PolyLine3d.java
package org.djutils.draw.line;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Iterator;
import java.util.List;
import org.djutils.draw.DrawException;
import org.djutils.draw.DrawRuntimeException;
import org.djutils.draw.Drawable3d;
import org.djutils.draw.Space3d;
import org.djutils.draw.bounds.Bounds3d;
import org.djutils.draw.point.OrientedPoint3d;
import org.djutils.draw.point.Point2d;
import org.djutils.draw.point.Point3d;
import org.djutils.exceptions.Throw;
import org.djutils.logger.CategoryLogger;
/**
* Implementation of Line for 3D space.
* <p>
* Copyright (c) 2020-2021 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
* BSD-style license. See <a href="https://djutils.org/docs/current/djutils/licenses.html">DJUTILS License</a>.
* </p>
* @author <a href="https://www.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="https://www.tudelft.nl/pknoppers">Peter Knoppers</a>
*/
public class PolyLine3d implements Drawable3d, PolyLine<PolyLine3d, Point3d, Space3d, OrientedPoint3d>
{
/** */
private static final long serialVersionUID = 20200911L;
/** The points of the line. */
private final Point3d[] points;
/** The cumulative length of the line at point 'i'. */
private final double[] lengthIndexedLine;
/** The length. */
private final double length;
/** Bounding box of this Line3d. */
private final Bounds3d bounds;
/**
* Construct a new Line3d and initialize its length indexed line, bounds, centroid and length.
* @param copyNeeded boolean; if true; a deep copy of the points array is stored instead of the provided array
* @param points Point3d[]; the array of points to construct this Line3d from.
* @throws NullPointerException when iterator is null
* @throws DrawRuntimeException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
*/
private PolyLine3d(final boolean copyNeeded, final Point3d[] points) throws NullPointerException, DrawRuntimeException
{
Throw.whenNull(points, "points cannot be null");
Throw.when(points.length < 2, DrawRuntimeException.class, "Need at least two points");
this.points = copyNeeded ? Arrays.copyOf(points, points.length) : points;
Point3d prevPoint = points[0];
double minX = prevPoint.x;
double minY = prevPoint.y;
double minZ = prevPoint.z;
double maxX = prevPoint.x;
double maxY = prevPoint.y;
double maxZ = prevPoint.z;
this.lengthIndexedLine = new double[this.points.length];
this.lengthIndexedLine[0] = 0.0;
for (int i = 1; i < this.points.length; i++)
{
Point3d point = this.points[i];
minX = Math.min(minX, point.x);
minY = Math.min(minY, point.y);
minZ = Math.min(minZ, point.z);
maxX = Math.max(maxX, point.x);
maxY = Math.max(maxY, point.y);
maxZ = Math.max(maxZ, point.z);
if (prevPoint.x == point.x && prevPoint.y == point.y && prevPoint.z == point.z)
{
throw new DrawRuntimeException(
"Degenerate Line3d; point " + (i - 1) + " has the same x, y and z as point " + i);
}
this.lengthIndexedLine[i] = this.lengthIndexedLine[i - 1] + prevPoint.distance(point);
prevPoint = point;
}
this.length = this.lengthIndexedLine[this.lengthIndexedLine.length - 1];
this.bounds = new Bounds3d(minX, maxX, minY, maxY, minZ, maxZ);
}
/**
* Construct a new PolyLine3d from an array of Point3d.
* @param point1 Point3d; starting point of the PolyLine3d
* @param point2 Point3d; second point of the PolyLine3d
* @param otherPoints Point3d...; additional points of the PolyLine3d
* @throws NullPointerException when iterator is null
* @throws DrawRuntimeException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
*/
public PolyLine3d(final Point3d point1, final Point3d point2, final Point3d... otherPoints)
throws NullPointerException, DrawRuntimeException
{
this(false, spliceArray(point1, point2, otherPoints));
}
/**
* Construct an array of Point3d from two points plus an array of Point3d.
