PolyLine2d.java
package org.djutils.draw.line;
import java.awt.geom.Path2D;
import java.awt.geom.PathIterator;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Iterator;
import java.util.List;
import java.util.Locale;
import java.util.NoSuchElementException;
import java.util.function.Function;
import org.djutils.draw.DrawRuntimeException;
import org.djutils.draw.Drawable2d;
import org.djutils.draw.bounds.Bounds2d;
import org.djutils.draw.point.DirectedPoint2d;
import org.djutils.draw.point.Point2d;
import org.djutils.exceptions.Throw;
import org.djutils.logger.CategoryLogger;
/**
* Implementation of PolyLine for 2D space.
* <p>
* Copyright (c) 2020-2024 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 PolyLine2d implements Drawable2d, PolyLine<PolyLine2d, Point2d, Ray2d, DirectedPoint2d, LineSegment2d>
{
/** */
private static final long serialVersionUID = 20200911L;
/** X-coordinates of the points. */
private final double[] x;
/** Y-coordinates of the points. */
private final double[] y;
/** The cumulative length of the line at point 'i'. */
private final double[] lengthIndexedLine;
/** The length. */
private final double length;
/** Bounding rectangle of this PolyLine2d. */
private final Bounds2d bounds;
/** Heading at start point (only needed for degenerate PolyLine2d). */
private final double startHeading;
/**
* Construct a new PolyLine2d from an array of double x values and an array of double y values.
* @param copyNeeded boolean; if true; a deep copy of the points array is stored instead of the provided array
* @param x double[]; the x-coordinates of the points
* @param y double[]; the y-coordinates of the points
* @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)
*/
PolyLine2d(final boolean copyNeeded, final double[] x, final double[] y) throws NullPointerException, DrawRuntimeException
{
Throw.whenNull(x, "x");
Throw.whenNull(y, "y");
Throw.when(x.length != y.length, DrawRuntimeException.class, "x and y arrays must have same length");
Throw.when(x.length < 2, DrawRuntimeException.class, "Need at least two points");
this.x = copyNeeded ? Arrays.copyOf(x, x.length) : x;
this.y = copyNeeded ? Arrays.copyOf(y, y.length) : y;
double minX = x[0];
double minY = y[0];
double maxX = x[0];
double maxY = y[0];
this.lengthIndexedLine = new double[x.length];
this.lengthIndexedLine[0] = 0.0;
for (int i = 1; i < x.length; i++)
{
minX = Math.min(minX, x[i]);
minY = Math.min(minY, y[i]);
maxX = Math.max(maxX, x[i]);
maxY = Math.max(maxY, y[i]);
if (x[i - 1] == x[i] && y[i - 1] == y[i])
{
throw new DrawRuntimeException(
"Degenerate PolyLine2d; point " + (i - 1) + " has the same x and y as point " + i);
}
this.lengthIndexedLine[i] = this.lengthIndexedLine[i - 1] + Math.hypot(x[i] - x[i - 1], y[i] - y[i - 1]);
}
this.length = this.lengthIndexedLine[this.lengthIndexedLine.length - 1];
this.bounds = new Bounds2d(minX, maxX, minY, maxY);
this.startHeading = Double.NaN;
}
/**
* Construct a degenerate PolyLine2d (consisting of only one point).
* @param x double; the x-coordinate
* @param y double; the y-coordinate
* @param heading double; the heading in radians
* @throws DrawRuntimeException when x, y, or heading is NaN, or heading is infinite
*/
public PolyLine2d(final double x, final double y, final double heading) throws DrawRuntimeException
{
Throw.when(Double.isNaN(x), DrawRuntimeException.class, "x may not be NaN");
Throw.when(Double.isNaN(y), DrawRuntimeException.class, "y may not be NaN");
Throw.when(Double.isNaN(heading), DrawRuntimeException.class, "heading may not be NaN");
Throw.when(Double.isInfinite(heading), DrawRuntimeException.class, "heading must be finite");
this.x = new double[] {x};
this.y = new double[] {y};
this.startHeading = heading;
this.length = 0;
this.bounds = new Bounds2d(x, x, y, y);
this.lengthIndexedLine = new double[] {0.0};
}
/**
* Construct a degenerate PolyLine2d (consisting of only one point).
* @param p Point2d; the point of the degenerate PolyLine2d
* @param heading double; the heading in radians
* @throws NullPointerException when p is null
* @throws DrawRuntimeException when heading is NaN, or heading is infinite
*/
public PolyLine2d(final Point2d p, final double heading) throws NullPointerException, DrawRuntimeException
{
this(Throw.whenNull(p, "p").x, p.y, heading);
}
/**
* Construct a degenerate PolyLine2d (consisting of only one point).
* @param directedPoint2d DirectedPoint2d; point and heading (DirZ) of the degenerate PolyLine2d
* @throws NullPointerException when p is null
* @throws DrawRuntimeException when heading is NaN or infinite
*/
public PolyLine2d(final DirectedPoint2d directedPoint2d) throws NullPointerException, DrawRuntimeException
{
this(Throw.whenNull(directedPoint2d, "r").x, directedPoint2d.y, directedPoint2d.dirZ);
}
/**
* Construct a new PolyLine2d from an array of x-values and an array of y-values. This constructor makes a deep copy of the
* parameters.
