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diff --git a/generator/Cargo.toml b/generator/Cargo.toml
new file mode 100644 (file)
index 0000000..2e4b465
--- /dev/null
+++ b/generator/Cargo.toml
@@ -0,0 +1,11 @@
+[package]
+name = "generator"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+anyhow = "1.0.102"
+csv = "1.4.0"
+nalgebra = "0.34.2"
+serde = { version = "1.0.228", features = ["derive"] }
+structs = { path = "../structs" }

diff --git a/generator/points.csv b/generator/points.csv
new file mode 100644 (file)
index 0000000..f8a97cf
--- /dev/null
+++ b/generator/points.csv
@@ -0,0 +1,53 @@
+2.0,0.0
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+1.9999999999999998,0.06984153898349545
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diff --git a/generator/records.csv b/generator/records.csv
new file mode 100644 (file)
index 0000000..ad6f1df
--- /dev/null
+++ b/generator/records.csv
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diff --git a/generator/room.csv b/generator/room.csv
new file mode 100644 (file)
index 0000000..cfa62a8
--- /dev/null
+++ b/generator/room.csv
@@ -0,0 +1,3 @@
+x1,y1,x2,y2
+2,1,2,-1
+

diff --git a/generator/src/main.rs b/generator/src/main.rs
new file mode 100644 (file)
index 0000000..4ea5c0c
--- /dev/null
+++ b/generator/src/main.rs
@@ -0,0 +1,114 @@
+use anyhow::{Result, bail};
+use csv::{Reader, ReaderBuilder, Trim, Writer, WriterBuilder};
+use nalgebra::{Point2, Rotation2, Vector2};
+use serde::{Deserialize, Serialize};
+use structs::*;
+
+fn main() -> Result<()> {
+    let mut reader = ReaderBuilder::new()
+        .has_headers(true)
+        .trim(Trim::All)
+        .from_path("./room.csv")?;
+
+    let lines: std::result::Result<Vec<Line>, csv::Error> = reader.deserialize::<Line>().collect();
+
+    let lines: Vec<Line> = lines?;
+    dbg!(&lines);
+    let mut poses: Vec<Cart> = vec![];
+
+    let mut records: Vec<Record> = vec![];
+
+    for deg in 0..360 {
+        poses.push(Cart {
+            cart_pos: Point2::new(0.0, 0.0),
+            cart_rot: Rotation2::new((deg as f64).to_radians()),
+        });
+    }
+
+    let mut point_writer = WriterBuilder::new()
+        .has_headers(true)
+        .from_path("./points.csv")?;
+
+    for pose in poses {
+        if let Some(distance) = raycast(
+            &lines,
+            (pose.cart_pos.x, pose.cart_pos.y),
+            pose.cart_rot.angle(),
+        ) {
+            records.push(cart_to_record(&pose, distance));
+            point_writer.serialize(record_to_point(&pose, distance))?;
+        }
+    }
+
+    let mut writer = WriterBuilder::new()
+        .has_headers(false)
+        .from_path("./records.csv")?;
+    for record in records {
+        writer.serialize(&record)?;
+    }
+
+    Ok(())
+}
+
+fn record_to_point(cart: &Cart, distance: f64) -> (f64, f64) {
+    let ray = Vector2::new(
+        cart.cart_rot.angle().cos() * distance,
+        cart.cart_rot.angle().sin() * distance,
+    );
+
+    let transformed = cart.cart_pos + ray;
+
+    (transformed.x, transformed.y)
+}
+
+fn cart_to_record(cart: &Cart, distance: f64) -> Record {
+    Record {
+        cart_pos: (cart.cart_pos.x, cart.cart_pos.y),
+        cart_rot: cart.cart_rot.angle(),
+        distance: distance,
+    }
+}
+
+/// returns distance
+/// angle is radians
+fn raycast(objects: &Vec<Line>, start_pos: (f64, f64), angle: f64) -> Option<f64> {
+    let ray_dir = (angle.cos(), angle.sin());
+
+    objects
+        .into_iter()
+        .filter_map(|line| intersect_ray_segment(start_pos, ray_dir, &line))
+        .reduce(f64::min)
+}
+
+fn intersect_ray_segment(
+    ray_origin: (f64, f64),
+    ray_dir: (f64, f64),
+    Line(seg_a, seg_b): &Line,
+) -> Option<f64> {
+    let segment = (seg_b.0 - seg_a.0, seg_b.1 - seg_a.1);
+
+    let diff = (seg_a.0 - ray_origin.0, seg_a.1 - ray_origin.1);
+
+    let denom = cross(ray_dir, segment);
+
+    // Parallel (or nearly parallel)
+    if denom.abs() < 1e-10 {
+        return None;
+    }
+
+    let t = cross(diff, segment) / denom;
+    let u = cross(diff, ray_dir) / denom;
+
+    // Ray: t >= 0
+    // Segment: 0 <= u <= 1
+    if t >= 0.0 && (0.0..=1.0).contains(&u) {
+        Some(t) // ray_dir is unit length → t is distance
+    } else {
+        None
+    }
+}
+
+///cross product
+fn cross(a: (f64, f64), b: (f64, f64)) -> f64 {
+    a.0 * b.1 - a.1 * b.0
+}

diff --git a/structs/.gitignore b/structs/.gitignore
new file mode 100644 (file)
index 0000000..ea8c4bf
--- /dev/null
+++ b/structs/.gitignore
@@ -0,0 +1 @@
+/target

diff --git a/structs/Cargo.toml b/structs/Cargo.toml
new file mode 100644 (file)
index 0000000..fffcff3
--- /dev/null
+++ b/structs/Cargo.toml
@@ -0,0 +1,9 @@
+[package]
+name = "structs"
+version = "0.0.0"
+edition = "2024"
+
+[dependencies]
+csv = "1.4.0"
+nalgebra = "0.34.2"
+serde = { version = "1.0.228", features = ["derive"] }

diff --git a/structs/src/lib.rs b/structs/src/lib.rs
new file mode 100644 (file)
index 0000000..2885a18
--- /dev/null
+++ b/structs/src/lib.rs
@@ -0,0 +1,30 @@
+use nalgebra::{Point2, Rotation2};
+use serde::{Deserialize, Serialize};
+
+#[derive(Debug)]
+pub struct Cart {
+    pub cart_pos: Point2<f64>,
+    pub cart_rot: Rotation2<f64>,
+}
+
+#[derive(Debug, Serialize)]
+pub struct Record {
+    pub cart_pos: (f64, f64),
+    ///radians
+    pub cart_rot: f64,
+    pub distance: f64,
+}
+
+#[derive(Debug, Deserialize)]
+pub struct Line(pub (f64, f64), pub (f64, f64));
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn it_works() {
+        let result = 4;
+        assert_eq!(result, 4);
+    }
+}