three.cad/wasm/solver.c

/*-----------------------------------------------------------------------------
 * Some sample code for slvs.dll. We draw some geometric entities, provide
 * initial guesses for their positions, and then constrain them. The solver
 * calculates their new positions, in order to satisfy the constraints.
 *
 * Copyright 2008-2013 Jonathan Westhues.
 *---------------------------------------------------------------------------*/
#ifdef WIN32
#include <windows.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>

#include "slvs.h"

static Slvs_System sys;

static void *CheckMalloc(size_t n)
{
  void *r = malloc(n);
  if (!r)
  {
    printf("out of memory!\n");
    exit(-1);
  }
  return r;
}

/*-----------------------------------------------------------------------------
 * An example of a constraint in 3d. We create a single group, with some
 * entities and constraints.
 *---------------------------------------------------------------------------*/
void Example3d()
{
  /* This will contain a single group, which will arbitrarily number 1. */
  Slvs_hGroup g = 1;

  /* A point, initially at (x y z) = (10 10 10) */
  sys.param[sys.params++] = Slvs_MakeParam(1, g, 10.0);
  sys.param[sys.params++] = Slvs_MakeParam(2, g, 10.0);
  sys.param[sys.params++] = Slvs_MakeParam(3, g, 10.0);
  sys.entity[sys.entities++] = Slvs_MakePoint3d(101, g, 1, 2, 3);
  /* and a second point at (20 20 20) */
  sys.param[sys.params++] = Slvs_MakeParam(4, g, 20.0);
  sys.param[sys.params++] = Slvs_MakeParam(5, g, 20.0);
  sys.param[sys.params++] = Slvs_MakeParam(6, g, 20.0);
  sys.entity[sys.entities++] = Slvs_MakePoint3d(102, g, 4, 5, 6);
  /* and a line segment connecting them. */
  sys.entity[sys.entities++] = Slvs_MakeLineSegment(200, g,
                                                    SLVS_FREE_IN_3D, 101, 102);

  /* The distance between the points should be 30.0 units. */
  sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
      1, g,
      SLVS_C_PT_PT_DISTANCE,
      SLVS_FREE_IN_3D,
      30.0,
      101, 102, 0, 0);

  /* Let's tell the solver to keep the second point as close to constant
     * as possible, instead moving the first point. */
  // sys.dragged[0] = 4;
  // sys.dragged[1] = 5;
  // sys.dragged[2] = 6;

  /* Now that we have written our system, we solve. */
  Slvs_Solve(&sys, g);

  if (sys.result == SLVS_RESULT_OKAY)
  {
    printf("okay; now at (%.3f %.3f %.3f)\n"
           "             (%.3f %.3f %.3f)\n",
           sys.param[0].val, sys.param[1].val, sys.param[2].val,
           sys.param[3].val, sys.param[4].val, sys.param[5].val);
    printf("%d DOF\n", sys.dof);
  }
  else
  {
    printf("solve failed");
  }
}

/*-----------------------------------------------------------------------------
 * An example of a constraint in 2d. In our first group, we create a workplane
 * along the reference frame's xy plane. In a second group, we create some
 * entities in that group and dimension them.
 *---------------------------------------------------------------------------*/
void Example2d(float xx)
{
  Slvs_hGroup g;
  double qw, qx, qy, qz;

  g = 1;
  /* First, we create our workplane. Its origin corresponds to the origin
     * of our base frame (x y z) = (0 0 0) */
  sys.param[sys.params++] = Slvs_MakeParam(1, g, 0.0);
  sys.param[sys.params++] = Slvs_MakeParam(2, g, 0.0);
  sys.param[sys.params++] = Slvs_MakeParam(3, g, 0.0);
  sys.entity[sys.entities++] = Slvs_MakePoint3d(101, g, 1, 2, 3);
  /* and it is parallel to the xy plane, so it has basis vectors (1 0 0)
     * and (0 1 0). */
  Slvs_MakeQuaternion(1, 0, 0,
                      0, 1, 0, &qw, &qx, &qy, &qz);
  sys.param[sys.params++] = Slvs_MakeParam(4, g, qw);
  sys.param[sys.params++] = Slvs_MakeParam(5, g, qx);
  sys.param[sys.params++] = Slvs_MakeParam(6, g, qy);
  sys.param[sys.params++] = Slvs_MakeParam(7, g, qz);
  sys.entity[sys.entities++] = Slvs_MakeNormal3d(102, g, 4, 5, 6, 7);

  sys.entity[sys.entities++] = Slvs_MakeWorkplane(200, g, 101, 102);

  /* Now create a second group. We'll solve group 2, while leaving group 1
     * constant; so the workplane that we've created will be locked down,
     * and the solver can't move it. */
  g = 2;
  /* These points are represented by their coordinates (u v) within the
     * workplane, so they need only two parameters each. */
  sys.param[sys.params++] = Slvs_MakeParam(11, g, 10.0);
  sys.param[sys.params++] = Slvs_MakeParam(12, g, 20.0);
  sys.entity[sys.entities++] = Slvs_MakePoint2d(301, g, 200, 11, 12);

  sys.param[sys.params++] = Slvs_MakeParam(13, g, 20.0);
  sys.param[sys.params++] = Slvs_MakeParam(14, g, 10.0);
  sys.entity[sys.entities++] = Slvs_MakePoint2d(302, g, 200, 13, 14);

