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IfcOpenShell/src/ifcgeom/mapping/IfcCurveSegment.cpp
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Richard Brice abe3d7e5db Fixes problem normalizing IfcDirection direction ratios
2024-09-28 06:19:41 -07:00

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/********************************************************************************
* *
* This file is part of IfcOpenShell. *
* *
* IfcOpenShell is free software: you can redistribute it and/or modify *
* it under the terms of the Lesser GNU General Public License as published by *
* the Free Software Foundation, either version 3.0 of the License, or *
* (at your option) any later version. *
* *
* IfcOpenShell is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* Lesser GNU General Public License for more details. *
* *
* You should have received a copy of the Lesser GNU General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
* *
********************************************************************************/
#include "mapping.h"
#define mapping POSTFIX_SCHEMA(mapping)
using namespace ifcopenshell::geometry;
#ifdef SCHEMA_HAS_IfcCurveSegment
#include "../profile_helper.h"
#include <boost/math/quadrature/trapezoidal.hpp>
#include <boost/math/tools/roots.hpp>
#include <boost/mpl/for_each.hpp>
#include <boost/mpl/vector.hpp>
#include <numeric>
namespace {
// @todo: rb is there a common math library these functions can be moved to?
auto sign = [](double v) -> double { return v ? v / fabs(v) : 1.0; };
enum segment_type_t {
ST_HORIZONTAL,
ST_VERTICAL,
ST_CANT
};
// @todo use std::numbers::pi when upgrading to C++ 20
static const double PI = boost::math::constants::pi<double>();
double translate_to_length_measure(const IfcSchema::IfcCurve* crv, double param_value) {
if (std::abs(param_value) < 1.e-7) {
return param_value;
} else if (auto line = crv->as<IfcSchema::IfcLine>()) {
return line->Dir()->Magnitude() * param_value;
} else if (auto clothoid = crv->as<IfcSchema::IfcClothoid>()) {
// param_value = 1.0, corresponds to tangent direction = PI/2
// param_value = (arc length)/fabs(A*PI)
return fabs(clothoid->ClothoidConstant()*sqrt(PI))*param_value;
} else if (auto circ = crv->as<IfcSchema::IfcCircle>()) {
return circ->Radius() * param_value;
} else if (auto poly = crv->as<IfcSchema::IfcPolynomialCurve>()) {
return param_value;
} else {
throw std::runtime_error("Unsupported curve measure type");
}
}
double translate_if_param_value(const IfcSchema::IfcCurve* crv, IfcSchema::IfcCurveMeasureSelect* val) {
if (auto param = val->as<IfcSchema::IfcParameterValue>()) {
// We don't care whether length- or positive length measure.
return translate_to_length_measure(crv, *param);
} else {
return val->data().get_attribute_value(0);
}
}
// vector of parent curve types that are supported for IfcCurveSegment.ParentCurve
typedef boost::mpl::vector<
IfcSchema::IfcLine
, IfcSchema::IfcCircle
, IfcSchema::IfcPolynomialCurve
#ifdef SCHEMA_HAS_IfcClothoid
, IfcSchema::IfcClothoid
#endif
#if defined SCHEMA_HAS_IfcCosineSpiral
, IfcSchema::IfcCosineSpiral
#endif
#if defined SCHEMA_HAS_IfcSineSpiral
, IfcSchema::IfcSineSpiral
#endif
#if defined SCHEMA_HAS_IfcSecondOrderPolynomialSpiral
, IfcSchema::IfcSecondOrderPolynomialSpiral
#endif
#if defined SCHEMA_HAS_IfcThirdOrderPolynomialSpiral
, IfcSchema::IfcThirdOrderPolynomialSpiral
#endif
#if defined SCHEMA_HAS_IfcSeventhOrderPolynomialSpiral
, IfcSchema::IfcSeventhOrderPolynomialSpiral
#endif
> curve_seg_types;
class curve_segment_evaluator {
private:
mapping* mapping_ = nullptr;
const IfcSchema::IfcCurveSegment* inst_ = nullptr; // this curve segment instance
double length_unit_;
double start_;
double length_; // length along the curve, as provided from the IfcCurveSegment
segment_type_t segment_type_;
const IfcSchema::IfcCurve* parent_curve_ = nullptr;
double projected_length_; // for vertical segments, this is the length of curve projected onto the "Distance Along" axis
std::optional<std::function<Eigen::Matrix4d(double)>> parent_curve_fn_; // function for the parent curve. Function takes distances along, u, and returns the 4x4 position matrix
std::optional<Eigen::Matrix4d> parent_curve_start_point_; // placement matrix for the parent curve
std::optional<Eigen::Matrix4d> placement_; // placement of this segment
std::optional<Eigen::Matrix4d> next_segment_placement_; // placement of the next segment
public:
curve_segment_evaluator(mapping* mapping, const IfcSchema::IfcCurveSegment* inst, const IfcSchema::IfcCurveSegment* next_inst, double length_unit, segment_type_t segment_type)
: mapping_(mapping),
inst_(inst),
length_unit_(length_unit),
segment_type_(segment_type),
parent_curve_(inst->ParentCurve()) {
start_ = translate_if_param_value(inst->ParentCurve(), inst->SegmentStart()) * length_unit;
length_ = translate_if_param_value(inst->ParentCurve(), inst->SegmentLength()) * length_unit;
if (inst) {
placement_ = taxonomy::cast<taxonomy::matrix4>(mapping_->map(inst->Placement()))->ccomponents();
}
if (next_inst) {
next_segment_placement_ = taxonomy::cast<taxonomy::matrix4>(mapping_->map(next_inst->Placement()))->ccomponents();
} else {
// there is not a next segment, however IfcGradientCurve and IfcSegmentReferenceCurve have an
// optional EndPoint which services the same purpose as the zero-length last segment.
