From 27fc91fbe8f88b6885356e68828cfe1ce1db7601 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期三, 28 二月 2024 09:53:13 +0800
Subject: [PATCH] 坐标
---
lib/src/main/cpp/test_items/park_bottom.cpp | 423 +++++++++++++++++++---------------------------------
1 files changed, 159 insertions(+), 264 deletions(-)
diff --git a/lib/src/main/cpp/test_items/park_bottom.cpp b/lib/src/main/cpp/test_items/park_bottom.cpp
index 421ecf5..3424f6e 100644
--- a/lib/src/main/cpp/test_items/park_bottom.cpp
+++ b/lib/src/main/cpp/test_items/park_bottom.cpp
@@ -24,27 +24,15 @@
#include "area_exam.h"
#include "../test_common/car_sensor.h"
#include "../test_common/odo_graph.h"
+#include "../teach/train.h"
+#include "../teach/teach.h"
#include <vector>
#include <cstdlib>
+#include <tuple>
#define DEBUG(fmt, args...) LOGD("<park_bottom> <%s>: " fmt, __func__, ##args)
using namespace std;
-
-enum {
- NONE,
- FIRST_TOUCH_CTRL_LINE,
- FIRST_PARK,
- SECOND_TOUCH_CTRL_LINE,
- SECOND_PARK,
- THIRD_TOUCH_CTRL_LINE
-};
-
-enum {
- TESTING,
- TEST_FAIL, // 鍥犺Е鍙戞煇浜涜鍒欙紝鍦ㄨ溅韬湭瀹屽叏绔嬪満鎯呭喌涓嬶紝鎻愬墠缁堟閮ㄥ垎娴嬭瘯
- TEST_FINISH
-};
typedef enum {
NONE_CTRL_LINE,
@@ -52,151 +40,157 @@
RIGHT_CTRL_LINE
} ctrl_line_t;
-static bool reverseCar = false;
-
-const uint32_t CHECK_PARK_DELAY = 400;
-
-static uint32_t stopTimepoint;
-static int prevMoveDirect;
static bool occurCrashRedLine;
-
-static uint32_t firstReverseTimepoint;
-
static int parkCount;
-static char carray[3];
-static int darray[3];
-static int parkStatus[3];
-
-static int gearAtStop;
-static int currGear;
+static int reverseCnt = 0;
+static bool stopFlag;
static ctrl_line_t prevCrossedCtrlLine;
-static double odo;
+static bool checkCtrlLine, checkParkspace;
+static int handleGearOb, handleMoveOb;
+
+static bool BodyCollidingLine(prime_t &prime);
static ctrl_line_t CrossCtrlLine(prime_t &prime);
-static bool EnterParking(prime_t &prime);
-static bool CrashRedLine(prime_t &prime);
+static bool CheckParkspace(prime_t &prime);
+static void MoveOb(move_status_t curr, move_status_t prev, double distance);
+static void GearOb(int gear, int prevGear, double move_distance);
+enum {
+ PREPARE_REVERSE,
+ REVERSE_LEFT,
+ REVERSE_RIGHT,
+ OBVERSE_LEFT,
+ OBVERSE_RIGHT
+};
+
+/*
+1. 杩涘叆 --- 棣栨鍊掑簱鍓�
+2. 鍊掑簱 ---- 鍋滆溅鍒颁綅鍓嶏紙鍙冲�掑簱锛�
+3. 宸﹀嚭搴�
+4. 鍊掑簱 ---- 鍋滆溅鍒颁綅鍓嶏紙宸﹀�掑簱锛�
+5. 鍙冲嚭搴�(绂诲紑鍦哄湴)
+*/
void StartParkBottom(prime_t &prime)
{
- DEBUG("StartParkBottom");
-
- reverseCar = false;
- memset(carray, 0, sizeof(carray));
- memset(darray, 0, sizeof(darray));
- memset(parkStatus, 0, sizeof(parkStatus));
- prevMoveDirect = prime.pMotion->move;
-
- firstReverseTimepoint = 0;
-
+ DEBUG("杩涘叆鍊掑簱鍦哄湴");
+ stopFlag = false;
parkCount = 0;
-
+ reverseCnt = 0;
+ checkCtrlLine = false;
+ checkParkspace = false;
occurCrashRedLine = false;
-
- currGear = ReadCarStatus(GEAR);
+ prime.examing_area.stage = PREPARE_REVERSE;
+ testAll();
+ LoadStageTips(prime);
prevCrossedCtrlLine = NONE_CTRL_LINE;
- stopTimepoint = 0;
-
- odo = ReadOdo();
-
+ handleGearOb = RegisterShiftObserver(GearOb);
+ handleMoveOb = RegisterCarMoveObserver(MoveOb);
PlayTTS("鎮ㄥ凡杩涘叆鍊掕溅鍏ュ簱鍖哄煙", NULL);
+}
+
+static void ParkTimeout(apptimer_var_t var)
+{
+ DEBUG("椤圭洰瓒呮椂");
+ AddExamFault(20105);
+}
+
+static void MoveOb(move_status_t curr, move_status_t prev, double distance)
+{
+ // 杞﹁締鐢辫繍鍔ㄥ埌鍋滄锛岃褰曚竴涓嬶紝褰撴崲鎸″彂鐢熸椂锛岄伩鍏嶅師鍦版潵鍥炴崲鎸￠�犳垚璇垽
+ if (curr == STOP && distance > 0.5) {
+ stopFlag = true;
+ }
+}
+
+static void GearOb(int gear, int prevGear, double move_distance)
+{
+ DEBUG("GearOb %d %f", gear, move_distance);
+
+ if (gear == GEAR_R && stopFlag) { // 绉诲叆鍊掓尅
+ stopFlag = false;
+ reverseCnt++;
+ if (reverseCnt == 1) {
+ AppTimer_delete(ParkTimeout);
+ AppTimer_add(ParkTimeout, GetPrime().examParam.park_bottom_limit_time);
+ }
+ checkCtrlLine = true;
+ } else if (prevGear == GEAR_R && stopFlag) { // 浠庡�掓尅绉诲嚭
+ stopFlag = false;
+ checkParkspace = true;
+ }
+}
+
+void StopParkBottom(prime_t &prime)
+{
+ if (prime.examing_area.type != MAP_TYPE_PARK_BUTTOM)
+ return;
+
+ DEBUG("绂诲紑鍊掑簱鍦哄湴");
+
+ if (parkCount < 2) {
+ DEBUG("鐩存帴椹剁娴嬭瘯鍖�,涓嶆寜鑰冭瘯鍛樻寚浠ら┚椹�");
+ AddExamFault(10103);
+ }
+ AppTimer_delete(ParkTimeout);
+ prime.examing_area.type = MAP_TYPE_NONE;
+ UnregisterShiftObserver(handleGearOb);
+ UnregisterCarMoveObserver(handleMoveOb);
}
void TestParkBottom(prime_t &prime)
{
- ctrl_line_t crossCtrlLine = NONE_CTRL_LINE;
- uint32_t tp = AppTimer_GetTickCount();
+ if (prime.examing_area.type != MAP_TYPE_PARK_BUTTOM)
+ return;
- vector<double> dtox;
- vector<Line> line_set;
- Line distance_line;
+ train(prime);
- bool gear_change = false;
- int gear = ReadCarStatus(GEAR);
+ if (checkCtrlLine) {
+ ctrl_line_t crossCtrlLine = CrossCtrlLine(prime);
- if (gear == GEAR_R) {
- if (currGear != GEAR_R) {
- gear_change = true;
- currGear = GEAR_R;
- }
- } else if (currGear == GEAR_R) {
- gear_change = true;
- currGear = gear;
- }
-
- if (gear_change) {
- // 妫�鏌ヤ笂涓�娆℃尅浣嶇殑琛岄┒璺濈锛岃繃灏忓氨鏀惧純锛岄伩寮�瀛﹀憳鍘熷湴鎸傛尅閲嶈瘯
- double run_distance = ReadOdo() - odo;
-
- DEBUG("2娆℃尅浣嶈繍琛岃窛绂� %f", run_distance);
-
- if (run_distance < 1) {
- gear_change = false;
- DEBUG("2娆℃尅浣嶈繍琛岃窛绂昏繃灏忥紝蹇界暐");
- }
- odo = ReadOdo();
- }
-
- if (gear_change) {
- if (currGear == GEAR_R) {
- // 鎸傚�掓尅,妫�娴嬫槸鍚﹁繃鎺у埗绾�
- DEBUG("寮�濮嬫寕鍊掓尅");
- if (!reverseCar) {
- DEBUG("寮�濮嬮杞叆搴�");
- reverseCar = true;
- MA_EnterMap(prime.pMap->park_button_map[prime.curr_exam_map.map_idx].id, MAP_TYPE_PARK_BUTTOM, 1);
- firstReverseTimepoint = tp; // 寮�濮�210绉掕鏃�
- }
- crossCtrlLine = CrossCtrlLine(prime);
-
- if (parkCount >= 2) {
- DEBUG("寮�濮嬫杞叆搴�");
- parkCount = 0;
- MA_EnterMap(prime.pMap->park_button_map[prime.curr_exam_map.map_idx].id, MAP_TYPE_PARK_BUTTOM, 1);
- firstReverseTimepoint = tp; // 寮�濮�210绉掕鏃�
- }
-
- if (crossCtrlLine == NONE_CTRL_LINE) {
- // 鍊掕溅鍓嶏紝鍓嶈疆鏈┒杩囨帶鍒剁嚎
- AddExamFault(20104);
- DEBUG("鍊掕溅鍓嶏紝鍓嶈疆鏈┒杩囨帶鍒剁嚎");
- } else if (crossCtrlLine == prevCrossedCtrlLine) {
- // 閲嶅璺ㄨ秺鍚屼竴鎺у埗绾匡紝涓嶆寜瑙勫畾绾胯矾锛岄『搴忓舰寮忥紝涓嶅悎鏍�
- AddExamFault(20101);
- DEBUG("涓嶆寜瑙勫畾绾胯矾锛岄『搴忓舰寮忥紝 鍚� %c 渚�", prevCrossedCtrlLine);
- } else {
- prevCrossedCtrlLine = crossCtrlLine;
- DEBUG("寮�濮� %c 渚� 鍊掑簱", prevCrossedCtrlLine);
- }
+ if (crossCtrlLine == NONE_CTRL_LINE) {
+ // 鍊掕溅鍓嶏紝鍓嶈疆鏈┒杩囨帶鍒剁嚎
+ DEBUG("鍊掕溅鍓嶏紝鍓嶈疆鏈┒杩囨帶鍒剁嚎");
+ AddExamFault(20104);
+ } else if (crossCtrlLine == prevCrossedCtrlLine) {
+ // 閲嶅璺ㄨ秺鍚屼竴鎺у埗绾匡紝涓嶆寜瑙勫畾绾胯矾锛岄『搴忓舰寮忥紝涓嶅悎鏍�
+ AddExamFault(20101);
+ DEBUG("涓嶆寜瑙勫畾绾胯矾锛岄『搴忓舰寮忥紝 鍚� %d 渚�", prevCrossedCtrlLine);
} else {
- // 浠庡�掓尅绉诲嚭锛屾娴嬫槸鍚﹀叆搴�
- DEBUG("浠庡�掓尅绉诲嚭");
-
- parkCount++;
-
- DEBUG("搴撲綅妫�鏌ユ鏁� = %d", parkCount);
-
- if (EnterParking(prime)) {
- DEBUG("鍊掑簱鎴愬姛");
- } else {
- AddExamFault(20103);
- DEBUG("鍊掑簱涓嶅叆");
- }
+ prevCrossedCtrlLine = crossCtrlLine;
+ DEBUG("寮�濮� %d 渚� 鍊掑簱", prevCrossedCtrlLine);
}
+
+ if (DeltaYaw(YawOf(std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[3],
+ std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[4]), prime.pModeling[prime.curr_modeling_index].yaw) < 90) {
+ DEBUG("鍙充晶鍊掑簱");
+ prime.examing_area.stage = REVERSE_RIGHT;
+ } else {
+ DEBUG("宸︿晶鍊掑簱");
+ prime.examing_area.stage = REVERSE_LEFT;
+ }
+ LoadStageTips(prime);
+ checkCtrlLine = false;
}
- if (ExitParkArea(prime)) {
- // 绂诲紑鍦哄湴
- DEBUG("绂诲紑鍦哄湴");
- if (parkCount < 2) {
- AddExamFault(10103);
- DEBUG("鐩存帴椹剁娴嬭瘯鍖�,涓嶆寜鑰冭瘯鍛樻寚浠ら┚椹�");
+ if (checkParkspace) {
+ if (CheckParkspace(prime)) {
+ DEBUG("鍊掑簱鎴愬姛");
+ } else {
+ DEBUG("鍊掑簱涓嶅叆");
+ AddExamFault(20103);
}
- prime.curr_exam_map.type = 0;
- goto TEST_END;
+ parkCount++;
+ if (prime.examing_area.stage == REVERSE_RIGHT) {
+ prime.examing_area.stage = OBVERSE_LEFT; // 浠庡乏渚у�掑簱
+ } else {
+ prime.examing_area.stage = OBVERSE_RIGHT; // 绂诲紑鍦哄湴
+ }
+ LoadStageTips(prime);
+ checkParkspace = false;
}
- if (BodyCollidingLine(prime) >= 0) {
+ if (BodyCollidingLine(prime)) {
if (!occurCrashRedLine) {
occurCrashRedLine = true;
// 杞﹁韩鍑虹嚎锛屼笉鍚堟牸
@@ -207,76 +201,35 @@
occurCrashRedLine = false;
}
- if (prime.pMotion->move != prevMoveDirect) {
- if (prime.pMotion->move == STOP) {
- stopTimepoint = tp;
- gearAtStop = (currGear == GEAR_R ? 1 : 0);
- DEBUG("鍋滆溅浜�");
- DEBUG("鍋滆溅鏃舵尅浣� = %d", gearAtStop);
- } else if (prevMoveDirect == STOP && stopTimepoint > 0) {
- DEBUG("缁х画琛岄┒");
-
- DEBUG("鍋滆溅鏃堕棿 %ld", tp - stopTimepoint);
- DEBUG("鍐嶆绉诲姩鏃舵尅浣� = %d", currGear == GEAR_R ? 1 : 0);
-
- if (tp - stopTimepoint >= CorrectPauseCriteria(examParam.park_bottom_pause_criteria)
- && gearAtStop == (currGear == GEAR_R ? 1 : 0)) {
- // 鍋滆溅瓒�2绉掞紝姣忔鎵�5鍒�
- AddExamFault(20106);
- DEBUG("涓�斿仠杞�");
- }
- }
-
- prevMoveDirect = prime.pMotion->move;
- }
-TEST_END:
- DEBUG("鍊掑簱缁撴潫");
- MA_EnterMap(prime.pMap->park_button_map[prime.curr_exam_map.map_idx].id, MAP_TYPE_PARK_BUTTOM, 0);
+ teach(prime);
}
-static int BodyCollidingLine(prime_t &prime)
+// 杞﹁韩鎴栬溅杞殕涓嶅緱纰拌Е瀹炵嚎
+static bool BodyCollidingLine(prime_t &prime)
{
- vector<Line> lines;
+ MakePolygon car_body(prime.pModel->body.size());
- Polygon car_body;
-
- car_body.num = prime.pModel->body.size();
- car_body.point = new PointF[car_body.num];
-
- for (int i = 0; i < car_body.num; ++i) {
- car_body.point[i] = prime.pModeling[prime.curr_modeling_index].points[prime.pModel->body[i]];
+ for (int i = 0; i < prime.pModel->body.size(); ++i) {
+ car_body.AddPoint(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->body[i]]);
}
- Line line;
- MAKE_LINE(line, prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[0],
- prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[7]);
- lines.push_back(line);
- MAKE_LINE(line, prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[1],
- prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[2]);
- lines.push_back(line);
- MAKE_LINE(line, prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[2],
- prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[3]);
- lines.push_back(line);
- MAKE_LINE(line, prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[3],
- prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[4]);
- lines.push_back(line);
- MAKE_LINE(line, prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[4],
- prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[5]);
- lines.push_back(line);
- MAKE_LINE(line, prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[5],
- prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[6]);
- lines.push_back(line);
+ Line frontAxle, rearAxle;
- int idx = 0;
+ MAKE_LINE(frontAxle, prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]], prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_front_tire[TIRE_OUTSIDE]]);
+ MAKE_LINE(rearAxle, prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_rear_tire[TIRE_OUTSIDE]], prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_rear_tire[TIRE_OUTSIDE]]);
- for (auto line: lines) {
- if (IntersectionOf(line, &car_body) != GM_None) {
- break;
+ const int red_lines[][2] = {{0, 7}, {1, 2}, {2, 3}, {3, 4}, {4, 5}, {5, 6}};
+
+ for (int i = 0; i < sizeof(red_lines) / sizeof(red_lines[0]); ++i) {
+ Line red_line;
+ MAKE_LINE(red_line, std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[red_lines[i][0]], std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[red_lines[i][1]]);
+ if (IntersectionOf(red_line, frontAxle) == GM_Intersection
+ || IntersectionOf(red_line, rearAxle) == GM_Intersection
+ || IntersectionOf(red_line, car_body.GetPolygon()) != GM_None) {
+ return true;
}
- idx++;
}
- delete []car_body.point;
- return idx < lines.size()? idx : -1;
+ return false;
}
// 妫�娴�2鍓嶈疆鏄惁姝ｅ悜瓒婅繃宸﹀彸鎺у埗绾�
@@ -291,95 +244,37 @@
MAKE_LINE(right_trace, prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_front_tire[TIRE_OUTSIDE]],
prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_rear_tire[TIRE_OUTSIDE]]);
- MAKE_LINE(left_ctrl, prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[1], prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[0]);
- MAKE_LINE(right_ctrl, prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[6], prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[7]);
+ MAKE_LINE(left_ctrl, std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[1], std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[0]);
+ MAKE_LINE(right_ctrl, std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[6], std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[7]);
if (IntersectionOf(left_trace, left_ctrl) == GM_Intersection &&
IntersectionOf(right_trace, left_ctrl) == GM_Intersection &&
- IntersectionOfLine(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]], left_ctrl) == RELATION_LEFT) {
+ IntersectionOfLine(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]], left_ctrl) == REL_POS_LEFT) {
return LEFT_CTRL_LINE;
}
if (IntersectionOf(left_trace, right_ctrl) == GM_Intersection &&
IntersectionOf(right_trace, right_ctrl) == GM_Intersection &&
- IntersectionOfLine(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]], right_ctrl) == RELATION_RIGHT) {
+ IntersectionOfLine(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]], right_ctrl) == REL_POS_RIGHT) {
