2 from __future__ import print_function
5 from numpy import cos, sin
10 from moedebug import *
13 from math import atan2, atan, sqrt
17 findcurve_subproc = None
19 class HelixishCurve():
25 dp = unit_v(cp[1]-cp[0])
26 dq = unit_v(cp[3]-cp[2])
28 dbg('HelixishCurve __init__', cp)
35 # - solve in the plane containing dP and dQ
36 # - total distance normal to that plane gives mu
37 # - now resulting curve is not parallel to dP at P
38 # nor dQ at Q, so tilt it
39 # - [[ pick as the hinge point the half of the curve
40 # with the larger s or t ]] not yet implemented
41 # - increase the other distance {t,s} by a bodge factor
42 # approx distance between {Q,P} and {Q,P}' due to hinging
43 # but minimum is 10% of (wlog) {s,t} [[ not quite like this ]]
45 dPQplane_normal = np.cross(dp, dq)
47 if np.linalg.norm(dPQplane_normal) < 1E-6:
48 dbg('dPQplane_normal small')
49 dPQplane_normal = np.cross([1,0,0], dp)
50 if np.linalg.norm(dPQplane_normal) < 1E-6:
51 dbg('dPQplane_normal small again')
52 dPQplane_normal = np.cross([0,1,0], dp)
54 dPQplane_normal = unit_v(dPQplane_normal)
56 vdbg().arrow([0,0,0], dPQplane_normal, color=(1,1,0))
58 dPQplane_basis = np.column_stack((np.cross(dp, dPQplane_normal),
63 dPQplane_basis = np.vstack((dPQplane_basis, [0,0,0,1]))
66 vdbg().basis(dPQplane_basis)
68 dPQplane_into = np.linalg.inv(dPQplane_basis)
71 p_plane_check = augmatmultiply(dPQplane_into, p)
72 dp_plane = augmatmultiply(dPQplane_into, dp, augwith=0)
73 dq_plane = augmatmultiply(dPQplane_into, dq, augwith=0)
74 q_plane = augmatmultiply(dPQplane_into, q)
75 dist_pq_plane = np.linalg.norm(q_plane)
77 vdbg_plane = MatrixVisdebug(vdbg(), dPQplane_basis)
79 dbg('plane p', p_plane_check, 'dp', dp_plane, 'dq', dq_plane, 'q', q_plane)
80 vdbg_plane.arrow(p_plane_check, dp_plane)
81 vdbg_plane.arrow(q_plane, dq_plane)
83 # two circular arcs of equal maximum possible radius
84 # algorithm courtesy of Simon Tatham (`Railway problem',
85 # pers.comm. to ijackson@chiark 23.1.2004)
86 railway_angleoffset = atan2(*q_plane[0:2])
87 railway_theta = atan2(*dp_plane[0:2]) - railway_angleoffset
88 railway_phi = atan2(*dq_plane[0:2]) - railway_angleoffset
89 railway_cos_theta = cos(railway_theta)
90 railway_cos_phi = cos(railway_phi)
92 railway_inplane_basis_x = unit_v(np.hstack((q_plane[0:2], [0])))
93 railway_inplane_basis = np.column_stack((
94 railway_inplane_basis_x,
95 np.cross([0,0,1], railway_inplane_basis_x),
99 #dbg('railway_inplane_basis\n', railway_inplane_basis)
100 railway_inplane_basis = np.vstack((railway_inplane_basis,
102 dbg('railway_inplane_basis\n', railway_inplane_basis)
103 railway_basis = matmatmultiply(dPQplane_basis, railway_inplane_basis)
104 dbg('railway_basis\n', railway_basis)
105 vdbg().basis(railway_basis, hue=(1,0,1))
106 dbg('railway:', railway_theta, railway_phi, railway_angleoffset)
108 if railway_cos_theta**2 + railway_cos_phi**2 > 1E-6:
109 railway_roots = np.roots([
110 2 * (1 + cos(railway_theta - railway_phi)),
111 2 * (railway_cos_theta - railway_cos_phi),
114 for railway_r in railway_roots:
115 dbg(' twoarcs root r=',railway_r)
117 def railway_CPQ(pq, dpq, railway_r):
118 CPQ = pq + railway_r * np.array([-dpq[1], dpq[0]])
