arc collision playground
This commit is contained in:
Tomasz Wlostowski
Roberto Fernandez Bautista
parent
539154466d
commit
7e94f85870
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@ -37,6 +37,7 @@ namespace PNS {
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extern SHAPE_LINE_CHAIN g_pnew, g_hnew;
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};
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std::shared_ptr<PNS_LOG_VIEWER_OVERLAY> overlay;
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template<class T>
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@ -70,14 +71,90 @@ T within_range(T x, T minval, T maxval, T wrap)
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return rv;
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}
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bool arcContainsPoint( SHAPE_ARC a, VECTOR2D p )
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bool sliceContainsPoint( SHAPE_ARC a, VECTOR2D p )
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{
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double phi = atan2( p.y - a.GetCenter().y, p.x - a.GetCenter().x );
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#if 1
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double phi = 180.0 / M_PI * atan2( p.y - a.GetCenter().y, p.x - a.GetCenter().x );
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double ca = a.GetCentralAngle();
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double sa = a.GetStartAngle();
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double ea;
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if( ca >= 0 )
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{
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ea = sa + ca;
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}
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else
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{
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ea = sa;
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sa += ca;
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}
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return within_range( phi, sa, ea, 360.0 );
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#endif
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VECTOR2D vec( p - a.GetCenter() );
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bool ccw = a.GetCentralAngle() > 0.0;
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double rotatedVecAngle = NormalizeAngleDegreesPos( NormalizeAngleDegreesPos( RAD2DEG( vec.Angle() ) )
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- a.GetStartAngle() );
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double rotatedEndAngle = NormalizeAngleDegreesPos( a.GetEndAngle() - a.GetStartAngle() );
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if( ( ccw && rotatedVecAngle > rotatedEndAngle )
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|| ( !ccw && rotatedVecAngle < rotatedEndAngle ) )
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{
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return true;
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}
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return false;
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return within_range( phi, a.GetStartAngle(), a.GetEndAngle(), 2.0 * M_PI );
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}
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int arclineIntersect( SHAPE_ARC a, SEG s, VECTOR2D* pts )
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{
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VECTOR2I c = a.GetCenter();
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double r = a.GetRadius();
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VECTOR2I nearest = s.LineProject( c );
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double nd = (c - nearest).EuclideanNorm();
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/*overlay->SetStrokeColor( RED );
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overlay->AnnotatedPoint( s.A, 200000 );
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overlay->SetStrokeColor( GREEN );
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overlay->AnnotatedPoint( s.B, 200000 );
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overlay->SetStrokeColor( YELLOW );
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overlay->AnnotatedPoint( c, 200000 );
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overlay->SetStrokeColor( WHITE );
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overlay->Arc( a );
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overlay->SetStrokeColor( DARKGRAY );
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overlay->Circle( a.GetCenter(), a.GetRadius() );*/
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if( nd > r )
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return 0;
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double ll = r * r - nd * nd;
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double l = 0;
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if( ll > 0 )
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l = sqrt(ll);
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int n = 0;
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VECTOR2I perp = ( s.B - s.A ).Resize( l );
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VECTOR2I p0( nearest + perp );
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VECTOR2I p1( nearest - perp );
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if( sliceContainsPoint( a, p0 ) ) { pts[n] = p0; n++; }
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if( sliceContainsPoint( a, p1 ) ) { pts[n] = p1; n++; }
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//for(int i = 0; i < n ; i++) overlay->AnnotatedPoint( pts[i], 40000 );
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return n;
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}
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int arclineIntersect2( SHAPE_ARC a, SEG s, VECTOR2D* pts )
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{
