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/*****
* knot.cc
* Andy Hammerlindl 2005/02/10
*
* Describes a knot, a point and its neighbouring specifiers, used as an
* intermediate structure in solving paths.
*****/
#include "knot.h"
#include "util.h"
#include "angle.h"
#include "settings.h"
namespace camp {
/***** Debugging *****/
//bool tracing_solving=false;
template <typename T>
ostream& info(ostream& o, const char *name, cvector<T>& v)
{
if (settings::verbose > 3) {
o << name << ":\n\n";
for(Int i=0; i < (Int) v.size(); ++i)
o << v[i] << endl;
o << endl;
}
return o;
}
ostream& info(ostream& o, string name, knotlist& l)
{
if (settings::verbose > 3) {
o << name << ":\n\n";
for(Int i=0; i < (Int) l.size(); ++i)
o << l[i] << endl;
if (l.cyclic())
o << "cyclic" << endl;
o << endl;
}
return o;
}
#define INFO(x) info(cerr,#x,x)
/***** Auxillary computation functions *****/
// Computes the relative distance of a control point given the angles.
// The name is somewhat misleading as the velocity (with respect to the
// variable that parameterizes the path) is relative to the distance
// between the knots and even then, is actually three times this.
// The routine is based on the velocity function in Section 131 of the MetaPost
// code, but differs in that it automatically accounts for the tension and
// bounding with tension atleast.
double velocity(double theta, double phi, tension t)
{
static const double VELOCITY_BOUND = 4.0;
static const double a = sqrt(2.0);
static const double b = 1.0/16.0;
static const double c = 1.5*(sqrt(5.0)-1.0);
static const double d = 1.5*(3.0-sqrt(5.0));
double st = sin(theta), ct = cos(theta),
sf = sin(phi), cf = cos(phi);
double denom = t.val * (3.0 + c*ct + d*cf);
double r = denom != 0.0 ? (2.0 + a*(st - b*sf)*(sf - b*st)*(ct-cf)) / denom
: VELOCITY_BOUND;
//cerr << " velocity(" << theta << "," << phi <<")= " << r << endl;
if (r > VELOCITY_BOUND)
r = VELOCITY_BOUND;
// Apply boundedness condition for tension atleast cases.
if (t.atleast)
{
double sine = sin(theta + phi);
if ((st >= 0.0 && sf >= 0.0 && sine > 0.0) ||
(st <= 0.0 && sf <= 0.0 && sine < 0.0))
{
double rmax = sf / sine;
if (r > rmax)
r = rmax;
}
}
return r;
}
double niceAngle(pair z)
{
return z.gety() == 0 ? z.getx() >= 0 ? 0 : PI
: angle(z);
}
// Ensures an angle is in the range between -PI and PI.
double reduceAngle(double angle)
{
return angle > PI ? angle - 2.0*PI :
angle < -PI ? angle + 2.0*PI :
angle;
}
bool interesting(tension t)
{
return t.val!=1.0 || t.atleast==true;
}
bool interesting(spec *s)
{
return !s->open();
}
ostream& operator<<(ostream& out, const knot& k)
{
if (interesting(k.tin))
out << k.tin << " ";
if (interesting(k.in))
out << *k.in << " ";
out << k.z;
if (interesting(k.out))
out << " " << *k.out;
if (interesting(k.tout))
out << " " << k.tout;
return out;
}
eqn dirSpec::eqnOut(Int j, knotlist& l, cvector<double>&, cvector<double>&)
{
// When choosing the control points, the path will come out the first knot
// going straight to the next knot rotated by the angle theta.
