916 lines
25 KiB
C++
916 lines
25 KiB
C++
/***************************************************************************
|
|
* Copyright (c) Konstantinos Poulios (logari81@gmail.com) 2011 *
|
|
* *
|
|
* This file is part of the FreeCAD CAx development system. *
|
|
* *
|
|
* This library is free software; you can redistribute it and/or *
|
|
* modify it under the terms of the GNU Library General Public *
|
|
* License as published by the Free Software Foundation; either *
|
|
* version 2 of the License, or (at your option) any later version. *
|
|
* *
|
|
* This library 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 Library General Public License for more details. *
|
|
* *
|
|
* You should have received a copy of the GNU Library General Public *
|
|
* License along with this library; see the file COPYING.LIB. If not, *
|
|
* write to the Free Software Foundation, Inc., 59 Temple Place, *
|
|
* Suite 330, Boston, MA 02111-1307, USA *
|
|
* *
|
|
***************************************************************************/
|
|
|
|
#include <cmath>
|
|
#include "Constraints.h"
|
|
#include <algorithm>
|
|
|
|
namespace GCS
|
|
{
|
|
|
|
///////////////////////////////////////
|
|
// Constraints
|
|
///////////////////////////////////////
|
|
|
|
Constraint::Constraint()
|
|
: origpvec(0), pvec(0), scale(1.), tag(0)
|
|
{
|
|
}
|
|
|
|
void Constraint::redirectParams(MAP_pD_pD redirectionmap)
|
|
{
|
|
int i=0;
|
|
for (VEC_pD::iterator param=origpvec.begin();
|
|
param != origpvec.end(); ++param, i++) {
|
|
MAP_pD_pD::const_iterator it = redirectionmap.find(*param);
|
|
if (it != redirectionmap.end())
|
|
pvec[i] = it->second;
|
|
}
|
|
}
|
|
|
|
void Constraint::revertParams()
|
|
{
|
|
pvec = origpvec;
|
|
}
|
|
|
|
ConstraintType Constraint::getTypeId()
|
|
{
|
|
return None;
|
|
}
|
|
|
|
void Constraint::rescale(double coef)
|
|
{
|
|
scale = coef * 1.;
|
|
}
|
|
|
|
double Constraint::error()
|
|
{
|
|
return 0.;
|
|
}
|
|
|
|
double Constraint::grad(double *param)
|
|
{
|
|
return 0.;
|
|
}
|
|
|
|
double Constraint::maxStep(MAP_pD_D &dir, double lim)
|
|
{
|
|
return lim;
|
|
}
|
|
|
|
// Equal
|
|
ConstraintEqual::ConstraintEqual(double *p1, double *p2)
|
|
{
|
|
pvec.push_back(p1);
|
|
pvec.push_back(p2);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintEqual::getTypeId()
|
|
{
|
|
return Equal;
|
|
}
|
|
|
|
void ConstraintEqual::rescale(double coef)
|
|
{
|
|
scale = coef * 1.;
|
|
}
|
|
|
|
double ConstraintEqual::error()
|
|
{
|
|
return scale * (*param1() - *param2());
|
|
}
|
|
|
|
double ConstraintEqual::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
if (param == param1()) deriv += 1;
|
|
if (param == param2()) deriv += -1;
|
|
return scale * deriv;
|
|
}
|
|
|
|
// Difference
|
|
ConstraintDifference::ConstraintDifference(double *p1, double *p2, double *d)
|
|
{
|
|
pvec.push_back(p1);
|
|
pvec.push_back(p2);
|
|
pvec.push_back(d);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintDifference::getTypeId()
|
|
{
|
|
return Difference;
|
|
}
|
|
|
|
void ConstraintDifference::rescale(double coef)
|
|
{
|
|
scale = coef * 1.;
|
|
}
|
|
|
|
double ConstraintDifference::error()
|
|
{
|
|
return scale * (*param2() - *param1() - *difference());
|
|
}
|
|
|
|
double ConstraintDifference::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
if (param == param1()) deriv += -1;
|
|
if (param == param2()) deriv += 1;
|
|
if (param == difference()) deriv += -1;
|
|
return scale * deriv;
|
|
}
|
|
|
|
// P2PDistance
|
|
ConstraintP2PDistance::ConstraintP2PDistance(Point &p1, Point &p2, double *d)
|
|
{
|
|
pvec.push_back(p1.x);
|
|
pvec.push_back(p1.y);
|
|
pvec.push_back(p2.x);
|
|
pvec.push_back(p2.y);
|
|
pvec.push_back(d);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintP2PDistance::getTypeId()
|
|
{
|
|
return P2PDistance;
|
|
}
|
|
|
|
void ConstraintP2PDistance::rescale(double coef)
|
|
{
|
|
scale = coef * 1.;
|
|
}
|
|
|
|
double ConstraintP2PDistance::error()
|
|
{
|
|
double dx = (*p1x() - *p2x());
|
|
double dy = (*p1y() - *p2y());
|
|
double d = sqrt(dx*dx + dy*dy);
|
|
double dist = *distance();
|
|
return scale * (d - dist);
|
|
}
|
|
|
|
double ConstraintP2PDistance::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
if (param == p1x() || param == p1y() ||
|
|
param == p2x() || param == p2y()) {
|
|
double dx = (*p1x() - *p2x());
|
|
double dy = (*p1y() - *p2y());
|
|
double d = sqrt(dx*dx + dy*dy);
|
|
if (param == p1x()) deriv += dx/d;
|
|
if (param == p1y()) deriv += dy/d;
|
|
if (param == p2x()) deriv += -dx/d;
|
|
if (param == p2y()) deriv += -dy/d;
|
|
}
|
|
if (param == distance()) deriv += -1.;
|
|
|
|
return scale * deriv;
|
|
}
|
|
|
|
double ConstraintP2PDistance::maxStep(MAP_pD_D &dir, double lim)
|
|
{
|
|
MAP_pD_D::iterator it;
|
|
// distance() >= 0
|
|
it = dir.find(distance());
|
|
if (it != dir.end()) {
|
|
if (it->second < 0.)