auto composite_curves = inst->UsingCurves();
IfcSchema::IfcPlacement* end_point = nullptr;
if (composite_curves->size() == 1) {
auto& cc = *(composite_curves)->begin();
if (segment_type_ == ST_VERTICAL) {
auto gradient_curve = cc->as<IfcSchema::IfcGradientCurve>();
end_point = gradient_curve->EndPoint();
} else if (segment_type_ == ST_CANT) {
auto segmented_reference_curve = cc->as<IfcSchema::IfcSegmentedReferenceCurve>();
end_point = segmented_reference_curve->EndPoint();
}
} else {
Logger::Warning("IfcCurveSegment belongs to multiple IfcCompositeCurve instances. Cannot determine the end point.");
}
if (end_point) {
next_segment_placement_ = taxonomy::cast<taxonomy::matrix4>(mapping_->map(end_point))->ccomponents();
}
}
}
// Take the boost::type value from mpl::for_each and test it against our curve instance
template <typename T>
void operator()(boost::type<T>) {
if (parent_curve_->as<T>()) {
(*this)(parent_curve_->as<T>());
}
}
double length() const {
return (segment_type_ == ST_HORIZONTAL || segment_type_ == ST_CANT) ? length_ : projected_length_;
}
const std::optional<std::function<Eigen::Matrix4d(double)>>& parent_curve_function() const {
return parent_curve_fn_;
}
const std::optional<Eigen::Matrix4d>& parent_curve_start_point() const {
return parent_curve_start_point_;
}
const std::optional<Eigen::Matrix4d>& segment_placement() const {
return placement_;
}
void set_spiral_function(double s, std::function<double(double)> fnX, std::function<double(double)> fnY) {
if (segment_type_ == ST_HORIZONTAL || segment_type_ == ST_VERTICAL) {
projected_length_ = length_;
// start of trimmed curve
double pcStartX = 0.0, pcStartY = 0.0;
double pcStartDx = 1.0, pcStartDy = 0.0;
if (start_) {
// the spiral doesn't start at the inflection point
// compute the point where it starts
pcStartX = boost::math::quadrature::trapezoidal(fnX, 0.0, start_ / s);
pcStartY = boost::math::quadrature::trapezoidal(fnY, 0.0, start_ / s);
// compute the slope of the spiral at the start point
pcStartDx = s ? fnX(start_ / s) / s : 1.0;
pcStartDy = s ? fnY(start_ / s) / s : 0.0;
}
Eigen::Matrix4d p = Eigen::Matrix4d::Identity();
p.col(0) = Eigen::Vector4d(pcStartDx, pcStartDy, 0, 0);
p.col(1) = Eigen::Vector4d(-pcStartDy, pcStartDx, 0, 0);
p.col(3) = Eigen::Vector4d(pcStartX, pcStartY, 0, 1);
parent_curve_start_point_ = p;
std::function<double(double)> convert_u;
if (segment_type_ == ST_HORIZONTAL)
{
convert_u = [](double u) -> double { return u; };
} else {
// This functor is f'(x) = dy/dx
auto df = [fnX,fnY](double t) -> double {
auto dy = fnY(t);
auto dx = fnX(t);
return dx ? dy / dx : 0.0;
};
// This functor computes the curve length
// Integral (sqrt (f'(x) ^ 2 + 1)dx
convert_u = [df](double x) -> double {
auto fs = [df](double x) -> double {
return sqrt(pow(df(x), 2) + 1);
};
auto s = boost::math::quadrature::trapezoidal(fs, 0.0, x);
return s;
};
}
parent_curve_fn_ = [start=start_, s, convert_u, fnX, fnY](double u) {
u = convert_u(u+start);
// integration limits, integrate from a to b
auto b = s ? u / s : 0.0;
// point on parent curve
auto x = boost::math::quadrature::trapezoidal(fnX, 0.0, b);
auto y = boost::math::quadrature::trapezoidal(fnY, 0.0, b);
auto dx = s ? fnX(b) / s : 1.0;
auto dy = s ? fnY(b) / s : 0.0;
Eigen::Matrix4d m = Eigen::Matrix4d::Identity();
m.col(0) = Eigen::Vector4d(dx, dy, 0, 0);
m.col(1) = Eigen::Vector4d(-dy, dx, 0, 0);
m.col(3) = Eigen::Vector4d(x, y, 0, 1);
return m;
};
} else if (segment_type_ == ST_CANT) {
Logger::Error(std::runtime_error("Unexpected segment type encountered - cant is handled in set_cant_spiral_function - should never get here"));
parent_curve_fn_ = [](double /*u*/) -> Eigen::Matrix4d { return Eigen::Matrix4d::Identity(); };
} else {
Logger::Error(std::runtime_error("Unexpected segment type encountered"));
parent_curve_fn_ = [](double /*u*/) -> Eigen::Matrix4d { return Eigen::Matrix4d::Identity(); };
}
}
// defines the parent_curve_fn_ functor for cant segments.
