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Minor code cleanup here and there

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This commit is contained in:
Alessandro Ranellucci 2015-12-19 20:27:04 +01:00
parent 795107dfa2
commit 70e8db8a0a
3 changed files with 13 additions and 24 deletions
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22
xs/src/libslic3r/MotionPlanner.cpp
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@ -90,12 +90,8 @@ MotionPlanner::shortest_path(const Point &from, const Point &to)
if (!this->initialized) this->initialize();
// if we have an empty configuration space, return a straight move
if (this->islands.empty()) {
Polyline p;
p.points.push_back(from);
p.points.push_back(to);
return p;
}
if (this->islands.empty())
return Line(from, to);
// Are both points in the same island?
int island_idx = -1;
@ -103,12 +99,9 @@ MotionPlanner::shortest_path(const Point &from, const Point &to)
if (island->contains(from) && island->contains(to)) {
// since both points are in the same island, is a direct move possible?
// if so, we avoid generating the visibility environment
if (island->contains(Line(from, to))) {
Polyline p;
p.points.push_back(from);
p.points.push_back(to);
return p;
}
if (island->contains(Line(from, to)))
return Line(from, to);
island_idx = island - this->islands.begin();
break;
}
@ -119,10 +112,7 @@ MotionPlanner::shortest_path(const Point &from, const Point &to)
if (env.expolygons.empty()) {
// if this environment is empty (probably because it's too small), perform straight move
// and avoid running the algorithms on empty dataset
Polyline p;
p.points.push_back(from);
p.points.push_back(to);
return p; // bye bye
return Line(from, to);
}
// Now check whether points are inside the environment.