/* * This program source code file is part of KiCad, a free EDA CAD application. * * Copyright (C) 2004 Jean-Pierre Charras, jaen-pierre.charras@gipsa-lab.inpg.com * Copyright (C) 2004-2011 KiCad Developers, see change_log.txt for contributors. * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 * of the License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, you may find one here: * http://www.gnu.org/licenses/old-licenses/gpl-2.0.html * or you may search the http://www.gnu.org website for the version 2 license, * or you may write to the Free Software Foundation, Inc., * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA */ /** * @file lib_arc.cpp */ #include #include #include #include #include #include #include #include #include #include #include #include #include //! @brief Given three points A B C, compute the circumcenter of the resulting triangle //! reference: http://en.wikipedia.org/wiki/Circumscribed_circle //! Coordinates of circumcenter in Cartesian coordinates static wxPoint calcCenter( const wxPoint& A, const wxPoint& B, const wxPoint& C ) { double circumCenterX, circumCenterY; double Ax = (double) A.x; double Ay = (double) A.y; double Bx = (double) B.x; double By = (double) B.y; double Cx = (double) C.x; double Cy = (double) C.y; wxPoint circumCenter; double D = 2.0 * ( Ax * ( By - Cy ) + Bx * ( Cy - Ay ) + Cx * ( Ay - By ) ); // prevent division / 0 if( fabs( D ) < 1e-7 ) D = 1e-7; circumCenterX = ( (Ay * Ay + Ax * Ax) * (By - Cy) + (By * By + Bx * Bx) * (Cy - Ay) + (Cy * Cy + Cx * Cx) * (Ay - By) ) / D; circumCenterY = ( (Ay * Ay + Ax * Ax) * (Cx - Bx) + (By * By + Bx * Bx) * (Ax - Cx) + (Cy * Cy + Cx * Cx) * (Bx - Ax) ) / D; circumCenter.x = (int) circumCenterX; circumCenter.y = (int) circumCenterY; return circumCenter; } LIB_ARC::LIB_ARC( LIB_COMPONENT* aParent ) : LIB_ITEM( LIB_ARC_T, aParent ) { m_Radius = 0; m_t1 = 0; m_t2 = 0; m_Width = 0; m_Fill = NO_FILL; m_isFillable = true; m_typeName = _( "Arc" ); m_editState = 0; m_lastEditState = 0; } bool LIB_ARC::Save( OUTPUTFORMATTER& aFormatter ) { int x1 = m_t1; if( x1 > 1800 ) x1 -= 3600; int x2 = m_t2; if( x2 > 1800 ) x2 -= 3600; aFormatter.Print( 0, "A %d %d %d %d %d %d %d %d %c %d %d %d %d\n", m_Pos.x, m_Pos.y, m_Radius, x1, x2, m_Unit, m_Convert, m_Width, fill_tab[m_Fill], m_ArcStart.x, m_ArcStart.y, m_ArcEnd.x, m_ArcEnd.y ); return true; } bool LIB_ARC::Load( LINE_READER& aLineReader, wxString& aErrorMsg ) { int startx, starty, endx, endy, cnt; char tmp[256]; char* line = (char*) aLineReader; cnt = sscanf( line + 2, "%d %d %d %d %d %d %d %d %s %d %d %d %d", &m_Pos.x, &m_Pos.y, &m_Radius, &m_t1, &m_t2, &m_Unit, &m_Convert, &m_Width, tmp, &startx, &starty, &endx, &endy ); if( cnt < 8 ) { aErrorMsg.Printf( _( "arc only had %d parameters of the required 8" ), cnt ); return false; } if( tmp[0] == 'F' ) m_Fill = FILLED_SHAPE; if( tmp[0] == 'f' ) m_Fill = FILLED_WITH_BG_BODYCOLOR; NORMALIZE_ANGLE_POS( m_t1 ); NORMALIZE_ANGLE_POS( m_t2 ); // Actual Coordinates of arc ends are read from file if( cnt >= 13 ) { m_ArcStart.x = startx; m_ArcStart.y = starty; m_ArcEnd.x = endx; m_ArcEnd.y = endy; } else { // Actual Coordinates of