helixish: remember to transform back from findcurve basis (!)

[moebius3.git] / helixish.py

diff --git a/helixish.py b/helixish.py
index cdf79ce75444a74bab0fd6f9078a43abdbe09999..27485eac5e965293e7311976f39466fef807ca08 100644 (file)
--- a/helixish.py
+++ b/helixish.py
@@ -72,7 +72,7 @@ class HelixishCurve():
     dp_plane = augmatmultiply(dPQplane_into, dp, augwith=0)
     dq_plane = augmatmultiply(dPQplane_into, dq, augwith=0)
     q_plane  = augmatmultiply(dPQplane_into, q)
-    dist_pq_plane = np.linalg.norm(q_plane)
+    dist_pq_plane = np.linalg.norm(q_plane[0:2])
 
     vdbg_plane = MatrixVisdebug(vdbg(), dPQplane_basis)
 
@@ -124,8 +124,23 @@ class HelixishCurve():
         ]
       railway_roots = np.roots(railway_polynomial)
       dbg('railway poly, roots:', railway_polynomial, railway_roots)
-      for railway_r in railway_roots:
-        dbg(' twoarcs root r=',railway_r)
+
+      #vdbg_railway.circle([0,0,0], [0,0, dist_pq_plane], color=(.5,0,0))
+      #vdbg_railway.circle([1,0,0], [0,0, 0.05], color=(.5,0,0))
+      #vdbg().circle(p, dPQplane_normal * dist_pq_plane, color=(.5,.5,0))
+
+      for railway_r_pq1 in railway_roots:
+        # roots for r are calculated based on coordinates where
+        # Q is at (1,0) but our PQ distance is different
+        railway_r = railway_r_pq1 * dist_pq_plane
+        dbg(' twoarcs root r_pq1=', railway_r_pq1, 'r=',railway_r,
+            railway_polynomial[0] * railway_r_pq1 * railway_r_pq1 +
+            railway_polynomial[1] * railway_r_pq1                 +
+            railway_polynomial[2]
+        )
+
+        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]])
@@ -133,6 +148,9 @@ class HelixishCurve():
           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)
@@ -142,15 +160,15 @@ class HelixishCurve():
         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
-          dbg('railway_ST', C, start, end, railway_r, s)
+          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)
         dbg('try_s, _t', try_s, try_t)
-        if try_s < 0 or try_t < 0:
-          continue
 
         try_st = try_s + try_t
         if best_st is None or try_st < best_st:
@@ -234,6 +252,7 @@ class HelixishCurve():
     findcurve_subproc.stdin.flush()
 
     hc.func = symbolic.get_python()
+    hc.findcurve_basis = findcurve_basis
     commentary = ''
 
     while True:
@@ -269,4 +288,5 @@ class HelixishCurve():
       ours[1] = sqrt(dist - hc.threshold)
     asmat = hc.func(*ours)
     p = asmat[:,0]
+    p = augmatmultiply(hc.findcurve_basis, p)
     return p