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Update dependencies. Add wasm demo

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This commit is contained in:
Alexander Nozik 2024-02-23 12:11:43 +03:00
parent ea7869e39d
commit 327cef9ea9
66 changed files with 541 additions and 678 deletions
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5
build.gradle.kts
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@ -5,16 +5,15 @@ plugins {
id("space.kscience.gradle.project")
}
val kmathVersion: String by extra("0.3.1")
val kmathVersion: String by extra("0.4.0-RC2")
allprojects {
group = "center.sciprog"
version = "0.3.0-dev-1"
version = "0.3.0-dev-2"
repositories {
mavenLocal()
maven("https://repo.kotlin.link")
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
}

26
demo/maps-js/build.gradle.kts
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@ -1,26 +0,0 @@
plugins {
kotlin("multiplatform")
id("org.jetbrains.compose")
}
val ktorVersion: String by rootProject.extra
kotlin {
js {
browser()
binaries.executable()
}
sourceSets {
val jsMain by getting {
dependencies {
implementation(projects.mapsKtCompose)
implementation(compose.runtime)
implementation(compose.html.core)
}
}
}
}
compose {
web {}
}

172
demo/maps-js/src/jsMain/kotlin/Main.kt
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@ -1,172 +0,0 @@
import androidx.compose.foundation.ExperimentalFoundationApi
import androidx.compose.foundation.PointerMatcher
import androidx.compose.runtime.Composable
import androidx.compose.runtime.CompositionLocalProvider
import androidx.compose.runtime.remember
import androidx.compose.runtime.rememberCoroutineScope
import androidx.compose.ui.graphics.Color
import androidx.compose.ui.platform.LocalDensity
import androidx.compose.ui.platform.LocalFontFamilyResolver
import androidx.compose.ui.platform.LocalLayoutDirection
import androidx.compose.ui.text.font.createFontFamilyResolver
import androidx.compose.ui.unit.Density
import androidx.compose.ui.unit.DpSize
import androidx.compose.ui.unit.LayoutDirection
import androidx.compose.ui.unit.dp
import center.sciprog.attributes.Attributes
import center.sciprog.maps.compose.*
import center.sciprog.maps.coordinates.GeodeticMapCoordinates
import center.sciprog.maps.coordinates.Gmc
import center.sciprog.maps.coordinates.kilometers
import center.sciprog.maps.features.*
import io.ktor.client.HttpClient
import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.MutableStateFlow
import kotlinx.coroutines.flow.filterNotNull
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import org.jetbrains.compose.web.renderComposable
import space.kscience.kmath.geometry.Angle
import space.kscience.kmath.geometry.degrees
import space.kscience.kmath.geometry.radians
import kotlin.math.PI
import kotlin.random.Random
public fun GeodeticMapCoordinates.toShortString(): String =
"${(latitude.degrees).toString().take(6)}:${(longitude.degrees).toString().take(6)}"
@OptIn(ExperimentalFoundationApi::class)
@Composable
fun App() {
val scope = rememberCoroutineScope()
val mapTileProvider = remember {
OpenStreetMapTileProvider(
client = HttpClient(),
)
}
val centerCoordinates = MutableStateFlow<Gmc?>(null)
val pointOne = 55.568548 to 37.568604
val pointTwo = 55.929444 to 37.518434
// val pointThree = 60.929444 to 37.518434
MapView(
mapTileProvider = mapTileProvider,
config = ViewConfig(
onViewChange = { centerCoordinates.value = focus },
onClick = { _, viewPoint ->
println(viewPoint)
}
)
) {
// icon(pointOne, Icons.Filled.Home)
val marker1 = rectangle(55.744 to 38.614, size = DpSize(10.dp, 10.dp))
.color(Color.Magenta)
val marker2 = rectangle(55.8 to 38.5, size = DpSize(10.dp, 10.dp))
.color(Color.Magenta)
val marker3 = rectangle(56.0 to 38.5, size = DpSize(10.dp, 10.dp))
.color(Color.Magenta)
draggableLine(marker1, marker2, id = "line 1").color(Color.Red).onClick {
println("line 1 clicked")
}
draggableLine(marker2, marker3, id = "line 2").color(Color.DarkGray).onClick {
println("line 2 clicked")
}
draggableLine(marker3, marker1, id = "line 3").color(Color.Blue).onClick {
println("line 3 clicked")
}
multiLine(
points = listOf(
55.742465 to 37.615812,
55.742713 to 37.616370,
55.742815 to 37.616659,
55.742320 to 37.617132,
55.742086 to 37.616566,
55.741715 to 37.616716
),
)
//remember feature ref
val circleId = circle(
centerCoordinates = pointTwo,
)
scope.launch {
while (isActive) {
delay(200)
circleId.color(Color(Random.nextFloat(), Random.nextFloat(), Random.nextFloat()))
}
}
arc(pointOne, 10.0.kilometers, (PI / 4).radians, -Angle.pi / 2)
line(pointOne, pointTwo, id = "line")
text(pointOne, "Home", font = { size = 32f })
pixelMap(
space.Rectangle(
Gmc(latitude = 55.58461879539754.degrees, longitude = 37.8746197303493.degrees),
Gmc(latitude = 55.442792937592415.degrees, longitude = 38.132240805463844.degrees)
),
0.005.degrees,
0.005.degrees
) { gmc ->
Color(
red = ((gmc.latitude + Angle.piDiv2).degrees * 10 % 1f).toFloat(),
green = ((gmc.longitude + Angle.pi).degrees * 10 % 1f).toFloat(),
blue = 0f,
alpha = 0.3f
)
}
centerCoordinates.filterNotNull().onEach {
group(id = "center") {
circle(center = it, id = "circle", size = 1.dp).color(Color.Blue)
text(position = it, it.toShortString(), id = "text").color(Color.Blue)
}
}.launchIn(scope)
//Add click listeners for all polygons
forEachWithType<Gmc, PolygonFeature<Gmc>> { ref ->
ref.onClick(PointerMatcher.Primary) {
println("Click on ${ref.id}")
//draw in top-level scope
with(this@MapView) {
multiLine(
ref.resolve().points,
attributes = Attributes(ZAttribute, 10f),
id = "selected",
).modifyAttribute(StrokeAttribute, 4f).color(Color.Magenta)
}
}
}
}
}
fun main() {
renderComposable(rootElementId = "root") {
CompositionLocalProvider(
LocalDensity provides Density(1.0f),
LocalLayoutDirection provides LayoutDirection.Ltr,
// LocalViewConfiguration provides DefaultViewConfiguration(Density(1.0f)),
// LocalInputModeManager provides InputModeManagerObject,
LocalFontFamilyResolver provides createFontFamilyResolver()
) {
App()
}
}
}

13
demo/maps-js/src/jsMain/resources/index.html
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@ -1,13 +0,0 @@
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<title>Maps-kt demo</title>
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
</head>
<body>
<div id="root"/>
</body>
<script src="maps-js.js"></script>
</html>

30
demo/maps-wasm/build.gradle.kts Normal file
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@ -0,0 +1,30 @@
import org.jetbrains.kotlin.gradle.targets.js.dsl.ExperimentalWasmDsl
plugins {
kotlin("multiplatform")
id("org.jetbrains.compose")
}
//val ktorVersion: String by rootProject.extra
kotlin {
@OptIn(ExperimentalWasmDsl::class)
wasmJs {
browser()
binaries.executable()
}
sourceSets {
val wasmJsMain by getting {
dependencies {
implementation(projects.mapsKtScheme)
@OptIn(org.jetbrains.compose.ExperimentalComposeLibrary::class) api(compose.components.resources)
}
}
}
}
compose {
experimental.web{
application{}
}
}

79
demo/maps-wasm/src/wasmJsMain/kotlin/Main.kt Normal file
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@ -0,0 +1,79 @@
@file:OptIn(ExperimentalComposeUiApi::class, ExperimentalResourceApi::class)
import androidx.compose.runtime.*
import androidx.compose.ui.ExperimentalComposeUiApi
import androidx.compose.ui.graphics.Color
import androidx.compose.ui.window.CanvasBasedWindow
import center.sciprog.maps.features.FeatureGroup
import center.sciprog.maps.features.ViewConfig
import center.sciprog.maps.features.ViewPoint
import center.sciprog.maps.features.color
import center.sciprog.maps.scheme.*
import kotlinx.coroutines.delay
import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import org.jetbrains.compose.resources.DrawableResource
import org.jetbrains.compose.resources.ExperimentalResourceApi
import org.jetbrains.compose.resources.painterResource
import space.kscience.kmath.geometry.Angle
@Composable
fun App() {
val scope = rememberCoroutineScope()
val features: FeatureGroup<XY> = FeatureGroup.remember(XYCoordinateSpace) {
background(1600f, 1200f) { painterResource(DrawableResource("middle-earth.jpg")) }
circle(410.52737 to 868.7676).color(Color.Blue)
text(410.52737 to 868.7676, "Shire").color(Color.Blue)
circle(1132.0881 to 394.99127).color(Color.Red)
text(1132.0881 to 394.99127, "Ordruin").color(Color.Red)
arc(center = 1132.0881 to 394.99127, radius = 20f, startAngle = Angle.zero, Angle.piTimes2)
//circle(410.52737 to 868.7676, id = "hobbit")
scope.launch {
var t = 0.0
while (isActive) {
val x = 410.52737 + t * (1132.0881 - 410.52737)
val y = 868.7676 + t * (394.99127 - 868.7676)
circle(x to y, id = "hobbit").color(Color.Green)
delay(100)
t += 0.005
if (t >= 1.0) t = 0.0
}
}
}
val initialViewPoint: ViewPoint<XY> = remember {
features.getBoundingBox(1f)?.computeViewPoint() ?: XYViewPoint(XY(0f, 0f))
}
var viewPoint: ViewPoint<XY> by remember { mutableStateOf(initialViewPoint) }
val mapState: XYCanvasState = XYCanvasState.remember(
ViewConfig(
onClick = { _, click ->
println("${click.focus.x}, ${click.focus.y}")
},
onViewChange = { viewPoint = this }
),
initialViewPoint = initialViewPoint,
)
SchemeView(
mapState,
features,
)
}
fun main() {
// renderComposable(rootElementId = "root") {
CanvasBasedWindow("Maps demo", canvasElementId = "ComposeTarget") {
App()
}
}

12
demo/maps-wasm/src/wasmJsMain/resources/index.html Normal file
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@ -0,0 +1,12 @@
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<title>Compose App</title>
<script type="application/javascript" src="skiko.js"></script>
<script type="application/javascript" src="maps-wasm.js"></script>
</head>
<body>
<canvas id="ComposeTarget"></canvas>
</body>
</html>

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demo/maps-wasm/src/wasmJsMain/resources/middle-earth.jpg Normal file
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8
demo/maps/src/jvmMain/kotlin/Main.kt
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@ -13,7 +13,6 @@ import androidx.compose.ui.unit.DpSize
import androidx.compose.ui.unit.dp
import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
import center.sciprog.attributes.Attributes
import center.sciprog.maps.compose.*
import center.sciprog.maps.coordinates.GeodeticMapCoordinates
import center.sciprog.maps.coordinates.Gmc
@ -29,6 +28,7 @@ import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import space.kscience.attributes.Attributes
import space.kscience.kmath.geometry.Angle
import space.kscience.kmath.geometry.degrees
import space.kscience.kmath.geometry.radians
@ -37,7 +37,7 @@ import kotlin.math.PI
import kotlin.random.Random
public fun GeodeticMapCoordinates.toShortString(): String =
"${(latitude.degrees).toString().take(6)}:${(longitude.degrees).toString().take(6)}"
"${(latitude.toDegrees().value).toString().take(6)}:${(longitude.toDegrees().value).toString().take(6)}"
@OptIn(ExperimentalFoundationApi::class)
@ -151,8 +151,8 @@ fun App() {
0.005.degrees
) { gmc ->
Color(
red = ((gmc.latitude + Angle.piDiv2).degrees * 10 % 1f).toFloat(),
green = ((gmc.longitude + Angle.pi).degrees * 10 % 1f).toFloat(),
red = ((gmc.latitude + Angle.piDiv2).toDegrees().value * 10 % 1f).toFloat(),
green = ((gmc.longitude + Angle.pi).toDegrees().value * 10 % 1f).toFloat(),
blue = 0f,
alpha = 0.3f
)

