#include "PlaneGCSSolver_Solver.h"
#include <Events_LongOp.h>
+#include <cmath>
+
+
+PlaneGCSSolver_Solver::PlaneGCSSolver_Solver()
+ : myEquationSystem(new GCS::System),
+ myConfCollected(false)
+{
+}
PlaneGCSSolver_Solver::~PlaneGCSSolver_Solver()
{
void PlaneGCSSolver_Solver::clear()
{
- std::set<GCS::Constraint*>::const_iterator anIt = myConstraints.begin();
- for (; anIt != myConstraints.end(); ++anIt)
- myEquationSystem.removeConstraint(*anIt);
+ myEquationSystem->clear();
myConstraints.clear();
myParameters.clear();
}
-void PlaneGCSSolver_Solver::addConstraint(GCSConstraintPtr theConstraint)
+void PlaneGCSSolver_Solver::addConstraint(GCSConstraintPtr theConstraint,
+ const SketchSolver_ConstraintType theType)
{
GCS::Constraint* aConstraint = theConstraint.get();
if (myConstraints.find(aConstraint) != myConstraints.end())
return; // constraint already exists, no need to add it again
- myEquationSystem.addConstraint(aConstraint);
- myConstraints.insert(aConstraint);
+ myEquationSystem->addConstraint(aConstraint);
+ myConstraints[aConstraint] = theType;
}
void PlaneGCSSolver_Solver::removeConstraint(GCSConstraintPtr theConstraint)
{
GCS::Constraint* aConstraint = theConstraint.get();
- if (myConstraints.find(aConstraint) == myConstraints.end())
+ removeConstraint(aConstraint);
+}
+
+void PlaneGCSSolver_Solver::removeConstraint(GCS::Constraint* theConstraint)
+{
+ if (myConstraints.find(theConstraint) == myConstraints.end())
return; // no constraint, no need to remove it
- myEquationSystem.removeConstraint(aConstraint);
- myConstraints.erase(aConstraint);
+ myEquationSystem->removeConstraint(theConstraint);
+ myConstraints.erase(theConstraint);
}
SketchSolver_SolveStatus PlaneGCSSolver_Solver::solve()
{
+ // clear list of conflicting constraints
+ if (myConfCollected) {
+ myConflictingIDs.clear();
+ myConfCollected = false;
+ }
+
if (myConstraints.empty())
return STATUS_EMPTYSET;
if (myParameters.empty())
return STATUS_INCONSISTENT;
- //myEquationSystem.calculateFaileds = myFindFaileds ? 1 : 0;
-
Events_LongOp::start(this);
- GCS::SolveStatus aResult = (GCS::SolveStatus)myEquationSystem.solve(myParameters);
+ GCS::SolveStatus aResult = GCS::Success;
+ // if there is a constraint with all attributes constant, set fail status
+ GCS::SET_pD aParameters;
+ aParameters.insert(myParameters.begin(), myParameters.end());
+ ConstraintMap::const_iterator aConstrIt = myConstraints.begin();
+ for (; aConstrIt != myConstraints.end(); ++aConstrIt) {
+ GCS::VEC_pD aParams = aConstrIt->first->params();
+ GCS::VEC_pD::const_iterator aPIt = aParams.begin();
+ for (; aPIt != aParams.end(); ++aPIt)
+ if (aParameters.find(*aPIt) != aParameters.end())
+ break;
+ if (aPIt == aParams.end() && aConstrIt->first->getTag() > 0) {
+ myConflictingIDs.insert(aConstrIt->first->getTag());
+ myConfCollected = true;
+ aResult = GCS::Failed;
+ }
+ }
+ // solve equations
+ if (aResult == GCS::Success)
+ aResult = (GCS::SolveStatus)myEquationSystem->solve(myParameters);
+
+ GCS::VEC_I aRedundantID;
+
+ // Workaround: the system with tangent constraint may fail if the tangent entities are connected smoothly.
