From 7881cef5c3dcea8e6037101db2c3eeb2fd3ba5da Mon Sep 17 00:00:00 2001
From: 826220679@qq.com <826220679@qq.com>
Date: 星期六, 27 十二月 2025 23:42:36 +0800
Subject: [PATCH] 1211
---
src/lujing/YixinglujingNoObstacle.java | 602 +++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 586 insertions(+), 16 deletions(-)
diff --git a/src/lujing/YixinglujingNoObstacle.java b/src/lujing/YixinglujingNoObstacle.java
index 1919731..31e87d5 100644
--- a/src/lujing/YixinglujingNoObstacle.java
+++ b/src/lujing/YixinglujingNoObstacle.java
@@ -1,23 +1,593 @@
package lujing;
-import java.util.List;
-import java.util.ArrayList;
+import java.util.*;
/**
- * 鏃犻殰纰嶇墿寮傚舰鍦板潡璺緞瑙勫垝绫�
+ * 寮傚舰鑽夊湴璺緞瑙勫垝 - 鍑瑰杈瑰舰鍏煎浼樺寲鐗� V5.0
+ * 淇锛氳В鍐冲嚬澶氳竟褰㈡壂鎻忕嚎璺ㄨ秺杈圭晫鐨勯棶棰橈紝浼樺寲璺緞瀵归綈
*/
public class YixinglujingNoObstacle {
-
- /**
- * 鐢熸垚璺緞
- * @param boundaryCoordsStr 鍦板潡杈圭晫鍧愭爣瀛楃涓� "x1,y1;x2,y2;..."
- * @param mowingWidthStr 鍓茶崏瀹藉害瀛楃涓诧紝濡� "0.34"
- * @param safetyMarginStr 瀹夊叏杈硅窛瀛楃涓诧紝濡� "0.2"
- * @return 璺緞鍧愭爣瀛楃涓诧紝鏍煎紡 "x1,y1;x2,y2;..."
- */
- public static String planPath(String boundaryCoordsStr, String mowingWidthStr, String safetyMarginStr) {
- // TODO: 瀹炵幇寮傚舰鍦板潡鏃犻殰纰嶇墿璺緞瑙勫垝绠楁硶
- // 鐩墠浣跨敤榛樿鏂规硶浣滀负涓存椂瀹炵幇
- throw new UnsupportedOperationException("YixinglujingNoObstacle.planPath 灏氭湭瀹炵幇");
+ // 寮�鍏筹細鏄惁寮哄埗鎵�鏈夐潪浣滀笟杩炴帴娌垮畨鍏ㄨ竟鐣岃璧帮紙閬垮厤浠讳綍鍐呭尯鐩寸嚎璺ㄨ秺锛�
+ // 鏀逛负鍙姩鎬佽缃紝鑷姩渚濇嵁鍦板潡褰㈢姸鍚敤
+ private static boolean FORCE_BOUNDARY_TRAVEL = true;
+ // 鐢ㄦ硶璇存槑锛堟棤闅滅鐗╄矾寰勮鍒掞級锛�
+ // - 鏂规硶鐢ㄩ�旓細鏍规嵁鍦板潡杈圭晫銆佸壊鑽夊搴︿笌瀹夊叏杈硅窛锛岀敓鎴愯鐩栧叏鍖哄煙鐨勫壊鑽夎矾寰勩��
+ // - 鍙傛暟锛�
+ // coordinates锛氬湴鍧楄竟鐣屽潗鏍囧瓧绗︿覆锛屾牸寮� "x1,y1;x2,y2;..."锛岃嚦灏�3涓偣锛屽崟浣嶄负绫炽��
+ // widthStr锛氬壊鑽夊搴︼紙瀛楃涓诧紝鍗曚綅绫筹級锛岀敤浜庣‘瀹氭壂鎻忕嚎闂磋窛銆�
+ // marginStr锛氬畨鍏ㄨ竟璺濓紙瀛楃涓诧紝鍗曚綅绫筹級锛岀敤浜庡皢鍦板潡杈圭晫鍚戝唴鏀剁缉锛岄伩鍏嶈创杈逛綔涓氥��
+ // - 杩斿洖鍊硷細List<PathSegment>锛屽叾涓� PathSegment.start/end 涓哄潗鏍囩偣锛宨sMowing 涓� true 琛ㄧず鍓茶崏娈碉紝false 琛ㄧず绌鸿蛋娈点��
+ // - 澶辫触鎯呭喌锛氬綋杈圭晫鐐逛笉瓒虫垨鍐呯缉鍚庡尯鍩熻繃灏忥紝杩斿洖绌哄垪琛ㄣ��
+ // - 浣跨敤绀轰緥锛�
+ // String boundary = "0,0;20,0;20,15;0,15";
+ // String width = "0.3";
+ // String margin = "0.5";
+ // List<YixinglujingNoObstacle.PathSegment> path =
+ // YixinglujingNoObstacle.planPath(boundary, width, margin);
+ public static List<PathSegment> planPath(String coordinates, String widthStr, String marginStr) {
+ List<Point> rawPoints = parseCoordinates(coordinates);
