1 // Created on: 1994-08-18
2 // Created by: Laurent PAINNOT
3 // Copyright (c) 1994-1999 Matra Datavision
4 // Copyright (c) 1999-2014 OPEN CASCADE SAS
6 // This file is part of Open CASCADE Technology software library.
8 // This library is free software; you can redistribute it and/or modify it under
9 // the terms of the GNU Lesser General Public License version 2.1 as published
10 // by the Free Software Foundation, with special exception defined in the file
11 // OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
12 // distribution for complete text of the license and disclaimer of any warranty.
14 // Alternatively, this file may be used under the terms of Open CASCADE
15 // commercial license or contractual agreement.
17 // 08-Aug-95 : xab : interpolation uses BSplCLib::Interpolate
19 #include <BSplCLib.hxx>
20 #include <Geom_BSplineCurve.hxx>
21 #include <GeomAPI_Interpolate.hxx>
24 #include <Standard_ConstructionError.hxx>
25 #include <StdFail_NotDone.hxx>
26 #include <TColgp_Array1OfPnt.hxx>
27 #include <TColgp_Array1OfVec.hxx>
28 #include <TColStd_Array1OfBoolean.hxx>
29 #include <TColStd_Array1OfInteger.hxx>
30 #include <TColStd_HArray1OfReal.hxx>
32 //=======================================================================
33 //function : CheckPoints
35 //=======================================================================
36 static Standard_Boolean CheckPoints(const TColgp_Array1OfPnt& PointArray,
37 const Standard_Real Tolerance)
40 Standard_Real tolerance_squared = Tolerance * Tolerance,
42 Standard_Boolean result = Standard_True ;
43 for (ii = PointArray.Lower() ; result && ii < PointArray.Upper() ; ii++) {
45 PointArray.Value(ii).SquareDistance(PointArray.Value(ii+1)) ;
46 result = (distance_squared >= tolerance_squared) ;
51 //=======================================================================
52 //function : CheckTangents
54 //=======================================================================
55 static Standard_Boolean CheckTangents(
56 const TColgp_Array1OfVec& Tangents,
57 const TColStd_Array1OfBoolean& TangentFlags,
58 const Standard_Real Tolerance)
62 Standard_Real tolerance_squared = Tolerance * Tolerance,
64 Standard_Boolean result = Standard_True ;
65 index = TangentFlags.Lower() ;
66 for (ii = Tangents.Lower(); result && ii <= Tangents.Upper() ; ii++) {
67 if(TangentFlags.Value(index)) {
69 Tangents.Value(ii).SquareMagnitude() ;
70 result = (distance_squared >= tolerance_squared) ;
77 //=======================================================================
78 //function : CheckParameters
80 //=======================================================================
81 static Standard_Boolean CheckParameters(const
82 TColStd_Array1OfReal& Parameters)
85 Standard_Real distance ;
86 Standard_Boolean result = Standard_True ;
87 for (ii = Parameters.Lower() ; result && ii < Parameters.Upper() ; ii++) {
89 Parameters.Value(ii+1) - Parameters.Value(ii) ;
90 result = (distance >= RealSmall()) ;
94 //=======================================================================
95 //function : BuildParameters
97 //=======================================================================
98 static void BuildParameters(const Standard_Boolean PeriodicFlag,
99 const TColgp_Array1OfPnt& PointsArray,
100 Handle(TColStd_HArray1OfReal)& ParametersPtr)
104 Standard_Real distance ;
106 num_parameters = PointsArray.Length() ;
108 num_parameters += 1 ;
