Simplify & move new arc collision code into Kimath library
Don't need to check intersections with the circle, just fix the calculated "projected" point from the end points. Fixes https://gitlab.com/kicad/code/kicad/-/issues/8234
This commit is contained in:
Roberto Fernandez Bautista
parent
b6be10f05c
commit
dd65ce9523
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@ -26,6 +26,7 @@
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#define INCLUDE_CORE_KICAD_ALGO_H_
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#include <algorithm>
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#include <assert.h>
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#include <functional> // std::function
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#include <utility> // std::pair
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@ -114,6 +115,47 @@ bool pair_contains( const std::pair<_Type, _Type> __pair, _Value __value )
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|| __pair.second == static_cast<_Type>( __value );
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}
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/**
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* @brief Test if __val lies within __minval and __maxval in a wrapped range.
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*
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* @param __val A value to test
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* @param __minval Lowest permissible value within the wrapped range
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* @param __maxval Highest permissible value within the wrapped range
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* @param __wrap Value at which the range wraps around itself (must be positive)
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* @return true if @p __val lies in the wrapped range
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*/
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template <class T>
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bool within_wrapped_range( T __val, T __minval, T __maxval, T __wrap )
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{
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assert( __wrap > 0 ); // Wrap must be positive!
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if( __wrap <= 0 )
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return false;
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while( __maxval >= __wrap )
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__maxval -= __wrap;
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while( __maxval < 0 )
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__maxval += __wrap;
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while( __minval >= __wrap )
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__minval -= __wrap;
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while( __minval < 0 )
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__minval += __wrap;
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while( __val < 0 )
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__val += __wrap;
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while( __val >= __wrap )
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__val -= __wrap;
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if( __maxval > __minval )
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return __val >= __minval && __val <= __maxval;
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else
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return __val >= __minval || __val <= __maxval;
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}
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} // namespace alg
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@ -127,6 +127,25 @@ public:
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return SHAPE::Collide( aShape, aClearance, aActual, aLocation );
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}
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/**
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* Find intersection points between this arc and aSeg, treating aSeg as an infinite line.
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* Ignores arc width.
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*
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* @param aSeg Line to intersect against (treated as an infinite line)
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* @param aIpsBuffer Buffer to store the resulting intersection points (if any)
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* @return Number of intersection points found
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*/
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int IntersectLine( const SEG& aSeg, std::vector<VECTOR2I>* aIpsBuffer ) const;
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/**
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* Find intersection points between this arc and aArc. Ignores arc width.
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*
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* @param aSeg
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* @param aIpsBuffer Buffer to store the resulting intersection points (if any)
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* @return Number of intersection points found
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*/
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int Intersect( const SHAPE_ARC& aArc, std::vector<VECTOR2I>* aIpsBuffer ) const;
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bool IsClockwise() const;
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void SetWidth( int aWidth )
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@ -233,6 +252,8 @@ private:
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void update_bbox();
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bool sliceContainsPoint( const VECTOR2I& p ) const;
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private:
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VECTOR2I m_start;
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VECTOR2I m_mid;
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@ -23,6 +23,8 @@
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA
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*/
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#include <core/kicad_algo.h>
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#include <geometry/circle.h>
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#include <geometry/geometry_utils.h>
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#include <geometry/seg.h> // for SEG
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#include <geometry/shape_arc.h>
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@ -296,6 +298,43 @@ bool SHAPE_ARC::Collide( const SEG& aSeg, int aClearance, int* aActual, VECTOR2I
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}
