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-rw-r--r--game/network/network.cpp54
-rw-r--r--lib/maths.cpp9
-rw-r--r--lib/maths.h64
-rw-r--r--test/test-maths.cpp6
-rw-r--r--test/test-network.cpp115
5 files changed, 164 insertions, 84 deletions
diff --git a/game/network/network.cpp b/game/network/network.cpp
index 70c4e21..ae4865a 100644
--- a/game/network/network.cpp
+++ b/game/network/network.cpp
@@ -179,10 +179,13 @@ Network::genDef(const GlobalPosition3D & start, const GlobalPosition3D & end, An
const auto flatStart = start.xy(), flatEnd = end.xy();
const auto centre = find_arc_centre(flatStart, dir, flatEnd);
- if (centre.second) { // right hand arc
+ if (centre.second > 0.1F) {
return {GenCurveDef {end, start, centre.first}};
}
- return {GenCurveDef {start, end, centre.first}};
+ if (centre.second < -0.1F) {
+ return {GenCurveDef {start, end, centre.first}};
+ }
+ return {GenStraightDef {start, end}};
}
GenLinksDef
@@ -219,13 +222,38 @@ Network::genDef(const GlobalPosition3D & start, const GlobalPosition3D & end, An
return genDef(start, joint, startDir) + genDef(end, joint, endDir);
}
+namespace {
+ struct MergeEq {
+ bool
+ operator()(GenCurveDef & lhs, const GenCurveDef & rhs) const
+ {
+ if (distance(std::get<2>(lhs), std::get<2>(rhs)) < 100.F) { // LHS.centre near RHS.centre
+ if (std::get<1>(lhs) == std::get<0>(rhs)) { // LHS.end == RHS.start
+ std::get<1>(lhs) = std::get<1>(rhs);
+ }
+ else if (std::get<0>(lhs) == std::get<1>(rhs)) { // LHS.start == RHS.end
+ std::get<0>(lhs) = std::get<0>(rhs);
+ }
+ else {
+ return false;
+ }
+ std::get<2>(lhs) = midpoint(std::get<2>(lhs), std::get<2>(rhs));
+ return true;
+ }
+ return false;
+ }
+
+ bool
+ operator()(const auto &, const auto &) const
+ {
+ return false;
+ }
+ };
+}
+
Link::Collection
Network::create(const GeoData * geoData, const CreationDefinition & def)
{
- // TODO
- // Where to make a straight to join because angles align?
- // Where to drop part of S curve pair if a single curve works?
-
const auto linkDefs = [&def]() -> GenLinksDef {
if (!def.fromEnd.direction && !def.toEnd.direction) {
// No specific directions at either end, straight link
@@ -251,8 +279,20 @@ Network::create(const GeoData * geoData, const CreationDefinition & def)
def);
});
};
+ // Merge adjacent pairs where possible
+ auto linkDefsGen = geoData ? splitDefs() : linkDefs();
+ if (!linkDefsGen.empty()) {
+ for (auto lhsIter = linkDefsGen.begin(), rhsIter = lhsIter + 1; rhsIter != linkDefsGen.end();) {
+ if (std::visit(MergeEq {}, *lhsIter, *rhsIter)) {
+ rhsIter = linkDefsGen.erase(rhsIter);
+ }
+ else {
+ lhsIter = rhsIter++;
+ }
+ }
+ }
Link::Collection links;
- std::ranges::transform(geoData ? splitDefs() : linkDefs(), std::back_inserter(links), [this](const auto & def) {
+ std::ranges::transform(linkDefsGen, std::back_inserter(links), [this](const auto & def) {
return std::visit(
[this](const auto & typedDef) {
return this->create(typedDef);
diff --git a/lib/maths.cpp b/lib/maths.cpp
index 000cea7..7dd313e 100644
--- a/lib/maths.cpp
+++ b/lib/maths.cpp
