();
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List<Integer> groupIndices = new ArrayList<>();
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for (int i = 0, g = 0; i < xIntersections.size() - 1; i += 2, g++) {
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Point pS = rotatePoint(new Point(xIntersections.get(i), y), angle);
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Point pE = rotatePoint(new Point(xIntersections.get(i + 1), y), angle);
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lineSegmentsInRow.add(new PathSegment(pS, pE, true));
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groupIndices.add(g);
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}
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if (!leftToRight) {
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Collections.reverse(lineSegmentsInRow);
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Collections.reverse(groupIndices);
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for (PathSegment s : lineSegmentsInRow) {
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Point temp = s.start; s.start = s.end; s.end = temp;
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}
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}
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int idxInRow = groupIndices.indexOf(sideIndex);
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if (idxInRow == -1) {
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// 本行不包含该侧的作业段，跳过
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leftToRight = !leftToRight;
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continue;
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}
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PathSegment s = lineSegmentsInRow.get(idxInRow);
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// 首次或跨区连接：使用智能换行路径（优先直线最短，必要时沿边界）
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if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
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addSafeConnection(segments, currentPos, s.start, polygon);
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firstSegmentConnected = true;
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}
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segments.add(s);
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currentPos = s.end;
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leftToRight = !leftToRight;
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}
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return segments;
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}
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private static Point getFirstScanPoint(List<Point> polygon, double width, double angle) {
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List<Point> rotatedPoly = new ArrayList<>();
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for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle));
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double minY = Double.MAX_VALUE;
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for (Point p : rotatedPoly) minY = Math.min(minY, p.y);
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double firstY = minY + width/2;
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List<Double> xInter = getXIntersections(rotatedPoly, firstY);
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if (xInter.isEmpty()) return polygon.get(0);
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Collections.sort(xInter);
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return rotatePoint(new Point(xInter.get(0), firstY), angle);
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}
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private static List<Point> alignBoundaryStart(List<Point> boundary, Point targetStart) {
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int bestIdx = 0;
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double minDist = Double.MAX_VALUE;
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for (int i = 0; i < boundary.size(); i++) {
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double d = Math.hypot(boundary.get(i).x - targetStart.x, boundary.get(i).y - targetStart.y);
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if (d < minDist) { minDist = d; bestIdx = i; }
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}