void set_cant_spiral_function(std::function<double(double)> Superelevation, std::function<double(double)> SuperelevationSlope, std::function<double(double)> Cant) {
auto dy = (*placement_)(1, 2); // placement dy
auto dz = (*placement_)(2, 2); // placement dz
auto start_angle = atan2(dz, dy);
dy = (next_segment_placement_.has_value() ? (*next_segment_placement_)(1, 2) : 0.0);
dz = (next_segment_placement_.has_value() ? (*next_segment_placement_)(2, 2) : 1.0);
auto end_angle = atan2(dz, dy);
auto delta_angle = end_angle - start_angle;
auto start_cant = Cant(0.0 /*start_*/);
auto end_cant = Cant(/* start_ + */ length_);
auto delta_cant = end_cant - start_cant;
parent_curve_fn_ = [start_angle,delta_angle,start_cant,delta_cant,Superelevation, SuperelevationSlope, Cant](double u) -> Eigen::Matrix4d {
// departure of the curve segment from the base curve (superelevation)
auto super_elevation = Superelevation(u);
auto slope = SuperelevationSlope(u);
// direction along curve segment
auto angle = atan(slope);
auto dx = cos(angle);
auto dy = sin(angle);
Eigen::Vector4d ref_dir(dx, dy, 0.0, 0.0);
// tilt angle in the plane of the cross section
auto cant = Cant(u);
auto tilt_angle = start_angle + delta_angle * (cant - start_cant) / delta_cant;
Eigen::Vector4d z(0.0, cos(tilt_angle), sin(tilt_angle), 0.0);
// compute axis direction
Eigen::Vector4d y = z.cross3(ref_dir);
Eigen::Vector4d axis = ref_dir.cross3(y);
Eigen::Matrix4d m = Eigen::Matrix4d::Identity();
m.col(0) = ref_dir;
m.col(1) = y;
m.col(2) = axis;
m.col(3) = Eigen::Vector4d(u, super_elevation, 0.0, 1.0);
return m;
};
parent_curve_start_point_ = (*parent_curve_fn_)(0.0);
}
// returns function for super elevation and the slope of the super elevation curve if the super elevation is constant
// over the length of the segment. otherwise, no functions are returned because they are the same as the cant tilt angle
// functions.
std::pair<boost::optional<std::function<double(double)>>, boost::optional<std::function<double(double)>>> get_superelevation_functions() {
boost::optional<std::function<double(double)>> superelevation_fn;
boost::optional<std::function<double(double)>> superelevation_slope_fn;
if (placement_.has_value() && next_segment_placement_.has_value()) {
double y1 = (*placement_)(1, 3);
double y2 = (*next_segment_placement_)(1, 3);
// if y2-y1 = 0, the super elevation is constant
// so we need a function that always returns the constant value
if (!(y2 - y1)) {
superelevation_fn = [y1](double) -> double { return y1; };
superelevation_slope_fn = [](double) -> double { return 0.0; };
}
}
return std::make_pair(superelevation_fn,superelevation_slope_fn);
}
#ifdef SCHEMA_HAS_IfcClothoid
void operator()(const IfcSchema::IfcClothoid* c) {
auto A = c->ClothoidConstant();
if (segment_type_ == ST_CANT) {
boost::optional<std::function<double(double)>> super, slope;
std::tie(super, slope) = get_superelevation_functions();
auto cant = [A, L = length_ * length_unit_](double t) -> double { return A ? L * A * t / fabs(pow(A, 3)) : 0.0; };
if (!super.has_value()) {
super = cant;
}
if (!slope.has_value()) {
slope= [A, L = length_ * length_unit_](double /*t*/) -> double { return A ? L * A / fabs(pow(A, 3)) : 0.0; };
}
set_cant_spiral_function(*super,*slope, cant);
} else {
auto s = fabs(A * sqrt(PI)); // curve length when u = 1.0
auto fn_x = [A, s](double t) -> double { return A ? s * cos(PI * A * t * t / (2 * fabs(A))) : 0.0; };
auto fn_y = [A, s](double t) -> double { return A ? s * sin(PI * A * t * t / (2 * fabs(A))) : 0.0; };
set_spiral_function(s, fn_x, fn_y);
}
}
#endif
#if defined SCHEMA_HAS_IfcCosineSpiral
void operator()(const IfcSchema::IfcCosineSpiral* c) {
auto constant_term = c->ConstantTerm();
auto cosine_term = c->CosineTerm();
auto L = length() * length_unit_;
if (segment_type_ == ST_HORIZONTAL) {
auto theta = [constant_term, cosine_term, L, lu = length_unit_](double t) -> double {
auto a0 = constant_term.has_value() ? t / (constant_term.value() * lu) : 0.0;
auto a1 = (L / PI) * (1.0 / (cosine_term * lu)) * sin((PI / L) * t);
return a0 + a1;
};
auto fn_x = [theta](double t) -> double { return cos(theta(t)); };
auto fn_y = [theta](double t) -> double { return sin(theta(t)); };
double s = 1.0;
set_spiral_function(s, fn_x, fn_y);
} else if (segment_type_ == ST_CANT) {
boost::optional<std::function<double(double)>> super, slope;
std::tie(super, slope) = get_superelevation_functions();