* @param point1 Point3d; the first point (ends up at index 0 of the result)
* @param point2 Point3d; the second point (ends up at index 1 of the result)
* @param otherPoints Point3d...; may be null, may be empty. If non empty, the elements in otherPoints end up at index 2 and
* up in the result
* @return Point2d[]; the combined array
*/
private static Point3d[] spliceArray(final Point3d point1, final Point3d point2, final Point3d... otherPoints)
{
Point3d[] result = new Point3d[2 + (otherPoints == null ? 0 : otherPoints.length)];
result[0] = point1;
result[1] = point2;
if (otherPoints != null)
{
for (int i = 0; i < otherPoints.length; i++)
{
result[i + 2] = otherPoints[i];
}
}
return result;
}
/**
* Construct a new PolyLine3d from an array of Point3d.
* @param points Point3d[]; points of the PolyLine3d
* @throws NullPointerException when iterator is null
* @throws DrawRuntimeException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
*/
public PolyLine3d(final Point3d[] points) throws NullPointerException, DrawRuntimeException
{
this(true, checkLengthIsTwoOrMore(Throw.whenNull(points, "points may not be null")));
}
/**
* Check that the length of an array of Point3d is at least two.
* @param points Point3d[]; the array of points to check
* @return Point3d[]; points
* @throws DrawRuntimeException when the length of points is less than two
*/
private static Point3d[] checkLengthIsTwoOrMore(final Point3d[] points) throws DrawRuntimeException
{
Throw.when(points.length < 2, DrawRuntimeException.class, "Need at least two points");
return points;
}
/**
* Construct a new Line3d and initialize its length indexed line, bounds, centroid and length.
* @param iterator Iterator<Point3d>; iterator that will provide all points that constitute the new Line3d
* @throws NullPointerException when iterator is null
* @throws DrawException when the iterator provides too few points, or some adjacent identical points)
*/
public PolyLine3d(final Iterator<Point3d> iterator) throws NullPointerException, DrawException
{
this(iteratorToList(Throw.whenNull(iterator, "iterator cannot be null")));
}
/**
* Construct a new Line3d from a List<Point3d>.
* @param pointList List<Point3d>; the list of points to construct this Line3d from.
* @throws DrawRuntimeException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
*/
public PolyLine3d(final List<Point3d> pointList) throws DrawRuntimeException
{
this(false, pointList.toArray(new Point3d[pointList.size()]));
}
/** {@inheritDoc} */
@Override
public PolyLine3d instantiate(final List<Point3d> pointList) throws NullPointerException, DrawRuntimeException
{
return new PolyLine3d(pointList);
}
/**
* Build a list from the Point3d objects that an iterator provides.
* @param iterator Iterator<Point3d>; the iterator that will provide the points
* @return List<Point3d>; a list of the points provided by the iterator
*/
private static List<Point3d> iteratorToList(final Iterator<Point3d> iterator)
{
List<Point3d> result = new ArrayList<>();
iterator.forEachRemaining(result::add);
return result;
}
/** {@inheritDoc} */
@Override
public int size()
{
return this.points.length;
}
/** {@inheritDoc} */
@Override
public final Point3d get(final int i) throws IndexOutOfBoundsException
{
return this.points[i];
}
/** {@inheritDoc} */
@Override
public final double lengthAtIndex(final int index)
{
return this.lengthIndexedLine[index];
}
/** {@inheritDoc} */
@Override
public final double getLength()
{
return this.length;
}
/** {@inheritDoc} */
@Override
public Iterator<Point3d> getPoints()
{
return Arrays.stream(this.points).iterator();
}
/** {@inheritDoc} */
@Override
public Bounds3d getBounds()
{
return this.bounds;
}
/**
* Construct a new Line3d that is equal to this line except for segments that are shorter than the <cite>noiseLevel</cite>.
* The result is guaranteed to start with the first point of this line and end with the last point of this line.
