ykcheungab
54 lines
2.1 KiB
Python
54 lines
2.1 KiB
Python
"""Physical-space clearance checks for capsule-shaped laser marks."""
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from __future__ import annotations
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import math
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def point_segment_distance_sq(point, start, end):
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dx, dy = end[0] - start[0], end[1] - start[1]
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length_sq = dx * dx + dy * dy
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if length_sq == 0:
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return (point[0] - start[0]) ** 2 + (point[1] - start[1]) ** 2
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t = max(0.0, min(1.0, ((point[0] - start[0]) * dx + (point[1] - start[1]) * dy) / length_sq))
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return (point[0] - start[0] - t * dx) ** 2 + (point[1] - start[1] - t * dy) ** 2
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def segments_distance_sq(a0, a1, b0, b1):
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"""Minimum squared distance, including a proper crossing at zero."""
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def cross(p, q, r):
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return (q[0] - p[0]) * (r[1] - p[1]) - (q[1] - p[1]) * (r[0] - p[0])
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ab0, ab1 = cross(a0, a1, b0), cross(a0, a1, b1)
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ba0, ba1 = cross(b0, b1, a0), cross(b0, b1, a1)
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if ab0 * ab1 < 0 and ba0 * ba1 < 0:
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return 0.0
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return min(
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point_segment_distance_sq(a0, b0, b1),
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point_segment_distance_sq(a1, b0, b1),
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point_segment_distance_sq(b0, a0, a1),
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point_segment_distance_sq(b1, a0, a1),
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)
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def capsule_segment(cx, cy, half_length, angle):
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dx, dy = half_length * math.cos(angle), half_length * math.sin(angle)
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return (cx - dx, cy - dy), (cx + dx, cy + dy)
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def has_clearance(candidate, accepted, clearance, skip_index=None):
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"""Capsules are (start, end, radius), all in the same physical units."""
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start, end, radius = candidate
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for index, (other_start, other_end, other_radius) in enumerate(accepted):
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if index == skip_index:
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continue
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limit = radius + other_radius + clearance
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if (max(start[0], end[0]) + limit < min(other_start[0], other_end[0])
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or max(other_start[0], other_end[0]) + limit < min(start[0], end[0])
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or max(start[1], end[1]) + limit < min(other_start[1], other_end[1])
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or max(other_start[1], other_end[1]) + limit < min(start[1], end[1])):
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continue
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if segments_distance_sq(start, end, other_start, other_end) < limit * limit:
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return False
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return True
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