From 00f4e4fc6e53a26cf3dc67d57d8b00536634d707 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期五, 26 十二月 2025 17:36:11 +0800
Subject: [PATCH] 优化了注册账号
---
src/lujing/YixinglujingHaveObstacel.java | 610 +++++++++++++++++++++++++++++++-----------------------
1 files changed, 347 insertions(+), 263 deletions(-)
diff --git a/src/lujing/YixinglujingHaveObstacel.java b/src/lujing/YixinglujingHaveObstacel.java
index ff0736a..c864d3a 100644
--- a/src/lujing/YixinglujingHaveObstacel.java
+++ b/src/lujing/YixinglujingHaveObstacel.java
@@ -1,80 +1,319 @@
package lujing;
import java.util.ArrayList;
-import java.util.Arrays;
import java.util.Collections;
import java.util.List;
/**
- * 寮傚舰鑽夊湴璺緞瑙勫垝 - 閬块殰澧炲己鐗� V8.0
- * 淇璇存槑锛�
- * 1. 淇浜嗗湴鍧楀唴缂╁拰闅滅鐗╁鎵╃殑姝ｈ礋閫昏緫銆�
- * 2. 浼樺寲浜嗗杈瑰舰鍋忕Щ绠楁硶锛岀‘淇濋�嗘椂閽堢偣搴忎笅姝ｅ�煎唴缂╋紝璐熷�煎鎵┿��
- * 3. 澧炲己浜嗛殰纰嶇墿瑙ｆ瀽鐨勫仴澹�с��
+ * 寮傚舰鑽夊湴璺緞瑙勫垝 - 闅滅鐗╄鍓紭鍖栫増 V9.0
+ * 鏍稿績閫昏緫锛氬厛鐢熸垚鍏ㄨ鐩栨壂鎻忚矾寰勶紝鍐嶅埄鐢ㄥ鎵╁悗鐨勯殰纰嶇墿瀵硅矾寰勮繘琛岃鍓��
*/
public class YixinglujingHaveObstacel {
+ /**
+ * 瑙勫垝璺緞涓诲叆鍙�
+ */
public static List<PathSegment> planPath(String coordinates, String obstaclesStr, String widthStr, String marginStr) {
+ // 1. 瑙ｆ瀽鍙傛暟
List<Point> rawPoints = parseCoordinates(coordinates);
if (rawPoints.size() < 3) return new ArrayList<>();
double mowWidth = Double.parseDouble(widthStr);
double safeMargin = Double.parseDouble(marginStr);
- // 1. 棰勫鐞嗗湴鍧楋紙纭繚閫嗘椂閽堥『搴忥級
+ // 2. 棰勫鐞嗗湴鍧楄竟鐣� (纭繚閫嗘椂閽�)
ensureCounterClockwise(rawPoints);
- // 銆愭牳蹇冧慨澶嶃�戯細瀵逛簬閫嗘椂閽堝杈瑰舰锛屾鏁版槸鍚戝唴鍋忕Щ锛圛nset锛�
- List<Point> boundary = getOffsetPolygon(rawPoints, safeMargin);
- if (boundary.size() < 3) return new ArrayList<>();
+ // 3. 鐢熸垚鍦板潡鍐呯缉鐨勫畨鍏ㄤ綔涓氳竟鐣� (Inset)
+ List<Point> mowingBoundary = getOffsetPolygon(rawPoints, safeMargin); // 姝ｆ暟鍐呯缉
+ if (mowingBoundary.size() < 3) return new ArrayList<>();
- // 2. 纭畾鏈�浼樿搴﹀苟瑙勫垝鍩虹璺緞
- double bestAngle = findOptimalAngle(boundary);
- Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle);
- List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart);
+ // 4. 绗竴姝ワ細鐢熸垚鈥滄棤瑙嗛殰纰嶇墿鈥濈殑鍏ㄨ鐩栨壂鎻忚矾寰�
+ // 鐩存帴浣跨敤鎵弿绾跨畻娉曠敓鎴愬～婊℃暣涓唴缂╄竟鐣岀殑璺緞
+ List<PathSegment> rawPath = generateFullCoveragePath(mowingBoundary, mowWidth);
- List<PathSegment> baseLines = new ArrayList<>();
- // 绗竴闃舵锛氬洿杈硅矾寰�
- for (int i = 0; i < alignedBoundary.size(); i++) {
- baseLines.add(new PathSegment(alignedBoundary.get(i), alignedBoundary.get((i + 1) % alignedBoundary.size()), true));
- }
- // 绗簩闃舵锛氱敓鎴愬唴閮ㄦ壂鎻忚矾寰�
- Point lastEdgePos = alignedBoundary.get(0);
- baseLines.addAll(generateGlobalScanPath(boundary, mowWidth, bestAngle, lastEdgePos));
-
- // 3. 澶勭悊闅滅鐗╋細瑙ｆ瀽骞舵墽琛屻�愬鎵┿��
- // 銆愭牳蹇冧慨澶嶃�戯細瀵逛簬閫嗘椂閽堥殰纰嶇墿锛岃礋鏁版槸鍚戝鍋忕Щ锛圤utset锛�
+ // 5. 瑙ｆ瀽闅滅鐗╁苟杩涜澶栨墿 (Outset)
+ // 娉ㄦ剰锛氶殰纰嶇墿澶栨墿璺濈 = 鍓茶崏鏈哄畨鍏ㄨ竟璺濓紝纭繚涓嶅彂鐢熺鎾�
List<Obstacle> obstacles = parseObstacles(obstaclesStr, safeMargin);
- // 4. 璺緞瑁佸壀涓庝紭鍖栬繛鎺�
- return optimizeAndClipPath(baseLines, obstacles);
- }
-
