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wip: distinguish inclusion and exclusion zones in line-polygon intersection

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inclusion zones -> inside allowed, outside not
exclusion zones -> outside allowed, inside not

TODO:
 - update call sites
 - tests
This commit is contained in:
Balduin
2026-05-07 17:13:24 +02:00
parent 763ebb5641
commit 49b7ddbe89
2 changed files with 16 additions and 15 deletions
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src/lib/geofence/geofence_utils.cpp
+4 -7
View File
@@ -104,14 +104,9 @@ bool segmentsIntersect(const matrix::Vector2f &p1, const matrix::Vector2f &p2,
}
bool lineSegmentIntersectsPolygon(const matrix::Vector2f &start, const matrix::Vector2f &end,
const matrix::Vector2f *vertices, int num_vertices, bool flipped)
const matrix::Vector2f *vertices, int num_vertices, bool is_inclusion_zone)
{
// If flipped, consider the outside to be the interior of the polygon.
// For exclusion zones, set !flipped. Results in lines completely outside being non-intersecting (allowed) and inside being intersecting (disallowed).
// For inclusion zones, set flipped. Results in lines completely ouside being intersecting (disallowed) and inside being non-intersecting (allowed).
// First pass: If there is a proper intersection (open line segment
// start-end with closed line segment between vertices), it is
// intersecting.
@@ -127,7 +122,9 @@ bool lineSegmentIntersectsPolygon(const matrix::Vector2f &start, const matrix::V
// Remaining cases: The line is either completely outside or completely inside.
const bool midpoint_inside = insidePolygon(vertices, num_vertices, 0.5f * (start + end));
return midpoint_inside == flipped;
// Inclusion zone: inside -> no intersection, outside -> intersection
// Exclusion zone: inside -> intersection, outside -> no intersection
return midpoint_inside != is_inclusion_zone;
}
bool lineSegmentIntersectsCircle(const matrix::Vector2f &start, const matrix::Vector2f &end,
src/lib/geofence/geofence_utils.h
+12 -8
View File
@@ -84,9 +84,11 @@ bool insideCircle(const matrix::Vector2<double> &center, float radius,
const matrix::Vector2<double> &point);
/**
* Check if two line segments intersect (excluding endpoints).
* Check if two line segments intersect (excluding endpoints*).
* Works in local Cartesian coordinates (meters).
*
* * TODO write correctly - see inside
*
* @param p1 first segment start in local frame
* @param p2 first segment end in local frame
* @param v1 second segment start in local frame
@@ -97,17 +99,19 @@ bool segmentsIntersect(const matrix::Vector2f &p1, const matrix::Vector2f &p2,
const matrix::Vector2f &v1, const matrix::Vector2f &v2);
/**
* Check if a line segment intersects any edge of a polygon (excluding endpoints).
* Check if a line segment and a polygon have non-empty intersection.
* Works in local Cartesian coordinates (meters).
*
* @param start segment start in local frame
* @param end segment end in local frame
* @param vertices polygon vertices in local frame
* @param num_vertices number of vertices
* @return true if the segment intersects any polygon edge
* @param start segment start in local frame
* @param end segment end in local frame
* @param vertices polygon vertices in local frame
* @param num_vertices number of vertices
* @param is_inclusion_zone If true, consider completely outside lines intersecting, inside non-intersecting. If false the other way around.
*
* @return true if the segment intersects the disallowed part of the polygon
*/
bool lineSegmentIntersectsPolygon(const matrix::Vector2f &start, const matrix::Vector2f &end,
const matrix::Vector2f *vertices, int num_vertices);
const matrix::Vector2f *vertices, int num_vertices, bool is_inclusion_zone);
/**
* Check if a line segment intersects a circle.