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/*
* Grid.cpp
*
* Created on: 18 Nov 2016
* Author: David
*/
#include "Grid.h"
#include "Configuration.h"
#include <cmath>
// Initialise the grid to be invalid
GridDefinition::GridDefinition()
: xMin(0.0), xMax(-1.0), yMin(0.0), yMax(-1.0), radius(-1.0), spacing(DefaultGridSpacing), gridHeights(nullptr),
numX(0), numY(0), recipSpacing(1.0/spacing), isValid(false)
{
}
GridDefinition::GridDefinition(const float xRange[2], const float yRange[2], float pRadius, float pSpacing)
: xMin(xRange[0]), xMax(xRange[1]), yMin(yRange[0]), yMax(yRange[1]), radius(pRadius), spacing(pSpacing)
{
numX = (xMax - xMin >= MinRange && spacing >= MinSpacing) ? (uint32_t)((xMax - xMin)/spacing) + 1 : 0;
numY = (yMax - yMin >= MinRange && spacing >= MinSpacing) ? (uint32_t)((xMax - xMin)/spacing) + 1 : 0;
isValid = NumPoints() != 0 && NumPoints() <= MaxGridProbePoints && (radius < 0.0 || radius >= 1.0);
}
void GridDefinition::SetStorage(const float *heightStorage, const uint32_t *heightSetStorage)
{
gridHeights = heightStorage;
gridHeightSet = heightSetStorage;
}
float GridDefinition::GetXCoordinate(unsigned int xIndex) const
{
return xMin + (xIndex * spacing);
}
float GridDefinition::GetYCoordinate(unsigned int yIndex) const
{
return yMin + (yIndex * spacing);
}
bool GridDefinition::IsInRadius(float x, float y) const
{
return radius < 0.0 || x * x + y * y < radius * radius;
}
// Append the grid parameters to the end of a string
void GridDefinition::PrintParameters(StringRef& r) const
{
r.catf("X%.1f:%.1f, Y%.1f:%.1f, radius %.1f, spacing %.1f, %d points", xMin, xMax, yMin, yMax, radius, spacing, NumPoints());
}
// Print what is wrong with the grid
void GridDefinition::PrintError(StringRef& r) const
{
if (spacing < MinSpacing)
{
r.cat("Spacing too small");
}
else if (NumXpoints() == 0)
{
r.cat("X range too small");
}
else if (NumYpoints() == 0)
{
r.cat("Y range too small");
}
else if (NumPoints() > MaxGridProbePoints)
{
r.catf("Too many grid points (maximum %d, needed %d)", MaxGridProbePoints, NumPoints());
}
else
{
// The only thing left is a bad radius
r.cat("Bad radius");
}
}
// Compute the height error at the specified point
float GridDefinition::ComputeHeightError(float x, float y) const
{
const float xf = (x - xMin) * recipSpacing;
const float xFloor = floor(xf);
const int32_t xIndex = (int32_t)xFloor;
const float yf = (y - yMin) * recipSpacing;
const float yFloor = floor(yf);
const int32_t yIndex = (int32_t)yFloor;
if (xIndex < 0)
{
if (yIndex < 0)
{
// We are off the bottom left corner of the grid
return GetHeightError(0, 0);
}
else if (yIndex >= (int)NumYpoints())
{
return GetHeightError(0, NumYpoints());
}
else
{
return InterpolateY(0, yIndex, yf - yFloor);
}
}
else if (xIndex >= (int)NumXpoints())
{
if (yIndex < 0)
{
// We are off the bottom left corner of the grid
return GetHeightError(NumXpoints(), 0);
}
else if (yIndex >= (int)NumYpoints())
{
return GetHeightError(NumXpoints(), NumYpoints());
}
else
{
return InterpolateY(NumXpoints(), yIndex, yf - yFloor);
}
}
else
{
if (yIndex < 0)
{
// We are off the bottom left corner of the grid
return InterpolateX(xIndex, 0, xf - xFloor);
}
else if (yIndex >= (int)NumYpoints())
{
