OTSLine3D.java
package org.opentrafficsim.core.geometry;
import java.awt.geom.Path2D;
import java.awt.geom.PathIterator;
import java.awt.geom.Rectangle2D;
import java.io.Serializable;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import javax.media.j3d.Bounds;
import nl.tudelft.simulation.dsol.animation.LocatableInterface;
import nl.tudelft.simulation.language.d3.BoundingBox;
import nl.tudelft.simulation.language.d3.DirectedPoint;
import org.djunits.unit.LengthUnit;
import org.djunits.value.vdouble.scalar.Length;
import com.vividsolutions.jts.geom.Coordinate;
import com.vividsolutions.jts.geom.CoordinateSequence;
import com.vividsolutions.jts.geom.Geometry;
import com.vividsolutions.jts.geom.GeometryFactory;
import com.vividsolutions.jts.geom.LineString;
import com.vividsolutions.jts.linearref.LengthIndexedLine;
/**
* Line with OTSPoint3D points, a cached length indexed line, a cahced length, and a cached centroid (all calculated on first
* use).
* <p>
* Copyright (c) 2013-2015 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
* <p>
* $LastChangedDate: 2015-07-16 10:20:53 +0200 (Thu, 16 Jul 2015) $, @version $Revision: 1124 $, by $Author: pknoppers $,
* initial version Jul 22, 2015 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.citg.tudelft.nl">Guus Tamminga</a>
*/
public class OTSLine3D implements LocatableInterface, Serializable
{
/** */
private static final long serialVersionUID = 20150722L;
/** The points of the line. */
private OTSPoint3D[] points;
/** The cumulative length of the line at point 'i'. */
private double[] lengthIndexedLine = null;
/** The cached length; will be calculated when needed for the first time. */
private double length = Double.NaN;
/** The cached centroid; will be calculated when needed for the first time. */
private OTSPoint3D centroid = null;
/** The cached bounds; will be calculated when needed for the first time. */
private Bounds bounds = null;
private java.awt.geom.Rectangle2D.Double boundingRect;
/**
* Construct a new OTSLine3D.
* @param points the array of points to construct this OTSLine3D from.
* @throws OTSGeometryException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
*/
public OTSLine3D(final OTSPoint3D... points) throws OTSGeometryException
{
init(points);
}
/**
* Construct a new OTSLine3D.
* @param pts the array of points to construct this OTSLine3D from.
* @throws OTSGeometryException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
*/
private void init(final OTSPoint3D... pts) throws OTSGeometryException
{
if (pts.length < 2)
{
throw new OTSGeometryException("Degenerate OTSLine3D; has " + pts.length + " point"
+ (pts.length != 1 ? "s" : ""));
}
for (int i = 1; i < pts.length; i++)
{
if (pts[i - 1].x == pts[i].x && pts[i - 1].y == pts[i].y && pts[i - 1].z == pts[i].z)
{
throw new OTSGeometryException("Degenerate OTSLine3D; point " + (i - 1)
+ " has the same x, y and z as point " + i);
}
}
this.points = pts;
}
/** Which offsetLine method to use... */
public enum OffsetMethod
{
/** Via JTS buffer. */
JTS,
/** Peter Knoppers. */
PK,
/** Alexander Verbraeck. */
AV;
};
/** Which offset line method to use... */
public static final OffsetMethod OFFSETMETHOD = OffsetMethod.PK;
/**
* Construct parallel line.
* @param offset double; offset distance from the reference line; positive is LEFT, negative is RIGHT
* @return OTSLine3D; the line that has the specified offset from the reference line
*/
public final OTSLine3D offsetLine(final double offset)
{
try
{
switch (OFFSETMETHOD)
{
case PK:
return OTSOffsetLinePK.offsetLine(this, offset);
case AV:
return OTSBufferingAV.offsetLine(this, offset);
case JTS:
return OTSBufferingJTS.offsetGeometryOLD(this, offset);
default:
return null;
}
}
catch (OTSGeometryException exception)
{
exception.printStackTrace();
return null;
}
}
/**
* Construct a line that is equal to this line except for segments that are shorter than the <cite>noiseLevel</cite>. The
* result is guaranteed to start with the first point of this line and end with the last point of this line.
* @param noiseLevel double; the minimum segment length that is <b>not</b> removed
* @return OTSLine3D; the filtered line
*/
public final OTSLine3D noiseFilteredLine(final double noiseLevel)
{
if (this.size() <= 2)
{
return this; // Except for some cached fields; an OTSLine3D is immutable; so safe to return
}
OTSPoint3D prevPoint = null;
List<OTSPoint3D> list = null;
for (int index = 0; index < this.size(); index++)
{
OTSPoint3D currentPoint = this.points[index];
if (null != prevPoint && prevPoint.distanceSI(currentPoint) < noiseLevel)
{
if (null == list)
{
// Found something to filter; copy this up to (and including) prevPoint
list = new ArrayList<OTSPoint3D>();
for (int i = 0; i < index; i++)
{
list.add(this.points[i]);
}
}
if (index == this.size() - 1)
{
if (list.size() > 1)
{
// Replace the last point of the result by the last point of this OTSLine3D
list.set(list.size() - 1, currentPoint);
}
else
{
// Append the last point of this even though it is close to the first point than the noise value to
// comply with the requirement that first and last point of this are ALWAYS included in the result.