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42
demo/trajectory-playground/src/jvmMain/kotlin/Main.kt
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@ -12,13 +12,13 @@ import center.sciprog.maps.features.*
import center.sciprog.maps.scheme.SchemeView
import center.sciprog.maps.scheme.XY
import space.kscience.kmath.geometry.Angle
import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.DoubleVector2D
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.Vector2D
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.trajectory.*
import kotlin.random.Random
private fun DoubleVector2D.toXY() = XY(x.toFloat(), y.toFloat())
private fun Vector2D<out Number>.toXY() = XY(x.toFloat(), y.toFloat())
private val random = Random(123)
@ -32,7 +32,7 @@ fun FeatureGroup<XY>.trajectory(
bCoordinates = trajectory.end.toXY(),
).color(colorPicker(trajectory))
is CircleTrajectory2D -> with(Euclidean2DSpace) {
is CircleTrajectory2D -> with(Float64Space2D) {
val topLeft = trajectory.circle.center + vector(-trajectory.circle.radius, trajectory.circle.radius)
val bottomRight = trajectory.circle.center + vector(trajectory.circle.radius, -trajectory.circle.radius)
@ -59,20 +59,20 @@ fun FeatureGroup<XY>.obstacle(obstacle: Obstacle, colorPicker: (Trajectory2D) ->
polygon(obstacle.arcs.map { it.center.toXY() }).color(Color.Gray)
}
fun FeatureGroup<XY>.pose(pose2D: Pose2D) = with(Euclidean2DSpace) {
fun FeatureGroup<XY>.pose(pose2D: Pose2D) = with(Float64Space2D) {
line(pose2D.toXY(), (pose2D + Pose2D.bearingToVector(pose2D.bearing)).toXY())
}
@Composable
@Preview
fun closePoints() {
fun closePoints() = with(Float64Space2D){
SchemeView {
val obstacle = Obstacle(
Circle2D(Euclidean2DSpace.vector(0.0, 0.0), 1.0),
Circle2D(Euclidean2DSpace.vector(0.0, 1.0), 1.0),
Circle2D(Euclidean2DSpace.vector(1.0, 1.0), 1.0),
Circle2D(Euclidean2DSpace.vector(1.0, 0.0), 1.0)
Circle2D(vector(0.0, 0.0), 1.0),
Circle2D(vector(0.0, 1.0), 1.0),
Circle2D(vector(1.0, 1.0), 1.0),
Circle2D(vector(1.0, 0.0), 1.0)
)
val enter = Pose2D(-0.8, -0.8, Angle.pi)
val exit = Pose2D(-0.8, -0.8, Angle.piDiv2)
@ -101,7 +101,7 @@ fun closePoints() {
@Preview
fun singleObstacle() {
SchemeView {
val obstacle = Obstacle(Circle2D(Euclidean2DSpace.vector(7.0, 1.0), 5.0))
val obstacle = Obstacle(Circle2D(Float64Space2D.vector(7.0, 1.0), 5.0))
val enter = Pose2D(-5, -1, Angle.pi / 4)
val exit = Pose2D(20, 4, Angle.pi * 3 / 4)
@ -123,19 +123,19 @@ fun singleObstacle() {
@Composable
@Preview
fun doubleObstacle() {
fun doubleObstacle() = with(Float64Space2D){
SchemeView {
val obstacles = arrayOf(
Obstacle(
Circle2D(Euclidean2DSpace.vector(1.0, 6.5), 0.5),
Circle2D(Euclidean2DSpace.vector(2.0, 1.0), 0.5),
Circle2D(Euclidean2DSpace.vector(6.0, 0.0), 0.5),
Circle2D(Euclidean2DSpace.vector(5.0, 5.0), 0.5)
Circle2D(vector(1.0, 6.5), 0.5),
Circle2D(vector(2.0, 1.0), 0.5),
Circle2D(vector(6.0, 0.0), 0.5),
Circle2D(vector(5.0, 5.0), 0.5)
), Obstacle(
Circle2D(Euclidean2DSpace.vector(10.0, 1.0), 0.5),
Circle2D(Euclidean2DSpace.vector(16.0, 0.0), 0.5),
Circle2D(Euclidean2DSpace.vector(14.0, 6.0), 0.5),
Circle2D(Euclidean2DSpace.vector(9.0, 4.0), 0.5)
Circle2D(vector(10.0, 1.0), 0.5),
Circle2D(vector(16.0, 0.0), 0.5),
Circle2D(vector(14.0, 6.0), 0.5),
Circle2D(vector(9.0, 4.0), 0.5)
)
)

5
gradle.properties
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@ -1,6 +1,7 @@
kotlin.code.style=official
compose.version=1.5.10
compose.version=1.6.0-rc02
org.jetbrains.compose.experimental.wasm.enabled=true
org.jetbrains.compose.experimental.jscanvas.enabled=true
agp.version=8.1.0
@ -9,4 +10,4 @@ android.enableJetifier=true
org.gradle.jvmargs=-Xmx4096m
toolsVersion=0.15.0-kotlin-1.9.20
toolsVersion=0.15.2-kotlin-1.9.22

2
gradle/wrapper/gradle-wrapper.properties vendored
View File

@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
distributionUrl=https\://services.gradle.org/distributions/gradle-8.6-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists

15
maps-kt-compose/build.gradle.kts
View File

@ -7,7 +7,8 @@ plugins {
kscience {
jvm()
js()
wasm()
useCoroutines()
}
@ -27,12 +28,12 @@ kotlin {
api("io.ktor:ktor-client-cio")
}
}
getByName("jsMain"){
dependencies {
api("io.ktor:ktor-client-js")
}
}
//
// getByName("jsMain"){
// dependencies {
// api("io.ktor:ktor-client-js")
// }
// }
getByName("jvmTest") {
dependencies {

4
maps-kt-compose/src/commonMain/kotlin/center/sciprog/maps/compose/MapCanvasState.kt
View File

@ -61,8 +61,8 @@ public class MapCanvasState private constructor(
override fun computeViewPoint(rectangle: Rectangle<Gmc>): ViewPoint<Gmc> {
val zoom = log2(
min(
canvasSize.width.value / rectangle.longitudeDelta.radians,
canvasSize.height.value / rectangle.latitudeDelta.radians
canvasSize.width.value / rectangle.longitudeDelta.toRadians().value,
canvasSize.height.value / rectangle.latitudeDelta.toRadians().value
) * 2 * PI / mapTileProvider.tileSize
).coerceIn(0.0..22.0)
return space.ViewPoint(rectangle.center, zoom.toFloat())

3
maps-kt-compose/src/commonMain/kotlin/center/sciprog/maps/compose/mapFeatures.kt
View File

@ -8,6 +8,7 @@ import androidx.compose.ui.unit.DpSize
import androidx.compose.ui.unit.dp
import center.sciprog.maps.coordinates.*
import center.sciprog.maps.features.*
import org.jetbrains.skia.Font
import space.kscience.kmath.geometry.Angle
import kotlin.math.ceil
@ -139,7 +140,7 @@ public fun FeatureGroup<Gmc>.icon(
public fun FeatureGroup<Gmc>.text(
position: Pair<Double, Double>,
text: String,
font: FeatureFont.() -> Unit = { size = 16f },
font: Font.() -> Unit = { size = 16f },
id: String? = null,
): FeatureRef<Gmc, TextFeature<Gmc>> = feature(
id,

2
maps-kt-core/build.gradle.kts
View File

@ -9,6 +9,8 @@ kscience{
jvm()
js()
native()
wasm()
useSerialization()
dependencies{

3
maps-kt-core/src/commonMain/kotlin/center/sciprog/maps/coordinates/GeodeticMapCoordinates.kt
View File

@ -22,7 +22,6 @@ public class GeodeticMapCoordinates(
"Longitude $longitude is not in (-PI..PI) range"
}
}
override val x: Angle get() = longitude
override val y: Angle get() = latitude
@ -43,7 +42,7 @@ public class GeodeticMapCoordinates(
}
override fun toString(): String {
return "GMC(latitude=${latitude.degrees} deg, longitude=${longitude.degrees} deg)"
return "GMC(latitude=${latitude.toDegrees().value} deg, longitude=${longitude.toDegrees().value} deg)"
}

2
maps-kt-core/src/commonMain/kotlin/center/sciprog/maps/coordinates/GmcCurve.kt
View File

@ -79,7 +79,7 @@ public fun GeoEllipsoid.parallelCurve(latitude: Angle, fromLongitude: Angle, toL
return GmcCurve(
forward = GmcPose(Gmc.normalized(latitude, fromLongitude), if (right) Angle.piDiv2 else -Angle.piDiv2),
backward = GmcPose(Gmc.normalized(latitude, toLongitude), if (right) -Angle.piDiv2 else Angle.piDiv2),
distance = reducedRadius(latitude) * abs((fromLongitude - toLongitude).radians)
distance = reducedRadius(latitude) * abs((fromLongitude - toLongitude).toRadians().value)
)
}

8
maps-kt-core/src/commonMain/kotlin/center/sciprog/maps/coordinates/MercatorProjection.kt
View File

@ -57,12 +57,12 @@ public open class MercatorProjection(
return if (ellipsoid === GeoEllipsoid.sphere) {
GeodeticMapCoordinates.ofRadians(
atan(sinh(pc.y / ellipsoid.equatorRadius)),
baseLongitude.radians + (pc.x / ellipsoid.equatorRadius),
baseLongitude.toRadians().value + (pc.x / ellipsoid.equatorRadius),
)
} else {
GeodeticMapCoordinates.ofRadians(
cphi2(exp(-(pc.y / ellipsoid.equatorRadius))),
baseLongitude.radians + (pc.x / ellipsoid.equatorRadius)
baseLongitude.toRadians().value + (pc.x / ellipsoid.equatorRadius)
)
}
}
@ -76,13 +76,13 @@ public open class MercatorProjection(
return if (ellipsoid === GeoEllipsoid.sphere) {
ProjectionCoordinates(
x = ellipsoid.equatorRadius * (gmc.longitude - baseLongitude).radians,
x = ellipsoid.equatorRadius * (gmc.longitude - baseLongitude).toRadians().value,
y = ellipsoid.equatorRadius * ln(tan(Angle.pi / 4 + gmc.latitude / 2))
)
} else {
val sinPhi = sin(gmc.latitude)
ProjectionCoordinates(
x = ellipsoid.equatorRadius * (gmc.longitude - baseLongitude).radians,
x = ellipsoid.equatorRadius * (gmc.longitude - baseLongitude).toRadians().value,
y = ellipsoid.equatorRadius * ln(
tan(Angle.pi / 4 + gmc.latitude / 2) * ((1 - e * sinPhi) / (1 + e * sinPhi)).pow(e / 2)
)

5
maps-kt-core/src/commonMain/kotlin/center/sciprog/maps/coordinates/WebMercatorProjection.kt
View File

@ -6,7 +6,6 @@
package center.sciprog.maps.coordinates
import space.kscience.kmath.geometry.abs
import space.kscience.kmath.geometry.radians
import kotlin.math.*
public data class WebMercatorCoordinates(val zoom: Int, val x: Float, val y: Float)
@ -36,8 +35,8 @@ public object WebMercatorProjection {
val scaleFactor = scaleFactor(zoom.toFloat())
return WebMercatorCoordinates(
zoom = zoom,
x = scaleFactor * (gmc.longitude.radians + PI).toFloat(),
y = scaleFactor * (PI - ln(tan(PI / 4 + gmc.latitude.radians / 2))).toFloat()
x = scaleFactor * (gmc.longitude.toRadians().value + PI).toFloat(),
y = scaleFactor * (PI - ln(tan(PI / 4 + gmc.latitude.toRadians().value / 2))).toFloat()
)
}

6
maps-kt-core/src/commonTest/kotlin/center/sciprog/maps/coordinates/DistanceTest.kt
View File

