WIP: Moved sources int src/, separated most of the source code from Perl.

The XS was left only for the unit / integration tests, and it links
libslic3r only. No wxWidgets are allowed to be used from Perl starting
from now.

src/libslic3r/MotionPlanner.hpp

@@ -0,0 +1,91 @@
+#ifndef slic3r_MotionPlanner_hpp_
+#define slic3r_MotionPlanner_hpp_
+
+#include "libslic3r.h"
+#include "BoundingBox.hpp"
+#include "ClipperUtils.hpp"
+#include "ExPolygonCollection.hpp"
+#include "Polyline.hpp"
+#include <map>
+#include <utility>
+#include <memory>
+#include <vector>
+
+#define MP_INNER_MARGIN scale_(1.0)
+#define MP_OUTER_MARGIN scale_(2.0)
+
+namespace Slic3r {
+
+class MotionPlanner;
+
+class MotionPlannerEnv
+{
+    friend class MotionPlanner;
+    
+public:
+    MotionPlannerEnv() {};
+    MotionPlannerEnv(const ExPolygon &island) : m_island(island), m_island_bbox(get_extents(island)) {};
+    Point nearest_env_point(const Point &from, const Point &to) const;
+    bool  island_contains(const Point &pt) const
+        { return m_island_bbox.contains(pt) && m_island.contains(pt); }
+    bool  island_contains_b(const Point &pt) const
+        { return m_island_bbox.contains(pt) && m_island.contains_b(pt); }
+
+private:
+    ExPolygon           m_island;
+    BoundingBox         m_island_bbox;
+    // Region, where the travel is allowed.
+    ExPolygonCollection m_env;
+};
+
+// A 2D directed graph for searching a shortest path using the famous Dijkstra algorithm.
+class MotionPlannerGraph
+{    
+public:
+    // Add a directed edge into the graph.
+    size_t   add_node(const Point &p) { m_nodes.emplace_back(p); return m_nodes.size() - 1; }
+    void     add_edge(size_t from, size_t to, double weight);
+    size_t   find_closest_node(const Point &point) const { return point.nearest_point_index(m_nodes); }
+
+    bool     empty() const { return m_adjacency_list.empty(); }
+    Polyline shortest_path(size_t from, size_t to) const;
+    Polyline shortest_path(const Point &from, const Point &to) const
+        { return this->shortest_path(this->find_closest_node(from), this->find_closest_node(to)); }
+
+private:
+    typedef int     node_t;
+    typedef double  weight_t;
+    struct Neighbor {
+        Neighbor(node_t target, weight_t weight) : target(target), weight(weight) {}
+        node_t   target;
+        weight_t weight;
+    };
+    Points                              m_nodes;
+    std::vector<std::vector<Neighbor>>  m_adjacency_list;
+};
+
+class MotionPlanner
+{
+public:
+    MotionPlanner(const ExPolygons &islands);
+    ~MotionPlanner() {}
+
+    Polyline    shortest_path(const Point &from, const Point &to);
+    size_t      islands_count() const { return m_islands.size(); }
+
+private:
+    bool                                m_initialized;
+    std::vector<MotionPlannerEnv>       m_islands;
+    MotionPlannerEnv                    m_outer;
+    // 0th graph is the graph for m_outer. Other graphs are 1 indexed.
+    std::vector<std::unique_ptr<MotionPlannerGraph>> m_graphs;
+    
+    void                      initialize();
+    const MotionPlannerGraph& init_graph(int island_idx);
+    const MotionPlannerEnv&   get_env(int island_idx) const
+        { return (island_idx == -1) ? m_outer : m_islands[island_idx]; }
+};
+
+}
+
+#endif