@@ -1,5 +1,6 @@
#include "maths.h"
#include <cmath>
+#include <functional>
#include <glm/glm.hpp>
#include <glm/gtx/rotate_vector.hpp>
#include <glm/gtx/transform.hpp>
@@ -32,6 +33,7 @@ static_assert(pow(3, 1) == 3);
static_assert(pow(3, 2) == 9);
static_assert(pow(pi, 3) == 31.006278991699219F);
+#ifndef __clang__
static_assert(!linesIntersectAt<int>({0, 10}, {10, 10}, {10, 0}, {0, 0}).has_value());
static_assert(*linesIntersectAt<int>({0, 0}, {10, 10}, {10, 0}, {0, 10}) == GlobalPosition2D {5, 5});
static_assert(*linesIntersectAt<int>({300'000'000, 400'000'00}, {300'010'000, 400'010'00}, {310'010'000, 410'000'00},
@@ -43,6 +45,13 @@ constexpr auto EAST2D = RelativePosition2D(east);
static_assert(!linesIntersectAtDirs<int>({0, 0}, NORTH2D, {10, 10}, NORTH2D).has_value());
static_assert(linesIntersectAtDirs<int>({0, 0}, NORTH2D, {10, 10}, EAST2D) == GlobalPosition2D {0, 10});
static_assert(linesIntersectAtDirs<int>({0, 0}, EAST2D, {10, 10}, NORTH2D) == GlobalPosition2D {10, 0});
+
+static_assert(find_arc_centre<int>({0, 0}, -NORTH2D, {10, 10}) == std::make_pair<GlobalPosition2D>({10, 0}, 10.F));
+static_assert(find_arc_centre<int>({20, 0}, -NORTH2D, {10, 10}) == std::make_pair<GlobalPosition2D>({10, 0}, -10.F));
+static_assert(find_arc_centre<int>({10, 0}, -NORTH2D, {10, 10}).second == 0.F);
+static_assert(isWithinLimit(find_arc_centre<int>({0, 0}, pi + quarter_pi, {1000, 1000}).second, 0.F, 0.1F));
+#endif
+
// NOLINTEND(readability-magic-numbers)
float
diff --git a/lib/maths.h b/lib/maths.h
index 3ef12e7..09af048 100644
--- a/lib/maths.h
+++ b/lib/maths.h
@@ -427,70 +427,34 @@ linesIntersectAt(const glm::vec<2, T, Q> Aabs, const glm::vec<2, T, Q> Babs, con
template<std::floating_point T> constexpr auto EPSILON = 0.0001F;
template<std::floating_point T>
-auto
+[[nodiscard]] constexpr auto
isWithinLimit(T lhs, T rhs, T limit = EPSILON<T>)
{
return std::abs(lhs - rhs) <= limit;
}
-template<Arithmetic T, glm::qualifier Q = glm::defaultp>
-std::pair<glm::vec<2, T, Q>, bool>
-find_arc_centre(glm::vec<2, T, Q> start, Angle entrys, glm::vec<2, T, Q> end, Angle entrye)
-{
- if (start == end) {
- return {start, false};
- }
- return find_arc_centre(start, sincos(entrys + half_pi), end, sincos(entrye - half_pi));
-}
-
-template<Arithmetic T, glm::qualifier Q = glm::defaultp>
-std::pair<glm::vec<2, T, Q>, bool>
-find_arc_centre(glm::vec<2, T, Q> start, Angle entrys, glm::vec<2, T, Q> end)
+template<Arithmetic T, std::floating_point D, glm::qualifier Q = glm::defaultp>
+constexpr std::pair<glm::vec<2, T, Q>, D>
+find_arc_centre(glm::vec<2, T, Q> start, glm::vec<2, D, Q> entrys, glm::vec<2, T, Q> end)
{
if (start == end) {
- return {start, false};
+ return {start, 0};
}
- const auto startNormal = vector_normal(sincos(entrys) * 10'000.F);
const auto diffEnds = difference(end, start);
+ const auto offset = entrys.x * diffEnds.y - entrys.y * diffEnds.x;
+ if (offset == 0.F) {
+ return {start, offset};
+ }
const auto midEnds = start + ((end - start) / 2);
- const auto diffNormal = vector_normal(diffEnds);
