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example_S_Curve.cpp
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example_S_Curve.cpp
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#include <slvs.h>
#include <assert.h>
#include <iostream>
#include "SolveSpaceSystem.h"
/*-----------------------------------------------------------------------------
* Test calculation of an S-shape curve:
* Arc-Line-Arc with start and endpoint along with their tangents as input.
*---------------------------------------------------------------------------*/
extern "C" void example_S_Curve(double p1x,
double p1y,
double p1z,
double azi1,
double inc1,
double rad1,
double p2x,
double p2y,
double p2z,
double azi2,
double inc2,
double rad2)
{
SolveSpaceSystem sys;
Slvs_hGroup group1 = 1;
Slvs_hGroup group2 = 2;
// Group 1, Fixed
// P1
Slvs_hParam p_p1x = sys.addParam( Slvs_MakeParam(-1, group1, p1x) );
Slvs_hParam p_p1y = sys.addParam( Slvs_MakeParam(-1, group1, p1y) );
Slvs_hParam p_p1z = sys.addParam( Slvs_MakeParam(-1, group1, p1z) );
Slvs_hEntity e_P1 = sys.addEntity( Slvs_MakePoint3d(-1, group1, p_p1x, p_p1y, p_p1z) );
// PT1
double pt1x = p1x + sin(azi1)*sin(inc1);
double pt1y = p1y + cos(azi1)*sin(inc1);
double pt1z = p1z - cos(inc1);
Slvs_hParam p_pt1x = sys.addParam( Slvs_MakeParam(-1, group1, pt1x) );
Slvs_hParam p_pt1y = sys.addParam( Slvs_MakeParam(-1, group1, pt1y) );
Slvs_hParam p_pt1z = sys.addParam( Slvs_MakeParam(-1, group1, pt1z) );
Slvs_hEntity e_PT1 = sys.addEntity( Slvs_MakePoint3d(-1, group1, p_pt1x, p_pt1y, p_pt1z) );
// Tangent Line 1
Slvs_hEntity e_LT1 = sys.addEntity(Slvs_MakeLineSegment(-1, group1, SLVS_FREE_IN_3D, e_P1, e_PT1));
// P2
Slvs_hParam p_p2x = sys.addParam( Slvs_MakeParam(-1, group1, p2x) );
Slvs_hParam p_p2y = sys.addParam( Slvs_MakeParam(-1, group1, p2y) );
Slvs_hParam p_p2z = sys.addParam( Slvs_MakeParam(-1, group1, p2z) );
Slvs_hEntity e_P2 = sys.addEntity( Slvs_MakePoint3d(-1, group1, p_p2x, p_p2y, p_p2z) );
// PT2
double pt2x = p2x + sin(azi2)*sin(inc2);
double pt2y = p2y + cos(azi2)*sin(inc2);
double pt2z = p2z - cos(inc2);
Slvs_hParam p_pt2x = sys.addParam( Slvs_MakeParam(-1, group1, pt2x) );
Slvs_hParam p_pt2y = sys.addParam( Slvs_MakeParam(-1, group1, pt2y) );
Slvs_hParam p_pt2z = sys.addParam( Slvs_MakeParam(-1, group1, pt2z) );
Slvs_hEntity e_PT2 = sys.addEntity( Slvs_MakePoint3d(-1, group1, p_pt2x, p_pt2y, p_pt2z) );
// Tangent Line 2
Slvs_hEntity e_LT2 = sys.addEntity(Slvs_MakeLineSegment(-1, group1, SLVS_FREE_IN_3D, e_P2, e_PT2));
// Plane1
double unitQw, unitQx, unitQy, unitQz;
Slvs_MakeQuaternion(1, 0, 0,
0, 1, 0,
&unitQw, &unitQx, &unitQy, &unitQz);
// Plane 1
Slvs_hParam p_Plane1Qw = sys.addParam( Slvs_MakeParam(-1, group2, unitQw) );
Slvs_hParam p_Plane1Qx = sys.addParam( Slvs_MakeParam(-1, group2, unitQx) );
Slvs_hParam p_Plane1Qy = sys.addParam( Slvs_MakeParam(-1, group2, unitQy) );
Slvs_hParam p_Plane1Qz = sys.addParam( Slvs_MakeParam(-1, group2, unitQz));
