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-rw-r--r--geom.hpp36
-rw-r--r--problem.cpp94
-rw-r--r--problem.hpp36
3 files changed, 83 insertions, 83 deletions
diff --git a/geom.hpp b/geom.hpp
index 27b3de5..aecc822 100644
--- a/geom.hpp
+++ b/geom.hpp
@@ -14,9 +14,9 @@ inline double frand(double a, double b) {
}
inline double canon_angle(double ref, double move_it){
- while (ref>move_it) move_it += 2*M_PI;
- while (move_it >= ref + 2*M_PI) move_it -= 2*M_PI;
- return move_it ;
+ while (ref>move_it) move_it += 2*M_PI;
+ while (move_it >= ref + 2*M_PI) move_it -= 2*M_PI;
+ return move_it ;
}
struct vec {
@@ -195,20 +195,20 @@ struct angular_sector {
assert(i.c.c == o.c.c);
assert(i.theta1 == o.theta1);
assert(i.theta2 == o.theta2);
-
- }
- bool is_in_sector(vec p) const{
- if(inner.is_in_pie(p) && (p-inner.c.c).norm() <=outer.c.r && inner.c.r <=(p-inner.c.c).norm())return true;
- return false;
- }
-
- double dist(vec p) const{
- if (is_in_sector(p)) return 0;
- return std::min(std::min(std::min(inner.dist(p),outer.dist(p)),
- segment(vec::from_polar(inner.c.r,inner.theta1)+inner.c.c,
- vec::from_polar(outer.c.r,inner.theta2)+inner.c.c).dist(p)),
- segment(vec::from_polar(inner.c.r,inner.theta2)+inner.c.c,
- vec::from_polar(outer.c.r,inner.theta2)+inner.c.c).dist(p)) ;
- }
+
+ }
+ bool is_in_sector(vec p) const{
+ if(inner.is_in_pie(p) && (p-inner.c.c).norm() <=outer.c.r && inner.c.r <=(p-inner.c.c).norm())return true;
+ return false;
+ }
+
+ double dist(vec p) const{
+ if (is_in_sector(p)) return 0;
+ return std::min(std::min(std::min(inner.dist(p),outer.dist(p)),
+ segment(vec::from_polar(inner.c.r,inner.theta1)+inner.c.c,
+ vec::from_polar(outer.c.r,inner.theta2)+inner.c.c).dist(p)),
+ segment(vec::from_polar(inner.c.r,inner.theta2)+inner.c.c,
+ vec::from_polar(outer.c.r,inner.theta2)+inner.c.c).dist(p)) ;
+ }
};
/* vim: set ts=4 sw=4 tw=0 noet :*/
diff --git a/problem.cpp b/problem.cpp
index c733200..350836e 100644
--- a/problem.cpp
+++ b/problem.cpp
@@ -12,60 +12,60 @@ using namespace std;
double hilare_a_mvt::length() {
// returns length traveled by the car
- if (is_arc) return domega * (center - from.pos()).norm();
- return ds ;
+ if (is_arc) return domega * (center - from.pos()).norm();
+ return ds ;
}
bool hilare_a::intersects(const obstacle &o) const {
-
- if((pos()-o.c.c).norm() < o.c.r + param->r_c_car)return true ;
- if((pos_trolley()-o.c.c).norm() < o.c.r + param->r_c_trolley)return true ;
- if(segment(pos(),pos_trolley()).dist(o.c.c) < o.c.r)return true ;
- return false ;
+
+ if((pos()-o.c.c).norm() < o.c.r + param->r_c_car)return true ;
+ if((pos_trolley()-o.c.c).norm() < o.c.r + param->r_c_trolley)return true ;
+ if(segment(pos(),pos_trolley()).dist(o.c.c) < o.c.r)return true ;
+ return false ;
}
bool hilare_a_mvt::intersects(const obstacle &o) const {
- hilare_a_param *p = from.param;
- vec pos_init = from.pos();
- vec pos_init_trolley = from.pos_trolley();
- if(is_arc){
- double r_min =
- min((pos_init - center).norm()-(p->r_c_car),
- (pos_init_trolley - center).norm()-(p->r_c_trolley));
- double r_max =
- max((pos_init - center).norm()+(p->r_c_car),
- (pos_init_trolley - center).norm()+(p->r_c_trolley));
- //TODO
- double theta1;
- double theta2;
- if (domega>=0) {
- if(from.phi > 0){
- theta1 = (from.pos()-center).angle();
- theta2 = (to.pos_trolley()-center).angle();
- }
- else {
- theta1 = (from.pos_trolley()-center).angle();
- theta2 = (to.pos()-center).angle();
+ hilare_a_param *p = from.param;
+ vec pos_init = from.pos();
+ vec pos_init_trolley = from.pos_trolley();
+ if(is_arc){
+ double r_min =
+ min((pos_init - center).norm()-(p->r_c_car),
+ (pos_init_trolley - center).norm()-(p->r_c_trolley));
+ double r_max =
+ max((pos_init - center).norm()+(p->r_c_car),
+ (pos_init_trolley - center).norm()+(p->r_c_trolley));
+ //TODO
+ double theta1;
+ double theta2;
+ if (domega>=0) {
+ if(from.phi > 0){
+ theta1 = (from.pos()-center).angle();
+ theta2 = (to.pos_trolley()-center).angle();
+ }
+ else {
+ theta1 = (from.pos_trolley()-center).angle();
+ theta2 = (to.pos()-center).angle();
+ }
}
- }
- else {
- if(from.phi > 0){ //TODO ??