list.add(currentPoint);
}
}
continue; // Do not replace prevPoint by currentPoint
}
else if (null != list)
{
list.add(currentPoint);
}
prevPoint = currentPoint;
}
if (null == list)
{
return this;
}
try
{
return new OTSLine3D(list);
}
catch (OTSGeometryException exception)
{
System.err.println("CANNOT HAPPEN");
exception.printStackTrace();
throw new Error(exception);
}
}
/**
* Create a line at linearly varying offset from this line. The offset may change linearly from its initial value at the
* start of the reference line to its final offset value at the end of the reference line.
* @param offsetAtStart double; offset at the start of the reference line (positive value is Left, negative value is Right)
* @param offsetAtEnd double; offset at the end of the reference line (positive value is Left, negative value is Right)
* @return Geometry; the Geometry of the line at linearly changing offset of the reference line
* @throws OTSGeometryException when this method fails to create the offset line
*/
public final OTSLine3D offsetLine(final double offsetAtStart, final double offsetAtEnd) throws OTSGeometryException
{
// System.out.println(OTSGeometry.printCoordinates("#referenceLine: \nc1,0,0\n# offset at start is " + offsetAtStart
// + " at end is " + offsetAtEnd + "\n#", referenceLine, "\n "));
OTSLine3D offsetLineAtStart = offsetLine(offsetAtStart);
if (offsetAtStart == offsetAtEnd)
{
return offsetLineAtStart; // offset does not change
}
// System.out.println(OTSGeometry.printCoordinates("#offset line at start: \nc0,0,0\n#", offsetLineAtStart, "\n "));
OTSLine3D offsetLineAtEnd = offsetLine(offsetAtEnd);
// System.out.println(OTSGeometry.printCoordinates("#offset line at end: \nc0.7,0.7,0.7\n#", offsetLineAtEnd, "\n "));
Geometry startGeometry = offsetLineAtStart.getLineString();
Geometry endGeometry = offsetLineAtEnd.getLineString();
LengthIndexedLine first = new LengthIndexedLine(startGeometry);
double firstLength = startGeometry.getLength();
LengthIndexedLine second = new LengthIndexedLine(endGeometry);
double secondLength = endGeometry.getLength();
ArrayList<Coordinate> out = new ArrayList<Coordinate>();
Coordinate[] firstCoordinates = startGeometry.getCoordinates();
Coordinate[] secondCoordinates = endGeometry.getCoordinates();
int firstIndex = 0;
int secondIndex = 0;
Coordinate prevCoordinate = null;
final double tooClose = 0.05; // 5 cm
while (firstIndex < firstCoordinates.length && secondIndex < secondCoordinates.length)
{
double firstRatio =
firstIndex < firstCoordinates.length ? first.indexOf(firstCoordinates[firstIndex]) / firstLength
: Double.MAX_VALUE;
double secondRatio =
secondIndex < secondCoordinates.length ? second.indexOf(secondCoordinates[secondIndex]) / secondLength
: Double.MAX_VALUE;
double ratio;
if (firstRatio < secondRatio)
{
ratio = firstRatio;
firstIndex++;
}
else
{
ratio = secondRatio;
secondIndex++;
}
Coordinate firstCoordinate = first.extractPoint(ratio * firstLength);
Coordinate secondCoordinate = second.extractPoint(ratio * secondLength);
Coordinate resultCoordinate =
new Coordinate((1 - ratio) * firstCoordinate.x + ratio * secondCoordinate.x, (1 - ratio)
* firstCoordinate.y + ratio * secondCoordinate.y);
if (null == prevCoordinate || resultCoordinate.distance(prevCoordinate) > tooClose)
{
out.add(resultCoordinate);
prevCoordinate = resultCoordinate;
}
}
Coordinate[] resultCoordinates = new Coordinate[out.size()];
for (int index = 0; index < out.size(); index++)
{
resultCoordinates[index] = out.get(index);
}
return new OTSLine3D(resultCoordinates);
}
/**
* Create a line at linearly varying offset from this line. The offset may change linearly from its initial value at the
* start of the reference line via a number of intermediate offsets at intermediate positions to its final offset value at
* the end of the reference line.