+ if (rawPoints.size() < 3) return new ArrayList<>();
+
+ double mowWidth = Double.parseDouble(widthStr);
+ double safeMargin = Double.parseDouble(marginStr);
+
+ // 1. 棰勫鐞嗭細纭繚閫嗘椂閽堥『搴�
+ ensureCounterClockwise(rawPoints);
+
+ // 2. 鐢熸垚鍐呯缉澶氳竟褰紙瀹夊叏杈圭晫锛�
+ List<Point> boundary = getInsetPolygon(rawPoints, safeMargin);
+ if (boundary.size() < 3) return new ArrayList<>();
+
+ // 3. 纭畾鏈�浼樹綔涓氳搴�
+ double bestAngle = findOptimalAngle(boundary);
+
+ // 3.1 鑷姩鍒ゆ柇鏄惁闇�瑕佸己鍒舵部杈圭晫鏃呰锛堟娴嬪嚬閮�/澶氭鎵弿琛岋級
+ FORCE_BOUNDARY_TRAVEL = shouldForceBoundaryTravel(boundary, mowWidth, bestAngle);
+
+ // 4. 鑾峰彇棣栦釜浣滀笟鐐癸紝鐢ㄤ簬瀵归綈鍥磋竟璧风偣
+ Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle);
+
+ // 5. 瀵归綈鍥磋竟锛氫娇鍥磋竟鏈�鍚庣粨鏉熶簬闈犺繎鎵弿璧风偣鐨勪綅缃�
+ List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart);
+
+ List<PathSegment> finalPath = new ArrayList<>();
+
+ // 6. 绗竴闃舵锛氬洿杈硅矾寰�
+ for (int i = 0; i < alignedBoundary.size(); i++) {
+ Point pStart = alignedBoundary.get(i);
+ Point pEnd = alignedBoundary.get((i + 1) % alignedBoundary.size());
+ finalPath.add(new PathSegment(pStart, pEnd, true));
+ }
+
+ // 7. 绗簩闃舵锛氱敓鎴愬唴閮ㄦ壂鎻忚矾寰勶紙淇鍑归儴绌鸿秺闂锛�
+ Point lastEdgePos = alignedBoundary.get(0);
+ List<PathSegment> scanPath = generateGlobalScanPath(boundary, mowWidth, bestAngle, lastEdgePos);
+
+ finalPath.addAll(scanPath);
+
+ // 8. 鏈�缁堝畨鍏ㄥ噣鍖栵細纭繚鎵�鏈夋鍦ㄥ唴缂╄竟鐣屼笂鎴栧唴閮紙鑷姩璐磋竟闃堝�硷級
+ sanitizePath(finalPath, boundary, mowWidth, safeMargin);
+
+ // 9. 鏍煎紡鍖栧潗鏍囷細淇濈暀涓や綅灏忔暟
+ for (PathSegment segment : finalPath) {
+ segment.start.x = Math.round(segment.start.x * 100.0) / 100.0;
+ segment.start.y = Math.round(segment.start.y * 100.0) / 100.0;
+ segment.end.x = Math.round(segment.end.x * 100.0) / 100.0;
+ segment.end.y = Math.round(segment.end.y * 100.0) / 100.0;
+ }
+
+ return finalPath;
}
-}
+
+ // 瀵规墍鏈夎矾寰勬杩涜瀹夊叏鍑�鍖栵細
+ // - 闈炰綔涓氭锛氱粺涓�娌胯竟鐣岃矾寰勬浛鎹�
+ // - 浣滀笟娈碉細鑻ョ鐐瑰湪澶栨垨娈典笌杈圭晫鐩镐氦锛屽惛闄勭鐐瑰埌杈圭晫骞跺悜鍐呬晶鍋忕Щ epsilon
+ private static void sanitizePath(List<PathSegment> segments, List<Point> polygon, double width, double margin) {
+ double epsilon = computeAutoInnerOffset(polygon, width, margin);
+ List<PathSegment> sanitized = new ArrayList<>();
+ for (PathSegment s : segments) {
+ boolean startInside = isPointInPolygon(s.start, polygon);
+ boolean endInside = isPointInPolygon(s.end, polygon);