auto cant = [constant_term, cosine_term, L, lu = length_unit_](double t) -> double {
auto a0 = constant_term.has_value() ? L / (constant_term.value() * lu) : 0.0;
auto a1 = (L / (cosine_term * lu)) * cos(PI * t * lu / L);
return a0 + a1;
};
if (!super.has_value()) {
super = cant;
}
if (!slope.has_value()) {
slope = [cosine_term, L, lu = length_unit_](double t) -> double {
auto a1 = -(PI / L) * (L / (cosine_term * lu)) * sin(PI * t * lu / L);
return a1;
};
}
set_cant_spiral_function(*super, *slope, cant);
} else if (segment_type_ == ST_VERTICAL) {
Logger::Error(std::runtime_error("IfcCosineSpiral cannot be used for vertical alignment"));
parent_curve_fn_ = [](double /*u*/) -> Eigen::Matrix4d { return Eigen::Matrix4d::Identity(); };
} else {
Logger::Error(std::runtime_error("Unexpected segment type encountered"));
parent_curve_fn_ = [](double /*u*/) -> Eigen::Matrix4d { return Eigen::Matrix4d::Identity(); };
}
}
#endif
#if defined SCHEMA_HAS_IfcSineSpiral
void operator()(const IfcSchema::IfcSineSpiral* c) {
auto constant_term = c->ConstantTerm();
auto linear_term = c->LinearTerm();
auto sine_term = c->SineTerm();
auto L = length() * length_unit_;
if (segment_type_ == ST_HORIZONTAL) {
auto theta = [constant_term, linear_term, sine_term, L, lu = length_unit_](double t) -> double {
auto a0 = constant_term.has_value() ? t / (constant_term.value() * lu) : 0.0;
auto a1 = linear_term.has_value() ? sign(linear_term.value()) * pow(t / (linear_term.value() * lu), 2.0) / 2.0 : 0.0;
auto a2 = -1.0 * (L / (2 * PI * sine_term * lu)) * (cos(2 * PI * t / L) - 1.0);
return a0 + a1 + a2;
};
auto fn_x = [theta](double t) -> double { return cos(theta(t)); };
auto fn_y = [theta](double t) -> double { return sin(theta(t)); };
double s = 1.0;
set_spiral_function(s, fn_x, fn_y);
} else if (segment_type_ == ST_CANT) {
boost::optional<std::function<double(double)>> super, slope;
std::tie(super, slope) = get_superelevation_functions();
auto cant = [constant_term, linear_term, sine_term, L, lu = length_unit_](double t) -> double {
auto a0 = constant_term.has_value() ? L / (constant_term.value() * lu) : 0.0;
auto a1 = linear_term.has_value() ? sign(linear_term.value()) * pow(L / (linear_term.value() * lu), 2.0) * (t / L) : 0.0;
auto a2 = (L / (sine_term * lu)) * sin(2 * PI * t / L);
return a0 + a1 + a2;
};
if (!super.has_value()) {
super = cant;
}
if (!slope.has_value()) {
slope = [linear_term, sine_term, L, lu = length_unit_](double t) -> double {
auto a1 = linear_term.has_value() ? sign(linear_term.value()) * pow(L / (linear_term.value() * lu), 2.0) * (1.0 / L) : 0.0;
auto a2 = (2 * PI / L) * (L / (sine_term * lu)) * cos(2 * PI * t / L);
return a1 + a2;
};
}
set_cant_spiral_function(*super, *slope, cant);
} else if (segment_type_ == ST_VERTICAL) {
Logger::Error(std::runtime_error("IfcSineSpiral cannot be used for vertical alignment"));
parent_curve_fn_ = [](double /*u*/) -> Eigen::Matrix4d { return Eigen::Matrix4d::Identity(); };
} else {
Logger::Error(std::runtime_error("Unexpected segment type encountered"));
parent_curve_fn_ = [](double /*u*/) -> Eigen::Matrix4d { return Eigen::Matrix4d::Identity(); };
}
}
#endif
void polynomial_spiral(boost::optional<double> A0, boost::optional<double> A1, boost::optional<double> A2, boost::optional<double> A3, boost::optional<double> A4, boost::optional<double> A5, boost::optional<double> A6, boost::optional<double> A7) {
auto theta = [A0, A1, A2, A3, A4, A5, A6, A7, start = start_ * length_unit_, lu = length_unit_](double t) {
auto a0 = A0.has_value() ? t / (A0.value() * lu) : 0.0;
auto a1 = A1.has_value() ? A1.value() * lu * std::pow(t, 2) / (2 * fabs(std::pow(A1.value() * lu, 3))) : 0.0;
auto a2 = A2.has_value() ? std::pow(t, 3) / (3 * std::pow(A2.value() * lu, 3)) : 0.0;
auto a3 = A3.has_value() ? A3.value() * lu * std::pow(t, 4) / (4 * fabs(std::pow(A3.value() * lu, 5))) : 0.0;
auto a4 = A4.has_value() ? std::pow(t, 5) / (5 * std::pow(A4.value() * lu, 5)) : 0.0;
auto a5 = A5.has_value() ? A5.value() * lu * std::pow(t, 6) / (6 * fabs(std::pow(A5.value() * lu, 7))) : 0.0;
auto a6 = A6.has_value() ? std::pow(t, 7) / (7 * std::pow(A6.value() * lu, 7)) : 0.0;
auto a7 = A7.has_value() ? A7.value() * lu * std::pow(t, 8) / (8 * fabs(std::pow(A7.value() * lu, 9))) : 0.0;
return a0 + a1 + a2 + a3 + a4 + a5 + a6 + a7;
};
auto fn_x = [theta](double t) -> double { return cos(theta(t)); };
auto fn_y = [theta](double t) -> double { return sin(theta(t)); };
double s = 1.0;
