Improve VRML output. Specifically, point nodes are drawn as filled spheres,

and line segment edges are drawn as cylinders. In this case, handle
arrowheads as cones correctly.
Needed to expose the wind function from pathplan.

diff --git a/lib/pathplan/pathutil.h b/lib/pathplan/pathutil.h
index f8898b7bdb815fed5756bb030f4219f4f15b7a1f..58fae3ca1d7a16b7b19192a43277f9bbe6b5a1c7 100644 (file)
--- a/lib/pathplan/pathutil.h
+++ b/lib/pathplan/pathutil.h
@@ -24,7 +24,9 @@
 extern "C" {
 #endif
 
+#ifndef NOT
 #define NOT(x) (!(x))
+#endif
 #ifndef FALSE
 #define FALSE  0
 #define TRUE   (NOT(FALSE))
@@ -32,6 +34,7 @@ extern "C" {
 
     typedef double COORD;
     extern COORD area2(Ppoint_t, Ppoint_t, Ppoint_t);
+    extern int wind(Ppoint_t a, Ppoint_t b, Ppoint_t c);
     extern COORD dist2(Ppoint_t, Ppoint_t);
     extern int intersect(Ppoint_t a, Ppoint_t b, Ppoint_t c, Ppoint_t d);
 

diff --git a/lib/pathplan/visibility.c b/lib/pathplan/visibility.c
index 891e12da9338c33469de3faf6973f8a71f011cdd..3137f3b53d755cd87afa624588da323c7df43a3c 100644 (file)
--- a/lib/pathplan/visibility.c
+++ b/lib/pathplan/visibility.c
@@ -67,7 +67,7 @@ COORD area2(Ppoint_t a, Ppoint_t b, Ppoint_t c)
  * Returns 1, 0, -1 if the points abc are counterclockwise,
  * collinear, or clockwise.
  */
-static int wind(Ppoint_t a, Ppoint_t b, Ppoint_t c)
+int wind(Ppoint_t a, Ppoint_t b, Ppoint_t c)
 {
     COORD w;