+ boolean intersects = segmentIntersectsBoundary(s.start, s.end, polygon);
+ if (!s.isMowing) {
+ // 闈炰綔涓氭缁熶竴鏇挎崲涓烘部杈圭晫璺緞
+ List<Point> path = getBoundaryPathWithSnap(s.start, s.end, polygon);
+ for (int i = 0; i < path.size() - 1; i++) {
+ sanitized.add(new PathSegment(path.get(i), path.get(i+1), false));
+ }
+ } else {
+ if (!startInside || !endInside || intersects) {
+ SnapResult s1 = snapToBoundary(s.start, polygon);
+ SnapResult s2 = snapToBoundary(s.end, polygon);
+ Point p1 = pushInsideOnEdge(s1, polygon, epsilon);
+ Point p2 = pushInsideOnEdge(s2, polygon, epsilon);
+ sanitized.add(new PathSegment(p1, p2, true));
+ } else {
+ sanitized.add(s);
+ }
+ }
+ }
+ segments.clear();
+ segments.addAll(sanitized);
+ }
+
+ private static boolean segmentIntersectsBoundary(Point a, Point b, List<Point> polygon) {
+ for (int i = 0; i < polygon.size(); i++) {
+ Point c = polygon.get(i);
+ Point d = polygon.get((i + 1) % polygon.size());
+ // 蹇界暐鍏变韩绔偣鐨勭浉浜�
+ if (isSamePoint(a, c) || isSamePoint(a, d) || isSamePoint(b, c) || isSamePoint(b, d)) continue;
+ if (segmentsIntersect(a, b, c, d)) return true;
+ }
+ return false;
+ }
+
+ // 灏嗚竟鐣屼笂鐨勬姇褰辩偣鍚戝唴渚у亸绉� epsilon
+ private static Point pushInsideOnEdge(SnapResult sr, List<Point> poly, double epsilon) {
+ int i = sr.edgeIndex;
+ Point s = poly.get(i);
+ Point e = poly.get((i + 1) % poly.size());
+ double dx = e.x - s.x, dy = e.y - s.y;
+ double len = Math.hypot(dx, dy);
+ if (len < 1e-6) return sr.onEdge;
+ // 瀵逛簬閫嗘椂閽堬紙CCW锛夊杈瑰舰锛屽乏杞硶鍚戦噺 (-dy, dx) 鎸囧悜鍐呬晶
+ double nx = -dy / len, ny = dx / len;
+ return new Point(sr.onEdge.x + nx * epsilon, sr.onEdge.y + ny * epsilon);
+ }
+
+ // 鑷姩璁＄畻璐磋竟鍐呭亸绉婚槇鍊� epsilon锛氭牴鎹湴鍧楀昂搴︺�佹渶鐭竟銆佸壊鑽夊搴︿笌瀹夊叏杈硅窛缁煎悎浼扮畻
+ private static double computeAutoInnerOffset(List<Point> polygon, double width, double margin) {
+ double minEdge = Double.MAX_VALUE;
+ double minX = Double.MAX_VALUE, minY = Double.MAX_VALUE;
+ double maxX = -Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
+ for (int i = 0; i < polygon.size(); i++) {
+ Point a = polygon.get(i);
+ Point b = polygon.get((i + 1) % polygon.size());
+ minEdge = Math.min(minEdge, Math.hypot(a.x - b.x, a.y - b.y));
+ minX = Math.min(minX, a.x); minY = Math.min(minY, a.y);