- const auto centre = linesIntersectAt(start, start + startNormal, midEnds, midEnds + diffNormal);
- return {*centre, normalize(vector_yaw(diffEnds) - entrys) < 0};
-}
-
-template<Arithmetic T, glm::qualifier Q = glm::defaultp>
-Angle
-find_arcs_radius(glm::vec<2, T, Q> start, Rotation2D ad, glm::vec<2, T, Q> end, Rotation2D bd)
-{
- using std::sqrt;
-
- // Calculates path across both arcs along the normals... pythagorean theorem... for some known radius r
- // (2r)^2 = ((m + (X*r)) - (o + (Z*r)))^2 + ((n + (Y*r)) - (p + (W*r)))^2
- // According to symbolabs.com equation tool, that solves for r to give:
- // r=(-2 m X+2 X o+2 m Z-2 o Z-2 n Y+2 Y p+2 n W-2 p W-sqrt((2 m X-2 X o-2 m Z+2 o Z+2 n Y-2 Y p-2 n W+2 p W)^(2)-4
- // (X^(2)-2 X Z+Z^(2)+Y^(2)-2 Y W+W^(2)-4) (m^(2)-2 m o+o^(2)+n^(2)-2 n p+p^(2))))/(2 (X^(2)-2 X Z+Z^(2)+Y^(2)-2 Y
- // W+W^(2)-4))
- // Locally simplified to work relative, removing one half of the problem and operating on relative positions.
-
- // These exist cos limitations of online formula rearrangement, and I'm OK with that.
- const RelativePosition2D diff {end - start};
- const auto &o {diff.x}, &p {diff.y};
- const auto &X {ad.x}, &Y {ad.y}, &Z {bd.x}, &W {bd.y};
-
- return (-2 * X * o + 2 * o * Z - 2 * Y * p + 2 * p * W
- - sqrt(sq(2 * X * o - 2 * o * Z + 2 * Y * p - 2 * p * W)
- - (4 * (sq(X) - 2 * X * Z + sq(Z) + sq(Y) - 2 * Y * W + sq(W) - 4) * (sq(o) + sq(p)))))
- / (2 * (sq(X) - 2 * X * Z + sq(Z) + sq(Y) - 2 * Y * W + sq(W) - 4));
+ const auto centre = linesIntersectAtDirs(start, vector_normal(entrys), midEnds, vector_normal(diffEnds));
+ return {*centre, offset};
}
template<Arithmetic T, glm::qualifier Q = glm::defaultp>
-std::pair<Angle, Angle>
-find_arcs_radius(glm::vec<2, T, Q> start, Angle entrys, glm::vec<2, T, Q> end, Angle entrye)
+constexpr std::pair<glm::vec<2, T, Q>, float>
+find_arc_centre(glm::vec<2, T, Q> start, Angle entrys, glm::vec<2, T, Q> end)
{
- const auto getrad = [&](auto leftOrRight) {
- return find_arcs_radius(start, sincos(entrys + leftOrRight), end, sincos(entrye + leftOrRight));
- };
- return {getrad(-half_pi), getrad(half_pi)};
+ return find_arc_centre(start, sincos(entrys), end);
}
template<Arithmetic T>
diff --git a/test/test-maths.cpp b/test/test-maths.cpp
index 5ee815d..98a7b1e 100644
--- a/test/test-maths.cpp
+++ b/test/test-maths.cpp
@@ -151,12 +151,6 @@ BOOST_DATA_TEST_CASE(TestCreateArc,
BOOST_CHECK_CLOSE(arc.second, expAngles.second, 1.F);
}
-BOOST_AUTO_TEST_CASE(TestFindArcsRadius)
-{
- BOOST_CHECK_CLOSE(
- find_arcs_radius(RelativePosition2D {10.32, 26.71}, {0.4, .92}, {2.92, 22.41}, {-0.89, -0.45}), 2.29, 1);
-}
-
namespace {
struct TestLinkStraight : public LinkStraight {
explicit TestLinkStraight(glm::vec3 entryVector) :
diff --git a/test/test-network.cpp b/test/test-network.cpp
index 0739073..9a9ceb3 100644
--- a/test/test-network.cpp
+++ b/test/test-network.cpp
@@ -102,21 +102,25 @@ namespace {
struct TestNetwork : public EmptyNetwork {
TestNetwork()
{
- /* 0 1 2
- / -> p000 <-> p100 <-> p200 <-> p300
- / / / \.