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double sa, sb, sc;
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@ -89,6 +166,13 @@ int arclineIntersect( SHAPE_ARC a, SEG s, VECTOR2D* pts )
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double rr = a.GetRadius();
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int n = 0;
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overlay->SetStrokeColor( RED );
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overlay->AnnotatedPoint( s.A, 200000 );
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overlay->SetStrokeColor( GREEN );
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overlay->AnnotatedPoint( s.B, 200000 );
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overlay->SetStrokeColor( WHITE );
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overlay->Arc( a );
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if( sb != 0.0 )
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{
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double aa = sa * sa / ( sb * sb ) + 1.0;
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@ -110,10 +194,16 @@ int arclineIntersect( SHAPE_ARC a, SEG s, VECTOR2D* pts )
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double y1 = (-sc - sa * x1) / sb;
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double y2 = (-sc - sa * x2) / sb;
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overlay->AnnotatedPoint( VECTOR2D(x1, y1), 2000000 );
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overlay->AnnotatedPoint( VECTOR2D(x2, y2), 2000000 );
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VECTOR2D p0( x1, y1 );
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VECTOR2D p1( x1, y1 );
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if( arcContainsPoint( a, p0 ) ) { pts[n] = p0; n++; }
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if( arcContainsPoint( a, p1 ) ) { pts[n] = p1; n++; }
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if( sliceContainsPoint( a, p0 ) ) { pts[n] = p0; n++; }
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if( sliceContainsPoint( a, p1 ) ) { pts[n] = p1; n++; }
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printf("CASE1\n");
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return n;
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}
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@ -134,8 +224,11 @@ int arclineIntersect( SHAPE_ARC a, SEG s, VECTOR2D* pts )
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VECTOR2D p0( s.A.x, y1 );
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VECTOR2D p1( s.A.y, y2 );
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if( arcContainsPoint( a, p0 ) ) { pts[n] = p0; n++; }
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if( arcContainsPoint( a, p1 ) ) { pts[n] = p1; n++; }
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/*if( sliceContainsPoint( a, p0 ) ) */ { pts[n] = p0; n++; }
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/*if( sliceContainsPoint( a, p1 ) ) */ { pts[n] = p1; n++; }
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printf("CASE2\n");
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return n;
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}
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}
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@ -143,31 +236,113 @@ int arclineIntersect( SHAPE_ARC a, SEG s, VECTOR2D* pts )
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return 0;
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}
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int intersectArc2Arc( SHAPE_ARC a1, SHAPE_ARC a2, VECTOR2D* ips )
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{
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VECTOR2I dc( a2.GetCenter() - a1.GetCenter() );
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double dcl = dc.EuclideanNorm();
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double r1 = a1.GetRadius();
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double r2 = a2.GetRadius();
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if( dc.x == 0 && dc.y == 0 )
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{
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if(r1 == r2)
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{
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ips[0] = a1.GetP0();
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return 1;
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}
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}
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double d = ( dcl * dcl - r2*r2 + r1*r1 ) / (2 * dcl);
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//overlay->SetStrokeColor( DARKGRAY );
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//overlay->Circle( a1.GetCenter(), a1.GetRadius() );
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//overlay->SetStrokeColor( DARKGRAY );
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//overlay->Circle( a2.GetCenter(), a2.GetRadius() );
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// if( d<0.0 )
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// return 0;
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double r1sq = r1 * r1;
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double dsq = d * d;
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if( r1sq < dsq )
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return 0;
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double q = sqrt ( r1sq - dsq );
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// printf("d %.1f q %.1f dcl %.1f\n", d, q, dcl );
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VECTOR2D pp = a1.GetCenter() + dc.Resize( d );
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VECTOR2D ip0 = pp + dc.Perpendicular().Resize(q);
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VECTOR2D ip1 = pp - dc.Perpendicular().Resize(q);
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int n_ips = 0;
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if( sliceContainsPoint( a1, ip0 ) )
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ips[n_ips++] = ip0;