  /* And we create a line segment with those endpoints. */
  sys.entity[sys.entities++] = Slvs_MakeLineSegment(400, g,
                                                    200, 301, 302);

  /* Now three more points. */

  sys.param[sys.params++] = Slvs_MakeParam(15, g, 110.0);
  sys.param[sys.params++] = Slvs_MakeParam(16, g, 120.0);
  sys.entity[sys.entities++] = Slvs_MakePoint2d(303, g, 200, 15, 16);

  sys.param[sys.params++] = Slvs_MakeParam(17, g, 120.0);
  sys.param[sys.params++] = Slvs_MakeParam(18, g, 110.0);
  sys.entity[sys.entities++] = Slvs_MakePoint2d(304, g, 200, 17, 18);

  sys.param[sys.params++] = Slvs_MakeParam(19, g, 115.0);
  sys.param[sys.params++] = Slvs_MakeParam(20, g, xx);
  sys.entity[sys.entities++] = Slvs_MakePoint2d(305, g, 200, 19, 20);

  /* And arc, centered at point 303, starting at point 304, ending at
     * point 305. */
  sys.entity[sys.entities++] = Slvs_MakeArcOfCircle(401, g, 200, 102,
                                                    303, 304, 305);

  /* Now one more point, and a distance */
  sys.param[sys.params++] = Slvs_MakeParam(21, g, 200.0);
  sys.param[sys.params++] = Slvs_MakeParam(22, g, 200.0);
  sys.entity[sys.entities++] = Slvs_MakePoint2d(306, g, 200, 21, 22);

  sys.param[sys.params++] = Slvs_MakeParam(23, g, 30.0);
  sys.entity[sys.entities++] = Slvs_MakeDistance(307, g, 200, 23);

  /* And a complete circle, centered at point 306 with radius equal to
     * distance 307. The normal is 102, the same as our workplane. */
  sys.entity[sys.entities++] = Slvs_MakeCircle(402, g, 200,
                                               306, 102, 307);

  /* The length of our line segment is 30.0 units. */
  sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
      1, g,
      SLVS_C_PT_PT_DISTANCE,
      200,
      30.0,
      301, 302, 0, 0);

  /* And the distance from our line segment to the origin is 10.0 units. */
  sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
      2, g,
      SLVS_C_PT_LINE_DISTANCE,
      200,
      10.0,
      101, 0, 400, 0);
  /* And the line segment is vertical. */
  sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
      3, g,
      SLVS_C_VERTICAL,
      200,
      0.0,
      0, 0, 400, 0);
  /* And the distance from one endpoint to the origin is 15.0 units. */
  sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
      4, g,
      SLVS_C_PT_PT_DISTANCE,
      200,
      15.0,
      301, 101, 0, 0);
#if 0
    /* And same for the other endpoint; so if you add this constraint then
     * the sketch is overconstrained and will signal an error. */
    sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
                                            5, g,
                                            SLVS_C_PT_PT_DISTANCE,
                                            200,
                                            18.0,
                                            302, 101, 0, 0);
#endif /* 0 */

  /* The arc and the circle have equal radius. */
  sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
      6, g,
      SLVS_C_EQUAL_RADIUS,
      200,
      0.0,
      0, 0, 401, 402);
  /* The arc has radius 17.0 units. */
  sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
      7, g,
      SLVS_C_DIAMETER,
      200,
      17.0 * 2,
      0, 0, 401, 0);

  /* If the solver fails, then ask it to report which constraints caused
     * the problem. */
  sys.calculateFaileds = 1;

  /* And solve. */
  Slvs_Solve(&sys, g);

  if (sys.result == SLVS_RESULT_OKAY)
  {
    printf("solved okay\n");
    printf("line from (%.3f %.3f) to (%.3f %.3f)\n",
           sys.param[7].val, sys.param[8].val,
           sys.param[9].val, sys.param[10].val);

    printf("arc center (%.3f %.3f) start (%.3f %.3f) finish (%.3f %.3f)\n",
           sys.param[11].val, sys.param[12].val,
           sys.param[13].val, sys.param[14].val,
           sys.param[15].val, sys.param[16].val);

    printf("circle center (%.3f %.3f) radius %.3f\n",
           sys.param[17].val, sys.param[18].val,
           sys.param[19].val);
    printf("%d DOF\n", sys.dof);
  }
  else
  {
    int i;
    printf("solve failed: problematic constraints are:");
    for (i = 0; i < sys.faileds; i++)
    {
      printf(" %d", sys.failed[i]);
    }
    printf("\n");
    if (sys.result == SLVS_RESULT_INCONSISTENT)
    {
      printf("system inconsistent\n");
    }
    else
    {
      printf("system nonconvergent\n");
    }
  }
}

int solver(int nLines, float *ptr)
{
  // for (int i=0; i<nLines ;i++) {
  //   printf("%f\n",*ptr++);
  // }
  float *buf_pt_start = ptr;

