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https://github.com/gnxlxnxx/dubins_path
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Merge pull request #1 from david-sawatzke/master
Various improvements (höhö)
This commit is contained in:
@@ -15,3 +15,4 @@ edition = "2018"
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[dependencies]
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euclid = "0.20.11"
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+126
-217
@@ -1,22 +1,23 @@
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/*! Call all functions with a Vector as argument the vector should contain:
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- the end point as origin
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- the end angle as angle in degrees in clockwise direction (eg. 0° facing north, 90° facing east, ...)
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- the circle radius as magnitude
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//! Call all functions with a Vector as argument the vector should contain:
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//! - the end point as origin
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//! - the end angle as angle in degrees in clockwise direction (eg. 0° facing north, 90° facing east, ...)
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//! - the circle radius as magnitude
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//!
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//! Start Vector is in the origin facing in positive x-direction
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//!
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//! Every struct defined here is 2 dimensional and uses f64
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Start Vector is in the origin facing in positive x-direction
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use euclid::{Point2D, Rotation2D, UnknownUnit};
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Every struct defined here is 2 dimensional and uses f64 */
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/// Point
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pub struct Point {
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pub x: f64,
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pub y: f64,
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}
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pub type Angle = euclid::Angle<f64>;
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pub type Point = Point2D<f64, UnknownUnit>;
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type Vector2D = euclid::Vector2D<f64, UnknownUnit>;
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type Rotation = Rotation2D<f64, UnknownUnit, UnknownUnit>;
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/// Vector with origin, angle and magnitude
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pub struct Vector {
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pub origin: Point,
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pub angle: f64,
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pub angle: Angle,
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pub magnitude: f64,
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}
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@@ -29,7 +30,7 @@ pub struct Circle {
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/// Circle route with a circle and a angle for how long to drive on this circle
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pub struct CircleRoute {
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pub circle: Circle,
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pub angle: f64,
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pub angle: Angle,
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}
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/// Route with a start Circle, a tangent straight and a end Circle (eg. rsl, rsr, lsr, lsl)
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@@ -52,90 +53,69 @@ pub fn rsr(end: Vector) -> Result<RouteCSC, ()> {
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let mut route_csc = RouteCSC {
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start: CircleRoute {
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circle: Circle {
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center: Point {
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x: end.magnitude,
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y: 0.0,
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},
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center: Point::new(end.magnitude, 0.0),
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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tangent: Vector {
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origin: Point { x: 0.0, y: 0.0 },
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angle: 0.0,
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origin: Point::zero(),
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angle: Angle::zero(),
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magnitude: 0.0,
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},
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end: CircleRoute {
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circle: Circle {
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center: Point { x: 0.0, y: 0.0 },
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center: Point::zero(),
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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};
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// get the center point by adding the end vector to the end point
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// this works because the argument is the angle in positive y direction
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// not positive x direction so we dont have to rotate it here anymore
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// the angle has to be counter clockwise though (thats why 360 - end.angle)
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route_csc.end.circle.center = Point {
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x: end.origin.x + end.magnitude * (360.0 - end.angle).to_radians().cos(),
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y: end.origin.y + end.magnitude * (360.0 - end.angle).to_radians().sin(),
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};
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// the angle has to be counter clockwise though (thats why we use the inverse end.angle)
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route_csc.end.circle.center = end.origin
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+ Rotation::new(end.angle)
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.inverse()
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.transform_vector(Vector2D::new(end.magnitude, 0.0));
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// get the tangent pitch which is the same as the pitch between the two
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// circle centers since our circles have the same radius
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route_csc.tangent.angle = ((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
