public void TestConnectLineToCircle()
{
const double x0 = 1000000;
const double y0 = -1000000;
Clothoid clothoid;
var line = new Line(new Point(-1000 + x0, -190 + y0), new Point(+1000 + x0, 130 + y0));
var circle = new Circle(100 + x0, -90 + y0, -60);
Clothoid.Connect(line, circle, true, Tol, out clothoid);
CheckConnectivity(clothoid, line, true);
CheckConnectivity(clothoid, circle, false);
line = new Line(new Point(-1000 + x0, -190 + y0), new Point(+1000 + x0, 130 + y0));
circle = new Circle(100 + x0, -90 + y0, -60);
Clothoid.Connect(line, circle, false, Tol, out clothoid);
CheckConnectivity(clothoid, line, false);
CheckConnectivity(clothoid, circle, true);
line = new Line(new Point(-1000 + x0, -190 + y0), new Point(+1000 + x0, 130 + y0));
circle = new Circle(100 + x0, 80 + y0, 90);
Clothoid.Connect(line, circle, true, Tol, out clothoid);
CheckConnectivity(clothoid, line, true);
CheckConnectivity(clothoid, circle, false);
line = new Line(new Point(-1000 + x0, -190 + y0), new Point(+1000 + x0, 130 + y0));
circle = new Circle(100 + x0, 80 + y0, 90);
Clothoid.Connect(line, circle, false, Tol, out clothoid);
CheckConnectivity(clothoid, line, false);
CheckConnectivity(clothoid, circle, true);
}
private static void CheckConnectivity(Clothoid clothoid, Line line, bool atClothoidStart)
{
var length = atClothoidStart ? clothoid.StartLength : clothoid.EndLength;
Assert.IsTrue(TestCircle.Contains(line, clothoid.GetPoint(length), Tol));
Assert.IsTrue(TestCircle.AreSame(clothoid.GetTangent(length), line.Direction));
}
public void TestCalcTargetDistanceCircleToCircle()
{
Circle circle1;
Circle circle2;
Clothoid clt;
circle1 = new Circle(4, 4, 3);
circle2 = new Circle(5.5, 4, 1.25);
Assert.That(Clothoid.Connect(circle1, circle2, Tol, out clt) == 0);
Assert.AreEqual(circle1.Center.DistanceTo(circle2.Center), Clothoid.CalcTargetDistance(circle1.Radius, circle2.Radius, clt.Length), Tol);
circle1 = new Circle(4, 4, -3);
circle2 = new Circle(5.5, 4, -1.25);
Assert.That(Clothoid.Connect(circle1, circle2, Tol, out clt) == 0);
Assert.AreEqual(circle1.Center.DistanceTo(circle2.Center), Clothoid.CalcTargetDistance(circle1.Radius, circle2.Radius, clt.Length), Tol);
// Reversed connection
circle1 = new Circle(4, 4, 3);
circle2 = new Circle(8.5, 4, -1.25);
Assert.That(Clothoid.Connect(circle1, circle2, Tol, out clt) == 0);
Assert.AreEqual(circle1.Center.DistanceTo(circle2.Center), Clothoid.CalcTargetDistance(circle1.Radius, circle2.Radius, clt.Length), Tol);
circle1 = new Circle(4, 4, -3);
circle2 = new Circle(8.5, 4, 1.25);
Assert.That(Clothoid.Connect(circle1, circle2, Tol, out clt) == 0);
Assert.AreEqual(circle1.Center.DistanceTo(circle2.Center), Clothoid.CalcTargetDistance(circle1.Radius, circle2.Radius, clt.Length), Tol);
}
public void TestIntersect()
{
const double x0 = 1000000;
const double y0 = -1000000;
Clothoid clothoid;
var c1 = new Circle(10 + x0, 10 + y0, 10);
var c2 = new Circle(13 + x0, 15 + y0, 4);
Clothoid.Connect(c1, c2, Tol, out clothoid);
var secantLine = new Line(c1.Center, c2.Center);
Point pt;
Assert.IsTrue(clothoid.Intersect(secantLine, out pt));
Assert.AreEqual(0, secantLine.DistanceTo(pt));
Clothoid.Connect(c2, c1, Tol, out clothoid);
Assert.IsTrue(clothoid.Intersect(secantLine, out pt));
Assert.AreEqual(0, secantLine.DistanceTo(pt));
secantLine = new Line(c1.Center, clothoid.StartPoint);
Assert.IsTrue(clothoid.Intersect(secantLine, out pt));
Assert.AreEqual(0, secantLine.DistanceTo(pt));
Assert.AreEqual(0, pt.DistanceTo(clothoid.StartPoint));
secantLine = new Line(c1.Center, clothoid.EndPoint);
Assert.IsTrue(clothoid.Intersect(secantLine, out pt));
Assert.AreEqual(0, secantLine.DistanceTo(pt));
Assert.AreEqual(0, pt.DistanceTo(clothoid.EndPoint));
