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[WIP] disentangling obstacles phase 2

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This commit is contained in:
Alexander Nozik 2023-04-11 17:08:28 +03:00
parent dbfe61b949
commit e553e33d4c
18 changed files with 215 additions and 164 deletions
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2
demo/maps/src/jvmMain/kotlin/Main.kt
View File

@ -74,7 +74,7 @@ fun App() {
.modifyAttribute(ColorAttribute, Color.Blue)
.modifyAttribute(AlphaAttribute, 0.4f)
image(pointOne, Icons.Filled.Home)
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)

18
maps-kt-compose/build.gradle.kts
View File

@ -1,13 +1,14 @@
plugins {
kotlin("multiplatform")
id("space.kscience.gradle.mpp")
id("org.jetbrains.compose")
`maven-publish`
}
kotlin {
explicitApi = org.jetbrains.kotlin.gradle.dsl.ExplicitApiMode.Warning
jvmToolchain(11)
kscience{
jvm()
}
kotlin {
sourceSets {
commonMain {
dependencies {
@ -19,8 +20,6 @@ kotlin {
api("io.github.microutils:kotlin-logging:2.1.23")
}
}
val jvmMain by getting {
}
val jvmTest by getting {
dependencies {
implementation("io.ktor:ktor-client-cio")
@ -28,18 +27,11 @@ kotlin {
implementation(spclibs.kotlinx.coroutines.test)
implementation(spclibs.logback.classic)
implementation(kotlin("test-junit5"))
implementation("org.junit.jupiter:junit-jupiter:${spclibs.versions.junit.get()}")
}
}
}
}
tasks.withType<Test> {
useJUnitPlatform()
}
readme {
description = "Compose-multiplaform implementation for web-mercator tiled maps"
maturity = space.kscience.gradle.Maturity.EXPERIMENTAL

6
maps-kt-compose/src/commonMain/kotlin/center/sciprog/maps/compose/mapFeatures.kt
View File

@ -92,14 +92,14 @@ public fun FeatureGroup<Gmc>.multiLine(
id: String? = null,
): FeatureRef<Gmc, MultiLineFeature<Gmc>> = feature(id, MultiLineFeature(space, points.map(::coordinatesOf)))
public fun FeatureGroup<Gmc>.image(
public fun FeatureGroup<Gmc>.icon(
position: Pair<Double, Double>,
image: ImageVector,
size: DpSize = DpSize(20.dp, 20.dp),
id: String? = null,
): FeatureRef<Gmc, VectorImageFeature<Gmc>> = feature(
): FeatureRef<Gmc, VectorIconFeature<Gmc>> = feature(
id,
VectorImageFeature(
VectorIconFeature(
space,
coordinatesOf(position),
size,

16
maps-kt-core/src/commonMain/kotlin/center/sciprog/maps/coordinates/GeodeticMapCoordinates.kt
View File

@ -1,10 +1,7 @@
package center.sciprog.maps.coordinates
import kotlinx.serialization.Serializable
import space.kscience.kmath.geometry.Angle
import space.kscience.kmath.geometry.degrees
import space.kscience.kmath.geometry.normalized
import space.kscience.kmath.geometry.radians
import space.kscience.kmath.geometry.*
/**
* Geodetic coordinated
@ -16,7 +13,7 @@ public class GeodeticMapCoordinates(
public val latitude: Angle,
public val longitude: Angle,
public val elevation: Distance? = null,
) {
) : Vector2D<Angle> {
init {
require(latitude in (-Angle.piDiv2)..(Angle.piDiv2)) {
"Latitude $latitude is not in (-PI/2)..(PI/2)"
@ -26,16 +23,17 @@ public class GeodeticMapCoordinates(
}
}
override val x: Angle get() = longitude
override val y: Angle get() = latitude
override fun equals(other: Any?): Boolean {
if (this === other) return true
if (other == null || this::class != other::class) return false
other as GeodeticMapCoordinates
if (latitude != other.latitude) return false
if (longitude != other.longitude) return false
return true
return latitude == other.latitude && longitude == other.longitude
}
override fun hashCode(): Int {