* @param x double[]; the x-coordinates of the points
* @param y double[]; the y-coordinates of the points
* @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 PolyLine2d(final double[] x, final double[] y) throws NullPointerException, DrawRuntimeException
{
this(true, x, y);
}
/**
* Construct a new PolyLine2d from an array of Point2d.
* @param points Point2d[]; the array of points to construct this PolyLine2d from.
* @throws NullPointerException when the array is null
* @throws DrawRuntimeException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
*/
public PolyLine2d(final Point2d[] points) throws NullPointerException, DrawRuntimeException
{
this(false, makeArray(Throw.whenNull(points, "points"), p -> p.x), makeArray(points, p -> p.y));
}
/**
* Make an array of double an fill it with the appropriate coordinate of points.
* @param points Point2d[]; array of points
* @param getter Function<Point2d, Double>; function that obtains the intended coordinate
* @return double[]; array of double filled with the requested coordinate values
*/
protected static double[] makeArray(final Point2d[] points, final Function<Point2d, Double> getter)
{
double[] array = new double[points.length];
for (int index = 0; index < points.length; index++)
{
array[index] = getter.apply(points[index]);
}
return array;
}
/**
* Construct a new PolyLine2d from two or more Point2d arguments.
* @param point1 Point2d; starting point of the PolyLine2d
* @param point2 Point2d; second point of the PolyLine2d
* @param otherPoints Point2d...; additional points of the PolyLine2d (may be null, or have zero length)
* @throws NullPointerException when point1 is null or point2 is null, or otherPoints contains a null value
* @throws DrawRuntimeException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
*/
public PolyLine2d(final Point2d point1, final Point2d point2, final Point2d... otherPoints)
throws NullPointerException, DrawRuntimeException
{
this(spliceArray(Throw.whenNull(point1, "point1"), Throw.whenNull(point2, "point2"), otherPoints));
}
/**
* Construct an array of Point2d from two points plus an array of Point2d.
* @param point1 Point2d; the first point (ends up at index 0 of the result)
* @param point2 Point2d; the second point (ends up at index 1 of the result)
* @param otherPoints Point2d...; 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 Point2d[] spliceArray(final Point2d point1, final Point2d point2, final Point2d... otherPoints)
{
Point2d[] result = new Point2d[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 PolyLine2d from an iterator that yields Point2d objects.
* @param iterator Iterator<Point2d>; iterator that will provide all points that constitute the new PolyLine2d
* @throws NullPointerException when iterator is null, or yields a null
* @throws DrawRuntimeException when the iterator provides too few points, or some adjacent identical points)
*/
public PolyLine2d(final Iterator<Point2d> iterator) throws NullPointerException, DrawRuntimeException
{
this(iteratorToList(Throw.whenNull(iterator, "iterator")));
}
/**
* Construct a new PolyLine2d from a List<Point2d>.
* @param pointList List<Point2d>; the list of points to construct the new PolyLine2d from.
* @throws DrawRuntimeException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
* @throws NullPointerException when pointList is null, or contains a null value
*/
public PolyLine2d(final List<Point2d> pointList) throws DrawRuntimeException, NullPointerException
{
this(pointList.toArray(new Point2d[Throw.whenNull(pointList, "pointList").size()]));
}
/**
* Construct a new PolyLine2d from a Path2D.
* @param path Path2D; the Path2D to construct this PolyLine2d from.
* @throws DrawRuntimeException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
* @throws NullPointerException when path is null
*/
public PolyLine2d(final Path2D path) throws DrawRuntimeException, NullPointerException
{
this(path2DtoArray(Throw.whenNull(path, "path")));
}
/**
* Convert a path2D to a Point2d[] array to construct the line.
* @param path Path2D; the path to convert
* @return Point2d[]; an array of points based on MOVETO and LINETO elements of the Path2D
* @throws DrawRuntimeException when the pathIterator of the path returns an unsupported command
*/
private static Point2d[] path2DtoArray(final Path2D path) throws DrawRuntimeException
{
List<Point2d> result = new ArrayList<>();
for (PathIterator pi = path.getPathIterator(null); !pi.isDone(); pi.next())
{
double[] p = new double[6];
int segType = pi.currentSegment(p);
if (segType == PathIterator.SEG_MOVETO || segType == PathIterator.SEG_LINETO)
{
result.add(new Point2d(p[0], p[1]));
}
else if (segType == PathIterator.SEG_CLOSE)
{
if (!result.get(0).equals(result.get(result.size() - 1)))
{
result.add(result.get(0));
}
break;
}
else
{
throw new DrawRuntimeException("path2DtoArray only handles SEG_MOVETO, SEG_LINETO and SEG_CLOSE");
}
}
return result.toArray(new Point2d[result.size() - 1]);
}
/**
* Build a list from the Point2d objects that an iterator provides.
* @param iterator Iterator<Point2d>; the iterator that will provide the points
* @return List<Point2d>; a list of the points provided by the iterator
*/
protected static List<Point2d> iteratorToList(final Iterator<Point2d> iterator)
{
List<Point2d> result = new ArrayList<>();
iterator.forEachRemaining(result::add);
return result;
}
/**
* Create a new PolyLine2d, optionally filtering out repeating successive points.
