geometry.cpp

robocup 3d, a 3d base team similar to UvA 2d

    pos.setZ( m_posCenter.getZ() );

  return m_posCenter.getDistanceTo( pos ) < getRadius() ;
}

/*! This method returns the two possible intersection points between two
    circles. This method returns the number of solutions that were found.
    \param c circle with which intersection should be found
    \param p1 will be filled with first solution
    \param p2 will be filled with second solution
    \return number of solutions. */
int Circle::getCircleIntersectionPoints( Circle c, VecPosition *p1, VecPosition *p2)
{
    double x0, y0, r0;
    double x1, y1, r1;

    VecPosition tmpCenter = c.getCenter();
    tmpCenter.setZ(m_posCenter.getZ());
    c.setCenter( tmpCenter );

    x0 = getCenter( ).getX();
    y0 = getCenter( ).getY();
    r0 = getRadius( );
    x1 = c.getCenter( ).getX();
    y1 = c.getCenter( ).getY();
    r1 = c.getRadius( );

    double      d, dx, dy, h, a, x, y, p2_x, p2_y;

    // first calculate distance between two centers circles P0 and P1.
    dx = x1 - x0;
    dy = y1 - y0;
    d = sqrt(dx*dx + dy*dy);

    // normalize differences
    dx /= d; dy /= d;

    // a is distance between p0 and point that is the intersection point P2
    // that intersects P0-P1 and the line that crosses the two intersection
    // points P3 and P4.
    // Define two triangles: P0,P2,P3 and P1,P2,P3.
    // with distances a, h, r0 and b, h, r1 with d = a + b
    // We know a^2 + h^2 = r0^2 and b^2 + h^2 = r1^2 which then gives
    // a^2 + r1^2 - b^2 = r0^2 with d = a + b ==> a^2 + r1^2 - (d-a)^2 = r0^2
    // ==> r0^2 + d^2 - r1^2 / 2*d
    a = (r0*r0 + d*d - r1*r1) / (2.0 * d);

    // h is then a^2 + h^2 = r0^2 ==> h = sqrt( r0^2 - a^2 )
    double      arg = r0*r0 - a*a;
    h = (arg > 0.0) ? sqrt(arg) : 0.0;

    // First calculate P2
    p2_x = x0 + a * dx;
    p2_y = y0 + a * dy;

    // and finally the two intersection points
    x =  p2_x - h * dy;
    y =  p2_y + h * dx;
    p1->setVecPosition( x, y );
    x =  p2_x + h * dy;
    y =  p2_y - h * dx;
    p2->setVecPosition( x, y );

    return (arg < 0.0) ? 0 : ((arg == 0.0 ) ? 1 :  2);
}

/*! This method returns the size of the intersection area of two circles.
    \param c circle with which intersection should be determined
    \param bStrict weather to check the circles z- intersection
    \return size of the intersection area. */
double Circle::getIntersectionArea( Circle c, bool bStrict )
{
  VecPosition pos1, pos2, pos3;
  double d, h, dArea;
  AngDeg ang;

  if( bStrict && ( c.getCenter().getZ() != m_posCenter.getZ() ) ) // If the circles are not
    return 0.0;                                                // in the same XY plane --> no intersection

  d = getCenter().getDistanceTo( c.getCenter() ); // dist between two centers
  if( d > c.getRadius() + getRadius() )           // larger than sum radii
    return 0.0;                                   // circles do not intersect
  if( d <= fabs(c.getRadius() - getRadius() ) )   // one totally in the other
  {
    double dR = min( c.getRadius(), getRadius() );// return area smallest circ
    return M_PI*dR*dR;
  }

  int iNrSol = getCircleIntersectionPoints( c, &pos1, &pos2 );
  if( iNrSol != 2 )
    return 0.0;

  // the intersection area of two circles can be divided into two segments:
  // left and right of the line between the two intersection points p1 and p2.
  // The outside area of each segment can be calculated by taking the part
  // of the circle pie excluding the triangle from the center to the
  // two intersection points.
  // The pie equals pi*r^2 * rad(2*ang) / 2*pi = 0.5*rad(2*ang)*r^2 with ang
  // the angle between the center c of the circle and one of the two
  // intersection points. Thus the angle between c and p1 and c and p3 where
  // p3 is the point that lies halfway between p1 and p2.
  // This can be calculated using ang = asin( d / r ) with d the distance
  // between p1 and p3 and r the radius of the circle.
  // The area of the triangle is 2*0.5*h*d.

  pos3 = pos1.getVecPositionOnLineFraction( pos2, 0.5 );
  d = pos1.getDistanceTo( pos3 );
  h = pos3.getDistanceTo( getCenter() );
  ang = asin( d / getRadius() );

  dArea = ang*getRadius()*getRadius();
  dArea = dArea - d*h;