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List<Point> aligned = new ArrayList<>();
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for (int i = 0; i < boundary.size(); i++) {
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aligned.add(boundary.get((bestIdx + i) % boundary.size()));
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}
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return aligned;
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}
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private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) {
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List<Double> xIntersections = new ArrayList<>();
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double tolerance = 1e-6;
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for (int i = 0; i < rotatedPoly.size(); i++) {
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Point p1 = rotatedPoly.get(i);
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Point p2 = rotatedPoly.get((i + 1) % rotatedPoly.size());
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// 跳过水平边（避免与扫描线重合时的特殊情况）
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if (Math.abs(p1.y - p2.y) < tolerance) {
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continue;
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}
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// 检查是否相交（使用严格不等式避免顶点重复）
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if ((p1.y < y && p2.y >= y) || (p2.y < y && p1.y >= y)) {
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double x = p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y);
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// 简单去重：检查是否已存在相近的点
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boolean isDuplicate = false;
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for (double existingX : xIntersections) {
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if (Math.abs(x - existingX) < tolerance) {
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isDuplicate = true;
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break;
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}
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}
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if (!isDuplicate) {
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xIntersections.add(x);
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}
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}
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}
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return xIntersections;
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}
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private static double findOptimalAngle(List<Point> polygon) {
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double bestAngle = 0;
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double minHeight = Double.MAX_VALUE;
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for (int i = 0; i < polygon.size(); i++) {
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Point p1 = polygon.get(i), p2 = polygon.get((i + 1) % polygon.size());
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double angle = Math.atan2(p2.y - p1.y, p2.x - p1.x);
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double h = calculateHeightAtAngle(polygon, angle);
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if (h < minHeight) { minHeight = h; bestAngle = angle; }
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}
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return bestAngle;
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}
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private static double calculateHeightAtAngle(List<Point> poly, double angle) {
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double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
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for (Point p : poly) {
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Point rp = rotatePoint(p, -angle);
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minY = Math.min(minY, rp.y); maxY = Math.max(maxY, rp.y);
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}
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return maxY - minY;
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}