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int SHAPE_ARC::IntersectLine( const SEG& aSeg, std::vector<VECTOR2I>* aIpsBuffer ) const
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{
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CIRCLE circ( GetCenter(), GetRadius() );
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std::vector<VECTOR2I> intersections = circ.IntersectLine( aSeg );
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size_t originalSize = aIpsBuffer->size();
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for( const VECTOR2I& intersection : intersections )
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{
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if( sliceContainsPoint( intersection ) )
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aIpsBuffer->push_back( intersection );
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}
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return aIpsBuffer->size() - originalSize;
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}
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int SHAPE_ARC::Intersect( const SHAPE_ARC& aArc, std::vector<VECTOR2I>* aIpsBuffer ) const
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{
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CIRCLE thiscirc( GetCenter(), GetRadius() );
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CIRCLE othercirc( aArc.GetCenter(), aArc.GetRadius() );
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std::vector<VECTOR2I> intersections = thiscirc.Intersect( othercirc );
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size_t originalSize = aIpsBuffer->size();
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for( const VECTOR2I& intersection : intersections )
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{
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if( sliceContainsPoint( intersection ) && aArc.sliceContainsPoint( intersection ) )
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aIpsBuffer->push_back( intersection );
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}
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return aIpsBuffer->size() - originalSize;
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}
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void SHAPE_ARC::update_bbox()
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{
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std::vector<VECTOR2I> points;
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@ -586,3 +625,25 @@ SHAPE_ARC SHAPE_ARC::Reversed() const
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{
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return SHAPE_ARC( m_end, m_mid, m_start, m_width );
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}
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bool SHAPE_ARC::sliceContainsPoint( const VECTOR2I& p ) const
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{
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VECTOR2I center = GetCenter();
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double phi = 180.0 / M_PI * atan2( p.y - center.y, p.x - center.x );
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double ca = GetCentralAngle();
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double sa = 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 alg::within_wrapped_range( phi, sa, ea, 360.0 );
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}
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@ -552,14 +552,82 @@ static inline bool Collide( const SHAPE_ARC& aA, const SHAPE_ARC& aB, int aClear
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aA.Type(),
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aB.Type() ) );
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const SHAPE_LINE_CHAIN lcA = aA.ConvertToPolyline();
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const SHAPE_LINE_CHAIN lcB = aB.ConvertToPolyline();
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int widths = ( aA.GetWidth() / 2 ) + ( aB.GetWidth() / 2 );
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SEG mediatrix( aA.GetCenter(), aB.GetCenter() );
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bool rv = Collide( lcA, lcB, aClearance + widths, aActual, aLocation, aMTV );
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std::vector<VECTOR2I> ips;
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// Basic case - arcs intersect
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if( aA.Intersect( aB, &ips ) > 0 )
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{
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if( aActual )
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*aActual = 0;
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if( aLocation )
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*aLocation = ips[0]; // Pick the first intersection point
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return true;
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}
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// Arcs don't intersect, build a list of points to check
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std::vector<VECTOR2I> ptsA;
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std::vector<VECTOR2I> ptsB;
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bool cocentered = ( mediatrix.A == mediatrix.B );
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// 1: Interior points of both arcs, which are on the line segment between the two centres
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if( !cocentered )
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{
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aA.IntersectLine( mediatrix, &ptsA );
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aB.IntersectLine( mediatrix, &ptsB );
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}
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// 2: Check arc end points
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ptsA.push_back( aA.GetP0() );
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ptsA.push_back( aA.GetP1() );
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ptsB.push_back( aB.GetP0() );
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ptsB.push_back( aB.GetP1() );
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// 3: Endpoint of one and "projected" point on the other, which is on the
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// line segment through that endpoint and the centre of the other arc
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aA.IntersectLine( SEG( aB.GetP0(), aA.GetCenter() ), &ptsA );
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aA.IntersectLine( SEG( aB.GetP1(), aA.GetCenter() ), &ptsA );
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aB.IntersectLine( SEG( aA.GetP0(), aB.GetCenter() ), &ptsB );
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aB.IntersectLine( SEG( aA.GetP1(), aB.GetCenter() ), &ptsB );
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double minDist = std::numeric_limits<double>::max();
