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SymbolicSpace.ts
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SymbolicSpace.ts
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import {
SerializableArrayMember,
SerializableObject,
Vector3,
AbsolutePosition,
ReferenceSpace,
SerializableMapMember,
AngleUnit,
Euler,
LengthUnit,
SerializableMember,
DataSerializer,
GeographicalPosition,
Constructor,
Accuracy1D,
} from '@openhps/core';
const wkt = require('wkt');
/**
* A symbolic space can be used to indicate an abstract space with a boundary.
* It is an extended ```ReferenceSpace``` with boundaries.
*
* ## About
* A symbolic space is a ```ReferenceSpace```, and is therefore not directly as a position.
* It indicates a symbolic space and provides several utilities. Both a hierarchical structure
* and graph connection can be used to connect symbolic spaces together.
*
* ## Usage
* ### Creation
* Creating a symbolic space requires a generic position type. This type indicates
* how the symbolic position should be interpreted.
*
* Optionally, the space can be initialized with a display name.
* ```typescript
* const lobby = new SymbolicSpace<Absolute2DPosition>("Main lobby");
* const floor = new SymbolicSpace<Absolute2DPosition>("Floor 3");
* ```
*
* ### Parent space
* The parent space uses a wrapper for the ```ReferenceSpace.parentUID```.
* ```typescript
* lobby.parent = floor;
* ```
* In addition, the parent is also treated as the base reference space.
*
* ### Creating boundaries
* Boundaries can be set of a symbolic space. Both 2D and 3D polygons are supported.
* ```typescript
* // Triangle boundary
* lobby.setBounds([
* new Absolute2DPosition(2, 2),
* new Absolute2DPosition(5, 5),
* new Absolute2DPosition(8, 8)
* ]);
* ```
* Positioning of boundaries is always relative to the parent (i.e. if the floor shifts position,
* you do not have to change the lobby boundaries).
*
* ### Boundary utilities
* Symbolic spaces provide several boundary utilities.
*
* #### Checking if a position is inside a symbolic space
* ```typescript
* lobby.isInside(new Absolute2DPosition(4, 4)); // true
* lobby.isInside(new Absolute2DPosition(1, 1)); // false
* ```
*
* #### Centroid
* The centroid is determined using the boundaries, this will be
* the position that is used.
*
* ### ```AbsolutePosition``` to ```SymbolicSpace```
* Converting an absolute position to a symbolic space does not provide
* a single result. Similar to geocoders, the results are sorted based on their
* probability.
*
* For this, we make use of the [[SymbolicSpaceService]]. This service acts as the data store for
* symbolic spaces.
* ```typescript
*
* ```
*
* ### ```SymbolicSpace``` to ```AbsolutePosition```
* Converting a symbolic space to a position uses the centroid that
* is calculated from the boundaries.
*
* ```typescript
* const object = new DataObject("mvdewync", "Maxim");
* const position = lobby.toPosition();
* ```
*/
@SerializableObject()
export class SymbolicSpace<T extends AbsolutePosition> extends ReferenceSpace {
@SerializableArrayMember(Vector3)
coordinates: Vector3[] = [];
@SerializableMember({
serializer: (constructor) => {
if (!constructor) {
return AbsolutePosition.name;
}
return constructor.name;
},
deserializer: (constructorName) => {
return DataSerializer.findTypeByName(constructorName);
},
})
protected positionConstructor: new () => T;
@SerializableMember()
centroid: AbsolutePosition;
@SerializableMapMember(Vector3, String)
protected connectedSpaces: Map<Vector3, string> = new Map();
@SerializableMember({
constructor: Number,
})
priority = 0;
constructor(displayName?: string) {
super();
this.displayName = displayName;
}
/**
* Get the boundary type
*
* @returns {Constructor<AbsolutePosition>} Absolute position constructor
*/
get boundaryType(): new () => T {
return this.positionConstructor;
}
setBounds(bounds: T[]): this;
setBounds(bounds: RectangleCornerBoundary<T>): this;
setBounds(bounds: RectangleRotationBoundary<T>): this;
setBounds(bounds: any): this {
if (Array.isArray(bounds)) {
// Array bounds
this.setArrayBounds(bounds);
} else if ('topLeft' in bounds) {
// Rectangle boundary
this.setRectangleBounds(bounds);
}
this.updateCentroid();
return this;
}
protected setRectangleBounds(bounds: RectangleRotationBoundary<T>): void;
