From 6b136af26a51b3d53051cd3e0e7d467ed2ab8a6b Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期四, 05 三月 2020 13:33:21 +0800
Subject: [PATCH] 更新地图
---
lib/src/main/cpp/driver_test.cpp | 57 ++++++++++++++++++++++++++-------------------------------
1 files changed, 26 insertions(+), 31 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index 321f3c5..443a303 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -878,40 +878,16 @@
// }
// }
if (mapList[i].type == MAP_TYPE_CURVE) {
- const int step = 10;
- Polygon map;
- bool enter = false;
+ Line startLine;
+ Line carAxial;
- map.num = 1 + mapList[i].map.num / step + ((mapList[i].map.num % step == 0) ? 0 : 1);
- map.num += 1 + mapList[i].map2.num / step + ((mapList[i].map2.num % step == 0) ? 0 : 1);
- map.point = (PointF *) malloc(map.num * sizeof(PointF));
+ MakeLine(&startLine, &mapList[i].map.point[0], &mapList[i].map2.point[0]);
+ MakeLine(&carAxial, &car->carXY[car->axial[AXIAL_FRONT]], &car->carXY[car->axial[AXIAL_REAR]]);
- int n = 0, m = 0;
- while (n < mapList[i].map.num - 1) {
- map.point[m++] = mapList[i].map.point[n];
- n += step;
+ if (IntersectionOf(startLine, carAxial) == GM_Intersection) {
+ if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], startLine) > 0.1)
+ return i;
}
- map.point[m++] = mapList[i].map.point[mapList[i].map.num - 1];
-
- n = mapList[i].map2.num - 1;
- while (n > 0) {
- map.point[m++] = mapList[i].map2.point[n];
- n -= step;
- }
- map.point[m++] = mapList[i].map2.point[0];
-
- if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &map) == GM_Containment) {
- Line enterLine1;
-
- MakeLine(&enterLine1, &(mapList[i].map.point[0]), &(mapList[i].map2.point[0]));
-
- if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine1) > 0.1)
- enter = true;
- }
-
- free(map.point);
-
- if (enter) return i;
}
}
return -1;
@@ -979,6 +955,25 @@
free(carBody.point);
free(map.point);
}
+ if (mapList[index].type == MAP_TYPE_CURVE) {
+ Line carAxial;
+ Line scanLine;
+
+ MakeLine(&carAxial, &car->carXY[car->axial[AXIAL_FRONT]], &car->carXY[car->axial[AXIAL_REAR]]);
+
+ int startL = 0, startR = 0;
+ while (startL < mapList[index].map.num || startR < mapList[index].map2.num) {
+ MakeLine(&scanLine, &mapList[index].map.point[startL], &mapList[index].map.point[startR]);
+ if (IntersectionOf(scanLine, carAxial) == GM_Intersection) {
+ break;
+ }
+ if (startL < mapList[index].map.num)
+ startL++;
+ if (startR < mapList[index].map2.num)
+ startR++;
+ }
+ ret = true;
+ }
return ret;
}
--
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