- private static List<Obstacle> parseObstacles(String obsStr, double margin) {
- List<Obstacle> obstacles = new ArrayList<>();
- if (obsStr == null || obsStr.trim().isEmpty()) return obstacles;
-
- for (String group : obsStr.split("\\$")) {
- List<Point> pts = parseCoordinates(group);
- if (pts.isEmpty()) continue;
-
- if (pts.size() == 2) {
- // 鍦嗗舰闅滅鐗╋細绗竴涓偣蹇冿紝绗簩涓偣涓婁竴鐐癸紝鍗婂緞澧炲姞 margin
- double r = Math.hypot(pts.get(0).x - pts.get(1).x, pts.get(0).y - pts.get(1).y);
- obstacles.add(new CircleObstacle(pts.get(0), r + margin));
- } else if (pts.size() > 2) {
- // 澶氳竟褰㈤殰纰嶇墿锛氱‘淇濋�嗘椂閽堬紝鐒跺悗浣跨敤璐� margin 杩涜銆愬鎵┿��
- ensureCounterClockwise(pts);
- obstacles.add(new PolyObstacle(getOffsetPolygon(pts, -margin)));
- }
- }
- return obstacles;
+ // 6. 绗簩姝ワ細浣跨敤闅滅鐗╄鍓矾寰� (鏍稿績姝ラ)
+ return clipPathWithObstacles(rawPath, obstacles);
}
/**
- * 澶氳竟褰㈠亸绉荤畻娉曪細鍩轰簬瑙掑钩鍒嗙嚎鍋忕Щ
- * 鍦ㄩ�嗘椂閽堥『搴忎笅锛歰ffset > 0 涓哄唴缂╋紝offset < 0 涓哄鎵�
+ * 浣跨敤闅滅鐗╅泦鍚堣鍓師濮嬭矾寰�
*/
+ private static List<PathSegment> clipPathWithObstacles(List<PathSegment> rawPath, List<Obstacle> obstacles) {
+ List<PathSegment> finalPath = new ArrayList<>();
+ Point currentPos = (rawPath.isEmpty()) ? new Point(0,0) : rawPath.get(0).start;
+
+ for (PathSegment segment : rawPath) {
+ // 灏嗗綋鍓嶈繖涓�娈佃矾寰勶紝鎷垮幓璺熸墍鏈夐殰纰嶇墿杩涜纰版挒妫�娴嬪拰瑁佸壀
+ // 鍒濆鏃讹紝杩欎竴娈垫槸瀹屾暣鐨�
+ List<PathSegment> segmentsToProcess = new ArrayList<>();
+ segmentsToProcess.add(segment);
+
+ for (Obstacle obs : obstacles) {
+ List<PathSegment> nextIterSegments = new ArrayList<>();
+ for (PathSegment seg : segmentsToProcess) {
+ // 濡傛灉鏄壊鑽夎矾寰勶紝闇�瑕佽鍓紱濡傛灉鏄┖璧拌矾寰勶紝閫氬父涔熼渶瑕侀伩闅滐紝
+ // 浣嗚繖閲屼富瑕佸鐞嗘壂鎻忕嚎鐨勮鍓��
+ if (seg.isMowing) {
+ nextIterSegments.addAll(obs.clip(seg));
+ } else {
+ // 绌鸿蛋璺緞鏆傛椂淇濈暀锛堥珮绾ч伩闅滈渶瑕丄*绠楁硶锛屾澶勭畝鍖栦负淇濈暀锛�
+ nextIterSegments.add(seg);
+ }
+ }
+ segmentsToProcess = nextIterSegments;
+ }
+
+ // 灏嗚鍓悗鍓╀綑鐨勭嚎娈靛姞鍏ユ渶缁堣矾寰�
+ for (PathSegment s : segmentsToProcess) {
+ // 杩囨护鎺夊洜涓鸿鍓骇鐢熺殑鏋佺煭绾挎
+ if (distance(s.start, s.end) < 0.05) continue;
+
+ // 濡傛灉褰撳墠鐐瑰拰绾挎璧风偣涓嶈繛璐紝鍔犲叆杩炴帴璺緞锛堢┖璧帮級
+ if (distance(currentPos, s.start) > 0.05) {
+ finalPath.add(new PathSegment(currentPos, s.start, false));
+ }
+
+ finalPath.add(s);
+ currentPos = s.end;
+ }
+ }
+ return finalPath;
+ }
+
+ // --- 璺緞鐢熸垚鏍稿績绠楁硶 (绉绘鑷� NoObstacle 绫�) ---
+
+ private static List<PathSegment> generateFullCoveragePath(List<Point> boundary, double width) {
+ // 1. 瀵绘壘鏈�浼樿搴�
+ double angle = findOptimalAngle(boundary);
+
+ // 2. 鏃嬭浆澶氳竟褰互瀵归綈鍧愭爣杞�
+ List<Point> rotatedPoly = new ArrayList<>();
+ for (Point p : boundary) rotatedPoly.add(rotatePoint(p, -angle));
+
+ double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
+ for (Point p : rotatedPoly) {
+ minY = Math.min(minY, p.y);
+ maxY = Math.max(maxY, p.y);
+ }
+
+ // 3. 鐢熸垚鎵弿绾�
+ List<PathSegment> segments = new ArrayList<>();
+ boolean l2r = true;
+ // 鍥磋竟璺緞鍏堢敓鎴�
+ Point scanStartPoint = null;
+
+ // 杩欓噷鎴戜滑鍏堣绠楁壂鎻忕嚎锛屾渶鍚庡啀鍐冲畾鍥磋竟璧风偣浠ュ噺灏戠┖璧�
