From a80b6bc1d90738bdb13978f8603edb44728597b3 Mon Sep 17 00:00:00 2001 From: David Sawatzke Date: Wed, 20 May 2020 19:55:48 +0200 Subject: [PATCH] Use euclid `Angle` --- Cargo.toml | 1 + src/lib.rs | 226 +++++++++++++++++++---------------------------------- 2 files changed, 81 insertions(+), 146 deletions(-) diff --git a/Cargo.toml b/Cargo.toml index 8f98977..4bad0da 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -15,3 +15,4 @@ edition = "2018" [dependencies] +euclid = "0.20.11" diff --git a/src/lib.rs b/src/lib.rs index 47a7548..223fff5 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -1,11 +1,13 @@ -/*! 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 +//! 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 +//! +//! Start Vector is in the origin facing in positive x-direction +//! +//! Every struct defined here is 2 dimensional and uses f64 -Start Vector is in the origin facing in positive x-direction - -Every struct defined here is 2 dimensional and uses f64 */ +use euclid::Angle; /// Point pub struct Point { @@ -16,7 +18,7 @@ pub struct Point { /// Vector with origin, angle and magnitude pub struct Vector { pub origin: Point, - pub angle: f64, + pub angle: Angle, pub magnitude: f64, } @@ -29,7 +31,7 @@ pub struct Circle { /// Circle route with a circle and a angle for how long to drive on this circle pub struct CircleRoute { pub circle: Circle, - pub angle: f64, + pub angle: Angle, } /// Route with a start Circle, a tangent straight and a end Circle (eg. rsl, rsr, lsr, lsl) @@ -58,11 +60,11 @@ pub fn rsr(end: Vector) -> Result { }, radius: end.magnitude, }, - angle: 0.0, + angle: Angle::zero(), }, tangent: Vector { origin: Point { x: 0.0, y: 0.0 }, - angle: 0.0, + angle: Angle::zero(), magnitude: 0.0, }, end: CircleRoute { @@ -70,31 +72,32 @@ pub fn rsr(end: Vector) -> Result { center: Point { x: 0.0, y: 0.0 }, 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) + // the angle has to be counter clockwise though (thats why 2π - 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(), + x: end.origin.x + end.magnitude * (Angle::two_pi() - end.angle).get().cos(), + y: end.origin.y + end.magnitude * (Angle::two_pi() - end.angle).get().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 = Angle::radians( + ((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(), + ); // 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 tangent magnitude this, again, is the same as the distance @@ -105,37 +108,21 @@ pub fn rsr(end: Vector) -> Result { .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; - } + route_csc.start.angle = (Angle::frac_pi_2() - route_csc.tangent.angle).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 * (180.0 - route_csc.start.angle).to_radians().cos(), + + route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().cos(), y: route_csc.start.circle.center.y - + route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().sin(), + + route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().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; - } + route_csc.end.angle = (end.angle - route_csc.start.angle).positive(); Ok(route_csc) } @@ -151,11 +138,11 @@ pub fn lsl(end: Vector) -> Result { }, radius: end.magnitude, }, - angle: 0.0, + angle: Angle::zero(), }, tangent: Vector { origin: Point { x: 0.0, y: 0.0 }, - angle: 0.0, + angle: Angle::zero(), magnitude: 0.0, }, end: CircleRoute { @@ -163,36 +150,33 @@ pub fn lsl(end: Vector) -> Result { center: Point { x: 0.0, y: 0.0 }, radius: end.magnitude, }, - angle: 0.0, + angle: Angle::zero(), }, }; // get the center point by adding the end vector to the end point - // we have to rotate the vector 180° (90° because the given angle is from the y axis - // and 90 more to not get the tangent but the vector to the center point) + // we have to rotate the vector π (π/2 because the given angle is from the y axis + // and π/2 more to not get the tangent but the vector to the center point) // 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(), + x: end.origin.x + end.magnitude * (Angle::pi() - end.angle).get().cos(), + y: end.origin.y + end.magnitude * (Angle::pi() - end.angle).get().