ln-web/src/utils/coordTransform.ts

// 定义雷达坐标系中的矩形接口
export interface RadarRect {
  x_cm_start: number
  x_cm_stop: number
  y_cm_start: number
  y_cm_stop: number
}

// 定义画布坐标系中的矩形接口
export interface CanvasRect {
  left: number
  top: number
  width: number
  height: number
}

// 定义雷达在画布中的位置接口
export interface RadarPosition {
  x_radar: number
  y_radar: number
}

// 定义家具在雷达坐标系中的接口
export interface RadarFurniture {
  x: number
  y: number
  width: number
  height: number
}

/**
 * 检测区域、子区域 矩形转换 雷达坐标系 --> 画布坐标系
 * @param src_rect - 雷达坐标系矩形
 * @param p_radar - 画布中雷达的位置
 * @returns CSS 可用矩形
 */
export function convert_region_r2c(src_rect: RadarRect, p_radar: RadarPosition): CanvasRect {
  const x_radar = p_radar.x_radar
  const y_radar = p_radar.y_radar

  const left = x_radar + src_rect.x_cm_start
  const top = y_radar - src_rect.y_cm_stop
  const width = src_rect.x_cm_stop - src_rect.x_cm_start
  const height = src_rect.y_cm_stop - src_rect.y_cm_start

  return { left, top, width, height }
}

/**
 * 检测区域、子区域 矩形转换 画布坐标系 --> 雷达坐标系
 * @param dst_rect - 画布矩形
 * @param p_radar - 雷达在画布坐标系中的位置
 * @returns 雷达坐标矩形
 */
export function convert_region_c2r(dst_rect: CanvasRect, p_radar: RadarPosition): RadarRect {
  const x_radar = p_radar.x_radar
  const y_radar = p_radar.y_radar

  const x_cm_start = dst_rect.left - x_radar
  const x_cm_stop = x_cm_start + dst_rect.width

  const y_cm_stop = y_radar - dst_rect.top
  const y_cm_start = y_cm_stop - dst_rect.height

  return {
    x_cm_start,
    x_cm_stop,
    y_cm_start,
    y_cm_stop,
  }
}

/**
 * 家具 矩形转换 雷达坐标系 --> 画布坐标系
 * @param furniture - 雷达坐标家具对象
 * @param p_radar - 雷达在画布上的坐标
 * @returns CSS 可用家具矩形
 */
export function convert_furniture_r2c(
  furniture: RadarFurniture,
  p_radar: RadarPosition
): CanvasRect {
  const x_radar = p_radar.x_radar
  const y_radar = p_radar.y_radar

  const left = x_radar + furniture.x
  const top = y_radar - furniture.y
  const width = furniture.width
  const height = furniture.height

  return {
    left,
    top,
    width,
    height,
  }
}

/**
 * 家具 矩形转换 画布坐标系 --> 雷达坐标系
 * @param furniture_item - 画布矩形（CSS）
 * @param p_radar - 雷达在画布上的坐标
 * @returns 雷达坐标家具矩形
 */
export function convert_furniture_c2r(
  furniture_item: CanvasRect,
  p_radar: RadarPosition
): RadarFurniture {
  const x_radar = p_radar.x_radar
  const y_radar = p_radar.y_radar

  const x = furniture_item.left - x_radar
  const y = y_radar - furniture_item.top
  const width = furniture_item.width
  const height = furniture_item.height

  return {
    x,
    y,
    width,
    height,
  }
}

/* =====================  旋转方法 =================================== */
interface Rect {
  left: number
  top: number
  width: number
  height: number
}

interface Point {
  x: number
  y: number
}

/**
 * 顺时针旋转矩形
 * @param src_rect - 输入矩形 { left, top, width, height }
 * @param pRadar - 雷达中心坐标 { x, y }
 * @param angle - 顺时针旋转角度 0, 90, 180, 270
 * @returns 旋转后的矩形 { left, top, width, height }
 */
export function rotateRect_cw(src_rect: Rect, pRadar: Point, angle: number): Rect {
  if (![0, 90, 180, 270].includes(angle)) angle = 0

  const { left, top, width, height } = src_rect
  const cx = left + width / 2
  const cy = top + height / 2

  const dx = cx - pRadar.x
  const dy = cy - pRadar.y

  let new_dx: number = 0
  let new_dy: number = 0

  switch (angle) {
    case 0:
      new_dx = dx
      new_dy = dy
      break
    case 90:
      new_dx = -dy
      new_dy = dx
      break
    case 180:
      new_dx = -dx
      new_dy = -dy
      break
    case 270:
      new_dx = dy
      new_dy = -dx
      break
  }

  const new_cx = pRadar.x + new_dx
  const new_cy = pRadar.y + new_dy

  let new_width = width
  let new_height = height
  if (angle === 90 || angle === 270) {
    new_width = height
    new_height = width
  }

  return {
    left: new_cx - new_width / 2,
    top: new_cy - new_height / 2,
    width: new_width,
    height: new_height,
  }
}

/**
 * 逆时针旋转矩形（家具/检测区域）
 * @param src_rect - 输入矩形 { left, top, width, height }
 * @param pRadar - 雷达中心坐标 { x, y }
 * @param angle - 逆时针旋转角度 0, 90, 180, 270
 * @returns 旋转后的矩形 { left, top, width, height }
 */
export function rotateRect_ccw(src_rect: Rect, pRadar: Point, angle: number): Rect {
  if (![0, 90, 180, 270].includes(angle)) angle = 0

  const { left, top, width, height } = src_rect
  const cx = left + width / 2
  const cy = top + height / 2

  const dx = cx - pRadar.x
  const dy = cy - pRadar.y

  let new_dx: number = 0
  let new_dy: number = 0

  switch (angle) {
    case 0:
      new_dx = dx
      new_dy = dy
      break
    case 90:
      new_dx = dy
      new_dy = -dx
      break
    case 180:
      new_dx = -dx
      new_dy = -dy
      break
    case 270:
      new_dx = -dy
      new_dy = dx
      break
  }

  const new_cx = pRadar.x + new_dx
  const new_cy = pRadar.y + new_dy

  let new_width = width
  let new_height = height
  if (angle === 90 || angle === 270) {
    new_width = height
    new_height = width
  }

  return {
    left: new_cx - new_width / 2,
    top: new_cy - new_height / 2,
    width: new_width,
    height: new_height,
  }
}

interface Point {
  x: number
  y: number
}

/**
 * 将雷达坐标系中的点转换到画布坐标系（旋转 + 平移）
 * @param src_point - 雷达坐标系中的点
 * @param pRadar - 雷达在画布坐标系中的坐标
 * @param angle - 雷达顺时针旋转角度（度）
 * @returns 画布坐标系中的点
 */
export function convert_point_r2c(src_point: Point, pRadar: Point, angle: number): Point {
  const rad = (angle * Math.PI) / 180 // 角度转弧度（顺时针为正）
  const cosA = Math.cos(rad)
  const sinA = Math.sin(rad)

  // 顺时针旋转
  const xRot = src_point.x * cosA + src_point.y * sinA
  const yRot = -src_point.x * sinA + src_point.y * cosA

  // 平移到画布坐标系
  return {
    x: pRadar.x + xRot,
    y: pRadar.y - yRot,
  }
}