381 lines
13 KiB
C
381 lines
13 KiB
C
/*-----------------------------------------------------------------------------
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* Some sample code for slvs.dll. We draw some geometric entities, provide
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* initial guesses for their positions, and then constrain them. The solver
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* calculates their new positions, in order to satisfy the constraints.
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*
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* Copyright 2008-2013 Jonathan Westhues.
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*---------------------------------------------------------------------------*/
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#ifdef WIN32
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#include <windows.h>
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#endif
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdint.h>
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#include "slvs.h"
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static Slvs_System sys;
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static void *CheckMalloc(size_t n)
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{
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void *r = malloc(n);
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if (!r)
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{
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printf("out of memory!\n");
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exit(-1);
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}
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return r;
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}
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/*-----------------------------------------------------------------------------
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* An example of a constraint in 3d. We create a single group, with some
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* entities and constraints.
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*---------------------------------------------------------------------------*/
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void Example3d()
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{
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/* This will contain a single group, which will arbitrarily number 1. */
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Slvs_hGroup g = 1;
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/* A point, initially at (x y z) = (10 10 10) */
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sys.param[sys.params++] = Slvs_MakeParam(1, g, 10.0);
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sys.param[sys.params++] = Slvs_MakeParam(2, g, 10.0);
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sys.param[sys.params++] = Slvs_MakeParam(3, g, 10.0);
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sys.entity[sys.entities++] = Slvs_MakePoint3d(101, g, 1, 2, 3);
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/* and a second point at (20 20 20) */
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sys.param[sys.params++] = Slvs_MakeParam(4, g, 20.0);
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sys.param[sys.params++] = Slvs_MakeParam(5, g, 20.0);
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sys.param[sys.params++] = Slvs_MakeParam(6, g, 20.0);
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sys.entity[sys.entities++] = Slvs_MakePoint3d(102, g, 4, 5, 6);
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/* and a line segment connecting them. */
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sys.entity[sys.entities++] = Slvs_MakeLineSegment(200, g,
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SLVS_FREE_IN_3D, 101, 102);
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/* The distance between the points should be 30.0 units. */
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sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
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1, g,
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SLVS_C_PT_PT_DISTANCE,
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SLVS_FREE_IN_3D,
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30.0,
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101, 102, 0, 0);
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/* Let's tell the solver to keep the second point as close to constant
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* as possible, instead moving the first point. */
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// sys.dragged[0] = 4;
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// sys.dragged[1] = 5;
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// sys.dragged[2] = 6;
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/* Now that we have written our system, we solve. */
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Slvs_Solve(&sys, g);
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if (sys.result == SLVS_RESULT_OKAY)
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{
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printf("okay; now at (%.3f %.3f %.3f)\n"
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" (%.3f %.3f %.3f)\n",
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sys.param[0].val, sys.param[1].val, sys.param[2].val,
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sys.param[3].val, sys.param[4].val, sys.param[5].val);
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printf("%d DOF\n", sys.dof);
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}
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else
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{
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printf("solve failed");
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}
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}
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/*-----------------------------------------------------------------------------
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* An example of a constraint in 2d. In our first group, we create a workplane
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* along the reference frame's xy plane. In a second group, we create some
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* entities in that group and dimension them.
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*---------------------------------------------------------------------------*/
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void Example2d(float xx)
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{
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Slvs_hGroup g;
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double qw, qx, qy, qz;
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g = 1;
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/* First, we create our workplane. Its origin corresponds to the origin
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* of our base frame (x y z) = (0 0 0) */
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sys.param[sys.params++] = Slvs_MakeParam(1, g, 0.0);
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sys.param[sys.params++] = Slvs_MakeParam(2, g, 0.0);
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sys.param[sys.params++] = Slvs_MakeParam(3, g, 0.0);
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sys.entity[sys.entities++] = Slvs_MakePoint3d(101, g, 1, 2, 3);
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/* and it is parallel to the xy plane, so it has basis vectors (1 0 0)
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* and (0 1 0). */
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Slvs_MakeQuaternion(1, 0, 0,
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0, 1, 0, &qw, &qx, &qy, &qz);
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sys.param[sys.params++] = Slvs_MakeParam(4, g, qw);
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sys.param[sys.params++] = Slvs_MakeParam(5, g, qx);
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sys.param[sys.params++] = Slvs_MakeParam(6, g, qy);
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sys.param[sys.params++] = Slvs_MakeParam(7, g, qz);
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sys.entity[sys.entities++] = Slvs_MakeNormal3d(102, g, 4, 5, 6, 7);
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sys.entity[sys.entities++] = Slvs_MakeWorkplane(200, g, 101, 102);
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/* Now create a second group. We'll solve group 2, while leaving group 1
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* constant; so the workplane that we've created will be locked down,
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* and the solver can't move it. */
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g = 2;
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/* These points are represented by their coordinates (u v) within the
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* workplane, so they need only two parameters each. */
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sys.param[sys.params++] = Slvs_MakeParam(11, g, 10.0);