Slvs_hEntity e_Plane1Q = sys.addEntity( Slvs_MakeNormal3d(-1, group2,
p_Plane1Qw,
p_Plane1Qx,
p_Plane1Qy,
p_Plane1Qz));
Slvs_hEntity e_Plane1 = sys.addEntity( Slvs_MakeWorkplane(-1, group2, e_P1, e_Plane1Q) );
Slvs_hConstraint c_PT1Plane1 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PT_IN_PLANE,
SLVS_FREE_IN_3D,
0.0,
e_PT1,
-1,
e_Plane1,
-1));
// Arc1 center
Slvs_hParam p_c1x = sys.addParam( Slvs_MakeParam(-1, group2, 10.0) ); // Needs a better guess
Slvs_hParam p_c1y = sys.addParam( Slvs_MakeParam(-1, group2, 2.0) );
Slvs_hEntity e_C1 = sys.addEntity( Slvs_MakePoint2d(-1, group2, e_Plane1, p_c1x, p_c1y) );
Slvs_hEntity e_LP1C1 = sys.addEntity(Slvs_MakeLineSegment(-1, group2, e_Plane1, e_P1, e_C1));
Slvs_hConstraint c_perpT1_LP1C1 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PERPENDICULAR,
e_Plane1,
0.0,
-1,
-1,
e_LT1,
e_LP1C1));
Slvs_hConstraint c_dist_P1C1 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PT_PT_DISTANCE,
e_Plane1,
rad1,
e_P1,
e_C1,
-1,
-1));
// Arc1 end
Slvs_hParam p_p11x = sys.addParam( Slvs_MakeParam(-1, group2, 2.0) ); // Needs a better guess: Perp on p_c1x/p_c1y
Slvs_hParam p_p11y = sys.addParam( Slvs_MakeParam(-1, group2, -10.0) );
Slvs_hEntity e_P11 = sys.addEntity( Slvs_MakePoint2d(-1, group2, e_Plane1, p_p11x, p_p11y) );
Slvs_hEntity e_LC1P11 = sys.addEntity(Slvs_MakeLineSegment(-1, group2, e_Plane1, e_C1, e_P11));
Slvs_hConstraint c_dist_C1P11 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_EQUAL_LENGTH_LINES,
e_Plane1,
0.0,
-1,
-1,
e_LP1C1,
e_LC1P11));
// Plane 2
Slvs_hParam p_Plane2Qw = sys.addParam( Slvs_MakeParam(-1, group2, unitQw) );
Slvs_hParam p_Plane2Qx = sys.addParam( Slvs_MakeParam(-1, group2, unitQx) );
Slvs_hParam p_Plane2Qy = sys.addParam( Slvs_MakeParam(-1, group2, unitQy) );
Slvs_hParam p_Plane2Qz = sys.addParam( Slvs_MakeParam(-1, group2, unitQz));
Slvs_hEntity e_Plane2Q = sys.addEntity( Slvs_MakeNormal3d(-1, group2,
p_Plane2Qw,
p_Plane2Qx,
p_Plane2Qy,
p_Plane2Qz));
Slvs_hEntity e_Plane2 = sys.addEntity( Slvs_MakeWorkplane(-1, group2, e_P2, e_Plane2Q) );
Slvs_hConstraint c_PT2Plane2 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PT_IN_PLANE,
SLVS_FREE_IN_3D,
0.0,
e_PT2,
-1,
e_Plane2,
-1));
// Arc2 center
Slvs_hParam p_c2x = sys.addParam( Slvs_MakeParam(-1, group2, 10.0) ); // Needs a better guess
Slvs_hParam p_c2y = sys.addParam( Slvs_MakeParam(-1, group2, 2.0) );
Slvs_hEntity e_C2 = sys.addEntity( Slvs_MakePoint2d(-1, group2, e_Plane2, p_c2x, p_c2y) );
Slvs_hEntity e_LP2C2 = sys.addEntity(Slvs_MakeLineSegment(-1, group2, e_Plane2, e_P2, e_C2));
Slvs_hConstraint c_perpT2_LP2C2 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PERPENDICULAR,
e_Plane2,
0.0,
-1,
-1,
e_LT2,
e_LP2C2));
Slvs_hConstraint c_dist_P2C2 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PT_PT_DISTANCE,
e_Plane2,
rad2,
e_P2,
e_C2,
-1,
-1));
// Arc2 end
Slvs_hParam p_p22x = sys.addParam( Slvs_MakeParam(-1, group2, 2.0) ); // Needs a better guess: Perp on p_c1x/p_c1y