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if( sliceContainsPoint( a1, ip1 ) )
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ips[n_ips++] = ip1;
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return n_ips;
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}
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bool collideArc2Arc( SHAPE_ARC a1, SHAPE_ARC a2, int clearance, SEG& minDistSeg )
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{
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SEG mediatrix (a1.GetCenter(), a2.GetCenter() );
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int nA = 0, nB = 0;
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VECTOR2D ptsA[4];
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VECTOR2D ptsB[4];
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VECTOR2D ptsA[8];
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VECTOR2D ptsB[8];
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if (mediatrix.A.x != mediatrix.B.x || mediatrix.A.y != mediatrix.B.y )
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bool cocentered = (mediatrix.A == mediatrix.B);
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VECTOR2D ips[4];
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if( intersectArc2Arc(a1, a2, ips) > 0 )
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{
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minDistSeg.A = minDistSeg.B = ips[0];
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return true;
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}
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// arcs don't have the same center point
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if( ! cocentered )
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{
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nA = arclineIntersect( a1, mediatrix, ptsA );
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nB = arclineIntersect( a2, mediatrix, ptsB );
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}
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else
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{
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// well well - check if the start/end angle ranges overlap. If they do ,the minumum distance is at one of the arc endpoints
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}
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overlay->SetStrokeColor( LIGHTRED );
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overlay->Line( SEG( a2.GetP0(), a2.GetCenter() ) );
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overlay->Line( SEG( a2.GetP1(), a2.GetCenter() ) );
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nA += arclineIntersect( a1, SEG( a2.GetP0(), a2.GetCenter() ), ptsA + nA );
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nA += arclineIntersect( a1, SEG( a2.GetP1(), a2.GetCenter() ), ptsA + nA );
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overlay->SetStrokeColor( LIGHTBLUE );
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overlay->Line( SEG( a1.GetP0(), a1.GetCenter() ) );
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overlay->Line( SEG( a1.GetP1(), a1.GetCenter() ) );
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nB += arclineIntersect( a2, SEG( a1.GetP0(), a1.GetCenter() ), ptsB + nB );
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nB += arclineIntersect( a2, SEG( a1.GetP1(), a1.GetCenter() ), ptsB + nB );
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ptsA[nA++] = a1.GetP0();
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ptsA[nA++] = a1.GetP1();
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ptsB[nB++] = a2.GetP0();
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ptsB[nB++] = a2.GetP1();
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printf("nA %d nB %d\n", nA, nB );
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// printf("nA %d nB %d\n", nA, nB );
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double minDist;
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bool minDistFound = false;
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@ -177,7 +352,13 @@ bool collideArc2Arc( SHAPE_ARC a1, SHAPE_ARC a2, int clearance, SEG& minDistSeg
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{
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double dist = (ptsA[i] - ptsB[j]).EuclideanNorm() - a1.GetWidth() / 2 - a2.GetWidth() / 2;
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printf("dist %.1f\n", dist );
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/* overlay->SetStrokeColor( RED );
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overlay->AnnotatedPoint( ptsA[i], 100000 );
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overlay->SetStrokeColor( GREEN );
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overlay->AnnotatedPoint( ptsB[j], 100000 );*/
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//printf("dist %.1f\n", dist );
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if( dist < clearance )
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{
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@ -187,9 +368,9 @@ bool collideArc2Arc( SHAPE_ARC a1, SHAPE_ARC a2, int clearance, SEG& minDistSeg
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minDist = dist;
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minDistSeg = SEG( ptsA[i], ptsB[j] );
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}
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else
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else if( dist < minDist )
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{
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minDist = std::min( minDist, dist );
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minDist = dist;
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minDistSeg = SEG( ptsA[i], ptsB[j] );
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}
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@ -208,7 +389,7 @@ int playground_main_func( int argc, char* argv[] )
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Pgm().App().SetTopWindow( frame ); // wxApp gets a face.
