Merge branch 'dev_robotaxi-d-app-module_280_220608_2.8.0' into dev_robotaxi-d-app-module_280_taxi_passenger

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/callback/IBusPassengerAutopilotPlanningCallback.java

@@ -13,4 +13,5 @@ import mogo.telematics.pad.MessagePad;
 public interface IBusPassengerAutopilotPlanningCallback {
     void routeResult(List<LatLng> models);
     void routePlanningToNextStationChanged(long meters, long timeInSecond);
+    void setLineMarker(List<LatLng> models);
 }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/constant/BusPassengerConst.kt

@@ -27,6 +27,7 @@ class BusPassengerConst {
 
         // 轮询line
         const val LOOP_LINE_2S = 2 * 1000L
+        const val LOOP_LINE_1S = 1 * 1000L
         const val LOOP_DELAY = 100L
 
         // 无状态

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java

@@ -349,13 +349,23 @@ public class BusPassengerModel {
         public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp routeList) {
             CallerLogger.INSTANCE.d(M_BUS_P + TAG, "onAutopilotRotting = "
                     + GsonUtil.jsonFromObject(routeList));
-            List<MessagePad.Location> mRoutePoints = routeList.getWayPointsList();
-            if (null != routeList && mRoutePoints.size() > 0){
-                updateRoutePoints(mRoutePoints);
+            List<MessagePad.Location> routePoints = routeList.getWayPointsList();
+            if (null != routePoints && routePoints.size() > 0){
+                updateRoutePoints(routePoints);
+                startRemainRouteInfo();
+                setRouteLineMarker();
+                startToRouteAndWipe();
             }
         }
     };
 
+    public void updateRoutePoints(List<MessagePad.Location> routePoints){
+        mRoutePoints.clear();
+        List<LatLng> latLngModels = CoordinateCalculateRouteUtil
+                .coordinateConverterWgsToGcjListCommon(mContext,routePoints);
+        mRoutePoints.addAll(latLngModels);
+    }
+
     public void dynamicCalculateRouteInfo() {
         List<LatLng> lastPoints = CoordinateCalculateRouteUtil
                 .getRemainPointListByCompare(mRoutePoints,mLongitude,mLatitude);
@@ -376,20 +386,46 @@ public class BusPassengerModel {
 
     }
 
-    public void updateRoutePoints(List<MessagePad.Location> routePoints) {
-        if (mAutopilotPlanningCallback != null){
-            mAutopilotPlanningCallback.routeResult(
-                    CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjListCommon(mContext
-                            , routePoints));
-        }
-
-        //转换成高德坐标系
-        mRoutePoints.clear();
-        mRoutePoints.addAll(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjListCommon(mContext,routePoints));
+    public void startRemainRouteInfo() {
         //开启实时计算剩余距离，剩余时间，预计时间
         startOrStopCalculateRouteInfo(true);
     }
 
+    public void startToRouteAndWipe() {
+        startOrStopRouteAndWipe(true);
+    }
+
+    /**
+     * 实时轨迹擦除
+     * @param isStart
+     */
+    public void startOrStopRouteAndWipe(boolean isStart){
+        if (isStart){
+            BusPassengerModelLoopManager.getInstance().startOrStopRouteAndWipe();
+        }else {
+            BusPassengerModelLoopManager.getInstance().stopOrStopRouteAndWipe();
+        }
+    }
+
+    public void loopRouteAndWipe() {
+        if (mRoutePoints != null && mRoutePoints.size() > 0){
+            List<LatLng> lastPoints = CoordinateCalculateRouteUtil
+                    .getRemainPointListByCompare(mRoutePoints,mLongitude,mLatitude);
+            if (mAutopilotPlanningCallback != null){
+                mAutopilotPlanningCallback.routeResult(lastPoints);
+            }
+        }
+    }
+
+    /**
+     * 设置小地图路径的起终点marker
+     */
+    public void setRouteLineMarker(){
+        if (mAutopilotPlanningCallback != null){
+            mAutopilotPlanningCallback.setLineMarker(mRoutePoints);
+        }
+    }
+
     /**
      * 开始轮询计算剩余里程和时间
      * @param isStart

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/network/BusPassengerModelLoopManager.java

@@ -13,6 +13,7 @@ import io.reactivex.schedulers.Schedulers;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
 import static com.mogo.och.bus.passenger.constant.BusPassengerConst.LOOP_DELAY;
 import static com.mogo.och.bus.passenger.constant.BusPassengerConst.LOOP_LINE_2S;
+import static com.mogo.och.bus.passenger.constant.BusPassengerConst.LOOP_LINE_1S;
 
 /**
  * Created on 2021/11/22
@@ -34,6 +35,28 @@ public class BusPassengerModelLoopManager {
     }
 
     private Disposable mHeartbeatDisposable; //心跳轮询
+    private Disposable mRouteWipeDisposable; //轨迹擦除
+
+    public void startOrStopRouteAndWipe() {
+        if (mRouteWipeDisposable != null && !mRouteWipeDisposable.isDisposed()) {
+            return;
+        }
+        CallerLogger.INSTANCE.i(M_BUS_P + TAG, "startOrStopRouteWipe()");
+        mRouteWipeDisposable = Observable.interval(LOOP_DELAY,
+                LOOP_LINE_1S, TimeUnit.MILLISECONDS)
+                .map((aLong -> aLong + 1))
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(aLong -> BusPassengerModel.getInstance().loopRouteAndWipe());
+    }
+
+    public void stopOrStopRouteAndWipe() {
+        if (mRouteWipeDisposable != null) {
+            CallerLogger.INSTANCE.i(M_BUS_P + TAG, "stopOrStopRouteWipe()");
+            mRouteWipeDisposable.dispose();
+            mRouteWipeDisposable = null;
+        }
+    }
 
     public void startQueryDriverLineLoop() {
         if (mHeartbeatDisposable != null && !mHeartbeatDisposable.isDisposed()) {

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BaseBusPassengerPresenter.java

@@ -144,4 +144,9 @@ public class BaseBusPassengerPresenter extends Presenter<BusPassengerRouteFragme
     public void routePlanningToNextStationChanged(long meters, long timeInSecond) {
         runOnUIThread(() -> mView.updateRoutePlanningToNextStation(meters, timeInSecond));
     }
+
+    @Override
+    public void setLineMarker(List<LatLng> models) {
+        runOnUIThread(() -> mView.setLineMarker(models));
+    }
 }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java

@@ -208,23 +208,18 @@ public class BusPassengerMapDirectionView
         }
     }
 
+
+
     @Override
     public void drawablePolyline() {
-        clearPolyline();
+        if (mPolyline != null) {
+            mPolyline.remove();
+        }
         if (mAMap != null) {
 
             addRouteColorList();
 
             if (mCoordinatesLatLng.size() > 2) {
-                // 设置开始结束Marker位置
-
-                LatLng startLatLng = mCoordinatesLatLng.get(0);
-                LatLng endLatLng = mCoordinatesLatLng.get(mCoordinatesLatLng.size() - 1);
-
-                mStartMarker.setPosition(startLatLng);
-                mEndMarker.setPosition(endLatLng);
-                mStartMarker.setVisible(true);
-                mEndMarker.setVisible(true);
 
                 //设置线段纹理
                 PolylineOptions polylineOptions = new PolylineOptions();
@@ -263,6 +258,27 @@ public class BusPassengerMapDirectionView
         }
     }
 
+    @Override
+    public void setLineMarker() {
+        if (mStartMarker != null) {
+            mStartMarker.setVisible(false);
+        }
+        if (mEndMarker != null) {
+            mEndMarker.setVisible(false);
+        }
+        if (mCoordinatesLatLng.size() > 2) {
+            // 设置开始结束Marker位置
+
+            LatLng startLatLng = mCoordinatesLatLng.get(0);
+            LatLng endLatLng = mCoordinatesLatLng.get(mCoordinatesLatLng.size() - 1);
+
+            mStartMarker.setPosition(startLatLng);
+            mEndMarker.setPosition(endLatLng);
+            mStartMarker.setVisible(true);
+            mEndMarker.setVisible(true);
+        }
+    }
+
     public void clearCoordinatesLatLng(){
         mCoordinatesLatLng.clear();
     }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java

@@ -14,9 +14,9 @@ import androidx.recyclerview.widget.LinearLayoutManager;
 import androidx.recyclerview.widget.RecyclerView;
 
 import com.amap.api.maps.model.LatLng;
+import com.elegant.utils.UiThreadHandler;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.bus.passenger.R;
 import com.mogo.och.bus.passenger.adapter.BusPassengerLineStationsAdapter;
 import com.mogo.och.bus.passenger.bean.BusPassengerStation;
@@ -148,6 +148,22 @@ public class BusPassengerRouteFragment extends
         }
     }
 
+    public void setLineMarker(List<LatLng> latLngList){
+        if (latLngList.size() > 0) {
+            if (mMapDirectionView != null) {
+                mMapDirectionView.setCoordinatesLatLng(latLngList);
+                UiThreadHandler.post(new Runnable() {
+                    @Override
+                    public void run() {
+                        mMapDirectionView.setLineMarker();
+                    }
+                });
+            }
+        } else {
+            clearPolyline();
+        }
+    }
+
     /**
      * 绘制
      *

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/IBusPassengerMapDirectionView.java

@@ -15,4 +15,9 @@ public interface IBusPassengerMapDirectionView {
      * 清除路径线
      */
     void clearPolyline();
+
+    /**
+     * 设置路径中起终点marker
+     */
+    void setLineMarker();
 }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/utils/BPRouteDataTestUtils.java

@@ -25,182 +25,6 @@ public class BPRouteDataTestUtils {
             "    ]\n" +
             "}";
 
-    //13号路口西-汇源果汁
-//    static String jsonStr = "{\"models\":[{\n" +
-//        "\t\t\"lat\": 40.19927810144466,\n" +
-//        "\t\t\"lon\": 116.73527259387767\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19927836356079,\n" +
-//        "\t\t\"lon\": 116.73513114732762\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19927759500293,\n" +
-//        "\t\t\"lon\": 116.73497660879111\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.199264819842284,\n" +
-//        "\t\t\"lon\": 116.73480063747202\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.1992510141554,\n" +
-//        "\t\t\"lon\": 116.73463922037767\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.199245872804,\n" +
-//        "\t\t\"lon\": 116.73445960685193\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19924673374912,\n" +
-//        "\t\t\"lon\": 116.73427704009703\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19924747108264,\n" +
-//        "\t\t\"lon\": 116.7340707102972\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19924828745573,\n" +
-//        "\t\t\"lon\": 116.73385916927226\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19924941093133,\n" +
-//        "\t\t\"lon\": 116.73364048294795\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19924939253381,\n" +
-//        "\t\t\"lon\": 116.73340837408566\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19924949105934,\n" +
-//        "\t\t\"lon\": 116.73317368725336\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19925040039033,\n" +
-//        "\t\t\"lon\": 116.73296532811216\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.1992515355653,\n" +
-//        "\t\t\"lon\": 116.73277787366743\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.1992512720328,\n" +
-//        "\t\t\"lon\": 116.73263377253741\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.199205174954606,\n" +
-//        "\t\t\"lon\": 116.73249773114644\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.1991015743076,\n" +
-//        "\t\t\"lon\": 116.7324219601283\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.198971862686285,\n" +
-//        "\t\t\"lon\": 116.73239393296355\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19883883071582,\n" +
-//        "\t\t\"lon\": 116.73237676435652\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19870171355796,\n" +
-//        "\t\t\"lon\": 116.73236052150362\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.1985491853193,\n" +
-//        "\t\t\"lon\": 116.73234157857011\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.1983890047355,\n" +
-//        "\t\t\"lon\": 116.73232167996464\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.1982209877466,\n" +
-//        "\t\t\"lon\": 116.73230101645792\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.198037574138326,\n" +
-//        "\t\t\"lon\": 116.73227735486083\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19787327856243,\n" +
-//        "\t\t\"lon\": 116.73225676816314\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19771917207499,\n" +
-//        "\t\t\"lon\": 116.73223814728027\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.197548305175935,\n" +
-//        "\t\t\"lon\": 116.73221624705808\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19739568979691,\n" +
-//        "\t\t\"lon\": 116.73219618210774\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19724703821575,\n" +
-//        "\t\t\"lon\": 116.73217598293311\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.1970956560885,\n" +
-//        "\t\t\"lon\": 116.73215773721505\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19697703483188,\n" +
-//        "\t\t\"lon\": 116.73214337172284\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19687000725696,\n" +
-//        "\t\t\"lon\": 116.73210037067965\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.196833449601726,\n" +
-//        "\t\t\"lon\": 116.73196646708011\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19685833847804,\n" +
-//        "\t\t\"lon\": 116.73181315361103\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.196889170203264,\n" +
-//        "\t\t\"lon\": 116.73164355747393\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19692242860347,\n" +
-//        "\t\t\"lon\": 116.7314555399657\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19696431701069,\n" +
-//        "\t\t\"lon\": 116.7312261834129\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19700025925464,\n" +
-//        "\t\t\"lon\": 116.73102774016093\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19703414798773,\n" +
-//        "\t\t\"lon\": 116.73084270562073\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19707287604138,\n" +
-//        "\t\t\"lon\": 116.73062835248406\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19710951629977,\n" +
-//        "\t\t\"lon\": 116.73041744082339\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19714593807105,\n" +
-//        "\t\t\"lon\": 116.73021414314803\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.197183297026285,\n" +
-//        "\t\t\"lon\": 116.7300057066447\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.1972247359487,\n" +
-//        "\t\t\"lon\": 116.7297751515664\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19726518822745,\n" +
-//        "\t\t\"lon\": 116.72954958923812\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19730538240706,\n" +
-//        "\t\t\"lon\": 116.72932440756041\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19734272112662,\n" +
-//        "\t\t\"lon\": 116.72911631453036\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.197379191549075,\n" +
-//        "\t\t\"lon\": 116.72890982812105\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.197417565369314,\n" +
-//        "\t\t\"lon\": 116.72869447869044\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19746052080799,\n" +
-//        "\t\t\"lon\": 116.72845641541247\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19750040582118,\n" +
-//        "\t\t\"lon\": 116.72823569991117\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19753999704064,\n" +
-//        "\t\t\"lon\": 116.72801998373052\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19757796882569,\n" +
-//        "\t\t\"lon\": 116.72781280504363\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.197617062364586,\n" +
-//        "\t\t\"lon\": 116.72759949431683\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19765391602761,\n" +
-//        "\t\t\"lon\": 116.72739776789756\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19768973009218,\n" +
-//        "\t\t\"lon\": 116.72719980764646\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.197726191028785,\n" +
-//        "\t\t\"lon\": 116.72699719861669\n" +
-//        "\t}, {\n" +
-//        "\t\t\"lat\": 40.19776233489642,\n" +
-//        "\t\t\"lon\": 116.72679516155276\n" +
-//        "\t}]}\n";
     public static void converToRouteData(){
         List<MessagePad.Location> list = new ArrayList<>();
 
@@ -215,6 +39,9 @@ public class BPRouteDataTestUtils {
                 list.add(builder.build());
             }
             BusPassengerModel.getInstance().updateRoutePoints(list);
+            BusPassengerModel.getInstance().startRemainRouteInfo();
+            BusPassengerModel.getInstance().setRouteLineMarker();
+            BusPassengerModel.getInstance().startToRouteAndWipe();
         } catch (JSONException e) {
             e.printStackTrace();
         }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java

@@ -77,10 +77,10 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
                 mPresenter.queryBusRoutes();
             });
 
-            mBus.setOnLongClickListener(view -> {
-                getActivity().finish();
-                return true;
-            });
+//            mBus.setOnLongClickListener(view -> {
+//                getActivity().finish();
+//                return true;
+//            });
             //debug下调用测试面板
             mCurrentStationName.setOnLongClickListener(v -> {
                 debugTestBar();
@@ -288,7 +288,6 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
             // 出车的时候重制站点状态
             mPresenter.queryBusRoutes();
             tvOperationStatus.setText("收车");
-            showSlidePanle("滑动出发");
             showPanel();
         } else {
             AIAssist.getInstance(getContext()).speakTTSVoice("已收车");

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/callback/IOCHTaxiPassengerAutopilotPlanningCallback.java

@@ -11,6 +11,6 @@ import mogo.telematics.pad.MessagePad;
  * @date: 2021/11/1
  */
 public interface IOCHTaxiPassengerAutopilotPlanningCallback {
-    void routeResult(List<MessagePad.Location> models);
+    void setLineMarker(List<LatLng> models);
     void routeResultByServer(List<LatLng> models);
 }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java

@@ -16,6 +16,7 @@ import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.v2x.LimitingVelocityListener;
@@ -57,6 +58,7 @@ import com.mogo.service.statusmanager.StatusDescriptor;
 import org.jetbrains.annotations.NotNull;
 
 import java.io.IOException;
+import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
 import java.util.Map;
@@ -104,6 +106,8 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
 
     private double mLongitude, mLatitude;
 
+    private List<LatLng> mLocationsModels = new ArrayList<>();
+
     private TaxiPassengerModel() {
     }
 
@@ -572,12 +576,54 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
         public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp routeList) {
             if (null != routeList && routeList.getWayPointsList().size() > 0){
                 calculateRouteLineSum(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjListCommon(mContext,routeList.getWayPointsList()));
-                updateRouteResult(routeList.getWayPointsList());
+                setRouteLineMarker(routeList.getWayPointsList());
+                startToRouteAndWipe(routeList.getWayPointsList());
             }
         }
 
     };
 
+    public void startToRouteAndWipe(List<MessagePad.Location> models) {
+        List<LatLng> latLngModels = CoordinateCalculateRouteUtil
+                .coordinateConverterWgsToGcjListCommon(mContext,models);
+        mLocationsModels.clear();
+        mLocationsModels.addAll(latLngModels);
+        startOrStopRouteAndWipe(true);
+    }
+
+    /**
+     * 实时轨迹擦除
+     * @param isStart
+     */
+    public void startOrStopRouteAndWipe(boolean isStart){
+        if (isStart){
+            TaxiPassengerModelLoopManager.getInstance().startOrStopRouteAndWipe();
+        }else {
+            TaxiPassengerModelLoopManager.getInstance().stopOrStopRouteAndWipe();
+        }
+    }
+
+    public void loopRouteAndWipe() {
+        if (mLocationsModels != null && mLocationsModels.size() > 0){
+            List<LatLng> lastPoints = CoordinateCalculateRouteUtil
+                    .getRemainPointListByCompare(mLocationsModels,mLongitude,mLatitude);
+            if (mAutopilotPlanningCallback != null){
+                mAutopilotPlanningCallback.routeResultByServer(lastPoints);
+            }
+        }
+    }
+
+    /**
+     * 设置小地图路径的起终点marker
+     */
+    public void setRouteLineMarker(List<MessagePad.Location> models){
+        List<LatLng> latLngModels = CoordinateCalculateRouteUtil
+                .coordinateConverterWgsToGcjListCommon(mContext,models);
+        if (mAutopilotPlanningCallback != null){
+            mAutopilotPlanningCallback.setLineMarker(latLngModels);
+        }
+    }
+
     /**
      * 限速监听
      */
@@ -591,11 +637,6 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
         }
     };
 
-    public void updateRouteResult(List<MessagePad.Location> models){
-        if (mAutopilotPlanningCallback != null){
-            mAutopilotPlanningCallback.routeResult(models);
-        }
-    }
     /**
      * 导航订单起点到终点 获得剩余时间，里程，预计到达时间
      */
@@ -648,7 +689,12 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
                  if (data != null && data.data != null && data.data != null && data.data.size() > 0){
                      if (mAutopilotPlanningCallback != null){
                          calculateRouteLineSum(data.data);
-                         mAutopilotPlanningCallback.routeResultByServer(data.data);
+                         if (mAutopilotPlanningCallback != null){
+                             mAutopilotPlanningCallback.setLineMarker(data.data);
+                         }
+                         mLocationsModels.clear();
+                         mLocationsModels.addAll(data.data);
+                         startOrStopRouteAndWipe(true);
                      }
                  }else {
                      queryOrderRouteList();

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModelLoopManager.java

@@ -31,6 +31,28 @@ public class TaxiPassengerModelLoopManager {
 
     private Disposable mInAndWaitServiceDisposable; //进行中、待服务订单列表轮询
     private Disposable mQueryOrderRemainingDisposable; //心跳轮询
+    private Disposable mRouteWipeDisposable; //轨迹擦除
+
+    public void startOrStopRouteAndWipe() {
+        if (mRouteWipeDisposable != null && !mRouteWipeDisposable.isDisposed()) {
+            return;
+        }
+        CallerLogger.INSTANCE.i(M_TAXI_P + TAG, "startOrStopRouteWipe()");
+        mRouteWipeDisposable = Observable.interval(TaxiPassengerConst.LOOP_DELAY,
+                TaxiPassengerConst.LOOP_PERIOD_1S, TimeUnit.MILLISECONDS)
+                .map((aLong -> aLong + 1))
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(aLong -> TaxiPassengerModel.getInstance().loopRouteAndWipe());
+    }
+
+    public void stopOrStopRouteAndWipe() {
+        if (mRouteWipeDisposable != null) {
+            CallerLogger.INSTANCE.i(M_TAXI_P + TAG, "stopOrStopRouteWipe()");
+            mRouteWipeDisposable.dispose();
+            mRouteWipeDisposable = null;
+        }
+    }
 
     public void startInAndWaitOrdersLoop() {
         if (mInAndWaitServiceDisposable != null && !mInAndWaitServiceDisposable.isDisposed()) {

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java

@@ -69,15 +69,12 @@ public class TaxiPassengerServingOrderPresenter extends Presenter<TaxiPassengerS
     }
 
     @Override
-    public void routeResult(List<MessagePad.Location> models) {
+    public void setLineMarker(List<LatLng> models) {
         if (models == null) return;
-        List<MogoLatLng> latLngList = new ArrayList<>();
-        for (MessagePad.Location routeModel : models) {
-            latLngList.add(new MogoLatLng(routeModel.getLatitude(), routeModel.getLongitude()));
-        }
-        runOnUIThread(() -> mView.routeResult(latLngList));
+        runOnUIThread(() -> mView.setLineMarker(models));
     }
 
+
     @Override
     public void routeResultByServer(List<LatLng> models) {
         if (models == null) return;

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/ITaxiPassengerMapDirectionView.java

@@ -15,4 +15,9 @@ public interface ITaxiPassengerMapDirectionView {
      * 清除路径线
      */
     void clearPolyline();
+
+    /**
+     * 设置路径中起终点marker
+     */
+    void setLineMarker();
 }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java

@@ -230,6 +230,14 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
     @Override
     public void onDestroyView() {
         super.onDestroyView();
+        removeListener();
+    }
+
+    private void removeListener(){
+        if (mStartAutopilotView == null || mStartAutopilotView.get() == null){
+            return;
+        }
+        mStartAutopilotView.get().setOnClickStartAutopilotBtnCallback(null);
     }
 
     @Override
@@ -290,6 +298,7 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
             if (mStartAutopilotView == null || mStartAutopilotView.get() == null){
                 return;
             }
+            mStartAutopilotView.get().setOnClickStartAutopilotBtnCallback(null);
             OverlayViewUtils.dismissOverlayView(mStartAutopilotView.get());
         }
     }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerMapDirectionView.java

@@ -205,24 +205,36 @@ public class TaxiPassengerMapDirectionView
         }
     }
 
+    @Override
+    public void setLineMarker() {
+        if (mStartMarker != null) {
+            mStartMarker.setVisible(false);
+        }
+        if (mEndMarker != null) {
+            mEndMarker.setVisible(false);
+        }
+        if (mCoordinatesLatLng.size() > 2) {
+            // 设置开始结束Marker位置
+            LatLng startLatLng = mCoordinatesLatLng.get(0);
+            LatLng endLatLng = mCoordinatesLatLng.get(mCoordinatesLatLng.size() - 1);
+
+            mStartMarker.setPosition(startLatLng);
+            mEndMarker.setPosition(endLatLng);
+            mStartMarker.setVisible(true);
+            mEndMarker.setVisible(true);
+        }
+    }
+
     @Override
     public void drawablePolyline() {
-        clearPolyline();
+        if (mPolyline != null) {
+            mPolyline.remove();
+        }
         if (mAMap != null) {
 
             addRouteColorList();
 
             if (mCoordinatesLatLng.size() > 2) {
-                // 设置开始结束Marker位置
-
-                LatLng startLatLng = mCoordinatesLatLng.get(0);
-                LatLng endLatLng = mCoordinatesLatLng.get(mCoordinatesLatLng.size() - 1);
-
-                mStartMarker.setPosition(startLatLng);
-                mEndMarker.setPosition(endLatLng);
-                mStartMarker.setVisible(true);
-                mEndMarker.setVisible(true);
-
                 //设置线段纹理
                 PolylineOptions polylineOptions = new PolylineOptions();
                 polylineOptions.addAll(mCoordinatesLatLng);
@@ -273,7 +285,6 @@ public class TaxiPassengerMapDirectionView
 
     @Override
     public void clearPolyline() {
-//        mCoordinatesLatLng.clear();
         if (mPolyline != null) {
             mPolyline.remove();
         }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerServingOrderFragment.java

@@ -208,10 +208,17 @@ public class TaxiPassengerServingOrderFragment extends
         TaxiPassengerModel.getInstance().destoryGeocodeSearch();
     }
 
-    public void routeResult(List<MogoLatLng> latLngList) {
-        CallerLogger.INSTANCE.d(M_TAXI_P + TAG, "routeResult:" + latLngList.size());
+    public void setLineMarker(List<LatLng> latLngList){
         if (latLngList.size() > 0) {
-            drawablePolyline(latLngList);
+            if (mMapDirectionView != null) {
+                mMapDirectionView.setCoordinatesLatLng(latLngList);
+                UiThreadHandler.post(new Runnable() {
+                    @Override
+                    public void run() {
+                        mMapDirectionView.setLineMarker();
+                    }
+                });
+            }
         } else {
             clearPolyline();
         }
@@ -226,23 +233,6 @@ public class TaxiPassengerServingOrderFragment extends
         }
     }
 
-    /**
-     * 绘制
-     *
-     * @param coordinates
-     */
-    private void drawablePolyline(List<MogoLatLng> coordinates) {
-        if (mMapDirectionView != null) {
-            mMapDirectionView.convert(coordinates);
-            UiThreadHandler.post(new Runnable() {
-                @Override
-                public void run() {
-                    mMapDirectionView.drawablePolyline();
-                }
-            });
-        }
-    }
-
     public void drawablePolylineByServerRoute(List<LatLng> mCoordinatesLatLng){
         if (mMapDirectionView != null){
             mMapDirectionView.setCoordinatesLatLng(mCoordinatesLatLng);

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/utils/TPRouteDataTestUtils.java

@@ -37,7 +37,8 @@ public class TPRouteDataTestUtils {
                 builder.setLongitude(s.getDouble("lon"));
                 list.add(builder.build());
             }
-            TaxiPassengerModel.getInstance().updateRouteResult(list);
+            TaxiPassengerModel.getInstance().setRouteLineMarker(list);
+            TaxiPassengerModel.getInstance().startToRouteAndWipe(list);
         } catch (JSONException e) {
             e.printStackTrace();
         }

app/src/androidTest/java/com/mogo/functions/test/RxJavaBackPressureTest.kt

@@ -37,7 +37,6 @@ class RxJavaBackPressureTest {
     @Test
     fun testIntervalBackPressure() = runBlocking(Dispatchers.Default) {
         val subscription = Flowable.interval(50, MILLISECONDS).doOnNext {
-            Log.d("RxJava2", "-- do action --")
         }.subscribeOn(Schedulers.computation()).observeOn(Schedulers.io()).subscribe {
             Thread.sleep(2000)
         }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java

@@ -84,6 +84,7 @@ import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.OnMultiDeviceListener;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
+import com.zhidao.support.adas.high.common.ByteUtil;
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
@@ -884,7 +885,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
                 @Override
                 public void onMessageResponseClient(MogoProtocolMsg msg, String sign, Channel channel) {
-                    Log.i("ddd", "dddd" + sign);
+                    Log.i(TAG, "司机端连接成功=" + sign);
                     AdasManager.getInstance().decoderRaw(msg.getBody());
                 }
 
@@ -892,8 +893,10 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 public void onClientStatusConnectChanged(int statusCode, String sign, Channel channel) {
                     if (statusCode == ConnectState.STATUS_CONNECT_SUCCESS) {
                         connectStatus = IPC_CONNECTION_STATUS.CONNECTED;
+                        AdasManager.getInstance().startDispatchHandler();
                     } else {
                         connectStatus = IPC_CONNECTION_STATUS.DISCONNECTED;
+                        AdasManager.getInstance().stopDispatchHandler();
                     }
                     getHandler().sendEmptyMessage(WHAT_DRIVER_IP);
                     onUpdateConnectStateView();
@@ -915,6 +918,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
             NSDNettyManager.getInstance().startNSDNettyServerWithSN(this, new NettyServerListener<MogoProtocolMsg>() {
                 @Override
                 public void onMessageResponseServer(MogoProtocolMsg msg, Channel channel) {
+                    AdasManager.getInstance().sendWsMessage(msg.getBody());
+
                 }
 
                 @Override
@@ -937,32 +942,27 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                     Log.i(TAG, "onChannelDisConnect channel=" + channel.id());
                 }
             }, "1234567");
-
-
         }
         AdasManager.getInstance().create(options, this);
-
         AdasManager.getInstance().setOnAdasListener(this);
-        if (BuildConfig.IS_CLIENT) {
-            /*—————————————作为乘客端———————————*/
-
-        } else {
-            /*—————————————作为司機端———————————*/
-            AdasManager.getInstance().setOnMultiDeviceListener(new OnMultiDeviceListener() {
-                @Override
-                public void onForwardingIPCMessage(byte[] bytes) {
-                    // 发送数据给乘客端
-                    if (NSDNettyManager.getInstance().isServerStart()) {
-                        NSDNettyManager.getInstance().sendMsgToAllClients(new MogoProtocolMsg(NORMAL_DATA, bytes.length, bytes));
-                    } else {
+        AdasManager.getInstance().setOnMultiDeviceListener(new OnMultiDeviceListener() {
+            @Override
+            public void onForwardingDriverIPCMessage(byte[] bytes) {
+                // 发送数据给乘客端
+                if (NSDNettyManager.getInstance().isServerStart()) {
+                    NSDNettyManager.getInstance().sendMsgToAllClients(new MogoProtocolMsg(NORMAL_DATA, bytes.length, bytes));
+                } else {
 //                        Log.d("dddd", "司机端Server未启动！");
-                    }
-
                 }
-            });
+            }
 
-
-        }
+            @Override
+            public void onForwardingPassengerIPCMessage(byte[] bytes) {
+                NSDNettyManager.getInstance()
+                        .sendMogoProtocolMsgToServer(new MogoProtocolMsg(NORMAL_DATA, bytes.length, bytes), null);
+                Log.i(TAG, "乘客屏发送数据=" + ByteUtil.byteArrToHex(bytes));
+            }
+        });
     }
 
 
@@ -1059,7 +1059,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     @Override
     public void onItemClick(int position, String data) {
         if (connectStatus != IPC_CONNECTION_STATUS.CONNECTED) {
-            showToastCenter("IPC 未连接");
+            String msg = "未连接工控机";
+            if (BuildConfig.IS_CLIENT) {
+                msg = "未连接司机端";
+            }
+            showToastCenter(msg);
             return;
         }
         switch (data) {

config.gradle

@@ -28,7 +28,8 @@ ext {
             androidxcardview             : "androidx.cardview:cardview:1.0.0",
             localbroadcastmanager        : "androidx.localbroadcastmanager:localbroadcastmanager:1.0.0",
             // flexbox
-            flexbox                      : 'com.google.android.flexbox:flexbox:3.0.0',
+            flexbox                       : 'com.google.android.flexbox:flexbox:3.0.0',
+            guava                        :'com.google.guava:guava:29.0-android',
             // 测试
             junit                        : "junit:junit:4.12",
             androidxjunit                : "androidx.test.ext:junit:1.1.2",

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt

@@ -47,6 +47,7 @@ import com.mogo.telematic.server.netty.NettyServerListener
 import com.mogo.telematic.server.netty.NettyTcpServer
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.AdasOptions
+import com.zhidao.support.adas.high.OnMultiDeviceListener
 import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
 import com.zhidao.support.adas.high.common.CupidLogUtils
@@ -155,9 +156,14 @@ class MoGoAutopilotProvider :
 
         // 监听ADAS-SDK获取到的工控机数据(乘客也需注册)
         AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
-        // 司机端监听
-        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            AdasManager.getInstance().setOnMultiDeviceListener { bytes ->
+        // 乘客屏监听工控机基础信息回调
+        if (!AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
+        }
+        AdasManager.getInstance().setOnMultiDeviceListener(object : OnMultiDeviceListener {
+            override fun onForwardingDriverIPCMessage(bytes: ByteArray?) {
+                if (bytes == null)
+                    return
                 // 发送数据给乘客端
                 if (NSDNettyManager.getInstance().isServerStart) {
                     msgHandler.synWriteTime()
@@ -167,9 +173,19 @@ class MoGoAutopilotProvider :
                     CallerLogger.d("$M_ADAS_IMPL$TAG", "司机端Server未启动！")
                 }
             }
-        } else {// 乘客屏监听工控机基础信息回调
-            CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
-        }
+
+            override fun onForwardingPassengerIPCMessage(bytes: ByteArray?) {
+                if (bytes == null)
+                    return
+                NSDNettyManager.getInstance()
+                    .sendMogoProtocolMsgToServer(
+                        MogoProtocolMsg(NORMAL_DATA, bytes.size, bytes),
+                        null
+                    )
+
+            }
+
+        });
 
         CallerLogger.i("$M_ADAS_IMPL$TAG", "initServer……")
         // 同步数据给工控机的服务
@@ -230,7 +246,8 @@ class MoGoAutopilotProvider :
 
     override fun startAutoPilot(controlParameters: AutopilotControlParameters) {
         if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
-            val invokeResult = AdasManager.getInstance().sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
+            val invokeResult = AdasManager.getInstance()
+                .sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
             invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
         } else {
             invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶")
@@ -364,9 +381,9 @@ class MoGoAutopilotProvider :
      * isEnable = false 关闭
      */
     override fun setRainMode(isEnable: Boolean) {
-        if(isEnable){
+        if (isEnable) {
             AdasManager.getInstance().sendRainModeReq(1)
-        }else{
+        } else {
             AdasManager.getInstance().sendRainModeReq(0)
         }
     }
@@ -464,7 +481,8 @@ class MoGoAutopilotProvider :
         // 乘客屏才监听
         AppConfigInfo.plateNumber = carConfigResp.plateNumber
         Log.d("liyz", "onAutopilotCarConfig 乘客屏Mac地址为 = ${carConfigResp.macAddress}")
-        CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(carConfigResp.macAddress, MoGoAiCloudClientConfig.getInstance().sn)
+        CallerBindingcarManager.getBindingcarProvider()
+            .getBindingcarInfo(carConfigResp.macAddress, MoGoAiCloudClientConfig.getInstance().sn)
         invokeNettyConnResult("乘客屏车牌号:${carConfigResp.plateNumber},Mac地址为：${carConfigResp.macAddress}")
     }
 

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt

@@ -14,12 +14,14 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE
@@ -33,6 +35,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListe
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyPlanningObj
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
@@ -102,7 +105,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
-
     //自车定位信息
     @ChainLog(
         linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO,
@@ -120,7 +122,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(gnssInfo)
                 // 同步更新经纬度和系统时间至 AutoPilotStatusListener
                 CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
-                    gnssInfo.satelliteTime.toLong(),
+                    gnssInfo.satelliteTime.toLong() * 1000,
                     gnssInfo.longitude,
                     gnssInfo.latitude
                 )
@@ -252,11 +254,22 @@ class MoGoAdasListenerImpl : OnAdasListener {
         //点云数据透传
     }
 
+    //planning障碍物
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
     override fun onPlanningObjects(
         header: MessagePad.Header?,
-        planningObjects: MessagePad.PlanningObjects?
+        planningObjects: MessagePad.PlanningObjects
     ) {
-        //planning障碍物
+        if (HdMapBuildConfig.isMapLoaded) {
+            invokeAutopilotIdentifyPlanningObj(planningObjects.objsList as List<MessagePad.PlanningObject>)
+        }
     }
 
     override fun onBasicInfoReq(

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java

@@ -102,11 +102,9 @@ public class MoGoHandAdasMsgManager implements
     public void onAutopilotBrakeLightData(boolean brakeLight) {
     }
 
-
     @Override
     public void onAutopilotCarConfig(@NotNull MessagePad.CarConfigResp carConfigResp) {
         if (carConfigResp != null && !TextUtils.isEmpty(carConfigResp.getMacAddress())) {
-            Log.d("liyz", "司机端 onAutopilotCarConfig ---" + carConfigResp.getMacAddress());
             CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(carConfigResp.getMacAddress(), MoGoAiCloudClientConfig.getInstance().getSn());
         }
     }

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt

@@ -17,7 +17,6 @@ import com.mogo.telematic.MogoProtocolMsg
 import com.mogo.telematic.NSDNettyManager
 import com.mogo.telematic.client.status.ConnectState
 import com.zhidao.support.adas.high.AdasManager
-import com.zhidao.support.adas.high.chain.AdasChain
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants
 import io.netty.channel.Channel
@@ -59,9 +58,16 @@ class TeleMsgHandler : IMsgHandler {
                     val carConfig = MessagePad.CarConfigResp.parseFrom(msg.body)
                     AppConfigInfo.plateNumber = carConfig.plateNumber
                     AppConfigInfo.iPCMacAddress = carConfig.macAddress
-                    invokeNettyConnResult("司机屏发送给乘客屏配置信息为:${TextFormat.printer().escapingNonAscii(false).printToString(carConfig)}")
+                    invokeNettyConnResult(
+                        "司机屏发送给乘客屏配置信息为:${
+                            TextFormat.printer().escapingNonAscii(false).printToString(carConfig)
+                        }"
+                    )
                     Log.d("liyz", "TeleMsgHandler macAddress = " + carConfig.macAddress)
-                    CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(carConfig.macAddress, MoGoAiCloudClientConfig.getInstance().sn)
+                    CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(
+                        carConfig.macAddress,
+                        MoGoAiCloudClientConfig.getInstance().sn
+                    )
                 }
                 else -> {
                 }
@@ -89,6 +95,10 @@ class TeleMsgHandler : IMsgHandler {
                         queryCarConfig()
                     }
                 }
+                //乘客端发送过来的工控机数据交给司机端adas转发到工控机
+                MogoProtocolMsg.NORMAL_DATA -> {
+                    AdasManager.getInstance().sendWsMessage(it.body)
+                }
                 else -> {
                 }
             }

core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeApiService.java

@@ -0,0 +1,29 @@
+package com.mogo.eagle.core.function.appupgrade.network;
+
+import com.mogo.eagle.core.data.bindingcar.BindingcarInfo;
+import com.mogo.eagle.core.data.bindingcar.ModifyBindingcarInfo;
+import com.mogo.eagle.core.data.bindingcar.UpgradeAppInfo;
+
+import io.reactivex.Observable;
+import okhttp3.RequestBody;
+import retrofit2.http.Body;
+import retrofit2.http.Header;
+import retrofit2.http.Headers;
+import retrofit2.http.POST;
+
+/**
+ * @author lixiaopeng
+ * @description 绑定车辆
+ * @since: 6/20/22
+ */
+public interface UpgradeApiService {
+    /**
+     * 获取升级信息
+     *
+     * @return {@link UpgradeAppInfo}
+     */
+    @Headers("Content-Type:application/json;charset=UTF-8")
+    @POST("pad/selectPadByMac")
+    Observable<UpgradeAppInfo> getUpgradeInfo(@Body RequestBody requestBody);
+
+}

core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeAppNetWorkManager.java

@@ -0,0 +1,104 @@
+package com.mogo.eagle.core.function.appupgrade.network;
+
+import android.content.Context;
+import android.util.Log;
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+import com.mogo.commons.constants.SharedPrefsConstants;
+import com.mogo.eagle.core.data.bindingcar.BindingcarInfo;
+import com.mogo.eagle.core.data.bindingcar.ModifyBindingcarInfo;
+import com.mogo.eagle.core.data.bindingcar.UpgradeAppInfo;
+import com.mogo.eagle.core.function.api.bindingcar.BindingcarCallBack;
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
+import com.mogo.eagle.core.network.MoGoRetrofitFactory;
+import com.mogo.eagle.core.network.utils.GsonUtil;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
+import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
+import com.mogo.eagle.core.utilcode.util.AppUtils;
+import com.mogo.eagle.core.utilcode.util.GsonUtils;
+import com.mogo.module.common.constants.HostConst;
+
+import io.reactivex.Observer;
+import io.reactivex.android.schedulers.AndroidSchedulers;
+import io.reactivex.annotations.NonNull;
+import io.reactivex.disposables.Disposable;
+import io.reactivex.schedulers.Schedulers;
+import okhttp3.MediaType;
+import okhttp3.RequestBody;
+
+/**
+ * @author lixiaopeng
+ * @description 获取升级信息
+ * @since: 3/25/22
+ */
+public class UpgradeAppNetWorkManager {
+    private static volatile UpgradeAppNetWorkManager requestNoticeManager;
+    private final UpgradeApiService mUpgradeApiService;
+    private static final String TAG = "UpgradeAppNetWorkManager";
+
+
+    private UpgradeAppNetWorkManager() {
+        mUpgradeApiService = MoGoRetrofitFactory.getInstance(HostConst.UPGRADE_APP_HOST)
+                .create(UpgradeApiService.class);
+    }
+
+    public static UpgradeAppNetWorkManager getInstance() {
+        if (requestNoticeManager == null) {
+            synchronized (UpgradeAppNetWorkManager.class) {
+                if (requestNoticeManager == null) {
+                    requestNoticeManager = new UpgradeAppNetWorkManager();
+                }
+            }
+        }
+        return requestNoticeManager;
+    }
+
+
+    /**
+     * 获取app升级信息
+     */
+    public void getAppUpgradeInfo(Context context, int screenType) {
+        String sn = "X20202203105S688HZ";
+        String versionCode = "2070000";
+        String versionName = "2.7.0";
+        int screenType1 = 1;
+
+//        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+//        String versionCode = AppUtils.getAppVersionCode();
+//        String versionName = AppUtils.getAppVersionName();
+
+        UpgradeAppRequest request = new UpgradeAppRequest("apps_control", sn, versionCode, versionName, screenType1);
+        RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
+        mUpgradeApiService.getUpgradeInfo(requestBody)
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(new Observer<UpgradeAppInfo>() {
+                    @Override
+                    public void onSubscribe(@NonNull Disposable d) {
+                        Log.d("liyz", "UpgradeAppInfo ------> ");
+                    }
+
+                    @Override
+                    public void onNext(@NonNull UpgradeAppInfo info) {
+                        if (info != null && info.getData() != null) {
+                            Log.d("liyz", "UpgradeAppInfo url = " + info.getData().getApp_url() + "----code = " + info.getData().getVersion_code());
+                            //TODO 弹框
+
+                        }
+                    }
+
+                    @Override
+                    public void onError(@NonNull Throwable e) {
+                        CallerLogger.INSTANCE.e(TAG, "getBindingcarInfo onError e = " + e.toString() + "---e.getMessage = " + e.getMessage());
+                        Log.e("liyz", "UpgradeAppInfo onError e = " + e.toString() + "---e.getMessage = " + e.getMessage());
+                    }
+
+                    @Override
+                    public void onComplete() {
+                    }
+                });
+
+    }
+
+}

core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeAppRequest.java

@@ -0,0 +1,72 @@
+package com.mogo.eagle.core.function.appupgrade.network;
+
+/**
+ * @author lixiaopeng
+ * @description 获取app升级信息
+ * @since: 11/15/21
+ */
+public class UpgradeAppRequest {
+    private String resources;
+    private String sn;
+    private String version_code;
+    private String version_name;
+    private int screen_type;
+
+    public UpgradeAppRequest(String resources, String sn, String versionCode, String versionName, int type) {
+        this.resources = resources;
+        this.sn = sn;
+        this.version_code = versionCode;
+        this.version_name = versionName;
+        this.screen_type = type;
+    }
+
+    public String getResources() {
+        return resources;
+    }
+
+    public void setResources(String resources) {
+        this.resources = resources;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public String getVersion_code() {
+        return version_code;
+    }
+
+    public void setVersion_code(String version_code) {
+        this.version_code = version_code;
+    }
+
+    public String getVersion_name() {
+        return version_name;
+    }
+
+    public void setVersion_name(String version_name) {
+        this.version_name = version_name;
+    }
+
+    public int getScreen_type() {
+        return screen_type;
+    }
+
+    public void setScreen_type(int screen_type) {
+        this.screen_type = screen_type;
+    }
+
+    @Override
+    public String toString() {
+        return "UpgradeAppRequest{" +
+                "sn='" + sn + '\'' +
+                ", version_code='" + version_code + '\'' +
+                ", version_name='" + version_name + '\'' +
+                ", screen_type=" + screen_type +
+                '}';
+    }
+}

core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java

@@ -9,6 +9,7 @@ import com.mogo.eagle.core.data.config.HmiBuildConfig;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.function.api.bindingcar.BindingcarCallBack;
 import com.mogo.eagle.core.function.api.bindingcar.IMoGoBindingcarProvider;
+import com.mogo.eagle.core.function.appupgrade.network.UpgradeAppNetWorkManager;
 import com.mogo.eagle.core.function.bindingcar.network.BindingcarNetWorkManager;
 import com.mogo.eagle.core.function.ipcupgrade.IPCUpgradeManager;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
@@ -96,7 +97,6 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {
         long oldHour = SharedPrefsMgr.getInstance(mContext).getLong("typeDriver", 0);
         //如果2分钟内频繁调，需要拦截，业务导致的会多次请求工控机信息
         if (HmiBuildConfig.isShowSnBindingView) {
-            Log.d("liyz", "driverScreen -----间隔时间 = " + (currentHour - oldHour) + "-- macAddress = " + macAddress + "--widevineIDWithMd5 = " + widevineIDWithMd5 + "--getScreenType() = " + getScreenType());
             if (currentHour - oldHour > 1) {
                 SharedPrefsMgr.getInstance(mContext).putLong("typeDriver", System.currentTimeMillis() / (1000 * 60));
                 BindingcarNetWorkManager.getInstance().getBindingcarInfo(mContext, macAddress, widevineIDWithMd5, getScreenType());
@@ -109,7 +109,6 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {
         long oldHour = SharedPrefsMgr.getInstance(mContext).getLong("typePassenger", 0);
         //如果2分钟内频繁调，需要拦截，业务导致的会多次请求工控机信息
         if (HmiBuildConfig.isShowSnBindingView) {
-            Log.d("liyz", "passengerScreen --间隔时间 = " + (currentHour - oldHour) + "-- mAddress = " + macAddress + "--mWidevineIDWithMd5 = " + widevineIDWithMd5 + "--getScreenType() = " + getScreenType());
             if (currentHour - oldHour > 1) {
                 SharedPrefsMgr.getInstance(mContext).putLong("typePassenger", System.currentTimeMillis() / (1000 * 60));
                 BindingcarNetWorkManager.getInstance().getBindingcarInfo(mContext, macAddress, widevineIDWithMd5, getScreenType());
@@ -129,5 +128,12 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {
         return screenType;
     }
 