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public static List<Point> getInsetPolygon(List<Point> points, double margin) {
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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 pPrev = points.get((i - 1 + n) % n);
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Point pCurr = points.get(i);
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Point pNext = points.get((i + 1) % n);
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double d1x = pCurr.x - pPrev.x, d1y = pCurr.y - pPrev.y;
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double l1 = Math.hypot(d1x, d1y);
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double d2x = pNext.x - pCurr.x, d2y = pNext.y - pCurr.y;
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double l2 = Math.hypot(d2x, d2y);
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if (l1 < 1e-6 || l2 < 1e-6) continue;
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// 单位法向量
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double n1x = -d1y / l1, n1y = d1x / l1;
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double n2x = -d2y / l2, n2y = d2x / l2;
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// 角平分线方向
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double bisectorX = n1x + n2x, bisectorY = n1y + n2y;
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double bLen = Math.hypot(bisectorX, bisectorY);
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if (bLen < 1e-6) { bisectorX = n1x; bisectorY = n1y; }
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else { bisectorX /= bLen; bisectorY /= bLen; }
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double cosHalfAngle = n1x * bisectorX + n1y * bisectorY;
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double dist = margin / Math.max(cosHalfAngle, 0.1);
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// 限制最大位移量，防止极尖角畸变
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dist = Math.min(dist, margin * 5);
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result.add(new Point(pCurr.x + bisectorX * dist, pCurr.y + bisectorY * dist));
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}
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return result;
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}
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private static void addSafeConnection(List<PathSegment> segments, Point start, Point end, List<Point> polygon) {
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// 使用新的智能换行路径算法
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List<PathSegment> connectionPath = generateSmartConnectionPath(start, end, polygon);
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segments.addAll(connectionPath);
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}
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/**
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* 智能换行路径生成：根据AB线段与安全边界C的交点，生成混合路径
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* 逻辑：
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* 1. 如果AB线段不穿越边界，直接返回AB直线
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* 2. 如果AB线段穿越边界，找到所有交点（如D, F, G, H），生成路径：
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* A -> D -> (沿边界D到F) -> F -> G -> (沿边界G到H) -> H -> B
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*/
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private static List<PathSegment> generateSmartConnectionPath(Point A, Point B, List<Point> polygon) {
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List<PathSegment> result = new ArrayList<>();
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// 1. 检查AB直线是否安全（不穿越边界且中点在内部）；与是否强制沿边界无关
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if (isSegmentSafe(A, B, polygon)) {
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result.add(new PathSegment(A, B, false));
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return result;
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}
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// 2. 获取AB与边界的所有交点
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List<IntersectionPoint> intersections = getSegmentBoundaryIntersections(A, B, polygon);
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// 3. 如果没有交点但不安全，说明整条线都在外部，强制沿边界
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if (intersections.isEmpty()) {
