111 lines
3.9 KiB
Python
111 lines
3.9 KiB
Python
from itertools import combinations, permutations
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import numpy as np
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from matplotlib.path import Path
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from shapely.geometry import JOIN_STYLE, LineString
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from c3nav.routing.graph.point import GraphPoint
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from c3nav.routing.utils.base import assert_multipolygon
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from c3nav.routing.utils.coords import get_coords_angles
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from c3nav.routing.utils.mpl import polygon_to_mpl_paths
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class GraphRoom():
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def __init__(self, level, geometry):
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self.level = level
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self.geometry = geometry
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self.points = []
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self.clear_geometry = geometry.buffer(-0.3, join_style=JOIN_STYLE.mitre)
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self.empty = self.clear_geometry.is_empty
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if not self.empty:
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self.mpl_paths = polygon_to_mpl_paths(self.clear_geometry.buffer(0.01, join_style=JOIN_STYLE.mitre))
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def create_points(self):
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original_geometry = self.geometry
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geometry = original_geometry.buffer(-0.6, join_style=JOIN_STYLE.mitre)
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if geometry.is_empty:
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return
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# points with 60cm distance to borders
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polygons = assert_multipolygon(geometry)
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for polygon in polygons:
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self._add_ring(polygon.exterior, want_left=False)
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for interior in polygon.interiors:
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self._add_ring(interior, want_left=True)
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# now fill in missing doorways or similar
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missing_geometry = self.clear_geometry.difference(geometry.buffer(0.61, join_style=JOIN_STYLE.mitre))
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polygons = assert_multipolygon(missing_geometry)
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for polygon in polygons:
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overlaps = polygon.buffer(0.62).intersection(geometry)
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if overlaps.is_empty:
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continue
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points = []
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# overlaps to non-missing areas
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overlaps = assert_multipolygon(overlaps)
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for overlap in overlaps:
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points.append(self.add_point(overlap.centroid.coords[0]))
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points += self._add_ring(polygon.exterior, want_left=False)
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for interior in polygon.interiors:
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points += self._add_ring(interior, want_left=True)
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for from_point, to_point in permutations(points, 2):
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from_point.connect_to(to_point)
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def _add_ring(self, geom, want_left):
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"""
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add the points of a ring, but only those that have a specific direction change.
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additionally removes unneeded points if the neighbors can be connected in self.clear_geometry
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:param geom: LinearRing
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:param want_left: True if the direction has to be left, False if it has to be right
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"""
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coords = []
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skipped = False
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can_delete_last = False
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for coord, is_left in get_coords_angles(geom):
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if is_left != want_left:
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skipped = True
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continue
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if not skipped and can_delete_last and len(coords) >= 2:
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if LineString((coords[-2], coord)).within(self.clear_geometry):
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coords[-1] = coord
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continue
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coords.append(coord)
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can_delete_last = not skipped
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skipped = False
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if not skipped and can_delete_last and len(coords) >= 3:
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if LineString((coords[-2], coords[0])).within(self.clear_geometry):
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coords.pop()
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points = []
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for coord in coords:
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points.append(self.add_point(coord))
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return points
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def add_point(self, coord):
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point = GraphPoint(self, *coord)
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self.points.append(point)
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return point
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def connect_points(self):
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room_paths = self.mpl_paths
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for point1, point2 in combinations(self.points, 2):
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path = Path(np.vstack((point1.xy, point2.xy)))
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for room_path in room_paths:
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if room_path.intersects_path(path, False):
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break
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else:
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point1.connect_to(point2)
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point2.connect_to(point1)
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