* @param relativeFractions double[]; positional fractions for which the offsets have to be generated
* @param offsets double[]; offsets at the relative positions (positive value is Left, negative value is Right)
* @return Geometry; the Geometry of the line at linearly changing offset of the reference line
* @throws OTSGeometryException when this method fails to create the offset line
*/
public final OTSLine3D offsetLine(final double[] relativeFractions, final double[] offsets)
throws OTSGeometryException
{
OTSLine3D[] offsetLine = new OTSLine3D[relativeFractions.length];
for (int i = 0; i < offsets.length; i++)
{
offsetLine[i] = offsetLine(offsets[i]);
// System.out.println(offsetLine[i].toExcel());
// System.out.println();
}
ArrayList<Coordinate> out = new ArrayList<Coordinate>();
Coordinate prevCoordinate = null;
final double tooClose = 0.05; // 5 cm
for (int i = 0; i < offsets.length - 1; i++)
{
Geometry startGeometry =
offsetLine[i].extractFractional(relativeFractions[i], relativeFractions[i + 1]).getLineString();
Geometry endGeometry =
offsetLine[i + 1].extractFractional(relativeFractions[i], relativeFractions[i + 1]).getLineString();
LengthIndexedLine first = new LengthIndexedLine(startGeometry);
double firstLength = startGeometry.getLength();
LengthIndexedLine second = new LengthIndexedLine(endGeometry);
double secondLength = endGeometry.getLength();
Coordinate[] firstCoordinates = startGeometry.getCoordinates();
Coordinate[] secondCoordinates = endGeometry.getCoordinates();
int firstIndex = 0;
int secondIndex = 0;
while (firstIndex < firstCoordinates.length && secondIndex < secondCoordinates.length)
{
double firstRatio =
firstIndex < firstCoordinates.length ? first.indexOf(firstCoordinates[firstIndex]) / firstLength
: Double.MAX_VALUE;
double secondRatio =
secondIndex < secondCoordinates.length ? second.indexOf(secondCoordinates[secondIndex])
/ secondLength : Double.MAX_VALUE;
double ratio;
if (firstRatio < secondRatio)
{
ratio = firstRatio;
firstIndex++;
}
else
{
ratio = secondRatio;
secondIndex++;
}
Coordinate firstCoordinate = first.extractPoint(ratio * firstLength);
Coordinate secondCoordinate = second.extractPoint(ratio * secondLength);
Coordinate resultCoordinate =
new Coordinate((1 - ratio) * firstCoordinate.x + ratio * secondCoordinate.x, (1 - ratio)
* firstCoordinate.y + ratio * secondCoordinate.y);
if (null == prevCoordinate || resultCoordinate.distance(prevCoordinate) > tooClose)
{
out.add(resultCoordinate);
prevCoordinate = resultCoordinate;
}
}
}
Coordinate[] resultCoordinates = new Coordinate[out.size()];
for (int index = 0; index < out.size(); index++)
{
resultCoordinates[index] = out.get(index);
}
return new OTSLine3D(resultCoordinates);
}
/**
* Concatenate several OTSLine3D instances.
* @param lines OTSLine3D... one or more OTSLine3D. The last point of the first <strong>must</strong> match the first of the
* second, etc.
* @return OTSLine3D
* @throws OTSGeometryException if zero lines are given, or when there is a gap between consecutive lines
*/
public static OTSLine3D concatenate(final OTSLine3D... lines) throws OTSGeometryException
{
return concatenate(0.0, lines);
}
/**
* Concatenate several OTSLine3D instances.
* @param toleranceSI the tolerance between the end point of a line and the first point of the next line
* @param lines OTSLine3D... one or more OTSLine3D. The last point of the first <strong>must</strong> match the first of the
* second, etc.
* @return OTSLine3D
* @throws OTSGeometryException if zero lines are given, or when there is a gap between consecutive lines
*/
public static OTSLine3D concatenate(final double toleranceSI, final OTSLine3D... lines) throws OTSGeometryException
{
if (0 == lines.length)
{
throw new OTSGeometryException("Empty argument list");
}
else if (1 == lines.length)
{
return lines[0];
}
int size = lines[0].size();
for (int i = 1; i < lines.length; i++)
{
if (lines[i - 1].getLast().distance(lines[i].getFirst()).si > toleranceSI)
{
throw new OTSGeometryException("Lines are not connected");
}
size += lines[i].size() - 1;
}
OTSPoint3D[] points = new OTSPoint3D[size];
int nextIndex = 0;
for (int i = 0; i < lines.length; i++)
{
OTSLine3D line = lines[i];
for (int j = 0 == i ? 0 : 1; j < line.size(); j++)
{
points[nextIndex++] = line.get(j);
}
}
return new OTSLine3D(points);
}
/**
* Construct a new OTSLine3D with all points of this OTSLine3D in reverse order.
* @return OTSLine3D; the new OTSLine3D
*/
public final OTSLine3D reverse()
{
OTSPoint3D[] resultPoints = new OTSPoint3D[size()];
int nextIndex = size();
for (OTSPoint3D p : getPoints())
{
resultPoints[--nextIndex] = p;
}
try
{
return new OTSLine3D(resultPoints);
}
catch (OTSGeometryException exception)
{
// Cannot happen
throw new RuntimeException(exception);
}
}
/**
* Construct a new OTSLine3D covering the indicated fraction of this OTSLine3D.