protected setRectangleBounds(bounds: RectangleCornerBoundary<T>): void;
protected setRectangleBounds(bounds: any): void {
if ('width' in bounds) {
const topLeft: T = bounds.topLeft;
const eulerRotation = new Euler(0, 0, bounds.rotation, 'XYZ', AngleUnit.DEGREE);
this.rotation(eulerRotation);
const boundsArray: AbsolutePosition[] = [];
if (topLeft instanceof GeographicalPosition) {
const topRight: GeographicalPosition = topLeft.destination(bounds.rotation, bounds.width);
const bottomLeft: GeographicalPosition = topLeft.destination(bounds.rotation + 90, bounds.length);
const bottomRight: GeographicalPosition = topRight.destination(bounds.rotation + 90, bounds.length);
boundsArray.push(bottomLeft);
boundsArray.push(topLeft);
boundsArray.push(topRight);
boundsArray.push(bottomRight);
if (bounds.height) {
boundsArray.forEach((bound) => {
const boundUp = bound.clone() as GeographicalPosition;
boundUp.altitude = boundUp.altitude + bounds.height;
boundsArray.push(boundUp);
});
}
} else {
const topRight = topLeft
.toVector3(LengthUnit.METER)
.add(new Vector3(bounds.width, 0, 0).applyEuler(eulerRotation));
const bottomLeft = topLeft
.toVector3(LengthUnit.METER)
.add(new Vector3(0, bounds.length, 0).applyEuler(eulerRotation));
const bottomRight = topLeft
.toVector3(LengthUnit.METER)
.add(new Vector3(bounds.width, bounds.length, 0).applyEuler(eulerRotation));
boundsArray.push(topLeft.clone().fromVector(bottomLeft, LengthUnit.METER));
boundsArray.push(topLeft);
boundsArray.push(topLeft.clone().fromVector(topRight, LengthUnit.METER));
boundsArray.push(topLeft.clone().fromVector(bottomRight, LengthUnit.METER));
}
this.setArrayBounds(boundsArray as T[]);
} else {
this.setArrayBounds([bounds.topLeft, bounds.bottomRight]);
}
}
protected setArrayBounds(bounds: T[]): void {
this.positionConstructor = bounds[0].constructor as new () => T;
const points = bounds.map((bound) => bound.toVector3(LengthUnit.METER));
if (bounds.length === 2) {
// Top left and bottom right
const topLeft = points[0];
const bottomRight = points[1];
const diff = bottomRight.clone().sub(topLeft);
const zCount = points.map((p) => p.z).reduce((a, b) => a + b);
if (zCount !== 0) {
// 3D
this.coordinates.push(topLeft.clone().add(new Vector3(diff.x, 0, 0)));
this.coordinates.push(topLeft);
this.coordinates.push(topLeft.clone().add(new Vector3(0, diff.y, 0)));
this.coordinates.push(topLeft.clone().add(new Vector3(diff.x, diff.y, 0)));
this.coordinates.push(topLeft.clone().add(new Vector3(diff.x, 0, diff.z)));
this.coordinates.push(topLeft.clone().add(new Vector3(0, diff.y, diff.z)));
this.coordinates.push(topLeft.clone().add(new Vector3(0, 0, diff.z)));
this.coordinates.push(bottomRight);
} else {
// 2D
this.coordinates.push(topLeft.clone().add(new Vector3(0, diff.y, 0)));
this.coordinates.push(topLeft);
this.coordinates.push(topLeft.clone().add(new Vector3(diff.x, 0, 0)));
this.coordinates.push(bottomRight);
}
} else {
// Polygon
this.coordinates = points;
}
}
/**
* Get the boundaries of the space
*
* @returns {AbsolutePosition[]} Array of boundary position
*/
getBounds(): T[] {
return this.coordinates.map((point) => {
const position = new this.positionConstructor();
position.fromVector(point, LengthUnit.METER);
return position;
});
}
protected updateCentroid(): void {
this.centroid = new this.positionConstructor();
this.centroid.referenceSpaceUID = this.uid;
const centerPoint = this.coordinates.reduce((a, b) => a.clone().add(b)).divideScalar(this.coordinates.length);
this.centroid.fromVector(centerPoint, LengthUnit.METER);
}
/**
* Set the parent symbolic location
*
* @param {SymbolicSpace} loc Parent symbolic location
*/
set parent(loc: SymbolicSpace<any>) {
super.parent = loc;
}
get parent(): SymbolicSpace<any> {
return super.parent as SymbolicSpace<any>;
}
/**
* Check if a position lies within a symbolic location
*
* @param {AbsolutePosition} position Absolute position to check
* @returns {boolean} Point inside boundaries
*/
isInside(position: AbsolutePosition): boolean {
const transformedPosition = position instanceof this.positionConstructor ? position : this.transform(position);
const point = transformedPosition.toVector3(LengthUnit.METER);
let inside = false;
let coordinates: Vector3[] =