|
|
lim = std::min(lim, -(*distance()) / it->second);
|
|
}
|
|
// restrict actual distance change
|
|
double ddx=0.,ddy=0.;
|
|
it = dir.find(p1x());
|
|
if (it != dir.end()) ddx += it->second;
|
|
it = dir.find(p1y());
|
|
if (it != dir.end()) ddy += it->second;
|
|
it = dir.find(p2x());
|
|
if (it != dir.end()) ddx -= it->second;
|
|
it = dir.find(p2y());
|
|
if (it != dir.end()) ddy -= it->second;
|
|
double dd = sqrt(ddx*ddx+ddy*ddy);
|
|
double dist = *distance();
|
|
if (dd > dist) {
|
|
double dx = (*p1x() - *p2x());
|
|
double dy = (*p1y() - *p2y());
|
|
double d = sqrt(dx*dx + dy*dy);
|
|
if (dd > d)
|
|
lim = std::min(lim, std::max(d,dist)/dd);
|
|
}
|
|
return lim;
|
|
}
|
|
|
|
// P2PAngle
|
|
ConstraintP2PAngle::ConstraintP2PAngle(Point &p1, Point &p2, double *a, double da_)
|
|
: da(da_)
|
|
{
|
|
pvec.push_back(p1.x);
|
|
pvec.push_back(p1.y);
|
|
pvec.push_back(p2.x);
|
|
pvec.push_back(p2.y);
|
|
pvec.push_back(a);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintP2PAngle::getTypeId()
|
|
{
|
|
return P2PAngle;
|
|
}
|
|
|
|
void ConstraintP2PAngle::rescale(double coef)
|
|
{
|
|
scale = coef * 1.;
|
|
}
|
|
|
|
double ConstraintP2PAngle::error()
|
|
{
|
|
double dx = (*p2x() - *p1x());
|
|
double dy = (*p2y() - *p1y());
|
|
double a = *angle() + da;
|
|
double ca = cos(a);
|
|
double sa = sin(a);
|
|
double x = dx*ca + dy*sa;
|
|
double y = -dx*sa + dy*ca;
|
|
return scale * atan2(y,x);
|
|
}
|
|
|
|
double ConstraintP2PAngle::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
if (param == p1x() || param == p1y() ||
|
|
param == p2x() || param == p2y()) {
|
|
double dx = (*p2x() - *p1x());
|
|
double dy = (*p2y() - *p1y());
|
|
double a = *angle() + da;
|
|
double ca = cos(a);
|
|
double sa = sin(a);
|
|
double x = dx*ca + dy*sa;
|
|
double y = -dx*sa + dy*ca;
|
|
double r2 = dx*dx+dy*dy;
|
|
dx = -y/r2;
|
|
dy = x/r2;
|
|
if (param == p1x()) deriv += (-ca*dx + sa*dy);
|
|
if (param == p1y()) deriv += (-sa*dx - ca*dy);
|
|
if (param == p2x()) deriv += ( ca*dx - sa*dy);
|
|
if (param == p2y()) deriv += ( sa*dx + ca*dy);
|
|
}
|
|
if (param == angle()) deriv += -1;
|
|
|
|
return scale * deriv;
|
|
}
|
|
|
|
double ConstraintP2PAngle::maxStep(MAP_pD_D &dir, double lim)
|
|
{
|
|
// step(angle()) <= pi/18 = 10°
|
|
MAP_pD_D::iterator it = dir.find(angle());
|
|
if (it != dir.end()) {
|
|
double step = std::abs(it->second);
|
|
if (step > M_PI/18.)