+    /**
+     * 查询app是否需要升级
+     */
+    @Override
+    public void queryAppUpgrade() {
+        UpgradeAppNetWorkManager.getInstance().getAppUpgradeInfo(mContext, getScreenType());
+    }
 
 }

core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java

@@ -61,7 +61,6 @@ public class BindingcarNetWorkManager {
 //        String macAddress = "48:b0:2d:3a:bc:78";
 //        String sn = "X20202203105S688HZ";
 
-        Log.d("liyz", "getBindingcarInfo -- widevineIDWithMd5 = " + widevineIDWithMd5 + "--macAddress = " + macAddress + "--screenType = " + screenType);
         BindingcarRequest request = new BindingcarRequest(macAddress, widevineIDWithMd5, screenType);
         RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
         mBindingcarApiService.getBindingcarInfo(token, requestBody)
@@ -76,7 +75,6 @@ public class BindingcarNetWorkManager {
                     public void onNext(@NonNull BindingcarInfo info) {
                         if (info != null && info.getData() != null) {
                             CallerLogger.INSTANCE.d(TAG, "getBindingcarInfo onNext info.getData() =" + info.getData().toString());
-                            Log.d("liyz", "getBindingcarInfo onNext info.getData() =" + info.getData().toString() + "--compare = " + info.getData().getCompare());
                             if (info.getData().getCompare().equals("0")) {
                                 CallerHmiManager.INSTANCE.showBindingcarDialog();
                             } else if (info.getData().getCompare().equals("3")) {
@@ -107,7 +105,6 @@ public class BindingcarNetWorkManager {
      * mac: 48:b0:2d:3a:9c:19
      */
     public void modifyBindingcar(String macAddress, String widevineIDWithMd5, BindingcarCallBack callBack, int screenType) {
-        Log.d("liyz", "modifyBindingcar --- widevineIDWithMd5 = " + widevineIDWithMd5 + "---macAddress = " + macAddress + "--screenType = " + screenType);
         BindingcarRequest request = new BindingcarRequest(macAddress, widevineIDWithMd5, screenType);
         RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
         mBindingcarApiService.modifyBindingcarInfo(token, requestBody)
@@ -123,13 +120,11 @@ public class BindingcarNetWorkManager {
                         if (info != null) {
                             callBack.callBackResult(info);
                             CallerLogger.INSTANCE.d(TAG, "modifyBindingcar onNext code = " + info.code + "---msg = " + info.msg + "--info.toString() = " + info.toString());
-                            Log.d("liyz", "modifyBindingcar onNext code = " + info.code + "---msg = " + info.msg + "--info.toString() = " + info.toString());
                         }
                     }
 
                     @Override
                     public void onError(@NonNull Throwable e) {
-                        Log.e("liyz", "modifyBindingcar onError e = " + e.toString() + "---e.getMessage = " + e.getMessage());
                         CallerLogger.INSTANCE.e(TAG, "modifyBindingcar onError e = " + e.toString() + "---e.getMessage = " + e.getMessage());
                     }
 

core/function-impl/mogo-core-function-check/src/main/java/com/mogo/eagle/core/function/report/IPCReportManager.kt

@@ -5,6 +5,7 @@ import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.TimeUtils
 import mogo_msg.MogoReportMsg
 
@@ -25,8 +26,11 @@ class IPCReportManager : IMoGoAutopilotStatusListener {
     }
 
     fun initServer(){
-        // 添加 ADAS状态 监听
-        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        //乘客屏不显示监控信息弹窗,只在司机端提示
+        if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
+            // 添加 ADAS状态 监听
+            CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        }
     }
 
     /**
@@ -43,15 +47,20 @@ class IPCReportManager : IMoGoAutopilotStatusListener {
                         it.src,it.level,it.msg,it.code,it.resultList,it.actionsList))
                 //当前不处于美化模式时，展示监控节点上报
                 if(!FunctionBuildConfig.isDemoMode){
-                    CallerHmiManager.showIPCReportWindow(ipcReportList)
+                    if(FunctionBuildConfig.isReportWarning){
+                        CallerHmiManager.showIPCReportWindow(ipcReportList)
+                    }
                 }
             }
         }
     }
 
     fun destroy(){
-        // 移除 ADAS状态 监听
-        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        //乘客屏不显示监控信息弹窗,只在司机端提示
+        if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
+            // 移除 ADAS状态 监听
+            CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        }
     }
 
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt

@@ -21,7 +21,6 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
     private var job: Job? = null
 
     override fun onCreate() {
-        Log.d(TAG, "-- onCreate --")
         send(CanStatus(CallerAutoPilotManager.isConnected()))
         CallerAutopilotVehicleStateListenerManager.addListener(TAG, this)
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
@@ -32,7 +31,10 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
         timeOutCheck()
     }
 
-    private fun isCanEnabled() = CallerAutoPilotManager.isConnected() && CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_CAN"
+    private fun isCanEnabled(): Boolean {
+        val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
+        return CallerAutoPilotManager.isConnected() && code != "EHW_CAN"
+    }
 
 
     override fun onAutopilotBrakeLightData(brakeLight: Boolean) {
@@ -79,7 +81,6 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
     override fun onDestroy() {
         super.onDestroy()
         job?.safeCancel()
-        Log.d(TAG, "-- onDestroy --")
         CallerAutopilotVehicleStateListenerManager.removeListener(TAG)
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
     }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt

@@ -1,8 +1,6 @@
 package com.zhjt.mogo_core_function_devatools.status.flow.ipc
 
 import android.content.*
-import android.util.*
-import com.mogo.eagle.core.data.autopilot.*
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
@@ -17,7 +15,6 @@ internal class IpcImpl(ctx: Context): IFlow<IpcStatus>(ctx), IMoGoAutopilotStatu
     private var state: Int = -1
 
     override fun onCreate() {
-        Log.d(TAG, "-- onCreate --")
         checkAndSend()
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
@@ -36,7 +33,6 @@ internal class IpcImpl(ctx: Context): IFlow<IpcStatus>(ctx), IMoGoAutopilotStatu
 
     override fun onDestroy() {
         super.onDestroy()
-        Log.d(TAG, "-- onDestroy --")
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
     }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/nets/NetsImpl.kt

@@ -37,47 +37,39 @@ internal class NetsImpl(ctx: Context): IFlow<NetStatus>(ctx) {
 
         override fun onAvailable(network: Network) {
             super.onAvailable(network)
-            Log.d(TAG, "-- onAvailable --:: $network")
             checkAndSend()
         }
 
         override fun onLosing(network: Network, maxMsToLive: Int) {
             super.onLosing(network, maxMsToLive)
-            Log.d(TAG, "-- onLosing --:: $network::$maxMsToLive")
         }
 
         override fun onLost(network: Network) {
             super.onLost(network)
-            Log.d(TAG, "-- onLost --:: $network")
             checkAndSend()
         }
 
         override fun onUnavailable() {
             super.onUnavailable()
-            Log.d(TAG, "-- onUnavailable --")
             checkAndSend()
         }
 
         override fun onCapabilitiesChanged(network: Network, networkCapabilities: NetworkCapabilities) {
             super.onCapabilitiesChanged(network, networkCapabilities)
-            Log.d(TAG, "-- onCapabilitiesChanged --:$network::$networkCapabilities")
             checkAndSend()
         }
 
         override fun onLinkPropertiesChanged(network: Network, linkProperties: LinkProperties) {
             super.onLinkPropertiesChanged(network, linkProperties)
-            Log.d(TAG, "-- onLinkPropertiesChanged --:$network::$linkProperties")
         }
 
         override fun onBlockedStatusChanged(network: Network, blocked: Boolean) {
             super.onBlockedStatusChanged(network, blocked)
-            Log.d(TAG, "-- onBlockedStatusChanged --:$network::$blocked")
         }
     }
 
 
     override fun onCreate() {
-        Log.d(TAG, "-- onCreate --")
         checkAndSend()
         val builder = NetworkRequest.Builder()
             .addTransportType(NetworkCapabilities.TRANSPORT_WIFI)
@@ -106,7 +98,6 @@ internal class NetsImpl(ctx: Context): IFlow<NetStatus>(ctx) {
             sr = connectionInfo.rxLinkSpeedMbps
         }
         val speed = Speed(tr, sr)
-        Log.d(TAG, "checkAndSend----:enable: $enabled :: name: $name")
         send(enabled, name, speed)
     }
 
@@ -129,7 +120,6 @@ internal class NetsImpl(ctx: Context): IFlow<NetStatus>(ctx) {
 
     override fun onDestroy() {
         super.onDestroy()
-        Log.d(TAG, "-- onDestroy --")
         if (registered.compareAndSet(true, false)) {
             connectMgr.unregisterNetworkCallback(cb)
         }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt

@@ -24,8 +24,16 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotCarSt
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
 
-    private fun isRTKEnabled() =
-        CallerAutoPilotManager.isConnected() && (CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_RTK" && CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_GNSS") && CallerAutopilotCarStatusListenerManager.getCurrentGnssInfo() != null
+    private fun isRTKEnabled(): Boolean {
+        val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
+        val gnssInfo = CallerAutopilotCarStatusListenerManager.getCurrentGnssInfo()
+        return CallerAutoPilotManager.isConnected() && (
+                        code != "EHW_RTK" &&
+                        code != "EHW_GNSS" &&
+                        code != "ESYS_RTK_STATUS_FAULT" &&
+                        code != "ELCT_RTK_STATUS_FAULT" &&
+                        code != "ELCT_RTK_STATUS_UNKNOWN") && gnssInfo != null
+    }
 
     override fun onAutopilotCarStateData(gnssInfo: GnssInfo?) {
         send(RTKStatus(isRTKEnabled()))
@@ -34,9 +42,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotCarSt
 
     override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
         super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotManager.isConnected()) {
-            send(RTKStatus(false))
-        }
+        send(RTKStatus(isRTKEnabled()))
     }
 
     private fun timeOutCheck() {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt

@@ -19,7 +19,6 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
     private var old: TracingStatus.Tracing = UNKNOWN
 
     override fun onCreate() {
-        Log.d(TAG, "-- onCreate --")
         val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
         val state = code.toState() ?: UNKNOWN
         old = state
@@ -31,7 +30,6 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
     override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
         super.onAutopilotGuardian(guardianInfo)
         val current = guardianInfo?.code
-        Log.d(TAG, "-- onAutopilotGuardian --: $current")
         val newState = current?.toState()
         if (newState != null && newState != old) {
             send(TracingStatus(newState))
@@ -42,7 +40,6 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
 
     override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
         super.onAutopilotStatusResponse(autoPilotStatusInfo)
-        //Log.d(TAG, "-- onAutopilotStatusResponse -- autopilotMode: ${autoPilotStatusInfo.pilotmode} :: state: ${autoPilotStatusInfo.state}")
         if (autoPilotStatusInfo.state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
             send(TracingStatus(UNKNOWN))
         }
@@ -53,7 +50,6 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
 
     override fun onDestroy() {
         super.onDestroy()
-        Log.d(TAG, "-- onDestroy --")
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
     }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt

@@ -45,8 +45,6 @@ internal class StatusModel : ViewModel() {
             val nv = ArrayList(v).also { it.updateOrInsert(s) }
             val data = Pair(getExceptionStatus(nv), nv)
             old.set(data)
-            Log.d(TAG, "status: $s")
-            Log.d(TAG, "data: ${data.second}")
             status.postValue(data)
         }
     }
@@ -86,7 +84,6 @@ internal class StatusModel : ViewModel() {
                 is TracingStatus -> {
                     val c1 = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE
                     val c2 = s.state.isException()
-                    Log.d(TAG, "getExceptionStatus-::c1: $c1 -> c2: $c2")
                     if (c1 && c2) {
                         s
                     } else {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt

@@ -49,6 +49,8 @@ class TraceManager {
             FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_VEHICLE)
         fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT] =
             FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_TRAFFIC_LIGHT)
+        fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS] =
+            FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_PLANNING_OBJECTS)
 
         traceInfoCache[ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS] =
             ChainLogParam(true, "ADAS连接状态")
@@ -62,6 +64,8 @@ class TraceManager {
             ChainLogParam(false, "ADAS车前引导线")
         traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE] =
             ChainLogParam(false, "ADAS车辆底盘数据")
+        traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS] =
+            ChainLogParam(false, "ADAS PLANNING 感知障碍物")
 
         FileWriteManager.getInstance()
             .init(context, MoGoAiCloudClientConfig.getInstance().sn, pkgName, fwBuildMap)

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/anim/DefaultAnimator.kt

@@ -50,9 +50,7 @@ open class DefaultAnimator : OnFloatAnimator {
                     if (triple.third) params.x = value else params.y = value
                     // 动画执行过程中页面关闭，出现异常
                     windowManager.updateViewLayout(view, params)
-                    Log.d("XXX", "update ---> ${it.animatedValue}, ${it.animatedFraction}, $value")
                 } catch (e: Exception) {
-                    Log.d("XXX", "exception ---> $e")
                     cancel()
                 }
             }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt

@@ -46,6 +46,7 @@ import com.mogo.eagle.core.function.hmi.notification.WarningFloat
 import com.mogo.eagle.core.function.hmi.notification.anim.DefaultAnimator
 import com.mogo.eagle.core.function.hmi.ui.bindingcar.ModifyBindingCarDialog
 import com.mogo.eagle.core.function.hmi.ui.bindingcar.ToBindingCarDialog
+import com.mogo.eagle.core.function.hmi.ui.bindingcar.UpgradeAppDialog
 import com.mogo.eagle.core.function.hmi.ui.camera.CameraListView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeBannerView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeNormalBannerView
@@ -58,6 +59,7 @@ import com.mogo.eagle.core.function.hmi.ui.widget.V2XNotificationView
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
+import com.mogo.eagle.core.utilcode.util.SoundUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.TimeUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -247,7 +249,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                     }
                 })
                 ipcReportWindow?.let {
-                    AIAssist.getInstance(AbsMogoApplication.getApp()).speakTTSVoice("嘟")
+                    SoundUtils.playRing(requireContext())
                 }
             }
             ipcReportWindow?.showFloatWindow()
@@ -964,6 +966,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
 
     private var modifyBindingCarDialog: ModifyBindingCarDialog? = null
     private var toBindingCarDialog: ToBindingCarDialog? = null
+    private var upgradeAppDialog: UpgradeAppDialog? = null
 
     override fun showToBindingcarDialog() {
         if (toBindingCarDialog == null) {
@@ -977,7 +980,16 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
             modifyBindingCarDialog = ModifyBindingCarDialog(requireContext())
         }
         modifyBindingCarDialog!!.showModifyBindingcarDialog()
+    }
 
+    /**
+     * 升级app弹框
+     */
+    override fun showUpgradeDialog(name: String, url: String) {
+        if (upgradeAppDialog == null) {
+            upgradeAppDialog = UpgradeAppDialog(requireContext())
+        }
+        upgradeAppDialog!!.showUpgradeAppDialog(name, url)
     }
 
     /**

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/bindingcar/UpgradeAppDialog.kt

@@ -0,0 +1,75 @@
+package com.mogo.eagle.core.function.hmi.ui.bindingcar
+
+import android.content.Context
+import android.util.Log
+import android.widget.TextView
+import androidx.lifecycle.LifecycleObserver
+import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
+import com.mogo.module.common.dialog.BaseFloatDialog
+import com.mogo.service.IMogoServiceApis
+import com.mogo.service.statusmanager.IMogoStatusChangedListener
+import com.mogo.service.statusmanager.StatusDescriptor
+
+/**
+ * @brief  APP升级提示弹框
+ * @author lixiaopeng
+ */
+class UpgradeAppDialog(context: Context) : BaseFloatDialog(context), LifecycleObserver{
+
+    private val TAG = "UpgradeAppDialog"
+    private var confirmTv: TextView? = null
+    private var cancleTv: TextView? = null
+    private var tag: String? = null
+    private var downloarUrl: String? = null
+
+    private var mServiceApis: IMogoServiceApis? = null
+    private val statusChangedListenerForCheckNotice = IMogoStatusChangedListener { descriptor, isTrue ->
+        if (descriptor == StatusDescriptor.MAIN_PAGE_IS_BACKGROUND) {
+            dismiss()
+        }
+    }
+
+    init {
+        setContentView(R.layout.dialog_upgrade_app)
+        setCanceledOnTouchOutside(true)
+
+        confirmTv = findViewById(R.id.tv_upgrade_confirm)
+        cancleTv = findViewById(R.id.tv_upgrade_cancel)
+
+        confirmTv?.setOnClickListener {
+            downloadApp()
+        }
+
+        cancleTv?.setOnClickListener {
+            dismiss()
+        }
+    }
+
+    /**
+     * 去下载 TODO 成功或者失败
+     */
+    fun downloadApp() {
+        tag?.let { downloarUrl?.let { it1 -> CallerDevaToolsManager.downLoadPackage(it, it1) } }
+
+        dismiss()
+    }
+
+    override fun dismiss() {
+        super.dismiss()
+    }
+
+    fun showUpgradeAppDialog(name: String, url: String) {
+        if (isShowing) {
+            return
+        }
+        tag = name
+        downloarUrl = url
+        Log.d("liyz", "tag = $tag ---- downloarUrl = $downloarUrl")
+        show()
+    }
+
+
+}

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt

@@ -6,6 +6,7 @@ import android.content.ClipData
 import android.content.ClipboardManager
 import android.content.Context
 import android.graphics.Color
+import android.media.RingtoneManager
 import android.os.Build
 import android.text.Html
 import android.util.AttributeSet
@@ -63,6 +64,8 @@ import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.map.MogoMap
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.map.uicontroller.VisualAngleMode.*
+import com.mogo.module.service.routeoverlay.*
+import com.tencent.liteav.basic.datareport.a.B
 import com.zhidao.easysocket.utils.L
 import kotlinx.android.synthetic.main.view_debug_setting.view.*
 import mogo.telematics.pad.MessagePad
@@ -137,7 +140,7 @@ class DebugSettingView @JvmOverloads constructor(
     private var clickListener: ClickListener? = null
 
     //剪切板
-    private var clipboardManager: ClipboardManager ?= null
+    private var clipboardManager: ClipboardManager? = null
 
     private val simpleDateFormat by lazy {
         SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS")
@@ -291,10 +294,10 @@ class DebugSettingView @JvmOverloads constructor(
          * 开发者模式
          */
         swDevelopMode.setOnCheckedChangeListener { _, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                 controlCenterLayout.visibility = View.VISIBLE
                 commonLayout.visibility = View.GONE
-            }else{
+            } else {
                 controlCenterLayout.visibility = View.GONE
                 commonLayout.visibility = View.VISIBLE
             }
@@ -339,12 +342,12 @@ class DebugSettingView @JvmOverloads constructor(
                 buttonView.setCompoundDrawables(null, null, iconDown, null)
                 //展示OBU控制中心
                 obuControllerLayout.visibility = View.VISIBLE
-                tbVehicleStateController.isChecked  = true
+                tbVehicleStateController.isChecked = true
             } else {
                 buttonView.setCompoundDrawables(null, null, iconRight, null)
                 //隐藏OBU控制中心
                 obuControllerLayout.visibility = View.GONE
-                tbVehicleStateController.isChecked  = false
+                tbVehicleStateController.isChecked = false
             }
         }
 
@@ -549,17 +552,17 @@ class DebugSettingView @JvmOverloads constructor(
             FunctionBuildConfig.isRainMode = isChecked
         }
         //雨天模式按钮只在司机屏生效，乘客屏不显示
-        if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
             tbIsRainMode.visibility = View.GONE
         }
 
         //重启工控机所有节点
-        btnIpcReboot.onClick{
+        btnIpcReboot.onClick {
             CallerAutoPilotManager.sendIpcReboot()
             ToastUtils.showLong("重启命令已发送")
         }
         //只在司机端设置工控机节点重启功能
-        if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
             btnIpcReboot.visibility = View.GONE
         }
 
@@ -635,15 +638,15 @@ class DebugSettingView @JvmOverloads constructor(
         }
 
         //设置点云大小
-        btnPointCloudSize.setOnClickListener{
+        btnPointCloudSize.setOnClickListener {
             val cloudSize = etPointCloudSize.text.toString()
-            if(cloudSize.isEmpty()){
+            if (cloudSize.isEmpty()) {
                 ToastUtils.showShort("请输入正确的点云大小")
-            }else{
+            } else {
                 try {
                     val cloudSizeFloat = cloudSize.toFloat()
                     CallerHDMapManager.setPointCloudSize(cloudSizeFloat)
-                }catch (e: Exception){
+                } catch (e: Exception) {
                     ToastUtils.showShort("点云大小格式输入不正确")
                 }
             }
@@ -651,12 +654,12 @@ class DebugSettingView @JvmOverloads constructor(
         //设置点云颜色
         btnPointCloudColor.setOnClickListener {
             val cloudColor = etPointCloudColor.text.toString()
-            if(cloudColor.isEmpty()){
+            if (cloudColor.isEmpty()) {
                 ToastUtils.showShort("请输入正确的点云颜色")
-            }else{
+            } else {
                 try {
                     CallerHDMapManager.setPointCloudColor(cloudColor)
-                }catch (e: Exception){
+                } catch (e: Exception) {
                     ToastUtils.showShort("点云大小颜色输入不正确")
                 }
             }
@@ -694,34 +697,47 @@ class DebugSettingView @JvmOverloads constructor(
 
         //SN复制按钮
         tvPadSnClip.setOnClickListener {
-            if(clipboardManager==null){
+            if (clipboardManager == null) {
                 //获取剪贴板管理器：
-                clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
+                clipboardManager =
+                    context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
             }
             // 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
-            clipboardManager?.setPrimaryClip(ClipData.newPlainText("MoGoSN",AppConfigInfo.mogoSN))
+            clipboardManager?.setPrimaryClip(ClipData.newPlainText("MoGoSN", AppConfigInfo.mogoSN))
             ToastUtils.showLong("SN复制成功")
         }
 
         //工控机镜像复制按钮
-        tvIpcVersionInfoClip.setOnClickListener{
-            if(clipboardManager==null){
+        tvIpcVersionInfoClip.setOnClickListener {
+            if (clipboardManager == null) {
                 //获取剪贴板管理器：
-                clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
+                clipboardManager =
+                    context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
             }
             // 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
-            clipboardManager?.setPrimaryClip(ClipData.newPlainText("DockVersion",mAutoPilotStatusInfo?.dockVersion))
+            clipboardManager?.setPrimaryClip(
+                ClipData.newPlainText(
+                    "DockVersion",
+                    mAutoPilotStatusInfo?.dockVersion
+                )
+            )
             ToastUtils.showLong("docker版本复制成功")
         }
 
         //经纬度复制按钮
-        tvCarInfoCopyClip.setOnClickListener{
-            if(clipboardManager==null){
+        tvCarInfoCopyClip.setOnClickListener {
+            if (clipboardManager == null) {
                 //获取剪贴板管理器：
-                clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
+                clipboardManager =
+                    context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
             }
             // 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
-            clipboardManager?.setPrimaryClip(ClipData.newPlainText("LonAndLat","${mGnssInfo?.longitude},${mGnssInfo?.latitude}"))
+            clipboardManager?.setPrimaryClip(
+                ClipData.newPlainText(
+                    "LonAndLat",
+                    "${mGnssInfo?.longitude},${mGnssInfo?.latitude}"
+                )
+            )
             ToastUtils.showLong("经纬度复制成功")
         }
 
@@ -764,6 +780,13 @@ class DebugSettingView @JvmOverloads constructor(
                 CallerAutoPilotManager.connectSpecifiedServer(ip)
             }
         }
+
+        //是否开启异常上报
+        tbReportWarning.isChecked = FunctionBuildConfig.isReportWarning
+        tbReportWarning.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isReportWarning = isChecked
+        }
+
     }
 
     /**
@@ -944,6 +967,16 @@ class DebugSettingView @JvmOverloads constructor(
             accelerationIsShow = isChecked
         }
 
+        tbRouteDynamicEffect.isChecked = AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)
+
+        tbRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
+            if (isChecked) {
+                RouteStrategy.enable(true)
+            } else {
+                RouteStrategy.enable(false)
+            }
+        }
+
         btnThresholdDefine.setOnClickListener {
             try {
                 accelerationThresholdNum = etThreshold.text.toString().toDouble()
@@ -1127,7 +1160,7 @@ class DebugSettingView @JvmOverloads constructor(
                 if (logTimeStr.isNullOrEmpty()) {
                     logTimeStr = "10"
                 }
-                try{
+                try {
                     val logCatchTime = logTimeStr.toInt()
                     if (logCatchTime > 60) {
                         tbLogCatch.isChecked = false
@@ -1135,7 +1168,7 @@ class DebugSettingView @JvmOverloads constructor(
                         return@setOnCheckedChangeListener
                     }
                     CallerDevaToolsManager.startCatchLog(logCatchTime)
-                }catch (e: Exception){
+                } catch (e: Exception) {
                     ToastUtils.showLong("输入格式错误，请重新输入正确时间数字，最长抓取时间为60分钟")
                     etLogCatch.setText("")
                 }
@@ -1259,7 +1292,7 @@ class DebugSettingView @JvmOverloads constructor(
         }
 
         /**
-         * ADAS车辆地盘数据
+         * ADAS车辆底盘数据
          */
         cbAdasVehicle.setOnCheckedChangeListener { _, isChecked ->
             val map = CallerDevaToolsManager.getTraceInfo()
@@ -1270,6 +1303,20 @@ class DebugSettingView @JvmOverloads constructor(
                 CallerDevaToolsManager.refreshTraceInfo(map)
             }
         }
+
+        /**
+         * ADAS PLANNING OBJ 感知障碍物
+         */
+        cbAdasPlanningObj.setOnCheckedChangeListener { _, isChecked ->
+            val map = CallerDevaToolsManager.getTraceInfo()
+            val param = map[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS]
+            param?.let {
+                it.record = isChecked
+                map[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS] = param
+                CallerDevaToolsManager.refreshTraceInfo(map)
+            }
+        }
+
     }
 
     private fun refreshTraceInfo() {
@@ -1516,9 +1563,9 @@ class DebugSettingView @JvmOverloads constructor(
             }"
         )
 
-        if(AppConfigInfo.isConnectAutopilot){
+        if (AppConfigInfo.isConnectAutopilot) {
             tvIpcConnectStatus.minLines = 1
-        }else{
+        } else {
             tvIpcConnectStatus.minLines = 4
         }
 
@@ -1538,7 +1585,7 @@ class DebugSettingView @JvmOverloads constructor(
             }"
         )
         //如果是乘客端，则不显示工控机连接状态
-        if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
             tvIpcConnectStatus.visibility = View.GONE
             tvAutopilotConnectStatus.visibility = View.GONE
         }
@@ -1848,8 +1895,8 @@ class DebugSettingView @JvmOverloads constructor(
     /**
      * 初始化上报
      */
-    fun reportInit(reportList: ArrayList<ReportEntity>){
-        if(reportList.size > 0){
+    fun reportInit(reportList: ArrayList<ReportEntity>) {
+        if (reportList.size > 0) {
             reportMsgLayout.visibility = View.VISIBLE
             reportList[0].let {
                 tvReportSrc.text = "src:${it.src}"

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt

@@ -74,7 +74,8 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
                         ToastUtils.showShort("超过最大限速值60，设置失败")
                     }
                     else -> {
-                        llSpeedPosition.background = resources.getDrawable(R.drawable.pilot_speed_bg)
+                        llSpeedPosition.background =
+                            resources.getDrawable(R.drawable.pilot_speed_bg)
                         keyBoardUtil?.hideKeyboard()
                         etInputSpeed.clearFocus()
                         // 设置自动驾驶速度
@@ -107,13 +108,15 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
         etInputSpeed.setOnFocusChangeListener { v, hasFocus ->
             when {
                 hasFocus -> {
-                    llSpeedPosition.background = resources.getDrawable(R.drawable.pilot_speed_high_light_bg)
+                    llSpeedPosition.background =
+                        resources.getDrawable(R.drawable.pilot_speed_high_light_bg)
                     if (keyBoardUtil == null) {
                         keyBoardUtil = KeyBoardUtil(sKeyBoardView, etInputSpeed)
                     }
                     keyBoardUtil?.showKeyboard()
                 }
-                else -> llSpeedPosition.background = resources.getDrawable(R.drawable.pilot_speed_bg)
+                else -> llSpeedPosition.background =
+                    resources.getDrawable(R.drawable.pilot_speed_bg)
             }
         }
         etInputSpeed.setOnTouchListener { v, event ->
@@ -150,28 +153,16 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
         this.clickListener = clickListener
     }
 
-    /**
-     * Bus不可设置自动驾驶速度，而Taxi可以
-     */
     private fun updateSpeedSettingViews() {
-        when {
-            AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) -> {
-                tvSpeedTitle.visibility = View.GONE
-                llSpeedPosition.visibility = View.GONE
-            }
-            else -> {
-                tvSpeedTitle.visibility = View.VISIBLE
-                llSpeedPosition.visibility = View.VISIBLE
-            }
-        }
+        tvSpeedTitle.visibility = View.VISIBLE
+        llSpeedPosition.visibility = View.VISIBLE
     }
 
-    fun showAdUpgradeStatus(ipcUpgradeStateInfo: IPCUpgradeStateInfo){
+    fun showAdUpgradeStatus(ipcUpgradeStateInfo: IPCUpgradeStateInfo) {
         systemVersionView?.showAdUpgradeStatus(ipcUpgradeStateInfo)
     }
 
 
-
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt

@@ -5,16 +5,19 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.bindingcar.AdUpgradeStateHelper
 import com.mogo.eagle.core.data.bindingcar.IPCUpgradeStateInfo
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.bindingcar.IMoGoBindingCarListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.bindingcar.CallerBindingCarListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.utilcode.util.AppUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -58,7 +61,13 @@ class SystemVersionView @JvmOverloads constructor(
         //鹰眼版本视图点击事件
         ivPadVersion.setOnClickListener {
             CallerLogger.i("$M_HMI$$TAG", "pad version view clicked")
+//            CallerBindingcarManager.getBindingcarProvider().queryAppUpgrade()
+
+            Logger.d("liyz", "ivPadVersion  --click ")
+
         }
+
+
         //工控机版本视图点击事件
         ivAdVersion.setOnClickListener {
             CallerLogger.i("$M_HMI$$TAG", "ad version view clicked")

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/V2XWarningView.kt

@@ -53,7 +53,6 @@ class V2XWarningView @JvmOverloads constructor(
      * @param closeTime 倒计时
      */
     fun showWarning(direction: WarningDirectionEnum, closeTime: Long) {
-//        CallerLogger.d("$M_HMI$TAG", "预警红边：预警方向->$direction 预警倒计时->$closeTime")
         Log.d(TAG, "预警红边：预警方向->$direction 预警倒计时->$closeTime")
         UiThreadHandler.post {
             // 如果传入的不是关闭显示，则设置倒计时，定时关闭红框警示

core/function-impl/mogo-core-function-hmi/src/main/res/layout/dialog_upgrade_app.xml

@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="utf-8"?>
+<com.mogo.eagle.core.widget.RoundConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="840px"
+    android:layout_height="470px"
+    android:background="@color/dialog_bg_color"
+    app:roundLayoutRadius="32px">
+
+    <TextView
+        android:id="@+id/tv_upgrade_title"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="50px"
+        android:text="@string/application_upgrade"
+        android:textColor="#FFFFFFFF"
+        android:textSize="56px"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <TextView
+        android:id="@+id/tv_upgrade_tips"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="50px"
+        android:text="@string/application_upgrade_confirm"
+        android:textColor="#FFFFFFFF"
+        android:textSize="43px"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tv_bindingcar_title" />
+
+    <View
+        android:id="@+id/view_horizontal_line"
+        android:layout_width="match_parent"
+        android:layout_height="2px"
+        android:layout_marginTop="80px"
+        android:background="#66B8BFE8"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tv_bindingcar_tips" />
+
+    <View
+        android:id="@+id/view_vertical_line"
+        android:layout_width="3px"
+        android:layout_height="0dp"
+        android:background="#66B8BFE8"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/view_horizontal_line" />
+
+    <TextView
+        android:id="@+id/tv_upgrade_confirm"
+        android:layout_width="400px"
+        android:layout_height="100px"
+        android:gravity="center"
+        android:text="@string/confirm"
+        android:textColor="#FFFFFFFF"
+        android:textSize="46px"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toLeftOf="@id/view_vertical_line"
+        app:layout_constraintTop_toBottomOf="@id/view_horizontal_line" />
+
+    <TextView
+        android:id="@+id/tv_upgrade_cancel"
+        android:layout_width="400px"
+        android:layout_height="100px"
+        android:gravity="center"
+        android:text="@string/cancel"
+        android:textColor="#FFFFFFFF"
+        android:textSize="46px"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/view_vertical_line"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/view_horizontal_line" />
+
+
+</com.mogo.eagle.core.widget.RoundConstraintLayout>

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml

@@ -1111,6 +1111,18 @@
                         app:layout_constraintRight_toRightOf="parent"
                         app:layout_constraintTop_toTopOf="@id/btnConnectServerIp" />
 
+                    <ToggleButton
+                        android:id="@+id/tbReportWarning"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="@dimen/dp_10"
+                        android:textColor="#000"
+                        android:textOff="开启异常上报提示"
+                        android:textOn="关闭异常上报提示"
+                        android:textSize="@dimen/dp_24"
+                        app:layout_constraintTop_toBottomOf="@id/btnConnectServerIp"
+                        />
+
 
                 </androidx.constraintlayout.widget.ConstraintLayout>
 
@@ -1245,6 +1257,17 @@
                         android:textOn="关闭「加速度面板」"
                         android:textSize="@dimen/dp_24" />
 
+                    <ToggleButton
+                        android:id="@+id/tbRouteDynamicEffect"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_columnWeight="1"
+                        android:layout_margin="2dp"
+                        android:gravity="center"
+                        android:textOff="开启「引导线动态效果」"
+                        android:textOn="关闭「引导线动态效果」"
+                        android:textSize="@dimen/dp_24" />
+
                     <androidx.appcompat.widget.AppCompatEditText
                         android:id="@+id/etThreshold"
                         android:layout_width="wrap_content"
@@ -1955,6 +1978,16 @@
                         android:text="ADAS底盘数据"
                         android:textColor="#000"
                         android:textSize="@dimen/dp_24" />
+
+                    <CheckBox
+                        android:id="@+id/cbAdasPlanningObj"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:checked="false"
+                        android:padding="@dimen/dp_10"
+                        android:text="ADAS PLANNING 感知障碍物"
+                        android:textColor="#000"
+                        android:textSize="@dimen/dp_24" />
                 </LinearLayout>
             </LinearLayout>
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java

@@ -1,177 +0,0 @@
-package com.mogo.eagle.core.function.map;
-
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI;
-
-import android.annotation.SuppressLint;
-import android.content.Context;
-
-import com.mogo.commons.AbsMogoApplication;
-import com.mogo.eagle.core.data.config.FunctionBuildConfig;
-import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
-import com.mogo.map.MogoMap;
-import com.mogo.map.MogoMarkerManager;
-import com.mogo.module.common.MogoApisHandler;
-import com.mogo.module.common.constants.AdasRecognizedType;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.util.concurrent.ConcurrentHashMap;
-
-import mogo.telematics.pad.MessagePad;
-
-/**
- * @author xiaoyuzhou
- * @date 2021/10/19 10:45 上午
- * 域控制器识别信息绘制
- */
-public class IdentifyDataDrawer {
-    private static final String TAG = "IdentifyDataDrawer";
-
-    protected final Context mContext;
-    private static volatile IdentifyDataDrawer sInstance;
-
-    /**
-     * 上一帧数据的缓存
-     */
-    private static final ConcurrentHashMap<String, MessagePad.TrackedObject> mMarkersCaches = new ConcurrentHashMap<>();
-
-    /**
-     * kalman缓存数据
-     */
-    private static final ConcurrentHashMap<String, KalmanFilter> algoCache = new ConcurrentHashMap<>();
-
-    /**
-     * 记录每次实际绘制的交通元素UUID
-     */
-    private final ArrayList<String> trafficDataUuidList = new ArrayList<>();
-    /**
-     * 过滤后的数据集合
-     */
-    private final ArrayList<MessagePad.TrackedObject> mFilterTrafficData = new ArrayList<>();
-
-    private IdentifyDataDrawer() {
-        mContext = AbsMogoApplication.getApp();
-    }
-
-    public static IdentifyDataDrawer getInstance() {
-        if (sInstance == null) {
-            synchronized (IdentifyDataDrawer.class) {
-                if (sInstance == null) {
-                    sInstance = new IdentifyDataDrawer();
-                }
-            }
-        }
-        return sInstance;
-    }
-
-    public synchronized void release() {
-        sInstance = null;
-    }
-
-    /**
-     * 渲染 adas 识别的数据
-     *
-     * @param resultList adas感知融合数据
-     */
-    @SuppressLint("NewApi")
-    public void renderAdasRecognizedResult(List<MessagePad.TrackedObject> resultList) {
-        if (resultList == null || resultList.isEmpty()) {
-            clearOldMarker();
-            CallerLogger.INSTANCE.w(TAG, "感知数据为空无需渲染……");
-            return;
-        }
-
-        if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
-            clearOldMarker();
-            CallerLogger.INSTANCE.w(TAG, "渲染 adas 识别的数据 当前不是VR模式");
-            return;
-        }
-
-        //清除缓存
-        for (MessagePad.TrackedObject data : resultList) {
-            if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) {
-                trafficDataUuidList.remove("" + data.getUuid());
-            }
-        }
-        trafficDataUuidList.forEach(uuid -> {
-            mMarkersCaches.remove(uuid);
-            algoCache.remove(uuid);
-        });
-
-        ArrayList<MessagePad.TrackedObject> filterList = filterTrafficData(resultList);
-
-        if (filterList.size() > 0) {
-            // 绘制新数据
-            MogoMarkerManager.getInstance(mContext)
-                    .updateBatchMarkerPosition(filterList);
-        }
-    }
-
-    /**
-     * 数据过滤器
-     *
-     * @return 过滤后的数据集合
-     */
-    private ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
-        mFilterTrafficData.clear();
-        trafficDataUuidList.clear();
-        for (MessagePad.TrackedObject data : trafficData) {
-            // 过滤掉未知感知数据
-            if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
-                //CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
-                continue;
-            }
-            String uuid = "" + data.getUuid();
-            //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
-            MessagePad.TrackedObject cacheData = mMarkersCaches.get(uuid);
-            if (cacheData != null) {
-                if (data.getSpeed() < 0.5) {
-                    data = data.toBuilder().setHeading(cacheData.getHeading()).setLongitude(cacheData.getLongitude()).setLatitude(cacheData.getLatitude()).build();
-                }
-                mFilterTrafficData.add(data);
-                //更新已存在的感知物体数据
-            }
-            mMarkersCaches.put(uuid, data);
-            trafficDataUuidList.add(uuid);
-        }
-        return mFilterTrafficData;
-    }
-
-    //todo 相信滤波的定位点做验证，将原始data修改经纬度和航向角返回
-    private MessagePad.TrackedObject kalmanCorrectData(MessagePad.TrackedObject data) {
-        String uuid = "" + data.getUuid();
-        if (algoCache.containsKey(uuid)) {
-            Object o = algoCache.get(uuid);
-            KalmanFilter kf = (KalmanFilter) o;
-            assert kf != null;
-            algoCache.put(uuid, kf);
-            MessagePad.TrackedObject cacheTrackObj = mMarkersCaches.get(uuid);
-            assert cacheTrackObj != null;
-            if (data.getSpeed() < 0.5) {
-                return data.toBuilder().setHeading(cacheTrackObj.getHeading()).setLongitude(cacheTrackObj.getLongitude()).setLatitude(cacheTrackObj.getLatitude()).build();
-            } else {
-                return data;
-            }
-        } else {
-            double r = 0.000005;
-            if (AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficBus || AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficTruck) {
-                r = 0.00001;
-            }
-            algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), r));
-            return data;
-        }
-    }
-
-    /**
-     * 清除旧的 marker 数据
-     */
-    public void clearOldMarker() {
-        for (String uuid : trafficDataUuidList) {
-            MogoMarkerManager.getInstance(mContext)
-                    .removeMarker(uuid);
-        }
-        trafficDataUuidList.clear();
-    }
-}
-

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt

@@ -4,6 +4,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.map.identify.IdentifyFactory
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
@@ -41,9 +42,19 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber, IMoGoAutopi
     override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
         try {
             if (FunctionBuildConfig.isDrawIdentifyData) {
-                ThreadUtils.getSinglePool().execute { IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData) }
+                ThreadUtils.getSinglePool().execute { IdentifyFactory.renderAdasRecognizedResult(trafficData) }
             } else {
-                IdentifyDataDrawer.getInstance().clearOldMarker()
+                IdentifyFactory.clearOldMarker()
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
+        try {
+            if (FunctionBuildConfig.isDrawIdentifyData) {
+                ThreadUtils.getSinglePool().execute { IdentifyFactory.renderPlanningWarningObj(planningObjects) }
             }
         } catch (e: Exception) {
             e.printStackTrace()

