From 82beb4387f45f162964fbd582a15a8e64cc6f7de Mon Sep 17 00:00:00 2001 From: Ozaq Date: Fri, 15 Mar 2024 08:55:12 +0100 Subject: [PATCH] Update navmesh navigation to use TA* --- .../perf-measurement/container_perf_test.py | 2 +- libjupedsim/include/jupedsim/routing.h | 88 +- libjupedsim/src/routing.cpp | 82 +- libsimulator/CMakeLists.txt | 37 +- libsimulator/src/CfgCgal.hpp | 44 + libsimulator/src/Clonable.hpp | 3 + libsimulator/src/CollisionGeometry.cpp | 4 +- libsimulator/src/CollisionGeometry.hpp | 8 +- libsimulator/src/DTriangulation.cpp | 49 - libsimulator/src/DTriangulation.hpp | 34 - libsimulator/src/GeometryBuilder.cpp | 115 +- libsimulator/src/Graph.hpp | 275 +- libsimulator/src/IteratorPair.hpp | 2 + libsimulator/src/Mesh.cpp | 682 ++ libsimulator/src/Mesh.hpp | 70 + libsimulator/src/Polygon.hpp | 7 +- libsimulator/src/RoutingEngine.cpp | 357 +- libsimulator/src/RoutingEngine.hpp | 49 +- libsimulator/src/Triangle.cpp | 21 - libsimulator/src/Triangle.hpp | 15 - libsimulator/test/TestGraph.cpp | 86 +- libsimulator/test/TestMesh.cpp | 84 + notebooks/getting_started.ipynb | 7 +- notebooks/single-file.ipynb | 69 +- python_bindings_jupedsim/routing.cpp | 61 +- python_modules/jupedsim/jupedsim/routing.py | 21 +- .../jupedsim_visualizer/geometry.py | 59 +- .../jupedsim_visualizer/geometry_widget.py | 2 +- .../jupedsim_visualizer/main_window.py | 2 +- .../jupedsim_visualizer/move_controller.py | 9 + single_file.wkt | 1 + third-party/CMakeLists.txt | 5 - third-party/poly2tri/AUTHORS | 8 - third-party/poly2tri/CMakeLists.txt | 31 - third-party/poly2tri/LICENSE | 26 - third-party/poly2tri/README.md | 101 - third-party/poly2tri/doc/Doxyfile | 2537 ---- third-party/poly2tri/doc/FlipScan.png | Bin 228287 -> 0 bytes third-party/poly2tri/meson.build | 21 - .../poly2tri/poly2tri/common/dll_symbol.h | 53 - .../poly2tri/poly2tri/common/shapes.cc | 411 - third-party/poly2tri/poly2tri/common/shapes.h | 329 - third-party/poly2tri/poly2tri/common/utils.h | 130 - third-party/poly2tri/poly2tri/poly2tri.h | 35 - .../poly2tri/sweep/advancing_front.cc | 110 - .../poly2tri/poly2tri/sweep/advancing_front.h | 115 - third-party/poly2tri/poly2tri/sweep/cdt.cc | 71 - third-party/poly2tri/poly2tri/sweep/cdt.h | 104 - third-party/poly2tri/poly2tri/sweep/sweep.cc | 860 -- third-party/poly2tri/poly2tri/sweep/sweep.h | 283 - .../poly2tri/poly2tri/sweep/sweep_context.cc | 206 - .../poly2tri/poly2tri/sweep/sweep_context.h | 184 - third-party/poly2tri/testbed/CMakeLists.txt | 15 - third-party/poly2tri/testbed/data/2.dat | 60 - third-party/poly2tri/testbed/data/bird.dat | 275 - third-party/poly2tri/testbed/data/custom.dat | 7 - .../poly2tri/testbed/data/deadly_quad.dat | 4 - third-party/poly2tri/testbed/data/debug.dat | 200 - third-party/poly2tri/testbed/data/debug2.dat | 10000 ---------------- third-party/poly2tri/testbed/data/diamond.dat | 10 - third-party/poly2tri/testbed/data/dude.dat | 106 - third-party/poly2tri/testbed/data/funny.dat | 100 - third-party/poly2tri/testbed/data/kzer-za.dat | 208 - .../poly2tri/testbed/data/nazca_heron.dat | 1036 -- .../poly2tri/testbed/data/nazca_monkey.dat | 1204 -- third-party/poly2tri/testbed/data/polygon.dae | 82 - .../poly2tri/testbed/data/polygon_test_01.dat | 12 - .../poly2tri/testbed/data/polygon_test_02.dat | 13 - .../poly2tri/testbed/data/polygon_test_03.dat | 7 - .../poly2tri/testbed/data/sketchup.dat | 319 - .../poly2tri/testbed/data/stalactite.dat | 14 - third-party/poly2tri/testbed/data/star.dat | 10 - third-party/poly2tri/testbed/data/steiner.dat | 9 - third-party/poly2tri/testbed/data/strange.dat | 16 - third-party/poly2tri/testbed/data/tank.dat | 55 - third-party/poly2tri/testbed/data/test.dat | 6 - third-party/poly2tri/testbed/main.cc | 548 - third-party/poly2tri/unittest/CMakeLists.txt | 32 - .../poly2tri/unittest/TriangleTest.cpp | 18 - third-party/poly2tri/unittest/main.cpp | 263 - 80 files changed, 1588 insertions(+), 21006 deletions(-) create mode 100644 libsimulator/src/CfgCgal.hpp delete mode 100644 libsimulator/src/DTriangulation.cpp delete mode 100644 libsimulator/src/DTriangulation.hpp create mode 100644 libsimulator/src/Mesh.cpp create mode 100644 libsimulator/src/Mesh.hpp delete mode 100644 libsimulator/src/Triangle.cpp delete mode 100644 libsimulator/src/Triangle.hpp create mode 100644 libsimulator/test/TestMesh.cpp create mode 100644 single_file.wkt delete mode 100644 third-party/poly2tri/AUTHORS delete mode 100644 third-party/poly2tri/CMakeLists.txt delete mode 100644 third-party/poly2tri/LICENSE delete mode 100644 third-party/poly2tri/README.md delete mode 100644 third-party/poly2tri/doc/Doxyfile delete mode 100644 third-party/poly2tri/doc/FlipScan.png delete mode 100644 third-party/poly2tri/meson.build delete mode 100644 third-party/poly2tri/poly2tri/common/dll_symbol.h delete mode 100644 third-party/poly2tri/poly2tri/common/shapes.cc delete mode 100644 third-party/poly2tri/poly2tri/common/shapes.h delete mode 100644 third-party/poly2tri/poly2tri/common/utils.h delete mode 100644 third-party/poly2tri/poly2tri/poly2tri.h delete mode 100644 third-party/poly2tri/poly2tri/sweep/advancing_front.cc delete mode 100644 third-party/poly2tri/poly2tri/sweep/advancing_front.h delete mode 100644 third-party/poly2tri/poly2tri/sweep/cdt.cc delete mode 100644 third-party/poly2tri/poly2tri/sweep/cdt.h delete mode 100644 third-party/poly2tri/poly2tri/sweep/sweep.cc delete mode 100644 third-party/poly2tri/poly2tri/sweep/sweep.h delete mode 100644 third-party/poly2tri/poly2tri/sweep/sweep_context.cc delete mode 100644 third-party/poly2tri/poly2tri/sweep/sweep_context.h delete mode 100644 third-party/poly2tri/testbed/CMakeLists.txt delete mode 100644 third-party/poly2tri/testbed/data/2.dat delete mode 100644 third-party/poly2tri/testbed/data/bird.dat delete mode 100644 third-party/poly2tri/testbed/data/custom.dat delete mode 100644 third-party/poly2tri/testbed/data/deadly_quad.dat delete mode 100644 third-party/poly2tri/testbed/data/debug.dat delete mode 100644 third-party/poly2tri/testbed/data/debug2.dat delete mode 100644 third-party/poly2tri/testbed/data/diamond.dat delete mode 100644 third-party/poly2tri/testbed/data/dude.dat delete mode 100644 third-party/poly2tri/testbed/data/funny.dat delete mode 100644 third-party/poly2tri/testbed/data/kzer-za.dat delete mode 100644 third-party/poly2tri/testbed/data/nazca_heron.dat delete mode 100644 third-party/poly2tri/testbed/data/nazca_monkey.dat delete mode 100644 third-party/poly2tri/testbed/data/polygon.dae delete mode 100644 third-party/poly2tri/testbed/data/polygon_test_01.dat delete mode 100644 third-party/poly2tri/testbed/data/polygon_test_02.dat delete mode 100644 third-party/poly2tri/testbed/data/polygon_test_03.dat delete mode 100644 third-party/poly2tri/testbed/data/sketchup.dat delete mode 100644 third-party/poly2tri/testbed/data/stalactite.dat delete mode 100644 third-party/poly2tri/testbed/data/star.dat delete mode 100644 third-party/poly2tri/testbed/data/steiner.dat delete mode 100644 third-party/poly2tri/testbed/data/strange.dat delete mode 100644 third-party/poly2tri/testbed/data/tank.dat delete mode 100644 third-party/poly2tri/testbed/data/test.dat delete mode 100644 third-party/poly2tri/testbed/main.cc delete mode 100644 third-party/poly2tri/unittest/CMakeLists.txt delete mode 100644 third-party/poly2tri/unittest/TriangleTest.cpp delete mode 100644 third-party/poly2tri/unittest/main.cpp diff --git a/container/perf-measurement/container_perf_test.py b/container/perf-measurement/container_perf_test.py index e398ef688c..55788ccc12 100644 --- a/container/perf-measurement/container_perf_test.py +++ b/container/perf-measurement/container_perf_test.py @@ -157,7 +157,7 @@ def run_test(test, args, build_dir, result_dir): perf_stats = pd.read_sql_query("SELECT * FROM perf_statistics", db) geometry_as_wkt = ( - db.cursor().execute("SELECT * from geometry LIMIT 1").fetchone()[0] + db.cursor().execute("SELECT wkt from geometry LIMIT 1").fetchone()[0] ) geometry = shapely.from_wkt(geometry_as_wkt) diff --git a/libjupedsim/include/jupedsim/routing.h b/libjupedsim/include/jupedsim/routing.h index 48b543be80..e37a3078b0 100644 --- a/libjupedsim/include/jupedsim/routing.h +++ b/libjupedsim/include/jupedsim/routing.h @@ -12,34 +12,75 @@ extern "C" { #endif -struct JPS_Path { +/** + * A path inside the walkable area. + */ +typedef struct JPS_Path { + /** + * Number of points in this path + */ size_t len; + /** + * JPS_Points in this path. + */ const JPS_Point* points; -}; +} JPS_Path; -JUPEDSIM_API void JPS_Path_Free(JPS_Path* path); - -struct JPS_Triangle { - JPS_Point points[3]; -}; +/** + * Frees memory held by JPS_Path + * + * @param path to free its memory. + */ +JUPEDSIM_API void JPS_Path_Free(JPS_Path path); -struct JPS_TriangleMesh { +/** + * Describes a polygon in terms of indices of vertices belonging to a JPS_Mesh. + */ +typedef struct JPS_Polygon_Desc { + /** + * Offset point to the beginning of this polygons indices in the JPS_Mesh indices array. + */ + size_t offset; + /** + * Number of vertices in this polygon + */ size_t len; - JPS_Triangle* triangles; -}; - -JUPEDSIM_API void JPS_TriangleMesh_Free(JPS_TriangleMesh* mesh); +} JPS_Polygon_Desc; -struct JPS_Line { - JPS_Point points[2]; -}; - -struct JPS_Lines { - size_t len; - JPS_Line* lines; -}; +/** + * Describes a polygonal mesh. + * Each polygon in the mesh is defined in CCW order. + * Each vertex is stored once and referred by index in each polygon. + */ +typedef struct JPS_Mesh { + /** + * Number of vertices in this mesh + */ + size_t vertices_len; + /** + * The vertex data + */ + JPS_Point* vertices; + /** + * Number of polygons in this mesh + */ + size_t polygons_len; + /** + * Definitions of all polygons in this mesh + */ + JPS_Polygon_Desc* polygons; + /** + * Array of all vertex indices used by the polygons. + * Length of this array is sum of all polygon indices. + * (Sum of all JPS_Polygon_Desc.len) + */ + uint16_t* indices; +} JPS_Mesh; -JUPEDSIM_API void JPS_Lines_Free(JPS_Lines* lines); +/** + * Frees the memory held by JPS_Mesh + */ +JUPEDSIM_API void JPS_Mesh_Free(JPS_Mesh mesh); /** * WARNING this is currently a NavMeshRoutingEngine! This does not account possible other types of @@ -54,10 +95,7 @@ JPS_RoutingEngine_ComputeWaypoint(JPS_RoutingEngine handle, JPS_Point from, JPS_ JUPEDSIM_API bool JPS_RoutingEngine_IsRoutable(JPS_RoutingEngine handle, JPS_Point p); -JUPEDSIM_API JPS_TriangleMesh JPS_RoutingEngine_Mesh(JPS_RoutingEngine handle); - -/// Note: Currently the ID is the index of the vertex from 'JPS_RoutingEngine_Mesh' -JUPEDSIM_API JPS_Lines JPS_RoutingEngine_EdgesFor(JPS_RoutingEngine handle, uint32_t id); +JUPEDSIM_API JPS_Mesh JPS_RoutingEngine_Mesh(JPS_RoutingEngine handle); JUPEDSIM_API void JPS_RoutingEngine_Free(JPS_RoutingEngine handle); diff --git a/libjupedsim/src/routing.cpp b/libjupedsim/src/routing.cpp index 2a8e345a31..a524df195a 100644 --- a/libjupedsim/src/routing.cpp +++ b/libjupedsim/src/routing.cpp @@ -16,31 +16,21 @@ using jupedsim::detail::intoTuple; //////////////////////////////////////////////////////////////////////////////// /// JPS_Path //////////////////////////////////////////////////////////////////////////////// -JUPEDSIM_API void JPS_Path_Free(JPS_Path* path) +JUPEDSIM_API void JPS_Path_Free(JPS_Path path) { - delete[] path->points; - path->points = nullptr; - path->len = 0; + delete[] path.points; + path.points = nullptr; + path.len = 0; } //////////////////////////////////////////////////////////////////////////////// -/// JPS_TriangleMesh +/// JPS_Mesh //////////////////////////////////////////////////////////////////////////////// -JUPEDSIM_API void JPS_TriangleMesh_Free(JPS_TriangleMesh* mesh) +JUPEDSIM_API void JPS_Mesh_Free(JPS_Mesh mesh) { - delete[] mesh->triangles; - mesh->triangles = nullptr; - mesh->len = 0; -} - -//////////////////////////////////////////////////////////////////////////////// -/// JPS_Lines -//////////////////////////////////////////////////////////////////////////////// -JUPEDSIM_API void JPS_Lines_Free(JPS_Lines* lines) -{ - delete[] lines->lines; - lines->lines = nullptr; - lines->len = 0; + delete[] mesh.indices; + delete[] mesh.polygons; + delete[] mesh.vertices; } //////////////////////////////////////////////////////////////////////////////// @@ -70,36 +60,38 @@ JUPEDSIM_API bool JPS_RoutingEngine_IsRoutable(JPS_RoutingEngine handle, JPS_Poi return engine->IsRoutable(intoPoint(p)); } -JUPEDSIM_API JPS_TriangleMesh JPS_RoutingEngine_Mesh(JPS_RoutingEngine handle) +JUPEDSIM_API JPS_Mesh JPS_RoutingEngine_Mesh(JPS_RoutingEngine handle) { const auto* engine = reinterpret_cast(handle); - const auto res = engine->Mesh(); - JPS_TriangleMesh mesh{res.size(), new JPS_Triangle[res.size()]}; - std::transform(std::begin(res), std::end(res), mesh.triangles, [](const auto& t) { - auto tri = JPS_Triangle{}; - tri.points[0] = intoJPS_Point(t.points[0]); - tri.points[1] = intoJPS_Point(t.points[1]); - tri.points[2] = intoJPS_Point(t.points[2]); - return tri; - }); - return mesh; -} + const auto mesh = engine->MeshData(); -JUPEDSIM_API JPS_Lines JPS_RoutingEngine_EdgesFor(JPS_RoutingEngine handle, uint32_t id) -{ - const auto* engine = reinterpret_cast(handle); - const auto res = engine->EdgesFor(id); + JPS_Mesh result{}; + result.vertices_len = mesh->CountVertices(); + result.vertices = new JPS_Point[result.vertices_len]; + for(size_t index = 0; index < result.vertices_len; ++index) { + const auto pt = mesh->Vertex(index); + result.vertices[index] = JPS_Point{pt.x, pt.y}; + } + result.polygons_len = mesh->CountPolygons(); + result.polygons = new JPS_Polygon_Desc[result.polygons_len]; + size_t offset = 0; + for(size_t index = 0; index < result.polygons_len; ++index) { + const auto& polygon = mesh->Polygons(index); + const auto num_vertices = polygon.vertices.size(); + result.polygons[index] = JPS_Polygon_Desc{offset, num_vertices}; + offset += num_vertices; + } + result.indices = new uint16_t[offset]; + auto index_ptr = result.indices; + for(size_t index = 0; index < result.polygons_len; ++index) { + const auto& polygon = mesh->Polygons(index); + for(const auto& v : polygon.vertices) { + *index_ptr = v; + ++index_ptr; + } + }; - JPS_Lines lines{}; - lines.lines = new JPS_Line[res.size()]; - lines.len = res.size(); - std::transform(std::begin(res), std::end(res), lines.lines, [](const auto& edge) { - JPS_Line line{}; - line.points[0] = intoJPS_Point(edge.edge.p1); - line.points[1] = intoJPS_Point(edge.edge.p2); - return line; - }); - return lines; + return result; } JUPEDSIM_API void JPS_RoutingEngine_Free(JPS_RoutingEngine handle) diff --git a/libsimulator/CMakeLists.txt b/libsimulator/CMakeLists.txt index f5c3dc5b40..35c0dd2e66 100644 --- a/libsimulator/CMakeLists.txt +++ b/libsimulator/CMakeLists.txt @@ -6,10 +6,20 @@ add_library(simulator STATIC src/AABB.hpp src/AgentRemovalSystem.hpp src/Clonable.hpp + src/CollisionFreeSpeedModel.cpp + src/CollisionFreeSpeedModel.hpp + src/CollisionFreeSpeedModelBuilder.cpp + src/CollisionFreeSpeedModelBuilder.hpp + src/CollisionFreeSpeedModelData.hpp + src/CollisionFreeSpeedModelUpdate.hpp + src/CollisionFreeSpeedModelV2.cpp + src/CollisionFreeSpeedModelV2.hpp + src/CollisionFreeSpeedModelV2Builder.cpp + src/CollisionFreeSpeedModelV2Builder.hpp + src/CollisionFreeSpeedModelV2Data.hpp + src/CollisionFreeSpeedModelV2Update.hpp src/CollisionGeometry.cpp src/CollisionGeometry.hpp - src/DTriangulation.cpp - src/DTriangulation.hpp src/Ellipse.cpp src/Ellipse.hpp src/Enum.hpp @@ -36,6 +46,8 @@ add_library(simulator STATIC src/Macros.hpp src/Mathematics.cpp src/Mathematics.hpp + src/Mesh.cpp + src/Mesh.hpp src/NeighborhoodSearch.hpp src/OperationalDecisionSystem.hpp src/OperationalModel.hpp @@ -53,8 +65,8 @@ add_library(simulator STATIC src/SimulationError.hpp src/SocialForceModel.cpp src/SocialForceModel.hpp - src/SocialForceModelBuilder.hpp src/SocialForceModelBuilder.cpp + src/SocialForceModelBuilder.hpp src/SocialForceModelData.hpp src/SocialForceModelUpdate.hpp src/Stage.cpp @@ -69,23 +81,8 @@ add_library(simulator STATIC src/TemplateHelper.hpp src/Tracing.cpp src/Tracing.hpp - src/Triangle.cpp - src/Triangle.hpp src/UniqueID.hpp src/Util.hpp - src/CollisionFreeSpeedModel.cpp - src/CollisionFreeSpeedModel.hpp - src/CollisionFreeSpeedModelBuilder.cpp - src/CollisionFreeSpeedModelBuilder.hpp - src/CollisionFreeSpeedModelData.hpp - src/CollisionFreeSpeedModelUpdate.hpp - src/CollisionFreeSpeedModelV2.cpp - src/CollisionFreeSpeedModelV2.hpp - src/CollisionFreeSpeedModelV2Builder.cpp - src/CollisionFreeSpeedModelV2Builder.hpp - src/CollisionFreeSpeedModelV2Data.hpp - src/CollisionFreeSpeedModelV2Update.hpp - ) target_compile_options(simulator PRIVATE ${COMMON_COMPILE_OPTIONS} @@ -95,11 +92,10 @@ target_compile_definitions(simulator PUBLIC ) target_link_libraries(simulator PUBLIC common - Boost::boost - poly2tri fmt::fmt CGAL::CGAL build_info + glm::glm ) target_link_options(simulator PUBLIC $<$,$>,$>:-fsanitize=address> @@ -121,6 +117,7 @@ if (BUILD_TESTS) test/TestGraph.cpp test/TestJourney.cpp test/TestLineSegment.cpp + test/TestMesh.cpp test/TestNeighborhoodSearch.cpp test/TestPoint.cpp test/TestSimulationClock.cpp diff --git a/libsimulator/src/CfgCgal.hpp b/libsimulator/src/CfgCgal.hpp new file mode 100644 index 0000000000..421b5a0ea2 --- /dev/null +++ b/libsimulator/src/CfgCgal.hpp @@ -0,0 +1,44 @@ +// Copyright © 2012-2024 Forschungszentrum Jülich GmbH +// SPDX-License-Identifier: LGPL-3.0-or-later +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +// using K = CGAL::Exact_predicates_exact_constructions_kernel; +using K = CGAL::Simple_cartesian; + +using Poly = CGAL::Polygon_2; +using PolyWithHoles = CGAL::Polygon_with_holes_2; +using PolyWithHolesList = std::list; +using PolyList = std::list; +using Vb = CGAL::Triangulation_vertex_base_2; + +template > +class MyFace : public Fb +{ + bool in{false}; + typedef Fb Base; + typedef typename Fb::Triangulation_data_structure TDS; + +public: + using Fb::Fb; + template + struct Rebind_TDS { + typedef typename Fb::template Rebind_TDS::Other Fb2; + typedef MyFace Other; + }; + void set_in_domain(bool v) { in = v; } + bool get_in_domain() const { return in; } +}; +using TDS = CGAL::Triangulation_data_structure_2>; +using Itag = CGAL::Exact_predicates_tag; +using CDT = CGAL::Constrained_Delaunay_triangulation_2; diff --git a/libsimulator/src/Clonable.hpp b/libsimulator/src/Clonable.hpp index 0073dd99ac..9f4b1f2a3d 100644 --- a/libsimulator/src/Clonable.hpp +++ b/libsimulator/src/Clonable.hpp @@ -9,4 +9,7 @@ class Clonable { public: virtual std::unique_ptr Clone() const = 0; + +protected: + virtual ~Clonable() = default; }; diff --git a/libsimulator/src/CollisionGeometry.cpp b/libsimulator/src/CollisionGeometry.cpp index 45ae787527..bac80dc2cb 100644 --- a/libsimulator/src/CollisionGeometry.cpp +++ b/libsimulator/src/CollisionGeometry.cpp @@ -84,7 +84,7 @@ size_t CountLineSegments(const PolyWithHoles& poly) return count; } -Point fromPoint_2(const Kernel::Point_2& p) +Point fromPoint_2(const K::Point_2& p) { return {CGAL::to_double(p.x()), CGAL::to_double(p.y())}; } @@ -205,7 +205,7 @@ bool CollisionGeometry::IntersectsAny(const LineSegment& linesegment) const bool CollisionGeometry::InsideGeometry(Point p) const { - return CGAL::oriented_side(Kernel::Point_2(p.x, p.y), _accessibleAreaPolygon) != + return CGAL::oriented_side(K::Point_2(p.x, p.y), _accessibleAreaPolygon) != CGAL::ON_NEGATIVE_SIDE; } diff --git a/libsimulator/src/CollisionGeometry.hpp b/libsimulator/src/CollisionGeometry.hpp index 698ad60ebf..4137f075e5 100644 --- a/libsimulator/src/CollisionGeometry.hpp +++ b/libsimulator/src/CollisionGeometry.hpp @@ -2,6 +2,7 @@ // SPDX-License-Identifier: LGPL-3.0-or-later #pragma once +#include "CfgCgal.hpp" #include "HashCombine.hpp" #include "IteratorPair.hpp" #include "LineSegment.hpp" @@ -12,13 +13,6 @@ #include #include -#include -#include - -using Kernel = CGAL::Exact_predicates_exact_constructions_kernel; -using PolyWithHoles = CGAL::Polygon_with_holes_2; -using Poly = CGAL::Polygon_2; - class CollisionGeometry; double dist(LineSegment l, Point p); diff --git a/libsimulator/src/DTriangulation.cpp b/libsimulator/src/DTriangulation.cpp deleted file mode 100644 index 9a5a04179f..0000000000 --- a/libsimulator/src/DTriangulation.cpp +++ /dev/null @@ -1,49 +0,0 @@ -// Copyright © 2012-2024 Forschungszentrum Jülich GmbH -// SPDX-License-Identifier: LGPL-3.0-or-later -#include "DTriangulation.hpp" - -#include - -static std::vector ConvertPointVector(const std::vector& vec) -{ - std::vector result{}; - result.resize(vec.size()); - std::transform(vec.begin(), vec.end(), result.begin(), [](const auto& p) { - return new p2t::Point(p.x, p.y); - }); - return result; -} - -template -static void FreeCollection(C& collection) -{ - for(auto& item : collection) { - delete item; - } - collection.clear(); -} - -DTriangulation::DTriangulation( - const std::vector& outerBoundary, - const std::vector>& holes) -{ - _outerConstraintsPolyline = ConvertPointVector(outerBoundary); - - for(const auto& hole : holes) { - _holesPolylines.push_back(ConvertPointVector(hole)); - } - _cdt = std::make_unique(_outerConstraintsPolyline); - - for(const auto& hole : _holesPolylines) { - _cdt->AddHole(hole); - } - _cdt->Triangulate(); -} - -DTriangulation::~DTriangulation() -{ - for(auto& v : _holesPolylines) { - FreeCollection(v); - } - FreeCollection(_outerConstraintsPolyline); -} diff --git a/libsimulator/src/DTriangulation.hpp b/libsimulator/src/DTriangulation.hpp deleted file mode 100644 index d401c68bc2..0000000000 --- a/libsimulator/src/DTriangulation.hpp +++ /dev/null @@ -1,34 +0,0 @@ -// Copyright © 2012-2024 Forschungszentrum Jülich GmbH -// SPDX-License-Identifier: LGPL-3.0-or-later -#pragma once - -#include "Point.hpp" - -#include - -#include - -class DTriangulation -{ -public: - DTriangulation( - const std::vector& outerBoundary, - const std::vector>& holes); - ~DTriangulation(); - DTriangulation(const DTriangulation& other) = delete; - DTriangulation& operator=(const DTriangulation& other) = delete; - DTriangulation(DTriangulation&& other) = default; - DTriangulation& operator=(DTriangulation&& other) = default; - - /// @return the triangles resulting from the triangulation - std::vector GetTriangles() { return _cdt->GetTriangles(); } - -private: - /// Poly2Tri does not take ownership of any p2t::Point* and requires the caller to keep them - /// alive until p2t::CDT livetime ends - std::vector _outerConstraintsPolyline{}; - /// Poly2Tri does not take ownership of any p2t::Point* and requires the caller to keep them - /// alive until p2t::CDT livetime ends - std::vector> _holesPolylines{}; - std::unique_ptr _cdt{}; -}; diff --git a/libsimulator/src/GeometryBuilder.cpp b/libsimulator/src/GeometryBuilder.cpp index fcffb472bc..f70af26774 100644 --- a/libsimulator/src/GeometryBuilder.cpp +++ b/libsimulator/src/GeometryBuilder.cpp @@ -2,8 +2,8 @@ // SPDX-License-Identifier: LGPL-3.0-or-later #include "GeometryBuilder.hpp" +#include "CfgCgal.hpp" #include "CollisionGeometry.hpp" -#include "DTriangulation.hpp" #include "Geometry.hpp" #include "Graph.hpp" #include "LineSegment.hpp" @@ -11,44 +11,14 @@ #include "RoutingEngine.hpp" #include "SimulationError.hpp" -#include -#include #include #include -#include #include #include #include #include -using Kernel = CGAL::Exact_predicates_exact_constructions_kernel; -using Poly = CGAL::Polygon_2; -using PolyWithHoles = CGAL::Polygon_with_holes_2; -using PolyWithHolesList = std::list; -using PolyList = std::list; - -static Point centroid(p2t::Triangle* t) -{ - Point res{}; - for(int index = 0; index < 3; ++index) { - const auto p = t->GetPoint(index); - res.x += p->x; - res.y += p->y; - } - return res / 3.0; -}; - -static VertexData toVertexData(p2t::Triangle* triangle) -{ - Point points[3]; - for(int index = 0; index < 3; ++index) { - const auto p2t_p = triangle->GetPoint(index); - points[index] = Point{p2t_p->x, p2t_p->y}; - } - return VertexData{AABB(points), Triangle{points[0], points[1], points[2]}}; -} - GeometryBuilder& GeometryBuilder::AddAccessibleArea(const std::vector& lineLoop) { _accessibleAreas.emplace_back(lineLoop); @@ -63,8 +33,6 @@ GeometryBuilder& GeometryBuilder::ExcludeFromAccessibleArea(const std::vector accessibleListInput{ std::begin(_accessibleAreas), std::end(_accessibleAreas)}; PolyWithHolesList accessibleList{}; @@ -96,87 +64,8 @@ Geometry GeometryBuilder::Build() accessibleArea = *res.begin(); } - auto Convert = [](const auto& begin, const auto& end) { - std::vector result{}; - result.reserve(end - begin); - std::transform(begin, end, std::back_inserter(result), [](const auto& p) { - return Point(CGAL::to_double(p.x()), CGAL::to_double(p.y())); - }); - return result; - }; - const auto boundary = Convert( - accessibleArea.outer_boundary().vertices_begin(), - accessibleArea.outer_boundary().vertices_end()); - std::vector> holes{}; - holes.reserve(accessibleArea.number_of_holes()); - std::transform( - accessibleArea.holes_begin(), - accessibleArea.holes_end(), - std::back_inserter(holes), - [Convert](const auto& hole) { - return Convert(hole.vertices_begin(), hole.vertices_end()); - }); - std::unique_ptr collisionGeometry = std::make_unique(accessibleArea); - DTriangulation triangulation(boundary, holes); - std::stack toVisit{}; - std::set visited{}; - std::map addedTriangles{}; - GraphType::Builder builder{}; - auto triangles = triangulation.GetTriangles(); - auto firstTriangle = *std::find_if( - std::begin(triangles), std::end(triangles), [](const auto t) { return t->IsInterior(); }); - toVisit.push(firstTriangle); - - auto find_or_insert_id = [&builder, &addedTriangles](p2t::Triangle* t) -> GraphType::VertexId { - auto iter = addedTriangles.find(t); - if(iter != addedTriangles.end()) { - return iter->second; - } - const auto id = builder.AddVertex(toVertexData(t)); - addedTriangles.emplace(std::make_pair(t, id)); - return id; - }; - - while(!toVisit.empty()) { - auto top_of_stack = toVisit.top(); - auto t = top_of_stack; - toVisit.pop(); - if(visited.count(t) > 0) { - continue; - } else { - visited.insert(t); - } - const auto id = find_or_insert_id(t); - - const auto pos_from = centroid(t); - for(int index = 0; index < 3; ++index) { - // Triangle neighbors have the same index as the point oposing the shared edge. I.e. - // neighbor[0] is the neighboring triangle that shares an edge created by the points 1 - // and 2. - auto neighbor = t->GetNeighbor(index); - if(neighbor == nullptr || !neighbor->IsInterior()) { - continue; - } - const auto pos_to = centroid(neighbor); - const auto neighbor_id = find_or_insert_id(neighbor); - const auto weight = (pos_to - pos_from).Norm(); - const auto idx_edge_from = (index + 1) % 3; - const auto edge_from = t->GetPoint(idx_edge_from); - const auto idx_edge_to = (index + 2) % 3; - const auto edge_to = t->GetPoint(idx_edge_to); - - auto from = Point(edge_from->x, edge_from->y); - auto to = Point(edge_to->x, edge_to->y); - const auto dir = (to - from).Normalized(); - from = from + dir * 0.2; - to = to - dir * 0.2; - - builder.AddEdge(id, neighbor_id, {weight, {from, to}}); - toVisit.push(neighbor); - } - } - return {std::move(collisionGeometry), std::make_unique(builder.Build())}; + return {std::move(collisionGeometry), std::make_unique(accessibleArea)}; } diff --git a/libsimulator/src/Graph.hpp b/libsimulator/src/Graph.hpp index 3eeffd5f7c..236aa9fd20 100644 --- a/libsimulator/src/Graph.hpp +++ b/libsimulator/src/Graph.hpp @@ -6,195 +6,126 @@ #include "Point.hpp" #include -#include -#include -#include -#include - #include #include -#include #include #include #include -/// Represents a undirected graph with edge weights and vertices with -/// coordinates (tuple) as data. Shortes path query is avaibable as method. -/// To create a Graph use the nested Builder class, see Graph::Builder. -/// -/// Design notes: -/// * This class is a thin layer over boost::graph mostly to hide the -/// complexity of boost::graph. -/// * Shortes path querries cache results internally so that repeated -/// querries for the same target node are constant time lookups -template -class Graph +struct Empty { +}; + +template +class DirectedGraph { public: - using VertexId = uint32_t; - using Type = - boost::adjacency_list; - using OutEdgeIterator = typename Type::out_edge_iterator; + using VertexId = size_t; + using VertexIter = typename std::vector::const_iterator; + using EdgeId = size_t; + using EdgeIter = typename std::vector>::const_iterator; private: - Type _graph; - std::map> _path_cache; + struct EdgeAdjacencyInfo { + size_t offset; + size_t length; + }; -public: - class Builder; - class Exception; - /// Do not construct a graph directly use the Graph::Builder instead. - explicit Graph(Type&& graph); - Graph() = default; - ~Graph() = default; - Graph(const Graph& other) = default; - Graph& operator=(const Graph& other) = default; - Graph(Graph&& other) = default; - Graph& operator=(Graph&& other) = default; - /// Returns the next node on the path to the desired node. - /// WARNING: Be aware that NO BOUNDS checks are done. Using an unknown id will - /// result in a out of bounds read. - /// @param from, vertex id where to start the path. - /// @param to, vertex id of the destination. - /// @return vertex id of the next vertex along the path. - VertexId NextVertexTo(VertexId from, VertexId to); - std::vector Path(VertexId from, VertexId to); - /// Read the associated value of vertex - /// WARNING: Be aware that NO BOUNDS checks are done. Using an unknown id will - /// result in a out of bounds read. - /// @param id of vertex to read. - /// @return VertexValue of vertex with this id. - const VertexValue& Vertex(VertexId id) const; - auto Vertices() const; - const EdgeValue& Edge(VertexId from, VertexId to) const; - std::vector EdgesFor(VertexId id) const; -}; - -template -class Graph::Builder -{ - using Edge = std::pair; - Type _g{}; + std::vector vertex_data{}; + std::vector edge_adjacency_info{}; + std::vector> adjacency_list{}; public: - Builder() = default; - ~Builder() = default; - Builder(const Builder& other) = default; - Builder& operator=(const Builder& other) = default; - Builder(Builder&& other) = default; - Builder& operator=(Builder&& other) = default; - /// Builds a Graph instance. - /// The Builder can be reused and is equivallent to a newly constructed Builder - /// @return the new Graph - Graph Build(); - /// Adds a new vertex to the graph. - /// @param value of the new vertex - /// @return Id of new vertex - Graph::VertexId AddVertex(const VertexValue& value); - /// Adds a new edge to the graph. - /// @param from first vertex of this edge - /// @param to second vertex of this edge - /// @param weight of this edge - void AddEdge(VertexId from, VertexId to, const EdgeValue& value); -}; + class Builder + { + std::vector vertex_data{}; + std::vector> edges{}; + + public: + Builder() = default; + ~Builder() = default; + VertexId AddVertex(V v = {}) + { + vertex_data.emplace_back(std::move(v)); + return vertex_data.size() - 1; + }; + void AddEdge(VertexId from, VertexId to, E e = {}) + { + edges.emplace_back(from, to, std::move(e)); + } + DirectedGraph Build() + { + vertex_data.shrink_to_fit(); + + std::sort(std::begin(edges), std::end(edges), [](const auto& a, const auto& b) { + return std::get<0>(a) < std::get<0>(b); + }); + + std::vector> adjacency_list{}; + adjacency_list.reserve(edges.size()); + + std::vector edge_adjacency_info{}; + edge_adjacency_info.reserve(vertex_data.size()); + + VertexId current_source_id{}; + for(const auto& [from, to, data] : edges) { + if(edge_adjacency_info.empty()) { + current_source_id = from; + edge_adjacency_info.push_back({0, 1}); + + } else if(from != current_source_id) { + current_source_id = from; + const auto& last_info = edge_adjacency_info.back(); + const auto offset = last_info.offset + last_info.length; + edge_adjacency_info.push_back({offset, 1}); + } else { + edge_adjacency_info.back().length += 1; + } + adjacency_list.push_back(std::make_tuple(to, data)); + } + + return DirectedGraph{ + std::move(vertex_data), std::move(edge_adjacency_info), std::move(adjacency_list)}; + } + }; + + const auto& VertexData(VertexId id) const requires(!std::is_void_v) + { + return vertex_data.at(id); + } -//////////////////////////////////////////////////////////////////////////////// -// Graph -//////////////////////////////////////////////////////////////////////////////// -template -Graph::Graph(Graph::Type&& graph) : _graph(std::move(graph)) -{ -} + const std::vector& Vertices() const { return vertex_data; } -template -typename Graph::VertexId -Graph::NextVertexTo(Graph::VertexId from, Graph::VertexId to) -{ - auto iter = _path_cache.find(to); - if(iter == _path_cache.end()) { - auto [new_iter, success] = _path_cache.insert( - {to, std::vector(num_vertices(_graph))}); - assert(success); - iter = new_iter; - - boost::dijkstra_shortest_paths( - _graph, - to, - boost::predecessor_map(boost::make_iterator_property_map( - iter->second.begin(), get(boost::vertex_index, _graph))) - .weight_map(boost::get(&EdgeValue::weight, _graph))); + IteratorPair Edges(VertexId id) const + { + const auto& info = edge_adjacency_info.at(id); + return { + std::begin(adjacency_list) + info.offset, + std::begin(adjacency_list) + info.offset + info.length}; } - return iter->second[from]; -} - -template -std::vector::VertexId> -Graph::Path(Graph::VertexId from, Graph::VertexId to) -{ - std::vector path{from}; - auto current = from; - do { - current = NextVertexTo(current, to); - path.emplace_back(current); - } while(current != to); - return path; -} - -template -const VertexValue& Graph::Vertex(Graph::VertexId id) const -{ - return _graph[id]; -}; + const E& Edge(VertexId from, VertexId to) const + { + for(auto& [id, data] : Edges(from)) { + if(id == to) { + return data; + } + } + throw std::out_of_range("Destination edge does not exist"); + } -template -auto Graph::Vertices() const -{ - auto [begin, end] = boost::vertices(_graph); - return IteratorPair{begin, end}; -} + VertexId CountVertices() const { return vertex_data.size(); } -template -const EdgeValue& Graph::Edge(Graph::VertexId from, Graph::VertexId to) const -{ - return _graph[boost::edge(from, to, _graph).first]; -} + // TODO remove + DirectedGraph() = default; -template -std::vector Graph::EdgesFor(Graph::VertexId id) const -{ - const auto count = boost::out_degree(id, _graph); - auto [begin, end] = boost::out_edges(id, _graph); - std::vector edges{}; - edges.resize(count); - std::transform( - begin, end, std::back_inserter(edges), [this](const auto& iter) { return _graph[iter]; }); - return edges; -} - -//////////////////////////////////////////////////////////////////////////////// -// Graph::Builder -//////////////////////////////////////////////////////////////////////////////// -template -Graph Graph::Builder::Build() -{ - auto g = Graph{std::move(_g)}; - _g = Type{}; - return g; -} - -template -typename Graph::VertexId -Graph::Builder::AddVertex(const VertexValue& value) -{ - return boost::add_vertex(value, _g); -} - -template -void Graph::Builder::AddEdge( - Graph::VertexId from, - Graph::VertexId to, - const EdgeValue& value) -{ - boost::add_edge(from, to, value, _g); -} +private: + DirectedGraph( + std::vector&& _vertex_data, + std::vector&& _edge_adjacency_info, + std::vector>&& _adjacency_list) + : vertex_data(_vertex_data) + , edge_adjacency_info(_edge_adjacency_info) + , adjacency_list(_adjacency_list) + { + } +}; diff --git a/libsimulator/src/IteratorPair.hpp b/libsimulator/src/IteratorPair.hpp index 8fa26ea172..bce21d508d 100644 --- a/libsimulator/src/IteratorPair.hpp +++ b/libsimulator/src/IteratorPair.hpp @@ -6,6 +6,7 @@ /// /// Provides begin and end method required for range based for loops. /// _it_second must be reachable by _it_first. +#include template class IteratorPair { @@ -22,4 +23,5 @@ class IteratorPair IteratorSecond end() const { return second(); } bool empty() const { return _it_first == _it_second; } + size_t size() const { return std::distance(_it_first, _it_second); } }; diff --git a/libsimulator/src/Mesh.cpp b/libsimulator/src/Mesh.cpp new file mode 100644 index 0000000000..62fd01ff33 --- /dev/null +++ b/libsimulator/src/Mesh.cpp @@ -0,0 +1,682 @@ +// Copyright © 2024 Forschungszentrum Jülich GmbH +// SPDX-License-Identifier: LGPL-3.0-or-later +#include "Mesh.hpp" + +#include +#include +#include + +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +Mesh::Mesh(const CDT& cdt) +{ + std::unordered_map vertex_handle_to_index_map{}; + vertex_handle_to_index_map.reserve(cdt.finite_vertex_handles().size()); + vertices.reserve(cdt.finite_vertex_handles().size()); + size_t index = 0; + for(const auto& h : cdt.finite_vertex_handles()) { + vertex_handle_to_index_map[h] = index; + const auto& pt = h->point(); + vertices.emplace_back(CGAL::to_double(pt.x()), CGAL::to_double(pt.y())); + ++index; + } + std::unordered_map face_handle_to_index_map{}; + face_handle_to_index_map.reserve(cdt.finite_face_handles().size()); + polygons.reserve(cdt.finite_face_handles().size()); + std::vector>> neighbor_face_handles{}; + neighbor_face_handles.reserve(cdt.finite_face_handles().size()); + + index = 0; + for(const CDT::Face_handle t : cdt.finite_face_handles()) { + if(!t->get_in_domain()) { + continue; + } + Polygon p{}; + p.vertices.reserve(3); + p.vertices.push_back(vertex_handle_to_index_map[t->vertex(0)]); + p.vertices.push_back(vertex_handle_to_index_map[t->vertex(1)]); + p.vertices.push_back(vertex_handle_to_index_map[t->vertex(2)]); + + polygons.push_back(p); + neighbor_face_handles.emplace_back(); + neighbor_face_handles.back().reserve(3); + for(int index = 0; index < 3; ++index) { + const auto& n = t->neighbor(CDT::cw(index)); + if(n->get_in_domain()) { + neighbor_face_handles.back().emplace_back(n); + } else { + neighbor_face_handles.back().emplace_back(std::nullopt); + } + } + face_handle_to_index_map[t] = index; + ++index; + } + + assert(polygons.size() == neighbor_face_handles.size()); + for(size_t index = 0; index < polygons.size(); ++index) { + auto& p = polygons[index]; + const auto& neighbors = neighbor_face_handles[index]; + p.neighbors.reserve(neighbors.size()); + for(const auto& opt : neighbors) { + if(opt) { + p.neighbors.emplace_back(face_handle_to_index_map.at(*opt)); + } else { + p.neighbors.emplace_back(Polygon::InvalidIndex); + } + } + } + + updateBoundingBoxes(); +}; + +std::unique_ptr Mesh::Clone() const +{ + return std::make_unique(*this); +} + +void Mesh::MergeGreedy() +{ + mergeDeadEnds(); + smartMerge(true); + trimEmptyPolygons(); + assert(isValid()); + updateBoundingBoxes(); +} + +void Mesh::mergeDeadEnds() +{ + std::vector merged_polygons(polygons.size(), false); + bool merged = false; + do { + merged = false; + size_t merge_candidate{}; + size_t merge_target{}; + for(size_t index = 0; index < polygons.size() && !merged; ++index) { + if(merged_polygons[index]) { + continue; + } + const auto& p = polygons[index]; + + auto isValidNeighbor = [index](const auto& idx) { + if((idx != Polygon::InvalidIndex) && (idx != index)) { + return true; + } + return false; + }; + + const auto num_valid_neigbors = + std::count_if(std::begin(p.neighbors), std::end(p.neighbors), isValidNeighbor); + + if(num_valid_neigbors != 1) { + continue; + } + + const auto neighbor = + std::find_if(std::begin(p.neighbors), std::end(p.neighbors), isValidNeighbor); + assert(neighbor != std::end(p.neighbors)); + const auto valid_neighbor = std::distance(std::begin(p.neighbors), neighbor); + merge_candidate = p.neighbors[valid_neighbor]; + + merge_target = index; + + // due to data structure valid_neighbor is also first_common_vertex_in_a + merged = tryMerge(merge_target, merge_candidate, valid_neighbor); + } + + if(merged) { + polygons[merge_candidate].neighbors.clear(); + polygons[merge_candidate].vertices.clear(); + merged_polygons[merge_candidate] = true; + for(size_t index = 0; index < polygons.size(); ++index) { + if(merged_polygons[index]) { + continue; + } + auto& polygon = polygons[index]; + std::replace( + std::begin(polygon.neighbors), + std::end(polygon.neighbors), + merge_candidate, + merge_target); + } + } + } while(merged); +} + +double Mesh::polygonArea(const std::vector indices) const +{ + const auto next = [&indices](size_t index) -> size_t { + const auto count = indices.size(); + assert(count >= 3); + return (index + 1) % count; + }; + + double area = 0.; + + for(size_t index = 0; index < indices.size(); ++index) { + const auto& current_vertex = vertices[indices[index]]; + const auto& next_vertex = vertices[indices[next(index)]]; + + area += (current_vertex.x * next_vertex.y) - (current_vertex.y - next_vertex.x); + } + area = std::abs(area) / 2.0; + return area; +} + +void Mesh::smartMerge(bool keep_deadends = true) +{ + constexpr double InvalidArea{std::numeric_limits::lowest()}; + + struct SearchNode { + + size_t source; + double area; + + // Comparison. + // Always take the "biggest" search node in a priority queue. + bool operator<(const SearchNode& other) const { return area < other.area; } + bool operator>(const SearchNode& other) const { return area > other.area; } + }; + + std::vector bestMerge(polygons.size(), InvalidArea); + std::priority_queue polygonQueue; + + auto rateMerge = [&](size_t index) { + if(index == Polygon::InvalidIndex) { + return; + } + auto const& polygon = polygons[index]; + + auto isValidNeighbor = [index](const auto& idx) { + if((idx != Polygon::InvalidIndex) && (idx != index)) { + return true; + } + return false; + }; + + const auto num_valid_neigbors = std::count_if( + std::begin(polygon.neighbors), std::end(polygon.neighbors), isValidNeighbor); + + if(keep_deadends && num_valid_neigbors == 1) { + // It's a dead end and we don't want to merge it. + return; + } + + SearchNode thisNode{index, InvalidArea}; + for(size_t i = 0; i < polygon.neighbors.size(); ++i) { + const auto& neighbor = polygon.neighbors[i]; + if(neighbor == Polygon::InvalidIndex || neighbor == index || + polygons[neighbor].neighbors.size() == 0) { + continue; + } + const auto& valid_neighbor = i; + size_t mergeIndex = polygon.neighbors[valid_neighbor]; + + auto [indices, neighbors] = mergedPolygon(index, mergeIndex, valid_neighbor); + + if(polygonIsConvex(indices)) { + thisNode.area = std::max(thisNode.area, polygonArea(indices)); + } + } + if(thisNode.area != InvalidArea) { + polygonQueue.push(thisNode); + bestMerge[index] = thisNode.area; + + } else { + bestMerge[index] = InvalidArea; + } + }; + + for(size_t i = 0; i < polygons.size(); ++i) { + rateMerge(i); + } + + size_t mergePartner = Polygon::InvalidIndex; + size_t firstCommonVertex = Polygon::InvalidIndex; + + while(!polygonQueue.empty()) { + const auto node = polygonQueue.top(); + polygonQueue.pop(); + + if(abs(node.area - bestMerge[node.source]) > 1e-8) { + // Not the right node. + continue; + } + + const auto& polygon = polygons[node.source]; + + for(size_t i = 0; i < polygon.neighbors.size(); ++i) { + const auto& neighbor = polygon.neighbors[i]; + if(neighbor == Polygon::InvalidIndex || neighbor == node.source || + polygons[neighbor].vertices.size() == 0) { + continue; + } + size_t mergeIndex = polygon.neighbors[i]; + + auto [indices, neighbors] = mergedPolygon(node.source, mergeIndex, i); + if(polygonIsConvex(indices)) { + auto area = polygonArea(indices); + if(std::abs(node.area - area) < 1e-8) { + mergePartner = mergeIndex; + firstCommonVertex = i; + break; + } + } + } + assert(mergePartner != Polygon::InvalidIndex); + assert(firstCommonVertex != Polygon::InvalidIndex); + + auto mergeSuccess = tryMerge(node.source, mergePartner, firstCommonVertex); + if(!mergeSuccess) { + continue; + } + + assert(mergeSuccess); + bestMerge[mergePartner] = InvalidArea; + polygons[mergePartner].neighbors.clear(); + polygons[mergePartner].vertices.clear(); + for(size_t index = 0; index < polygons.size(); ++index) { + auto& polygon = polygons[index]; + std::replace( + std::begin(polygon.neighbors), + std::end(polygon.neighbors), + mergePartner, + node.source); + } + + // Update THIS merge + rateMerge(node.source); + + // Update the polygons around this merge. + for(size_t i = 0; i < polygon.neighbors.size(); ++i) { + rateMerge(polygon.neighbors[i]); + } + } +} + +bool Mesh::isMergable( + size_t polygon_a_index, + size_t polygon_b_index, + size_t first_common_vertex_in_a) +{ + auto [indices, neighbors] = + mergedPolygon(polygon_a_index, polygon_b_index, first_common_vertex_in_a); + + return polygonIsConvex(indices); +} + +bool Mesh::isValid() const +{ + for(const auto& p : polygons) { + if(!polygonIsConvex(p.vertices)) { + return false; + } + } + return true; +} + +bool Mesh::polygonIsConvex(const std::vector& indices) const +{ + const auto prev = [&indices](size_t index) -> size_t { + const auto count = indices.size(); + assert(count >= 3); + return (count + index - 1) % count; + }; + const auto next = [&indices](size_t index) -> size_t { + const auto count = indices.size(); + assert(count >= 3); + return (index + 1) % count; + }; + + for(size_t index = 0; index < indices.size(); ++index) { + const auto& current_vertex = vertices[indices[index]]; + const auto& prev_vertex = vertices[indices[prev(index)]]; + const auto& next_vertex = vertices[indices[next(index)]]; + + const auto segment_a = current_vertex - prev_vertex; + const auto segment_b = next_vertex - current_vertex; + const auto cp = glm::cross(glm::dvec3(segment_a, 0), glm::dvec3(segment_b, 0)); + + if(cp.z < 0.0) { + // This indicates CW winding between consecutive segments + return false; + } + } + return true; +} + +std::tuple, std::vector> +Mesh::mergedPolygon(size_t polygon_a_index, size_t polygon_b_index, size_t first_common_vertex_in_a) +{ + auto& polygon_a = polygons[polygon_a_index]; + const auto& polygon_b = polygons[polygon_b_index]; + const auto new_vertex_count = polygon_a.vertices.size() + polygon_b.vertices.size() - 2; + + std::vector indices{}; + indices.reserve(new_vertex_count); + std::vector neighbors{}; + neighbors.reserve(new_vertex_count); + + const auto iter_b = std::find( + std::begin(polygon_b.vertices), + std::end(polygon_b.vertices), + polygon_a.vertices[first_common_vertex_in_a]); + assert(iter_b != std::end(polygon_b.vertices)); + const auto vertex_in_b = std::distance(std::begin(polygon_b.vertices), iter_b); + + for(size_t index = 0; index < polygon_b.vertices.size() - 1; ++index) { + indices.emplace_back(polygon_b.vertices[(index + vertex_in_b) % polygon_b.vertices.size()]); + neighbors.emplace_back( + polygon_b.neighbors[(index + vertex_in_b) % polygon_b.neighbors.size()]); + } + for(size_t index = 0; index < polygon_a.vertices.size() - 1; ++index) { + indices.emplace_back( + polygon_a.vertices[(index + first_common_vertex_in_a + 1) % polygon_a.vertices.size()]); + neighbors.emplace_back( + polygon_a + .neighbors[(index + first_common_vertex_in_a + 1) % polygon_a.neighbors.size()]); + } + + return std::make_tuple(indices, neighbors); +} + +bool Mesh::tryMerge(size_t polygon_a_index, size_t polygon_b_index, size_t first_common_vertex_in_a) +{ + auto [indices, neighbors] = + mergedPolygon(polygon_a_index, polygon_b_index, first_common_vertex_in_a); + + if(polygonIsConvex(indices)) { + auto& polygon_a = polygons[polygon_a_index]; + polygon_a.vertices = indices; + polygon_a.neighbors = neighbors; + return true; + } + + return false; +} + +std::vector Mesh::FVertices() const +{ + std::vector f_vertices{}; + f_vertices.reserve(vertices.size()); + std::transform( + std::begin(vertices), + std::end(vertices), + std::back_inserter(f_vertices), + [](const auto& v) { + return glm::vec2{v.x, v.y}; + }); + return f_vertices; +} + +std::vector Mesh::TriangleIndices() const +{ + std::vector indices{}; + indices.reserve(polygons.size() * 3); + + for(const auto& p : polygons) { + if(p.vertices.size() < 3) { + continue; + } + const uint16_t first = p.vertices.front(); + const auto count_indices = p.vertices.size(); + for(size_t index = 2; index < count_indices; ++index) { + indices.push_back(first); + indices.push_back(p.vertices[index - 1]); + indices.push_back(p.vertices[index]); + } + } + return indices; +} + +std::vector Mesh::SegmentIndices() const +{ + using segment = std::tuple; + const auto make_segment = [](uint16_t a, uint16_t b) { + if(a < b) { + return std::make_tuple(a, b); + } + return std::make_tuple(b, a); + }; + + std::set segments{}; + + for(const auto& p : polygons) { + const auto vertex_count = p.vertices.size(); + if(vertex_count < 3) { + continue; + } + uint16_t a = p.vertices[vertex_count - 1]; + for(size_t index = 0; index < vertex_count; ++index) { + uint16_t b = p.vertices[index]; + segments.insert(make_segment(a, b)); + a = b; + } + } + + std::vector indices{}; + indices.reserve(segments.size() * 2); + for(const auto& s : segments) { + indices.emplace_back(std::get<0>(s)); + indices.emplace_back(std::get<1>(s)); + } + return indices; +} + +void Mesh::trimEmptyPolygons() +{ + const auto polygon_count = + std::count_if(std::begin(polygons), std::end(polygons), [](const auto& p) { + return !p.vertices.empty(); + }); + std::vector trimed_polygons{}; + trimed_polygons.reserve(polygon_count); + std::unordered_map index_mapping{}; + + for(size_t index = 0; index < polygons.size(); ++index) { + if(polygons[index].vertices.empty()) { + continue; + } + index_mapping[index] = trimed_polygons.size(); + trimed_polygons.emplace_back(polygons[index]); + } + + for(auto& p : trimed_polygons) { + for(auto& n : p.neighbors) { + const auto iter = index_mapping.find(n); + if(iter != std::end(index_mapping)) { + n = iter->second; + } + } + } + polygons = trimed_polygons; +} + +void Mesh::updateBoundingBoxes() +{ + boundingBoxes.clear(); + boundingBoxes.reserve(polygons.size()); + + std::transform( + std::begin(polygons), + std::end(polygons), + std::back_inserter(boundingBoxes), + [this](const auto& polygon) { + float xMin = std::numeric_limits::max(); + float xMax = std::numeric_limits::lowest(); + float yMin = std::numeric_limits::max(); + float yMax = std::numeric_limits::lowest(); + + for(const auto& pIndex : polygon.vertices) { + const auto& p = vertices[pIndex]; + xMin = std::min(xMin, static_cast(p.x)); + xMax = std::max(xMax, static_cast(p.x)); + yMin = std::min(yMin, static_cast(p.y)); + yMax = std::max(yMax, static_cast(p.y)); + } + + return AABB{{xMin, yMin}, {xMax, yMax}}; + }); +} + +size_t Mesh::FindContainingPolygon(const glm::dvec2& p) const +{ + for(size_t index = 0; index < polygons.size(); ++index) { + if(boundingBoxes[index].Inside({p.x, p.y}) && TriangleContains(index, p)) { + return index; + } + } + + return Polygon::InvalidIndex; +} + +glm::dvec2 Mesh::Vertex(size_t index) const +{ + return vertices.at(index); +} + +static int toPolyanyaIndex(size_t idx) +{ + if(idx == std::numeric_limits::max()) { + return -1; + } + assert(idx <= std::numeric_limits::max()); + return idx; +} + +std::stringstream Mesh::IntoLibPolyanyaMeshDescription() const +{ + std::stringstream buf{}; + buf << "mesh\n2\n"; + buf << CountVertices() << " " << CountPolygons() << "\n\n"; + + auto indexOfValue = [](const auto& vec, const auto& val) -> std::optional { + const auto iter = std::find(std::begin(vec), std::end(vec), val); + if(iter == std::end(vec)) { + return std::nullopt; + } + return std::distance(std::begin(vec), iter); + }; + + // clang-format off + // clang-format-15 as enforced by out CI want to reformat this code block differently + // than newer versions although the format for other lamda declarations like this is identical + // Hence for this block of code clang-format is disabled until we migrate to a newer clang-format + // TODO(kkratz): Re-emable clang-format here once we can upgrade the clang-format version + auto findNeighborIndices = [this, indexOfValue](size_t vertex_index) -> auto { + // Collect the incoming and outgoing edge (as indices) for this polygon at the specified + // vertex index. + struct Wedge { + /// index 0 is previous index, index 2 is the next index + size_t vertex_indices[3]; + /// represents the orientation of the wedge as ccw rotation in radians vs the [0,1] + /// vector + size_t polygon_index; + double angle; + bool operator<(const Wedge& other) const { return angle < other.angle; } + }; + + std::vector neighbor_wedge{}; + const glm::dvec2 ref{0, 1}; + for(size_t polygon_index = 0; polygon_index < polygons.size(); ++polygon_index) { + const auto& polygon_vertices = polygons[polygon_index].vertices; + const auto count_vertices = polygon_vertices.size(); + if(const auto idx = indexOfValue(polygon_vertices, vertex_index); idx) { + const size_t prev_idx = (*idx + count_vertices - 1) % count_vertices; + const size_t next_idx = (*idx + 1) % count_vertices; + const auto next_vec = glm::normalize(vertices[next_idx] - vertices[*idx]); + const auto prev_vec = glm::normalize(vertices[prev_idx] - vertices[*idx]); + const auto middle_vec = glm::normalize(next_vec + prev_vec); + const double cos = glm::dot(ref, middle_vec); + const double sin = glm::cross(glm::dvec3(ref, 0), glm::dvec3(middle_vec, 0)).z; + const double angle = std::atan2(cos, sin); + neighbor_wedge.emplace_back( + Wedge{{prev_idx, *idx, next_idx}, polygon_index, angle}); + } + } + // Sort wedges by orientation + std::sort(std::begin(neighbor_wedge), std::end(neighbor_wedge)); + std::vector neighbor_indices{}; + neighbor_indices.reserve(2 * neighbor_wedge.size()); + for(size_t idx = 0; idx < neighbor_wedge.size(); ++idx) { + neighbor_indices.emplace_back(neighbor_wedge[idx].polygon_index); + // If the wedges do not share an edge that means they are not touching and there is a + // gap in between + const size_t next_idx = (idx + 1) % neighbor_wedge.size(); + if(neighbor_wedge[idx].vertex_indices[0] != + neighbor_wedge[next_idx].vertex_indices[2]) { + neighbor_indices.emplace_back(Mesh::Polygon::InvalidIndex); + } + } + return neighbor_indices; + }; + // clang-format on + + for(size_t vertex_index = 0; vertex_index < vertices.size(); ++vertex_index) { + const auto& vertex = vertices[vertex_index]; + buf << vertex.x << " " << vertex.y << " "; + + const auto neighbors = findNeighborIndices(vertex_index); + buf << neighbors.size() << " "; + for(const auto n : neighbors) { + buf << toPolyanyaIndex(n) << " "; + } + buf << "\n"; + } + + buf << "\n"; + + for(const auto& p : polygons) { + buf << p.vertices.size() << " "; + for(const auto& v : p.vertices) { + buf << toPolyanyaIndex(v) << " "; + } + for(size_t idx = 0; idx < p.neighbors.size(); ++idx) { + const size_t shifted_idx = (idx + p.neighbors.size() - 1) % p.neighbors.size(); + const auto n = p.neighbors[shifted_idx]; + buf << toPolyanyaIndex(n) << " "; + } + buf << "\n"; + } + + return buf; +} + +/// 2D pseudo cross product +static double cross2D(glm::dvec2 a, glm::dvec2 b) +{ + return a.y * b.x - a.x * b.y; +} + +bool Mesh::TriangleContains(const size_t polygonIndex, glm::dvec2 p) const +{ + const auto& poly = polygons[polygonIndex]; + assert(poly.vertices.size() == 3); + const auto a = vertices[poly.vertices[0]]; + const auto b = vertices[poly.vertices[1]]; + const auto c = vertices[poly.vertices[2]]; + + if(cross2D(p - a, b - a) < 0) { + return false; + } + if(cross2D(p - b, c - b) < 0) { + return false; + } + if(cross2D(p - c, a - c) < 0) { + return false; + } + return true; +} diff --git a/libsimulator/src/Mesh.hpp b/libsimulator/src/Mesh.hpp new file mode 100644 index 0000000000..4a41b90da7 --- /dev/null +++ b/libsimulator/src/Mesh.hpp @@ -0,0 +1,70 @@ +// Copyright © 2024 Forschungszentrum Jülich GmbH +// SPDX-License-Identifier: LGPL-3.0-or-later +#pragma once + +#include "AABB.hpp" +#include "CfgCgal.hpp" +#include "Clonable.hpp" + +#include + +#include +#include +#include +#include + +class Mesh : public Clonable +{ +public: + static constexpr size_t InvalidIndex{std::numeric_limits::max()}; + struct Polygon { + /// Represent invalid indices, e.g. neightbor index where no adjacent polygon is defined + static constexpr size_t InvalidIndex{std::numeric_limits::max()}; + /// Index into the vertices store of the Mesh + std::vector vertices{}; + /// Index into the polygon store of the Mesh + std::vector neighbors{}; + }; + +private: + /// All vertices in this Mesh + std::vector vertices{}; + /// All convex polygons in this Mesh in CCW orientation. + std::vector polygons{}; + std::vector boundingBoxes{}; + +public: + explicit Mesh(const CDT& cdt); + ~Mesh() override = default; + Mesh(const Mesh& other) = default; + Mesh& operator=(const Mesh& other) = default; + Mesh(Mesh&& other) = default; + Mesh& operator=(Mesh&& other) = default; + std::unique_ptr Clone() const override; + void MergeGreedy(); + std::vector FVertices() const; + std::vector TriangleIndices() const; + std::vector SegmentIndices() const; + size_t FindContainingPolygon(const glm::dvec2& p) const; + glm::dvec2 Vertex(size_t index) const; + size_t CountVertices() const { return vertices.size(); } + size_t CountPolygons() const { return polygons.size(); } + std::stringstream IntoLibPolyanyaMeshDescription() const; + const Mesh::Polygon& Polygons(size_t index) const { return polygons.at(index); } + const AABB& AxisAlignedBoundingBox(size_t index) const { return boundingBoxes.at(index); } + bool TriangleContains(const size_t, glm::dvec2 p) const; + +private: + void mergeDeadEnds(); + void smartMerge(bool keep_deadends); + bool isValid() const; + bool polygonIsConvex(const std::vector& indices) const; + bool tryMerge(size_t polygon_a_index, size_t polygon_b_index, size_t first_common_vertex_in_a); + bool + isMergable(size_t polygon_a_index, size_t polygon_b_index, size_t first_common_vertex_in_a); + std::tuple, std::vector> + mergedPolygon(size_t polygon_a_index, size_t polygon_b_index, size_t first_common_vertex_in_a); + double polygonArea(const std::vector indices) const; + void trimEmptyPolygons(); + void updateBoundingBoxes(); +}; diff --git a/libsimulator/src/Polygon.hpp b/libsimulator/src/Polygon.hpp index b6fd2105ce..630973eb46 100644 --- a/libsimulator/src/Polygon.hpp +++ b/libsimulator/src/Polygon.hpp @@ -2,14 +2,11 @@ // SPDX-License-Identifier: LGPL-3.0-or-later #pragma once +#include "CfgCgal.hpp" #include "Point.hpp" - -#include -#include - class Polygon { - using PolygonType = CGAL::Polygon_2; + using PolygonType = Poly; PolygonType _polygon; diff --git a/libsimulator/src/RoutingEngine.cpp b/libsimulator/src/RoutingEngine.cpp index c85def6a7d..c9fb9a868b 100644 --- a/libsimulator/src/RoutingEngine.cpp +++ b/libsimulator/src/RoutingEngine.cpp @@ -2,96 +2,318 @@ // SPDX-License-Identifier: LGPL-3.0-or-later #include "RoutingEngine.hpp" +#include "AABB.hpp" #include "GeometricFunctions.hpp" +#include "Graph.hpp" #include "IteratorPair.hpp" #include "LineSegment.hpp" +#include "Mesh.hpp" #include "SimulationError.hpp" -#include "Triangle.hpp" +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include #include -NavMeshRoutingEngine::NavMeshRoutingEngine(GraphType&& graph) : _graph(graph) +//////////////////////////////////////////////////////////////////////////////// +// NavMeshRoutingEngine +//////////////////////////////////////////////////////////////////////////////// +NavMeshRoutingEngine::NavMeshRoutingEngine() { } +NavMeshRoutingEngine::NavMeshRoutingEngine(const PolyWithHoles& poly) +{ + cdt.insert_constraint( + poly.outer_boundary().vertices_begin(), poly.outer_boundary().vertices_end(), true); + for(const auto& p : poly.holes()) { + cdt.insert_constraint(p.vertices_begin(), p.vertices_end(), true); + } + CGAL::mark_domain_in_triangulation(cdt); + mesh = std::make_unique(cdt); +} + std::unique_ptr NavMeshRoutingEngine::Clone() const { - return std::make_unique(*this); + auto clone = std::make_unique(); + clone->cdt = cdt; + clone->mesh = mesh->Clone(); + return clone; } Point NavMeshRoutingEngine::ComputeWaypoint(Point currentPosition, Point destination) { - GraphType::VertexId from = findVertex(currentPosition); - GraphType::VertexId to = findVertex(destination); + return ComputeAllWaypoints(currentPosition, destination)[1]; +} + +struct SearchState { + double g_value{}; + double