From 4d6cd8f4df888e740c82216a6d1f92316fec0eb0 Mon Sep 17 00:00:00 2001 From: Matthew Fernandez Date: Sun, 21 Aug 2022 12:53:12 -0700 Subject: [PATCH] pathplan isdiagonal: remove shadowing of globals --- lib/pathplan/shortest.c | 25 ++++++++++++------------- 1 file changed, 12 insertions(+), 13 deletions(-) diff --git a/lib/pathplan/shortest.c b/lib/pathplan/shortest.c index 14b114492..1ae078f4b 100644 --- a/lib/pathplan/shortest.c +++ b/lib/pathplan/shortest.c @@ -318,30 +318,29 @@ static int triangulate(pointnlink_t **points, int point_count) { } /* check if (i, i + 2) is a diagonal */ -static bool isdiagonal(int pnli, int pnlip2, pointnlink_t ** pnlps, - int pnln) -{ +static bool isdiagonal(int pnli, int pnlip2, pointnlink_t **points, + int point_count) { int pnlip1, pnlim1, pnlj, pnljp1, res; /* neighborhood test */ - pnlip1 = (pnli + 1) % pnln; - pnlim1 = (pnli + pnln - 1) % pnln; + pnlip1 = (pnli + 1) % point_count; + pnlim1 = (pnli + point_count - 1) % point_count; /* If P[pnli] is a convex vertex [ pnli+1 left of (pnli-1,pnli) ]. */ - if (ccw(pnlps[pnlim1]->pp, pnlps[pnli]->pp, pnlps[pnlip1]->pp) == ISCCW) - res = ccw(pnlps[pnli]->pp, pnlps[pnlip2]->pp, pnlps[pnlim1]->pp) == ISCCW - && ccw(pnlps[pnlip2]->pp, pnlps[pnli]->pp, pnlps[pnlip1]->pp) == ISCCW; + if (ccw(points[pnlim1]->pp, points[pnli]->pp, points[pnlip1]->pp) == ISCCW) + res = ccw(points[pnli]->pp, points[pnlip2]->pp, points[pnlim1]->pp) == ISCCW + && ccw(points[pnlip2]->pp, points[pnli]->pp, points[pnlip1]->pp) == ISCCW; /* Assume (pnli - 1, pnli, pnli + 1) not collinear. */ else - res = ccw(pnlps[pnli]->pp, pnlps[pnlip2]->pp, pnlps[pnlip1]->pp) == ISCW; + res = ccw(points[pnli]->pp, points[pnlip2]->pp, points[pnlip1]->pp) == ISCW; if (!res) return false; /* check against all other edges */ - for (pnlj = 0; pnlj < pnln; pnlj++) { - pnljp1 = (pnlj + 1) % pnln; + for (pnlj = 0; pnlj < point_count; pnlj++) { + pnljp1 = (pnlj + 1) % point_count; if (!(pnlj == pnli || pnljp1 == pnli || pnlj == pnlip2 || pnljp1 == pnlip2)) - if (intersects(pnlps[pnli]->pp, pnlps[pnlip2]->pp, - pnlps[pnlj]->pp, pnlps[pnljp1]->pp)) + if (intersects(points[pnli]->pp, points[pnlip2]->pp, + points[pnlj]->pp, points[pnljp1]->pp)) return false; } return true; -- 2.40.0