NavTriangulation.hpp

#ifndef GYM_PCB_NAVTRIANGULATION_H
#define GYM_PCB_NAVTRIANGULATION_H
 
#include "Color.hpp"
#include "Geometry.hpp"
 
class NavGrid;
class Connection;

class NavTri
{
public:
    const Triangle_2& getTriangle() const { return mTri; }
    const Color& getColor() const { return mColor; }
    void setVertices(const Point_2 *);
    void setColor(Color c) { mColor = c; }
private:
    Triangle_2 mTri;
    Color mColor;
};

class NavTriangulation
{
public:
    NavTriangulation(NavGrid &nav) : mNav(nav) { }
    virtual ~NavTriangulation();
    virtual uint getNavIdx(const Point_2&, uint z) const = 0;
    virtual bool findPathAStar(std::vector<NavTri *> &searchArea, Connection&) = 0;
    virtual void insertRoute(const Connection&) = 0;
    virtual void removeRoute(const Connection&) = 0;
    const std::vector<NavTri>& getNavTris() const { return mNavTris; }
    uint16_t incSearchSeq() { assert(mSearchSeq < 0xfffe && "FIXME: Wipe sequence numbers!"); return ++mSearchSeq; }
    uint16_t getSearchSeq() const { return mSearchSeq; }
    NavTri& getNavTri(uint i) { return mNavTris[i]; }
    NavTri *getNavTri(const Point_2 &v, uint z) { auto i = getNavIdx(v, z); return (i < mNavTris.size()) ? &mNavTris[i] : 0; }
    const NavTri& getNavTri(uint i) const { return mNavTris[i]; }
    const NavTri *getNavTri(const Point_2 &v, uint z) const { auto i = getNavIdx(v, z); return (i < mNavTris.size()) ? &mNavTris[i] : 0; }
    virtual PyObject *getFaceGraphPy() const { return 0; }
    virtual PyObject *getLineGraphPy() const { return 0; }
protected:
    NavGrid &mNav;
    std::vector<NavTri> mNavTris;
    uint mZ0{0};
    uint mZ1{0};
    uint16_t mSearchSeq{0};
};
 
inline void NavTri::setVertices(const Point_2 *v)
{
    mTri = Triangle_2(v[0], v[1], v[2]);
}
 
#endif // GYM_PCB_NAVTRIANGULATION_H