mirror of
https://github.com/OPM/ResInsight.git
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0259eb6402
how the S-curve result is. Adjusted tests. Enabled two configs now reporting and solving correctly. Disabled three that now cant converge
1002 lines
40 KiB
C++
1002 lines
40 KiB
C++
/////////////////////////////////////////////////////////////////////////////////
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//
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// Copyright (C) 2018- Statoil ASA
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//
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// ResInsight is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// ResInsight is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or
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// FITNESS FOR A PARTICULAR PURPOSE.
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//
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// See the GNU General Public License at <http://www.gnu.org/licenses/gpl.html>
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// for more details.
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//
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/////////////////////////////////////////////////////////////////////////////////
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#include "RiaSCurveCalculator.h"
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#include "RiaOffshoreSphericalCoords.h"
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#include "SolveSpaceSystem.h"
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#include <cmath>
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#include "cvfMatrix4.h"
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#include <iostream>
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#include <algorithm>
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#include <string>
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//--------------------------------------------------------------------------------------------------
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///
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//--------------------------------------------------------------------------------------------------
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RiaSCurveCalculator::RiaSCurveCalculator(cvf::Vec3d p1, double azi1, double inc1, double rad1,
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cvf::Vec3d p2, double azi2, double inc2, double rad2)
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: m_isCalculationOK(false)
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, m_p1(p1)
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, m_p2(p2)
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, m_firstArcEndpoint(p1 + 0.3*(p2-p1))
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, m_secondArcStartpoint(p1 + 0.6*(p2-p1))
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, m_r1(rad1)
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, m_r2(rad2)
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, m_ctrlPpointCurveStatus(NOT_SET)
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, m_solveStatus(NOT_SOLVED)
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{
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#if 1
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initializeWithoutSolveSpace(p1, azi1, inc1, rad1, p2, azi2, inc2, rad2);
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return;
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#else
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// Estimate
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double est_p_c1x = 10.0;
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double est_p_c1y = 2.0;
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double est_p_p11x = 2.0;
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double est_p_p11y = -10.0;
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double est_p_c2x = 10.0;
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double est_p_c2y = 2.0;
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double est_p_p22x = 2.0;
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double est_p_p22y = -10.0;
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double est_p_Plane1Qw = 0.0;
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double est_p_Plane1Qx = 0.0;
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double est_p_Plane1Qy = 0.0;
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double est_p_Plane1Qz = 0.0;
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double est_p_Plane2Qw = 0.0;
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double est_p_Plane2Qx = 0.0;
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double est_p_Plane2Qy = 0.0;
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double est_p_Plane2Qz = 0.0;
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Slvs_MakeQuaternion(1, 0, 0,
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0, 1, 0,
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&est_p_Plane1Qw,
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&est_p_Plane1Qx,
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&est_p_Plane1Qy,
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&est_p_Plane1Qz);
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Slvs_MakeQuaternion(1, 0, 0,
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0, 1, 0,
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&est_p_Plane2Qw,
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&est_p_Plane2Qx,
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&est_p_Plane2Qy,
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&est_p_Plane2Qz);
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double est_rad1 = rad1;
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double est_rad2 = rad2;
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if (true)
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{
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cvf::Vec3d p1p2 = p2 - p1;
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double p1p2Length = (p1p2).length();
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RiaSCurveCalculator estimatedCurveCalc = RiaSCurveCalculator::fromTangentsAndLength(p1, azi1, inc1, 0.2 * p1p2Length,
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p2, azi2, inc2, 0.2 * p1p2Length);
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est_rad1 = estimatedCurveCalc.firstRadius() ;
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est_rad2 = estimatedCurveCalc.secondRadius();
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if (est_rad1 >= 1e10 || est_rad2 >= 1e10)
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{
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return;
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}