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route_csc.tangent.angle = Angle::radians(
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((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
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/ (route_csc.end.circle.center.x - route_csc.start.circle.center.x))
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.atan()
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.to_degrees();
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.atan(),
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);
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// if the end circle center x value is smaller than the
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// start circle center x value
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// the angle would be 180° rotated so to prevent that:
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if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
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route_csc.tangent.angle += 180.0;
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route_csc.tangent.angle += Angle::pi();
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}
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// get the tangent magnitude this, again, is the same as the distance
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// between the two circle centers since our circles have the same radius
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route_csc.tangent.magnitude =
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((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powf(2.0)
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+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y).powf(2.0))
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((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powi(2)
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+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y).powi(2))
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.sqrt();
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// get the angle of the start circle
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route_csc.start.angle = 90.0 - route_csc.tangent.angle;
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// make the angle pretty
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if route_csc.start.angle < 0.0 {
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route_csc.start.angle += 360.0;
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}
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if route_csc.start.angle >= 360.0 {
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route_csc.start.angle -= 360.0;
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}
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route_csc.start.angle = (Angle::frac_pi_2() - route_csc.tangent.angle).positive();
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// get the tangent origin by moving the vector from the start circle center
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// 90° to it's own direction and the magnitude of the circle radius
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route_csc.tangent.origin = Point {
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x: route_csc.start.circle.center.x
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+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().cos(),
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y: route_csc.start.circle.center.y
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+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().sin(),
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};
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route_csc.tangent.origin = route_csc.start.circle.center
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+ Rotation::new(Angle::pi() - end.angle)
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.transform_vector(Vector2D::new(route_csc.start.circle.radius, 0.0));
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// get the angle of the start circle
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// the angle where we start from the tangent equals the one we finish
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// so we can use that in here
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route_csc.end.angle = end.angle - route_csc.start.angle;
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// make the angle pretty
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if route_csc.end.angle < 0.0 {
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route_csc.end.angle += 360.0;
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}
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if route_csc.end.angle >= 360.0 {
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route_csc.end.angle -= 360.0;
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}
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route_csc.end.angle = (end.angle - route_csc.start.angle).positive();
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Ok(route_csc)
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}
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@@ -145,54 +125,47 @@ pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
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let mut route_csc = RouteCSC {
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start: CircleRoute {
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circle: Circle {
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center: Point {
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x: -end.magnitude,
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y: 0.0,
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},
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center: Point::new(-end.magnitude, 0.0),
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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tangent: Vector {
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origin: Point { x: 0.0, y: 0.0 },
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angle: 0.0,
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origin: Point::zero(),
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angle: Angle::zero(),
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magnitude: 0.0,
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},
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end: CircleRoute {
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circle: Circle {
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center: Point { x: 0.0, y: 0.0 },
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center: Point::zero(),
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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};
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// get the center point by adding the end vector to the end point
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// we have to rotate the vector 180° (90° because the given angle is from the y axis
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// and 90 more to not get the tangent but the vector to the center point)
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// we have to rotate the vector π (π/2 because the given angle is from the y axis