|
|
lim = std::min(lim, (M_PI/18.) / step);
|
|
}
|
|
return lim;
|
|
}
|
|
|
|
// P2LDistance
|
|
ConstraintP2LDistance::ConstraintP2LDistance(Point &p, Line &l, double *d)
|
|
{
|
|
pvec.push_back(p.x);
|
|
pvec.push_back(p.y);
|
|
pvec.push_back(l.p1.x);
|
|
pvec.push_back(l.p1.y);
|
|
pvec.push_back(l.p2.x);
|
|
pvec.push_back(l.p2.y);
|
|
pvec.push_back(d);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintP2LDistance::getTypeId()
|
|
{
|
|
return P2LDistance;
|
|
}
|
|
|
|
void ConstraintP2LDistance::rescale(double coef)
|
|
{
|
|
scale = coef;
|
|
}
|
|
|
|
double ConstraintP2LDistance::error()
|
|
{
|
|
double x0=*p0x(), x1=*p1x(), x2=*p2x();
|
|
double y0=*p0y(), y1=*p1y(), y2=*p2y();
|
|
double dist = *distance();
|
|
double dx = x2-x1;
|
|
double dy = y2-y1;
|
|
double d = sqrt(dx*dx+dy*dy);
|
|
double area = std::abs(-x0*dy+y0*dx+x1*y2-x2*y1); // = x1y2 - x2y1 - x0y2 + x2y0 + x0y1 - x1y0 = 2*(triangle area)
|
|
return scale * (area/d - dist);
|
|
}
|
|
|
|
double ConstraintP2LDistance::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
// darea/dx0 = (y1-y2) darea/dy0 = (x2-x1)
|
|
// darea/dx1 = (y2-y0) darea/dy1 = (x0-x2)
|
|
// darea/dx2 = (y0-y1) darea/dy2 = (x1-x0)
|
|
if (param == p0x() || param == p0y() ||
|
|
param == p1x() || param == p1y() ||
|
|
param == p2x() || param == p2y()) {
|
|
double x0=*p0x(), x1=*p1x(), x2=*p2x();
|
|
double y0=*p0y(), y1=*p1y(), y2=*p2y();
|
|
double dx = x2-x1;
|
|
double dy = y2-y1;
|
|
double d2 = dx*dx+dy*dy;
|
|
double d = sqrt(d2);
|
|
double area = -x0*dy+y0*dx+x1*y2-x2*y1;
|
|
if (param == p0x()) deriv += (y1-y2) / d;
|
|
if (param == p0y()) deriv += (x2-x1) / d ;
|
|
if (param == p1x()) deriv += ((y2-y0)*d + (dx/d)*area) / d2;
|
|
if (param == p1y()) deriv += ((x0-x2)*d + (dy/d)*area) / d2;
|
|
if (param == p2x()) deriv += ((y0-y1)*d - (dx/d)*area) / d2;
|
|
if (param == p2y()) deriv += ((x1-x0)*d - (dy/d)*area) / d2;
|
|
if (area < 0)
|
|
deriv *= -1;
|
|
}
|
|
if (param == distance()) deriv += -1;
|
|
|
|
return scale * deriv;
|
|
}
|
|
|
|
double ConstraintP2LDistance::maxStep(MAP_pD_D &dir, double lim)
|
|
{
|
|
MAP_pD_D::iterator it;
|
|
// distance() >= 0
|
|
it = dir.find(distance());
|
|
if (it != dir.end()) {
|
|
if (it->second < 0.)