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#if 0
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std::cout << "Estimate:" << std::endl;
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estimatedCurveCalc.dump();
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#endif
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cvf::Vec3d t1(RiaOffshoreSphericalCoords::unitVectorFromAziInc(azi1,inc1));
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cvf::Vec3d t2(RiaOffshoreSphericalCoords::unitVectorFromAziInc(azi2,inc2));
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cvf::Vec3d est_tp1c1 = (estimatedCurveCalc.firstCenter() - p1).getNormalized();
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cvf::Vec3d est_tp2c2 = (estimatedCurveCalc.secondCenter() - p2).getNormalized();
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cvf::Mat4d mx1 = cvf::Mat4d::fromCoordSystemAxes(&t1, &est_tp1c1, nullptr );
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mx1.setTranslation(p1);
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cvf::Vec3d est_p11 = estimatedCurveCalc.firstArcEndpoint();
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est_p11.transformPoint(mx1.getInverted());
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CVF_ASSERT(fabs(est_p11.z()) < 1e-4 );
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cvf::Mat4d mx2 = cvf::Mat4d::fromCoordSystemAxes(&t2, &est_tp2c2, nullptr );
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mx2.setTranslation(p2);
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cvf::Vec3d est_p22 = estimatedCurveCalc.secondArcStartpoint();
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est_p22.transformPoint(mx2.getInverted());
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CVF_ASSERT(fabs(est_p22.z()) < 1e-4 );
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est_p_c1x = 0.0;
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est_p_c1y = estimatedCurveCalc.m_r1;
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est_p_p11x = est_p11.x();
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est_p_p11y = est_p11.y();
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est_p_c2x = 0.0;
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est_p_c2y = estimatedCurveCalc.m_r2;
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est_p_p22x = est_p22.x();
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est_p_p22y = est_p22.y();
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Slvs_MakeQuaternion(t1.x(), t1.y(), t1.z(),
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est_tp1c1.x(), est_tp1c1.y(), est_tp1c1.z(),
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&est_p_Plane1Qw, &est_p_Plane1Qx, &est_p_Plane1Qy, &est_p_Plane1Qz);
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Slvs_MakeQuaternion(t2.x(), t2.y(), t2.z(),
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est_tp2c2.x(), est_tp2c2.y(), est_tp2c2.z(),
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&est_p_Plane2Qw, &est_p_Plane2Qx, &est_p_Plane2Qy, &est_p_Plane2Qz);
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}
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//
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SolveSpaceSystem sys;
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Slvs_hGroup group1 = 1;
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Slvs_hGroup group2 = 2;
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///////////////////////////////////////////////////////////////////////////
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// Group 1, Fixed
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// P1
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Slvs_hParam p_p1x = sys.addParam(Slvs_MakeParam(-1, group1, p1.x()));
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Slvs_hParam p_p1y = sys.addParam(Slvs_MakeParam(-1, group1, p1.y()));
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Slvs_hParam p_p1z = sys.addParam(Slvs_MakeParam(-1, group1, p1.z()));
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Slvs_hEntity e_P1 = sys.addEntity(Slvs_MakePoint3d(-1, group1, p_p1x, p_p1y, p_p1z));
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// PT1
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double pt1x = p1.x() + sin(azi1)*sin(inc1);
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double pt1y = p1.y() + cos(azi1)*sin(inc1);
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double pt1z = p1.z() - cos(inc1);
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Slvs_hParam p_pt1x = sys.addParam(Slvs_MakeParam(-1, group1, pt1x));
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Slvs_hParam p_pt1y = sys.addParam(Slvs_MakeParam(-1, group1, pt1y));
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Slvs_hParam p_pt1z = sys.addParam(Slvs_MakeParam(-1, group1, pt1z));
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Slvs_hEntity e_PT1 = sys.addEntity(Slvs_MakePoint3d(-1, group1, p_pt1x, p_pt1y, p_pt1z));
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// Tangent Line 1
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Slvs_hEntity e_LT1 = sys.addEntity(Slvs_MakeLineSegment(-1, group1, SLVS_FREE_IN_3D, e_P1, e_PT1));
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// P2
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Slvs_hParam p_p2x = sys.addParam(Slvs_MakeParam(-1, group1, p2.x()));
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Slvs_hParam p_p2y = sys.addParam(Slvs_MakeParam(-1, group1, p2.y()));
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Slvs_hParam p_p2z = sys.addParam(Slvs_MakeParam(-1, group1, p2.z()));
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Slvs_hEntity e_P2 = sys.addEntity(Slvs_MakePoint3d(-1, group1, p_p2x, p_p2y, p_p2z));
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// PT2
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double pt2x = p2.x() + sin(azi2)*sin(inc2);
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double pt2y = p2.y() + cos(azi2)*sin(inc2);
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double pt2z = p2.z() - cos(inc2);
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Slvs_hParam p_pt2x = sys.addParam(Slvs_MakeParam(-1, group1, pt2x));
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Slvs_hParam p_pt2y = sys.addParam(Slvs_MakeParam(-1, group1, pt2y));
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Slvs_hParam p_pt2z = sys.addParam(Slvs_MakeParam(-1, group1, pt2z));
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Slvs_hEntity e_PT2 = sys.addEntity(Slvs_MakePoint3d(-1, group1, p_pt2x, p_pt2y, p_pt2z));
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// Tangent Line 2
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Slvs_hEntity e_LT2 = sys.addEntity(Slvs_MakeLineSegment(-1, group1, SLVS_FREE_IN_3D, e_P2, e_PT2));
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//