119 dbg('railway_CPQ', railway_r, pq, dpq, CPQ)
122 railway_CP = railway_CPQ([0,0], dp_plane, railway_r)
123 railway_QP = railway_CPQ(q_plane[0:2], -dq_plane, railway_r)
124 railway_midpt = 0.5 * (railway_CP + railway_QP)
127 def railway_ST(C, start, end, railway_r):
128 delta = atan2(*(end - C)[0:2]) - atan2(*(start - C)[0:2])
129 s = delta * railway_r
130 dbg('railway_ST', C, start, end, railway_r, s)
133 try_s = railway_ST(railway_CP, [0,0], railway_midpt, railway_r)
134 try_t = railway_ST(railway_CP, railway_midpt, q_plane[0:2], railway_r)
135 dbg('try_s, _t', try_s, try_t)
136 if try_s < 0 or try_t < 0:
139 try_st = try_s + try_t
140 if best_st is None or try_st < best_st:
141 start_la = 1/railway_r
145 start_mu = q_plane[2] / (start_s + start_t)
148 else: # twoarcs algorithm is not well defined
151 start_s = dist_pq_plane * .65
152 start_t = dist_pq_plane * .35
155 bodge = max( q_plane[2] * start_mu,
156 (start_s + start_t) * 0.1 )
157 start_s += 0.5 * bodge
158 start_t += 0.5 * bodge
162 tilt = atan(start_mu)
163 tilt_basis = np.array([
165 [ 0, cos(tilt), sin(tilt), 0 ],
166 [ 0, -sin(tilt), cos(tilt), 0 ],
169 findcurve_basis = matmatmultiply(dPQplane_basis, tilt_basis)
170 findcurve_into = np.linalg.inv(findcurve_basis)
172 for ax in range(0,3):
173 vdbg().arrow(findcurve_basis[0:3,3], findcurve_basis[0:3,ax])
175 q_findcurve = augmatmultiply(findcurve_into, q)
176 dq_findcurve = augmatmultiply(findcurve_into, dq, augwith=0)
178 findcurve_target = np.hstack((q_findcurve, dq_findcurve))
179 findcurve_start = (sqrt(start_s), sqrt(start_t), start_la,
180 start_mu, start_gamma, start_kappa)
182 findcurve_epsilon = dist_pq_plane * 0.01
184 global findcurve_subproc
185 if findcurve_subproc is None:
186 dbg('STARTING FINDCURVE')
187 findcurve_subproc = subprocess.Popen(
190 stdin=subprocess.PIPE,
191 stdout=subprocess.PIPE,
194 # restore_signals=True, // want python2 compat, nnng
195 universal_newlines=True,
198 findcurve_input = np.hstack((findcurve_target,
200 [findcurve_epsilon]))
202 def dbg_fmt_params(fcp):
203 return (('s=%10.7f t=%10.7f sh=%10.7f'
204 +' st=%10.7f la=%10.7f mu=%10.7f ga=%10.7f ka=%10.7f')
206 (( fcp[0]**2, fcp[1]**2 ) + tuple(fcp)))
208 #dbg('>> ' + ' '.join(map(str,findcurve_input)))
210 dbg(('RUNNING FINDCURVE' +
212 ' target Q=[%10.7f %10.7f %10.7f] dQ=[%10.7f %10.7f %10.7f]')
214 tuple(findcurve_input[0:6]))
215 dbg(('%s initial') % dbg_fmt_params(findcurve_input[6:12]))
217 print(*findcurve_input, file=findcurve_subproc.stdin)
218 findcurve_subproc.stdin.flush()
220 hc.func = symbolic.get_python()
224 l = findcurve_subproc.stdout.readline()
227 if not l: vdbg().crashing('findcurve EOF')
228 if not l.startswith('['):
236 dbg(('%s Q=[%10.7f %10.7f %10.7f] dQ=[%10.7f %10.7f %10.7f]%s')
238 (( dbg_fmt_params(l[0:6]), ) + tuple(l[6:12]) + (commentary,) ))
241 hc.findcurve_result = l[0:6]
242 hc.threshold = l[0]**2
243 hc.total_dist = hc.threshold + l[1]**2
244 #vdbg().curve( hc.point_at_t )
246 def point_at_t(hc, normalised_parameter):
247 dist = normalised_parameter * hc.total_dist
248 ours = list(hc.findcurve_result)
249 if dist <= hc.threshold:
253 ours[1] = sqrt(dist - hc.threshold)
254 asmat = hc.func(*ours)