From 73bc64a625ea28fcccefb712e7f3b46f0a6bb32d Mon Sep 17 00:00:00 2001 From: Alex Mikhalev Date: Sun, 22 May 2022 00:13:30 -0700 Subject: [PATCH] Initial commit --- .gitignore | 1 + Cargo.lock | 2433 ++++++++++++++++++++++++++++++++++++++++ Cargo.toml | 19 + src/geometry.rs | 131 +++ src/geometry/entity.rs | 113 ++ src/geometry/var.rs | 62 + src/main.rs | 303 +++++ src/optimization.rs | 122 ++ src/relations.rs | 25 + 9 files changed, 3209 insertions(+) create mode 100644 .gitignore create mode 100644 Cargo.lock create mode 100644 Cargo.toml create mode 100644 src/geometry.rs create mode 100644 src/geometry/entity.rs create mode 100644 src/geometry/var.rs create mode 100644 src/main.rs create mode 100644 src/optimization.rs create mode 100644 src/relations.rs diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..ea8c4bf --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +/target diff --git a/Cargo.lock b/Cargo.lock new file mode 100644 index 0000000..e6642ec --- /dev/null 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+impl PointEntity { + pub fn new(x: V, y: V) -> Self { + Self { x, y } + } +} + +impl From<(V, V)> for PointEntity { + fn from(p: (V, V)) -> Self { + Self { x: p.0, y: p.1 } + } +} + +pub type PointPos = PointEntity; +pub type PointId = EntityId; + +#[derive(Clone, Debug)] +// TODO: segment, ray and full line +// TODO: what if start and end are coincident? +pub struct LineEntity

{ + pub start: P, + pub end: P, +} + +impl

LineEntity

{ + pub fn new(start: P, end: P) -> Self { + Self { start, end } + } +} + +pub type LinePos = LineEntity; +pub type LineId = EntityId; + +#[derive(Clone)] +// TODO: arc. how to represent start and end of arc? +// angles, unit vectors, or a point for each? +pub struct CircleEntity { + pub center: PointId, + pub radius: VarId, +} + +// pub type CirclePos = CircleEntity; +pub type CircleId = EntityId; + +#[derive(Clone, Default)] +pub struct SketchEntities { + vars: EntityMap, + points: EntityMap, + lines: EntityMap, + circles: EntityMap, +} + +impl SketchEntities { + pub fn vars(&self) -> &EntityMap { + &self.vars + } + + pub fn insert_var(&mut self, var: Var) -> VarId { + self.vars.insert(var) + } + + pub fn get_var_mut(&mut self, id: VarId) -> Option<&mut Var> { + self.vars.get_mut(id) + } + + pub fn points(&self) -> &EntityMap { + &self.points + } + + pub fn insert_point(&mut self, point: PointEntity) -> PointId { + assert!(self.vars.contains(point.x)); + assert!(self.vars.contains(point.y)); + self.points.insert(point) + } + + pub fn insert_point_at(&mut self, point: impl Into) -> PointId { + let point = point.into(); + let x = self.insert_var(Var::new_free(point.x)); + let y = self.insert_var(Var::new_free(point.y)); + self.insert_point(PointEntity::new(x, y)) + } + + fn remove_point(&mut self, point_id: PointId) -> bool { + // TODO: check if used by any line + self.points.remove(point_id) + } + + pub fn point_pos(&self, point: &PointEntity) -> Var { + // TODO: error handling? + let x = self.vars.get(point.x).unwrap(); + let y = self.vars.get(point.y).unwrap(); + x.merge(*y, PointPos::new) + } + + pub fn lines(&self) -> &EntityMap { + &self.lines + } + + pub fn insert_line(&mut self, line: LineEntity) -> LineId { + assert!(self.points.contains(line.start)); + assert!