+ // Investigate this situation and move constraints to redundant list
+ if (aResult == GCS::Failed && !myTangent.empty()) {
+ GCS::VEC_I aConflictingID;
+ myEquationSystem->getConflicting(aConflictingID);
+ GCS::VEC_I::iterator aCIt = aConflictingID.begin();
+ for (; aCIt != aConflictingID.end(); ++ aCIt) {
+ if (myTangent.find(*aCIt) == myTangent.end())
+ continue;
+ if (isTangentTruth(*aCIt))
+ aRedundantID.push_back(*aCIt);
+ }
+
+ if (!aRedundantID.empty())
+ aResult = GCS::Success; // check redundant constraints
+ }
+
+ // Additionally check redundant constraints
+ if (aResult == GCS::Success || aResult == GCS::Converged) {
+ GCS::VEC_I aRedundantLocal;
+ myEquationSystem->getRedundant(aRedundantLocal);
+ aRedundantID.insert(aRedundantID.end(), aRedundantLocal.begin(), aRedundantLocal.end());
+ // Workaround: remove all point-point coincidences from list of redundant
+ if (!aRedundantID.empty()) {
+ ConstraintMap::const_iterator aCIt = myConstraints.begin();
+ for (; aCIt != myConstraints.end(); ++aCIt) {
+ if (aCIt->second != CONSTRAINT_PT_PT_COINCIDENT)
+ continue;
+ GCS::VEC_I::iterator aRIt = aRedundantID.begin();
+ for (; aRIt != aRedundantID.end(); ++aRIt)
+ if (aCIt->first->getTag() == *aRIt) {
+ aRedundantID.erase(aRIt);
+ break;
+ }
+ }
+ }
+ // The system with tangent constraints may show redundant constraints if the entities are coupled smoothly.
+ // Sometimes tangent constraints are fall to both conflicting and redundant constraints.
+ // Need to check if there are redundant constraints without these tangencies.
+ if (!aRedundantID.empty())
+ aResult = myTangent.empty() ? GCS::Failed : solveWithoutTangent();
+ else
+ aResult = GCS::Success;
+ }
Events_LongOp::end(this);
SketchSolver_SolveStatus aStatus;
if (aResult == GCS::Success) {
- myEquationSystem.applySolution();
+ myEquationSystem->applySolution();
aStatus = STATUS_OK;
} else
aStatus = STATUS_FAILED;
return aStatus;
}
+GCS::SolveStatus PlaneGCSSolver_Solver::solveWithoutTangent()
+{
+ std::shared_ptr<GCS::System> aSystemWithoutTangent(new GCS::System);
+
+ // Remove tangency which leads to redundant or conflicting constraints
+ GCS::VEC_I aConflicting, aRedundant;
+ myEquationSystem->getRedundant(aRedundant);
+ size_t aNbRemove = myTangent.size(); // number of tangent constraints which can be removed
+ myEquationSystem->getConflicting(aConflicting);
+ aRedundant.insert(aRedundant.end(), aConflicting.begin(), aConflicting.end());
+
+ GCS::SET_I aTangentToRemove;
+ GCS::VEC_I::iterator aCIt = aRedundant.begin();
+ for (; aCIt != aRedundant.end() && aNbRemove > 0; ++aCIt)
+ if (myTangent.find(*aCIt) != myTangent.end()) {
+ aTangentToRemove.insert(*aCIt);
+ --aNbRemove;
+ }
+
+ std::set<GCS::Constraint*> aRemovedTangent;
+ ConstraintMap::const_iterator aConstrIt = myConstraints.begin();
+ while (aConstrIt != myConstraints.end()) {
+ GCS::Constraint* aConstraint = aConstrIt->first;
+ int anID = aConstraint->getTag();
+ ++aConstrIt;
+ if (aTangentToRemove.find(anID) == aTangentToRemove.end())
+ aSystemWithoutTangent->addConstraint(aConstraint);
+ else
+ aRemovedTangent.insert(aConstraint);
+ }
+
+ myTangent.clear();
+ GCS::SolveStatus aResult = (GCS::SolveStatus)aSystemWithoutTangent->solve(myParameters);
