ardupilot/libraries/AP_Math/polygon.h

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/*
* polygon.h
* 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/>.
*/
#pragma once
#include "vector2.h"
template <typename T>
bool Polygon_outside(const Vector2<T> &P, const Vector2<T> *V, unsigned n) WARN_IF_UNUSED;
template <typename T>
bool Polygon_complete(const Vector2<T> *V, unsigned n) WARN_IF_UNUSED;
/*
determine if the polygon of N verticies defined by points V is
intersected by a line from point p1 to point p2
intersection argument returns the intersection closest to p1
*/
bool Polygon_intersects(const Vector2f *V, unsigned N, const Vector2f &p1, const Vector2f &p2, Vector2f &intersection) WARN_IF_UNUSED;
/*
return the closest distance that a line from p1 to p2 comes to an
edge of closed polygon V, defined by N points
negative numbers indicate the line cross into the polygon with the negative size being the distance from p2 to the intersection point closest to p1
*/
float Polygon_closest_distance_line(const Vector2f *V, unsigned N, const Vector2f &p1, const Vector2f &p2);
/*
return the closest distance that a point p comes to an edge of
closed polygon V, defined by N points
*/
float Polygon_closest_distance_point(const Vector2f *V, unsigned N, const Vector2f &p);