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format code with rustfmt

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pull/1/head
Roman Kretschmer 6 years ago
parent 8c9fd8a2b4
commit 75c0cdbc8e
Signed by: gnxlxnxx
GPG Key ID: E4EAB482427FA3A0
1 changed files with 242 additions and 85 deletions
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src/lib.rs
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@ -1,11 +1,11 @@
/*! Call all functions with a Vector as argument the vector should contain:
- the end point as origin
- the end angle as angle in degrees in clockwise direction (eg. 0° facing north, 90° facing east, ...)
- the circle radius as magnitude
- the end point as origin
- the end angle as angle in degrees in clockwise direction (eg. 0° facing north, 90° facing east, ...)
- the circle radius as magnitude
Start Vector is in the origin facing in positive x-direction
Start Vector is in the origin facing in positive x-direction
Every struct defined here is 2 dimensional and uses f64 */
Every struct defined here is 2 dimensional and uses f64 */
/// Point
pub struct Point {
@ -47,13 +47,31 @@ pub struct RouteCCC {
pub end: Circle,
}
/// right straight right route
pub fn rsr(end: Vector) -> Result <RouteCSC, ()> {
pub fn rsr(end: Vector) -> Result<RouteCSC, ()> {
let mut route_csc = RouteCSC {
start: CircleRoute { circle: Circle { center: Point {x: end.magnitude, y: 0.0}, radius: end.magnitude}, angle: 0.0 },
tangent: Vector { origin: Point { x: 0.0, y: 0.0 }, angle: 0.0, magnitude: 0.0},
end: CircleRoute { circle: Circle { center: Point {x: 0.0, y: 0.0}, radius: end.magnitude}, angle: 0.0 },
start: CircleRoute {
circle: Circle {
center: Point {
x: end.magnitude,
y: 0.0,
},
radius: end.magnitude,
},
angle: 0.0,
},
tangent: Vector {
origin: Point { x: 0.0, y: 0.0 },
angle: 0.0,
magnitude: 0.0,
},
end: CircleRoute {
circle: Circle {
center: Point { x: 0.0, y: 0.0 },
radius: end.magnitude,
},
angle: 0.0,
},
};
// get the center point by adding the end vector to the end point
@ -62,36 +80,48 @@ pub fn rsr(end: Vector) -> Result <RouteCSC, ()> {
// 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()
y: end.origin.y + end.magnitude * (360.0 - end.angle).to_radians().sin(),
};
// get the tangent pitch which is the same as the pitch between the two
// circle centers since our circles have the same radius
route_csc.tangent.angle = ((route_csc.end.circle.center.y - route_csc.start.circle.center.y) /
(route_csc.end.circle.center.x - route_csc.start.circle.center.x)).atan().to_degrees();
route_csc.tangent.angle = ((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
/ (route_csc.end.circle.center.x - route_csc.start.circle.center.x))
.atan()
.to_degrees();
// 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; }
if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
route_csc.tangent.angle += 180.0;
}
// get the tangent magnitude this, again, is the same as the distance
// between the two circle centers since our circles have the same radius
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) ).sqrt();
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))
.sqrt();
// get the angle of the start circle
route_csc.start.angle = 90.0 - route_csc.tangent.angle;
// 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; }
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;
}
// 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 * (180.0-route_csc.start.angle).to_radians().cos(),
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 = Point {
x: route_csc.start.circle.center.x
+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().cos(),
y: route_csc.start.circle.center.y
+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().sin(),
};
// get the angle of the start circle
@ -100,18 +130,41 @@ pub fn rsr(end: Vector) -> Result <RouteCSC, ()> {
route_csc.end.angle = end.angle - route_csc.start.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; }
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;
}
Ok(route_csc)
}
/// left straight left route
pub fn lsl(end: Vector) -> Result <RouteCSC, ()> {
pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
let mut route_csc = RouteCSC {
start: CircleRoute { circle: Circle { center: Point {x:-end.magnitude, y: 0.0}, radius: end.magnitude}, angle: 0.0 },
tangent: Vector { origin: Point { x: 0.0, y: 0.0 }, angle: 0.0, magnitude: 0.0},
end: CircleRoute { circle: Circle { center: Point {x: 0.0, y: 0.0}, radius: end.magnitude}, angle: 0.0 },
start: CircleRoute {
circle: Circle {
center: Point {
x: -end.magnitude,
y: 0.0,
},
radius: end.magnitude,
},
angle: 0.0,
},
tangent: Vector {
origin: Point { x: 0.0, y: 0.0 },
angle: 0.0,
magnitude: 0.0,
},
end: CircleRoute {
circle: Circle {
center: Point { x: 0.0, y: 0.0 },
radius: end.magnitude,
},
angle: 0.0,
},
};
// get the center point by adding the end vector to the end point
@ -120,60 +173,100 @@ pub fn lsl(end: Vector) -> Result <RouteCSC, ()> {
// and again we have to use the counter clockwise direction
route_csc.end.circle.center = Point {
x: end.origin.x + end.magnitude * (180.0 - end.angle).to_radians().cos(),
y: end.origin.y + end.magnitude * (180.0 - end.angle).to_radians().sin()
y: end.origin.y + end.magnitude * (180.0 - end.angle).to_radians().sin(),
};
// get the tangent pitch which is the same as the pitch between the two
// circle centers since our circles have the same radius
route_csc.tangent.angle = ((route_csc.end.circle.center.y - route_csc.start.circle.center.y) /
(route_csc.end.circle.center.x - route_csc.start.circle.center.x)).atan().to_degrees();
route_csc.tangent.angle = ((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
/ (route_csc.end.circle.center.x - route_csc.start.circle.center.x))
.atan()
.to_degrees();
// 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; }
if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
route_csc.tangent.angle += 180.0;
}
// make the angle positive
if route_csc.tangent.angle < 0.0 { route_csc.tangent.angle += 360.0; }
if route_csc.tangent.angle < 0.0 {
route_csc.tangent.angle += 360.0;
}
// get the tangent magnitude this, again, is the same as the distance
// between the two circle centers since our circles have the same radius