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// and π/2 more to not get the tangent but the vector to the center point)
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// and again we have to use the counter clockwise direction
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route_csc.end.circle.center = Point {
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x: end.origin.x + end.magnitude * (180.0 - end.angle).to_radians().cos(),
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y: end.origin.y + end.magnitude * (180.0 - end.angle).to_radians().sin(),
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};
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route_csc.end.circle.center = end.origin
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+ Rotation::new(Angle::pi() - end.angle)
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.transform_vector(Vector2D::new(end.magnitude, 0.0));
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// get the tangent pitch which is the same as the pitch between the two
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// circle centers since our circles have the same radius
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route_csc.tangent.angle = ((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
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route_csc.tangent.angle = Angle::radians(
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((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
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/ (route_csc.end.circle.center.x - route_csc.start.circle.center.x))
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.atan()
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.to_degrees();
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.atan(),
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)
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.positive();
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// if the end circle center x value is smaller than the
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// start circle center x value
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// the angle would be 180° rotated so to prevent that:
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// the angle would be π rotated so to prevent that:
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if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
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route_csc.tangent.angle += 180.0;
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}
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// make the angle positive
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if route_csc.tangent.angle < 0.0 {
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route_csc.tangent.angle += 360.0;
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route_csc.tangent.angle = (route_csc.tangent.angle + Angle::pi()).positive();
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}
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// get the tangent magnitude this, again, is the same as the distance
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@@ -200,44 +173,25 @@ pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
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route_csc.tangent.magnitude = ((route_csc.end.circle.center.x
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- route_csc.start.circle.center.x)
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.abs()
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.powf(2.0)
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.powi(2)
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+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y)
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.abs()
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.powf(2.0))
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.powi(2))
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.sqrt();
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// get the angle of the start circle
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route_csc.start.angle = route_csc.tangent.angle - 90.0;
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// make the angle pretty
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if route_csc.start.angle < 0.0 {
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route_csc.start.angle += 360.0;
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}
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if route_csc.start.angle >= 360.0 {
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route_csc.start.angle -= 360.0;
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}
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route_csc.start.angle = (route_csc.tangent.angle - Angle::frac_pi_2()).positive();
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// get the tangent origin by moving the vector from the start circle center
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// 90° to it's own direction and the magnitude of the circle radius
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route_csc.tangent.origin = Point {
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x: route_csc.start.circle.center.x
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+ route_csc.start.circle.radius * route_csc.start.angle.to_radians().cos(),
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y: route_csc.start.circle.center.y
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+ route_csc.start.circle.radius * route_csc.start.angle.to_radians().sin(),
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};
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route_csc.tangent.origin = route_csc.start.circle.center
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+ Rotation::new(route_csc.start.angle)
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.transform_vector(Vector2D::new(route_csc.start.circle.radius, 0.0));
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// get the angle of the start circle
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// the angle where we start from the tangent equals the one we finish
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// so we can use that in here
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route_csc.end.angle = end.angle - route_csc.start.angle;
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// make the angle pretty
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if route_csc.end.angle < 0.0 {
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route_csc.end.angle += 360.0;
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}
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if route_csc.end.angle >= 360.0 {
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route_csc.end.angle -= 360.0;
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}
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route_csc.end.angle = (end.angle - route_csc.start.angle).positive();
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Ok(route_csc)
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}
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@@ -247,40 +201,36 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
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let mut route_csc = RouteCSC {
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start: CircleRoute {