111 new TColStd_HArray1OfReal(1,
113 ParametersPtr->SetValue(1,0.0e0) ;
115 for (ii = PointsArray.Lower() ; ii < PointsArray.Upper() ; ii++) {
117 PointsArray.Value(ii).Distance(PointsArray.Value(ii+1)) ;
118 ParametersPtr->SetValue(index,
119 ParametersPtr->Value(ii) + distance) ;
124 PointsArray.Value(PointsArray.Upper()).
125 Distance(PointsArray.Value(PointsArray.Lower())) ;
126 ParametersPtr->SetValue(index,
127 ParametersPtr->Value(ii) + distance) ;
130 //=======================================================================
131 //function : BuildPeriodicTangents
133 //=======================================================================
135 static void BuildPeriodicTangent(
136 const TColgp_Array1OfPnt& PointsArray,
137 TColgp_Array1OfVec& TangentsArray,
138 TColStd_Array1OfBoolean& TangentFlags,
139 const TColStd_Array1OfReal& ParametersArray)
144 Standard_Real *point_array,
150 if (PointsArray.Length() < 3) {
151 throw Standard_ConstructionError();
154 if (!TangentFlags.Value(1)) {
156 if (PointsArray.Length() == 3) {
159 point_array = (Standard_Real *) &PointsArray.Value(PointsArray.Lower()) ;
161 (Standard_Real *) &ParametersArray.Value(1) ;
162 TangentFlags.SetValue(1,Standard_True) ;
163 PLib::EvalLagrange(ParametersArray.Value(1),
170 for (ii = 1 ; ii <= 3 ; ii++) {
171 a_vector.SetCoord(ii,eval_result[1][ii-1]) ;
173 TangentsArray.SetValue(1,a_vector) ;
176 //=======================================================================
177 //function : BuildTangents
179 //=======================================================================
181 static void BuildTangents(const TColgp_Array1OfPnt& PointsArray,
182 TColgp_Array1OfVec& TangentsArray,
183 TColStd_Array1OfBoolean& TangentFlags,
184 const TColStd_Array1OfReal& ParametersArray)
188 Standard_Real *point_array,
196 if ( PointsArray.Length() < 3) {
197 throw Standard_ConstructionError();
199 if (PointsArray.Length() == 3) {
202 if (!TangentFlags.Value(1)) {
203 point_array = (Standard_Real *) &PointsArray.Value(PointsArray.Lower()) ;
205 (Standard_Real *) &ParametersArray.Value(1) ;
206 TangentFlags.SetValue(1,Standard_True) ;
207 PLib::EvalLagrange(ParametersArray.Value(1),
214 for (ii = 1 ; ii <= 3 ; ii++) {
215 a_vector.SetCoord(ii,eval_result[1][ii-1]) ;
217 TangentsArray.SetValue(1,a_vector) ;
219 if (! TangentFlags.Value(TangentFlags.Upper())) {
221 (Standard_Real *) &PointsArray.Value(PointsArray.Upper() - degree) ;
222 TangentFlags.SetValue(TangentFlags.Upper(),Standard_True) ;
224 (Standard_Real *) &ParametersArray.Value(ParametersArray.Upper() - degree) ;
225 PLib::EvalLagrange(ParametersArray.Value(ParametersArray.Upper()),
232 for (ii = 1 ; ii <= 3 ; ii++) {
233 a_vector.SetCoord(ii,eval_result[1][ii-1]) ;
235 TangentsArray.SetValue(TangentsArray.Upper(),a_vector) ;
238 //=======================================================================
239 //function : BuildTangents
240 //purpose : scale the given tangent so that they have the length of
241 // the size of the derivative of the lagrange interpolation
243 //=======================================================================
244 static void ScaleTangents(const TColgp_Array1OfPnt& PointsArray,
245 TColgp_Array1OfVec& TangentsArray,
246 const TColStd_Array1OfBoolean& TangentFlags,
247 const TColStd_Array1OfReal& ParametersArray)
255 Standard_Real *point_array,
263 num_points = PointsArray.Length() ;
264 if (num_points == 2) {
267 else if (num_points >= 3) {
271 index = PointsArray.Lower() ;
272 for (ii = TangentFlags.Lower() ; ii <= TangentFlags.Upper() ; ii++) {
