Fix collide

[hubacji1/bcar.git] / src / pslot.cc

diff --git a/src/pslot.cc b/src/pslot.cc
index 1864de9f037afd84925408aaf90dfe523dfdd3fd..ec6462776b71842d65313b7c107e2c250db140e6 100644 (file)
--- a/src/pslot.cc
+++ b/src/pslot.cc
@@ -112,6 +112,10 @@ ParkingSlot::swap_side()
 {
        this->border_[1].rotate(this->border_[0], M_PI);
        this->border_[2].rotate(this->border_[3], M_PI);
+       this->entry_ = Line(this->border_[0], this->border_[3]);
+       this->rear_ = Line(this->border_[0], this->border_[1]);
+       this->curb_ = Line(this->border_[1], this->border_[2]);
+       this->front_ = Line(this->border_[2], this->border_[3]);
 }
 
 bool
@@ -123,6 +127,154 @@ ParkingSlot::parked(BicycleCar const& c) const
                && c.rr().inside_of(b) && c.rf().inside_of(b);
 }
 
+bool
+ParkingSlot::collide(BicycleCar const& c) const
+{
+       return c.left().intersects_with(this->rear_)
+               || c.left().intersects_with(this->curb_)
+               || c.left().intersects_with(this->front_)
+               || c.rear().intersects_with(this->rear_)
+               || c.rear().intersects_with(this->curb_)
+               || c.rear().intersects_with(this->front_)
+               || c.right().intersects_with(this->rear_)
+               || c.right().intersects_with(this->curb_)
+               || c.right().intersects_with(this->front_)
+               || c.front().intersects_with(this->rear_)
+               || c.front().intersects_with(this->curb_)
+               || c.front().intersects_with(this->front_);
+}
+
+std::vector<BicycleCar>
+ParkingSlot::drive_in_slot(BicycleCar c, unsigned int& max)
+{
+       assert(this->parallel());
+       assert(this->right());
+       assert(c.len() < this->len());
+       assert(c.w() < this->w());
+       std::vector<BicycleCar> path;
+       path.reserve(max + 2);
+       path.push_back(c);
+       unsigned int cusp = 0;
+       while (cusp < max + 1) {
+               if (this->parked(c)) {
+                       if (cusp < max) {
+                               max = cusp;
+                       }
+                       path.push_back(c);
+                       return path;
+               }
+               if (c.h() < this->h()) {
+                       return std::vector<BicycleCar>();
+               }
+               c.next();
+               if (this->collide(c)) {
+                       c.sp(c.sp() * -1.0);
+                       c.next();
+                       path.push_back(c);
+                       c.st(c.st() * -1.0);
+                       cusp += 1;
+               }
+       }
+       return std::vector<BicycleCar>();
+}
+
+std::vector<Pose>
+ParkingSlot::steer_in_slot(BicycleCar c)
+{
+       std::vector<Pose> path;
+       while (!this->parked(c)) {
+               path.push_back(c);
+               c.next();
+               if (this->collide(c)) {
+                       c.sp(c.sp() * -1.0);
+                       c.next();
+                       c.st(c.st() * -1.0);
+               }
+       }
+       path.push_back(c);
+       return path;
+}
+
+PoseRange
+ParkingSlot::fe(BicycleCar c, unsigned int& max)
+{
+       assert(this->parallel());
+       assert(this->right());
+       c.h(this->h());
+       double clen = -this->offset_ + this->len() - c.df();
+       double cw = c.w() / 2.0;
+       c.x(this->lrx() + clen * cos(c.h()) + cw * cos(c.h() + M_PI / 2.0));
+       c.y(this->lry() + clen * sin(c.h()) + cw * sin(c.h() + M_PI / 2.0));
+       c.set_max_steer();
+       c.sp(-0.001);
+       auto const rc = c.rf();
+       this->curb_.intersects_with(rc, c.len());
+       double max_to_slot;
+       auto const& rr = c.rr();
+       auto const& i1 = this->curb_.i1();
+       auto const& i2 = this->curb_.i2();
+       if (rr.edist(i1) < rr.edist(i2)) {
+               max_to_slot = rr.min_angle_between(rc, i1);
+       } else {
+               max_to_slot = rr.min_angle_between(rc, i2);
+       }
+       std::vector<BicycleCar> starts;
+       double a_to_slot = 0.0;
+       while (a_to_slot < max_to_slot) {
+               a_to_slot += 0.0001;
+               c.rotate(rc, 0.0001);
+               starts.push_back(c);
+       }
+       std::vector<std::vector<BicycleCar>> entries;
+       for (auto s: starts) {
+               auto r = this->drive_in_slot(s, max);
+               if (r.size() > 0) {
+                       entries.push_back(r);
+               }
+       }
+       if (entries.size() == 0) {
+               return PoseRange();
+       }
+       if (entries.size() == 1) {
+               PoseRange pr;
+               pr.x(entries.front().front().x());
+               pr.y(entries.front().front().y());
+               pr.b(entries.front().front().h());
+               pr.e(entries.front().front().h());
+               return pr;
+       }
+       auto& c1 = entries.front().front();
+       auto& c2 = entries.back().front();
+       double b = std::min(c1.h(), c2.h());
+       double e = std::max(c1.h(), c2.h());
+       clen = c.len();
+       Point b1(c1.x() - clen * cos(c1.h()), c1.y() - clen * sin(c1.h()));
+       Point b2(c2.x() - clen * cos(c2.h()), c2.y() - clen * sin(c2.h()));
+       Point e1(c1.x() + clen * cos(c1.h()), c1.y() + clen * sin(c1.h()));
+       Point e2(c2.x() + clen * cos(c2.h()), c2.y() + clen * sin(c2.h()));
+       Line li1(b1, e1);
+       Line li2(b2, e2);
+       li1.intersects_with(li2);
+       PoseRange pr;
+       pr.x(li1.i1().x());
+       pr.y(li1.i1().y());
+       pr.b(b);
+       pr.e(e);
+       return pr;
+}
+
+PoseRange
+ParkingSlot::recompute_entry(PoseRange p)
+{
+       p.rotate(Point(0.0, 0.0), this->h());
+       p.x(p.x() + this->lrx());
+       p.y(p.y() + this->lry());
+       if (!this->right()) {
+               p.reflect(this->entry_);
+       }
+       return p;
+}
+
 std::ostream&
 operator<<(std::ostream& o, ParkingSlot const& s)
 {