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graph of a polygon; this graph is used to test whether the interior of a polygon is connected; algorithmic modeling: given a polygon, define its free space connectivity graph as follows: * add a graph vertex for the exterior of the polygon * add a graph vertex for every hole * add a graph vertex for each point of contact between two polygon rings * add a graph edge between every free space component (exterior or hole) and every point of contact on the boundary of this component * determining whether the polygon has connected interior amounts to testing whether the graph is acyclic