Slvs_hParam p_p22y = sys.addParam( Slvs_MakeParam(-1, group2, -10.0) );
Slvs_hEntity e_P22 = sys.addEntity( Slvs_MakePoint2d(-1, group2, e_Plane2, p_p22x, p_p22y) );
Slvs_hEntity e_LC2P22 = sys.addEntity(Slvs_MakeLineSegment(-1, group2, e_Plane2, e_C2, e_P22));
Slvs_hConstraint c_dist_C2P22 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_EQUAL_LENGTH_LINES,
e_Plane2,
0.0,
-1,
-1,
e_LP2C2,
e_LC2P22));
auto solveResult = sys.solve(group2, true);
assert(solveResult == SolveSpaceSystem::RESULT_OKAY);
// Connecting the two planes
// Connecting line
Slvs_hEntity e_LP11P22 = sys.addEntity(Slvs_MakeLineSegment(-1, group2, SLVS_FREE_IN_3D, e_P11, e_P22));
// Perpendicular constraints
Slvs_hConstraint c_perpC1P11_LP11P22 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PERPENDICULAR,
SLVS_FREE_IN_3D,
0.0,
-1,
-1,
e_LC1P11,
e_LP11P22));
solveResult = sys.solve(group2, true);
assert(solveResult == SolveSpaceSystem::RESULT_OKAY);
Slvs_hConstraint c_perpC2P22_LP11P22 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PERPENDICULAR,
SLVS_FREE_IN_3D,
0.0,
-1,
-1,
e_LC2P22,
e_LP11P22));
solveResult = sys.solve(group2, true);
assert(solveResult == SolveSpaceSystem::RESULT_OKAY);
// P11, P22 in plane constraints
Slvs_hConstraint c_P11InPlane2 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PT_IN_PLANE,
SLVS_FREE_IN_3D,
0.0,
e_P11,
-1,
e_Plane2,
-1));
solveResult = sys.solve(group2, true);
assert(solveResult == SolveSpaceSystem::RESULT_OKAY);
Slvs_hConstraint c_P22InPlane1 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PT_IN_PLANE,
SLVS_FREE_IN_3D,
0.0,
e_P22,
-1,
e_Plane1,
-1));
solveResult = sys.solve(group2, true);
assert(solveResult == SolveSpaceSystem::RESULT_OKAY);
// Circle Center, Plane normals, P11, P22
std::valarray<double> v_C1 = sys.global3DPos(e_C1);
std::valarray<double> v_C2 = sys.global3DPos(e_C2);
std::valarray<double> v_N1 = std::get<2>( sys.orientationMx(e_Plane1Q));
std::valarray<double> v_N2 = std::get<2>( sys.orientationMx(e_Plane2Q));
std::valarray<double> v_P11 = sys.global3DPos(e_P11);
std::valarray<double> v_P22 = sys.global3DPos(e_P22);
std::cout << "C1: " << "[ " << v_C1[0] << ", " << v_C1[1] << ", " << v_C1[2] << " ]" << std::endl;
std::cout << "N1: " << "[ " << v_N1[0] << ", " << v_N1[1] << ", " << v_N1[2] << " ]" << std::endl;
std::cout << "P11: " << "[ " << v_P11[0] << ", " << v_P11[1] << ", " << v_P11[2] << " ]" << std::endl;
std::cout << "C2: " << "[ " << v_C2[0] << ", " << v_C2[1] << ", " << v_C2[2] << " ]" << std::endl;
std::cout << "N1: " << "[ " << v_N2[0] << ", " << v_N2[1] << ", " << v_N2[2] << " ]" << std::endl;
std::cout << "P22: " << "[ " << v_P22[0] << ", " << v_P22[1] << ", " << v_P22[2] << " ]" << std::endl;
char c;
std::cin >> c;
}
/*-----------------------------------------------------------------------------
Unfinished. Only reference comments and code segments.
Some problem with constraining the normal of a plane. Seems like we constrain
the complete orientation, and not only the normal vector.
