Program Listing for File Biarc.hxx¶
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/*--------------------------------------------------------------------------*\
| |
| Copyright (C) 2017 |
| |
| , __ , __ |
| /|/ \ /|/ \ |
| | __/ _ ,_ | __/ _ ,_ |
| | \|/ / | | | | \|/ / | | | |
| |(__/|__/ |_/ \_/|/|(__/|__/ |_/ \_/|/ |
| /| /| |
| \| \| |
| |
| Enrico Bertolazzi |
| Dipartimento di Ingegneria Industriale |
| Universita` degli Studi di Trento |
| email: enrico.bertolazzi@unitn.it |
| |
\*--------------------------------------------------------------------------*/
namespace G2lib {
/*\
| ____ _
| | __ )(_) __ _ _ __ ___
| | _ \| |/ _` | '__/ __|
| | |_) | | (_| | | | (__
| |____/|_|\__,_|_| \___|
\*/
class Biarc : public BaseCurve {
CircleArc m_C0, m_C1;
void
gfun( real_type alpha, real_type g[3] ) const {
real_type so = sin(alpha);
real_type co = cos(alpha);
real_type oco = alpha*co;
g[0] = so + oco;
g[1] = 2*co - alpha*so;
g[2] = -3*so - oco;
}
public:
#include "BaseCurve_using.hxx"
~Biarc() override {}
Biarc()
: BaseCurve(G2LIB_BIARC)
{}
Biarc( Biarc const & ba )
: BaseCurve(G2LIB_BIARC)
{ copy(ba); }
explicit
Biarc(
real_type x0,
real_type y0,
real_type theta0,
real_type x1,
real_type y1,
real_type theta1
)
: BaseCurve(G2LIB_BIARC)
{
bool ok = build( x0, y0, theta0, x1, y1, theta1 );
UTILS_ASSERT(
ok,
"Biarc( x0={}, y0={}, theta0={}, x1={}, y1={}, theta1={}) cannot be computed\n",
x0, y0, theta0, x1, y1, theta1
);
}
explicit
Biarc( BaseCurve const & C );
void
copy( Biarc const & c ) {
m_C0.copy(c.m_C0);
m_C1.copy(c.m_C1);
}
Biarc const & operator = ( Biarc const & ba )
{ copy(ba); return *this; }
CircleArc const & C0() const { return m_C0; }
CircleArc const & C1() const { return m_C1; }
bool
build(
real_type x0,
real_type y0,
real_type theta0,
real_type x1,
real_type y1,
real_type theta1
);
bool
build_3P(
real_type x0,
real_type y0,
real_type x1,
real_type y1,
real_type x2,
real_type y2
);
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
void
bbox(
real_type & xmin,
real_type & ymin,
real_type & xmax,
real_type & ymax
) const override;
void
bbox_ISO(
real_type offs,
real_type & xmin,
real_type & ymin,
real_type & xmax,
real_type & ymax
) const override;
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
real_type
length() const override
{ return m_C0.length()+m_C1.length(); }
real_type
length_ISO( real_type offs ) const override
{ return m_C0.length_ISO(offs)+m_C1.length_ISO(offs); }
real_type thetaBegin() const override { return m_C0.thetaBegin(); }
real_type thetaEnd() const override { return m_C1.thetaEnd(); }
real_type kappaBegin() const override { return m_C0.kappaBegin(); }
real_type kappaEnd() const override { return m_C1.kappaEnd(); }
real_type xBegin() const override { return m_C0.xBegin(); }
real_type xEnd() const override { return m_C1.xEnd(); }
real_type yBegin() const override { return m_C0.yBegin(); }
real_type yEnd() const override { return m_C1.yEnd(); }
real_type tx_Begin() const override { return m_C0.tx_Begin(); }
real_type tx_End() const override { return m_C1.tx_End(); }
real_type ty_Begin() const override { return m_C0.ty_Begin(); }
real_type ty_End() const override { return m_C1.ty_End(); }
real_type nx_Begin_ISO() const override { return m_C0.nx_Begin_ISO(); }
real_type nx_End_ISO() const override { return m_C1.nx_End_ISO(); }
real_type ny_Begin_ISO() const override { return m_C0.ny_Begin_ISO(); }