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List<Point> path = getBoundaryPathWithSnap(A, B, polygon);
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for (int i = 0; i < path.size() - 1; i++) {
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result.add(new PathSegment(path.get(i), path.get(i+1), false));
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}
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return result;
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}
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// 4. 根据交点成对处理，考虑A/B是否在内侧
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Point currentPos = A;
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boolean startInside = isPointInPolygon(A, polygon);
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boolean endInside = isPointInPolygon(B, polygon);
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for (int i = 0; i < intersections.size(); i += 2) {
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IntersectionPoint entry = intersections.get(i);
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// 从当前位置到第一个交点：起点在内→直线；起点在外→沿边界到交点
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if (Math.hypot(currentPos.x - entry.point.x, currentPos.y - entry.point.y) > 1e-6) {
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if (startInside) {
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result.add(new PathSegment(currentPos, entry.point, false));
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} else {
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List<Point> pathToEntry = getBoundaryPathWithSnap(currentPos, entry.point, polygon);
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for (int j = 0; j < pathToEntry.size() - 1; j++) {
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result.add(new PathSegment(pathToEntry.get(j), pathToEntry.get(j+1), false));
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}
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}
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}
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// 检查是否有配对的离开点
|
if (i + 1 < intersections.size()) {
|
IntersectionPoint exit = intersections.get(i + 1);
|
|
// 从进入点D到离开点F：沿边界行走
|
List<Point> boundaryPath = getBoundaryPathBetweenPoints(
|
entry.point, entry.edgeIndex,
|
exit.point, exit.edgeIndex,
|
polygon
|
);
|
|
for (int j = 0; j < boundaryPath.size() - 1; j++) {
|
result.add(new PathSegment(boundaryPath.get(j), boundaryPath.get(j+1), false));
|
}
|
|
currentPos = exit.point;
|
// 之后的起点视为内侧
|
startInside = true;
|
} else {
|
// 如果没有配对的离开点，说明终点在外部，沿边界到B
|
List<Point> path = getBoundaryPathWithSnap(entry.point, B, polygon);
|
for (int j = 0; j < path.size() - 1; j++) {
|
result.add(new PathSegment(path.get(j), path.get(j+1), false));
|
}
|
return result;
|
}
|
}
|
|
// 5. 从最后一个离开点到终点B：直线段（在内部）
|
if (Math.hypot(currentPos.x - B.x, currentPos.y - B.y) > 1e-6) {
|
if (endInside) {
|
result.add(new PathSegment(currentPos, B, false));
|
} else {
|
List<Point> pathToB = getBoundaryPathWithSnap(currentPos, B, polygon);
|
for (int j = 0; j < pathToB.size() - 1; j++) {
|
result.add(new PathSegment(pathToB.get(j), pathToB.get(j+1), false));
|
}
|
}
|
}
|
|
return result;
|
}
|
|
/**
|
* 在已知边界边索引的情况下，沿边界获取两点之间的最短路径
|
*/
|
private static List<Point> getBoundaryPathBetweenPoints(
|
Point start, int startEdgeIdx,
|
Point end, int endEdgeIdx,
|
List<Point> polygon) {
|
|
int n = polygon.size();
|
|
// 如果在同一条边上，直接连接
|
if (startEdgeIdx == endEdgeIdx) {
|
return Arrays.asList(start, end);
|
}
|
|
// 正向路径（顺边）
|
List<Point> pathFwd = new ArrayList<>();
|
pathFwd.add(start);
|
int curr = startEdgeIdx;
|
while (curr != endEdgeIdx) {
|
pathFwd.add(polygon.get((curr + 1) % n));
|
curr = (curr + 1) % n;
|
}
|
pathFwd.add(end);
|
|
// 反向路径（逆边）
|
List<Point> pathRev = new ArrayList<>();
|
pathRev.add(start);
|
curr = startEdgeIdx;
|
while (curr != endEdgeIdx) {
|
pathRev.add(polygon.get(curr));
|
curr = (curr - 1 + n) % n;
|
}
|
pathRev.add(end);
|
|
// 返回几何长度更短的路径
|
return getPathLength(pathFwd) <= getPathLength(pathRev) ? pathFwd : pathRev;
|
}
|
|
// 强制沿边界绕行的连接（不做直线安全判断），用来在同一扫描行的多个作业段之间跳转
|
private static void addBoundaryConnection(List<PathSegment> segments, Point start, Point end, List<Point> polygon) {
|
List<Point> path = getBoundaryPathWithSnap(start, end, polygon);
|
for (int i = 0; i < path.size() - 1; i++) {
|
segments.add(new PathSegment(path.get(i), path.get(i+1), false));
|
}
|
}
|
|