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/CircleQueue.java

@@ -0,0 +1,54 @@
+package com.mogo.eagle.core.function.map.identify;
+
+import java.util.List;
+import java.util.Vector;
+
+public class CircleQueue {
+
+    private final Vector<ObjQueue> objQueue;
+    private final int maxSize;
+
+    public CircleQueue(int maxSize) {
+        this.maxSize = maxSize;
+        objQueue = new Vector<>(maxSize);
+    }
+
+    public int size() {
+        return objQueue.size();
+    }
+
+    public void addQueue(ObjQueue obj) {
+        if (objQueue.size() == maxSize) {
+            objQueue.remove(0);
+        }
+        objQueue.add(obj);
+    }
+
+    public void deleteObj(ObjQueue obj) {
+        objQueue.remove(obj);
+    }
+
+    public List<ObjQueue> getLastThreeFrame() {
+        return objQueue.subList(objQueue.size() - 3, objQueue.size());
+    }
+
+    public List<ObjQueue> getLastFiveFrame() {
+        return objQueue.subList(objQueue.size() - 5, objQueue.size());
+    }
+
+    public List<ObjQueue> getPreFrame() {
+        return objQueue.subList(0, objQueue.size());
+    }
+
+    public ObjQueue getLastFrame() {
+        return objQueue.lastElement();
+    }
+
+    @Override
+    public String toString() {
+        return "CircleQueue{" +
+                "objQueue=" + objQueue +
+                "size=" + objQueue.size() +
+                '}';
+    }
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/Identify.kt

@@ -0,0 +1,13 @@
+package com.mogo.eagle.core.function.map.identify
+
+import mogo.telematics.pad.MessagePad
+import mogo.telematics.pad.MessagePad.TrackedObject
+
+interface Identify {
+
+    fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?)
+
+    fun renderAdasRecognizedResult(resultList: List<TrackedObject>?)
+
+    fun clearOldMarker()
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyBeautifyDataDrawer.kt

@@ -0,0 +1,64 @@
+package com.mogo.eagle.core.function.map.identify
+
+import android.annotation.SuppressLint
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
+import com.mogo.map.MogoMarkerManager
+import com.mogo.module.common.MogoApisHandler
+import mogo.telematics.pad.MessagePad
+import mogo.telematics.pad.MessagePad.TrackedObject
+
+/**
+ * 域控制器识别信息绘制
+ */
+class IdentifyBeautifyDataDrawer : Identify {
+
+    companion object {
+        private const val TAG = "IdentifyDataDrawer"
+    }
+
+    override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
+        TrackManager.getInstance().filterWarningData(planningObjects)
+    }
+
+    /**
+     * 渲染 adas 识别的数据
+     *
+     * @param resultList adas感知融合数据
+     */
+    @SuppressLint("NewApi")
+    override fun renderAdasRecognizedResult(resultList: List<TrackedObject>?) {
+        if (resultList == null || resultList.isEmpty()) {
+            TrackManager.getInstance().clearAll()
+            w(TAG, "感知数据为空无需渲染……")
+            return
+        }
+        if (!MogoApisHandler.getInstance().apis.statusManagerApi.isVrMode) {
+            TrackManager.getInstance().clearAll()
+            w(TAG, "渲染 adas 识别的数据 当前不是VR模式")
+            return
+        }
+
+        //清除缓存
+        TrackManager.getInstance().clearCache(resultList)
+//        val cost = System.nanoTime()
+        val filterList = TrackManager.getInstance().filterTrafficData(resultList)
+//        Log.d(
+//            "time cost",
+//            " " + (System.nanoTime() - cost) / 1000000 + " , 处理了" + resultList.size + "条数据"
+//        )
+        if (filterList.size > 0) {
+            // 绘制新数据
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .updateBatchMarkerPosition(filterList)
+        }
+    }
+
+    /**
+     * 清除旧的 marker 数据
+     */
+    override fun clearOldMarker() {
+        TrackManager.getInstance().clearAll()
+    }
+
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt

@@ -0,0 +1,38 @@
+package com.mogo.eagle.core.function.map.identify
+
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import mogo.telematics.pad.MessagePad
+import mogo.telematics.pad.MessagePad.TrackedObject
+
+object IdentifyFactory : Identify {
+    object DriverIdentify {
+        internal val originDataDrawer = IdentifyOriginDataDrawer()
+    }
+
+    object UserIdentify {
+        internal val beautifyDataDrawer = IdentifyBeautifyDataDrawer()
+    }
+
+    override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
+        identify!!.renderPlanningWarningObj(planningObjects)
+    }
+
+    override fun renderAdasRecognizedResult(resultList: List<TrackedObject>?) {
+        identify!!.renderAdasRecognizedResult(resultList)
+    }
+
+    override fun clearOldMarker() {
+        identify!!.clearOldMarker()
+    }
+
+    private var identify: Identify? = null
+
+    init { //todo 还得加开关做判断
+        identify = if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+            UserIdentify.beautifyDataDrawer
+        } else {
+            DriverIdentify.originDataDrawer
+        }
+    }
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt

@@ -0,0 +1,167 @@
+package com.mogo.eagle.core.function.map.identify
+
+import android.annotation.SuppressLint
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
+import com.mogo.map.MogoMarkerManager
+import com.mogo.module.common.MogoApisHandler
+import mogo.telematics.pad.MessagePad
+import mogo.telematics.pad.MessagePad.TrackedObject
+import java.util.*
+import java.util.concurrent.ConcurrentHashMap
+import java.util.function.Consumer
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/10/19 10:45 上午
+ * 域控制器识别信息绘制
+ */
+class IdentifyOriginDataDrawer : Identify {
+
+    companion object {
+        private const val TAG = "IdentifyDataDrawer"
+    }
+
+    /**
+     * 上一帧数据的缓存
+     */
+    private val mMarkersCaches = ConcurrentHashMap<String, TrackedObject>()
+
+    /**
+     * kalman缓存数据
+     */
+    private val algoCache = ConcurrentHashMap<String, KalmanFilter>()
+
+    /**
+     * 记录每次实际绘制的交通元素UUID
+     */
+    private val trafficDataUuidList = ArrayList<String>()
+
+    /**
+     * 过滤后的数据集合
+     */
+    private val mFilterTrafficData = ArrayList<TrackedObject>()
+
+    /**
+     * planning 感知物预警缓存，用于重置color状态
+     */
+    private val colorTrafficData = ArrayList<String>()
+
+    //todo reset color
+    override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
+//        if (planningObjects == null) {
+//            if (colorTrafficData.size == 0) {
+//                return
+//            }
+//            colorTrafficData.forEach {
+//                val cacheData = mMarkersCaches[it] //todo 是否要直接绘制 还是等下一帧
+//                if (cacheData != null) {
+//                    mMarkersCaches[it] = cacheData.toBuilder().setColor("#D8D8D8FF").build()
+//                }
+//            }
+//            colorTrafficData.clear()
+//            return
+//        }
+//        val tempTrafficData = ArrayList<TrackedObject>()
+//        planningObjects.forEach {
+//            val trackId = it.uuid.toString()
+//            val cacheData = mMarkersCaches[trackId]
+//            if (cacheData != null) {
+//                colorTrafficData.add(trackId)
+//                when (it.type) {
+//                    0 -> {
+//                        tempTrafficData.add(cacheData.toBuilder().setColor("#FF3C45FF").build())
+//                    }
+//                    1 -> {
+//                        tempTrafficData.add(cacheData.toBuilder().setColor("#FFD53EFF").build())
+//                    }
+//                }
+//            }
+//            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+//                .updateBatchMarkerPosition(tempTrafficData)
+//        }
+    }
+
+    /**
+     * 渲染 adas 识别的数据
+     *
+     * @param resultList adas感知融合数据
+     */
+    @SuppressLint("NewApi")
+    override fun renderAdasRecognizedResult(resultList: List<TrackedObject>?) {
+        if (resultList == null || resultList.isEmpty()) {
+            clearOldMarker()
+            w(TAG, "感知数据为空无需渲染……")
+            return
+        }
+        if (!MogoApisHandler.getInstance().apis.statusManagerApi.isVrMode) {
+            clearOldMarker()
+            w(TAG, "渲染 adas 识别的数据 当前不是VR模式")
+            return
+        }
+
+        //清除缓存
+        for (data in resultList) {
+            if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains("" + data.uuid)) {
+                trafficDataUuidList.remove("" + data.uuid)
+            }
+        }
+        trafficDataUuidList.forEach(Consumer { uuid: String ->
+            mMarkersCaches.remove(uuid)
+            algoCache.remove(uuid)
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .removeMarker(uuid)
+        })
+        val filterList = filterTrafficData(resultList)
+        if (filterList.size > 0) {
+            // 绘制新数据
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .updateBatchMarkerPosition(filterList)
+        }
+    }
+
+    /**
+     * 数据过滤器
+     *
+     * @return 过滤后的数据集合
+     */
+    private fun filterTrafficData(trafficData: List<TrackedObject>): ArrayList<TrackedObject> {
+        mFilterTrafficData.clear()
+        trafficDataUuidList.clear()
+        for (data in trafficData) {
+            // 过滤掉未知感知数据
+            if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type) {
+                //CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
+                continue
+            }
+            val uuid = "" + data.uuid
+            //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
+            val cacheData = mMarkersCaches[uuid]
+            if (cacheData != null) {
+                if (data.speed < 0.5) {
+                    data.toBuilder().setHeading(cacheData.heading).setLongitude(cacheData.longitude)
+                        .setLatitude(cacheData.latitude).build()
+                }
+                mFilterTrafficData.add(data)
+                //更新已存在的感知物体数据
+            }
+            mMarkersCaches[uuid] = data
+            trafficDataUuidList.add(uuid)
+        }
+        return mFilterTrafficData
+    }
+
+    /**
+     * 清除旧的 marker 数据
+     */
+    override fun clearOldMarker() {
+        for (uuid in trafficDataUuidList) {
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .removeMarker(uuid)
+        }
+        trafficDataUuidList.clear()
+    }
+
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/KalmanFilter.java

@@ -1,4 +1,4 @@
-package com.mogo.eagle.core.function.map;
+package com.mogo.eagle.core.function.map.identify;
 
 public class KalmanFilter {
     private final double q = 1.0E-6D;

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/ObjQueue.java

@@ -0,0 +1,47 @@
+package com.mogo.eagle.core.function.map.identify;
+
+public class ObjQueue {
+
+    private double heading;
+    private double speed;
+    private int type;
+
+    public ObjQueue(double heading, double speed, int type) {
+        this.heading = heading;
+        this.speed = speed;
+        this.type = type;
+    }
+
+    public double getHeading() {
+        return heading;
+    }
+
+    public void setHeading(double heading) {
+        this.heading = heading;
+    }
+
+    public double getSpeed() {
+        return speed;
+    }
+
+    public void setSpeed(double speed) {
+        this.speed = speed;
+    }
+
+    public int getType() {
+        return type;
+    }
+
+    public void setType(int type) {
+        this.type = type;
+    }
+
+    @Override
+    public String toString() {
+        return "ObjQueue{" +
+                "heading=" + heading +
+                ", speed=" + speed +
+                ", type=" + type +
+                '}';
+    }
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java

@@ -0,0 +1,164 @@
+package com.mogo.eagle.core.function.map.identify;
+
+import android.os.Build;
+import android.util.ArrayMap;
+import android.util.Log;
+
+import androidx.annotation.RequiresApi;
+import androidx.collection.ArraySet;
+
+import com.google.common.collect.BiMap;
+import com.google.common.collect.HashBiMap;
+import com.mogo.commons.AbsMogoApplication;
+import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
+import com.mogo.map.MogoMarkerManager;
+
+import java.text.DecimalFormat;
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+import java.util.Set;
+
+import mogo.telematics.pad.MessagePad;
+
+public class TrackManager {
+
+    private static final class TrackOwner {
+        private static final TrackManager trackManager = new TrackManager();
+    }
+
+    public static TrackManager getInstance() {
+        return TrackOwner.trackManager;
+    }
+
+    public static final DecimalFormat DF = new DecimalFormat("0.000000");
+    public static final int DISTANCE = 6371000;
+    public static double LIMIT_SPEED = 0.5;
+
+    /**
+     * marker缓存队列
+     */
+    private final ArrayMap<String, TrackObj> mMarkersCaches = new ArrayMap<>();
+
+    /**
+     * marker s2 cellId缓存队列，空间换时间
+     */
+    private final BiMap<String, Long> cellIdCaches = HashBiMap.create();
+
+    private final ArrayMap<String, TrackObj> recentCaches = new ArrayMap<>();
+
+    /**
+     * 记录每次实际绘制的交通元素UUID
+     */
+    private final Set<String> trafficDataUuidList = new ArraySet<>();
+
+    /**
+     * 过滤后的数据集合
+     */
+    private final ArrayList<MessagePad.TrackedObject> mFilterTrafficData = new ArrayList<>();
+
+    public ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
+        //清空上次返回数据，做到缓存复用
+        mFilterTrafficData.clear();
+        trafficDataUuidList.clear();
+        //进入过滤机制的感知物体，首先从缓存队列中进行查找 uuid
+        for (MessagePad.TrackedObject data : trafficData) {
+
+            // todo 过滤掉未知感知数据，后面会依据危险等级显示
+            if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
+                //CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
+                continue;
+            }
+
+            String uuid = "" + data.getUuid();
+            TrackObj trackObj = mMarkersCaches.get(uuid);
+            if (trackObj != null) {
+                data = trackObj.updateObj(data);
+                mFilterTrafficData.add(data);
+            } else {
+                trackObj = new TrackObj(data);
+                // 判断是否有重合元素 google s2
+                if (cellIdCaches.containsValue(trackObj.getCellIdPos())) {
+                    String findSameValue = cellIdCaches.inverse().get(trackObj.getCellIdPos());
+                    if (data.getUuid() - Integer.parseInt(findSameValue) > 0) {
+//                        Log.d("0609", "uuid : " + findSameValue + " 与新感知物 : " + uuid + " , 出现相同pos : " + trackObj.getCellIdPos());
+                        uuid = findSameValue;
+                        data = data.toBuilder().setUuid(Integer.parseInt(findSameValue)).build();
+                        data = trackObj.updateObj(data);
+                        mFilterTrafficData.add(data);
+                    }
+                }
+            }
+            cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
+            mMarkersCaches.put(uuid, trackObj);
+            Log.d("hy uuid : " + uuid, " 显示物体,塞入set");
+            trafficDataUuidList.add(uuid);
+        }
+        //todo 将上次没被删除掉物体加入集合，造成延迟删除，对运动物体不友好
+//        Iterator it = recentCaches.keySet().iterator();
+//        while (it.hasNext()) {
+//            String key = (String) it.next();
+//            TrackObj trackObj = recentCaches.get(key);
+//            if(trackObj == null){
+//                continue;
+//            }
+//            if(!trackObj.relativeStatic()){
+//                continue;
+//            }
+//            mFilterTrafficData.add(trackObj.getCache());
+//        }
+        return mFilterTrafficData;
+    }
+
+    //todo reset color
+    public void filterWarningData(List<MessagePad.PlanningObject> planningObjects) {
+
+    }
+
+    @RequiresApi(api = Build.VERSION_CODES.N)
+    public void clearCache(List<MessagePad.TrackedObject> resultList) {
+        //清除缓存
+        for (MessagePad.TrackedObject data : resultList) {
+            if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) {
+                trafficDataUuidList.remove("" + data.getUuid());
+            }
+        }
+        trafficDataUuidList.forEach(uuid -> {
+            Log.d("hy uuid : " + uuid, " 移除物体");
+            mMarkersCaches.remove(uuid);
+            cellIdCaches.remove(uuid);
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                        .removeMarker(uuid);
+        });
+        //todo bus存在时间回溯，将id重置，会有id复用问题，导致鹰眼展示元素缺少
+//        Iterator it = mMarkersCaches.keySet().iterator();
+//        while (it.hasNext()) {
+//            String key = (String) it.next();
+//            TrackObj trackObj = mMarkersCaches.get(key);
+//            if (trackObj != null && Math.abs(CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime() - trackObj.getRecentlyTime()) >= 2000) {
+////                Log.d("track", "clearCache uuid : " + key + " ， time : " + (CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime() - trackObj.getRecentlyTime()));
+//                mMarkersCaches.remove(key);
+//                cellIdCaches.remove(key);
+//                recentCaches.remove(key);
+//                MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+//                        .removeMarker(key);
+//            } else {
+//                recentCaches.put(key, trackObj);
+//            }
+//        }
+    }
+
+    public void clearAll() {
+        trafficDataUuidList.clear();
+        Iterator it = mMarkersCaches.keySet().iterator();
+        while (it.hasNext()) {
+            String key = (String) it.next();
+            mMarkersCaches.remove(key);
+            cellIdCaches.remove(key);
+            recentCaches.remove(key);
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                    .removeMarker(key);
+        }
+    }
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java

@@ -0,0 +1,230 @@
+package com.mogo.eagle.core.function.map.identify;
+
+import static com.mogo.eagle.core.function.map.identify.TrackManager.DISTANCE;
+import static com.mogo.eagle.core.function.map.identify.TrackManager.LIMIT_SPEED;
+
+import com.mogo.eagle.core.function.call.map.CallerHDMapManager;
+import com.mogo.eagle.core.utilcode.geometry.S2CellId;
+import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
+import com.mogo.module.service.Utils;
+import com.mogo.eagle.core.data.map.CenterLine;
+
+import java.util.List;
+
+import mogo.telematics.pad.MessagePad;
+
+public class TrackObj {
+
+    private final CircleQueue circleQueue = new CircleQueue(10);
+    private final KalmanFilter kalmanFilter; //卡尔曼结果
+    private S2CellId s2CellId; //s2 id权重
+    private S2LatLng s2LatLng; //s2 经纬度
+    private long recentlyTime;  //用于缓存帧数判断，暂定缓存1秒数据，中间如果有物体未出现，1秒后删除
+    private double roadAngle;   //道路航向
+    private double headingDelta; //航向角德尔塔
+    private double typeWeight;   //类型权重
+    private double lat;
+    private double lon;
+    private double speedAverage;
+//    private SinglePointRoadInfo singlePointRoadInfo;
+//    private double[] matchedPoint;
+
+    public TrackObj(MessagePad.TrackedObject data) {
+        kalmanFilter = new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.0000005);
+        circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getType()));
+        recentlyTime = Double.valueOf(data.getSatelliteTime() * 1000).longValue();
+        lat = data.getLatitude();
+        lon = data.getLongitude();
+        s2LatLng = S2LatLng.fromDegrees(data.getLatitude(), data.getLongitude());
+        s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22); //需要验证22前后
+        CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, -1);
+        if (centerLine != null && centerLine.getAngle() != 0) {
+            roadAngle = centerLine.getAngle();
+        }
+    }
+
+    private MessagePad.TrackedObject cacheData;
+
+    //先处理kalman数据，将经纬度校准后，放入缓存队列，然后基于后序策略将各个项进行校准
+    public MessagePad.TrackedObject updateObj(MessagePad.TrackedObject data) {
+        cacheData = data;
+
+        correct();
+
+        recentlyTime = Double.valueOf(data.getSatelliteTime() * 1000).longValue();
+//        Log.d("calHeading uuid : " + cacheData.getUuid(), "result heading : " + cacheData.getHeading() + " speed : " + cacheData.getSpeed());
+        circleQueue.addQueue(new ObjQueue(cacheData.getHeading(), cacheData.getSpeed(), cacheData.getType()));
+        return cacheData;
+    }
+
+    private void correct() {
+        calAverageSpeed();
+        calLoc();
+        calHeading();
+        calType();
+    }
+
+    private void calAverageSpeed() {
+        //计算平均速度
+        if (circleQueue.size() >= 5) {
+            List<ObjQueue> objQueueList = circleQueue.getLastFiveFrame();
+            speedAverage = (objQueueList.get(0).getSpeed() + objQueueList.get(1).getSpeed() + objQueueList.get(2).getSpeed() + objQueueList.get(3).getSpeed() + objQueueList.get(4).getSpeed()) / 5;
+        } else {
+            double cal = 0;
+            List<ObjQueue> objQueueList = circleQueue.getPreFrame();
+            for (ObjQueue obj : objQueueList) {
+                cal += obj.getSpeed();
+            }
+            speedAverage = cal / objQueueList.size();
+//            speedAverage = circleQueue.getLastFrame().getSpeed();
+        }
+    }
+
+    private void calLoc() {
+        //距离计算,位置修正
+        //todo  bus250  taxi上测试下面注释掉内容
+        //double[] lonLat = kalmanFilter.filter(cacheData.getLongitude(), cacheData.getLatitude());
+//        double distance = s2LatLng.getDistance(S2LatLng.fromDegrees(lonLat[1], lonLat[0])).distance(DISTANCE);
+//        double distance = s2LatLng.getDistance(S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude())).distance(DISTANCE);
+        //todo 重新计算速度值(如果连续几帧distance累加到一定值，速度没变化，需要重新计算速度，防止锁死)
+//        if (relativeStatic()) {
+//            double tempDis = distance;
+//            if (distance >= 4) {  //(150km/h) 41.6m/s x 0.1s = 4.16m 约等于 4
+//                tempDis = 4;
+//            }
+//            double calSpeed = cacheData.getSpeed();
+//            if (cacheData.getSpeed() != 0.0) {
+//                calSpeed = tempDis / ((Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime) / 1000.0);
+////                Log.d("calSpeed uuid : " + cacheData.getUuid(), " tempDis : " + tempDis + " , 重新赋值 calSpeed : " + DF.format(calSpeed) + " , time : " + (Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime) + " , 原速度 : " + cacheData.getSpeed());
+//                if (calSpeed > cacheData.getSpeed()) {
+//                    calSpeed = cacheData.getSpeed();
+////                    Log.d("calSpeed uuid : " + cacheData.getUuid(), "  二次重新赋值 calSpeed : " + DF.format(calSpeed));
+//                }
+////                if (calSpeed > 2) {
+////                    calSpeed = 2;
+//////                    Log.d("calSpeed uuid : " + cacheData.getUuid(), "  三次重新赋值 calSpeed : " + DF.format(calSpeed));
+////                }
+//            }
+//            cacheData = cacheData.toBuilder().setSpeed(calSpeed).build();
+//        }
+        //todo 等后序速度优化结果值可用，使用计算结果
+//        double calDistance = (cacheData.getSpeed() * (Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime)) / 1000.0;
+//        double calDistance = Utils.calculateLineDistance(lon, lat, cacheData.getLongitude(), cacheData.getLatitude());
+//        Log.d("calLoc uuid : " + cacheData.getUuid() + "  calDistance : " + DF.format(calDistance), (calDistance * 2 < distance) ? "超出范围" : "正常值");
+        //速度小于0.5m/s,并且距离在计算合理范围内超出2倍，则认为是相对静止状态(注意调整阈值)，不更新缓存点信息
+//        if (cacheData.getSpeed() < LIMIT_SPEED || relativeStatic() || calDistance * 2 < distance) {
+        if (relativeStatic()) {
+//            if (singlePointRoadInfo == null) {
+//                double angle = roadAngle != 0 ? roadAngle : cacheData.getHeading();
+//                long cost = System.nanoTime();
+//                singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(lon, lat, (float) angle, true, true);
+//                Log.d("hy create cost", " " + (System.nanoTime() - cost) / 1000000);
+//            }
+//            if (singlePointRoadInfo != null && singlePointRoadInfo.getCoords() != null && !singlePointRoadInfo.getCoords().isEmpty()) {
+//                if(matchedPoint == null || matchedPoint.length == 0){
+//                    long cost = System.nanoTime();
+//                    matchedPoint = PointInterpolatorUtil.mergeToRoad(cacheData.getLongitude(), cacheData.getLatitude(), singlePointRoadInfo.getCoords());
+//                    Log.d("hy matchedPoint cost", " " + (System.nanoTime() - cost) / 1000000);
+//                    Log.d("hy uuid : " + cacheData.getUuid(), "道路经纬度 lon : " + matchedPoint[0] + " lat : " + matchedPoint[1] + " distance : " + matchedPoint[2] + " , 原数据 lon : " + lon + " lat : " + lat);
+//                }else{
+//                    if(matchedPoint[0] == 0 || matchedPoint[1] == 0){
+//                        cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
+//                    }else{
+//                        cacheData = cacheData.toBuilder().setLongitude(matchedPoint[0]).setLatitude(matchedPoint[1]).build();
+//                    }
+//                }
+//                lat = matchedPoint[1];
+//                lon = matchedPoint[0];
+//            } else {
+//                Log.d("hy uuid : " + cacheData.getUuid(), "未匹配到道路数据,使用原数据 lon : " + lon + " lat : " + lat);
+//            }
+                cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
+        } else {
+            //不在阈值内则更新，代表物体移动，使用卡尔曼滤波经纬度数据
+            lat = cacheData.getLatitude();
+            lon = cacheData.getLongitude();
+            s2LatLng = S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude());
+            s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22);
+//            cacheData = cacheData.toBuilder().setLongitude(lonLat[0]).setLatitude(lonLat[1]).build();
+        }
+    }
+
+    private void calHeading() {
+        double newDelta;
+        ObjQueue lastObj;
+        if (circleQueue.size() >= 3) {
+            //计算差量
+            List<ObjQueue> objQueueList = circleQueue.getLastThreeFrame();
+            lastObj = objQueueList.get(2);
+
+            double firstDelta = objQueueList.get(1).getHeading() - objQueueList.get(0).getHeading();
+            double secondDelta = objQueueList.get(2).getHeading() - objQueueList.get(1).getHeading();
+            newDelta = Math.abs(cacheData.getHeading() - lastObj.getHeading());
+            //按帧与帧之间的顺序变化
+            double abs = Math.abs(firstDelta - secondDelta);
+            //存在180度转向(有一帧出现错误)
+            if (Math.abs(abs - 180) < 5) {
+                headingDelta = firstDelta - secondDelta;
+            } else if (abs < 5) { //两帧之间差量比较均匀
+                headingDelta = firstDelta - secondDelta;
+            } else if (Math.abs(abs - 180) > 5 && newDelta < 5) { //前两帧数据中出现异常值，相信后序帧
+                headingDelta = newDelta;
+            }
+        } else {
+            lastObj = circleQueue.getLastFrame();
+            newDelta = Math.abs(cacheData.getHeading() - lastObj.getHeading());
+            headingDelta = newDelta;
+        }
+        //更正数据,速度小于LIMIT_SPEED使用上一帧数据
+        if (relativeStatic()) {
+            if (roadAngle != 0.0) {
+                CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, -1);
+                if (centerLine != null && centerLine.getAngle() != 0) {
+                    cacheData = cacheData.toBuilder().setHeading(centerLine.getAngle()).build();
+                } else {
+//                    Log.d("hy uuid : " + cacheData.getUuid(), "未获取到道路航向,使用上一帧 : " + circleQueue.getLastFrame().getHeading());
+                    cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
+                }
+            } else {
+//                Log.d("hy uuid : " + cacheData.getUuid(), "未获取到道路航向,使用上一帧 : " + circleQueue.getLastFrame().getHeading());
+                cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
+            }
+
+        }
+        //速度大于LIMIT_SPEED并出现大幅度转向使用缓存帧和delta数据
+        if (cacheData.getSpeed() >= LIMIT_SPEED && newDelta > 10 && headingDelta != 0.0) {
+//            Log.i("0609", "uuid : " + cacheData.getUuid() + " 修正航向角 last : " + lastObj.getHeading() + " , 增益 : " + headingDelta);
+            cacheData = cacheData.toBuilder().setHeading(lastObj.getHeading() + headingDelta).build();
+        }
+    }
+
+    private void calType() {
+
+    }
+
+    public long getRecentlyTime() {
+        return recentlyTime;
+    }
+
+    public long getCellIdPos() {
+        return s2CellId.pos();
+    }
+
+    public MessagePad.TrackedObject getCache() {
+        return cacheData;
+    }
+
+    public boolean relativeStatic() {
+        return speedAverage < LIMIT_SPEED;
+    }
+
+    @Override
+    public String toString() {
+        return "TrackObj{" +
+                "circleQueue=" + circleQueue +
+                ", s2CellId=" + s2CellId +
+                ", recentlyTime=" + recentlyTime +
+                ", cacheData=" + cacheData +
+                '}';
+    }
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java

@@ -166,13 +166,17 @@ public class SmallMapDirectionView
         if (location == null) {
             return;
         }
+        if (mCarMarker == null){
+            mCarMarker = mAMap.addMarker(new MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_my_location_logo))
+                    .anchor(0.5f, 0.5f));
+        }
+        if(mCarMarker == null){
+            return;
+        }
         LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
         //更新车辆位置
-        if (mCarMarker != null) {
-//            mCarMarker.setRotateAngle(location.getBearing());
-            mCarMarker.setPosition(currentLatLng);
-//            mCarMarker.setToTop();
-        }
+        mCarMarker.setPosition(currentLatLng);
 
         CameraPosition cameraPosition;
         if (mCoordinatesLatLng.size() > 1) {

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt

@@ -466,7 +466,6 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
                     l3.location = V2XMarkerLocation().also { l4 ->
                         l4.lat = this.roadwork?.center?.point?.lat ?: 0.0
                         l4.lon = this.roadwork?.center?.point?.lon ?: 0.0
-                        l4.angle = -1.0
                     }
                 })
             }

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java

@@ -48,7 +48,7 @@ public class V2XAlarmServer {
                 // 因为集合是按照距离排序后的所以这里检索出来第一个就发出警告
                 for (V2XRoadEventEntity v2XRoadEventEntity : v2XRoadEventEntityList) {
                     // 0、道路事件必须有朝向，角度>=0;
-                    boolean ignoreAngle = v2XRoadEventEntity.getLocation().getAngle() < 0;
+                    boolean ignoreAngle = EventTypeEnum.AI_ROAD_WORK.getPoiType().equals(v2XRoadEventEntity.getPoiType());
                     if (v2XRoadEventEntity.getLocation().getAngle() >= 0 || ignoreAngle) {
                         // 计算车辆距离指定气泡的距离
                         MarkerLocation eventLocation = v2XRoadEventEntity.getLocation();

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/bindingcar/AppInfo.java

@@ -0,0 +1,137 @@
+package com.mogo.eagle.core.data.bindingcar;
+
+import java.io.Serializable;
+
+/**
+ * @author lixiaopeng
+ * @description
+ * @since 6/21/22
+ */
+public class AppInfo implements Serializable {
+    private IdInfo _id;
+    private String bk_inst_id;
+    private String bk_inst_name;
+    private String bk_supplier_account;
+    private int screen_type; //1，司机屏，2乘客屏
+    private String sn;
+    private long last_time;
+    private String app_url;
+    private String bk_obj_id;
+    private String version_code;
+    private String version_name;
+    private long create_time;
+
+    public IdInfo get_id() {
+        return _id;
+    }
+
+    public void set_id(IdInfo _id) {
+        this._id = _id;
+    }
+
+    public String getBk_inst_id() {
+        return bk_inst_id;
+    }
+
+    public void setBk_inst_id(String bk_inst_id) {
+        this.bk_inst_id = bk_inst_id;
+    }
+
+    public String getBk_inst_name() {
+        return bk_inst_name;
+    }
+
+    public void setBk_inst_name(String bk_inst_name) {
+        this.bk_inst_name = bk_inst_name;
+    }
+
+    public String getBk_supplier_account() {
+        return bk_supplier_account;
+    }
+
+    public void setBk_supplier_account(String bk_supplier_account) {
+        this.bk_supplier_account = bk_supplier_account;
+    }
+
+    public int getScreen_type() {
+        return screen_type;
+    }
+
+    public void setScreen_type(int screen_type) {
+        this.screen_type = screen_type;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public long getLast_time() {
+        return last_time;
+    }
+
+    public void setLast_time(long last_time) {
+        this.last_time = last_time;
+    }
+
+    public String getApp_url() {
+        return app_url;
+    }
+
+    public void setApp_url(String app_url) {
+        this.app_url = app_url;
+    }
+
+    public String getBk_obj_id() {
+        return bk_obj_id;
+    }
+
+    public void setBk_obj_id(String bk_obj_id) {
+        this.bk_obj_id = bk_obj_id;
+    }
+
+    public String getVersion_code() {
+        return version_code;
+    }
+
+    public void setVersion_code(String version_code) {
+        this.version_code = version_code;
+    }
+
+    public String getVersion_name() {
+        return version_name;
+    }
+
+    public void setVersion_name(String version_name) {
+        this.version_name = version_name;
+    }
+
+    public long getCreate_time() {
+        return create_time;
+    }
+
+    public void setCreate_time(long create_time) {
+        this.create_time = create_time;
+    }
+
+    @Override
+    public String toString() {
+        return "AppInfo{" +
+                "_id=" + _id +
+                ", bk_inst_id='" + bk_inst_id + '\'' +
+                ", bk_inst_name='" + bk_inst_name + '\'' +
+                ", bk_supplier_account='" + bk_supplier_account + '\'' +
+                ", screen_type=" + screen_type +
+                ", sn='" + sn + '\'' +
+                ", last_time=" + last_time +
+                ", app_url='" + app_url + '\'' +
+                ", bk_obj_id='" + bk_obj_id + '\'' +
+                ", version_code='" + version_code + '\'' +
+                ", version_name='" + version_name + '\'' +
+                ", create_time=" + create_time +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/bindingcar/IdInfo.java

@@ -0,0 +1,16 @@
+package com.mogo.eagle.core.data.bindingcar;
+
+import java.io.Serializable;
+import java.util.List;
+
+/**
+ * @author lixiaopeng
+ * @description
+ * @since 6/21/22
+ */
+public class IdInfo implements Serializable {
+    private String timestamp;
+    private String date;
+
+
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/bindingcar/UpgradeAppInfo.java

@@ -0,0 +1,27 @@
+package com.mogo.eagle.core.data.bindingcar;
+
+import com.mogo.eagle.core.data.BaseData;
+
+/**
+ * @author lixiaopeng
+ * @description app升级管理
+ * @since: 6/21/22
+ */
+public class UpgradeAppInfo extends BaseData {
+    public AppInfo data;
+
+    public AppInfo getData() {
+        return data;
+    }
+
+    public void setData(AppInfo data) {
+        this.data = data;
+    }
+
+    @Override
+    public String toString() {
+        return "UpgradeAppInfo{" +
+                "data=" + data +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt

@@ -117,4 +117,11 @@ object FunctionBuildConfig {
     @JvmField
     var skinMode = 0
 
+    /**
+     * 是否进行异常上报提示
+     */
+    @Volatile
+    @JvmField
+    var isReportWarning = true
+
 }

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt

@@ -18,6 +18,7 @@ class ChainConstant {
         const val CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY = 4
         const val CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE = 5
         const val CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT = 6
+        const val CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS = 7
 
         const val CHAIN_LINK_LOG_ADAS_INIT = "-eagleInitStatus"
         const val CHAIN_LINK_LOG_ADAS_GNSS = "-adasWsGnssInfo"
@@ -26,6 +27,7 @@ class ChainConstant {
         const val CHAIN_LINK_LOG_ADAS_TRAJECTORY = "-adasWsTrajectory"
         const val CHAIN_LINK_LOG_ADAS_VEHICLE = "-adasWsVehicle"
         const val CHAIN_LINK_LOG_ADAS_TRAFFIC_LIGHT = "-adasWsTrafficLight"
+        const val CHAIN_LINK_LOG_ADAS_PLANNING_OBJECTS = "-adasWsPlanningObj"
 
         const val CHAIN_ALIAS_CODE_MULTI_CONNECT = "CHAIN_ALIAS_CODE_MULTI_CONNECT"
         const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG = "CHAIN_ALIAS_CODE_CAR_CONFIG"
@@ -39,6 +41,7 @@ class ChainConstant {
         const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD = "PAD_ADAS_MESSAGE_AUTOPILOT_RECORD"
         const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE = "PAD_ADAS_MESSAGE_AUTOPILOT_VEHICLE"
         const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT = "PAD_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT"
+        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS = "CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS"
         const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN = "PAD_ADAS_MESSAGE_AUTOPILOT_WARN"
 
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL"

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt

@@ -19,9 +19,9 @@ enum class TrafficTypeEnum(
     TYPE_TRAFFIC_ID_WEI_ZHI(
         100,
         "未知数据",
-        R.raw.fangkuang,
-        R.raw.fangkuang,
-        R.raw.fangkuang
+        R.raw.traffic_xiankuang,
+        R.raw.traffic_xiankuang,
+        R.raw.traffic_xiankuang
     ),
     TYPE_TRAFFIC_ID_PEOPLE(
         1,

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt

@@ -17,6 +17,11 @@ interface IMoGoAutopilotIdentifyListener {
      */
     fun onAutopilotIdentifyDataUpdate(trafficData: List<MessagePad.TrackedObject>?) {}
 
+    /**
+     * planning识别感知预警物体
+     */
+    fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?){}
+
     /**
      * 报警信息
      *

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/bindingcar/IMoGoBindingcarProvider.java

@@ -10,7 +10,17 @@ import java.util.List;
  * @since: 3/15/22
  */
 public interface IMoGoBindingcarProvider extends IMoGoFunctionServerProvider {
+    /**
+     * 修改工控机的绑定关系
+     * @param callBack
+     */
     void modifyCarInfo(BindingcarCallBack callBack);
+
+    /**
+     * 获取车辆的信息
+     * @param macAddress
+     * @param widevineIDWithMd5
+     */
     void getBindingcarInfo(String macAddress, String widevineIDWithMd5);
 
     /**
@@ -27,4 +37,10 @@ public interface IMoGoBindingcarProvider extends IMoGoFunctionServerProvider {
      * @param dockerVersion 当前工控机版本
      */
     void queryContainers(String padSn,String dockerVersion);
+
+    /**
+     * 查询app是否有更新
+     */
+    void queryAppUpgrade();
+
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoWaringProvider.kt

@@ -205,6 +205,11 @@ interface IMoGoWaringProvider : IMoGoHmiViewProxy {
      */
     fun showModifyBindingcarDialog()
 
+    /**
+     * 展示升级app弹框
+     */
+    fun showUpgradeDialog(name: String, url: String)
+
     /**
      * 呈现工控机升级确认框
      */

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt

@@ -68,6 +68,15 @@ object CallerAutopilotIdentifyListenerManager : CallerBase() {
         }
     }
 
+    @Synchronized
+    fun invokeAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?){
+        M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            listener.onAutopilotIdentifyPlanningObj(planningObjects)
+        }
+    }
+
     /**
      * 报警信息 回调
      */

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt

@@ -269,6 +269,10 @@ object CallerHmiManager : CallerBase() {
         waringProviderApi?.showModifyBindingcarDialog()
     }
 
+    fun showUpgradeDialog(name: String, url: String) {
+        waringProviderApi?.showUpgradeDialog(name, url)
+    }
+
     /**
      * 呈现工控机升级确认框
      */

core/mogo-core-utils/build.gradle

@@ -57,6 +57,7 @@ dependencies {
     implementation rootProject.ext.dependencies.kotlinstdlibjdk7
     implementation rootProject.ext.dependencies.androidxannotation
     implementation rootProject.ext.dependencies.material
+    implementation rootProject.ext.dependencies.guava
 
     implementation rootProject.ext.dependencies.gson
     implementation rootProject.ext.dependencies.glideanno

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/BigPoint.java

@@ -0,0 +1,106 @@
+/*
+ * Copyright 2018 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import com.google.common.base.Objects;
+import java.math.BigDecimal;
+
+/** A point consisting of BigDecimal coordinates. */
+@GwtCompatible
+final strictfp class BigPoint implements Comparable<BigPoint> {
+  final BigDecimal x;
+  final BigDecimal y;
+  final BigDecimal z;
+
+  /** Creates a point of BigDecimal coordinates from a point of double coordinates. */
+  BigPoint(S2Point p) {
+    this(Platform.newBigDecimal(p.x), Platform.newBigDecimal(p.y), Platform.newBigDecimal(p.z));
+  }
+
+  /** Creates a point from the given BigDecimal coordinates. */
+  BigPoint(BigDecimal x, BigDecimal y, BigDecimal z) {
+    this.x = x;
+    this.y = y;
+    this.z = z;
+  }
+
+  /** Returns an S2Point by rounding 'this' to double precision. */
+  S2Point toS2Point() {
+    return new S2Point(x.doubleValue(), y.doubleValue(), z.doubleValue());
+  }
+
+  /** Returns the vector cross product of 'this' with 'that'. */
+  BigPoint crossProd(BigPoint that) {
+    return new BigPoint(
+        y.multiply(that.z).subtract(z.multiply(that.y)),
+        z.multiply(that.x).subtract(x.multiply(that.z)),
+        x.multiply(that.y).subtract(y.multiply(that.x)));
+  }
+
+  /** Returns the vector dot product of 'this' with 'that'. */
+  BigDecimal dotProd(BigPoint that) {
+    return x.multiply(that.x).add(y.multiply(that.y)).add(z.multiply(that.z));
+  }
+
+  /** Returns the vector dot product of 'this' with 'that'. */
+  BigDecimal dotProd(S2Point that) {
+    return dotProd(new BigPoint(that));
+  }
+
+  /** Returns true iff this and 'p' are exactly parallel or anti-parallel. */
+  boolean isLinearlyDependent(BigPoint p) {
+    BigPoint n = crossProd(p);
+    return n.x.signum() == 0 && n.y.signum() == 0 && n.z.signum() == 0;
+  }
+
+  /** Returns true iff this and 'p' are exactly anti-parallel, antipodal points. */
+  boolean isAntipodal(BigPoint p) {
+    return isLinearlyDependent(p) && dotProd(p).signum() < 0;
+  }
+
+  /** Returns the square of the magnitude of this vector. */
+  BigDecimal norm2() {
+    return this.dotProd(this);
+  }
+
+  @Override
+  public int compareTo(BigPoint p) {
+    int result = x.compareTo(p.x);
+    if (result != 0) {
+      return result;
+    }
+    result = y.compareTo(p.y);
+    if (result != 0) {
+      return result;
+    }
+    return z.compareTo(p.z);
+  }
+
+  @Override
+  public boolean equals(Object that) {
+    if (!(that instanceof BigPoint)) {
+      return false;
+    }
+    BigPoint thatPoint = (BigPoint) that;
+    return x.equals(thatPoint.x) && y.equals(thatPoint.y) && z.equals(thatPoint.z);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hashCode(x, y, z);
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/EncodedInts.java