secantLine = new Line(c1.Center, clothoid.EndPoint + (clothoid.EndPoint - clothoid.StartPoint));
Assert.IsFalse(clothoid.Intersect(secantLine, out pt));
}
public void TestNoClothoid()
{
const double x0 = 1000000;
const double y0 = -1000000;
Clothoid clothoid;
// Line to circle
var line = new Line(-1000 + x0, -190 + y0, +1000 + x0, 130 + y0);
var circle = new Circle(100 + x0, -90 + y0, -100);
Assert.IsTrue(Clothoid.Connect(line, circle, true, Tol, out clothoid) < 0);
circle = new Circle(100 + x0, -90 + y0, -10);
Assert.IsTrue(Clothoid.Connect(line, circle, true, Tol, out clothoid) > 0);
// Circle to circle
var circle1 = new Circle(15 + x0, 0 + y0, 7);
var circle2 = new Circle(9 + x0, 0 + y0, 3);
Assert.IsTrue(Clothoid.Connect(circle1, circle2, Tol, out clothoid) < 0);
circle1 = new Circle(15 + x0 + y0, 0, 7);
circle2 = new Circle(9 + x0 + y0, 0, -3);
Assert.IsTrue(Clothoid.Connect(circle1, circle2, Tol, out clothoid) < 0);
circle1 = new Circle(15 + x0, 0 + y0, 7);
circle2 = new Circle(6 + x0, 0 + y0, -3);
Assert.IsTrue(Clothoid.Connect(circle1, circle2, Tol, out clothoid) < 0);
}
public void TestConnectRealCase2()
{
Clothoid clothoid;
var c1 = new Circle(-1294.93753657604, 2132.13051366211, -254.3);
var c2 = new Circle(-1305.91209785884, 2121.9603166858, -239.0);
Assert.That(Clothoid.Connect(c1, c2, Tol / 100, out clothoid) == 0);
CheckConnectivity(clothoid, c1, true);
CheckConnectivity(clothoid, c2, false);
}
public void TestConnectRealCase1()
{
Clothoid clothoid;
var c1 = new Circle(494112.23190607992, 465307.61364810419, 28426.027381502277);
var c2 = new Circle(505272.21279380494, 491104.94119093328, 317.18744616210637);
Clothoid.Connect(c1, c2, Tol, out clothoid);
CheckConnectivity(clothoid, c1, true);
CheckConnectivity(clothoid, c2, false);
}
public void TestFittingG2Circle()
{
// "G2" stands for Continuity+Tangency+Curvature coincidence connection
const double FittingTol = Point.Eps / 10;
const double SpatialTol = Point.Eps;
Circle c;
Clothoid clt;
double l;
var line = new Line(2, 1, 4, 2);
var circle = new Circle(3, 4, 1.7);
Assert.AreEqual(0, Clothoid.Connect(line, circle, true, Tol, out clt));
Clothoid.FitCircle(clt, circle.Center + new Vector(circle.Radius, 0), FittingTol, out c, out l);
Assert.That(c.Center.DistanceTo(circle.Center) < SpatialTol);
Assert.AreEqual(clt.EndLength, l, SpatialTol);
line = new Line(2, 1, 4, 2);
circle = new Circle(3, 4, 1.7);
Assert.AreEqual(0, Clothoid.Connect(line, circle, false, Tol, out clt));
Clothoid.FitCircle(clt, circle.Center + new Vector(circle.Radius, 0), FittingTol, out c, out l);
Assert.That(c.Center.DistanceTo(circle.Center) < SpatialTol);
Assert.AreEqual(clt.StartLength, l, SpatialTol);
line = new Line(2, 1, 4, 2);
circle = new Circle(-3, -4, -1.7);
Assert.AreEqual(0, Clothoid.Connect(line, circle, false, Tol, out clt));
Clothoid.FitCircle(clt, circle.Center + new Vector(circle.Radius, 0), FittingTol, out c, out l);
Assert.That(c.Center.DistanceTo(circle.Center) < SpatialTol);
Assert.AreEqual(clt.StartLength, l, SpatialTol);
line = new Line(2, 1, 4, 2);
circle = new Circle(-3, -4, -1.7);
Assert.AreEqual(0, Clothoid.Connect(line, circle, true, Tol, out clt));
Clothoid.FitCircle(clt, circle.Center + new Vector(circle.Radius, 0), FittingTol, out c, out l);
Assert.That(c.Center.DistanceTo(circle.Center) < SpatialTol);
Assert.AreEqual(clt.EndLength, l, SpatialTol);
line = new Line(2, 1, 4, 2);
circle = new Circle(3, 4, 1.7);
Assert.AreEqual(0, Clothoid.Connect(line, circle, true, Tol, out clt));
Assert.IsFalse(Clothoid.FitCircle(clt, new Point(8, 4), FittingTol, out c, out l));
Assert.IsFalse(Clothoid.FitCircle(clt, new Point(8, 2), FittingTol, out c, out l));
}
public void TestCalcTargetDistanceLineToCircle()
{
Line line;
Circle circle;