*---------------------------------------------------------------------------*/
extern "C" void example_S_Curve_old(double p1x,
double p1y,
double p1z,
double azi1,
double inc1,
double p2x,
double p2y,
double p2z,
double azi2,
double inc2)
{
/*
Group 1
P1 (P1x, P1y, P1z)
Plane1 ( P1, Quat Identity)
P2 (P2x, P2y, P2z)
Plane4 ( P2, Quat Identity)
Group 2
// From top
// Azimuth
Plane2 (P1, X-Axis)
Perpendicular( Plane2. Normal, Z-Axis)
Angle (Plane2.Normal, X-Axis, Azimuth1 )
L2P2( l2p2x = 10, l2p2y = 0)
Line2 (Plane2, P1, L2P2)
Horizontal(Plane2, Line2)
Coincident(Plane1, L2P2)
// Dip line
L3P2(l3p2x = 0.0, l3p2y = -10)
Line3 (Plane2, P1, L3P2)
Angle(Line2, Line3, Dip1 )
// Arc plane
Plane3 (L3P2, X-Axis)
Coincident (Plane3, P1)
// Arc 1
A1P2(a1p2x = 10, a1p2y = -10)
A1C(a1cx = 10, a1cy = 0)
Arc1 (Plane3, P1, A1P2, A1C)
Tangent (Arc1, Line3)
// Arc1 to Arc 2 line
L4P2(l4p2x = ??, l4p2y = ??)
Line4(Plane3, A1P2, L4P2)
Tangent(Arc1, Line4)
// From Bottom
// Azimuth
Plane5(P2, X-Axis)
Perpendicular(Plane5.Normal, Z-Axis)
Angle (Plane5.Normal, X-axis, Azimuth2 )
L6P2( l6p2x = 10, l6p2y = 0)
Line6 (Plane5, P2, L6P2)
Horizontal(Plane5, Line6)
Coincident(Plane4, L6P2)
// Dip line
L7P2(l7p2x = 0.0, l7p2y = -10)
Line7 (Plane5, P2, L7P2)
Angle(Line6, Line7, Dip2 )
// Arc plane
Plane6 (L7P2, X-Axis)
Coincident (Plane6, P2)
// Arc 2
A2P2(a2p2x = 10, a2p2y = -10)
A2C(a2cx = 10, a2cy = 0)
Arc2 (Plane6, P2, A2P2, A2C)
Tangent (Arc1, Line3)
// Connection the top and bottom
Coincident(Plane6, L4P2)
Coincident(Plane6, A1P2)
Coincident(A2P2, L4P2)
Tangent(Arc2, Line4)
// The dogleg constraints
Diameter(Arc1, 2*Radius1)
Diamater(Arc2, 2*Radius2)
*/
SolveSpaceSystem sys;
Slvs_hGroup group1 = 1;
Slvs_hGroup group2 = 2;
Slvs_hParam p_p1x = sys.addParam( Slvs_MakeParam(-1, group1, p1x) );
Slvs_hParam p_p1y = sys.addParam( Slvs_MakeParam(-1, group1, p1y) );
Slvs_hParam p_p1z = sys.addParam( Slvs_MakeParam(-1, group1, p1z) );
Slvs_hParam p_azi1 = sys.addParam( Slvs_MakeParam(-1, group1, azi1) );
Slvs_hParam p_inc1 = sys.addParam( Slvs_MakeParam(-1, group1, inc1) );
Slvs_hParam p_p2x = sys.addParam( Slvs_MakeParam(-1, group1, p2x) );
Slvs_hParam p_p2y = sys.addParam( Slvs_MakeParam(-1, group1, p2y) );
Slvs_hParam p_p2z = sys.addParam( Slvs_MakeParam(-1, group1, p2z) );
Slvs_hParam p_azi2 = sys.addParam( Slvs_MakeParam(-1, group1, azi2) );
Slvs_hParam p_inc2 = sys.addParam( Slvs_MakeParam(-1, group1, inc2) );
double unitQw, unitQx, unitQy, unitQz;
Slvs_MakeQuaternion(1, 0, 0,
0, 1, 0,
&unitQw, &unitQx, &unitQy, &unitQz);
Slvs_hParam p_unitQw = sys.addParam( Slvs_MakeParam(-1, group1, unitQw) );
Slvs_hParam p_unitQx = sys.addParam( Slvs_MakeParam(-1, group1, unitQx) );
Slvs_hParam p_unitQy = sys.addParam( Slvs_MakeParam(-1, group1, unitQy) );