// Therefore, the angle theta we want is the difference between the
// specified heading given and the heading to the next knot.
double theta=reduceAngle(given-niceAngle(l[j+1].z-l[j].z));
// Give a simple linear equation to ensure this theta is picked.
return eqn(0.0,1.0,0.0,theta);
}
eqn dirSpec::eqnIn(Int j, knotlist& l, cvector<double>&, cvector<double>&)
{
double theta=reduceAngle(given-niceAngle(l[j].z-l[j-1].z));
return eqn(0.0,1.0,0.0,theta);
}
eqn curlSpec::eqnOut(Int j, knotlist& l, cvector<double>&,
cvector<double>& psi)
{
double alpha=l[j].alpha();
double beta=l[j+1].beta();
double chi=alpha*alpha*gamma/(beta*beta);
double C=alpha*chi+3-beta;
double D=(3.0-alpha)*chi+beta;
return eqn(0.0,C,D,-D*psi[j+1]);
}
eqn curlSpec::eqnIn(Int j, knotlist& l, cvector<double>&, cvector<double>&)
{
double alpha=l[j-1].alpha();
double beta=l[j].beta();
double chi=beta*beta*gamma/(alpha*alpha);
double A=(3-beta)*chi+alpha;
double B=beta*chi+3-alpha;
return eqn(A,B,0.0,0.0);
}
spec *controlSpec::outPartner(pair z)
{
static curlSpec curl;
return cz==z ? (spec *)&curl : (spec *)new dirSpec(z-cz);
}
spec *controlSpec::inPartner(pair z)
{
static curlSpec curl;
return cz==z ? (spec *)&curl : (spec *)new dirSpec(cz-z);
}
// Compute the displacement between points. The j-th result is the distance
// between knot j and knot j+1.
struct dzprop : public knotprop<pair> {
dzprop(knotlist& l)
: knotprop<pair>(l) {}
pair solo(Int) { return pair(0,0); }
pair start(Int j) { return l[j+1].z - l[j].z; }
pair mid(Int j) { return l[j+1].z - l[j].z; }
pair end(Int) { return pair(0,0); }
};
// Compute the distance between points, using the already computed dz. This
// doesn't use the infomation in the knots, but the knotprop class is useful as
// it takes care of the iteration for us.
struct dprop : public knotprop<double> {
cvector<pair>& dz;
dprop(knotlist &l, cvector<pair>& dz)
: knotprop<double>(l), dz(dz) {}
double solo(Int j) { return length(dz[j]); }
double start(Int j) { return length(dz[j]); }
double mid(Int j) { return length(dz[j]); }
double end(Int j) { return length(dz[j]); }
};
// Compute the turning angles (psi) between points, using the already computed
// dz.
struct psiprop : public knotprop<double> {
cvector<pair>& dz;
psiprop(knotlist &l, cvector<pair>& dz)
: knotprop<double>(l), dz(dz) {}
double solo(Int) { return 0; }
// We set the starting and ending psi to zero.
double start(Int) { return 0; }
double end(Int) { return 0; }
double mid(Int j) { return niceAngle(dz[j]/dz[j-1]); }
};
struct eqnprop : public knotprop<eqn> {
cvector<double>& d;
cvector<double>& psi;
eqnprop(knotlist &l, cvector<double>& d, cvector<double>& psi)
: knotprop<eqn>(l), d(d), psi(psi) {}
eqn solo(Int) {
assert(False);
return eqn(0.0,1.0,0.0,0.0);
}
eqn start(Int j) {
// Defer to the specifier, as it knows the specifics.
return dynamic_cast<endSpec *>(l[j].out)->eqnOut(j,l,d,psi);
}
eqn end(Int j) {
return dynamic_cast<endSpec *>(l[j].in)->eqnIn(j,l,d,psi);
}
eqn mid(Int j) {
double lastAlpha = l[j-1].alpha();
double thisAlpha = l[j].alpha();
double thisBeta = l[j].beta();
double nextBeta = l[j+1].beta();
// Values based on the linear approximation of the curvature coming
// into the knot with respect to theta[j-1] and theta[j].
double inFactor = 1.0/(thisBeta*thisBeta*d[j-1]);
double A = lastAlpha*inFactor;
double B = (3.0 - lastAlpha)*inFactor;
// Values based on the linear approximation of the curvature going out of
// the knot with respect to theta[j] and theta[j+1].
double outFactor = 1.0/(thisAlpha*thisAlpha*d[j]);
double C = (3.0 - nextBeta)*outFactor;
double D = nextBeta*outFactor;
return eqn(A,B+C,D,-B*psi[j]-D*psi[j+1]);
}
};
// If the system of equations is homogeneous (ie. we are solving for x in
// Ax=0), there is no need to solve for theta; we can just use zeros for the
// thetas. In fact, our general solving method may not work in this case.
