133 lines
3.7 KiB
C++
133 lines
3.7 KiB
C++
/*
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* This file is part of libfmr
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*
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* File: ISRavdoids.cpp
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* Author: Florian Heinz <fh@sysv.de>
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*
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* Created on September 19, 2016, 12:09 AM
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//paragraph [1] Title: [{\Large \bf \begin {center}] [\end {center}}]
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//[TOC] [\tableofcontents]
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[1] Class ISRavdoids
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[TOC]
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1 Overview
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This class calculates the intersection points between two Ravdoids.
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*/
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#include "fmr_ISRavdoids.h"
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using namespace fmr;
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/*
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2 Constructor from two Ravdoids
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*/
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ISRavdoids::ISRavdoids(Ravdoid& _o1, Ravdoid& _o2) : o1(_o1), o2(_o2),
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RootDetect(_o1, _o2) { }
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/*
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3 ~getT1~
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Determins the times, where the Ravdoid ~o1~ is at the same y-coordinate
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as ~o2~ at time ~t2~. There are up to four possible values for each time
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~t2~, which are selected by ~first~ and ~second~.
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*/
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double ISRavdoids::getT1(double t2, bool first, bool second) {
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double qq = o2.hp * cos(2 * (t2 * o2.rot + o2.toff)) +
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o2.cd * sin(t2 * o2.rot + o2.toff) + o2.yoff;
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double as = (-o1.cd + (second ? 1 : -1) * // +
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sqrt(o1.cd * o1.cd + 8 * o1.hp * (o1.hp + o1.yoff - qq)))
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/ (-4 * o1.hp);
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double val = (asin(as) - o1.toff) / o1.rot;
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if (!isnan(val) && !first) {
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// val = (M_PI-asin(as)-o1.toff)/o1.rot;
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val = M_PI / o1.rot - val - 2 * o1.toff / o1.rot;
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}
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return val;
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}
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/*
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4 ~f~
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The roots of this function are the intersection times on ~o2~.
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*/
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double ISRavdoids::f(double t2) {
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double t1 = getT1(t2, first, second);
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t1 = o1.toff + t1 * o1.rot;
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t2 = o2.toff + t2 * o2.rot;
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double r = (o1.hp * (2 * t1 - sin(2 * t1)) + o1.cd * cos(t1) + o1.xoff)
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- (o2.hp * (2 * t2 - sin(2 * t2)) + o2.cd * cos(t2) + o2.xoff);
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return r;
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}
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/*
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5 ~findIntersectionTimes~
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Determine the roots of ~f~ (4) via ~findRoots~ (defined in class ~RootDetect~)
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and calculate all valid pairs of times taking into account that the graphs are
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periodic with period ~pd~.
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The parameters ~first~ and ~second~ select one of four sections of ~o1~ in which
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an intersection is looked for.
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*/
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std::vector<std::pair<double, double> >
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ISRavdoids::findIntersectionTimes(bool first, bool second) {
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this->first = first;
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this->second = second;
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std::vector<double> roots = findRoots(-1, 1); // Determine all roots
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std::vector<std::pair<double, double> > ret;
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double pd = 2 * M_PI / o1.rot; // The period of the Ravdoids
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for (int i = 0; i < roots.size(); i++) {
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double t2 = roots[i], t1 = getT1(t2, first, second);
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if (o1 == o2 && ((std::abs(t1 - t2) < 0.001) || (t1 > t2)))
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continue; // Eliminate errors and duplicates on selfintersections
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// Find all valid intersection pairs (t1,t2)
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while (t1 > pd || t2 > pd) {
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t1 -= pd;
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t2 -= pd;
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}
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while (t1 < 1 && t2 < 1) {
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if (o1.valid(t1) && o2.valid(t2)) { // Are both Ravdoids defined
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// at the intersection times?
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ret.push_back(std::pair<double, double>(t1, t2));
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}
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t1 += pd; // Advance one period
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t2 += pd; // in the graphs o1 and o2
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}
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}
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return ret;
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}
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/*
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6 ~findIntersectionTimes~
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Find all intersection times for all combinations of ~first~ and ~second~
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*/
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std::vector<std::pair<double, double> > ISRavdoids::findIntersectionTimes() {
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std::vector<std::pair<double, double> > ret, tmp;
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ret = findIntersectionTimes(false, false);
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tmp = findIntersectionTimes(false, true);
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ret.insert(ret.end(), tmp.begin(), tmp.end());
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tmp = findIntersectionTimes(true, false);
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ret.insert(ret.end(), tmp.begin(), tmp.end());
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tmp = findIntersectionTimes(true, true);
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ret.insert(ret.end(), tmp.begin(), tmp.end());
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return ret;
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}
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