|
|
lim = std::min(lim, -(*distance()) / it->second);
|
|
}
|
|
// restrict actual area change
|
|
double darea=0.;
|
|
double x0=*p0x(), x1=*p1x(), x2=*p2x();
|
|
double y0=*p0y(), y1=*p1y(), y2=*p2y();
|
|
it = dir.find(p0x());
|
|
if (it != dir.end()) darea += (y1-y2) * it->second;
|
|
it = dir.find(p0y());
|
|
if (it != dir.end()) darea += (x2-x1) * it->second;
|
|
it = dir.find(p1x());
|
|
if (it != dir.end()) darea += (y2-y0) * it->second;
|
|
it = dir.find(p1y());
|
|
if (it != dir.end()) darea += (x0-x2) * it->second;
|
|
it = dir.find(p2x());
|
|
if (it != dir.end()) darea += (y0-y1) * it->second;
|
|
it = dir.find(p2y());
|
|
if (it != dir.end()) darea += (x1-x0) * it->second;
|
|
|
|
darea = std::abs(darea);
|
|
if (darea > 0.) {
|
|
double dx = x2-x1;
|
|
double dy = y2-y1;
|
|
double area = 0.3*(*distance())*sqrt(dx*dx+dy*dy);
|
|
if (darea > area) {
|
|
area = std::max(area, 0.3*std::abs(-x0*dy+y0*dx+x1*y2-x2*y1));
|
|
if (darea > area)
|
|
lim = std::min(lim, area/darea);
|
|
}
|
|
}
|
|
return lim;
|
|
}
|
|
|
|
// PointOnLine
|
|
ConstraintPointOnLine::ConstraintPointOnLine(Point &p, Line &l)
|
|
{
|
|
pvec.push_back(p.x);
|
|
pvec.push_back(p.y);
|
|
pvec.push_back(l.p1.x);
|
|
pvec.push_back(l.p1.y);
|
|
pvec.push_back(l.p2.x);
|
|
pvec.push_back(l.p2.y);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintPointOnLine::ConstraintPointOnLine(Point &p, Point &lp1, Point &lp2)
|
|
{
|
|
pvec.push_back(p.x);
|
|
pvec.push_back(p.y);
|
|
pvec.push_back(lp1.x);
|
|
pvec.push_back(lp1.y);
|
|
pvec.push_back(lp2.x);
|
|
pvec.push_back(lp2.y);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintPointOnLine::getTypeId()
|
|
{
|
|
return PointOnLine;
|
|
}
|
|
|
|
void ConstraintPointOnLine::rescale(double coef)
|
|
{
|
|
scale = coef;
|
|
}
|
|
|
|
double ConstraintPointOnLine::error()
|
|
{
|
|
double x0=*p0x(), x1=*p1x(), x2=*p2x();
|
|
double y0=*p0y(), y1=*p1y(), y2=*p2y();
|
|
double dx = x2-x1;
|
|
double dy = y2-y1;
|
|
double d = sqrt(dx*dx+dy*dy);
|
|
double area = -x0*dy+y0*dx+x1*y2-x2*y1; // = x1y2 - x2y1 - x0y2 + x2y0 + x0y1 - x1y0 = 2*(triangle area)
|
|
return scale * area/d;
|
|
}
|
|
|
|
double ConstraintPointOnLine::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
// darea/dx0 = (y1-y2) darea/dy0 = (x2-x1)
|
|
// darea/dx1 = (y2-y0) darea/dy1 = (x0-x2)
|
|
// darea/dx2 = (y0-y1) darea/dy2 = (x1-x0)
|
|
if (param == p0x() || param == p0y() ||
|
|
param == p1x() || param == p1y() ||
|
|
param == p2x() || param == p2y()) {
|
|
double x0=*p0x(), x1=*p1x(), x2=*p2x();
|
|
double y0=*p0y(), y1=*p1y(), y2=*p2y();
|
|
double dx = x2-x1;
|
|
double dy = y2-y1;
|
|
double d2 = dx*dx+dy*dy;
|
|
double d = sqrt(d2);
|
|
double area = -x0*dy+y0*dx+x1*y2-x2*y1;
|
|
if (param == p0x()) deriv += (y1-y2) / d;
|
|
if (param == p0y()) deriv += (x2-x1) / d ;
|
|
if (param == p1x()) deriv += ((y2-y0)*d + (dx/d)*area) / d2;
|
|
if (param == p1y()) deriv += ((x0-x2)*d + (dy/d)*area) / d2;
|
|
if (param == p2x()) deriv += ((y0-y1)*d - (dx/d)*area) / d2;
|
|
if (param == p2y()) deriv += ((x1-x0)*d - (dy/d)*area) / d2;
|
|
}
|
|
return scale * deriv;
|
|
}
|
|
|
|
// PointOnPerpBisector
|
|