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frame->Show();
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auto overlay = frame->GetOverlay();
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overlay = frame->GetOverlay();
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overlay->SetIsFill(false);
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@ -228,63 +409,89 @@ int playground_main_func( int argc, char* argv[] )
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SHAPE_LINE_CHAIN path_w;
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SHAPE_ARC a( VECTOR2I( 10000, 10000 ), VECTOR2I( -10000000, -500000 ), M_PI*1.5 );
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BOX2D bb ( a.BBox().GetPosition(), a.BBox().GetSize() );
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SHAPE_ARC a2( VECTOR2I( -10000, 10000 ), VECTOR2I( -400000, -100000 ), M_PI*0.75 );
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std::vector<SHAPE_ARC> arcs;
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#if 0
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arcs.push_back (SHAPE_ARC ( VECTOR2I( 10000, 10000 ), VECTOR2I( -10000000, -500000 ), 50.0 ) );
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arcs.push_back (SHAPE_ARC ( VECTOR2I( 0, 600 ), VECTOR2I( 1000000, 300000 ), 180.0 ) );
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VECTOR2I offset( -3000000, 0 );
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arcs.push_back (SHAPE_ARC ( VECTOR2I( 10000, 10000 ) + offset, VECTOR2I( -550000, -500000 ) + offset, -80.0 ) );
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arcs.push_back (SHAPE_ARC ( VECTOR2I( -10000, 600 ) + offset, VECTOR2I( 550000 / 2, 500000/ 2 ) + offset , -80.0 ) );
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BOX2D bb ( arcs[0].BBox().GetPosition(), arcs[0].BBox().GetSize() );
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arcs.push_back (SHAPE_ARC ( VECTOR2I( 10000, 10000 ) + offset, VECTOR2I( -550000, -500000 ) + offset, 350.0 ) );
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arcs.push_back (SHAPE_ARC ( VECTOR2I( -100000, 600 ) + offset, VECTOR2I( 500000, 440000 ) + offset , 350.0 ) );
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#endif
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FILE *f = fopen("/tmp/arcs.txt","r");
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while( !feof(f) )
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{
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char str[1024];
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if( fgets(str, sizeof(str), f ) == NULL )
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break;
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if( str[0] == '#' )
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continue;
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printf("str '%s'\n", str);
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double sx, sy, ex, ey, a, w = 1000.0;
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if( sscanf(str,"%lf %lf %lf %lf %lf", &sx, &sy, &ex, &ey, &a) != 5 )
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break;
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SHAPE_ARC arc( VECTOR2D( Millimeter2iu( sx ), Millimeter2iu( sy ) ), VECTOR2D( Millimeter2iu( ex ), Millimeter2iu( ey ) ), a, w );
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arcs.push_back(arc);
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}
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fclose(f);
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printf("Read %d arcs\n", arcs.size() );
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LABEL_MANAGER labelMgr( frame->GetPanel()->GetGAL() );
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frame->GetPanel()->GetView()->SetViewport(bb);
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PNS::LINE l;
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l.SetShape( path );
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l.Walkaround( hull, path_w, true );
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//frame->GetPanel()->GetView()->SetViewport(bb);
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overlay->SetStrokeColor( WHITE );
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overlay->SetLineWidth( 10000.0 );
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overlay->SetStrokeColor( WHITE );
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#if 0
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overlay->AnnotatedPolyline( PNS::g_pnew, "path", true );
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overlay->SetStrokeColor( RED );
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overlay->AnnotatedPolyline( PNS::g_hnew, "hull", true );
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overlay->SetLineWidth( 20000.0 );
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overlay->SetStrokeColor( YELLOW );
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overlay->AnnotatedPolyline( path_w, "walk", "true" );
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overlay->DrawAnnotations();
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#endif