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SEG minDistSeg;
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bool rv = false;
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int widths = ( aA.GetWidth() / 2 ) + ( aB.GetWidth() / 2 );
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// @todo performance could be improved by only checking certain points (e.g only check end
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// points against other end points or their corresponding "projected" points)
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for( const VECTOR2I& ptA : ptsA )
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{
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for( const VECTOR2I& ptB : ptsB )
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{
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SEG candidateMinDist( ptA, ptB );
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int dist = candidateMinDist.Length() - widths;
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if( dist < aClearance )
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{
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if( !rv || dist < minDist )
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{
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minDist = dist;
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minDistSeg = candidateMinDist;
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}
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rv = true;
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}
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}
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}
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if( rv && aActual )
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*aActual = std::max( 0, *aActual - widths );
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*aActual = std::max( 0, minDistSeg.Length() - widths );
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if( rv && aLocation )
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*aLocation = minDistSeg.Center();
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return rv;
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}
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@ -639,9 +639,9 @@ struct ARC_DATA_MM
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SHAPE_ARC GenerateArc() const
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{
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SHAPE_ARC arc( VECTOR2D( PcbMillimeter2iu( m_center_x ), PcbMillimeter2iu( m_center_y ) ),
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VECTOR2D( PcbMillimeter2iu( m_start_x ), PcbMillimeter2iu( m_start_y ) ),
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m_center_angle, PcbMillimeter2iu( m_width ) );
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SHAPE_ARC arc( VECTOR2D( PcbMm2iu( m_center_x ), PcbMm2iu( m_center_y ) ),
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VECTOR2D( PcbMm2iu( m_start_x ), PcbMm2iu( m_start_y ) ),
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m_center_angle, PcbMm2iu( m_width ) );
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return arc;
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}
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@ -717,8 +717,19 @@ static const std::vector<ARC_ARC_COLLIDE_CASE> arc_arc_collide_cases = {
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{ "case 12: Simulated differential pair meander",
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{ 94.6551, 88.295989, 95.6551, 88.295989, 90.0, 0.1 },
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{ 94.6551, 88.295989, 95.8551, 88.295989, 90.0, 0.1 },
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0.1 - SHAPE_ARC::DefaultAccuracyForPCB() / PCB_IU_PER_MM, // remove offset when support for true arc-arc intersection
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// Offset needed due to rounding errors of integer coordinates
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0.1 - PcbIu2mm( SHAPE_ARC::MIN_PRECISION_IU ),
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false },
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{ "case 13: One arc fully enclosed in other, non-concentric",
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{ 73.77532, 93.413654, 75.70532, 93.883054, 60.0, 0.1 },
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{ 73.86532, 93.393054, 75.86532, 93.393054, 90.0, 0.3 },
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0,
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true },
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{ "case 14: One arc fully enclosed in other, concentric",
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{ 79.87532, 93.413654, 81.64532, 94.113054, 60.0, 0.1 },
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{ 79.87532, 93.413654, 81.86532, 93.393054, 90.0, 0.3 },
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0,
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true },
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};
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@ -734,7 +745,7 @@ BOOST_AUTO_TEST_CASE( CollideArc )
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int actual = 0;
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VECTOR2I location;
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bool result = arc1.Collide( &arc2, PcbMillimeter2iu( c.m_clearance ), &actual, &location );
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bool result = arc1.Collide( &arc2, PcbMm2iu( c.m_clearance ), &actual, &location );
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BOOST_CHECK_EQUAL( result, c.m_exp_result );
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}
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@ -776,9 +787,8 @@ BOOST_AUTO_TEST_CASE( CollideArcToPolygonApproximation )
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int actual = 0;
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VECTOR2I location;
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int tol = SHAPE_ARC::DefaultAccuracyForPCB();
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int tol = SHAPE_ARC::MIN_PRECISION_IU;
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//@todo remove "- tol" from collision check below once true arc collisions have been implemented
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BOOST_CHECK_EQUAL( zoneFill.Collide( &arc, clearance - tol, &actual, &location ), false );
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BOOST_CHECK_EQUAL( zoneFill.Collide( &arc, clearance * 2, &actual, &location ), true );
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@ -36,153 +36,53 @@
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std::shared_ptr<PNS_LOG_VIEWER_OVERLAY> overlay;
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template<class T>
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static T within_range(T x, T minval, T maxval, T wrap)
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{
