Program Listing for File Line.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 LineSegment : public BaseCurve {
friend class CircleArc;
friend class PolyLine;
real_type m_x0;
real_type m_y0;
real_type m_theta0;
real_type m_c0;
real_type m_s0;
real_type m_L;
public:
#include "BaseCurve_using.hxx"
//explicit
LineSegment()
: BaseCurve(G2LIB_LINE)
, m_x0(0)
, m_y0(0)
, m_theta0(0)
, m_c0(1)
, m_s0(0)
, m_L(0)
{}
//explicit
LineSegment( LineSegment const & s )
: BaseCurve(G2LIB_LINE)
{ copy(s); }
explicit
LineSegment( BaseCurve const & C );
explicit
LineSegment(
real_type _x0,
real_type _y0,
real_type _theta0,
real_type _L
)
: BaseCurve(G2LIB_LINE)
, m_x0(_x0)
, m_y0(_y0)
, m_theta0(_theta0)
, m_c0(cos(_theta0))
, m_s0(sin(_theta0))
, m_L(_L)
{}
void
copy( LineSegment const & c ) {
m_x0 = c.m_x0;
m_y0 = c.m_y0;
m_theta0 = c.m_theta0;
m_c0 = c.m_c0;
m_s0 = c.m_s0;
m_L = c.m_L;
}
LineSegment const & operator = ( LineSegment const & s )
{ copy(s); return *this; }
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
real_type
length() const override
{ return m_L; }
real_type
length_ISO( real_type ) const override
{ return m_L; }
/*\
| _ _
| | |__ | |__ _____ __
| | '_ \| '_ \ / _ \ \/ /
| | |_) | |_) | (_) > <
| |_.__/|_.__/ \___/_/\_\
\*/
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;
/*\
| _ _ _____ _ _
| | |__| |_|_ _| _(_)__ _ _ _ __ _| |___
| | '_ \ '_ \| || '_| / _` | ' \/ _` | / -_)
| |_.__/_.__/|_||_| |_\__,_|_||_\__, |_\___|
| |___/
\*/
void
bbTriangles(
std::vector<Triangle2D> & tvec,
real_type max_angle = Utils::m_pi/6, // 30 degree
real_type max_size = 1e100, // unused
int_type icurve = 0
) const override {
real_type xmin, ymin, xmax, ymax;
this->bbox( xmin, ymin, xmax, ymax );
real_type xc = (xmax+xmin)/2;
real_type yc = (ymax+ymin)/2;
real_type nx = (ymax-ymin)/100;
real_type ny = (xmin-xmax)/100;
if ( xmax > xmin || ymax > ymin ) {
Triangle2D t( xmin, ymin, xmax, ymax, xc+nx, yc+ny, 0, 0, icurve );
tvec.push_back( t );
} else {
UTILS_ERROR(
"LineSegment bbTriangles found a degenerate line\n"
"bbox = [ xmin={}, ymin={}, xmax={}, ymax={} ] max_angle={} max_size={}\n",
xmin, ymin, xmax, ymax, max_angle, max_size
);
}
}
void
bbTriangles_ISO(
real_type offs,
std::vector<Triangle2D> & tvec,
real_type max_angle = Utils::m_pi/6, // 30 degree
real_type max_size = 1e100, // unused
int_type icurve = 0
) const override {
real_type xmin, ymin, xmax, ymax;
this->bbox_ISO( offs, xmin, ymin, xmax, ymax );
real_type xc = (xmax+xmin)/2;
real_type yc = (ymax+ymin)/2;
real_type nx = (ymax-ymin)/100;
real_type ny = (xmin-xmax)/100;
if ( xmax > xmin || ymax > ymin ) {
Triangle2D t( xmin, ymin, xmax, ymax, xc+nx, yc+ny, 0, 0, icurve );
tvec.push_back( t );
} else {
UTILS_ERROR(
"LineSegment bbTriangles found a degenerate line\n"
"bbox = [ xmin={}, ymin={}, xmax={}, ymax={} ]\n"
"offs={} max_angle={} max_size={}\n",
xmin, ymin, xmax, ymax, offs, max_angle, max_size
);
}
}
void
bbTriangles_SAE(
real_type offs,
std::vector<Triangle2D> & tvec,
real_type max_angle = Utils::m_pi/6, // 30 degree
real_type max_size = 1e100,
int_type icurve = 0
) const override {
this->bbTriangles_ISO( -offs, tvec, max_angle, max_size, icurve );
}
/*\
| ____ _ _______ _
| | __ ) ___ __ _(_)_ __ / / ____|_ __ __| |
| | _ \ / _ \/ _` | | '_ \ / /| _| | '_ \ / _` |
| | |_) | __/ (_| | | | | |/ / | |___| | | | (_| |
| |____/ \___|\__, |_|_| |_/_/ |_____|_| |_|\__,_|
| |___/
\*/
real_type tx_Begin() const override { return m_c0; }
real_type ty_Begin() const override { return m_s0; }
real_type tx_End() const override { return m_c0; }
real_type ty_End() const override { return m_s0; }
real_type nx_Begin_ISO() const override { return -m_s0; }
real_type ny_Begin_ISO() const override { return m_c0; }
