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Fixed zero tangents

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This commit is contained in:
Alexander Nozik 2023-04-16 20:28:58 +03:00
parent 375de71ca6
commit 3fc52dd60f
1 changed files with 2 additions and 52 deletions
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54
trajectory-kt/src/commonMain/kotlin/space/kscience/kmath/trajectory/Obstacle.kt
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@ -107,58 +107,6 @@ internal class Obstacle(
public val direction: Trajectory2D.Direction public val direction: Trajectory2D.Direction
init { init {
// outer tangents for a polygon circles can be either lsl or rsr
// fun dubinsTangentsToCircles(
// firstCircle: Circle2D,
// secondCircle: Circle2D,
// ): LR<Tangent> = with(Euclidean2DSpace) {
// val line = LineSegment(firstCircle.center, secondCircle.center)
// val d = line.begin.distanceTo(line.end)
// val angle1 = atan2(secondCircle.center.x - firstCircle.center.x, secondCircle.center.y - firstCircle.center.y)
// var r: Double
// var angle2: Double
// val routes = mapOf(
// Trajectory2D.R to Pair(firstCircle.radius, secondCircle.radius),
// Trajectory2D.L to Pair(-firstCircle.radius, -secondCircle.radius)
// )
// return buildMap {
// for ((routeType, r1r2) in routes) {
// val r1 = r1r2.first
// val r2 = r1r2.second
// r = if (r1.sign == r2.sign) {
// r1.absoluteValue - r2.absoluteValue
// } else {
// r1.absoluteValue + r2.absoluteValue
// }
// if (d * d >= r * r) {
// val l = (d * d - r * r).pow(0.5)
// angle2 = if (r1.absoluteValue > r2.absoluteValue) {
// angle1 + r1.sign * atan2(r.absoluteValue, l)
// } else {
// angle1 - r2.sign * atan2(r.absoluteValue, l)
// }
// val w = this.vector(-cos(angle2), sin(angle2))
// this.put(
// routeType, Tangent(
// Circle2D(firstCircle.center, firstCircle.radius),
// secondCircle,
// this@Obstacle,
// this@Obstacle,
// LineSegment(
// firstCircle.center + w * r1,
// secondCircle.center + w * r2
// ),
// startDirection = routeType.first,
// endDirection = routeType.third
// )
// )
// } else {
// throw Exception("Circles should not intersect")
// }
// }
// }
// }
if (circles.size < 2) { if (circles.size < 2) {
tangents = emptyList() tangents = emptyList()
direction = Trajectory2D.R direction = Trajectory2D.R
@ -500,6 +448,7 @@ internal fun findAllPaths(
val tangentsAlong = if (tangent.startCircle == tangentPath.last().endCircle) { val tangentsAlong = if (tangent.startCircle == tangentPath.last().endCircle) {
//if the previous segment last circle is the same as first circle of the next segment //if the previous segment last circle is the same as first circle of the next segment
//If obstacle consists of single circle, do not walk around
if (tangent.startObstacle.circles.size < 2){ if (tangent.startObstacle.circles.size < 2){
emptyList() emptyList()
} else { } else {
@ -519,6 +468,7 @@ internal fun findAllPaths(
tangent.lineSegment.begin, tangent.lineSegment.begin,
currentDirection currentDirection
) )
// ensure that path does not go inside the obstacle
if (lengthCalculated > lengthMaxPossible) { if (lengthCalculated > lengthMaxPossible) {
tangentsAlongTheObstacle( tangentsAlongTheObstacle(
currentCircle, currentCircle,