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int rv;
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while (maxval >= wrap)
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maxval -= wrap;
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while (maxval < 0)
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maxval += wrap;
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while (minval >= wrap)
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minval -= wrap;
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while (minval < 0)
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minval += wrap;
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while (x < 0)
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x += wrap;
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while (x >= wrap)
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x -= wrap;
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if (maxval > minval)
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rv = (x >= minval && x <= maxval) ? 1 : 0;
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else
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rv = (x >= minval || x <= maxval) ? 1 : 0;
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return rv;
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}
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static bool sliceContainsPoint( const SHAPE_ARC& a, const VECTOR2I& p )
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{
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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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}
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static int arclineIntersect( const SHAPE_ARC& a, const SEG& s, std::vector<VECTOR2I>* ips )
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{
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CIRCLE circ( a.GetCenter(), a.GetRadius() );
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std::vector<VECTOR2I> intersections = circ.IntersectLine( s );
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size_t originalSize = ips->size();
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for( const VECTOR2I& intersection : intersections )
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{
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if( sliceContainsPoint( a, intersection ) )
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ips->push_back( intersection );
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}
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return ips->size() - originalSize;
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}
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int intersectArc2Arc( const SHAPE_ARC& a1, const SHAPE_ARC& a2, std::vector<VECTOR2I>* ips )
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{
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CIRCLE circ1( a1.GetCenter(), a1.GetRadius() );
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CIRCLE circ2( a2.GetCenter(), a2.GetRadius() );
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std::vector<VECTOR2I> intersections = circ1.Intersect( circ2 );
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size_t originalSize = ips->size();
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for( const VECTOR2I& intersection : intersections )
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{
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if( sliceContainsPoint( a1, intersection ) && sliceContainsPoint( a2, intersection ) )
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ips->push_back( intersection );
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}
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return ips->size() - originalSize;
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}
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bool collideArc2Arc( const SHAPE_ARC& a1, const 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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std::vector<VECTOR2I> ips;
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if( intersectArc2Arc( a1, a2, &ips ) > 0 )
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// Basic case - arcs intersect
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if( a1.Intersect( 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 intersect, build a list of points to check
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std::vector<VECTOR2I> ptsA;
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std::vector<VECTOR2I> ptsB;
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bool cocentered = ( mediatrix.A == mediatrix.B );
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// arcs don't have the same center point
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// 1: Interior points of both arcs, which are on the line segment between the two centres
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if( !cocentered )
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{
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arclineIntersect( a1, mediatrix, &ptsA );
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arclineIntersect( a2, mediatrix, &ptsB );
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a1.IntersectLine( mediatrix, &ptsA );
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a2.IntersectLine( mediatrix, &ptsB );
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}
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arclineIntersect( a1, SEG( a2.GetP0(), a2.GetCenter() ), &ptsA );
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arclineIntersect( a1, SEG( a2.GetP1(), a2.GetCenter() ), &ptsA );
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arclineIntersect( a2, SEG( a1.GetP0(), a1.GetCenter() ), &ptsB );
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arclineIntersect( a2, SEG( a1.GetP1(), a1.GetCenter() ), &ptsB );
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// 2: Check arc end points
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ptsA.push_back( a1.GetP0() );
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ptsA.push_back( a1.GetP1() );
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ptsB.push_back( a2.GetP0() );
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ptsB.push_back( a2.GetP1() );
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std::vector<VECTOR2I> nearestA, nearestB;
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// 3: Endpoint of one and "projected" point on the other, which is on the
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// line segment through that endpoint and the centre of the other arc
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a1.IntersectLine( SEG( a2.GetP0(), a1.GetCenter() ), &ptsA );
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a1.IntersectLine( SEG( a2.GetP1(), a1.GetCenter() ), &ptsA );
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// this probably can be made with less points, but still...