273 if (TangentFlags.Value(ii)) {
275 (Standard_Real *) &PointsArray.Value(index) ;
277 (Standard_Real *) &ParametersArray.Value(index) ;
278 PLib::EvalLagrange(ParametersArray.Value(ii),
287 for (jj = 1 ; jj <= 3 ; jj++) {
288 value[0] += Abs(TangentsArray.Value(ii).Coord(jj)) ;
289 value[1] += Abs(eval_result[1][jj-1]) ;
291 ratio = value[1] / value[0] ;
292 for (jj = 1 ; jj <= 3 ; jj++) {
293 a_vector.SetCoord(jj, ratio *
294 TangentsArray.Value(ii).Coord(jj)) ;
296 TangentsArray.SetValue(ii, a_vector) ;
297 if (ii != TangentFlags.Lower()) {
300 if (index > PointsArray.Upper() - degree) {
301 index = PointsArray.Upper() - degree ;
308 //=======================================================================
309 //function : GeomAPI_Interpolate
311 //=======================================================================
313 GeomAPI_Interpolate::GeomAPI_Interpolate
314 (const Handle(TColgp_HArray1OfPnt)& PointsPtr,
315 const Standard_Boolean PeriodicFlag,
316 const Standard_Real Tolerance) :
317 myTolerance(Tolerance),
319 myIsDone(Standard_False),
320 myPeriodic(PeriodicFlag),
321 myTangentRequest(Standard_False)
323 Standard_Integer ii ;
324 Standard_Boolean result =
325 CheckPoints(PointsPtr->Array1(),
328 new TColgp_HArray1OfVec(myPoints->Lower(),
331 new TColStd_HArray1OfBoolean(myPoints->Lower(),
335 throw Standard_ConstructionError();
337 BuildParameters(PeriodicFlag,
341 for (ii = myPoints->Lower() ; ii <= myPoints->Upper() ; ii++) {
342 myTangentFlags->SetValue(ii,Standard_False) ;
349 //=======================================================================
350 //function : GeomAPI_Interpolate
352 //=======================================================================
354 GeomAPI_Interpolate::GeomAPI_Interpolate
355 (const Handle(TColgp_HArray1OfPnt)& PointsPtr,
356 const Handle(TColStd_HArray1OfReal)& ParametersPtr,
357 const Standard_Boolean PeriodicFlag,
358 const Standard_Real Tolerance) :
359 myTolerance(Tolerance),
361 myIsDone(Standard_False),
362 myParameters(ParametersPtr),
363 myPeriodic(PeriodicFlag),
364 myTangentRequest(Standard_False)
366 Standard_Integer ii ;
369 Standard_Boolean result =
370 CheckPoints(PointsPtr->Array1(),
374 if ((PointsPtr->Length()) + 1 != ParametersPtr->Length()) {
375 throw Standard_ConstructionError();
379 new TColgp_HArray1OfVec(myPoints->Lower(),
382 new TColStd_HArray1OfBoolean(myPoints->Lower(),
386 throw Standard_ConstructionError();
390 CheckParameters(ParametersPtr->Array1()) ;
392 throw Standard_ConstructionError();
395 for (ii = myPoints->Lower() ; ii <= myPoints->Upper() ; ii++) {
396 myTangentFlags->SetValue(ii,Standard_False) ;
400 //=======================================================================
403 //=======================================================================
405 void GeomAPI_Interpolate::Load(
406 const TColgp_Array1OfVec& Tangents,
407 const Handle(TColStd_HArray1OfBoolean)& TangentFlagsPtr,
408 const Standard_Boolean Scale )
411 Standard_Boolean result ;
412 Standard_Integer ii ;
413 myTangentRequest = Standard_True ;
414 myTangentFlags = TangentFlagsPtr ;
415 if (Tangents.Length() != myPoints->Length() ||
416 TangentFlagsPtr->Length() != myPoints->Length()) {
417 throw Standard_ConstructionError();
420 CheckTangents(Tangents,
421 TangentFlagsPtr->Array1(),
425 new TColgp_HArray1OfVec(Tangents.Lower(),Tangents.Upper()) ;
426 for (ii = Tangents.Lower() ; ii <= Tangents.Upper() ; ii++ ) {
427 myTangents->SetValue(ii,Tangents.Value(ii)) ;
431 ScaleTangents(myPoints->Array1(),