* @param noiseLevel double; the minimum segment length that is <b>not</b> removed
* @return Line3d; the filtered line
*/
public final PolyLine3d noiseFilteredLine(final double noiseLevel)
{
if (this.size() <= 2)
{
return this; // Except for some cached fields; an Line3d is immutable; so safe to return
}
Point3d prevPoint = null;
List<Point3d> list = null;
for (int index = 0; index < this.size(); index++)
{
Point3d currentPoint = this.points[index];
if (null != prevPoint && prevPoint.distance(currentPoint) < noiseLevel)
{
if (null == list)
{
// Found something to filter; copy this up to (and including) prevPoint
list = new ArrayList<>();
for (int i = 0; i < index; i++)
{
list.add(this.points[i]);
}
}
if (index == this.size() - 1)
{
if (list.size() > 1)
{
// Replace the last point of the result by the last point of this Line3d
list.set(list.size() - 1, currentPoint);
}
else
{
// Append the last point of this even though it is close to the first point than the noise value to
// comply with the requirement that first and last point of this are ALWAYS included in the result.
list.add(currentPoint);
}
}
continue; // Do not replace prevPoint by currentPoint
}
else if (null != list)
{
list.add(currentPoint);
}
prevPoint = currentPoint;
}
if (null == list)
{
return this;
}
if (list.size() == 2 && list.get(0).equals(list.get(1)))
{
// Insert point 1 of this; it MUST be different from point 0; so we don't have to test for anything.
list.add(1, this.points[1]);
}
try
{
return new PolyLine3d(list);
}
catch (DrawRuntimeException exception)
{
CategoryLogger.always().error(exception);
throw new Error(exception);
}
}
/**
* Concatenate several Line3d instances.
* @param lines PolyLine3d...; Line3d... one or more Line3d. The last point of the first <strong>must</strong>
* match the first of the second, etc.
* @return Line3d
* @throws DrawException if zero lines are given, or when there is a gap between consecutive lines
*/
public static PolyLine3d concatenate(final PolyLine3d... lines) throws DrawException
{
return concatenate(0.0, lines);
}
/**
* Concatenate two Line3d instances. This method is separate for efficiency reasons.
* @param tolerance double; the tolerance between the end point of a line and the first point of the next line
* @param line1 PolyLine3d; first line
* @param line2 PolyLine3d; second line
* @return Line3d; the concatenation of the two lines
* @throws DrawException if zero lines are given, or when there is a gap between consecutive lines
*/
public static PolyLine3d concatenate(final double tolerance, final PolyLine3d line1, final PolyLine3d line2)
throws DrawException
{
if (line1.getLast().distance(line2.getFirst()) > tolerance)
{
throw new DrawException("Lines are not connected: " + line1.getLast() + " to " + line2.getFirst() + " distance is "
+ line1.getLast().distance(line2.getFirst()) + " > " + tolerance);
}
int size = line1.size() + line2.size() - 1;
Point3d[] points = new Point3d[size];
int nextIndex = 0;
for (int j = 0; j < line1.size(); j++)
{
points[nextIndex++] = line1.get(j);
}
for (int j = 1; j < line2.size(); j++)
{
points[nextIndex++] = line2.get(j);
}
return new PolyLine3d(false, points);
}
/**
* Concatenate several Line3d instances.
* @param tolerance double; the tolerance between the end point of a line and the first point of the next line
* @param lines PolyLine3d...; Line3d... one or more Line3d. The last point of the first <strong>must</strong>
* match the first of the second, etc.
* @return Line3d; the concatenation of the lines
* @throws DrawException if zero lines are given, or when there is a gap between consecutive lines
*/
public static PolyLine3d concatenate(final double tolerance, final PolyLine3d... lines) throws DrawException
{
if (0 == lines.length)
{
throw new DrawException("Empty argument list");
}
else if (1 == lines.length)
{
return lines[0];
}
int size = lines[0].size();
for (int i = 1; i < lines.length; i++)
{
if (lines[i - 1].getLast().distance(lines[i].getFirst()) > tolerance)
{
throw new DrawException("Lines are not connected: " + lines[i - 1].getLast() + " to " + lines[i].getFirst()
+ " distance is " + lines[i - 1].getLast().distance(lines[i].getFirst()) + " > " + tolerance);
}
size += lines[i].size() - 1;
}
Point3d[] points = new Point3d[size];
int nextIndex = 0;
for (int i = 0; i < lines.length; i++)
{
PolyLine3d line = lines[i];
for (int j = 0 == i ? 0 : 1; j < line.size(); j++)
{
points[nextIndex++] = line.get(j);
}
}
return new PolyLine3d(false, points);
}
/** {@inheritDoc} */
@Override
public PolyLine2d project() throws DrawRuntimeException
{
List<Point2d> pointList = new ArrayList<>();
Point2d prevPoint = null;
for (Point3d point3d : this.points)
{
Point2d point = point3d.project();
if (prevPoint != null)
{
if (prevPoint.x == point.x && prevPoint.y == point.y)
{
continue;
}
}
pointList.add(point);
prevPoint = point;
}
return new PolyLine2d(pointList);
}
/**
* Create a new Line3d, filtering out repeating successive points.