* @param filterDuplicates boolean; if true; filter out successive repeated points; otherwise do not filter
* @param points Point2d...; the coordinates of the line as Point2d
* @throws DrawRuntimeException when number of points < 2
*/
public PolyLine2d(final boolean filterDuplicates, final Point2d... points) throws DrawRuntimeException
{
this(PolyLine2d.cleanPoints(filterDuplicates, Arrays.stream(points).iterator()));
}
/**
* Create a new PolyLine2d, optionally filtering out repeating successive points.
* @param filterDuplicates boolean; if true; filter out successive repeated points; otherwise do not filter
* @param pointList List<Point2d>; list of the coordinates of the line as Point3d; any duplicate points in this list
* are removed (this method may modify the provided list)
* @throws DrawRuntimeException when number of non-equal points < 2
*/
public PolyLine2d(final boolean filterDuplicates, final List<Point2d> pointList) throws DrawRuntimeException
{
this(PolyLine2d.cleanPoints(filterDuplicates, pointList.iterator()));
}
/**
* Return an iterator that optionally skips identical successive points.
* @param filter boolean; if true; filter out identical successive points; if false; do not filter
* @param iterator Iterator<Point2d>; iterator that generates points, potentially with successive duplicates
* @return Iterator<Point2d>; iterator that skips identical successive points
*/
static Iterator<Point2d> cleanPoints(final boolean filter, final Iterator<Point2d> iterator)
{
Throw.whenNull(iterator, "Iterator");
Throw.when(!iterator.hasNext(), DrawRuntimeException.class, "Iterator has no points to return");
if (!filter)
{
return iterator;
}
return new Iterator<Point2d>()
{
private Point2d currentPoint = iterator.next();
@Override
public boolean hasNext()
{
return this.currentPoint != null;
}
@Override
public Point2d next()
{
Throw.when(this.currentPoint == null, NoSuchElementException.class, "Out of input");
Point2d result = this.currentPoint;
this.currentPoint = null;
while (iterator.hasNext())
{
this.currentPoint = iterator.next();
if (result.x != this.currentPoint.x || result.y != this.currentPoint.y)
{
break;
}
this.currentPoint = null;
}
return result;
}
};
}
/**
* Construct a new PolyLine2d from an existing one. This constructor is primarily intended for use in extending classes.
* @param polyLine PolyLine2d; the existing PolyLine2d.
*/
public PolyLine2d(final PolyLine2d polyLine)
{
this.x = polyLine.x;
this.y = polyLine.y;
this.lengthIndexedLine = polyLine.lengthIndexedLine;
this.length = polyLine.length;
this.bounds = polyLine.bounds;
this.startHeading = polyLine.startHeading;
}
@Override
public PolyLine2d instantiate(final List<Point2d> pointList) throws NullPointerException, DrawRuntimeException
{
return new PolyLine2d(pointList);
}
@Override
public int size()
{
return this.x.length;
}
@Override
public final Point2d get(final int i) throws IndexOutOfBoundsException
{
return new Point2d(this.x[i], this.y[i]);
}
@Override
public final double getX(final int i) throws IndexOutOfBoundsException
{
return this.x[i];
}
@Override
public final double getY(final int i) throws IndexOutOfBoundsException
{
return this.y[i];
}
@Override
public LineSegment2d getSegment(final int index)
{
Throw.when(index < 0 || index >= this.x.length - 1, DrawRuntimeException.class, "index must be in range 0..size() - 1");
return new LineSegment2d(this.x[index], this.y[index], this.x[index + 1], this.y[index + 1]);
}
@Override
public final double lengthAtIndex(final int index)
{
return this.lengthIndexedLine[index];
}
@Override
public double getLength()
{
return this.length;
}
@Override
public Iterator<Point2d> getPoints()
{
return new Iterator<Point2d>()
{
private int nextIndex = 0;
@Override
public boolean hasNext()
{
return this.nextIndex < size();
}
@Override
public Point2d next()
{
return get(this.nextIndex++);
}
};
}
@Override
public Bounds2d getBounds()
{
return this.bounds;
}
@Override
public final PolyLine2d noiseFilteredLine(final double noiseLevel)
{
if (this.size() <= 2)
{
return this; // Except for some cached fields; a PolyLine2d is immutable; so safe to return
}
Point2d prevPoint = null;
List<Point2d> list = new ArrayList<>();
for (int index = 0; index < this.size(); index++)
{
Point2d currentPoint = get(index);
if (null != prevPoint && prevPoint.distance(currentPoint) < noiseLevel)
{
if (index == this.size() - 1)
{
if (list.size() > 1)
{
// Replace the last point of the result by the last point of this PolyLine2d
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
}
list.add(currentPoint);
prevPoint = currentPoint;
}
if (list.size() == this.x.length)
{
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, get(1));
}
return new PolyLine2d(list);
}
/**
* Concatenate several PolyLine2d instances.
* @param lines PolyLine2d...; One or more PolyLine2d objects. The last point of the first <strong>must</strong>
* match the first of the second, etc.