set_spiral_function(s, fn_x, fn_y);
}
void polynomial_cant_spiral(boost::optional<double> A0, boost::optional<double> A1, boost::optional<double> A2, boost::optional<double> A3, boost::optional<double> A4, boost::optional<double> A5, boost::optional<double> A6, boost::optional<double> A7) {
boost::optional<std::function<double(double)>> super, slope;
std::tie(super, slope) = get_superelevation_functions();
auto cant = [A0, A1, A2, A3, A4, A5, A6, A7, start = start_ * length_unit_, L = length_ * length_unit_, lu = length_unit_, length = length_](double t) {
t += start;
auto a0 = A0.has_value() ? 1 / (A0.value() * lu) : 0.0;
auto a1 = A1.has_value() ? A1.value() * lu * t / fabs(std::pow(A1.value() * lu, 3)) : 0.0;
auto a2 = A2.has_value() ? std::pow(t, 2) / std::pow(A2.value() * lu, 3) : 0.0;
auto a3 = A3.has_value() ? A3.value() * lu * std::pow(t, 3) / fabs(std::pow(A3.value() * lu, 5)) : 0.0;
auto a4 = A4.has_value() ? std::pow(t, 4) / std::pow(A4.value() * lu, 5) : 0.0;
auto a5 = A5.has_value() ? A5.value() * lu * std::pow(t, 5) / fabs(std::pow(A5.value() * lu, 7)) : 0.0;
auto a6 = A6.has_value() ? std::pow(t, 6) / std::pow(A6.value() * lu, 7) : 0.0;
auto a7 = A7.has_value() ? A7.value() * lu * std::pow(t, 7) / fabs(std::pow(A7.value() * lu, 9)) : 0.0;
return L * (a0 + a1 + a2 + a3 + a4 + a5 + a6 + a7);
};
if (!super.has_value()) {
super = cant;
}
if (!slope.has_value()) {
slope = [A1, A2, A3, A4, A5, A6, A7, start = start_ * length_unit_, L = length_ * length_unit_, lu = length_unit_, length = length_](double t) {
t += start;
auto a1 = A1.has_value() ? A1.value() * lu / fabs(std::pow(A1.value() * lu, 3)) : 0.0;
auto a2 = A2.has_value() ? 2 * t / std::pow(A2.value() * lu, 3) : 0.0;
auto a3 = A3.has_value() ? 3 * A3.value() * lu * std::pow(t, 2) / fabs(std::pow(A3.value() * lu, 5)) : 0.0;
auto a4 = A4.has_value() ? 4 * std::pow(t, 3) / std::pow(A4.value() * lu, 5) : 0.0;
auto a5 = A5.has_value() ? 5 * A5.value() * lu * std::pow(t, 4) / fabs(std::pow(A5.value() * lu, 7)) : 0.0;
auto a6 = A6.has_value() ? 6 * std::pow(t, 5) / std::pow(A6.value() * lu, 7) : 0.0;
auto a7 = A7.has_value() ? 7 * A7.value() * lu * std::pow(t, 6) / fabs(std::pow(A7.value() * lu, 9)) : 0.0;
return L * (a1 + a2 + a3 + a4 + a5 + a6 + a7);
};
}
set_cant_spiral_function(*super, *slope, cant);
}
#ifdef SCHEMA_HAS_IfcSecondOrderPolynomialSpiral
void operator()(const IfcSchema::IfcSecondOrderPolynomialSpiral* c) {
auto A0 = c->ConstantTerm();
auto A1 = c->LinearTerm();
auto A2 = c->QuadraticTerm();
boost::optional<double> A3, A4, A5, A6, A7;
if (segment_type_ == ST_CANT) {
polynomial_cant_spiral(A0, A1, A2, A3, A4, A5, A6, A7);
} else {
polynomial_spiral(A0, A1, A2, A3, A4, A5, A6, A7);
}
}
#endif
#ifdef SCHEMA_HAS_IfcThirdOrderPolynomialSpiral
void operator()(const IfcSchema::IfcThirdOrderPolynomialSpiral* c) {
auto A0 = c->ConstantTerm();
auto A1 = c->LinearTerm();
auto A2 = c->QuadraticTerm();
auto A3 = c->CubicTerm();
boost::optional<double> A4, A5, A6, A7;
if (segment_type_ == ST_CANT) {
polynomial_cant_spiral(A0, A1, A2, A3, A4, A5, A6, A7);
} else {
polynomial_spiral(A0, A1, A2, A3, A4, A5, A6, A7);
}
}
#endif
#ifdef SCHEMA_HAS_IfcSeventhOrderPolynomialSpiral
void operator()(const IfcSchema::IfcSeventhOrderPolynomialSpiral* c) {
auto A0 = c->ConstantTerm();
auto A1 = c->LinearTerm();
auto A2 = c->QuadraticTerm();
auto A3 = c->CubicTerm();
auto A4 = c->QuarticTerm();
auto A5 = c->QuinticTerm();
auto A6 = c->SexticTerm();
auto A7 = c->SepticTerm();
if (segment_type_ == ST_CANT) {
polynomial_cant_spiral(A0, A1, A2, A3, A4, A5, A6, A7);
} else {
polynomial_spiral(A0, A1, A2, A3, A4, A5, A6, A7);
}
}
#endif
void operator()(const IfcSchema::IfcCircle* c) {
if (segment_type_ == ST_HORIZONTAL || segment_type_ == ST_VERTICAL) {
auto R = c->Radius() * length_unit_;
auto parent_curve_position = taxonomy::cast<taxonomy::matrix4>(mapping_->map(c->Position()))->ccomponents();
// center point of the parent curve
auto pcCenterX = parent_curve_position(0, 3);
auto pcCenterY = parent_curve_position(1, 3);
auto pcDx = parent_curve_position(0, 0);
auto pcDy = parent_curve_position(1, 0);
// angle from X = 0 to the parent curve X-axis
auto pc_axis_angle = atan2(pcDy, pcDx);
// sweep angle from the parent curve X-axis to the first point on the trimmed curve
auto sweep_start_angle = R ? start_ / R : 0.0;
// angle from X = 0 to the first point on the trimmed curve
auto start_angle = pc_axis_angle + sweep_start_angle;
