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Refactored to iter
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@HarutakaMatsumoto
HarutakaMatsumoto committed Jan 14, 2025
1 parent b3f5ce5 commit 1c068a5
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Showing 3 changed files with 194 additions and 197 deletions.
4 changes: 1 addition & 3 deletions go.mod
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Original file line number Diff line number Diff line change
@@ -1,8 +1,6 @@
module github.com/trajectoryjp/spatial_id_go/v4

go 1.22

toolchain go1.22.6
go 1.23

require (
github.com/go-gl/mathgl v1.1.0
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204 changes: 102 additions & 102 deletions spatial_id_box.go
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
package spatialID

import (
"iter"
"math"

"github.com/HarutakaMatsumoto/mathematics_go/geometry/rectangular/solid"
Expand Down Expand Up @@ -119,10 +120,10 @@ func (box SpatialIDBox) IsCollidedWith(another SpatialIDBox) bool {
return true
}

func (box SpatialIDBox) ForCollidedWithConvexHull(convexHull []*coordinates.Geodetic, clearance float64, function func(id SpatialID) error) error {
func (box SpatialIDBox) AllCollisionWithConvexHull(convexHull []*coordinates.Geodetic, clearance float64) iter.Seq[SpatialID] {
measure := closest.Measure{
ConvexHulls: [2][]*mgl64.Vec3{
make([]*mgl64.Vec3, len(convexHull)),
make([]*mgl64.Vec3, len(convexHull)),
make([]*mgl64.Vec3, len(solid.VertexIntervals)),
},
}
Expand All @@ -131,99 +132,98 @@ func (box SpatialIDBox) ForCollidedWithConvexHull(convexHull []*coordinates.Geod
measure.ConvexHulls[0][i] = (*mgl64.Vec3)(vertex)
}

current := box.GetMin()
for ; ; current.SetX(current.GetX() + 1) {
return iter.Seq[SpatialID](func(yield func(id SpatialID) bool) {
current := box.GetMin()
for ; ; current.SetX(current.GetX() + 1) {
yLoop:
for current.SetY(box.GetMin().GetY()); ; current.SetY(current.GetY() + 1) {
bottom := current
oldDistance := math.Inf(1)
for bottom.SetF(box.GetMin().GetF()); ; bottom.SetF(bottom.GetF() + 1) {
spatialIDBox, _ := NewSpatialIDBox(bottom, bottom)
geodeticBox := NewGeodeticBoxFromSpatialIDBox(*spatialIDBox)

for i, vertex := range geodeticBox.GetVertices() {
measure.ConvexHulls[1][i] = (*mgl64.Vec3)(vertex)
}

measure.MeasureNonnegativeDistance()

geocentric0 := coordinates.GeocentricFromGeodetic(coordinates.Geodetic(measure.Points[0]))
geocentric1 := coordinates.GeocentricFromGeodetic(coordinates.Geodetic(measure.Points[1]))
distance := mgl64.Vec3(geocentric0).Sub(mgl64.Vec3(geocentric1)).Len() // TODO: Embed

if distance > clearance {
if distance > oldDistance {
continue yLoop
} else {
deltaAltitude := *geodeticBox.Max.Altitude() - *geodeticBox.Min.Altitude()
newF := int64(distance / deltaAltitude) + bottom.GetF()
if newF >= spatialIDBox.GetMax().GetF() {
for current.SetY(box.GetMin().GetY()); ; current.SetY(current.GetY() + 1) {
bottom := current
oldDistance := math.Inf(1)
for bottom.SetF(box.GetMin().GetF()); ; bottom.SetF(bottom.GetF() + 1) {
spatialIDBox, _ := NewSpatialIDBox(bottom, bottom)
geodeticBox := NewGeodeticBoxFromSpatialIDBox(*spatialIDBox)

for i, vertex := range geodeticBox.GetVertices() {
measure.ConvexHulls[1][i] = (*mgl64.Vec3)(vertex)
}

measure.MeasureNonnegativeDistance()

geocentric0 := coordinates.GeocentricFromGeodetic(coordinates.Geodetic(measure.Points[0]))
geocentric1 := coordinates.GeocentricFromGeodetic(coordinates.Geodetic(measure.Points[1]))
distance := mgl64.Vec3(geocentric0).Sub(mgl64.Vec3(geocentric1)).Len() // TODO: Embed

if distance > clearance {
if distance > oldDistance {
continue yLoop
} else {
deltaAltitude := *geodeticBox.Max.Altitude() - *geodeticBox.Min.Altitude()
newF := int64(distance/deltaAltitude) + bottom.GetF()
if newF >= spatialIDBox.GetMax().GetF() {
continue yLoop
}

bottom.SetF(newF)
continue
}

bottom.SetF(newF)
continue
}

break
}

break
}

top := current
oldDistance = math.Inf(1)
for top.SetF(box.GetMax().GetF()); ; top.SetF(top.GetF() - 1) {
spatialIDBox, _ := NewSpatialIDBox(top, top)
geodeticBox := NewGeodeticBoxFromSpatialIDBox(*spatialIDBox)