* @return PolyLine2d
* @throws DrawRuntimeException if zero lines are given, or when there is a gap between consecutive lines
*/
public static PolyLine2d concatenate(final PolyLine2d... lines) throws DrawRuntimeException
{
return concatenate(0.0, lines);
}
/**
* Concatenate two PolyLine2d 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 PolyLine2d; first line
* @param line2 PolyLine2d; second line
* @return PolyLine2d; the concatenation of the two lines
* @throws DrawRuntimeException when there is a gap larger than tolerance between the two lines
*/
public static PolyLine2d concatenate(final double tolerance, final PolyLine2d line1, final PolyLine2d line2)
throws DrawRuntimeException
{
if (line1.getLast().distance(line2.getFirst()) > tolerance)
{
throw new DrawRuntimeException("Lines are not connected: " + line1.getLast() + " to " + line2.getFirst()
+ " distance is " + line1.getLast().distance(line2.getFirst()) + " > " + tolerance);
}
int size = line1.size() + line2.size() - 1;
Point2d[] points = new Point2d[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 PolyLine2d(points);
}
/**
* Concatenate several PolyLine2d instances.
* @param tolerance double; the tolerance between the end point of a line and the first point of the next line
* @param lines PolyLine2d...; one or more PolyLine2d objects. The last point of the first <strong>must</strong>
* match the first of the second within the provided tolerance value, etc.
* @return PolyLine2d; the concatenation of the lines
* @throws DrawRuntimeException if zero lines are given, or when there is a gap larger than tolerance between consecutive
* lines
*/
public static PolyLine2d concatenate(final double tolerance, final PolyLine2d... lines) throws DrawRuntimeException
{
if (0 == lines.length)
{
throw new DrawRuntimeException("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 DrawRuntimeException(
"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;
}
Point2d[] points = new Point2d[size];
int nextIndex = 0;
for (int i = 0; i < lines.length; i++)
{
PolyLine2d line = lines[i];
for (int j = 0 == i ? 0 : 1; j < line.size(); j++)
{
points[nextIndex++] = line.get(j);
}
}
return new PolyLine2d(points);
}
@Override
public final DirectedPoint2d getLocationExtended(final double position)
{
if (position >= 0.0 && position <= this.length)
{
return getLocation(position);
}
// position before start point -- extrapolate using direction from first point to second point of this PolyLine2d
if (position < 0.0)
{
double fraction = position / (this.lengthIndexedLine[1] - this.lengthIndexedLine[0]);
return new DirectedPoint2d(this.x[0] + fraction * (this.x[1] - this.x[0]), this.y[0] + fraction * (this.y[1] - this.y[0]),
this.x[1], this.y[1]);
}
// position beyond end point -- extrapolate using the direction from the before last point to the last point of this
// PolyLine2d
int n1 = this.x.length - 1; // index of last point
int n2 = this.x.length - 2; // index of before last point
double len = position - this.length;
double fraction = len / (this.lengthIndexedLine[n1] - this.lengthIndexedLine[n2]);
while (Double.isInfinite(fraction))
{
// Overflow occurred; move n2 back another point; if possible
if (--n2 < 0)
{
CategoryLogger.always().error("lengthIndexedLine of {} is invalid", this);
return new DirectedPoint2d(this.x[n1], this.y[n1], 0.0); // Bogus direction
}
fraction = len / (this.lengthIndexedLine[n1] - this.lengthIndexedLine[n2]);
}
return new DirectedPoint2d(this.x[n1] + fraction * (this.x[n1] - this.x[n2]), this.y[n1] + fraction * (this.y[n1] - this.y[n2]),
Math.atan2(this.y[n1] - this.y[n2], this.x[n1] - this.x[n2]));
}
@Override
public final DirectedPoint2d getLocation(final double position) throws DrawRuntimeException
{
Throw.when(Double.isNaN(position), DrawRuntimeException.class, "position may not be NaN");
Throw.when(position < 0.0 || position > this.length, DrawRuntimeException.class,
"getLocation for line: position < 0.0 or > line length. Position = " + position + "; length = " + this.length);
// handle special cases: position == 0.0, or position == length
if (position == 0.0)
{
if (this.lengthIndexedLine.length == 1) // Extra special case; degenerate PolyLine2d
{
return new DirectedPoint2d(this.x[0], this.y[0], this.startHeading);
}
return new DirectedPoint2d(this.x[0], this.y[0], this.x[1], this.y[1]);
}
if (position == this.length)
{
return new DirectedPoint2d(this.x[this.x.length - 1], this.y[this.x.length - 1],
2 * this.x[this.x.length - 1] - this.x[this.x.length - 2],
2 * this.y[this.x.length - 1] - this.y[this.x.length - 2]);
}
// 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]);
// if (fraction >= 1.0 && index < this.x.length - 1)
// {
// // Rounding problem; move to the next segment.
// index++;
// remainder = position - this.lengthIndexedLine[index];
// fraction = remainder / (this.lengthIndexedLine[index + 1] - this.lengthIndexedLine[index]);
// }
return new DirectedPoint2d(this.x[index] + fraction * (this.x[index + 1] - this.x[index]),
this.y[index] + fraction * (this.y[index + 1] - this.y[index]), 2 * this.x[index + 1] - this.x[index],
2 * this.y[index + 1] - this.y[index]);
}
/**
* Perform the orthogonal projection operation.