auto sign_l = sign(length_);
projected_length_ = length_;
std::function<double(double)> convert_u;
if (segment_type_ == ST_HORIZONTAL) {
convert_u = [](double u) { return u; };
} else {
auto curve_segment_placement = taxonomy::cast<taxonomy::matrix4>(mapping_->map(inst_->Placement()))->ccomponents();
auto csStartX = curve_segment_placement(0, 3);
auto csStartY = curve_segment_placement(1, 3);
auto csStartDx = curve_segment_placement(0, 0);
auto csStartDy = curve_segment_placement(1, 0);
auto csCenterX = csStartX - sign_l * csStartDy * R;
auto csCenterY = csStartY + sign_l * csStartDx * R;
convert_u = [csStartX, csStartY, csCenterX, csCenterY, R, sign_l](double u) {
// for vertical, u is measured along the horizonal but we need it to be an arc length
// x and y are coordinates on the curve segment for horizontal distance u from the start point
// u is a horizontal distance so x = csStartX + u
// Recognizing the triangle
// R^2 = (u + csStartX - csCenterX)^2 + (y - csCenterY)^2
// solve for y
// (y - csCenterY) = sqrt( R^2 - (u + csStartX - csCenterX)^2 )
// y = csCenterY + sqrt( R^2 - (u + csStartX - csCenterX)^2 )
auto x = csStartX + u;
auto y = csCenterY - sign_l * sqrt(pow(R, 2) - pow(u + csStartX - csCenterX, 2));
// compute the chord distance between the start point and (x,y)
auto c = sqrt(pow(x - csStartX, 2.0) + pow(y - csStartY, 2.0));
// compute the subtended angle
// c = 2R*sin(delta/2)
auto delta = R ? 2.0 * asin(c / (2 * R)) : 0.0;
// compute the arc length (this will always be a positive value)
u = R * fabs(delta);
return u;
};
}
parent_curve_fn_ = [segment_type = segment_type_, R, pcCenterX, pcCenterY, start_angle, sign_l, convert_u](double u) {
u = convert_u(u);
// u is measured along the circle
// angle from the X=0 axis to the current point
auto delta = R ? sign_l * u / R : 0.0;
auto sweep_angle = start_angle + delta;
auto cos_sweep_angle = cos(sweep_angle);
auto sin_sweep_angle = sin(sweep_angle);
// point on the parent curve
auto pcX = R * cos_sweep_angle + pcCenterX;
auto pcY = R * sin_sweep_angle + pcCenterY;
auto pcDx = -sign_l * sin_sweep_angle;
auto pcDy = sign_l * cos_sweep_angle;
Eigen::Matrix4d m = Eigen::Matrix4d::Identity();
m.col(0) = Eigen::Vector4d(pcDx, pcDy, 0, 0);
m.col(1) = Eigen::Vector4d(-pcDy, pcDx, 0, 0);
m.col(3) = Eigen::Vector4d(pcX, pcY, 0.0, 1.0);
return m;
};
if (segment_type_ == ST_HORIZONTAL) {
parent_curve_start_point_ = (*parent_curve_fn_)(start_);
} else {
// @todo - find a way to simplify this
// For vertical circle "u" is a horizontal measurement and it needs to be converted
// to a distance along the circle. However, when evaluating the start point,
// start_ is distance along. parent_curve_fn_ will call it's convert_u method
// which would be wrong in this case. For this reason, the start point of the parent curve
// is explicitly computed here. This code is a little redundant with parent_curve_fn_.
auto cos_start_angle = cos(start_angle);
auto sin_start_angle = sin(start_angle);
// point on the parent curve
auto pcStartX = R * cos_start_angle + pcCenterX;
auto pcStartY = R * sin_start_angle + pcCenterY;
auto pcStartDx = -sign_l * sin_start_angle;
auto pcStartDy = sign_l * cos_start_angle;
Eigen::Matrix4d m = Eigen::Matrix4d::Identity();
m.col(0) = Eigen::Vector4d(pcStartDx, pcStartDy, 0, 0);
m.col(1) = Eigen::Vector4d(-pcStartDy, pcStartDx, 0, 0);
m.col(3) = Eigen::Vector4d(pcStartX, pcStartY, 0.0, 1.0);
parent_curve_start_point_ = m;
}
} else if (segment_type_ == ST_CANT) {
Logger::Warning(std::runtime_error("Use of IfcCircle for cant is not supported"));
parent_curve_fn_ = [](double /*u*/) -> Eigen::Matrix4d { return Eigen::Matrix4d::Identity(); };
} else {
Logger::Error(std::runtime_error("Unexpected segment type encountered"));
parent_curve_fn_ = [](double /*u*/) -> Eigen::Matrix4d { return Eigen::Matrix4d::Identity(); };
}
}
void operator()(const IfcSchema::IfcLine* l) {
projected_length_ = length_;
auto c = l->Pnt()->Coordinates();
auto pcX = c[0] * length_unit_;
auto pcY = c[1] * length_unit_;
// 8.9.3.75 IfcVector https://standards.buildingsmart.org/IFC/RELEASE/IFC4_3/HTML/lexical/IfcVector.htm
// 8.9.3.30 IfcDirection https://standards.buildingsmart.org/IFC/RELEASE/IFC4_3/HTML/lexical/IfcDirection.htm
// "The IfcDirection does not imply a vector length, and the direction ratios does not have to be normalized."
//
// Therefore, the direction ratios need to be normalized to compute points on the line.
