playground with arc2arc collision
This commit is contained in:
Tomasz Wlostowski
Roberto Fernandez Bautista
parent
b6664eecf2
commit
539154466d
|
|
@ -31,10 +31,177 @@
|
|||
#include "pns_log_viewer_frame.h"
|
||||
#include "label_manager.h"
|
||||
|
||||
#include <geometry/shape_arc.h>
|
||||
|
||||
namespace PNS {
|
||||
extern SHAPE_LINE_CHAIN g_pnew, g_hnew;
|
||||
};
|
||||
|
||||
|
||||
|
||||
template<class T>
|
||||
T within_range(T x, T minval, T maxval, T wrap)
|
||||
{
|
||||
int rv;
|
||||
|
||||
while (maxval >= wrap)
|
||||
maxval -= wrap;
|
||||
|
||||
while (maxval < 0)
|
||||
maxval += wrap;
|
||||
|
||||
while (minval >= wrap)
|
||||
minval -= wrap;
|
||||
|
||||
while (minval < 0)
|
||||
minval += wrap;
|
||||
|
||||
while (x < 0)
|
||||
x += wrap;
|
||||
|
||||
while (x >= wrap)
|
||||
x -= wrap;
|
||||
|
||||
if (maxval > minval)
|
||||
rv = (x >= minval && x <= maxval) ? 1 : 0;
|
||||
else
|
||||
rv = (x >= minval || x <= maxval) ? 1 : 0;
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
bool arcContainsPoint( SHAPE_ARC a, VECTOR2D p )
|
||||
{
|
||||
double phi = atan2( p.y - a.GetCenter().y, p.x - a.GetCenter().x );
|
||||
|
||||
return within_range( phi, a.GetStartAngle(), a.GetEndAngle(), 2.0 * M_PI );
|
||||
}
|
||||
|
||||
int arclineIntersect( SHAPE_ARC a, SEG s, VECTOR2D* pts )
|
||||
{
|
||||
double sa, sb, sc;
|
||||
|
||||
sa = s.A.y - s.B.y;
|
||||
sb = s.B.x - s.A.x;
|
||||
sc = -sa * s.A.x - sb * s.A.y;
|
||||
|
||||
VECTOR2D ac = a.GetCenter();
|
||||
double rr = a.GetRadius();
|
||||
int n = 0;
|
||||
|
||||
if( sb != 0.0 )
|
||||
{
|
||||
double aa = sa * sa / ( sb * sb ) + 1.0;
|
||||
double bb = (2.0 * sa * ac.y / sb
|
||||
+ 2.0 * sa * sc / (sb * sb)
|
||||
- 2.0 * ac.x );
|
||||
|
||||
double cc = ac.x * ac.x + ac.y * ac.y - rr * rr + 2.0*sc*ac.y/sb + (sc*sc) / ( sb*sb );
|
||||
|
||||
double delta = bb*bb - 4.0 * aa * cc;
|
||||
|
||||
if( delta < 0.0 )
|
||||
return 0;
|
||||
else
|
||||
{
|
||||
double x1 = -bb - sqrt(delta) / (2.0 * aa );
|
||||
double x2 = -bb + sqrt(delta) / (2.0 * aa );
|
||||
|
||||
double y1 = (-sc - sa * x1) / sb;
|
||||
double y2 = (-sc - sa * x2) / sb;
|
||||
|
||||
VECTOR2D p0( x1, y1 );
|
||||
VECTOR2D p1( x1, y1 );
|
||||
if( arcContainsPoint( a, p0 ) ) { pts[n] = p0; n++; }
|
||||
if( arcContainsPoint( a, p1 ) ) { pts[n] = p1; n++; }
|
||||
|
||||
return n;
|
||||
}
|
||||
} else { // line is vertical
|
||||
|
||||
double aa = 1.0;
|
||||
double bb = -2.0 * ac.y;
|
||||
double cc = ac.x * ac.x + ac.y * ac.y - rr*rr + 2.0*sc*ac.x/sa + (sc * sc) / (sa * sa);
|
||||
|
||||
double delta = bb*bb - 4.0 * aa * cc;
|
||||
|
||||
if( delta < 0.0 )
|
||||
return 0;
|
||||
else
|
||||
{
|
||||
double y1 = -bb - sqrt(delta) / (2.0 * aa );
|
||||
double y2 = -bb + sqrt(delta) / (2.0 * aa );
|
||||
|
||||
VECTOR2D p0( s.A.x, y1 );
|
||||
VECTOR2D p1( s.A.y, y2 );
|
||||
if( arcContainsPoint( a, p0 ) ) { pts[n] = p0; n++; }
|
||||
if( arcContainsPoint( a, p1 ) ) { pts[n] = p1; n++; }
|
||||
return n;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
bool collideArc2Arc( SHAPE_ARC a1, SHAPE_ARC a2, int clearance, SEG& minDistSeg )
|
||||
{
|
||||
SEG mediatrix (a1.GetCenter(), a2.GetCenter() );
|
||||
|
||||
int nA = 0, nB = 0;
|
||||
VECTOR2D ptsA[4];
|
||||
VECTOR2D ptsB[4];
|
||||
|
||||
if (mediatrix.A.x != mediatrix.B.x || mediatrix.A.y != mediatrix.B.y )
|
||||
{
|
||||
// arcs don't have the same center point
|
||||
nA = arclineIntersect( a1, mediatrix, ptsA );
|
||||
nB = arclineIntersect( a2, mediatrix, ptsB );