h_value{}; + CDT::Face_handle id{}; + SearchState* parent{}; + + double f_value() const { return g_value + h_value; } + bool parents_contain(CDT::Face_handle ancestor_id) const + { + const SearchState* pivot = this; + while(pivot != nullptr) { + if(pivot->id == ancestor_id) { + return true; + } + pivot = pivot->parent; + } + return false; + } + std::vector path() const + { + std::vector p{}; + p.reserve(16); + const SearchState* pivot = this; + while(pivot != nullptr) { + p.emplace_back(pivot->id); + pivot = pivot->parent; + } + std::reverse(std::begin(p), std::end(p)); + return p; + } +}; + +bool CompareSearchStatesGt( + const std::shared_ptr& a, + const std::shared_ptr& b) +{ + return a->f_value() > b->f_value(); +} + +double length_of_path(const std::vector& path) +{ + double segment_sum{}; + for(size_t index = 1; index < path.size(); ++index) { + segment_sum += (Distance(path[index - 1], path[index])); + } + return segment_sum; +} + +std::vector +NavMeshRoutingEngine::ComputeAllWaypoints(Point currentPosition, Point destination) +{ + const auto from_pos = CDT::Point{currentPosition.x, currentPosition.y}; + const auto to_pos = CDT::Point{destination.x, destination.y}; + const auto from = find_face(from_pos); + const auto to = find_face(to_pos); + if(from == to) { - return destination; + return std::vector{currentPosition, destination}; } - const auto path = _graph.Path(from, to); - assert(!path.empty()); + using SearchStatePtr = std::shared_ptr; - const size_t portalCount = path.size(); + std::vector open_states{}; + open_states.emplace_back( + new SearchState{0.0, Distance(currentPosition, destination), from, nullptr}); - // This is the actual simple stupid funnel algorithm - auto apex = currentPosition; - auto portal_left = currentPosition; - auto portal_right = currentPosition; + std::map closed_states{}; - for(size_t index_portal = 1; index_portal <= portalCount; ++index_portal) { - // TODO(kkratz): Edge lookup is O(n) where n is the number of edges in the graph - // This needs to be replaced with a graph that allows for faster edge lookup - const auto portal = index_portal < portalCount ? - _graph.Edge(path[index_portal - 1], path[index_portal]).edge : - LineSegment(destination, destination); - const auto& candidate_left = portal.p2; - const auto& candidate_right = portal.p1; + std::vector path{}; + double path_length = std::numeric_limits::infinity(); - if(triarea2d(apex, portal_right, candidate_right) <= 0.0) { - if(apex == portal_right || triarea2d(apex, portal_left, candidate_right) > 0.0) { - portal_right = candidate_right; - } else { - return portal_left; + while(!open_states.empty()) { + std::make_heap(std::rbegin(open_states), std::rend(open_states), CompareSearchStatesGt); + auto current_state = open_states.back(); + open_states.pop_back(); + closed_states.insert(std::make_pair(current_state->id, current_state)); + + if(current_state->id == to) { + // Unlike in A* this is only a first candidate solution + // Now compute the actual path length via funnel algorithm + // store path and length if this variant is the shortest found so far + const auto vertex_ids = current_state->path(); + const auto found_path = straightenPath(currentPosition, destination, vertex_ids); + const double found_path_length = length_of_path(found_path); + if(found_path_length < path_length) { + path = found_path; + path_length = found_path_length; } } - if(triarea2d(apex, portal_left, candidate_left) >= 0.0) { - if(apex == portal_left || triarea2d(apex, portal_right, candidate_left) < 0.0) { - portal_left = candidate_left; + + if(current_state->f_value() >= path_length) { + // This search nodes f-value already excedes our paths length, and since the f-value is + // underestimation of the path length the excat path cannot be shorter than what we have + return path; + } + + // Generate successors + for(int idx = 0; idx < 3; ++idx) { + const auto target = current_state->id->neighbor(idx); + if(!target->get_in_domain()) { + // Not a neighboring triangle. + continue; + } + // Do not add search nodes for nodes already in the ancestor list of this path + if(current_state->parents_contain(target)) { + continue; + } + + // Skip successors for nodes already in the closed list + if(closed_states.contains(target)) { + continue; + } + + const auto edge = cdt.segment(target, idx); + + // For all remaining nodes compute g/h values + // The h-value is the distance between the goal and the closts point on the edge + // between the current triangle and this successor + const double h_value = sqrt(CGAL::to_double((CGAL::squared_distance(to_pos, edge)))); + + // The g-value is the maximum of: + + // "The first and simplest is the distance between the start point and the closest + // point to it on the entry edge of the corresponding triangle." + const double g_value_1 = + sqrt(CGAL::to_double((CGAL::squared_distance(from_pos, edge)))); + + // The second is g(s) plus the distance between the triangles associated with s and + // s′. We assume that the g-value of s is a lower bound, and so we wish to add the + // shortest such distance to achieve another lower bound. Again, we take this + // measurement using the edges by which the triangles were first reached by search. + // Since the triangles are adjacent, this is the distance of moving through the + // triangle associated with s. In Theorem 4.2.12, we proved that the shortest + // distance between two edges in a triangle was an arc path around the vertex shared + // by these edges. Thus, if the entry edges of the triangles corresponding to s′ and + // s form an angle θ, this estimate is calculated as g(s) + rθ. NOTE: Right now this + // is always g(s) + zero as we asume point size agents (for now) + const double g_value_2 = current_state->g_value + 0; + + // Another lower bound value for g(s′) is g(s)+(h(s)−h(s′)), or the parent state’s + // g-value plus the difference between its h-value and that of the child state. + // This is an underes- timate because the Euclidean distance metric used for the + // heuristic is consistent. + const double g_value_3 = current_state->g_value + current_state->h_value - h_value; + + const double g_value = std::max(g_value_1, std::max(g_value_2, g_value_3)); + + // NOTE(kkratz): Clang16 seems to be confused with capturing a structured binding + // and emits a warnign when capturing 'target' directly As of C++20 this SHOULD(TM) + // be valid code but see: + // https://stackoverflow.com/questions/46114214/lambda-implicit-capture-fails-with-variable-declared-from-structured-binding + auto t2 = target; + + // TODO(kkratz): replace this find on unsorted vector with something with a better + // runtime + if(auto iter = std::find_if( + std::begin(open_states), + std::end(open_states), + [t2](const auto& s) { return s->id == t2; }); + iter != std::end(open_states)) { + if(auto& s = *iter; s->g_value > g_value) { + s->g_value = g_value; + s->parent = current_state.get(); + } + + } else if(auto iter = closed_states.find(target); iter != std::end(closed_states)) { + if(auto& [_, s] = *iter; s->g_value > g_value) { + s->g_value = g_value; + s->parent = current_state.get(); + open_states.push_back(s); + closed_states.erase(s->id); + } } else { - return portal_right; + open_states.emplace_back( + new SearchState{g_value, h_value, target, current_state.get()}); } } } - return destination; + + return path; } -std::vector -NavMeshRoutingEngine::ComputeAllWaypoints(Point currentPosition, Point destination) +bool NavMeshRoutingEngine::IsRoutable(Point p) const { - GraphType::VertexId from = findVertex(currentPosition); - GraphType::VertexId to = findVertex(destination); - if(from == to) { - return std::vector{currentPosition, destination}; + try { + find_face({p.x, p.y}); + } catch(const SimulationError&) { + return false; } + return true; +} + +void NavMeshRoutingEngine::Update() +{ +} - std::vector waypoints{currentPosition}; - const auto path = _graph.Path(from, to); - assert(!path.empty()); +CDT::Face_handle NavMeshRoutingEngine::find_face(K::Point_2 p) const +{ + const auto face = cdt.locate(p); + if(face == nullptr || cdt.is_infinite(face) || !face->get_in_domain()) { + throw SimulationError( + "Point ({}, {}) is outside oif accessible area", + CGAL::to_double(p.x()), + CGAL::to_double(p.y())); + } + return face; +} +std::vector NavMeshRoutingEngine::straightenPath( + Point from, + Point to, + const std::vector& path) +{ + // TODO(kkratz): Remove the 0.2m edge width adjustment and replace this with p[roper + // arc-paths from the "Efficient Triangulation-Based Pathfinding" publication const size_t portalCount = path.size(); // This is the actual simple stupid funnel algorithm - auto apex = currentPosition; - auto portal_left = currentPosition; - auto portal_right = currentPosition; + auto apex = from; + auto portal_left = from; + auto portal_right = from; size_t index_apex{0}; size_t index_left{0}; size_t index_right{0}; + const auto get_edge = [this](const auto& a, const auto& b) { + for(int idx = 0; idx < 3; ++idx) { + if(a->neighbor(idx) == b) { + const auto s = cdt.segment(a, idx); + const auto src = s.source(); + const auto tgt = s.target(); + return LineSegment{ + {CGAL::to_double(src.x()), CGAL::to_double(src.y())}, + {CGAL::to_double(tgt.x()), CGAL::to_double(tgt.y())}}; + } + } + throw SimulationError("Internal Error"); + }; + + std::vector waypoints{from}; + // This is an over estimation but IMO preferable to repeadted allocations. + // Ideally we replace this with something w.o. allocations + waypoints.reserve(path.size() + 1); for(size_t index_portal = 1; index_portal <= portalCount; ++index_portal) { - const auto portal = index_portal < portalCount ? - _graph.Edge(path[index_portal - 1], path[index_portal]).edge : - LineSegment(destination, destination); + const auto face_from = path[index_portal - 1]; + const auto face_to = path[index_portal]; + if(face_from->neighbor(0) == face_to) { + } + + const auto portal = + index_portal < portalCount ? get_edge(face_from, face_to) : LineSegment(to, to); + const auto line_segment_left = portal.p2; const auto line_segment_right = portal.p1; const auto line_segment_direction = (line_segment_right - line_segment_left).Normalized(); @@ -131,47 +353,6 @@ NavMeshRoutingEngine::ComputeAllWaypoints(Point currentPosition, Point destinati } } } - waypoints.emplace_back(destination); + waypoints.emplace_back(to); return waypoints; } - -bool NavMeshRoutingEngine::IsRoutable(Point p) const -{ - for(const auto& id : _graph.Vertices()) { - const auto& v = _graph.Vertex(id); - if(v.aabb.Inside(p) && v.triangle.Inside(p)) { - return true; - } - } - return false; -} - -void NavMeshRoutingEngine::Update() -{ -} - -std::vector NavMeshRoutingEngine::Mesh() const -{ - std::vector mesh{}; - for(const auto& id : _graph.Vertices()) { - const auto& v = _graph.Vertex(id); - mesh.emplace_back(v.triangle); - } - return mesh; -} - -std::vector NavMeshRoutingEngine::EdgesFor(GraphType::VertexId id) const -{ - return _graph.EdgesFor(id); -} - -NavMeshRoutingEngine::GraphType::VertexId NavMeshRoutingEngine::findVertex(Point p) const -{ - for(const auto& id : _graph.Vertices()) { - const auto& v = _graph.Vertex(id); - if(v.aabb.Inside(p) && v.triangle.Inside(p)) { - return id; - } - } - throw SimulationError("Point {} outside accessible area", p); -} diff --git a/libsimulator/src/RoutingEngine.hpp b/libsimulator/src/RoutingEngine.hpp index 4304dfb674..2f76f643ad 100644 --- a/libsimulator/src/RoutingEngine.hpp +++ b/libsimulator/src/RoutingEngine.hpp @@ -3,21 +3,22 @@ #pragma once #include "AABB.hpp" +#include "CfgCgal.hpp" +#include "Clonable.hpp" #include "Graph.hpp" #include "IteratorPair.hpp" #include "LineSegment.hpp" +#include "Mesh.hpp" #include "Point.hpp" -#include "Triangle.hpp" +#include #include -#include - -class RoutingEngine +class RoutingEngine : public Clonable { public: RoutingEngine() = default; - virtual ~RoutingEngine() = default; + ~RoutingEngine() override = default; // TODO(kkratz): additional input parameters missing virtual Point ComputeWaypoint(Point currentPosition, Point destination) = 0; @@ -31,8 +32,6 @@ class RoutingEngine // TODO(kkratz): input sources missing virtual void Update() = 0; - virtual std::unique_ptr Clone() const = 0; - protected: RoutingEngine(const RoutingEngine&) = default; RoutingEngine& operator=(const RoutingEngine&) = default; @@ -41,30 +40,18 @@ class RoutingEngine RoutingEngine& operator=(RoutingEngine&&) = default; }; -struct VertexData { - AABB aabb{}; - Triangle triangle{}; -}; - -struct EdgeData { - double weight; - LineSegment edge; -}; - class NavMeshRoutingEngine : public RoutingEngine { -public: - using GraphType = Graph; - -private: - GraphType _graph{}; + CDT cdt{}; + std::unique_ptr mesh{}; public: - explicit NavMeshRoutingEngine(GraphType&& graph); + NavMeshRoutingEngine(); + explicit NavMeshRoutingEngine(const PolyWithHoles& poly); ~NavMeshRoutingEngine() override = default; - NavMeshRoutingEngine(const NavMeshRoutingEngine& other) = default; - NavMeshRoutingEngine& operator=(const NavMeshRoutingEngine& other) = default; + NavMeshRoutingEngine(const NavMeshRoutingEngine& other) = delete; + NavMeshRoutingEngine& operator=(const NavMeshRoutingEngine& other) = delete; NavMeshRoutingEngine(NavMeshRoutingEngine&& other) = default; NavMeshRoutingEngine& operator=(NavMeshRoutingEngine&& other) = default; @@ -75,14 +62,10 @@ class NavMeshRoutingEngine : public RoutingEngine bool IsRoutable(Point p) const override; void Update() override; - /// This is designed for debugging purposes. - /// @return a copy of all triangles that make up the accessible area. - std::vector Mesh() const; - - /// This is designed for debugging purposes. - /// @return vector of edgedata - std::vector EdgesFor(GraphType::VertexId id) const; + const Mesh* MeshData() const { return mesh.get(); }; private: - GraphType::VertexId findVertex(Point p) const; + CDT::Face_handle find_face(K::Point_2) const; + std::vector + straightenPath(Point from, Point to, const std::vector& path); }; diff --git a/libsimulator/src/Triangle.cpp b/libsimulator/src/Triangle.cpp deleted file mode 100644 index bdba9099ec..0000000000 --- a/libsimulator/src/Triangle.cpp +++ /dev/null @@ -1,21 +0,0 @@ -// Copyright © 2012-2024 Forschungszentrum Jülich GmbH -// SPDX-License-Identifier: LGPL-3.0-or-later -#include "Triangle.hpp" - -Triangle::Triangle(Point a, Point b, Point c) : points{a, b, c} -{ -} - -bool Triangle::Inside(Point p) const -{ - if((p - points[0]).CrossProduct(points[1] - points[0]) > 0.0f) { - return false; - } - if((p - points[1]).CrossProduct(points[2] - points[1]) > 0.0f) { - return false; - } - if((p - points[2]).CrossProduct(points[0] - points[2]) > 0.0f) { - return false; - } - return true; -} diff --git a/libsimulator/src/Triangle.hpp b/libsimulator/src/Triangle.hpp deleted file mode 100644 index 2971af2299..0000000000 --- a/libsimulator/src/Triangle.hpp +++ /dev/null @@ -1,15 +0,0 @@ -// Copyright © 2012-2024 Forschungszentrum Jülich GmbH -// SPDX-License-Identifier: LGPL-3.0-or-later -#pragma once - -#include "Point.hpp" - -struct Triangle { - /// Points of the triangle in CCW order. - Point points[3]{}; - - Triangle() = default; - Triangle(Point a, Point b, Point c); - - bool Inside(Point p) const; -}; diff --git a/libsimulator/test/TestGraph.cpp b/libsimulator/test/TestGraph.cpp index 171f6d62c8..a8d8701d86 100644 --- a/libsimulator/test/TestGraph.cpp +++ b/libsimulator/test/TestGraph.cpp @@ -5,50 +5,58 @@ #include -struct Edge { - double weight; -}; -using GraphType = Graph; - -TEST(Graph, CanConstructFromEmptyBuilder) +TEST(DirectedGraph, CanConstructWithVoidData) { - ASSERT_NO_THROW(auto g = GraphType::Builder().Build()); + DirectedGraph<>::Builder g{}; + ASSERT_NO_FATAL_FAILURE(g.Build()); } -TEST(Graph, CanConstructFromBuilder) +TEST(DirectedGraph, CanConstructSimpleGraphWithVoidData) { - GraphType::Builder b{}; - const auto vt1 = b.AddVertex(1); - const auto vt2 = b.AddVertex(2); - const auto vt3 = b.AddVertex(3); - b.AddEdge(vt1, vt2, {1}); - b.AddEdge(vt2, vt3, {1}); - const auto g = b.Build(); - ASSERT_EQ(g.Vertex(vt1), 1); - ASSERT_EQ(g.Vertex(vt2), 2); - ASSERT_EQ(g.Vertex(vt3), 3); + DirectedGraph<>::Builder g{}; + const auto v1 = g.AddVertex(); + const auto v2 = g.AddVertex(); + const auto v3 = g.AddVertex(); + const auto v4 = g.AddVertex(); + g.AddEdge(v1, v2); + g.AddEdge(v1, v3); + g.AddEdge(v2, v4); + g.AddEdge(v3, v4); + g.AddEdge(v4, v1); + const auto graph = g.Build(); + ASSERT_EQ(graph.Edges(v1).size(), 2); + ASSERT_EQ(graph.Edges(v2).size(), 1); + ASSERT_EQ(graph.Edges(v3).size(), 1); + ASSERT_EQ(graph.Edges(v4).size(), 1); } -TEST(Graph, CanComuteShortestPath) +TEST(DirectedGraph, CanConstructSimpleGraphWithData) { - GraphType::Builder b{}; - const auto vt1 = b.AddVertex(1); - const auto vt2 = b.AddVertex(2); - const auto vt3 = b.AddVertex(3); - const auto vt4 = b.AddVertex(4); - b.AddEdge(vt1, vt2, {99}); - b.AddEdge(vt2, vt1, {99}); - - b.AddEdge(vt2, vt3, {1}); - b.AddEdge(vt3, vt1, {1}); - - b.AddEdge(vt3, vt4, {1}); - b.AddEdge(vt4, vt3, {1}); - - b.AddEdge(vt1, vt4, {1}); - b.AddEdge(vt4, vt1, {1}); - - auto g = b.Build(); - ASSERT_EQ(g.NextVertexTo(vt1, vt4), vt4); - ASSERT_EQ(g.NextVertexTo(vt4, vt4), vt4); + using Graph = DirectedGraph; + Graph::Builder g{}; + const auto v1 = g.AddVertex("V1"); + const auto v2 = g.AddVertex("V2"); + const auto v3 = g.AddVertex("V3"); + const auto v4 = g.AddVertex("V4"); + g.AddEdge(v1, v2, "V1->V2"); + g.AddEdge(v1, v3, "V1->V3"); + g.AddEdge(v2, v4, "V2->V4"); + g.AddEdge(v3, v4, "V3->V4"); + g.AddEdge(v4, v1, "V4->V1"); + const auto graph = g.Build(); + ASSERT_EQ(graph.Edges(v1).size(), 2); + ASSERT_EQ(graph.Edges(v2).size(), 1); + ASSERT_EQ(graph.Edges(v3).size(), 1); + ASSERT_EQ(graph.Edges(v4).size(), 1); + ASSERT_EQ(graph.VertexData(v1), "V1"); + ASSERT_EQ(graph.VertexData(v2), "V2"); + ASSERT_EQ(graph.VertexData(v3), "V3"); + ASSERT_EQ(graph.VertexData(v4), "V4"); + + std::set expected_v1_out_edges{"V1->V2", "V1->V3"}; + std::set actual{}; + for(const auto& e : graph.Edges(v1)) { + actual.insert(std::get<1>(e)); + } + ASSERT_EQ(expected_v1_out_edges, actual); } diff --git a/libsimulator/test/TestMesh.cpp b/libsimulator/test/TestMesh.cpp new file mode 100644 index 0000000000..0dd1582eab --- /dev/null +++ b/libsimulator/test/TestMesh.cpp @@ -0,0 +1,84 @@ +// Copyright © 2012-2024 Forschungszentrum Jülich GmbH +// SPDX-License-Identifier: LGPL-3.0-or-later +#include "CfgCgal.hpp" +#include "Mesh.hpp" + +#include +#include + +class SingleTriangeMesh : public ::testing::Test +{ +public: + void SetUp() override + { + CDT cdt{}; + // POLYGON ((-7 15, -7 -7, 23 -7, 23 0, 0 0, 0 15, -7 15)) + cdt.insert_constraint(K::Point_2{0, 0}, K::Point_2{1, 0}); + cdt.insert_constraint(K::Point_2{1, 0}, K::Point_2{0.5, 0.5}); + cdt.insert_constraint(K::Point_2{0.5, 0.5}, K::Point_2{0, 0}); + CGAL::mark_domain_in_triangulation(cdt); + m = std::make_unique(cdt); + } + +protected: + std::unique_ptr m{}; +}; + +TEST_F(SingleTriangeMesh, CornerPointsAreConsideredInside) +{ + EXPECT_NE(m->FindContainingPolygon({0, 0}), Mesh::Polygon::InvalidIndex); + EXPECT_NE(m->FindContainingPolygon({1, 0}), Mesh::Polygon::InvalidIndex); + EXPECT_NE(m->FindContainingPolygon({0.5, 0.5}), Mesh::Polygon::InvalidIndex); +} + +TEST_F(SingleTriangeMesh, PointsOnBoundaryAreInside) +{ + EXPECT_NE(m->FindContainingPolygon({0.5, 0}), Mesh::Polygon::InvalidIndex); + EXPECT_NE(m->FindContainingPolygon({0.25, 0.25}), Mesh::Polygon::InvalidIndex); + EXPECT_NE(m->FindContainingPolygon({0.75, 0.25}), Mesh::Polygon::InvalidIndex); +} + +class DoubleBottleNeckMesh : public ::testing::Test +{ +public: + void SetUp() override + { + CDT cdt{}; + // POLYGON ((10 4.6, 10 0, 0 0, 0 10, 10 10, 10 5.4, 15 5.4, 15 10, 25 10, 25 5.4, 28 5.4, + // 28 4.6, 25 4.6, 25 0, 15 0, 15 4.6, 10 4.6)) + std::vector boundary = { + {10, 4.6}, + {10, 0}, + {0, 0}, + {0, 10}, + {10, 10}, + {10, 5.4}, + {15, 5.4}, + {15, 10}, + {25, 10}, + {25, 5.4}, + {28, 5.4}, + {28, 4.6}, + {25, 4.6}, + {25, 0}, + {15, 0}, + {15, 4.6}, + {10, 4.6}}; + + for(size_t index = 0; index < boundary.size(); ++index) { + cdt.insert_constraint(boundary[index], boundary[(index + 1) % boundary.size()]); + } + CGAL::mark_domain_in_triangulation(cdt); + m = std::make_unique(cdt); + } + +protected: + std::unique_ptr m{}; +}; + +TEST_F(DoubleBottleNeckMesh, RegressionInContains) +{ + ASSERT_NE( + m->FindContainingPolygon({26.690912185191067, 4.94908998002494}), + Mesh::Polygon::InvalidIndex); +} diff --git a/notebooks/getting_started.ipynb b/notebooks/getting_started.ipynb index 72f241204e..a3ff36643e 100644 --- a/notebooks/getting_started.ipynb +++ b/notebooks/getting_started.ipynb @@ -347,7 +347,10 @@ "metadata": {}, "outputs": [], "source": [ - "while simulation_cfsm.agent_count() > 0:\n", + "while (\n", + " simulation_cfsm.agent_count() > 0\n", + " and simulation_cfsm.iteration_count() < 2000\n", + "):\n", " simulation_cfsm.iterate()" ] }, @@ -580,7 +583,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.11.5" + "version": "3.12.2" } }, "nbformat": 4, diff --git a/notebooks/single-file.ipynb b/notebooks/single-file.ipynb index 835e4cd77f..29aceedeeb 100644 --- a/notebooks/single-file.ipynb +++ b/notebooks/single-file.ipynb @@ -2,13 +2,28 @@ "cells": [ { "cell_type": "code", - "execution_count": null, + "execution_count": 1, "metadata": { "tags": [ "hide-input" ] }, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/var/folders/68/h1h7hy7n4bq5w69q7qdrrtvc0000gn/T/ipykernel_12936/3822242443.py:2: DeprecationWarning: \n", + "Pyarrow will become a required dependency of pandas in the next major release of pandas (pandas 3.0),\n", + "(to allow more performant data types, such as the Arrow string type, and better interoperability with other libraries)\n", + "but was not found to be installed on your system.