position instanceof GeographicalPosition && this.positionConstructor.name !== GeographicalPosition.name
? this.getBounds()
.map((pos) => this.transform(pos))
.map((pos) => pos.toVector3(LengthUnit.METER))
: this.coordinates;
const zSorted = coordinates.map((c) => c.z).sort((a, b) => a - b);
const minZ = zSorted[0];
const maxZ = zSorted[zSorted.length - 1];
if (minZ !== maxZ && this.positionConstructor.name !== GeographicalPosition.name)
coordinates = coordinates.filter((c) => c.z === minZ);
for (let i = 0, j = coordinates.length - 1; i < coordinates.length; j = i++) {
const xi = coordinates[i].x;
const yi = coordinates[i].y;
const xj = coordinates[j].x;
const yj = coordinates[j].y;
const intersect = yi > point.y != yj > point.y && point.x < ((xj - xi) * (point.y - yi)) / (yj - yi) + xi;
if (intersect) inside = !inside;
}
return inside && point.z >= minZ && point.z <= maxZ;
}
/**
* Check if the space is connected to another
*
* @param {SymbolicSpace} space Space to check if connected
* @returns {boolean} connected or not
*/
isConnected(space: SymbolicSpace<any>): boolean {
return Array.from(this.connectedSpaces.values()).includes(space.uid);
}
/**
* Add a connected space
*
* @param {SymbolicSpace} space Connected space
* @param {AbsolutePosition} [position] Position of connection
* @returns {SymbolicSpace} instance
*/
addConnectedSpace(space: SymbolicSpace<any>, position?: T): this {
this.connectedSpaces.set(position.toVector3(), space.uid);
return this;
}
/**
* Convert the symbolic space to an absolute position
*
* @returns {AbsolutePosition} Absolute position
*/
toPosition(): T {
const centroid = this.centroid as T;
const centroidVector = centroid.toVector3(LengthUnit.METER);
const maxDistance = this.coordinates.map((coord) => centroidVector.distanceTo(coord)).sort((a, b) => a - b)[0];
centroid.accuracy = new Accuracy1D(maxDistance, LengthUnit.METER);
return centroid;
}
/**
* Create a new symbolic space GeoJSON
*
* @param {any} json GeoJSON
* @returns {SymbolicSpace} symbolic space instance
*/
static fromGeoJSON<T extends typeof SymbolicSpace>(json: any): InstanceType<T> {
const dataType = DataSerializer.findTypeByName(json.properties.type) as Constructor<T>;
const instance = new dataType() as InstanceType<T>;
instance.uid = json.properties.uid;
instance.parentUID = json.properties.parent_uid;
instance.priority = json.properties.priority;
instance.displayName = json.properties.name;
if (json.properties.transformationMatrix) {
instance.transformationMatrix.elements = json.properties.transformationMatrix;
}
if (json.properties.scaleMatrix) {
instance.scaleMatrix.elements = json.properties.scaleMatrix;
}
instance.coordinates = json.geometry.coordinates[0].map((pos: number[]) => {
const position = new GeographicalPosition();
position.x = pos[0];
position.y = pos[1];
position.z = pos[2];
return position.toVector3(LengthUnit.METER);
});
instance.positionConstructor = GeographicalPosition;
instance.updateCentroid();
return instance;
}
static fromWKT<T extends typeof SymbolicSpace>(wktLiteral: string): InstanceType<T> {
return this.fromGeoJSON(wkt.parse(wktLiteral));
}
/**
* Convert the symbolic space to GeoJSON
*
* @returns {any} GeoJSON
*/
toGeoJSON(): any {
return {
type: 'Feature',
geometry: {
type: 'Polygon',
coordinates: [
this.getBounds()
.map((pos) => this.transform(pos))
.map((p) => p.toVector3().toArray()),
],
},
properties: {
name: this.displayName,
uid: this.uid,
parent_uid: this.parentUID,
priority: this.priority,
type: this.constructor.name,
transformationMatrix: this.transformationMatrix.elements,
scaleMatrix: this.scaleMatrix.elements,
boundaryType: this.positionConstructor.name,
},
};
}
/**
* Convert the symbolic space to well-known text representation
*
* @returns {string} WKT
*/
toWKT(): string {
return wkt.stringify(this.toGeoJSON());
}
}
export type RectangleCornerBoundary<T extends AbsolutePosition> = {
topLeft: T;
bottomRight: T;
};
export type RectangleRotationBoundary<T extends AbsolutePosition> = {
topLeft: T;
/**
* Width of the boundary in meters
*/
width: number;
/**
* Length of the boundary in meters
*/
height?: number;
/**
* Height of the boundary in meters
*/
length: number;
/**
* Rotation of the boundary in degrees
*
* @default 0
*/
rotation?: number;
};