|
||||
CIRCLE circ1( a1.GetCenter(), a1.GetRadius() );
|
||||
for( auto pB: ptsB )
|
||||
{
|
||||
auto nearest = circ1.NearestPoint( pB );
|
||||
if( sliceContainsPoint( a1, nearest ) )
|
||||
nearestA.push_back( nearest );
|
||||
}
|
||||
CIRCLE circ2( a2.GetCenter(), a2.GetRadius() );
|
||||
for( auto pA: ptsA )
|
||||
{
|
||||
auto nearest = circ2.NearestPoint( pA );
|
||||
if( sliceContainsPoint( a2, nearest ) )
|
||||
nearestB.push_back( nearest );
|
||||
}
|
||||
|
||||
ptsA.insert( ptsA.end(), nearestA.begin(), nearestA.end() );
|
||||
ptsB.insert( ptsB.end(), nearestB.begin(), nearestB.end() );
|
||||
a2.IntersectLine( SEG( a1.GetP0(), a2.GetCenter() ), &ptsB );
|
||||
a2.IntersectLine( SEG( a1.GetP1(), a2.GetCenter() ), &ptsB );
|
||||
|
||||
double minDist = std::numeric_limits<double>::max();
|
||||
bool minDistFound = false;
|
||||
|
||||
for( const VECTOR2I& ptA: ptsA )
|
||||
// @todo performance might be improved by only checking certain points (e.g only check end
|
||||
// points against other end points or their corresponding "projected" points)
|
||||
for( const VECTOR2I& ptA : ptsA )
|
||||
{
|
||||
for( const VECTOR2I& ptB : ptsB )
|
||||
{
|
||||
double dist = ( ptA - ptB ).EuclideanNorm() - a1.GetWidth() / 2.0 - a2.GetWidth() / 2.0;
|
||||
|
|
@ -198,7 +98,7 @@ bool collideArc2Arc( const SHAPE_ARC& a1, const SHAPE_ARC& a2, int clearance, SE
|
|||
minDistFound = true;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return minDistFound;
|
||||
}
|
||||
|
|
@ -241,6 +141,10 @@ int playground_main_func( int argc, char* argv[] )
|
|||
{86.063537, 88.295989, 84.968628, 87.581351, -255.5, 0.2},
|
||||
{94.6551, 88.295989, 95.6551, 88.295989, 90.0, 0.2 }, // simulating diff pair
|
||||
{94.6551, 88.295989, 95.8551, 88.295989, 90.0, 0.2 },
|
||||
{73.77532, 93.413654, 75.70532, 93.883054, 60.0, 0.1 }, // one arc fully enclosed in other
|
||||
{73.86532, 93.393054, 75.86532, 93.393054, 90.0, 0.3 },
|
||||
{79.87532, 93.413654, 81.64532, 94.113054, 60.0, 0.1 }, // concentric
|
||||
{79.87532, 93.413654, 81.86532, 93.393054, 90.0, 0.3 }
|
||||
};
|
||||
|
||||
|
||||
|
|
@ -281,7 +185,7 @@ int playground_main_func( int argc, char* argv[] )
|
|||
SEG closestDist;
|
||||
std::vector<VECTOR2I> ips;
|
||||
bool collides = collideArc2Arc( arcs[i], arcs[i+1], 0, closestDist );
|
||||
int ni = intersectArc2Arc( arcs[i], arcs[i+1], &ips );
|
||||
int ni = arcs[i].Intersect( arcs[i+1], &ips );
|
||||
|
||||
overlay->SetLineWidth( 10000.0 );
|
||||
overlay->SetStrokeColor( GREEN );
|
||||
|
|
@ -295,7 +199,7 @@ int playground_main_func( int argc, char* argv[] )
|
|||
overlay->Line( closestDist.A, closestDist.B );
|
||||
overlay->SetLineWidth( 10000.0 );
|
||||
overlay->SetGlyphSize( { 100000.0, 100000.0 } );
|
||||
overlay->BitmapText( wxString::Format( "dist: %d", closestDist.Length() ),
|
||||
overlay->BitmapText( wxString::Format( "dist=%d, l=%d", closestDist.Length() ),
|
||||
closestDist.A + VECTOR2I( 0, -arcs[i].GetWidth() ), 0 );
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue