Contents, API Reference, Interfaces, iPathEngine, buildExpanded2DObstaclesContainerMesh
Helper method for building an iMesh instance that can be used for the
purposes of visualising the boundaries of iExpanded2DObstacles instances.
std::unique_ptr<iMesh> buildExpanded2DObstaclesContainerMesh(const iExpanded2DObstacles& preExpanded, iShape& expandShape)
instance for which a container mesh should be built.
An expansion shape for generating unobstructed space preprocess.
This must have exactly the same vertex coordinates as the shape originally
used to generate the iExpanded2DObstacles instance.
A newly constructed square Interface iMesh object
that contains the expanded obstacle boundaries.
As well as a simple square mesh, this method also generates unobstructed space boundaries,
which include the pre-expanded boundaries from the iExpanded2DObstacles instance.
If you don't have the expansion shape coordinates originally supplied
when building the iExpanded2DObstacles instance,
then you can use
to generate a suitable expansion shape.
Mesh buildExpanded2DObstaclesContainerMesh(Expanded2DObstacles preExpanded, Shape expandShape);