(self.points.contains(line.end)); + self.lines.insert(line) + } + + fn remove_line(&mut self, line_id: LineId) -> bool { + self.lines.remove(line_id) + } + + pub fn line_pos(&self, line: &LineEntity) -> Var { + // TODO: error handling? + let start = self.points.get(line.start).unwrap(); + let start = self.point_pos(start); + + let end = self.points.get(line.end).unwrap(); + let end = self.point_pos(end); + start.merge(end, LinePos::new) + } +} diff --git a/src/geometry/entity.rs b/src/geometry/entity.rs new file mode 100644 index 0000000..d91b0bf --- /dev/null +++ b/src/geometry/entity.rs @@ -0,0 +1,113 @@ +use std::marker::PhantomData; + +use indexmap::IndexMap; + +// HashMap with fast no-op hash function and preserves insertion order +type IntIndexMap = IndexMap>; + +pub struct EntityId(u32, PhantomData); + +impl Default for EntityId { + fn default() -> Self { + Self(1, Default::default()) + } +} + +impl nohash_hasher::IsEnabled for EntityId {} + +impl EntityId { + fn take_next(&mut self) -> Self { + let id = *self; + self.0 += 1; + id + } + + fn invalid() -> Self { + Self(u32::MAX, Default::default()) + } +} + +#[derive(Clone)] +pub struct EntityMap { + map: IntIndexMap, T>, + next_id: EntityId, +} + +impl EntityMap { + pub fn insert(&mut self, entity: T) -> EntityId { + let id = self.next_id.take_next(); + self.map.insert(id, entity); + id + } + + pub fn contains(&self, id: EntityId) -> bool { + self.map.contains_key(&id) + } + + pub fn remove(&mut self, id: EntityId) -> bool { + self.map.remove(&id).is_some() + } + + pub fn get(&self, id: EntityId) -> Option<&T> { + self.map.get(&id) + } + + pub fn get_mut(&mut self, id: EntityId) -> Option<&mut T> { + self.map.get_mut(&id) + } + + pub fn iter(&self) -> impl Iterator, &T)> { + self.map.iter().map(|(id, v)| (*id, v)) + } +} + +// Need to reimplement all of this without the T bound :/ + +impl PartialEq for EntityId { + fn eq(&self, other: &Self) -> bool { + self.0 == other.0 && self.1 == other.1 + } +} + +impl Eq for EntityId {} + +impl PartialOrd for EntityId { + fn partial_cmp(&self, other: &Self) -> Option { + self.0.partial_cmp(&other.0) + } +} + +impl Ord for EntityId { + fn cmp(&self, other: &Self) -> std::cmp::Ordering { + self.0.cmp(&other.0) + } +} + +impl Clone for EntityId { + fn clone(&self) -> Self { + Self(self.0.clone(), self.1.clone()) + } +} + +impl Copy for EntityId {} + +impl std::hash::Hash for EntityId { + fn hash(&self, state: &mut H) { + self.0.hash(state); + } +} + +impl std::fmt::Debug for EntityId { + fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result { + f.debug_tuple("EntityId").field(&self.0).finish() + } +} + +impl Default for EntityMap { + fn default() -> Self { + Self { + map: Default::default(), + next_id: Default::default(), + } + } +} diff --git a/src/geometry/var.rs b/src/geometry/var.rs new file mode 100644 index 0000000..0cfa29d --- /dev/null +++ b/src/geometry/var.rs @@ -0,0 +1,62 @@ +use super::{EntityId, Scalar}; + +#[derive(Clone, Copy, PartialEq, Eq, Debug)] +pub enum VarStatus { + Free, + Dependent, + Unique, + Overconstrained, +} + +impl VarStatus { + pub fn merge(self, other: Self) -> Self { + use VarStatus::*; + match (self, other) { + (Free, Free) => Free, + (Unique, Unique) => Unique, + (Overconstrained, _) | (_, Overconstrained) => Overconstrained, + _ => Dependent, + } + } +} + +#[derive(Clone, Copy, Debug)] +pub struct Var { + pub value: T, + pub status: VarStatus, +} + +impl Var { + pub fn new_free(value: T) -> Self { + Self { + value, + status: VarStatus::Free, + } + } + + pub(super) fn merge(self, other: Var, by: F) -> Var + where + F: FnOnce(T, U) -> V, + { + Var { + value: by(self.value, other.value), + status: self.status.merge(other.status), + } + } +} + +impl std::ops::Deref for Var { + type Target = T; + + fn deref(&self) -> &Self::Target { + &self.value + } +} + +impl std::ops::DerefMut for Var { + fn deref_mut(&mut self) -> &mut Self::Target { + &mut self.value + } +} + +pub type VarId = EntityId; diff --git a/src/main.rs b/src/main.rs new file mode 100644 index 0000000..a4185df --- /dev/null +++ b/src/main.rs @@ -0,0 +1,303 @@ +use eframe::{ + egui::{self, CursorIcon, Frame, PointerButton, Sense, Ui}, + emath::{Pos2, Rect, RectTransform, Vec2}, + epaint::{color::Hsva, Color32, Stroke}, +}; +use geometry::{LineEntity, PointId, PointPos, SketchEntities}; + +mod geometry; +mod optimization; +mod relations; + +fn main() { + let options = eframe::NativeOptions::default(); + eframe::run_native( + "sketchrs", + options, + Box::new(|_cc| Box::new(MyApp::default())), + ); +} + +#[derive(PartialEq)] +enum Tool { + Select, + Move, + AddPoint, + AddLine, +} + +impl Default for Tool { + fn default() -> Self { + Tool::Select + } +} + +#[derive(Default)] +struct ViewState { + tool: Tool, + hover_point: Option, + select_point: Option, + drag_delta: Vec2, +} + +struct MyApp { + state: ViewState, + entities: SketchEntities, +} + +impl Default for MyApp { + fn default() -> Self { + let mut entities = SketchEntities::default(); + let p1 = entities.insert_point_at((10., 30.)); + let p2 = entities.insert_point_at((-20., 15.)); + entities.insert_point_at((0., -10.)); + entities.insert_line(LineEntity::new(p1, p2)); + Self { + state: ViewState::default(), + entities, + } + } +} + +fn color_for_var_status(status: geometry::VarStatus) -> Hsva { + use geometry::VarStatus::*; + match status { + Free => Hsva::new(200. / 360., 0.90, 0.80, 1.0), + Dependent => todo!(), + Unique => todo!(), + Overconstrained => todo!(), + } +} + +const POINT_RADIUS: f32 = 3.0; + +impl MyApp { + fn show_toolbar(&mut self, ui: &mut Ui) { + ui.heading("sketchrs"); + + ui.horizontal(|ui| { + ui.label("Tool: "); + let mut tool = &mut self.state.tool; + ui.selectable_value(tool, Tool::Select, "Select"); + ui.selectable_value(tool, Tool::Move, "Move"); + ui.selectable_value(tool, Tool::AddPoint, "+ Point"); + ui.selectable_value(tool, Tool::AddLine, "+ Line"); + }); + } + + fn show_entities(&mut self, ui: &mut Ui) { + let mut state = &mut self.state; + + let sense = match state.tool { + Tool::Move => Sense::drag(), + Tool::Select | Tool::AddPoint | Tool::AddLine => Sense::click(), + }; + + let (response, painter) = ui.allocate_painter(ui.available_size(), sense); + let ctx = response.ctx.clone(); + let to_screen = RectTransform::from_to( + Rect::from_center_size(Pos2::ZERO, response.rect.size() / 2.0), + response.rect, + ); + + let transform_pos = |pos: &PointPos| to_screen * Pos2::new(pos.x as f32, pos.y as f32); + + let mut hover_line = None; + + state.hover_point = None; + + if let Some(hover_pos) = response.hover_pos() { + for (id, point) in self + .entities + .points() + .iter() + .filter(|(id, _)| Some(*id) != state.select_point) + { + let pos = self.entities.point_pos(point); + let center = transform_pos(&*pos); + + if (hover_pos - center).length() < (POINT_RADIUS * 3.) { + state.hover_point = Some(id); + break; + } + } + + for (id, line) in self.entities.lines().iter() { + let pos = self.entities.line_pos(line); + let points = [transform_pos(&pos.start), transform_pos(&pos.end)]; + + let b = points[1] - points[0]; + let a = hover_pos - points[0]; + let p = a.dot(b) / b.dot(b); + let perp = a - (p * b); + let hovered = ((0.)..=(1.)).contains(&p) && perp.length() < 5.0; + + if hovered { + hover_line = Some(id); + break; + } + } + + ctx.output().cursor_icon = match state.tool { + Tool::Select => { + if state.hover_point.is_some() { + CursorIcon::PointingHand + } else { + CursorIcon::Default + } + } + Tool::Move => { + if state.select_point.is_some() { + CursorIcon::Grabbing + } else if state.hover_point.is_some() { + CursorIcon::Grab + } else { + CursorIcon::Move + } + } + Tool::AddPoint => CursorIcon::None, + Tool::AddLine => CursorIcon::None, + }; + + let mut add_point = || { + let