* @param point Point2d; the point to project
* @param limitHandling Boolean; if Null; results outside the interval 0.0 .. 1.0 are replaced by NaN, if false, results
* outside that interval are returned as is; if true results outside the interval are truncated to the interval
* and therefore not truly orthogonal
* @return double; the fractional position on this PolyLine2d that is closest to point, or NaN
*/
private double projectOrthogonalFractional(final Point2d point, final Boolean limitHandling)
{
Throw.whenNull(point, "point");
double result = Double.NaN;
if (this.lengthIndexedLine.length == 1)
{
// This is a degenerate PolyLine2d
if (null != limitHandling && limitHandling)
{
return 0.0;
}
result = new Ray2d(getLocation(0.0)).projectOrthogonalFractionalExtended(point);
if (null == limitHandling)
{
return result == 0.0 ? 0.0 : Double.NaN;
}
// limitHandling is false
if (result == 0.0)
{
return 0.0;
}
return result > 0 ? Double.POSITIVE_INFINITY : Double.NEGATIVE_INFINITY;
}
double bestDistance = Double.POSITIVE_INFINITY;
double bestDistanceExtended = Double.POSITIVE_INFINITY;
for (int index = 1; index < this.size(); index++)
{
double fraction = point.fractionalPositionOnLine(this.x[index - 1], this.y[index - 1], this.x[index], this.y[index],
false, false);
double distance = Math.hypot(point.x - (this.x[index - 1] + fraction * (this.x[index] - this.x[index - 1])),
point.y - (this.y[index - 1] + fraction * (this.y[index] - this.y[index - 1])));
if (distance < bestDistanceExtended && (fraction >= 0.0 && fraction <= 1.0 || (fraction < 0.0 && index == 1)
|| fraction > 1.0 && index == this.size() - 1))
{
bestDistanceExtended = distance;
}
if (distance < bestDistance && (fraction >= 0.0 || index == 1 && limitHandling != null && !limitHandling)
&& (fraction <= 1.0 || index == this.size() - 1 && limitHandling != null && !limitHandling))
{
bestDistance = distance;
result = lengthAtIndex(index - 1) + fraction * (lengthAtIndex(index) - lengthAtIndex(index - 1));
}
else if (fraction < 0.0 && limitHandling != null && limitHandling)
{
distance = Math.hypot(point.x - this.x[index - 1], point.y - this.y[index - 1]);
if (distance < bestDistance)
{
bestDistance = distance;
result = lengthAtIndex(index - 1);
}
}
else if (index == this.size() - 1 && limitHandling != null && limitHandling)
{
distance = Math.hypot(point.x - this.x[index], point.y - this.y[index]);
if (distance < bestDistance)
{
bestDistance = distance;
result = lengthAtIndex(index);
}
}
}
if (bestDistance > bestDistanceExtended && (limitHandling == null || !limitHandling))
{
return Double.NaN;
}
return result / this.length;
}
@Override
public Point2d closestPointOnPolyLine(final Point2d point)
{
return getLocation(projectOrthogonalFractional(point, true) * this.length);
}
/**
* Perform the project orthogonal operation.
* @param point Point2d; the point to project
* @param limitHandling Boolean; if Null; results outside this PolyLin2de are replaced by Null, if false, results outside
* that interval are returned as is; if true results outside this PolyLine2d are truncated to the first or last
* point of this PolyLine2d and therefore not truly orthogonal
* @return Point2d; the orthogonal projection of point on this PolyLine2d
*/
private Point2d projectOrthogonal(final Point2d point, final Boolean limitHandling)
{
Throw.whenNull(point, "point");
if (this.lengthIndexedLine.length == 1) // Handle degenerate case
{
// limitHandling == true is not handled because it cannot happen
Point2d result = new Ray2d(this.getLocation(0.0)).projectOrthogonalExtended(point);
if (null == limitHandling)
{
return result.x != this.x[0] || result.y != this.y[0] ? null : get(0);
}
// limitHandling is false
return result;
}
double fraction = projectOrthogonalFractional(point, limitHandling);
if (Double.isNaN(fraction))
{
return null;
}
return getLocationExtended(fraction * this.length);
}
@Override
public Point2d projectOrthogonal(final Point2d point) throws NullPointerException
{
return projectOrthogonal(point, null);
}
@Override
public Point2d projectOrthogonalExtended(final Point2d point) throws NullPointerException
{
return projectOrthogonal(point, false);
}
@Override
public final double projectOrthogonalFractional(final Point2d point) throws NullPointerException
{
return projectOrthogonalFractional(point, null);
}
@Override