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/////////////////////////////////////////////////////////////////////////
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// Plane1
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// Plane 1
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Slvs_hParam p_Plane1Qw = sys.addParam(Slvs_MakeParam(-1, group2, est_p_Plane1Qw));
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Slvs_hParam p_Plane1Qx = sys.addParam(Slvs_MakeParam(-1, group2, est_p_Plane1Qx));
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Slvs_hParam p_Plane1Qy = sys.addParam(Slvs_MakeParam(-1, group2, est_p_Plane1Qy));
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Slvs_hParam p_Plane1Qz = sys.addParam(Slvs_MakeParam(-1, group2, est_p_Plane1Qz));
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Slvs_hEntity e_Plane1Q = sys.addEntity(Slvs_MakeNormal3d(-1, group2,
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p_Plane1Qw,
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p_Plane1Qx,
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p_Plane1Qy,
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p_Plane1Qz));
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Slvs_hEntity e_Plane1 = sys.addEntity(Slvs_MakeWorkplane(-1, group2, e_P1, e_Plane1Q));
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Slvs_hConstraint c_PT1Plane1 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_PT_IN_PLANE,
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SLVS_FREE_IN_3D,
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0.0,
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e_PT1,
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-1,
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e_Plane1,
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-1));
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// Arc1 center
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Slvs_hParam p_c1x = sys.addParam(Slvs_MakeParam(-1, group2, est_p_c1x)); // Needs a better guess
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Slvs_hParam p_c1y = sys.addParam(Slvs_MakeParam(-1, group2, est_p_c1y));
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Slvs_hEntity e_C1 = sys.addEntity(Slvs_MakePoint2d(-1, group2, e_Plane1, p_c1x, p_c1y));
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Slvs_hEntity e_LP1C1 = sys.addEntity(Slvs_MakeLineSegment(-1, group2, e_Plane1, e_P1, e_C1));
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Slvs_hConstraint c_perpT1_LP1C1 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_PERPENDICULAR,
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e_Plane1,
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0.0,
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-1,
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-1,
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e_LT1,
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e_LP1C1));
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Slvs_hConstraint c_dist_P1C1 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_PT_PT_DISTANCE,
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e_Plane1,
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est_rad1,
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e_P1,
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e_C1,
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-1,
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-1));
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// Arc1 end
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Slvs_hParam p_p11x = sys.addParam(Slvs_MakeParam(-1, group2, est_p_p11x)); // Needs a better guess: Perp on p_c1x/p_c1y
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Slvs_hParam p_p11y = sys.addParam(Slvs_MakeParam(-1, group2, est_p_p11y));
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Slvs_hEntity e_P11 = sys.addEntity(Slvs_MakePoint2d(-1, group2, e_Plane1, p_p11x, p_p11y));
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Slvs_hEntity e_LC1P11 = sys.addEntity(Slvs_MakeLineSegment(-1, group2, e_Plane1, e_C1, e_P11));
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Slvs_hConstraint c_dist_C1P11 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_EQUAL_LENGTH_LINES,
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e_Plane1,
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0.0,
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-1,
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-1,
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e_LP1C1,
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e_LC1P11));
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// Plane 2
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Slvs_hParam p_Plane2Qw = sys.addParam(Slvs_MakeParam(-1, group2, est_p_Plane2Qw));
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Slvs_hParam p_Plane2Qx = sys.addParam(Slvs_MakeParam(-1, group2, est_p_Plane2Qx));
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Slvs_hParam p_Plane2Qy = sys.addParam(Slvs_MakeParam(-1, group2, est_p_Plane2Qy));
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Slvs_hParam p_Plane2Qz = sys.addParam(Slvs_MakeParam(-1, group2, est_p_Plane2Qz));
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Slvs_hEntity e_Plane2Q = sys.addEntity(Slvs_MakeNormal3d(-1, group2,
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p_Plane2Qw,
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p_Plane2Qx,
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p_Plane2Qy,
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p_Plane2Qz));
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Slvs_hEntity e_Plane2 = sys.addEntity(Slvs_MakeWorkplane(-1, group2, e_P2, e_Plane2Q));
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Slvs_hConstraint c_PT2Plane2 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_PT_IN_PLANE,
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SLVS_FREE_IN_3D,
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0.0,
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e_PT2,
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-1,
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e_Plane2,
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-1));
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// Arc2 center
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Slvs_hParam p_c2x = sys.addParam(Slvs_MakeParam(-1, group2, est_p_c2x));
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Slvs_hParam p_c2y = sys.addParam(Slvs_MakeParam(-1, group2, est_p_c2y));
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Slvs_hEntity e_C2 = sys.addEntity(Slvs_MakePoint2d(-1, group2, e_Plane2, p_c2x, p_c2y));
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Slvs_hEntity e_LP2C2 = sys.addEntity(Slvs_MakeLineSegment(-1, group2, e_Plane2, e_P2, e_C2));
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Slvs_hConstraint c_perpT2_LP2C2 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_PERPENDICULAR,