- theta2 = (from.pos()-center).angle();
- theta1 = (to.pos_trolley()-center).angle();
- }
- else {
- theta2 = (from.pos_trolley()-center).angle();
- theta1 = (to.pos()-center).angle();
+ else {
+ if(from.phi > 0){ //TODO ??
+ theta2 = (from.pos()-center).angle();
+ theta1 = (to.pos_trolley()-center).angle();
+ }
+ else {
+ theta2 = (from.pos_trolley()-center).angle();
+ theta1 = (to.pos()-center).angle();
+ }
}
+ theta2 = canon_angle(theta1,theta2);
+ angular_sector sector = angular_sector(circarc(circle(center,r_min), theta1, theta2), circarc(circle(center,r_max), theta1, theta2));
+ if (sector.dist(o.c.c)<=o.c.r)return true;
+ if (from.intersects(o)) return true;
+ if (to.intersects(o)) return true;
+ return false;
+
}
- theta2 = canon_angle(theta1,theta2);
- angular_sector sector = angular_sector(circarc(circle(center,r_min), theta1, theta2), circarc(circle(center,r_max), theta1, theta2));
- if (sector.dist(o.c.c)<=o.c.r)return true;
- if (from.intersects(o)) return true;
- if (to.intersects(o)) return true;
- return false;
-
- }
return false;
}
@@ -86,7 +86,7 @@ solution solution::direct_sol(const hilare_a &pos_a, const hilare_a &pos_b) {
// - trouver les quatre droites tangentes aux deux cercles canoniques
// - pour chacune de ces droites, se mettre dessus, aller droit, s'en séparer
// (vérifier la cohérence : il n'y en a que deux qui sont dans le bon sens !)
-
+
// cas où la position de départ ou d'arrivée n'a pas pour courbe canonique un cercle : se tourner de pi/6 par exemple
// (ce cas n'arrivera pas, car on tire complètement au hasard...)
@@ -139,7 +139,7 @@ solution solution::direct_sol(const hilare_a &pos_a, const hilare_a &pos_b) {
if (fabs(xx) < 0.01 || fabs(xx - 2*M_PI) < 0.01 && fabs(xx + 2*M_PI) < 0.01) {
vector<hilare_a_mvt> sol;
-
+
hilare_a_mvt r1;
r1.is_arc = true;
r1.from = pos_a;
diff --git a/problem.hpp b/problem.hpp
index 5d9269a..40361d9 100644
--- a/problem.hpp
+++ b/problem.hpp
@@ -46,7 +46,7 @@ struct hilare_a { // System A
return vec(xc, yc);
}
- bool intersects(const obstacle &o) const; // intersects an obstacle ?
+ bool intersects(const obstacle &o) const; // intersects an obstacle ?
};
@@ -82,10 +82,10 @@ struct hilare_a_mvt {
double ds; // longueur par
double length(); // length of a movement
-
+
bool intersects(const obstacle &o) const; // intersects an obstacle ?
- bool intersects(const problem &p) const; // intersects any obstacle on the map ?
+ bool intersects(const problem &p) const; // intersects any obstacle on the map ?
};
struct solution {
@@ -116,28 +116,28 @@ class solver {
private:
- sf::Mutex _d_lock;
- solver_internal _d;
- problem _p;
+ sf::Mutex _d_lock;
+ solver_internal _d;
+ problem _p;
+
+ bool _please_stop;
+ bool _running;
+ bool _done;
+ solution _s;
- bool _please_stop;
- bool _running;
- bool _done;
- solution _s;
-
- sf::Thread _worker;
+ sf::Thread _worker;
public:
- solver();
+ solver();
- void start(const problem &p);
+ void start(const problem &p);
- void run(); // worker thread
+ void run(); // worker thread
- bool finished();
- solution get_solution();
+ bool finished();
+ solution get_solution();
- solver_internal peek_internal();
+ solver_internal peek_internal();
};