// 将任意两点通过“吸附到边界”后沿边界最短路径连接
|
private static List<Point> getBoundaryPathWithSnap(Point start, Point end, List<Point> polygon) {
|
SnapResult s1 = snapToBoundary(start, polygon);
|
SnapResult s2 = snapToBoundary(end, polygon);
|
int n = polygon.size();
|
|
// 前向路径（顺边）
|
List<Point> pathFwd = new ArrayList<>();
|
pathFwd.add(start);
|
pathFwd.add(s1.onEdge);
|
int curr = s1.edgeIndex;
|
while (curr != s2.edgeIndex) {
|
pathFwd.add(polygon.get((curr + 1) % n));
|
curr = (curr + 1) % n;
|
}
|
pathFwd.add(s2.onEdge);
|
pathFwd.add(end);
|
|
// 反向路径（逆边）
|
List<Point> pathRev = new ArrayList<>();
|
pathRev.add(start);
|
pathRev.add(s1.onEdge);
|
curr = s1.edgeIndex;
|
while (curr != s2.edgeIndex) {
|
pathRev.add(polygon.get(curr));
|
curr = (curr - 1 + n) % n;
|
}
|
pathRev.add(s2.onEdge);
|
pathRev.add(end);
|
|
return getPathLength(pathFwd) < getPathLength(pathRev) ? pathFwd : pathRev;
|
}
|
|
private static class SnapResult {
|
Point onEdge;
|
int edgeIndex;
|
SnapResult(Point p, int idx) { this.onEdge = p; this.edgeIndex = idx; }
|
}
|
|
// 计算点到边界最近的投影点以及所在边索引
|
private static SnapResult snapToBoundary(Point p, List<Point> poly) {
|
double minD = Double.MAX_VALUE;
|
Point bestProj = p;
|
int bestIdx = -1;
|
for (int i = 0; i < poly.size(); i++) {
|
Point s = poly.get(i);
|
Point e = poly.get((i + 1) % poly.size());
|
double l2 = (s.x - e.x)*(s.x - e.x) + (s.y - e.y)*(s.y - e.y);
|
if (l2 == 0) {
|
double d = Math.hypot(p.x - s.x, p.y - s.y);
|
if (d < minD) { minD = d; bestProj = s; bestIdx = i; }
|
continue;
|
}
|
double t = ((p.x - s.x) * (e.x - s.x) + (p.y - s.y) * (e.y - s.y)) / l2;
|
t = Math.max(0, Math.min(1, t));
|
Point proj = new Point(s.x + t * (e.x - s.x), s.y + t * (e.y - s.y));
|
double d = Math.hypot(p.x - proj.x, p.y - proj.y);
|
if (d < minD) { minD = d; bestProj = proj; bestIdx = i; }
|
}
|
return new SnapResult(bestProj, bestIdx == -1 ? 0 : bestIdx);
|
}
|
|
private static boolean isSegmentSafe(Point p1, Point p2, List<Point> polygon) {
|
Point mid = new Point((p1.x + p2.x) / 2, (p1.y + p2.y) / 2);
|
if (!isPointInPolygon(mid, polygon)) return false;
|
|
for (int i = 0; i < polygon.size(); i++) {
|
Point a = polygon.get(i);
|
Point b = polygon.get((i + 1) % polygon.size());
|
if (isSamePoint(p1, a) || isSamePoint(p1, b) || isSamePoint(p2, a) || isSamePoint(p2, b)) continue;
|
if (segmentsIntersect(p1, p2, a, b)) return false;
|
}
|
return true;
|
}
|
|
private static boolean isSamePoint(Point a, Point b) {
|
return Math.abs(a.x - b.x) < 1e-4 && Math.abs(a.y - b.y) < 1e-4;
|
}
|
|
private static boolean segmentsIntersect(Point a, Point b, Point c, Point d) {
|
return ccw(a, c, d) != ccw(b, c, d) && ccw(a, b, c) != ccw(a, b, d);
|
}
|
|
// 获取线段AB与边界多边形的所有交点，按照距离A点的顺序排序
|
private static class IntersectionPoint {
|
Point point; // 交点坐标
|
int edgeIndex; // 交点所在的边界边索引
|
double distFromStart; // 距离起点A的距离
|
boolean isEntry; // true表示进入边界，false表示离开边界
|
|
IntersectionPoint(Point p, int idx, double dist, boolean entry) {
|
this.point = p;
|
this.edgeIndex = idx;
|
this.distFromStart = dist;
|
this.isEntry = entry;
|
}
|
}
|
|
// 计算线段AB与多边形边界的所有交点
|
private static List<IntersectionPoint> getSegmentBoundaryIntersections(Point A, Point B, List<Point> polygon) {
|
List<IntersectionPoint> intersections = new ArrayList<>();
|
for (int i = 0; i < polygon.size(); i++) {
|
Point C = polygon.get(i);
|
Point D = polygon.get((i + 1) % polygon.size());
|
Point intersection = getLineSegmentIntersection(A, B, C, D);
|
if (intersection != null) {
|
if (isSamePoint(intersection, A) || isSamePoint(intersection, B)) continue;
|
double dist = Math.hypot(intersection.x - A.x, intersection.y - A.y);
|
intersections.add(new IntersectionPoint(intersection, i, dist, false));
|
}
|
}
|
// 距离排序
|
Collections.sort(intersections, (i1, i2) -> Double.compare(i1.distFromStart, i2.distFromStart));
|
// 去重近似相同交点（顶点双交）
|
List<IntersectionPoint> deduped = new ArrayList<>();
|
for (IntersectionPoint ip : intersections) {
|
boolean dup = false;
|
for (IntersectionPoint kept : deduped) {
|
if (Math.abs(ip.point.x - kept.point.x) < 1e-6 && Math.abs(ip.point.y - kept.point.y) < 1e-6) { dup = true; break; }
|
}
|
if (!dup) deduped.add(ip);
|
}
|
return deduped;
|
}
|
|
// 计算两条线段的交点（如果存在）
|
private static Point getLineSegmentIntersection(Point p1, Point p2, Point p3, Point p4) {
|
double x1 = p1.x, y1 = p1.y;
|
double x2 = p2.x, y2 = p2.y;
|
double x3 = p3.x, y3 = p3.y;
|
double x4 = p4.x, y4 = p4.y;
|
|