+ maxX = Math.max(maxX, a.x); maxY = Math.max(maxY, a.y);
+ }
+ double diag = Math.hypot(maxX - minX, maxY - minY);
+ // 鍩虹閲忥細鏁板�肩ǔ瀹氶渶瑕佺殑鏈�灏忓唴鍋忕Щ锛堝彇鍓插箙鐨�1%涓庡瑙掔嚎鐨�0.2%涔嬮棿鐨勮緝澶у�硷級
+ double base = Math.max(width * 0.01, diag * 0.002);
+ // 涓婇檺锛氫笉瓒呰繃瀹夊叏杈硅窛鐨�20%涓庡壊骞呯殑10%
+ double upper = Math.min(margin * 0.2, width * 0.1);
+ // 鍙楄竟闀跨害鏉燂細涓嶈秴杩囨渶鐭竟鐨�2%
+ double edgeLimit = minEdge * 0.02;
+ double eps = Math.min(upper, Math.max(base, edgeLimit * 0.5));
+ // 涓嬮檺/涓婇檺鏈�缁堥挸浣嶏細3mm 鍒� 5cm
+ eps = Math.max(0.003, Math.min(eps, 0.05));
+ return eps;
+ }
+
+ // 鏍规嵁鎵弿琛岀殑浜ょ偣鏁伴噺鏉ュ垽鏂槸鍚﹀瓨鍦ㄢ�滃娈佃鈥濓紙>=2娈碉級锛屾湁鍑归儴鎴栫獎閫氶亾鏃跺惎鐢ㄥ己鍒舵部杈圭晫鏃呰
+ private static boolean shouldForceBoundaryTravel(List<Point> polygon, double width, double angle) {
+ List<Point> rotatedPoly = new ArrayList<>();
+ for (Point p : polygon) 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); }
+
+ int multiSegmentRows = 0;
+ int totalRows = 0;
+ for (double y = minY + width/2; y <= maxY - width/2; y += width) {
+ List<Double> xIntersections = getXIntersections(rotatedPoly, y);
+ if (xIntersections.size() < 2) continue;
+ totalRows++;
+ if (xIntersections.size() >= 4) multiSegmentRows++; // 鍚屼竴琛屽嚭鐜颁袱涓強浠ヤ笂浣滀笟娈�
+ }
+ // 鍙鍑虹幇杩団�滃娈佃鈥濓紝灏卞己鍒舵部杈圭晫鏃呰锛涗篃鍙寜姣斾緥闃堝�艰Е鍙戯紙渚嬪 >=10%锛�
+ if (multiSegmentRows > 0) return true;
+ double ratio = totalRows == 0 ? 0.0 : (double) multiSegmentRows / (double) totalRows;
+ return ratio >= 0.1; // 鍏滃簳闃堝��
+ }
+
+ private static List<PathSegment> generateGlobalScanPath(List<Point> polygon, double width, double angle, Point currentPos) {
+ // 鍏堝皾璇曞皢鍑归櫡澶勮涓轰袱涓嫭绔嬪尯鍩燂紝鍒嗕袱娆℃壂鎻忥紝閬垮厤璺ㄥ尯鐩寸嚎杩炴帴
+ List<PathSegment> all = new ArrayList<>();
+ // 绗竴娆℃壂鎻忥細浼樺厛澶勭悊宸︿晶鍖哄煙锛坓roupIndex=0锛�
+ List<PathSegment> leftScan = generateScanPathForSide(polygon, width, angle, currentPos, 0);
+ all.addAll(leftScan);
+ Point posAfterLeft = leftScan.isEmpty() ? currentPos : leftScan.get(leftScan.size() - 1).end;
+ // 绗簩娆℃壂鎻忥細澶勭悊鍙充晶鍖哄煙锛坓roupIndex=1锛夛紝浠庡乏渚х粨鏉熺偣娌胯竟鐣屽埌鍙充晶棣栨
+ List<PathSegment> rightScan = generateScanPathForSide(polygon, width, angle, posAfterLeft, 1);
+ all.addAll(rightScan);
+ return all;
+ }
+
+ // 浠呮壂鎻忔寚瀹氫晶锛堝悓涓�鏉℃壂鎻忕嚎鐨勭 groupIndex 娈碉級锛岀敤浜庡皢鈥滆�虫湹鈥濊涓虹嫭绔嬪尯鍩�
+ private static List<PathSegment> generateScanPathForSide(List<Point> polygon, double width, double angle, Point currentPos, int sideIndex) {