//
// Magnitude is not used because it relates to the parameterization of the line, which isn't currently done for IfcCurveSegment
// @todo - parameterization was recently added so Magnitude needs to be taking into consideration
auto dr = l->Dir()->Orientation()->DirectionRatios();
// normalize the direction ratios
double m_squared = std::inner_product(dr.begin(), dr.end(), dr.begin(), 0.0);
double m = sqrt(m_squared);
std::transform(dr.begin(), dr.end(), dr.begin(), [m](auto& d) { return d / m; });
auto pcDx = dr[0];
auto pcDy = dr[1];
if (segment_type_ == ST_HORIZONTAL || segment_type_ == ST_VERTICAL || segment_type_ == ST_CANT) {
std::function<double(double)> convert_u;
if (segment_type_ == ST_HORIZONTAL || segment_type_ == ST_CANT) {
convert_u = [](double u) { return u; }; // u is along curve
} else {
// u is along horizontal, convert to along curve
convert_u = [pcDx](double u) { return u/pcDx; };
}
parent_curve_fn_ = [pcX, pcY, pcDx, pcDy, convert_u](double u) {
u = convert_u(u);
auto x = pcX + pcDx * u;
auto y = pcY + pcDy * u;
Eigen::Matrix4d m = Eigen::Matrix4d::Identity();
m.col(0) = Eigen::Vector4d(pcDx, pcDy, 0, 0);
m.col(1) = Eigen::Vector4d(-pcDy, pcDx, 0, 0);
m.col(3) = Eigen::Vector4d(x, y, 0.0, 1.0);
return m;
};
parent_curve_start_point_ = (*parent_curve_fn_)(start_);
} else {
Logger::Warning(std::runtime_error("Unexpected segment type encountered"));
parent_curve_fn_ = [](double /*u*/) -> Eigen::Matrix4d { return Eigen::Matrix4d::Identity(); };
}
}
void operator()(const IfcSchema::IfcPolynomialCurve* pc) {
// see https://forums.buildingsmart.org/t/ifcpolynomialcurve-clarification/4716 for discussion on IfcPolynomialCurve
auto coeffX = pc->CoefficientsX().get_value_or(std::vector<double>());
auto coeffY = pc->CoefficientsY().get_value_or(std::vector<double>());
auto coeffZ = pc->CoefficientsZ().get_value_or(std::vector<double>());
if (!coeffZ.empty()) {
Logger::Warning("Expected IfcPolynomialCurve.CoefficientsZ to be undefined for alignment geometry. Coefficients ignored.", pc);
}
auto length_unit = length_unit_;
if (segment_type_ == ST_HORIZONTAL || segment_type_ == ST_VERTICAL) {
projected_length_ = length_;
// There is one significant difference between IfcPolynomalCurve used for horizontal and vertical alignments.
// For horizontal alignment, u is the distance along the curve. For vertical alignment, u is the horizontal distance.
// From 4.2.2.2.8 the polynomial curve equation is in the form of y = Ax^3 for horizontal parabolic transition segments.
// To evaluate the horizontal function, the value of x that corresponds to the distance along the curve u is needed.
// This is what the convert_u functor does. For vertical curves, the convert_u functor simply returns x = u.
std::function<double(double)> convert_u;
if (segment_type_ == ST_HORIZONTAL) {
// Distance along the curve is Integral[0,x] (sqrt(f'(x)^2 + 1) dx
// This functor is the derivative of y(x) => dy/dx = f'(x)
auto df = [coeffY, length_unit](double x) -> double {
auto begin = std::next(coeffY.begin());
auto iter = begin;
auto end = coeffY.end();
auto length_conversion = length_unit;
double value = 0;
for (; iter != end; iter++) {
auto exp = std::distance(begin, iter);
auto coeff = (*iter) * length_conversion;
value += (double)exp * coeff * pow(x, exp);
length_conversion /= length_unit;
}
return value;
};
// This functor computes the curve length
// Integral[0,x] (sqrt(f'(x)^2 + 1) dx
auto curve_length_fn = [df](double x) -> double {
auto fs = [df](double x) -> double {
return sqrt(pow(df(x), 2) + 1);
};
auto s = boost::math::quadrature::trapezoidal(fs, 0.0, x);
return s;
};
// There isn't a closed form solution to get x that corresponds to a distance along the curve, u
// A numerical solution is required.
// This functor finds the value of x such that s(x) - u = 0, where u is the input value and s is the
// computed curve length.
convert_u = [curve_length_fn](double u) -> double {
std::uintmax_t max_iter = 5000;
auto tol = [](double a, double b) { return fabs(b - a) < 1.0E-09; };
auto x = u; // start by assuming u = x (it's not, but it will be close)
try {
// set up the root finding function that evaluates s(x) - u
auto f = [curve_length_fn, u](double x) -> double { return curve_length_fn(x) - u; };
// use a root finder to get x
auto result = boost::math::tools::bracket_and_solve_root(f, x, 2.0, true, tol, max_iter);
x = result.first;
} catch (...) {
Logger::Warning("root solver failed");
}
return x;
};
} else {
// for vertical, u = x
convert_u = [](double u) -> double { return u; };
}
// This functor evaluates the polynomial at a distance u along the curve
parent_curve_fn_ = [start = start_, coeffX, coeffY, length_unit, convert_u](double u) -> Eigen::Matrix4d {
auto x = convert_u(u + start); // find x for u
// evaluate the polynomial at x
std::array<const std::vector<double>*, 2> coefficients{&coeffX, &coeffY};
std::array<double, 2> position{0.0, 0.0}; // = SUM(coeff*u^pos)
std::array<double, 2> slope{0.0, 0.0}; // slope is derivative of the curve = SUM( coeff*pos*u^(pos-1) )
for (int i = 0; i < 2; i++) { // loop over X and Y
auto length_conversion = length_unit;
auto begin = coefficients[i]->cbegin();
auto end = coefficients[i]->cend();
for (auto iter = begin; iter != end; iter++) {
auto exp = std::distance(begin, iter);
auto coeff = (*iter) * length_conversion;
position[i] += coeff * pow(x, exp);
if (iter != begin) {
slope[i] += coeff * exp * pow(x, exp - 1);
}
length_conversion /= length_unit;
}
}
auto X = position[0];