// A common example of this is
//
// a{curl 1}..{curl 1}b
//
// which arises when solving a one-length path a..b or in a larger path a
// section a--b.
bool homogeneous(cvector<eqn>& e)
{
for(cvector<eqn>::iterator p=e.begin(); p!=e.end(); ++p)
if (p->aug != 0)
return false;
return true;
}
// Checks whether the equation being solved will be solved as a straight
// path from the first point to the second.
bool straightSection(cvector<eqn>& e)
{
return e.size()==2 && e.front().aug==0 && e.back().aug==0;
}
struct weqn : public eqn {
double w;
weqn(double pre, double piv, double post, double aug, double w=0)
: eqn(pre,piv,post,aug), w(w) {}
friend ostream& operator<< (ostream& out, const weqn we)
{
return out << (eqn &)we << " + " << we.w << " * theta[0]";
}
};
weqn scale(weqn q) {
assert(q.pre == 0 && q.piv != 0);
return weqn(0,1,q.post/q.piv,q.aug/q.piv,q.w/q.piv);
}
/* Recalculate the equations in the form:
* theta[j] + post * theta[j+1] = aug + w * theta[0]
*
* Used as the first step in solve cyclic equations.
*/
cvector<weqn> recalc(cvector<eqn>& e)
{
Int n=(Int) e.size();
cvector<weqn> we;
weqn lasteqn(0,1,0,0,1);
we.push_back(lasteqn); // As a placeholder.
for (Int j=1; j < n; j++) {
// Subtract a factor of the last equation so that the first entry is
// zero, then procede to scale it.
eqn& q=e[j];
lasteqn=scale(weqn(0,q.piv-q.pre*lasteqn.post,q.post,
q.aug-q.pre*lasteqn.aug,-q.pre*lasteqn.w));
we.push_back(lasteqn);
}
// To keep all of the infomation enocoded in the linear equations, we need
// to augment the computation to replace our trivial start weqn with a
// real one. To do this, we take one more step in the iteration and
// compute the weqn for j=n, since n=0 (mod n).
{
eqn& q=e[0];
we.front()=scale(weqn(0,q.piv-q.pre*lasteqn.post,q.post,
q.aug-q.pre*lasteqn.aug,-q.pre*lasteqn.w));
}
return we;
}
double solveForTheta0(cvector<weqn>& we)
{
// Solve for theta[0]=theta[n].
// How we do this is essentially to write out the first equation as:
//
// theta[n] = aug[0] + w[0]*theta[0] - post[0]*theta[1]
//
// and then use the next equation to substitute in for theta[1]:
//
// theta[1] = aug[1] + w[1]*theta[0] - post[1]*theta[2]
//
// and so on until we have an equation just in terms of theta[0] and
// theta[n] (which are the same theta).
//
// The loop invariant maintained is that after j iterations, we have
// theta[n]= a + b*theta[0] + c*theta[j]
Int n=(Int) we.size();
double a=0,b=0,c=1;
for (Int j=0;j<n;++j) {
weqn& q=we[j];
a+=c*q.aug;
b+=c*q.w;
c=-c*q.post;
}
// After the iteration we have
//
// theta[n] = a + b*theta[0] + c*theta[n]
//
// where theta[n]=theta[0], so
return a/(1.0-(b+c));
}
cvector<double> backsubCyclic(cvector<weqn>& we, double theta0)
{
Int n=(Int) we.size();
cvector<double> thetas;
double lastTheta=theta0;
for (Int j=1;j<=n;++j)
{
weqn& q=we[n-j];
assert(q.pre == 0 && q.piv == 1);
double theta=-q.post*lastTheta+q.aug+q.w*theta0;
thetas.push_back(theta);
lastTheta=theta;
}
reverse(thetas.begin(),thetas.end());
return thetas;
}
// For the non-cyclic equations, do row operation to put the matrix into
// reduced echelon form, ie. calculates equivalent equations but with pre=0 and
// piv=1 for each eqn.