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e_Plane2,
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0.0,
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-1,
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-1,
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e_LT2,
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e_LP2C2));
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Slvs_hConstraint c_dist_P2C2 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_PT_PT_DISTANCE,
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e_Plane2,
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est_rad2,
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e_P2,
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e_C2,
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-1,
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-1));
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// Arc2 end
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Slvs_hParam p_p22x = sys.addParam(Slvs_MakeParam(-1, group2, est_p_p22x)); // Needs a better guess: Perp on p_c1x/p_c1y
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Slvs_hParam p_p22y = sys.addParam(Slvs_MakeParam(-1, group2, est_p_p22y));
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Slvs_hEntity e_P22 = sys.addEntity(Slvs_MakePoint2d(-1, group2, e_Plane2, p_p22x, p_p22y));
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Slvs_hEntity e_LC2P22 = sys.addEntity(Slvs_MakeLineSegment(-1, group2, e_Plane2, e_C2, e_P22));
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Slvs_hConstraint c_dist_C2P22 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_EQUAL_LENGTH_LINES,
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e_Plane2,
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0.0,
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-1,
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-1,
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e_LP2C2,
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e_LC2P22));
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SolveSpaceSystem::ResultStatus solveResult;
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#if 0
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solveResult = sys.solve(group2, true);
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if(solveResult != SolveSpaceSystem::RESULT_OKAY)
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{
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return;
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}
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#endif
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// Connecting the two planes
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// Connecting line
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Slvs_hEntity e_LP11P22 = sys.addEntity(Slvs_MakeLineSegment(-1, group2, SLVS_FREE_IN_3D, e_P11, e_P22));
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// Perpendicular constraints
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Slvs_hConstraint c_perpC1P11_LP11P22 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_PERPENDICULAR,
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SLVS_FREE_IN_3D,
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0.0,
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-1,
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-1,
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e_LC1P11,
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e_LP11P22));
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#if 0
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solveResult = sys.solve(group2, true);
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if(solveResult != SolveSpaceSystem::RESULT_OKAY)
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{
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return;
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}
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#endif
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Slvs_hConstraint c_perpC2P22_LP11P22 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_PERPENDICULAR,
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SLVS_FREE_IN_3D,
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0.0,
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-1,
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-1,
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e_LC2P22,
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e_LP11P22));
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#if 0
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solveResult = sys.solve(group2, true);
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if(solveResult != SolveSpaceSystem::RESULT_OKAY)
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{
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return;
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}
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#endif
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// P11, P22 in plane constraints
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Slvs_hConstraint c_P11InPlane2 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_PT_IN_PLANE,
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SLVS_FREE_IN_3D,
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0.0,
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e_P11,
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-1,
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e_Plane2,
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-1));
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#if 0
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solveResult = sys.solve(group2, true);
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if(solveResult != SolveSpaceSystem::RESULT_OKAY)
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{
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return;
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}
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#endif
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Slvs_hConstraint c_P22InPlane1 = sys.addConstr(Slvs_MakeConstraint(-1,
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group2,
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SLVS_C_PT_IN_PLANE,
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SLVS_FREE_IN_3D,
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0.0,
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e_P22,
|
|
-1,
|
|
e_Plane1,
|
|
-1));
|
|
|
|
|
|
m_isCalculationOK = true;
|
|
#if 0
|
|
std::cout << std::endl;
|
|
for ( int iter = 0; iter < 2; ++iter )
|
|
{
|
|
double newRad1 = est_rad1 - iter*1.0*(est_rad1 - rad1);
|
|
double newRad2 = est_rad2 - iter*1.0*(est_rad2 - rad2);
|
|
|
|
sys.constraint(c_dist_P1C1).valA = newRad1;
|
|
sys.constraint(c_dist_P2C2).valA = newRad2;