@ -21,7 +21,7 @@ internal class DistanceTest {
val distance = curve.distance
assertEquals(632.035426877, distance.kilometers, 0.0001)
assertEquals(-0.6947937116552751, curve.forward.bearing.radians, 0.0001)
assertEquals(-0.6947937116552751, curve.forward.bearing.toRadians().value, 0.0001)
}
@Test
@ -30,7 +30,7 @@ internal class DistanceTest {
GmcPose(moscow, (-0.6947937116552751).radians), Distance(632.035426877)
)
assertEquals(spb.latitude.radians, curve.backward.latitude.radians, 0.0001)
assertEquals(spb.longitude.radians, curve.backward.longitude.radians, 0.0001)
assertEquals(spb.latitude.toRadians().value, curve.backward.latitude.toRadians().value, 0.0001)
assertEquals(spb.longitude.toRadians().value, curve.backward.longitude.toRadians().value, 0.0001)
}
}

9
maps-kt-core/src/commonTest/kotlin/center/sciprog/maps/coordinates/MercatorTest.kt
View File

@ -1,6 +1,5 @@
package center.sciprog.maps.coordinates
import space.kscience.kmath.geometry.degrees
import kotlin.test.Test
import kotlin.test.assertEquals
@ -13,8 +12,8 @@ class MercatorTest {
assertEquals(4186.0120709, mercator.x.kilometers, 1e-4)
assertEquals(7510.9013658, mercator.y.kilometers, 1e-4)
val backwards = MapProjection.epsg3857.toGeodetic(mercator)
assertEquals(moscow.latitude.degrees, backwards.latitude.degrees, 1e-6)
assertEquals(moscow.longitude.degrees, backwards.longitude.degrees, 1e-6)
assertEquals(moscow.latitude.toDegrees().value, backwards.latitude.toDegrees().value, 1e-6)
assertEquals(moscow.longitude.toDegrees().value, backwards.longitude.toDegrees().value, 1e-6)
}
@Test
@ -23,7 +22,7 @@ class MercatorTest {
val projection = MercatorProjection(ellipsoid = GeoEllipsoid.WGS84)
val mercator = projection.toProjection(moscow)
val backwards = projection.toGeodetic(mercator)
assertEquals(moscow.latitude.degrees, backwards.latitude.degrees, 1e-6)
assertEquals(moscow.longitude.degrees, backwards.longitude.degrees, 1e-6)
assertEquals(moscow.latitude.toDegrees().value, backwards.latitude.toDegrees().value, 1e-6)
assertEquals(moscow.longitude.toDegrees().value, backwards.longitude.toDegrees().value, 1e-6)
}
}

23
maps-kt-features/build.gradle.kts
View File

@ -6,14 +6,24 @@ plugins {
val kmathVersion: String by rootProject.extra
kscience{
kscience {
jvm()
js()
useSerialization{
// js()
wasm{
browser {
testTask {
enabled = false
}
}
}
useCoroutines()
useSerialization {
json()
}
useSerialization(sourceSet = space.kscience.gradle.DependencySourceSet.TEST){
useSerialization(sourceSet = space.kscience.gradle.DependencySourceSet.TEST) {
protobuf()
}
}
@ -23,8 +33,11 @@ kotlin {
commonMain {
dependencies {
api(projects.trajectoryKt)
api(compose.runtime)
api(compose.foundation)
api("io.github.oshai:kotlin-logging:5.1.0")
api(compose.material)
api(compose.ui)
api("io.github.oshai:kotlin-logging:6.0.3")
}
}
}

22
maps-kt-features/src/commonMain/kotlin/center.sciprog.attributes/Attribute.kt
View File

@ -1,22 +0,0 @@
package center.sciprog.attributes
import kotlinx.serialization.KSerializer
import kotlinx.serialization.builtins.serializer
public interface Attribute<T>
public abstract class SerializableAttribute<T>(
public val serialId: String,
public val serializer: KSerializer<T>,
) : Attribute<T> {
override fun toString(): String = serialId
}
public interface AttributeWithDefault<T> : Attribute<T> {
public val default: T
}
public interface SetAttribute<V> : Attribute<Set<V>>
public object NameAttribute : SerializableAttribute<String>("name", String.serializer())

68
maps-kt-features/src/commonMain/kotlin/center.sciprog.attributes/Attributes.kt
View File

@ -1,68 +0,0 @@
package center.sciprog.attributes
import center.sciprog.maps.features.Feature
import center.sciprog.maps.features.ZAttribute
import kotlin.jvm.JvmInline
@JvmInline
public value class Attributes internal constructor(public val content: Map<out Attribute<*>, Any>) {
public val keys: Set<Attribute<*>> get() = content.keys
@Suppress("UNCHECKED_CAST")
public operator fun <T> get(attribute: Attribute<T>): T? = content[attribute] as? T
override fun toString(): String = "Attributes(value=${content.entries})"
public companion object {
public val EMPTY: Attributes = Attributes(emptyMap())
}
}
public fun Attributes.isEmpty(): Boolean = content.isEmpty()
public fun <T> Attributes.getOrDefault(attribute: AttributeWithDefault<T>): T = get(attribute) ?: attribute.default
public fun <T, A : Attribute<T>> Attributes.withAttribute(
attribute: A,
attrValue: T?,
): Attributes = Attributes(
if (attrValue == null) {
content - attribute
} else {
content + (attribute to attrValue)
}
)
/**
* Add an element to a [SetAttribute]
*/
public fun <T, A : SetAttribute<T>> Attributes.withAttributeElement(
attribute: A,
attrValue: T,
): Attributes {
val currentSet: Set<T> = get(attribute) ?: emptySet()
return Attributes(
content + (attribute to (currentSet + attrValue))
)
}
/**
* Remove an element from [SetAttribute]
*/
public fun <T, A : SetAttribute<T>> Attributes.withoutAttributeElement(
attribute: A,
attrValue: T,
): Attributes {
val currentSet: Set<T> = get(attribute) ?: emptySet()
return Attributes(
content + (attribute to (currentSet - attrValue))
)
}
public fun <T : Any, A : Attribute<T>> Attributes(
attribute: A,
attrValue: T,
): Attributes = Attributes(mapOf(attribute to attrValue))
public operator fun Attributes.plus(other: Attributes): Attributes = Attributes(content + other.content)

47
maps-kt-features/src/commonMain/kotlin/center.sciprog.attributes/AttributesBuilder.kt
View File

@ -1,47 +0,0 @@
package center.sciprog.attributes
/**
* A safe builder for [Attributes]
*/
public class AttributesBuilder internal constructor(private val map: MutableMap<Attribute<*>, Any> = mutableMapOf()) {
@Suppress("UNCHECKED_CAST")
public operator fun <T> get(attribute: Attribute<T>): T? = map[attribute] as? T
public operator fun <V> Attribute<V>.invoke(value: V?) {
if (value == null) {
map.remove(this)
} else {
map[this] = value
}
}
public fun from(attributes: Attributes) {
map.putAll(attributes.content)
}
public fun <V> SetAttribute<V>.add(
attrValue: V,
) {
val currentSet: Set<V> = get(this) ?: emptySet()
map[this] = currentSet + attrValue
}
/**
* Remove an element from [SetAttribute]
*/
public fun <V> SetAttribute<V>.remove(
attrValue: V,
) {
val currentSet: Set<V> = get(this) ?: emptySet()
map[this] = currentSet - attrValue
}
public fun build(): Attributes = Attributes(map)
}
public fun AttributesBuilder(
attributes: Attributes,
): AttributesBuilder = AttributesBuilder(attributes.content.toMutableMap())
public fun Attributes(builder: AttributesBuilder.() -> Unit): Attributes = AttributesBuilder().apply(builder).build()

7
maps-kt-features/src/commonMain/kotlin/center/sciprog/maps/features/Feature.kt
View File

@ -17,8 +17,9 @@ import androidx.compose.ui.graphics.vector.rememberVectorPainter
import androidx.compose.ui.unit.Dp
import androidx.compose.ui.unit.DpSize
import androidx.compose.ui.unit.dp
import center.sciprog.attributes.Attributes
import center.sciprog.attributes.NameAttribute
import org.jetbrains.skia.Font
import space.kscience.NameAttribute
import space.kscience.attributes.Attributes
import space.kscience.kmath.geometry.Angle
import space.kscience.kmath.nd.Structure2D
@ -331,7 +332,7 @@ public data class TextFeature<T : Any>(
public val position: T,
public val text: String,
override val attributes: Attributes = Attributes.EMPTY,
public val fontConfig: FeatureFont.() -> Unit,
public val fontConfig: Font.() -> Unit,
) : DraggableFeature<T> {
override fun getBoundingBox(zoom: Float): Rectangle<T> = space.Rectangle(position, position)

6
maps-kt-features/src/commonMain/kotlin/center/sciprog/maps/features/FeatureDrawScope.kt
View File

@ -15,8 +15,8 @@ import androidx.compose.ui.text.TextMeasurer
import androidx.compose.ui.text.drawText
import androidx.compose.ui.text.rememberTextMeasurer
import androidx.compose.ui.unit.DpRect
import center.sciprog.attributes.Attributes
import io.github.oshai.kotlinlogging.KotlinLogging
import space.kscience.attributes.Attributes
/**
* An extension of [DrawScope] to include map-specific features
@ -52,7 +52,7 @@ public class ComposeFeatureDrawScope<T : Any>(
) : FeatureDrawScope<T>(state), DrawScope by drawScope {
override fun drawText(text: String, position: Offset, attributes: Attributes) {
try {
drawText(textMeasurer?: error("Text measurer not defined"), text, position)
drawText(textMeasurer ?: error("Text measurer not defined"), text, position)
} catch (ex: Exception) {
logger.error(ex) { "Failed to measure text" }
}
@ -61,7 +61,7 @@ public class ComposeFeatureDrawScope<T : Any>(
override fun painterFor(feature: PainterFeature<T>): Painter =
painterCache[feature] ?: error("Can't resolve painter for $feature")
public companion object{
public companion object {
private val logger = KotlinLogging.logger("ComposeFeatureDrawScope")
}
}

5
maps-kt-features/src/commonMain/kotlin/center/sciprog/maps/features/FeatureFont.kt
View File

@ -1,5 +0,0 @@
package center.sciprog.maps.features
public expect class FeatureFont {
public var size: Float
}

19
maps-kt-features/src/commonMain/kotlin/center/sciprog/maps/features/FeatureGroup.kt
View File

@ -9,8 +9,9 @@ import androidx.compose.ui.graphics.vector.ImageVector
import androidx.compose.ui.unit.Dp
import androidx.compose.ui.unit.DpSize
import androidx.compose.ui.unit.dp
import center.sciprog.attributes.Attribute
import center.sciprog.attributes.Attributes
import org.jetbrains.skia.Font
import space.kscience.attributes.Attribute
import space.kscience.attributes.Attributes
import space.kscience.kmath.geometry.Angle
import space.kscience.kmath.nd.*
import space.kscience.kmath.structures.Buffer
@ -285,7 +286,7 @@ public fun <T : Any> FeatureGroup<T>.scalableImage(
public fun <T : Any> FeatureGroup<T>.text(
position: T,
text: String,
font: FeatureFont.() -> Unit = { size = 16f },
font: Font.() -> Unit = { size = 16f },
attributes: Attributes = Attributes.EMPTY,
id: String? = null,
): FeatureRef<T, TextFeature<T>> = feature(
@ -293,14 +294,14 @@ public fun <T : Any> FeatureGroup<T>.text(
TextFeature(space, position, text, fontConfig = font, attributes = attributes)
)
public fun <T> StructureND(shape: ShapeND, initializer: (IntArray) -> T): StructureND<T> {
val strides = Strides(shape)
return BufferND(strides, Buffer.boxing(strides.linearSize) { initializer(strides.index(it)) })
}
//public fun <T> StructureND(shape: ShapeND, initializer: (IntArray) -> T): StructureND<T> {
// val strides = Strides(shape)
// return BufferND(strides, Buffer(strides.linearSize) { initializer(strides.index(it)) })
//}
public fun <T> Structure2D(rows: Int, columns: Int, initializer: (IntArray) -> T): Structure2D<T> {
public inline fun <reified T> Structure2D(rows: Int, columns: Int, initializer: (IntArray) -> T): Structure2D<T> {
val strides = Strides(ShapeND(rows, columns))
return BufferND(strides, Buffer.boxing(strides.linearSize) { initializer(strides.index(it)) }).as2D()
return BufferND(strides, Buffer(strides.linearSize) { initializer(strides.index(it)) }).as2D()
}
public fun <T : Any> FeatureGroup<T>.pixelMap(

