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Differentiate obstacles

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This commit is contained in:
Alexander Nozik 2023-05-06 14:22:09 +03:00
parent 5d0e0f054e
commit d8548ab162
5 changed files with 66 additions and 46 deletions
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4
.space.kts
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@ -1,14 +1,14 @@
import kotlin.io.path.readText
job("Build") {
gradlew("spc.registry.jetbrains.space/p/sci/containers/kotlin-ci:1.0.3", "build")
gradlew("spc.registry.jetbrains.space/p/sci/containers/kotlin-ci:lastest", "build")
}
job("Publish") {
startOn {
gitPush { enabled = false }
}
container("openjdk:11") {
container("spc.registry.jetbrains.space/p/sci/containers/kotlin-ci:latest") {
env["SPACE_USER"] = Secrets("space_user")
env["SPACE_TOKEN"] = Secrets("space_token")
kotlinScript { api ->

2
build.gradle.kts
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@ -29,7 +29,7 @@ ksciencePublish{
if (isInDevelopment) {
"https://maven.pkg.jetbrains.space/spc/p/sci/dev"
} else {
"https://maven.pkg.jetbrains.space/spc/p/sci/release"
"https://maven.pkg.jetbrains.space/spc/p/sci/maven"
}
)
sonatype()

62
trajectory-kt/src/commonMain/kotlin/space/kscience/trajectory/Obstacle.kt
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@ -17,18 +17,51 @@ public interface Obstacle {
* A closed right-handed circuit minimal path circumvention of the obstacle.
*/
public val circumvention: CompositeTrajectory2D
//
// /**
// * A polygon created from the arc centers of the obstacle
// */
// public val core: Polygon<Double>
/**
* A polygon created from the arc centers of the obstacle
*/
public val core: Polygon<Double>
public fun intersectsTrajectory(trajectory: Trajectory2D): Boolean
public companion object {
}
}
private class ObstacleImpl(override val circumvention: CompositeTrajectory2D) : Obstacle {
private class CircleObstacle(val circle: Circle2D) : Obstacle {
override val center: Vector2D<Double> get() = circle.center
override val arcs: List<CircleTrajectory2D>
get() = listOf(CircleTrajectory2D(circle, Angle.zero, Angle.piTimes2))
override val circumvention: CompositeTrajectory2D
get() = CompositeTrajectory2D(arcs)
override fun intersectsTrajectory(trajectory: Trajectory2D): Boolean =
Euclidean2DSpace.intersectsTrajectory(circumvention, trajectory)
override fun equals(other: Any?): Boolean {
if (this === other) return true
if (other == null || this::class != other::class) return false
other as CircleObstacle
return circle == other.circle
}
override fun hashCode(): Int {
return circle.hashCode()
}
override fun toString(): String = "Obstacle(circle=$circle)"
}
private class CoreObstacle(override val circumvention: CompositeTrajectory2D) : Obstacle {
override val arcs: List<CircleTrajectory2D> by lazy {
circumvention.segments.filterIsInstance<CircleTrajectory2D>()
}
@ -40,15 +73,19 @@ private class ObstacleImpl(override val circumvention: CompositeTrajectory2D) :
)
}
override val core: Polygon<Double> by lazy {
val core: Polygon<Double> by lazy {
Euclidean2DSpace.polygon(arcs.map { it.circle.center })
}
override fun intersectsTrajectory(trajectory: Trajectory2D): Boolean =
Euclidean2DSpace.intersectsTrajectory(core, trajectory)
override fun equals(other: Any?): Boolean {
if (this === other) return true
if (other == null || this::class != other::class) return false
other as ObstacleImpl
other as CoreObstacle
return arcs == other.arcs
}
@ -63,16 +100,17 @@ private class ObstacleImpl(override val circumvention: CompositeTrajectory2D) :
}
public fun Obstacle(circles: List<Circle2D>): Obstacle = with(Euclidean2DSpace) {
require(circles.isNotEmpty()) { "Can't create circumvention for an empty obstacle" }
//Create a single circle obstacle
if(circles.size == 1) return CircleObstacle(circles.first())
val center = vector(
circles.sumOf { it.center.x },
circles.sumOf { it.center.y }
) / circles.size
require(circles.isNotEmpty()) { "Can't create circumvention for an empty obstacle" }
if (circles.size == 1) {
return ObstacleImpl(
return CoreObstacle(
CompositeTrajectory2D(
CircleTrajectory2D(circles.first(), Angle.zero, Angle.piTimes2)
)
@ -102,7 +140,7 @@ public fun Obstacle(circles: List<Circle2D>): Obstacle = with(Euclidean2DSpace)
val circumvention = CompositeTrajectory2D(trajectory)
return ObstacleImpl(circumvention)
return CoreObstacle(circumvention)
}

