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Update SHAPE_ARC::IntersectionPoints()
Force it to handle a number of edge cases from Arc-Arc collision test. Unify and simplify the Collide Arc-Arc. Add additional arc collision QA test
This commit is contained in:
Seth Hillbrand
parent
4d40ea2586
commit
b73481dd49
libs/kimath/src/geometry
qa/tests/libs/kimath/geometry
@ -454,7 +454,7 @@ bool SHAPE_ARC::NearestPoints( const SHAPE_ARC& aArc, VECTOR2I& aPtA, VECTOR2I&
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VECTOR2I center1 = GetCenter();
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VECTOR2I center2 = aArc.GetCenter();
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int64_t dist = center1.SquaredDistance( center2 );
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int64_t center_dist_sq = center1.SquaredDistance( center2 );
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// Start by checking endpoints
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std::vector<VECTOR2I> pts1 = { m_start, m_end };
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@ -471,44 +471,110 @@ bool SHAPE_ARC::NearestPoints( const SHAPE_ARC& aArc, VECTOR2I& aPtA, VECTOR2I&
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aDistSq = distSq;
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aPtA = pt1;
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aPtB = pt2;
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if( aDistSq == 0 )
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return true;
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}
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}
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}
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// If the centers are the same, the end points are always the closest
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// or at least equidistant
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if( dist > 0 )
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for( const VECTOR2I& pt : pts1 )
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{
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CIRCLE circle1( center1, GetRadius() );
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CIRCLE circle2( center2, aArc.GetRadius() );
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// First check for intersections on the circles
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std::vector<VECTOR2I> pts = circle1.Intersect( circle2 );
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for( const VECTOR2I& pt : pts )
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if( aArc.sliceContainsPoint( pt ) )
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{
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if( sliceContainsPoint( pt ) && aArc.sliceContainsPoint( pt ) )
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{
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aPtA = pt;
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aPtB = pt;
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aDistSq = 0;
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CIRCLE circle( center2, aArc.GetRadius() );
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aPtA = circle.NearestPoint( pt );
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aPtB = pt;
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aDistSq = aPtA.SquaredDistance( aPtB );
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if( center_dist_sq == 0 || aDistSq == 0 )
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return true;
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}
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}
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}
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for( const VECTOR2I& pt : pts2 )
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{
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if( sliceContainsPoint( pt ) )
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{
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CIRCLE circle( center1, GetRadius() );
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aPtA = pt;
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aPtB = circle.NearestPoint( pt );
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aDistSq = aPtA.SquaredDistance( aPtB );
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if( center_dist_sq == 0 || aDistSq == 0 )
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return true;
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}
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}
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// The remaining checks are require the arcs to be on non-concentric circles
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if( center_dist_sq == 0 )
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return true;
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CIRCLE circle1( center1, GetRadius() );
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CIRCLE circle2( center2, aArc.GetRadius() );
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// First check for intersections on the circles
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std::vector<VECTOR2I> intersections = circle1.Intersect( circle2 );
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for( const VECTOR2I& pt : intersections )
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{
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if( sliceContainsPoint( pt ) && aArc.sliceContainsPoint( pt ) )
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{
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aPtA = pt;
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aPtB = pt;
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aDistSq = 0;
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return true;
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}
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}
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// Check for the closest points on the circles
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VECTOR2I pt1 = circle1.NearestPoint( center2 );
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VECTOR2I pt2 = circle2.NearestPoint( center1 );
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bool pt1InSlice = sliceContainsPoint( pt1 );
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bool pt2InSlice = aArc.sliceContainsPoint( pt2 );
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if( pt1InSlice && pt2InSlice )
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{
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int64_t distSq = pt1.SquaredDistance( pt2 );
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if( distSq < aDistSq )
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{
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aDistSq = distSq;
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aPtA = pt1;
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aPtB = pt2;
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}
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// Check for the closest points on the circles
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VECTOR2I pt1 = circle1.NearestPoint( center2 );
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VECTOR2I pt2 = circle2.NearestPoint( center1 );
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return true;
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}
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if( sliceContainsPoint( pt1 ) && aArc.sliceContainsPoint( pt2 ) )
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// Check the endpoints of arc 1 against the nearest point on arc 2
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if( pt2InSlice )
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{
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for( const VECTOR2I& pt : pts1 )
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{
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int64_t distSq = pt1.SquaredDistance( pt2 );
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int64_t distSq = pt.SquaredDistance( pt2 );
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if( distSq < aDistSq )
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{
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aDistSq = distSq;
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aPtA = pt;
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aPtB = pt2;
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}
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}
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}
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// Check the endpoints of arc 2 against the nearest point on arc 1
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if( pt1InSlice )
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{