arc ends are not read from file // (old library), calculate them m_ArcStart.x = m_Radius; m_ArcStart.y = 0; m_ArcEnd.x = m_Radius; m_ArcEnd.y = 0; RotatePoint( &m_ArcStart.x, &m_ArcStart.y, -m_t1 ); m_ArcStart.x += m_Pos.x; m_ArcStart.y += m_Pos.y; RotatePoint( &m_ArcEnd.x, &m_ArcEnd.y, -m_t2 ); m_ArcEnd.x += m_Pos.x; m_ArcEnd.y += m_Pos.y; } return true; } bool LIB_ARC::HitTest( const wxPoint& aRefPoint ) { int mindist = GetPenSize() / 2; // Have a minimal tolerance for hit test if( mindist < MINIMUM_SELECTION_DISTANCE ) mindist = MINIMUM_SELECTION_DISTANCE; return HitTest( aRefPoint, mindist, DefaultTransform ); } bool LIB_ARC::HitTest( wxPoint aPosition, int aThreshold, const TRANSFORM& aTransform ) { if( aThreshold < 0 ) aThreshold = GetPenSize() / 2; // TODO: use aTransMat to calculates parameters wxPoint relativePosition = aPosition; NEGATE( relativePosition.y ); // reverse Y axis int distance = wxRound( EuclideanNorm( TwoPointVector( m_Pos, relativePosition ) ) ); if( abs( distance - m_Radius ) > aThreshold ) return false; // We are on the circle, ensure we are only on the arc, i.e. between // m_ArcStart and m_ArcEnd wxPoint startEndVector = TwoPointVector( m_ArcStart, m_ArcEnd); wxPoint startRelativePositionVector = TwoPointVector( m_ArcStart, relativePosition ); wxPoint centerStartVector = TwoPointVector( m_Pos, m_ArcStart ); wxPoint centerEndVector = TwoPointVector( m_Pos, m_ArcEnd ); wxPoint centerRelativePositionVector = TwoPointVector( m_Pos, relativePosition ); // Compute the cross product to check if the point is in the sector int crossProductStart = CrossProduct( centerStartVector, centerRelativePositionVector ); int crossProductEnd = CrossProduct( centerEndVector, centerRelativePositionVector ); // The cross products need to be exchanged, depending on which side the center point // relative to the start point to end point vector lies if( CrossProduct( startEndVector, startRelativePositionVector ) < 0 ) { EXCHG( crossProductStart, crossProductEnd ); } // When the cross products have a different sign, the point lies in sector // also check, if the reference is near start or end point return HitTestPoints( m_ArcStart, relativePosition, MINIMUM_SELECTION_DISTANCE ) || HitTestPoints( m_ArcEnd, relativePosition, MINIMUM_SELECTION_DISTANCE ) || ( crossProductStart <= 0 && crossProductEnd >= 0 ); } EDA_ITEM* LIB_ARC::Clone() const { return new LIB_ARC( *this ); } int LIB_ARC::compare( const LIB_ITEM& aOther ) const { wxASSERT( aOther.Type() == LIB_ARC_T ); const LIB_ARC* tmp = ( LIB_ARC* ) &aOther; if( m_Pos.x != tmp->m_Pos.x ) return m_Pos.x - tmp->m_Pos.x; if( m_Pos.y != tmp->m_Pos.y ) return m_Pos.y - tmp->m_Pos.y; if( m_t1 != tmp->m_t1 ) return m_t1 - tmp->m_t1; if( m_t2 != tmp->m_t2 ) return m_t2 - tmp->m_t2; return 0; } void LIB_ARC::SetOffset( const wxPoint& aOffset ) { m_Pos += aOffset; m_ArcStart += aOffset; m_ArcEnd += aOffset; } bool LIB_ARC::Inside( EDA_RECT& aRect ) const { return aRect.Contains( m_ArcStart.x, -m_ArcStart.y ) || aRect.Contains( m_ArcEnd.x, -m_ArcEnd.y ); } void LIB_ARC::Move( const wxPoint& aPosition ) { wxPoint offset = aPosition - m_Pos; m_Pos = aPosition; m_ArcStart += offset; m_ArcEnd += offset; } void LIB_ARC::MirrorHorizontal( const wxPoint& aCenter ) { m_Pos.x -= aCenter.x; m_Pos.x *= -1; m_Pos.x += aCenter.x; m_ArcStart.x -= aCenter.x; m_ArcStart.x *= -1; m_ArcStart.x += aCenter.x; m_ArcEnd.x -= aCenter.x; m_ArcEnd.x *= -1; m_ArcEnd.x += aCenter.x; EXCHG( m_ArcStart, m_ArcEnd ); } void LIB_ARC::MirrorVertical( const wxPoint& aCenter ) { m_Pos.y -= aCenter.y; m_Pos.y *= -1; m_Pos.y += aCenter.y; m_ArcStart.y -= aCenter.y; m_ArcStart.y *= -1; m_ArcStart.y += aCenter.y; m_ArcEnd.y -= aCenter.y; m_ArcEnd.y *= -1; m_ArcEnd.y += aCenter.y; EXCHG( m_ArcStart, m_ArcEnd ); } void LIB_ARC::Rotate( const wxPoint& aCenter, bool aRotateCCW ) { int rot_angle = aRotateCCW ? -900 : 900; RotatePoint( &m_Pos, aCenter, rot_angle ); RotatePoint( &m_ArcStart, aCenter, rot_angle ); RotatePoint( &m_ArcEnd, aCenter, rot_angle ); } void LIB_ARC::Plot( PLOTTER* aPlotter, const wxPoint& aOffset, bool aFill, const TRANSFORM& aTransform ) { wxASSERT( aPlotter != NULL ); int t1 = m_t1; int t2 = m_t2; wxPoint pos = aTransform.TransformCoordinate( m_Pos ) + aOffset; aTransform.MapAngles( &t1, &t2 ); if( aFill && m_Fill == FILLED_WITH_BG_BODYCOLOR ) { aPlotter->set_color( ReturnLayerColor( LAYER_DEVICE_BACKGROUND ) ); aPlotter->arc( pos, -t2, -t1, m_Radius, FILLED_SHAPE, 0 ); } bool already_filled = m_Fill == FILLED_WITH_BG_BODYCOLOR; aPlotter->set_color( ReturnLayerColor( LAYER_DEVICE ) ); aPlotter->arc( pos, -t2, -t1, m_Radius, already_filled ? NO_FILL : m_Fill, GetPenSize() ); } int LIB_ARC::GetPenSize() const { return ( m_Width == 0 ) ? g_DrawDefaultLineThickness : m_Width; } void LIB_ARC::drawEditGraphics( EDA_RECT* aClipBox, wxDC* aDC, int aColor ) { // The edit indicators only get drawn when a new arc is being drawn. if( !IsNew() ) return; // Use the last edit state so when the drawing switches from the end mode to the center // point mode, the last line between the center points gets erased. if( m_lastEditState == 1 ) { GRLine( aClipBox, aDC, m_ArcStart.x, -m_ArcStart.y, m_ArcEnd.x, -m_ArcEnd.y, 0, aColor ); } else { GRDashedLine( aClipBox, aDC, m_ArcStart.x, -m_ArcStart.y, m_Pos.x, -m_Pos.y, 0, aColor ); GRDashedLine( aClipBox, aDC, m_ArcEnd.x, -m_ArcEnd.y, m_Pos.x, -m_Pos.y, 0, aColor ); } } void LIB_ARC::drawGraphic( EDA_DRAW_PANEL* aPanel, wxDC* aDC, const wxPoint& aOffset, int aColor, int aDrawMode, void* aData, const TRANSFORM& aTransform ) { // Don't draw the arc until the end point is selected. Only the edit indicators // get drawn at this time. if( IsNew() && m_lastEditState == 1 ) return; wxPoint pos1, pos2, posc; int color = ReturnLayerColor( LAYER_DEVICE ); if( aColor < 0 ) // Used normal color or selected color { if( IsSelected() ) color = g_ItemSelectetColor; } else { color = aColor; } pos1 = aTransform.TransformCoordinate( m_ArcEnd ) + aOffset; pos2 = aTransform.TransformCoordinate( m_ArcStart ) + aOffset; posc = aTransform.TransformCoordinate( m_Pos ) + aOffset; int pt1 = m_t1; int pt2 = m_t2; bool swap = aTransform.MapAngles( &pt1, &pt2 ); if( swap ) { EXCHG( pos1.x, pos2.x ); EXCHG( pos1.y, pos2.y ); } GRSetDrawMode( aDC, aDrawMode ); FILL_T fill = aData ? NO_FILL : m_Fill; if( aColor >= 0 ) fill = NO_FILL; if( fill == FILLED_WITH_BG_BODYCOLOR ) { GRFilledArc( aPanel->GetClipBox(), aDC, posc.x, posc.y, pt1, pt2, m_Radius, GetPenSize( ), (m_Flags & IS_MOVED) ? color : ReturnLayerColor( LAYER_DEVICE_BACKGROUND ), ReturnLayerColor( LAYER_DEVICE_BACKGROUND ) ); } else if( fill == FILLED_SHAPE && !aData ) { GRFilledArc( aPanel->GetClipBox(), aDC, posc.x, posc.y, pt1, pt2, m_Radius, color, color ); } else { #ifdef DRAW_ARC_WITH_ANGLE GRArc( aPanel->GetClipBox(), aDC, posc.x, posc.y, pt1, pt2, m_Radius, GetPenSize(), color ); #else GRArc1( aPanel->GetClipBox(), aDC, pos1.x, pos1.y, pos2.x, pos2.y, posc.x, posc.y, GetPenSize(), color ); #endif } /* Set to one (1) to draw bounding box around arc to validate bounding box * calculation. */ #if 0 EDA_RECT bBox = GetBoundingBox(); GRRect( aPanel->GetClipBox(), aDC, bBox.GetOrigin().x, bBox.GetOrigin().y, bBox.GetEnd().x, bBox.GetEnd().y, 0, LIGHTMAGENTA ); #endif } EDA_RECT LIB_ARC::GetBoundingBox() const { int minX, minY, maxX, maxY, angleStart, angleEnd; EDA_RECT rect; wxPoint nullPoint, startPos, endPos, centerPos; wxPoint normStart = m_ArcStart - m_Pos; wxPoint normEnd = m_ArcEnd - m_Pos; if( ( normStart == nullPoint ) || ( normEnd == nullPoint ) || ( m_Radius == 0 ) ) { wxLogDebug( wxT("Invalid arc drawing definition, center(%d, %d) \ start(%d, %d), end(%d, %d), radius %d" ), m_Pos.x, m_Pos.y, m_ArcStart.x, m_ArcStart.y, m_ArcEnd.x, m_ArcEnd.y, m_Radius ); return rect; } endPos = DefaultTransform.TransformCoordinate( m_ArcEnd ); startPos = DefaultTransform.TransformCoordinate( m_ArcStart ); centerPos = DefaultTransform.TransformCoordinate( m_Pos ); angleStart = m_t1; angleEnd = m_t2; if( DefaultTransform.MapAngles( &angleStart, &angleEnd ) ) { EXCHG( endPos.x, startPos.x ); EXCHG( endPos.y, startPos.y ); } /* Start with the start and end point of the arc. */ minX = MIN( startPos.x, endPos.x ); minY = MIN( startPos.y, endPos.y ); maxX = MAX( startPos.x, endPos.x ); maxY = MAX( startPos.y, endPos.y ); /* Zero degrees is a special case. */ if( angleStart == 0 ) maxX = centerPos.x + m_Radius; /* Arc end angle wrapped passed 360. */ if( angleStart > angleEnd ) angleEnd += 3600; if( angleStart <= 900 && angleEnd >= 900 ) /* 90 deg */ maxY = centerPos.y + m_Radius; if( angleStart <= 1800 && angleEnd >= 1800 ) /* 180 deg */ minX = centerPos.x - m_Radius; if( angleStart <= 2700 && angleEnd >= 2700 ) /* 270 deg */ minY = centerPos.y - m_Radius; if( angleStart <= 3600 && angleEnd >= 3600 ) /* 0 deg */ maxX = centerPos.x + m_Radius; rect.SetOrigin( minX, minY ); rect.SetEnd( maxX, maxY ); rect.Inflate( m_Width / 2, m_Width / 2 ); return rect; } void LIB_ARC::DisplayInfo( EDA_DRAW_FRAME* aFrame ) { wxString msg; EDA_RECT bBox = GetBoundingBox(); LIB_ITEM::DisplayInfo( aFrame ); msg = ReturnStringFromValue( g_UserUnit, m_Width, true ); aFrame->AppendMsgPanel( _( "Line width" ), msg, BLUE ); msg.Printf( wxT( "(%d, %d, %d, %d)" ), bBox.GetOrigin().x, bBox.GetOrigin().y, bBox.GetEnd().x, bBox.GetEnd().y ); aFrame->AppendMsgPanel( _( "Bounding box" ), msg, BROWN ); } wxString LIB_ARC::GetSelectMenuText() const { return