ardupilot/libraries/AP_Math/polygon.cpp

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
 * polygon.cpp
 * Copyright (C) Andrew Tridgell 2011
 *
 * This file is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "AP_Math.h"

/*
  The point in polygon algorithm is based on:
  http://www.ecse.rpi.edu/Homepages/wrf/Research/Short_Notes/pnpoly.html
*/


/*
  Polygon_outside(): test for a point in a polygon
      Input:   P = a point,
               V[] = vertex points of a polygon V[n+1] with V[n]=V[0]
      Return:  true if P is outside the polygon

  This does not take account of the curvature of the earth, but we
  expect that to be very small over the distances involved in the
  fence boundary
*/
bool Polygon_outside(const Vector2l &P, const Vector2l *V, unsigned n)
{
    unsigned i, j;
    bool outside = true;
    for (i = 0, j = n-1; i < n; j = i++) {
        if ((V[i].y > P.y) == (V[j].y > P.y)) {
            continue;
        }
        float dx1, dx2, dy1, dy2;
        // use floating point to cope with possible integer overflow
        // this still results in precision of better than 1m
        dx1 = P.x - V[i].x;
        dx2 = V[j].x - V[i].x;
        dy1 = P.y - V[i].y;
        dy2 = V[j].y - V[i].y;
        if (dy2 < 0) {
            if ( dx1 * dy2 > dx2 * dy1 ) {
                outside = !outside;
            }
        } else {
            if ( dx1 * dy2 < dx2 * dy1 ) {
                outside = !outside;
            }
        }            
    }
    return outside;
}

/*
  check if a polygon is complete. 

  We consider a polygon to be complete if we have at least 4 points,
  and the first point is the same as the last point. That is the
  minimum requirement for the Polygon_outside function to work
 */
bool Polygon_complete(const Vector2l *V, unsigned n)
{
    return (n >= 4 && V[n-1].x == V[0].x && V[n-1].y == V[0].y);
}