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sim.html
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sim.html
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<!DOCTYPE html>
<html>
<head>
<script src="https://code.jquery.com/jquery-3.2.1.slim.min.js"></script>
<script type="text/javascript">
// https://stackoverflow.com/questions/29261304/how-to-get-the-click-coordinates-relative-to-svg-element-holding-the-onclick-lis
//https://stackoverflow.com/questions/6858479/rectangle-coordinates-after-transform
$(document).ready(function () {
// Find your root SVG element
var svg = document.querySelector('svg');
var drawing = false, dragging = false, hp;
var draggedItem;
//array of lines of polygon being drawn
var drawingLines = [];
// Create an SVGPoint for future math
var pt = svg.createSVGPoint();
// Get point in global SVG space
function cursorPoint(evt) {
pt.x = evt.clientX; pt.y = evt.clientY;
return pt.matrixTransform(svg.getScreenCTM().inverse());
}
//doubleclick handler
svg.addEventListener('dblclick', function (evt) {
hp = cursorPoint(evt);
//if double-click inside existing polygon, remove it
$('polygon').each(function () {
if (pointInsidePolygon(hp, this)) $(this).remove();
});
//if currently drawing a polygon, double click to finish
if (drawing && drawingLines.length > 2) {
var pointsString = "";
for (i = 0; i < drawingLines.length; i++) {
pointsString += drawingLines[i].attr('x1') + "," + drawingLines[i].attr('y1') + " ";
}
$(document.createElementNS('http://www.w3.org/2000/svg', "polygon"))
.attr('fill', 'blue')
.attr('points', pointsString)
.attr('fill-rule', 'evenodd')
.addClass('drawn')
.appendTo($('#mydrawing'));
}
drawing = false;
$('.drawingLine').remove();
drawingLines = [];
}, false); //doubleclick handler
//mousedown handler
//disable regular rightclick menu
$('body').bind("contextmenu", function(e) {
console.log(e);
e.preventDefault();
return false;
});
//hide menu after clicking button
$('#menu').click(function(){
$('#menu').hide();
});
svg.addEventListener('mousedown', function (evt) {
if(evt.which==3){
evt.preventDefault();
evt.stopPropagation();
$('#menu').show().css('left',evt.clientX).css('top',evt.clientY);
return false;
}
if($('#menu').is(":visible")){
$('#menu').hide();
return false;
}
var loc = cursorPoint(evt); //record where mouse started
drawing = true;
hp = loc;
//if mouse down inside draggable item, drag it
$('.draggable').each(function () {
if (Math.hypot(($(this).attr('cx') - hp.x), ($(this).attr('cy') - hp.y)) < $(this).attr('r')) {
dragging = true;
drawing = false;
draggedItem = $(this);
}
});
//create new drawing line at this start point (if not too close to previous point)
if (drawing && (drawingLines.length == 0 || Math.hypot(drawingLines[drawingLines.length - 1].attr('x1') - loc.x, drawingLines[drawingLines.length - 1].attr('y1') - loc.y) > 5)) {
drawingLines.push(
$(document.createElementNS('http://www.w3.org/2000/svg', "line"))
.attr('x1', loc.x)
.attr('x2', loc.x)
.attr('y1', loc.y)
.attr('y2', loc.y)
.attr('stroke', 'blue')
.attr('stroke-width', 1)
.addClass('drawingLine')
.appendTo($('#mydrawing'))
);
}
}, false); //mousedown handler
//mousemove handler
svg.addEventListener('mousemove', function (evt) {
var loc = cursorPoint(evt); //get mouse position
//if currently drawing, line endpoint tracks with mouse
if (drawing && drawingLines.length) {
drawingLines[drawingLines.length - 1].attr('x2', loc.x).attr('y2', loc.y);
}
//if currently dragging, dragged item tracks with mouse
if (dragging) {
draggedItem.attr('cx', loc.x).attr('cy', loc.y);
}
}, false); //mousemove handler
//mouseup handler
