From 843711be09dd8149865f546e352ab03449e4c402 Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Mon, 30 Sep 2024 15:45:59 -0400
Subject: [PATCH] enforce minimum control length better

---
 lib/path/waypoint.dart                        | 25 +++++++++++++++++--
 lib/util/path_optimizer.dart                  |  4 +--
 .../editor/tree_widgets/waypoints_tree.dart   |  4 +--
 3 files changed, 27 insertions(+), 6 deletions(-)

diff --git a/lib/path/waypoint.dart b/lib/path/waypoint.dart
index 0b9fac4b..c069f2fc 100644
--- a/lib/path/waypoint.dart
+++ b/lib/path/waypoint.dart
@@ -2,6 +2,7 @@ import 'dart:collection';
 import 'dart:math';
 
 class Waypoint {
+  static const num minControlLength = 0.25;
   static HashMap<String, Point> linked = HashMap();
 
   Point anchor;
@@ -24,6 +25,14 @@ class Waypoint {
     if (linkedName != null) {
       linked[linkedName!] = Point(anchor.x, anchor.y);
     }
+
+    // Set the lengths to their current length to enforce minimum
+    if (prevControl != null) {
+      setPrevControlLength(getPrevControlLength());
+    }
+    if (nextControl != null) {
+      setNextControlLength(getNextControlLength());
+    }
   }
 
   bool get isAnchorDragging => _isAnchorDragging;
@@ -190,7 +199,11 @@ class Waypoint {
       var mag = dir.magnitude;
       dir = Point(dir.x / mag, dir.y / mag);
 
-      var control = Point(dir.x * length, dir.y * length);
+      if (!length.isFinite) {
+        length = minControlLength;
+      }
+      final l = max(length, minControlLength);
+      var control = Point(dir.x * l, dir.y * l);
       prevControl = Point(anchor.x + control.x, anchor.y + control.y);
     }
   }
@@ -201,7 +214,11 @@ class Waypoint {
       var mag = dir.magnitude;
       dir = Point(dir.x / mag, dir.y / mag);
 
-      var control = Point(dir.x * length, dir.y * length);
+      if (!length.isFinite) {
+        length = minControlLength;
+      }
+      final l = max(length, minControlLength);
+      var control = Point(dir.x * l, dir.y * l);
       nextControl = Point(anchor.x + control.x, anchor.y + control.y);
     }
   }
@@ -252,6 +269,8 @@ class Waypoint {
       }
 
       _updatePrevControlFromNext();
+      // Set the length to enforce minimum
+      setNextControlLength(getNextControlLength());
     } else if (_isPrevControlDragging) {
       if (isLocked) {
         Point lineEnd = prevControl! + (prevControl! - anchor);
@@ -264,6 +283,8 @@ class Waypoint {
       }
 
       _updateNextControlFromPrev();
+      // Set the length to enforce minimum
+      setPrevControlLength(getPrevControlLength());
     }
   }
 
diff --git a/lib/util/path_optimizer.dart b/lib/util/path_optimizer.dart
index 97c9650b..786ea814 100644
--- a/lib/util/path_optimizer.dart
+++ b/lib/util/path_optimizer.dart
@@ -191,14 +191,14 @@ class _Individual {
     if (mutated.prevControl != null) {
       // Mutate by changing prev control length randomly between +/- 0.2 m
       double x = (rand.nextDouble() - 0.5) * 0.2;
-      double prevLength = max(0.5, mutated.getPrevControlLength() + x);
+      double prevLength = mutated.getPrevControlLength() + x;
       mutated.setPrevControlLength(prevLength);
     }
 
     if (mutated.nextControl != null) {
       // Mutate by changing next control length randomly between +/- 0.2 m
       double x = (rand.nextDouble() - 0.5) * 0.2;
-      double nextLength = max(0.5, mutated.getNextControlLength() + x);
+      double nextLength = mutated.getNextControlLength() + x;
       mutated.setNextControlLength(nextLength);
     }
 
diff --git a/lib/widgets/editor/tree_widgets/waypoints_tree.dart b/lib/widgets/editor/tree_widgets/waypoints_tree.dart
index c75d35d6..22d1eaf8 100644
--- a/lib/widgets/editor/tree_widgets/waypoints_tree.dart
+++ b/lib/widgets/editor/tree_widgets/waypoints_tree.dart
@@ -244,7 +244,7 @@ class _WaypointsTreeState extends State<WaypointsTree> {
                           waypoint.getPrevControlLength().toStringAsFixed(2),
                       label: 'Previous Control Length (M)',
                       onSubmitted: (value) {
-                        if (value != null && value >= 0.5) {
+                        if (value != null) {
                           Waypoint wRef = waypoints[waypointIdx];
                           widget.undoStack.add(_waypointChange(
                             wRef,
@@ -268,7 +268,7 @@ class _WaypointsTreeState extends State<WaypointsTree> {
                           waypoint.getNextControlLength().toStringAsFixed(2),
                       label: 'Next Control Length (M)',
                       onSubmitted: (value) {
-                        if (value != null && value >= 0.5) {
+                        if (value != null) {
                           Waypoint wRef = waypoints[waypointIdx];
                           widget.undoStack.add(_waypointChange(
                             wRef,