|
||||
}
|
||||
else
|
||||
{
|
||||
// well well - check if the start/end angle ranges overlap. If they do ,the minumum distance is at one of the arc endpoints
|
||||
}
|
||||
|
||||
ptsA[nA++] = a1.GetP0();
|
||||
ptsA[nA++] = a1.GetP1();
|
||||
ptsB[nB++] = a2.GetP0();
|
||||
ptsB[nB++] = a2.GetP1();
|
||||
|
||||
printf("nA %d nB %d\n", nA, nB );
|
||||
|
||||
double minDist;
|
||||
bool minDistFound = false;
|
||||
|
||||
for( int i = 0; i < nA; i++ )
|
||||
for( int j = 0; j < nB; j++ )
|
||||
{
|
||||
double dist = (ptsA[i] - ptsB[j]).EuclideanNorm() - a1.GetWidth() / 2 - a2.GetWidth() / 2;
|
||||
|
||||
printf("dist %.1f\n", dist );
|
||||
|
||||
if( dist < clearance )
|
||||
{
|
||||
|
||||
if( !minDistFound )
|
||||
{
|
||||
minDist = dist;
|
||||
minDistSeg = SEG( ptsA[i], ptsB[j] );
|
||||
}
|
||||
else
|
||||
{
|
||||
minDist = std::min( minDist, dist );
|
||||
minDistSeg = SEG( ptsA[i], ptsB[j] );
|
||||
}
|
||||
|
||||
minDistFound = true;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
return minDistFound;
|
||||
}
|
||||
|
||||
|
||||
int playground_main_func( int argc, char* argv[] )
|
||||
{
|
||||
auto frame = new PNS_LOG_VIEWER_FRAME( nullptr );
|
||||
|
|
@ -61,8 +228,10 @@ int playground_main_func( int argc, char* argv[] )
|
|||
|
||||
SHAPE_LINE_CHAIN path_w;
|
||||
|
||||
BOX2D bb ( path.BBox().GetPosition(), path.BBox().GetSize() );
|
||||
|
||||
SHAPE_ARC a( VECTOR2I( 10000, 10000 ), VECTOR2I( -10000000, -500000 ), M_PI*1.5 );
|
||||
BOX2D bb ( a.BBox().GetPosition(), a.BBox().GetSize() );
|
||||
SHAPE_ARC a2( VECTOR2I( -10000, 10000 ), VECTOR2I( -400000, -100000 ), M_PI*0.75 );
|
||||
|
||||
LABEL_MANAGER labelMgr( frame->GetPanel()->GetGAL() );
|
||||
|
||||
frame->GetPanel()->GetView()->SetViewport(bb);
|
||||
|
|
@ -73,6 +242,8 @@ int playground_main_func( int argc, char* argv[] )
|
|||
|
||||
overlay->SetStrokeColor( WHITE );
|
||||
overlay->SetLineWidth( 10000.0 );
|
||||
|
||||
#if 0
|
||||
overlay->AnnotatedPolyline( PNS::g_pnew, "path", true );
|
||||
overlay->SetStrokeColor( RED );
|
||||
overlay->AnnotatedPolyline( PNS::g_hnew, "hull", true );
|
||||
|
|
@ -80,7 +251,40 @@ int playground_main_func( int argc, char* argv[] )
|
|||
overlay->SetStrokeColor( YELLOW );
|
||||
overlay->AnnotatedPolyline( path_w, "walk", "true" );
|
||||
overlay->DrawAnnotations();
|
||||
#endif
|
||||
|
||||
SEG s1 ( -1000000, -200000, 3000000, 200000 );
|
||||
SEG s2 ( 0, -200000, 0, 200000 );
|
||||
|
||||
VECTOR2D pts1[2], pts2[2];
|
||||
// int n1 = arclineIntersect( a, s1, pts1 );
|
||||
//int n2 = arclineIntersect( a, s2, pts2 );
|
||||
|
||||
SEG closestDist;
|
||||
|
||||
bool isects = collideArc2Arc( a, a2, 100000000, closestDist );
|
||||
|
||||
|
||||
overlay->SetStrokeColor( WHITE );
|
||||
overlay->Arc( a.GetCenter(), a.GetRadius(), a.GetStartAngle(), a.GetEndAngle() );
|
||||
overlay->Arc( a2.GetCenter(), a2.GetRadius(), a2.GetStartAngle(), a2.GetEndAngle() );
|
||||
|
||||
/*overlay->SetStrokeColor( RED );
|
||||
overlay->Line( s1.A, s1.B );
|
||||
for(int i = 0; i < n1; i++)
|
||||
overlay->Circle( pts1[i], 200000 );
|
||||
|
||||
overlay->SetStrokeColor( GREEN );
|
||||
overlay->Line( s2.A, s2.B );
|
||||
for(int i = 0; i < n2; i++)
|
||||
overlay->Circle( pts2[i], 200000 );*/
|
||||
|
||||
if( isects )
|
||||
{
|
||||
overlay->SetStrokeColor( YELLOW );
|
||||
overlay->Line(closestDist.A, closestDist.B);
|
||||
}
|
||||
|
||||
overlay = nullptr;
|
||||
|
||||
return 0;
|
||||
|
|
|
|||
Loading…
Reference in New Issue