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for( const VECTOR2I& pt : pts2 )
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{
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int64_t distSq = pt.SquaredDistance( pt1 );
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if( distSq < aDistSq )
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{
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aDistSq = distSq;
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aPtA = pt1;
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aPtB = pt2;
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aPtB = pt;
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}
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}
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}
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@ -738,84 +738,23 @@ static inline bool Collide( const SHAPE_ARC& aA, const SHAPE_ARC& aB, int aClear
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aA.TypeName(),
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aB.TypeName() ) );
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SEG mediatrix( aA.GetCenter(), aB.GetCenter() );
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VECTOR2I ptA, ptB;
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int64_t dist_sq = std::numeric_limits<int64_t>::max();
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aA.NearestPoints( aB, ptA, ptB, dist_sq );
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int dual_width = ( aA.GetWidth() + aB.GetWidth() ) / 2;
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std::vector<VECTOR2I> ips;
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// Basic case - arcs intersect
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if( aA.Intersect( aB, &ips ) > 0 )
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if( dist_sq < SEG::Square( aClearance + dual_width ) )
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{
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if( aActual )
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*aActual = 0;
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if( aLocation )
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*aLocation = ips[0]; // Pick the first intersection point
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*aLocation = ( ptA + ptB ) / 2;
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if( aActual )
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*aActual = std::max( 0, KiROUND( std::sqrt( dist_sq ) - dual_width ) );
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return true;
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}
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// Arcs don't intersect, build a list of points to check
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std::vector<VECTOR2I> ptsA;
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std::vector<VECTOR2I> ptsB;
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bool cocentered = ( mediatrix.A == mediatrix.B );
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// 1: Interior points of both arcs, which are on the line segment between the two centres
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if( !cocentered )
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{
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aA.IntersectLine( mediatrix, &ptsA );
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aB.IntersectLine( mediatrix, &ptsB );
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}
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// 2: Check arc end points
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ptsA.push_back( aA.GetP0() );
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ptsA.push_back( aA.GetP1() );
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ptsB.push_back( aB.GetP0() );
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ptsB.push_back( aB.GetP1() );
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// 3: Endpoint of one and "projected" point on the other, which is on the
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// line segment through that endpoint and the centre of the other arc
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aA.IntersectLine( SEG( aB.GetP0(), aA.GetCenter() ), &ptsA );
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aA.IntersectLine( SEG( aB.GetP1(), aA.GetCenter() ), &ptsA );
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aB.IntersectLine( SEG( aA.GetP0(), aB.GetCenter() ), &ptsB );
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aB.IntersectLine( SEG( aA.GetP1(), aB.GetCenter() ), &ptsB );
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double minDist = std::numeric_limits<double>::max();
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SEG minDistSeg;
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bool rv = false;
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int widths = ( aA.GetWidth() / 2 ) + ( aB.GetWidth() / 2 );
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// @todo performance could be improved by only checking certain points (e.g only check end
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// points against other end points or their corresponding "projected" points)
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for( const VECTOR2I& ptA : ptsA )
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{
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for( const VECTOR2I& ptB : ptsB )
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{
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SEG candidateMinDist( ptA, ptB );
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int dist = candidateMinDist.Length() - widths;
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if( dist < aClearance )
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{
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if( !rv || dist < minDist )
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{
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minDist = dist;
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minDistSeg = candidateMinDist;
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}
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rv = true;
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}
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}
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}
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if( rv && aActual )
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*aActual = std::max( 0, minDistSeg.Length() - widths );
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if( rv && aLocation )
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*aLocation = minDistSeg.Center();
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return rv;
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return false;
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}
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@ -771,8 +771,8 @@ static const std::vector<ARC_ARC_COLLIDE_CASE> arc_arc_collide_cases = {
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0,
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false },
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{ "case 6: Coincident centers, colliding due to arc thickness",
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{ 79.279991, 80.67988, 80.3749, 81.394518, -255.5, 0.2 },
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{ 79.279991, 80.67988, 80.3749, 81.694518, -255.5, 0.2 },
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{ 79.279991, 80.67988, 80.3749, 81.394518, -255.5, 0.3 },
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{ 79.279991, 80.67988, 80.3749, 81.694518, -255.5, 0.3 },
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0,
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true },
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{ "case 7: Single intersection",
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@ -815,6 +815,11 @@ static const std::vector<ARC_ARC_COLLIDE_CASE> arc_arc_collide_cases = {
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{ 79.87532, 93.413654, 81.86532, 93.393054, 90.0, 0.3 },
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0,
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true },
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{ "case 15: Arcs separated by clearance",
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{ 303.7615, 149.9252, 303.695968, 149.925237, 90.0262, 0.065 },
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{ 303.6345, 149.2637, 303.634523, 148.85619, 89.9957, 0.065 },
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0.15,
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false },
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};
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