double denom = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
|
if (Math.abs(denom) < 1e-10) return null; // 平行或重合
|
|
double t = ((x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4)) / denom;
|
double u = -((x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3)) / denom;
|
|
// 检查交点是否在两条线段上（使用略微宽松的范围以处理浮点误差）
|
double epsilon = 1e-6;
|
if (t >= -epsilon && t <= 1 + epsilon && u >= -epsilon && u <= 1 + epsilon) {
|
return new Point(x1 + t * (x2 - x1), y1 + t * (y2 - y1));
|
}
|
|
return null;
|
}
|
|
private static boolean ccw(Point a, Point b, Point c) {
|
return (c.y - a.y) * (b.x - a.x) > (b.y - a.y) * (c.x - a.x);
|
}
|
|
private static boolean isPointInPolygon(Point p, List<Point> polygon) {
|
boolean result = false;
|
for (int i = 0, j = polygon.size() - 1; i < polygon.size(); j = i++) {
|
if ((polygon.get(i).y > p.y) != (polygon.get(j).y > p.y) &&
|
(p.x < (polygon.get(j).x - polygon.get(i).x) * (p.y - polygon.get(i).y) / (polygon.get(j).y - polygon.get(i).y) + polygon.get(i).x)) {
|
result = !result;
|
}
|
}
|
return result;
|
}
|
|
private static List<Point> getBoundaryPath(Point start, Point end, List<Point> polygon) {
|
int idx1 = getEdgeIndex(start, polygon);
|
int idx2 = getEdgeIndex(end, polygon);
|
|
if (idx1 == -1 || idx2 == -1 || idx1 == idx2) {
|
return Arrays.asList(start, end);
|
}
|
|
List<Point> path1 = new ArrayList<>();
|
path1.add(start);
|
int curr = idx1;
|
while (curr != idx2) {
|
path1.add(polygon.get((curr + 1) % polygon.size()));
|
curr = (curr + 1) % polygon.size();
|
}
|
path1.add(end);
|
|
List<Point> pathRev = new ArrayList<>();
|
pathRev.add(start);
|
curr = idx1;
|
while (curr != idx2) {
|
pathRev.add(polygon.get(curr));
|
curr = (curr - 1 + polygon.size()) % polygon.size();
|
}
|
pathRev.add(polygon.get((idx2 + 1) % polygon.size()));
|
pathRev.add(end);
|
|
return getPathLength(path1) < getPathLength(pathRev) ? path1 : pathRev;
|
}
|
|
private static double getPathLength(List<Point> path) {
|
double len = 0;
|
for (int i = 0; i < path.size() - 1; i++) {
|
len += Math.hypot(path.get(i).x - path.get(i+1).x, path.get(i).y - path.get(i+1).y);
|
}
|
return len;
|
}
|
|
private static int getEdgeIndex(Point p, List<Point> poly) {
|
int bestIdx = -1;
|
double minD = Double.MAX_VALUE;
|
for (int i = 0; i < poly.size(); i++) {
|
Point p1 = poly.get(i);
|
Point p2 = poly.get((i + 1) % poly.size());
|
double d = distToSegment(p, p1, p2);
|
if (d < minD) {
|
minD = d;
|
bestIdx = i;
|
}
|
}
|
// 只要找到最近的边即可，放宽阈值以应对浮点误差和旋转变形
|
// 如果距离过大（例如超过1米），可能确实不在边界上，但在路径规划上下文中，
|
// 这些点是由扫描线生成的，理论上一定在边界上，所以强制吸附是安全的。
|
return minD < 1.0 ? bestIdx : -1;
|
}
|
|
private static double distToSegment(Point p, Point s, Point e) {
|
double l2 = (s.x - e.x)*(s.x - e.x) + (s.y - e.y)*(s.y - e.y);
|
if (l2 == 0) return Math.hypot(p.x - s.x, p.y - s.y);
|
double t = ((p.x - s.x) * (e.x - s.x) + (p.y - s.y) * (e.y - s.y)) / l2;
|
t = Math.max(0, Math.min(1, t));
|
return Math.hypot(p.x - (s.x + t * (e.x - s.x)), p.y - (s.y + t * (e.y - s.y)));
|
}
|
|
private static Point rotatePoint(Point p, double angle) {
|
double cos = Math.cos(angle), sin = Math.sin(angle);
|
return new Point(p.x * cos - p.y * sin, p.x * sin + p.y * cos);
|
}
|
|
public static void ensureCounterClockwise(List<Point> points) {
|
double sum = 0;
|
for (int i = 0; i < points.size(); i++) {
|
Point p1 = points.get(i), p2 = points.get((i + 1) % points.size());
|
sum += (p2.x - p1.x) * (p2.y + p1.y);
|
}
|
if (sum > 0) Collections.reverse(points);
|
}
|
|
private static List<Point> parseCoordinates(String coordinates) {
|
List<Point> points = new ArrayList<>();
|
String[] pairs = coordinates.split(";");
|
for (String pair : pairs) {
|
String[] xy = pair.split(",");
|
if (xy.length == 2) points.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
|
}
|
if (points.size() > 1 && points.get(0).equals(points.get(points.size()-1))) points.remove(points.size()-1);
|
return points;
|
}
|
|
public static class Point {
|
public double x, y;
|
public Point(double x, double y) { this.x = x; this.y = y; }
|
@Override
|
public boolean equals(Object o) {
|
if (!(o instanceof Point)) return false;
|
Point p = (Point) o;
|
return Math.abs(x - p.x) < 1e-4 && Math.abs(y - p.y) < 1e-4;
|
}
|
}
|
|
public static class PathSegment {
|
public Point start, end;
|
public boolean isMowing; // true: 割草中, false: 空载移动
|
public PathSegment(Point s, Point e, boolean m) { this.start = s; this.end = e; this.isMowing = m; }
|
}
|
}
|