struct ref : public knotprop<eqn> {
cvector<eqn>& e;
eqn lasteqn;
ref(knotlist& l, cvector<eqn>& e)
: knotprop<eqn>(l), e(e), lasteqn(0,1,0,0) {}
// Scale the equation so that the pivot (diagonal) entry is one, and save
// the new equation as lasteqn.
eqn scale(eqn q) {
assert(q.pre == 0 && q.piv != 0);
return lasteqn = eqn(0,1,q.post/q.piv,q.aug/q.piv);
}
eqn start(Int j) {
return scale(e[j]);
}
eqn mid(Int j) {
// Subtract a factor of the last equation so that the first entry is
// zero, then procede to scale it.
eqn& q=e[j];
return scale(eqn(0,q.piv-q.pre*lasteqn.post,q.post,
q.aug-q.pre*lasteqn.aug));
}
// The end case is the same as the middle case.
};
// Once the matrix is in reduced echelon form, we can solve for the values by
// back-substitution. This algorithm works from the bottom-up, so backCompute
// must be used to get the answer.
struct backsub : public knotprop<double> {
cvector<eqn>& e;
double lastTheta;
backsub(knotlist& l, cvector<eqn>& e)
: knotprop<double>(l), e(e) {}
double end(Int j) {
eqn& q=e[j];
assert(q.pre == 0 && q.piv == 1 && q.post == 0);
double theta=q.aug;
lastTheta=theta;
return theta;
}
double mid(Int j) {
eqn& q=e[j];
assert(q.pre == 0 && q.piv == 1);
double theta=-q.post*lastTheta+q.aug;
lastTheta=theta;
return theta;
}
// start is the same as mid.
};
// Once the equations have been determined, solve for the thetas.
cvector<double> solveThetas(knotlist& l, cvector<eqn>& e)
{
if (homogeneous(e))
// We are solving Ax=0, so a solution is zero for every theta.
return cvector<double>(e.size(),0);
else if (l.cyclic()) {
// The knotprop template is unusually unhelpful in this case, so I
// won't use it here. The algorithm breaks into three passes on the
// object. The old Asymptote code used a two-pass method, but I
// implemented this to stay closer to the MetaPost source code.
// This might be something to look at for optimization.
cvector<weqn> we=recalc(e);
INFO(we);
double theta0=solveForTheta0(we);
return backsubCyclic(we, theta0);
}
else { /* Non-cyclic case. */
/* First do row operations to get it into reduced echelon form. */
cvector<eqn> el=ref(l,e).compute();
/* Then, do back substitution. */
return backsub(l,el).backCompute();
}
}
// Once thetas have been solved, determine the first control point of every
// join.
struct postcontrolprop : public knotprop<pair> {
cvector<pair>& dz;
cvector<double>& psi;
cvector<double>& theta;
postcontrolprop(knotlist& l, cvector<pair>& dz,
cvector<double>& psi, cvector<double>& theta)
: knotprop<pair>(l), dz(dz), psi(psi), theta(theta) {}
double phi(Int j) {
/* The third angle: psi + theta + phi = 0 */
return -psi[j] - theta[j];
}
double vel(Int j) {
/* Use the standard velocity function. */
return velocity(theta[j],phi(j+1),l[j].tout);
}
// start is the same as mid.
pair mid(Int j) {
// Put a control point at the relative distance determined by the velocity,
// and at an angle determined by theta.
return l[j].z + vel(j)*expi(theta[j])*dz[j];
}
// The end postcontrol is the same as the last knot.
pair end(Int j) {
return l[j].z;
}
};
// Determine the first control point of every join.
struct precontrolprop : public knotprop<pair> {
cvector<pair>& dz;
cvector<double>& psi;
cvector<double>& theta;
precontrolprop(knotlist& l, cvector<pair>& dz,
cvector<double>& psi, cvector<double>& theta)
: knotprop<pair>(l), dz(dz), psi(psi), theta(theta) {}
double phi(Int j) {
return -psi[j] - theta[j];
}
double vel(Int j) {
return velocity(phi(j),theta[j-1],l[j].tin);
}
// The start precontrol is the same as the first knot.
pair start(Int j) {
return l[j].z;
}
pair mid(Int j) {
return l[j].z - vel(j)*expi(-phi(j))*dz[j-1];
}
// end is the same as mid.