+ List<List<PathSegment>> scanRows = new ArrayList<>();
+
+ for (double y = minY + width/2; y <= maxY - width/2; y += width) {
+ List<Double> xInters = getXIntersections(rotatedPoly, y);
+ if (xInters.size() < 2) continue;
+ Collections.sort(xInters);
+
+ List<PathSegment> row = new ArrayList<>();
+ // 涓や袱閰嶅褰㈡垚绾挎
+ for (int i = 0; i < xInters.size() - 1; i += 2) {
+ Point s = rotatePoint(new Point(xInters.get(i), y), angle);
+ Point e = rotatePoint(new Point(xInters.get(i + 1), y), angle);
+ row.add(new PathSegment(s, e, true));
+ }
+
+ // 铔囧舰鎺掑簭
+ if (!l2r) {
+ Collections.reverse(row);
+ for (PathSegment s : row) {
+ Point tmp = s.start; s.start = s.end; s.end = tmp;
+ }
+ }
+ scanRows.add(row);
+ if (scanStartPoint == null && !row.isEmpty()) scanStartPoint = row.get(0).start;
+ l2r = !l2r;
+ }
+
+ // 4. 鐢熸垚鍥磋竟璺緞 (瀵归綈鍒扮涓�涓壂鎻忕偣)
+ List<Point> alignedBoundary = alignBoundaryStart(boundary, scanStartPoint);
+ for (int i = 0; i < alignedBoundary.size(); i++) {
+ segments.add(new PathSegment(alignedBoundary.get(i), alignedBoundary.get((i+1)%alignedBoundary.size()), true));
+ }
+
+ // 5. 鍔犲叆鎵弿璺緞
+ for (List<PathSegment> row : scanRows) {
+ segments.addAll(row);
+ }
+
+ return segments;
+ }
+
+ // --- 闅滅鐗╁鐞嗙被 ---
+
+ private static List<Obstacle> parseObstacles(String obsStr, double margin) {
+ List<Obstacle> list = new ArrayList<>();
+ if (obsStr == null || obsStr.trim().isEmpty()) return list;
+
+ // 澶勭悊鏍煎紡 (x,y;...)(x,y;...) 鎴� $ 鍒嗛殧
+ String cleanStr = obsStr.replaceAll("\\s+", "");
+ String[] parts;
+ if (cleanStr.contains("(") && cleanStr.contains(")")) {
+ List<String> matches = new ArrayList<>();
+ java.util.regex.Matcher m = java.util.regex.Pattern.compile("\\(([^)]+)\\)").matcher(cleanStr);
+ while (m.find()) matches.add(m.group(1));
+ parts = matches.toArray(new String[0]);
+ } else {
+ parts = cleanStr.split("\\$");
+ }
+
+ for (String pStr : parts) {
+ List<Point> pts = parseCoordinates(pStr);
+ if (pts.isEmpty()) continue;
+
+ if (pts.size() == 2) {
+ // 鍦嗗舰闅滅鐗�
+ double r = distance(pts.get(0), pts.get(1));
+ list.add(new CircleObstacle(pts.get(0), r + margin)); // 鍗婂緞澧炲姞margin
+ } else {
+ // 澶氳竟褰㈤殰纰嶇墿
+ ensureCounterClockwise(pts);
+ // 澶栨墿闅滅鐗� (Offset Out)
+ // 娉ㄦ剰锛氬湪閫氱敤鍋忕Щ绠楁硶涓紝閫嗘椂閽堝杈瑰舰锛岃礋鏁伴�氬父琛ㄧず澶栨墿锛屾垨鑰呬娇鐢ㄧ壒瀹氱畻娉�
+ // 杩欓噷鎴戜滑澶嶇敤 getOffsetPolygon锛屽苟浼犲叆璐熺殑margin鏉ュ疄鐜板鎵�
+ // *浣嗗湪鏈被鐩墠鐨� getOffsetPolygon 瀹炵幇涓紙鍩轰簬瑙掑钩鍒嗙嚎锛夛紝濡傛灉鏄�嗘椂閽堬細
+ // 姝ｆ暟鏄悜宸︼紙鍐呯缉锛夛紝璐熸暟鏄悜鍙筹紙澶栨墿锛�*
+ List<Point> expanded = getOffsetPolygon(pts, -margin);
+ list.add(new PolyObstacle(expanded));
+ }
+ }
+ return list;
+ }
+
+ abstract static class Obstacle {
+ // 杩斿洖瑁佸壀鍚庣殑绾挎鍒楄〃锛堝嵆淇濈暀鍦ㄩ殰纰嶇墿澶栭儴鐨勭嚎娈碉級
+ abstract List<PathSegment> clip(PathSegment seg);
+ }
+
+ static class CircleObstacle extends Obstacle {
+ Point c; double r;
+ CircleObstacle(Point c, double r) { this.c = c; this.r = r; }
+
+ @Override
+ List<PathSegment> clip(PathSegment seg) {
