pathplan triangulate: remove shadowing of globals

diff --git a/lib/pathplan/shortest.c b/lib/pathplan/shortest.c
index 4dafdd67323cc51c8b9c6b4e5c1132f145e8dbae..14b114492eee531108b1ab3ab151ab0cc922a65d 100644 (file)
--- a/lib/pathplan/shortest.c
+++ b/lib/pathplan/shortest.c
@@ -289,29 +289,28 @@ int Pshortestpath(Ppoly_t * polyp, Ppoint_t eps[2], Ppolyline_t * output)
 }
 
 /* triangulate polygon */
-static int triangulate(pointnlink_t ** pnlps, int pnln)
-{
+static int triangulate(pointnlink_t **points, int point_count) {
     int pnli, pnlip1, pnlip2;
 
-       if (pnln > 3) 
+       if (point_count > 3)
        {
-               for (pnli = 0; pnli < pnln; pnli++) 
+               for (pnli = 0; pnli < point_count; pnli++)
                {
-                       pnlip1 = (pnli + 1) % pnln;
-                       pnlip2 = (pnli + 2) % pnln;
-                       if (isdiagonal(pnli, pnlip2, pnlps, pnln)) 
+                       pnlip1 = (pnli + 1) % point_count;
+                       pnlip2 = (pnli + 2) % point_count;
+                       if (isdiagonal(pnli, pnlip2, points, point_count))
                        {
-                               if (loadtriangle(pnlps[pnli], pnlps[pnlip1], pnlps[pnlip2]) != 0)
+                               if (loadtriangle(points[pnli], points[pnlip1], points[pnlip2]) != 0)
                                        return -1;
-                               for (pnli = pnlip1; pnli < pnln - 1; pnli++)
-                                       pnlps[pnli] = pnlps[pnli + 1];
-                               return triangulate(pnlps, pnln - 1);
+                               for (pnli = pnlip1; pnli < point_count - 1; pnli++)
+                                       points[pnli] = points[pnli + 1];
+                               return triangulate(points, point_count - 1);
                        }
                }
                prerror("triangulation failed");
     } 
        else {
-               if (loadtriangle(pnlps[0], pnlps[1], pnlps[2]) != 0)
+               if (loadtriangle(points[0], points[1], points[2]) != 0)
                        return -1;
        }