|
|
|
|
solveResult = sys.solve(group2, true);
|
|
|
|
if ( solveResult != SolveSpaceSystem::RESULT_OKAY )
|
|
{
|
|
std::cout << std::endl;
|
|
m_isCalculationOK = false;
|
|
if (iter > 0)
|
|
break;
|
|
else
|
|
return;
|
|
}
|
|
std::cout << iter ;
|
|
}
|
|
std::cout << std::endl;
|
|
|
|
#else
|
|
std::cout << std::endl;
|
|
|
|
// Initial solve using the precalculated estimated curve
|
|
|
|
solveResult = sys.solve(group2, true);
|
|
if ( solveResult != SolveSpaceSystem::RESULT_OKAY )
|
|
{
|
|
std::cout << std::endl;
|
|
m_isCalculationOK = false;
|
|
return;
|
|
}
|
|
|
|
// Change radius from estimate towards the radii provided in steps.
|
|
// Try all in one go first.
|
|
// if solution diverges, reduce step by half until the solution converges.
|
|
// Keep stepsize one step before trying to double it.
|
|
|
|
double currentRadius1 = est_rad1;
|
|
double currentRadius2 = est_rad2;
|
|
double nextStepR1 = rad1 - currentRadius1;
|
|
double nextStepR2 = rad2 - currentRadius2;
|
|
int iter = 0; int maxIter = 12;
|
|
bool isIncreaseStepOk = false;
|
|
bool hasReachedRadiusTargets = false;
|
|
|
|
while ( iter < maxIter
|
|
&& !hasReachedRadiusTargets )
|
|
{
|
|
|
|
double newRad1 = currentRadius1 + nextStepR1;
|
|
double newRad2 = currentRadius2 + nextStepR2;
|
|
|
|
sys.constraint(c_dist_P1C1).valA = newRad1;
|
|
sys.constraint(c_dist_P2C2).valA = newRad2;
|
|
|
|
solveResult = sys.solve(group2, true);
|
|
|
|
iter++;
|
|
std::cout << iter ;
|
|
if ( solveResult != SolveSpaceSystem::RESULT_OKAY )
|
|
{
|
|
nextStepR1 = 0.5* nextStepR1;
|
|
nextStepR2 = 0.5* nextStepR2;
|
|
isIncreaseStepOk = false;
|
|
std::cout << "-";
|
|
}
|
|
else
|
|
{
|
|
currentRadius1 = newRad1;
|
|
currentRadius2 = newRad2;
|
|
if ( isIncreaseStepOk )
|
|
{
|
|
nextStepR1 = std::min(2*nextStepR1, rad1 - currentRadius1);
|
|
nextStepR2 = std::min(2*nextStepR2, rad2 - currentRadius2);
|
|
std::cout << "++";
|
|
|
|
}
|
|
else
|
|
{
|
|
nextStepR1 = std::min(nextStepR1, rad1 - currentRadius1);
|
|
nextStepR2 = std::min(nextStepR2, rad2 - currentRadius2);
|
|
isIncreaseStepOk = true;
|
|
std::cout << "+";
|
|
}
|
|
}
|
|
hasReachedRadiusTargets = ( fabs(currentRadius1 - rad1) < 1e-5
|
|
&& fabs(currentRadius2 - rad2) < 1e-5);
|
|
}
|
|
|
|
m_isCalculationOK = (hasReachedRadiusTargets && solveResult == SolveSpaceSystem::RESULT_OKAY);
|
|
|
|
std::cout << std::endl;
|
|
#endif
|
|
|
|
// Circle Center, Plane normals, P11, P22
|
|
|
|
std::valarray<double> v_C1 = sys.global3DPos(e_C1);
|
|
m_c1[0] = v_C1[0];
|
|
m_c1[1] = v_C1[1];
|
|
m_c1[2] = v_C1[2];
|
|
|
|
std::valarray<double> v_C2 = sys.global3DPos(e_C2);
|
|
m_c2[0] = v_C2[0];
|
|
m_c2[1] = v_C2[1];
|
|
m_c2[2] = v_C2[2];
|
|
|
|
std::valarray<double> v_N1 = std::get<2>(sys.orientationMx(e_Plane1Q));
|
|
m_n1[0] = v_N1[0];
|
|
m_n1[1] = v_N1[1];
|
|
m_n1[2] = v_N1[2];
|
|
|
|
std::valarray<double> v_N2 = std::get<2>(sys.orientationMx(e_Plane2Q));
|
|
m_n2[0] = v_N2[0];
|
|
m_n2[1] = v_N2[1];
|
|
m_n2[2] = v_N2[2];
|
|
|
|
std::valarray<double> v_P11 = sys.global3DPos(e_P11);
|
|
m_firstArcEndpoint[0] = v_P11[0];
|
|
m_firstArcEndpoint[1] = v_P11[1];
|
|
m_firstArcEndpoint[2] = v_P11[2];
|
|
|
|
std::valarray<double> v_P22 = sys.global3DPos(e_P22);
|
|
m_secondArcStartpoint[0] = v_P22[0];
|
|
m_secondArcStartpoint[1] = v_P22[1];
|
|
m_secondArcStartpoint[2] = v_P22[2];
|
|
|
|
m_r1 = (m_c1 - m_p1).length();
|
|
m_r2 = (m_c2 - m_p2).length();
|
|
|
|
// Validate solution
|
|
// Normal1 x C1P11 == tP11P22
|
|
// Normal2 x C2P22 == tP11P22
|
|
|
|
cvf::Vec3d tP11P22 = (m_secondArcStartpoint - m_firstArcEndpoint).getNormalized();
|
|
|
|
double error1 = ((m_n1 ^ (m_firstArcEndpoint - m_c1).getNormalized() ) - tP11P22).lengthSquared();
|
|
double error2 = ((m_n2 ^ (m_secondArcStartpoint - m_c2).getNormalized() ) - tP11P22).lengthSquared();
|
|
|
|
if ( error1 > 1e-9 && error2 > 1e-9 )
|
|
{
|
|
// Solution is invalid. The line is not continuing the arcs in the right direction
|
|
m_isCalculationOK = false;
|
|
}
|
|
|
|
#endif
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------
|
|
///
|
|
//--------------------------------------------------------------------------------------------------
|
|
RiaSCurveCalculator::RiaSCurveCalculator(cvf::Vec3d p1, cvf::Vec3d q1,
|
|
cvf::Vec3d p2, cvf::Vec3d q2)
|
|
: m_isCalculationOK(true)
|
|
, m_p1(p1)
|
|
, m_p2(p2)
|
|
, m_ctrlPpointCurveStatus(NOT_SET)
|
|
, m_solveStatus(NOT_SOLVED)
|
|
{
|
|
using Vec3d = cvf::Vec3d;
|
|
bool isOk = true;
|
|
m_isCalculationOK = true;
|
|
|
|
Vec3d tq1q2 = (q2 - q1).getNormalized(&isOk); // !ok means the control points are in the same place. Could fallback to use only one circle segment + one line.
|
|
m_isCalculationOK = m_isCalculationOK && isOk;
|
|
Vec3d t1 = (q1 - p1).getNormalized(&isOk); // !ok means no tangent specified. Could fallback to use only one circle segment + one line.
|
|
m_isCalculationOK = m_isCalculationOK && isOk;
|
|
Vec3d t2 = (p2 - q2).getNormalized(&isOk); // !ok means no tangent specified. Could fallback to use only one circle segment + one line or only one straight line if both tangents are missing
|
|
m_isCalculationOK = m_isCalculationOK && isOk;
|
|
|
|
if (!m_isCalculationOK)
|
|
{
|
|
m_ctrlPpointCurveStatus = FAILED_INPUT_OVERLAP;
|
|
}
|
|
|
|
{
|
|
Vec3d td1 = (tq1q2 - t1);
|
|
double td1Length = td1.length();
|
|
|
|
if ( td1Length > 1e-10 )
|
|
{
|
|
td1 /= td1Length;
|
|
m_c1 = q1 + ((q1 - p1).length() / (td1 * (-t1))) * td1;
|
|
m_r1 = (m_c1 - p1).length();
|
|
}
|
|
else // both control points are along t1. First curve has infinite radius
|
|
{
|
|
m_c1 = cvf::Vec3d::UNDEFINED;
|
|
m_r1 = std::numeric_limits<double>::infinity();
|
|
|
|
if (m_ctrlPpointCurveStatus == NOT_SET)
|
|
{
|
|
m_ctrlPpointCurveStatus = OK_INFINITE_RADIUS1;
|
|
}
|
|
}
|
|
}
|
|
|
|
{
|
|
Vec3d td2 = (-tq1q2 + t2);
|
|
double td2Length = td2.length();
|
|
|
|
if ( td2Length > 1e-10 )
|
|
{
|
|
td2 /= td2Length;
|
|
m_c2 = q2 + ((q2 - p2).length() / (td2 * (t2))) * td2;
|
|
m_r2 = (m_c2 - p2).length();
|
|
}
|
|
else // both control points are along t2. Second curve has infinite radius
|
|
{
|
|
m_c2 = cvf::Vec3d::UNDEFINED;
|
|
m_r2 = std::numeric_limits<double>::infinity();
|
|
|
|
if (m_ctrlPpointCurveStatus == NOT_SET)
|
|
{
|
|
m_ctrlPpointCurveStatus = OK_INFINITE_RADIUS2;
|
|
}
|
|
else if (m_ctrlPpointCurveStatus == OK_INFINITE_RADIUS1)
|
|
{
|
|
m_ctrlPpointCurveStatus = OK_INFINITE_RADIUS12;
|
|
}
|
|
}
|
|
}
|
|
|
|
m_firstArcEndpoint = q1 + (q1 - p1).length() * tq1q2;
|
|
m_secondArcStartpoint = q2 - (q2 - p2).length() * tq1q2;
|
|
|
|
if (((q1 - p1).length() + (q2 - p2).length()) > (q2 - q1).length()) // first arc end and second arc start is overlapping
|
|
{
|
|
m_ctrlPpointCurveStatus = FAILED_ARC_OVERLAP;
|
|
m_isCalculationOK = false;
|
|
}
|
|
|
|
if (m_ctrlPpointCurveStatus == NOT_SET)
|
|
{
|
|
m_ctrlPpointCurveStatus = OK;
|
|
}
|
|
|
|
// The Circle normals. Will be set to cvf::Vec3d::ZERO if undefined.