svg.addEventListener('mouseup', function (evt) {
dragging = false; //stop dragging
var loc = cursorPoint(evt);
}, false);
var dx, dy, movementTimer;
var currentAlgorithm;
function startRunning(alg) {
$(".path").remove();
movementTimer = setInterval(function () {
alg();
//move robot in direction of dx,dy
if (Math.hypot(GX() - RX(), GY() - RY()) > 1 && (dx != 0 || dy != 0)) {
var speedNorm = Math.hypot(dx, dy) / 1.5;
$('#robot').attr('cx', RX() + dx / speedNorm);
$('#robot').attr('cy', RY() + dy / speedNorm);
//robot orange trail
$(document.createElementNS('http://www.w3.org/2000/svg', "circle"))
.attr('cx', RX())
.attr('cy', RY())
.attr('r', 1)
.attr('fill', 'orange')
.addClass('path')
.appendTo($('#mydrawing'));
} else { //at the goal, stop
clearInterval(movementTimer);
}
}, 10);
}
$("#runRightTurn").click(function(){startRunning(runRightTurn)});
$("#runBug1").click(function(){startRunning(runBug1)});
$("#runBug2").click(function(){startRunning(runBug2)});
$("#stopButton").click(function () { clearInterval(movementTimer) });
//return true if p is inside poly, uses double crossing method
function pointInsidePolygon(p, poly) {
var intersects = [], n = 0;
for (i = 0; i < poly.points.length; i++) {
var x1 = poly.points[i].x, x2 = poly.points[(i + 1) % poly.points.length].x;
var y1 = poly.points[i].y, y2 = poly.points[(i + 1) % poly.points.length].y;
if ((y1 <= p.y && p.y <= y2) || (y2 <= p.y && p.y <= y1)) {
if (x1 == x2) { //vertical line
intersects.push(x1);
} else {
var m = (y2 - y1) / (x2 - x1);
var x = (p.y - y1) / m + x1;
intersects.push(x);
}
}
}
for (i = 0; i < intersects.length; i++) {
if (intersects[i] < p.x) n++;
}
return ((n % 2) != 0);
}
//https://stackoverflow.com/questions/849211/shortest-distance-between-a-point-and-a-line-segment
function closestPointOnSegment(x, y, x1, y1, x2, y2) {
var A = x - x1;
var B = y - y1;
var C = x2 - x1;
var D = y2 - y1;
var dot = A * C + B * D;
var len_sq = C * C + D * D;
var param = -1;
if (len_sq != 0) //in case of 0 length line
param = dot / len_sq;
var xx, yy;
if (param < 0) {
xx = x1;
yy = y1;
}
else if (param > 1) {
xx = x2;
yy = y2;
}
else {
xx = x1 + param * C;
yy = y1 + param * D;
}
var dx = x - xx;
var dy = y - yy;
return { x: xx, y: yy };
}
function closestPointOnPoly(p, poly) {
var md = 1e6, cp;
for (i = 0; i < poly.points.length; i++) {
var x1 = poly.points[i].x, y1 = poly.points[i].y, x2 = poly.points[(i + 1) % poly.points.length].x, y2 = poly.points[(i + 1) % poly.points.length].y;
var c = closestPointOnSegment(p.x, p.y, x1, y1, x2, y2);
var cd = Math.hypot(p.x - c.x, p.y - c.y);
if (cd < md) {
md = cd;
cp = c;
}
}
return cp;
}
function RX() {
return parseFloat($('#robot').attr('cx'));
}
function RY() {
return parseFloat($('#robot').attr('cy'));
}
function GX() {
return parseFloat($('#goal').attr('cx'));
}
function GY() {
return parseFloat($('#goal').attr('cy'));
}
function RR() {
return parseFloat($('#robot').attr('r'));
}
//finds closest poly point to robot. if that point is inside robot, we are in collision
//returns false for no collision, otherwise returns collision point
function collision() {
var p = false;
var md = 0;//1e6;
$('.drawn').each(function () {
var cp = closestPointOnPoly({ x: RX(), y: RY() }, this);
var d = Math.hypot((cp.x - RX()), (cp.y - RY())) - (RR());
if (d < md) {
md = d;
if (d <= 0) {
p = cp;
}
}
});
return p;
}
function runRightTurn() {
dx = GX() - RX(); //go straight towards goal
dy = GY() - RY();
var cp = collision();
if (cp) {
if ((dy * (cp.y - RY()) + dx * (cp.x - RX())) > 0) { //if collision point is in path of robot +-90 degrees
dx = RY() - cp.y; //turn 90 degrees to the right
dy = cp.x - RX();
}//if...