  // and now for the other segment the same story
  h = pos3.getDistanceTo( c.getCenter() );
  ang = asin( d / c.getRadius() );
  dArea = dArea + ang*c.getRadius()*c.getRadius();
  dArea = dArea - d*h;

  return dArea;
}


/*****************************************************************************/
/***********************  CLASS LINE *****************************************/
/*****************************************************************************/

/*! This constructor creates a line by given the three coefficents of the line.
    A line is specified by the formula ay + bx + c = 0.
    \param dA a coefficients of the line
    \param dB b coefficients of the line
    \param dC c coefficients of the line */
Line::Line( double dA, double dB, double dC )
{
  m_a = dA;
  m_b = dB;
  m_c = dC;
}

/*! This function prints the line to the specified output stream in the
    format y = ax + b.
    \param os output stream to which output is written
    \param l line that is written to output stream
    \return output sream to which output is appended. */
ostream& operator <<(ostream & os, Line l)
{
  double a = l.getACoefficient();
  double b = l.getBCoefficient();
  double c = l.getCCoefficient();

  // ay + bx + c = 0 -> y = -b/a x - c/a
  if( a == 0 )
    os << "x = " << -c/b;
  else
  {
    os << "y = ";
    if( b != 0 )
      os << -b/a << "x ";
    if( c > 0 )
       os << "- " <<  fabs(c/a);
    else if( c < 0 )
       os << "+ " <<  fabs(c/a);
  }
  return os;
}

/*! This method prints the line information to the specified output stream.
    \param os output stream to which output is written. */
void Line::show( ostream& os)
{
  os << *this;
}

/*! This method returns the intersection point between the current Line and
    the specified line.
    \param line line with which the intersection should be calculated.
    \return VecPosition position that is the intersection point. */
VecPosition Line::getIntersection( Line line )
{
  VecPosition pos;
  double x, y;
  if( ( m_a / m_b ) ==  (line.getACoefficient() / line.getBCoefficient() ))
    return pos; // lines are parallel, no intersection
  if( m_a == 0 )            // bx + c = 0 and a2*y + b2*x + c2 = 0 ==> x = -c/b
  {                          // calculate x using the current line
    x = -m_c/m_b;                // and calculate the y using the second line
    y = line.getYGivenX(x);
  }
  else if( line.getACoefficient() == 0 )
  {                         // ay + bx + c = 0 and b2*x + c2 = 0 ==> x = -c2/b2
   x = -line.getCCoefficient()/line.getBCoefficient(); // calculate x using
   y = getYGivenX(x);       // 2nd line and calculate y using current line
  }
  // ay + bx + c = 0 and a2y + b2*x + c2 = 0
  // y = (-b2/a2)x - c2/a2
  // bx = -a*y - c =>  bx = -a*(-b2/a2)x -a*(-c2/a2) - c ==>
  // ==> a2*bx = a*b2*x + a*c2 - a2*c ==> x = (a*c2 - a2*c)/(a2*b - a*b2)
  // calculate x using the above formula and the y using the current line
  else
  {
    x = (m_a*line.getCCoefficient() - line.getACoefficient()*m_c)/
                    (line.getACoefficient()*m_b - m_a*line.getBCoefficient());
    y = getYGivenX(x);
  }

  return VecPosition( x, y );
}


/*! This method calculates the intersection points between the current line
    and the circle specified with as center 'posCenter' and radius 'dRadius'.
    The number of solutions are returned and the corresponding points are put
    in the third and fourth argument of the method
    \param circle circle with which intersection points should be found
    \param posSolution1 first intersection (if any)
    \param posSolution2 second intersection (if any) */
int Line::getCircleIntersectionPoints( Circle circle,
              VecPosition *posSolution1, VecPosition *posSolution2 )
{
  int    iSol;
  double dSol1=0, dSol2=0;
  double h = circle.getCenter().getX();
  double k = circle.getCenter().getY();

  // line:   x = -c/b (if a = 0)
  // circle: (x-h)^2 + (y-k)^2 = r^2, with h = center.x and k = center.y
  // fill in:(-c/b-h)^2 + y^2 -2ky + k^2 - r^2 = 0
  //         y^2 -2ky + (-c/b-h)^2 + k^2 - r^2 = 0
  // and determine solutions for y using abc-formula
  if( fabs(m_a) < EPSILON )
  {
    iSol = Geometry::abcFormula( 1, -2*k, ((-m_c/m_b) - h)*((-m_c/m_b) - h)
              + k*k - circle.getRadius()*circle.getRadius(), &dSol1, &dSol2);
    posSolution1->setVecPosition( (-m_c/m_b), dSol1 );
    posSolution2->setVecPosition( (-m_c/m_b), dSol2 );
    return iSol;
  }

