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Fixed segfault in new MotionPlanner code when environments were empty (small islands). #2511

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This commit is contained in:
Alessandro Ranellucci 2015-01-08 21:24:51 +01:00
parent 2f255620c6
commit 79cb350f2d
1 changed files with 16 additions and 3 deletions
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19
xs/src/libslic3r/MotionPlanner.cpp
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@ -111,12 +111,21 @@ MotionPlanner::shortest_path(const Point &from, const Point &to, Polyline* polyl
}
}
// get environment
ExPolygonCollection env = this->get_env(island_idx);
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->points.push_back(from);
polyline->points.push_back(to);
return; // bye bye
}
// Now check whether points are inside the environment.
Point inner_from = from;
Point inner_to = to;
bool from_is_inside, to_is_inside;
ExPolygonCollection env = this->get_env(island_idx);
if (!(from_is_inside = env.contains(from))) {
// Find the closest inner point to start from.
inner_from = this->nearest_env_point(env, from, to);
@ -210,8 +219,12 @@ MotionPlanner::nearest_env_point(const ExPolygonCollection &env, const Point &fr
}
}
// if we're here, return last point (better than nothing)
return pp.front();
// if we're here, return last point if any (better than nothing)
if (!pp.empty()) return pp.front();
// if we have no points at all, then we have an empty environment and we
// make this method behave as a no-op (we shouldn't get here by the way)
return from;
}
MotionPlannerGraph*