- / 3 5 4
- / \ / /
- / --> p110 <------------- */
+ /*
+ * 4--> p110 <---------6-------
+ * / 8 \.
+ * 3 7 5
+ * \ \ /
+ * -> p000 <-0-> p100 <-1-> p200 <-2-> p300 */
+ // 0, 1 and 2 - 3 straight links between 4 nodes
add(nullptr, createChain(nullptr, std::array {P000, P100, P200, P300}));
+ // 3 and 4 - RH biarc from p000 to p110
add(nullptr,
create(nullptr,
{.fromEnd = {.position = P000, .direction = -half_pi},
.toEnd = {.position = P110, .direction = -half_pi}}));
+ // 5 and 6 - LH biarc from p200 to p110
add(nullptr,
create(nullptr,
{.fromEnd = {.position = P200, .direction = half_pi},
.toEnd = {.position = P110, .direction = half_pi}}));
+ // 7 and 8 - RL S biarc from p100 to p110
add(nullptr,
create(nullptr,
{.fromEnd = {.position = P100, .direction = -half_pi},
@@ -182,21 +186,25 @@ BOOST_AUTO_TEST_CASE(NetworkJoins)
// Join 0 <-> 1
BOOST_REQUIRE_EQUAL(links[0]->ends[1].nexts.size(), 2);
BOOST_CHECK_EQUAL(links[0]->ends[1].nexts[0].first.lock().get(), links[1].get());
- BOOST_CHECK_EQUAL(links[0]->ends[1].nexts[0].second, 1);
+ BOOST_CHECK_EQUAL(links[0]->ends[1].nexts[0].second, 0);
BOOST_CHECK_EQUAL(links[0]->ends[1].nexts[1].first.lock().get(), links[7].get());
BOOST_CHECK_EQUAL(links[0]->ends[1].nexts[1].second, 1);
BOOST_REQUIRE_EQUAL(links[1]->ends[0].nexts.size(), 2);
- BOOST_CHECK_EQUAL(links[1]->ends[0].nexts[0].first.lock().get(), links[2].get());
- BOOST_CHECK_EQUAL(links[1]->ends[0].nexts[0].second, 0);
- BOOST_CHECK_EQUAL(links[1]->ends[0].nexts[1].first.lock().get(), links[5].get());
- BOOST_CHECK_EQUAL(links[1]->ends[0].nexts[1].second, 0);
+ BOOST_CHECK_EQUAL(links[1]->ends[0].nexts[0].first.lock().get(), links[0].get());
+ BOOST_CHECK_EQUAL(links[1]->ends[0].nexts[0].second, 1);
+ BOOST_CHECK_EQUAL(links[1]->ends[0].nexts[1].first.lock().get(), links[7].get());
+ BOOST_CHECK_EQUAL(links[1]->ends[0].nexts[1].second, 1);
// Join 1 <-> 2
BOOST_REQUIRE_EQUAL(links[1]->ends[1].nexts.size(), 2);
- BOOST_CHECK_EQUAL(links[1]->ends[1].nexts[0].first.lock().get(), links[0].get());
- BOOST_CHECK_EQUAL(links[1]->ends[1].nexts[0].second, 1);
+ BOOST_CHECK_EQUAL(links[1]->ends[1].nexts[0].first.lock().get(), links[2].get());
+ BOOST_CHECK_EQUAL(links[1]->ends[1].nexts[0].second, 0);
+ BOOST_CHECK_EQUAL(links[1]->ends[1].nexts[1].first.lock().get(), links[5].get());