* @param start double; starting point, valid range [0..<cite>end</cite>)
* @param end double; ending point, valid range (<cite>start</cite>..1]
* @return OTSLine3D; the new OTSLine3D
* @throws OTSGeometryException when start >= end, or start < 0, or end > 1
*/
public final OTSLine3D extractFractional(final double start, final double end) throws OTSGeometryException
{
if (start < 0 || start >= end || end > 1)
{
throw new OTSGeometryException("Bad interval");
}
getLength(); // computes and sets the length field
return extract(start * this.length, end * this.length);
}
/**
* Create a new OTSLine3D that covers a sub-section of this OTSLine3D.
* @param start Length.Rel; the length along this OTSLine3D where the sub-section starts, valid range [0..<cite>end</cite>)
* @param end Length.Rel; length along this OTSLine3D where the sub-section ends, valid range
* (<cite>start</cite>..<cite>length</cite> (length is the length of this OTSLine3D)
* @return OTSLine3D; the selected sub-section
* @throws OTSGeometryException when start >= end, or start < 0, or end > length
*/
public final OTSLine3D extract(final Length.Rel start, final Length.Rel end) throws OTSGeometryException
{
return extract(start.si, end.si);
}
/**
* Create a new OTSLine3D that covers a sub-section of this OTSLine3D.
* @param start double; length along this OTSLine3D where the sub-section starts, valid range [0..<cite>end</cite>)
* @param end double; length along this OTSLine3D where the sub-section ends, valid range
* (<cite>start</cite>..<cite>length</cite> (length is the length of this OTSLine3D)
* @return OTSLine3D; the selected sub-section
* @throws OTSGeometryException when start >= end, or start < 0, or end > length
*/
public final OTSLine3D extract(final double start, final double end) throws OTSGeometryException
{
if (Double.isNaN(start) || Double.isNaN(end) || start < 0 || start >= end || end > getLengthSI())
{
throw new OTSGeometryException("Bad interval (" + start + ".." + end + "; length of this OTSLine3D is "
+ this.getLengthSI() + ")");
}
double cumulativeLength = 0;
double nextCumulativeLength = 0;
double segmentLength = 0;
int index = 0;
List<OTSPoint3D> pointList = new ArrayList<>();
// System.err.println("interval " + start + ".." + end);
while (start > cumulativeLength)
{
OTSPoint3D fromPoint = this.points[index];
index++;
OTSPoint3D toPoint = this.points[index];
segmentLength = fromPoint.distanceSI(toPoint);
cumulativeLength = nextCumulativeLength;
nextCumulativeLength = cumulativeLength + segmentLength;
if (nextCumulativeLength >= start)
{
break;
}
}
if (start == nextCumulativeLength)
{
pointList.add(this.points[index]);
}
else
{
pointList.add(OTSPoint3D.interpolate((start - cumulativeLength) / segmentLength, this.points[index - 1],
this.points[index]));
if (end > nextCumulativeLength)
{
pointList.add(this.points[index]);
}
}
while (end > nextCumulativeLength)
{
OTSPoint3D fromPoint = this.points[index];
index++;
if (index >= this.points.length)
{
break; // rounding error
}
OTSPoint3D toPoint = this.points[index];
segmentLength = fromPoint.distanceSI(toPoint);
cumulativeLength = nextCumulativeLength;
nextCumulativeLength = cumulativeLength + segmentLength;
if (nextCumulativeLength >= end)
{
break;
}
pointList.add(toPoint);
}
if (end == nextCumulativeLength)
{
pointList.add(this.points[index]);
}
else
{
pointList.add(OTSPoint3D.interpolate((end - cumulativeLength) / segmentLength, this.points[index - 1],
this.points[index]));
}
try
{
return new OTSLine3D(pointList);
}
catch (OTSGeometryException exception)
{
System.err.println("interval " + start + ".." + end + "too short");
throw new OTSGeometryException("interval " + start + ".." + end + "too short");
}
}
/**
* Build an array of OTSPoint3D from an array of Coordinate.
* @param coordinates Coordinate[]; the coordinates
* @return OTSPoint3D[]
*/
private static OTSPoint3D[] coordinatesToOTSPoint3D(final Coordinate[] coordinates)
{
OTSPoint3D[] result = new OTSPoint3D[coordinates.length];
for (int i = 0; i < coordinates.length; i++)
{
result[i] = new OTSPoint3D(coordinates[i]);
}
return result;
}
/**
* Create an OTSLine3D, while cleaning repeating successive points.
* @param points the coordinates of the line as OTSPoint3D
* @return the line
* @throws OTSGeometryException when number of points < 2
*/
public static OTSLine3D createAndCleanOTSLine3D(final OTSPoint3D[] points) throws OTSGeometryException
{
if (points.length < 2)
{
throw new OTSGeometryException("Degenerate OTSLine3D; has " + points.length + " point"
+ (points.length != 1 ? "s" : ""));
}
return createAndCleanOTSLine3D(new ArrayList<>(Arrays.asList(points)));
}
/**
* Create an OTSLine3D, while cleaning repeating successive points.