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 = Angle::radians( + ((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(), + ) + .positive(); // 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: + // the angle would be π rotated so to prevent that: 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; + route_csc.tangent.angle = (route_csc.tangent.angle + Angle::pi()).positive(); } // get the tangent magnitude this, again, is the same as the distance @@ -207,37 +191,21 @@ pub fn lsl(end: Vector) -> Result { .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; - } + 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(), + + route_csc.start.circle.radius * route_csc.start.angle.get().cos(), y: route_csc.start.circle.center.y - + route_csc.start.circle.radius * route_csc.start.angle.to_radians().sin(), + + route_csc.start.circle.radius * route_csc.start.angle.get().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; - } + route_csc.end.angle = (end.angle - route_csc.start.angle).positive(); Ok(route_csc) } @@ -253,11 +221,11 @@ pub fn rsl(end: Vector) -> Result { }, radius: end.magnitude, }, - angle: 0.0, + angle: Angle::zero(), }, tangent: Vector { origin: Point { x: 0.0, y: 0.0 }, - angle: 0.0, + angle: Angle::zero(), magnitude: 0.0, }, end: CircleRoute { @@ -265,17 +233,17 @@ pub fn rsl(end: Vector) -> Result { center: Point { x: 0.0, y: 0.0 }, radius: end.magnitude, }, - angle: 0.0, + angle: Angle::zero(), }, }; // get the center point by adding the end vector to the end point - // we have to rotate the vector 180° (90° because the given angle is from the y axis - // and 90 more to not get the tangent but the vector to the center point) + // we have to rotate the vector π (π/2 because the given angle is from the y axis + // and π/2 more to not get the tangent but the vector to the center point) // 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(), + x: end.origin.x + end.magnitude * (Angle::pi() - end.angle).get().cos(), + y: end.origin.y + end.magnitude * (Angle::pi() - end.angle).get().sin(), }; // check if inside tangent can even be constructed @@ -301,51 +269,34 @@ pub fn rsl(end: Vector) -> Result { }; // 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) + 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(), + ); // 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: + // the angle would be π 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 = 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; - } + route_csc.start.angle = (Angle::frac_pi_2() - route_csc.tangent.angle).positive(); // 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(), + + route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().cos(), y: route_csc.start.circle.center.y - + route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().sin(), + + route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().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; - } + route_csc.end.angle = ((Angle::frac_pi_2() - end.angle) - route_csc.tangent.angle).positive(); Ok(route_csc) } @@ -361,11 +312,11 @@ pub fn lsr(end: Vector) -> Result { }, radius: end.magnitude, }, - angle: 0.0, + angle: Angle::zero(), }, tangent: Vector { origin: Point { x: 0.0, y: 0.0 }, - angle: 0.0, + angle: Angle::zero(), magnitude: 0.0, }, end: CircleRoute { @@ -373,17 +324,17 @@ pub fn lsr(end: Vector) -> Result { center: Point { x: 0.0, y: 0.0 }, 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) + // the angle has to be counter clockwise though (thats why 2π - 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(), + x: end.origin.x + end.magnitude * (Angle::two_pi() - end.angle).get().cos(), + y: end.origin.y + end.magnitude * (Angle::two_pi() - end.angle).get().sin(), }; // check if inside tangent can even be constructed @@ -409,51 +360,34 @@ pub fn lsr(end: Vector) -> Result { }; // 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) + 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(), + ); // 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(), + + route_csc.start.circle.radius * route_csc.start.angle.get().cos(), y: route_csc.start.circle.center.y - + route_csc.start.circle.radius * route_csc.start.angle.to_radians().sin(), + + route_csc.start.circle.radius * route_csc.start.angle.get().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; - } + route_csc.end.angle = ((Angle::frac_pi_2() - end.angle) - route_csc.tangent.angle).positive(); Ok(route_csc) }