real_type ny_End_ISO() const override { return m_C1.ny_End_ISO(); }
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
real_type theta ( real_type ) const override;
real_type theta_D ( real_type ) const override;
real_type theta_DD ( real_type ) const override { return 0; }
real_type theta_DDD( real_type ) const override { return 0; }
void
evaluate(
real_type s,
real_type & th,
real_type & k,
real_type & x,
real_type & y
) const override;
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
real_type X( real_type s ) const override;
real_type Y( real_type s ) const override;
real_type X_D( real_type ) const override;
real_type Y_D( real_type ) const override;
real_type X_DD( real_type ) const override;
real_type Y_DD( real_type ) const override;
real_type X_DDD( real_type ) const override;
real_type Y_DDD( real_type ) const override;
real_type X_ISO( real_type s, real_type offs ) const override;
real_type Y_ISO( real_type s, real_type offs ) const override;
real_type X_ISO_D( real_type, real_type offs ) const override;
real_type Y_ISO_D( real_type, real_type offs ) const override;
real_type X_ISO_DD( real_type, real_type offs ) const override;
real_type Y_ISO_DD( real_type, real_type offs ) const override;
real_type X_ISO_DDD( real_type, real_type offs ) const override;
real_type Y_ISO_DDD( real_type, real_type offs ) const override;
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
void
eval(
real_type s,
real_type & x,
real_type & y
) const override;
void
eval_D(
real_type s,
real_type & x_D,
real_type & y_D
) const override;
void
eval_DD(
real_type s,
real_type & x_DD,
real_type & y_DD
) const override;
void
eval_DDD(
real_type s,
real_type & x_DDD,
real_type & y_DDD
) const override;
void
eval_ISO(
real_type s,
real_type offs,
real_type & x,
real_type & y
) const override;
void
eval_ISO_D(
real_type s,
real_type offs,
real_type & x_D,
real_type & y_D
) const override;
void
eval_ISO_DD(
real_type s,
real_type offs,
real_type & x_DD,
real_type & y_DD
) const override;
void
eval_ISO_DDD(
real_type s,
real_type offs,
real_type & x_DDD,
real_type & y_DDD
) const override;
/*\
| _____ _ _ _
| |_ _| __ _ _ __ __| | | \ | |
| | | / _` | '_ \ / _` | | \| |
| | | | (_| | | | | (_| | | |\ |
| |_| \__,_|_| |_|\__,_| |_| \_|
\*/
real_type tx ( real_type s ) const override;
real_type tx_D ( real_type s ) const override;
real_type tx_DD ( real_type s ) const override;
real_type tx_DDD( real_type s ) const override;
real_type ty ( real_type s ) const override;
real_type ty_D ( real_type s ) const override;
real_type ty_DD ( real_type s ) const override;
real_type ty_DDD( real_type s ) const override;
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
void
tg(
real_type s,
real_type & tx,
real_type & ty
) const override;
void
tg_D(
real_type s,
real_type & tx_D,
real_type & ty_D
) const override;
void
tg_DD(
real_type s,
real_type & tx_DD,
real_type & ty_DD
) const override;
void
tg_DDD(
real_type s,
real_type & tx_DDD,
real_type & ty_DDD
) const override;
/*\
| _ __
| | |_ _ __ __ _ _ __ ___ / _| ___ _ __ _ __ ___
| | __| '__/ _` | '_ \/ __| |_ / _ \| '__| '_ ` _ \
| | |_| | | (_| | | | \__ \ _| (_) | | | | | | | |
| \__|_| \__,_|_| |_|___/_| \___/|_| |_| |_| |_|
\*/
void
translate( real_type tx, real_type ty ) override
{ m_C0.translate(tx,ty); m_C1.translate(tx,ty); }
void
rotate( real_type angle, real_type cx, real_type cy ) override
{ m_C0.rotate(angle,cx,cy); m_C1.rotate(angle,cx,cy); }
void