  // ay + bx + c = 0 => y = -b/a x - c/a, with da = -b/a and db = -c/a
  // circle: (x-h)^2 + (y-k)^2 = r^2, with h = center.x and k = center.y
  // fill in:x^2 -2hx + h^2 + (da*x-db)^2 -2k(da*x-db) + k^2 - r^2 = 0
  //         x^2 -2hx + h^2 + da^2*x^2 + 2da*db*x + db^2 -2k*da*x -2k*db
  //                                                         + k^2 - r^2 = 0
  //       (1+da^2)*x^2 + 2(da*db-h-k*da)*x + h2 + db^2  -2k*db + k^2 - r^2 = 0
  // and determine solutions for x using abc-formula
  // fill in x in original line equation to get y coordinate
  double da = -m_b/m_a;
  double db = -m_c/m_a;

  double dA = 1 + da*da;
  double dB = 2*( da*db - h - k*da );
  double dC = h*h + db*db-2*k*db + k*k - circle.getRadius()*circle.getRadius();

  iSol = Geometry::abcFormula( dA, dB, dC, &dSol1, &dSol2 );

  posSolution1->setVecPosition( dSol1, da*dSol1 + db );
  posSolution2->setVecPosition( dSol2, da*dSol2 + db );
  return iSol;

}

/*! This method returns the tangent line to a VecPosition. This is the line
    between the specified position and the closest point on the line to this
    position.
    \param pos VecPosition point with which tangent line is calculated.
    \return Line line tangent to this position */
Line Line::getTangentLine( VecPosition pos )
{
  // ay + bx + c = 0 -> y = (-b/a)x + (-c/a)
  // tangent: y = (a/b)*x + C1 -> by - ax + C2 = 0 => C2 = ax - by
  // with pos.y = y, pos.x = x
  return Line( m_b, -m_a, m_a*pos.getX() - m_b*pos.getY() );
}

/*! This method returns the closest point on a line to a given position.
    \param pos point to which closest point should be determined
    \return VecPosition closest point on line to 'pos'. */
VecPosition Line::getPointOnLineClosestTo( VecPosition pos )
{
  Line l2 = getTangentLine( pos );  // get tangent line
  return getIntersection( l2 );     // and intersection between the two lines
}

/*! This method returns the distance between a specified position and the
    closest point on the given line.
    \param pos position to which distance should be calculated
    \return double indicating the distance to the line. */
double Line::getDistanceWithPoint( VecPosition pos )
{
  return pos.getDistanceTo( getPointOnLineClosestTo( pos ) );
}

/*! This method determines whether the projection of a point on the
    current line lies between two other points ('point1' and 'point2')
    that lie on the same line.

    \param pos point of which projection is checked.
    \param point1 first point on line
    \param point2 second point on line
    \return true when projection of 'pos' lies between 'point1' and 'point2'.*/
bool Line::isInBetween( VecPosition pos, VecPosition point1,VecPosition point2)
{
  pos          = getPointOnLineClosestTo( pos ); // get closest point
  double dDist = point1.getDistanceTo( point2 ); // get distance between 2 pos

  // if the distance from both points to the projection is smaller than this
  // dist, the pos lies in between.
  return pos.getDistanceTo( point1 ) <= dDist &&
         pos.getDistanceTo( point2 ) <= dDist;
}

/*! This method calculates the y coordinate given the x coordinate
    \param x coordinate
    \return y coordinate on this line */
double Line::getYGivenX( double x )
{
 if( m_a == 0 )
 {
   cerr << "(Line::getYGivenX) Cannot calculate Y coordinate: " ;
   show( cerr );
   cerr << endl;
   return 0;
 }
  // ay + bx + c = 0 ==> ay = -(b*x + c)/a
  return -(m_b*x+m_c)/m_a;
}

/*! This method calculates the x coordinate given the x coordinate
    \param y coordinate
    \return x coordinate on this line */
double Line::getXGivenY( double y )
{
 if( m_b == 0 )
 {
   cerr << "(Line::getXGivenY) Cannot calculate X coordinate\n" ;
   return 0;
 }
  // ay + bx + c = 0 ==> bx = -(a*y + c)/a
  return -(m_a*y+m_c)/m_b;
}

/*! This method creates a line given two points.
    \param pos1 first point
    \param pos2 second point
    \return line that passes through the two specified points. */
Line Line::makeLineFromTwoPoints( VecPosition pos1, VecPosition pos2 )
{
  // 1*y + bx + c = 0 => y = -bx - c
  // with -b the direction coefficient (or slope)
  // and c = - y - bx
  double dA, dB, dC;
  double dTemp = pos2.getX() - pos1.getX(); // determine the slope
  if( fabs(dTemp) < EPSILON )
  {
    /