public double projectOrthogonalFractionalExtended(final Point2d point) throws NullPointerException
{
return projectOrthogonalFractional(point, false);
}
@Override
public PolyLine2d extract(final double start, final double end) throws DrawRuntimeException
{
if (Double.isNaN(start) || Double.isNaN(end) || start < 0 || start >= end || end > this.length)
{
throw new DrawRuntimeException(
"Bad interval (" + start + ".." + end + "; length of this PolyLine2d is " + this.length + ")");
}
double cumulativeLength = 0;
double nextCumulativeLength = 0;
double segmentLength = 0;
int index = 0;
List<Point2d> pointList = new ArrayList<>();
while (start > cumulativeLength)
{
Point2d fromPoint = get(index);
index++;
Point2d 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)
{
Point2d fromPoint = get(index);
index++;
if (index >= size())
{
break; // rounding error
}
Point2d 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 if (index < this.x.length)
{
Point2d 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);
}
}
// else rounding error
return instantiate(pointList);
}
@Override
public PolyLine2d truncate(final double position) throws DrawRuntimeException
{
if (position <= 0.0 || position > this.length)
{
throw new DrawRuntimeException("truncate for line: position <= 0.0 or > line length. Position = " + position
+ ". Length = " + this.length + " m.");
}
// handle special case: position == length
if (position == this.length)
{
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));
Point2d p1 = get(index);
Point2d lastPoint;
if (0.0 == fraction)
{
lastPoint = p1;
}
else
{
Point2d p2 = get(index + 1);
lastPoint = p1.interpolate(p2, fraction);
index++;
}
double[] truncatedX = new double[index + 1];
double[] truncatedY = new double[index + 1];
for (int i = 0; i < index; i++)
{
truncatedX[i] = this.x[i];
truncatedY[i] = this.y[i];
}
truncatedX[index] = lastPoint.x;
truncatedY[index] = lastPoint.y;
return new PolyLine2d(truncatedX, truncatedY);
}
@Override
@SuppressWarnings("checkstyle:methodlength")
public PolyLine2d offsetLine(final double offset, final double circlePrecision, final double offsetMinimumFilterValue,
final double offsetMaximumFilterValue, final double offsetFilterRatio, final double minimumOffset)
throws IllegalArgumentException
{
Throw.when(Double.isNaN(offset), IllegalArgumentException.class, "Offset may not be NaN");
Throw.when(Double.isNaN(circlePrecision) || circlePrecision <= 0, IllegalArgumentException.class,
"bad circlePrecision");
Throw.when(Double.isNaN(offsetMinimumFilterValue) || offsetMinimumFilterValue <= 0, IllegalArgumentException.class,
"bad offsetMinimumFilterValue");
Throw.when(Double.isNaN(offsetMaximumFilterValue) || offsetMaximumFilterValue <= 0, IllegalArgumentException.class,
"bad offsetMaximumFilterValue");
Throw.when(Double.isNaN(offsetFilterRatio) || offsetFilterRatio <= 0, IllegalArgumentException.class,
"bad offsetFilterRatio");
Throw.when(Double.isNaN(minimumOffset) || minimumOffset <= 0, IllegalArgumentException.class, "bad minimumOffset");
Throw.when(offsetMinimumFilterValue >= offsetMaximumFilterValue, IllegalArgumentException.class,
"bad offset filter values; minimum must be less than maximum");
double bufferOffset = Math.abs(offset);
if (bufferOffset < minimumOffset)
{
return this;
}
PolyLine2d filteredReferenceLine = noiseFilteredLine(
Math.max(offsetMinimumFilterValue, Math.min(bufferOffset / offsetFilterRatio, offsetMaximumFilterValue)));
List<Point2d> tempPoints = new ArrayList<>();
// Make good use of the fact that PolyLine3d cannot have consecutive duplicate points and has > 1 points
Point2d prevPoint = filteredReferenceLine.get(0);
Double prevAngle = null;
for (int index = 0; index < filteredReferenceLine.size() - 1; index++)
{
Point2d nextPoint = filteredReferenceLine.get(index + 1);
double angle = Math.atan2(nextPoint.y - prevPoint.y, nextPoint.x - prevPoint.x);
Point2d segmentFrom = new Point2d(prevPoint.x - Math.sin(angle) * offset, prevPoint.y + Math.cos(angle) * offset);
Point2d segmentTo = new Point2d(nextPoint.x - Math.sin(angle) * offset, nextPoint.y + Math.cos(angle) * offset);
boolean addSegment = true;
if (index > 0)
{
double deltaAngle = angle - prevAngle;
if (Math.abs(deltaAngle) > Math.PI)
{
deltaAngle -= Math.signum(deltaAngle) * 2 * Math.PI;
}
if (deltaAngle * offset <= 0)
{
// Outside of curve of reference line
// Approximate an arc using straight segments.