6
maps-kt-features/src/commonMain/kotlin/center/sciprog/maps/features/compositeFeatures.kt
View File

@ -1,6 +1,6 @@
package center.sciprog.maps.features
import center.sciprog.attributes.Attributes
import space.kscience.attributes.Attributes
import kotlin.jvm.JvmName
@ -18,7 +18,7 @@ public fun <T : Any> FeatureGroup<T>.draggableLine(
space,
aId.resolve().center,
bId.resolve().center,
Attributes {
Attributes<FeatureGroup<T>> {
ZAttribute(-10f)
lineId?.attributes?.let { from(it) }
}
@ -51,7 +51,7 @@ public fun <T : Any> FeatureGroup<T>.draggableMultiLine(
MultiLineFeature(
space,
points.map { it.resolve().center },
Attributes {
Attributes<FeatureGroup<T>>{
ZAttribute(-10f)
polygonId?.attributes?.let { from(it) }
}

13
maps-kt-features/src/commonMain/kotlin/center/sciprog/maps/features/drawFeature.kt
View File

@ -8,9 +8,8 @@ import androidx.compose.ui.graphics.Path
import androidx.compose.ui.graphics.PointMode
import androidx.compose.ui.graphics.drawscope.Stroke
import androidx.compose.ui.graphics.drawscope.translate
import center.sciprog.attributes.plus
import space.kscience.attributes.plus
import space.kscience.kmath.PerformancePitfall
import space.kscience.kmath.geometry.degrees
//internal fun Color.toPaint(): Paint = Paint().apply {
@ -57,8 +56,8 @@ public fun <T : Any> FeatureDrawScope<T>.drawFeature(
drawArc(
color = color,
startAngle = (feature.startAngle.degrees).toFloat(),
sweepAngle = (feature.arcLength.degrees).toFloat(),
startAngle = (feature.startAngle.toDegrees().value).toFloat(),
sweepAngle = (feature.arcLength.toDegrees().value).toFloat(),
useCenter = false,
topLeft = dpRect.topLeft,
size = size,
@ -91,7 +90,11 @@ public fun <T : Any> FeatureDrawScope<T>.drawFeature(
is FeatureGroup -> {
feature.featureMap.values.forEach {
drawFeature(it.withAttributes { feature.attributes + this })
drawFeature(
it.withAttributes {
feature.attributes + this
}
)
}
}

13
maps-kt-features/src/commonMain/kotlin/center/sciprog/maps/features/mapFeatureAttributes.kt
View File

@ -6,10 +6,7 @@ import androidx.compose.ui.graphics.Color
import androidx.compose.ui.graphics.PathEffect
import androidx.compose.ui.input.pointer.PointerEvent
import androidx.compose.ui.input.pointer.PointerKeyboardModifiers
import center.sciprog.attributes.Attribute
import center.sciprog.attributes.AttributesBuilder
import center.sciprog.attributes.SetAttribute
import center.sciprog.attributes.withAttribute
import space.kscience.attributes.*
public object ZAttribute : Attribute<Float>
@ -50,21 +47,19 @@ public fun <T : Any, F : Feature<T>> FeatureRef<T, F>.zoomRange(range: FloatRang
public object AlphaAttribute : Attribute<Float>
public fun <T : Any, F : Feature<T>> FeatureRef<T, F>.modifyAttributes(
modification: AttributesBuilder.() -> Unit
modification: AttributesBuilder<F>.() -> Unit,
): FeatureRef<T, F> {
@Suppress("UNCHECKED_CAST")
parent.feature(
id,
resolve().withAttributes {
AttributesBuilder(this).apply(modification).build()
} as F
resolve().withAttributes { modify(modification) } as F
)
return this
}
public fun <T : Any, F : Feature<T>, V> FeatureRef<T, F>.modifyAttribute(
key: Attribute<V>,
value: V?,
value: V,
): FeatureRef<T, F> {
@Suppress("UNCHECKED_CAST")
parent.feature(id, resolve().withAttributes { withAttribute(key, value) } as F)

37
maps-kt-features/src/commonTest/kotlin/center/sciprog/attributes/AttributesSerializationTest.kt
View File

@ -1,13 +1,22 @@
package center.sciprog.attributes
import kotlinx.serialization.*
import kotlinx.serialization.Contextual
import kotlinx.serialization.ExperimentalSerializationApi
import kotlinx.serialization.Serializable
import kotlinx.serialization.json.Json
import kotlinx.serialization.modules.SerializersModule
import kotlinx.serialization.modules.contextual
import kotlinx.serialization.protobuf.ProtoBuf
import kotlinx.serialization.serializer
import space.kscience.AttributesSerializer
import space.kscience.NameAttribute
import space.kscience.SerializableAttribute
import space.kscience.attributes.Attributes
import space.kscience.equals
import kotlin.test.Ignore
import kotlin.test.Test
import kotlin.test.assertEquals
import kotlin.test.assertTrue
internal class AttributesSerializationTest {
@ -28,32 +37,36 @@ internal class AttributesSerializationTest {
override fun toString(): String = "test"
}
val serializer = AttributesSerializer(setOf(NameAttribute, TestAttribute, ContainerAttribute))
@Test
fun restoreFromJson() {
val json = Json {
serializersModule = SerializersModule {
contextual(AttributesSerializer(setOf(NameAttribute, TestAttribute, ContainerAttribute)))
contextual(serializer)
}
}
val attributes = Attributes {
val attributes = Attributes<Any> {
NameAttribute("myTest")
TestAttribute(mapOf("a" to "aa", "b" to "bb"))
ContainerAttribute(
Container(
Attributes {
Attributes<Any> {
TestAttribute(mapOf("a" to "aa", "b" to "bb"))
}
)
)
}
val serialized: String = json.encodeToString(attributes)
val serialized: String = json.encodeToString(serializer, attributes)
println(serialized)
val restored: Attributes = json.decodeFromString(serialized)
val restored: Attributes = json.decodeFromString(serializer, serialized)
assertEquals(attributes, restored)
assertTrue { Attributes.equals(attributes, restored) }
}
@OptIn(ExperimentalSerializationApi::class)
@ -62,25 +75,25 @@ internal class AttributesSerializationTest {
fun restoreFromProtoBuf() {
val protoBuf = ProtoBuf {
serializersModule = SerializersModule {
contextual(AttributesSerializer(setOf(NameAttribute, TestAttribute, ContainerAttribute)))
contextual(serializer)
}
}
val attributes = Attributes {
val attributes = Attributes<Any> {
NameAttribute("myTest")
TestAttribute(mapOf("a" to "aa", "b" to "bb"))
ContainerAttribute(
Container(
Attributes {
Attributes<Any> {
TestAttribute(mapOf("a" to "aa", "b" to "bb"))
}
)
)
}
val serialized = protoBuf.encodeToByteArray(attributes)
val serialized = protoBuf.encodeToByteArray(serializer, attributes)
val restored: Attributes = protoBuf.decodeFromByteArray(serialized)
val restored: Attributes = protoBuf.decodeFromByteArray(serializer, serialized)
assertEquals(attributes, restored)
}

5
maps-kt-features/src/jsMain/kotlin/center/sciprog/maps/features/FeatureFont.kt
View File

@ -1,5 +0,0 @@
package center.sciprog.maps.features
public actual class FeatureFont {
public actual var size: Float = 16f
}

5
maps-kt-features/src/jvmMain/kotlin/center/sciprog/maps/features/FeatureFont.kt
View File

@ -1,5 +0,0 @@
package center.sciprog.maps.features
import org.jetbrains.skia.Font
public actual typealias FeatureFont = Font

4
maps-kt-geojson/build.gradle.kts
View File

@ -6,7 +6,9 @@ plugins {
kscience{
jvm()
js()
// js()
wasm()
useSerialization {
json()
}

5
maps-kt-geojson/src/commonMain/kotlin/center/sciprog/maps/geojson/GeoJsonGeometry.kt
View File

@ -4,7 +4,6 @@ import center.sciprog.maps.coordinates.Gmc
import center.sciprog.maps.coordinates.meters
import center.sciprog.maps.geojson.GeoJsonGeometry.Companion.COORDINATES_KEY
import kotlinx.serialization.json.*
import space.kscience.kmath.geometry.degrees
import kotlin.jvm.JvmInline
public sealed interface GeoJsonGeometry : GeoJson {
@ -35,8 +34,8 @@ internal fun JsonElement.toGmc() = jsonArray.run {
}
internal fun Gmc.toJsonArray(): JsonArray = buildJsonArray {
add(longitude.degrees)
add(latitude.degrees)
add(longitude.toDegrees().value)
add(latitude.toDegrees().value)
elevation?.let {
add(it.meters)
}

2
maps-kt-geojson/src/commonMain/kotlin/center/sciprog/maps/geojson/GeoJsonPropertiesAttribute.kt
View File

@ -1,7 +1,7 @@
package center.sciprog.maps.geojson
import center.sciprog.attributes.SerializableAttribute
import kotlinx.serialization.json.JsonObject
import kotlinx.serialization.serializer
import space.kscience.SerializableAttribute
public object GeoJsonPropertiesAttribute : SerializableAttribute<JsonObject>("properties", serializer())

2
maps-kt-geojson/src/commonMain/kotlin/center/sciprog/maps/geojson/geoJsonToMap.kt
View File

@ -1,12 +1,12 @@
package center.sciprog.maps.geojson
import androidx.compose.ui.graphics.Color
import center.sciprog.attributes.NameAttribute
import center.sciprog.maps.coordinates.Gmc
import center.sciprog.maps.features.*
import kotlinx.serialization.json.contentOrNull
import kotlinx.serialization.json.intOrNull
import kotlinx.serialization.json.jsonPrimitive
import space.kscience.NameAttribute
/**

5
maps-kt-scheme/build.gradle.kts
View File

@ -6,7 +6,8 @@ plugins {
kscience{
jvm()
js()
// js()
wasm()
}
kotlin {
@ -14,8 +15,6 @@ kotlin {
commonMain {
dependencies {
api(projects.mapsKtFeatures)
api("io.github.microutils:kotlin-logging:2.1.23")
api(compose.foundation)
}
}
getByName("jvmMain"){

6
maps-kt-scheme/src/commonMain/kotlin/center/sciprog/maps/scheme/SchemeView.kt
View File

@ -3,14 +3,10 @@ package center.sciprog.maps.scheme
import androidx.compose.foundation.layout.fillMaxSize
import androidx.compose.runtime.Composable
import androidx.compose.ui.Modifier
import androidx.compose.ui.graphics.Color
import androidx.compose.ui.graphics.PathEffect
import androidx.compose.ui.graphics.drawscope.Stroke
import androidx.compose.ui.graphics.drawscope.clipRect
import androidx.compose.ui.unit.DpSize
import center.sciprog.maps.compose.canvasControls
import center.sciprog.maps.features.*
import mu.KotlinLogging
import io.github.oshai.kotlinlogging.KotlinLogging
import kotlin.math.min

2
maps-kt-scheme/src/commonMain/kotlin/center/sciprog/maps/scheme/XY.kt
View File

@ -10,7 +10,7 @@ import kotlin.math.abs
import kotlin.math.max
import kotlin.math.min
public data class XY(override val x: Float, override val y: Float): Vector2D<Float>
public data class XY(override val x: Float, override val y: Float) : Vector2D<Float>
public fun XY(x: Number, y: Number): XY = XY(x.toFloat(), y.toFloat())

2
maps-kt-scheme/src/commonMain/kotlin/center/sciprog/maps/scheme/schemeFeatures.kt
View File

@ -8,8 +8,8 @@ import androidx.compose.ui.graphics.vector.ImageVector
import androidx.compose.ui.unit.Dp
import androidx.compose.ui.unit.DpSize
import androidx.compose.ui.unit.dp
import center.sciprog.attributes.Attributes
import center.sciprog.maps.features.*
import space.kscience.attributes.Attributes
import space.kscience.kmath.geometry.Angle
import kotlin.math.ceil

2
maps-kt-scheme/src/jvmMain/kotlin/center/sciprog/maps/svg/SvgCanvas.kt
View File

@ -301,7 +301,7 @@ internal class SvgCanvas(val graphics: SVGGraphics2D) : Canvas {
}
internal class SvgDrawContext(val graphics: SVGGraphics2D, override var size: Size) : DrawContext {
override val canvas: Canvas = SvgCanvas(graphics)
override var canvas: Canvas = SvgCanvas(graphics)
override val transform: DrawTransform = asDrawTransform()
}

7
maps-kt-scheme/src/jvmMain/kotlin/center/sciprog/maps/svg/SvgDrawScope.kt
View File

@ -4,15 +4,18 @@ import androidx.compose.ui.geometry.CornerRadius
import androidx.compose.ui.geometry.Offset
import androidx.compose.ui.geometry.Size
import androidx.compose.ui.graphics.*
import androidx.compose.ui.graphics.drawscope.*
import androidx.compose.ui.graphics.drawscope.DrawContext
import androidx.compose.ui.graphics.drawscope.DrawStyle
import androidx.compose.ui.graphics.drawscope.Fill
import androidx.compose.ui.graphics.drawscope.Stroke
import androidx.compose.ui.graphics.painter.Painter
import androidx.compose.ui.unit.IntOffset
import androidx.compose.ui.unit.IntSize
import androidx.compose.ui.unit.LayoutDirection
import center.sciprog.attributes.Attributes
import center.sciprog.maps.features.*
import center.sciprog.maps.scheme.XY
import org.jfree.svg.SVGGraphics2D
import space.kscience.attributes.Attributes
import java.awt.BasicStroke
import java.awt.geom.*
import java.awt.image.AffineTransformOp

2
settings.gradle.kts
View File

@ -61,6 +61,6 @@ include(
":demo:scheme",
":demo:polygon-editor",
":demo:trajectory-playground",
":demo:maps-js"
":demo:maps-wasm"
)

5
trajectory-kt/build.gradle.kts
View File

@ -11,9 +11,12 @@ kscience{
jvm()
js()
native()
wasm()
useContextReceivers()
useSerialization()
useSerialization{
json()
}
dependencies {
api("space.kscience:kmath-geometry:$kmathVersion")
}

27
maps-kt-features/src/commonMain/kotlin/center.sciprog.attributes/AttributesSerializer.kt → trajectory-kt/src/commonMain/kotlin/space/kscience/AttributesSerializer.kt
View File

@ -1,12 +1,15 @@
@file:Suppress("UNCHECKED_CAST")
package center.sciprog.attributes
package space.kscience
import kotlinx.serialization.KSerializer
import kotlinx.serialization.builtins.serializer
import kotlinx.serialization.descriptors.SerialDescriptor
import kotlinx.serialization.encoding.Decoder
import kotlinx.serialization.encoding.Encoder
import kotlinx.serialization.json.*
import space.kscience.attributes.Attribute
import space.kscience.attributes.Attributes
public class AttributesSerializer(
private val serializableAttributes: Set<SerializableAttribute<*>>,
@ -29,12 +32,16 @@ public class AttributesSerializer(
attr to value
}
return Attributes(attributeMap)
return object : Attributes {
override val content: Map<out Attribute<*>, Any?> = attributeMap
override fun toString(): String = "Attributes(value=${content.entries})"
override fun equals(other: Any?): Boolean = other is Attributes && Attributes.equals(this, other)
}
}
override fun serialize(encoder: Encoder, value: Attributes) {
val json = buildJsonObject {
value.content.forEach { (key: Attribute<*>, value: Any) ->
value.content.forEach { (key: Attribute<*>, value: Any?) ->
if (key !in serializableAttributes) error("An attribute key '$key' is not in the list of allowed attributes for this serializer")
val serializableKey = key as SerializableAttribute
@ -46,10 +53,22 @@ public class AttributesSerializer(
put(
serializableKey.serialId,
json.encodeToJsonElement(serializableKey.serializer as KSerializer<Any>, value)
json.encodeToJsonElement(serializableKey.serializer as KSerializer<Any?>, value)
)
}
}
jsonSerializer.serialize(encoder, json)
}
}
public abstract class SerializableAttribute<T>(
public val serialId: String,
public val serializer: KSerializer<T>,
) : Attribute<T> {
override fun toString(): String = serialId
}
public object NameAttribute : SerializableAttribute<String>("name", String.serializer())
public fun Attributes.Companion.equals(a1: Attributes, a2: Attributes): Boolean =
a1.keys == a2.keys && a1.keys.all { a1[it] == a2[it] }

32
trajectory-kt/src/commonMain/kotlin/space/kscience/kmath/geometry/geometryExtensions.kt → trajectory-kt/src/commonMain/kotlin/space/kscience/geometryExtensions.kt
View File

@ -1,21 +1,25 @@
package space.kscience.kmath.geometry
package space.kscience
import space.kscience.kmath.geometry.*
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.kmath.structures.Float64
import space.kscience.trajectory.*
import kotlin.math.abs
import kotlin.math.pow
import kotlin.math.sign
import kotlin.math.sqrt
public fun Euclidean2DSpace.circle(x: Number, y: Number, radius: Number): Circle2D =
public fun Float64Space2D.circle(x: Number, y: Number, radius: Number): Circle2D<Float64> =
Circle2D(vector(x, y), radius = radius.toDouble())
public fun Euclidean2DSpace.segment(begin: DoubleVector2D, end: DoubleVector2D): LineSegment2D =
public fun Float64Space2D.segment(begin: Vector2D<Float64>, end: Vector2D<Float64>): LineSegment2D =
LineSegment(begin, end)
public fun Euclidean2DSpace.segment(x1: Number, y1: Number, x2: Number, y2: Number): LineSegment2D =
public fun Float64Space2D.segment(x1: Number, y1: Number, x2: Number, y2: Number): LineSegment2D =
LineSegment(vector(x1, y1), vector(x2, y2))
public fun Euclidean2DSpace.intersectsOrInside(circle1: Circle2D, circle2: Circle2D): Boolean {
public fun Float64Space2D.intersectsOrInside(circle1: Circle2D<Float64>, circle2: Circle2D<Float64>): Boolean {
val distance = norm(circle2.center - circle1.center)
return distance <= circle1.radius + circle2.radius
}
@ -23,7 +27,7 @@ public fun Euclidean2DSpace.intersectsOrInside(circle1: Circle2D, circle2: Circl
/**
* https://mathworld.wolfram.com/Circle-LineIntersection.html
*/
public fun Euclidean2DSpace.intersects(segment: LineSegment2D, circle: Circle2D): Boolean {
public fun Float64Space2D.intersects(segment: LineSegment2D, circle: Circle2D<Float64>): Boolean {
val direction = segment.end - segment.begin
val radiusVector = segment.begin - circle.center
@ -43,14 +47,14 @@ public fun Euclidean2DSpace.intersects(segment: LineSegment2D, circle: Circle2D)
}
public fun Euclidean2DSpace.intersects(circle: Circle2D, segment: LineSegment2D): Boolean =
public fun Float64Space2D.intersects(circle: Circle2D<Float64>, segment: LineSegment2D): Boolean =
intersects(segment, circle)
public fun Euclidean2DSpace.intersects(segment1: LineSegment2D, segment2: LineSegment2D): Boolean {
infix fun DoubleVector2D.cross(v2: DoubleVector2D): Double = x * v2.y - y * v2.x
infix fun DoubleVector2D.crossSign(v2: DoubleVector2D) = cross(v2).sign
public fun Float64Space2D.intersects(segment1: LineSegment2D, segment2: LineSegment2D): Boolean {
infix fun Vector2D<Float64>.cross(v2: Vector2D<Float64>): Double = x * v2.y - y * v2.x
infix fun Vector2D<Float64>.crossSign(v2: Vector2D<Float64>) = cross(v2).sign
return with(Euclidean2DSpace) {
return with(Float64Space2D) {
(segment2.begin - segment1.begin) crossSign (segment2.end - segment1.begin) !=
(segment2.begin - segment1.end) crossSign (segment2.end - segment1.end) &&
(segment1.begin - segment2.begin) crossSign (segment1.end - segment2.begin) !=
@ -58,7 +62,7 @@ public fun Euclidean2DSpace.intersects(segment1: LineSegment2D, segment2: LineSe
}
}
public fun Euclidean2DSpace.intersectsTrajectory(segment: LineSegment2D, trajectory: Trajectory2D): Boolean =
public fun Float64Space2D.intersectsTrajectory(segment: LineSegment2D, trajectory: Trajectory2D): Boolean =
when (trajectory) {
is CircleTrajectory2D -> intersects(segment, trajectory.circle)
is StraightTrajectory2D -> intersects(segment, trajectory)
@ -72,7 +76,7 @@ public fun Euclidean2DSpace.intersectsTrajectory(segment: LineSegment2D, traject
*
* @param bearing is counted the same way as in [Pose2D], from positive y clockwise
*/
public fun Circle2D.tangent(bearing: Angle, direction: Trajectory2D.Direction): Pose2D = with(Euclidean2DSpace) {
public fun Circle2D<Float64>.tangent(bearing: Angle, direction: Trajectory2D.Direction): Pose2D = with(Float64Space2D) {
val coordinates: Vector2D<Double> = vector(center.x + radius * sin(bearing), center.y + radius * cos(bearing))
val tangentAngle = when (direction) {
Trajectory2D.R -> bearing + Angle.piDiv2
@ -82,7 +86,7 @@ public fun Circle2D.tangent(bearing: Angle, direction: Trajectory2D.Direction):
}
public fun CircleTrajectory2D.containsPoint(point: DoubleVector2D): Boolean = with(Euclidean2DSpace) {
public fun CircleTrajectory2D.containsPoint(point: Vector2D<Float64>): Boolean = with(Float64Space2D) {
val radiusVector = point - center
if (abs(norm(radiusVector) - circle.radius) > 1e-4 * circle.radius) error("Wrong radius")
val radiusVectorBearing = radiusVector.bearing

21
trajectory-kt/src/commonMain/kotlin/space/kscience/kmath/geometry/polygonExtensions.kt
View File

@ -1,21 +0,0 @@
package space.kscience.kmath.geometry
import space.kscience.kmath.misc.zipWithNextCircular
import space.kscience.trajectory.Trajectory2D
public fun Euclidean2DSpace.polygon(points: List<DoubleVector2D>): Polygon<Double> = object : Polygon<Double> {
override val points: List<Vector2D<Double>> get() = points
}
public fun Euclidean2DSpace.intersects(polygon: Polygon<Double>, segment: LineSegment2D): Boolean =
polygon.points.zipWithNextCircular { l, r -> segment(l, r) }.any { intersects(it, segment) }
public fun Euclidean2DSpace.intersects(polygon: Polygon<Double>, circle: Circle2D): Boolean =
polygon.points.zipWithNextCircular { l, r -> segment(l, r) }.any { intersects(it, circle) }
public fun Euclidean2DSpace.intersectsTrajectory(polygon: Polygon<Double>, trajectory: Trajectory2D): Boolean =
polygon.points.zipWithNextCircular { l, r ->
segment(l, r)
}.any { edge ->
intersectsTrajectory(edge, trajectory)
}

28
trajectory-kt/src/commonMain/kotlin/space/kscience/polygonExtensions.kt Normal file
View File

@ -0,0 +1,28 @@
package space.kscience
import space.kscience.kmath.geometry.LineSegment2D
import space.kscience.kmath.geometry.Polygon
import space.kscience.kmath.geometry.Vector2D
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.kmath.misc.zipWithNextCircular
import space.kscience.kmath.structures.Float64
import space.kscience.trajectory.Trajectory2D
public fun Float64Space2D.polygon(points: List<Vector2D<Double>>): Polygon<Vector2D<Float64>> =
object : Polygon<Vector2D<Float64>> {
override val points: List<Vector2D<Double>> get() = points
}
public fun Float64Space2D.intersects(polygon: Polygon<Vector2D<Float64>>, segment: LineSegment2D): Boolean =
polygon.points.zipWithNextCircular { l, r -> segment(l, r) }.any { intersects(it, segment) }
public fun Float64Space2D.intersects(polygon: Polygon<Vector2D<Float64>>, circle: Circle2D<Float64>): Boolean =
polygon.points.zipWithNextCircular { l, r -> segment(l, r) }.any { intersects(it, circle) }
public fun Float64Space2D.intersectsTrajectory(polygon: Polygon<Vector2D<Float64>>, trajectory: Trajectory2D): Boolean =
polygon.points.zipWithNextCircular { l, r ->
segment(l, r)
}.any { edge ->
intersectsTrajectory(edge, trajectory)
}

51
trajectory-kt/src/commonMain/kotlin/space/kscience/trajectory/DubinsPath.kt
View File

@ -5,23 +5,33 @@
package space.kscience.trajectory
import space.kscience.kmath.geometry.*
import space.kscience.kmath.geometry.Euclidean2DSpace.distanceTo
import space.kscience.kmath.geometry.cos
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D.distanceTo
import space.kscience.kmath.geometry.normalized
import space.kscience.kmath.geometry.radians
import space.kscience.kmath.geometry.sin
import space.kscience.kmath.structures.Float64
import space.kscience.trajectory.Trajectory2D.*
import kotlin.math.acos
internal fun Pose2D.getLeftCircle(radius: Double): Circle2D = getTangentCircles(radius).first
internal fun Pose2D.getLeftCircle(radius: Double): Circle2D<Float64> = getTangentCircles(radius).first
internal fun Pose2D.getRightCircle(radius: Double): Circle2D = getTangentCircles(radius).second
internal fun Pose2D.getRightCircle(radius: Double): Circle2D<Float64> = getTangentCircles(radius).second
internal fun Pose2D.getTangentCircles(radius: Double): Pair<Circle2D, Circle2D> = with(Euclidean2DSpace) {
internal fun Pose2D.getTangentCircles(radius: Double): Pair<Circle2D<Float64>, Circle2D<Float64>> =
with(Float64Space2D) {
val dX = radius * cos(bearing)
val dY = radius * sin(bearing)
return Circle2D(vector(x - dX, y + dY), radius) to Circle2D(vector(x + dX, y - dY), radius)
}
}
private fun outerTangent(from: Circle2D, to: Circle2D, direction: Direction): StraightTrajectory2D =
with(Euclidean2DSpace) {
private fun Float64Space2D.outerTangent(
from: Circle2D<Float64>,
to: Circle2D<Float64>,
direction: Direction,
): StraightTrajectory2D {
val centers = StraightTrajectory2D(from.center, to.center)
val p1 = when (direction) {
L -> vector(
@ -38,15 +48,14 @@ private fun outerTangent(from: Circle2D, to: Circle2D, direction: Direction): St
p1,
vector(p1.x + (centers.end.x - centers.begin.x), p1.y + (centers.end.y - centers.begin.y))
)
}
}
private fun innerTangent(
from: Circle2D,
to: Circle2D,
private fun Float64Space2D.innerTangent(
from: Circle2D<Float64>,
to: Circle2D<Float64>,
direction: Direction,
): StraightTrajectory2D? =
with(Euclidean2DSpace) {
): StraightTrajectory2D? {
val centers = StraightTrajectory2D(from.center, to.center)
if (centers.length < from.radius * 2) return null
val angle = when (direction) {
@ -59,7 +68,7 @@ private fun innerTangent(
val p1 = vector(from.center.x + dX, from.center.y + dY)
val p2 = vector(to.center.x - dX, to.center.y - dY)
return StraightTrajectory2D(p1, p2)
}
}
@Suppress("DuplicatedCode")
@ -118,7 +127,7 @@ public object DubinsPath {
all(start, end, turningRadius).minBy { it.length }
public fun rlr(start: Pose2D, end: Pose2D, turningRadius: Double): CompositeTrajectory2D? =
with(Euclidean2DSpace) {
with(Float64Space2D) {
val c1 = start.getRightCircle(turningRadius)
val c2 = end.getRightCircle(turningRadius)
val centers = StraightTrajectory2D(c1.center, c2.center)
@ -162,7 +171,7 @@ public object DubinsPath {
}
public fun lrl(start: Pose2D, end: Pose2D, turningRadius: Double): CompositeTrajectory2D? =
with(Euclidean2DSpace) {
with(Float64Space2D) {
val c1 = start.getLeftCircle(turningRadius)
val c2 = end.getLeftCircle(turningRadius)
val centers = StraightTrajectory2D(c1.center, c2.center)
@ -208,7 +217,7 @@ public object DubinsPath {
public fun rsr(start: Pose2D, end: Pose2D, turningRadius: Double): CompositeTrajectory2D {
val c1 = start.getRightCircle(turningRadius)
val c2 = end.getRightCircle(turningRadius)
val s = outerTangent(c1, c2, L)
val s = Float64Space2D.outerTangent(c1, c2, L)
val a1 = CircleTrajectory2D(c1.center, start, s.begin, R)
val a3 = CircleTrajectory2D(c2.center, s.end, end, R)
return CompositeTrajectory2D(a1, s, a3)
@ -217,7 +226,7 @@ public object DubinsPath {
public fun lsl(start: Pose2D, end: Pose2D, turningRadius: Double): CompositeTrajectory2D {
val c1 = start.getLeftCircle(turningRadius)
val c2 = end.getLeftCircle(turningRadius)
val s = outerTangent(c1, c2, R)
val s = Float64Space2D.outerTangent(c1, c2, R)
val a1 = CircleTrajectory2D(c1.center, start, s.begin, L)
val a3 = CircleTrajectory2D(c2.center, s.end, end, L)
return CompositeTrajectory2D(a1, s, a3)
@ -226,7 +235,7 @@ public object DubinsPath {
public fun rsl(start: Pose2D, end: Pose2D, turningRadius: Double): CompositeTrajectory2D? {
val c1 = start.getRightCircle(turningRadius)
val c2 = end.getLeftCircle(turningRadius)
val s = innerTangent(c1, c2, R)
val s = Float64Space2D.innerTangent(c1, c2, R)
if (s == null || c1.center.distanceTo(c2.center) < turningRadius * 2) return null
val a1 = CircleTrajectory2D(c1.center, start, s.begin, R)
@ -237,7 +246,7 @@ public object DubinsPath {
public fun lsr(start: Pose2D, end: Pose2D, turningRadius: Double): CompositeTrajectory2D? {
val c1 = start.getLeftCircle(turningRadius)
val c2 = end.getRightCircle(turningRadius)
val s = innerTangent(c1, c2, L)
val s = Float64Space2D.innerTangent(c1, c2, L)
if (s == null || c1.center.distanceTo(c2.center) < turningRadius * 2) return null
val a1 = CircleTrajectory2D(c1.center, start, s.begin, L)

27
trajectory-kt/src/commonMain/kotlin/space/kscience/trajectory/Obstacle.kt
View File

@ -5,8 +5,15 @@
package space.kscience.trajectory
import space.kscience.kmath.geometry.*
import space.kscience.intersectsTrajectory
import space.kscience.kmath.geometry.Angle
import space.kscience.kmath.geometry.Polygon
import space.kscience.kmath.geometry.Vector2D
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.kmath.misc.zipWithNextCircular
import space.kscience.kmath.structures.Float64
import space.kscience.polygon
public interface Obstacle {
@ -30,7 +37,7 @@ public interface Obstacle {
}
}
private class CircleObstacle(val circle: Circle2D) : Obstacle {
private class CircleObstacle(val circle: Circle2D<Float64>) : Obstacle {
override val center: Vector2D<Double> get() = circle.center
override val arcs: List<CircleTrajectory2D>
@ -41,7 +48,7 @@ private class CircleObstacle(val circle: Circle2D) : Obstacle {
override fun intersectsTrajectory(trajectory: Trajectory2D): Boolean =
Euclidean2DSpace.intersectsTrajectory(circumvention, trajectory)
Float64Space2D.intersectsTrajectory(circumvention, trajectory)
override fun equals(other: Any?): Boolean {
if (this === other) return true
@ -67,18 +74,18 @@ private class CoreObstacle(override val circumvention: CompositeTrajectory2D) :
}
override val center: Vector2D<Double> by lazy {
Euclidean2DSpace.vector(
Float64Space2D.vector(
arcs.sumOf { it.center.x } / arcs.size,
arcs.sumOf { it.center.y } / arcs.size
)
}
val core: Polygon<Double> by lazy {
Euclidean2DSpace.polygon(arcs.map { it.circle.center })
val core: Polygon<Vector2D<Float64>> by lazy {
Float64Space2D.polygon(arcs.map { it.circle.center })
}
override fun intersectsTrajectory(trajectory: Trajectory2D): Boolean =
Euclidean2DSpace.intersectsTrajectory(core, trajectory)
Float64Space2D.intersectsTrajectory(core, trajectory)
override fun equals(other: Any?): Boolean {
@ -99,7 +106,7 @@ private class CoreObstacle(override val circumvention: CompositeTrajectory2D) :
}
}
public fun Obstacle(circles: List<Circle2D>): Obstacle = with(Euclidean2DSpace) {
public fun Obstacle(circles: List<Circle2D<Float64>>): Obstacle = with(Float64Space2D) {
require(circles.isNotEmpty()) { "Can't create circumvention for an empty obstacle" }
//Create a single circle obstacle
if(circles.size == 1) return CircleObstacle(circles.first())
@ -123,7 +130,7 @@ public fun Obstacle(circles: List<Circle2D>): Obstacle = with(Euclidean2DSpace)
(it.center - center).bearing
}
val tangents = convex.zipWithNextCircular { a: Circle2D, b: Circle2D ->
val tangents = convex.zipWithNextCircular { a: Circle2D<Float64>, b: Circle2D<Float64> ->
tangentsBetweenCircles(a, b)[DubinsPath.Type.RSR]
?: error("Can't find right handed circumvention")
}
@ -144,7 +151,7 @@ public fun Obstacle(circles: List<Circle2D>): Obstacle = with(Euclidean2DSpace)
}
public fun Obstacle(vararg circles: Circle2D): Obstacle = Obstacle(listOf(*circles))
public fun Obstacle(vararg circles: Circle2D<Float64>): Obstacle = Obstacle(listOf(*circles))
public fun Obstacle(points: List<Vector2D<Double>>, radius: Double): Obstacle =
Obstacle(points.map { Circle2D(it, radius) })

28
trajectory-kt/src/commonMain/kotlin/space/kscience/trajectory/Obstacles.kt
View File