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circle: Circle {
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center: Point {
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x: end.magnitude,
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y: 0.0,
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},
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center: Point::new(end.magnitude, 0.0),
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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tangent: Vector {
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origin: Point { x: 0.0, y: 0.0 },
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angle: 0.0,
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origin: Point::zero(),
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angle: Angle::zero(),
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magnitude: 0.0,
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},
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end: CircleRoute {
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circle: Circle {
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center: Point { x: 0.0, y: 0.0 },
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center: Point::zero(),
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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};
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// get the center point by adding the end vector to the end point
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// we have to rotate the vector 180° (90° because the given angle is from the y axis
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// and 90 more to not get the tangent but the vector to the center point)
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// we have to rotate the vector π (π/2 because the given angle is from the y axis
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// and π/2 more to not get the tangent but the vector to the center point)
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// and again we have to use the counter clockwise direction
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route_csc.end.circle.center = Point {
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x: end.origin.x + end.magnitude * (180.0 - end.angle).to_radians().cos(),
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y: end.origin.y + end.magnitude * (180.0 - end.angle).to_radians().sin(),
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};
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route_csc.end.circle.center = end.origin
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+ Rotation::new(Angle::pi() - end.angle)
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.transform_vector(Vector2D::new(end.magnitude, 0.0));
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// check if inside tangent can even be constructed
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if ((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powf(2.0)
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+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y).powf(2.0))
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if ((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powi(2)
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+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y).powi(2))
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.sqrt()
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< 2.0 * end.magnitude
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{
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@@ -289,63 +239,44 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
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// get the tangent length via some simple trigonometry
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route_csc.tangent.magnitude =
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((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powf(2.0)
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+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y).powf(2.0)
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- (2.0 * end.magnitude).powf(2.0))
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((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powi(2)
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+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y).powi(2)
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- (2.0 * end.magnitude).powi(2))
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.sqrt();
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// tangent middle is the same as the middle of the straight from the center of the start
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let tangent_middle = Point {
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x: (route_csc.end.circle.center.x + route_csc.start.circle.center.x) / 2.0,
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y: (route_csc.end.circle.center.y + route_csc.start.circle.center.y) / 2.0,
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};
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let tangent_middle = route_csc
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.end
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.circle
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.center
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.lerp(route_csc.start.circle.center, 0.5);
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// get the tangent angle
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route_csc.tangent.angle = ((route_csc.end.circle.center.y - tangent_middle.y)
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route_csc.tangent.angle = Angle::radians(
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((route_csc.end.circle.center.y - tangent_middle.y)
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/ (route_csc.end.circle.center.x - tangent_middle.x))
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.atan()
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.to_degrees()
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- (2.0 * end.magnitude / route_csc.tangent.magnitude)
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.atan()
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.to_degrees();
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- (2.0 * end.magnitude / route_csc.tangent.magnitude).atan(),
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);
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// if the end circle center x value is smaller than the
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// start circle center x value
|
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// the angle would be 180° rotated so to prevent that:
|
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// the angle would be π rotated so to prevent that:
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if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
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route_csc.tangent.angle += 180.0;
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route_csc.tangent.angle += Angle::pi();
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}
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// get the angle of the start circle
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route_csc.start.angle = 90.0 - route_csc.tangent.angle;