+ // 璁＄畻鐩寸嚎涓庡渾鐨勪氦鐐� t鍊� (0..1)
+ double dx = seg.end.x - seg.start.x;
+ double dy = seg.end.y - seg.start.y;
+ double fx = seg.start.x - c.x;
+ double fy = seg.start.y - c.y;
+
+ double A = dx*dx + dy*dy;
+ double B = 2*(fx*dx + fy*dy);
+ double C = (fx*fx + fy*fy) - r*r;
+ double delta = B*B - 4*A*C;
+
+ List<PathSegment> result = new ArrayList<>();
+ if (delta < 0) {
+ // 鏃犱氦鐐癸紝鍏ㄤ繚鐣欐垨鍏ㄥ墧闄�
+ if (!isInside(seg.start)) result.add(seg);
+ return result;
+ }
+
+ double t1 = (-B - Math.sqrt(delta)) / (2*A);
+ double t2 = (-B + Math.sqrt(delta)) / (2*A);
+
+ List<Double> ts = new ArrayList<>();
+ ts.add(0.0);
+ if (t1 > 0 && t1 < 1) ts.add(t1);
+ if (t2 > 0 && t2 < 1) ts.add(t2);
+ ts.add(1.0);
+ Collections.sort(ts);
+
+ for (int i = 0; i < ts.size()-1; i++) {
+ double midT = (ts.get(i) + ts.get(i+1)) / 2;
+ Point mid = interpolate(seg.start, seg.end, midT);
+ if (!isInside(mid)) {
+ result.add(new PathSegment(interpolate(seg.start, seg.end, ts.get(i)),
+ interpolate(seg.start, seg.end, ts.get(i+1)),
+ seg.isMowing));
+ }
+ }
+ return result;
+ }
+
+ boolean isInside(Point p) {
+ return (p.x-c.x)*(p.x-c.x) + (p.y-c.y)*(p.y-c.y) < r*r;
+ }
+ }
+
+ static class PolyObstacle extends Obstacle {
+ List<Point> points;
+ double minX, maxX, minY, maxY;
+
+ PolyObstacle(List<Point> pts) {
+ this.points = pts;
+ updateBounds();
+ }
+
+ void updateBounds() {
+ minX = minY = Double.MAX_VALUE;
+ maxX = maxY = -Double.MAX_VALUE;
+ for (Point p : points) {
+ minX = Math.min(minX, p.x); maxX = Math.max(maxX, p.x);
+ minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y);
+ }
+ }
+
+ boolean isInside(Point p) {
+ if (p.x < minX || p.x > maxX || p.y < minY || p.y > maxY) return false;
+ boolean result = false;
+ for (int i = 0, j = points.size() - 1; i < points.size(); j = i++) {
+ if ((points.get(i).y > p.y) != (points.get(j).y > p.y) &&
+ (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)) {
+ result = !result;
+ }
+ }
+ return result;
+ }
+
+ @Override
+ List<PathSegment> clip(PathSegment seg) {
+ List<Double> ts = new ArrayList<>();
+ ts.add(0.0);
+ ts.add(1.0);
+
+ // 璁＄畻绾挎涓庨殰纰嶇墿姣忎竴鏉¤竟鐨勪氦鐐�
+ for (int i = 0; i < points.size(); i++) {
+ Point p1 = points.get(i);
+ Point p2 = points.get((i+1)%points.size());
+ double t = getIntersectionT(seg.start, seg.end, p1, p2);
+ if (t > 1e-6 && t < 1 - 1e-6) {
+ ts.add(t);
+ }
+ }
+ Collections.sort(ts);
+
+ List<PathSegment> result = new ArrayList<>();
+ // 妫�鏌ユ瘡涓�灏忔鐨勪腑鐐规槸鍚﹀湪闅滅鐗╁唴
+ for (int i = 0; i < ts.size() - 1; i++) {
+ double tMid = (ts.get(i) + ts.get(i+1)) / 2.0;
+ // 濡傛灉涓ょ偣鏋佸叾鎺ヨ繎锛岃烦杩�
+ if (ts.get(i+1) - ts.get(i) < 1e-6) continue;
+
+ Point mid = interpolate(seg.start, seg.end, tMid);
+ if (!isInside(mid)) {
+ // 鍦ㄥ閮紝淇濈暀
+ Point s = interpolate(seg.start, seg.end, ts.get(i));
+ Point e = interpolate(seg.start, seg.end, ts.get(i+1));
+ result.add(new PathSegment(s, e, seg.isMowing));