* @param pointList List<OTSPoint3D>; list of the coordinates of the line as OTSPoint3D; any duplicate points in this
* list are removed (this method may modify the provided list)
* @return OTSLine3D; the line
* @throws OTSGeometryException when number of non-equal points < 2
*/
public static OTSLine3D createAndCleanOTSLine3D(final List<OTSPoint3D> pointList) throws OTSGeometryException
{
// clean successive equal points
int i = 1;
while (i < pointList.size())
{
if (pointList.get(i - 1).equals(pointList.get(i)))
{
pointList.remove(i);
}
else
{
i++;
}
}
return new OTSLine3D(pointList);
}
/**
* Construct a new OTSLine3D from an array of Coordinate.
* @param coordinates the array of coordinates to construct this OTSLine3D from
* @throws OTSGeometryException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
*/
public OTSLine3D(final Coordinate[] coordinates) throws OTSGeometryException
{
this(coordinatesToOTSPoint3D(coordinates));
}
/**
* Construct a new OTSLine3D from a LineString.
* @param lineString the lineString to construct this OTSLine3D from.
* @throws OTSGeometryException when the provided LineString does not constitute a valid line (too few points or identical
* adjacent points)
*/
public OTSLine3D(final LineString lineString) throws OTSGeometryException
{
this(lineString.getCoordinates());
}
/**
* Construct a new OTSLine3D from a Geometry.
* @param geometry the geometry to construct this OTSLine3D from
* @throws OTSGeometryException when the provided Geometry do not constitute a valid line (too few points or identical
* adjacent points)
*/
public OTSLine3D(final Geometry geometry) throws OTSGeometryException
{
this(geometry.getCoordinates());
}
/**
* Construct a new OTSLine3D from a List<OTSPoint3D>.
* @param pointList the list of points to construct this OTSLine3D from.
* @throws OTSGeometryException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
*/
public OTSLine3D(final List<OTSPoint3D> pointList) throws OTSGeometryException
{
this(pointList.toArray(new OTSPoint3D[pointList.size()]));
}
/**
* Construct a new OTSShape (closed shape) from a Path2D.
* @param path the Path2D to construct this OTSLine3D from.
* @throws OTSGeometryException when the provided points do not constitute a valid line (too few points or identical
* adjacent points)
*/
public OTSLine3D(final Path2D path) throws OTSGeometryException
{
PathIterator pi = path.getPathIterator(null);
List<OTSPoint3D> pl = new ArrayList<>();
double[] p = new double[6];
while (!pi.isDone())
{
pi.next();
int segType = pi.currentSegment(p);
if (segType == PathIterator.SEG_MOVETO || segType == PathIterator.SEG_LINETO)
{
pl.add(new OTSPoint3D(p[0], p[1]));
}
else if (segType == PathIterator.SEG_CLOSE)
{
if (!pl.get(0).equals(pl.get(pl.size() - 1)))
{
pl.add(new OTSPoint3D(pl.get(0).x, pl.get(0).y));
}
break;
}
}
init(pl.toArray(new OTSPoint3D[pl.size() - 1]));
}
/**
* Construct a Coordinate array and fill it with the points of this OTSLine3D.
* @return an array of Coordinates corresponding to this OTSLine
*/
public final Coordinate[] getCoordinates()
{
Coordinate[] result = new Coordinate[size()];
for (int i = 0; i < size(); i++)
{
result[i] = this.points[i].getCoordinate();
}
return result;
}
/**
* Construct a LineString from this OTSLine3D.
* @return a LineString corresponding to this OTSLine
*/
public final LineString getLineString()
{
GeometryFactory factory = new GeometryFactory();
Coordinate[] coordinates = getCoordinates();
CoordinateSequence cs = factory.getCoordinateSequenceFactory().create(coordinates);
return new LineString(cs, factory);
}
/**
* Return the number of points in this OTSLine3D.
* @return the number of points on the line
*/
public final int size()
{
return this.points.length;
}
/**
* Return the first point of this OTSLine3D.
* @return the first point on the line
*/
public final OTSPoint3D getFirst()
{
return this.points[0];
}
/**
* Return the last point of this OTSLine3D.
* @return the last point on the line
*/
public final OTSPoint3D getLast()
{
return this.points[size() - 1];
}
/**
* Return one point of this OTSLine3D.
* @param i int; the index of the point to retrieve
* @return OTSPoint3d; the i-th point of the line
* @throws OTSGeometryException when i < 0 or i > the number of points
*/
public final OTSPoint3D get(final int i) throws OTSGeometryException
{
if (i < 0 || i > size() - 1)
{
throw new OTSGeometryException("OTSLine3D.get(i=" + i + "); i<0 or i>=size(), which is " + size());
}
return this.points[i];
}
/**
* Return the length of this OTSLine3D as a double value in SI units. (Assumes that the coordinates of the points
* constituting this line are expressed in meters.)