point_pos = to_screen.inverse() * hover_pos; + let point_pos = (point_pos.x as f64, point_pos.y as f64); + self.entities.insert_point_at(point_pos) + }; + + match state.tool { + Tool::Select => { + if response.clicked() { + state.select_point = state.hover_point; + } + } + Tool::Move => { + let drag_started = response.drag_started(); + if drag_started { + state.select_point = state.hover_point; + } else if response.drag_released() { + state.select_point = None; + state.drag_delta = Vec2::ZERO; + } + + if let Some(point_id) = state.select_point { + let point = self.entities.points().get(point_id).unwrap(); + if drag_started { + let point_pos = self.entities.point_pos(point); + state.drag_delta = hover_pos - transform_pos(&*point_pos); + } + let move_to = to_screen.inverse() * (hover_pos - state.drag_delta); + for (id, val) in [(point.x, move_to.x), (point.y, move_to.y)] { + self.entities.get_var_mut(id).unwrap().value = val as f64; + } + } + } + Tool::AddPoint => { + if response.clicked() { + add_point(); + } else { + painter.circle_filled(hover_pos, POINT_RADIUS, Color32::WHITE); + } + } + Tool::AddLine => { + match (state.select_point, response.clicked()) { + (Some(start_point_id), true) => { + // TODO: add point if no hover point + let end_point = state.hover_point.unwrap_or_else(add_point); + + let line = LineEntity::new(start_point_id, end_point); + self.entities.insert_line(line); + + state.select_point = None; + } + (None, true) => { + state.select_point = Some(state.hover_point.unwrap_or_else(add_point)); + } + (Some(first_point_id), false) => { + let first_point = self.entities.points().get(first_point_id).unwrap(); + let first_point_pos = self.entities.point_pos(first_point); + let points = [transform_pos(&first_point_pos), hover_pos]; + + let stroke = Stroke::new(2.0, Color32::DARK_GRAY); + + painter.line_segment(points, stroke); + + painter.circle_filled(hover_pos, POINT_RADIUS, Color32::DARK_GRAY); + } + (None, false) => { + painter.circle_filled(hover_pos, POINT_RADIUS, Color32::DARK_GRAY); + } + } + } + } + } + + for (id, line) in self.entities.lines().iter() { + let pos = self.entities.line_pos(line); + let points = [transform_pos(&pos.start), transform_pos(&pos.end)]; + + let mut color = color_for_var_status(pos.status); + color.v -= 0.6; + if state.hover_point.is_none() + && (state.select_point.is_none() || state.tool != Tool::Move) + && Some(id) == hover_line + { + color.s -= 0.8; + } + + let stroke = Stroke::new(2.0, color); + + painter.line_segment(points, stroke); + } + + for (id, point) in self.entities.points().iter() { + let pos = self.entities.point_pos(point); + + let center = transform_pos(&*pos); + + let mut color = color_for_var_status(pos.status); + let stroke = match (state.select_point, state.hover_point) { + (Some(sid), _) | (_, Some(sid)) if id == sid => { + // color.s -= 0.8; + Stroke::new(1.0, Color32::WHITE) + } + _ => Stroke::default(), + }; + painter.circle(center, POINT_RADIUS, color, stroke); + } + } +} + +impl eframe::App for MyApp { + fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) { + ctx.request_repaint(); + ctx.set_visuals(egui::Visuals::dark()); + + egui::TopBottomPanel::top("top_panel").show(ctx, |ui| self.show_toolbar(ui)); + + egui::CentralPanel::default() + .frame(egui::Frame::none()) + .show(ctx, |ui| { + self.show_entities(ui); + }); + + egui::SidePanel::right("right_panel") + .resizable(true) + .default_width(150.0) + .width_range(80.0..