+ if (aResult == GCS::Success) {
+ GCS::VEC_I aRedundant;
+ aSystemWithoutTangent->getRedundant(aRedundant);
+ if (aRedundant.empty())
+ myEquationSystem = aSystemWithoutTangent;
+ else
+ aResult = GCS::Failed;
+ }
+
+ // additional check that removed constraints are still correct
+ if (aResult == GCS::Success) {
+ std::set<GCS::Constraint*>::const_iterator aRemIt = aRemovedTangent.begin();
+ for (; aRemIt != aRemovedTangent.end(); ++aRemIt)
+ if (!isTangentTruth(*aRemIt))
+ break;
+ if (aRemIt != aRemovedTangent.end())
+ aResult = GCS::Failed;
+ }
+
+ // Add IDs of removed tangent to the list of conflicting constraints
+ if (aResult == GCS::Failed) {
+ std::set<GCS::Constraint*>::const_iterator aRemIt = aRemovedTangent.begin();
+ for (; aRemIt != aRemovedTangent.end(); ++aRemIt)
+ myConflictingIDs.insert((*aRemIt)->getTag());
+ }
+
+ return aResult;
+}
+
+bool PlaneGCSSolver_Solver::isTangentTruth(GCS::Constraint* theTangent) const
+{
+ static const double aTol = 1e-5;
+ double aTol2 = aTol *aTol;
+
+ if (theTangent->getTypeId() == GCS::TangentCircumf) {
+ GCS::VEC_pD aParams = theTangent->params();
+ double dx = *(aParams[2]) - *(aParams[0]);
+ double dy = *(aParams[3]) - *(aParams[1]);
+ double aDist2 = dx * dx + dy * dy;
+ double aRadSum = *(aParams[4]) + *(aParams[5]);
+ double aRadDiff = *(aParams[4]) - *(aParams[5]);
+ aTol2 *= aDist2 > 1.0 ? aDist2 : 1.0;
+ return fabs(aDist2 - aRadSum * aRadSum) <= aTol2 ||
+ fabs(aDist2 - aRadDiff * aRadDiff) <= aTol2;
+ }
+ if (theTangent->getTypeId() == GCS::P2LDistance) {
+ GCS::VEC_pD aParams = theTangent->params();
+ double aDist2 = *(aParams[6]) * *(aParams[6]);
+ // orthogonal line direction
+ double aDirX = *(aParams[5]) - *(aParams[3]);
+ double aDirY = *(aParams[2]) - *(aParams[4]);
+ double aLen2 = aDirX * aDirX + aDirY * aDirY;
+ // vector from line's start to point
+ double aVecX = *(aParams[0]) - *(aParams[2]);
+ double aVecY = *(aParams[1]) - *(aParams[3]);
+
+ double aDot = aVecX * aDirX + aVecY * aDirY;
+ return fabs(aDot * aDot - aDist2 * aLen2) <= aTol2 * aLen2;
+ }
+ return false;
+}
+
+bool PlaneGCSSolver_Solver::isTangentTruth(int theTagID) const
+{
+ ConstraintMap::const_iterator anIt = myConstraints.begin();
+ for (; anIt != myConstraints.end(); ++anIt)
+ if (anIt->first->getTag() == theTagID)
+ return isTangentTruth(anIt->first);
+ return false;
+}
+
void PlaneGCSSolver_Solver::undo()
{
- myEquationSystem.undoSolution();
+ myEquationSystem->undoSolution();
+}
+
+bool PlaneGCSSolver_Solver::isConflicting(const ConstraintID& theConstraint) const
+{
+ if (!myConfCollected)
+ const_cast<PlaneGCSSolver_Solver*>(this)->collectConflicting();
+ return myConflictingIDs.find((int)theConstraint) != myConflictingIDs.end();
+}
+
+void PlaneGCSSolver_Solver::collectConflicting()
+{
+ GCS::VEC_I aConflict;
+ myEquationSystem->getConflicting(aConflict);
+ myConflictingIDs.insert(aConflict.begin(), aConflict.end());
+
+ myEquationSystem->getRedundant(aConflict);
+ myConflictingIDs.insert(aConflict.begin(), aConflict.end());
+
+ myConfCollected = true;
+}
+
+int PlaneGCSSolver_Solver::dof() const
+{
+ return const_cast<PlaneGCSSolver_Solver*>(this)->myEquationSystem->dofsNumber();
}