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// make the angle pretty
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if route_csc.start.angle < 0.0 {
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route_csc.start.angle += 360.0;
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}
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if route_csc.start.angle >= 360.0 {
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route_csc.start.angle -= 360.0;
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}
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route_csc.start.angle = (Angle::frac_pi_2() - route_csc.tangent.angle).positive();
|
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// get the tangent origin by moving the vector from the start circle center
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// along its right angle vector
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route_csc.tangent.origin = Point {
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x: route_csc.start.circle.center.x
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+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().cos(),
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y: route_csc.start.circle.center.y
|
||||
+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().sin(),
|
||||
};
|
||||
route_csc.tangent.origin = route_csc.start.circle.center
|
||||
+ Rotation::new(Angle::pi() - route_csc.start.angle)
|
||||
.transform_vector(Vector2D::new(route_csc.start.circle.radius, 0.0));
|
||||
|
||||
// get the angle of the end circle
|
||||
route_csc.end.angle = (90.0 - end.angle) - route_csc.tangent.angle;
|
||||
|
||||
// make the angle pretty
|
||||
if route_csc.end.angle < 0.0 {
|
||||
route_csc.end.angle += 360.0;
|
||||
}
|
||||
if route_csc.end.angle >= 360.0 {
|
||||
route_csc.end.angle -= 360.0;
|
||||
}
|
||||
route_csc.end.angle = ((Angle::frac_pi_2() - end.angle) - route_csc.tangent.angle).positive();
|
||||
|
||||
Ok(route_csc)
|
||||
}
|
||||
@@ -355,40 +286,37 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
|
||||
let mut route_csc = RouteCSC {
|
||||
start: CircleRoute {
|
||||
circle: Circle {
|
||||
center: Point {
|
||||
x: -end.magnitude,
|
||||
y: 0.0,
|
||||
},
|
||||
center: Point::new(-end.magnitude, 0.0),
|
||||
radius: end.magnitude,
|
||||
},
|
||||
angle: 0.0,
|
||||
angle: Angle::zero(),
|
||||
},
|
||||
tangent: Vector {
|
||||
origin: Point { x: 0.0, y: 0.0 },
|
||||
angle: 0.0,
|
||||
origin: Point::zero(),
|
||||
angle: Angle::zero(),
|
||||
magnitude: 0.0,
|
||||
},
|
||||
end: CircleRoute {
|
||||
circle: Circle {
|
||||
center: Point { x: 0.0, y: 0.0 },
|
||||
center: Point::zero(),
|
||||
radius: end.magnitude,
|
||||
},
|
||||
angle: 0.0,
|
||||
angle: Angle::zero(),
|
||||
},
|
||||
};
|
||||
|
||||
// get the center point by adding the end vector to the end point
|
||||
// this works because the argument is the angle in positive y direction
|
||||
// not positive x direction so we dont have to rotate it here anymore
|
||||
// the angle has to be counter clockwise though (thats why 360 - end.angle)
|
||||
route_csc.end.circle.center = Point {
|
||||
x: end.origin.x + end.magnitude * (360.0 - end.angle).to_radians().cos(),
|
||||
y: end.origin.y + end.magnitude * (360.0 - end.angle).to_radians().sin(),
|
||||
};
|
||||
// the angle has to be counter clockwise though (thats why 2π - end.angle)
|
||||
route_csc.end.circle.center = end.origin
|
||||
+ Rotation::new(end.angle)
|
||||
.inverse()
|
||||
.transform_vector(Vector2D::new(end.magnitude, 0.0));
|
||||
|
||||
// check if inside tangent can even be constructed
|
||||
if ((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powf(2.0)
|
||||
+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y).powf(2.0))
|
||||
if ((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powi(2)
|
||||
+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y).powi(2))
|
||||
.sqrt()
|
||||
< 2.0 * end.magnitude
|
||||
{
|
||||
@@ -397,63 +325,44 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
|
||||
|
||||
// get the tangent length via some simple trigonometry
|
||||
route_csc.tangent.magnitude =
|
||||
((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powf(2.0)
|
||||
+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y).powf(2.0)
|
||||
- (2.0 * end.magnitude).powf(2.0))
|
||||
((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powi(2)
|
||||
+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y).powi(2)
|
||||
- (2.0 * end.magnitude).powi(2))
|
||||
.sqrt();
|
||||
|
||||
// tangent middle is the same as the middle of the straight from the center of the start
|
||||
let tangent_middle = Point {
|
||||
x: (route_csc.end.circle.center.x + route_csc.start.circle.center.x) / 2.0,
|
||||
y: (route_csc.end.circle.center.y + route_csc.start.circle.center.y) / 2.0,
|
||||
};
|
||||
let tangent_middle = route_csc
|
||||
.end
|
||||
.circle
|
||||
.center
|
||||
.lerp(route_csc.start.circle.center, 0.5);
|
||||
|
||||
// get the tangent angle
|
||||
route_csc.tangent.angle = ((route_csc.end.circle.center.y - tangent_middle.y)
|
||||
route_csc.tangent.angle = Angle::radians(
|
||||
((route_csc.end.circle.center.y - tangent_middle.y)
|
||||
/ (route_csc.end.circle.center.x - tangent_middle.x))
|
||||
.atan()
|
||||
.to_degrees()
|
||||
+ (2.0 * end.magnitude / route_csc.tangent.magnitude)
|
||||
.atan()
|
||||
.to_degrees();
|
||||
+ (2.0 * end.magnitude / route_csc.tangent.magnitude).atan(),
|
||||
);
|
||||
|
||||
// if the end circle center x value is smaller than the
|
||||
// start circle center x value
|
||||
// the angle would be 180° rotated so to prevent that:
|
||||
if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
|
||||
route_csc.tangent.angle += 180.0;
|
||||
route_csc.tangent.angle += Angle::pi();
|
||||
}
|
||||
|
||||
// get the angle of the start circle
|
||||
route_csc.start.angle = route_csc.tangent.angle - 90.0;
|
||||
|
||||
// make the angle pretty
|
||||
if route_csc.start.angle < 0.0 {
|
||||
route_csc.start.angle += 360.0;
|
||||
}
|
||||
if route_csc.start.angle >= 360.0 {
|
||||
route_csc.start.angle -= 360.0;
|
||||
}
|
||||
route_csc.start.angle = (route_csc.tangent.angle - Angle::frac_pi_2()).positive();
|
||||
|
||||
// get the tangent origin by moving the vector from the start circle center
|
||||
// 90° to it's own direction and the magnitude of the circle radius
|
||||
route_csc.tangent.origin = Point {
|
||||
x: route_csc.start.circle.center.x
|
||||
+ route_csc.start.circle.radius * route_csc.start.angle.to_radians().cos(),
|
||||
y: route_csc.start.circle.center.y
|
||||
+ route_csc.start.circle.radius * route_csc.start.angle.to_radians().sin(),
|
||||
};
|
||||
route_csc.tangent.origin = route_csc.start.circle.center
|
||||
+ Rotation::new(route_csc.start.angle)
|
||||
.transform_vector(Vector2D::new(route_csc.start.circle.radius, 0.0));
|
||||
|
||||
// get the angle of the end circle
|
||||
route_csc.end.angle = (90.0 - end.angle) - route_csc.tangent.angle;
|
||||
|
||||
// make the angle pretty
|
||||
if route_csc.end.angle < 0.0 {
|
||||
route_csc.end.angle += 360.0;
|
||||
}
|
||||
if route_csc.end.angle >= 360.0 {
|
||||
route_csc.end.angle -= 360.0;
|
||||
}
|
||||
route_csc.end.angle = ((Angle::frac_pi_2() - end.angle) - route_csc.tangent.angle).positive();
|
||||
|
||||
Ok(route_csc)
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user