ConstraintPointOnPerpBisector::ConstraintPointOnPerpBisector(Point &p, Line &l)
|
|
{
|
|
pvec.push_back(p.x);
|
|
pvec.push_back(p.y);
|
|
pvec.push_back(l.p1.x);
|
|
pvec.push_back(l.p1.y);
|
|
pvec.push_back(l.p2.x);
|
|
pvec.push_back(l.p2.y);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintPointOnPerpBisector::ConstraintPointOnPerpBisector(Point &p, Point &lp1, Point &lp2)
|
|
{
|
|
pvec.push_back(p.x);
|
|
pvec.push_back(p.y);
|
|
pvec.push_back(lp1.x);
|
|
pvec.push_back(lp1.y);
|
|
pvec.push_back(lp2.x);
|
|
pvec.push_back(lp2.y);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintPointOnPerpBisector::getTypeId()
|
|
{
|
|
return PointOnPerpBisector;
|
|
}
|
|
|
|
void ConstraintPointOnPerpBisector::rescale(double coef)
|
|
{
|
|
scale = coef;
|
|
}
|
|
|
|
double ConstraintPointOnPerpBisector::error()
|
|
{
|
|
double dx1 = *p1x() - *p0x();
|
|
double dy1 = *p1y() - *p0y();
|
|
double dx2 = *p2x() - *p0x();
|
|
double dy2 = *p2y() - *p0y();
|
|
return scale * (sqrt(dx1*dx1+dy1*dy1) - sqrt(dx2*dx2+dy2*dy2));
|
|
}
|
|
|
|
double ConstraintPointOnPerpBisector::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
if (param == p0x() || param == p0y() ||
|
|
param == p1x() || param == p1y()) {
|
|
double dx1 = *p1x() - *p0x();
|
|
double dy1 = *p1y() - *p0y();
|
|
if (param == p0x()) deriv -= dx1/sqrt(dx1*dx1+dy1*dy1);
|
|
if (param == p0y()) deriv -= dy1/sqrt(dx1*dx1+dy1*dy1);
|
|
if (param == p1x()) deriv += dx1/sqrt(dx1*dx1+dy1*dy1);
|
|
if (param == p1y()) deriv += dy1/sqrt(dx1*dx1+dy1*dy1);
|
|
}
|
|
if (param == p0x() || param == p0y() ||
|
|
param == p2x() || param == p2y()) {
|
|
double dx2 = *p2x() - *p0x();
|
|
double dy2 = *p2y() - *p0y();
|
|
if (param == p0x()) deriv += dx2/sqrt(dx2*dx2+dy2*dy2);
|
|
if (param == p0y()) deriv += dy2/sqrt(dx2*dx2+dy2*dy2);
|
|
if (param == p2x()) deriv -= dx2/sqrt(dx2*dx2+dy2*dy2);
|
|
if (param == p2y()) deriv -= dy2/sqrt(dx2*dx2+dy2*dy2);
|
|
}
|
|
return scale * deriv;
|
|
}
|
|
|
|
// Parallel
|
|
ConstraintParallel::ConstraintParallel(Line &l1, Line &l2)
|
|
{
|
|
pvec.push_back(l1.p1.x);
|
|
pvec.push_back(l1.p1.y);
|
|
pvec.push_back(l1.p2.x);
|
|
pvec.push_back(l1.p2.y);
|
|
pvec.push_back(l2.p1.x);
|
|
pvec.push_back(l2.p1.y);
|
|
pvec.push_back(l2.p2.x);
|
|
pvec.push_back(l2.p2.y);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintParallel::getTypeId()
|
|
{
|
|
return Parallel;
|
|
}
|
|
|
|
void ConstraintParallel::rescale(double coef)
|
|
{
|
|
double dx1 = (*l1p1x() - *l1p2x());
|
|
double dy1 = (*l1p1y() - *l1p2y());
|
|
double dx2 = (*l2p1x() - *l2p2x());
|
|
double dy2 = (*l2p1y() - *l2p2y());
|
|
scale = coef / sqrt((dx1*dx1+dy1*dy1)*(dx2*dx2+dy2*dy2));
|
|
}
|
|
|
|
double ConstraintParallel::error()
|
|
{
|
|
double dx1 = (*l1p1x() - *l1p2x());
|
|
double dy1 = (*l1p1y() - *l1p2y());
|
|
double dx2 = (*l2p1x() - *l2p2x());
|
|
double dy2 = (*l2p1y() - *l2p2y());
|
|
return scale * (dx1*dy2 - dy1*dx2);
|
|
}
|
|
|
|
double ConstraintParallel::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
if (param == l1p1x()) deriv += (*l2p1y() - *l2p2y()); // = dy2
|
|
if (param == l1p2x()) deriv += -(*l2p1y() - *l2p2y()); // = -dy2
|
|
if (param == l1p1y()) deriv += -(*l2p1x() - *l2p2x()); // = -dx2
|