+ }
+ }
+ return result;
+ }
+ }
+
+ // --- 閫氱敤鍑犱綍绠楁硶 ---
+
private static List<Point> getOffsetPolygon(List<Point> points, double offset) {
List<Point> result = new ArrayList<>();
int n = points.size();
@@ -83,208 +322,67 @@
Point p2 = points.get(i);
Point p3 = points.get((i + 1) % n);
+ // 鍚戦噺 p1->p2 鍜� p2->p3
double v1x = p2.x - p1.x, v1y = p2.y - p1.y;
double v2x = p3.x - p2.x, v2y = p3.y - p2.y;
double l1 = Math.hypot(v1x, v1y), l2 = Math.hypot(v2x, v2y);
- if (l1 < 1e-6 || l2 < 1e-6) continue;
+ if (l1 < 1e-5 || l2 < 1e-5) continue;
- // 鑾峰彇涓ゆ潯杈圭殑娉曞悜閲忥紙鍚戝乏鍋忕Щ锛�
+ // 娉曞悜閲� (鍚戝乏杞�90搴�: -y, x)
double n1x = -v1y / l1, n1y = v1x / l1;
double n2x = -v2y / l2, n2y = v2x / l2;
- // 瑙掑钩鍒嗙嚎鍚戦噺
+ // 瑙掑钩鍒嗙嚎
double bx = n1x + n2x, by = n1y + n2y;
double bl = Math.hypot(bx, by);
- if (bl < 1e-6) {
- bx = n1x; by = n1y;
- } else {
- bx /= bl; by /= bl;
- }
+ if (bl < 1e-5) { bx = n1x; by = n1y; }
+ else { bx /= bl; by /= bl; }
- // 璁＄畻鍋忕Щ闀垮害淇绯绘暟锛�1/sin(theta/2)
- double cosHalf = n1x * bx + n1y * by;
- double d = offset / Math.max(cosHalf, 0.1); // 閬垮厤鍒嗘瘝杩囧皬瀵艰嚧鏃犵┓澶�
+ // 淇闀垮害 offset / sin(theta/2) = offset / dot(n1, b)
+ double dot = n1x * bx + n1y * by;
+ double dist = offset / Math.max(Math.abs(dot), 0.1); // 闃叉灏栬杩囬暱
- // 闄愬埗鏈�澶т綅绉婚噺锛岄槻姝㈡瀬灏栬鐣稿彉
- d = Math.signum(offset) * Math.min(Math.abs(d), Math.abs(offset) * 5);
+ // 闃堝�奸檺鍒讹紝闃叉鑷氦鎴栫暩鍙樿繃澶�
+ dist = Math.signum(offset) * Math.min(Math.abs(dist), Math.abs(offset) * 3);
- result.add(new Point(p2.x + bx * d, p2.y + by * d));
+ result.add(new Point(p2.x + bx * dist, p2.y + by * dist));
}
return result;
}
- private static List<PathSegment> optimizeAndClipPath(List<PathSegment> originalPath, List<Obstacle> obstacles) {
- List<PathSegment> result = new ArrayList<>();
- Point currentPos = null;
-
- for (PathSegment segment : originalPath) {
- List<PathSegment> clipped = new ArrayList<>();
- clipped.add(segment);
-
- // 鐢ㄦ瘡涓�涓殰纰嶇墿渚濇瑁佸壀
- for (Obstacle obs : obstacles) {
- List<PathSegment> nextIter = new ArrayList<>();
- for (PathSegment s : clipped) {
- nextIter.addAll(obs.clipSegment(s));
- }
- clipped = nextIter;
- }
-
- for (PathSegment s : clipped) {
- // 鍓旈櫎寰皬娈�
- if (Math.hypot(s.start.x - s.end.x, s.start.y - s.end.y) < 1e-4) continue;
-
- // 濡傛灉鏂版鐨勮捣鐐逛笌涓婃鐨勭粓鐐逛笉杩炶疮锛屾坊鍔犵┖璧帮紙闈炲壊鑽夛級璺緞
- if (currentPos != null && Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
- result.add(new PathSegment(currentPos, s.start, false));
- }
- result.add(s);
- currentPos = s.end;
- }
+ private static double findOptimalAngle(List<Point> poly) {
+ double bestA = 0, minH = Double.MAX_VALUE;
+ for (int i = 0; i < poly.size(); i++) {
+ Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
+ double a = Math.atan2(p2.y - p1.y, p2.x - p1.x);
+ double h = calcHeight(poly, a);
+ if (h < minH) { minH = h; bestA = a; }
}
- return result;
+ return bestA;
}
- // --- 闅滅鐗╃被瀹氫箟 ---