return RIGHT_CTRL_LINE;
}
return NONE_CTRL_LINE;
}
-// 闇�瑕佸簱鍏ュ彛绾垮璁＄畻鍦ㄥ唴
-static bool EnterParking(prime_t &prime) {
- bool succ = false;
+static bool CheckParkspace(prime_t &prime) {
+ MakePolygon car_body(prime.pModel->body.size());
- Polygon park_area;
- Polygon car_body;
-
- car_body.num = prime.pModel->body.size();
- car_body.point = new PointF[car_body.num];
- for (int i = 0; i < car_body.num; ++i) {
- car_body.point[i] = prime.pModeling[prime.curr_modeling_index].points[prime.pModel->body[i]];
+ for (int i = 0; i < prime.pModel->body.size(); ++i) {
+ car_body.AddPoint(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->body[i]]);
}
- PointF p8 = PointExtend(prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[2],
- prime.pMap->park_button_map[prime.curr_exam_map.map_idx].line_width,
- YawOf(prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[2], prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[3]));
+ MakePolygon park_area({std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[8],
+ std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[3],
+ std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[4],
+ std::get<MAP_TYPE_PARK_BUTTOM>(prime.maps)[prime.examing_area.idx].points[9]});
- PointF p9 = PointExtend(prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[5],
- prime.pMap->park_button_map[prime.curr_exam_map.map_idx].line_width,
- YawOf(prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[5], prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[4]));
-
- MakePolygon(&park_area, {p8, prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[3], prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[4], p9});
-
- if (IntersectionOf(&car_body, &park_area) == GM_Containment) {
- succ = true;
- }
-
- CleanPolygon(&park_area);
- free(car_body.point);
-
- DEBUG("妫�鏌ュ�掑簱鐘舵�� %s", succ ? "鎴愬姛" : "澶辫触");
-
- return succ;
+ return (bool) (IntersectionOf(car_body.GetPolygon(), park_area.GetPolygon()) == GM_Containment);
}
-// 4涓溅杞拰杞﹀ご鐐逛笉鍦ㄥ満鍦颁腑
-bool ExitParkArea(prime_t &prime)
-{
- Polygon polygon;
-
- polygon.num = prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map.size();
- polygon.point = new PointF[polygon.num];
- for (int i = 0; i < polygon.num; ++i) {
- polygon.point[i] = prime.pMap->park_button_map[prime.curr_exam_map.map_idx].map[i];
- }
-
- int num = 0;
-
- if (IntersectionOf(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_front_tire[TIRE_OUTSIDE]],
- &polygon) == GM_None) {
- num++;
- }
- if (IntersectionOf(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_front_tire[TIRE_OUTSIDE]],
- &polygon) == GM_None) {
- num++;
- }
- if (IntersectionOf(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->left_rear_tire[TIRE_OUTSIDE]],
- &polygon) == GM_None) {
- num++;
- }
- if (IntersectionOf(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->right_rear_tire[TIRE_OUTSIDE]],
- &polygon) == GM_None) {
- num++;
- }
- if (IntersectionOf(prime.pModeling[prime.curr_modeling_index].points[prime.pModel->body[prime.pModel->axial[AXIAL_FRONT]]],
- &polygon) == GM_None) {
- num++;
- }
-
- delete []polygon.point;
-
- return num == 5? true : false;
-}
--
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