  Slvs_hGroup g;
  double qw, qx, qy, qz;

  g = 1;
  /* First, we create our workplane. Its origin corresponds to the origin
     * of our base frame (x y z) = (0 0 0) */
  sys.param[sys.params++] = Slvs_MakeParam(1, g, 0.0);
  sys.param[sys.params++] = Slvs_MakeParam(2, g, 0.0);
  sys.param[sys.params++] = Slvs_MakeParam(3, g, 0.0);
  sys.entity[sys.entities++] = Slvs_MakePoint3d(101, g, 1, 2, 3);
  /* and it is parallel to the xy plane, so it has basis vectors (1 0 0)
     * and (0 1 0). */
  Slvs_MakeQuaternion(1, 0, 0,
                      0, 1, 0, &qw, &qx, &qy, &qz);
  sys.param[sys.params++] = Slvs_MakeParam(4, g, qw);
  sys.param[sys.params++] = Slvs_MakeParam(5, g, qx);
  sys.param[sys.params++] = Slvs_MakeParam(6, g, qy);
  sys.param[sys.params++] = Slvs_MakeParam(7, g, qz);
  sys.entity[sys.entities++] = Slvs_MakeNormal3d(102, g, 4, 5, 6, 7);

  sys.entity[sys.entities++] = Slvs_MakeWorkplane(200, g, 101, 102);

  /* Now create a second group. We'll solve group 2, while leaving group 1
     * constant; so the workplane that we've created will be locked down,
     * and the solver can't move it. */
  g = 2;
  /* These points are represented by their coordinates (u v) within the
     * workplane, so they need only two parameters each. */

  int ptStart = sys.params;

  sys.param[sys.params++] = Slvs_MakeParam(11, g, (float)*ptr++);
  sys.param[sys.params++] = Slvs_MakeParam(12, g, (float)*ptr++);
  sys.entity[sys.entities++] = Slvs_MakePoint2d(301, g, 200, 11, 12);

  sys.param[sys.params++] = Slvs_MakeParam(13, g, (float)*ptr++);
  sys.param[sys.params++] = Slvs_MakeParam(14, g, (float)*ptr++);
  sys.entity[sys.entities++] = Slvs_MakePoint2d(302, g, 200, 13, 14);

  /* And we create a line segment with those endpoints. */
  sys.entity[sys.entities++] = Slvs_MakeLineSegment(400, g,
                                                    200, 301, 302);

  sys.param[sys.params++] = Slvs_MakeParam(15, g, (float)*ptr++);
  sys.param[sys.params++] = Slvs_MakeParam(16, g, (float)*ptr++);
  sys.entity[sys.entities++] = Slvs_MakePoint2d(303, g, 200, 15, 16);

  sys.param[sys.params++] = Slvs_MakeParam(17, g, (float)*ptr++);
  sys.param[sys.params++] = Slvs_MakeParam(18, g, (float)*ptr++);
  sys.entity[sys.entities++] = Slvs_MakePoint2d(304, g, 200, 17, 18);

  sys.entity[sys.entities++] = Slvs_MakeLineSegment(401, g,
                                                    200, 303, 304);

  sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
      421, g,
      SLVS_C_POINTS_COINCIDENT,
      200,
      0.0,
      302, 303, 0, 0);

  /* And solve. */
  Slvs_Solve(&sys, g);

  // printf("%i,wtf\n", sys.result);
  if (sys.result == SLVS_RESULT_OKAY)
  {
    printf("solved okay\n");

    for (int i = 0; i < nLines * 4; i++)
    {
      // *buf_pt_start++ = (float)sys.param[ptStart++].val;
      printf("%f\n", sys.param[ptStart++].val);
    }
  }
  else
  {
    int i;
    printf("solve failed: problematic constraints are:");
    for (i = 0; i < sys.faileds; i++)
    {
      printf(" %d", sys.failed[i]);
    }
    printf("\n");
    if (sys.result == SLVS_RESULT_INCONSISTENT)
    {
      printf("system inconsistent\n");
    }
    else
    {
      printf("system nonconvergent\n");
    }
  }
  sys.params = sys.constraints = sys.entities = 0;
  return 0;
}

int main(int argc, char *argv[])
{
  sys.param = CheckMalloc(50 * sizeof(sys.param[0]));
  sys.entity = CheckMalloc(50 * sizeof(sys.entity[0]));
  sys.constraint = CheckMalloc(50 * sizeof(sys.constraint[0]));

  sys.failed = CheckMalloc(50 * sizeof(sys.failed[0]));
  sys.faileds = 50;

  // Example2d(150.0);

  printf("hello\n");
  return 0;
}