+ BOOST_CHECK_EQUAL(links[1]->ends[1].nexts[1].second, 0);
BOOST_REQUIRE_EQUAL(links[2]->ends[0].nexts.size(), 2);
BOOST_CHECK_EQUAL(links[2]->ends[0].nexts[0].first.lock().get(), links[1].get());
- BOOST_CHECK_EQUAL(links[2]->ends[0].nexts[0].second, 0);
+ BOOST_CHECK_EQUAL(links[2]->ends[0].nexts[0].second, 1);
+ BOOST_CHECK_EQUAL(links[2]->ends[0].nexts[1].first.lock().get(), links[5].get());
+ BOOST_CHECK_EQUAL(links[2]->ends[0].nexts[1].second, 0);
}
BOOST_DATA_TEST_CASE(RouteToNodeNotInNetwork, INVALID_NODES, dest)
@@ -302,6 +310,54 @@ BOOST_AUTO_TEST_CASE(NetworkCreateStraight)
BOOST_CHECK_EQUAL(nodes.size(), 2);
}
+BOOST_AUTO_TEST_CASE(NetworkCreateExtendingStraight)
+{
+ const auto link = create(nullptr,
+ CreationDefinition {
+ .fromEnd = {.position = {0, 0, 0}, .direction = pi + quarter_pi},
+ .toEnd = {.position = {1000, 1000, 0}, .direction = {}},
+ });
+ BOOST_REQUIRE_EQUAL(link.size(), 1);
+ BOOST_CHECK(links.empty());
+ BOOST_CHECK(nodes.empty());
+
+ BOOST_CHECK_IF(straight, std::dynamic_pointer_cast<TestLinkS>(link.front())) {
+ BOOST_CHECK_CLOSE(straight->length, 1414, 1);
+ BOOST_CHECK_CLOSE_VECI(straight->ends.front().node->pos, GlobalPosition3D(0, 0, 0));
+ BOOST_CHECK_CLOSE(straight->ends.front().dir, quarter_pi - pi, 1);
+ BOOST_CHECK_CLOSE_VECI(straight->ends.back().node->pos, GlobalPosition3D(1000, 1000, 0));
+ BOOST_CHECK_CLOSE(straight->ends.back().dir, quarter_pi, 1);
+ }
+
+ add(nullptr, link.front());
+ BOOST_CHECK_EQUAL(links.size(), 1);
+ BOOST_CHECK_EQUAL(nodes.size(), 2);
+}
+
+BOOST_AUTO_TEST_CASE(NetworkCreateExtendeeStraight)
+{
+ const auto link = create(nullptr,
+ CreationDefinition {
+ .fromEnd = {.position = {0, 0, 0}, .direction = {}},
+ .toEnd = {.position = {1000, 1000, 0}, .direction = quarter_pi},
+ });
+ BOOST_REQUIRE_EQUAL(link.size(), 1);
+ BOOST_CHECK(links.empty());
+ BOOST_CHECK(nodes.empty());
+
+ BOOST_CHECK_IF(straight, std::dynamic_pointer_cast<TestLinkS>(link.front())) {
+ BOOST_CHECK_CLOSE(straight->length, 1414, 1);
+ BOOST_CHECK_CLOSE_VECI(straight->ends.front().node->pos, GlobalPosition3D(1000, 1000, 0));
+ BOOST_CHECK_CLOSE(straight->ends.front().dir, quarter_pi, 1);
+ BOOST_CHECK_CLOSE_VECI(straight->ends.back().node->pos, GlobalPosition3D(0, 0, 0));
+ BOOST_CHECK_CLOSE(straight->ends.back().dir, quarter_pi - pi, 1);
+ }