@ -1,13 +1,21 @@
package space.kscience.trajectory
import space.kscience.kmath.geometry.*
import space.kscience.containsPoint
import space.kscience.intersects
import space.kscience.intersectsOrInside
import space.kscience.kmath.geometry.Angle
import space.kscience.kmath.geometry.Polygon
import space.kscience.kmath.geometry.Vector2D
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.kmath.structures.Float64
import kotlin.collections.component1
import kotlin.collections.component2
/**
* The same as [intersectsTrajectory], but bypasses same circles or same straights
*/
private fun Euclidean2DSpace.intersectsOtherTrajectory(a: Trajectory2D, b: Trajectory2D): Boolean = when (a) {
private fun Float64Space2D.intersectsOtherTrajectory(a: Trajectory2D, b: Trajectory2D): Boolean = when (a) {
is CircleTrajectory2D -> when (b) {
is CircleTrajectory2D -> a != b && intersectsOrInside(a.circle, b.circle)
is StraightTrajectory2D -> intersects(a.circle, b)
@ -32,7 +40,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
val direction: Trajectory2D.Direction,
) {
val obstacle: Obstacle get() = obstacles[obstacleIndex]
val circle: Circle2D get() = obstacle.arcs[nodeIndex].circle
val circle: Circle2D<Float64> get() = obstacle.arcs[nodeIndex].circle
}
private inner class ObstacleTangent(
@ -44,7 +52,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
* If false, this tangent intersects another obstacle
*/
val isValid by lazy {
with(Euclidean2DSpace) {
with(Float64Space2D) {
obstacles.indices.none {
it != from?.obstacleIndex && it != to?.obstacleIndex && obstacles[it].intersectsTrajectory(
tangentTrajectory
@ -64,7 +72,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
private fun tangentsBetween(
firstIndex: Int,
secondIndex: Int,
): Map<DubinsPath.Type, ObstacleTangent> = with(Euclidean2DSpace) {
): Map<DubinsPath.Type, ObstacleTangent> = with(Float64Space2D) {
val first = obstacles[firstIndex]
val second = obstacles[secondIndex]
buildMap {
@ -99,7 +107,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
private fun tangentsFromArc(
arc: CircleTrajectory2D,
obstacleIndex: Int,
): Map<DubinsPath.Type, ObstacleTangent> = with(Euclidean2DSpace) {
): Map<DubinsPath.Type, ObstacleTangent> = with(Float64Space2D) {
val obstacle = obstacles[obstacleIndex]
buildMap {
for (circleIndex in obstacle.arcs.indices) {
@ -127,7 +135,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
obstacleIndex: Int,
obstacleDirection: Trajectory2D.Direction,
arc: CircleTrajectory2D,
): ObstacleTangent? = with(Euclidean2DSpace) {
): ObstacleTangent? = with(Float64Space2D) {
val obstacle = obstacles[obstacleIndex]
for (circleIndex in obstacle.arcs.indices) {
val obstacleArc = obstacle.arcs[circleIndex]
@ -207,7 +215,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
private fun avoiding(
dubinsPath: CompositeTrajectory2D,
): Collection<Trajectory2D> = with(Euclidean2DSpace) {
): Collection<Trajectory2D> = with(Float64Space2D) {
//fast return if no obstacles intersect the direct path
if (obstacles.none { it.intersectsTrajectory(dubinsPath) }) return listOf(dubinsPath)
@ -337,7 +345,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
start: Pose2D,
finish: Pose2D,
radius: Double,
vararg polygons: Polygon<Double>,
vararg polygons: Polygon<Vector2D<Float64>>,
): List<Trajectory2D> {
val obstacles: List<Obstacle> = polygons.map { polygon ->
Obstacle(polygon.points, radius)
@ -350,7 +358,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
start: Pose2D,
finish: Pose2D,
radius: Double,
polygons: Collection<Polygon<Double>>,
polygons: Collection<Polygon<Vector2D<Float64>>>,
): List<Trajectory2D> {
val obstacles: List<Obstacle> = polygons.map { polygon ->
Obstacle(polygon.points, radius)

31
trajectory-kt/src/commonMain/kotlin/space/kscience/trajectory/Pose2D.kt
View File

@ -2,7 +2,7 @@
* Copyright 2018-2022 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
@file:UseSerializers(Euclidean2DSpace.VectorSerializer::class)
@file:UseSerializers(Float64Space2D.VectorSerializer::class)
package space.kscience.trajectory
@ -14,14 +14,16 @@ import kotlinx.serialization.descriptors.SerialDescriptor
import kotlinx.serialization.encoding.Decoder
import kotlinx.serialization.encoding.Encoder
import space.kscience.kmath.geometry.*
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.kmath.structures.Float64
import kotlin.math.atan2
/**
* Combination of [Vector] and its view angle (clockwise from positive y-axis direction)
*/
@Serializable(Pose2DSerializer::class)
public interface Pose2D : DoubleVector2D {
public val coordinates: DoubleVector2D
public interface Pose2D : Vector2D<Float64> {
public val coordinates: Vector2D<Float64>
public val bearing: Angle
/**
@ -31,9 +33,9 @@ public interface Pose2D : DoubleVector2D {
public companion object {
public fun bearingToVector(bearing: Angle): Vector2D<Double> =
Euclidean2DSpace.vector(cos(bearing), sin(bearing))
Float64Space2D.vector(cos(bearing), sin(bearing))
public fun vectorToBearing(vector2D: DoubleVector2D): Angle {
public fun vectorToBearing(vector2D: Vector2D<Float64>): Angle {
require(vector2D.x != 0.0 || vector2D.y != 0.0) { "Can't get bearing of zero vector" }
return atan2(vector2D.y, vector2D.x).radians
}
@ -43,25 +45,24 @@ public interface Pose2D : DoubleVector2D {
@Serializable
public class PhaseVector2D(
override val coordinates: DoubleVector2D,
public val velocity: DoubleVector2D,
) : Pose2D, DoubleVector2D by coordinates {
override val coordinates: Vector2D<Float64>,
public val velocity: Vector2D<Float64>,
) : Pose2D, Vector2D<Float64> by coordinates {
override val bearing: Angle get() = atan2(velocity.x, velocity.y).radians
override fun reversed(): Pose2D = with(Euclidean2DSpace) { PhaseVector2D(coordinates, -velocity) }
override fun reversed(): Pose2D = with(Float64Space2D) { PhaseVector2D(coordinates, -velocity) }
}
@Serializable
@SerialName("DubinsPose2D")
private class Pose2DImpl(
override val coordinates: DoubleVector2D,
override val coordinates: Vector2D<Float64>,
override val bearing: Angle,
) : Pose2D, DoubleVector2D by coordinates {
) : Pose2D, Vector2D<Float64> by coordinates {
override fun reversed(): Pose2D = Pose2DImpl(coordinates, bearing.plus(Angle.pi).normalized())
override fun toString(): String = "Pose2D(x=$x, y=$y, bearing=$bearing)"
override fun equals(other: Any?): Boolean {
if (this === other) return true
@ -96,11 +97,11 @@ public object Pose2DSerializer : KSerializer<Pose2D> {
}
}
public fun Pose2D(coordinate: DoubleVector2D, bearing: Angle): Pose2D =
public fun Pose2D(coordinate: Vector2D<Float64>, bearing: Angle): Pose2D =
Pose2DImpl(coordinate, bearing)
public fun Pose2D(point: DoubleVector2D, direction: DoubleVector2D): Pose2D =
public fun Pose2D(point: Vector2D<Float64>, direction: Vector2D<Float64>): Pose2D =
Pose2D(point, Pose2D.vectorToBearing(direction))
public fun Pose2D(x: Number, y: Number, bearing: Angle): Pose2D =
Pose2DImpl(Euclidean2DSpace.vector(x, y), bearing)
Pose2DImpl(Float64Space2D.vector(x, y), bearing)

45
trajectory-kt/src/commonMain/kotlin/space/kscience/trajectory/Trajectory2D.kt
View File

@ -2,16 +2,21 @@
* Copyright 2018-2022 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
@file:UseSerializers(Euclidean2DSpace.VectorSerializer::class)
@file:UseSerializers(Float64Space2D.VectorSerializer::class)
package space.kscience.trajectory
import kotlinx.serialization.SerialName
import kotlinx.serialization.Serializable
import kotlinx.serialization.UseSerializers
import space.kscience.intersects
import space.kscience.intersectsOrInside
import space.kscience.kmath.geometry.*
import space.kscience.kmath.geometry.Euclidean2DSpace.distanceTo
import space.kscience.kmath.geometry.Euclidean2DSpace.minus
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D.distanceTo
import space.kscience.kmath.structures.Float64
import space.kscience.tangent
import kotlin.math.atan2
@Serializable
@ -44,7 +49,7 @@ public sealed interface Trajectory2D {
}
public val DoubleVector2D.bearing: Angle get() = (atan2(x, y).radians).normalized()
public val Vector2D<Float64>.bearing: Angle get() = (atan2(x, y).radians).normalized()
/**
* Straight path segment. The order of start and end defines the direction
@ -52,13 +57,13 @@ public val DoubleVector2D.bearing: Angle get() = (atan2(x, y).radians).normalize
@Serializable
@SerialName("straight")
public data class StraightTrajectory2D(
override val begin: DoubleVector2D,
override val end: DoubleVector2D,
override val begin: Vector2D<Float64>,
override val end: Vector2D<Float64>,
) : Trajectory2D, LineSegment2D {
override val length: Double get() = begin.distanceTo(end)
public val bearing: Angle get() = (end - begin).bearing
public val bearing: Angle get() = with(Float64Space2D) { (end - begin).bearing }
override val beginPose: Pose2D get() = Pose2D(begin, bearing)
override val endPose: Pose2D get() = Pose2D(end, bearing)
@ -75,7 +80,7 @@ public fun StraightTrajectory2D(segment: LineSegment2D): StraightTrajectory2D =
@Serializable
@SerialName("arc")
public data class CircleTrajectory2D(
public val circle: Circle2D,
public val circle: Circle2D<Float64>,
public val arcStart: Angle,
public val arcAngle: Angle,
) : Trajectory2D {
@ -86,7 +91,7 @@ public data class CircleTrajectory2D(
override val endPose: Pose2D get() = circle.tangent(arcEnd, direction)
override val length: Double by lazy {
circle.radius * kotlin.math.abs(arcAngle.radians)
circle.radius * kotlin.math.abs(arcAngle.toRadians().value)
}
val center: Vector2D<Double> get() = circle.center
@ -98,11 +103,11 @@ public data class CircleTrajectory2D(
}
public fun CircleTrajectory2D(
center: DoubleVector2D,
start: DoubleVector2D,
end: DoubleVector2D,
center: Vector2D<Float64>,
start: Vector2D<Float64>,
end: Vector2D<Float64>,
direction: Trajectory2D.Direction,
): CircleTrajectory2D = with(Euclidean2DSpace) {
): CircleTrajectory2D = with(Float64Space2D) {
val startVector = start - center
val endVector = end - center
val startRadius = norm(startVector)
@ -131,11 +136,11 @@ public fun CircleTrajectory2D(
}
public fun CircleTrajectory2D(
circle: Circle2D,
start: DoubleVector2D,
end: DoubleVector2D,
circle: Circle2D<Float64>,
start: Vector2D<Float64>,
end: Vector2D<Float64>,
direction: Trajectory2D.Direction,
): CircleTrajectory2D = with(Euclidean2DSpace) {
): CircleTrajectory2D = with(Float64Space2D) {
val startVector = start - circle.center
val endVector = end - circle.center
val startBearing = startVector.bearing
@ -161,10 +166,10 @@ public fun CircleTrajectory2D(
@Deprecated("Use angle notation instead")
public fun CircleTrajectory2D(
circle: Circle2D,
circle: Circle2D<Float64>,
beginPose: Pose2D,
endPose: Pose2D,
): CircleTrajectory2D = with(Euclidean2DSpace) {
): CircleTrajectory2D = with(Float64Space2D) {
val vectorToBegin = beginPose - circle.center
val vectorToEnd = endPose - circle.center
//TODO check pose bearing
@ -185,7 +190,7 @@ public class CompositeTrajectory2D(public val segments: List<Trajectory2D>) : Tr
public fun CompositeTrajectory2D(vararg segments: Trajectory2D): CompositeTrajectory2D =
CompositeTrajectory2D(segments.toList())
public fun Euclidean2DSpace.intersectsTrajectory(a: Trajectory2D, b: Trajectory2D): Boolean = when (a) {
public fun Float64Space2D.intersectsTrajectory(a: Trajectory2D, b: Trajectory2D): Boolean = when (a) {
is CircleTrajectory2D -> when (b) {
is CircleTrajectory2D -> intersectsOrInside(a.circle, b.circle)
is StraightTrajectory2D -> intersects(a.circle, b)

10
trajectory-kt/src/commonMain/kotlin/space/kscience/trajectory/circumvention.kt
View File

@ -1,6 +1,10 @@
package space.kscience.trajectory
import space.kscience.containsPoint
import space.kscience.kmath.geometry.*
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.kmath.structures.Float64
import space.kscience.trajectory.DubinsPath.Type
import kotlin.math.*
@ -10,9 +14,9 @@ import kotlin.math.*
* This method returns a map of segments using [DubinsPath] connection type notation.
*/
internal fun tangentsBetweenCircles(
first: Circle2D,
second: Circle2D,
): Map<Type, StraightTrajectory2D> = with(Euclidean2DSpace) {
first: Circle2D<Float64>,
second: Circle2D<Float64>,
): Map<Type, StraightTrajectory2D> = with(Float64Space2D) {
// Distance between centers
val distanceBetweenCenters: Double = first.center.distanceTo(second.center)