+ List<PathSegment> segments = new ArrayList<>();
+ List<Point> rotatedPoly = new ArrayList<>();
+ for (Point p : polygon) 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);
+ }
+
+ boolean leftToRight = true;
+ boolean firstSegmentConnected = false;
+
+ for (double y = minY + width/2; y <= maxY - width/2; y += width) {
+ List<Double> xIntersections = getXIntersections(rotatedPoly, y);
+ if (xIntersections.size() < 2) continue;
+ Collections.sort(xIntersections);
+
+ // 鏋勫缓鏈鐨勪綔涓氭锛堝乏鍒板彸锛夊拰缁勭储寮�
+ List<PathSegment> lineSegmentsInRow = new ArrayList<>();
+ List<Integer> groupIndices = new ArrayList<>();
+ for (int i = 0, g = 0; i < xIntersections.size() - 1; i += 2, g++) {
+ Point pS = rotatePoint(new Point(xIntersections.get(i), y), angle);
+ Point pE = rotatePoint(new Point(xIntersections.get(i + 1), y), angle);
+ lineSegmentsInRow.add(new PathSegment(pS, pE, true));
+ groupIndices.add(g);
+ }
+
+ if (!leftToRight) {
+ Collections.reverse(lineSegmentsInRow);
+ Collections.reverse(groupIndices);
+ for (PathSegment s : lineSegmentsInRow) {
+ Point temp = s.start; s.start = s.end; s.end = temp;
+ }
+ }
+
+ int idxInRow = groupIndices.indexOf(sideIndex);
+ if (idxInRow == -1) {
+ // 鏈涓嶅寘鍚渚х殑浣滀笟娈碉紝璺宠繃
+ leftToRight = !leftToRight;
+ continue;
+ }
+
+ PathSegment s = lineSegmentsInRow.get(idxInRow);
+ // 棣栨杩炴帴鎴栬法鍖鸿繛鎺ュ潎寮哄埗娌胯竟鐣岋紝閬垮厤绌胯秺鍑归櫡鍖�
+ if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
+ addBoundaryConnection(segments, currentPos, s.start, polygon);
+ firstSegmentConnected = true;
+ }
+ segments.add(s);
+ currentPos = s.end;
+ leftToRight = !leftToRight;
+ }
+ return segments;
+ }
+
+ private static Point getFirstScanPoint(List<Point> polygon, double width, double angle) {
+ List<Point> rotatedPoly = new ArrayList<>();
+ for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle));
+ double minY = Double.MAX_VALUE;
+ for (Point p : rotatedPoly) minY = Math.min(minY, p.y);
+
+ double firstY = minY + width/2;
+ List<Double> xInter = getXIntersections(rotatedPoly, firstY);
+ if (xInter.isEmpty()) return polygon.get(0);
+ Collections.sort(xInter);
+ return rotatePoint(new Point(xInter.get(0), firstY), angle);
+ }
+
+ private static List<Point> alignBoundaryStart(List<Point> boundary, Point targetStart) {