12
maps-kt-features/src/commonMain/kotlin/center/sciprog/maps/features/Feature.kt
View File

@ -267,8 +267,11 @@ public data class DrawFeature<T : Any>(
override fun withAttributes(modify: (Attributes) -> Attributes): Feature<T> = copy(attributes = modify(attributes))
}
/**
* Fixed size bitmap icon
*/
@Stable
public data class BitmapImageFeature<T : Any>(
public data class BitmapIconFeature<T : Any>(
override val space: CoordinateSpace<T>,
override val center: T,
public val size: DpSize,
@ -282,8 +285,11 @@ public data class BitmapImageFeature<T : Any>(
override fun withAttributes(modify: (Attributes) -> Attributes): Feature<T> = copy(attributes = modify(attributes))
}
/**
* Fixed size vector icon
*/
@Stable
public data class VectorImageFeature<T : Any>(
public data class VectorIconFeature<T : Any>(
override val space: CoordinateSpace<T>,
override val center: T,
public val size: DpSize,
@ -301,7 +307,7 @@ public data class VectorImageFeature<T : Any>(
}
/**
* An image that is bound to coordinates and is scaled together with them
* An image that is bound to coordinates and is scaled (and possibly warped) together with them
*
* @param rectangle the size of background in scheme size units. The screen units to scheme units ratio equals scale.
*/

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

@ -235,16 +235,16 @@ public fun <T : Any> FeatureGroup<T>.polygon(
PolygonFeature(space, points, attributes)
)
public fun <T : Any> FeatureGroup<T>.image(
public fun <T : Any> FeatureGroup<T>.icon(
position: T,
image: ImageVector,
size: DpSize = DpSize(image.defaultWidth, image.defaultHeight),
attributes: Attributes = Attributes.EMPTY,
id: String? = null,
): FeatureRef<T, VectorImageFeature<T>> =
): FeatureRef<T, VectorIconFeature<T>> =
feature(
id,
VectorImageFeature(
VectorIconFeature(
space,
position,
size,

9
maps-kt-features/src/jvmMain/kotlin/center/sciprog/maps/features/drawFeature.kt
View File

@ -3,10 +3,7 @@ package center.sciprog.maps.features
import androidx.compose.ui.geometry.Offset
import androidx.compose.ui.geometry.Size
import androidx.compose.ui.graphics.*
import androidx.compose.ui.graphics.drawscope.DrawScope
import androidx.compose.ui.graphics.drawscope.Stroke
import androidx.compose.ui.graphics.drawscope.drawIntoCanvas
import androidx.compose.ui.graphics.drawscope.translate
import androidx.compose.ui.graphics.drawscope.*
import androidx.compose.ui.graphics.painter.Painter
import center.sciprog.attributes.plus
import org.jetbrains.skia.Font
@ -72,9 +69,9 @@ public fun <T : Any> DrawScope.drawFeature(
}
is BitmapImageFeature -> drawImage(feature.image, feature.center.toOffset())
is BitmapIconFeature -> drawImage(feature.image, feature.center.toOffset())
is VectorImageFeature -> {
is VectorIconFeature -> {
val offset = feature.center.toOffset()
val size = feature.size.toSize()
translate(offset.x - size.width / 2, offset.y - size.height / 2) {

17
maps-kt-geotiff/build.gradle.kts Normal file
View File

@ -0,0 +1,17 @@
plugins {
id("space.kscience.gradle.jvm")
`maven-publish`
}
repositories {
maven("https://repo.osgeo.org/repository/release/")
}
dependencies {
api("org.geotools:gt-geotiff:27.2") {
exclude(group = "javax.media", module = "jai_core")
}
api(projects.mapsKtCore)
api(projects.mapsKtFeatures)
}

26
maps-kt-geotiff/src/main/kotlin/center/sciprog/maps/geotiff/geotiff.kt Normal file
View File