\n", + "If this would cause problems for you,\n", + "please provide us feedback at https://github.com/pandas-dev/pandas/issues/54466\n", + " \n", + " import pandas as pd\n" + ] + } + ], "source": [ "import pathlib\n", "import pandas as pd\n", @@ -46,7 +61,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 2, "metadata": { "tags": [ "hide-input" @@ -129,7 +144,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ @@ -146,7 +161,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 4, "metadata": { "tags": [ "hide-inpput" @@ -177,7 +192,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 5, "metadata": {}, "outputs": [], "source": [ @@ -198,7 +213,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 6, "metadata": { "tags": [ "hide-input" @@ -239,7 +254,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 7, "metadata": { "tags": [ "hide-input" @@ -275,7 +290,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 8, "metadata": {}, "outputs": [], "source": [ @@ -295,7 +310,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 9, "metadata": {}, "outputs": [], "source": [ @@ -321,7 +336,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 10, "metadata": {}, "outputs": [], "source": [ @@ -351,7 +366,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 11, "metadata": {}, "outputs": [], "source": [ @@ -392,9 +407,33 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 12, "metadata": {}, - "outputs": [], + "outputs": [ + { + "data": { + "image/png": "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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "ename": "RuntimeError", + "evalue": "Point (0.40000000000000036, 3.3) outside accessible area", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mRuntimeError\u001b[0m Traceback (most recent call last)", + "Cell \u001b[0;32mIn[12], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m trajectory_files \u001b[38;5;241m=\u001b[39m [\u001b[43mrun_simulation\u001b[49m\u001b[43m(\u001b[49m\u001b[43mN\u001b[49m\u001b[43m)\u001b[49m \u001b[38;5;28;01mfor\u001b[39;00m N \u001b[38;5;129;01min\u001b[39;00m [\u001b[38;5;241m5\u001b[39m, \u001b[38;5;241m15\u001b[39m, \u001b[38;5;241m20\u001b[39m, \u001b[38;5;241m24\u001b[39m]]\n", + "Cell \u001b[0;32mIn[11], line 31\u001b[0m, in \u001b[0;36mrun_simulation\u001b[0;34m(total_agents, number_iterations)\u001b[0m\n\u001b[1;32m 26\u001b[0m add_model_to_simulation(\n\u001b[1;32m 27\u001b[0m simulation, positions, first_waypoints, waypoints, journey_id\n\u001b[1;32m 28\u001b[0m )\n\u001b[1;32m 30\u001b[0m \u001b[38;5;28;01mwhile\u001b[39;00m simulation\u001b[38;5;241m.\u001b[39miteration_count() \u001b[38;5;241m<\u001b[39m number_iterations:\n\u001b[0;32m---> 31\u001b[0m \u001b[43msimulation\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43miterate\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 33\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m trajectory_file\n", + "File \u001b[0;32m~/jsc/jupedsim/python_modules/jupedsim/jupedsim/simulation.py:305\u001b[0m, in \u001b[0;36mSimulation.iterate\u001b[0;34m(self, count)\u001b[0m\n\u001b[1;32m 302\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_writer\u001b[38;5;241m.\u001b[39mwrite_iteration_state(\u001b[38;5;28mself\u001b[39m)\n\u001b[1;32m 304\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m _ \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mrange\u001b[39m(\u001b[38;5;241m0\u001b[39m, count):\n\u001b[0;32m--> 305\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_obj\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43miterate\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 306\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_writer:\n\u001b[1;32m 307\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_writer\u001b[38;5;241m.\u001b[39mwrite_iteration_state(\u001b[38;5;28mself\u001b[39m)\n", + "\u001b[0;31mRuntimeError\u001b[0m: Point (0.40000000000000036, 3.3) outside accessible area" + ] + } + ], "source": [ "trajectory_files = [run_simulation(N) for N in [5, 15, 20, 24]]" ] @@ -455,7 +494,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.11.5" + "version": "3.12.2" } }, "nbformat": 4, diff --git a/python_bindings_jupedsim/routing.cpp b/python_bindings_jupedsim/routing.cpp index 11d5f630d8..4ec2b9928b 100644 --- a/python_bindings_jupedsim/routing.cpp +++ b/python_bindings_jupedsim/routing.cpp @@ -3,6 +3,7 @@ #include "conversion.hpp" #include "wrapper.hpp" +#include #include #include @@ -39,7 +40,7 @@ void init_routing(py::module_& m) waypoints.points + waypoints.len, std::back_inserter(result), [](const auto& p) { return std::make_tuple(p.x, p.y); }); - JPS_Path_Free(&waypoints); + JPS_Path_Free(waypoints); return result; }) .def( @@ -47,40 +48,32 @@ void init_routing(py::module_& m) [](const JPS_RoutingEngine_Wrapper& w, std::tuple p) { return JPS_RoutingEngine_IsRoutable(w.handle, intoJPS_Point(p)); }) - .def( - "mesh", - [](const JPS_RoutingEngine_Wrapper& w) { - auto result = JPS_RoutingEngine_Mesh(w.handle); - using Pt = std::tuple; - using Tri = std::tuple; - std::vector mesh{}; - mesh.reserve(result.len); - std::transform( - result.triangles, - result.triangles + result.len, - std::back_inserter(mesh), - [](const auto& t) { - return std::make_tuple( - std::make_tuple(t.points[0].x, t.points[0].y), - std::make_tuple(t.points[1].x, t.points[1].y), - std::make_tuple(t.points[2].x, t.points[2].y)); - }); - JPS_TriangleMesh_Free(&result); - return mesh; - }) - .def("edges_for", [](const JPS_RoutingEngine_Wrapper& w, uint32_t id) { - auto res = JPS_RoutingEngine_EdgesFor(w.handle, id); + .def("mesh", [](const JPS_RoutingEngine_Wrapper& w) { + auto mesh = JPS_RoutingEngine_Mesh(w.handle); using Pt = std::tuple; - using Line = std::tuple; - std::vector lines{}; - lines.reserve(res.len); + using Vert = std::vector; + using Ind = std::vector; + using Polys = std::vector; + auto result = std::tuple{}; + auto& [vertices, polygons] = result; + vertices.reserve(mesh.vertices_len); std::transform( - res.lines, res.lines + res.len, std::back_inserter(lines), [](const auto& l) { - return std::make_tuple( - std::make_tuple(l.points[0].x, l.points[0].y), - std::make_tuple(l.points[1].x, l.points[1].y)); - }); - JPS_Lines_Free(&res); - return lines; + mesh.vertices, + mesh.vertices + mesh.vertices_len, + std::back_inserter(vertices), + [](const auto& v) { return std::make_tuple(v.x, v.y); }); + polygons.reserve(mesh.polygons_len); + for(size_t polygon_index = 0; polygon_index < mesh.polygons_len; ++polygon_index) { + polygons.emplace_back(); + const auto desc = mesh.polygons[polygon_index]; + polygons.back().reserve(desc.len); + polygons.back().insert( + std::end(polygons.back()), + mesh.indices + desc.offset, + mesh.indices + desc.offset + desc.len); + } + + JPS_Mesh_Free(mesh); + return result; }); } diff --git a/python_modules/jupedsim/jupedsim/routing.py b/python_modules/jupedsim/jupedsim/routing.py index 756abaf2c3..4f5766c2eb 100644 --- a/python_modules/jupedsim/jupedsim/routing.py +++ b/python_modules/jupedsim/jupedsim/routing.py @@ -73,16 +73,25 @@ def is_routable(self, p: tuple[float, float]) -> bool: def mesh( self, - ) -> list[ - tuple[tuple[float, float], tuple[float, float], tuple[float, float]] - ]: + ) -> tuple[list[tuple[float, float]], list[list[int]]]: """Access the navigation mesh geometry. - The navigation mesh is store as a collection of triangles in CCW order. + The navigation mesh is store as a collection of convex polygons in CCW order. - Returns: - The triangles composing the navigation mesh. Each triangle is encoded as 3-tuple of points. + The returned data is to be interpreted as: + + .. code:: + tuple[ + list[tuple[float, float]], # All vertices in this mesh. + list[ # List of polygons + list[int] # List of indices into the vertices that compose this polygon in CCW order + ] + ] + + Returns: + A tuple of vertices and list of polygons which in turn are a list of indices + tuple[list[tuple[float, float]],list[list[int]]] """ return self._obj.mesh() diff --git a/python_modules/jupedsim_visualizer/jupedsim_visualizer/geometry.py b/python_modules/jupedsim_visualizer/jupedsim_visualizer/geometry.py index 4e0b8306d4..936ae06fad 100644 --- a/python_modules/jupedsim_visualizer/jupedsim_visualizer/geometry.py +++ b/python_modules/jupedsim_visualizer/jupedsim_visualizer/geometry.py @@ -1,15 +1,12 @@ # Copyright © 2012-2024 Forschungszentrum Jülich GmbH # SPDX-License-Identifier: LGPL-3.0-or-later +import math import sys from jupedsim_visualizer.config import Colors, ZLayers from PySide6.QtCore import QObject, Signal from vtkmodules.vtkCommonCore import vtkCommand, vtkIntArray, vtkPoints -from vtkmodules.vtkCommonDataModel import ( - vtkCellArray, - vtkPolyData, - vtkTriangle, -) +from vtkmodules.vtkCommonDataModel import vtkCellArray, vtkPolyData, vtkPolygon from vtkmodules.vtkInteractionStyle import vtkInteractorStyleUser from vtkmodules.vtkRenderingCore import ( vtkActor, @@ -25,31 +22,30 @@ class Geometry: def __init__(self, navi: RoutingEngine): self.navi = navi - triangle_points = vtkPoints() - triangles = vtkCellArray() - triangle_data = vtkIntArray() - - for idx, tri in enumerate(self.navi.mesh()): - triangle_points.InsertNextPoint(tri[0][0], tri[0][1], ZLayers.geo) - triangle_points.InsertNextPoint(tri[1][0], tri[1][1], ZLayers.geo) - triangle_points.InsertNextPoint(tri[2][0], tri[2][1], ZLayers.geo) - triangle = vtkTriangle() - triangle.GetPointIds().SetId(0, idx * 3) - triangle.GetPointIds().SetId(1, idx * 3 + 1) - triangle.GetPointIds().SetId(2, idx * 3 + 2) - triangles.InsertNextCell(triangle) - triangle_data.InsertNextValue(idx) - - triangle_poly_data = vtkPolyData() - triangle_poly_data.SetPoints(triangle_points) - triangle_poly_data.SetPolys(triangles) - triangle_poly_data.GetCellData().AddArray(triangle_data) - - triangle_mapper = vtkPolyDataMapper() - triangle_mapper.SetInputData(triangle_poly_data) + vertices = vtkPoints() + polygons = vtkCellArray() + + mesh = self.navi.mesh() + + for v in mesh[0]: + vertices.InsertNextPoint(v[0], v[1], ZLayers.geo) + + for idx, p in enumerate(mesh[1]): + poly = vtkPolygon() + poly.GetPointIds().SetNumberOfIds(len(p)) + for idx, idx_p in enumerate(p): + poly.GetPointIds().SetId(idx, idx_p) + polygons.InsertNextCell(poly) + + poly_data = vtkPolyData() + poly_data.SetPoints(vertices) + poly_data.SetPolys(polygons) + + mapper = vtkPolyDataMapper() + mapper.SetInputData(poly_data) actor = vtkActor() - actor.SetMapper(triangle_mapper) + actor.SetMapper(mapper) actor.GetProperty().SetColor(Colors.c) actor.GetProperty().SetEdgeColor(Colors.a) self.actor = actor @@ -83,6 +79,7 @@ def __init__( geo: Geometry, renderer: vtkRenderer, interactor_style: vtkInteractorStyleUser, + move_controller=None, ): QObject.__init__(self) self.geo = geo @@ -94,6 +91,7 @@ def __init__( ) self.picker.InitializePickList() self.picker.AddPickList(self.geo.actor) + self.move_controller = move_controller def on_mouse_move(self, obj, evt): interactor = obj.GetInteractor() @@ -102,5 +100,8 @@ def on_mouse_move(self, obj, evt): cell_id = self.picker.GetCellId() x, y, _ = self.picker.GetPickPosition() cell_text = str(f"Nav ID: {cell_id}" if cell_id != -1 else "") - text = f"x: {x:.2f} y: {y:.2f} {cell_text}" + path_text = "" + if self.move_controller: + path_text = str(f"Path length: {self.move_controller.dist}") + text = f"x: {x:.2f} y: {y:.2f} {cell_text} {path_text}" self.hovered.emit(text) diff --git a/python_modules/jupedsim_visualizer/jupedsim_visualizer/geometry_widget.py b/python_modules/jupedsim_visualizer/jupedsim_visualizer/geometry_widget.py index 461cafe53a..1fed34dfc8 100644 --- a/python_modules/jupedsim_visualizer/jupedsim_visualizer/geometry_widget.py +++ b/python_modules/jupedsim_visualizer/jupedsim_visualizer/geometry_widget.py @@ -47,7 +47,7 @@ def __init__( self.move_controller = MoveController(style, cam) self.move_controller.set_navi(self.navi) - self.hover_info = HoverInfo(geo, self.ren, style) + self.hover_info = HoverInfo(geo, self.ren, style, self.move_controller) self.hover_info.hovered.connect(self.on_hover_triangle) self.grid = Grid(self.ren, cam) diff --git a/python_modules/jupedsim_visualizer/jupedsim_visualizer/main_window.py b/python_modules/jupedsim_visualizer/jupedsim_visualizer/main_window.py index 14c3d92bb5..f13f9e2275 100644 --- a/python_modules/jupedsim_visualizer/jupedsim_visualizer/main_window.py +++ b/python_modules/jupedsim_visualizer/jupedsim_visualizer/main_window.py @@ -130,7 +130,7 @@ def _open_wkt(self): polygon = shapely.from_wkt(Path(file).read_text(encoding="UTF-8")) navi = jps.RoutingEngine(polygon) xmin, ymin, xmax, ymax = polygon.bounds - info_text = f"Dimensions: {math.ceil(xmax - xmin)}m x {math.ceil(ymax - ymin)}m Triangles: {len(navi.mesh())}" + info_text = f"Dimensions: {math.ceil(xmax - xmin)}m x {math.ceil(ymax - ymin)}m Polygons: {len(navi.mesh()[1])}" name_text = f"Geometry: {file}" self.setUpdatesEnabled(False) geo = Geometry(navi) diff --git a/python_modules/jupedsim_visualizer/jupedsim_visualizer/move_controller.py b/python_modules/jupedsim_visualizer/jupedsim_visualizer/move_controller.py index 9af5c16a83..8508f76cd4 100644 --- a/python_modules/jupedsim_visualizer/jupedsim_visualizer/move_controller.py +++ b/python_modules/jupedsim_visualizer/jupedsim_visualizer/move_controller.py @@ -1,5 +1,7 @@ # Copyright © 2012-2024 Forschungszentrum Jülich GmbH # SPDX-License-Identifier: LGPL-3.0-or-later +import math + from jupedsim_visualizer.config import ZLayers from vtkmodules.vtkCommonCore import vtkCommand, vtkPoints from vtkmodules.vtkCommonDataModel import ( @@ -24,6 +26,7 @@ def __init__( self.navi = None self.actor = None self.interactor_style = interactor_style + self.dist = 0 interactor_style.AddObserver(vtkCommand.CharEvent, self._on_char) interactor_style.AddObserver( @@ -107,6 +110,7 @@ def _on_lmb_released(self, obj, evt): self.lmb_pressed = False self.route_from = None self.route_to = None + self.dist = 0 def _render_path(self): if not self.navi: @@ -129,6 +133,11 @@ def _render_path(self): return points = self.navi.compute_waypoints(self.route_from, self.route_to) + + self.dist = 0 + for a, b in zip(points[:-1], points[1:]): + self.dist += math.sqrt((a[0] - b[0]) ** 2 + (a[1] - b[1]) ** 2) + vtk_points = vtkPoints() polyline = vtkPolyLine() polyline.GetPointIds().SetNumberOfIds(len(points)) diff --git a/single_file.wkt b/single_file.wkt new file mode 100644 index 0000000000..add40e669f --- /dev/null +++ b/single_file.wkt @@ -0,0 +1 @@ +POLYGON ((-2.0499011431493015 1.6701321463134422, -2.0149056298544084 1.2723026306935552, -1.9034405478119916 0.888807461317976, -1.7197362126397642 0.5342010221659821, -1.470764559439563 0.22194131398722, -1.1659745443652068 -0.0361208028763382, -0.8169335384468577 -0.2301913715791528, -0.4368883234703733 -0.3529050383917971, 0 -0.4, 0.2 -0.4, 0.4 -0.4, 0.6000000000000001 -0.4, 1 -0.4, 1.2000000000000002 -0.4, 1.6 -0.4, 2 -0.4, 2.2 -0.4, 2.499682879492163 -0.3902516383127148, 2.8914702866892976 -0.312820139483921, 3.260810251644002 -0.1608958170849557, 3.593685607783888 0.0597555067811642, 3.8774630910227676 0.3407596872762841, 4.101372796585945 0.6714520718328962, 4.256916917742868 1.039282244361806, 4.338192254021095 1.4302903378355702, 4.342114249090583 1.8296368382632087, 4.268534055646948 2.222165772969842, 4.120244184454776 2.5929799090959285, 3.902872523158865 2.9280061324196893, 3.6246687470546437 3.2145295492820454, 3.296191227942463 3.4416760414121987, 2.9299063234807603 3.6008249597641893, 2.5397152547827746 3.685936294834499, 2.2 3.6999999999999997, 1.8000000000000003 3.6999999999999997, 1.4000000000000004 3.6999999999999997, 1.2000000000000002 3.6999999999999997, 0.8000000000000003 3.6999999999999997, 0.4000000000000004 3.6999999999999997, 0.2000000000000002 3.6999999999999997, 0.0000000000000001 3.6999999999999997, -0.3974666556359864 3.6610992659880175, -0.7798486823456046 3.5458734221049206, -1.1326339420683729 3.3586955121596875, -1.4424335513390976 3.1066693001403163, -1.6974900153311872 2.7993596686202826, -1.8881234475433801 2.448429612950885, -2.0070989402290635 2.06719760801252, -2.0499011431493015 1.6701321463134422)) diff --git a/third-party/CMakeLists.txt b/third-party/CMakeLists.txt index cb4c7c2bf5..c7489bf901 100644 --- a/third-party/CMakeLists.txt +++ b/third-party/CMakeLists.txt @@ -40,11 +40,6 @@ find_package(CGAL 5.5 ${CMAKE_CURRENT_SOURCE_DIR}/cgal-5.6.0 ) -################################################################################ -# poly2tri -################################################################################ -add_subdirectory(poly2tri) - ################################################################################ # Python Interpreter / CPython ################################################################################ diff --git a/third-party/poly2tri/AUTHORS b/third-party/poly2tri/AUTHORS deleted file mode 100644 index 1736f14bb2..0000000000 --- a/third-party/poly2tri/AUTHORS +++ /dev/null @@ -1,8 +0,0 @@ -Primary Contributors: - - Mason Green (C++, Python) - Thomas �hl�n (Java) - -Other Contributors: - - diff --git a/third-party/poly2tri/CMakeLists.txt b/third-party/poly2tri/CMakeLists.txt deleted file mode 100644 index fada9c1149..0000000000 --- a/third-party/poly2tri/CMakeLists.txt +++ /dev/null @@ -1,31 +0,0 @@ -cmake_minimum_required(VERSION 3.12) - -project(poly2tri LANGUAGES CXX) -set(CMAKE_CXX_STANDARD 14) - -option(P2T_BUILD_TESTS "Build tests" OFF) -option(P2T_BUILD_TESTBED "Build the testbed application" OFF) - -file(GLOB SOURCES poly2tri/common/*.cc poly2tri/sweep/*.cc) -file(GLOB HEADERS poly2tri/*.h poly2tri/common/*.h poly2tri/sweep/*.h) -add_library(poly2tri ${SOURCES} ${HEADERS}) -target_include_directories(poly2tri INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}) -target_compile_options(poly2tri PRIVATE - $<$,$,$>:-fPIC> -) - -get_target_property(poly2tri_target_type poly2tri TYPE) -if(poly2tri_target_type STREQUAL SHARED_LIBRARY) - target_compile_definitions(poly2tri PRIVATE P2T_SHARED_EXPORTS) -else() - target_compile_definitions(poly2tri PUBLIC P2T_STATIC_EXPORTS) -endif() - -if(P2T_BUILD_TESTS) - enable_testing() - add_subdirectory(unittest) -endif() - -if(P2T_BUILD_TESTBED) - add_subdirectory(testbed) -endif() diff --git a/third-party/poly2tri/LICENSE b/third-party/poly2tri/LICENSE deleted file mode 100644 index dddc3ccc3d..0000000000 --- a/third-party/poly2tri/LICENSE +++ /dev/null @@ -1,26 +0,0 @@ -Copyright (c) 2009-2018, Poly2Tri Contributors -All rights reserved. - -Redistribution and use in source and binary forms, with or without modification, -are permitted provided that the following conditions are met: - -* Redistributions of source code must retain the above copyright notice, - this list of conditions and the following disclaimer. -* Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. -* Neither the name of Poly2Tri nor the names of its contributors may be - used to endorse or promote products derived from this software without specific - prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR -CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/third-party/poly2tri/README.md b/third-party/poly2tri/README.md deleted file mode 100644 index 88a0618ea2..0000000000 --- a/third-party/poly2tri/README.md +++ /dev/null @@ -1,101 +0,0 @@ -Since there are no Input validation of the data given for triangulation you need -to think about this. Poly2Tri does not support repeat points within epsilon. - -* If you have a cyclic function that generates random points make sure you don't - add the same coordinate twice. -* If you are given input and aren't sure same point exist twice you need to - check for this yourself. -* Only simple polygons are supported. You may add holes or interior Steiner points -* Interior holes must not touch other holes, nor touch the polyline boundary -* Use the library in this order: - 1. Initialize CDT with a simple polyline (this defines the constrained edges) - 2. Add holes if necessary (also simple polylines) - 3. Add Steiner points - 4. Triangulate - -Make sure you understand the preceding notice before posting an issue. If you have -an issue not covered by the above, include your data-set with the problem. -The only easy day was yesterday; have a nice day. - -TESTBED INSTALLATION GUIDE -========================== - -Dependencies ------------- - -Core poly2tri lib: - -* Standard Template Library (STL) - -Unit tests: -* Boost (filesystem, test framework) - -Testbed: - -* OpenGL -* [GLFW](http://glfw.sf.net) - -Build the library ------------------ - -With the ninja build system installed: - -``` -mkdir build && cd build -cmake -GNinja .. -cmake --build . -``` - -Build and run with unit tests ----------------------------- - -With the ninja build system: - -``` -mkdir build && cd build -cmake -GNinja -DP2T_BUILD_TESTS=ON .. -cmake --build . -ctest --output-on-failure -``` - -Build with the testbed ------------------ - -``` -mkdir build && cd build -cmake -GNinja -DP2T_BUILD_TESTBED=ON .. -cmake --build . -``` - -Running the Examples --------------------- - -Load data points from a file: -``` -build/testbed/p2t -``` -Load data points from a file and automatically fit the geometry to the window: -``` -build/testbed/p2t -``` -Random distribution of points inside a constrained box: -``` -build/testbed/p2t random -``` -Examples: -``` -build/testbed/p2t testbed/data/dude.dat 350 500 3 - -build/testbed/p2t testbed/data/nazca_monkey.dat - -build/testbed/p2t random 10 100 5.0 -build/testbed/p2t random 1000 20000 0.025 -``` - -References -========== - -- Domiter V. and Zalik B. (2008) Sweep‐line algorithm for constrained Delaunay triangulation -- FlipScan by library author Thomas Åhlén - -![FlipScan](doc/FlipScan.png) diff --git a/third-party/poly2tri/doc/Doxyfile b/third-party/poly2tri/doc/Doxyfile deleted file mode 100644 index 7201123fdf..0000000000 --- a/third-party/poly2tri/doc/Doxyfile +++ /dev/null @@ -1,2537 +0,0 @@ -# Doxyfile 1.8.16 - -# This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project. -# -# All text after a double hash (##) is considered a comment and is placed in -# front of the TAG it is preceding. -# -# All text after a single hash (#) is considered a comment and will be ignored. -# The format is: -# TAG = value [value, ...] -# For lists, items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (\" \"). - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- - -# This tag specifies the encoding used for all characters in the configuration -# file that follow. The default is UTF-8 which is also the encoding used for all -# text before the first occurrence of this tag. Doxygen uses libiconv (or the -# iconv built into libc) for the transcoding. See -# https://www.gnu.org/software/libiconv/ for the list of possible encodings. -# The default value is: UTF-8. - -DOXYFILE_ENCODING = UTF-8 - -# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by -# double-quotes, unless you are using Doxywizard) that should identify the -# project for which the documentation is generated. This name is used in the -# title of most generated pages and in a few other places. -# The default value is: My Project. - -PROJECT_NAME = "poly2tri" - -# The PROJECT_NUMBER tag can be used to enter a project or revision number. This -# could be handy for archiving the generated documentation or if some version -# control system is used. - -PROJECT_NUMBER = - -# Using the PROJECT_BRIEF tag one can provide an optional one line description -# for a project that appears at the top of each page and should give viewer a -# quick idea about the purpose of the project. Keep the description short. - -PROJECT_BRIEF = - -# With the PROJECT_LOGO tag one can specify a logo or an icon that is included -# in the documentation. The maximum height of the logo should not exceed 55 -# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy -# the logo to the output directory. - -PROJECT_LOGO = - -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path -# into which the generated documentation will be written. If a relative path is -# entered, it will be relative to the location where doxygen was started. If -# left blank the current directory will be used. - -OUTPUT_DIRECTORY = - -# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- -# directories (in 2 levels) under the output directory of each output format and -# will distribute the generated files over these directories. Enabling this -# option can be useful when feeding doxygen a huge amount of source files, where -# putting all generated files in the same directory would otherwise causes -# performance problems for the file system. -# The default value is: NO. - -CREATE_SUBDIRS = NO - -# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII -# characters to appear in the names of generated files. If set to NO, non-ASCII -# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode -# U+3044. -# The default value is: NO. - -ALLOW_UNICODE_NAMES = YES - -# The OUTPUT_LANGUAGE tag is used to specify the language in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all constant output in the proper language. -# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, -# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), -# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, -# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), -# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, -# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, -# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, -# Ukrainian and Vietnamese. -# The default value is: English. - -OUTPUT_LANGUAGE = English - -# The OUTPUT_TEXT_DIRECTION tag is used to specify the direction in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all generated output in the proper direction. -# Possible values are: None, LTR, RTL and Context. -# The default value is: None. - -OUTPUT_TEXT_DIRECTION = None - -# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member -# descriptions after the members that are listed in the file and class -# documentation (similar to Javadoc). Set to NO to disable this. -# The default value is: YES. - -BRIEF_MEMBER_DESC = YES - -# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief -# description of a member or function before the detailed description -# -# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the -# brief descriptions will be completely suppressed. -# The default value is: YES. - -REPEAT_BRIEF = YES - -# This tag implements a quasi-intelligent brief description abbreviator that is -# used to form the text in various listings. Each string in this list, if found -# as the leading text of the brief description, will be stripped from the text -# and the result, after processing the whole list, is used as the annotated -# text. Otherwise, the brief description is used as-is. If left blank, the -# following values are used ($name is automatically replaced with the name of -# the entity):The $name class, The $name widget, The $name file, is, provides, -# specifies, contains, represents, a, an and the. - -ABBREVIATE_BRIEF = "The $name class" \ - "The $name widget" \ - "The $name file" \ - is \ - provides \ - specifies \ - contains \ - represents \ - a \ - an \ - the - -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# doxygen will generate a detailed section even if there is only a brief -# description. -# The default value is: NO. - -ALWAYS_DETAILED_SEC = NO - -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all -# inherited members of a class in the documentation of that class as if those -# members were ordinary class members. Constructors, destructors and assignment -# operators of the base classes will not be shown. -# The default value is: NO. - -INLINE_INHERITED_MEMB = NO - -# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path -# before files name in the file list and in the header files. If set to NO the -# shortest path that makes the file name unique will be used -# The default value is: YES. - -FULL_PATH_NAMES = YES - -# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. -# Stripping is only done if one of the specified strings matches the left-hand -# part of the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the path to -# strip. -# -# Note that you can specify absolute paths here, but also relative paths, which -# will be relative from the directory where doxygen is started. -# This tag requires that the tag FULL_PATH_NAMES is set to YES. - -STRIP_FROM_PATH = .. - -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the -# path mentioned in the documentation of a class, which tells the reader which -# header file to include in order to use a class. If left blank only the name of -# the header file containing the class definition is used. Otherwise one should -# specify the list of include paths that are normally passed to the compiler -# using the -I flag. - -STRIP_FROM_INC_PATH = - -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but -# less readable) file names. This can be useful is your file systems doesn't -# support long names like on DOS, Mac, or CD-ROM. -# The default value is: NO. - -SHORT_NAMES = NO - -# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the -# first line (until the first dot) of a Javadoc-style comment as the brief -# description. If set to NO, the Javadoc-style will behave just like regular Qt- -# style comments (thus requiring an explicit @brief command for a brief -# description.) -# The default value is: NO. - -JAVADOC_AUTOBRIEF = YES - -# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line -# such as -# /*************** -# as being the beginning of a Javadoc-style comment "banner". If set to NO, the -# Javadoc-style will behave just like regular comments and it will not be -# interpreted by doxygen. -# The default value is: NO. - -JAVADOC_BANNER = NO - -# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first -# line (until the first dot) of a Qt-style comment as the brief description. If -# set to NO, the Qt-style will behave just like regular Qt-style comments (thus -# requiring an explicit \brief command for a brief description.) -# The default value is: NO. - -QT_AUTOBRIEF = NO - -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a -# multi-line C++ special comment block (i.e. a block of //! or /// comments) as -# a brief description. This used to be the default behavior. The new default is -# to treat a multi-line C++ comment block as a detailed description. Set this -# tag to YES if you prefer the old behavior instead. -# -# Note that setting this tag to YES also means that rational rose comments are -# not recognized any more. -# The default value is: NO. - -MULTILINE_CPP_IS_BRIEF = NO - -# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the -# documentation from any documented member that it re-implements. -# The default value is: YES. - -INHERIT_DOCS = YES - -# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new -# page for each member. If set to NO, the documentation of a member will be part -# of the file/class/namespace that contains it. -# The default value is: NO. - -SEPARATE_MEMBER_PAGES = NO - -# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen -# uses this value to replace tabs by spaces in code fragments. -# Minimum value: 1, maximum value: 16, default value: 4. - -TAB_SIZE = 4 - -# This tag can be used to specify a number of aliases that act as commands in -# the documentation. An alias has the form: -# name=value -# For example adding -# "sideeffect=@par Side Effects:\n" -# will allow you to put the command \sideeffect (or @sideeffect) in the -# documentation, which will result in a user-defined paragraph with heading -# "Side Effects:". You can put \n's in the value part of an alias to insert -# newlines (in the resulting output). You can put ^^ in the value part of an -# alias to insert a newline as if a physical newline was in the original file. -# When you need a literal { or } or , in the value part of an alias you have to -# escape them by means of a backslash (\), this can lead to conflicts with the -# commands \{ and \} for these it is advised to use the version @{ and @} or use -# a double escape (\\{ and \\}) - -ALIASES = - -# This tag can be used to specify a number of word-keyword mappings (TCL only). -# A mapping has the form "name=value". For example adding "class=itcl::class" -# will allow you to use the command class in the itcl::class meaning. - -TCL_SUBST = - -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources -# only. Doxygen will then generate output that is more tailored for C. For -# instance, some of the names that are used will be different. The list of all -# members will be omitted, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_FOR_C = NO - -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or -# Python sources only. Doxygen will then generate output that is more tailored -# for that language. For instance, namespaces will be presented as packages, -# qualified scopes will look different, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_JAVA = NO - -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources. Doxygen will then generate output that is tailored for Fortran. -# The default value is: NO. - -OPTIMIZE_FOR_FORTRAN = NO - -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for VHDL. -# The default value is: NO. - -OPTIMIZE_OUTPUT_VHDL = NO - -# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice -# sources only. Doxygen will then generate output that is more tailored for that -# language. For instance, namespaces will be presented as modules, types will be -# separated into more groups, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_SLICE = NO - -# Doxygen selects the parser to use depending on the extension of the files it -# parses. With this tag you can assign which parser to use for a given -# extension. Doxygen has a built-in mapping, but you can override or extend it -# using this tag. The format is ext=language, where ext is a file extension, and -# language is one of the parsers supported by doxygen: IDL, Java, Javascript, -# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, -# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: -# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser -# tries to guess whether the code is fixed or free formatted code, this is the -# default for Fortran type files), VHDL, tcl. For instance to make doxygen treat -# .inc files as Fortran files (default is PHP), and .f files as C (default is -# Fortran), use: inc=Fortran f=C. -# -# Note: For files without extension you can use no_extension as a placeholder. -# -# Note that for custom extensions you also need to set FILE_PATTERNS otherwise -# the files are not read by doxygen. - -EXTENSION_MAPPING = - -# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments -# according to the Markdown format, which allows for more readable -# documentation. See https://daringfireball.net/projects/markdown/ for details. -# The output of markdown processing is further processed by doxygen, so you can -# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in -# case of backward compatibilities issues. -# The default value is: YES. - -MARKDOWN_SUPPORT = YES - -# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up -# to that level are automatically included in the table of contents, even if -# they do not have an id attribute. -# Note: This feature currently applies only to Markdown headings. -# Minimum value: 0, maximum value: 99, default value: 5. -# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. - -TOC_INCLUDE_HEADINGS = 0 - -# When enabled doxygen tries to link words that correspond to documented -# classes, or namespaces to their corresponding documentation. Such a link can -# be prevented in individual cases by putting a % sign in front of the word or -# globally by setting AUTOLINK_SUPPORT to NO. -# The default value is: YES. - -AUTOLINK_SUPPORT = YES - -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should set this -# tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); -# versus func(std::string) {}). This also make the inheritance and collaboration -# diagrams that involve STL classes more complete and accurate. -# The default value is: NO. - -BUILTIN_STL_SUPPORT = NO - -# If you use Microsoft's C++/CLI language, you should set this option to YES to -# enable parsing support. -# The default value is: NO. - -CPP_CLI_SUPPORT = NO - -# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: -# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen -# will parse them like normal C++ but will assume all classes use public instead -# of private inheritance when no explicit protection keyword is present. -# The default value is: NO. - -SIP_SUPPORT = NO - -# For Microsoft's IDL there are propget and propput attributes to indicate -# getter and setter methods for a property. Setting this option to YES will make -# doxygen to replace the get and set methods by a property in the documentation. -# This will only work if the methods are indeed getting or setting a simple -# type. If this is not the case, or you want to show the methods anyway, you -# should set this option to NO. -# The default value is: YES. - -IDL_PROPERTY_SUPPORT = YES - -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. -# The default value is: NO. - -DISTRIBUTE_GROUP_DOC = NO - -# If one adds a struct or class to a group and this option is enabled, then also -# any nested class or struct is added to the same group. By default this option -# is disabled and one has to add nested compounds explicitly via \ingroup. -# The default value is: NO. - -GROUP_NESTED_COMPOUNDS = NO - -# Set the SUBGROUPING tag to YES to allow class member groups of the same type -# (for instance a group of public functions) to be put as a subgroup of that -# type (e.g. under the Public Functions section). Set it to NO to prevent -# subgrouping. Alternatively, this can be done per class using the -# \nosubgrouping command. -# The default value is: YES. - -SUBGROUPING = YES - -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions -# are shown inside the group in which they are included (e.g. using \ingroup) -# instead of on a separate page (for HTML and Man pages) or section (for LaTeX -# and RTF). -# -# Note that this feature does not work in combination with -# SEPARATE_MEMBER_PAGES. -# The default value is: NO. - -INLINE_GROUPED_CLASSES = NO - -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions -# with only public data fields or simple typedef fields will be shown inline in -# the documentation of the scope in which they are defined (i.e. file, -# namespace, or group documentation), provided this scope is documented. If set -# to NO, structs, classes, and unions are shown on a separate page (for HTML and -# Man pages) or section (for LaTeX and RTF). -# The default value is: NO. - -INLINE_SIMPLE_STRUCTS = NO - -# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or -# enum is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically be -# useful for C code in case the coding convention dictates that all compound -# types are typedef'ed and only the typedef is referenced, never the tag name. -# The default value is: NO. - -TYPEDEF_HIDES_STRUCT = NO - -# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This -# cache is used to resolve symbols given their name and scope. Since this can be -# an expensive process and often the same symbol appears multiple times in the -# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small -# doxygen will become slower. If the cache is too large, memory is wasted. The -# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range -# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 -# symbols. At the end of a run doxygen will report the cache usage and suggest -# the optimal cache size from a speed point of view. -# Minimum value: 0, maximum value: 9, default value: 0. - -LOOKUP_CACHE_SIZE = 0 - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in -# documentation are documented, even if no documentation was available. Private -# class members and static file members will be hidden unless the -# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. -# Note: This will also disable the warnings about undocumented members that are -# normally produced when WARNINGS is set to YES. -# The default value is: NO. - -EXTRACT_ALL = NO - -# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will -# be included in the documentation. -# The default value is: NO. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual -# methods of a class will be included in the documentation. -# The default value is: NO. - -EXTRACT_PRIV_VIRTUAL = YES - -# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal -# scope will be included in the documentation. -# The default value is: NO. - -EXTRACT_PACKAGE = NO - -# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be -# included in the documentation. -# The default value is: NO. - -EXTRACT_STATIC = NO - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined -# locally in source files will be included in the documentation. If set to NO, -# only classes defined in header files are included. Does not have any effect -# for Java sources. -# The default value is: YES. - -EXTRACT_LOCAL_CLASSES = NO - -# This flag is only useful for Objective-C code. If set to YES, local methods, -# which are defined in the implementation section but not in the interface are -# included in the documentation. If set to NO, only methods in the interface are -# included. -# The default value is: NO. - -EXTRACT_LOCAL_METHODS = NO - -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base name of -# the file that contains the anonymous namespace. By default anonymous namespace -# are hidden. -# The default value is: NO. - -EXTRACT_ANON_NSPACES = NO - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all -# undocumented members inside documented classes or files. If set to NO these -# members will be included in the various overviews, but no documentation -# section is generated. This option has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. If set -# to NO, these classes will be included in the various overviews. This option -# has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend -# (class|struct|union) declarations. If set to NO, these declarations will be -# included in the documentation. -# The default value is: NO. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any -# documentation blocks found inside the body of a function. If set to NO, these -# blocks will be appended to the function's detailed documentation block. -# The default value is: NO. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation that is typed after a -# \internal command is included. If the tag is set to NO then the documentation -# will be excluded. Set it to YES to include the internal documentation. -# The default value is: NO. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file -# names in lower-case letters. If set to YES, upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# (including Cygwin) ands Mac users are advised to set this option to NO. -# The default value is: system dependent. - -CASE_SENSE_NAMES = YES - -# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with -# their full class and namespace scopes in the documentation. If set to YES, the -# scope will be hidden. -# The default value is: NO. - -HIDE_SCOPE_NAMES = YES - -# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will -# append additional text to a page's title, such as Class Reference. If set to -# YES the compound reference will be hidden. -# The default value is: NO. - -HIDE_COMPOUND_REFERENCE= NO - -# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of -# the files that are included by a file in the documentation of that file. -# The default value is: YES. - -SHOW_INCLUDE_FILES = YES - -# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each -# grouped member an include statement to the documentation, telling the reader -# which file to include in order to use the member. -# The default value is: NO. - -SHOW_GROUPED_MEMB_INC = NO - -# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include -# files with double quotes in the documentation rather than with sharp brackets. -# The default value is: NO. - -FORCE_LOCAL_INCLUDES = NO - -# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the -# documentation for inline members. -# The default value is: YES. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the -# (detailed) documentation of file and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. -# The default value is: YES. - -SORT_MEMBER_DOCS = NO - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief -# descriptions of file, namespace and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. Note that -# this will also influence the order of the classes in the class list. -# The default value is: NO. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the -# (brief and detailed) documentation of class members so that constructors and -# destructors are listed first. If set to NO the constructors will appear in the -# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. -# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief -# member documentation. -# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting -# detailed member documentation. -# The default value is: NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy -# of group names into alphabetical order. If set to NO the group names will -# appear in their defined order. -# The default value is: NO. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by -# fully-qualified names, including namespaces. If set to NO, the class list will -# be sorted only by class name, not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the alphabetical -# list. -# The default value is: NO. - -SORT_BY_SCOPE_NAME = NO - -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper -# type resolution of all parameters of a function it will reject a match between -# the prototype and the implementation of a member function even if there is -# only one candidate or it is obvious which candidate to choose by doing a -# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still -# accept a match between prototype and implementation in such cases. -# The default value is: NO. - -STRICT_PROTO_MATCHING = NO - -# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo -# list. This list is created by putting \todo commands in the documentation. -# The default value is: YES. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test -# list. This list is created by putting \test commands in the documentation. -# The default value is: YES. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug -# list. This list is created by putting \bug commands in the documentation. -# The default value is: YES. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) -# the deprecated list. This list is created by putting \deprecated commands in -# the documentation. -# The default value is: YES. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional documentation -# sections, marked by \if ... \endif and \cond -# ... \endcond blocks. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the -# initial value of a variable or macro / define can have for it to appear in the -# documentation. If the initializer consists of more lines than specified here -# it will be hidden. Use a value of 0 to hide initializers completely. The -# appearance of the value of individual variables and macros / defines can be -# controlled using \showinitializer or \hideinitializer command in the -# documentation regardless of this setting. -# Minimum value: 0, maximum value: 10000, default value: 30. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at -# the bottom of the documentation of classes and structs. If set to YES, the -# list will mention the files that were used to generate the documentation. -# The default value is: YES. - -SHOW_USED_FILES = YES - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This -# will remove the Files entry from the Quick Index and from the Folder Tree View -# (if specified). -# The default value is: YES. - -SHOW_FILES = YES - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces -# page. This will remove the Namespaces entry from the Quick Index and from the -# Folder Tree View (if specified). -# The default value is: YES. - -SHOW_NAMESPACES = YES - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command command input-file, where command is the value of the -# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided -# by doxygen. Whatever the program writes to standard output is used as the file -# version. For an example see the documentation. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. To create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. You can -# optionally specify a file name after the option, if omitted DoxygenLayout.xml -# will be used as the name of the layout file. -# -# Note that if you run doxygen from a directory containing a file called -# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE -# tag is left empty. - -LAYOUT_FILE = - -# The CITE_BIB_FILES tag can be used to specify one or more bib files containing -# the reference definitions. This must be a list of .bib files. The .bib -# extension is automatically appended if omitted. This requires the bibtex tool -# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. -# For LaTeX the style of the bibliography can be controlled using -# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the -# search path. See also \cite for info how to create references. - -CITE_BIB_FILES = - -#--------------------------------------------------------------------------- -# Configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated to -# standard output by doxygen. If QUIET is set to YES this implies that the -# messages are off. -# The default value is: NO. - -QUIET = YES - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES -# this implies that the warnings are on. -# -# Tip: Turn warnings on while writing the documentation. -# The default value is: YES. - -WARNINGS = YES - -# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate -# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag -# will automatically be disabled. -# The default value is: YES. - -WARN_IF_UNDOCUMENTED = YES - -# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some parameters -# in a documented function, or documenting parameters that don't exist or using -# markup commands wrongly. -# The default value is: YES. - -WARN_IF_DOC_ERROR = YES - -# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that -# are documented, but have no documentation for their parameters or return -# value. If set to NO, doxygen will only warn about wrong or incomplete -# parameter documentation, but not about the absence of documentation. If -# EXTRACT_ALL is set to YES then this flag will automatically be disabled. -# The default value is: NO. - -WARN_NO_PARAMDOC = NO - -# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when -# a warning is encountered. -# The default value is: NO. - -WARN_AS_ERROR = NO - -# The WARN_FORMAT tag determines the format of the warning messages that doxygen -# can produce. The string should contain the $file, $line, and $text tags, which -# will be replaced by the file and line number from which the warning originated -# and the warning text. Optionally the format may contain $version, which will -# be replaced by the version of the file (if it could be obtained via -# FILE_VERSION_FILTER) -# The default value is: $file:$line: $text. - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning and error -# messages should be written. If left blank the output is written to standard -# error (stderr). - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# Configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag is used to specify the files and/or directories that contain -# documented source files. You may enter file names like myfile.cpp or -# directories like /usr/src/myproject. Separate the files or directories with -# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING -# Note: If this tag is empty the current directory is searched. - -INPUT = ../poly2tri - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses -# libiconv (or the iconv built into libc) for the transcoding. See the libiconv -# documentation (see: https://www.gnu.org/software/libiconv/) for the list of -# possible encodings. -# The default value is: UTF-8. - -INPUT_ENCODING = UTF-8 - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and -# *.h) to filter out the source-files in the directories. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# read by doxygen. -# -# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, -# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, -# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, -# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, -# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf, *.qsf and *.ice. - -FILE_PATTERNS = *.c \ - *.cc \ - *.cxx \ - *.cpp \ - *.c++ \ - *.java \ - *.ii \ - *.ixx \ - *.ipp \ - *.i++ \ - *.inl \ - *.idl \ - *.ddl \ - *.odl \ - *.h \ - *.hh \ - *.hxx \ - *.hpp \ - *.h++ \ - *.cs \ - *.d \ - *.php \ - *.php4 \ - *.php5 \ - *.phtml \ - *.inc \ - *.m \ - *.markdown \ - *.md \ - *.mm \ - *.dox \ - *.py \ - *.pyw \ - *.f90 \ - *.f95 \ - *.f03 \ - *.f08 \ - *.f \ - *.for \ - *.tcl \ - *.vhd \ - *.vhdl \ - *.ucf \ - *.qsf - -# The RECURSIVE tag can be used to specify whether or not subdirectories should -# be searched for input files as well. -# The default value is: NO. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should be -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# -# Note that relative paths are relative to the directory from which doxygen is -# run. - -EXCLUDE = - -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded -# from the input. -# The default value is: NO. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories for example use the pattern */test/* - -EXCLUDE_PATTERNS = *.cpp - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories use the pattern */test/* - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or directories -# that contain example code fragments that are included (see the \include -# command). - -EXAMPLE_PATH = - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and -# *.h) to filter out the source-files in the directories. If left blank all -# files are included. - -EXAMPLE_PATTERNS = * - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude commands -# irrespective of the value of the RECURSIVE tag. -# The default value is: NO. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or directories -# that contain images that are to be included in the documentation (see the -# \image command). - -IMAGE_PATH = - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command: -# -# -# -# where is the value of the INPUT_FILTER tag, and is the -# name of an input file. Doxygen will then use the output that the filter -# program writes to standard output. If FILTER_PATTERNS is specified, this tag -# will be ignored. -# -# Note that the filter must not add or remove lines; it is applied before the -# code is scanned, but not when the output code is generated. If lines are added -# or removed, the anchors will not be placed correctly. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: pattern=filter -# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how -# filters are used. If the FILTER_PATTERNS tag is empty or if none of the -# patterns match the file name, INPUT_FILTER is applied. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will also be used to filter the input files that are used for -# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). -# The default value is: NO. - -FILTER_SOURCE_FILES = NO - -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and -# it is also possible to disable source filtering for a specific pattern using -# *.ext= (so without naming a filter). -# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. - -FILTER_SOURCE_PATTERNS = - -# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that -# is part of the input, its contents will be placed on the main page -# (index.html). This can be useful if you have a project on for instance GitHub -# and want to reuse the introduction page also for the doxygen output. - -USE_MDFILE_AS_MAINPAGE = - -#--------------------------------------------------------------------------- -# Configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will be -# generated. Documented entities will be cross-referenced with these sources. -# -# Note: To get rid of all source code in the generated output, make sure that -# also VERBATIM_HEADERS is set to NO. -# The default value is: NO. - -SOURCE_BROWSER = YES - -# Setting the INLINE_SOURCES tag to YES will include the body of functions, -# classes and enums directly into the documentation. -# The default value is: NO. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any -# special comment blocks from generated source code fragments. Normal C, C++ and -# Fortran comments will always remain visible. -# The default value is: YES. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES then for each documented -# entity all documented functions referencing it will be listed. -# The default value is: NO. - -REFERENCED_BY_RELATION = NO - -# If the REFERENCES_RELATION tag is set to YES then for each documented function -# all documented entities called/used by that function will be listed. -# The default value is: NO. - -REFERENCES_RELATION = NO - -# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set -# to YES then the hyperlinks from functions in REFERENCES_RELATION and -# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will -# link to the documentation. -# The default value is: YES. - -REFERENCES_LINK_SOURCE = YES - -# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the -# source code will show a tooltip with additional information such as prototype, -# brief description and links to the definition and documentation. Since this -# will make the HTML file larger and loading of large files a bit slower, you -# can opt to disable this feature. -# The default value is: YES. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -SOURCE_TOOLTIPS = YES - -# If the USE_HTAGS tag is set to YES then the references to source code will -# point to the HTML generated by the htags(1) tool instead of doxygen built-in -# source browser. The htags tool is part of GNU's global source tagging system -# (see https://www.gnu.org/software/global/global.html). You will need version -# 4.8.6 or higher. -# -# To use it do the following: -# - Install the latest version of global -# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file -# - Make sure the INPUT points to the root of the source tree -# - Run doxygen as normal -# -# Doxygen will invoke htags (and that will in turn invoke gtags), so these -# tools must be available from the command line (i.e. in the search path). -# -# The result: instead of the source browser generated by doxygen, the links to -# source code will now point to the output of htags. -# The default value is: NO. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a -# verbatim copy of the header file for each class for which an include is -# specified. Set to NO to disable this. -# See also: Section \class. -# The default value is: YES. - -VERBATIM_HEADERS = YES - -#--------------------------------------------------------------------------- -# Configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all -# compounds will be generated. Enable this if the project contains a lot of -# classes, structs, unions or interfaces. -# The default value is: YES. - -ALPHABETICAL_INDEX = YES - -# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in -# which the alphabetical index list will be split. -# Minimum value: 1, maximum value: 20, default value: 5. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all classes will -# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag -# can be used to specify a prefix (or a list of prefixes) that should be ignored -# while generating the index headers. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output -# The default value is: YES. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of -# it. -# The default directory is: html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each -# generated HTML page (for example: .htm, .php, .asp). -# The default value is: .html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a user-defined HTML header file for -# each generated HTML page. If the tag is left blank doxygen will generate a -# standard header. -# -# To get valid HTML the header file that includes any scripts and style sheets -# that doxygen needs, which is dependent on the configuration options used (e.g. -# the setting GENERATE_TREEVIEW). It is highly recommended to start with a -# default header using -# doxygen -w html new_header.html new_footer.html new_stylesheet.css -# YourConfigFile -# and then modify the file new_header.html. See also section "Doxygen usage" -# for information on how to generate the default header that doxygen normally -# uses. -# Note: The header is subject to change so you typically have to regenerate the -# default header when upgrading to a newer version of doxygen. For a description -# of the possible markers and block names see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each -# generated HTML page. If the tag is left blank doxygen will generate a standard -# footer. See HTML_HEADER for more information on how to generate a default -# footer and what special commands can be used inside the footer. See also -# section "Doxygen usage" for information on how to generate the default footer -# that doxygen normally uses. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style -# sheet that is used by each HTML page. It can be used to fine-tune the look of -# the HTML output. If left blank doxygen will generate a default style sheet. -# See also section "Doxygen usage" for information on how to generate the style -# sheet that doxygen normally uses. -# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as -# it is more robust and this tag (HTML_STYLESHEET) will in the future become -# obsolete. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_STYLESHEET = - -# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined -# cascading style sheets that are included after the standard style sheets -# created by doxygen. Using this option one can overrule certain style aspects. -# This is preferred over using HTML_STYLESHEET since it does not replace the -# standard style sheet and is therefore more robust against future updates. -# Doxygen will copy the style sheet files to the output directory. -# Note: The order of the extra style sheet files is of importance (e.g. the last -# style sheet in the list overrules the setting of the previous ones in the -# list). For an example see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_STYLESHEET = - -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that the -# files will be copied as-is; there are no commands or markers available. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_FILES = - -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen -# will adjust the colors in the style sheet and background images according to -# this color. Hue is specified as an angle on a colorwheel, see -# https://en.wikipedia.org/wiki/Hue for more information. For instance the value -# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 -# purple, and 360 is red again. -# Minimum value: 0, maximum value: 359, default value: 220. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_HUE = 220 - -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors -# in the HTML output. For a value of 0 the output will use grayscales only. A -# value of 255 will produce the most vivid colors. -# Minimum value: 0, maximum value: 255, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_SAT = 100 - -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the -# luminance component of the colors in the HTML output. Values below 100 -# gradually make the output lighter, whereas values above 100 make the output -# darker. The value divided by 100 is the actual gamma applied, so 80 represents -# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not -# change the gamma. -# Minimum value: 40, maximum value: 240, default value: 80. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_GAMMA = 80 - -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting this -# to YES can help to show when doxygen was last run and thus if the -# documentation is up to date. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_TIMESTAMP = NO - -# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML -# documentation will contain a main index with vertical navigation menus that -# are dynamically created via Javascript. If disabled, the navigation index will -# consists of multiple levels of tabs that are statically embedded in every HTML -# page. Disable this option to support browsers that do not have Javascript, -# like the Qt help browser. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_MENUS = NO - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_SECTIONS = NO - -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries -# shown in the various tree structured indices initially; the user can expand -# and collapse entries dynamically later on. Doxygen will expand the tree to -# such a level that at most the specified number of entries are visible (unless -# a fully collapsed tree already exceeds this amount). So setting the number of -# entries 1 will produce a full collapsed tree by default. 0 is a special value -# representing an infinite number of entries and will result in a full expanded -# tree by default. -# Minimum value: 0, maximum value: 9999, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_INDEX_NUM_ENTRIES = 100 - -# If the GENERATE_DOCSET tag is set to YES, additional index files will be -# generated that can be used as input for Apple's Xcode 3 integrated development -# environment (see: https://developer.apple.com/xcode/), introduced with OSX -# 10.5 (Leopard). To create a documentation set, doxygen will generate a -# Makefile in the HTML output directory. Running make will produce the docset in -# that directory and running make install will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at -# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy -# genXcode/_index.html for more information. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_DOCSET = NO - -# This tag determines the name of the docset feed. A documentation feed provides -# an umbrella under which multiple documentation sets from a single provider -# (such as a company or product suite) can be grouped. -# The default value is: Doxygen generated docs. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_FEEDNAME = "Doxygen generated docs" - -# This tag specifies a string that should uniquely identify the documentation -# set bundle. This should be a reverse domain-name style string, e.g. -# com.mycompany.MyDocSet. Doxygen will append .docset to the name. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_BUNDLE_ID = org.doxygen.Project - -# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify -# the documentation publisher. This should be a reverse domain-name style -# string, e.g. com.mycompany.MyDocSet.documentation. -# The default value is: org.doxygen.Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_ID = org.doxygen.Publisher - -# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. -# The default value is: Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_NAME = Publisher - -# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three -# additional HTML index files: index.hhp, index.hhc, and index.hhk. The -# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop -# (see: https://www.microsoft.com/en-us/download/details.aspx?id=21138) on -# Windows. -# -# The HTML Help Workshop contains a compiler that can convert all HTML output -# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML -# files are now used as the Windows 98 help format, and will replace the old -# Windows help format (.hlp) on all Windows platforms in the future. Compressed -# HTML files also contain an index, a table of contents, and you can search for -# words in the documentation. The HTML workshop also contains a viewer for -# compressed HTML files. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_HTMLHELP = NO - -# The CHM_FILE tag can be used to specify the file name of the resulting .chm -# file. You can add a path in front of the file if the result should not be -# written to the html output directory. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_FILE = - -# The HHC_LOCATION tag can be used to specify the location (absolute path -# including file name) of the HTML help compiler (hhc.exe). If non-empty, -# doxygen will try to run the HTML help compiler on the generated index.hhp. -# The file has to be specified with full path. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -HHC_LOCATION = - -# The GENERATE_CHI flag controls if a separate .chi index file is generated -# (YES) or that it should be included in the master .chm file (NO). -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -GENERATE_CHI = NO - -# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) -# and project file content. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_INDEX_ENCODING = - -# The BINARY_TOC flag controls whether a binary table of contents is generated -# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it -# enables the Previous and Next buttons. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members to -# the table of contents of the HTML help documentation and to the tree view. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -TOC_EXPAND = NO - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that -# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help -# (.qch) of the generated HTML documentation. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify -# the file name of the resulting .qch file. The path specified is relative to -# the HTML output folder. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help -# Project output. For more information please see Qt Help Project / Namespace -# (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_NAMESPACE = org.doxygen.Project - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt -# Help Project output. For more information please see Qt Help Project / Virtual -# Folders (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual- -# folders). -# The default value is: doc. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_VIRTUAL_FOLDER = doc - -# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom -# filter to add. For more information please see Qt Help Project / Custom -# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see Qt Help Project / Custom -# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's filter section matches. Qt Help Project / Filter Attributes (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_SECT_FILTER_ATTRS = - -# The QHG_LOCATION tag can be used to specify the location of Qt's -# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the -# generated .qhp file. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHG_LOCATION = - -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be -# generated, together with the HTML files, they form an Eclipse help plugin. To -# install this plugin and make it available under the help contents menu in -# Eclipse, the contents of the directory containing the HTML and XML files needs -# to be copied into the plugins directory of eclipse. The name of the directory -# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. -# After copying Eclipse needs to be restarted before the help appears. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_ECLIPSEHELP = NO - -# A unique identifier for the Eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have this -# name. Each documentation set should have its own identifier. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. - -ECLIPSE_DOC_ID = org.doxygen.Project - -# If you want full control over the layout of the generated HTML pages it might -# be necessary to disable the index and replace it with your own. The -# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top -# of each HTML page. A value of NO enables the index and the value YES disables -# it. Since the tabs in the index contain the same information as the navigation -# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -DISABLE_INDEX = NO - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. If the tag -# value is set to YES, a side panel will be generated containing a tree-like -# index structure (just like the one that is generated for HTML Help). For this -# to work a browser that supports JavaScript, DHTML, CSS and frames is required -# (i.e. any modern browser). Windows users are probably better off using the -# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can -# further fine-tune the look of the index. As an example, the default style -# sheet generated by doxygen has an example that shows how to put an image at -# the root of the tree instead of the PROJECT_NAME. Since the tree basically has -# the same information as the tab index, you could consider setting -# DISABLE_INDEX to YES when enabling this option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_TREEVIEW = NO - -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that -# doxygen will group on one line in the generated HTML documentation. -# -# Note that a value of 0 will completely suppress the enum values from appearing -# in the overview section. -# Minimum value: 0, maximum value: 20, default value: 4. -# This tag requires that the tag GENERATE_HTML is set to YES. - -ENUM_VALUES_PER_LINE = 4 - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used -# to set the initial width (in pixels) of the frame in which the tree is shown. -# Minimum value: 0, maximum value: 1500, default value: 250. -# This tag requires that the tag GENERATE_HTML is set to YES. - -TREEVIEW_WIDTH = 250 - -# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to -# external symbols imported via tag files in a separate window. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -EXT_LINKS_IN_WINDOW = NO - -# Use this tag to change the font size of LaTeX formulas included as images in -# the HTML documentation. When you change the font size after a successful -# doxygen run you need to manually remove any form_*.png images from the HTML -# output directory to force them to be regenerated. -# Minimum value: 8, maximum value: 50, default value: 10. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_FONTSIZE = 10 - -# Use the FORMULA_TRANSPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are not -# supported properly for IE 6.0, but are supported on all modern browsers. -# -# Note that when changing this option you need to delete any form_*.png files in -# the HTML output directory before the changes have effect. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_TRANSPARENT = YES - -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see -# https://www.mathjax.org) which uses client side Javascript for the rendering -# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX -# installed or if you want to formulas look prettier in the HTML output. When -# enabled you may also need to install MathJax separately and configure the path -# to it using the MATHJAX_RELPATH option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -USE_MATHJAX = NO - -# When MathJax is enabled you can set the default output format to be used for -# the MathJax output. See the MathJax site (see: -# http://docs.mathjax.org/en/latest/output.html) for more details. -# Possible values are: HTML-CSS (which is slower, but has the best -# compatibility), NativeMML (i.e. MathML) and SVG. -# The default value is: HTML-CSS. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_FORMAT = HTML-CSS - -# When MathJax is enabled you need to specify the location relative to the HTML -# output directory using the MATHJAX_RELPATH option. The destination directory -# should contain the MathJax.js script. For instance, if the mathjax directory -# is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax -# Content Delivery Network so you can quickly see the result without installing -# MathJax. However, it is strongly recommended to install a local copy of -# MathJax from https://www.mathjax.org before deployment. -# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_RELPATH = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/ - -# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax -# extension names that should be enabled during MathJax rendering. For example -# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_EXTENSIONS = - -# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces -# of code that will be used on startup of the MathJax code. See the MathJax site -# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an -# example see the documentation. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_CODEFILE = - -# When the SEARCHENGINE tag is enabled doxygen will generate a search box for -# the HTML output. The underlying search engine uses javascript and DHTML and -# should work on any modern browser. Note that when using HTML help -# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) -# there is already a search function so this one should typically be disabled. -# For large projects the javascript based search engine can be slow, then -# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to -# search using the keyboard; to jump to the search box use + S -# (what the is depends on the OS and browser, but it is typically -# , /