* @param points Point3d...; the coordinates of the line as Point3d
* @return the line
* @throws DrawException when number of points < 2
*/
public static PolyLine3d createAndCleanLine3d(final Point3d... points) throws DrawException
{
if (points.length < 2)
{
throw new DrawException("Degenerate Line3d; has " + points.length + " point" + (points.length != 1 ? "s" : ""));
}
return createAndCleanLine3d(new ArrayList<>(Arrays.asList(points)));
}
/**
* Create an Line3d, while filtering out repeating successive points.
* @param pointList List<Point3d>; list of the coordinates of the line as Point3d; any duplicate points in this list
* are removed (this method may modify the provided list)
* @return Line3d; the line
* @throws DrawException when number of non-equal points < 2
*/
public static PolyLine3d createAndCleanLine3d(final List<Point3d> pointList) throws DrawException
{
// TODO avoid modifying the input list.
// clean successive equal points
int i = 1;
while (i < pointList.size())
{
if (pointList.get(i - 1).equals(pointList.get(i)))
{
pointList.remove(i);
}
else
{
i++;
}
}
return new PolyLine3d(pointList);
}
/** {@inheritDoc} */
@Override
public final OrientedPoint3d getLocationExtended(final double position)
{
if (position >= 0.0 && position <= getLength())
{
try
{
return getLocation(position);
}
catch (DrawException exception)
{
// cannot happen
}
}
// position before start point -- extrapolate using direction from first point to second point of this Line3d
if (position < 0.0)
{
double len = position;
double fraction = len / (this.lengthIndexedLine[1] - this.lengthIndexedLine[0]);
Point3d p1 = this.points[0];
Point3d p2 = this.points[1];
return new OrientedPoint3d(p1.x + fraction * (p2.x - p1.x), p1.y + fraction * (p2.y - p1.y),
p1.z + fraction * (p2.z - p1.z), 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
}
// position beyond end point -- extrapolate using the direction from the before last point to the last point of this
// Line3d
int n1 = this.lengthIndexedLine.length - 1;
int n2 = this.lengthIndexedLine.length - 2;
double len = position - getLength();
double fraction = len / (this.lengthIndexedLine[n1] - this.lengthIndexedLine[n2]);
while (Double.isInfinite(fraction))
{
if (--n2 < 0)
{
CategoryLogger.always().error("lengthIndexedLine of {} is invalid", this);
Point3d p = this.points[n1];
return new OrientedPoint3d(p.x, p.y, p.z, 0.0, 0.0, 0.0); // Bogus direction
}
fraction = len / (this.lengthIndexedLine[n1] - this.lengthIndexedLine[n2]);
}
Point3d p1 = this.points[n2];
Point3d p2 = this.points[n1];
return new OrientedPoint3d(p2.x + fraction * (p2.x - p1.x), p2.y + fraction * (p2.y - p1.y),
p2.z + fraction * (p2.z - p1.z), 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
}
/** {@inheritDoc} */
@Override
public final OrientedPoint3d getLocation(final double position) throws DrawException
{
if (position < 0.0 || position > getLength())
{
throw new DrawException("getLocationSI for line: position < 0.0 or > line length. Position = " + position
+ " m. Length = " + getLength() + " m.");
}
// handle special cases: position == 0.0, or position == length
if (position == 0.0)
{
Point3d p1 = this.points[0];
Point3d p2 = this.points[1];
return new OrientedPoint3d(p1.x, p1.y, p1.z, 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
}
if (position == getLength())
{
Point3d p1 = this.points[this.points.length - 2];
Point3d p2 = this.points[this.points.length - 1];
return new OrientedPoint3d(p2.x, p2.y, p2.z, 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
}
// find the index of the line segment, use binary search
int index = find(position);
double remainder = position - this.lengthIndexedLine[index];
double fraction = remainder / (this.lengthIndexedLine[index + 1] - this.lengthIndexedLine[index]);
Point3d p1 = this.points[index];