@ -0,0 +1,26 @@
package center.sciprog.maps.geotiff
import center.sciprog.maps.coordinates.Gmc
import center.sciprog.maps.features.Feature
import center.sciprog.maps.features.FeatureGroup
import center.sciprog.maps.features.FeatureRef
import kotlinx.serialization.json.Json
import kotlinx.serialization.json.jsonObject
import org.geotools.gce.geotiff.GeoTiffReader
import org.geotools.util.factory.Hints
import java.io.File
import java.net.URL
public fun FeatureGroup<Gmc>.geoJson(
geoTiffUrl: URL,
id: String? = null,
): FeatureRef<Gmc, Feature<Gmc>> {
val reader = GeoTiffReader
val jsonString = geoJsonUrl.readText()
val json = Json.parseToJsonElement(jsonString).jsonObject
val geoJson = GeoJson(json)
return geoJson(geoJson, id)
}

7
maps-kt-scheme/build.gradle.kts
View File

@ -1,11 +1,14 @@
plugins {
kotlin("multiplatform")
id("space.kscience.gradle.mpp")
id("org.jetbrains.compose")
`maven-publish`
}
kotlin {
kscience{
jvm()
}
kotlin {
sourceSets {
commonMain {
dependencies {

17
maps-kt-scheme/src/commonMain/kotlin/center/sciprog/maps/scheme/XY.kt
View File

@ -5,11 +5,12 @@ import androidx.compose.ui.unit.dp
import center.sciprog.maps.features.CoordinateSpace
import center.sciprog.maps.features.Rectangle
import center.sciprog.maps.features.ViewPoint
import space.kscience.kmath.geometry.Vector2D
import kotlin.math.abs
import kotlin.math.max
import kotlin.math.min
data class XY(val x: Float, val y: Float)
public data class XY(override val x: Float, override val y: Float): Vector2D<Float>
internal data class XYRectangle(
override val a: XY,
@ -28,21 +29,21 @@ internal data class XYRectangle(
// }
}
val Rectangle<XY>.top get() = max(a.y, b.y)
val Rectangle<XY>.bottom get() = min(a.y, b.y)
public val Rectangle<XY>.top: Float get() = max(a.y, b.y)
public val Rectangle<XY>.bottom: Float get() = min(a.y, b.y)
val Rectangle<XY>.right get() = max(a.x, b.x)
val Rectangle<XY>.left get() = min(a.x, b.x)
public val Rectangle<XY>.right: Float get() = max(a.x, b.x)
public val Rectangle<XY>.left: Float get() = min(a.x, b.x)
val Rectangle<XY>.width: Float get() = abs(a.x - b.x)
val Rectangle<XY>.height: Float get() = abs(a.y - b.y)
public val Rectangle<XY>.width: Float get() = abs(a.x - b.x)
public val Rectangle<XY>.height: Float get() = abs(a.y - b.y)
public val Rectangle<XY>.leftTop: XY get() = XY(left, top)
public val Rectangle<XY>.rightBottom: XY get() = XY(right, bottom)
internal val defaultCanvasSize = DpSize(512.dp, 512.dp)
data class XYViewPoint(
public data class XYViewPoint(
override val focus: XY,
override val zoom: Float = 1f,
) : ViewPoint<XY>

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

@ -9,7 +9,7 @@ import center.sciprog.maps.features.ViewPoint
import kotlin.math.abs
import kotlin.math.pow
object XYCoordinateSpace : CoordinateSpace<XY> {
public object XYCoordinateSpace : CoordinateSpace<XY> {
override fun Rectangle(first: XY, second: XY): Rectangle<XY> =
XYRectangle(first, second)

4
maps-kt-scheme/src/commonMain/kotlin/center/sciprog/maps/scheme/XYViewScope.kt
View File

@ -9,7 +9,7 @@ import androidx.compose.ui.unit.dp
import center.sciprog.maps.features.*
import kotlin.math.min
class XYViewScope(
public class XYViewScope(
config: ViewConfig<XY>,
) : CoordinateViewScope<XY>(config) {
override val space: CoordinateSpace<XY>
@ -45,7 +45,7 @@ class XYViewScope(
return DpRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
}
companion object{
public companion object{
@Composable
public fun remember(
config: ViewConfig<XY> = ViewConfig(),