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sys.param[sys.params++] = Slvs_MakeParam(12, g, 20.0);
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sys.entity[sys.entities++] = Slvs_MakePoint2d(301, g, 200, 11, 12);
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sys.param[sys.params++] = Slvs_MakeParam(13, g, 20.0);
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sys.param[sys.params++] = Slvs_MakeParam(14, g, 10.0);
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sys.entity[sys.entities++] = Slvs_MakePoint2d(302, g, 200, 13, 14);
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/* And we create a line segment with those endpoints. */
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sys.entity[sys.entities++] = Slvs_MakeLineSegment(400, g,
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200, 301, 302);
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/* Now three more points. */
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sys.param[sys.params++] = Slvs_MakeParam(15, g, 110.0);
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sys.param[sys.params++] = Slvs_MakeParam(16, g, 120.0);
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sys.entity[sys.entities++] = Slvs_MakePoint2d(303, g, 200, 15, 16);
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sys.param[sys.params++] = Slvs_MakeParam(17, g, 120.0);
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sys.param[sys.params++] = Slvs_MakeParam(18, g, 110.0);
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sys.entity[sys.entities++] = Slvs_MakePoint2d(304, g, 200, 17, 18);
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sys.param[sys.params++] = Slvs_MakeParam(19, g, 115.0);
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sys.param[sys.params++] = Slvs_MakeParam(20, g, xx);
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sys.entity[sys.entities++] = Slvs_MakePoint2d(305, g, 200, 19, 20);
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/* And arc, centered at point 303, starting at point 304, ending at
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* point 305. */
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sys.entity[sys.entities++] = Slvs_MakeArcOfCircle(401, g, 200, 102,
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303, 304, 305);
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/* Now one more point, and a distance */
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sys.param[sys.params++] = Slvs_MakeParam(21, g, 200.0);
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sys.param[sys.params++] = Slvs_MakeParam(22, g, 200.0);
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sys.entity[sys.entities++] = Slvs_MakePoint2d(306, g, 200, 21, 22);
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sys.param[sys.params++] = Slvs_MakeParam(23, g, 30.0);
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sys.entity[sys.entities++] = Slvs_MakeDistance(307, g, 200, 23);
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/* And a complete circle, centered at point 306 with radius equal to
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* distance 307. The normal is 102, the same as our workplane. */
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sys.entity[sys.entities++] = Slvs_MakeCircle(402, g, 200,
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306, 102, 307);
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/* The length of our line segment is 30.0 units. */
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sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
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1, g,
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SLVS_C_PT_PT_DISTANCE,
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200,
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30.0,
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301, 302, 0, 0);
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/* And the distance from our line segment to the origin is 10.0 units. */
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sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
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2, g,
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SLVS_C_PT_LINE_DISTANCE,
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200,
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10.0,
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101, 0, 400, 0);
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/* And the line segment is vertical. */
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sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
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3, g,
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SLVS_C_VERTICAL,
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200,
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0.0,
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0, 0, 400, 0);
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/* And the distance from one endpoint to the origin is 15.0 units. */
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sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
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4, g,
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SLVS_C_PT_PT_DISTANCE,
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200,
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15.0,
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301, 101, 0, 0);
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#if 0
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/* And same for the other endpoint; so if you add this constraint then
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* the sketch is overconstrained and will signal an error. */
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sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
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5, g,
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SLVS_C_PT_PT_DISTANCE,
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200,
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18.0,
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302, 101, 0, 0);
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#endif /* 0 */
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/* The arc and the circle have equal radius. */
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sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
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6, g,
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SLVS_C_EQUAL_RADIUS,
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200,
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0.0,
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0, 0, 401, 402);
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/* The arc has radius 17.0 units. */
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sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
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7, g,
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SLVS_C_DIAMETER,
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200,
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17.0 * 2,
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0, 0, 401, 0);
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/* If the solver fails, then ask it to report which constraints caused
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* the problem. */
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sys.calculateFaileds = 1;
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/* And solve. */
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Slvs_Solve(&sys, g);
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if (sys.result == SLVS_RESULT_OKAY)
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{
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printf("solved okay\n");
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printf("line from (%.3f %.3f) to (%.3f %.3f)\n",
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sys.param[7].val, sys.param[8].val,
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sys.param[9].val, sys.param[10].val);
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printf("arc center (%.3f %.3f) start (%.3f %.3f) finish (%.3f %.3f)\n",
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sys.param[11].val, sys.param[12].val,
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sys.param[13].val, sys.param[14].val,
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sys.param[15].val, sys.param[16].val);
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printf("circle center (%.3f %.3f) radius %.3f\n",
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sys.param[17].val, sys.param[18].val,
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sys.param[19].val);
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printf("%d DOF\n", sys.dof);
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}
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else
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{
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int i;
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printf("solve failed: problematic constraints are:");
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for (i = 0; i < sys.faileds; i++)
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{