reverse() override;
void
changeOrigin( real_type newx0, real_type newy0 ) override;
void
trim( real_type s_begin, real_type s_end ) override;
void
scale( real_type s ) override;
/*\
| _ _ ____ _ _
| ___| | ___ ___ ___ ___| |_| _ \ ___ (_)_ __ | |_
| / __| |/ _ \/ __|/ _ \/ __| __| |_) / _ \| | '_ \| __|
| | (__| | (_) \__ \ __/\__ \ |_| __/ (_) | | | | | |_
| \___|_|\___/|___/\___||___/\__|_| \___/|_|_| |_|\__|
\*/
int_type
closestPoint_ISO(
real_type qx,
real_type qy,
real_type & x,
real_type & y,
real_type & s,
real_type & t,
real_type & dst
) const override;
int_type
closestPoint_ISO(
real_type qx,
real_type qy,
real_type offs,
real_type & x,
real_type & y,
real_type & s,
real_type & t,
real_type & dst
) const override;
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
real_type xMiddle() const { return m_C1.xBegin(); }
real_type yMiddle() const { return m_C1.yBegin(); }
real_type thetaMiddle() const { return m_C1.thetaBegin(); }
real_type kappa0() const { return m_C0.curvature(); }
real_type length0() const { return m_C0.length(); }
real_type kappa1() const { return m_C1.curvature(); }
real_type length1() const { return m_C1.length(); }
real_type delta_theta() const { return m_C0.delta_theta() + m_C1.delta_theta(); }
void
bbTriangles(
std::vector<Triangle2D> & tvec,
real_type max_angle = Utils::m_pi/18,
real_type max_size = 1e100,
int_type icurve = 0
) const override {
m_C0.bbTriangles( tvec, max_angle, max_size, icurve );
m_C1.bbTriangles( tvec, max_angle, max_size, icurve );
}
void
bbTriangles_ISO(
real_type offs,
std::vector<Triangle2D> & tvec,
real_type max_angle = Utils::m_pi/18,
real_type max_size = 1e100,
int_type icurve = 0
) const override {
m_C0.bbTriangles_ISO( offs, tvec, max_angle, max_size, icurve );
m_C1.bbTriangles_ISO( offs, tvec, max_angle, max_size, icurve );
}
void
bbTriangles_SAE(
real_type offs,
std::vector<Triangle2D> & tvec,
real_type max_angle = Utils::m_pi/18,
real_type max_size = 1e100,
int_type icurve = 0
) const override {
m_C0.bbTriangles_SAE( offs, tvec, max_angle, max_size, icurve );
m_C1.bbTriangles_SAE( offs, tvec, max_angle, max_size, icurve );
}
/*\
| _ _ _ _
| ___ ___ | | (_)___(_) ___ _ __
| / __/ _ \| | | / __| |/ _ \| '_ \
| | (_| (_) | | | \__ \ | (_) | | | |
| \___\___/|_|_|_|___/_|\___/|_| |_|
\*/
bool
collision( Biarc const & B ) const {
return m_C0.collision( B.m_C0 ) || m_C0.collision( B.m_C1 ) ||
m_C1.collision( B.m_C0 ) || m_C1.collision( B.m_C1 );
}
bool
collision_ISO(
real_type offs,
Biarc const & B,
real_type offs_B
) const {
return m_C0.collision_ISO( offs, B.m_C0, offs_B ) ||
m_C0.collision_ISO( offs, B.m_C1, offs_B ) ||
m_C1.collision_ISO( offs, B.m_C0, offs_B ) ||
m_C1.collision_ISO( offs, B.m_C1, offs_B );
}
/*\
| _ _ _
| (_)_ __ | |_ ___ _ __ ___ ___ ___| |_
| | | '_ \| __/ _ \ '__/ __|/ _ \/ __| __|
| | | | | | || __/ | \__ \ __/ (__| |_
| |_|_| |_|\__\___|_| |___/\___|\___|\__|
\*/
void
intersect(
Biarc const & B,
IntersectList & ilist,
bool swap_s_vals
) const;
void
intersect_ISO(
real_type offs,
Biarc const & B,
real_type offs_B,
IntersectList & ilist,
bool swap_s_vals
) const;
void
info( ostream_type & stream ) const override
{ stream << "BiArc\n" << *this << '\n'; }
friend
ostream_type &
operator << ( ostream_type & stream, Biarc const & bi );
};
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
bool
build_guess_theta(
int_type n,
real_type const * x,
real_type const * y,
real_type * theta
);
}