16
maps-kt-scheme/src/commonMain/kotlin/center/sciprog/maps/scheme/schemeFeatures.kt
View File

@ -15,7 +15,7 @@ import kotlin.math.ceil
internal fun Pair<Number, Number>.toCoordinates(): XY = XY(first.toFloat(), second.toFloat())
fun FeatureGroup<XY>.background(
public fun FeatureGroup<XY>.background(
width: Float,
height: Float,
offset: XY = XY(0f, 0f),
@ -37,19 +37,19 @@ fun FeatureGroup<XY>.background(
)
}
fun FeatureGroup<XY>.circle(
public fun FeatureGroup<XY>.circle(
centerCoordinates: Pair<Number, Number>,
size: Dp = 5.dp,
id: String? = null,
): FeatureRef<XY, CircleFeature<XY>> = circle(centerCoordinates.toCoordinates(), size, id = id)
fun FeatureGroup<XY>.draw(
public fun FeatureGroup<XY>.draw(
position: Pair<Number, Number>,
id: String? = null,
draw: DrawScope.() -> Unit,
): FeatureRef<XY, DrawFeature<XY>> = draw(position.toCoordinates(), id = id, draw = draw)
fun FeatureGroup<XY>.line(
public fun FeatureGroup<XY>.line(
aCoordinates: Pair<Number, Number>,
bCoordinates: Pair<Number, Number>,
id: String? = null,
@ -69,15 +69,15 @@ public fun FeatureGroup<XY>.arc(
id = id
)
fun FeatureGroup<XY>.image(
public fun FeatureGroup<XY>.image(
position: Pair<Number, Number>,
image: ImageVector,
size: DpSize = DpSize(image.defaultWidth, image.defaultHeight),
id: String? = null,
): FeatureRef<XY, VectorImageFeature<XY>> =
image(position.toCoordinates(), image, size = size, id = id)
): FeatureRef<XY, VectorIconFeature<XY>> =
icon(position.toCoordinates(), image, size = size, id = id)
fun FeatureGroup<XY>.text(
public fun FeatureGroup<XY>.text(
position: Pair<Number, Number>,
text: String,
id: String? = null,

4
maps-kt-scheme/src/jvmMain/kotlin/center/sciprog/maps/svg/exportToSvg.kt
View File

@ -120,9 +120,9 @@ fun FeatureStateSnapshot<XY>.generateSvg(
)
}
is BitmapImageFeature -> drawImage(feature.image, feature.center.toOffset())
is BitmapIconFeature -> drawImage(feature.image, feature.center.toOffset())
is VectorImageFeature -> {
is VectorIconFeature -> {
val offset = feature.center.toOffset()
val imageSize = feature.size.toSize()
translate(offset.x - imageSize.width / 2, offset.y - imageSize.height / 2) {

1
settings.gradle.kts
View File

@ -48,6 +48,7 @@ include(
":trajectory-kt",
":maps-kt-core",
":maps-kt-geojson",
// ":maps-kt-geotiff",
":maps-kt-features",
":maps-kt-compose",
":maps-kt-scheme",

212
trajectory-kt/src/commonMain/kotlin/space/kscience/kmath/trajectory/Obstacle.kt
View File