};
// Puts solved controls into a protopath starting at the given index.
// By convention, the first knot is not coded, as it is assumed to be coded by
// the previous section (or it is the first breakpoint and encoded as a special
// case).
struct encodeControls : public knoteffect {
protopath& p;
Int k;
cvector<pair>& pre;
cvector<pair>& post;
encodeControls(protopath& p, Int k,
cvector<pair>& pre, knotlist& l, cvector<pair>& post)
: knoteffect(l), p(p), k(k), pre(pre), post(post) {}
void encodePre(Int j) {
p.pre(k+j)=pre[j];
}
void encodePoint(Int j) {
p.point(k+j)=l[j].z;
}
void encodePost(Int j) {
p.post(k+j)=post[j];
}
void solo(Int) {
#if 0
encodePoint(j);
#endif
}
void start(Int j) {
#if 0
encodePoint(j);
#endif
encodePost(j);
}
void mid(Int j) {
encodePre(j);
encodePoint(j);
encodePost(j);
}
void end(Int j) {
encodePre(j);
encodePoint(j);
}
};
void encodeStraight(protopath& p, Int k, knotlist& l)
{
pair a=l.front().z;
double at=l.front().tout.val;
pair b=l.back().z;
double bt=l.back().tin.val;
pair step=(b-a)/3.0;
if (at==1.0 && bt==1.0) {
p.straight(k)=true;
p.post(k)=a+step;
p.pre(k+1)=b-step;
p.point(k+1)=b;
}
else {
p.post(k)=a+step/at;
p.pre(k+1)=b-step/bt;
p.point(k+1)=b;
}
}
void solveSection(protopath& p, Int k, knotlist& l)
{
if (l.length()>0) {
info(cerr, "solving section", l);
// Calculate useful properties.
cvector<pair> dz = dzprop(l) .compute();
cvector<double> d = dprop(l,dz).compute();
cvector<double> psi = psiprop(l,dz).compute();
INFO(dz); INFO(d); INFO(psi);
// Build and solve the linear equations for theta.
cvector<eqn> e = eqnprop(l,d,psi).compute();
INFO(e);
if (straightSection(e))
// Handle straight section as special case.
encodeStraight(p,k,l);
else {
cvector<double> theta = solveThetas(l,e);
INFO(theta);
// Calculate the control points.
cvector<pair> post = postcontrolprop(l,dz,psi,theta).compute();
cvector<pair> pre = precontrolprop(l,dz,psi,theta).compute();
// Encode the results into the protopath.
encodeControls(p,k,pre,l,post).exec();
}
}
}
// Find the first breakpoint in the knotlist, ie. where we can start solving a
// non-cyclic section. If the knotlist is fully cyclic, then this returns
// NOBREAK.
// This must be called with a knot that has all of its implicit specifiers in
// place.
const Int NOBREAK=-1;
Int firstBreakpoint(knotlist& l)
{
for (Int j=0;j<l.size();++j)
if (!l[j].out->open())
return j;
return NOBREAK;
}
// Once a breakpoint, a, is found, find where the next breakpoint after it is.
// This must be called with a knot that has all of its implicit specifiers in
// place, so that breakpoint can be identified by either an in or out specifier
// that is not open.
Int nextBreakpoint(knotlist& l, Int a)
{
// This is guaranteed to terminate if a is the index of a breakpoint. If the
// path is non-cyclic it will stop at or before the last knot which must be a
// breakpoint. If the path is cyclic, it will stop at or before looping back
// around to a which is a breakpoint.
