Memristor-Robotics/mep-master

/*
 * Polygon.cpp
 *
 *  Created on: Oct 23, 2013
 *      Author: PCX
 */

#include "Polygon.h"

using namespace std;

namespace path_finding {

Polygon::Polygon() {}
Polygon::Polygon(const vector<geometry::Point2D> &newPoints)
{
    // kreira vektor PfPoint2D tacaka (points) od geometry::Point2D tacaka na ulazu (newPoints)
    for(vector<geometry::Point2D>::const_iterator polPointIter = newPoints.begin(); polPointIter != newPoints.end(); polPointIter++)
    {
        points.push_back(new PfPoint2D(*polPointIter));
    }
}

Polygon::~Polygon()
{
    for(vector<PfPoint2D*>::const_iterator polPointIter = points.begin();polPointIter != points.end();polPointIter++)
    {
        PfPoint2D* polPoint = *polPointIter;
        delete polPoint;
    }
}

vector<PfPoint2D*>& Polygon::getPoints()
{
    return points;
}

// proverava da li je tacka unutar poligona, nisam siguran kako radi :), pretpostavljam da je neki ray tracing
bool Polygon::isInside(const geometry::Point2D &point) const
{
    // TODO mozda dodati proveru sa minX, maxX.. da li je unutar opisanog pravougaonika radi ubrzanja, sem ako ga to ne uspori zbog dodatnog racunanja

    bool c = false;

    for (unsigned i = 0, j = points.size() - 1; i < points.size(); j = i++)
    {
        if (*points[i] == point)
        {
            // ako je tacka ivica bas tog poligona nije unutar njega
            return false;
        }

        if ((((*points[i]).getY() > point.getY()) != ((*points[j]).getY() > point.getY())) &&
                (point.getX() < ((*points[j]).getX() - (*points[i]).getX()) * (point.getY() - (*points[i]).getY()) / ((*points[j]).getY() - (*points[i]).getY()) + (*points[i]).getX()))
        {
            c = !c;
        }
    }

    return c;
}

} /* namespace path_finding */