route_csc.tangent.magnitude = ( (route_csc.end.circle.center.x - route_csc.start.circle.center.x).abs().powf(2.0) +
(route_csc.end.circle.center.y - route_csc.start.circle.center.y).abs().powf(2.0) ).sqrt();
route_csc.tangent.magnitude = ((route_csc.end.circle.center.x
- route_csc.start.circle.center.x)
.abs()
.powf(2.0)
+ (route_csc.end.circle.center.y - route_csc.start.circle.center.y)
.abs()
.powf(2.0))
.sqrt();
// 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; }
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;
}
// 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 = 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(),
};
// get the angle of the start circle
// the angle where we start from the tangent equals the one we finish
// so we can use that in here
route_csc.end.angle = end.angle - route_csc.start.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; }
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;
}
Ok(route_csc)
}
/// right straight left route
pub fn rsl(end: Vector) -> Result <RouteCSC, ()> {
pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
let mut route_csc = RouteCSC {
start: CircleRoute { circle: Circle { center: Point {x: end.magnitude, y: 0.0}, radius: end.magnitude}, angle: 0.0 },
tangent: Vector { origin: Point { x: 0.0, y: 0.0 }, angle: 0.0, magnitude: 0.0},
end: CircleRoute { circle: Circle { center: Point {x: 0.0, y: 0.0}, radius: end.magnitude}, angle: 0.0 },
start: CircleRoute {
circle: Circle {
center: Point {
x: end.magnitude,
y: 0.0,
},
radius: end.magnitude,
},
angle: 0.0,
},
tangent: Vector {
origin: Point { x: 0.0, y: 0.0 },
angle: 0.0,
magnitude: 0.0,
},
end: CircleRoute {
circle: Circle {
center: Point { x: 0.0, y: 0.0 },
radius: end.magnitude,
},
angle: 0.0,
},
};
// get the center point by adding the end vector to the end point
@ -182,64 +275,106 @@ pub fn rsl(end: Vector) -> Result <RouteCSC, ()> {
// and again we have to use the counter clockwise direction
route_csc.end.circle.center = Point {
x: end.origin.x + end.magnitude * (180.0 - end.angle).to_radians().cos(),
y: end.origin.y + end.magnitude * (180.0 - end.angle).to_radians().sin()
y: end.origin.y + end.magnitude * (180.0 - end.angle).to_radians().sin(),
};
// 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)).sqrt()
< 2.0 * end.magnitude {
return Err(());
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))
.sqrt()
< 2.0 * end.magnitude
{
return Err(());
}
// 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)).sqrt();
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))
.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
y: (route_csc.end.circle.center.y + route_csc.start.circle.center.y) / 2.0,
};
// get the tangent angle
route_csc.tangent.angle = ((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();
route_csc.tangent.angle = ((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();
// 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; }
if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
route_csc.tangent.angle += 180.0;
}
// get the angle of the start circle
route_csc.start.angle = 90.0 - route_csc.tangent.angle;
// 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; }
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;
}
// get the tangent origin by moving the vector from the start circle center
// along its right angle vector
route_csc.tangent.origin = Point{
x: route_csc.start.circle.center.x + route_csc.start.circle.radius * (180.0-route_csc.start.angle).to_radians().cos(),
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 = Point {
x: route_csc.start.circle.center.x
+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().cos(),
y: route_csc.start.circle.center.y
+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().sin(),
};
// 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; }
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;
}
Ok(route_csc)
}
/// left straight right route
pub fn lsr(end: Vector) -> Result <RouteCSC, ()> {
pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
let mut route_csc = RouteCSC {
start: CircleRoute { circle: Circle { center: Point {x: -end.magnitude, y: 0.0}, radius: end.magnitude}, angle: 0.0 },
tangent: Vector { origin: Point { x: 0.0, y: 0.0 }, angle: 0.0, magnitude: 0.0},
end: CircleRoute { circle: Circle { center: Point {x: 0.0, y: 0.0}, radius: end.magnitude}, angle: 0.0 },
start: CircleRoute {
circle: Circle {
center: Point {
x: -end.magnitude,
y: 0.0,
},
radius: end.magnitude,
},
angle: 0.0,
},
tangent: Vector {
origin: Point { x: 0.0, y: 0.0 },
angle: 0.0,
magnitude: 0.0,
},
end: CircleRoute {
circle: Circle {
center: Point { x: 0.0, y: 0.0 },
radius: end.magnitude,
},
angle: 0.0,
},
};
// get the center point by adding the end vector to the end point
@ -248,55 +383,77 @@ pub fn lsr(end: Vector) -> Result <RouteCSC, ()> {
// 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()
y: end.origin.y + end.magnitude * (360.0 - end.angle).to_radians().sin(),
};
// 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)).sqrt()
< 2.0 * end.magnitude {
return Err(());
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))
.sqrt()
< 2.0 * end.magnitude
{
return Err(());
}
// 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)).sqrt();
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))
.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
y: (route_csc.end.circle.center.y + route_csc.start.circle.center.y) / 2.0,
};
// get the tangent angle
route_csc.tangent.angle = ((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();
route_csc.tangent.angle = ((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();
// 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; }
if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
route_csc.tangent.angle += 180.0;
}
// 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; }
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;
}
// 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 = 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(),
};
// 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; }
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;
}
Ok(route_csc)
}

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