Slvs_hParam p_unitQz = sys.addParam( Slvs_MakeParam(-1, group1, unitQz) );
Slvs_hEntity e_zAxisNorm = sys.addEntity( Slvs_MakeNormal3d(-1, group1, p_unitQw, p_unitQx, p_unitQy, p_unitQz) );
double xAxisQw, xAxisQx, xAxisQy, xAxisQz;
Slvs_MakeQuaternion(0, 1, 0,
0, 0, 1,
&xAxisQw, &xAxisQx, &xAxisQy, &xAxisQz);
Slvs_hParam p_xAxisQw = sys.addParam( Slvs_MakeParam(-1, group1, xAxisQw) );
Slvs_hParam p_xAxisQx = sys.addParam( Slvs_MakeParam(-1, group1, xAxisQx) );
Slvs_hParam p_xAxisQy = sys.addParam( Slvs_MakeParam(-1, group1, xAxisQy) );
Slvs_hParam p_xAxisQz = sys.addParam( Slvs_MakeParam(-1, group1, xAxisQz) );
Slvs_hEntity e_xAxisNorm = sys.addEntity( Slvs_MakeNormal3d(-1,
group1,
p_xAxisQw,
p_xAxisQx,
p_xAxisQy,
p_xAxisQz));
Slvs_hEntity e_P1 = sys.addEntity( Slvs_MakePoint3d(-1, group1, p_p1x, p_p1y, p_p1z) );
Slvs_hEntity e_Plane1 = sys.addEntity( Slvs_MakeWorkplane(-1, group1, e_P1, e_zAxisNorm) );
Slvs_hEntity e_P2 = sys.addEntity( Slvs_MakePoint3d(-1, group1, p_p2x, p_p2y, p_p2z) );
Slvs_hEntity e_Plane4 = sys.addEntity( Slvs_MakeWorkplane(-1, group1, e_P2, e_zAxisNorm) );
// Azimuth
Slvs_hParam p_Plane2NormQw = sys.addParam( Slvs_MakeParam(-1, group2, xAxisQw) );
Slvs_hParam p_Plane2NormQx = sys.addParam( Slvs_MakeParam(-1, group2, xAxisQx) );
Slvs_hParam p_Plane2NormQy = sys.addParam( Slvs_MakeParam(-1, group2, xAxisQy) );
Slvs_hParam p_Plane2NormQz = sys.addParam( Slvs_MakeParam(-1, group2, xAxisQz));
Slvs_hEntity e_Plane2Norm = sys.addEntity( Slvs_MakeNormal3d(-1, group2,
p_Plane2NormQw,
p_Plane2NormQx,
p_Plane2NormQy,
p_Plane2NormQz));
Slvs_hEntity e_Plane2 = sys.addEntity( Slvs_MakeWorkplane(-1, group2, e_P1, e_Plane2Norm) );
Slvs_hConstraint c_Plane2Perp = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PERPENDICULAR,
SLVS_FREE_IN_3D,
0.0,
0,
0,
e_Plane2Norm,
e_zAxisNorm
));
Slvs_hConstraint c_Plane2Azi1 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_ANGLE,
SLVS_FREE_IN_3D,//e_Plane2,
azi1,
0,
0,
e_Plane2Norm,
e_xAxisNorm ));
auto solveResult = sys.solve(group2, true);
assert(solveResult == SolveSpaceSystem::RESULT_OKAY);
Slvs_hParam p_L2P2x = sys.addParam( Slvs_MakeParam(-1, group2, 10) );
Slvs_hParam p_L2P2y = sys.addParam( Slvs_MakeParam(-1, group2, 0) );
Slvs_hEntity e_L2P2 = sys.addEntity( Slvs_MakePoint2d(-1, group2, e_Plane2, p_L2P2x, p_L2P2y) );
Slvs_hEntity e_Line2 = sys.addEntity( Slvs_MakeLineSegment(-1, group2, e_Plane2, e_P1, e_L2P2) );
Slvs_hConstraint c_L2Hor = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_HORIZONTAL,
e_Plane2,
0.0,
0,
0,
e_Line2,
0));
Slvs_hConstraint c_L2Plane1 = sys.addConstr(Slvs_MakeConstraint(-1,
group2,
SLVS_C_PT_IN_PLANE,
SLVS_FREE_IN_3D,
0.0,
e_L2P2,
0,
e_Plane1,
0));
}