@@ -0,0 +1,253 @@
+/*
+ * Copyright 2018 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import com.google.common.primitives.UnsignedInts;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+
+/** Utilities for encoding and decoding integers. */
+@GwtCompatible
+public class EncodedInts {
+
+  /**
+   * Reads a variable-encoded signed long.
+   *
+   * <p>Note that if you frequently read/write negative numbers, you should consider zigzag-encoding
+   * your values before storing them as varints. See {@link EncodedInts#encodeZigZag32} and {@link
+   * #decodeZigZag32(int)}.
+   *
+   * @throws IOException if {@code input.read()} throws an {@code IOException} or returns -1 (EOF),
+   *     or if the variable-encoded signed long is malformed.
+   */
+  public static long readVarint64(InputStream input) throws IOException {
+    long result = 0;
+    for (int shift = 0; shift < 64; shift += 7) {
+      final byte b = InputStreams.readByte(input);
+      result |= (long) (b & 0x7F) << shift;
+      if ((b & 0x80) == 0) {
+        return result;
+      }
+    }
+    throw new IOException("Malformed varint.");
+  }
+
+  /**
+   * Writes a signed long using variable encoding.
+   *
+   * <p>Note that if you frequently read/write negative numbers, you should consider zigzag-encoding
+   * your values before storing them as varints. See {@link EncodedInts#encodeZigZag32} and {@link
+   * #decodeZigZag32(int)}.
+   *
+   * @throws IOException if {@code output.write(int)} throws an {@link IOException}.
+   */
+  public static void writeVarint64(OutputStream output, long value) throws IOException {
+    while (true) {
+      if ((value & ~0x7FL) == 0) {
+        output.write((byte) value);
+        return;
+      } else {
+        output.write((byte) (((int) value & 0x7F) | 0x80));
+        value >>>= 7;
+      }
+    }
+  }
+
+  /**
+   * Decodes a unsigned integer consisting of {@code bytesPerWord} bytes from {@code supplier} in
+   * little-endian format as an unsigned 64-bit integer.
+   *
+   * <p>This method is not compatible with {@link #readVarint64(InputStream)} or {@link
+   * #writeVarint64(OutputStream, long)}.
+   *
+   * @throws IOException if {@code input.read()} throws an {@code IOException} or returns -1 (EOF).
+   */
+  public static long decodeUintWithLength(InputStream input, int bytesPerWord) throws IOException {
+    long x = 0;
+    for (int i = 0; i < bytesPerWord; i++) {
+      x += (InputStreams.readByte(input) & 0xffL) << (8 * i);
+    }
+    return x;
+  }
+
+  /**
+   * Encodes an unsigned integer to {@code consumer} in little-endian format using {@code
+   * bytesPerWord} bytes. (The client must ensure that the encoder's buffer is large enough).
+   *
+   * <p>This method is not compatible with {@link #readVarint64(InputStream)} or {@link
+   * #writeVarint64(OutputStream, long)}.
+   *
+   * @throws IOException if {@code output.write(int)} throws an {@link IOException}.
+   */
+  public static void encodeUintWithLength(OutputStream output, long value, int bytesPerWord)
+      throws IOException {
+    while (--bytesPerWord >= 0) {
+      output.write((byte) value);
+      value >>>= 8;
+    }
+    assert value == 0;
+  }
+
+  /**
+   * Encode a ZigZag-encoded 32-bit value. ZigZag encodes signed integers into values that can be
+   * efficiently encoded with varint. (Otherwise, negative values must be sign-extended to 64 bits
+   * to be varint encoded, thus always taking 10 bytes on the wire.)
+   *
+   * @param n A signed 32-bit integer.
+   * @return An unsigned 32-bit integer, stored in a signed int because Java has no explicit
+   *     unsigned support.
+   */
+  public static int encodeZigZag32(final int n) {
+    // Note:  the right-shift must be arithmetic
+    return (n << 1) ^ (n >> 31);
+  }
+
+  /**
+   * Encode a ZigZag-encoded 64-bit value. ZigZag encodes signed integers into values that can be
+   * efficiently encoded with varint. (Otherwise, negative values must be sign-extended to 64 bits
+   * to be varint encoded, thus always taking 10 bytes on the wire.)
+   *
+   * @param n A signed 64-bit integer.
+   * @return An unsigned 64-bit integer, stored in a signed int because Java has no explicit
+   *     unsigned support.
+   */
+  public static long encodeZigZag64(final long n) {
+    // Note:  the right-shift must be arithmetic
+    return (n << 1) ^ (n >> 63);
+  }
+
+  /**
+   * Decode a ZigZag-encoded 32-bit signed value. ZigZag encodes signed integers into values that
+   * can be efficiently encoded with varint. (Otherwise, negative values must be sign-extended to 64
+   * bits to be varint encoded, thus always taking 10 bytes on the wire.)
+   *
+   * @param n A 32-bit integer, stored in a signed int because Java has no explicit unsigned
+   *     support.
+   * @return A signed 32-bit integer.
+   */
+  public static int decodeZigZag32(final int n) {
+    return (n >>> 1) ^ -(n & 1);
+  }
+
+  /**
+   * Decode a ZigZag-encoded 64-bit signed value. ZigZag encodes signed integers into values that
+   * can be efficiently encoded with varint. (Otherwise, negative values must be sign-extended to 64
+   * bits to be varint encoded, thus always taking 10 bytes on the wire.)
+   *
+   * @param n A 64-bit integer, stored in a signed long because Java has no explicit unsigned
+   *     support.
+   * @return A signed 64-bit integer.
+   */
+  public static long decodeZigZag64(final long n) {
+    return (n >>> 1) ^ -(n & 1);
+  }
+
+  /**
+   * Returns the interleaving of bits of val1 and val2, where the LSB of val1 is the LSB of the
+   * result, and the MSB of val2 is the MSB of the result.
+   */
+  public static long interleaveBits(int val1, int val2) {
+    return insertBlankBits(val1) | (insertBlankBits(val2) << 1);
+  }
+
+  /** Returns the first int de-interleaved from the result of {@link #interleaveBits}. */
+  public static int deinterleaveBits1(long bits) {
+    return removeBlankBits(bits);
+  }
+
+  /** Returns the second int de-interleaved from the result of {@link #interleaveBits}. */
+  public static int deinterleaveBits2(long bits) {
+    return removeBlankBits(bits >>> 1);
+  }
+
+  /**
+   * Inserts blank bits between the bits of 'value' such that the MSB is blank and the LSB is
+   * unchanged.
+   */
+  private static final long insertBlankBits(int value) {
+    long bits = UnsignedInts.toLong(value);
+    bits = (bits | (bits << 16)) & 0x0000ffff0000ffffL;
+    bits = (bits | (bits << 8)) & 0x00ff00ff00ff00ffL;
+    bits = (bits | (bits << 4)) & 0x0f0f0f0f0f0f0f0fL;
+    bits = (bits | (bits << 2)) & 0x3333333333333333L;
+    bits = (bits | (bits << 1)) & 0x5555555555555555L;
+    return bits;
+  }
+
+  /** Reverses {@link #insertBlankBits} by extracting the even bits (bit 0, 2, ...). */
+  private static int removeBlankBits(long bits) {
+    bits &= 0x5555555555555555L;
+    bits |= bits >>> 1;
+    bits &= 0x3333333333333333L;
+    bits |= bits >>> 2;
+    bits &= 0x0f0f0f0f0f0f0f0fL;
+    bits |= bits >>> 4;
+    bits &= 0x00ff00ff00ff00ffL;
+    bits |= bits >>> 8;
+    bits &= 0x0000ffff0000ffffL;
+    bits |= bits >>> 16;
+    return (int) bits;
+  }
+
+  /**
+   * Like {@link #interleaveBits} but interleaves bit pairs rather than individual bits. This format
+   * is faster to decode than the fully interleaved format, and produces the same results for our
+   * use case.
+   *
+   * <p>This code is about 10% faster than {@link #interleaveBits}.
+   */
+  public static long interleaveBitPairs(int val1, int val2) {
+    return insertBlankPairs(val1) | (insertBlankPairs(val2) << 2);
+  }
+
+  /** Returns the first int de-interleaved from the result of {@link #interleaveBitPairs}. */
+  public static int deinterleaveBitPairs1(long pairs) {
+    return removeBlankPairs(pairs);
+  }
+
+  /** Returns the second int de-interleaved from the result of {@link #interleaveBitPairs}. */
+  public static int deinterleaveBitPairs2(long pairs) {
+    return removeBlankPairs(pairs >>> 2);
+  }
+
+  /** Inserts 00 pairs in between the pairs from 'value'. */
+  private static final long insertBlankPairs(int value) {
+    long bits = UnsignedInts.toLong(value);
+    bits = (bits | (bits << 16)) & 0x0000ffff0000ffffL;
+    bits = (bits | (bits << 8)) & 0x00ff00ff00ff00ffL;
+    bits = (bits | (bits << 4)) & 0x0f0f0f0f0f0f0f0fL;
+    bits = (bits | (bits << 2)) & 0x3333333333333333L;
+    return bits;
+  }
+
+  /**
+   * Reverses {#link #insertBitPairs} by selecting the two LSB bits, dropping the next two,
+   * selecting the next two, etc.
+   */
+  private static int removeBlankPairs(long pairs) {
+    pairs &= 0x3333333333333333L;
+    pairs |= pairs >>> 2;
+    pairs &= 0x0f0f0f0f0f0f0f0fL;
+    pairs |= pairs >>> 4;
+    pairs &= 0x00ff00ff00ff00ffL;
+    pairs |= pairs >>> 8;
+    pairs &= 0x0000ffff0000ffffL;
+    pairs |= pairs >>> 16;
+    return (int) pairs;
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/InputStreams.java

@@ -0,0 +1,38 @@
+/*
+ * Copyright 2018 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import java.io.IOException;
+import java.io.InputStream;
+
+/** Utilities for handling {@link InputStream}s. */
+@GwtCompatible
+final class InputStreams {
+
+  /**
+   * Reads a byte from {@code input}.
+   *
+   * @throws IOException if {@code input.read()} throws an {@code IOException} or returns -1 (EOF).
+   */
+  static byte readByte(InputStream input) throws IOException {
+    int result = input.read();
+    if (result < 0) {
+      throw new IOException("EOF");
+    }
+    return (byte) (result & 0xFF);
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/LittleEndianInput.java

@@ -0,0 +1,124 @@
+/*
+ * Copyright 2016 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import java.io.IOException;
+import java.io.InputStream;
+
+/** Simple utility for reading little endian primitives from a stream. */
+@GwtCompatible
+public final class LittleEndianInput {
+  private final InputStream input;
+
+  /** Constructs a little-endian input that reads from the given stream. */
+  public LittleEndianInput(InputStream input) {
+    this.input = input;
+  }
+
+  /**
+   * Reads a byte.
+   *
+   * @throws IOException if {@code input.read()} throws an {@code IOException} or returns -1 (EOF).
+   */
+  public byte readByte() throws IOException {
+    return InputStreams.readByte(input);
+  }
+
+  /**
+   * Reads a fixed size of bytes from the input.
+   *
+   * @param size the number of bytes to read.
+   * @throws IOException if past end of input or error in underlying stream
+   */
+  public byte[] readBytes(final int size) throws IOException {
+    byte[] result = new byte[size];
+    int numRead = input.read(result);
+    if (numRead < size) {
+      throw new IOException("EOF");
+    }
+    return result;
+  }
+
+  /**
+   * Reads a little-endian signed integer.
+   *
+   * @throws IOException if past end of input or error in underlying stream
+   */
+  public int readInt() throws IOException {
+    return (readByte() & 0xFF)
+        | ((readByte() & 0xFF) << 8)
+        | ((readByte() & 0xFF) << 16)
+        | ((readByte() & 0xFF) << 24);
+  }
+
+  /**
+   * Reads a little-endian signed long.
+   *
+   * @throws IOException if past end of input or error in underlying stream
+   */
+  public long readLong() throws IOException {
+    return (readByte() & 0xFFL)
+        | ((readByte() & 0xFFL) << 8)
+        | ((readByte() & 0xFFL) << 16)
+        | ((readByte() & 0xFFL) << 24)
+        | ((readByte() & 0xFFL) << 32)
+        | ((readByte() & 0xFFL) << 40)
+        | ((readByte() & 0xFFL) << 48)
+        | ((readByte() & 0xFFL) << 56);
+  }
+
+  /**
+   * Reads a little-endian IEEE754 32-bit float.
+   *
+   * @throws IOException if past end of input or error in underlying stream
+   */
+  public float readFloat() throws IOException {
+    return Float.intBitsToFloat(readInt());
+  }
+
+  /**
+   * Reads a little-endian IEEE754 64-bit double.
+   *
+   * @throws IOException if past end of input or error in underlying stream
+   */
+  public double readDouble() throws IOException {
+    return Double.longBitsToDouble(readLong());
+  }
+
+  /**
+   * Reads a variable-encoded signed integer with {@link #readVarint64()}.
+   *
+   * @throws IOException if past end of input or error in underlying stream
+   */
+  public int readVarint32() throws IOException {
+    return (int) readVarint64();
+  }
+
+  /**
+   * Reads a variable-encoded signed long with {@link EncodedInts#readVarint64(InputStream)}
+   *
+   * @throws IOException if past end of input or error in underlying stream
+   */
+  public long readVarint64() throws IOException {
+    return EncodedInts.readVarint64(input);
+  }
+
+  /** Closes the underlying stream. */
+  public void close() throws IOException {
+    input.close();
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/LittleEndianOutput.java

@@ -0,0 +1,94 @@
+/*
+ * Copyright 2016 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import java.io.IOException;
+import java.io.OutputStream;
+
+/** Simple utility for writing little endian primitives to a stream. */
+@GwtCompatible
+public final class LittleEndianOutput {
+  private final OutputStream output;
+
+  /** Constructs a little-endian output that writes to the given stream. */
+  public LittleEndianOutput(OutputStream output) {
+    this.output = output;
+  }
+
+  /** Writes a byte. */
+  public void writeByte(byte value) throws IOException {
+    output.write((int) value);
+  }
+
+  public void writeBytes(byte[] bytes) throws IOException {
+    output.write(bytes);
+  }
+
+  /** Writes a little-endian signed integer. */
+  public void writeInt(int value) throws IOException {
+    output.write(value & 0xFF);
+    output.write((value >> 8) & 0xFF);
+    output.write((value >> 16) & 0xFF);
+    output.write((value >> 24) & 0xFF);
+  }
+
+  /** Writes a little-endian signed long. */
+  public void writeLong(long value) throws IOException {
+    output.write((int) (value & 0xFF));
+    output.write((int) (value >> 8) & 0xFF);
+    output.write((int) (value >> 16) & 0xFF);
+    output.write((int) (value >> 24) & 0xFF);
+    output.write((int) (value >> 32) & 0xFF);
+    output.write((int) (value >> 40) & 0xFF);
+    output.write((int) (value >> 48) & 0xFF);
+    output.write((int) (value >> 56) & 0xFF);
+  }
+
+  /** Writes a little-endian IEEE754 32-bit float. */
+  public void writeFloat(float value) throws IOException {
+    writeInt(Float.floatToIntBits(value));
+  }
+
+  /** Writes a little-endian IEEE754 64-bit double. */
+  public void writeDouble(double value) throws IOException {
+    writeLong(Double.doubleToLongBits(value));
+  }
+
+  /**
+   * Writes a signed integer using variable encoding with {@link #writeVarint64(long)}.
+   *
+   * @throws IOException if past end of input or error in underlying stream
+   */
+  public void writeVarint32(int value) throws IOException {
+    writeVarint64(value);
+  }
+
+  /**
+   * Writes a signed long using variable encoding with {@link
+   * EncodedInts#writeVarint64(OutputStream, long)}.
+   *
+   * @throws IOException if past end of input or error in underlying stream
+   */
+  public void writeVarint64(long value) throws IOException {
+    EncodedInts.writeVarint64(output, value);
+  }
+
+  /** Closes the underlying output stream. */
+  public void close() throws IOException {
+    output.close();
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/Matrix3x3.java

@@ -0,0 +1,147 @@
+/*
+ * Copyright 2013 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import com.google.common.base.Preconditions;
+import java.util.List;
+import javax.annotation.CheckReturnValue;
+
+/** A simple 3x3 matrix. */
+// TODO(eengle): Rename this to Matrix as it is not necessarily 3x3, and make Matrix3x3 a subclass.
+@GwtCompatible
+final class Matrix3x3 {
+  private final double[] values;
+  private final int rows;
+  private final int cols;
+
+  /** Constructs a matrix from a series of column vectors. */
+  public static Matrix3x3 fromCols(S2Point... columns) {
+    Matrix3x3 result = new Matrix3x3(3, columns.length);
+    for (int row = 0; row < result.rows; row++) {
+      for (int col = 0; col < result.cols; col++) {
+        result.set(row, col, columns[col].get(row));
+      }
+    }
+    return result;
+  }
+
+  /** Constructs a matrix from a series of column vectors. */
+  public static Matrix3x3 fromCols(List<S2Point> frame) {
+    return fromCols(frame.toArray(new S2Point[frame.size()]));
+  }
+
+  /** Constructs a 2D matrix of the given width and values. */
+  public Matrix3x3(int cols, double... values) {
+    Preconditions.checkArgument(cols >= 0, "Negative rows not allowed.");
+    rows = values.length / cols;
+    this.cols = cols;
+    Preconditions.checkArgument(
+        rows * cols == values.length, "Values not an even multiple of 'cols'");
+    this.values = values;
+  }
+
+  /** Constructs a 2D matrix of a fixed size. */
+  public Matrix3x3(int rows, int cols) {
+    Preconditions.checkArgument(rows >= 0, "Negative rows not allowed.");
+    Preconditions.checkArgument(cols >= 0, "Negative cols not allowed.");
+    this.rows = rows;
+    this.cols = cols;
+    this.values = new double[rows * cols];
+  }
+
+  /** Returns the number of rows in this matrix. */
+  public int rows() {
+    return rows;
+  }
+
+  /** Returns the number of columns in this matrix. */
+  public int cols() {
+    return cols;
+  }
+
+  /** Sets a value. */
+  public void set(int row, int col, double value) {
+    values[row * cols + col] = value;
+  }
+
+  /** Gets a value. */
+  public double get(int row, int col) {
+    return values[row * cols + col];
+  }
+
+  /** Returns the transpose of this. */
+  @CheckReturnValue
+  public Matrix3x3 transpose() {
+    Matrix3x3 result = new Matrix3x3(cols, rows);
+    for (int row = 0; row < result.rows; row++) {
+      for (int col = 0; col < result.cols; col++) {
+        result.set(row, col, get(col, row));
+      }
+    }
+    return result;
+  }
+
+  /** Returns the result of multiplying this x m. */
+  @CheckReturnValue
+  public Matrix3x3 mult(Matrix3x3 m) {
+    Preconditions.checkArgument(cols == m.rows);
+    Matrix3x3 result = new Matrix3x3(rows, m.cols);
+    for (int row = 0; row < result.rows; row++) {
+      for (int col = 0; col < result.cols; col++) {
+        double sum = 0;
+        for (int i = 0; i < cols; i++) {
+          sum += get(row, i) * m.get(i, col);
+        }
+        result.set(row, col, sum);
+      }
+    }
+    return result;
+  }
+
+  /** Return the vector of the given column. */
+  public S2Point getCol(int col) {
+    Preconditions.checkState(rows == 3);
+    Preconditions.checkArgument(0 <= col && col < cols);
+    return new S2Point(values[col], values[cols + col], values[2 * cols + col]);
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (!(o instanceof Matrix3x3)) {
+      return false;
+    }
+    Matrix3x3 m = (Matrix3x3) o;
+    if (rows != m.rows || cols != m.cols) {
+      return false;
+    }
+    for (int i = 0; i < values.length; i++) {
+      if (values[i] != m.values[i]) {
+        return false;
+      }
+    }
+    return true;
+  }
+
+  @Override
+  public int hashCode() {
+    long hash = 37L * cols;
+    for (int i = 0; i < values.length; i++) {
+      hash = 37L * hash + Platform.doubleHash(values[i]);
+    }
+    return (int) hash;
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/ParametrizedS2Point.java

@@ -0,0 +1,74 @@
+/*
+ * Copyright 2006 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import java.io.Serializable;
+
+/**
+ * An S2Point that also has a parameter associated with it, which corresponds to a time-like order
+ * on the points.
+ *
+ * @author kirilll@google.com (Kirill Levin)
+ */
+@GwtCompatible(serializable = true)
+public final class ParametrizedS2Point implements Comparable<ParametrizedS2Point>, Serializable {
+
+  private final double time;
+  private final S2Point point;
+
+  @SuppressWarnings("GoodTime") // should accept a java.time.Duration (?)
+  public ParametrizedS2Point(double time, S2Point point) {
+    this.time = time;
+    this.point = point;
+  }
+
+  @SuppressWarnings("GoodTime") // should return a java.time.Duration (?)
+  public double getTime() {
+    return time;
+  }
+
+  public S2Point getPoint() {
+    return point;
+  }
+
+  @Override
+  public int compareTo(ParametrizedS2Point o) {
+    int compareTime = Double.compare(time, o.time);
+    if (compareTime != 0) {
+      return compareTime;
+    }
+    return point.compareTo(o.point);
+  }
+
+  @Override
+  public boolean equals(Object other) {
+    if (other instanceof ParametrizedS2Point) {
+      ParametrizedS2Point x = (ParametrizedS2Point) other;
+      return time == x.time && point.equalsPoint(x.point);
+    } else {
+      return false;
+    }
+  }
+
+  @Override
+  public int hashCode() {
+    // TODO(jrosenstock): Use Objects.hash when API 19 (2014-06) is allowed.  Current min is 14
+    // (2011-10).  Double.hashCode requires an even higher API level, so just hash the point.
+    return point.hashCode();
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/Platform.java

@@ -0,0 +1,159 @@
+/*
+ * Copyright 2013 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import java.io.PrintStream;
+import java.math.BigDecimal;
+import java.util.Locale;
+import java.util.logging.Logger;
+
+/**
+ * Contains utility methods which require different GWT client and server implementations. This
+ * contains the server side implementations.
+ */
+@GwtCompatible(emulated = true)
+final class Platform {
+
+  private Platform() {}
+
+  /** @see Math#IEEEremainder(double, double) */
+  static double IEEEremainder(double f1, double f2) {
+    return Math.IEEEremainder(f1, f2);
+  }
+
+  /** @see Math#getExponent(double) */
+  static int getExponent(double d) {
+    return Math.getExponent(d);
+  }
+
+  /**
+   * Returns the {@link Logger} for the class.
+   *
+   * @see Logger#getLogger(String)
+   */
+  static Logger getLoggerForClass(Class<?> clazz) {
+    return Logger.getLogger(clazz.getCanonicalName());
+  }
+
+  /**
+   * Invokes {@code stream.printf} with the arguments. The GWT client just prints the format string
+   * and the arguments separately. Using this method is not recommended; you should instead
+   * construct strings with normal string concatenation whenever possible, so it will work the same
+   * way in normal Java and GWT client versions.
+   */
+  static void printf(PrintStream stream, String format, Object... params) {
+    stream.printf(format, params);
+  }
+
+  /**
+   * Returns {@code String.format} with the arguments. The GWT client just returns a string
+   * consisting of the format string with the parameters concatenated to the end of it. Using this
+   * method is not recommended; you should instead construct strings with normal string
+   * concatenation whenever possible, so it will work the same way in normal Java and GWT client
+   * versions.
+   */
+  static String formatString(String format, Object... params) {
+    return String.format(format, params);
+  }
+
+  /**
+   * Formats the double as a string and removes unneeded trailing zeros, to behave the same as
+   * printf("%.15g",d) in C++. The Javascript implementation does NOT have identical behavior.
+   */
+  static String formatDouble(double d) {
+    StringBuilder out = new StringBuilder();
+    if (d == 0d) {
+      return "0";
+    }
+    // Style 'g' uses either 'e' or 'f', depending on the magnitude of the number.
+    out.append(String.format(Locale.US, "%.15g", d));
+
+    // If formatted with style 'e', the 'e' is always in the same place relative to the length,
+    // and the string will be at least five chars long, like "1e-20".
+    if ((out.length() >= 5) && (out.charAt(out.length() - 4) == 'e')) {
+      // Remove trailing zeros before the 'e'.
+      while ((out.length() >= 5) && out.charAt(out.length() - 5) == '0') {
+        out.deleteCharAt(out.length() - 5);
+      }
+      // Remove trailing decimal point.
+      if (out.charAt(out.length() - 5) == '.') {
+        out.deleteCharAt(out.length() - 5);
+      }
+    } else {
+      // Otherwise, it was formatted with style 'f'. Remove trailing zeros.
+      while (out.length() > 0 && out.charAt(out.length() - 1) == '0') {
+        out.setLength(out.length() - 1);
+      }
+      // Remove trailing decimal point.
+      if (out.length() > 0 && out.charAt(out.length() - 1) == '.') {
+        out.setLength(out.length() - 1);
+      }
+    }
+    return out.toString();
+  }
+
+  /** A portable way to hash a double value. */
+  public static long doubleHash(double value) {
+    return Double.doubleToLongBits(value);
+  }
+
+  /**
+   * Returns the sign of the determinant of the matrix constructed from the three column vectors
+   * {@code a}, {@code b}, and {@code c}. This operation is very robust for small determinants, but
+   * is extremely slow and should only be used if performance is not a concern or all faster
+   * techniques have been exhausted.
+   */
+  public static int sign(S2Point a, S2Point b, S2Point c) {
+    Real bycz = Real.mul(b.y, c.z);
+    Real bzcy = Real.mul(b.z, c.y);
+    Real bzcx = Real.mul(b.z, c.x);
+    Real bxcz = Real.mul(b.x, c.z);
+    Real bxcy = Real.mul(b.x, c.y);
+    Real bycx = Real.mul(b.y, c.x);
+    Real bcx = bycz.sub(bzcy);
+    Real bcy = bzcx.sub(bxcz);
+    Real bcz = bxcy.sub(bycx);
+    Real x = bcx.mul(a.x);
+    Real y = bcy.mul(a.y);
+    Real z = bcz.mul(a.z);
+    return x.add(y).add(z).signum();
+  }
+
+  /**
+   * Returns the size of an ulp of the argument. An ulp of a double value is the positive distance
+   * between this floating-point value and the double next larger in magnitude.
+   */
+  public static double ulp(double x) {
+    return Math.ulp(x);
+  }
+
+  /**
+   * Returns the next representable value in the direction of 'dir' starting from 'x', emulating the
+   * behavior of {@link Math#nextAfter}.
+   */
+  public static double nextAfter(double x, double dir) {
+    return Math.nextAfter(x, dir);
+  }
+
+  /**
+   * Returns a new {@code BigDecimal} instance whose value is the exact decimal representation of
+   * {@code x}, emulating the behavior of {@link BigDecimal#BigDecimal(double)}.
+   */
+  static BigDecimal newBigDecimal(double x) {
+    return new BigDecimal(x);
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/PrimitiveArrays.java

@@ -0,0 +1,297 @@
+/*
+ * Copyright 2019 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import com.google.common.annotations.GwtIncompatible;
+import com.google.common.base.Preconditions;
+import com.google.common.primitives.Doubles;
+import com.google.common.primitives.ImmutableLongArray;
+import com.google.common.primitives.Ints;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.nio.ByteBuffer;
+
+/** A set of interfaces for describing primitive arrays. */
+@GwtCompatible
+public final class PrimitiveArrays {
+
+  /**
+   * An array of {@code byte}s.
+   *
+   * <p>Implementations will be thread-safe if the underlying data is not mutated. Users should
+   * ensure the underlying data is not mutated in order to get predictable behaviour. Any buffering
+   * should be done internally.
+   *
+   * <p>Implementations may support arrays > 2GB in size like so:
+   *
+   * <pre>{@code
+   * new Bytes() {
+   *   byte get(long position) {
+   *     if (position < b1.length) {
+   *       return b1[Ints.checkedCast(position)];
+   *     }
+   *     return b2[Ints.checkedCast(position - b2.length)];
+   *   }
+   *   long length() { return b1.length + b2.length; }
+   * }
+   * }</pre>
+   */
+  public interface Bytes {
+    /**
+     * Returns the {@code byte} at position {@code position}.
+     *
+     * <p>Throws an {@link IndexOutOfBoundsException} if the absolute get on the underlying
+     * implementation fails.
+     */
+    byte get(long position);
+
+    /** Returns the length of this array. */
+    long length();
+
+    /** Returns a {@link Cursor} with the given {@code position} and {@code limit}. */
+    default Cursor cursor(long position, long limit) {
+      Preconditions.checkArgument(position <= limit && position <= length());
+      return new Cursor(position, limit);
+    }
+
+    /**
+     * Returns a {@link Cursor} with the given {@code position}.
+     *
+     * <p>The {@code limit} of the returned cursor is the {@link #length()} of this array.
+     */
+    default Cursor cursor(long position) {
+      return cursor(position, length());
+    }
+
+    /**
+     * Returns a {@link Cursor}.
+     *
+     * <p>The {@code position} of the returned cursor is 0, and the {@code limit} is the {@link
+     * #length()} of this array.
+     */
+    default Cursor cursor() {
+      return cursor(0);
+    }
+
+    /**
+     * Returns a {@link Bytes} wrapping {@code buffer}.
+     *
+     * <p>The returned array starts from index 0 of buffer, and its length is {@code
+     * buffer.limit()}.
+     */
+    @GwtIncompatible("ByteBuffer")
+    static Bytes fromByteBuffer(ByteBuffer buffer) {
+      // TODO(eengle): Buffer positions > 0 trip bugs in the various methods. Exclude this case.
+      Preconditions.checkState(buffer.position() == 0);
+      return new Bytes() {
+        @Override
+        public byte get(long position) {
+          return buffer.get(Ints.checkedCast(position));
+        }
+
+        @Override
+        public long length() {
+          return (long) buffer.limit();
+        }
+      };
+    }
+
+    /** Returns a {@link Bytes} wrapping {@code bytes}. */
+    static Bytes fromByteArray(byte[] bytes) {
+      return new Bytes() {
+        @Override
+        public byte get(long position) {
+          return bytes[Ints.checkedCast(position)];
+        }
+
+        @Override
+        public long length() {
+          return bytes.length;
+        }
+      };
+    }
+
+    /** Returns an {@link InputStream} wrapping this array starting at {@code offset}. */
+    default InputStream toInputStream(long offset) {
+      Preconditions.checkArgument(offset >= 0 && offset <= length());
+      return new InputStream() {
+        long position = offset;
+
+        @Override
+        public int read() {
+          if (position == length()) {
+            return -1;
+          }
+          return get(position++) & 0xFF;
+        }
+      };
+    }
+
+    /**
+     * Returns an {@link InputStream} wrapping this array starting at {@code cursor.position}.
+     *
+     * <p>{@code cursor.position} is incremented for each byte read from the returned {@link
+     * InputStream}.
+     */
+    default InputStream toInputStream(Cursor cursor) {
+      Preconditions.checkArgument(cursor.position >= 0 && cursor.position <= length());
+      return new InputStream() {
+        @Override
+        public int read() {
+          if (cursor.position == length()) {
+            return -1;
+          }
+          return get(cursor.position++) & 0xFF;
+        }
+      };
+    }
+
+    /** Returns an {@link InputStream} wrapping this array starting at the 0th byte. */
+    default InputStream toInputStream() {
+      return toInputStream(0);
+    }
+
+    /** Writes this array to {@code output}. */
+    default void writeTo(OutputStream output) throws IOException {
+      for (long i = 0; i < length(); i++) {
+        output.write(get(i));
+      }
+    }
+
+    /**
+     * Returns a unsigned integer consisting of {@code numBytes} bytes read from this array at
+     * {@code cursor.position} in little-endian format as an unsigned 64-bit integer.
+     *
+     * <p>{@code cursor.position} is updated to the index of the first byte following the varint64.
+     */
+    default long readVarint64(Cursor cursor) {
+      long result = 0;
+      for (int shift = 0; shift < 64; shift += 7) {
+        byte b = get(cursor.position++);
+        result |= (long) (b & 0x7F) << shift;
+        if ((b & 0x80) == 0) {
+          return result;
+        }
+      }
+      throw new IllegalArgumentException("Malformed varint.");
+    }
+
+    /**
+     * Same as {@link #readVarint64(Cursor)}, but throws an {@link IllegalArgumentException} if the
+     * read varint64 is greater than {@link Integer#MAX_VALUE}.
+     */
+    default int readVarint32(Cursor cursor) {
+      return Ints.checkedCast(readVarint64(cursor));
+    }
+
+    /**
+     * Returns a unsigned integer consisting of {@code numBytes} bytes read from this array at
+     * {@code cursor.position} in little-endian format as an unsigned 64-bit integer.
+     *
+     * <p>{@code cursor.position} is updated to the index of the first byte following the uint.
+     *
+     * <p>This method is not compatible with {@link #readVarint64(Cursor)}.
+     */
+    default long readUintWithLength(Cursor cursor, int numBytes) {
+      long result = readUintWithLength(cursor.position, numBytes);
+      cursor.position += numBytes;
+      return result;
+    }
+
+    /** Same as {@link #readUintWithLength(Cursor, int)}, but does not require a {@link Cursor}. */
+    default long readUintWithLength(long position, int numBytes) {
+      long x = 0;
+      for (int i = 0; i < numBytes; i++) {
+        x += (get(position++) & 0xffL) << (8 * i);
+      }
+      return x;
+    }
+
+    /** Returns a little-endian double read from this array at {@code position}. */
+    default double readLittleEndianDouble(long position) {
+      return Double.longBitsToDouble(readUintWithLength(position, Doubles.BYTES));
+    }
+  }
+
+  /**
+   * An array of {@code long}s.
+   *
+   * <p>Implementations will be thread-safe if the underlying data is not mutated. Users should
+   * ensure the underlying data is not mutated in order to get predictable behaviour. Any buffering
+   * should be done internally.
+   */
+  interface Longs {
+    /**
+     * Returns the {@code long} at position {@code position}.
+     *
+     * <p>Throws an {@link IndexOutOfBoundsException} if the absolute get on the underlying
+     * implementation fails.
+     */
+    long get(int position);
+
+    /** Returns the length of this array. */
+    int length();
+
+    /** Returns a {@link Longs} wrapping {@code immutableLongArray}. */
+    static Longs fromImmutableLongArray(ImmutableLongArray immutableLongArray) {
+      return new Longs() {
+        @Override
+        public long get(int position) {
+          return immutableLongArray.get(position);
+        }
+
+        @Override
+        public int length() {
+          return immutableLongArray.length();
+        }
+      };
+    }
+
+    /**
+     * Decodes and returns this array as an {@code int[]}.
+     *
+     * <p>Throws an {@link IllegalArgumentException} if any value in this array is < {@link
+     * Integer#MIN_VALUE} or > {@link Integer#MAX_VALUE}.
+     */
+    default int[] toIntArray() {
+      int[] result = new int[length()];
+      for (int i = 0; i < result.length; i++) {
+        result[i] = Ints.checkedCast(get(i));
+      }
+      return result;
+    }
+  }
+
+  /** A cursor storing a position and a limit. */
+  public static class Cursor {
+    public long position;
+    public long limit;
+
+    Cursor(long position, long limit) {
+      Preconditions.checkArgument(position >= 0);
+      Preconditions.checkArgument(position <= limit);
+      this.position = position;
+      this.limit = limit;
+    }
+
+    /** Returns the number of remaining elements ({@code limit - position}). */
+    public long remaining() {
+      return limit - position;
+    }
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/R1Interval.java

@@ -0,0 +1,422 @@
+/*
+ * Copyright 2005 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import java.io.Serializable;
+import javax.annotation.CheckReturnValue;
+
+/**
+ * An R1Interval represents a closed, bounded interval on the real line. It is capable of
+ * representing the empty interval (containing no points) and zero-length intervals (containing a
+ * single point).
+ *
+ */
+@GwtCompatible(serializable = true)
+public final strictfp class R1Interval implements Serializable {
+  private double lo;
+  private double hi;
+
+  /**
+   * Default constructor, contains the empty interval.
+   *
+   * <p>Package private since only the S2 library needs to mutate R1Intervals. External code that
+   * needs an empty interval should call {@link #empty()}.
+   */
+  R1Interval() {
+    lo = 1;
+    hi = 0;
+  }
+
+  /** Interval constructor. If lo > hi, the interval is empty. */
+  public R1Interval(double lo, double hi) {
+    this.lo = lo;
+    this.hi = hi;
+  }
+
+  /** Copy constructor. */
+  public R1Interval(R1Interval interval) {
+    this.lo = interval.lo;
+    this.hi = interval.hi;
+  }
+
+  /** Returns an empty interval. (Any interval where lo > hi is considered empty.) */
+  public static R1Interval empty() {
+    return new R1Interval(1, 0);
+  }
+
+  /** Convenience method to construct an interval containing a single point. */
+  public static R1Interval fromPoint(double p) {
+    return new R1Interval(p, p);
+  }
+
+  /**
+   * Convenience method to construct the minimal interval containing the two given points. This is
+   * equivalent to starting with an empty interval and calling AddPoint() twice, but it is more
+   * efficient.
+   */
+  public static R1Interval fromPointPair(double p1, double p2) {
+    R1Interval result = new R1Interval();
+    result.initFromPointPair(p1, p2);
+    return result;
+  }
+
+  void initFromPointPair(double p1, double p2) {
+    if (p1 <= p2) {
+      lo = p1;
+      hi = p2;
+    } else {
+      lo = p2;
+      hi = p1;
+    }
+  }
+
+  public double lo() {
+    return lo;
+  }
+
+  public double hi() {
+    return hi;
+  }
+
+  /** Designates which end of the interval to work with. */
+  enum Endpoint {
+    /** The low end of the interval. */
+    LO {
+      @Override
+      public double getValue(R1Interval interval) {
+        return interval.lo;
+      }
+
+      @Override
+      public void setValue(R1Interval interval, double value) {
+        interval.lo = value;
+      }
+
+      @Override
+      public Endpoint opposite() {
+        return HI;
+      }
+    },
+    /** The high end of the interval. */
+    HI {
+      @Override
+      public double getValue(R1Interval interval) {
+        return interval.hi;
+      }
+
+      @Override
+      public void setValue(R1Interval interval, double value) {
+        interval.hi = value;
+      }
+
+      @Override
+      public Endpoint opposite() {
+        return LO;
+      }
+    };
+
+    public abstract double getValue(R1Interval interval);
+
+    public abstract void setValue(R1Interval interval, double value);
+
+    public abstract Endpoint opposite();
+  }
+
+  /** Returns the value at the given Endpoint, which must not be null. */
+  double getValue(Endpoint endpoint) {
+    return endpoint.getValue(this);
+  }
+
+  /** Sets the value of the given Endpoint, which must not be null. */
+  void setValue(Endpoint endpoint, double value) {
+    endpoint.setValue(this, value);
+  }
+
+  /** Returns true if the interval is empty, i.e. it contains no points. */
+  public boolean isEmpty() {
+    return lo > hi;
+  }
+
+  /** Returns the center of the interval. For empty intervals, the result is arbitrary. */
+  public double getCenter() {
+    return 0.5 * (lo + hi);
+  }
+
+  /** Returns the length of the interval. The length of an empty interval is negative. */
+  public double getLength() {
+    return hi - lo;
+  }
+
+  public boolean contains(double p) {
+    return p >= lo && p <= hi;
+  }
+
+  public boolean interiorContains(double p) {
+    return p > lo && p < hi;
+  }
+
+  /** Returns true if this interval contains the interval {@code y}. */
+  public boolean contains(R1Interval y) {
+    if (y.isEmpty()) {
+      return true;
+    }
+    return y.lo >= lo && y.hi <= hi;
+  }
+
+  /**
+   * Returns true if the interior of this interval contains the entire interval {@code y} (including
+   * its boundary).
+   */
+  public boolean interiorContains(R1Interval y) {
+    if (y.isEmpty()) {
+      return true;
+    }
+    return y.lo > lo && y.hi < hi;
+  }
+
+  /** Returns true if this interval intersects {@code y}, i.e. if they have any points in common. */
+  public boolean intersects(R1Interval y) {
+    if (lo <= y.lo) {
+      return y.lo <= hi && y.lo <= y.hi;
+    } else {
+      return lo <= y.hi && lo <= hi;
+    }
+  }
+
+  /**
+   * Returns true if the interior of this interval intersects any point of {@code y} (including its
+   * boundary).
+   */
+  public boolean interiorIntersects(R1Interval y) {
+    return y.lo < hi && lo < y.hi && lo < hi && y.lo <= y.hi;
+  }
+
+  /**
+   * Return the Hausdorff distance to the given interval {@code y}. For two R1Intervals x and y,
+   * this distance is defined as h(x, y) = max_{p in x} min_{q in y} d(p, q).
+   */
+  public double getDirectedHausdorffDistance(R1Interval y) {
+    if (isEmpty()) {
+      return 0.0;
+    }
+    if (y.isEmpty()) {
+      return Double.MAX_VALUE;
+    }
+    return Math.max(0.0, Math.max(hi() - y.hi(), y.lo() - lo()));
+  }
+
+  /**
+   * Sets the minimum and maximum value of this interval. If {@code lo} is greater than {@code hi}
+   * this interval will become empty.
+   *
+   * <p>Package private since only the S2 libraries have a current need to mutate R1Intervals.
+   */
+  void set(double lo, double hi) {
+    this.lo = lo;
+    this.hi = hi;
+  }
+
+  /**
+   * Sets the minimum value of this interval. If {@code lo} is greater than {@code hi()} this
+   * interval will become empty.
+   *
+   * <p>Package private since only the S2 libraries have a current need to mutate R1Intervals.
+   */
+  void setLo(double lo) {
+    this.lo = lo;
+  }
+
+  /**
+   * Sets the maximum value of this interval. If {@code hi} is less than {@code lo()} this interval
+   * will become empty.
+   *
+   * <p>Package private since only the S2 libraries have a current need to mutate R1Intervals.
+   */
+  void setHi(double hi) {
+    this.hi = hi;
+  }
+
+  /**
+   * Sets the current interval to the empty interval.
+   *
+   * <p>Package private since only the S2 libraries have a current need to mutate R1Intervals.
+   */
+  void setEmpty() {
+    this.lo = 1;
+    this.hi = 0;
+  }
+
+  /**
+   * Expands this interval so that it contains the point {@code p}.
+   *
+   * <p>Package private since only the S2 library needs to mutate R1Intervals.
+   */
+  void unionInternal(double p) {
+    if (isEmpty()) {
+      lo = p;
+      hi = p;
+    } else if (p < lo) {
+      lo = p;
+    } else if (p > hi) {
+      hi = p;
+    }
+  }
+
+  /**
+   * Returns the closest point in the interval to the point {@code p}. The interval must be
+   * non-empty.
+   */
+  public double clampPoint(double p) {
+    // assert (!isEmpty());
+    return Math.max(lo, Math.min(hi, p));
+  }
+
+  /**
+   * Return an interval that contains all points with a distance "radius" of a point in this
+   * interval. Note that the expansion of an empty interval is always empty.
+   */
+  @CheckReturnValue
+  public R1Interval expanded(double radius) {
+    // assert (radius >= 0);
+    if (isEmpty()) {
+      return this;
+    }
+    return new R1Interval(lo - radius, hi + radius);
+  }
+
+  /**
+   * Expands this interval to contain all points within a distance "radius" of a point in this
+   * interval.
+   *
+   * <p>Package private since only S2 classes are intended to mutate R1Intervals for now.
+   */
+  void expandedInternal(double radius) {
+    lo -= radius;
+    hi += radius;
+  }
+
+  /** Returns the smallest interval that contains this interval and {@code y}. */
+  @CheckReturnValue
+  public R1Interval union(R1Interval y) {
+    if (isEmpty()) {
+      return y;
+    }
+    if (y.isEmpty()) {
+      return this;
+    }
+    return new R1Interval(Math.min(lo, y.lo), Math.max(hi, y.hi));
+  }
+
+  /**
+   * Sets this interval to the union of this interval and {@code y}.
+   *
+   * <p>Package private since only S2 classes are intended to mutate R11Intervals for now.
+   */
+  void unionInternal(R1Interval y) {
+    if (isEmpty()) {
+      lo = y.lo;
+      hi = y.hi;
+    } else if (!y.isEmpty()) {
+      lo = Math.min(lo, y.lo);
+      hi = Math.max(hi, y.hi);
+    }
+  }
+
+  /**
+   * Returns the intersection of this interval with {@code y}. Empty intervals do not need to be
+   * special-cased.
+   */
+  @CheckReturnValue
+  public R1Interval intersection(R1Interval y) {
+    return new R1Interval(Math.max(lo, y.lo), Math.min(hi, y.hi));
+  }
+
+  /**
+   * Sets this interval to the intersection of the current interval and {@code y}.
+   *
+   * <p>Package private since only S2 classes are intended to mutate R1 intervals for now.
+   */
+  void intersectionInternal(R1Interval y) {
+    lo = Math.max(lo, y.lo);
+    hi = Math.min(hi, y.hi);
+  }
+
+  /** Returns the smallest interval that contains this interval and the point {@code p}. */
+  @CheckReturnValue
+  public R1Interval addPoint(double p) {
+    if (isEmpty()) {
+      return R1Interval.fromPoint(p);
+    } else if (p < lo) {
+      return new R1Interval(p, hi);
+    } else if (p > hi) {
+      return new R1Interval(lo, p);
+    } else {
+      return new R1Interval(lo, hi);
+    }
+  }
+
+  @Override
+  public boolean equals(Object that) {
+    if (that instanceof R1Interval) {
+      R1Interval y = (R1Interval) that;
+      // Return true if two intervals contain the same set of points.
+      return (lo == y.lo && hi == y.hi) || (isEmpty() && y.isEmpty());
+    }
+    return false;
+  }
+
+  @Override
+  public int hashCode() {
+    if (isEmpty()) {
+      return 17;
+    }
+
+    long value = 17;
+    value = 37 * value + Double.doubleToLongBits(lo);
+    value = 37 * value + Double.doubleToLongBits(hi);
+    return (int) (value ^ (value >>> 32));
+  }
+
+  /**
+   * As {@link #approxEquals(R1Interval, double)}, with a default value for maxError just larger
+   * than typical rounding errors in computing intervals.
+   */
+  public boolean approxEquals(R1Interval y) {
+    return approxEquals(y, 1e-15);
+  }
+
+  /**
+   * Returns true if this interval can be transformed into {@code y} by moving each endpoint by at
+   * most {@code maxError}. The empty interval is considered to be positioned arbitrarily on the
+   * real line, thus any interval for which {@code length <= 2*maxError} is true matches the empty
+   * interval.
+   */
+  public boolean approxEquals(R1Interval y, double maxError) {
+    if (isEmpty()) {
+      return y.getLength() <= maxError;
+    }
+    if (y.isEmpty()) {
+      return getLength() <= maxError;
+    }
+    return Math.abs(y.lo - lo) <= maxError && Math.abs(y.hi - hi) <= maxError;
+  }
+
+  @Override
+  public String toString() {
+    return "[" + lo + ", " + hi + "]";
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/R2Rect.java

