Implemented avoid_crossing_perimeters with VisiLibity

xs/src/MotionPlanner.hpp

@@ -0,0 +1,42 @@
+#ifndef slic3r_MotionPlanner_hpp_
+#define slic3r_MotionPlanner_hpp_
+
+#include <myinit.h>
+#include "ClipperUtils.hpp"
+#include "ExPolygonCollection.hpp"
+#include "Polyline.hpp"
+#include "visilibity.hpp"
+#include <vector>
+
+#define MP_INNER_MARGIN scale_(1.0)
+#define MP_OUTER_MARGIN scale_(2.0)
+
+namespace Slic3r {
+
+class MotionPlanner
+{
+    public:
+    MotionPlanner(const ExPolygons &islands);
+    ~MotionPlanner();
+    void shortest_path(const Point &from, const Point &to, Polyline* polyline);
+    
+    private:
+    ExPolygons islands;
+    bool initialized;
+    ExPolygon outer;
+    ExPolygonCollections inner;
+    std::vector<VisiLibity::Environment*> envs;
+    std::vector<VisiLibity::Visibility_Graph*> graphs;
+    
+    void initialize();
+    void generate_environment(int island_idx);
+    static VisiLibity::Polyline convert_polyline(const Polyline &polyline);
+    static Polyline convert_polyline(const VisiLibity::Polyline &v_polyline);
+    static VisiLibity::Polygon convert_polygon(const Polygon &polygon);
+    static VisiLibity::Point convert_point(const Point &point);
+    static Point convert_point(const VisiLibity::Point &v_point);
+};
+
+}
+
+#endif