for i, vertex := range geodeticBox.GetVertices() {
measure.ConvexHulls[1][i] = (*mgl64.Vec3)(vertex)
}

measure.MeasureNonnegativeDistance()

geocentric0 := coordinates.GeocentricFromGeodetic(coordinates.Geodetic(measure.Points[0]))
geocentric1 := coordinates.GeocentricFromGeodetic(coordinates.Geodetic(measure.Points[1]))
distance := mgl64.Vec3(geocentric0).Sub(mgl64.Vec3(geocentric1)).Len() // TODO: Embed

if distance > clearance {
if distance > oldDistance {
continue yLoop
} else {
deltaAltitude := *geodeticBox.Max.Altitude() - *geodeticBox.Min.Altitude()
newF := -int64(distance / deltaAltitude) + top.GetF()
if newF <= spatialIDBox.GetMin().GetF() {

top := current
oldDistance = math.Inf(1)
for top.SetF(box.GetMax().GetF()); ; top.SetF(top.GetF() - 1) {
spatialIDBox, _ := NewSpatialIDBox(top, top)
geodeticBox := NewGeodeticBoxFromSpatialIDBox(*spatialIDBox)

for i, vertex := range geodeticBox.GetVertices() {
measure.ConvexHulls[1][i] = (*mgl64.Vec3)(vertex)
}

measure.MeasureNonnegativeDistance()

geocentric0 := coordinates.GeocentricFromGeodetic(coordinates.Geodetic(measure.Points[0]))
geocentric1 := coordinates.GeocentricFromGeodetic(coordinates.Geodetic(measure.Points[1]))
distance := mgl64.Vec3(geocentric0).Sub(mgl64.Vec3(geocentric1)).Len() // TODO: Embed

if distance > clearance {
if distance > oldDistance {
continue yLoop
} else {
deltaAltitude := *geodeticBox.Max.Altitude() - *geodeticBox.Min.Altitude()
newF := -int64(distance/deltaAltitude) + top.GetF()
if newF <= spatialIDBox.GetMin().GetF() {
continue yLoop
}

top.SetF(newF)
continue
}

top.SetF(newF)
continue
}

break
}

break
}

for currentF := bottom; currentF.GetF() <= top.GetF(); currentF.SetF(currentF.GetF() + 1) {
error := function(currentF)
if error != nil {
return error

for currentF := bottom; currentF.GetF() <= top.GetF(); currentF.SetF(currentF.GetF() + 1) {
if !yield(currentF) {
return
}
}

if current.GetY() == box.GetMax().GetY() {
break
}
}

if current.GetY() == box.GetMax().GetY() {
if current.GetX() == box.GetMax().GetX() {
break
}
}

if current.GetX() == box.GetMax().GetX() {
break
}
}

return nil
})
}

func (box SpatialIDBox) ForZXYF(function func(id SpatialID) error) error { // TODO: Hide?
func (box SpatialIDBox) AllZXYF() iter.Seq[SpatialID] {
generations := [MaxZ]SpatialIDBox{}

ancestor := box
Expand All @@ -236,42 +236,42 @@ func (box SpatialIDBox) ForZXYF(function func(id SpatialID) error) error { // TO
generations[box.GetMin().GetZ()] = box
}

for _, generation := range generations {
error := generation.ForXYF(function)
if error != nil {
return error
return iter.Seq[SpatialID](func(yield func(id SpatialID) bool) {
for _, generation := range generations {
for id := range generation.AllXYF() {
if !yield(id) {
return
}
}
}
}

return nil
})
}

func (box SpatialIDBox) ForXYF(function func(id SpatialID) error) error {
current := box.GetMin()
for ; ; current.SetX(current.GetX() + 1) {
for current.SetY(box.GetMin().GetY()); ; current.SetY(current.GetY() + 1) {
for current.SetF(box.GetMin().GetF()); ; current.SetF(current.GetF() + 1) {
error := function(current)
if error != nil {
return error
func (box SpatialIDBox) AllXYF() iter.Seq[SpatialID] {
return iter.Seq[SpatialID](func(yield func(id SpatialID) bool) {
current := box.GetMin()
for ; ; current.SetX(current.GetX() + 1) {
for current.SetY(box.GetMin().GetY()); ; current.SetY(current.GetY() + 1) {
for current.SetF(box.GetMin().GetF()); ; current.SetF(current.GetF() + 1) {
if !yield(current) {
return
}

if current.GetF() == box.GetMax().GetF() {
break
}
}

if current.GetF() == box.GetMax().GetF() {
if current.GetY() == box.GetMax().GetY() {
break
}
}

if current.GetY() == box.GetMax().GetY() {
if current.GetX() == box.GetMax().GetX() {
break
}
}

if current.GetX() == box.GetMax().GetX() {
break
}
}

return nil
})
}

func NewSpatialIDBoxFromTileXYZBox(tileXYZBox TileXYZBox) (*SpatialIDBox, error) {
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