}//if(cp)
}//runRightTurn
var bug1 = { following: false }
function runBug1() {
dx = GX() - RX();
dy = GY() - RY();
if (bug1.following && !bug1.returning) {
bug1.steps++;
}
var cp = collision();
if (cp) {
if (!bug1.following) {
if ((dx * (cp.x - RX()) + dy * (cp.y - RY())) > 0) { //if collision is in front
bug1.following = true; //start following
bug1.startFollowing = true;
bug1.returning = false;
bug1.startPoint = { x: RX(), y: RY() };
bug1.closestPoint = { x: RX(), y: RY() };
bug1.minDistance = Math.hypot(GX() - RX(), GY() - RY());
bug1.steps = 0;
}
}
console.log("f:" + bug1.following + " sf:" + bug1.startFollowing + " r:" + bug1.returning)
if (bug1.following) {
if (Math.hypot(RX() - bug1.startPoint.x, RY() - bug1.startPoint.y) > 2) { //if we've gotten far enough away from start point
bug1.startFollowing = false;
} else { //we're close to start point
if (!bug1.startFollowing) { //and not still starting
bug1.returning = true; //return to closest point
}
}
if (!bug1.returning) { //if we're not returning yet, keep track of closest point
var distanceToGoal = Math.hypot(GX() - RX(), GY() - RY());
if (distanceToGoal < bug1.minDistance) {
bug1.minDistance = distanceToGoal;
bug1.closestPoint = { x: RX(), y: RY() };
bug1.closestPointStep = bug1.steps;
}
} else { //we're returning to closest point
if (Math.hypot(RX() - bug1.closestPoint.x, RY() - bug1.closestPoint.y) < 3) {
bug1.following = false;
}
}
if (bug1.following) {
dx = RY() - cp.y;
dy = cp.x - RX();
bug1.lastContact = { x: cp.x, y: cp.y };
if (bug1.returning && bug1.closestPointStep > (bug1.steps / 2)) {
dx = -dx;
dy = -dy;
}
}
}
} else {
if (bug1.following) { //if following wall but lost contact
dx = bug1.lastContact.x - RX();
dy = bug1.lastContact.y - RY();
}
}
}//runBug1
var bug2 = { following: false };
function runBug2() {
dx = GX() - RX();
dy = GY() - RY();
var cp = collision();
if (cp) {
if (!bug2.following) {
if ((dx * (cp.x - RX()) + dy * (cp.y - RY())) > 0) { //if collision is in front
bug2.following = true; //start following
bug2.startPoint = { x: RX(), y: RY() };
}
}
if (bug2.following) {
var cs = closestPointOnSegment(RX(), RY(), bug2.startPoint.x, bug2.startPoint.y, GX(), GY());
if ((dx * (cp.x - RX()) + dy * (cp.y - RY())) < 0 && Math.hypot(cs.x - RX(), cs.y - RY()) < 2) {
bug2.following = false;
} else {
dx = RY() - cp.y;
dy = cp.x - RX();
bug2.lastContact = { x: cp.x, y: cp.y };
}
}
} else {
if (bug2.following) { //if following wall but lost contact
dx = bug2.lastContact.x - RX();
dy = bug2.lastContact.y - RY();
}
}
};
});
</script>
<style>
#menu button {
width:100%;
}
</style>
</head>
<body>
<svg id="mydrawing" style="background-color:white;position:absolute;top:0;left:0;width:100%;height:100%">
<circle class="draggable" id="robot" cx="50" cy="50" r="20" fill="red" />
<circle class="draggable" id="goal" cx="550" cy="350" r="18" fill="green" />
</svg>
<div id="menu" style="position: absolute; display:none; border:1px solid black;">
<button id="runRightTurn">Run Right-Turn</button> <br>
<button id="runBug1">Run Bug1</button> <br>
<button id="runBug2">Run Bug2</button> <br>
<button id="stopButton">Stop</button> <br>
<button onclick="location.reload()">Reset</button>
</div>
</body>
</html>