- abstract static class Obstacle {
- abstract boolean isInside(Point p);
- abstract List<PathSegment> clipSegment(PathSegment seg);
- }
-
- static class PolyObstacle extends Obstacle {
- List<Point> points;
- double minX, maxX, minY, maxY;
-
- public PolyObstacle(List<Point> pts) {
- this.points = pts;
- minX = minY = Double.MAX_VALUE;
- maxX = maxY = -Double.MAX_VALUE;
- for (Point p : pts) {
- minX = Math.min(minX, p.x); maxX = Math.max(maxX, p.x);
- minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y);
- }
+ private static double calcHeight(List<Point> poly, double ang) {
+ double min = Double.MAX_VALUE, max = -Double.MAX_VALUE;
+ for (Point p : poly) {
+ Point r = rotatePoint(p, -ang);
+ min = Math.min(min, r.y); max = Math.max(max, r.y);
}
-
- @Override
- boolean isInside(Point p) {
- if (p.x < minX || p.x > maxX || p.y < minY || p.y > maxY) return false;
- boolean inside = false;
- for (int i = 0, j = points.size() - 1; i < points.size(); j = i++) {
- if (((points.get(i).y > p.y) != (points.get(j).y > p.y)) &&
- (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)) {
- inside = !inside;
- }
- }
- return inside;
- }
-
- @Override
- List<PathSegment> clipSegment(PathSegment seg) {
- List<Double> ts = new ArrayList<>(Arrays.asList(0.0, 1.0));
- for (int i = 0; i < points.size(); i++) {
- double t = getIntersectionT(seg.start, seg.end, points.get(i), points.get((i + 1) % points.size()));
- if (t > 0 && t < 1) ts.add(t);
- }
- Collections.sort(ts);
- List<PathSegment> res = new ArrayList<>();
- for (int i = 0; i < ts.size() - 1; i++) {
- Point s = interpolate(seg.start, seg.end, ts.get(i));
- Point e = interpolate(seg.start, seg.end, ts.get(i + 1));
- // 妫�鏌ヤ腑鐐规槸鍚﹀湪闅滅鐗╁唴
- if (!isInside(new Point((s.x + e.x) / 2, (s.y + e.y) / 2))) {
- res.add(new PathSegment(s, e, seg.isMowing));
- }
- }
- return res;
- }
- }
-
- static class CircleObstacle extends Obstacle {
- Point center; double radius;
- public CircleObstacle(Point c, double r) { this.center = c; this.radius = r; }
-
- @Override
- boolean isInside(Point p) { return Math.hypot(p.x - center.x, p.y - center.y) < radius - 1e-4; }
-
- @Override
- List<PathSegment> clipSegment(PathSegment seg) {
- List<Double> ts = new ArrayList<>(Arrays.asList(0.0, 1.0));
- double dx = seg.end.x - seg.start.x, dy = seg.end.y - seg.start.y;
- double fx = seg.start.x - center.x, fy = seg.start.y - center.y;
- double a = dx * dx + dy * dy;
- double b = 2 * (fx * dx + fy * dy);
- double c = fx * fx + fy * fy - radius * radius;
- double disc = b * b - 4 * a * c;
- if (disc >= 0) {
- disc = Math.sqrt(disc);
- double t1 = (-b - disc) / (2 * a), t2 = (-b + disc) / (2 * a);
- if (t1 > 0 && t1 < 1) ts.add(t1);
- if (t2 > 0 && t2 < 1) ts.add(t2);
- }
- Collections.sort(ts);
- List<PathSegment> res = new ArrayList<>();
- for (int i = 0; i < ts.size() - 1; i++) {