Int j=a+1;
while (l[j].in->open())
++j;
return j;
}
// Write out the controls for section of the form
// a.. control b and c ..d
void writeControls(protopath& p, Int a, knotlist& l)
{
// By convention, the first point will already be encoded.
p.straight(a)=dynamic_cast<controlSpec *>(l[a].out)->straight;
p.post(a)=dynamic_cast<controlSpec *>(l[a].out)->cz;
p.pre(a+1)=dynamic_cast<controlSpec *>(l[a+1].in)->cz;
p.point(a+1)=l[a+1].z;
}
// Solves a path that has all of its specifiers laid out explicitly.
path solveSpecified(knotlist& l)
{
protopath p(l.size(),l.cyclic());
Int first=firstBreakpoint(l);
if (first==NOBREAK)
/* We are solving a fully cyclic path, so do it in one swoop. */
solveSection(p,0,l);
else {
// Encode the first point.
p.point(first)=l[first].z;
// If the path is cyclic, we should stop where we started (modulo the
// length of the path); otherwise, just stop at the end.
Int last=l.cyclic() ? first+l.length()
: l.length();
Int a=first;
while (a!=last) {
if (l[a].out->controlled()) {
assert(l[a+1].in->controlled());
// Controls are already picked, just write them out.
writeControls(p,a,l);
++a;
}
else {
// Find the section a to b and solve it, putting the result (starting
// from index a into our protopath.
Int b=nextBreakpoint(l,a);
subknotlist section(l,a,b);
solveSection(p,a,section);
a=b;
}
}
// For a non-cyclic path, the end control points need to be set.
p.controlEnds();
}
return p.fix();
}
/* If a knot is open on one side and restricted on the other, this replaces the
* open side with a restriction determined by the restriction on the other
* side. After this, any knot will either have two open specs or two
* restrictions.
*/
struct partnerUp : public knoteffect {
partnerUp(knotlist& l)
: knoteffect(l) {}
void mid(Int j) {
knot& k=l[j];
if (k.in->open() && !k.out->open())
k.in=k.out->inPartner(k.z);
else if (!k.in->open() && k.out->open())
k.out=k.in->outPartner(k.z);
}
};
/* Ensures a non-cyclic path has direction specifiers at the ends, adding curls
* if there are none.
*/
void curlEnds(knotlist& l)
{
static curlSpec endSpec;
if (!l.cyclic()) {
if (l.front().in->open())
l.front().in=&endSpec;
if (l.back().out->open())
l.back().out=&endSpec;
}
}
/* If a point occurs twice in a row in a knotlist, write in controls
* between the two knots at that point (unless it already has controls).
*/
struct controlDuplicates : public knoteffect {
controlDuplicates(knotlist& l)
: knoteffect(l) {}
void solo(Int) { /* One point ==> no duplicates */ }
// start is the same as mid.
void mid(Int j) {
knot &k1=l[j];
knot &k2=l[j+1];
if (!k1.out->controlled() && k1.z==k2.z) {
k1.out=k2.in=new controlSpec(k1.z,true);
}
}
void end(Int) { /* No next point to compare with. */ }
};
path solve(knotlist& l)
{
if (l.empty())
return path();
else {
info(cerr, "input knotlist", l);
curlEnds(l);
controlDuplicates(l).exec();
partnerUp(l).exec();
info(cerr, "specified knotlist", l);
return solveSpecified(l);
}
}
// Code for Testing
#if 0
path solveSimple(cvector<pair>& z)
{
// The two specifiers used: an open spec and a curl spec for the ends.
spec open;
// curlSpec curl;
// curlSpec curly(2.0);
// dirSpec E(0);
// dirSpec N(PI/2.0);
controlSpec here(pair(150,150));
// Encode the knots as open in the knotlist.
cvector<knot> nodes;
for (cvector<pair>::iterator p=z.begin(); p!=z.end(); ++p) {
knot k;
k.z=*p;
k.in=k.out=&open;
nodes.push_back(k);
}
// Substitute in a curl spec for the ends.
//nodes.front().out=nodes.back().in=&curl;
// Test direction specifiers.
//nodes.front().tout=2;
//nodes.front().out=nodes.back().in=&curly;
//nodes[0].out=nodes[0].in=&E;
nodes[1].out=nodes[2].in=&here;
simpleknotlist l(nodes,false);
return solve(l);
}
#endif
} // namespace camp
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