|
|
|
|
m_n1 = (t1 ^ tq1q2).getNormalized();
|
|
m_n2 = (tq1q2 ^ t2).getNormalized();
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------
|
|
///
|
|
//--------------------------------------------------------------------------------------------------
|
|
void RiaSCurveCalculator::dump() const
|
|
{
|
|
cvf::Vec3d v_C1 = firstCenter();
|
|
cvf::Vec3d v_C2 = secondCenter();
|
|
cvf::Vec3d v_N1 = firstNormal();
|
|
cvf::Vec3d v_N2 = secondNormal();
|
|
cvf::Vec3d v_P11 = firstArcEndpoint();
|
|
cvf::Vec3d v_P22 = secondArcStartpoint();
|
|
|
|
std::cout << " P1: " << "[ " << m_p1[0] << " " << m_p1[1] << " " << m_p1[2] << " " << std::endl;
|
|
std::cout << " P11: " << "[ " << v_P11[0] << " " << v_P11[1] << " " << v_P11[2] << " " << std::endl;
|
|
std::cout << " P22: " << "[ " << v_P22[0] << " " << v_P22[1] << " " << v_P22[2] << " " << std::endl;
|
|
std::cout << " P2: " << "[ " << m_p2[0] << " " << m_p2[1] << " " << m_p2[2] << " " << std::endl;
|
|
std::cout << " C1: " << "[ " << v_C1[0] << " " << v_C1[1] << " " << v_C1[2] << " " << std::endl;
|
|
std::cout << " C2: " << "[ " << v_C2[0] << " " << v_C2[1] << " " << v_C2[2] << " " << std::endl;
|
|
std::cout << " N1: " << "[ " << v_N1[0] << " " << v_N1[1] << " " << v_N1[2] << " " << std::endl;
|
|
std::cout << " N2: " << "[ " << v_N2[0] << " " << v_N2[1] << " " << v_N2[2] << " " << std::endl;
|
|
std::cout << " R1: " << "[ " << firstRadius() << " ]" << std::endl;
|
|
std::cout << " R2: " << "[ " << secondRadius() << " ]" << std::endl;
|
|
std::cout << " CtrPointStatus: " << m_ctrlPpointCurveStatus << " SolveStatus: " << m_solveStatus << std::endl;
|
|
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------
|
|
///
|
|
//--------------------------------------------------------------------------------------------------
|
|
RiaSCurveCalculator RiaSCurveCalculator::fromTangentsAndLength(cvf::Vec3d p1, double azi1, double inc1, double lengthToQ1,
|
|
cvf::Vec3d p2, double azi2, double inc2, double lengthToQ2)
|
|
{
|
|
cvf::Vec3d t1(RiaOffshoreSphericalCoords::unitVectorFromAziInc(azi1,inc1));
|
|
cvf::Vec3d t2(RiaOffshoreSphericalCoords::unitVectorFromAziInc(azi2,inc2));
|
|
|
|
cvf::Vec3d Q1 = p1 + lengthToQ1 * t1;
|
|
cvf::Vec3d Q2 = p2 - lengthToQ2 * t2;
|
|
|
|
RiaSCurveCalculator curveFromControlPoints(p1, Q1,
|
|
p2, Q2);
|
|
|
|
return curveFromControlPoints;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------
|
|
///
|
|
/// Needs to calculate J^-1 * [R1_error, R2_error]
|
|
/// | dR1_dq1 dR1_dq2 | 1 | dR2_dq2 -dR1_dq2 |
|
|
/// J = | | J^-1 = ---------------------------------- | |
|
|
/// | dR2_dq1 dR2_dq2 | dR1_dq1*dR2_dq2 - dR1_dq2*dR2_dq1 | -dR2_dq1 dR1_dq1 |
|
|
///
|
|
/// | q1_step | | R1_Error |
|
|
/// | | = - J^-1 | |
|
|
/// | q2_step | | R2_Error |
|
|
///
|
|
//--------------------------------------------------------------------------------------------------
|
|
void calculateNewStepsFromJacobi(double dR1_dq1, double dR1_dq2,
|
|
double dR2_dq1, double dR2_dq2,
|
|
double R1_error,
|
|
double R2_error,
|
|
double * newStepq1,
|
|
double * newStepq2)
|
|
{
|
|
double invJacobiScale = 1.0/ (dR1_dq1*dR2_dq2 - dR2_dq1*dR1_dq2);
|
|
double invJacobi_R1q1 = invJacobiScale * dR2_dq2;
|
|
double invJacobi_R1q2 = invJacobiScale * -dR1_dq2;
|
|
double invJacobi_R2q1 = invJacobiScale * -dR2_dq1;
|
|
double invJacobi_R2q2 = invJacobiScale * dR1_dq1;
|
|
|
|
(*newStepq1) = - (invJacobi_R1q1 * R1_error + invJacobi_R1q2 * R2_error);
|
|
(*newStepq2) = - (invJacobi_R2q1 * R1_error + invJacobi_R2q2 * R2_error) ;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------
|
|
///
|
|
//--------------------------------------------------------------------------------------------------
|
|
bool isZeroCrossing(double newError, double oldError, double maxError)
|
|
{
|
|
if ( (newError < -maxError && maxError < oldError) || (newError > maxError && -maxError > oldError) )
|
|
{
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------
|
|
///
|
|
//--------------------------------------------------------------------------------------------------
|
|
void RiaSCurveCalculator::initializeWithoutSolveSpace(cvf::Vec3d p1, double azi1, double inc1, double r1,
|
|
cvf::Vec3d p2, double azi2, double inc2, double r2)