@@ -0,0 +1,352 @@
+/*
+ * Copyright 2013 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import java.io.Serializable;
+import javax.annotation.CheckReturnValue;
+
+/**
+ * An R2Rect represents a closed axis-aligned rectangle in the (x,y) plane. This class is mutable to
+ * allow iteratively constructing bounds via e.g. {@link #addPoint(R2Vector)}.
+ */
+@GwtCompatible(serializable = true)
+public final strictfp class R2Rect implements Serializable {
+  private final R1Interval x;
+  private final R1Interval y;
+
+  /** Creates an empty R2Rect. */
+  public R2Rect() {
+    // The default R1Interval constructor creates an empty interval.
+    this.x = new R1Interval();
+    this.y = new R1Interval();
+    // assert (isValid());
+  }
+
+  /** Constructs a rectangle from the given lower-left and upper-right points. */
+  public R2Rect(R2Vector lo, R2Vector hi) {
+    x = new R1Interval(lo.x(), hi.x());
+    y = new R1Interval(lo.y(), hi.y());
+    // assert (isValid());
+  }
+
+  /**
+   * Constructs a rectangle from the given intervals in x and y. The two intervals must either be
+   * both empty or both non-empty.
+   */
+  public R2Rect(R1Interval x, R1Interval y) {
+    this.x = x;
+    this.y = y;
+    // assert (isValid());
+  }
+
+  /** Copy constructor. */
+  public R2Rect(R2Rect rect) {
+    this.x = new R1Interval(rect.x);
+    this.y = new R1Interval(rect.y);
+  }
+
+  /**
+   * Returns a new instance of the canonical empty rectangle. Use isEmpty() to test for empty
+   * rectangles, since they have more than one representation.
+   */
+  public static R2Rect empty() {
+    return new R2Rect(R1Interval.empty(), R1Interval.empty());
+  }
+
+  /**
+   * Returns a new rectangle from a center point and size in each dimension. Both components of size
+   * should be non-negative, i.e. this method cannot be used to create an empty rectangle.
+   */
+  public static R2Rect fromCenterSize(R2Vector center, R2Vector size) {
+    return new R2Rect(
+        new R1Interval(center.x() - 0.5 * size.x(), center.x() + 0.5 * size.x()),
+        new R1Interval(center.y() - 0.5 * size.y(), center.y() + 0.5 * size.y()));
+  }
+
+  /** Returns a rectangle containing a single point. */
+  public static R2Rect fromPoint(R2Vector p) {
+    return new R2Rect(p, p);
+  }
+
+  /**
+   * Returns the minimal bounding rectangle containing the two given points. This is equivalent to
+   * starting with an empty rectangle and calling addPoint() twice. Note that it is different than
+   * the R2Rect(lo, hi) constructor, where the first point is always used as the lower-left corner
+   * of the resulting rectangle.
+   */
+  public static R2Rect fromPointPair(R2Vector p1, R2Vector p2) {
+    return new R2Rect(
+        R1Interval.fromPointPair(p1.x(), p2.x()), R1Interval.fromPointPair(p1.y(), p2.y()));
+  }
+
+  /** Returns the interval along the x-axis. */
+  public R1Interval x() {
+    return x;
+  }
+
+  /** Returns the interval along the y-axis. */
+  public R1Interval y() {
+    return y;
+  }
+
+  /** Returns the point in this rectangle with the minimum x and y values. */
+  public R2Vector lo() {
+    return new R2Vector(x().lo(), y().lo());
+  }
+
+  /** Returns the point in this rectangle with the maximum x and y values. */
+  public R2Vector hi() {
+    return new R2Vector(x().hi(), y().hi());
+  }
+
+  /**
+   * Returns true if this rectangle is valid, which essentially just means that if the bound for
+   * either axis is empty then both must be.
+   */
+  public boolean isValid() {
+    // The x/y ranges must either be both empty or both non-empty.
+    return x().isEmpty() == y().isEmpty();
+  }
+
+  /** Return true if this rectangle is empty, i.e. it contains no points at all. */
+  public boolean isEmpty() {
+    return x().isEmpty();
+  }
+
+  /**
+   * Returns the k<super>th</super> vertex of this rectangle (k = 0,1,2,3) in CCW order. Vertex 0 is
+   * in the lower-left corner.
+   */
+  public R2Vector getVertex(int k) {
+    // Twiddle bits to return the points in CCW order (lower left, lower right,
+    // upper right, upper left).
+    // assert (k >= 0 && k <= 3);
+    return getVertex((k >> 1) ^ (k & 1), k >> 1);
+  }
+
+  /**
+   * Returns the vertex in direction "i" along the x-axis (0=left, 1=right) and direction "j" along
+   * the y-axis (0=down, 1=up). Equivalently, returns the vertex constructed by selecting endpoint
+   * "i" of the x-interval (0=lo, 1=hi) and vertex "j" of the y-interval.
+   */
+  public R2Vector getVertex(int i, int j) {
+    return new R2Vector(i == 0 ? x.lo() : x.hi(), j == 0 ? y.lo() : y.hi());
+  }
+
+  /** Returns the center of this rectangle in (x,y)-space. */
+  public R2Vector getCenter() {
+    return new R2Vector(x().getCenter(), y().getCenter());
+  }
+
+  /**
+   * Return the width and height of this rectangle in (x,y)-space. Empty rectangles have a negative
+   * width and height.
+   */
+  public R2Vector getSize() {
+    return new R2Vector(x().getLength(), y().getLength());
+  }
+
+  /** Valid axes. */
+  public enum Axis {
+    X {
+      @Override
+      public R1Interval getInterval(R2Rect rect) {
+        return rect.x;
+      }
+    },
+    Y {
+      @Override
+      public R1Interval getInterval(R2Rect rect) {
+        return rect.y;
+      }
+    };
+
+    public abstract R1Interval getInterval(R2Rect rect);
+  }
+
+  /** Returns the interval for the given axis, which must not be null. */
+  public R1Interval getInterval(Axis axis) {
+    return axis.getInterval(this);
+  }
+
+  /**
+   * Returns true if this rectangle contains the given point. Note that rectangles are closed
+   * regions, i.e. they contain their boundary.
+   */
+  public boolean contains(R2Vector p) {
+    return x().contains(p.x()) && y().contains(p.y());
+  }
+
+  /**
+   * Returns true if and only if the given point is contained in the interior of the region (i.e.
+   * the region excluding its boundary).
+   */
+  public boolean interiorContains(R2Vector p) {
+    return x().interiorContains(p.x()) && y().interiorContains(p.y());
+  }
+
+  /** Returns true if and only if this rectangle contains the given other rectangle. */
+  public boolean contains(R2Rect other) {
+    return x().contains(other.x()) && y().contains(other.y());
+  }
+
+  /**
+   * Returns true if and only if the interior of this rectangle contains all points of the given
+   * other rectangle (including its boundary).
+   */
+  public boolean interiorContains(R2Rect other) {
+    return x().interiorContains(other.x()) && y().interiorContains(other.y());
+  }
+
+  /** Returns true if this rectangle and the given other rectangle have any points in common. */
+  public boolean intersects(R2Rect other) {
+    return x().intersects(other.x()) && y().intersects(other.y());
+  }
+
+  /**
+   * Return true if and only if the interior of this rectangle intersects any point (including the
+   * boundary) of the given other rectangle.
+   */
+  public boolean interiorIntersects(R2Rect other) {
+    return x().interiorIntersects(other.x()) && y().interiorIntersects(other.y());
+  }
+
+  /**
+   * Increase the size of the bounding rectangle to include the given point. This rectangle is
+   * expanded by the minimum amount possible.
+   */
+  public void addPoint(R2Vector p) {
+    x.unionInternal(p.x());
+    y.unionInternal(p.y());
+  }
+
+  /**
+   * Expand the rectangle to include the given other rectangle. This is the same as replacing the
+   * rectangle by the union of the two rectangles, but is somewhat more efficient.
+   */
+  public void addRect(R2Rect other) {
+    x.unionInternal(other.x);
+    y.unionInternal(other.y);
+  }
+
+  /**
+   * Return the closest point in this rectangle to the given point "p". This rectangle must be
+   * non-empty.
+   */
+  public R2Vector clampPoint(R2Vector p) {
+    return new R2Vector(x().clampPoint(p.x()), y().clampPoint(p.y()));
+  }
+
+  /**
+   * Return a rectangle that has been expanded on each side in the x-direction by margin.x(), and on
+   * each side in the y-direction by margin.y(). If either margin is empty, then shrink the interval
+   * on the corresponding sides instead. The resulting rectangle may be empty. Any expansion of an
+   * empty rectangle remains empty.
+   */
+  @CheckReturnValue
+  public R2Rect expanded(R2Vector margin) {
+    R1Interval xx = x().expanded(margin.x());
+    R1Interval yy = y().expanded(margin.y());
+    if (xx.isEmpty() || yy.isEmpty()) {
+      return empty();
+    } else {
+      return new R2Rect(xx, yy);
+    }
+  }
+
+  /**
+   * Returns a rectangle that has been expanded on both sides by the given margin. Any expansion of
+   * an empty rectangle remains empty.
+   */
+  @CheckReturnValue
+  public R2Rect expanded(double margin) {
+    return expanded(new R2Vector(margin, margin));
+  }
+
+  /**
+   * Expands this rectangle on both axes by the given margin.
+   *
+   * <p>Package private since only S2 classes are intended to mutate R2Rects for now.
+   */
+  void expand(double margin) {
+    if (!isEmpty()) {
+      x.expandedInternal(margin);
+      y.expandedInternal(margin);
+    }
+  }
+
+  /**
+   * Returns the smallest rectangle containing the union of this rectangle and the given rectangle.
+   */
+  @CheckReturnValue
+  public R2Rect union(R2Rect other) {
+    return new R2Rect(x().union(other.x()), y().union(other.y()));
+  }
+
+  /**
+   * Returns the smallest rectangle containing the intersection of this rectangle and the given
+   * rectangle.
+   */
+  @CheckReturnValue
+  public R2Rect intersection(R2Rect other) {
+    R1Interval xx = x().intersection(other.x());
+    R1Interval yy = y().intersection(other.y());
+    if (xx.isEmpty() || yy.isEmpty()) {
+      return empty();
+    }
+    return new R2Rect(xx, yy);
+  }
+
+  /** Returns a simple convolution hashcodes from the x and y internals. */
+  @Override
+  public int hashCode() {
+    return x.hashCode() * 701 + y.hashCode();
+  }
+
+  /** Returns true if two rectangles contains the same set of points. */
+  @Override
+  public boolean equals(Object other) {
+    if (other instanceof R2Rect) {
+      R2Rect r2 = (R2Rect) other;
+      return x().equals(r2.x()) && y().equals(r2.y());
+    } else {
+      return false;
+    }
+  }
+
+  /**
+   * Returns true if the x- and y-intervals of the two rectangles are the same up to the given
+   * tolerance. See {@link R1Interval} for details on approximate interval equality.
+   */
+  public boolean approxEquals(R2Rect other) {
+    return approxEquals(other, 1e-15);
+  }
+
+  /**
+   * Returns true if the given rectangles are equal to within {@code maxError}. See {@link
+   * R1Interval} for details on approximate interval equality.
+   */
+  public boolean approxEquals(R2Rect other, double maxError) {
+    return x().approxEquals(other.x(), maxError) && y().approxEquals(other.y(), maxError);
+  }
+
+  /** Returns a simple string representation of this rectangle's lower and upper corners. */
+  @Override
+  public String toString() {
+    return "[Lo" + lo() + ", Hi" + hi() + "]";
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/R2Vector.java

@@ -0,0 +1,199 @@
+/*
+ * Copyright 2005 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import java.io.Serializable;
+
+/**
+ * R2Vector represents a vector in the two-dimensional space. It defines the basic geometrical
+ * operations for 2D vectors, e.g. cross product, addition, norm, comparison, etc.
+ *
+ */
+@GwtCompatible(serializable = true)
+public final strictfp class R2Vector implements Serializable {
+  double x;
+  double y;
+
+  /** Constructs a new R2Vector at the origin [0,0] of the R2 coordinate system. */
+  public R2Vector() {
+    this(0, 0);
+  }
+
+  /** Constructs a new R2 vector from the given x and y coordinates. */
+  public R2Vector(double x, double y) {
+    this.x = x;
+    this.y = y;
+  }
+
+  /** Constructs a new R2 vector from the given coordinates array, which must have length 2. */
+  public R2Vector(double[] coord) {
+    if (coord.length != 2) {
+      throw new IllegalStateException("Points must have exactly 2 coordinates");
+    }
+    x = coord[0];
+    y = coord[1];
+  }
+
+  /** Returns the x coordinate of this R2 vector. */
+  public double x() {
+    return x;
+  }
+
+  /** Returns the y coordinate of this R2 vector. */
+  public double y() {
+    return y;
+  }
+
+  /**
+   * Returns the coordinate of the given axis, which will be the x axis if index is 0, and the y
+   * axis if index is 1.
+   *
+   * @throws ArrayIndexOutOfBoundsException Thrown if the given index is not 0 or 1.
+   */
+  public double get(int index) {
+    if (index < 0 || index > 1) {
+      throw new ArrayIndexOutOfBoundsException(index);
+    }
+    return index == 0 ? this.x : this.y;
+  }
+
+  /**
+   * Sets the position of this vector from the given other vector. Package private since this is
+   * only mutable for S2.
+   */
+  void set(R2Vector v) {
+    this.x = v.x();
+    this.y = v.y();
+  }
+
+  /**
+   * Sets the position of this vector from the given values. Package private since this is only
+   * mutable for S2.
+   */
+  void set(double x, double y) {
+    this.x = x;
+    this.y = y;
+  }
+
+  /** Returns the vector result of {@code p1 - p2}. */
+  public static R2Vector add(final R2Vector p1, final R2Vector p2) {
+    return new R2Vector(p1.x + p2.x, p1.y + p2.y);
+  }
+
+  /** Returns the vector result of {@code p1 - p2}. */
+  public static R2Vector sub(final R2Vector p1, final R2Vector p2) {
+    return new R2Vector(p1.x - p2.x, p1.y - p2.y);
+  }
+
+  /**
+   * Returns the element-wise multiplication of p1 and p2, e.g. {@code vector [p1.x*p2.x,
+   * p1.y*p2.y]}.
+   */
+  public static R2Vector mul(final R2Vector p, double m) {
+    return new R2Vector(m * p.x, m * p.y);
+  }
+
+  /** Returns the vector magnitude. */
+  public double norm() {
+    return Math.sqrt(norm2());
+  }
+
+  /** Returns the square of the vector magnitude. */
+  public double norm2() {
+    return (x * x) + (y * y);
+  }
+
+  /**
+   * Returns a new vector scaled to magnitude 1, or a copy of the original vector if magnitude was
+   * 0.
+   */
+  public static R2Vector normalize(R2Vector vector) {
+    double n = vector.norm();
+    if (n != 0) {
+      return mul(vector, 1.0 / n);
+    } else {
+      return new R2Vector(vector.x, vector.y);
+    }
+  }
+
+  /**
+   * Returns a new R2 vector orthogonal to the current one with the same norm and counterclockwise
+   * to it.
+   */
+  public R2Vector ortho() {
+    return new R2Vector(-y, x);
+  }
+
+  /** Returns the dot product of the given vectors. */
+  public static double dotProd(final R2Vector p1, final R2Vector p2) {
+    return (p1.x * p2.x) + (p1.y * p2.y);
+  }
+
+  /** Returns the dot product of this vector with that vector. */
+  public double dotProd(R2Vector that) {
+    return dotProd(this, that);
+  }
+
+  /** Returns the cross product of this vector with that vector. */
+  public double crossProd(final R2Vector that) {
+    return this.x * that.y - this.y * that.x;
+  }
+
+  /**
+   * Returns true if this vector is less than that vector, with the x-axis as the primary sort key
+   * and the y-axis as the secondary sort key.
+   */
+  public boolean lessThan(R2Vector that) {
+    if (x < that.x) {
+      return true;
+    }
+    if (that.x < x) {
+      return false;
+    }
+    if (y < that.y) {
+      return true;
+    }
+    return false;
+  }
+
+  /** Returns true if that object is an R2Vector with exactly the same x and y coordinates. */
+  @Override
+  public boolean equals(Object that) {
+    if (!(that instanceof R2Vector)) {
+      return false;
+    }
+    R2Vector thatPoint = (R2Vector) that;
+    return this.x == thatPoint.x && this.y == thatPoint.y;
+  }
+
+  /**
+   * Calcualates hashcode based on stored coordinates. Since we want +0.0 and -0.0 to be treated the
+   * same, we ignore the sign of the coordinates.
+   */
+  @Override
+  public int hashCode() {
+    long value = 17;
+    value += 37 * value + Double.doubleToLongBits(Math.abs(x));
+    value += 37 * value + Double.doubleToLongBits(Math.abs(y));
+    return (int) (value ^ (value >>> 32));
+  }
+
+  @Override
+  public String toString() {
+    return "(" + x + ", " + y + ")";
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/Real.java

@@ -0,0 +1,345 @@
+/*
+ * Copyright 2014 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtIncompatible;
+import java.math.BigDecimal;
+
+/**
+ * This class provides portable support for several exact arithmetic operations on double values,
+ * without loss of precision. It stores an array of double values, and operations that require
+ * additional bits of precision return Reals with larger arrays.
+ *
+ * <p>Converting a sequence of a dozen strictfp arithmetic operations to use Real can take up to 20
+ * times longer than the natural but imprecise approach of using built in double operators like +
+ * and *. Compared to other approaches like BigDecimal that consume more memory and typically slow
+ * operations down by a factor of 100, that's great, but use of this class should still be avoided
+ * when imprecise results will suffice.
+ *
+ * <p>This class exists as a package private element of the geometry library for the predicates in
+ * {@link S2Predicates}, that require arbitrary precision arithmetic. It could be made suitable for
+ * general usage by adding robust implementations of multiplication and division between two Reals,
+ * and a toString() implementation that prints the exact summation of all the components.
+ *
+ * <p>Many of the algorithms in this class were adapted from the multiple components technique for
+ * extended 64-bit IEEE 754 floating point precision, as described in:
+ *
+ * <pre>
+ * Robust Adaptive Floating-Point Geometric Predicates
+ * Jonathan Richard Shewchuk
+ * School of Computer Science
+ * Carnegie Mellon University
+ * </pre>
+ *
+ * <p>Faster adaptive techniques are also presented in that paper, but are not implemented here.
+ */
+@GwtIncompatible(value = "No javascript support for strictfp.")
+strictfp class Real extends Number {
+  private static final long serialVersionUID = 1L;
+
+  /**
+   * Used to split doubles into two half-length values, for exact multiplication. The value should
+   * be Math.pow(2, Math.ceil(mantissaBits / 2)) + 1.
+   */
+  private static final double SPLITTER;
+
+  static {
+    // Find half ulp(1). We could use Math.ulp but it's not supported on GWT.
+    double epsilon = 1.0;
+    do {
+      epsilon *= 0.5;
+    } while (1.0 + epsilon != 1.0);
+    int mantissaBits = (int) Math.round(-Math.log(epsilon) / Math.log(2));
+    SPLITTER = (1 << ((mantissaBits + 1) / 2)) + 1;
+  }
+
+  /** Returns the result of a + b, without loss of precision. */
+  public static Real add(double a, double b) {
+    double x = a + b;
+    double error = twoSumError(a, b, x);
+    return new Real(error, x);
+  }
+
+  /** Returns the result of a - b, without loss of precision. */
+  public static Real sub(double a, double b) {
+    double x = a - b;
+    double error = twoDiffError(a, b, x);
+    return new Real(error, x);
+  }
+
+  /** Returns the result of a * b, without loss of precision. */
+  public static Real mul(double a, double b) {
+    double x = a * b;
+    double bhi = splitHigh(b);
+    double blo = splitLow(b, bhi);
+    double error = twoProductError(a, bhi, blo, x);
+    return new Real(error, x);
+  }
+
+  /**
+   * A sequence of ordinary double values, ordered by magnitude in ascending order, containing no
+   * zeroes and with no overlapping base 2 digits.
+   */
+  private final double[] values;
+
+  /** Creates a Real based on the given double value. */
+  public Real(double value) {
+    values = new double[] {value};
+  }
+
+  private Real(double... values) {
+    this.values = values;
+  }
+
+  /** Returns the result of a + b, without loss of precision. */
+  public Real add(Real that) {
+    return add(this, that, false);
+  }
+
+  /** Returns the result of a - b, without loss of precision. */
+  public Real sub(Real that) {
+    return add(this, that, true);
+  }
+
+  /**
+   * Returns the result of adding together the components of a and b, inverting each element of b if
+   * negateB is true.
+   */
+  private static Real add(Real a, Real b, boolean negateB) {
+    double bSign = negateB ? -1 : 1;
+    double[] result = new double[a.values.length + b.values.length];
+    int aIndex = 0;
+    int bIndex = 0;
+
+    double sum;
+    double newSum;
+    double error;
+    if (smallerMagnitude(a.values[aIndex], b.values[bIndex])) {
+      sum = a.values[aIndex++];
+    } else {
+      sum = bSign * b.values[bIndex++];
+    }
+
+    int resultIndex = 0;
+    double smaller;
+    if ((aIndex < a.values.length) && (bIndex < b.values.length)) {
+      if (smallerMagnitude(a.values[aIndex], b.values[bIndex])) {
+        smaller = a.values[aIndex++];
+      } else {
+        smaller = bSign * b.values[bIndex++];
+      }
+      newSum = smaller + sum;
+      error = fastTwoSumError(smaller, sum, newSum);
+      sum = newSum;
+      if (error != 0.0) {
+        result[resultIndex++] = error;
+      }
+      while ((aIndex < a.values.length) && (bIndex < b.values.length)) {
+        if (smallerMagnitude(a.values[aIndex], b.values[bIndex])) {
+          smaller = a.values[aIndex++];
+        } else {
+          smaller = bSign * b.values[bIndex++];
+        }
+        newSum = sum + smaller;
+        error = twoSumError(sum, smaller, newSum);
+        sum = newSum;
+        if (error != 0.0) {
+          result[resultIndex++] = error;
+        }
+      }
+    }
+    while (aIndex < a.values.length) {
+      smaller = a.values[aIndex++];
+      newSum = sum + smaller;
+      error = twoSumError(sum, smaller, newSum);
+      sum = newSum;
+      if (error != 0.0) {
+        result[resultIndex++] = error;
+      }
+    }
+    while (bIndex < b.values.length) {
+      smaller = bSign * b.values[bIndex++];
+      newSum = sum + smaller;
+      error = twoSumError(sum, smaller, newSum);
+      sum = newSum;
+      if (error != 0.0) {
+        result[resultIndex++] = error;
+      }
+    }
+    if ((sum != 0.0) || (resultIndex == 0)) {
+      result[resultIndex++] = sum;
+    }
+
+    if (result.length > resultIndex) {
+      result = copyOf(result, resultIndex);
+    }
+    return new Real(result);
+  }
+
+  /** Returns true if the magnitude of a is less than the magnitude of b. */
+  private static boolean smallerMagnitude(double a, double b) {
+    return (b > a) == (b > -a);
+  }
+
+  /** Returns the result of this * scale, without loss of precision. */
+  public Real mul(double scale) {
+    double[] result = new double[values.length * 2];
+    double scaleHigh = splitHigh(scale);
+    double scaleLow = splitLow(scale, scaleHigh);
+    double quotient = values[0] * scale;
+    double error = twoProductError(values[0], scaleHigh, scaleLow, quotient);
+    int resultIndex = 0;
+    if (error != 0) {
+      result[resultIndex++] = error;
+    }
+    for (int i = 1; i < values.length; i++) {
+      double term = values[i] * scale;
+      double termError = twoProductError(values[i], scaleHigh, scaleLow, term);
+      double sum = quotient + termError;
+      error = twoSumError(quotient, termError, sum);
+      if (error != 0) {
+        result[resultIndex++] = error;
+      }
+      quotient = term + sum;
+      error = fastTwoSumError(term, sum, quotient);
+      if (error != 0) {
+        result[resultIndex++] = error;
+      }
+    }
+    if ((quotient != 0.0) || (resultIndex == 0)) {
+      result[resultIndex++] = quotient;
+    }
+    if (result.length > resultIndex) {
+      result = copyOf(result, resultIndex);
+    }
+    return new Real(result);
+  }
+
+  /** Returns the negative of this number. */
+  public Real negate() {
+    double[] copy = new double[values.length];
+    for (int i = values.length - 1; i >= 0; i--) {
+      copy[i] = -values[i];
+    }
+    return new Real(copy);
+  }
+
+  /** Returns the signum of this number more quickly than via Math.signum(doubleValue()). */
+  public int signum() {
+    double msb = values[values.length - 1];
+    if (msb > 0) {
+      return 1;
+    } else if (msb < 0) {
+      return -1;
+    } else {
+      return 0;
+    }
+  }
+
+  /** Returns the string representation of the double value nearest this Real. */
+  @Override
+  public String toString() {
+    return Double.toString(doubleValue());
+  }
+
+  @Override
+  public int intValue() {
+    return (int) longValue();
+  }
+
+  @Override
+  public long longValue() {
+    return Math.round(doubleValue());
+  }
+
+  @Override
+  public float floatValue() {
+    return (float) doubleValue();
+  }
+
+  @Override
+  public double doubleValue() {
+    // Since the components are guaranteed to have no overlapping digits, we
+    // could simply sum them without loss of precision... but to return a double
+    // we truncate to the 53 bits of the largest exponent.
+    double sum = 0;
+    for (double value : values) {
+      sum += value;
+    }
+    return sum;
+  }
+
+  /** Returns a BigDecimal representation of this extended precision real value. */
+  public BigDecimal bigValue() {
+    BigDecimal sum = new BigDecimal(values[0]);
+    for (int i = 1; i < values.length; i++) {
+      sum = sum.add(new BigDecimal(values[i]));
+    }
+    return sum.stripTrailingZeros();
+  }
+
+  private static double[] copyOf(double[] array, int newLength) {
+    double[] result = new double[newLength];
+    for (int i = 0; i < newLength; i++) {
+      result[i] = array[i];
+    }
+    return result;
+  }
+
+  /** Returns the error in the sum x=a+b, when |a|>=|b|. */
+  private static double fastTwoSumError(double a, double b, double x) {
+    return b - (x - a);
+  }
+
+  /**
+   * Returns the error in the sum x=a+b, when the relative magnitudes of a and b are not known in
+   * advance.
+   */
+  private static double twoSumError(double a, double b, double x) {
+    double error = x - a;
+    return (a - (x - error)) + (b - error);
+  }
+
+  /** Returns the error in the difference x=a-b. */
+  private static double twoDiffError(double a, double b, double x) {
+    double error = a - x;
+    return (a - (x + error)) + (error - b);
+  }
+
+  /** Returns the high split for the given value. */
+  private static double splitHigh(double a) {
+    double c = SPLITTER * a;
+    return c - (c - a);
+  }
+
+  /**
+   * Returns the low split for the given value and previously-computed high split as returned by
+   * {@link #splitHigh(double)}.
+   */
+  private static double splitLow(double a, double ahi) {
+    return a - ahi;
+  }
+
+  /** Returns the error in the product x=a*b, with precomputed splits for b. */
+  private static double twoProductError(double a, double bhi, double blo, double x) {
+    double ahi = splitHigh(a);
+    double alo = splitLow(a, ahi);
+    double err1 = x - (ahi * bhi);
+    double err2 = err1 - (alo * bhi);
+    double err3 = err2 - (ahi * blo);
+    return (alo * blo) - err3;
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/S1Angle.java

@@ -0,0 +1,285 @@
+/*
+ * Copyright 2005 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import com.google.common.primitives.Ints;
+import java.io.Serializable;
+import javax.annotation.CheckReturnValue;
+
+@GwtCompatible(serializable = true)
+public final strictfp class S1Angle implements Comparable<S1Angle>, Serializable {
+  /** An angle larger than any finite angle. */
+  public static final S1Angle INFINITY = new S1Angle(Double.POSITIVE_INFINITY);
+
+  /** An explicit shorthand for the default constructor. */
+  public static final S1Angle ZERO = new S1Angle();
+
+  private final double radians;
+
+  /** Returns the angle in radians. */
+  public double radians() {
+    return radians;
+  }
+
+  /** Returns the angle in degrees. */
+  public double degrees() {
+    return radians * (180 / Math.PI);
+  }
+
+  /**
+   * Returns angle in tens of microdegrees, rounded to the nearest ten microdegrees.
+   *
+   * <p>Normalized angles will never overflow an int.
+   *
+   * @throws IllegalArgumentException if the result overflows an int
+   */
+  public int e5() {
+    return Ints.checkedCast(Math.round(degrees() * 1e5));
+  }
+
+  /**
+   * Returns angle in microdegrees, rounded to the nearest microdegree.
+   *
+   * <p>Normalized angles will never overflow an int.
+   *
+   * @throws IllegalArgumentException if the result overflows an int
+   */
+  public int e6() {
+    return Ints.checkedCast(Math.round(degrees() * 1e6));
+  }
+
+  /**
+   * Returns angle in tenths of a microdegree, rounded to the nearest tenth of a microdegree.
+   *
+   * <p>Normalized angles will never overflow an int.
+   *
+   * @throws IllegalArgumentException if the result overflows an int
+   */
+  public int e7() {
+    return Ints.checkedCast(Math.round(degrees() * 1e7));
+  }
+
+  /** The default constructor yields a zero angle. */
+  public S1Angle() {
+    this.radians = 0;
+  }
+
+  private S1Angle(double radians) {
+    this.radians = radians;
+  }
+
+  /**
+   * Return the angle between two points, which is also equal to the distance between these points
+   * on the unit sphere. The points do not need to be normalized.
+   */
+  public S1Angle(S2Point x, S2Point y) {
+    this.radians = x.angle(y);
+  }
+
+  @Override
+  public boolean equals(Object that) {
+    if (that instanceof S1Angle) {
+      return this.radians == ((S1Angle) that).radians;
+    }
+    return false;
+  }
+
+  @Override
+  public int hashCode() {
+    long value = Double.doubleToLongBits(radians);
+    return (int) (value ^ (value >>> 32));
+  }
+
+  public boolean lessThan(S1Angle that) {
+    return this.radians < that.radians;
+  }
+
+  public boolean greaterThan(S1Angle that) {
+    return this.radians > that.radians;
+  }
+
+  public boolean lessOrEquals(S1Angle that) {
+    return this.radians <= that.radians;
+  }
+
+  public boolean greaterOrEquals(S1Angle that) {
+    return this.radians >= that.radians;
+  }
+
+  public static S1Angle max(S1Angle left, S1Angle right) {
+    return right.greaterThan(left) ? right : left;
+  }
+
+  public static S1Angle min(S1Angle left, S1Angle right) {
+    return right.greaterThan(left) ? left : right;
+  }
+
+  /** Returns a new S1Angle specified in radians. */
+  public static S1Angle radians(double radians) {
+    return new S1Angle(radians);
+  }
+
+  /**
+   * Returns a new S1Angle converted from degrees. Note that <code>degrees(x).degrees() == x</code>
+   * may not hold due to inexact arithmetic.
+   */
+  public static S1Angle degrees(double degrees) {
+    return new S1Angle(degrees * (Math.PI / 180));
+  }
+
+  /** Returns a new S1Angle converted from tens of microdegrees. */
+  public static S1Angle e5(int e5) {
+    return degrees(e5 * 1e-5);
+  }
+
+  /** Returns a new S1Angle converted from microdegrees. */
+  public static S1Angle e6(int e6) {
+    // Multiplying by 1e-6 isn't quite as accurate as dividing by 1e6,
+    // but it's about 10 times faster and more than accurate enough.
+    return degrees(e6 * 1e-6);
+  }
+
+  /** Returns a new S1Angle converted from tenths of a microdegree. */
+  public static S1Angle e7(int e7) {
+    return degrees(e7 * 1e-7);
+  }
+
+  /** Returns the distance along the surface of a sphere of the given radius. */
+  public double distance(double radius) {
+    return radians * radius;
+  }
+
+  public S1Angle neg() {
+    return new S1Angle(-radians);
+  }
+
+  /**
+   * Retuns an {@link S1Angle} whose angle is <code>(this + a)</code>.
+   */
+  @CheckReturnValue
+  public S1Angle add(S1Angle a) {
+    return new S1Angle(radians + a.radians);
+  }
+
+  /**
+   * Retuns an {@link S1Angle} whose angle is <code>(this - a)</code>.
+   */
+  @CheckReturnValue
+  public S1Angle sub(S1Angle a) {
+    return new S1Angle(radians - a.radians);
+  }
+
+  /**
+   * Retuns an {@link S1Angle} whose angle is <code>(this * m)</code>.
+   */
+  @CheckReturnValue
+  public S1Angle mul(double m) {
+    return new S1Angle(radians * m);
+  }
+
+  /**
+   * Retuns an {@link S1Angle} whose angle is <code>(this / d)</code>.
+   */
+  @CheckReturnValue
+  public S1Angle div(double d) {
+    return new S1Angle(radians / d);
+  }
+
+  /**
+   * Returns the trigonometric cosine of the angle.
+   */
+  public double cos() {
+    return Math.cos(radians);
+  }
+
+  /**
+   * Returns the trigonometric sine of the angle.
+   */
+  public double sin() {
+    return Math.sin(radians);
+  }
+
+  /**
+   * Returns the trigonometric tangent of the angle.
+   */
+  public double tan() {
+    return Math.tan(radians);
+  }
+
+  /**
+   * Returns the angle normalized to the range (-180, 180] degrees.
+   */
+  @CheckReturnValue
+  public S1Angle normalize() {
+    final boolean isNormalized = radians > -Math.PI && radians <= Math.PI;
+    if (isNormalized) {
+      return this;
+    }
+    double normalized = Platform.IEEEremainder(radians, 2.0 * Math.PI);
+    if (normalized <= -Math.PI) {
+      normalized = Math.PI;
+    }
+    assert normalized > -Math.PI;
+    assert normalized <= Math.PI;
+    return new S1Angle(normalized);
+  }
+
+  /**
+   * Writes the angle in degrees with a "d" suffix, e.g. "17.3745d". By default 6 digits are
+   * printed; this can be changed using setprecision(). Up to 17 digits are required to distinguish
+   * one angle from another.
+   */
+  @Override
+  public String toString() {
+    return degrees() + "d";
+  }
+
+  @Override
+  public int compareTo(S1Angle that) {
+    return this.radians < that.radians ? -1 : this.radians > that.radians ? 1 : 0;
+  }
+
+  /** Creates a new Builder initialized to a copy of this angle. */
+  public Builder toBuilder() {
+    return new Builder().add(this);
+  }
+
+  /** A builder of {@link S1Angle} instances. */
+  public static final class Builder {
+    private double radians;
+
+    /** Constructs a new builder initialized to {@link #ZERO}. */
+    public Builder() {}
+
+    /** Adds angle. */
+    public Builder add(S1Angle angle) {
+      radians += angle.radians;
+      return this;
+    }
+
+    /** Adds radians. */
+    public Builder add(double radians) {
+      this.radians += radians;
+      return this;
+    }
+
+    /** Returns a new {@link S1Angle} copied from the current state of this builder. */
+    public S1Angle build() {
+      return new S1Angle(radians);
+    }
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/S1ChordAngle.java

@@ -0,0 +1,363 @@
+/*
+ * Copyright 2014 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import static com.google.common.base.Preconditions.checkArgument;
+import static java.lang.Math.asin;
+import static java.lang.Math.sqrt;
+
+import com.google.common.annotations.GwtCompatible;
+import com.google.common.primitives.Doubles;
+import java.io.Serializable;
+
+/**
+ * S1ChordAngle represents the angle subtended by a chord (i.e., the straight 3D Cartesian line
+ * segment connecting two points on the unit sphere). Its representation makes it very efficient for
+ * computing and comparing distances, but unlike S1Angle it is only capable of representing angles
+ * between 0 and Pi radians. Generally, S1ChordAngle should only be used in loops where many angles
+ * need to be calculated and compared. Otherwise it is simpler to use S1Angle.
+ *
+ * <p>S1ChordAngle also loses some accuracy as the angle approaches Pi radians. Specifically, the
+ * representation of (Pi - x) radians can be expected to have an error of about (1e-15 / x), with a
+ * maximum error of about 1e-7.
+ */
+@GwtCompatible(serializable = true)
+public final strictfp class S1ChordAngle implements Comparable<S1ChordAngle>, Serializable {
+
+  /** Max value that can be returned from {@link #getLength2()}. */
+  public static final double MAX_LENGTH2 = 4.0;
+
+  /** The zero chord angle. */
+  public static final S1ChordAngle ZERO = new S1ChordAngle(0);
+
+  /** The chord angle of 90 degrees (a "right angle"). */
+  public static final S1ChordAngle RIGHT = new S1ChordAngle(2);
+
+  /** The chord angle of 180 degrees (a "straight angle"). This is the max finite chord angle. */
+  public static final S1ChordAngle STRAIGHT = new S1ChordAngle(MAX_LENGTH2);
+
+  /**
+   * A chord angle larger than any finite chord angle. The only valid operations on {@code INFINITY}
+   * are comparisons and {@link S1Angle} conversions.
+   */
+  public static final S1ChordAngle INFINITY = new S1ChordAngle(Double.POSITIVE_INFINITY);
+
+  /**
+   * A chord angle smaller than {@link #ZERO}. The only valid operations on {@code NEGATIVE} are
+   * comparisons and {@link S1Angle} conversions.
+   */
+  public static final S1ChordAngle NEGATIVE = new S1ChordAngle(-1);
+
+  private final double length2;
+
+  /**
+   * Constructs the S1ChordAngle corresponding to the distance between the two given points. The
+   * points must be unit length.
+   */
+  public S1ChordAngle(S2Point x, S2Point y) {
+    checkArgument(S2.isUnitLength(x));
+    checkArgument(S2.isUnitLength(y));
+    // The distance may slightly exceed 4.0 due to roundoff errors.
+    length2 = Math.min(MAX_LENGTH2, x.getDistance2(y));
+    checkArgument(isValid());
+  }
+
+  /**
+   * Returns a new chord angle approximated from {@code angle} (see {@link
+   * #getS1AngleConstructorMaxError()} for the max magnitude of the error).
+   *
+   * <p>Angles outside the range [0, Pi] are handled as follows:
+   *
+   * <ul>
+   *   <li>{@link S1Angle#INFINITY} is mapped to {@link #INFINITY}
+   *   <li>negative angles are mapped to {@link #NEGATIVE}
+   *   <li>finite angles larger than Pi are mapped to {@link #STRAIGHT}
+   * </ul>
+   *
+   * <p>Note that this operation is relatively expensive and should be avoided. To use {@link
+   * S1ChordAngle} effectively, you should structure your code so that input arguments are converted
+   * to S1ChordAngles at the beginning of your algorithm, and results are converted back to {@link
+   * S1Angle}s only at the end.
+   */
+  public static S1ChordAngle fromS1Angle(S1Angle angle) {
+    if (angle.radians() < 0) {
+      return NEGATIVE;
+    } else if (angle.equals(S1Angle.INFINITY)) {
+      return INFINITY;
+    } else {
+      // The chord length is 2 * sin(angle / 2).
+      double length = 2 * Math.sin(0.5 * Math.min(Math.PI, angle.radians()));
+      return new S1ChordAngle(length * length);
+    }
+  }
+
+  /**
+   * S1ChordAngles are represented by the squared chord length, which can range from 0 to {@code
+   * MAX_LENGTH2}. {@link #INFINITY} uses an infinite squared length.
+   */
+  private S1ChordAngle(double length2) {
+    this.length2 = length2;
+    checkArgument(isValid());
+  }
+
+  /**
+   * Construct an S1ChordAngle from the squared chord length. Note that the argument is
+   * automatically clamped to a maximum of {@code MAX_LENGTH2} to handle possible roundoff errors.
+   * The argument must be non-negative.
+   */
+  public static S1ChordAngle fromLength2(double length2) {
+    return new S1ChordAngle(Math.min(MAX_LENGTH2, length2));
+  }
+
+  /** Returns whether the chord distance is exactly 0. */
+  public boolean isZero() {
+    return length2 == 0;
+  }
+
+  /** Returns whether the chord distance is negative. */
+  public boolean isNegative() {
+    return length2 < 0;
+  }
+
+  /** Returns whether the chord distance is exactly (positive) infinity. */
+  public boolean isInfinity() {
+    return length2 == Double.POSITIVE_INFINITY;
+  }
+
+  /** Returns true if the angle is negative or infinity. */
+  public boolean isSpecial() {
+    return isNegative() || isInfinity();
+  }
+
+  /**
+   * Returns true if getLength2() is within the normal range of 0 to 4 (inclusive) or the angle is
+   * special.
+   */
+  public boolean isValid() {
+    return (length2 >= 0 && length2 <= MAX_LENGTH2) || isNegative() || isInfinity();
+  }
+
+  /**
+   * Convert the chord angle to an {@link S1Angle}. {@link #INFINITY} is converted to {@link
+   * S1Angle#INFINITY}, and {@link #NEGATIVE} is converted to a negative {@link S1Angle}. This
+   * operation is relatively expensive.
+   */
+  public S1Angle toAngle() {
+    if (isNegative()) {
+      return S1Angle.radians(-1);
+    } else if (isInfinity()) {
+      return S1Angle.INFINITY;
+    } else {
+      return S1Angle.radians(2 * asin(0.5 * sqrt(length2)));
+    }
+  }
+
+  /** The squared length of the chord. (Most clients will not need this.) */
+  public double getLength2() {
+    return length2;
+  }
+
+  /**
+   * Returns the smallest representable S1ChordAngle larger than this object. This can be used to
+   * convert a "<" comparison to a "<=" comparison.
+   *
+   * <p>Note the following special cases:
+   *
+   * <ul>
+   *   <li>NEGATIVE.successor() == ZERO
+   *   <li>STRAIGHT.successor() == INFINITY
+   *   <li>INFINITY.Successor() == INFINITY
+   * </ul>
+   */
+  public S1ChordAngle successor() {
+    if (length2 >= MAX_LENGTH2) {
+      return INFINITY;
+    }
+    if (length2 < 0.0) {
+      return ZERO;
+    }
+    return new S1ChordAngle(Platform.nextAfter(length2, 10.0));
+  }
+
+  /**
+   * As {@link #successor}, but returns the largest representable S1ChordAngle less than this
+   * object.
+   *
+   * <p>Note the following special cases:
+   *
+   * <ul>
+   *   <li>INFINITY.predecessor() == STRAIGHT
+   *   <li>ZERO.predecessor() == NEGATIVE
+   *   <li>NEGATIVE.predecessor() == NEGATIVE
+   * </ul>
+   */
+  public S1ChordAngle predecessor() {
+    if (length2 <= 0.0) {
+      return NEGATIVE;
+    }
+    if (length2 > MAX_LENGTH2) {
+      return STRAIGHT;
+    }
+    return new S1ChordAngle(Platform.nextAfter(length2, -10.0));
+  }
+
+  /**
+   * Returns a new S1ChordAngle whose chord distance represents the sum of the angular distances
+   * represented by the 'a' and 'b' chord angles.
+   *
+   * <p>Note that this method is much more efficient than converting the chord angles to S1Angles
+   * and adding those. It requires only one square root plus a few additions and multiplications.
+   */
+  public static S1ChordAngle add(S1ChordAngle a, S1ChordAngle b) {
+    checkArgument(!a.isSpecial());
+    checkArgument(!b.isSpecial());
+
+    // Optimization for the common case where "b" is an error tolerance parameter that happens to be
+    // set to zero.
+    double a2 = a.length2;
+    double b2 = b.length2;
+    if (b2 == 0) {
+      return a;
+    }
+
+    // Clamp the angle sum to at most 180 degrees.
+    if (a2 + b2 >= MAX_LENGTH2) {
+      return S1ChordAngle.STRAIGHT;
+    }
+
+    // Let "a" and "b" be the (non-squared) chord lengths, and let c = a+b.
+    // Let A, B, and C be the corresponding half-angles (a = 2*sin(A), etc).
+    // Then the formula below can be derived from c = 2 * sin(A+B) and the relationships
+    //   sin(A+B) = sin(A)*cos(B) + sin(B)*cos(A)
+    //   cos(X) = sqrt(1 - sin^2(X)) .
+    double x = a2 * (1 - 0.25 * b2); // isValid() => non-negative
+    double y = b2 * (1 - 0.25 * a2); // isValid() => non-negative
+    return new S1ChordAngle(Math.min(MAX_LENGTH2, x + y + 2 * sqrt(x * y)));
+  }
+
+  /**
+   * Subtract one S1ChordAngle from another.
+   *
+   * <p>Note that this method is much more efficient than converting the chord angles to S1Angles
+   * and adding those. It requires only one square root plus a few additions and multiplications.
+   */
+  public static S1ChordAngle sub(S1ChordAngle a, S1ChordAngle b) {
+    // See comments in add(S1ChordAngle, S1ChordAngle).
+    checkArgument(!a.isSpecial());
+    checkArgument(!b.isSpecial());
+    double a2 = a.length2;
+    double b2 = b.length2;
+    if (b2 == 0) {
+      return a;
+    }
+    if (a2 <= b2) {
+      return S1ChordAngle.ZERO;
+    }
+    double x = a2 * (1 - 0.25 * b2);
+    double y = b2 * (1 - 0.25 * a2);
+    return new S1ChordAngle(Math.max(0.0, x + y - 2 * sqrt(x * y)));
+  }
+
+  /** Returns the smaller of the given instances. */
+  public static S1ChordAngle min(S1ChordAngle a, S1ChordAngle b) {
+    return a.length2 <= b.length2 ? a : b;
+  }
+
+  /** Returns the larger of the given instances. */
+  public static S1ChordAngle max(S1ChordAngle a, S1ChordAngle b) {
+    return a.length2 > b.length2 ? a : b;
+  }
+
+  /** Returns the square of Math.sin(toAngle().radians()), but computed more efficiently. */
+  public static double sin2(S1ChordAngle a) {
+    checkArgument(!a.isSpecial());
+    // Let "a" be the (non-squared) chord length, and let A be the corresponding half-angle
+    // (a = 2*sin(A)). The formula below can be derived from:
+    //   sin(2*A) = 2 * sin(A) * cos(A)
+    //   cos^2(A) = 1 - sin^2(A)
+    // This is much faster than converting to an angle and computing its sine.
+    return a.length2 * (1 - 0.25 * a.length2);
+  }
+
+  /** Returns Math.sin(toAngle().radians()), but computed more efficiently. */
+  public static double sin(S1ChordAngle a) {
+    return sqrt(sin2(a));
+  }
+
+  /** Returns Math.cos(toAngle().radians()), but computed more efficiently. */
+  public static double cos(S1ChordAngle a) {
+    // cos(2*A) = cos^2(A) - sin^2(A) = 1 - 2*sin^2(A)
+    checkArgument(!a.isSpecial());
+    return 1 - 0.5 * a.length2;
+  }
+
+  /** Returns Math.tan(toAngle().radians()), but computed more efficiently. */
+  public static double tan(S1ChordAngle a) {
+    return sin(a) / cos(a);
+  }
+
+  /**
+   * Returns a new S1ChordAngle that has been adjusted by the given error bound (which can be
+   * positive or negative). {@code error} should be the value returned by one of the error bound
+   * methods below. For example:
+   *
+   * <pre>
+   *    {@code S1ChordAngle a = new S1ChordAngle(x, y);}
+   *    {@code S1ChordAngle a1 = a.plusError(a.getS2PointConstructorMaxError());}
+   * </pre>
+   *
+   * <p>If this {@link #isSpecial}, we return {@code this}.
+   */
+  public S1ChordAngle plusError(double error) {
+    return isSpecial() ? this : fromLength2(Math.max(0.0, Math.min(MAX_LENGTH2, length2 + error)));
+  }
+
+  /** Returns the error in {@link #fromS1Angle}. */
+  public double getS1AngleConstructorMaxError() {
+    return S2.DBL_EPSILON * length2;
+  }
+
+  /**
+   * There is a relative error of {@code 2.5 * DBL_EPSILON} when computing the squared distance,
+   * plus a relative error of {@code 2 * DBL_EPSILON} and an absolute error of {@code 16 *
+   * DBL_EPSILON^2} because the lengths of the input points may differ from 1 by up to {@code 2 *
+   * DBL_EPSILON} each. (This is the maximum length error in {@link S2Point#normalize}).
+   */
+  public double getS2PointConstructorMaxError() {
+    return (4.5 * S2.DBL_EPSILON * length2) + (16 * S2.DBL_EPSILON * S2.DBL_EPSILON);
+  }
+
+  /** Returns the string of the closest {@link S1Angle} to this chord distance. */
+  @Override
+  public String toString() {
+    return toAngle().toString();
+  }
+
+  @Override
+  public int compareTo(S1ChordAngle that) {
+    return Double.compare(this.length2, that.length2);
+  }
+
+  @Override
+  public boolean equals(Object other) {
+    return (other instanceof S1ChordAngle) && length2 == ((S1ChordAngle) other).length2;
+  }
+
+  @Override
+  public int hashCode() {
+    return length2 == 0.0 ? 0 : Doubles.hashCode(length2);
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/S1Interval.java