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printf(" %d", sys.failed[i]);
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}
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printf("\n");
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if (sys.result == SLVS_RESULT_INCONSISTENT)
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{
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printf("system inconsistent\n");
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}
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else
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{
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printf("system nonconvergent\n");
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}
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}
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}
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int solver(int nLines, float *ptr)
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{
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// for (int i=0; i<nLines ;i++) {
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// printf("%f\n",*ptr++);
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// }
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float *buf_pt_start = ptr;
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Slvs_hGroup g;
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double qw, qx, qy, qz;
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g = 1;
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/* First, we create our workplane. Its origin corresponds to the origin
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* of our base frame (x y z) = (0 0 0) */
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sys.param[sys.params++] = Slvs_MakeParam(1, g, 0.0);
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sys.param[sys.params++] = Slvs_MakeParam(2, g, 0.0);
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sys.param[sys.params++] = Slvs_MakeParam(3, g, 0.0);
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sys.entity[sys.entities++] = Slvs_MakePoint3d(101, g, 1, 2, 3);
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/* and it is parallel to the xy plane, so it has basis vectors (1 0 0)
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* and (0 1 0). */
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Slvs_MakeQuaternion(1, 0, 0,
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0, 1, 0, &qw, &qx, &qy, &qz);
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sys.param[sys.params++] = Slvs_MakeParam(4, g, qw);
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sys.param[sys.params++] = Slvs_MakeParam(5, g, qx);
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sys.param[sys.params++] = Slvs_MakeParam(6, g, qy);
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sys.param[sys.params++] = Slvs_MakeParam(7, g, qz);
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sys.entity[sys.entities++] = Slvs_MakeNormal3d(102, g, 4, 5, 6, 7);
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sys.entity[sys.entities++] = Slvs_MakeWorkplane(200, g, 101, 102);
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/* Now create a second group. We'll solve group 2, while leaving group 1
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* constant; so the workplane that we've created will be locked down,
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* and the solver can't move it. */
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g = 2;
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/* These points are represented by their coordinates (u v) within the
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* workplane, so they need only two parameters each. */
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int ptStart = sys.params;
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sys.param[sys.params++] = Slvs_MakeParam(11, g, (float)*ptr++);
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sys.param[sys.params++] = Slvs_MakeParam(12, g, (float)*ptr++);
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sys.entity[sys.entities++] = Slvs_MakePoint2d(301, g, 200, 11, 12);
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sys.param[sys.params++] = Slvs_MakeParam(13, g, (float)*ptr++);
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sys.param[sys.params++] = Slvs_MakeParam(14, g, (float)*ptr++);
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sys.entity[sys.entities++] = Slvs_MakePoint2d(302, g, 200, 13, 14);
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/* And we create a line segment with those endpoints. */
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sys.entity[sys.entities++] = Slvs_MakeLineSegment(400, g,
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200, 301, 302);
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sys.param[sys.params++] = Slvs_MakeParam(15, g, (float)*ptr++);
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sys.param[sys.params++] = Slvs_MakeParam(16, g, (float)*ptr++);
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sys.entity[sys.entities++] = Slvs_MakePoint2d(303, g, 200, 15, 16);
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sys.param[sys.params++] = Slvs_MakeParam(17, g, (float)*ptr++);
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sys.param[sys.params++] = Slvs_MakeParam(18, g, (float)*ptr++);
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sys.entity[sys.entities++] = Slvs_MakePoint2d(304, g, 200, 17, 18);
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sys.entity[sys.entities++] = Slvs_MakeLineSegment(401, g,
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200, 303, 304);
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sys.constraint[sys.constraints++] = Slvs_MakeConstraint(
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421, g,
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SLVS_C_POINTS_COINCIDENT,
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200,
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0.0,
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302, 303, 0, 0);
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/* And solve. */
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Slvs_Solve(&sys, g);
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// printf("%i,wtf\n", sys.result);
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if (sys.result == SLVS_RESULT_OKAY)
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{
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printf("solved okay\n");
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for (int i = 0; i < nLines * 4; i++)
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{
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// *buf_pt_start++ = (float)sys.param[ptStart++].val;
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printf("%f\n", sys.param[ptStart++].val);
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}
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}
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else
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{
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int i;
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printf("solve failed: problematic constraints are:");
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for (i = 0; i < sys.faileds; i++)
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{
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printf(" %d", sys.failed[i]);
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}
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printf("\n");
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if (sys.result == SLVS_RESULT_INCONSISTENT)
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{
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printf("system inconsistent\n");
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}
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else
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{
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printf("system nonconvergent\n");
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}
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}
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sys.params = sys.constraints = sys.entities = 0;
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return 0;
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}
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int main(int argc, char *argv[])
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{
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sys.param = CheckMalloc(50 * sizeof(sys.param[0]));
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sys.entity = CheckMalloc(50 * sizeof(sys.entity[0]));
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sys.constraint = CheckMalloc(50 * sizeof(sys.constraint[0]));
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sys.failed = CheckMalloc(50 * sizeof(sys.failed[0]));
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sys.faileds = 50;
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// Example2d(150.0);
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printf("hello\n");
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return 0;
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}
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