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SEG s1 ( -1000000, -200000, 3000000, 200000 );
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SEG s2 ( 0, -200000, 0, 200000 );
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VECTOR2D pts1[2], pts2[2];
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// int n1 = arclineIntersect( a, s1, pts1 );
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//int n2 = arclineIntersect( a, s2, pts2 );
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for(int i = 0; i < arcs.size(); i+= 2)
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{
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SEG closestDist;
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bool isects = collideArc2Arc( a, a2, 100000000, closestDist );
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VECTOR2D ips[2];
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bool collides = collideArc2Arc( arcs[i], arcs[i+1], INT_MAX, closestDist );
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int ni = intersectArc2Arc( arcs[i], arcs[i+1], ips );
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overlay->SetStrokeColor( WHITE );
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overlay->Arc( a.GetCenter(), a.GetRadius(), a.GetStartAngle(), a.GetEndAngle() );
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overlay->Arc( a2.GetCenter(), a2.GetRadius(), a2.GetStartAngle(), a2.GetEndAngle() );
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overlay->Arc( arcs[i] );
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overlay->Arc( arcs[i+1] );
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/*overlay->SetStrokeColor( RED );
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overlay->Line( s1.A, s1.B );
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for(int i = 0; i < n1; i++)
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overlay->Circle( pts1[i], 200000 );
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overlay->SetStrokeColor( CYAN );
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overlay->AnnotatedPoint( arcs[i].GetArcMid(), 20000 );
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overlay->AnnotatedPoint( arcs[i+1].GetArcMid(), 20000 );
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overlay->SetStrokeColor( MAGENTA );
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overlay->SetStrokeColor( GREEN );
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overlay->Line( s2.A, s2.B );
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for(int i = 0; i < n2; i++)
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overlay->Circle( pts2[i], 200000 );*/
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for(int j = 0; j < ni; j++ )
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overlay->AnnotatedPoint( ips[j], 200000 );
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if( isects )
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if( collides )
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{
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overlay->SetStrokeColor( YELLOW );
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overlay->Line(closestDist.A, closestDist.B);
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}
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}
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overlay = nullptr;
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return 0;
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@ -238,6 +238,25 @@ void PNS_LOG_VIEWER_OVERLAY::AnnotatedPolyline( const SHAPE_LINE_CHAIN& aL, std:
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}
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void PNS_LOG_VIEWER_OVERLAY::AnnotatedPoint( const VECTOR2I p, int size, std::string name, bool aShowVertexNumbers )
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{
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Line( p + VECTOR2D( size, size ), p - VECTOR2D( size, size ) );
|
||||
Line( p + VECTOR2D( -size, size ), p - VECTOR2D( -size, size ) );
|
||||
|
||||
//if( aShowVertexNumbers)
|
||||
// m_labelMgr->Add( aL, GetStrokeColor() );
|
||||
}
|
||||
|
||||
|
||||
void PNS_LOG_VIEWER_OVERLAY::Arc( const SHAPE_ARC& arc )
|
||||
{
|
||||
double radius = arc.GetRadius();
|
||||
double start_angle = DEG2RAD( arc.GetStartAngle() );
|
||||
double angle = DEG2RAD( arc.GetCentralAngle() );
|
||||
|
||||
KIGFX::VIEW_OVERLAY::Arc( arc.GetCenter(), radius, start_angle, start_angle + angle );
|
||||
}
|
||||
|
||||
void PNS_LOG_VIEWER_OVERLAY::DrawAnnotations()
|
||||
{
|
||||
m_labelMgr->Redraw( this );
|
||||
|
|
|
|||
|
|
@ -82,6 +82,8 @@ class PNS_LOG_VIEWER_OVERLAY : public KIGFX::VIEW_OVERLAY
|
|||
public:
|
||||
PNS_LOG_VIEWER_OVERLAY( KIGFX::GAL* aGal );
|
||||
void AnnotatedPolyline( const SHAPE_LINE_CHAIN& aL, std::string name, bool aShowVertexNumbers = false );
|
||||
void AnnotatedPoint( const VECTOR2I p, int size, std::string name = "", bool aShowVertexNumbers = false );
|
||||
void Arc( const SHAPE_ARC& arc );
|
||||
void DrawAnnotations();
|
||||
|
||||
private:
|
||||
|
|
|
|||
Loading…
Reference in New Issue