40
trajectory-kt/src/commonMain/kotlin/space/kscience/trajectory/Obstacles.kt
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@ -46,8 +46,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
val isValid by lazy {
with(Euclidean2DSpace) {
obstacles.indices.none {
it != from?.obstacleIndex && it != to?.obstacleIndex && intersectsTrajectory(
obstacles[it].core,
it != from?.obstacleIndex && it != to?.obstacleIndex && obstacles[it].intersectsTrajectory(
tangentTrajectory
)
}
@ -78,8 +77,8 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
secondCircle
)) {
if (
!intersectsTrajectory(first.core, segment)
&& !intersectsTrajectory(second.core, segment)
!first.intersectsTrajectory(segment)
&& !second.intersectsTrajectory(segment)
) {
put(
pathType,
@ -109,11 +108,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
arc.copy(arcAngle = Angle.piTimes2), //extend arc to full circle
obstacleArc
)) {
if (pathType.first == arc.direction && !intersectsTrajectory(
obstacle.core,
segment
)
) {
if (pathType.first == arc.direction && !obstacle.intersectsTrajectory(segment)) {
put(
pathType,
ObstacleTangent(
@ -140,7 +135,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
obstacleArc.circle,
arc.circle
)[DubinsPath.Type(obstacleDirection, Trajectory2D.S, arc.direction)]?.takeIf {
obstacleArc.containsPoint(it.begin) && !intersectsTrajectory(obstacle.core, it)
obstacleArc.containsPoint(it.begin) && !obstacle.intersectsTrajectory(it)
}?.let {
return ObstacleTangent(
it,
@ -214,12 +209,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
dubinsPath: CompositeTrajectory2D,
): Collection<Trajectory2D> = with(Euclidean2DSpace) {
//fast return if no obstacles intersect the direct path
if (
obstacles.none {
(it.arcs.size == 1 && intersectsTrajectory(it.circumvention, dubinsPath)) // special case for one-point obstacles
|| intersectsTrajectory(it.core, dubinsPath)
}
) return listOf(dubinsPath)
if (obstacles.none { it.intersectsTrajectory(dubinsPath) }) return listOf(dubinsPath)
val beginArc = dubinsPath.segments.first() as CircleTrajectory2D
val endArc = dubinsPath.segments.last() as CircleTrajectory2D
@ -245,22 +235,14 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
) ?: return emptySet()
// if no intersections, finish
if (obstacles.indices.none {
intersectsTrajectory(
obstacles[it].core,
tangentToEnd.tangentTrajectory
)
}) return setOf(
TangentPath(tangents + tangentToEnd)
)
if (
obstacles.indices.none { obstacles[it].intersectsTrajectory(tangentToEnd.tangentTrajectory) }
) return setOf(TangentPath(tangents + tangentToEnd))
// tangents to other obstacles
return remainingObstacleIndices.sortedWith(
compareByDescending<Int> {
intersectsTrajectory(
obstacles[it].core,
tangentToEnd.tangentTrajectory
)
obstacles[it].intersectsTrajectory(tangentToEnd.tangentTrajectory)
//take intersecting obstacles
}.thenBy {
connection.circle.center.distanceTo(obstacles[it].center)
@ -281,7 +263,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
//find the nearest obstacle that has valid tangents to
val tangentsToFirstObstacle: Collection<ObstacleTangent> = obstacles.indices.sortedWith(
compareByDescending<Int> {
intersectsTrajectory(obstacles[it].core, dubinsPath)
obstacles[it].intersectsTrajectory(dubinsPath)
//take intersecting obstacles
}.thenBy {
beginArc.circle.center.distanceTo(obstacles[it].center)

2
trajectory-kt/src/commonTest/kotlin/space/kscience/trajectory/ObstacleTest.kt
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@ -37,7 +37,7 @@ class ObstacleTest {
)
assertTrue { outputTangents.isNotEmpty() }
val length = outputTangents.minOf { it.length }
assertEquals(25.0, length, 2.0)
assertEquals(26.0, length, 2.0)
}
@Test