auto Y = position[1];
auto Dx = slope[0];
auto Dy = slope[1];
auto angle = atan2(Dy, Dx);
Dx = cos(angle);
Dy = sin(angle);
Eigen::Matrix4d m = Eigen::Matrix4d::Identity();
m.col(0) = Eigen::Vector4d(Dx, Dy, 0, 0);
m.col(1) = Eigen::Vector4d(-Dy, Dx, 0, 0);
m.col(3) = Eigen::Vector4d(X, Y, 0.0, 1.0);
return m;
};
parent_curve_start_point_ = (*parent_curve_fn_)(0.0); // start is added to u in parent_curve_fn_, so use 0.0 here
} else if (segment_type_ == ST_CANT) {
Logger::Warning(std::runtime_error("Use of IfcPolynomialCurve for cant is not supported"));
parent_curve_fn_ = [](double /*u*/) -> Eigen::Matrix4d { return Eigen::Matrix4d::Identity(); };
} else {
Logger::Error(std::runtime_error("Unexpected segment type encountered"));
parent_curve_fn_ = [](double /*u*/) -> Eigen::Matrix4d { return Eigen::Matrix4d::Identity(); };
}
}
};
} // namespace
taxonomy::ptr mapping::map_impl(const IfcSchema::IfcCurveSegment* inst) {
auto composite_curves = inst->UsingCurves();
// Find the next segment after inst
const IfcSchema::IfcCurveSegment* next_inst = nullptr;
if (composite_curves) {
if (composite_curves->size() == 1) {
auto segments = (*composite_curves->begin())->as<IfcSchema::IfcCompositeCurve>()->Segments();
bool emit_next = false;
for (auto& s : *segments) {
if (emit_next) {
next_inst = s->as<IfcSchema::IfcCurveSegment>();
break;
}
if (s == inst) {
emit_next = true;
}
}
} else {
Logger::Warning("IfcCurveSegment belongs to multiple IfcCompositeCurve instances. Cannot determine the next segment.");
}
}
bool is_horizontal = false;
bool is_vertical = false;
bool is_cant = false;
if (composite_curves) {
for (auto& cc : *composite_curves) {
if (cc->as<IfcSchema::IfcSegmentedReferenceCurve>()) {
is_cant = true;
} else if (cc->as<IfcSchema::IfcGradientCurve>()) {
is_vertical = true;
} else {
is_horizontal = true;
}
}
}
if ((is_horizontal + is_vertical + is_cant) != 1) {
// We have to choose the correct functor based on usage. We can't
// support multiple, because we don't know the caller at this point.
return nullptr;
}
auto segment_type = is_horizontal ? ST_HORIZONTAL : is_vertical ? ST_VERTICAL : ST_CANT;
curve_segment_evaluator cse(this, inst, next_inst, length_unit_, segment_type);
boost::mpl::for_each<curve_seg_types, boost::type<boost::mpl::_>>(std::ref(cse));
const auto& parent_curve_fn = cse.parent_curve_function();
const auto& parent_curve_start_point = cse.parent_curve_start_point();
if (!parent_curve_fn || !parent_curve_start_point) {
Logger::Error(std::runtime_error(inst->ParentCurve()->declaration().name() + " not implemented"), inst);
}
const auto& curve_segment_placement = cse.segment_placement();
std::function<Eigen::Matrix4d(double u)> fn;
if (segment_type == ST_CANT)
{
fn = [curve_segment_placement, parent_curve_start_point, parent_curve_fn](double u) -> Eigen::Matrix4d {
// The parent curve function returns the cant rotation and superelevation for the parent curve.
// Subtract the parent_curve_start_point to get the incremental cant rotation and superelevation
// Add the incremental cant rotation and superelevation to curve_segment_placement to get the curve_segment_point
Eigen::Matrix4d parent_curve_point = (*parent_curve_fn)(u);
Eigen::Matrix4d cant_increment = parent_curve_point - (*parent_curve_start_point);
Eigen::Matrix4d curve_segment_point = (*curve_segment_placement) + cant_increment;
return curve_segment_point;
};
} else {
// The parent curve function returns the 4x4 matrix for the parent curve.
// Subtract the parent curve start point (remove the translation and rotation)
// to get the incremental translation and rotation. Apply the incremental
// translation and rotation to the curve_segment_placement to get the curve_segment_point
// Do a negative translation of the parent curve point relative to the start of the parent curve.
// This moves parent_curve_fn(u=0.0) to coordinate (0,0).
// This is done so the curve_segment_placement is applied relative to (0,0)
Eigen::Matrix4d remove_parent_curve_translation = Eigen::Matrix4d::Identity();
remove_parent_curve_translation.col(3) = -1.0 * (*parent_curve_start_point).col(3);
remove_parent_curve_translation(3, 3) = 1.0;
// Do a rotation so that the tangent of the parent curve is in the direction (1,0)
// Example: if the parent curve IfcLine is at a 30 degree clockwise angle, this does
// a 30 degree counter-clockwise rotation
// Clockwise rotation matrix = [cos(angle) -sin(angle)]
// [sin(angle) cos(angle)]
//
// Counter-clockwise rotation = [ cos(angle) sin(angle)]
// [-sin(angle) cos(angle)]
//
// That's just a sign flip in positions (0,1) and (1,0)
Eigen::Matrix4d remove_parent_curve_rotation = *parent_curve_start_point;
remove_parent_curve_rotation(0, 1) *= -1.0;
remove_parent_curve_rotation(1, 0) *= -1.0;
remove_parent_curve_rotation.col(3) = Eigen::Vector4d(0, 0, 0, 1); // remove the parent curve placement point
fn = [curve_segment_placement, remove_parent_curve_rotation, remove_parent_curve_translation, parent_curve_fn](double u) -> Eigen::Matrix4d {
Eigen::Matrix4d parent_curve_point = (*parent_curve_fn)(u);
Eigen::Matrix4d curve_segment_point = (*curve_segment_placement) * remove_parent_curve_rotation * remove_parent_curve_translation * parent_curve_point;
return curve_segment_point;
};
}
auto length = cse.length();
taxonomy::piecewise_function::spans_t spans;
spans.emplace_back(fabs(length), fn);
auto pwf = taxonomy::make<taxonomy::piecewise_function>(0.0, spans,inst);
return pwf;
}
#endif
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