@@ -0,0 +1,670 @@
+/*
+ * Copyright 2005 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import java.io.Serializable;
+import javax.annotation.CheckReturnValue;
+
+/**
+ * An S1Interval represents a closed interval on a unit circle (also known as a 1-dimensional
+ * sphere). It is capable of representing the empty interval (containing no points), the full
+ * interval (containing all points), and zero-length intervals (containing a single point).
+ *
+ * <p>Points are represented by the angle they make with the positive x-axis in the range [-Pi, Pi].
+ * An interval is represented by its lower and upper bounds (both inclusive, since the interval is
+ * closed). The lower bound may be greater than the upper bound, in which case the interval is
+ * "inverted" (i.e. it passes through the point (-1, 0)).
+ *
+ * <p>Note that the point (-1, 0) has two valid representations, Pi and -Pi. The normalized
+ * representation of this point internally is Pi, so that endpoints of normal intervals are in the
+ * range (-Pi, Pi]. However, we take advantage of the point -Pi to construct two special intervals:
+ * the full() interval is [-Pi, Pi], and the Empty() interval is [Pi, -Pi].
+ *
+ */
+@GwtCompatible(serializable = true)
+public final strictfp class S1Interval implements Cloneable, Serializable {
+  private double lo;
+  private double hi;
+
+  public S1Interval() {
+    setEmpty();
+  }
+
+  /**
+   * Both endpoints must be in the range -Pi to Pi inclusive. The value -Pi is converted internally
+   * to Pi except for the full() and empty() intervals.
+   */
+  public S1Interval(double lo, double hi) {
+    this(lo, hi, false);
+  }
+
+  /** Copy constructor. Assumes that the {@code interval} is valid. */
+  public S1Interval(S1Interval interval) {
+    this.lo = interval.lo;
+    this.hi = interval.hi;
+  }
+
+  /**
+   * Internal constructor that just passes the arguments down to {@link #set(double, double,
+   * boolean)}.
+   */
+  private S1Interval(double lo, double hi, boolean checked) {
+    set(lo, hi, checked);
+  }
+
+  /**
+   * Assigns the range of this interval, assuming both arguments are in the correct range, i.e.
+   * normalization from -Pi to Pi is already done. If {@code checked} is false, endpoints at -Pi
+   * will be moved to +Pi unless the other endpoint is already there.
+   *
+   * <p>Note that because S1Interval has invariants to maintain after each update, values cannot be
+   * set singly, both endpoints must be set together.
+   */
+  void set(double newLo, double newHi, boolean checked) {
+    this.lo = newLo;
+    this.hi = newHi;
+    if (!checked) {
+      if (newLo == -S2.M_PI && newHi != S2.M_PI) {
+        lo = S2.M_PI;
+      }
+      if (newHi == -S2.M_PI && newLo != S2.M_PI) {
+        hi = S2.M_PI;
+      }
+    }
+  }
+
+  /**
+   * Sets the range of this interval to the empty interval.
+   *
+   * <p>Package private since only S2 code needs to mutate S1Intervals for now.
+   */
+  void setEmpty() {
+    lo = S2.M_PI;
+    hi = -S2.M_PI;
+  }
+
+  /**
+   * Sets the range of this interval to the full interval.
+   *
+   * <p>Package private since only S2 code needs to mutate S1Intervals for now.
+   */
+  void setFull() {
+    lo = -S2.M_PI;
+    hi = S2.M_PI;
+  }
+
+  public static S1Interval empty() {
+    S1Interval result = new S1Interval();
+    result.setEmpty();
+    return result;
+  }
+
+  public static S1Interval full() {
+    S1Interval result = new S1Interval();
+    result.setFull();
+    return result;
+  }
+
+  /** Convenience method to construct an interval containing a single point. */
+  public static S1Interval fromPoint(double radians) {
+    if (radians == -S2.M_PI) {
+      radians = S2.M_PI;
+    }
+    return new S1Interval(radians, radians, true);
+  }
+
+  /**
+   * Convenience method to construct the minimal interval containing the two given points. This is
+   * equivalent to starting with an empty interval and calling addPoint() twice, but it is more
+   * efficient.
+   */
+  public static S1Interval fromPointPair(double p1, double p2) {
+    // assert (Math.abs(p1) <= S2.M_PI && Math.abs(p2) <= S2.M_PI);
+    S1Interval result = new S1Interval();
+    result.initFromPointPair(p1, p2);
+    return result;
+  }
+
+  void initFromPointPair(double p1, double p2) {
+    if (p1 == -S2.M_PI) {
+      p1 = S2.M_PI;
+    }
+    if (p2 == -S2.M_PI) {
+      p2 = S2.M_PI;
+    }
+    if (positiveDistance(p1, p2) <= S2.M_PI) {
+      this.lo = p1;
+      this.hi = p2;
+    } else {
+      this.lo = p2;
+      this.hi = p1;
+    }
+  }
+
+  public double lo() {
+    return lo;
+  }
+
+  public double hi() {
+    return hi;
+  }
+
+  /**
+   * An interval is valid if neither bound exceeds Pi in absolute value, and the value -Pi appears
+   * only in the Empty() and full() intervals.
+   */
+  public boolean isValid() {
+    return (Math.abs(lo) <= S2.M_PI
+        && Math.abs(hi) <= S2.M_PI
+        && !(lo == -S2.M_PI && hi != S2.M_PI)
+        && !(hi == -S2.M_PI && lo != S2.M_PI));
+  }
+
+  /** Returns true if the interval contains all points on the unit circle. */
+  public boolean isFull() {
+    return hi - lo == 2 * S2.M_PI;
+  }
+
+  /** Returns true if the interval is empty, i.e. it contains no points. */
+  public boolean isEmpty() {
+    return lo - hi == 2 * S2.M_PI;
+  }
+
+  /** Returns true if lo() > hi(). (This is true for empty intervals.) */
+  public boolean isInverted() {
+    return lo > hi;
+  }
+
+  /**
+   * Returns the midpoint of the interval. For full and empty intervals, the result is arbitrary.
+   */
+  public double getCenter() {
+    double center = 0.5 * (lo + hi);
+    if (!isInverted()) {
+      return center;
+    }
+    // Return the center in the range (-Pi, Pi].
+    return (center <= 0) ? (center + S2.M_PI) : (center - S2.M_PI);
+  }
+
+  /** Returns the length of the interval. The length of an empty interval is negative. */
+  public double getLength() {
+    double length = hi - lo;
+    if (length >= 0) {
+      return length;
+    }
+    length += 2 * S2.M_PI;
+    // Empty intervals have a negative length.
+    return (length > 0) ? length : -1;
+  }
+
+  /**
+   * Return the complement of the interior of the interval. An interval and its complement have the
+   * same boundary but do not share any interior values. The complement operator is not a bijection,
+   * since the complement of a singleton interval (containing a single value) is the same as the
+   * complement of an empty interval.
+   */
+  public S1Interval complement() {
+    if (lo == hi) {
+      return full(); // Singleton.
+    }
+    return new S1Interval(hi, lo, true); // Handles
+    // empty and
+    // full.
+  }
+
+  /**
+   * Return the midpoint of the complement of the interval. For full and empty intervals, the result
+   * is arbitrary. For a singleton interval (containing a single point), the result is its antipodal
+   * point on S1.
+   */
+  public double getComplementCenter() {
+    if (lo() != hi()) {
+      return complement().getCenter();
+    } else { // Singleton.
+      return (hi() <= 0) ? (hi() + S2.M_PI) : (hi() - S2.M_PI);
+    }
+  }
+
+  /** Returns true if the interval (which is closed) contains the point 'p'. */
+  public boolean contains(double p) {
+    // Works for empty, full, and singleton intervals.
+    // assert (Math.abs(p) <= S2.M_PI);
+    if (p == -S2.M_PI) {
+      p = S2.M_PI;
+    }
+    return fastContains(p);
+  }
+
+  /**
+   * Returns true if the interval (which is closed) contains the point 'p'. Skips the normalization
+   * of 'p' from -Pi to Pi.
+   */
+  public boolean fastContains(double p) {
+    if (isInverted()) {
+      return (p >= lo || p <= hi) && !isEmpty();
+    } else {
+      return p >= lo && p <= hi;
+    }
+  }
+
+  /** Returns true if the interior of the interval contains the point 'p'. */
+  public boolean interiorContains(double p) {
+    // Works for empty, full, and singleton intervals.
+    // assert (Math.abs(p) <= S2.M_PI);
+    if (p == -S2.M_PI) {
+      p = S2.M_PI;
+    }
+
+    if (isInverted()) {
+      return p > lo || p < hi;
+    } else {
+      return (p > lo && p < hi) || isFull();
+    }
+  }
+
+  /**
+   * Returns true if the interval contains the interval {@code y}. Works for empty, full, and
+   * singleton intervals.
+   */
+  public boolean contains(final S1Interval y) {
+    // It might be helpful to compare the structure of these tests to
+    // the simpler Contains(double) method above.
+
+    if (isInverted()) {
+      if (y.isInverted()) {
+        return y.lo >= lo && y.hi <= hi;
+      }
+      return (y.lo >= lo || y.hi <= hi) && !isEmpty();
+    } else {
+      if (y.isInverted()) {
+        return isFull() || y.isEmpty();
+      }
+      return y.lo >= lo && y.hi <= hi;
+    }
+  }
+
+  /**
+   * Returns true if the interior of this interval contains the entire interval 'y'. Note that
+   * x.interiorContains(x) is true only when x is the empty or full interval, and
+   * x.interiorContains(S1Interval(p,p)) is equivalent to x.InteriorContains(p).
+   */
+  public boolean interiorContains(final S1Interval y) {
+    if (isInverted()) {
+      if (!y.isInverted()) {
+        return y.lo > lo || y.hi < hi;
+      }
+      return (y.lo > lo && y.hi < hi) || y.isEmpty();
+    } else {
+      if (y.isInverted()) {
+        return isFull() || y.isEmpty();
+      }
+      return (y.lo > lo && y.hi < hi) || isFull();
+    }
+  }
+
+  /**
+   * Returns true if the two intervals contain any points in common. Note that the point +/-Pi has
+   * two representations, so the intervals [-Pi,-3] and [2,Pi] intersect, for example.
+   */
+  public boolean intersects(final S1Interval y) {
+    if (isEmpty() || y.isEmpty()) {
+      return false;
+    }
+    if (isInverted()) {
+      // Every non-empty inverted interval contains Pi.
+      return y.isInverted() || y.lo <= hi || y.hi >= lo;
+    } else {
+      if (y.isInverted()) {
+        return y.lo <= hi || y.hi >= lo;
+      }
+      return y.lo <= hi && y.hi >= lo;
+    }
+  }
+
+  /**
+   * Returns true if the interior of this interval contains any point of the interval {@code y}
+   * (including its boundary). Works for empty, full, and singleton intervals.
+   */
+  public boolean interiorIntersects(final S1Interval y) {
+    if (isEmpty() || y.isEmpty() || lo == hi) {
+      return false;
+    }
+    if (isInverted()) {
+      return y.isInverted() || y.lo < hi || y.hi > lo;
+    } else {
+      if (y.isInverted()) {
+        return y.lo < hi || y.hi > lo;
+      }
+      return (y.lo < hi && y.hi > lo) || isFull();
+    }
+  }
+
+  /**
+   * Return the Hausdorff distance to the given interval {@code y}. For two S1Intervals x and y,
+   * this distance is defined by {@code h(x, y) = max_{p in x} min_{q in y} d(p, q)}, where {@code
+   * d(.,.)} is measured along S1.
+   */
+  public double getDirectedHausdorffDistance(final S1Interval y) {
+    if (y.contains(this)) {
+      return 0.0; // this includes the case *this is empty
+    }
+    if (y.isEmpty()) {
+      return S2.M_PI; // maximum possible distance on S1
+    }
+
+    double yComplementCenter = y.getComplementCenter();
+    if (contains(yComplementCenter)) {
+      return positiveDistance(y.hi(), yComplementCenter);
+    } else {
+      // The Hausdorff distance is realized by either two hi() endpoints or two
+      // lo() endpoints, whichever is farther apart.
+      double hiHi =
+          new S1Interval(y.hi(), yComplementCenter).contains(hi())
+              ? positiveDistance(y.hi(), hi())
+              : 0;
+      double loLo =
+          new S1Interval(yComplementCenter, y.lo()).contains(lo())
+              ? positiveDistance(lo(), y.lo())
+              : 0;
+      // assert (hiHi > 0 || loLo > 0);
+      return Math.max(hiHi, loLo);
+    }
+  }
+
+  /**
+   * Expands the interval by the minimum amount necessary so that it contains the point {@code p}
+   * (an angle in the range [-Pi, Pi]).
+   */
+  @CheckReturnValue
+  public S1Interval addPoint(double p) {
+    // assert (Math.abs(p) <= S2.M_PI);
+    if (p == -S2.M_PI) {
+      p = S2.M_PI;
+    }
+
+    if (fastContains(p)) {
+      return new S1Interval(this);
+    }
+
+    if (isEmpty()) {
+      return S1Interval.fromPoint(p);
+    } else {
+      // Compute distance from p to each endpoint.
+      double dlo = positiveDistance(p, lo);
+      double dhi = positiveDistance(hi, p);
+      if (dlo < dhi) {
+        return new S1Interval(p, hi);
+      } else {
+        return new S1Interval(lo, p);
+      }
+      // Adding a point can never turn a non-full interval into a full one.
+    }
+  }
+
+  /**
+   * Returns the closest point in the interval to the point {@code p}. The interval must be
+   * non-empty.
+   */
+  public double clampPoint(double p) {
+    // assert (!isEmpty());
+    // assert (Math.abs(p) <= S2.M_PI);
+    if (p == -S2.M_PI) {
+      p = S2.M_PI;
+    }
+
+    if (fastContains(p)) {
+      return p;
+    }
+
+    // Compute distance from p to each endpoint.
+    double dlo = positiveDistance(p, lo);
+    double dhi = positiveDistance(hi, p);
+    return (dlo < dhi) ? lo : hi;
+  }
+
+  /**
+   * Returns a new interval that has been expanded on each side by the distance {@code margin}. If
+   * "margin" is negative, then shrink the interval on each side by "margin" instead. The resulting
+   * interval may be empty or full. Any expansion (positive or negative) of a full interval remains
+   * full, and any expansion of an empty interval remains empty.
+   */
+  @CheckReturnValue
+  public S1Interval expanded(double margin) {
+    S1Interval copy = new S1Interval(this);
+    copy.expandedInternal(margin);
+    return copy;
+  }
+
+  /**
+   * Expands this interval on each side by the distance {@code margin}. If "margin" is negative,
+   * then shrink the interval on each side by "margin" instead. The resulting interval may be empty
+   * or full. Any expansion (positive or negative) of a full interval remains full, and any
+   * expansion of an empty interval remains empty.
+   *
+   * <p>Package private since only S2 code should be mutating S1Intervals for now.
+   */
+  void expandedInternal(double margin) {
+    if (margin >= 0) {
+      if (isEmpty()) {
+        return;
+      }
+      // Check whether this interval will be full after expansion, allowing
+      // for a 1-bit rounding error when computing each endpoint.
+      if (getLength() + 2 * margin + 2 * S2.DBL_EPSILON >= 2 * S2.M_PI) {
+        setFull();
+        return;
+      }
+    } else {
+      if (isFull()) {
+        return;
+      }
+      // Check whether this interval will be empty after expansion, allowing
+      // for a 1-bit rounding error when computing each endpoint.
+      if (getLength() + 2 * margin - 2 * S2.DBL_EPSILON <= 0) {
+        setEmpty();
+        return;
+      }
+    }
+
+    set(
+        Platform.IEEEremainder(lo - margin, 2 * S2.M_PI),
+        Platform.IEEEremainder(hi + margin, 2 * S2.M_PI),
+        false);
+    if (lo <= -S2.M_PI) {
+      lo = S2.M_PI;
+    }
+  }
+
+  /** Returns the smallest interval that contains this interval and the interval {@code y}. */
+  @CheckReturnValue
+  public S1Interval union(S1Interval y) {
+    S1Interval result = new S1Interval(this);
+    result.unionInternal(y);
+    return result;
+  }
+
+  /**
+   * Sets this interval to the union of the current interval and {@code y}.
+   *
+   * <p>Package private since only S2 classes are intended to mutate S1Intervals for now.
+   */
+  void unionInternal(S1Interval y) {
+    // The y.isFull() case is handled correctly in all cases by the code
+    // below, but can follow three separate code paths depending on whether
+    // this interval is inverted, is non-inverted but contains Pi, or neither.
+    if (!y.isEmpty()) {
+      if (fastContains(y.lo)) {
+        if (fastContains(y.hi)) {
+          // Either this interval contains y, or the union of the two
+          // intervals is the full interval.
+          if (!contains(y)) {
+            setFull();
+          }
+        } else {
+          hi = y.hi;
+        }
+      } else if (fastContains(y.hi)) {
+        lo = y.lo;
+      } else if (isEmpty() || y.fastContains(lo)) {
+        // This interval contains neither endpoint of y. This means that either y
+        // contains all of this interval, or the two intervals are disjoint.
+        lo = y.lo;
+        hi = y.hi;
+      } else {
+        // Check which pair of endpoints are closer together.
+        double dlo = positiveDistance(y.hi, lo);
+        double dhi = positiveDistance(hi, y.lo);
+        if (dlo < dhi) {
+          lo = y.lo;
+        } else {
+          hi = y.hi;
+        }
+      }
+    }
+  }
+
+  /**
+   * Returns the value of the given endpoint in this interval, which must be 0 for the low end, or 1
+   * for the high end.
+   */
+  public double get(int endpoint) {
+    if (endpoint < 0 || endpoint > 1) {
+      throw new ArrayIndexOutOfBoundsException();
+    }
+    return endpoint == 0 ? lo : hi;
+  }
+
+  /**
+   * Returns the smallest interval that contains the intersection of this interval with {@code y}.
+   * Note that the region of intersection may consist of two disjoint intervals.
+   */
+  @CheckReturnValue
+  public S1Interval intersection(final S1Interval y) {
+    S1Interval result = new S1Interval(this);
+    result.intersectionInternal(y);
+    return result;
+  }
+
+  /**
+   * Sets this interval to the intersection of the current interval and {@code y}.
+   *
+   * <p>Package private since only S2 classes are intended to mutate S1Intervals for now.
+   */
+  void intersectionInternal(final S1Interval y) {
+    // The y.isFull() case is handled correctly in all cases by the code below, but can follow three
+    // separate code paths depending on whether this interval is inverted, is non-inverted but
+    // contains Pi, or neither.
+
+    if (y.isEmpty()) {
+      this.setEmpty();
+    } else if (fastContains(y.lo)) {
+      if (fastContains(y.hi)) {
+        // Either this interval contains y, or the region of intersection consists of two disjoint
+        // subintervals. In either case, we want to set the interval to the shorter of the two
+        // original intervals.
+        if (y.getLength() < getLength()) {
+          this.set(y.lo, y.hi, true); // isFull() code path
+        }
+      } else {
+        this.set(y.lo, hi, true);
+      }
+    } else if (fastContains(y.hi)) {
+      this.set(lo, y.hi, true);
+    } else {
+      // This interval contains neither endpoint of y. This means that either y
+      // contains all of this interval, or the two intervals are disjoint.
+      if (!y.fastContains(lo)) {
+        // assert (!intersects(y));
+        this.setEmpty();
+      }
+    }
+  }
+
+  /**
+   * Returns true if this interval can be transformed into the interval {@code y} by moving each
+   * endpoint by at most "maxError" (and without the endpoints crossing, which would invert the
+   * interval). Empty and full intervals are considered to start at an arbitrary point on the unit
+   * circle, thus any interval with (length <= 2*maxError) matches the empty interval, and any
+   * interval with (length >= 2*Pi - 2*maxError) matches the full interval.
+   */
+  public boolean approxEquals(S1Interval y, double maxError) {
+    // Full and empty intervals require special cases because the "endpoints"
+    // are considered to be positioned arbitrarily.
+    if (isEmpty()) {
+      return y.getLength() <= 2 * maxError;
+    }
+    if (y.isEmpty()) {
+      return getLength() <= 2 * maxError;
+    }
+    if (isFull()) {
+      return y.getLength() >= 2 * (S2.M_PI - maxError);
+    }
+    if (y.isFull()) {
+      return getLength() >= 2 * (S2.M_PI - maxError);
+    }
+
+    // The purpose of the last test below is to verify that moving the endpoints
+    // does not invert the interval, e.g. [-1e20, 1e20] vs. [1e20, -1e20].
+    return (Math.abs(Platform.IEEEremainder(y.lo - lo, 2 * S2.M_PI)) <= maxError
+        && Math.abs(Platform.IEEEremainder(y.hi - hi, 2 * S2.M_PI)) <= maxError
+        && Math.abs(getLength() - y.getLength()) <= 2 * maxError);
+  }
+
+  /** As {@link #approxEquals(S1Interval, double)}, with a default maxError of 1e-15. */
+  public boolean approxEquals(final S1Interval y) {
+    return approxEquals(y, 1e-15);
+  }
+
+  /** Returns true if two intervals contains the same set of points. */
+  @Override
+  public boolean equals(Object that) {
+    if (that instanceof S1Interval) {
+      S1Interval thatInterval = (S1Interval) that;
+      return lo == thatInterval.lo && hi == thatInterval.hi;
+    }
+    return false;
+  }
+
+  @Override
+  public int hashCode() {
+    long value = 17;
+    value = 37 * value + Double.doubleToLongBits(lo);
+    value = 37 * value + Double.doubleToLongBits(hi);
+    return (int) ((value >>> 32) ^ value);
+  }
+
+  @Override
+  public String toString() {
+    return "[" + this.lo + ", " + this.hi + "]";
+  }
+
+  /**
+   * Computes the distance from {@code a} to {@code b} in the range [0, 2*Pi). This is equivalent to
+   * {@code drem(b - a - S2.M_PI, 2 * S2.M_PI) + S2.M_PI}, except that it is more numerically stable
+   * (it does not lose precision for very small positive distances).
+   */
+  public static double positiveDistance(double a, double b) {
+    double d = b - a;
+    if (d >= 0) {
+      return d;
+    }
+    // We want to ensure that if b == Pi and a == (-Pi + eps),
+    // the return result is approximately 2*Pi and not zero.
+    return (b + S2.M_PI) - (a - S2.M_PI);
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/S2.java

@@ -0,0 +1,654 @@
+/*
+ * Copyright 2005 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+
+import androidx.core.util.Preconditions;
+
+public final strictfp class S2 {
+  // Declare some frequently used constants
+  public static final double M_PI = Math.PI;
+  public static final double M_1_PI = 1.0 / Math.PI;
+  public static final double M_PI_2 = Math.PI / 2.0;
+  public static final double M_PI_4 = Math.PI / 4.0;
+  /** Inverse of the root of 2. */
+  public static final double M_SQRT1_2 = 1 / Math.sqrt(2);
+
+  public static final double M_SQRT2 = Math.sqrt(2);
+  public static final double M_E = Math.E;
+
+  /** The smallest floating-point value {@code x} such that {@code (1 + x != 1)}. */
+  public static final double DBL_EPSILON;
+
+  static {
+    double machEps = 1.0d;
+    do {
+      machEps /= 2.0f;
+    } while ((1.0 + (machEps / 2.0)) != 1.0);
+    DBL_EPSILON = machEps;
+  }
+
+  // This point is about 66km from the north pole towards the East Siberian Sea.  See the unit test
+  // for more details. It is written here using constant components to avoid computational errors
+  // from producting a different value than other implementations of S2.
+  private static final S2Point ORIGIN =
+      new S2Point(-0.0099994664350250197, 0.0025924542609324121, 0.99994664350250195);
+
+  // Together these flags define a cell orientation. If SWAP_MASK
+  // is true, then canonical traversal order is flipped around the
+  // diagonal (i.e. i and j are swapped with each other). If
+  // INVERT_MASK is true, then the traversal order is rotated by 180
+  // degrees (i.e. the bits of i and j are inverted, or equivalently,
+  // the axis directions are reversed).
+  public static final int SWAP_MASK = 0x01;
+  public static final int INVERT_MASK = 0x02;
+
+  /** Mapping Hilbert traversal order to orientation adjustment mask. */
+  private static final int[] posToOrientation = {SWAP_MASK, 0, 0, INVERT_MASK + SWAP_MASK};
+
+  /**
+   * Returns an XOR bit mask indicating how the orientation of a child subcell is related to the
+   * orientation of its parent cell. The returned value can be XOR'd with the parent cell's
+   * orientation to give the orientation of the child cell.
+   *
+   * @param position the position of the subcell in the Hilbert traversal, in the range [0,3].
+   * @return a bit mask containing some combination of {@link #SWAP_MASK} and {@link #INVERT_MASK}.
+   * @throws IllegalArgumentException if position is out of bounds.
+   */
+  public static int posToOrientation(int position) {
+    Preconditions.checkArgument(0 <= position && position < 4);
+    return posToOrientation[position];
+  }
+
+  /** Mapping from cell orientation + Hilbert traversal to IJ-index. */
+  private static final int[][] posToIj = {
+    // 0 1 2 3
+    {0, 1, 3, 2}, // canonical order: (0,0), (0,1), (1,1), (1,0)
+    {0, 2, 3, 1}, // axes swapped: (0,0), (1,0), (1,1), (0,1)
+    {3, 2, 0, 1}, // bits inverted: (1,1), (1,0), (0,0), (0,1)
+    {3, 1, 0, 2}, // swapped & inverted: (1,1), (0,1), (0,0), (1,0)
+  };
+
+  /**
+   * Return the IJ-index of the subcell at the given position in the Hilbert curve traversal with
+   * the given orientation. This is the inverse of {@link #ijToPos}.
+   *
+   * @param orientation the subcell orientation, in the range [0,3].
+   * @param position the position of the subcell in the Hilbert traversal, in the range [0,3].
+   * @return the IJ-index where {@code 0->(0,0), 1->(0,1), 2->(1,0), 3->(1,1)}.
+   * @throws IllegalArgumentException if either parameter is out of bounds.
+   */
+  public static int posToIJ(int orientation, int position) {
+    return posToIj[orientation][position];
+  }
+
+  /** Mapping from Hilbert traversal order + cell orientation to IJ-index. */
+  private static final int[][] IJ_TO_POS = {
+    // (0,0) (0,1) (1,0) (1,1)
+    {0, 1, 3, 2}, // canonical order
+    {0, 3, 1, 2}, // axes swapped
+    {2, 3, 1, 0}, // bits inverted
+    {2, 1, 3, 0}, // swapped & inverted
+  };
+
+  /**
+   * Returns the order in which a specified subcell is visited by the Hilbert curve. This is the
+   * inverse of {@link #posToIJ}.
+   *
+   * @param orientation the subcell orientation, in the range [0,3].
+   * @param ijIndex the subcell index where {@code 0->(0,0), 1->(0,1), 2->(1,0), 3->(1,1)}.
+   * @return the position of the subcell in the Hilbert traversal, in the range [0,3].
+   * @throws IllegalArgumentException if either parameter is out of bounds.
+   */
+  public static final int ijToPos(int orientation, int ijIndex) {
+    return IJ_TO_POS[orientation][ijIndex];
+  }
+
+  /** Defines an area or a length cell metric. */
+  public static final class Metric {
+    // NOTE: This isn't GWT serializable because writing custom field serializers for inner classes
+    // is hard.
+
+    private final double deriv;
+    private final int dim;
+
+    /** Defines a cell metric of the given dimension (1 == length, 2 == area). */
+    public Metric(int dim, double deriv) {
+      this.deriv = deriv;
+      this.dim = dim;
+    }
+
+    /**
+     * The "deriv" value of a metric is a derivative, and must be multiplied by a length or area in
+     * (s,t)-space to get a useful value.
+     */
+    public double deriv() {
+      return deriv;
+    }
+
+    /** Return the value of a metric for cells at the given level. */
+    public double getValue(int level) {
+      return Math.scalb(deriv, -dim * level);
+    }
+
+    /**
+     * Return the level at which the metric has approximately the given value. For example,
+     * S2::kAvgEdge.GetClosestLevel(0.1) returns the level at which the average cell edge length is
+     * approximately 0.1. The return value is always a valid level.
+     */
+    public int getClosestLevel(double value) {
+      return getMinLevel((dim == 1 ? S2.M_SQRT2 : 2) * value);
+    }
+
+    /**
+     * Return the minimum level such that the metric is at most the given value, or
+     * S2CellId::kMaxLevel if there is no such level. For example, S2::kMaxDiag.GetMinLevel(0.1)
+     * returns the minimum level such that all cell diagonal lengths are 0.1 or smaller. The return
+     * value is always a valid level.
+     */
+    public int getMinLevel(double value) {
+      if (value <= 0) {
+        return S2CellId.MAX_LEVEL;
+      }
+
+      // This code is equivalent to computing a floating-point "level"
+      // value and rounding up.  The getExponent() method returns the
+      // exponent corresponding to a fraction in the range [1,2).
+      int exponent = Platform.getExponent(value / deriv);
+      int level = Math.max(0, Math.min(S2CellId.MAX_LEVEL, -(exponent >> (dim - 1))));
+      // assert (level == S2CellId.MAX_LEVEL || getValue(level) <= value);
+      // assert (level == 0 || getValue(level - 1) > value);
+      return level;
+    }
+
+    /**
+     * Return the maximum level such that the metric is at least the given value, or zero if there
+     * is no such level. For example, S2.kMinWidth.GetMaxLevel(0.1) returns the maximum level such
+     * that all cells have a minimum width of 0.1 or larger. The return value is always a valid
+     * level.
+     */
+    public int getMaxLevel(double value) {
+      if (value <= 0) {
+        return S2CellId.MAX_LEVEL;
+      }
+
+      // This code is equivalent to computing a floating-point "level"
+      // value and rounding down.
+      int exponent = Platform.getExponent(deriv / value);
+      int level = Math.max(0, Math.min(S2CellId.MAX_LEVEL, exponent >> (dim - 1)));
+      // assert (level == 0 || getValue(level) >= value);
+      // assert (level == S2CellId.MAX_LEVEL || getValue(level + 1) < value);
+      return level;
+    }
+  }
+
+  /**
+   * Return a unique "origin" on the sphere for operations that need a fixed reference point. It
+   * should *not* be a point that is commonly used in edge tests in order to avoid triggering code
+   * to handle degenerate cases. (This rules out the north and south poles.)
+   */
+  public static S2Point origin() {
+    return ORIGIN;
+  }
+
+  /**
+   * Return true if the given point is approximately unit length (this is mainly useful for
+   * assertions).
+   */
+  public static boolean isUnitLength(S2Point p) {
+    // Normalize() is guaranteed to return a vector whose L2-norm differs from 1
+    // by less than 2 * DBL_EPSILON.  Thus the squared L2-norm differs by less
+    // than 4 * DBL_EPSILON.  The actual calculated Norm2() can have up to 1.5 *
+    // DBL_EPSILON of additional error.  The total error of 5.5 * DBL_EPSILON
+    // can then be rounded down since the result must be a representable
+    // double-precision value.
+    return Math.abs(p.norm2() - 1) <= 5 * DBL_EPSILON; // About 1.11e-15
+  }
+
+  /**
+   * Return true if edge AB crosses CD at a point that is interior to both edges. Properties:
+   *
+   * <p>(1) SimpleCrossing(b,a,c,d) == SimpleCrossing(a,b,c,d) (2) SimpleCrossing(c,d,a,b) ==
+   * SimpleCrossing(a,b,c,d)
+   */
+  public static boolean simpleCrossing(S2Point a, S2Point b, S2Point c, S2Point d) {
+    // We compute SimpleCCW() for triangles ACB, CBD, BDA, and DAC. All
+    // of these triangles need to have the same orientation (CW or CCW)
+    // for an intersection to exist. Note that this is slightly more
+    // restrictive than the corresponding definition for planar edges,
+    // since we need to exclude pairs of line segments that would
+    // otherwise "intersect" by crossing two antipodal points.
+
+    S2Point ab = S2Point.crossProd(a, b);
+    S2Point cd = S2Point.crossProd(c, d);
+    double acb = -ab.dotProd(c);
+    double cbd = -cd.dotProd(b);
+    double bda = ab.dotProd(d);
+    double dac = cd.dotProd(a);
+
+    return (acb * cbd > 0) && (cbd * bda > 0) && (bda * dac > 0);
+  }
+
+  /**
+   * Return a vector "c" that is orthogonal to the given unit-length vectors "a" and "b". This
+   * function is similar to a.CrossProd(b) except that it does a better job of ensuring
+   * orthogonality when "a" is nearly parallel to "b", and it returns a non-zero result even when a
+   * == b or a == -b.
+   *
+   * <p>It satisfies the following properties (RCP == robustCrossProd):
+   *
+   * <p>(1) RCP(a,b) != 0 for all a, b (2) RCP(b,a) == -RCP(a,b) unless a == b or a == -b (3)
+   * RCP(-a,b) == -RCP(a,b) unless a == b or a == -b (4) RCP(a,-b) == -RCP(a,b) unless a == b or a
+   * == -b
+   */
+  public static S2Point robustCrossProd(S2Point a, S2Point b) {
+    // The direction of a.CrossProd(b) becomes unstable as (a + b) or (a - b)
+    // approaches zero.  This leads to situations where a.CrossProd(b) is not
+    // very orthogonal to "a" and/or "b".  We could fix this using Gram-Schmidt,
+    // but we also want b.robustCrossProd(a) == -a.robustCrossProd(b).
+    //
+    // The easiest fix is to just compute the cross product of (b+a) and (b-a).
+    // Mathematically, this cross product is exactly twice the cross product of
+    // "a" and "b", but it has the numerical advantage that (b+a) and (b-a)
+    // are always perpendicular (since "a" and "b" are unit length).  This
+    // yields a result that is nearly orthogonal to both "a" and "b" even if
+    // these two values differ only in the lowest bit of one component.
+    // assert (isUnitLength(a) && isUnitLength(b));
+    S2Point x = S2Point.crossProd(S2Point.add(b, a), S2Point.sub(b, a));
+    if (!x.equalsPoint(S2Point.ORIGIN)) {
+      return x;
+    }
+
+    // The only result that makes sense mathematically is to return zero, but
+    // we find it more convenient to return an arbitrary orthogonal vector.
+    return ortho(a);
+  }
+
+  private static final S2Point[] ORTHO_BASES = {
+    new S2Point(1, 0.0053, 0.00457), new S2Point(0.012, 1, 0.00457), new S2Point(0.012, 0.0053, 1)
+  };
+
+  /**
+   * Returns a unit-length vector that is orthogonal to {@code a}. Satisfies {@code ortho(-a) =
+   * -ortho(a)} for all {@code a}.
+   */
+  public static S2Point ortho(S2Point a) {
+    int k = a.largestAbsComponent() - 1;
+    if (k < 0) {
+      k = 2;
+    }
+    return S2Point.normalize(S2Point.crossProd(a, ORTHO_BASES[k]));
+  }
+
+  /**
+   * Returns the area of triangle ABC. This method combines two different algorithms to get accurate
+   * results for both large and small triangles. The maximum error is about 5e-15 (about 0.25 square
+   * meters on the Earth's surface), the same as girardArea() below, but unlike that method it is
+   * also accurate for small triangles. Example: when the true area is 100 square meters, area()
+   * yields an error about 1 trillion times smaller than girardArea().
+   *
+   * <p>All points should be unit length, and no two points should be antipodal. The area is always
+   * positive.
+   */
+  public static double area(S2Point a, S2Point b, S2Point c) {
+    // assert isUnitLength(a) && isUnitLength(b) && isUnitLength(c);
+
+    // This method is based on l'Huilier's theorem,
+    //
+    // tan(E/4) = sqrt(tan(s/2) tan((s-a)/2) tan((s-b)/2) tan((s-c)/2))
+    //
+    // where E is the spherical excess of the triangle (i.e. its area),
+    // a, b, c, are the side lengths, and
+    // s is the semiperimeter (a + b + c) / 2 .
+    //
+    // The only significant source of error using l'Huilier's method is the
+    // cancellation error of the terms (s-a), (s-b), (s-c). This leads to a
+    // *relative* error of about 1e-16 * s / min(s-a, s-b, s-c). This compares
+    // to a relative error of about 1e-15 / E using Girard's formula, where E is
+    // the true area of the triangle. Girard's formula can be even worse than
+    // this for very small triangles, e.g. a triangle with a true area of 1e-30
+    // might evaluate to 1e-5.
+    //
+    // So, we prefer l'Huilier's formula unless dmin < s * (0.1 * E), where
+    // dmin = min(s-a, s-b, s-c). This basically includes all triangles
+    // except for extremely long and skinny ones.
+    //
+    // Since we don't know E, we would like a conservative upper bound on
+    // the triangle area in terms of s and dmin. It's possible to show that
+    // E <= k1 * s * sqrt(s * dmin), where k1 = 2*sqrt(3)/Pi (about 1).
+    // Using this, it's easy to show that we should always use l'Huilier's
+    // method if dmin >= k2 * s^5, where k2 is about 1e-2. Furthermore,
+    // if dmin < k2 * s^5, the triangle area is at most k3 * s^4, where
+    // k3 is about 0.1. Since the best case error using Girard's formula
+    // is about 1e-15, this means that we shouldn't even consider it unless
+    // s >= 3e-4 or so.
+
+    // We use volatile doubles to force the compiler to truncate all of these
+    // quantities to 64 bits. Otherwise it may compute a value of dmin > 0
+    // simply because it chose to spill one of the intermediate values to
+    // memory but not one of the others.
+    final double sa = b.angle(c);
+    final double sb = c.angle(a);
+    final double sc = a.angle(b);
+    final double s = 0.5 * (sa + sb + sc);
+    if (s >= 3e-4) {
+      // Consider whether Girard's formula might be more accurate.
+      double s2 = s * s;
+      double dmin = s - Math.max(sa, Math.max(sb, sc));
+      if (dmin < 1e-2 * s * s2 * s2) {
+        // This triangle is skinny enough to consider using Girard's formula. We increase the area
+        // by the approximate maximum error in the Girard calculation in order to ensure that this
+        // test is conservative.
+        double area = girardArea(a, b, c);
+        if (dmin < s * (0.1 * (area + 5e-15))) {
+          return area;
+        }
+      }
+    }
+    // Use l'Huilier's formula.
+    return 4
+        * Math.atan(
+            Math.sqrt(
+                Math.max(
+                    0.0,
+                    Math.tan(0.5 * s)
+                        * Math.tan(0.5 * (s - sa))
+                        * Math.tan(0.5 * (s - sb))
+                        * Math.tan(0.5 * (s - sc)))));
+  }
+
+  /**
+   * Returns the area of the triangle computed using Girard's formula. All points should be unit
+   * length, and no two points should be antipodal.
+   *
+   * <p>This method is about twice as fast as area() but has poor relative accuracy for small
+   * triangles. The maximum error is about 5e-15 (about 0.25 square meters on the Earth's surface)
+   * and the average error is about 1e-15. These bounds apply to triangles of any size, even as the
+   * maximum edge length of the triangle approaches 180 degrees. But note that for such triangles,
+   * tiny perturbations of the input points can change the true mathematical area dramatically.
+   */
+  public static double girardArea(S2Point a, S2Point b, S2Point c) {
+    // This is equivalent to the usual Girard's formula but is slightly more
+    // accurate, faster to compute, and handles a == b == c without a special
+    // case. RobustCrossProd() is necessary to get good accuracy when two of the
+    // input points are very close together.
+    S2Point ab = S2.robustCrossProd(a, b);
+    S2Point bc = S2.robustCrossProd(b, c);
+    S2Point ac = S2.robustCrossProd(a, c);
+    return Math.max(0.0, ab.angle(ac) - ab.angle(bc) + bc.angle(ac));
+  }
+
+  /**
+   * Like area(), but returns a positive value for counterclockwise triangles and a negative value
+   * otherwise.
+   */
+  public static double signedArea(S2Point a, S2Point b, S2Point c) {
+    return S2Predicates.sign(a, b, c) * area(a, b, c);
+  }
+
+  // About centroids:
+  // ----------------
+  //
+  // There are several notions of the "centroid" of a triangle. First, there
+  // is the planar centroid, which is simply the centroid of the ordinary
+  // (non-spherical) triangle defined by the three vertices. Second, there is
+  // the surface centroid, which is defined as the intersection of the three
+  // medians of the spherical triangle. It is possible to show that this
+  // point is simply the planar centroid projected to the surface of the
+  // sphere. Finally, there is the true centroid (mass centroid), which is
+  // defined as the surface integral over the spherical triangle of (x,y,z)
+  // divided by the triangle area. This is the point that the triangle would
+  // rotate around if it was spinning in empty space.
+  //
+  // The best centroid for most purposes is the true centroid. Unlike the
+  // planar and surface centroids, the true centroid behaves linearly as
+  // regions are added or subtracted. That is, if you split a triangle into
+  // pieces and compute the average of their centroids (weighted by triangle
+  // area), the result equals the centroid of the original triangle. This is
+  // not true of the other centroids.
+  //
+  // Also note that the surface centroid may be nowhere near the intuitive
+  // "center" of a spherical triangle. For example, consider the triangle
+  // with vertices A=(1,eps,0), B=(0,0,1), C=(-1,eps,0) (a quarter-sphere).
+  // The surface centroid of this triangle is at S=(0, 2*eps, 1), which is
+  // within a distance of 2*eps of the vertex B. Note that the median from A
+  // (the segment connecting A to the midpoint of BC) passes through S, since
+  // this is the shortest path connecting the two endpoints. On the other
+  // hand, the true centroid is at M=(0, 0.5, 0.5), which when projected onto
+  // the surface is a much more reasonable interpretation of the "center" of
+  // this triangle.
+
+  /**
+   * Return the centroid of the planar triangle ABC. This can be normalized to unit length to obtain
+   * the "surface centroid" of the corresponding spherical triangle, i.e. the intersection of the
+   * three medians. However, note that for large spherical triangles the surface centroid may be
+   * nowhere near the intuitive "center" (see example above).
+   */
+  public static S2Point planarCentroid(S2Point a, S2Point b, S2Point c) {
+    return new S2Point((a.x + b.x + c.x) / 3.0, (a.y + b.y + c.y) / 3.0, (a.z + b.z + c.z) / 3.0);
+  }
+
+  /**
+   * Returns the true centroid of the spherical geodesic edge AB multiplied by the length of the
+   * edge AB. As with triangles, the true centroid of a collection of edges may be computed simply
+   * by summing the result of this method for each edge.
+   *
+   * <p>Note that the planar centroid of a geodesic edge is simply 0.5 * (a + b), while the surface
+   * centroid is (a + b).normalize(). However neither of these values is appropriate for computing
+   * the centroid of a collection of edges (such as a polyline).
+   *
+   * <p>Also note that the result of this function is defined to be {@link S2Point#ORIGIN} if the
+   * edge is degenerate (and that this is intended behavior).
+   */
+  public static S2Point trueCentroid(S2Point a, S2Point b) {
+    // The centroid (multiplied by length) is a vector toward the midpoint of the edge, whose length
+    // is twice the sine of half the angle between the two vertices.
+    // Defining theta to be this angle, we have:
+    S2Point vDiff = a.sub(b); // Length == 2*sin(theta)
+    S2Point vSum = a.add(b); // Length == 2*cos(theta)
+    double sin2 = vDiff.norm2();
+    double cos2 = vSum.norm2();
+    if (cos2 == 0) {
+      return S2Point.ORIGIN; // Ignore antipodal edges.
+    }
+    return vSum.mul(Math.sqrt(sin2 / cos2)); // Length == 2*sin(theta)
+  }
+
+  /**
+   * Returns the true centroid of the spherical triangle ABC multiplied by the signed area of
+   * spherical triangle ABC. The reasons for multiplying by the signed area are (1) this is the
+   * quantity that needs to be summed to compute the centroid of a union or difference of triangles,
+   * and (2) it's actually easier to calculate this way.
+   */
+  public static S2Point trueCentroid(S2Point a, S2Point b, S2Point c) {
+    // I couldn't find any references for computing the true centroid of a
+    // spherical triangle... I have a truly marvellous demonstration of this
+    // formula which this margin is too narrow to contain :)
+
+    // assert (isUnitLength(a) && isUnitLength(b) && isUnitLength(c));
+
+    // Use angle() in order to get accurate results for small triangles.
+    double aAngle = b.angle(c);
+    double bAngle = c.angle(a);
+    double cAngle = a.angle(b);
+    double ra = (aAngle == 0) ? 1 : (aAngle / Math.sin(aAngle));
+    double rb = (bAngle == 0) ? 1 : (bAngle / Math.sin(bAngle));
+    double rc = (cAngle == 0) ? 1 : (cAngle / Math.sin(cAngle));
+
+    // Now compute a point M such that:
+    //
+    //  [Ax Ay Az] [Mx]                       [ra]
+    //  [Bx By Bz] [My]  = 0.5 * det(A,B,C) * [rb]
+    //  [Cx Cy Cz] [Mz]                       [rc]
+    //
+    // To improve the numerical stability we subtract the first row (A) from the
+    // other two rows; this reduces the cancellation error when A, B, and C are
+    // very close together.  Then we solve it using Cramer's rule.
+    //
+    // TODO(user): This code still isn't as numerically stable as it could be.
+    // The biggest potential improvement is to compute B-A and C-A more
+    // accurately so that (B-A)x(C-A) is always inside triangle ABC.
+    S2Point x = new S2Point(a.x, b.x - a.x, c.x - a.x);
+    S2Point y = new S2Point(a.y, b.y - a.y, c.y - a.y);
+    S2Point z = new S2Point(a.z, b.z - a.z, c.z - a.z);
+    S2Point r = new S2Point(ra, rb - ra, rc - ra);
+    return new S2Point(
+        0.5 * S2Point.scalarTripleProduct(r, y, z),
+        0.5 * S2Point.scalarTripleProduct(r, z, x),
+        0.5 * S2Point.scalarTripleProduct(r, x, y));
+  }
+
+  /**
+   * Returns +1 if the edge AB is CCW around the origin, -1 if its clockwise, and 0 if the result is
+   * indeterminate.
+   */
+  public static int planarCCW(R2Vector a, R2Vector b) {
+    double sab = (a.dotProd(b) > 0) ? -1 : 1;
+    R2Vector vab = R2Vector.add(a, R2Vector.mul(b, sab));
+    double da = a.norm2();
+    double db = b.norm2();
+    double sign;
+    if (da < db || (da == db && a.lessThan(b))) {
+      sign = a.crossProd(vab) * sab;
+    } else {
+      sign = vab.crossProd(b);
+    }
+    if (sign > 0) {
+      return 1;
+    }
+    if (sign < 0) {
+      return -1;
+    }
+    return 0;
+  }
+
+  public static int planarOrderedCCW(R2Vector a, R2Vector b, R2Vector c) {
+    int sum = 0;
+    sum += planarCCW(a, b);
+    sum += planarCCW(b, c);
+    sum += planarCCW(c, a);
+    if (sum > 0) {
+      return 1;
+    }
+    if (sum < 0) {
+      return -1;
+    }
+    return 0;
+  }
+
+  /**
+   * Return the angle at the vertex B in the triangle ABC. The return value is always in the range
+   * [0, Pi]. The points do not need to be normalized. Ensures that Angle(a,b,c) == Angle(c,b,a) for
+   * all a,b,c.
+   *
+   * <p>The angle is undefined if A or C is diametrically opposite from B, and becomes numerically
+   * unstable as the length of edge AB or BC approaches 180 degrees.
+   */
+  public static double angle(S2Point a, S2Point b, S2Point c) {
+    // robustCrossProd() is necessary to get good accuracy when two of the input
+    // points are very close together.
+    return robustCrossProd(a, b).angle(robustCrossProd(c, b));
+  }
+
+  /**
+   * Returns the exterior angle at the vertex B in the triangle ABC. The return value is positive if
+   * ABC is counterclockwise and negative otherwise. If you imagine an ant walking from A to B to C,
+   * this is the angle that the ant turns at vertex B (positive = left, negative = right).
+   *
+   * <p>Ensures that turnAngle(a,b,c) == -turnAngle(c,b,a) for all distinct a,b,c. The result is
+   * undefined if (a == b || b == c), but is either -Pi or Pi if (a == c). All points should be
+   * normalized.
+   */
+  public static double turnAngle(S2Point a, S2Point b, S2Point c) {
+    // We use robustCrossProd() to get good accuracy when two points are very close together, and
+    // S2Predicates.sign() to ensure that the sign is correct for turns that are close to 180
+    // degrees.
+    //
+    // Unfortunately we can't save robustCrossProd(a, b) and pass it as the optional 4th argument to
+    // S2Predicates.sign(), because it requires a.crossProd(b) exactly (the robust version differs
+    // in magnitude).
+    double angle = robustCrossProd(a, b).angle(robustCrossProd(b, c));
+
+    // Don't return S2Predicates.sign() * angle because it is legal to have (a == c).
+    return (S2Predicates.sign(a, b, c) > 0) ? angle : -angle;
+  }
+
+  /**
+   * Returns the maximum error in {@link #turnAngle}. The returned value is proportional to the
+   * number of vertices and the machine epsilon.
+   */
+  public static double getTurningAngleMaxError(int numVertices) {
+    // The maximum error can be bounded as follows:
+    //   2.24 * DBL_EPSILON    for robustCrossProd(b, a)
+    //   2.24 * DBL_EPSILON    for robustCrossProd(c, b)
+    //   3.25 * DBL_EPSILON    for angle()
+    //   2.00 * DBL_EPSILON    for each addition in the Kahan summation
+    //   ------------------
+    //   9.73 * DBL_EPSILON
+    final double maxErrorPerVertex = 9.73 * S2.DBL_EPSILON;
+    return maxErrorPerVertex * numVertices;
+  }
+
+  /**
+   * Returns a right-handed coordinate frame (three orthonormal vectors) based on a single point,
+   * which will become the third axis.
+   */
+  public static Matrix3x3 getFrame(S2Point p0) {
+    S2Point p1 = ortho(p0);
+    S2Point p2 = S2Point.normalize(S2Point.crossProd(p1, p0));
+    return Matrix3x3.fromCols(p2, p1, p0);
+  }
+
+  /** Returns a normalized copy {@code p} after rotating it by the rotation matrix {@code r}. */
+  static S2Point rotate(S2Point p, Matrix3x3 r) {
+    Matrix3x3 rotated = r.mult(new Matrix3x3(1, p.x, p.y, p.z));
+    return S2Point.normalize(new S2Point(rotated.get(0, 0), rotated.get(1, 0), rotated.get(2, 0)));
+  }
+
+  /** Converts 'p' to the basis given in 'frame'. */
+  static S2Point toFrame(Matrix3x3 frame, S2Point p) {
+    // The inverse of an orthonormal matrix is its transpose.
+    return frame.transpose().mult(Matrix3x3.fromCols(p)).getCol(0);
+  }
+
+  /** Converts 'p' from the basis given in 'frame'. */
+  static S2Point fromFrame(Matrix3x3 frame, S2Point q) {
+    return frame.mult(Matrix3x3.fromCols(q)).getCol(0);
+  }
+
+  /**
+   * Return true if two points are within the given distance of each other (mainly useful for
+   * testing).
+   */
+  public static boolean approxEquals(S2Point a, S2Point b, double maxError) {
+    return a.angle(b) <= maxError;
+  }
+
+  public static boolean approxEquals(S2Point a, S2Point b) {
+    return approxEquals(a, b, 1e-15);
+  }
+
+  public static boolean approxEquals(double a, double b, double maxError) {
+    return Math.abs(a - b) <= maxError;
+  }
+
+  public static boolean approxEquals(double a, double b) {
+    return approxEquals(a, b, 1e-15);
+  }
+
+  // Don't instantiate
+  private S2() {}
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/S2AreaCentroid.java