* @return the length of the line in SI units
*/
public final synchronized double getLengthSI()
{
if (Double.isNaN(this.length))
{
this.length = 0.0;
for (int i = 0; i < size() - 1; i++)
{
this.length += this.points[i].distanceSI(this.points[i + 1]);
}
}
return this.length;
}
/**
* Return the length of this OTSLine3D in meters. (Assuming that the coordinates of the points constituting this line are
* expressed in meters.)
* @return the length of the line
*/
public final Length.Rel getLength()
{
return new Length.Rel(getLengthSI(), LengthUnit.SI);
}
/**
* Return an array of OTSPoint3D that represents this OTSLine3D. <strong>Do not modify the result.</strong>
* @return the points of this line
*/
public final OTSPoint3D[] getPoints()
{
return this.points;
}
/**
* Make the length indexed line if it does not exist yet, and cache it.
*/
private void makeLengthIndexedLine()
{
if (this.lengthIndexedLine == null)
{
this.lengthIndexedLine = new double[this.points.length];
this.lengthIndexedLine[0] = 0.0;
for (int i = 1; i < this.points.length; i++)
{
this.lengthIndexedLine[i] =
this.lengthIndexedLine[i - 1] + this.points[i - 1].distanceSI(this.points[i]);
}
}
}
/**
* Get the location at a position on the line, with its direction. Position can be below 0 or more than the line length. In
* that case, the position will be extrapolated in the direction of the line at its start or end.
* @param position the position on the line for which to calculate the point on, before, of after the line
* @return a directed point
*/
public final DirectedPoint getLocationExtended(final Length.Rel position)
{
return getLocationExtendedSI(position.getSI());
}
/**
* Get the location at a position on the line, with its direction. Position can be below 0 or more than the line length. In
* that case, the position will be extrapolated in the direction of the line at its start or end.
* @param positionSI the position on the line for which to calculate the point on, before, of after the line, in SI units
* @return a directed point
*/
public final DirectedPoint getLocationExtendedSI(final double positionSI)
{
makeLengthIndexedLine();
if (positionSI >= 0.0 && positionSI <= getLengthSI())
{
try
{
return getLocationSI(positionSI);
}
catch (OTSGeometryException exception)
{
// cannot happen
}
}
// position before start point -- extrapolate
if (positionSI < 0.0)
{
double len = positionSI;
double fraction = len / (this.lengthIndexedLine[1] - this.lengthIndexedLine[0]);
OTSPoint3D p1 = this.points[0];
OTSPoint3D p2 = this.points[1];
return new DirectedPoint(p1.x + fraction * (p2.x - p1.x), p1.y + fraction * (p2.y - p1.y), p1.z + fraction
* (p2.z - p1.z), 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
}
// position beyond end point -- extrapolate
int n1 = this.lengthIndexedLine.length - 1;
int n2 = this.lengthIndexedLine.length - 2;
double len = positionSI - getLengthSI();
double fraction = len / (this.lengthIndexedLine[n1] - this.lengthIndexedLine[n2]);
OTSPoint3D p1 = this.points[n2];
OTSPoint3D p2 = this.points[n1];
return new DirectedPoint(p2.x + fraction * (p2.x - p1.x), p2.y + fraction * (p2.y - p1.y), p2.z + fraction
* (p2.z - p1.z), 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
}
/**
* Get the location at a fraction of the line, with its direction. Fraction should be between 0.0 and 1.0.
* @param fraction the fraction for which to calculate the point on the line
* @return a directed point
* @throws OTSGeometryException when fraction less than 0.0 or more than 1.0.
*/
public final DirectedPoint getLocationFraction(final double fraction) throws OTSGeometryException
{
if (fraction < 0.0 || fraction > 1.0)
{
throw new OTSGeometryException("getLocationFraction for line: fraction < 0.0 or > 1.0. fraction = "
+ fraction);
}
return getLocationSI(fraction * getLengthSI());
}
/**
* Get the location at a fraction of the line, with its direction. Fraction should be between 0.0 and 1.0.
* @param fraction the fraction for which to calculate the point on the line
* @param tolerance the delta from 0.0 and 1.0 that will be forgiven
* @return a directed point
* @throws OTSGeometryException when fraction less than 0.0 or more than 1.0.
*/
public final DirectedPoint getLocationFraction(final double fraction, final double tolerance)
throws OTSGeometryException
{
if (fraction < -tolerance || fraction > 1.0 + tolerance)
{
throw new OTSGeometryException(
"getLocationFraction for line: fraction < 0.0 - tolerance or > 1.0 + tolerance; fraction = " + fraction);
}
double f = fraction < 0 ? 0.0 : fraction > 1.0 ? 1.0 : fraction;
return getLocationSI(f * getLengthSI());
}
/**
* Get the location at a fraction of the line (or outside the line), with its direction.
* @param fraction the fraction for which to calculate the point on the line
* @return a directed point
*/
public final DirectedPoint getLocationFractionExtended(final double fraction)
{
return getLocationExtendedSI(fraction * getLengthSI());
}
/**
* Get the location at a position on the line, with its direction. Position should be between 0.0 and line length.
