MCP 3D Printer Server
by DMontgomery40
Verified
import { Vector3 } from '../../math/Vector3.js';
import { Curve } from '../core/Curve.js';
/**
* Centripetal CatmullRom Curve - which is useful for avoiding
* cusps and self-intersections in non-uniform catmull rom curves.
* http://www.cemyuksel.com/research/catmullrom_param/catmullrom.pdf
*
* curve.type accepts centripetal(default), chordal and catmullrom
* curve.tension is used for catmullrom which defaults to 0.5
*/
/*
Based on an optimized c++ solution in
- http://stackoverflow.com/questions/9489736/catmull-rom-curve-with-no-cusps-and-no-self-intersections/
- http://ideone.com/NoEbVM
This CubicPoly class could be used for reusing some variables and calculations,
but for three.js curve use, it could be possible inlined and flatten into a single function call
which can be placed in CurveUtils.
*/
function CubicPoly() {
let c0 = 0, c1 = 0, c2 = 0, c3 = 0;
/*
* Compute coefficients for a cubic polynomial
* p(s) = c0 + c1*s + c2*s^2 + c3*s^3
* such that
* p(0) = x0, p(1) = x1
* and
* p'(0) = t0, p'(1) = t1.
*/
function init( x0, x1, t0, t1 ) {
c0 = x0;
c1 = t0;
c2 = - 3 * x0 + 3 * x1 - 2 * t0 - t1;
c3 = 2 * x0 - 2 * x1 + t0 + t1;
}
return {
initCatmullRom: function ( x0, x1, x2, x3, tension ) {
init( x1, x2, tension * ( x2 - x0 ), tension * ( x3 - x1 ) );
},
initNonuniformCatmullRom: function ( x0, x1, x2, x3, dt0, dt1, dt2 ) {
// compute tangents when parameterized in [t1,t2]
let t1 = ( x1 - x0 ) / dt0 - ( x2 - x0 ) / ( dt0 + dt1 ) + ( x2 - x1 ) / dt1;
let t2 = ( x2 - x1 ) / dt1 - ( x3 - x1 ) / ( dt1 + dt2 ) + ( x3 - x2 ) / dt2;
// rescale tangents for parametrization in [0,1]
t1 *= dt1;
t2 *= dt1;
init( x1, x2, t1, t2 );
},
calc: function ( t ) {
const t2 = t * t;
const t3 = t2 * t;
return c0 + c1 * t + c2 * t2 + c3 * t3;
}
};
}
//
const tmp = /*@__PURE__*/ new Vector3();
const px = /*@__PURE__*/ new CubicPoly();
const py = /*@__PURE__*/ new CubicPoly();
const pz = /*@__PURE__*/ new CubicPoly();
class CatmullRomCurve3 extends Curve {
constructor( points = [], closed = false, curveType = 'centripetal', tension = 0.5 ) {
super();
this.isCatmullRomCurve3 = true;
this.type = 'CatmullRomCurve3';
this.points = points;
this.closed = closed;
this.curveType = curveType;
this.tension = tension;
}
getPoint( t, optionalTarget = new Vector3() ) {
const point = optionalTarget;
const points = this.points;
const l = points.length;
const p = ( l - ( this.closed ? 0 : 1 ) ) * t;
let intPoint = Math.floor( p );
let weight = p - intPoint;
if ( this.closed ) {
intPoint += intPoint > 0 ? 0 : ( Math.floor( Math.abs( intPoint ) / l ) + 1 ) * l;
} else if ( weight === 0 && intPoint === l - 1 ) {
intPoint = l - 2;
weight = 1;
}
let p0, p3; // 4 points (p1 & p2 defined below)
if ( this.closed || intPoint > 0 ) {
p0 = points[ ( intPoint - 1 ) % l ];
} else {
// extrapolate first point
tmp.subVectors( points[ 0 ], points[ 1 ] ).add( points[ 0 ] );
p0 = tmp;
}
const p1 = points[ intPoint % l ];
const p2 = points[ ( intPoint + 1 ) % l ];
if ( this.closed || intPoint + 2 < l ) {
p3 = points[ ( intPoint + 2 ) % l ];
} else {
// extrapolate last point
tmp.subVectors( points[ l - 1 ], points[ l - 2 ] ).add( points[ l - 1 ] );
p3 = tmp;
}
if ( this.curveType === 'centripetal' || this.curveType === 'chordal' ) {
// init Centripetal / Chordal Catmull-Rom
const pow = this.curveType === 'chordal' ? 0.5 : 0.25;
let dt0 = Math.pow( p0.distanceToSquared( p1 ), pow );
let dt1 = Math.pow( p1.distanceToSquared( p2 ), pow );
let dt2 = Math.pow( p2.distanceToSquared( p3 ), pow );
// safety check for repeated points
if ( dt1 < 1e-4 ) dt1 = 1.0;
if ( dt0 < 1e-4 ) dt0 = dt1;
if ( dt2 < 1e-4 ) dt2 = dt1;
px.initNonuniformCatmullRom( p0.x, p1.x, p2.x, p3.x, dt0, dt1, dt2 );
py.initNonuniformCatmullRom( p0.y, p1.y, p2.y, p3.y, dt0, dt1, dt2 );
pz.initNonuniformCatmullRom( p0.z, p1.z, p2.z, p3.z, dt0, dt1, dt2 );
} else if ( this.curveType === 'catmullrom' ) {
px.initCatmullRom( p0.x, p1.x, p2.x, p3.x, this.tension );
py.initCatmullRom( p0.y, p1.y, p2.y, p3.y, this.tension );
pz.initCatmullRom( p0.z, p1.z, p2.z, p3.z, this.tension );
}
point.set(
px.calc( weight ),
py.calc( weight ),
pz.calc( weight )
);
return point;
}
copy( source ) {
super.copy( source );
this.points = [];
for ( let i = 0, l = source.points.length; i < l; i ++ ) {
const point = source.points[ i ];
this.points.push( point.clone() );
}
this.closed = source.closed;
this.curveType = source.curveType;
this.tension = source.tension;
return this;
}
toJSON() {
const data = super.toJSON();
data.points = [];
for ( let i = 0, l = this.points.length; i < l; i ++ ) {
const point = this.points[ i ];
data.points.push( point.toArray() );
}
data.closed = this.closed;
data.curveType = this.curveType;
data.tension = this.tension;
return data;
}
fromJSON( json ) {
super.fromJSON( json );
this.points = [];
for ( let i = 0, l = json.points.length; i < l; i ++ ) {
const point = json.points[ i ];
this.points.push( new Vector3().fromArray( point ) );
}
this.closed = json.closed;
this.curveType = json.curveType;
this.tension = json.tension;
return this;
}
}
export { CatmullRomCurve3 };