Point3d p2 = this.points[index + 1];
return new OrientedPoint3d(p1.x + fraction * (p2.x - p1.x), p1.y + fraction * (p2.y - p1.y),
p1.z + fraction * (p2.z - p1.z), 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
}
/** {@inheritDoc} */
@Override
public PolyLine3d extract(final double start, final double end) throws DrawException
{
if (Double.isNaN(start) || Double.isNaN(end) || start < 0 || start >= end || end > getLength())
{
throw new DrawException(
"Bad interval (" + start + ".." + end + "; length of this Line3d is " + this.getLength() + ")");
}
double cumulativeLength = 0;
double nextCumulativeLength = 0;
double segmentLength = 0;
int index = 0;
List<Point3d> pointList = new ArrayList<>();
while (start > cumulativeLength)
{
Point3d fromPoint = get(index);
index++;
Point3d toPoint = get(index);
segmentLength = fromPoint.distance(toPoint);
cumulativeLength = nextCumulativeLength;
nextCumulativeLength = cumulativeLength + segmentLength;
if (nextCumulativeLength >= start)
{
break;
}
}
if (start == nextCumulativeLength)
{
pointList.add(get(index));
}
else
{
pointList.add(get(index - 1).interpolate(get(index), (start - cumulativeLength) / segmentLength));
if (end > nextCumulativeLength)
{
pointList.add(get(index));
}
}
while (end > nextCumulativeLength)
{
Point3d fromPoint = get(index);
index++;
if (index >= size())
{
break; // rounding error
}
Point3d toPoint = get(index);
segmentLength = fromPoint.distance(toPoint);
cumulativeLength = nextCumulativeLength;
nextCumulativeLength = cumulativeLength + segmentLength;
if (nextCumulativeLength >= end)
{
break;
}
pointList.add(toPoint);
}
if (end == nextCumulativeLength)
{
pointList.add(get(index));
}
else
{
Point3d point = get(index - 1).interpolate(get(index), (end - cumulativeLength) / segmentLength);
// can be the same due to rounding
if (!point.equals(pointList.get(pointList.size() - 1)))
{
pointList.add(point);
}
}
try
{
return instantiate(pointList);
}
catch (DrawRuntimeException exception)
{
CategoryLogger.always().error(exception, "interval " + start + ".." + end + " too short");
throw new DrawException("interval " + start + ".." + end + "too short");
}
}
/** {@inheritDoc} */
@Override
public PolyLine3d truncate(final double position) throws DrawException
{
if (position <= 0.0 || position > getLength())
{
throw new DrawException("truncate for line: position <= 0.0 or > line length. Position = " + position
+ ". Length = " + getLength() + " m.");
}
// handle special case: position == length
if (position == getLength())
{
return this;
}
// find the index of the line segment
int index = find(position);
double remainder = position - lengthAtIndex(index);
double fraction = remainder / (lengthAtIndex(index + 1) - lengthAtIndex(index));
Point3d p1 = get(index);
Point3d lastPoint;
if (0.0 == fraction)
{
index--;
lastPoint = p1;
}
else
{
Point3d p2 = get(index + 1);
lastPoint = p1.interpolate(p2, fraction);
}
// FIXME: Cannot create a P[]; will have to do it with a List<P>
List<Point3d> coords = new ArrayList<>(index + 2);
for (int i = 0; i <= index; i++)
{
coords.add(get(i));
}
coords.add(lastPoint);
return instantiate(coords);
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public int hashCode()
{
final int prime = 31;
int result = 1;
result = prime * result + Arrays.hashCode(this.points);
return result;
}
/** {@inheritDoc} */
@Override
public String toString()
{
return "PolyLine3d [points=" + Arrays.toString(this.points) + "]";
}
/** {@inheritDoc} */
@Override
@SuppressWarnings({"checkstyle:designforextension", "checkstyle:needbraces"})
public boolean equals(final Object obj)
{
if (this == obj)
return true;
if (obj == null)
return false;
if (getClass() != obj.getClass())
return false;
PolyLine3d other = (PolyLine3d) obj;
if (!Arrays.equals(this.points, other.points))
return false;
return true;
}
}