* @param position the position on the line for which to calculate the point on the line
* @return a directed point
* @throws OTSGeometryException when position less than 0.0 or more than line length.
*/
public final DirectedPoint getLocation(final Length.Rel position) throws OTSGeometryException
{
return getLocationSI(position.getSI());
}
/**
* Binary search for a position on the line.
* @param pos the position to look for.
* @return the index below the position; the position is between points[index] and points[index+1]
* @throws OTSGeometryException when index could not be found
*/
private int find(final double pos) throws OTSGeometryException
{
if (pos == 0)
{
return 0;
}
for (int i = 0; i < this.lengthIndexedLine.length - 2; i++)
{
if (pos > this.lengthIndexedLine[i] && pos <= this.lengthIndexedLine[i + 1])
{
return i;
}
}
return this.lengthIndexedLine.length - 2;
/*- binary variant
int lo = 0;
int hi = this.lengthIndexedLine.length - 1;
while (lo <= hi)
{
if (hi - lo <= 1)
{
return lo;
}
int mid = lo + (hi - lo) / 2;
if (pos < this.lengthIndexedLine[mid])
{
hi = mid - 1;
}
else if (pos > this.lengthIndexedLine[mid])
{
lo = mid + 1;
}
}
throw new OTSGeometryException("Could not find position " + pos + " on line with length indexes: "
+ this.lengthIndexedLine);
*/
}
/**
* Get the location at a position on the line, with its direction. Position should be between 0.0 and line length.
* @param positionSI the position on the line for which to calculate the point on the line
* @return a directed point
* @throws OTSGeometryException when position less than 0.0 or more than line length.
*/
public final DirectedPoint getLocationSI(final double positionSI) throws OTSGeometryException
{
makeLengthIndexedLine();
if (positionSI < 0.0 || positionSI > getLengthSI())
{
throw new OTSGeometryException("getLocationSI for line: position < 0.0 or > line length. Position = "
+ positionSI + " m. Length = " + getLengthSI() + " m.");
}
// handle special cases: position == 0.0, or position == length
if (positionSI == 0.0)
{
OTSPoint3D p1 = this.points[0];
OTSPoint3D p2 = this.points[1];
return new DirectedPoint(p1.x, p1.y, p1.z, 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
}
if (positionSI == getLengthSI())
{
OTSPoint3D p1 = this.points[this.points.length - 2];
OTSPoint3D p2 = this.points[this.points.length - 1];
return new DirectedPoint(p2.x, p2.y, p2.z, 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
}
// find the index of the line segment, use binary search
int index = find(positionSI);
double remainder = positionSI - this.lengthIndexedLine[index];
double fraction = remainder / (this.lengthIndexedLine[index + 1] - this.lengthIndexedLine[index]);
OTSPoint3D p1 = this.points[index];
OTSPoint3D p2 = this.points[index + 1];
return new DirectedPoint(p1.x + fraction * (p2.x - p1.x), p1.y + fraction * (p2.y - p1.y), p1.z + fraction
* (p2.z - p1.z), 0.0, 0.0, Math.atan2(p2.y - p1.y, p2.x - p1.x));
}
/**
* Truncate a line at the given length (less than the length of the line, and larger than zero) and return a new line.
* @param lengthSI the location where to truncate the line
* @return a new OTSLine3D truncated at the exact position where line.getLength() == lengthSI
* @throws OTSGeometryException when position less than 0.0 or more than line length.
*/
public final OTSLine3D truncate(final double lengthSI) throws OTSGeometryException
{
makeLengthIndexedLine();
if (lengthSI <= 0.0 || lengthSI > getLengthSI())
{
throw new OTSGeometryException("truncate for line: position <= 0.0 or > line length. Position = "
+ lengthSI + " m. Length = " + getLengthSI() + " m.");
}
// handle special case: position == length
if (lengthSI == getLengthSI())
{
return new OTSLine3D(getPoints());
}
// find the index of the line segment
int index = find(lengthSI);
double remainder = lengthSI - this.lengthIndexedLine[index];
double fraction = remainder / (this.lengthIndexedLine[index + 1] - this.lengthIndexedLine[index]);
OTSPoint3D p1 = this.points[index];
OTSPoint3D p2 = this.points[index + 1];
OTSPoint3D newLastPoint =
new OTSPoint3D(p1.x + fraction * (p2.x - p1.x), p1.y + fraction * (p2.y - p1.y), p1.z + fraction
* (p2.z - p1.z));
OTSPoint3D[] coords = new OTSPoint3D[index + 2];
for (int i = 0; i <= index; i++)
{
coords[i] = this.points[i];
}
coords[index + 1] = newLastPoint;
return new OTSLine3D(coords);
}
/*-
* TODO finish this method if it is needed; remove otherwise.
* Calculate the first point on this line that intersects somewhere with the provided line, or NaN if no intersection was
* found.