wxString::Format( _( "Arc center (%s, %s), radius %s" ), GetChars( CoordinateToString( m_Pos.x ) ), GetChars( CoordinateToString( m_Pos.y ) ), GetChars( CoordinateToString( m_Radius ) ) ); } void LIB_ARC::BeginEdit( int aEditMode, const wxPoint aPosition ) { wxCHECK_RET( ( aEditMode & ( IS_NEW | IS_MOVED | IS_RESIZED ) ) != 0, wxT( "Invalid edit mode for LIB_ARC object." ) ); if( aEditMode == IS_NEW ) { m_ArcStart = m_ArcEnd = aPosition; m_editState = m_lastEditState = 1; } else if( aEditMode == IS_MOVED ) { m_initialPos = m_Pos; m_initialCursorPos = aPosition; SetEraseLastDrawItem(); } else { // The arc center point has to be rotated with while adjusting the // start or end point, determine the side of this point and the distance // from the start / end point wxPoint middlePoint = wxPoint( (m_ArcStart.x + m_ArcEnd.x) / 2, (m_ArcStart.y + m_ArcEnd.y) / 2 ); wxPoint centerVector = m_Pos - middlePoint; wxPoint startEndVector = TwoPointVector( m_ArcStart, m_ArcEnd ); m_editCenterDistance = EuclideanNorm( centerVector ); // Determine on which side is the center point m_editDirection = CrossProduct( startEndVector, centerVector ) ? 1 : -1; // Drag either the start, end point or the outline if( HitTestPoints( m_ArcStart, aPosition, MINIMUM_SELECTION_DISTANCE ) ) { m_editSelectPoint = START; } else if( HitTestPoints( m_ArcEnd, aPosition, MINIMUM_SELECTION_DISTANCE ) ) { m_editSelectPoint = END; } else { m_editSelectPoint = OUTLINE; } m_editState = 0; SetEraseLastDrawItem(); } m_Flags = aEditMode; } bool LIB_ARC::ContinueEdit( const wxPoint aPosition ) { wxCHECK_MSG( ( m_Flags & ( IS_NEW | IS_MOVED | IS_RESIZED ) ) != 0, false, wxT( "Bad call to ContinueEdit(). LIB_ARC is not being edited." ) ); if( m_Flags == IS_NEW ) { if( m_editState == 1 ) // Second position yields the arc segment length. { m_ArcEnd = aPosition; m_editState = 2; SetEraseLastDrawItem( false ); return true; // Need third position to calculate center point. } } return false; } void LIB_ARC::EndEdit( const wxPoint& aPosition, bool aAbort ) { wxCHECK_RET( ( m_Flags & ( IS_NEW | IS_MOVED | IS_RESIZED ) ) != 0, wxT( "Bad call to EndEdit(). LIB_ARC is not being edited." ) ); SetEraseLastDrawItem( false ); m_lastEditState = 0; m_editState = 0; m_Flags = 0; } void LIB_ARC::calcEdit( const wxPoint& aPosition ) { if( m_Flags == IS_RESIZED ) { wxPoint newCenterPoint, startPos, endPos; // Choose the point of the arc to be adjusted if( m_editSelectPoint == START ) { startPos = aPosition; endPos = m_ArcEnd; } else if( m_editSelectPoint == END ) { endPos = aPosition; startPos = m_ArcStart; } else { // Use the cursor for adjusting the arc curvature startPos = m_ArcStart; endPos = m_ArcEnd; // If the distance is too small, use the old center point // else the new center point is calculated over the three points start/end/cursor if( DistanceLinePoint( startPos, endPos, aPosition ) > MINIMUM_SELECTION_DISTANCE ) { newCenterPoint = calcCenter( startPos, aPosition, endPos ); } else { newCenterPoint = m_Pos; } // Determine if the arc angle is larger than 180 degrees -> this happens if both // points (cursor position, center point) lie on the same side of the vector // start-end int crossA = CrossProduct( TwoPointVector( startPos, endPos ), TwoPointVector( endPos, aPosition ) ); int crossB = CrossProduct( TwoPointVector( startPos, endPos ), TwoPointVector( endPos, newCenterPoint ) ); if( ( crossA < 0 && crossB < 0 ) || ( crossA >= 0 && crossB >= 0 ) ) newCenterPoint = m_Pos; } if( m_editSelectPoint == START || m_editSelectPoint == END ) { // Compute the new center point when the start/end points are modified wxPoint middlePoint = wxPoint( (startPos.x + endPos.x) / 2, (startPos.y + endPos.y) / 2 ); wxPoint startEndVector = TwoPointVector( startPos, endPos ); wxPoint perpendicularVector = wxPoint( -startEndVector.y, startEndVector.x ); double lengthPerpendicularVector = EuclideanNorm( perpendicularVector ); // prevent too large values, division / 0 if( lengthPerpendicularVector < 1e-1 ) lengthPerpendicularVector = 1e-1; perpendicularVector.x = (int) ( (double) perpendicularVector.x * m_editCenterDistance / lengthPerpendicularVector ) * m_editDirection; perpendicularVector.y = (int) ( (double) perpendicularVector.y * m_editCenterDistance / lengthPerpendicularVector ) * m_editDirection; newCenterPoint = middlePoint + perpendicularVector; m_ArcStart = startPos; m_ArcEnd = endPos; } m_Pos = newCenterPoint; calcRadiusAngles(); } else if( m_Flags == IS_NEW ) { if( m_editState == 1 ) { m_ArcEnd = aPosition; } if( m_editState != m_lastEditState ) m_lastEditState = m_editState; // Keep the arc center point up to date. Otherwise, there will be edit graphic // artifacts left behind from the initial draw. int dx, dy; int cX, cY; int angle; cX = aPosition.x; cY = aPosition.y; dx = m_ArcEnd.x - m_ArcStart.x; dy = m_ArcEnd.y - m_ArcStart.y; cX -= m_ArcStart.x; cY -= m_ArcStart.y; angle = (int) ( atan2( (double) dy, (double) dx ) * 1800 / M_PI ); RotatePoint( &dx, &dy, angle ); /* The segment dx, dy is horizontal * -> Length = dx, dy = 0 */ RotatePoint( &cX, &cY, angle ); cX = dx / 2; /* cX, cY is on the median segment 0.0 a dx, 0 */ RotatePoint( &cX, &cY, -angle ); cX += m_ArcStart.x; cY += m_ArcStart.y; m_Pos.x = cX; m_Pos.y = cY; calcRadiusAngles(); SetEraseLastDrawItem(); } else if( m_Flags == IS_MOVED ) { Move( m_initialPos + aPosition - m_initialCursorPos ); } } void LIB_ARC::calcRadiusAngles() { wxPoint centerStartVector = TwoPointVector( m_Pos, m_ArcStart ); wxPoint centerEndVector = TwoPointVector( m_Pos, m_ArcEnd ); m_Radius = wxRound( EuclideanNorm( centerStartVector ) ); m_t1 = (int) ( atan2( (double) centerStartVector.y, (double) centerStartVector.x ) * 1800 / M_PI ); m_t2 = (int) ( atan2( (double) centerEndVector.y, (double) centerEndVector.x ) * 1800 / M_PI ); NORMALIZE_ANGLE_POS( m_t1 ); NORMALIZE_ANGLE_POS( m_t2 ); // angles = 0 .. 3600 // Restrict angle to less than 180 to avoid PBS display mirror Trace because it is // assumed that the arc is less than 180 deg to find orientation after rotate or mirror. if( (m_t2 - m_t1) > 1800 ) m_t2 -= 3600; else if( (m_t2 - m_t1) <= -1800 ) m_t2 += 3600; while( (m_t2 - m_t1) >= 1800 ) { m_t2--; m_t1++; } while( (m_t1 - m_t2) >= 1800 ) { m_t2++; m_t1--; } NORMALIZE_ANGLE_POS( m_t1 ); if( !IsMoving() ) NORMALIZE_ANGLE_POS( m_t2 ); }