432 myTangents->ChangeArray1(),
433 TangentFlagsPtr->Array1(),
434 myParameters->Array1()) ;
438 throw Standard_ConstructionError();
444 //=======================================================================
447 //=======================================================================
449 void GeomAPI_Interpolate::Load(const gp_Vec& InitialTangent,
450 const gp_Vec& FinalTangent,
451 const Standard_Boolean Scale )
453 Standard_Boolean result ;
454 myTangentRequest = Standard_True ;
455 myTangentFlags->SetValue(1,Standard_True) ;
456 myTangentFlags->SetValue(myPoints->Length(),Standard_True) ;
457 myTangents->SetValue(1,InitialTangent) ;
458 myTangents->SetValue(myPoints->Length(),FinalTangent) ;
460 CheckTangents(myTangents->Array1(),
461 myTangentFlags->Array1(),
464 throw Standard_ConstructionError();
468 ScaleTangents(myPoints->Array1(),
469 myTangents->ChangeArray1(),
470 myTangentFlags->Array1(),
471 myParameters->Array1()) ;
475 //=======================================================================
478 //=======================================================================
480 void GeomAPI_Interpolate::Perform()
486 PerformNonPeriodic() ;
489 //=======================================================================
490 //function : PerformPeriodic
492 //=======================================================================
494 void GeomAPI_Interpolate::PerformPeriodic()
496 Standard_Integer degree,
509 Standard_Real period ;
513 num_points = myPoints->Length() ;
514 period = myParameters->Value(myParameters->Upper()) -
515 myParameters->Value(myParameters->Lower()) ;
516 num_poles = num_points + 1 ;
517 if (num_points == 2 && !myTangentRequest) {
519 // build a periodic curve of degree 1
523 TColStd_Array1OfInteger deg1_mults(1,num_poles) ;
524 for (ii = 1 ; ii <= num_poles ; ii++) {
525 deg1_mults.SetValue(ii,1) ;
529 new Geom_BSplineCurve(myPoints->Array1(),
530 myParameters->Array1(),
534 myIsDone = Standard_True ;
538 num_distinct_knots = num_points + 1 ;
542 if (myTangentRequest)
543 for (ii = myTangentFlags->Lower() + 1 ;
544 ii <= myTangentFlags->Upper() ; ii++) {
545 if (myTangentFlags->Value(ii)) {
550 TColStd_Array1OfReal parameters(1,num_poles) ;
551 TColStd_Array1OfReal flatknots(1,num_poles + degree + 1) ;
552 TColStd_Array1OfInteger mults(1,num_distinct_knots) ;
553 TColStd_Array1OfInteger contact_order_array(1, num_poles) ;
554 TColgp_Array1OfPnt poles(1,num_poles) ;
556 for (ii = 1 ; ii <= half_order ; ii++) {
557 flatknots.SetValue(ii,myParameters->Value(myParameters->Upper() -1) -
559 flatknots.SetValue(ii + half_order,myParameters->
560 Value(myParameters->Lower())) ;
561 flatknots.SetValue(num_poles + ii,
562 myParameters->Value(myParameters->Upper())) ;
563 flatknots.SetValue(num_poles + half_order + ii,
564 myParameters->Value(half_order) + period) ;
566 for (ii = 1 ; ii <= num_poles ; ii++) {
567 contact_order_array.SetValue(ii,0) ;
569 for (ii = 2 ; ii < num_distinct_knots ; ii++) {
570 mults.SetValue(ii,1) ;
572 mults.SetValue(1,half_order) ;
573 mults.SetValue(num_distinct_knots ,half_order) ;
574 if (num_points >= 3) {
577 // only enter here if there are more than 3 points otherwise
578 // it means we have already the tangent
580 BuildPeriodicTangent(myPoints->Array1(),
581 myTangents->ChangeArray1(),
582 myTangentFlags->ChangeArray1(),
583 myParameters->Array1()) ;
585 contact_order_array.SetValue(2,1) ;
586 parameters.SetValue(1,myParameters->Value(1)) ;
587 parameters.SetValue(2,myParameters->Value(1)) ;
588 poles.SetValue(1,myPoints->Value(1)) ;
589 for (jj = 1 ; jj <= 3 ; jj++) {
590 a_point.SetCoord(jj,myTangents->Value(1).Coord(jj)) ;
592 poles.SetValue(2,a_point) ;
596 index1 = degree + 2 ;
597 if (myTangentRequest) {
598 for (ii = myTangentFlags->Lower() + 1 ;
599 ii <= myTangentFlags->Upper() ; ii++) {
600 parameters.SetValue(index,myParameters->Value(ii)) ;
601 flatknots.SetValue(index1,myParameters->Value(ii)) ;
602 poles.SetValue(index,myPoints->Value(ii)) ;
605 if (myTangentFlags->Value(ii)) {
606 mults.SetValue(mult_index,mults.Value(mult_index) + 1) ;
607 contact_order_array(index) = 1 ;
609 parameters.SetValue(index,
610 myParameters->Value(ii)) ;
611 flatknots.SetValue(index1,myParameters->Value(ii)) ;
612 for (jj = 1 ; jj <= 3 ; jj++) {
613 a_point.SetCoord(jj,myTangents->Value(ii).Coord(jj)) ;
615 poles.SetValue(index,a_point) ;
625 for(ii = myParameters->Lower() ; ii <= myParameters->Upper() ; ii++) {
626 parameters.SetValue(index1,
627 myParameters->Value(ii)) ;
628 flatknots.SetValue(index,
629 myParameters->Value(ii)) ;
634 for (ii = myPoints->Lower() + 1 ; ii <= myPoints->Upper() ; ii++) {
636 // copy all the given points since the last one will be initialized
637 // below by the first point in the array myPoints
639 poles.SetValue(index,
640 myPoints->Value(ii)) ;
645 contact_order_array.SetValue(num_poles - 1, 1) ;
646 parameters.SetValue(num_poles-1,
647 myParameters->Value(myParameters->Upper())) ;
649 // for the periodic curve ONLY the tangent of the first point
650 // will be used since the curve should close itself at the first
651 // point See BuildPeriodicTangent
653 for (jj = 1 ; jj <= 3 ; jj++) {
654 a_point.SetCoord(jj,myTangents->Value(1).Coord(jj)) ;
656 poles.SetValue(num_poles-1,a_point) ;
658 parameters.SetValue(num_poles,
659 myParameters->Value(myParameters->Upper())) ;
661 poles.SetValue(num_poles,
662 myPoints->Value(1)) ;
665 BSplCLib::Interpolate(degree,
671 if (!inversion_problem) {
672 TColgp_Array1OfPnt newpoles(poles.Value(1),
676 new Geom_BSplineCurve(newpoles,
677 myParameters->Array1(),
681 myIsDone = Standard_True ;
687 //=======================================================================
688 //function : PerformNonPeriodic
690 //=======================================================================
692 void GeomAPI_Interpolate::PerformNonPeriodic()
694 Standard_Integer degree,
711 num_poles = myPoints->Length() ;
712 if (num_poles == 2 && !myTangentRequest) {
715 else if (num_poles == 3 && !myTangentRequest) {
717 num_distinct_knots = 2 ;
722 if (myTangentRequest)
723 for (ii = myTangentFlags->Lower() + 1 ;
724 ii < myTangentFlags->Upper() ; ii++) {
725 if (myTangentFlags->Value(ii)) {
732 TColStd_Array1OfReal parameters(1,num_poles) ;
733 TColStd_Array1OfReal flatknots(1,num_poles + degree + 1) ;
734 TColStd_Array1OfInteger mults(1,num_distinct_knots) ;
735 TColStd_Array1OfReal knots(1,num_distinct_knots) ;
736 TColStd_Array1OfInteger contact_order_array(1, num_poles) ;
737 TColgp_Array1OfPnt poles(1,num_poles) ;
739 for (ii = 1 ; ii <= degree + 1 ; ii++) {
740 flatknots.SetValue(ii,myParameters->Value(1)) ;
741 flatknots.SetValue(ii + num_poles,
742 myParameters->Value(num_points)) ;
744 for (ii = 1 ; ii <= num_poles ; ii++) {
745 contact_order_array.SetValue(ii,0) ;
747 for (ii = 2 ; ii < num_distinct_knots ; ii++) {
748 mults.SetValue(ii,1) ;
750 mults.SetValue(1,degree + 1) ;
751 mults.SetValue(num_distinct_knots ,degree + 1) ;
755 for (ii = 1 ; ii <= num_poles ; ii++) {
756 poles.SetValue(ii ,myPoints->Value(ii)) ;
759 new Geom_BSplineCurve(poles,
760 myParameters->Array1(),
