}    fclose(file);  return true;}// Read in a polyline figurebool Nimage::load_fig_polyline(FILE *file, char *line, int size, double scale){  // Read object header and discard most of it    strtok(line, " \t");  for (int i = 0; i < 14; i++)    strtok(NULL, " \t");  int npoints = atoi(strtok(NULL, " \t"));  for (int i = 0; i < npoints;)  {    if (fgets(line, size, file) == NULL)      break;    if (line[0] == '#')      continue;    char *t1, *t2;    int ax=0, ay=0, bx=0, by=0;        t1 = strtok(line, " \t\n");    while (i < npoints)    {      t2 = strtok(NULL, " \t\n");            bx = (int) (atoi(t1) * scale);      by = (int) (atoi(t2) * scale);      i++;      if (i >= 2)          draw_line(ax, ay, bx, by, 1);      ax = bx;      ay = by;      t1 = strtok(NULL, " \t\n");      if (!t1)          break;    }  }  return true;}void Nimage::draw_big(void){  N_draw_big = true;}void Nimage::draw_small(void){  N_draw_big = false;}void Nimage::draw_circle(int x,int y,int r,unsigned char c){  double i,cx,cy;  int x1,y1,x2,y2;    x1=x;y1=y+r;	    for (i=0;i<2.0*M_PI;i+=0.1)    {      cx = (double) x + (double (r) * sin(i));      cy = (double) y + (double (r) * cos(i));      x2=(int)cx;y2=(int)cy;      draw_line(x1,y1,x2,y2,c);      x1=x2;y1=y2;    }	    draw_line(x1,y1,x,y+r,c);}void Nimage::draw_rect( const Rect t, unsigned char c){  draw_line( t.toplx, t.toply, t.toprx, t.topry, c );  draw_line( t.toprx, t.topry, t.botlx, t.botly, c );  draw_line( t.botlx, t.botly, t.botrx, t.botry, c );  draw_line( t.botrx, t.botry, t.toplx, t.toply, c );}void Nimage::draw_line(int x1,int y1,int x2,int y2,unsigned char col){  int delta_x, delta_y;  int delta, incE, incNE;  int x, y;  int neg_slope = 0;    if (x1 > x2)    {      delta_x = x1 - x2;      if (y1 > y2)	delta_y = y1 - y2;      else		delta_y = y2 - y1;            if (delta_y <= delta_x)	draw_line(x2, y2, x1, y1, col);    }  if (y1 > y2)    {      delta_y = y1 - y2;      if (x1 > x2)	delta_x = x1 - x2;      else		delta_x = x2 - x1;            if (delta_y > delta_x)	draw_line(x2, y2, x1, y1, col);    }    if (x1 > x2)    {      neg_slope = 1;      delta_x = x1 - x2;    }  else    delta_x = x2 - x1;    if (y1 > y2)    {      neg_slope = 1;      delta_y = y1 - y2;    }  else    delta_y = y2 - y1;    x = x1;  y = y1;    set_pixel(x,y,col);    if (delta_y <= delta_x)    {      delta = 2 * delta_y - delta_x;      incE = 2 * delta_y;      incNE = 2 * (delta_y - delta_x);            while (x < x2)	{	  if (delta <= 0)	    {	      delta = delta + incE;	      x++;	    }	  else	    {	      delta = delta + incNE;	      x++;	      if (neg_slope)	y--;	      else		y++;	    }	  set_pixel(x,y,col);	}    }  else    {      delta = 2 * delta_x - delta_y;      incE = 2 * delta_x;      incNE = 2 * (delta_x - delta_y);            while (y < y2) 	{	  if (delta <= 0)	    {	      delta = delta + incE;	      y++;	    }	  else	    {	      delta = delta + incNE;	      y++;	      if (neg_slope)	x--;	      else		x++;	    }	  set_pixel(x,y,col);	}    }}unsigned char Nimage::rect_detect( const Rect& r){  unsigned char hit;    if( (hit = line_detect( r.toplx, r.toply, r.toprx, r.topry)) > 0 )     return hit;    if( (hit = line_detect( r.toprx, r.topry, r.botlx, r.botly)) > 0 )    return hit;    if( (hit = line_detect( r.botlx, r.botly, r.botrx, r.botry)) > 0 )    return hit;    if( (hit = line_detect( r.botrx, r.botry, r.toplx, r.toply)) > 0 )    return hit;  return 0;}unsigned char Nimage::line_detect(int x1,int y1,int x2,int y2){  int delta_x, delta_y;  int delta, incE, incNE;  int x, y;  int neg_slope = 0;  unsigned char pixel;    if (x1 > x2)    {      delta_x = x1 - x2;      if (y1 > y2)	delta_y = y1 - y2;      else		delta_y = y2 - y1;            if (delta_y <= delta_x) return( line_detect(x2, y2, x1, y1));    }  if (y1 > y2)    {      delta_y = y1 - y2;      if (x1 > x2)	delta_x = x1 - x2;      else		delta_x = x2 - x1;            if (delta_y > delta_x) return( line_detect(x2, y2, x1, y1));    }    if (x1 > x2)    {      neg_slope = 1;      delta_x = x1 - x2;    }  else    delta_x = x2 - x1;    if (y1 > y2)    {      neg_slope = 1;      delta_y = y1 - y2;    }  else    delta_y = y2 - y1;    x = x1;  y = y1;    //check to see if this pixel is an obstacle  pixel = get_pixel( x,y );  if( pixel != 0)   {      return pixel;   }  //set_pixel(x,y,col);    if (delta_y <= delta_x)    {      delta = 2 * delta_y - delta_x;      incE = 2 * delta_y;      incNE = 2 * (delta_y - delta_x);            while (x < x2)	{	  if (delta <= 0)	    {	      delta = delta + incE;	      x++;	    }	  else	    {	      delta = delta + incNE;	      x++;	      if (neg_slope)	y--;	      else		y++;	    }	  //check to see if this pixel is an obstacle	  pixel = get_pixel( x,y );	  if( pixel != 0)	    { 	      return pixel;	    }	  	  //set_pixel(x,y,col);	}    }  else    {      delta = 2 * delta_x - delta_y;      incE = 2 * delta_x;      incNE = 2 * (delta_x - delta_y);            while (y < y2) 	{	  if (delta <= 0)	    {	      delta = delta + incE;	      y++;	    }	  else	    {	      delta = delta + incNE;	      y++;	      if (neg_slope)	x--;	      else		x++;	    }	  //check to see if this pixel is an obstacle	  pixel = get_pixel( x,y );	  if( pixel != 0)	    { 	      return pixel;	    }	  //set_pixel(x,y,col);	}    }  return 0;}void Nimage::clear(unsigned char col){  //cout << "Clear: " << data << ',' << col << ',' << width*height << endl;  memset(data,col,width*height*sizeof(unsigned char));}/* save out image data to a ppm (colour pbm) image file *//* Parameters: IN fname, the name of the file to save the image data to *//*                cmap, file containing the mapping of grey scale to colour. */// default value cmap = "/home/dream/derek/bin/high_col";void Nimage::save_image_as_ppm(char *fname, char *cmap){    FILE *f_out_ptr;	int bytes_written;	unsigned char *im_ptr;	short_triple *the_cmap;	f_out_ptr = fopen(fname, "wb");	if (!f_out_ptr)	{	fprintf(stderr,"::save_ppm_data, cannot write to file %s\n", fname);	fflush(stderr);	exit(0);	}	bytes_written = 256;	the_cmap = new short_triple [bytes_written];	for (int i = 0; i < bytes_written; i++)	{			the_cmap[i][0]=i;			the_cmap[i][1]=i;			the_cmap[i][2]=i;	}	the_cmap[1][0]=255;the_cmap[1][1]=0;the_cmap[1][2]=0;	the_cmap[2][0]=0;the_cmap[2][1]=255;the_cmap[2][2]=0;	the_cmap[3][0]=255;the_cmap[3][1]=255;the_cmap[3][2]=0;	the_cmap[4][0]=0;the_cmap[4][1]=0;the_cmap[4][2]=255;	the_cmap[5][0]=255;the_cmap[5][1]=0;the_cmap[5][2]=255;	the_cmap[6][0]=0;the_cmap[6][1]=255;the_cmap[6][2]=255;	the_cmap[7][0]=255;the_cmap[7][1]=255;the_cmap[7][2]=255;  /***** First write the PPM header data *******/  /* need to save these variables */  fprintf(f_out_ptr, "P6\n");  fprintf(f_out_ptr, "# PPM raw bitmap image file format\n");  fprintf(f_out_ptr, "#%s\n", cmap);    // To indicate where to find colour set  fprintf(f_out_ptr, "# Width x Height\n");  fprintf(f_out_ptr, "%d %d\n", width, height);  fprintf(f_out_ptr, "# Max Grey number\n");  fprintf(f_out_ptr, "255\n");/*** u_char is defnd in the read_pgm_data fn (makes fwrite line shorter). ***/  /***** Then write out the raw image data *****/  bytes_written = 0;  for (im_ptr = data; im_ptr < data + (width*height); im_ptr++)  {    fputc(char(the_cmap[*im_ptr][0]), f_out_ptr);    fputc(char(the_cmap[*im_ptr][1]), f_out_ptr);    fputc(char(the_cmap[*im_ptr][2]), f_out_ptr);  }  fflush(f_out_ptr); fclose(f_out_ptr);}