|
|
{
|
|
// Algorithm options
|
|
|
|
const int maxIterations = 40;
|
|
const double maxError = 0.01;
|
|
const double closeError = 40*maxError;
|
|
const double maxStepSize = 1.0e9;
|
|
const double maxLengthToQ = 1.0e10;
|
|
bool enableBackstepping = false;
|
|
//#define USE_JACOBI_UPDATE
|
|
//#define DEBUG_OUTPUT_ON
|
|
|
|
// Iterating with changing q1, q2 (lengths along tangent) to find solution with R1 = r1 and R2 = r2
|
|
// R1(q1, q2), R2(q1, q2)
|
|
|
|
// Needs the initial partial derivatives to see the direction of change
|
|
// dR1/dq1, dR1/dq2, dR2/dq1, dR2/dq2
|
|
// Selects a sensible point in the domain for the evaluation
|
|
|
|
double p1p2Length = (p2 - p1).length();
|
|
double delta = 0.01 * p1p2Length;
|
|
double initialq1q2 = 0.2 * p1p2Length;
|
|
double deltaPos = initialq1q2 + delta;
|
|
|
|
RiaSCurveCalculator ev_0 = RiaSCurveCalculator::fromTangentsAndLength(p1, azi1, inc1, initialq1q2,
|
|
p2, azi2, inc2, initialq1q2);
|
|
|
|
if ( ev_0.curveStatus() == RiaSCurveCalculator::OK_INFINITE_RADIUS12 )
|
|
{
|
|
*this = ev_0;
|
|
this->m_solveStatus = CONVERGED;
|
|
return;
|
|
} // Todo: Handle infinite radius in one place
|
|
|
|
RiaSCurveCalculator ev_dq1 = RiaSCurveCalculator::fromTangentsAndLength(p1, azi1, inc1, deltaPos,
|
|
p2, azi2, inc2, initialq1q2);
|
|
RiaSCurveCalculator ev_dq2 = RiaSCurveCalculator::fromTangentsAndLength(p1, azi1, inc1, initialq1q2,
|
|
p2, azi2, inc2, deltaPos);
|
|
|
|
// Initial Jacobi
|
|
double dR1_dq1 = ((r1 - ev_dq1.firstRadius()) - (r1 - ev_0.firstRadius()))/delta;
|
|
double dR2_dq2 = ((r2 - ev_dq2.secondRadius()) - (r2 - ev_0.secondRadius()))/delta;
|
|
|
|
// Initial function value (error)
|
|
double R1_error = r1 - ev_0.firstRadius();
|
|
double R2_error = r2 - ev_0.secondRadius();
|
|
|
|
// First steps
|
|
double q1Step = -R1_error/dR1_dq1;
|
|
double q2Step = -R2_error/dR2_dq2;
|
|
|
|
#ifdef USE_JACOBI_UPDATE
|
|
double dR1_dq2 = ((r1 - ev_dq2.firstRadius()) - (r1 - ev_0.firstRadius()))/delta;
|
|
double dR2_dq1 = ((r2 - ev_dq1.secondRadius()) - (r2 - ev_0.secondRadius()))/delta;
|
|
|
|
calculateNewStepsFromJacobi(dR1_dq1, dR1_dq2,
|
|
dR2_dq1, dR2_dq2,
|
|
R1_error, R2_error,
|
|
&q1Step, &q2Step);
|
|
#endif
|
|
|
|
double q1 = initialq1q2;
|
|
double q2 = initialq1q2;
|
|
|
|
|
|
#ifdef DEBUG_OUTPUT_ON
|
|
std::cout << std::endl;
|
|
std::cout << "Targets: R1, R2: " << r1 << " , " << r2 << std::endl;
|
|
|
|
std::cout << 0 << ": " << q1Step << " , " << q2Step
|
|
<< " : " << q1 << " , " << q2 << " | "
|
|
<< ev_0.isOk() << " : " << ev_0.firstRadius() << " , " << ev_0.secondRadius()
|
|
<< " : " << R1_error << " , " << R2_error << std::endl;
|
|
#endif
|
|
|
|
SolveStatus solveResultStatus = NOT_SOLVED;
|
|
|
|
int backstepLevel = 0;
|
|
int iteration = 1;
|
|
for ( iteration = 1; iteration < maxIterations; ++iteration)
|
|
{
|
|
if ( fabs(q1Step) > maxStepSize || fabs(q2Step) > maxStepSize )
|
|
{
|
|
solveResultStatus = FAILED_MAX_TANGENT_STEP_REACHED;
|
|
|
|
break;
|
|
}
|
|
|
|
std::string q1R1StepCorrMarker;
|
|
std::string q2R2StepCorrMarker;
|
|
|
|
if (q1 + q1Step < 0) { q1Step = -0.9*q1; q1R1StepCorrMarker = "*";}
|
|
if (q2 + q2Step < 0) { q2Step = -0.9*q2; q2R2StepCorrMarker = "*"; }
|
|
|
|
q1 += q1Step;
|
|
q2 += q2Step;
|
|
|
|
if (fabs(q1) > maxLengthToQ || fabs(q2) > maxLengthToQ)
|
|
{
|
|
/// Max length along tangent reached
|
|
solveResultStatus = FAILED_MAX_LENGTH_ALONG_TANGENT_REACHED;
|
|
break;
|
|
}
|
|
|
|
RiaSCurveCalculator ev_1 = RiaSCurveCalculator::fromTangentsAndLength(p1, azi1, inc1, q1,
|
|
p2, azi2, inc2, q2);
|
|
|
|
double R1_error_new = r1 - ev_1.firstRadius();
|
|
double R2_error_new = r2 - ev_1.secondRadius();
|
|
|
|
#ifdef DEBUG_OUTPUT_ON
|
|
std::cout << iteration << ": " << q1Step << q1R1StepCorrMarker << " , " << q2Step<< q2R2StepCorrMarker
|
|
<< " : " << q1 << " , " << q2 << " | "
|
|
<< ev_1.isOk() << " : " << ev_1.firstRadius() << " , " << ev_1.secondRadius()
|
|
<< " : " << R1_error_new << " , " << R2_error_new ;
|
|
#endif
|
|
|
|
if ( ( fabs(R1_error_new) < maxError || ev_1.curveStatus() == OK_INFINITE_RADIUS1 )
|
|
&& ( fabs(R2_error_new) < maxError || ev_1.curveStatus() == OK_INFINITE_RADIUS2 ) )
|
|
{
|
|
ev_0 = ev_1;
|
|
|
|
// Result ok !