@@ -0,0 +1,65 @@
+/*
+ * Copyright 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import com.google.common.base.Objects;
+import java.io.Serializable;
+import javax.annotation.Nullable;
+
+/**
+ * The area of an interior, i.e. the region on the left side of an odd number of loops and
+ * optionally a centroid. The area is between 0 and 4*Pi. If it has a centroid, it is the true
+ * centroid of the interior multiplied by the area of the shape. Note that the centroid may not be
+ * contained by the shape.
+ *
+ * @author dbentley@google.com (Daniel Bentley)
+ */
+@GwtCompatible(serializable = true)
+public final class S2AreaCentroid implements Serializable {
+
+  private final double area;
+  private final S2Point centroid;
+
+  public S2AreaCentroid(double area, @Nullable S2Point centroid) {
+    this.area = area;
+    this.centroid = centroid;
+  }
+
+  public double getArea() {
+    return area;
+  }
+
+  @Nullable
+  public S2Point getCentroid() {
+    return centroid;
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    if (obj instanceof S2AreaCentroid) {
+      S2AreaCentroid that = (S2AreaCentroid) obj;
+      return this.area == that.area && Objects.equal(this.centroid, that.centroid);
+    }
+    return false;
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hashCode(area, centroid);
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/S2Cap.java

@@ -0,0 +1,466 @@
+/*
+ * Copyright 2005 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.io.Serializable;
+import javax.annotation.CheckReturnValue;
+
+/**
+ * S2Cap represents a disc-shaped region defined by a center and radius. Technically this shape is
+ * called a "spherical cap" (rather than disc) because it is not planar; the cap represents a
+ * portion of the sphere that has been cut off by a plane. The boundary of the cap is the circle
+ * defined by the intersection of the sphere and the plane. For containment purposes, the cap is a
+ * closed set, i.e. it contains its boundary.
+ *
+ * <p>For the most part, you can use a spherical cap wherever you would use a disc in planar
+ * geometry. The radius of the cap is measured along the surface of the sphere (rather than the
+ * straight-line distance through the interior). Thus a cap of radius Pi/2 is a hemisphere, and a
+ * cap of radius Pi covers the entire sphere.
+ *
+ * <p>A cap can also be defined by its center point and height. The height is simply the distance
+ * from the center point to the cutoff plane. There is also support for "empty" and "full" caps,
+ * which contain no points and all points respectively.
+ *
+ */
+@GwtCompatible(serializable = true)
+public final strictfp class S2Cap implements S2Region, Serializable {
+  private final S2Point axis;
+  private final S1ChordAngle radius;
+
+  // Caps may be constructed from either an axis and a height, or an axis and
+  // an angle. To avoid ambiguity, there are no public constructors
+
+  private S2Cap(S2Point axis, S1ChordAngle radius) {
+    this.axis = axis;
+    this.radius = radius;
+    // assert (isValid());
+  }
+
+  /**
+   * Creates a cap where the radius is expressed as an S1ChordAngle. This constructor is more
+   * efficient than {@link #fromAxisAngle(S2Point, S1Angle)}.
+   */
+  public static S2Cap fromAxisChord(S2Point center, S1ChordAngle radius) {
+    return new S2Cap(center, radius);
+  }
+
+  /**
+   * Create a cap given its axis and the cap height, i.e. the maximum projected distance along the
+   * cap axis from the cap center. 'axis' should be a unit-length vector.
+   */
+  public static S2Cap fromAxisHeight(S2Point axis, double height) {
+    // assert (S2.isUnitLength(axis));
+    return new S2Cap(axis, S1ChordAngle.fromLength2(2 * height));
+  }
+
+  /**
+   * Create a cap given its axis and the cap opening angle, i.e. maximum angle between the axis and
+   * a point on the cap. 'axis' should be a unit-length vector, and 'angle' should be between 0 and
+   * 180 degrees.
+   */
+  public static S2Cap fromAxisAngle(S2Point axis, S1Angle angle) {
+    // The "min" calculation below is necessary to handle S1Angle.INFINITY.
+    // assert (S2.isUnitLength(axis));
+    return fromAxisChord(
+        axis, S1ChordAngle.fromS1Angle(S1Angle.radians(Math.min(angle.radians(), S2.M_PI))));
+  }
+
+  /**
+   * Create a cap given its axis and its area in steradians. 'axis' should be a unit-length vector,
+   * and 'area' should be between 0 and 4 * M_PI.
+   */
+  public static S2Cap fromAxisArea(S2Point axis, double area) {
+    // assert (S2.isUnitLength(axis));
+    return new S2Cap(axis, S1ChordAngle.fromLength2(area / S2.M_PI));
+  }
+
+  /** Return an empty cap, i.e. a cap that contains no points. */
+  public static S2Cap empty() {
+    return new S2Cap(S2Point.X_POS, S1ChordAngle.NEGATIVE);
+  }
+
+  /** Return a full cap, i.e. a cap that contains all points. */
+  public static S2Cap full() {
+    return new S2Cap(S2Point.X_POS, S1ChordAngle.STRAIGHT);
+  }
+
+  // Accessor methods.
+  public S2Point axis() {
+    return axis;
+  }
+
+  public S1ChordAngle radius() {
+    return radius;
+  }
+
+  /** Returns the height of the cap, i.e. the distance from the center point to the cutoff plane. */
+  public double height() {
+    return 0.5 * radius.getLength2();
+  }
+
+  public double area() {
+    return 2 * S2.M_PI * Math.max(0.0, height());
+  }
+
+  /**
+   * Returns the cap radius as an S1Angle. Since the cap angle is stored internally as an
+   * S1ChordAngle, this method requires a trigonometric operation and may yield a slightly different
+   * result than the value passed to {@link #fromAxisAngle(S2Point, S1Angle)}.
+   */
+  public S1Angle angle() {
+    return radius.toAngle();
+  }
+
+  /**
+   * Returns true if the axis is {@link S2#isUnitLength unit length}, and the angle is less than Pi.
+   *
+   * <p>Negative angles or heights are valid, and represent empty caps.
+   */
+  public boolean isValid() {
+    return S2.isUnitLength(axis) && radius.getLength2() <= 4;
+  }
+
+  /** Return true if the cap is empty, i.e. it contains no points. */
+  public boolean isEmpty() {
+    return radius.isNegative();
+  }
+
+  /** Return true if the cap is full, i.e. it contains all points. */
+  public boolean isFull() {
+    return S1ChordAngle.STRAIGHT.equals(radius);
+  }
+
+  /**
+   * Return the complement of the interior of the cap. A cap and its complement have the same
+   * boundary but do not share any interior points. The complement operator is not a bijection,
+   * since the complement of a singleton cap (containing a single point) is the same as the
+   * complement of an empty cap.
+   */
+  @CheckReturnValue
+  public S2Cap complement() {
+    // The complement of a full cap is an empty cap, not a singleton.
+    // Also make sure that the complement of an empty cap is full.
+    if (isFull()) {
+      return empty();
+    }
+    if (isEmpty()) {
+      return full();
+    }
+    return fromAxisChord(S2Point.neg(axis), S1ChordAngle.fromLength2(4 - radius.getLength2()));
+  }
+
+  /**
+   * Return true if and only if this cap contains the given other cap (in a set containment sense,
+   * e.g. every cap contains the empty cap).
+   */
+  public boolean contains(S2Cap other) {
+    if (isFull() || other.isEmpty()) {
+      return true;
+    } else {
+      S1ChordAngle axialDistance = new S1ChordAngle(axis, other.axis);
+      return radius.compareTo(S1ChordAngle.add(axialDistance, other.radius)) >= 0;
+    }
+  }
+
+  /**
+   * Return true if and only if the interior of this cap intersects the given other cap. (This
+   * relationship is not symmetric, since only the interior of this cap is used.)
+   */
+  public boolean interiorIntersects(S2Cap other) {
+    // Interior(X) intersects Y if and only if Complement(Interior(X))
+    // does not contain Y.
+    return !complement().contains(other);
+  }
+
+  /**
+   * Return true if and only if the given point is contained in the interior of the region (i.e. the
+   * region excluding its boundary). 'p' should be a unit-length vector.
+   */
+  public boolean interiorContains(S2Point p) {
+    // assert (S2.isUnitLength(p));
+    return isFull() || new S1ChordAngle(axis, p).compareTo(radius) < 0;
+  }
+
+  /**
+   * Increase the cap radius if necessary to include the given point. If the cap is empty the axis
+   * is set to the given point, but otherwise it is left unchanged.
+   *
+   * @param p must be {@link S2#isUnitLength unit length}
+   */
+  @CheckReturnValue
+  public S2Cap addPoint(S2Point p) {
+    // assert (S2.isUnitLength(p));
+    if (isEmpty()) {
+      return new S2Cap(p, S1ChordAngle.ZERO);
+    } else {
+      // After adding p to this cap, we require that the result contains p. However we don't need to
+      // do anything special to achieve this because contains() does exactly the same distance
+      // calculation that we do here.
+      return new S2Cap(
+          axis, S1ChordAngle.fromLength2(Math.max(radius.getLength2(), axis.getDistance2(p))));
+    }
+  }
+
+  /**
+   * Increase the cap radius if necessary to include the given cap. If the current cap is empty, it
+   * is set to the given other cap.
+   */
+  @CheckReturnValue
+  public S2Cap addCap(S2Cap other) {
+    if (isEmpty()) {
+      return other;
+    } else if (other.isEmpty()) {
+      return this;
+    } else {
+      // We round up the distance to ensure that the cap is actually contained.
+      // TODO(user): Do some error analysis in order to guarantee this.
+      S1ChordAngle dist = S1ChordAngle.add(new S1ChordAngle(axis, other.axis), other.radius);
+      S1ChordAngle roundedUp = dist.plusError(S2.DBL_EPSILON * dist.getLength2());
+      return new S2Cap(axis, S1ChordAngle.max(radius, roundedUp));
+    }
+  }
+
+  // //////////////////////////////////////////////////////////////////////
+  // S2Region interface (see {@code S2Region} for details):
+  @Override
+  public S2Cap getCapBound() {
+    return this;
+  }
+
+  @Override
+  public S2LatLngRect getRectBound() {
+    if (isEmpty()) {
+      return S2LatLngRect.empty();
+    }
+    if (isFull()) {
+      return S2LatLngRect.full();
+    }
+
+    // Convert the axis to a (lat,lng) pair, and compute the cap angle.
+    S2LatLng axisLatLng = new S2LatLng(axis);
+    double capAngle = angle().radians();
+
+    boolean allLongitudes = false;
+    double[] lat = new double[2];
+    double[] lng = new double[2];
+    lng[0] = -S2.M_PI;
+    lng[1] = S2.M_PI;
+
+    // Check whether cap includes the south pole.
+    lat[0] = axisLatLng.lat().radians() - capAngle;
+    if (lat[0] <= -S2.M_PI_2) {
+      lat[0] = -S2.M_PI_2;
+      allLongitudes = true;
+    }
+    // Check whether cap includes the north pole.
+    lat[1] = axisLatLng.lat().radians() + capAngle;
+    if (lat[1] >= S2.M_PI_2) {
+      lat[1] = S2.M_PI_2;
+      allLongitudes = true;
+    }
+    if (!allLongitudes) {
+      // Compute the range of longitudes covered by the cap. We use the law
+      // of sines for spherical triangles. Consider the triangle ABC where
+      // A is the north pole, B is the center of the cap, and C is the point
+      // of tangency between the cap boundary and a line of longitude. Then
+      // C is a right angle, and letting a,b,c denote the sides opposite A,B,C,
+      // we have sin(a)/sin(A) = sin(c)/sin(C), or sin(A) = sin(a)/sin(c).
+      // Here "a" is the cap angle, and "c" is the colatitude (90 degrees
+      // minus the latitude). This formula also works for negative latitudes.
+      double sinA = S1ChordAngle.sin(radius);
+      double sinC = Math.cos(axisLatLng.lat().radians());
+      if (sinA <= sinC) {
+        double angleA = Math.asin(sinA / sinC);
+        lng[0] = Platform.IEEEremainder(axisLatLng.lng().radians() - angleA, 2 * S2.M_PI);
+        lng[1] = Platform.IEEEremainder(axisLatLng.lng().radians() + angleA, 2 * S2.M_PI);
+      }
+    }
+    return new S2LatLngRect(new R1Interval(lat[0], lat[1]), new S1Interval(lng[0], lng[1]));
+  }
+
+  @Override
+  public boolean contains(S2Cell cell) {
+    // If the cap does not contain all cell vertices, return false.
+    // We check the vertices before taking the Complement() because we can't
+    // accurately represent the complement of a very small cap (a height
+    // of 2-epsilon is rounded off to 2).
+    S2Point[] vertices = new S2Point[4];
+    for (int k = 0; k < 4; ++k) {
+      vertices[k] = cell.getVertex(k);
+      if (!contains(vertices[k])) {
+        return false;
+      }
+    }
+    // Otherwise, return true if the complement of the cap does not intersect
+    // the cell. (This test is slightly conservative, because technically we
+    // want Complement().InteriorIntersects() here.)
+    return !complement().intersects(cell, vertices);
+  }
+
+  @Override
+  public boolean mayIntersect(S2Cell cell) {
+    // If the cap contains any cell vertex, return true.
+    S2Point[] vertices = new S2Point[4];
+    for (int k = 0; k < 4; ++k) {
+      vertices[k] = cell.getVertex(k);
+      if (contains(vertices[k])) {
+        return true;
+      }
+    }
+    return intersects(cell, vertices);
+  }
+
+  /**
+   * Return true if the cap intersects 'cell', given that the cap vertices have already been
+   * checked.
+   */
+  public boolean intersects(S2Cell cell, S2Point[] vertices) {
+    // Return true if this cap intersects any point of 'cell' excluding its
+    // vertices (which are assumed to already have been checked).
+
+    // If the cap is a hemisphere or larger, the cell and the complement of the
+    // cap are both convex. Therefore since no vertex of the cell is contained,
+    // no other interior point of the cell is contained either.
+    if (radius.compareTo(S1ChordAngle.RIGHT) >= 0) {
+      return false;
+    }
+
+    // We need to check for empty caps due to the axis check just below.
+    if (isEmpty()) {
+      return false;
+    }
+
+    // Optimization: return true if the cell contains the cap axis. (This
+    // allows half of the edge checks below to be skipped.)
+    if (cell.contains(axis)) {
+      return true;
+    }
+
+    // At this point we know that the cell does not contain the cap axis,
+    // and the cap does not contain any cell vertex. The only way that they
+    // can intersect is if the cap intersects the interior of some edge.
+
+    double sin2Angle = S1ChordAngle.sin2(radius);
+    for (int k = 0; k < 4; ++k) {
+      S2Point edge = cell.getEdgeRaw(k);
+      double dot = axis.dotProd(edge);
+      if (dot > 0) {
+        // The axis is in the interior half-space defined by the edge. We don't
+        // need to consider these edges, since if the cap intersects this edge
+        // then it also intersects the edge on the opposite side of the cell
+        // (because we know the axis is not contained with the cell).
+        continue;
+      }
+      // The Norm2() factor is necessary because "edge" is not normalized.
+      if (dot * dot > sin2Angle * edge.norm2()) {
+        return false; // Entire cap is on the exterior side of this edge.
+      }
+      // Otherwise, the great circle containing this edge intersects
+      // the interior of the cap. We just need to check whether the point
+      // of closest approach occurs between the two edge endpoints.
+      S2Point dir = S2Point.crossProd(edge, axis);
+      if (dir.dotProd(vertices[k]) < 0 && dir.dotProd(vertices[(k + 1) & 3]) > 0) {
+        return true;
+      }
+    }
+    return false;
+  }
+
+  @Override
+  public boolean contains(S2Point p) {
+    // The point 'p' should be a unit-length vector.
+    // assert (S2.isUnitLength(p));
+    return new S1ChordAngle(axis, p).compareTo(radius) <= 0;
+  }
+
+  /** Return true if two caps are identical. */
+  @Override
+  public boolean equals(Object that) {
+    if (that instanceof S2Cap) {
+      S2Cap other = (S2Cap) that;
+      return (axis.equalsPoint(other.axis) && radius.equals(other.radius))
+          || (isEmpty() && other.isEmpty())
+          || (isFull() && other.isFull());
+    } else {
+      return false;
+    }
+  }
+
+  @Override
+  public int hashCode() {
+    if (isFull()) {
+      return 17;
+    } else if (isEmpty()) {
+      return 37;
+    } else {
+      return 37 * (17 * 37 + axis.hashCode()) + radius.hashCode();
+    }
+  }
+
+  // /////////////////////////////////////////////////////////////////////
+  // The following static methods are convenience functions for assertions
+  // and testing purposes only.
+
+  /**
+   * Returns true if the radian angle between axes of this and 'other' is at most 'maxError', and
+   * the chord distance radius between this and 'other' is at most 'maxError'.
+   */
+  boolean approxEquals(S2Cap other, double maxError) {
+    double r2 = radius.getLength2();
+    double otherR2 = other.radius.getLength2();
+    return (S2.approxEquals(axis, other.axis, maxError) && Math.abs(r2 - otherR2) <= maxError)
+        || (isEmpty() && otherR2 <= maxError)
+        || (other.isEmpty() && r2 <= maxError)
+        || (isFull() && otherR2 >= 2 - maxError)
+        || (other.isFull() && r2 >= 2 - maxError);
+  }
+
+  boolean approxEquals(S2Cap other) {
+    return approxEquals(other, 1e-14);
+  }
+
+  @Override
+  public String toString() {
+    return "[Point = " + axis + " Radius = " + radius + "]";
+  }
+
+  /** Writes this cap to the given output stream. */
+  public void encode(OutputStream os) throws IOException {
+    encode(new LittleEndianOutput(os));
+  }
+
+  /** Writes this cap to the given little endian output stream. */
+  void encode(LittleEndianOutput os) throws IOException {
+    axis.encode(os);
+    os.writeDouble(radius.getLength2());
+  }
+
+  /** Returns a new S2Cap decoded from the given input stream. */
+  public static S2Cap decode(InputStream is) throws IOException {
+    return decode(new LittleEndianInput(is));
+  }
+
+  /** Returns a new S2Cap decoded from the given little endian input stream. */
+  static S2Cap decode(LittleEndianInput is) throws IOException {
+    S2Point axis = S2Point.decode(is);
+    S1ChordAngle chord = S1ChordAngle.fromLength2(is.readDouble());
+    return S2Cap.fromAxisChord(axis, chord);
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/S2Cell.java

