/* * This program source code file is part of KiCad, a free EDA CAD application. * * Copyright (C) 2013 CERN * @author Tomasz Wlostowski * * 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 */ #include #include #include #include #include #include #include #include typedef VECTOR2I::extended_type ecoord; static inline bool Collide( const SHAPE_CIRCLE& aA, const SHAPE_CIRCLE& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { ecoord min_dist = aClearance + aA.GetRadius() + aB.GetRadius(); ecoord min_dist_sq = min_dist * min_dist; const VECTOR2I delta = aB.GetCenter() - aA.GetCenter(); ecoord dist_sq = delta.SquaredEuclideanNorm(); if( dist_sq >= min_dist_sq ) return false; if( aNeedMTV ) aMTV = delta.Resize( min_dist - sqrt( dist_sq ) + 3 ); // fixme: apparent rounding error return true; } static inline bool Collide( const SHAPE_RECT& aA, const SHAPE_CIRCLE& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { const VECTOR2I c = aB.GetCenter(); const VECTOR2I p0 = aA.GetPosition(); const VECTOR2I size = aA.GetSize(); const int r = aB.GetRadius(); const int min_dist = aClearance + r; const VECTOR2I vts[] = { VECTOR2I( p0.x, p0.y ), VECTOR2I( p0.x, p0.y + size.y ), VECTOR2I( p0.x + size.x, p0.y + size.y ), VECTOR2I( p0.x + size.x, p0.y ), VECTOR2I( p0.x, p0.y ) }; int nearest_seg_dist = INT_MAX; VECTOR2I nearest; bool inside = c.x >= p0.x && c.x <= ( p0.x + size.x ) && c.y >= p0.y && c.y <= ( p0.y + size.y ); if( !aNeedMTV && inside ) return true; for( int i = 0; i < 4; i++ ) { const SEG seg( vts[i], vts[i + 1] ); VECTOR2I pn = seg.NearestPoint( c ); int d = ( pn - c ).EuclideanNorm(); if( ( d < min_dist ) && !aNeedMTV ) return true; if( d < nearest_seg_dist ) { nearest = pn; nearest_seg_dist = d; } } if( nearest_seg_dist >= min_dist && !inside ) return false; VECTOR2I delta = c - nearest; if( !aNeedMTV ) return true; if( inside ) aMTV = -delta.Resize( abs( min_dist + 1 + nearest_seg_dist ) + 1 ); else aMTV = delta.Resize( abs( min_dist + 1 - nearest_seg_dist ) + 1 ); return true; } static VECTOR2I pushoutForce( const SHAPE_CIRCLE& aA, const SEG& aB, int aClearance ) { VECTOR2I nearest = aB.NearestPoint( aA.GetCenter() ); VECTOR2I f (0, 0); int dist = ( nearest - aA.GetCenter() ).EuclideanNorm(); int min_dist = aClearance + aA.GetRadius(); if( dist < min_dist ) f = ( aA.GetCenter() - nearest ).Resize ( min_dist - dist + 10 ); return f; } static inline bool Collide( const SHAPE_CIRCLE& aA, const SHAPE_LINE_CHAIN& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { bool found = false; for( int s = 0; s < aB.SegmentCount(); s++ ) { if( aA.Collide( aB.CSegment( s ), aClearance ) ) { found = true; break; } } if( !aNeedMTV || !found ) return found; SHAPE_CIRCLE cmoved( aA ); VECTOR2I f_total( 0, 0 ); for( int s = 0; s < aB.SegmentCount(); s++ ) { VECTOR2I f = pushoutForce( cmoved, aB.CSegment( s ), aClearance ); cmoved.SetCenter( cmoved.GetCenter() + f ); f_total += f; } aMTV = f_total; return found; } static inline bool Collide( const SHAPE_CIRCLE& aA, const SHAPE_CONVEX& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { bool found; const SHAPE_LINE_CHAIN& lc( aB.Vertices() ); found = lc.Distance( aA.GetCenter() ) <= aClearance + aA.GetRadius(); if( !aNeedMTV || !found ) return found; SHAPE_CIRCLE cmoved( aA ); VECTOR2I f_total( 0, 0 ); for( int s = 0; s < lc.SegmentCount(); s++ ) { VECTOR2I f = pushoutForce( cmoved, lc.CSegment( s ), aClearance ); cmoved.SetCenter( cmoved.GetCenter() + f ); f_total += f; } aMTV = f_total; return found; } static inline bool Collide( const SHAPE_CIRCLE& aA, const SHAPE_SEGMENT& aSeg, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { bool col = aA.Collide( aSeg.GetSeg(), aClearance + aSeg.GetWidth() / 2); if( col && aNeedMTV ) { aMTV = -pushoutForce( aA, aSeg.GetSeg(), aClearance + aSeg.GetWidth() / 2); } return col; } static inline bool Collide( const SHAPE_LINE_CHAIN& aA, const SHAPE_LINE_CHAIN& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { for( int i = 0; i < aB.SegmentCount(); i++ ) if( aA.Collide( aB.CSegment( i ), aClearance ) ) return true; return false; } static inline bool Collide( const SHAPE_LINE_CHAIN& aA, const SHAPE_CONVEX& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { return Collide( aA, aB.Vertices(), aClearance, aNeedMTV, aMTV ); } static inline bool Collide( const SHAPE_CONVEX& aA, const SHAPE_CONVEX& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { return Collide( aA.Vertices(), aB.Vertices(), aClearance, aNeedMTV, aMTV ); } static inline bool Collide( const SHAPE_RECT& aA, const SHAPE_LINE_CHAIN& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { for( int s = 0; s < aB.SegmentCount(); s++ ) { SEG seg = aB.CSegment( s ); if( aA.Collide( seg, aClearance ) ) return true; } return false; } static inline bool Collide( const SHAPE_RECT& aA, const SHAPE_CONVEX& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { return Collide( aA, aB.Vertices(), aClearance, aNeedMTV, aMTV ); } static inline bool Collide( const SHAPE_RECT& aA, const SHAPE_SEGMENT& aSeg, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { return aA.Collide( aSeg.GetSeg(), aClearance + aSeg.GetWidth() / 2 ); } static inline bool Collide( const SHAPE_SEGMENT& aA, const SHAPE_SEGMENT& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { return aA.Collide( aB.GetSeg(), aClearance + aB.GetWidth() / 2 ); } static inline bool Collide( const SHAPE_LINE_CHAIN& aA, const SHAPE_SEGMENT& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { if( aA.Collide( aB.GetSeg(), aClearance + aB.GetWidth() / 2 ) ) return true; return false; } static inline bool Collide( const SHAPE_CONVEX& aA, const SHAPE_SEGMENT& aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { return Collide( aA.Vertices(), aB, aClearance, aNeedMTV, aMTV ); } template inline bool CollCase( const SHAPE* aA, const SHAPE* aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { return Collide (*static_cast( aA ), *static_cast( aB ), aClearance, aNeedMTV, aMTV); } template inline bool CollCaseReversed ( const SHAPE* aA, const SHAPE* aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { bool rv = Collide (*static_cast( aB ), *static_cast( aA ), aClearance, aNeedMTV, aMTV); if(rv && aNeedMTV) aMTV = -aMTV; return rv; } bool CollideShapes( const SHAPE* aA, const SHAPE* aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV ) { switch( aA->Type() ) { case SH_RECT: switch( aB->Type() ) { case SH_RECT: // RECT to RECT not yet in use in p&s router // Should be (todo) somethink like: //return CollCaseReversed( aA, aB, aClearance, aNeedMTV, aMTV ); assert( aB->Type() != SH_RECT ); return true; case SH_CIRCLE: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_LINE_CHAIN: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_SEGMENT: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_CONVEX: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); default: break; } break; case SH_CIRCLE: switch( aB->Type() ) { case SH_RECT: return CollCaseReversed( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_CIRCLE: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_LINE_CHAIN: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_SEGMENT: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_CONVEX: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); default: break; } break; case SH_LINE_CHAIN: switch( aB->Type() ) { case SH_RECT: return CollCase( aB, aA, aClearance, aNeedMTV, aMTV ); case SH_CIRCLE: return CollCase( aB, aA, aClearance, aNeedMTV, aMTV ); case SH_LINE_CHAIN: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_SEGMENT: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_CONVEX: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); default: break; } break; case SH_SEGMENT: switch( aB->Type() ) { case SH_RECT: return CollCase( aB, aA, aClearance, aNeedMTV, aMTV ); case SH_CIRCLE: return CollCaseReversed( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_LINE_CHAIN: return CollCase( aB, aA, aClearance, aNeedMTV, aMTV ); case SH_SEGMENT: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_CONVEX: return CollCase( aB, aA, aClearance, aNeedMTV, aMTV ); default: break; } break; case SH_CONVEX: switch( aB->Type() ) { case SH_RECT: return CollCase( aB, aA, aClearance, aNeedMTV, aMTV ); case SH_CIRCLE: return CollCase( aB, aA, aClearance, aNeedMTV, aMTV ); case SH_LINE_CHAIN: return CollCase( aB, aA, aClearance, aNeedMTV, aMTV ); case SH_SEGMENT: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); case SH_CONVEX: return CollCase( aA, aB, aClearance, aNeedMTV, aMTV ); default: break; } break; default: break; } bool unsupported_collision = true; (void) unsupported_collision; // make gcc quiet assert( unsupported_collision == false ); return false; } bool SHAPE::Collide( const SHAPE* aShape, int aClerance, VECTOR2I& aMTV ) const { return CollideShapes( this, aShape, aClerance, true, aMTV ); } bool SHAPE::Collide( const SHAPE* aShape, int aClerance ) const { VECTOR2I dummy; return CollideShapes( this, aShape, aClerance, false, dummy ); } bool SHAPE_RECT::Collide( const SEG& aSeg, int aClearance ) const { //VECTOR2I pmin = VECTOR2I( std::min( aSeg.a.x, aSeg.b.x ), std::min( aSeg.a.y, aSeg.b.y ) ); //VECTOR2I pmax = VECTOR2I( std::max( aSeg.a.x, aSeg.b.x ), std::max( aSeg.a.y, aSeg.b.y )); //BOX2I r( pmin, VECTOR2I( pmax.x - pmin.x, pmax.y - pmin.y ) ); //if( BBox( 0 ).SquaredDistance( r ) > aClearance * aClearance ) // return false; if( BBox( 0 ).Contains( aSeg.A ) || BBox( 0 ).Contains( aSeg.B ) ) return true; VECTOR2I vts[] = { VECTOR2I( m_p0.x, m_p0.y ), VECTOR2I( m_p0.x, m_p0.y + m_h ), VECTOR2I( m_p0.x + m_w, m_p0.y + m_h ), VECTOR2I( m_p0.x + m_w, m_p0.y ), VECTOR2I( m_p0.x, m_p0.y ) }; for( int i = 0; i < 4; i++ ) { SEG s( vts[i], vts[i + 1], i ); if( s.Distance( aSeg ) < aClearance ) return true; } return false; }