|
|
|
|
solveResultStatus = CONVERGED;
|
|
|
|
#ifdef DEBUG_OUTPUT_ON
|
|
std::cout << std::endl;
|
|
#endif
|
|
|
|
break;
|
|
}
|
|
|
|
if (enableBackstepping) // Experimental back-stepping
|
|
{
|
|
bool isZeroCrossingR1 = isZeroCrossing(R1_error_new, R1_error, maxError);
|
|
bool isZeroCrossingR2 = isZeroCrossing(R2_error_new, R2_error, maxError);
|
|
|
|
if ( isZeroCrossingR2 || isZeroCrossingR1 )
|
|
{
|
|
q1 -= q1Step;
|
|
q2 -= q2Step;
|
|
|
|
//if (isZeroCrossingR1)
|
|
q1Step = 0.9* q1Step * fabs(R1_error) /(fabs(R1_error_new) + fabs(R1_error));
|
|
//if (isZeroCrossingR2)
|
|
q2Step = 0.9* q2Step * fabs(R2_error) /(fabs(R2_error_new) + fabs(R2_error));
|
|
|
|
++backstepLevel;
|
|
|
|
#ifdef DEBUG_OUTPUT_ON
|
|
std::cout << " Backstep needed. "<< std::endl;
|
|
#endif
|
|
|
|
continue;
|
|
}
|
|
else
|
|
{
|
|
backstepLevel = 0;
|
|
}
|
|
}
|
|
|
|
#ifdef DEBUG_OUTPUT_ON
|
|
std::cout << std::endl;
|
|
#endif
|
|
|
|
#ifdef USE_JACOBI_UPDATE
|
|
|
|
/// Update Jacobi using Broyden
|
|
// (R_error_n-Rerror_n-1) - Jn-1*dq
|
|
// J_n = Jn-1 + --------------------------------- (dq)T
|
|
// | dqn |^2
|
|
//
|
|
|
|
double dR1_error = R1_error_new - R1_error;
|
|
double dR2_error = R2_error_new - R2_error;
|
|
R1_error = R1_error_new;
|
|
R2_error = R2_error_new;
|
|
|
|
double stepNormScale = 1.0/(q1Step*q1Step + q2Step*q2Step);
|
|
|
|
dR1_dq1 = dR1_dq1 + stepNormScale * (q1Step * (dR1_error - q1Step * dR1_dq1 + q2Step * dR1_dq2) );
|
|
dR1_dq2 = dR1_dq2 + stepNormScale * (q2Step * (dR1_error - q1Step * dR1_dq1 + q2Step * dR1_dq2) );
|
|
dR2_dq1 = dR2_dq1 + stepNormScale * (q1Step * (dR2_error - q1Step * dR2_dq1 + q2Step * dR2_dq2) );
|
|
dR2_dq2 = dR2_dq2 + stepNormScale * (q2Step * (dR2_error - q1Step * dR2_dq1 + q2Step * dR2_dq2) );
|
|
|
|
calculateNewStepsFromJacobi(dR1_dq1, dR1_dq2,
|
|
dR2_dq1, dR2_dq2,
|
|
R1_error, R2_error,
|
|
&q1Step, &q2Step);
|
|
|
|
#else
|
|
|
|
dR1_dq1 = ((r1 - ev_1.firstRadius()) - (r1 - ev_0.firstRadius()))/q1Step;
|
|
dR2_dq2 = ((r2 - ev_1.secondRadius()) - (r2 - ev_0.secondRadius()))/q2Step;
|
|
|
|
R1_error = R1_error_new;
|
|
R2_error = R2_error_new;
|
|
|
|
q1Step = -R1_error/dR1_dq1;
|
|
q2Step = -R2_error/dR2_dq2;
|
|
|
|
#endif
|
|
|
|
ev_0 = ev_1;
|
|
}
|
|
|
|
|
|
*this = ev_0;
|
|
if ( iteration >= maxIterations )
|
|
{
|
|
m_solveStatus = FAILED_MAX_ITERATIONS_REACHED;
|
|
// Max iterations reached
|
|
}
|
|
else
|
|
{
|
|
m_solveStatus = solveResultStatus;
|
|
}
|
|
|
|
}
|
|
|