|
if (param == l1p2y()) deriv += (*l2p1x() - *l2p2x()); // = dx2
|
|
|
|
if (param == l2p1x()) deriv += -(*l1p1y() - *l1p2y()); // = -dy1
|
|
if (param == l2p2x()) deriv += (*l1p1y() - *l1p2y()); // = dy1
|
|
if (param == l2p1y()) deriv += (*l1p1x() - *l1p2x()); // = dx1
|
|
if (param == l2p2y()) deriv += -(*l1p1x() - *l1p2x()); // = -dx1
|
|
|
|
return scale * deriv;
|
|
}
|
|
|
|
// Perpendicular
|
|
ConstraintPerpendicular::ConstraintPerpendicular(Line &l1, Line &l2)
|
|
{
|
|
pvec.push_back(l1.p1.x);
|
|
pvec.push_back(l1.p1.y);
|
|
pvec.push_back(l1.p2.x);
|
|
pvec.push_back(l1.p2.y);
|
|
pvec.push_back(l2.p1.x);
|
|
pvec.push_back(l2.p1.y);
|
|
pvec.push_back(l2.p2.x);
|
|
pvec.push_back(l2.p2.y);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintPerpendicular::ConstraintPerpendicular(Point &l1p1, Point &l1p2,
|
|
Point &l2p1, Point &l2p2)
|
|
{
|
|
pvec.push_back(l1p1.x);
|
|
pvec.push_back(l1p1.y);
|
|
pvec.push_back(l1p2.x);
|
|
pvec.push_back(l1p2.y);
|
|
pvec.push_back(l2p1.x);
|
|
pvec.push_back(l2p1.y);
|
|
pvec.push_back(l2p2.x);
|
|
pvec.push_back(l2p2.y);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintPerpendicular::getTypeId()
|
|
{
|
|
return Perpendicular;
|
|
}
|
|
|
|
void ConstraintPerpendicular::rescale(double coef)
|
|
{
|
|
double dx1 = (*l1p1x() - *l1p2x());
|
|
double dy1 = (*l1p1y() - *l1p2y());
|
|
double dx2 = (*l2p1x() - *l2p2x());
|
|
double dy2 = (*l2p1y() - *l2p2y());
|
|
scale = coef / sqrt((dx1*dx1+dy1*dy1)*(dx2*dx2+dy2*dy2));
|
|
}
|
|
|
|
double ConstraintPerpendicular::error()
|
|
{
|
|
double dx1 = (*l1p1x() - *l1p2x());
|
|
double dy1 = (*l1p1y() - *l1p2y());
|
|
double dx2 = (*l2p1x() - *l2p2x());
|
|
double dy2 = (*l2p1y() - *l2p2y());
|
|
return scale * (dx1*dx2 + dy1*dy2);
|
|
}
|
|
|
|
double ConstraintPerpendicular::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
if (param == l1p1x()) deriv += (*l2p1x() - *l2p2x()); // = dx2
|
|
if (param == l1p2x()) deriv += -(*l2p1x() - *l2p2x()); // = -dx2
|
|
if (param == l1p1y()) deriv += (*l2p1y() - *l2p2y()); // = dy2
|
|
if (param == l1p2y()) deriv += -(*l2p1y() - *l2p2y()); // = -dy2
|
|
|
|
if (param == l2p1x()) deriv += (*l1p1x() - *l1p2x()); // = dx1
|
|
if (param == l2p2x()) deriv += -(*l1p1x() - *l1p2x()); // = -dx1
|
|
if (param == l2p1y()) deriv += (*l1p1y() - *l1p2y()); // = dy1
|
|
if (param == l2p2y()) deriv += -(*l1p1y() - *l1p2y()); // = -dy1
|
|
|
|
return scale * deriv;
|
|
}
|
|
|
|
// L2LAngle
|
|
ConstraintL2LAngle::ConstraintL2LAngle(Line &l1, Line &l2, double *a)
|
|
{
|
|
pvec.push_back(l1.p1.x);
|
|
pvec.push_back(l1.p1.y);
|
|
pvec.push_back(l1.p2.x);
|
|
pvec.push_back(l1.p2.y);
|
|
pvec.push_back(l2.p1.x);
|
|
pvec.push_back(l2.p1.y);
|
|
pvec.push_back(l2.p2.x);
|
|
pvec.push_back(l2.p2.y);
|
|
pvec.push_back(a);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintL2LAngle::ConstraintL2LAngle(Point &l1p1, Point &l1p2,
|
|
Point &l2p1, Point &l2p2, double *a)
|
|
{
|
|
pvec.push_back(l1p1.x);
|
|
pvec.push_back(l1p1.y);
|
|
pvec.push_back(l1p2.x);
|
|
pvec.push_back(l1p2.y);
|
|
pvec.push_back(l2p1.x);
|
|
pvec.push_back(l2p1.y);
|
|
pvec.push_back(l2p2.x);
|
|
pvec.push_back(l2p2.y);
|
|