// Determine how many segments are needed.
int numSegments = 1;
if (Math.abs(deltaAngle) > Math.PI / 2)
{
numSegments = 2;
}
while (true)
{
double maxError = bufferOffset * (1 - Math.abs(Math.cos(deltaAngle / numSegments / 2)));
if (maxError < circlePrecision)
{
break; // required precision reached
}
numSegments *= 2;
}
Point2d prevArcPoint = tempPoints.get(tempPoints.size() - 1);
// Generate the intermediate points
for (int additionalPoint = 1; additionalPoint < numSegments; additionalPoint++)
{
double intermediateAngle =
(additionalPoint * angle + (numSegments - additionalPoint) * prevAngle) / numSegments;
if (prevAngle * angle < 0 && Math.abs(prevAngle) > Math.PI / 2 && Math.abs(angle) > Math.PI / 2)
{
intermediateAngle += Math.PI;
}
Point2d intermediatePoint = new Point2d(prevPoint.x - Math.sin(intermediateAngle) * offset,
prevPoint.y + Math.cos(intermediateAngle) * offset);
// Find any intersection points of the new segment and all previous segments
Point2d prevSegFrom = null;
int stopAt = tempPoints.size();
for (int i = 0; i < stopAt; i++)
{
Point2d prevSegTo = tempPoints.get(i);
if (null != prevSegFrom)
{
Point2d prevSegIntersection = Point2d.intersectionOfLineSegments(prevArcPoint,
intermediatePoint, prevSegFrom, prevSegTo);
if (null != prevSegIntersection && prevSegIntersection.distance(prevArcPoint) > circlePrecision
&& prevSegIntersection.distance(prevSegFrom) > circlePrecision
&& prevSegIntersection.distance(prevSegTo) > circlePrecision)
{
tempPoints.add(prevSegIntersection);
// System.out.println(new PolyLine2d(tempPoints).toPlot());
}
}
prevSegFrom = prevSegTo;
}
Point2d nextSegmentIntersection =
Point2d.intersectionOfLineSegments(prevSegFrom, intermediatePoint, segmentFrom, segmentTo);
if (null != nextSegmentIntersection)
{
tempPoints.add(nextSegmentIntersection);
// System.out.println(new PolyLine2d(tempPoints).toPlot());
}
tempPoints.add(intermediatePoint);
// System.out.println(new PolyLine2d(tempPoints).toPlot());
prevArcPoint = intermediatePoint;
}
}
// Inside of curve of reference line.
// Add the intersection point of each previous segment and the next segment
Point2d pPoint = null;
int currentSize = tempPoints.size(); // PK DO NOT use the "dynamic" limit
for (int i = 0; i < currentSize /* tempPoints.size() */; i++)
{
Point2d p = tempPoints.get(i);
if (null != pPoint)
{
double pAngle = Math.atan2(p.y - pPoint.y, p.x - pPoint.x);
double angleDifference = angle - pAngle;
if (Math.abs(angleDifference) > Math.PI)
{
angleDifference -= Math.signum(angleDifference) * 2 * Math.PI;
}
if (Math.abs(angleDifference) > 0)// 0.01)
{
Point2d intersection = Point2d.intersectionOfLineSegments(pPoint, p, segmentFrom, segmentTo);
if (null != intersection)
{
if (tempPoints.size() - 1 == i)
{
tempPoints.remove(tempPoints.size() - 1);
segmentFrom = intersection;
}
else
{
tempPoints.add(intersection);
}
}
}
else
{
// This is where things went very wrong in the TestGeometry demo.
if (i == tempPoints.size() - 1)
{
tempPoints.remove(tempPoints.size() - 1);
segmentFrom = tempPoints.get(tempPoints.size() - 1);
tempPoints.remove(tempPoints.size() - 1);
}
}
}
pPoint = p;
}
}
if (addSegment)
{
tempPoints.add(segmentFrom);
tempPoints.add(segmentTo);
prevPoint = nextPoint;
prevAngle = angle;
}
}
// Remove points that are closer than the specified offset
for (int index = 1; index < tempPoints.size() - 1; index++)
{
Point2d checkPoint = tempPoints.get(index);
prevPoint = null;
boolean tooClose = false;
boolean somewhereAtCorrectDistance = false;
for (int i = 0; i < filteredReferenceLine.size(); i++)
{
Point2d p = filteredReferenceLine.get(i);
if (null != prevPoint)
{
Point2d closestPoint = checkPoint.closestPointOnSegment(prevPoint, p);
double distance = closestPoint.distance(checkPoint);
if (distance < bufferOffset - circlePrecision)
{
tooClose = true;
break;
}
else if (distance < bufferOffset + minimumOffset)
{
somewhereAtCorrectDistance = true;
}
}
prevPoint = p;
}
if (tooClose || !somewhereAtCorrectDistance)
{
tempPoints.remove(index);
index--;
}
}
return new PolyLine2d(true, tempPoints);
}
@Override
public PolyLine2d offsetLine(final double offsetAtStart, final double offsetAtEnd, final double circlePrecision,
final double offsetMinimumFilterValue, final double offsetMaximumFilterValue, final double offsetFilterRatio,
final double minimumOffset) throws IllegalArgumentException, DrawRuntimeException
{
if (offsetAtStart == offsetAtEnd)
{
return offsetLine(offsetAtStart, circlePrecision, offsetMinimumFilterValue, offsetMaximumFilterValue,
offsetFilterRatio, minimumOffset);
}
PolyLine2d atStart = offsetLine(offsetAtStart, circlePrecision, offsetMinimumFilterValue, offsetMaximumFilterValue,
offsetFilterRatio, minimumOffset);
PolyLine2d atEnd = offsetLine(offsetAtEnd, circlePrecision, offsetMinimumFilterValue, offsetMaximumFilterValue,
offsetFilterRatio, minimumOffset);
return atStart.transitionLine(atEnd, new TransitionFunction()