real_type nx_End_ISO() const override { return -m_s0; }
real_type ny_End_ISO() const override { return m_c0; }
real_type xBegin() const override { return m_x0; }
real_type yBegin() const override { return m_y0; }
real_type xEnd() const override { return m_x0+m_L*m_c0; }
real_type yEnd() const override { return m_y0+m_L*m_s0; }
real_type
xBegin_ISO( real_type offs ) const override
{ return m_x0+offs*nx_Begin_ISO(); }
real_type
yBegin_ISO( real_type offs ) const override
{ return m_y0+offs*ny_Begin_ISO(); }
real_type
xEnd_ISO( real_type offs ) const override
{ return xEnd()+offs*nx_Begin_ISO(); }
real_type
yEnd_ISO( real_type offs ) const override
{ return yEnd()+offs*ny_Begin_ISO(); }
/*\
| _ _ _
| | |_| |__ ___| |_ __ _
| | __| '_ \ / _ \ __/ _` |
| | |_| | | | __/ || (_| |
| \__|_| |_|\___|\__\__,_|
\*/
real_type
theta( real_type ) const override
{ return m_theta0; }
real_type
theta_D( real_type ) const override
{ return 0; }
real_type
theta_DD( real_type ) const override
{ return 0; }
real_type
theta_DDD( real_type ) const override
{ return 0; }
/*\
| _____ _ _ _
| |_ _| __ _ _ __ __| | | \ | |
| | | / _` | '_ \ / _` | | \| |
| | | | (_| | | | | (_| | | |\ |
| |_| \__,_|_| |_|\__,_| |_| \_|
\*/
real_type tx( real_type ) const override { return m_c0; }
real_type ty( real_type ) const override { return m_s0; }
real_type tx_D( real_type ) const override { return 0; }
real_type ty_D( real_type ) const override { return 0; }
real_type tx_DD( real_type ) const override { return 0; }
real_type ty_DD( real_type ) const override { return 0; }
real_type tx_DDD( real_type ) const override { return 0; }
real_type ty_DDD( real_type ) const override { return 0; }
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
void
tg( real_type, real_type & tx, real_type & ty ) const override
{ tx = m_c0; ty = m_s0; }
void
tg_D( real_type, real_type & tx_D, real_type & ty_D ) const override
{ tx_D = ty_D = 0; }
void
tg_DD( real_type, real_type & tx_DD, real_type & ty_DD ) const override
{ tx_DD = ty_DD = 0; }
void
tg_DDD( real_type, real_type & tx_DDD, real_type & ty_DDD ) const override
{ tx_DDD = ty_DDD = 0; }
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
real_type
X( real_type s ) const override
{ return m_x0+s*m_c0; }
real_type
Y( real_type s ) const override
{ return m_y0+s*m_s0; }
real_type
X_D( real_type ) const override
{ return m_c0; }
real_type
Y_D( real_type ) const override
{ return m_s0; }
real_type
X_DD( real_type ) const override
{ return 0; }
real_type
Y_DD( real_type ) const override
{ return 0; }
real_type
X_DDD( real_type ) const override
{ return 0; }
real_type
Y_DDD( real_type ) const override
{ return 0; }
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
void
eval(
real_type s,
real_type & x,
real_type & y
) const override {
x = m_x0+s*m_c0;
y = m_y0+s*m_s0;
}
void
eval_D(
real_type,
real_type & x_D,
real_type & y_D
) const override {
x_D = m_c0;
y_D = m_s0;
}
void
eval_DD(
real_type,
real_type & x_DD,
real_type & y_DD
) const override {
x_DD = 0;
y_DD = 0;
}
void
eval_DDD(
real_type,
real_type & x_DDD,
real_type & y_DDD
) const override {
x_DDD = 0;
y_DDD = 0;
}
/*\
| __ __ _
| ___ / _|/ _|___ ___| |_
| / _ \| |_| |_/ __|/ _ \ __|
| | (_) | _| _\__ \ __/ |_
| \___/|_| |_| |___/\___|\__|
\*/
real_type
X_ISO( real_type s, real_type offs ) const override
{ return m_x0 + s*m_c0 + offs*nx_Begin_ISO(); }
real_type
Y_ISO( real_type s, real_type offs ) const override
{ return m_y0 + s*m_s0 + offs*ny_Begin_ISO(); }
real_type
X_ISO_D( real_type, real_type ) const override
{ return m_c0; }
real_type
Y_ISO_D( real_type, real_type ) const override
{ return m_s0; }
real_type
X_ISO_DD( real_type, real_type ) const override