+
+ add(nullptr, link.front());
+ BOOST_CHECK_EQUAL(links.size(), 1);
+ BOOST_CHECK_EQUAL(nodes.size(), 2);
+}
+
BOOST_AUTO_TEST_CASE(NetworkCreateExtendingCurve)
{
const auto link = create(nullptr,
@@ -396,24 +452,41 @@ BOOST_AUTO_TEST_CASE(NetworkCreateBiarcPair)
BOOST_CHECK_EQUAL(link.back()->ends.back().nexts.front().first.lock(), link.front());
}
-BOOST_AUTO_TEST_CASE(NetworkCreateBiarcPairEqTan)
+BOOST_AUTO_TEST_CASE(NetworkCreateBiarcPairEqTanLH)
{
- // This could be achieved with a single curve, but not there yet
+ // Creates a biarc pair and then merges them into a single curve
const auto link = create(nullptr,
CreationDefinition {
- .fromEnd = {.position = {0, 0, 0}, .direction = 0},
- .toEnd = {.position = {1000, 0, 0}, .direction = 0},
+ .fromEnd = {.position = {1000, 0, 0}, .direction = 0},
+ .toEnd = {.position = {0, 0, 0}, .direction = 0},
});
- BOOST_REQUIRE_EQUAL(link.size(), 2);
+ BOOST_REQUIRE_EQUAL(link.size(), 1);
BOOST_CHECK(links.empty());
BOOST_CHECK(nodes.empty());
BOOST_CHECK_IF(firstCurve, std::dynamic_pointer_cast<TestLinkC>(link.front())) {
+ BOOST_CHECK_CLOSE_VECI(firstCurve->ends.front().node->pos, GlobalPosition3D(1000, 0, 0));
+ BOOST_CHECK_CLOSE_VECI(firstCurve->ends.back().node->pos, GlobalPosition3D(0, 0, 0));
BOOST_CHECK_CLOSE_VECI(firstCurve->centreBase, GlobalPosition3D(500, 0, 0));
}
+}
- BOOST_CHECK_IF(secondCurve, std::dynamic_pointer_cast<TestLinkC>(link.back())) {
- BOOST_CHECK_CLOSE_VECI(secondCurve->centreBase, GlobalPosition3D(500, 0, 0));
+BOOST_AUTO_TEST_CASE(NetworkCreateBiarcPairEqTanRH)
+{
+ // Creates a biarc pair and then merges them into a single curve
+ const auto link = create(nullptr,
+ CreationDefinition {
+ .fromEnd = {.position = {0, 0, 0}, .direction = 0},
+ .toEnd = {.position = {1000, 0, 0}, .direction = 0},
+ });
+ BOOST_REQUIRE_EQUAL(link.size(), 1);
+ BOOST_CHECK(links.empty());
+ BOOST_CHECK(nodes.empty());
+
+ BOOST_CHECK_IF(firstCurve, std::dynamic_pointer_cast<TestLinkC>(link.front())) {
+ BOOST_CHECK_CLOSE_VECI(firstCurve->ends.front().node->pos, GlobalPosition3D(1000, 0, 0));
+ BOOST_CHECK_CLOSE_VECI(firstCurve->ends.back().node->pos, GlobalPosition3D(0, 0, 0));
+ BOOST_CHECK_CLOSE_VECI(firstCurve->centreBase, GlobalPosition3D(500, 0, 0));
}
}
generated by cgit v1.2.3 (git 2.46.0) at 2025-07-12 07:22:29 +0000