* @param line the line to test the intersection with
* @return the fraction of the first intersection point
*
public final double firstIntersectionFraction(final OTSLine3D line)
{
List<Line2D.Double> segs = new ArrayList<>();
for (int j = 1; j < line.getPoints().length; j++)
{
Line2D.Double seg =
new Line2D.Double(this.points[j - 1].x, this.points[j - 1].y, this.points[j].x, this.points[j].y);
segs.add(seg);
}
for (int i = 1; i < this.points.length; i++)
{
Line2D.Double thisSeg =
new Line2D.Double(this.points[i - 1].x, this.points[i - 1].y, this.points[i].x, this.points[i].y);
for (Line2D.Double seg : segs)
{
if (thisSeg.intersectsLine(seg))
{
// Point2D.Double intersectionPoint = thisSeg.
}
}
}
return Double.NaN;
}
*/
/**
* Calculate the centroid of this line, and the bounds, and cache for later use. Make sure the dx, dy and dz are at least
* 0.5 m wide.
*/
private void calcCentroidBounds()
{
double minX = Double.POSITIVE_INFINITY;
double minY = Double.POSITIVE_INFINITY;
double minZ = Double.POSITIVE_INFINITY;
double maxX = Double.NEGATIVE_INFINITY;
double maxY = Double.NEGATIVE_INFINITY;
double maxZ = Double.NEGATIVE_INFINITY;
for (OTSPoint3D p : this.points)
{
minX = Math.min(minX, p.x);
minY = Math.min(minY, p.y);
minZ = Math.min(minZ, p.z);
maxX = Math.max(maxX, p.x);
maxY = Math.max(maxY, p.y);
maxZ = Math.max(maxZ, p.z);
}
this.centroid = new OTSPoint3D((maxX + minX) / 2, (maxY + minY) / 2, (maxZ + minZ) / 2);
double deltaX = Math.max(maxX - minX, 0.5);
double deltaY = Math.max(maxY - minY, 0.5);
double deltaZ = Math.max(maxZ - minZ, 0.5);
this.bounds = new BoundingBox(deltaX, deltaY, deltaZ);
this.boundingRect = new Rectangle2D.Double(minX, minY, deltaX, deltaY);
}
/**
* Retrieve the centroid of this OTSLine3D.
* @return OTSPoint3D; the centroid of this OTSLine3D
*/
public final OTSPoint3D getCentroid()
{
if (this.centroid == null)
{
calcCentroidBounds();
}
return this.centroid;
}
/**
* Get the bounding rectangle of this OTSLine3D.
* @return Rectangle2D; the bounding rectangle of this OTSLine3D
*/
public final Rectangle2D getBoundingRectangle()
{
if (this.boundingRect == null)
{
calcCentroidBounds();
}
return this.boundingRect;
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public DirectedPoint getLocation()
{
if (this.centroid == null)
{
calcCentroidBounds();
}
return this.centroid.getDirectedPoint();
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public Bounds getBounds()
{
if (this.bounds == null)
{
calcCentroidBounds();
}
return this.bounds;
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public String toString()
{
return Arrays.toString(this.points);
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public int hashCode()
{
final int prime = 31;
int result = 1;
result = prime * result + Arrays.hashCode(this.points);
return result;
}
/** {@inheritDoc} */
@Override
@SuppressWarnings({"checkstyle:designforextension", "checkstyle:needbraces"})
public boolean equals(final Object obj)
{
if (this == obj)
return true;
if (obj == null)
return false;
if (getClass() != obj.getClass())
return false;
OTSLine3D other = (OTSLine3D) obj;
if (!Arrays.equals(this.points, other.points))
return false;
return true;
}
/**
* @return excel XY plottable output
*/
public final String toExcel()
{
StringBuffer s = new StringBuffer();
for (OTSPoint3D p : this.points)
{
s.append(p.x + "\t" + p.y + "\n");
}
return s.toString();
}
/**
* @param args String[]; the command line arguments (not used)
* @throws OTSGeometryException in case of error
*/
public static void main(final String[] args) throws OTSGeometryException
{
OTSLine3D line =
new OTSLine3D(new OTSPoint3D(-263.811, -86.551, 1.180), new OTSPoint3D(-262.945, -84.450, 1.180),
new OTSPoint3D(-261.966, -82.074, 1.180), new OTSPoint3D(-260.890, -79.464, 1.198), new OTSPoint3D(
-259.909, -76.955, 1.198), new OTSPoint3D(-258.911, -74.400, 1.198), new OTSPoint3D(-257.830,
-71.633, 1.234));
System.out.println(line.toExcel());
double[] relativeFractions =
new double[]{0.0, 0.19827228089475762, 0.30549496392494213, 0.5824753163948581, 0.6815307752261827,
0.7903990449840241, 0.8942375145295614, 1.0};
double[] offsets =
new double[]{2.9779999256134, 4.6029999256134, 3.886839156071996, 2.3664845198627207, 1.7858981925396709,
1.472348149010167, 2.0416709053157285, 2.798692100483229};
System.out.println(line.offsetLine(relativeFractions, offsets).toExcel());
}
}