763 myIsDone = Standard_True ;
766 knots.SetValue(1,myParameters->Value(1)) ;
767 knots.SetValue(2,myParameters->Value(3)) ;
768 for (ii = 1 ; ii <= num_poles ; ii++) {
769 poles.SetValue(ii,myPoints->Value(ii)) ;
772 BSplCLib::Interpolate(degree,
774 myParameters->Array1(),
778 if (!inversion_problem) {
780 new Geom_BSplineCurve(poles,
784 myIsDone = Standard_True ;
789 // check if the boundary conditions are set
791 if (num_points >= 3) {
793 // cannot build the tangents with degree 3 with only 2 points
794 // if those where not given in advance
796 BuildTangents(myPoints->Array1(),
797 myTangents->ChangeArray1(),
798 myTangentFlags->ChangeArray1(),
799 myParameters->Array1()) ;
801 contact_order_array.SetValue(2,1) ;
802 parameters.SetValue(1,myParameters->Value(1)) ;
803 parameters.SetValue(2,myParameters->Value(1)) ;
804 poles.SetValue(1,myPoints->Value(1)) ;
805 for (jj = 1 ; jj <= 3 ; jj++) {
806 a_point.SetCoord(jj,myTangents->Value(1).Coord(jj)) ;
809 poles.SetValue(2,a_point) ;
813 index2 = myPoints->Lower() + 1 ;
814 index3 = degree + 2 ;
815 if (myTangentRequest) {
816 for (ii = myParameters->Lower() + 1 ;
817 ii < myParameters->Upper() ; ii++) {
818 parameters.SetValue(index,myParameters->Value(ii)) ;
819 poles.SetValue(index,myPoints->Value(index2)) ;
820 flatknots.SetValue(index3,myParameters->Value(ii)) ;
823 if (myTangentFlags->Value(index1)) {
825 // set the multiplicities, the order of the contact, the
828 mults.SetValue(mult_index,mults.Value(mult_index) + 1) ;
829 contact_order_array(index) = 1 ;
830 flatknots.SetValue(index3, myParameters->Value(ii)) ;
831 parameters.SetValue(index,
832 myParameters->Value(ii)) ;
833 for (jj = 1 ; jj <= 3 ; jj++) {
834 a_point.SetCoord(jj,myTangents->Value(ii).Coord(jj)) ;
836 poles.SetValue(index,a_point) ;
848 for(ii = myParameters->Lower() ; ii <= myParameters->Upper() ; ii++) {
849 parameters.SetValue(index1,
850 myParameters->Value(ii)) ;
854 for (ii = myPoints->Lower() + 1 ; ii <= myPoints->Upper() - 1 ; ii++) {
855 poles.SetValue(index,
856 myPoints->Value(ii)) ;
862 for(ii = myParameters->Lower() ; ii <= myParameters->Upper() ; ii++) {
863 flatknots.SetValue(index,
864 myParameters->Value(ii)) ;
868 for (jj = 1 ; jj <= 3 ; jj++) {
870 myTangents->Value(num_points).Coord(jj)) ;
872 poles.SetValue(num_poles-1 ,a_point) ;
874 contact_order_array.SetValue(num_poles - 1,1) ;
875 parameters.SetValue(num_poles,
876 myParameters->Value(myParameters->Upper())) ;
877 parameters.SetValue(num_poles -1,
878 myParameters->Value(myParameters->Upper())) ;
880 poles.SetValue(num_poles,
881 myPoints->Value(num_points)) ;
883 BSplCLib::Interpolate(degree,
889 if (!inversion_problem) {
891 new Geom_BSplineCurve(poles,
892 myParameters->Array1(),
895 myIsDone = Standard_True ;
901 //=======================================================================
902 //function : Handle(Geom_BSplineCurve)&
904 //=======================================================================
906 const Handle(Geom_BSplineCurve)& GeomAPI_Interpolate::Curve() const
909 throw StdFail_NotDone(" ");
915 //=======================================================================
916 //function : Geom_BSplineCurve
918 //=======================================================================
920 GeomAPI_Interpolate::operator Handle(Geom_BSplineCurve)() const
926 //=======================================================================
929 //=======================================================================
931 Standard_Boolean GeomAPI_Interpolate::IsDone() const