pvec.push_back(a);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintL2LAngle::getTypeId()
|
|
{
|
|
return L2LAngle;
|
|
}
|
|
|
|
void ConstraintL2LAngle::rescale(double coef)
|
|
{
|
|
scale = coef * 1.;
|
|
}
|
|
|
|
double ConstraintL2LAngle::error()
|
|
{
|
|
double dx1 = (*l1p2x() - *l1p1x());
|
|
double dy1 = (*l1p2y() - *l1p1y());
|
|
double dx2 = (*l2p2x() - *l2p1x());
|
|
double dy2 = (*l2p2y() - *l2p1y());
|
|
double a = atan2(dy1,dx1) + *angle();
|
|
double ca = cos(a);
|
|
double sa = sin(a);
|
|
double x2 = dx2*ca + dy2*sa;
|
|
double y2 = -dx2*sa + dy2*ca;
|
|
return scale * atan2(y2,x2);
|
|
}
|
|
|
|
double ConstraintL2LAngle::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
if (param == l1p1x() || param == l1p1y() ||
|
|
param == l1p2x() || param == l1p2y()) {
|
|
double dx1 = (*l1p2x() - *l1p1x());
|
|
double dy1 = (*l1p2y() - *l1p1y());
|
|
double r2 = dx1*dx1+dy1*dy1;
|
|
if (param == l1p1x()) deriv += -dy1/r2;
|
|
if (param == l1p1y()) deriv += dx1/r2;
|
|
if (param == l1p2x()) deriv += dy1/r2;
|
|
if (param == l1p2y()) deriv += -dx1/r2;
|
|
}
|
|
if (param == l2p1x() || param == l2p1y() ||
|
|
param == l2p2x() || param == l2p2y()) {
|
|
double dx1 = (*l1p2x() - *l1p1x());
|
|
double dy1 = (*l1p2y() - *l1p1y());
|
|
double dx2 = (*l2p2x() - *l2p1x());
|
|
double dy2 = (*l2p2y() - *l2p1y());
|
|
double a = atan2(dy1,dx1) + *angle();
|
|
double ca = cos(a);
|
|
double sa = sin(a);
|
|
double x2 = dx2*ca + dy2*sa;
|
|
double y2 = -dx2*sa + dy2*ca;
|
|
double r2 = dx2*dx2+dy2*dy2;
|
|
dx2 = -y2/r2;
|
|
dy2 = x2/r2;
|
|
if (param == l2p1x()) deriv += (-ca*dx2 + sa*dy2);
|
|
if (param == l2p1y()) deriv += (-sa*dx2 - ca*dy2);
|
|
if (param == l2p2x()) deriv += ( ca*dx2 - sa*dy2);
|
|
if (param == l2p2y()) deriv += ( sa*dx2 + ca*dy2);
|
|
}
|
|
if (param == angle()) deriv += -1;
|
|
|
|
return scale * deriv;
|
|
}
|
|
|
|
double ConstraintL2LAngle::maxStep(MAP_pD_D &dir, double lim)
|
|
{
|
|
// step(angle()) <= pi/18 = 10°
|
|
MAP_pD_D::iterator it = dir.find(angle());
|
|
if (it != dir.end()) {
|
|
double step = std::abs(it->second);
|
|
if (step > M_PI/18.)
|
|
lim = std::min(lim, (M_PI/18.) / step);
|
|
}
|
|
return lim;
|
|
}
|
|
|
|
// MidpointOnLine
|
|
ConstraintMidpointOnLine::ConstraintMidpointOnLine(Line &l1, Line &l2)
|
|
{
|
|
pvec.push_back(l1.p1.x);
|
|
pvec.push_back(l1.p1.y);
|
|
pvec.push_back(l1.p2.x);
|
|
pvec.push_back(l1.p2.y);
|
|
pvec.push_back(l2.p1.x);
|
|
pvec.push_back(l2.p1.y);
|
|
pvec.push_back(l2.p2.x);
|
|
pvec.push_back(l2.p2.y);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintMidpointOnLine::ConstraintMidpointOnLine(Point &l1p1, Point &l1p2, Point &l2p1, Point &l2p2)
|
|
{
|
|
pvec.push_back(l1p1.x);
|
|
pvec.push_back(l1p1.y);
|
|
pvec.push_back(l1p2.x);
|
|
pvec.push_back(l1p2.y);
|
|
pvec.push_back(l2p1.x);
|
|
pvec.push_back(l2p1.y);
|
|
pvec.push_back(l2p2.x);
|
|
pvec.push_back(l2p2.y);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintMidpointOnLine::getTypeId()
|
|
{
|
|
return MidpointOnLine;
|
|
}
|
|
|
|
void ConstraintMidpointOnLine::rescale(double coef)
|
|
{
|
|
scale = coef * 1;
|
|
}
|
|
|
|
double ConstraintMidpointOnLine::error()
|
|
{
|
|
double x0=((*l1p1x())+(*l1p2x()))/2;