@ -35,113 +35,113 @@ private fun TangentPath(vararg tangents: Tangent) = TangentPath(listOf(*tangents
* Create inner and outer tangents between two circles.
* This method returns a map of segments using [DubinsPath] connection type notation.
*/
internal fun Circle2D.tangentsToCircle(
other: Circle2D,
internal fun tangentsToCircle(
first: Circle2D,
second: Circle2D,
): Map<DubinsPath.Type, LineSegment2D> = with(Euclidean2DSpace) {
//return empty map for concentric circles
if (center.equalsVector(other.center)) return emptyMap()
if (first.center.equalsVector(second.center)) return emptyMap()
// A line connecting centers
val line = LineSegment(center, other.center)
val line = LineSegment(first.center, second.center)
// Distance between centers
val distance = line.begin.distanceTo(line.end)
val angle1 = atan2(other.center.x - center.x, other.center.y - center.y)
val angle1 = atan2(second.center.x - first.center.x, second.center.y - first.center.y)
var angle2: Double
val routes = mapOf(
DubinsPath.Type.RSR to Pair(radius, other.radius),
DubinsPath.Type.RSL to Pair(radius, -other.radius),
DubinsPath.Type.LSR to Pair(-radius, other.radius),
DubinsPath.Type.LSL to Pair(-radius, -other.radius)
)
return buildMap {
for ((route, r1r2) in routes) {
val r1 = r1r2.first
val r2 = r1r2.second
val r = if (r1.sign == r2.sign) {
r1.absoluteValue - r2.absoluteValue
} else {
r1.absoluteValue + r2.absoluteValue
}
if (distance * distance >= r * r) {
val l = sqrt(distance * distance - r * r)
angle2 = if (r1.absoluteValue > r2.absoluteValue) {
angle1 + r1.sign * atan2(r.absoluteValue, l)
} else {
angle1 - r2.sign * atan2(r.absoluteValue, l)
}
val w = vector(-cos(angle2), sin(angle2))
put(
route,
LineSegment(
center + w * r1,
other.center + w * r2
)
)
} else {
throw Exception("Circles should not intersect")
}
return listOf(
DubinsPath.Type.RSR,
DubinsPath.Type.RSL,
DubinsPath.Type.LSR,
DubinsPath.Type.LSL
).associateWith { route ->
val r1 = when (route.first) {
Trajectory2D.L -> -first.radius
Trajectory2D.R -> first.radius
}
}
}
val r2 = when (route.third) {
Trajectory2D.L -> -second.radius
Trajectory2D.R -> second.radius
}
val r = if (r1.sign == r2.sign) {
r1.absoluteValue - r2.absoluteValue
} else {
r1.absoluteValue + r2.absoluteValue
}
if (distance * distance < r * r) error("Circles should not intersect")
private fun dubinsTangentsToCircles(
firstCircle: Circle2D,
secondCircle: Circle2D,
firstObstacle: Obstacle,
secondObstacle: Obstacle,
): Map<DubinsPath.Type, Tangent> = with(Euclidean2DSpace) {
val line = LineSegment(firstCircle.center, secondCircle.center)
val distance = 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(
DubinsPath.Type.RSR to Pair(firstCircle.radius, secondCircle.radius),
DubinsPath.Type.RSL to Pair(firstCircle.radius, -secondCircle.radius),
DubinsPath.Type.LSR to Pair(-firstCircle.radius, secondCircle.radius),
DubinsPath.Type.LSL to Pair(-firstCircle.radius, -secondCircle.radius)
)
return buildMap {
for ((route: DubinsPath.Type, 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 (distance * distance >= r * r) {
val l = sqrt(distance * distance - r * r)
angle2 = if (r1.absoluteValue > r2.absoluteValue) {
angle1 + r1.sign * atan2(r.absoluteValue, l)
} else {
angle1 - r2.sign * atan2(r.absoluteValue, l)
}
val w = vector(-cos(angle2), sin(angle2))
put(
route,
Tangent(
startCircle = Circle2D(firstCircle.center, firstCircle.radius),
endCircle = secondCircle,
startObstacle = firstObstacle,
endObstacle = secondObstacle,
lineSegment = LineSegment(
firstCircle.center + w * r1,
secondCircle.center + w * r2
),
startDirection = route.first,