return InterpolateX(xIndex, NumYpoints(), xf - xFloor);
}
else
{
return InterpolateXY(xIndex, yIndex, xf - xFloor, yf - yFloor);
}
}
}
float GridDefinition::GetHeightError(uint32_t xIndex, uint32_t yIndex) const
{
const uint32_t index = GetMapIndex(xIndex, yIndex);
return (IsHeightSet(index)) ? gridHeights[index] : 0.0;
}
float GridDefinition::InterpolateX(uint32_t xIndex, uint32_t yIndex, float xFrac) const
{
const uint32_t index1 = GetMapIndex(xIndex, yIndex);
return Interpolate2(index1, index1 + 1, xFrac);
}
float GridDefinition::InterpolateY(uint32_t xIndex, uint32_t yIndex, float yFrac) const
{
const uint32_t index1 = GetMapIndex(xIndex, yIndex);
return Interpolate2(index1, index1 + numX, yFrac);
}
float GridDefinition::Interpolate2(uint32_t index1, uint32_t index2, float frac) const
{
const bool b1 = IsHeightSet(index1);
const bool b2 = IsHeightSet(index2);
return (b1 && b2) ? (frac * gridHeights[index1]) + ((1.0 - frac) * gridHeights[index2])
: (b1) ? gridHeights[index1]
: (b2) ? gridHeights[index2]
: 0.0;
}
float GridDefinition::InterpolateXY(uint32_t xIndex, uint32_t yIndex, float xFrac, float yFrac) const
{
const uint32_t indexX0Y0 = GetMapIndex(xIndex, yIndex); // (X0,Y0)
const uint32_t indexX1Y0 = indexX0Y0 + 1; // (X1,Y0)
const uint32_t indexX0Y1 = indexX0Y0 + numX; // (X0 Y1)
const uint32_t indexX1Y1 = indexX0Y1 + 1; // (X1,Y1)
const unsigned int cc = ((unsigned int)IsHeightSet(indexX0Y0) << 0)
+ ((unsigned int)IsHeightSet(indexX1Y0) << 1)
+ ((unsigned int)IsHeightSet(indexX0Y1) << 2)
+ ((unsigned int)IsHeightSet(indexX1Y1) << 3);
switch(cc)
{
case 0: // no points defined
default:
return 0.0;
case 1: // (X0,Y0) defined
return gridHeights[indexX0Y0];
case 2: // (X1,Y0) defined
return gridHeights[indexX1Y0];
case 3: // (X0,Y0) and (X1,Y0) defined
return Interpolate2(indexX0Y0, indexX1Y0, xFrac);
case 4: // (X0,Y1) defined
return gridHeights[indexX0Y1];
case 5: // (X0,Y0) and (X0,Y1) defined
return Interpolate2(indexX0Y0, indexX0Y1, yFrac);
case 6: // (X1,Y0) and (X0,Y1) defined - diagonal interpolation
return DiagonalInterpolate(indexX1Y0, indexX0Y1, 1.0 - xFrac, yFrac);
case 7: // (X0,Y0), (X1,Y0) and (X0,Y1) defined - 3-way interpolation
return Interpolate3(indexX0Y0, indexX1Y0, indexX0Y1, xFrac, yFrac);
case 8: // (X1,Y1) defined
return gridHeights[indexX1Y1];
case 9: // (X0,Y0) and (X1,Y1) defined - diagonal interpolation
return DiagonalInterpolate(indexX0Y0, indexX1Y1, xFrac, yFrac);
case 10: // (X1,Y0) and (X1,Y1) defined
return Interpolate2(indexX1Y0, indexX1Y1, yFrac);
case 11: // (X0,Y0), (X1,Y0) and (X1,Y1) defined - 3-way interpolation
return Interpolate3(indexX1Y0, indexX0Y0, indexX1Y1, xFrac, yFrac);
case 12: // (X0,Y1) and (X1,Y1) defined
return Interpolate2(indexX0Y1, indexX1Y1, yFrac);
case 13: // (X0,Y0), (X0,Y1) and (X1,Y1) defined - 3-way interpolation
return Interpolate3(indexX0Y1, indexX1Y1, indexX0Y0, xFrac, 1.0 - yFrac);
case 14: // (X1,Y0), (X0,Y1) and (X1,Y1) defined - 3-way interpolation
return Interpolate3(indexX1Y1, indexX0Y1, indexX1Y0, 1.0 - xFrac, 1.0 - yFrac);
case 15: // All points defined
return Interpolate4(indexX0Y0, indexX1Y0, indexX0Y1, indexX1Y1, xFrac, yFrac);
}
}
// End
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