function poly2 = resamplePolylineByLength(poly, step)
%RESAMPLEPOLYLINEBYLENGTH Resample a polyline with a fixed sampling step.
%
%   RES = resamplePolyline(POLY, STEP)
%   Resample the input polyline POLY by distributing new vertices on the
%   original polyline such that the (curvilinear) distance between the new
%   vertices is approximately equal to STEP. 
%
%   Example
%     poly = [0 10;0 0;10 0; 10 10; 20 10;20 0];
%     figure; drawPolyline(poly, 'k');
%     poly2 = resamplePolylineByLength(poly, 4);
%     hold on; 
%     drawPolyline(poly2, 'm');
%     drawPoint(poly2, 'mo');
%     axis equal; axis([-10 30 -10 20]);
%     legend('Original polyline', 'Resampled polyline');
%
%   See also 
%     polygons2d, drawPolyline, resamplePolygon
%

% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2011-12-09, using Matlab 7.9.0.529 (R2009b)
% Copyright 2011-2024 INRA - Cepia Software Platform

% parametrisation of the curve
s = parametrize(poly);

% compute the number of points for sampling the polygon
% (equal to the number of segments plus one)
Lmax = s(end);
n = round(Lmax / step) + 1;

% distribute N points equally spaced
pos = linspace(0, Lmax, n);

poly2 = zeros(n, size(poly, 2));
for i = 1:n
    % index of surrounding vertices before and after
    ind0 = find(s <= pos(i), 1, 'last');
    ind1 = find(s >= pos(i), 1, 'first');
    
    if ind0 == ind1
        % get position of a vertex in input polyline
        poly2(i, :) = poly(ind0, :);
        continue;
    end
    
    % position of surrounding vertices
    pt0 = poly(ind0, :);
    pt1 = poly(ind1, :);
    
    % weights associated to each neighbor
    l0 = pos(i) - s(ind0);
    l1 = s(ind1) - pos(i);
    
    % linear interpolation of neighbor positions
    if (l0 + l1) > Lmax * 1e-12
        poly2(i, :) = (pt0 * l1 + pt1 * l0) / (l0 + l1);
    else
        % if neighbors are too close, do not use interpolation
        poly2(i, :) = pt0;
    end
end