Clothoid clt;
line = new Line(0, 0, 1, 0);
circle = new Circle(4, 4, 3.8);
Assert.That(Clothoid.Connect(line, circle, true, Tol, out clt) == 0);
Assert.AreEqual(line.DistanceTo(circle.Center), Clothoid.CalcTargetDistance(circle.Radius, clt.Length), Tol);
line = new Line(0, 0, 1, 0);
circle = new Circle(4, -4, -3.8);
Assert.That(Clothoid.Connect(line, circle, true, Tol, out clt) == 0);
Assert.AreEqual(line.DistanceTo(circle.Center), Clothoid.CalcTargetDistance(circle.Radius, clt.Length), Tol);
}
public void TestFittingPerformance()
{
const int SampleSize = 1000000;
const double x0 = 1000000;
const double y0 = -1000000;
Clothoid clothoid;
var line = new Line(new Point(-1000 + x0, -190 + y0), new Point(+1000 + x0, 130 + y0));
var circle = new Circle(100 + x0, -90 + y0, -60);
for (var i = 0; i < SampleSize; i++)
{
Clothoid.Connect(line, circle, true, Tol, out clothoid);
}
}
public void TestIntersectionPerformance()
{
const int SampleSize = 1000000;
const double x0 = 1000000;
const double y0 = -1000000;
Clothoid clothoid;
var c1 = new Circle(10 + x0, 10 + y0, 10);
var c2 = new Circle(13 + x0, 15 + y0, 4);
Clothoid.Connect(c1, c2, Tol, out clothoid);
var secantLine = new Line(c1.Center, c2.Center);
for (var i = 0; i < SampleSize; i++)
{
Point pt;
Assert.IsTrue(clothoid.Intersect(secantLine, out pt));
}
}
public void TestZeroClothoid()
{
const double x0 = 1000000;
const double y0 = -1000000;
// Circle to line
Clothoid clothoid;
Assert.IsTrue(Clothoid.Connect(new Line(0 + x0, 0 + y0, 10 + x0, 0 + y0), new Circle(10 + x0, 10 + y0, 10), true, Tol, out clothoid) == 0);
Assert.AreEqual(0, clothoid.Length);
var pt1 = new Point(10 + x0, 10 + y0);
var pt2 = new Point(20 + x0, -10 + y0);
var line = new Line(pt1, pt2);
var circle = new Circle(pt2 + line.Normal * 10, 10);
Assert.That(Clothoid.Connect(line, circle, true, Tol, out clothoid) == 0);
Assert.AreEqual(0, clothoid.Length);
CheckConnectivity(clothoid, line, true);
CheckConnectivity(clothoid, circle, false);
// Circle to circle
var circle1 = new Circle(3 + x0, 0 + y0, 4);
var circle2 = new Circle(6 + x0, 0 + y0, 1);
Assert.That(Clothoid.Connect(circle1, circle2, Tol, out clothoid) == 0);
Assert.AreEqual(0, clothoid.Length);
CheckConnectivity(clothoid, circle1, true);
CheckConnectivity(clothoid, circle2, false);
circle1 = new Circle(3 + x0, 0 + y0, 4);
circle2 = new Circle(9 + x0, 0 + y0, -2);
Assert.That(Clothoid.Connect(circle1, circle2, Tol, out clothoid) == 0);
Assert.AreEqual(0, clothoid.Length);
CheckConnectivity(clothoid, circle1, true);
CheckConnectivity(clothoid, circle2, false);
}
public void TestConnectionCircleToCircle()
{
const double X0 = 1000000;
const double Y0 = -1000000;
Clothoid clothoid;
var c1 = new Circle(10 + X0, 10 + Y0, 10);
var c2 = new Circle(13 + X0, 15 + Y0, 4);
Clothoid.Connect(c1, c2, Tol, out clothoid);
CheckConnectivity(clothoid, c1, true);
CheckConnectivity(clothoid, c2, false);
c1 = new Circle(10 + X0, 10 + Y0, 10);
c2 = new Circle(13 + X0, 15 + Y0, 4);
Clothoid.Connect(c2, c1, Tol, out clothoid);
CheckConnectivity(clothoid, c2, true);
CheckConnectivity(clothoid, c1, false);
c1 = new Circle(10 + X0, 10 + Y0, -10);
c2 = new Circle(13 + X0, 15 + Y0, -4);
Clothoid.Connect(c1, c2, Tol, out clothoid);
CheckConnectivity(clothoid, c1, true);
CheckConnectivity(clothoid, c2, false);
c1 = new Circle(10 + X0, 10 + Y0, -10);
c2 = new Circle(13 + X0, 15 + Y0, -4);
Clothoid.Connect(c2, c1, Tol, out clothoid);
CheckConnectivity(clothoid, c2, true);
CheckConnectivity(clothoid, c1, false);
c1 = new Circle(15 + X0, 0 + Y0, 7);
c2 = new Circle(12 + X0, 0 + Y0, 2);
Assert.IsTrue(Clothoid.Connect(c1, c2, Tol / 100, out clothoid) == 0);
CheckConnectivity(clothoid, c1, true);
CheckConnectivity(clothoid, c2, false);
}