add a return value to loadtriangle()

Related to #1801.

diff --git a/lib/pathplan/shortest.c b/lib/pathplan/shortest.c
index 06bc7a50a6f5435bc132acdc57165c5ea75228b1..981cbcd8f01ed0de229ff2dbbb43b1c7e52bb241 100644 (file)
--- a/lib/pathplan/shortest.c
+++ b/lib/pathplan/shortest.c
@@ -78,7 +78,7 @@ static int opn;
 
 static int triangulate(pointnlink_t **, int);
 static int isdiagonal(int, int, pointnlink_t **, int);
-static void loadtriangle(pointnlink_t *, pointnlink_t *, pointnlink_t *);
+static int loadtriangle(pointnlink_t *, pointnlink_t *, pointnlink_t *);
 static void connecttris(int, int);
 static int marktripath(int, int);
 
@@ -311,7 +311,8 @@ static int triangulate(pointnlink_t ** pnlps, int pnln)
                        pnlip2 = (pnli + 2) % pnln;
                        if (isdiagonal(pnli, pnlip2, pnlps, pnln)) 
                        {
-                               loadtriangle(pnlps[pnli], pnlps[pnlip1], pnlps[pnlip2]);
+                               if (loadtriangle(pnlps[pnli], pnlps[pnlip1], pnlps[pnlip2]) != 0)
+                                       return -1;
                                for (pnli = pnlip1; pnli < pnln - 1; pnli++)
                                        pnlps[pnli] = pnlps[pnli + 1];
                                return triangulate(pnlps, pnln - 1);
@@ -319,8 +320,10 @@ static int triangulate(pointnlink_t ** pnlps, int pnln)
                }
                prerror("triangulation failed");
     } 
-       else
-               loadtriangle(pnlps[0], pnlps[1], pnlps[2]);
+       else {
+               if (loadtriangle(pnlps[0], pnlps[1], pnlps[2]) != 0)
+                       return -1;
+       }
 
     return 0;
 }
@@ -361,7 +364,7 @@ static int isdiagonal(int pnli, int pnlip2, pointnlink_t ** pnlps,
     return TRUE;
 }
 
-static void loadtriangle(pointnlink_t * pnlap, pointnlink_t * pnlbp,
+static int loadtriangle(pointnlink_t * pnlap, pointnlink_t * pnlbp,
                         pointnlink_t * pnlcp)
 {
     triangle_t *trip;
@@ -380,6 +383,8 @@ static void loadtriangle(pointnlink_t * pnlap, pointnlink_t * pnlbp,
        NULL;
     for (ei = 0; ei < 3; ei++)
        trip->e[ei].ltp = trip;
+
+    return 0;
 }
 
 /* connect a pair of triangles at their common edge (if any) */