routing: stuffedareas

src/c3nav/routing/area.py

@@ -47,6 +47,9 @@ class GraphArea():
         if self.mpl_clear.intersects_path(path):
             return None, None, None
 
+        if self.room.stuffedareas.intersects_path(path, filled=True):
+            distance *= 2.5
+
         # stair checker
         angle = coord_angle(point1, point2)
         stair_direction_up = None

src/c3nav/routing/level.py

@@ -69,6 +69,7 @@ class GraphLevel():
         self.create_elevatorlevels()
 
         self.collect_arealocations()
+        self.collect_stuffedareas()
 
         self._built_points = sum((room._built_points for room in self.rooms), [])
         self._built_points.extend(self._built_room_transfer_points)
@@ -156,6 +157,15 @@ class GraphLevel():
                     for interior in polygon.interiors:
                         room._add_ring(interior, want_left=False)
 
+    def collect_stuffedareas(self):
+        self._built_stuffedareas = self.level.geometries.stuffedareas
+        for polygon in assert_multipolygon(self._built_stuffedareas.buffer(0.05, join_style=JOIN_STYLE.mitre)):
+            for room in self.rooms:
+                room._add_ring(polygon.exterior, want_left=True)
+
+                for interior in polygon.interiors:
+                    room._add_ring(interior, want_left=False)
+
     def create_doors(self):
         doors = self.level.geometries.doors
         doors = assert_multipolygon(doors)

src/c3nav/routing/room.py

@@ -29,6 +29,7 @@ class GraphRoom():
         self.distances = np.zeros((1, ))
         self.ctypes = None
         self.excludables = None
+        self.stuffedareas = None
 
     def serialize(self):
         return (
@@ -40,13 +41,14 @@ class GraphRoom():
             self.ctypes,
             self.excludables,
             self.excludable_points,
+            self.stuffedareas,
         )
 
     @classmethod
     def unserialize(cls, level, data):
         room = cls(level)
         (room.mpl_clear, areas, room.points, room.room_transfer_points,
-         room.distances, room.ctypes, room.excludables, room.excludable_points) = data
+         room.distances, room.ctypes, room.excludables, room.excludable_points, room.stuffedareas) = data
         room.areas = tuple(GraphArea(room, *area) for area in areas)
         return room
 
@@ -206,6 +208,8 @@ class GraphRoom():
         if self._built_is_elevatorlevel:
             return
 
+        self.stuffedareas = shapely_to_mpl(self.level._built_stuffedareas.intersection(self._built_geometry))
+
         for area in self.areas:
             area.build_connections()
 

src/c3nav/routing/utils/mpl.py

@@ -82,7 +82,7 @@ def shapely_to_mpl(geometry):
     """
     if isinstance(geometry, Polygon):
         return MplPolygonPath(geometry)
-    elif isinstance(geometry, MultiPolygon):
+    elif isinstance(geometry, MultiPolygon) or geometry.is_empty:
         return MplMultipolygonPath(geometry)
     raise TypeError