17
trajectory-kt/src/commonTest/kotlin/space/kscience/kmath/geometry/ArcTests.kt
View File

@ -5,6 +5,11 @@
package space.kscience.kmath.geometry
import space.kscience.circle
import space.kscience.containsPoint
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.kmath.geometry.euclidean2d.circumference
import space.kscience.trajectory.CircleTrajectory2D
import space.kscience.trajectory.Trajectory2D
import kotlin.math.PI
@ -16,7 +21,7 @@ import kotlin.test.assertTrue
class ArcTests {
@Test
fun arc() = with(Euclidean2DSpace) {
fun arc() = with(Float64Space2D) {
val circle = Circle2D(vector(0.0, 0.0), 2.0)
val arc = CircleTrajectory2D(
circle.center,
@ -25,12 +30,12 @@ class ArcTests {
Trajectory2D.R
)
assertEquals(circle.circumference / 4, arc.length, 1.0)
assertEquals(0.0, arc.beginPose.bearing.degrees)
assertEquals(90.0, arc.endPose.bearing.degrees)
assertEquals(0.0, arc.beginPose.bearing.toDegrees().value)
assertEquals(90.0, arc.endPose.bearing.toDegrees().value)
}
@Test
fun quarter() = with(Euclidean2DSpace) {
fun quarter() = with(Float64Space2D) {
val circle = circle(1, 0, 1)
val arc = CircleTrajectory2D(
circle,
@ -38,11 +43,11 @@ class ArcTests {
(PI/2).radians
)
assertEquals(Trajectory2D.R, arc.direction)
assertEquals(PI, arc.arcEnd.radians, 1e-4)
assertEquals(PI, arc.arcEnd.toRadians().value, 1e-4)
}
@Test
fun arcContains() = with(Euclidean2DSpace) {
fun arcContains() = with(Float64Space2D) {
val circle = circle(0, 0, 1.0)
val arc1 = CircleTrajectory2D(circle, Angle.pi / 4, Angle.piDiv2)

18
trajectory-kt/src/commonTest/kotlin/space/kscience/kmath/geometry/CircleTests.kt
View File

@ -5,6 +5,14 @@
package space.kscience.kmath.geometry
import space.kscience.circle
import space.kscience.intersects
import space.kscience.intersectsOrInside
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.kmath.geometry.euclidean2d.circumference
import space.kscience.kmath.structures.Float64
import space.kscience.segment
import kotlin.math.pow
import kotlin.math.sqrt
import kotlin.test.Test
@ -16,7 +24,7 @@ class CircleTests {
@Test
fun circle() {
val center = Euclidean2DSpace.vector(0.0, 0.0)
val center = Float64Space2D.vector(0.0, 0.0)
val radius = 2.0
val expectedCircumference = 12.56637
val circle = Circle2D(center, radius)
@ -24,7 +32,7 @@ class CircleTests {
}
@Test
fun circleIntersection() = with(Euclidean2DSpace) {
fun circleIntersection() = with(Float64Space2D) {
assertTrue {
intersectsOrInside(
circle(0.0, 0.0, 1.0),
@ -46,7 +54,7 @@ class CircleTests {
}
@Test
fun circleLineIntersection() = with(Euclidean2DSpace) {
fun circleLineIntersection() = with(Float64Space2D) {
assertTrue {
intersects(circle(0, 0, 1.0), segment(1, 1, -1, 1))
}
@ -84,7 +92,7 @@ class CircleTests {
}
}
private fun Euclidean2DSpace.oldIntersect(circle: Circle2D, segment: LineSegment2D): Boolean{
private fun Float64Space2D.oldIntersect(circle: Circle2D<Float64>, segment: LineSegment2D): Boolean{
val begin = segment.begin
val end = segment.end
val lengthSquared = (begin.x - end.x).pow(2) + (begin.y - end.y).pow(2)
@ -111,7 +119,7 @@ class CircleTests {
}
@Test
fun oldCircleLineIntersection() = with(Euclidean2DSpace){
fun oldCircleLineIntersection() = with(Float64Space2D){
assertTrue {
oldIntersect(circle(0, 0, 1.1), segment(1, 1, -1, 1))
}

15
trajectory-kt/src/commonTest/kotlin/space/kscience/kmath/geometry/LineTests.kt
View File

@ -5,6 +5,7 @@
package space.kscience.kmath.geometry
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.trajectory.StraightTrajectory2D
import kotlin.math.pow
import kotlin.math.sqrt
@ -14,22 +15,22 @@ import kotlin.test.assertEquals
class LineTests {
@Test
fun lineTest() = with(Euclidean2DSpace){
fun lineTest() = with(Float64Space2D){
val straight = StraightTrajectory2D(vector(0.0, 0.0), vector(100.0, 100.0))
assertEquals(sqrt(100.0.pow(2) + 100.0.pow(2)), straight.length)
assertEquals(45.0, straight.bearing.degrees)
assertEquals(45.0, straight.bearing.toDegrees().value)
}
@Test
fun lineAngleTest() = with(Euclidean2DSpace){
fun lineAngleTest() = with(Float64Space2D){
//val zero = Vector2D(0.0, 0.0)
val north = StraightTrajectory2D(zero, vector(0.0, 2.0))
assertEquals(0.0, north.bearing.degrees)
assertEquals(0.0, north.bearing.toDegrees().value)
val east = StraightTrajectory2D(zero, vector(2.0, 0.0))
assertEquals(90.0, east.bearing.degrees)
assertEquals(90.0, east.bearing.toDegrees().value)
val south = StraightTrajectory2D(zero, vector(0.0, -2.0))
assertEquals(180.0, south.bearing.degrees)
assertEquals(180.0, south.bearing.toDegrees().value)
val west = StraightTrajectory2D(zero, vector(-2.0, 0.0))
assertEquals(270.0, west.bearing.degrees)
assertEquals(270.0, west.bearing.toDegrees().value)
}
}

6
trajectory-kt/src/commonTest/kotlin/space/kscience/trajectory/DubinsTests.kt
View File

@ -5,7 +5,7 @@
package space.kscience.trajectory
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import kotlin.test.Test
import kotlin.test.assertEquals
import kotlin.test.assertNotNull
@ -14,7 +14,7 @@ import kotlin.test.assertNotNull
class DubinsTests {
@Test
fun dubinsTest() = with(Euclidean2DSpace) {
fun dubinsTest() = with(Float64Space2D) {
val straight = StraightTrajectory2D(vector(0.0, 0.0), vector(100.0, 100.0))
val lineP1 = straight.shift(1, 10.0).inverse()
@ -53,7 +53,7 @@ class DubinsTests {
assertEquals(c.beginPose, b.endPose, 1e-4)
} else if (b is StraightTrajectory2D) {
assertEquals(a.endPose, Pose2D(b.begin, b.bearing), 1e-4)
assertEquals(c.beginPose, Pose2D(b.end, b.bearing),1e-4)
assertEquals(c.beginPose, Pose2D(b.end, b.bearing), 1e-4)
}
}
}

16
trajectory-kt/src/commonTest/kotlin/space/kscience/trajectory/ObstacleTest.kt
View File

@ -6,10 +6,10 @@
package space.kscience.trajectory
import space.kscience.kmath.geometry.Angle
import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.Degrees
import space.kscience.kmath.geometry.Euclidean2DSpace.vector
import space.kscience.kmath.geometry.degrees
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import kotlin.math.PI
import kotlin.test.Test
import kotlin.test.assertEquals
@ -18,7 +18,7 @@ import kotlin.test.assertTrue
class ObstacleTest {
@Test
fun equalObstacles() {
fun equalObstacles() = with(Float64Space2D) {
val circle1 = Circle2D(vector(1.0, 6.5), 0.5)
val circle2 = Circle2D(vector(1.0, 6.5), 0.5)
assertEquals(circle1, circle2)
@ -28,7 +28,7 @@ class ObstacleTest {
}
@Test
fun singePoint() {
fun singePoint() = with(Float64Space2D) {
val outputTangents: List<Trajectory2D> = Obstacles.avoidObstacles(
Pose2D(-5, -1, Angle.pi / 4),
Pose2D(20, 4, Angle.pi * 3 / 4),
@ -41,7 +41,7 @@ class ObstacleTest {
}
@Test
fun twoObstacles() {
fun twoObstacles() = with(Float64Space2D) {
val paths = Obstacles.avoidObstacles(
Pose2D(-5, -1, Angle.pi / 4),
Pose2D(20, 4, Angle.pi * 3 / 4),
@ -64,7 +64,7 @@ class ObstacleTest {
}
@Test
fun circumvention() {
fun circumvention() = with(Float64Space2D) {
val obstacle = Obstacle(
Circle2D(vector(0.0, 0.0), 1.0),
Circle2D(vector(0.0, 1.0), 1.0),
@ -80,7 +80,7 @@ class ObstacleTest {
}
@Test
fun closePoints() {
fun closePoints() = with(Float64Space2D) {
val obstacle = Obstacle(
Circle2D(vector(0.0, 0.0), 1.0),
Circle2D(vector(0.0, 1.0), 1.0),
@ -100,7 +100,7 @@ class ObstacleTest {
}
@Test
fun largeCoordinates() {
fun largeCoordinates() = with(Float64Space2D) {
val startPoints = listOf(
Pose2D(x = 484149.535516561, y = 2995086.2534208703, bearing = Degrees(3.401475378237137))
)

11
trajectory-kt/src/commonTest/kotlin/space/kscience/trajectory/TangentTest.kt
View File

@ -5,18 +5,17 @@
package space.kscience.trajectory
import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.Euclidean2DSpace.vector
import space.kscience.kmath.geometry.LineSegment
import space.kscience.kmath.geometry.equalsLine
import space.kscience.kmath.geometry.euclidean2d.Circle2D
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import kotlin.test.Test
import kotlin.test.assertEquals
import kotlin.test.assertTrue
class TangentTest {
@Test
fun tangents() {
fun tangents() = with(Float64Space2D) {
val c1 = Circle2D(vector(0.0, 0.0), 1.0)
val c2 = Circle2D(vector(4.0, 0.0), 1.0)
val routes = listOf(
@ -50,12 +49,12 @@ class TangentTest {
assertEquals(routes, tangentMapKeys)
for (i in segments.indices) {
assertTrue(segments[i].equalsLine(Euclidean2DSpace, tangentMapValues[i]))
assertTrue(segments[i].equalsLine(Float64Space2D, tangentMapValues[i]))
}
}
@Test
fun concentric(){
fun concentric() = with(Float64Space2D) {
val c1 = Circle2D(vector(0.0, 0.0), 10.0)
val c2 = Circle2D(vector(0.0, 0.0), 1.0)
assertEquals(emptyMap(), tangentsBetweenCircles(c1, c2))

9
trajectory-kt/src/commonTest/kotlin/space/kscience/trajectory/testutils.kt
View File

@ -5,20 +5,19 @@
package space.kscience.trajectory
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.radians
import space.kscience.kmath.geometry.euclidean2d.Float64Space2D
import space.kscience.kmath.geometry.sin
fun assertEquals(expected: Pose2D, actual: Pose2D, precision: Double = 1e-6){
fun assertEquals(expected: Pose2D, actual: Pose2D, precision: Double = 1e-6) {
kotlin.test.assertEquals(expected.x, actual.x, precision)
kotlin.test.assertEquals(expected.y, actual.y, precision)
kotlin.test.assertEquals(expected.bearing.radians, actual.bearing.radians, precision)
kotlin.test.assertEquals(expected.bearing.toRadians().value, actual.bearing.toRadians().value, precision)
}
fun StraightTrajectory2D.inverse() = StraightTrajectory2D(end, begin)
fun StraightTrajectory2D.shift(shift: Int, width: Double): StraightTrajectory2D = with(Euclidean2DSpace) {
fun StraightTrajectory2D.shift(shift: Int, width: Double): StraightTrajectory2D = with(Float64Space2D) {
val dX = width * sin(inverse().bearing)
val dY = width * sin(bearing)