endDirection = route.third
)
)
} else {
throw Exception("Circles should not intersect")
}
val l = sqrt(distance * distance - r * r)
angle2 = if (r1.absoluteValue > r2.absoluteValue) {
angle1 + r1.sign * atan2(r.absoluteValue, l)
} else {
angle1 - r2.sign * atan2(r.absoluteValue, l)
}
val w = vector(-cos(angle2), sin(angle2))
LineSegment(
first.center + w * r1,
second.center + w * r2
)
}
}
//
//private fun dubinsTangentsToCircles(
// firstCircle: Circle2D,
// secondCircle: Circle2D,
// firstObstacle: Obstacle,
// secondObstacle: Obstacle,
//): Map<DubinsPath.Type, Tangent> = with(Euclidean2DSpace) {
// val line = LineSegment(firstCircle.center, secondCircle.center)
// val distance = 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(
// DubinsPath.Type.RSR to Pair(firstCircle.radius, secondCircle.radius),
// DubinsPath.Type.RSL to Pair(firstCircle.radius, -secondCircle.radius),
// DubinsPath.Type.LSR to Pair(-firstCircle.radius, secondCircle.radius),
// DubinsPath.Type.LSL to Pair(-firstCircle.radius, -secondCircle.radius)
// )
// return buildMap {
// for ((route: DubinsPath.Type, 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 (distance * distance >= r * r) {
// val l = sqrt(distance * distance - r * r)
// angle2 = if (r1.absoluteValue > r2.absoluteValue) {
// angle1 + r1.sign * atan2(r.absoluteValue, l)
// } else {
// angle1 - r2.sign * atan2(r.absoluteValue, l)
// }
// val w = vector(-cos(angle2), sin(angle2))
// put(
// route,
// Tangent(
// startCircle = Circle2D(firstCircle.center, firstCircle.radius),
// endCircle = secondCircle,
// startObstacle = firstObstacle,
// endObstacle = secondObstacle,
// lineSegment = LineSegment(
// firstCircle.center + w * r1,
// secondCircle.center + w * r2
// ),
// startDirection = route.first,
// endDirection = route.third
// )
// )
// } else {
// throw Exception("Circles should not intersect")
// }
// }
// }
//}
internal class Obstacle(
public val circles: List<Circle2D>,
@ -335,13 +335,23 @@ private fun Tangent.intersectObstacle(obstacle: Obstacle): Boolean {
private fun outerTangents(first: Obstacle, second: Obstacle): Map<DubinsPath.Type, Tangent> = buildMap {
for (circle1 in first.circles) {
for (circle2 in second.circles) {
for (tangent in dubinsTangentsToCircles(circle1, circle2, first, second)) {
if (!(tangent.value.intersectObstacle(first))
and !(tangent.value.intersectObstacle(second))
for ((pathType, segment) in tangentsToCircle(circle1, circle2)) {
val tangent = Tangent(
circle1,
circle2,
first,
second,
segment,
pathType.first,
pathType.third
)
if (!(tangent.intersectObstacle(first))
and !(tangent.intersectObstacle(second))
) {
put(
tangent.key,
tangent.value
pathType,
tangent
)
}
}
@ -506,7 +516,7 @@ internal fun findAllPaths(
val currentObstacle = tangentPath.last().endObstacle
var nextObstacle: Obstacle? = null
if (currentObstacle != finalObstacle) {
val tangentToFinal = outerTangents(currentObstacle, finalObstacle)[DubinsPath.Type(
val tangentToFinal: Tangent? = outerTangents(currentObstacle, finalObstacle)[DubinsPath.Type(
currentDirection,
Trajectory2D.S,
j

4
trajectory-kt/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt
View File

@ -44,7 +44,7 @@ class TangentTest {
)
)
val tangentMap = c1.tangentsToCircle(c2)
val tangentMap = tangentsToCircle(c1, c2)
val tangentMapKeys = tangentMap.keys.toList()
val tangentMapValues = tangentMap.values.toList()
@ -58,6 +58,6 @@ class TangentTest {
fun concentric(){
val c1 = Circle2D(vector(0.0, 0.0), 10.0)
val c2 = Circle2D(vector(0.0, 0.0), 1.0)
assertEquals(emptyMap(), c1.tangentsToCircle(c2))
assertEquals(emptyMap(), tangentsToCircle(c1, c2))
}
}