+ int bestIdx = 0;
+ double minDist = Double.MAX_VALUE;
+ for (int i = 0; i < boundary.size(); i++) {
+ double d = Math.hypot(boundary.get(i).x - targetStart.x, boundary.get(i).y - targetStart.y);
+ if (d < minDist) { minDist = d; bestIdx = i; }
+ }
+ List<Point> aligned = new ArrayList<>();
+ for (int i = 0; i < boundary.size(); i++) {
+ aligned.add(boundary.get((bestIdx + i) % boundary.size()));
+ }
+ return aligned;
+ }
+
+ private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) {
+ List<Double> xIntersections = new ArrayList<>();
+ double tolerance = 1e-6;
+
+ for (int i = 0; i < rotatedPoly.size(); i++) {
+ Point p1 = rotatedPoly.get(i);
+ Point p2 = rotatedPoly.get((i + 1) % rotatedPoly.size());
+
+ // 璺宠繃姘村钩杈癸紙閬垮厤涓庢壂鎻忕嚎閲嶅悎鏃剁殑鐗规畩鎯呭喌锛�
+ if (Math.abs(p1.y - p2.y) < tolerance) {
+ continue;
+ }
+
+ // 妫�鏌ユ槸鍚︾浉浜わ紙浣跨敤涓ユ牸涓嶇瓑寮忛伩鍏嶉《鐐归噸澶嶏級
+ if ((p1.y < y && p2.y >= y) || (p2.y < y && p1.y >= y)) {
+ double x = p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y);
+ // 绠�鍗曞幓閲嶏細妫�鏌ユ槸鍚﹀凡瀛樺湪鐩歌繎鐨勭偣
+ boolean isDuplicate = false;
+ for (double existingX : xIntersections) {
+ if (Math.abs(x - existingX) < tolerance) {
+ isDuplicate = true;
+ break;
+ }
+ }
+ if (!isDuplicate) {
+ xIntersections.add(x);
+ }
+ }
+ }
+ return xIntersections;
+ }
+
+ private static double findOptimalAngle(List<Point> polygon) {
+ double bestAngle = 0;
+ double minHeight = Double.MAX_VALUE;
+ for (int i = 0; i < polygon.size(); i++) {
+ Point p1 = polygon.get(i), p2 = polygon.get((i + 1) % polygon.size());
+ double angle = Math.atan2(p2.y - p1.y, p2.x - p1.x);
+ double h = calculateHeightAtAngle(polygon, angle);
+ if (h < minHeight) { minHeight = h; bestAngle = angle; }
+ }
+ return bestAngle;
+ }
+
+ private static double calculateHeightAtAngle(List<Point> poly, double angle) {
+ double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
+ for (Point p : poly) {
+ Point rp = rotatePoint(p, -angle);
+ minY = Math.min(minY, rp.y); maxY = Math.max(maxY, rp.y);
+ }
+ return maxY - minY;
+ }
+
+ public static List<Point> getInsetPolygon(List<Point> points, double margin) {
+ List<Point> result = new ArrayList<>();
+ int n = points.size();
+ for (int i = 0; i < n; i++) {
+ Point pPrev = points.get((i - 1 + n) % n);