- Point s = interpolate(seg.start, seg.end, ts.get(i));
- Point e = interpolate(seg.start, seg.end, ts.get(i + 1));
- if (!isInside(new Point((s.x + e.x) / 2, (s.y + e.y) / 2))) res.add(new PathSegment(s, e, seg.isMowing));
- }
- return res;
- }
- }
-
- // --- 鍐呴儴绠楁硶涓庢暟瀛︽敮鎸� ---
-
- private static List<PathSegment> generateGlobalScanPath(List<Point> polygon, double width, double angle, Point currentPos) {
- List<PathSegment> segments = new ArrayList<>();
- List<Point> rotated = new ArrayList<>();
- for (Point p : polygon) rotated.add(rotatePoint(p, -angle));
-
- double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
- for (Point p : rotated) { minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y); }
-
- boolean l2r = true;
- for (double y = minY + width/2; y <= maxY - width/2; y += width) {
- List<Double> xInters = getXIntersections(rotated, y);
- if (xInters.size() < 2) continue;
- Collections.sort(xInters);
-
- List<PathSegment> row = new ArrayList<>();
- for (int i = 0; i < xInters.size() - 1; i += 2) {
- Point s = rotatePoint(new Point(xInters.get(i), y), angle);
- Point e = rotatePoint(new Point(xInters.get(i + 1), y), angle);
- row.add(new PathSegment(s, e, true));
- }
- if (!l2r) {
- Collections.reverse(row);
- for (PathSegment s : row) { Point t = s.start; s.start = s.end; s.end = t; }
- }
- for (PathSegment s : row) {
- if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
- segments.add(new PathSegment(currentPos, s.start, false));
- }
- segments.add(s);
- currentPos = s.end;
- }
- l2r = !l2r;
- }
- return segments;
+ return max - min;
}
private static double getIntersectionT(Point a, Point b, Point c, Point d) {
- double ux = b.x - a.x, uy = b.y - a.y, vx = d.x - c.x, vy = d.y - c.y;
+ double ux = b.x - a.x, uy = b.y - a.y;
+ double vx = d.x - c.x, vy = d.y - c.y;
double det = vx * uy - vy * ux;
- if (Math.abs(det) < 1e-6) return -1;
- return (vx * (c.y - a.y) - vy * (c.x - a.x)) / det;
- }
-
- private static Point interpolate(Point a, Point b, double t) {
- return new Point(a.x + (b.x - a.x) * t, a.y + (b.y - a.y) * t);
- }
-
- private static Point rotatePoint(Point p, double ang) {
- double cos = Math.cos(ang), sin = Math.sin(ang);
- return new Point(p.x * cos - p.y * sin, p.x * sin + p.y * cos);
+ if (Math.abs(det) < 1e-8) return -1;
+
+ double wx = c.x - a.x, wy = c.y - a.y;
+ double t = (vx * wy - vy * wx) / det;
+ double u = (ux * wy - uy * wx) / det;
+
+ if (u >= 0 && u <= 1) return t; // 鍙繚璇佷氦鐐瑰湪绾挎CD涓婏紝t鏄疉B涓婄殑姣斾緥
+ return -1;
}
private static List<Double> getXIntersections(List<Point> poly, double y) {
@@ -298,21 +396,11 @@
return res;
}
- private static Point getFirstScanPoint(List<Point> poly, double w, double a) {
- List<Point> rot = new ArrayList<>();
- for (Point p : poly) rot.add(rotatePoint(p, -a));
- double minY = Double.MAX_VALUE;
- for (Point p : rot) minY = Math.min(minY, p.y);
