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kicad/common/geometry/shape_collisions.cpp

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/*
* This program source code file is part of KiCad, a free EDA CAD application.
*
* Copyright (C) 2013 CERN
* @author Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
*
* 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 <math/vector2d.h>
#include <math.h>
#include <geometry/shape.h>
#include <geometry/shape_line_chain.h>
#include <geometry/shape_circle.h>
#include <geometry/shape_rect.h>
#include <geometry/shape_segment.h>
#include "../../include/geometry/shape_simple.h"
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 f( 0, 0 );
const VECTOR2I c = aA.GetCenter();
const VECTOR2I nearest = aB.NearestPoint( c );
const int r = aA.GetRadius();
int dist = ( nearest - c ).EuclideanNorm();
int min_dist = aClearance + r;
if( dist < min_dist )
{
for( int corr = 0; corr < 5; corr++ )
{
f = ( aA.GetCenter() - nearest ).Resize( min_dist - dist + corr );
if( aB.Distance( c + f ) >= min_dist )
break;
}
}
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_SIMPLE& 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_SIMPLE& aB, int aClearance,
bool aNeedMTV, VECTOR2I& aMTV )
{
return Collide( aA, aB.Vertices(), aClearance, aNeedMTV, aMTV );
}
static inline bool Collide( const SHAPE_SIMPLE& aA, const SHAPE_SIMPLE& 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_SIMPLE& 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_SIMPLE& aA, const SHAPE_SEGMENT& aB, int aClearance,
bool aNeedMTV, VECTOR2I& aMTV )
{
return Collide( aA.Vertices(), aB, aClearance, aNeedMTV, aMTV );
}
static inline bool Collide( const SHAPE_RECT& aA, const SHAPE_RECT& aB, int aClearance,
bool aNeedMTV, VECTOR2I& aMTV )
{
return Collide( aA.Outline(), aB.Outline(), aClearance, aNeedMTV, aMTV );
}
template<class ShapeAType, class ShapeBType>
inline bool CollCase( const SHAPE* aA, const SHAPE* aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV )
{
return Collide (*static_cast<const ShapeAType*>( aA ),
*static_cast<const ShapeBType*>( aB ),
aClearance, aNeedMTV, aMTV);
}
template<class ShapeAType, class ShapeBType>
inline bool CollCaseReversed ( const SHAPE* aA, const SHAPE* aB, int aClearance, bool aNeedMTV, VECTOR2I& aMTV )
{
bool rv = Collide (*static_cast<const ShapeBType*>( aB ),
*static_cast<const ShapeAType*>( 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:
return CollCase<SHAPE_RECT, SHAPE_RECT>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_CIRCLE:
return CollCase<SHAPE_RECT, SHAPE_CIRCLE>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_LINE_CHAIN:
return CollCase<SHAPE_RECT, SHAPE_LINE_CHAIN>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_SEGMENT:
return CollCase<SHAPE_RECT, SHAPE_SEGMENT>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_SIMPLE:
return CollCase<SHAPE_RECT, SHAPE_SIMPLE>( aA, aB, aClearance, aNeedMTV, aMTV );
default:
break;
}
break;
case SH_CIRCLE:
switch( aB->Type() )
{
case SH_RECT:
return CollCaseReversed<SHAPE_CIRCLE, SHAPE_RECT>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_CIRCLE:
return CollCase<SHAPE_CIRCLE, SHAPE_CIRCLE>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_LINE_CHAIN:
return CollCase<SHAPE_CIRCLE, SHAPE_LINE_CHAIN>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_SEGMENT:
return CollCase<SHAPE_CIRCLE, SHAPE_SEGMENT>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_SIMPLE:
return CollCase<SHAPE_CIRCLE, SHAPE_SIMPLE>( aA, aB, aClearance, aNeedMTV, aMTV );
default:
break;
}
break;
case SH_LINE_CHAIN:
switch( aB->Type() )
{
case SH_RECT:
return CollCase<SHAPE_RECT, SHAPE_LINE_CHAIN>( aB, aA, aClearance, aNeedMTV, aMTV );
case SH_CIRCLE:
return CollCase<SHAPE_CIRCLE, SHAPE_LINE_CHAIN>( aB, aA, aClearance, aNeedMTV, aMTV );
case SH_LINE_CHAIN:
return CollCase<SHAPE_LINE_CHAIN, SHAPE_LINE_CHAIN>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_SEGMENT:
return CollCase<SHAPE_LINE_CHAIN, SHAPE_SEGMENT>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_SIMPLE:
return CollCase<SHAPE_LINE_CHAIN, SHAPE_SIMPLE>( aA, aB, aClearance, aNeedMTV, aMTV );
default:
break;
}
break;
case SH_SEGMENT:
switch( aB->Type() )
{
case SH_RECT:
return CollCase<SHAPE_RECT, SHAPE_SEGMENT>( aB, aA, aClearance, aNeedMTV, aMTV );
case SH_CIRCLE:
return CollCaseReversed<SHAPE_SEGMENT, SHAPE_CIRCLE>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_LINE_CHAIN:
return CollCase<SHAPE_LINE_CHAIN, SHAPE_SEGMENT>( aB, aA, aClearance, aNeedMTV, aMTV );
case SH_SEGMENT:
return CollCase<SHAPE_SEGMENT, SHAPE_SEGMENT>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_SIMPLE:
return CollCase<SHAPE_SIMPLE, SHAPE_SEGMENT>( aB, aA, aClearance, aNeedMTV, aMTV );
default:
break;
}
break;
case SH_SIMPLE:
switch( aB->Type() )
{
case SH_RECT:
return CollCase<SHAPE_RECT, SHAPE_SIMPLE>( aB, aA, aClearance, aNeedMTV, aMTV );
case SH_CIRCLE:
return CollCase<SHAPE_CIRCLE, SHAPE_SIMPLE>( aB, aA, aClearance, aNeedMTV, aMTV );
case SH_LINE_CHAIN:
return CollCase<SHAPE_LINE_CHAIN, SHAPE_SIMPLE>( aB, aA, aClearance, aNeedMTV, aMTV );
case SH_SEGMENT:
return CollCase<SHAPE_SIMPLE, SHAPE_SEGMENT>( aA, aB, aClearance, aNeedMTV, aMTV );
case SH_SIMPLE:
return CollCase<SHAPE_SIMPLE, SHAPE_SIMPLE>( 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;
}
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