+ Point pCurr = points.get(i);
+ Point pNext = points.get((i + 1) % n);
+
+ double d1x = pCurr.x - pPrev.x, d1y = pCurr.y - pPrev.y;
+ double l1 = Math.hypot(d1x, d1y);
+ double d2x = pNext.x - pCurr.x, d2y = pNext.y - pCurr.y;
+ double l2 = Math.hypot(d2x, d2y);
+
+ if (l1 < 1e-6 || l2 < 1e-6) continue;
+
+ // 鍗曚綅娉曞悜閲�
+ double n1x = -d1y / l1, n1y = d1x / l1;
+ double n2x = -d2y / l2, n2y = d2x / l2;
+
+ // 瑙掑钩鍒嗙嚎鏂瑰悜
+ double bisectorX = n1x + n2x, bisectorY = n1y + n2y;
+ double bLen = Math.hypot(bisectorX, bisectorY);
+ if (bLen < 1e-6) { bisectorX = n1x; bisectorY = n1y; }
+ else { bisectorX /= bLen; bisectorY /= bLen; }
+
+ double cosHalfAngle = n1x * bisectorX + n1y * bisectorY;
+ double dist = margin / Math.max(cosHalfAngle, 0.1);
+
+ // 闄愬埗鏈�澶т綅绉婚噺锛岄槻姝㈡瀬灏栬鐣稿彉
+ dist = Math.min(dist, margin * 5);
+
+ result.add(new Point(pCurr.x + bisectorX * dist, pCurr.y + bisectorY * dist));
+ }
+ return result;
+ }
+
+ private static void addSafeConnection(List<PathSegment> segments, Point start, Point end, List<Point> polygon) {
+ if (!FORCE_BOUNDARY_TRAVEL && isSegmentSafe(start, end, polygon)) {
+ segments.add(new PathSegment(start, end, false));
+ return;
+ }
+ 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));
+ }
+ }
+
+ // 寮哄埗娌胯竟鐣岀粫琛岀殑杩炴帴锛堜笉鍋氱洿绾垮畨鍏ㄥ垽鏂級锛岀敤鏉ュ湪鍚屼竴鎵弿琛岀殑澶氫釜浣滀笟娈典箣闂磋烦杞�
+ 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));
+ }
+ }
+
+ // 灏嗕换鎰忎袱鐐归�氳繃鈥滃惛闄勫埌杈圭晫鈥濆悗娌胯竟鐣屾渶鐭矾寰勮繛鎺�
+ 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();
+
+ // 鍓嶅悜璺緞锛堥『杈癸級
+ 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);
+
+ // 鍙嶅悜璺緞锛堥�嗚竟锛�
+ 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; }
+ }
+
+ // 璁＄畻鐐瑰埌杈圭晫鏈�杩戠殑鎶曞奖鐐逛互鍙婃墍鍦ㄨ竟绱㈠紩
+ 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);
+ }
+
+ 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;
+ }
+ }
+ // 鍙鎵惧埌鏈�杩戠殑杈瑰嵆鍙紝鏀惧闃堝�间互搴斿娴偣璇樊鍜屾棆杞彉褰�
+ // 濡傛灉璺濈杩囧ぇ锛堜緥濡傝秴杩�1绫筹級锛屽彲鑳界‘瀹炰笉鍦ㄨ竟鐣屼笂锛屼絾鍦ㄨ矾寰勮鍒掍笂涓嬫枃涓紝
+ // 杩欎簺鐐规槸鐢辨壂鎻忕嚎鐢熸垚鐨勶紝鐞嗚涓婁竴瀹氬湪杈圭晫涓婏紝鎵�浠ュ己鍒跺惛闄勬槸瀹夊叏鐨勩��
+ 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: 鍓茶崏涓�, false: 绌鸿浇绉诲姩
+ public PathSegment(Point s, Point e, boolean m) { this.start = s; this.end = e; this.isMowing = m; }
+ }
+}
\ No newline at end of file
--
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