smoothers/SM_Trisection.cpp

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#include <assert.h>
#include "CollisionDetectors\CD_BasicStyle.h"
#include "SM_Trisection.h"

//=============================================================================
// Constructor
//
// Description: constructor
//=============================================================================
SM_Trisection::SM_Trisection()
        :
        SmootherBase()
{
}

//=============================================================================
// Destructor
//
// Description: destructor
//=============================================================================
SM_Trisection::~SM_Trisection()
{
}

//=============================================================================
// PathValid
//
// Description: tests the shortcut from start% to end% of the path
//=============================================================================
bool SM_Trisection::PathValid( const double start, const double end ) const
{
        Configuration cs = m_PathToSmooth->GetConfiguration( start );
        Configuration cg = m_PathToSmooth->GetConfiguration( end );
        bool pathInterfering = m_CollisionDetector->IsInterferingLinear( cs, cg );

        return !pathInterfering;
}

//=============================================================================
// Smooth
//
// Description: performs the path smoothing operation
//=============================================================================
void SM_Trisection::Smooth()
{
        if( !m_Percentages.empty() )
        {
                m_Percentages.clear();
        }
        m_Percentages.insert( 0.0 );
        m_Percentages.insert( 1.0 );

        Validate( 0.0, 1.0 );

        //compose the output path
        this->m_SmoothedPath.Clear();
        std::set< double >::iterator it;
        for( it = m_Percentages.begin(); it != m_Percentages.end(); it++ )
        {
                double percentage = *it;
                Configuration c = this->m_PathToSmooth->GetConfiguration( percentage );
                m_SmoothedPath.AppendPoint( c );
        }
}

//=============================================================================
// Validate
//
// Description: makes sure this section of the path is valid
//=============================================================================
void SM_Trisection::Validate( const double start, const double end )
{
        bool pathValid = PathValid( start, end );
        if( pathValid )
        {
                return;
        }

        //add the midpoint of this path to the set
        double m1 = 0.67 * start + 0.33 * end;
        double m2 = 0.33 * start + 0.67 * end;

        //make sure the midpoint is a valid configuration
        Configuration c1 = this->m_PathToSmooth->GetConfiguration( m1 );
        Configuration c2 = this->m_PathToSmooth->GetConfiguration( m2 );

#ifndef NDEBUG
        bool interferingConfig = this->m_CollisionDetector->IsInterfering( c1 );
        interferingConfig &= this->m_CollisionDetector->IsInterfering( c2 );
        assert( interferingConfig == false );
        if( interferingConfig != false )
        {
                return;
        }
#endif

        this->m_Percentages.insert( m1 );
        this->m_Percentages.insert( m2 );
        Validate( start, m1 );                          //IMPROVE: revursion is bad
        Validate( m1, m2 );
        Validate( m2, end );
}

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