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
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)
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((
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
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))
]
railway_roots = np.roots(railway_polynomial)
dbg('railway poly, roots:', railway_polynomial, railway_roots)
+
+ #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_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]])
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
- 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)
+ 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)
- 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:
- start_la = 1/railway_r
+ start_la = -1/railway_r
start_s = try_s
start_t = try_t
best_st = try_st
findcurve_subproc.stdin.flush()
hc.func = symbolic.get_python()
+ hc.findcurve_basis = findcurve_basis
commentary = ''
while True:
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 )
ours[1] = sqrt(dist - hc.threshold)
asmat = hc.func(*ours)
p = asmat[:,0]
+ p = augmatmultiply(hc.findcurve_basis, p)
return p