helixish: attempt at the whole thing

[moebius3.git] / helixish.py

diff --git a/helixish.py b/helixish.py
index 27485eac5e965293e7311976f39466fef807ca08..2c6043eefc306590146f1a05275dcbd4f47f2f19 100644 (file)
--- a/helixish.py
+++ b/helixish.py
@@ -28,8 +28,8 @@ class HelixishCurve():
     dbg('HelixishCurve __init__', cp)
     dbg(dp, dq)
 
-    #vdbg().arrow(p,dp)
-    #vdbg().arrow(q,dq)
+    vdbg().arrow(p,dp)
+    vdbg().arrow(q,dq)
 
     # the initial attempt
     #   - solve in the plane containing dP and dQ
@@ -78,8 +78,8 @@ class HelixishCurve():
 
     dbg('plane p', p_plane_check, 'dp', dp_plane, 'dq', dq_plane,
         'q', q_plane, 'dist_pq_plane', dist_pq_plane)
-    vdbg_plane.arrow(p_plane_check, dp_plane)
-    vdbg_plane.arrow(q_plane,       dq_plane)
+    #vdbg_plane.arrow(p_plane_check, dp_plane)
+    #vdbg_plane.arrow(q_plane,       dq_plane)
 
     railway_inplane_basis_x = np.hstack((q_plane[0:2], [0]))
     railway_inplane_basis = np.column_stack((
@@ -94,7 +94,7 @@ class HelixishCurve():
     dbg('railway_inplane_basis\n', railway_inplane_basis)
     railway_basis = matmatmultiply(dPQplane_basis, railway_inplane_basis)
     dbg('railway_basis\n', railway_basis)
-    vdbg().basis(railway_basis, hue=(1,0,1))
+    #vdbg().basis(railway_basis, hue=(1,0,1))
     vdbg_railway = MatrixVisdebug(vdbg(), railway_basis)
 
     # two circular arcs of equal maximum possible radius
@@ -110,7 +110,8 @@ class HelixishCurve():
     dbg('railway:', railway_theta, railway_phi, railway_angleoffset)
 
     def vdbg_railway_angle(start, angle, **kw):
-      vdbg_railway.arrow(start, [sin(angle), cos(angle), 0], **kw)
+      #vdbg_railway.arrow(start, [sin(angle), cos(angle), 0], **kw)
+      pass
     vdbg_railway_angle([0, 0, 0.1], railway_theta, color=(1, 0.5, 0))
     vdbg_railway_angle([1, 0, 0.1], railway_phi,   color=(1, 0.5, 0))
     vdbg_railway_angle([1, 0, 0.1], 0,             color=(1, 1.00, 0))
@@ -139,40 +140,40 @@ class HelixishCurve():
             railway_polynomial[2]
         )
 
-        vdbg_railway.circle([0,0,0], [0,0, railway_r], color=(1,0,0))
+        #vdbg_railway.circle([0,0,0], [0,0, railway_r], color=(1,0,0))
         #vdbg().circle(p, dPQplane_normal * railway_r, color=(1,1,0))
 
         def railway_CPQ(pq, dpq, railway_r):
           CPQ = pq + railway_r * np.array([-dpq[1], dpq[0]])
           dbg('railway_CPQ', railway_r, pq, dpq, CPQ)
-          vdbg_plane.circle( np.hstack((CPQ, [0])),
-                             [0, 0, railway_r],
-                             color = (1,1,1) )
+          #vdbg_plane.circle( np.hstack((CPQ, [0])),
+          #                   [0, 0, railway_r],
+          #                   color = (1,1,1) )
           #vdbg_plane.circle( np.hstack(( 2*np.asarray(pq) - CPQ, [0])),
           #                   [0, 0, railway_r],
           #                   color = (.5,.5,.5) )
           return CPQ
 
         railway_CP = railway_CPQ([0,0],         dp_plane, railway_r)
-        railway_QP = railway_CPQ(q_plane[0:2], -dq_plane, railway_r)
-        railway_midpt = 0.5 * (railway_CP + railway_QP)
+        railway_CQ = railway_CPQ(q_plane[0:2], -dq_plane, railway_r)
+        railway_midpt = 0.5 * (railway_CP + railway_CQ)
 
         best_st = None
         def railway_ST(C, start, end, railway_r):
           delta = atan2(*(end - C)[0:2]) - atan2(*(start - C)[0:2])
           dbg('railway_ST C', C, 'start', start, 'end', end, 'delta', delta)
           if delta < 0: delta += tau
-          s = delta * railway_r
+          s = delta * abs(railway_r)
           dbg('railway_ST delta', delta, 'r', railway_r, 's', s)
           return s
 
-        try_s = railway_ST(railway_CP, [0,0], railway_midpt, railway_r)
-        try_t = railway_ST(railway_CP, railway_midpt, q_plane[0:2], railway_r)
+        try_s = railway_ST(railway_CP, railway_midpt, [0,0], railway_r)
+        try_t = railway_ST(railway_CQ, railway_midpt, q_plane[0:2], railway_r)
         dbg('try_s, _t', try_s, try_t)
 
         try_st = try_s + try_t
         if best_st is None or try_st < best_st:
-          start_la = 1/railway_r
+          start_la = -1/railway_r
           start_s = try_s
           start_t = try_t
           best_st = try_st
@@ -207,7 +208,7 @@ class HelixishCurve():
       vdbg().arrow(findcurve_basis[0:3,3], findcurve_basis[0:3,ax])
 
     q_findcurve = augmatmultiply(findcurve_into, q)
-    dq_findcurve = augmatmultiply(findcurve_into, dq, augwith=0)
+    dq_findcurve = -augmatmultiply(findcurve_into, dq, augwith=0)
 
     findcurve_target = np.hstack((q_findcurve, dq_findcurve))
     findcurve_start = (sqrt(start_s), sqrt(start_t), start_la,
@@ -241,14 +242,17 @@ class HelixishCurve():
 
     #dbg('>> ' + ' '.join(map(str,findcurve_input)))
 
-    dbg(('RUNNING FINDCURVE' +
-         '                                             ' +
+    dbg(('RUNNING FINDCURVE                                ' +
+         '                                                     ' +
          ' target Q=[%10.7f %10.7f %10.7f] dQ=[%10.7f %10.7f %10.7f]')
         %
         tuple(findcurve_input[0:6]))
     dbg(('%s  initial') % dbg_fmt_params(findcurve_input[6:12]))
 
-    print(*findcurve_input, file=findcurve_subproc.stdin)
+    s = ' '.join(map(str, findcurve_input))
+    dbg(('>> %s' % s))
+
+    print(s, file=findcurve_subproc.stdin)
     findcurve_subproc.stdin.flush()
 
     hc.func = symbolic.get_python()
@@ -274,6 +278,7 @@ class HelixishCurve():
       commentary = ''
 
       hc.findcurve_result = l[0:6]
+      #hc.findcurve_result = findcurve_start
       hc.threshold = l[0]**2
       hc.total_dist = hc.threshold + l[1]**2
       #vdbg().curve( hc.point_at_t )