- List<Double> xs = getXIntersections(rot, minY + w/2);
- if (xs.isEmpty()) return poly.get(0);
- Collections.sort(xs);
- return rotatePoint(new Point(xs.get(0), minY + w/2), a);
- }
-
private static List<Point> alignBoundaryStart(List<Point> poly, Point target) {
+ if (target == null) return poly;
int idx = 0; double minD = Double.MAX_VALUE;
for (int i = 0; i < poly.size(); i++) {
- double d = Math.hypot(poly.get(i).x - target.x, poly.get(i).y - target.y);
+ double d = distance(poly.get(i), target);
if (d < minD) { minD = d; idx = i; }
}
List<Point> res = new ArrayList<>();
@@ -320,28 +408,27 @@
return res;
}
- private static double findOptimalAngle(List<Point> poly) {
- double bestA = 0, minH = Double.MAX_VALUE;
- for (int i = 0; i < poly.size(); i++) {
- Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
- double a = Math.atan2(p2.y - p1.y, p2.x - p1.x);
- double miY = Double.MAX_VALUE, maY = -Double.MAX_VALUE;
- for (Point p : poly) {
- Point r = rotatePoint(p, -a);
- miY = Math.min(miY, r.y); maY = Math.max(maY, r.y);
- }
- if (maY - miY < minH) { minH = maY - miY; bestA = a; }
- }
- return bestA;
- }
-
private static void ensureCounterClockwise(List<Point> pts) {
double s = 0;
for (int i = 0; i < pts.size(); i++) {
Point p1 = pts.get(i), p2 = pts.get((i + 1) % pts.size());
s += (p2.x - p1.x) * (p2.y + p1.y);
}
- if (s > 0) Collections.reverse(pts);
+ if (s > 0) Collections.reverse(pts); // 鍋囪灞忓箷鍧愭爣绯籝鍚戜笅锛熼�氬父澶氳竟褰㈤潰绉叕寮弒>0鏄『鏃堕拡(Y鍚戜笅)鎴栭�嗘椂閽�(Y鍚戜笂)
+ // 姝ゅ娌跨敤鎮ㄤ唬鐮佺殑閫昏緫锛氬鏋淪um>0 鍒欏弽杞��
+ }
+
+ private static Point rotatePoint(Point p, double a) {
+ double c = Math.cos(a), s = Math.sin(a);
+ return new Point(p.x * c - p.y * s, p.x * s + p.y * c);
+ }
+
+ private static Point interpolate(Point a, Point b, double t) {
+ return new Point(a.x + (b.x - a.x) * t, a.y + (b.y - a.y) * t);
+ }
+
+ private static double distance(Point a, Point b) {
+ return Math.hypot(a.x - b.x, a.y - b.y);
}
private static List<Point> parseCoordinates(String s) {
@@ -349,26 +436,23 @@
if (s == null || s.isEmpty()) return pts;
for (String p : s.split(";")) {
String[] xy = p.split(",");
- if (xy.length == 2) pts.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
+ if (xy.length >= 2) pts.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
}
- if (pts.size() > 1 && pts.get(0).equals(pts.get(pts.size() - 1))) pts.remove(pts.size() - 1);
+ if (pts.size() > 1 && distance(pts.get(0), pts.get(pts.size() - 1)) < 1e-4) pts.remove(pts.size() - 1);
return pts;
}
+ // --- 鏁版嵁缁撴瀯 ---
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;
public PathSegment(Point s, Point e, boolean m) { this.start = s; this.end = e; this.isMowing = m; }
+ @Override
+ public String toString() { return String.format("%.6f,%.6f;%.6f,%.6f", start.x, start.y, end.x, end.y); }
}
}
\ No newline at end of file
--
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