=200.0) + .show(ctx, |ui| { + ui.vertical_centered(|ui| { + ui.heading("Left Panel"); + }); + // egui::ScrollArea::vertical().show(ui, |ui| { + // lorem_ipsum(ui); + // }); + }); + + egui::TopBottomPanel::bottom("bottom_panel").show(ctx, |ui| { + ui.horizontal(|ui| { + ui.label("Status: "); + }); + }); + } +} diff --git a/src/optimization.rs b/src/optimization.rs new file mode 100644 index 0000000..1decd82 --- /dev/null +++ b/src/optimization.rs @@ -0,0 +1,122 @@ +use std::mem::MaybeUninit; + +use nalgebra::{DMatrix, DVector, DimName}; +use nalgebra_sparse::CooMatrix; + +use crate::geometry::Scalar; + +type SVector = nalgebra::SVector; + +trait SResidual { + fn apply(&self, x: SVector) -> Scalar; + fn grad(&self, x: SVector) -> SVector; +} + +struct PointPointDistance(Scalar); + +fn square(x: Scalar) -> Scalar { + x * x +} + +impl SResidual<4> for PointPointDistance { + fn apply(&self, x: SVector<4>) -> Scalar { + let [[x1, y1, x2, y2]] = x.data.0; + // x.generic_slice() + square(x2 - x1) + square(y2 - y1) - square(self.0) + // (square(x2 - x1) + square(y2 - y1)).sqrt() - self.0 + } + + fn grad(&self, x: SVector<4>) -> SVector<4> { + let [[x1, y1, x2, y2]] = x.data.0; + SVector::<4>::new( + 2. * (x1 - x2), + 2. * (y1 - y2), + 2. * (x2 - x1), + 2. * (y2 - x1), + ) + } +} + +trait IndexedResidual { + fn apply(&self, x: &[Scalar]) -> Scalar; + fn grad_indices(&self) -> &[usize]; + fn grad_append(&self, x: &[Scalar], grad: &mut Vec); +} + +struct MappedResidual { + residual: R, + indices: [usize; N], +} + +impl MappedResidual { + fn gather_svector(&self, x: &[Scalar]) -> SVector { + SVector::from_fn(|_, i| x[self.indices[i]]) + } +} + +impl> IndexedResidual for MappedResidual { + fn apply(&self, x: &[Scalar]) -> Scalar { + self.residual.apply(self.gather_svector(x)) + } + + fn grad_indices(&self) -> &[usize] { + &self.indices + } + + fn grad_append(&self, x: &[Scalar], mut grad: &mut Vec) { + let gvals = self.residual.grad(self.gather_svector(x)); + grad.extend(gvals.as_slice()); + } +} + +struct Residuals { + residuals: Vec>, +} + +impl Residuals { + fn apply_fill(&self, x: &[Scalar], residuals: &mut [Scalar]) { + assert_eq!(self.residuals.len(), residuals.len()); + for (resbox, rval) in self.residuals.iter().zip(residuals) { + *rval = resbox.apply(x); + } + } + + // fn grad_fill(&self, x: &[Scalar], grad: &mut [Scalar]) { + // assert_eq!(self.residuals.len(), grad.len()); + // let mut gradcol = Vec::new(); + // for resbox in self.residuals.iter() { + // let res = resbox.apply(x); + // let indices = resbox.grad_indices(); + // gradcol.resize(indices.len(), 0.); + // resbox.grad_fill(x, grad); + // for i in indices { + // grad[i] = 2 * res * gradcol + // } + // // resbox.grad_fill(x, gradcol.as_mut_slice()); + // } + // } + + fn jacobian(&self, x: &[Scalar]) -> CooMatrix { + let gradlen = self + .residuals + .iter() + .map(|res| res.grad_indices().len()) + .sum::(); + let mut row_indices = Vec::with_capacity(gradlen); + let mut col_indices = Vec::with_capacity(gradlen); + let mut grads = Vec::with_capacity(gradlen); + for (j, resbox) in self.residuals.iter().enumerate() { + row_indices.extend(resbox.grad_indices()); + col_indices.extend(std::iter::repeat(j).take(resbox.grad_indices().len())); + resbox.grad_append(x, &mut grads); + } + CooMatrix::try_from_triplets( + x.len(), + self.residuals.len(), + row_indices, + col_indices, + grads, + ) + .unwrap() + } +} diff --git a/src/relations.rs b/src/relations.rs new file mode 100644 index 0000000..d745f12 --- /dev/null +++ b/src/relations.rs @@ -0,0 +1,25 @@ +use crate::geometry::{PointId, Scalar, PointPos}; + +struct SketchRelations { + relations: Vec, +} + +pub enum SketchRelation { + Point { + p: PointId, + rel: PointRelation, + }, + PointPoint { + a: PointId, + b: PointId, + rel: PointPointRelation, + }, +} + +pub enum PointRelation { + Fix(PointPos), +} + +pub enum PointPointRelation { + Distance(Scalar), +}