{ return 0; }
real_type
Y_ISO_DD( real_type, real_type ) const override
{ return 0; }
real_type
X_ISO_DDD( real_type, real_type ) const override
{ return 0; }
real_type
Y_ISO_DDD( real_type, real_type ) const override
{ return 0; }
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
void
eval_ISO(
real_type s,
real_type offs,
real_type & x,
real_type & y
) const override {
x = m_x0 + s*m_c0 + offs*nx_Begin_ISO();
y = m_y0 + s*m_s0 + offs*ny_Begin_ISO();
}
void
eval_ISO_D(
real_type,
real_type,
real_type & x_D,
real_type & y_D
) const override {
x_D = m_c0;
y_D = m_s0;
}
void
eval_ISO_DD(
real_type,
real_type,
real_type & x_DD,
real_type & y_DD
) const override {
x_DD = y_DD = 0;
}
void
eval_ISO_DDD(
real_type,
real_type,
real_type & x_DDD,
real_type & y_DDD
) const override {
x_DDD = y_DDD = 0;
}
/*\
| _ __
| | |_ _ __ __ _ _ __ ___ / _| ___ _ __ _ __ ___
| | __| '__/ _` | '_ \/ __| |_ / _ \| '__| '_ ` _ \
| | |_| | | (_| | | | \__ \ _| (_) | | | | | | | |
| \__|_| \__,_|_| |_|___/_| \___/|_| |_| |_| |_|
\*/
void
translate( real_type tx, real_type ty ) override
{ m_x0 += tx; m_y0 += ty; }
void
rotate( real_type angle, real_type cx, real_type cy ) override;
void
reverse() override;
void
changeOrigin( real_type newx0, real_type newy0 ) override
{ m_x0 = newx0; m_y0 = newy0; }
void
scale( real_type sc ) override
{ m_L *= sc; }
void
trim( real_type s_begin, real_type s_end ) override {
m_x0 += m_c0 * s_begin;
m_y0 += m_s0 * s_begin;
m_L = s_end - s_begin;
}
/*\
| _ _ _
| __| (_)___| |_ __ _ _ __ ___ ___
| / _` | / __| __/ _` | '_ \ / __/ _ \
| | (_| | \__ \ || (_| | | | | (_| __/
| \__,_|_|___/\__\__,_|_| |_|\___\___|
\*/
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;
void
info( ostream_type & stream ) const override
{ stream << "LineSegment\n" << *this << '\n'; }
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
void
build(
real_type x0,
real_type y0,
real_type theta0,
real_type L
) {
m_x0 = x0;
m_y0 = y0;
m_theta0 = theta0;
m_c0 = cos(theta0);
m_s0 = sin(theta0);
m_L = L;
}
void
build_2P(
real_type _x0,
real_type _y0,
real_type _x1,
real_type _y1
);
void
build_2P( real_type const p0[2], real_type const p1[2] )
{ build_2P( p0[0], p0[1], p1[0], p1[1] ); }
void
p1p2( real_type p1[2], real_type p2[2] ) const {
p1[0] = m_x0;
p1[1] = m_y0;
p2[0] = m_x0+m_L*m_c0;
p2[1] = m_y0+m_L*m_s0;
}
bool
intersect(
LineSegment const & S,
real_type & s1,
real_type & s2
) const;
bool
intersect_ISO(
real_type offs,
LineSegment const & S,
real_type S_offs,
real_type & s1,
real_type & s2
) const;
void
intersect(
LineSegment const & LS,
IntersectList & ilist,
bool swap_s_vals
) const {
real_type s1, s2;
bool ok = this->intersect( LS, s1, s2 );
if ( ok ) {
if ( swap_s_vals ) ilist.push_back( Ipair(s2, s1) );
else ilist.push_back( Ipair(s1, s2) );
}
}
void
intersect_ISO(
real_type offs,
LineSegment const & LS,
real_type offs_LS,
IntersectList & ilist,
bool swap_s_vals
) const {
real_type s1, s2;
bool ok = this->intersect_ISO( offs, LS, offs_LS, s1, s2 );
if ( ok ) {
if ( swap_s_vals ) ilist.push_back( Ipair(s2, s1) );
else ilist.push_back( Ipair(s1, s2) );
}
}
bool
collision( LineSegment const & S ) const;
bool
collision_ISO(
real_type offs,
LineSegment const & S,
real_type S_offs
) const;
/*\
| _ _ _ _ ____ ____ ____
| | \ | | | | | _ \| __ ) ___|
| | \| | | | | |_) | _ \___ \
| | |\ | |_| | _ <| |_) |__) |
| |_| \_|\___/|_| \_\____/____/
\*/
void
paramNURBS( int_type & n_knots, int_type & n_pnts ) const;
void
toNURBS( real_type * knots, real_type Poly[][3] ) const;
virtual
void
toBS( real_type * knots, real_type Poly[][2] ) const;
friend
ostream_type &
operator << ( ostream_type & stream, LineSegment const & c );
friend class ClothoidCurve;
};
}