|
|
double y0=((*l1p1y())+(*l1p2y()))/2;
|
|
double x1=*l2p1x(), x2=*l2p2x();
|
|
double y1=*l2p1y(), y2=*l2p2y();
|
|
double dx = x2-x1;
|
|
double dy = y2-y1;
|
|
double d = sqrt(dx*dx+dy*dy);
|
|
double area = -x0*dy+y0*dx+x1*y2-x2*y1; // = x1y2 - x2y1 - x0y2 + x2y0 + x0y1 - x1y0 = 2*(triangle area)
|
|
return scale * area/d;
|
|
}
|
|
|
|
double ConstraintMidpointOnLine::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
// darea/dx0 = (y1-y2) darea/dy0 = (x2-x1)
|
|
// darea/dx1 = (y2-y0) darea/dy1 = (x0-x2)
|
|
// darea/dx2 = (y0-y1) darea/dy2 = (x1-x0)
|
|
if (param == l1p1x() || param == l1p1y() ||
|
|
param == l1p2x() || param == l1p2y()||
|
|
param == l2p1x() || param == l2p1y() ||
|
|
param == l2p2x() || param == l2p2y()) {
|
|
double x0=((*l1p1x())+(*l1p2x()))/2;
|
|
double y0=((*l1p1y())+(*l1p2y()))/2;
|
|
double x1=*l2p1x(), x2=*l2p2x();
|
|
double y1=*l2p1y(), y2=*l2p2y();
|
|
double dx = x2-x1;
|
|
double dy = y2-y1;
|
|
double d2 = dx*dx+dy*dy;
|
|
double d = sqrt(d2);
|
|
double area = -x0*dy+y0*dx+x1*y2-x2*y1;
|
|
if (param == l1p1x()) deriv += (y1-y2) / (2*d);
|
|
if (param == l1p1y()) deriv += (x2-x1) / (2*d);
|
|
if (param == l1p2x()) deriv += (y1-y2) / (2*d);
|
|
if (param == l1p2y()) deriv += (x2-x1) / (2*d);
|
|
if (param == l2p1x()) deriv += ((y2-y0)*d + (dx/d)*area) / d2;
|
|
if (param == l2p1y()) deriv += ((x0-x2)*d + (dy/d)*area) / d2;
|
|
if (param == l2p2x()) deriv += ((y0-y1)*d - (dx/d)*area) / d2;
|
|
if (param == l2p2y()) deriv += ((x1-x0)*d - (dy/d)*area) / d2;
|
|
}
|
|
return scale * deriv;
|
|
}
|
|
|
|
// TangentCircumf
|
|
ConstraintTangentCircumf::ConstraintTangentCircumf(Point &p1, Point &p2,
|
|
double *rad1, double *rad2, bool internal_)
|
|
{
|
|
internal = internal_;
|
|
pvec.push_back(p1.x);
|
|
pvec.push_back(p1.y);
|
|
pvec.push_back(p2.x);
|
|
pvec.push_back(p2.y);
|
|
pvec.push_back(rad1);
|
|
pvec.push_back(rad2);
|
|
origpvec = pvec;
|
|
rescale();
|
|
}
|
|
|
|
ConstraintType ConstraintTangentCircumf::getTypeId()
|
|
{
|
|
return TangentCircumf;
|
|
}
|
|
|
|
void ConstraintTangentCircumf::rescale(double coef)
|
|
{
|
|
scale = coef * 1;
|
|
}
|
|
|
|
double ConstraintTangentCircumf::error()
|
|
{
|
|
double dx = (*c1x() - *c2x());
|
|
double dy = (*c1y() - *c2y());
|
|
if (internal)
|
|
return scale * (sqrt(dx*dx + dy*dy) - std::abs(*r1() - *r2()));
|
|
else
|
|
return scale * (sqrt(dx*dx + dy*dy) - (*r1() + *r2()));
|
|
}
|
|
|
|
double ConstraintTangentCircumf::grad(double *param)
|
|
{
|
|
double deriv=0.;
|
|
if (param == c1x() || param == c1y() ||
|
|
param == c2x() || param == c2y()||
|
|
param == r1() || param == r2()) {
|
|
double dx = (*c1x() - *c2x());
|
|
double dy = (*c1y() - *c2y());
|
|
double d = sqrt(dx*dx + dy*dy);
|
|
if (param == c1x()) deriv += dx/d;
|
|
if (param == c1y()) deriv += dy/d;
|
|
if (param == c2x()) deriv += -dx/d;
|
|
if (param == c2y()) deriv += -dy/d;
|
|
if (internal) {
|
|
if (param == r1()) deriv += (*r1() > *r2()) ? -1 : 1;
|
|
if (param == r2()) deriv += (*r1() > *r2()) ? 1 : -1;
|
|
}
|
|
else {
|
|
if (param == r1()) deriv += -1;
|
|
if (param == r2()) deriv += -1;
|
|
}
|
|
}
|
|
return scale * deriv;
|
|
}
|
|
|
|
} //namespace GCS
|