{
@Override
public double function(final double fraction)
{
return fraction;
}
});
}
@Override
public PolyLine2d transitionLine(final PolyLine2d endLine, final TransitionFunction transition) throws DrawRuntimeException
{
Throw.whenNull(endLine, "endLine");
Throw.whenNull(transition, "transition");
List<Point2d> pointList = new ArrayList<>();
int indexInStart = 0;
int indexInEnd = 0;
while (indexInStart < this.size() && indexInEnd < endLine.size())
{
double fractionInStart = lengthAtIndex(indexInStart) / this.length;
double fractionInEnd = endLine.lengthAtIndex(indexInEnd) / endLine.length;
if (fractionInStart < fractionInEnd)
{
pointList.add(get(indexInStart).interpolate(endLine.getLocation(fractionInStart * endLine.length),
transition.function(fractionInStart)));
indexInStart++;
}
else if (fractionInStart > fractionInEnd)
{
pointList.add(this.getLocation(fractionInEnd * this.length).interpolate(endLine.get(indexInEnd),
transition.function(fractionInEnd)));
indexInEnd++;
}
else
{
pointList.add(this.get(indexInStart).interpolate(endLine.getLocation(fractionInEnd * endLine.length),
transition.function(fractionInStart)));
indexInStart++;
indexInEnd++;
}
}
return new PolyLine2d(true, pointList);
}
/**
* Find a location on this PolyLine2d that is a reasonable projection of a Ray on this line. The result (if not NaN) lies on
* a line perpendicular to the direction of the Ray and on some segment of this PolyLine. This method attempts to give
* continuous results for continuous changes of the Ray that must be projected. There are cases where this is simply
* impossible, or the optimal result is ambiguous. In these cases this method will return something that is hopefully good
* enough.
* @param ray Ray2d; the Ray
* @return double; length along this PolyLine (some value between 0 and the length of this PolyLine) where ray projects, or
* NaN if there is no solution
* @throws NullPointerException when ray is null
*/
public double projectRay(final Ray2d ray) throws NullPointerException
{
Throw.whenNull(ray, "ray");
double bestDistance = Double.POSITIVE_INFINITY;
double positionAtBestDistance = Double.NaN;
// Point2d prevPoint = null;
// Define the line that is perpendicular to ray, passing through the start point of ray
double perpendicularX = ray.x - Math.sin(ray.dirZ);
double perpendicularY = ray.y + Math.cos(ray.dirZ);
for (int index = 1; index < this.x.length; index++)
{
Point2d intersection = Point2d.intersectionOfLines(ray.x, ray.y, perpendicularX, perpendicularY, false, false,
this.x[index - 1], this.y[index - 1], this.x[index], this.y[index], true, true);
if (intersection != null) // Intersection is on the segment
{
double thisDistance = intersection.distance(ray);
if (thisDistance < bestDistance)
{
double distanceToPrevPoint =
Math.hypot(intersection.x - this.x[index - 1], intersection.y - this.y[index - 1]);
positionAtBestDistance = lengthAtIndex(index - 1) + distanceToPrevPoint;
bestDistance = thisDistance;
}
}
}
return positionAtBestDistance;
}
/**
* Construct a Path2D from this PolyLine2d. The result is NOT cached (in the current implementation).
* @return Path2D; newly construct Path2D consisting solely of straight segments.
*/
public Path2D toPath2D()
{
Path2D.Double result = new Path2D.Double();
result.moveTo(this.x[0], this.y[0]);
for (int i = 1; i < this.x.length; i++)
{
result.lineTo(this.x[i], this.y[i]);
}
return result;
}
@Override
public String toString()
{
return toString("%f", false);
}
@Override
public String toString(final String doubleFormat, final boolean doNotIncludeClassName)
{
StringBuilder result = new StringBuilder();
if (!doNotIncludeClassName)
{
result.append("PolyLine2d ");
}
String format = String.format("%%sx=%1$s, y=%1$s", doubleFormat);
for (int index = 0; index < this.x.length; index++)
{
result.append(String.format(Locale.US, format, index == 0 ? "[" : ", ", this.x[index], this.y[index]));
}
if (this.lengthIndexedLine.length == 1)
{
format = String.format(", startHeading=%1$s", doubleFormat);
result.append(String.format(Locale.US, format, this.startHeading));
}
result.append("]");
return result.toString();
}
@Override
public int hashCode()
{
final int prime = 31;
int result = 1;
long temp;
temp = Double.doubleToLongBits(this.startHeading);
result = prime * result + (int) (temp ^ (temp >>> 32));
result = prime * result + Arrays.hashCode(this.x);
result = prime * result + Arrays.hashCode(this.y);
return result;
}
@SuppressWarnings("checkstyle:needbraces")
@Override
public boolean equals(final Object obj)
{
if (this == obj)
return true;
if (obj == null)
return false;
if (getClass() != obj.getClass())
return false;
PolyLine2d other = (PolyLine2d) obj;
if (Double.doubleToLongBits(this.startHeading) != Double.doubleToLongBits(other.startHeading))
return false;
if (!Arrays.equals(this.x, other.x))
return false;
if (!Arrays.equals(this.y, other.y))
return false;
return true;
}
}