@@ -0,0 +1,785 @@
+/*
+ * Copyright 2005 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import static com.mogo.eagle.core.utilcode.geometry.S2Projections.PROJ;
+
+import com.google.common.annotations.GwtCompatible;
+import com.google.common.collect.Ordering;
+import com.google.common.primitives.Doubles;
+import java.io.Serializable;
+
+/**
+ * An S2Cell is an S2Region object that represents a cell. Unlike S2CellIds, it supports efficient
+ * containment and intersection tests. However, it is also a more expensive representation.
+ *
+ */
+@GwtCompatible(serializable = true)
+public final strictfp class S2Cell implements S2Region, Serializable {
+  byte face;
+  byte level;
+  byte orientation;
+  S2CellId cellId;
+  double uMin;
+  double uMax;
+  double vMin;
+  double vMax;
+
+  /** Default constructor used only internally. */
+  S2Cell() {}
+
+  /**
+   * An S2Cell always corresponds to a particular S2CellId. The other constructors are just
+   * convenience methods.
+   */
+  public S2Cell(S2CellId id) {
+    init(id);
+  }
+
+  /** Returns the cell corresponding to the given S2 cube face. */
+  public static S2Cell fromFace(int face) {
+    return new S2Cell(S2CellId.fromFace(face));
+  }
+
+  /**
+   * Returns a cell given its face (range 0..5), Hilbert curve position within that face (an
+   * unsigned integer with {@link S2CellId#POS_BITS} bits), and level (range 0..kMaxLevel). The
+   * given position will be modified to correspond to the Hilbert curve position at the center of
+   * the returned cell. This is a static function rather than a constructor in order to indicate
+   * what the arguments represent.
+   */
+  public static S2Cell fromFacePosLevel(int face, long pos, int level) {
+    return new S2Cell(S2CellId.fromFacePosLevel(face, pos, level));
+  }
+
+  // Convenience methods.
+  public S2Cell(S2Point p) {
+    init(S2CellId.fromPoint(p));
+  }
+
+  public S2Cell(S2LatLng ll) {
+    init(S2CellId.fromLatLng(ll));
+  }
+
+  public S2CellId id() {
+    return cellId;
+  }
+
+  public int face() {
+    return face;
+  }
+
+  public byte level() {
+    return level;
+  }
+
+  public byte orientation() {
+    return orientation;
+  }
+
+  /** Returns true if this cell is a leaf-cell, i.e. it has no children. */
+  public boolean isLeaf() {
+    return level == S2CellId.MAX_LEVEL;
+  }
+
+  /** As {@link #getVertexRaw(int)}, except the point is normalized to unit length. */
+  public S2Point getVertex(int k) {
+    return S2Point.normalize(getVertexRaw(k));
+  }
+
+  /**
+   * Returns the k<sup>th</sup> vertex of the cell (k = 0,1,2,3). Vertices are returned in CCW order
+   * (lower left, lower right, upper right, upper left in the UV plane). The points are not
+   * necessarily unit length.
+   */
+  public S2Point getVertexRaw(int k) {
+    // Vertices are returned in the order SW, SE, NE, NW.
+    return S2Projections.faceUvToXyz(
+        face, ((k >> 1) ^ (k & 1)) == 0 ? uMin : uMax, (k >> 1) == 0 ? vMin : vMax);
+  }
+
+  /** As {@link #getEdgeRaw(int)}, except the point is normalized to unit length. */
+  public S2Point getEdge(int k) {
+    return S2Point.normalize(getEdgeRaw(k));
+  }
+
+  /**
+   * Returns the inward-facing normal of the great circle passing through the edge from vertex k to
+   * vertex k+1 (mod 4). The normals returned by getEdgeRaw are not necessarily unit length.
+   */
+  public S2Point getEdgeRaw(int k) {
+    switch (k) {
+      case 0:
+        return S2Projections.getVNorm(face, vMin); // Bottom
+      case 1:
+        return S2Projections.getUNorm(face, uMax); // Right
+      case 2:
+        return S2Point.neg(S2Projections.getVNorm(face, vMax)); // Top
+      default:
+        return S2Point.neg(S2Projections.getUNorm(face, uMin)); // Left
+    }
+  }
+
+  /** As {@link S2CellId#getSizeIJ(int)}, using the level of this cell. */
+  public int getSizeIJ() {
+    return S2CellId.getSizeIJ(level());
+  }
+
+  /**
+   * Returns true if this is not a leaf cell, in which case the array, which must contain at least
+   * four non-null cells in indices 0..3, will be set to the four children of this cell in traversal
+   * order. Otherwise, if this is a leaf cell, false is returned without touching the array.
+   *
+   * <p>This method is equivalent to the following:
+   *
+   * <pre>
+   * for (pos=0, id=childBegin(); !id.equals(childEnd()); id = id.next(), ++pos) {
+   *   children[i].init(id);
+   * }
+   * </pre>
+   *
+   * <p>except that it is more than two times faster.
+   */
+  public boolean subdivide(S2Cell[] children) {
+    // This function is equivalent to just iterating over the child cell ids
+    // and calling the S2Cell constructor, but it is about 2.5 times faster.
+
+    if (cellId.isLeaf()) {
+      return false;
+    }
+
+    // Create four children with the appropriate bounds.
+    S2CellId id = cellId.childBegin();
+    R2Vector mid = getCenterUV();
+    double uMid = mid.x();
+    double vMid = mid.y();
+    for (int pos = 0; pos < 4; ++pos, id = id.next()) {
+      S2Cell child = children[pos];
+      child.face = face;
+      child.level = (byte) (level + 1);
+      child.orientation = (byte) (orientation ^ S2.posToOrientation(pos));
+      child.cellId = id;
+      // We want to split the cell in half in "u" and "v".  To decide which
+      // side to set equal to the midpoint value, we look at cell's (i,j)
+      // position within its parent.  The index for "i" is in bit 1 of ij.
+      int ij = S2.posToIJ(orientation, pos);
+      // The dimension 0 index (i/u) is in bit 1 of ij.
+      if ((ij & 0x2) != 0) {
+        child.uMin = uMid;
+        child.uMax = uMax;
+      } else {
+        child.uMin = uMin;
+        child.uMax = uMid;
+      }
+      // The dimension 1 index (j/v) is in bit 0 of ij.
+      if ((ij & 0x1) != 0) {
+        child.vMin = vMid;
+        child.vMax = vMax;
+      } else {
+        child.vMin = vMin;
+        child.vMax = vMid;
+      }
+    }
+    return true;
+  }
+
+  /**
+   * Return the direction vector corresponding to the center in (s,t)-space of the given cell. This
+   * is the point at which the cell is divided into four subcells; it is not necessarily the
+   * centroid of the cell in (u,v)-space or (x,y,z)-space. The point returned by GetCenterRaw is not
+   * necessarily unit length.
+   */
+  public S2Point getCenter() {
+    return S2Point.normalize(getCenterRaw());
+  }
+
+  public S2Point getCenterRaw() {
+    return cellId.toPointRaw();
+  }
+
+  /** Returns the bounds of this cell in (u,v)-space. */
+  public R2Rect getBoundUV() {
+    R2Rect rect = new R2Rect();
+    setBoundUV(rect);
+    return rect;
+  }
+
+  /**
+   * Sets the bounds of this cell in (u,v)-space into 'bound'.
+   *
+   * <p>Package private to avoid leaking object mutation outside the api.
+   */
+  void setBoundUV(R2Rect bound) {
+    bound.x().set(uMin, uMax);
+    bound.y().set(vMin, vMax);
+  }
+
+  /**
+   * Return the center of the cell in (u,v) coordinates (see {@code S2Projections}). Note that the
+   * center of the cell is defined as the point at which it is recursively subdivided into four
+   * children; in general, it is not at the midpoint of the (u,v) rectangle covered by the cell
+   */
+  public R2Vector getCenterUV() {
+    return cellId.getCenterUV();
+  }
+
+  /** Return the average area in steradians for cells at the given level. */
+  public static double averageArea(int level) {
+    return PROJ.avgArea.getValue(level);
+  }
+
+  /**
+   * Return the average area in steradians of cells at this level. This is accurate to within a
+   * factor of 1.7 (for S2_QUADRATIC_PROJECTION) and is extremely cheap to compute.
+   */
+  public double averageArea() {
+    return averageArea(level);
+  }
+
+  /**
+   * Return the approximate area of this cell in steradians. This method is accurate to within 3%
+   * percent for all cell sizes and accurate to within 0.1% for cells at level 5 or higher (i.e.
+   * 300km square or smaller). It is moderately cheap to compute.
+   */
+  public double approxArea() {
+
+    // All cells at the first two levels have the same area.
+    if (level < 2) {
+      return averageArea(level);
+    }
+
+    // First, compute the approximate area of the cell when projected
+    // perpendicular to its normal. The cross product of its diagonals gives
+    // the normal, and the length of the normal is twice the projected area.
+    double flatArea =
+        0.5
+            * S2Point.crossProd(
+                    S2Point.sub(getVertex(2), getVertex(0)),
+                    S2Point.sub(getVertex(3), getVertex(1)))
+                .norm();
+
+    // Now, compensate for the curvature of the cell surface by pretending
+    // that the cell is shaped like a spherical cap. The ratio of the
+    // area of a spherical cap to the area of its projected disc turns out
+    // to be 2 / (1 + sqrt(1 - r*r)) where "r" is the radius of the disc.
+    // For example, when r=0 the ratio is 1, and when r=1 the ratio is 2.
+    // Here we set Pi*r*r == flat_area to find the equivalent disc.
+    return flatArea * 2 / (1 + Math.sqrt(1 - Math.min(S2.M_1_PI * flatArea, 1.0)));
+  }
+
+  /**
+   * Return the area in steradians of this cell as accurately as possible. This method is more
+   * expensive but it is accurate to 6 digits of precision even for leaf cells (whose area is
+   * approximately 1e-18).
+   */
+  public double exactArea() {
+    S2Point v0 = getVertex(0);
+    S2Point v1 = getVertex(1);
+    S2Point v2 = getVertex(2);
+    S2Point v3 = getVertex(3);
+    return S2.area(v0, v1, v2) + S2.area(v0, v2, v3);
+  }
+
+  // //////////////////////////////////////////////////////////////////////
+  // S2Region interface (see {@code S2Region} for details):
+
+  // NOTE: This should be marked as @Override, but clone() isn't present in GWT's version of
+  // Object, so we can't mark it as such.
+  @SuppressWarnings("MissingOverride")
+  public S2Region clone() {
+    S2Cell clone = new S2Cell();
+    clone.face = this.face;
+    clone.level = this.level;
+    clone.orientation = this.orientation;
+    clone.uMin = this.uMin;
+    clone.uMax = this.uMax;
+    clone.vMin = this.vMin;
+    clone.vMax = this.vMax;
+    return clone;
+  }
+
+  @Override
+  public S2Cap getCapBound() {
+    // Use the cell center in (u,v)-space as the cap axis. This vector is
+    // very close to GetCenter() and faster to compute. Neither one of these
+    // vectors yields the bounding cap with minimal surface area, but they
+    // are both pretty close.
+    //
+    // It's possible to show that the two vertices that are furthest from
+    // the (u,v)-origin never determine the maximum cap size (this is a
+    // possible future optimization).
+
+    S2Point center = S2Point.normalize(S2Projections.faceUvToXyz(face, getCenterUV()));
+    S2Cap cap = S2Cap.fromAxisHeight(center, 0);
+    for (int k = 0; k < 4; ++k) {
+      cap = cap.addPoint(getVertex(k));
+    }
+    return cap;
+  }
+
+  /**
+   * The 4 cells around the equator extend to +/-45 degrees latitude at the midpoints of their top
+   * and bottom edges. The two cells covering the poles extend down to +/-35.26 degrees at their
+   * vertices. The maximum error in this calculation is 0.5 * DBL_EPSILON.
+   */
+  private static final double POLE_MIN_LAT = Math.asin(Math.sqrt(1. / 3)) - 0.5 * S2.DBL_EPSILON;
+
+  @Override
+  public S2LatLngRect getRectBound() {
+    if (level > 0) {
+      // Except for cells at level 0, the latitude and longitude extremes are
+      // attained at the vertices.  Furthermore, the latitude range is
+      // determined by one pair of diagonally opposite vertices and the
+      // longitude range is determined by the other pair.
+      //
+      // We first determine which corner (i,j) of the cell has the largest
+      // absolute latitude.  To maximize latitude, we want to find the point in
+      // the cell that has the largest absolute z-coordinate and the smallest
+      // absolute x- and y-coordinates.  To do this we look at each coordinate
+      // (u and v), and determine whether we want to minimize or maximize that
+      // coordinate based on the axis direction and the cell's (u,v) quadrant.
+      double u = uMin + uMax;
+      double v = vMin + vMax;
+      int i = (S2Projections.getUAxis(face).z == 0 ? (u < 0) : (u > 0)) ? 1 : 0;
+      int j = (S2Projections.getVAxis(face).z == 0 ? (v < 0) : (v > 0)) ? 1 : 0;
+      R1Interval lat =
+          R1Interval.fromPointPair(
+              S2LatLng.latitude(getPoint(i, j)).radians(),
+              S2LatLng.latitude(getPoint(1 - i, 1 - j)).radians());
+      S1Interval lng =
+          S1Interval.fromPointPair(
+              S2LatLng.longitude(getPoint(i, 1 - j)).radians(),
+              S2LatLng.longitude(getPoint(1 - i, j)).radians());
+
+      // We grow the bounds slightly to make sure that the bounding rectangle
+      // contains S2LatLng(P) for any point P inside the loop L defined by the
+      // four *normalized* vertices.  Note that normalization of a vector can
+      // change its direction by up to 0.5 * DBL_EPSILON radians, and it is not
+      // enough just to add Normalize() calls to the code above because the
+      // latitude/longitude ranges are not necessarily determined by diagonally
+      // opposite vertex pairs after normalization.
+      //
+      // We would like to bound the amount by which the latitude/longitude of a
+      // contained point P can exceed the bounds computed above.  In the case of
+      // longitude, the normalization error can change the direction of rounding
+      // leading to a maximum difference in longitude of 2 * DBL_EPSILON.  In
+      // the case of latitude, the normalization error can shift the latitude by
+      // up to 0.5 * DBL_EPSILON and the other sources of error can cause the
+      // two latitudes to differ by up to another 1.5 * DBL_EPSILON, which also
+      // leads to a maximum difference of 2 * DBL_EPSILON.
+      return new S2LatLngRect(lat, lng)
+          .expanded(S2LatLng.fromRadians(2 * S2.DBL_EPSILON, 2 * S2.DBL_EPSILON))
+          .polarClosure();
+    }
+
+    // The face centers are the +X, +Y, +Z, -X, -Y, -Z axes in that order.
+    // assert (((face < 3) ? 1 : -1) == S2Projections.getNorm(face).get(face % 3));
+
+    S2LatLngRect bound;
+    switch (face) {
+      case 0:
+        bound =
+            new S2LatLngRect(
+                new R1Interval(-S2.M_PI_4, S2.M_PI_4), new S1Interval(-S2.M_PI_4, S2.M_PI_4));
+        break;
+      case 1:
+        bound =
+            new S2LatLngRect(
+                new R1Interval(-S2.M_PI_4, S2.M_PI_4), new S1Interval(S2.M_PI_4, 3 * S2.M_PI_4));
+        break;
+      case 2:
+        bound = new S2LatLngRect(new R1Interval(POLE_MIN_LAT, S2.M_PI_2), S1Interval.full());
+        break;
+      case 3:
+        bound =
+            new S2LatLngRect(
+                new R1Interval(-S2.M_PI_4, S2.M_PI_4),
+                new S1Interval(3 * S2.M_PI_4, -3 * S2.M_PI_4));
+        break;
+      case 4:
+        bound =
+            new S2LatLngRect(
+                new R1Interval(-S2.M_PI_4, S2.M_PI_4), new S1Interval(-3 * S2.M_PI_4, -S2.M_PI_4));
+        break;
+      default:
+        bound = new S2LatLngRect(new R1Interval(-S2.M_PI_2, -POLE_MIN_LAT), S1Interval.full());
+        break;
+    }
+
+    // Finally, we expand the bound to account for the error when a point P is
+    // converted to an S2LatLng to test for containment.  (The bound should be
+    // large enough so that it contains the computed S2LatLng of any contained
+    // point, not just the infinite-precision version.)  We don't need to expand
+    // longitude because longitude is calculated via a single call to atan2(),
+    // which is guaranteed to be semi-monotonic.  (In fact the Gnu implementation
+    // is also correctly rounded, but we don't even need that here.)
+    return bound.expanded(S2LatLng.fromRadians(S2.DBL_EPSILON, 0));
+  }
+
+  @Override
+  public boolean mayIntersect(S2Cell cell) {
+    return cellId.intersects(cell.cellId);
+  }
+
+  @Override
+  public boolean contains(S2Point p) {
+    // We can't just call XYZtoFaceUV, because for points that lie on the
+    // boundary between two faces (i.e. u or v is +1/-1) we need to return
+    // true for both adjacent cells.
+    R2Vector uvPoint = S2Projections.faceXyzToUv(face, p);
+    if (uvPoint == null) {
+      return false;
+    }
+    return (uvPoint.x() >= uMin
+        && uvPoint.x() <= uMax
+        && uvPoint.y() >= vMin
+        && uvPoint.y() <= vMax);
+  }
+
+  // The point 'p' does not need to be normalized.
+  @Override
+  public boolean contains(S2Cell cell) {
+    return cellId.contains(cell.cellId);
+  }
+
+  @SuppressWarnings("AndroidJdkLibsChecker")
+  private double vertexChordDist2(S2Point uvw, DoubleBinaryOperator reducer) {
+    double d1 = chordDist2(uvw, uMin, vMin);
+    double d2 = chordDist2(uvw, uMin, vMax);
+    double d3 = chordDist2(uvw, uMax, vMin);
+    double d4 = chordDist2(uvw, uMax, vMax);
+    return reducer.applyAsDouble(d1, reducer.applyAsDouble(d2, reducer.applyAsDouble(d3, d4)));
+  }
+
+  /** Returns the squared chord distance from {@code uvw} to position {@code uv}. */
+  private static double chordDist2(S2Point uvw, double u, double v) {
+    return uvw.getDistance2(new S2Point(u, v, 1).normalize());
+  }
+
+  /**
+   * Given a point {@code p} and either the lower or upper edge of the {@link S2Cell} (specified by
+   * setting {@code vEnd} to false or true respectively), returns true if {@code p} is closer to the
+   * interior of that edge than it is to either endpoint.
+   */
+  private boolean uEdgeIsClosest(S2Point p, boolean vEnd) {
+    double v = vEnd ? vMax : vMin;
+    // These are the normals to the planes that are perpendicular to the edge and pass through one
+    // of its two endpoints.
+    S2Point dir0 = new S2Point(v * v + 1, -uMin * v, -uMin);
+    S2Point dir1 = new S2Point(v * v + 1, -uMax * v, -uMax);
+    return p.dotProd(dir0) > 0 && p.dotProd(dir1) < 0;
+  }
+
+  /**
+   * Given a point {@code p} and either the left or right edge of the {@link S2Cell} (specified by
+   * setting {@code uEnd} to false or true respectively), returns true if {@code p} is closer to the
+   * interior of that edge than it is to either endpoint.
+   */
+  private boolean vEdgeIsClosest(S2Point p, boolean uEnd) {
+    double u = uEnd ? uMax : uMin;
+    // See comments above.
+    S2Point dir0 = new S2Point(-u * vMin, u * u + 1, -vMin);
+    S2Point dir1 = new S2Point(-u * vMax, u * u + 1, -vMax);
+    return p.dotProd(dir0) > 0 && p.dotProd(dir1) < 0;
+  }
+
+  /**
+   * Given the dot product of a point P with the normal of a u- or v-edge at the given coordinate
+   * value, returns the distance from P to that edge.
+   */
+  private static double edgeDistance(double dirIJ, double uv) {
+    // Let P be the target point and let R be the closest point on the given edge AB. The desired
+    // distance XR can be expressed as PR^2 = PQ^2 + QR^2 where Q is the point P projected onto the
+    // plane through the great circle through AB. We can compute the distance PQ^2 perpendicular to
+    // the plane from "dirIJ" (the dot product of the target point P with the edge normal) and the
+    // squared length of the edge normal (1 + uv**2).
+    double pq2 = (dirIJ * dirIJ) / (1 + uv * uv);
+
+    // We can compute the distance QR as (1 - OQ) where O is the sphere origin,
+    // and we can compute OQ^2 = 1 - PQ^2 using the Pythagorean theorem.
+    // (This calculation loses accuracy as the angle approaches Pi/2.)
+    double qr = 1 - Math.sqrt(1 - pq2);
+    return pq2 + qr * qr;
+  }
+
+  /**
+   * Returns the distance from the given point to the cell. Returns zero if the point is inside the
+   * cell.
+   */
+  public S1ChordAngle getDistance(S2Point targetXyz) {
+    return S1ChordAngle.fromLength2(getDistanceInternal(targetXyz, true));
+  }
+
+  /** Returns the distance to the given cell. Returns zero if one cell contains the other. */
+  public S1ChordAngle getDistance(S2Cell target) {
+    // If the cells intersect, the distance is zero.  We use the (u,v) ranges rather than
+    // S2CellId.intersects() so that cells that share a partial edge or a corner are considered to
+    // intersect.
+    if (face == target.face
+        && uMin <= target.uMax && uMax >= target.uMin
+        && vMin <= target.vMax && vMax >= target.vMin) {
+      return S1ChordAngle.ZERO;
+    }
+
+    // Otherwise, the minimum distance always occurs between a vertex of one cell and an edge of the
+    // other cell (including the edge endpoints).  This represents a total of 32 possible
+    // (vertex, edge) pairs.
+    //
+    // TODO(user): This could be optimized to be at least 5x faster by pruning the set of possible
+    // closest vertex/edge pairs using the faces and (u,v) ranges of both cells.
+    S2Point[] va = new S2Point[4];
+    S2Point[] vb = new S2Point[4];
+    for (int i = 0; i < 4; i++) {
+      va[i] = getVertex(i);
+      vb[i] = target.getVertex(i);
+    }
+    S1ChordAngle minDist = S1ChordAngle.INFINITY;
+    for (int i = 0; i < 4; i++) {
+      for (int j = 0; j < 4; j++) {
+        minDist = S2EdgeUtil.updateMinDistance(va[i], vb[j], vb[(j + 1) & 3], minDist);
+        minDist = S2EdgeUtil.updateMinDistance(vb[i], va[j], va[(j + 1) & 3], minDist);
+      }
+    }
+    return minDist;
+  }
+
+  /** Returns the chord distance to targetXyz, with interior distance 0 iff toInterior is true. */
+  private double getDistanceInternal(S2Point targetXyz, boolean toInterior) {
+    // All calculations are done in the (u,v,w) coordinates of this cell's face.
+    S2Point targetUvw = S2Projections.faceXyzToUvw(face, targetXyz);
+
+    // Compute dot products with all four upward or rightward-facing edge normals. "dirIJ" is the
+    // dot product for the edge corresponding to axis I, endpoint J.  For example, dir01 is the
+    // right edge of the S2Cell (corresponding to the upper endpoint of the u-axis).
+    double dir00 = targetUvw.x - targetUvw.z * uMin;
+    double dir01 = targetUvw.x - targetUvw.z * uMax;
+    double dir10 = targetUvw.y - targetUvw.z * vMin;
+    double dir11 = targetUvw.y - targetUvw.z * vMax;
+    boolean inside = true;
+    if (dir00 < 0) {
+      inside = false; // Target is to the left of the cell.
+      if (vEdgeIsClosest(targetUvw, false)) {
+        return edgeDistance(-dir00, uMin);
+      }
+    }
+    if (dir01 > 0) {
+      inside = false; // Target is to the right of the cell.
+      if (vEdgeIsClosest(targetUvw, true)) {
+        return edgeDistance(dir01, uMax);
+      }
+    }
+    if (dir10 < 0) {
+      inside = false; // Target is below the cell.
+      if (uEdgeIsClosest(targetUvw, false)) {
+        return edgeDistance(-dir10, vMin);
+      }
+    }
+    if (dir11 > 0) {
+      inside = false; // Target is above the cell.
+      if (uEdgeIsClosest(targetUvw, true)) {
+        return edgeDistance(dir11, vMax);
+      }
+    }
+    if (inside) {
+      if (toInterior) {
+        return 0;
+      }
+
+      // Although you might think of S2Cells as rectangles, they are actually arbitrary
+      // quadrilaterals after they are projected onto the sphere. Therefore the simplest approach is
+      // just to find the minimum distance to any of the four edges.
+      return Doubles.min(
+          edgeDistance(-dir00, uMin),
+          edgeDistance(dir01, uMax),
+          edgeDistance(-dir10, vMin),
+          edgeDistance(dir11, vMax));
+    }
+
+    // Otherwise, the closest point is one of the four cell vertices.  Note that
+    // it is *not* trivial to narrow down the candidates based on the edge sign
+    // tests above, because (1) the edges don't meet at right angles and (2)
+    // there are points on the far side of the sphere that are both above *and*
+    // below the cell, etc.
+    return vertexChordDist2(targetUvw, Math::min);
+  }
+
+  /** Returns the maximum distance from the cell (including its interior) to the given point. */
+  public S1ChordAngle getMaxDistance(S2Point target) {
+    // First check the 4 cell vertices.  If all are within the hemisphere centered around target,
+    // the max distance will be to one of these vertices.
+    S2Point targetUvw = S2Projections.faceXyzToUvw(face, target);
+    double maxDist = vertexChordDist2(targetUvw, Math::max);
+    if (maxDist <= S1ChordAngle.RIGHT.getLength2()) {
+      return S1ChordAngle.fromLength2(maxDist);
+    }
+
+    // Otherwise, find the minimum distance d_min to the antipodal point and the maximum distance
+    // will be Pi - d_min.
+    return S1ChordAngle.sub(S1ChordAngle.STRAIGHT, getDistance(target.neg()));
+  }
+
+  /** Returns the maximum distance from the cell (including its interior) to the given edge AB. */
+  public S1ChordAngle getMaxDistance(S2Point a, S2Point b) {
+    // If the maximum distance from both endpoints to the cell is less than Pi/2 then the maximum
+    // distance from the edge to the cell is the maximum of the two endpoint distances.
+    S1ChordAngle da = getMaxDistance(a);
+    S1ChordAngle db = getMaxDistance(b);
+    S1ChordAngle maxDist = da.compareTo(db) < 0 ? db : da;
+    // TODO(eengle): Use a thresholded distance via S2Predicates.
+    if (maxDist.compareTo(S1ChordAngle.RIGHT) <= 0) {
+      return maxDist;
+    } else {
+      return S1ChordAngle.sub(S1ChordAngle.STRAIGHT, getDistanceToEdge(a.neg(), b.neg()));
+    }
+  }
+
+  /** Returns the maximum distance from the cell, including interior, to the given target cell. */
+  public S1ChordAngle getMaxDistance(S2Cell target) {
+    // If the antipodal target intersects the cell, the distance is S1ChordAngle.STRAIGHT.
+    // The antipodal UV is the transpose of the original UV, interpreted within the opposite face.
+    if (face == (target.face >= 3 ? target.face - 3 : target.face + 3)
+        && uMin <= target.vMax && uMax >= target.vMin
+        && vMin <= target.uMax && vMax >= target.uMin) {
+      return S1ChordAngle.STRAIGHT;
+    }
+
+    // Otherwise, the maximum distance always occurs between a vertex of one cell and an edge of the
+    // other cell (including the edge endpoints). This represents a total of 32 possible
+    // (vertex, edge) pairs.
+    //
+    // TODO(eengle): When the maximum distance is at most Pi/2, the maximum is always attained
+    // between a pair of vertices, and this could be made much faster by testing each vertex pair
+    // once rather than the current 4 times.
+    S2Point[] va = new S2Point[4];
+    S2Point[] vb = new S2Point[4];
+    for (int i = 0; i < 4; i++) {
+      va[i] = getVertex(i);
+      vb[i] = target.getVertex(i);
+    }
+    S1ChordAngle maxDist = S1ChordAngle.NEGATIVE;
+    for (int i = 0; i < 4; i++) {
+      for (int j = 0; j < 4; j++) {
+        maxDist = S2EdgeUtil.updateMaxDistance(va[i], vb[j], vb[(j + 1) & 3], maxDist);
+        maxDist = S2EdgeUtil.updateMaxDistance(vb[i], va[j], va[(j + 1) & 3], maxDist);
+      }
+    }
+    return maxDist;
+  }
+
+  /**
+   * Returns the minimum distance from the cell to the given edge AB, or zero if the edge intersects
+   * the cell interior.
+   */
+  public S1ChordAngle getDistanceToEdge(S2Point a, S2Point b) {
+    // Possible optimizations:
+    //  - Currently the (cell vertex, edge endpoint) distances are computed twice each, and the
+    //    length of AB is computed 4 times.
+    //  - To fix this, refactor GetDistance(target) so that it skips calculating the distance to
+    //    each cell vertex.  Instead, compute the cell vertices and distances in this function, and
+    //    add a low-level UpdateMinDistance that allows the XA, XB, and AB distances to be passed
+    //    in.
+    //  - It might also be more efficient to do all calculations in UVW-space, since this would
+    //    involve transforming 2 points rather than 4.
+
+    // First, check the minimum distance to the edge endpoints A and B. (This also detects whether
+    // either endpoint is inside the cell.)
+    S1ChordAngle minDist = Ordering.natural().min(getDistance(a), getDistance(b));
+    if (minDist.isZero()) {
+      return minDist;
+    }
+
+    // Otherwise, check whether the edge crosses the cell boundary.
+    S2Point[] v = new S2Point[4];
+    for (int i = 0; i < 4; i++) {
+      v[i] = getVertex(i);
+    }
+    S2EdgeUtil.EdgeCrosser crosser = new S2EdgeUtil.EdgeCrosser(a, b, v[3]);
+    for (int i = 0; i < 4; i++) {
+      if (crosser.robustCrossing(v[i]) >= 0) {
+        return S1ChordAngle.ZERO;
+      }
+    }
+
+    // Finally, check whether the minimum distance occurs between a cell vertex and the interior of
+    // the edge AB.  (Some of this work is redundant, since it also checks the distance to the
+    // endpoints A and B again.)
+    //
+    // Note that we don't need to check the distance from the interior of AB to the interior of a
+    // cell edge, because the only way that this distance can be minimal is if the two edges cross
+    // (already checked above).
+    for (int i = 0; i < 4; i++) {
+      minDist = S2EdgeUtil.updateMinDistance(v[i], a, b, minDist);
+    }
+
+    return minDist;
+  }
+
+  /** Returns the distance from the cell boundary to the given point. */
+  public S1ChordAngle getBoundaryDistance(S2Point target) {
+    return S1ChordAngle.fromLength2(getDistanceInternal(target, false));
+  }
+
+  private void init(S2CellId id) {
+    // Set cell properties from the ID and the FaceIJ of the ID.
+    cellId = id;
+    face = (byte) id.face();
+    long ijo = id.toIJOrientation();
+    orientation = (byte) S2CellId.getOrientation(ijo);
+    level = (byte) id.level();
+    int i = S2CellId.getI(ijo);
+    int j = S2CellId.getJ(ijo);
+    int cellSize = id.getSizeIJ();
+    this.uMin = S2Projections.PROJ.ijToUV(i, cellSize);
+    this.uMax = S2Projections.PROJ.ijToUV(i + cellSize, cellSize);
+    this.vMin = S2Projections.PROJ.ijToUV(j, cellSize);
+    this.vMax = S2Projections.PROJ.ijToUV(j + cellSize, cellSize);
+  }
+
+  private S2Point getPoint(int i, int j) {
+    return S2Projections.faceUvToXyz(face, i == 0 ? uMin : uMax, j == 0 ? vMin : vMax);
+  }
+
+  @Override
+  public String toString() {
+    return "[" + face + ", " + level + ", " + orientation + ", " + cellId + "]";
+  }
+
+  @Override
+  public int hashCode() {
+    int value = 17;
+    value = 37 * (37 * (37 * value + face) + orientation) + level;
+    return 37 * value + id().hashCode();
+  }
+
+  @Override
+  public boolean equals(Object that) {
+    if (that instanceof S2Cell) {
+      S2Cell thatCell = (S2Cell) that;
+      return this.face == thatCell.face
+          && this.level == thatCell.level
+          && this.orientation == thatCell.orientation
+          && this.cellId.equals(thatCell.cellId);
+    }
+    return false;
+  }
+
+  /* A double function of two double parameters. */
+  // TODO(eengle): Remove this once the android JDK has this interface.
+  private interface DoubleBinaryOperator {
+    /** Returns the result of this function applied to {@code a} and {@code b}. */
+    double applyAsDouble(double a, double b);
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/S2CellIdVector.java

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2019 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import java.util.AbstractList;
+
+/**
+ * A list of {@link S2CellId}s, and specialized methods for directly operating on the encoded form.
+ */
+@GwtCompatible
+abstract class S2CellIdVector extends AbstractList<S2CellId> {
+
+  /**
+   * Returns the index of the first element {@code x} such that {@code (x >= target)}, or {@link
+   * #size()} if no such element exists.
+   *
+   * <p>The list must be sorted into ascending order prior to making this call. If it is not sorted,
+   * the results are undefined.
+   */
+  abstract int lowerBound(S2CellId target);
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/S2CellIdVectorCoder.java

@@ -0,0 +1,218 @@
+/*
+ * Copyright 2018 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import com.mogo.eagle.core.utilcode.geometry.PrimitiveArrays.Bytes;
+import com.mogo.eagle.core.utilcode.geometry.PrimitiveArrays.Cursor;
+import com.mogo.eagle.core.utilcode.geometry.PrimitiveArrays.Longs;
+import com.google.common.primitives.UnsignedLongs;
+import java.io.IOException;
+import java.io.OutputStream;
+import java.util.List;
+
+/** An encoder/decoder of {@link List<S2CellId>}s. */
+@GwtCompatible
+class S2CellIdVectorCoder implements S2Coder<List<S2CellId>> {
+
+  /** An instance of an {@code S2CellIdVectorCoder}. */
+  static final S2CellIdVectorCoder INSTANCE = new S2CellIdVectorCoder();
+
+  @Override
+  public void encode(List<S2CellId> values, OutputStream output) throws IOException {
+    // The encoding format is as follows:
+    //
+    // byte 0, bits 0-2: baseBytes
+    // byte 0, bits 3-7: shiftCode
+    // byte 1: extended shiftCode (only written for odd shift >= 5)
+    // 0-7 bytes: base
+    // values.size() encoded uint64s of deltas (encoded by UintVectorCoder.UINT64.encode)
+    //
+    // base consists of 0-7 bytes, and is always shifted so its bytes are the most-significant
+    // bytes of a uint64 (little-endian).
+    //
+    // shift is in the range 0-56. shift is odd only if all S2CellIds are at the same
+    // level, in which case the bit at position (shift - 1) in base is automatically set to 1.
+    //
+    // base (3 bits) and shift (6 bits) are encoded in either one or two bytes as follows:
+    // - if (shift <= 4 or shift is even), then 1 byte
+    // - else 2 bytes
+    //
+    // (shift == 1) means that all S2CellIds are leaf cells, and (shift == 2) means that
+    // all S2CellIds are at level 29.
+
+    long valuesOr = 0L;
+    long valuesAnd = ~0L;
+    long valuesMin = ~0L;
+    long valuesMax = 0L;
+
+    for (S2CellId cellId : values) {
+      valuesOr |= cellId.id();
+      valuesAnd &= cellId.id();
+      valuesMin = UnsignedLongs.min(valuesMin, cellId.id());
+      valuesMax = UnsignedLongs.max(valuesMax, cellId.id());
+    }
+
+    long base = 0L;
+    // The number of bytes required to encode base.
+    int baseBytes = 0;
+    int shift = 0;
+    // The bit position of the most-significant bit of the largest delta.
+    int maxDeltaMsb = 0;
+
+    if (UnsignedLongs.compare(valuesOr, 0) > 0) {
+      // We only allow even shift, unless all values have the same low bit (in which case shift is
+      // odd and the preceding bit is implicitly on). There is no point in allowing shifts > 56
+      // because deltas are encoded in at least 1 byte each.
+      shift = Math.min(56, Long.numberOfTrailingZeros(valuesOr) & ~1);
+      if ((valuesAnd & (1L << shift)) != 0) {
+        // All S2CellIds are at the same level.
+        shift++;
+      }
+
+      // base consists of the baseBytes most-significant bytes of the minimum S2CellId. We consider
+      // all possible values of baseBytes (0-7) and choose the one that minimizes the total encoding
+      // size.
+      // The best encoding size so far.
+      int minBytes = -1;
+      for (int tmpBaseBytes = 0; tmpBaseBytes < 8; tmpBaseBytes++) {
+        // The base value being tested (first tmpBaseBytes of valuesMin).
+        long tmpBase = valuesMin & ~(~0L >>> (8 * tmpBaseBytes));
+        // The most-significant bit position of the largest delta (or zero if there are no deltas
+        // [i.e., if values.size == 0]).
+        int tmpMaxDeltaMsb =
+            Math.max(0, 63 - Long.numberOfLeadingZeros((valuesMax - tmpBase) >>> shift));
+        // The total size of the variable portion of the encoding.
+        int candidateBytes = tmpBaseBytes + values.size() * ((tmpMaxDeltaMsb >> 3) + 1);
+
+        if (UnsignedLongs.compare(candidateBytes, minBytes) < 0) {
+          base = tmpBase;
+          baseBytes = tmpBaseBytes;
+          maxDeltaMsb = tmpMaxDeltaMsb;
+          minBytes = candidateBytes;
+        }
+      }
+      // It takes one extra byte to encode odd shifts (i.e., the case where all S2CellIds are at the
+      // same level), so we check whether we can get the same encoding size per delta using an even
+      // shift.
+      if (((shift & 1) != 0) && (maxDeltaMsb & 7) != 7) {
+        shift--;
+      }
+    }
+    assert (shift <= 56);
+
+    // shift and baseBytes are encoded in 1 or 2 bytes.
+    // shiftCode is 5 bits, values:
+    // - <= 28 represent even shifts in the range 0-56.
+    // - 29, 30 represent odd shifts 1 and 3.
+    // - 31 indicates that the shift is odd and encoded in the next byte.
+    int shiftCode = shift >> 1;
+    if ((shift & 1) != 0) {
+      shiftCode = Math.min(31, shiftCode + 29);
+    }
+    output.write((byte) ((shiftCode << 3) | baseBytes));
+    if (shiftCode == 31) {
+      // shift is always odd, so 3 bits unused.
+      output.write((byte) (shift >> 1));
+    }
+
+    // Encode the baseBytes most-significant bytes of base.
+    long baseCode = base >>> (64 - 8 * Math.max(1, baseBytes));
+    EncodedInts.encodeUintWithLength(output, baseCode, baseBytes);
+
+    // Encode the vector of deltas.
+    long tmpBase = base;
+    long tmpShift = shift;
+    UintVectorCoder.UINT64.encode(
+        new Longs() {
+          @Override
+          public long get(int position) {
+            return (values.get(position).id() - tmpBase) >>> tmpShift;
+          }
+
+          @Override
+          public int length() {
+            return values.size();
+          }
+        },
+        output);
+  }
+
+  @Override
+  public S2CellIdVector decode(Bytes data, Cursor cursor) {
+    // See encode for documentation on the encoding format.
+
+    // Invert the encoding of (shiftCode, baseBytes).
+    int shiftCodeBaseBytes = data.get(cursor.position++) & 0xff;
+    int shiftCode = shiftCodeBaseBytes >> 3;
+    if (shiftCode == 31) {
+      shiftCode = 29 + (data.get(cursor.position++) & 0xff);
+    }
+
+    // Decode the baseBytes most-significant bytes of base.
+    int baseBytes = shiftCodeBaseBytes & 7;
+    long base = data.readUintWithLength(cursor, baseBytes);
+    base <<= 64 - 8 * Math.max(1, baseBytes);
+
+    // Invert the encoding of shiftCode.
+    long shift;
+    if (shiftCode >= 29) {
+      shift = 2L * (shiftCode - 29) + 1;
+      base |= 1L << (shift - 1);
+    } else {
+      shift = 2L * shiftCode;
+    }
+
+    long tmpBase = base;
+    Longs deltas = UintVectorCoder.UINT64.decode(data, cursor);
+    return new S2CellIdVector() {
+      @Override
+      public int size() {
+        return deltas.length();
+      }
+
+      @Override
+      public S2CellId get(int index) {
+        return new S2CellId((deltas.get(index) << shift) + tmpBase);
+      }
+
+      @Override
+      int lowerBound(S2CellId target) {
+        if (UnsignedLongs.compare(target.id(), tmpBase) <= 0) {
+          return 0;
+        }
+        if (target.greaterOrEquals(S2CellId.end(S2CellId.MAX_LEVEL))) {
+          return size();
+        }
+        int low = 0;
+        int high = deltas.length();
+        long needle = (target.id() - tmpBase + (1L << shift) - 1) >>> shift;
+
+        // Binary search for the index of the first element in deltas that is >= needle.
+        while (low < high) {
+          int mid = (low + high) >> 1;
+          long value = deltas.get(mid);
+          if (UnsignedLongs.compare(value, needle) < 0) {
+            low = mid + 1;
+          } else {
+            high = mid;
+          }
+        }
+        return low;
+      }
+    };
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/S2CellIndex.java

@@ -0,0 +1,662 @@
+/*
+ * Copyright 2019 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import com.google.common.annotations.GwtCompatible;
+import com.google.common.base.Preconditions;
+import java.util.AbstractList;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Comparator;
+import java.util.List;
+
+/**
+ * A collection of (cellId, label) pairs. The S2CellIds may be overlapping or contain duplicate
+ * values. For example, an S2CellIndex could store a collection of S2CellUnions, where each
+ * S2CellUnion has its own label. Labels are 32-bit non-negative integers, and are typically used to
+ * map the results of queries back to client data structures.
+ *
+ * <p>To build an S2CellIndex, call add() for each (cellId, label) pair, and then call the build()
+ * method. There is also a convenience method to associate a label with each cell in a union.
+ *
+ * <p>Note that the index is not dynamic; the contents of the index cannot be changed once it has
+ * been built. However, the same memory space can be reused by {@link #clear clearing} the index.
+ *
+ * <p>There are several options for retrieving data from the index. The simplest is to use a
+ * built-in method such as getIntersectingLabels, which returns the labels of all cells that
+ * intersect a given target S2CellUnion. Alternatively, you can access the index contents directly.
+ *
+ * <p>Internally, the index consists of a set of non-overlapping leaf cell ranges that subdivide the
+ * sphere and such that each range intersects a particular set of (cellId, label) pairs. Data is
+ * accessed using the following iterator types:
+ *
+ * <ul>
+ *   <li>{@link RangeIterator}: used to seek and iterate over the non-overlapping leaf cell ranges.
+ *   <li>{@link NonEmptyRangeIterator}: like RangeIterator, but skips ranges whose contents are
+ *       empty.
+ *   <li>{@link ContentsIterator}: iterates over the (cellId, label) pairs that intersect a given
+ *       range.
+ *   <li>{@link CellIterator}: iterates over the entire set of (cellId, label) pairs.
+ * </ul>
+ *
+ * <p>Note that these are low-level, efficient types intended mainly for implementing new query
+ * classes. Most clients should use either the built-in methods such as {@link
+ * #visitIntersectingCells} and {@link #getIntersectingLabels}.
+ */
+@GwtCompatible
+public class S2CellIndex {
+  /**
+   * A tree of (cellId, label) pairs such that if X is an ancestor of Y, then X.cellId contains
+   * Y.cellId. The contents of a given range of leaf cells can be represented by pointing to a node
+   * of this tree.
+   */
+  private final List<CellNode> cellNodes = new ArrayList<>();
+
+  /**
+   * The last element of nodes is a sentinel value, which is necessary in order to represent the
+   * range covered by the previous element.
+   */
+  private final ArrayList<RangeNode> rangeNodes = new ArrayList<>();
+
+  /** Returns the number of (cellId, label) pairs in the index. */
+  public int numCells() {
+    return cellNodes.size();
+  }
+
+  /**
+   * Adds the given (cellId, label) pair to the index. Note that the index is not valid until
+   * {@link #build} is called.
+   *
+   * <p>The S2CellIds in the index may overlap (including duplicate values). Duplicate (cellId,
+   * label) pairs are also allowed, although query tools often remove duplicates.
+   *
+   * <p>Results are undefined unless all cells are {@link S2CellId#isValid valid}.
+   */
+  public void add(S2CellId cellId, int label) {
+    assert cellId.isValid();
+    assert label >= 0;
+    cellNodes.add(new CellNode(cellId, label, -1));
+  }
+
+  /** Convenience function that adds a collection of cells with the same label. */
+  public void add(Iterable<S2CellId> cellIds, int label) {
+    for (S2CellId cellId : cellIds) {
+      add(cellId, label);
+    }
+  }
+
+  /**
+   * Builds the index. This method may only be called once. No iterators may be used until the index
+   * is built.
+   */
+  public void build() {
+    // Create two deltas for each (cellId, label) pair: one to add the pair to the stack (at the
+    // start of its leaf cell range), and one to remove it from the stack (at the end of its leaf
+    // cell range).
+    Delta[] deltas = new Delta[2 * cellNodes.size() + 2];
+    int size = 0;
+    for (CellNode node : cellNodes) {
+      deltas[size++] = new Delta(node.cellId.rangeMin(), node.cellId, node.label);
+      deltas[size++] = new Delta(node.cellId.rangeMax().next(), S2CellId.sentinel(), -1);
+    }
+
+    // We also create two special deltas to ensure that a RangeNode is emitted at the beginning and
+    // end of the S2CellId range.
+    deltas[size++] = new Delta(S2CellId.begin(S2CellId.MAX_LEVEL), S2CellId.none(), -1);
+    deltas[size++] = new Delta(S2CellId.end(S2CellId.MAX_LEVEL), S2CellId.none(), -1);
+    Arrays.sort(deltas, Delta.BY_START_CELL_NEG_LABEL);
+
+    // Now walk through the deltas to build the leaf cell ranges and cell tree (which is essentially
+    // a permanent form of the "stack" described above).
+    cellNodes.clear();
+    rangeNodes.ensureCapacity(deltas.length);
+    int contents = -1;
+    for (int i = 0; i < deltas.length; ) {
+      // Process all the deltas associated with the current startId.
+      S2CellId startId = deltas[i].startId;
+      for (; i < deltas.length && deltas[i].startId.equals(startId); i++) {
+        if (deltas[i].label >= 0) {
+          cellNodes.add(new CellNode(deltas[i].cellId, deltas[i].label, contents));
+          contents = cellNodes.size() - 1;
+        } else if (deltas[i].cellId.equals(S2CellId.sentinel())) {
+          contents = cellNodes.get(contents).parent;
+        }
+      }
+      rangeNodes.add(new RangeNode(startId, contents));
+    }
+  }
+
+  /** Returns an iterator over the cells of this index. */
+  public CellIterator cells() {
+    Preconditions.checkState(!rangeNodes.isEmpty(), "Call build() first.");
+    return new CellIterator();
+  }
+
+  /** Returns an iterator over the ranges of this index. */
+  public RangeIterator ranges() {
+    Preconditions.checkState(!rangeNodes.isEmpty(), "Call build() first.");
+    return new RangeIterator();
+  }
+
+  /** Returns an iterator over the non-empty ranges of this index. */
+  public NonEmptyRangeIterator nonEmptyRanges() {
+    return new NonEmptyRangeIterator();
+  }
+
+  /** Returns an iterator over the contents of this index. */
+  public ContentsIterator contents() {
+    Preconditions.checkState(!rangeNodes.isEmpty(), "Call build() first.");
+    return new ContentsIterator();
+  }
+
+  /**
+   * To build the cell tree and leaf cell ranges, we maintain a stack of (cellId, label) pairs that
+   * contain the current leaf cell. This class represents an instruction to push or pop a (cellId,
+   * label) pair.
+   *
+   * <p>If label >= 0, the (cellId, label) pair is pushed on the stack. If cellId ==
+   * S2CellId.SENTINEL, a pair is popped from the stack. Otherwise the stack is unchanged but a
+   * RangeNode is still emitted.
+   */
+  private static final class Delta {
+    /**
+     * Deltas are sorted first by startId, then in reverse order by cellId, and then by label. This
+     * is necessary to ensure that (1) larger cells are pushed on the stack before smaller cells,
+     * and (2) cells are popped off the stack before any new cells are added.
+     */
+    public static final Comparator<Delta> BY_START_CELL_NEG_LABEL = (a, b) -> {
+      int result = a.startId.compareTo(b.startId);
+      if (result != 0) {
+        return result;
+      }
+      result = -a.cellId.compareTo(b.cellId);
+      if (result != 0) {
+        return result;
+      }
+      return Integer.compare(a.label, b.label);
+    };
+
+    private final S2CellId startId;
+    private final S2CellId cellId;
+    private final int label;
+
+    private Delta(S2CellId startId, S2CellId cellId, int label) {
+      this.startId = startId;
+      this.cellId = cellId;
+      this.label = label;
+    }
+  }
+
+  /** Clears the index so that it can be re-used. */
+  public void clear() {
+    cellNodes.clear();
+    rangeNodes.clear();
+  }
+
+  /**
+   * Visits all (cellId, label) pairs in the given index that intersect the given S2CellUnion
+   * "target" and returns true, or terminates early and returns false if {@link CellVisitor#visit}
+   * ever returns false.
+   *
+   * <p>Each (cellId, label) pair in the index is visited at most once. If the index contains
+   * duplicates, then each copy is visited.
+   */
+  public boolean visitIntersectingCells(S2CellUnion target, CellVisitor visitor) {
+    if (target.size() == 0) {
+      return true;
+    }
+
+    ContentsIterator contents = contents();
+    RangeIterator range = ranges();
+    for (int i = 0; i < target.size(); ) {
+      S2CellId id = target.cellId(i);
+
+      // seek the range to this target cell when necessary.
+      if (range.limitId().lessOrEquals(id.rangeMin())) {
+        range.seek(id.rangeMin());
+      }
+
+      // Visit contents of this range that intersect this cell.
+      for (; range.startId().lessOrEquals(id.rangeMax()); range.next()) {
+        for (contents.startUnion(range); !contents.done(); contents.next()) {
+          if (!visitor.visit(contents.cellId(), contents.label())) {
+            return false;
+          }
+        }
+      }
+
+      // Check whether the next target cell is also contained by the leaf cell range that we just
+      // processed.  If so, we can skip over all such cells using binary search.  This speeds up
+      // benchmarks by 2-10x when the average number of intersecting cells is small (< 1).
+      i++;
+      if (i != target.size()) {
+        id = target.cellId(i);
+        if (id.rangeMax().lessThan(range.startId())) {
+          // Skip to the first target cell that extends past the previous range.
+          i = S2ShapeUtil.lowerBound(i + 1, target.size(),
+              j -> range.startId().greaterThan(target.cellId(j)));
+          if (target.cellId(i - 1).rangeMax().greaterOrEquals(range.startId())) {
+            i--;
+          }
+        }
+      }
+    }
+
+    return true;
+  }
+
+  /** Returns the distinct sorted labels that intersect the given target. */
+  public Labels getIntersectingLabels(S2CellUnion target) {
+    Labels result = new Labels();
+    getIntersectingLabels(target, result);
+    result.normalize();
+    return result;
+  }
+
+  /** Appends labels intersecting 'target', in unspecified order, with possible duplicates. */
+  public void getIntersectingLabels(S2CellUnion target, Labels results) {
+    visitIntersectingCells(target, (cellId, label) -> results.add(label));
+  }
+
+  /** A function that is called with each (cellId, label) pair to be visited. */
+  public interface CellVisitor {
+    /** Provides a (cellId, label) pair to this visitor, which may return true to keep searching. */
+    boolean visit(S2CellId cellId, int label);
+  }
+
+  /**
+   * A set of labels that can be grown by {@link #getIntersectingLabels(S2CellUnion, Labels)} and
+   * shrunk via {@link #clear} or {@link #normalize}. May contain duplicates or be unsorted unless
+   * {@link #normalize} is called.
+   */
+  public static class Labels extends AbstractList<Integer> {
+    private int[] labels = new int[8];
+    private int size;
+
+    @Override
+    public void clear() {
+      size = 0;
+    }
+
+    private boolean add(int label) {
+      if (labels.length == size) {
+        labels = Arrays.copyOf(labels, size * 2);
+      }
+      labels[size++] = label;
+      return true;
+    }
+
+    @Override
+    public int size() {
+      return size;
+    }
+
+    @Override
+    public Integer get(int index) {
+      return getInt(index);
+    }
+
+    /** As {@link #get(int)} but without the overhead of boxing. */
+    public int getInt(int index) {
+      return labels[index];
+    }
+
+    /** Sorts the labels and removes duplicates. */
+    public void normalize() {
+      if (size == 0) {
+        return;
+      }
+      Arrays.sort(labels, 0, size);
+      int lastIndex = 0;
+      for (int i = 1; i < size; i++) {
+        if (labels[lastIndex] != labels[i]) {
+          labels[++lastIndex] = labels[i];
+        }
+      }
+      size = lastIndex + 1;
+    }
+  }
+
+  /**
+   * Represents a node in the (cellId, label) tree. Cells are organized in a tree such that the
+   * ancestors of a given node contain that node.
+   */
+  private static final class CellNode {
+    private S2CellId cellId;
+    private int label;
+    private int parent;
+
+    private CellNode(S2CellId cellId, int label, int parent) {
+      this.cellId = cellId;
+      this.label = label;
+      this.parent = parent;
+    }
+
+    private void setFrom(CellNode node) {
+      this.cellId = node.cellId;
+      this.label = node.label;
+      this.parent = node.parent;
+    }
+  }
+
+  /** An iterator over all (cellId, label) pairs in an unspecified order. */
+  public final class CellIterator {
+    /** Offset into {@link S2CellIndex#cellNodes}. */
+    private int offset;
+    /** Current node pointed to by 'offset', or null if {@link #done}. */
+    private CellNode cell;
+
+    // Initializes a CellIterator for the given S2CellIndex, positioned at the first cell (if any).
+    private CellIterator() {
+      Preconditions.checkState(!rangeNodes.isEmpty(), "Call build() first.");
+      seek(0);
+    }
+
+    /** Returns the S2CellId of the current (cellId, label) pair. */
+    public S2CellId cellId() {
+      assert !done();
+      return cell.cellId;
+    }
+
+    /** Returns the label of the current (cellId, label) pair. */
+    public int label() {
+      assert !done();
+      return cell.label;
+    }
+
+    /** Returns true if all (cellId, label) pairs have been visited. */
+    public boolean done() {
+      return offset == cellNodes.size();
+    }
+
+    /** Advances this iterator to the next (cellId, label) pair. */
+    public void next() {
+      assert !done();
+      seek(offset + 1);
+    }
+
+    /** Sets the offset and sets 'cell' accordingly. */
+    private void seek(int offset) {
+      this.offset = offset;
+      this.cell = done() ? null : cellNodes.get(offset);
+    }
+  }
+
+  /** A range of leaf S2CellIds, from the level 30 leaf cell of this range to the next range. */
+  private static class RangeNode {
+    /** First leaf cell contained by this range. */
+    private final S2CellId startId;
+    /** Index in {@link S2CellIndex#cellNodes} for the cells that overlap this range. */
+    private final int contents;
+
+    private RangeNode(S2CellId startId, int contents) {
+      this.startId = startId;
+      this.contents = contents;
+    }
+  }
+
+  /**
+   * An iterator that seeks and iterates over a set of non-overlapping leaf cell ranges that cover
+   * the entire sphere. The indexed (s2cell_id, label) pairs that intersect the current leaf cell
+   * range can be visited using ContentsIterator (see below).
+   */
+  public class RangeIterator {
+    /** Offset into {@link S2CellIndex#rangeNodes}. */
+    private int offset;
+    /** Current node pointed to by 'offset'. */
+    private RangeNode node = rangeNodes.get(offset);
+
+    /**
+     * Returns the start of the current range of leaf S2CellIds. When {@link #done}, this returns
+     * the {@link S2CellId#end end} of the {@link S2CellId#MAX_LEVEL max level} of cells, so that
+     * most loops may test this method instead of done().
+     */
+    public S2CellId startId() {
+      return node.startId;
+    }
+
+    /** The (non-inclusive) end of the current range of leaf S2CellIds. */
+    public S2CellId limitId() {
+      assert (!done());
+      return rangeNodes.get(offset + 1).startId;
+    }
+
+    /** Returns true if the iterator is positioned beyond the last valid range. */
+    public boolean done() {
+      // Note that the last element of rangeNodes is a sentinel value.
+      return offset >= rangeNodes.size() - 1;
+    }
+
+    /** Positions this iterator at the first range of leaf cells (if any). */
+    public void begin() {
+      seekAndLoad(0);
+    }
+
+    /** Positions the iterator so that done() is true. */
+    public void finish() {
+      // Note that the last element of rangeNodes is a sentinel value.
+      seekAndLoad(rangeNodes.size() - 1);
+    }
+
+    /** Advances the iterator to the next range of leaf cells. */
+    public void next() {
+      assert (!done());
+      seekAndLoad(offset + 1);
+    }
+
+    /**
+     * Returns false if the iterator was already positioned at the beginning, otherwise positions
+     * the iterator at the previous entry and returns true.
+     */
+    public boolean prev() {
+      if (offset == 0) {
+        return false;
+      }
+      seekAndLoad(offset - 1);
+      return true;
+    }
+
+    /**
+     * Positions the iterator at the range containing "target". Such a range exists as long as the
+     * target is a valid leaf cell.
+     *
+     * @param target a valid leaf (level 30) cell to seek to
+     */
+    public void seek(S2CellId target) {
+      assert target.isLeaf();
+      seekAndLoad(S2ShapeUtil.upperBound(0, rangeNodes.size(),
+          i -> target.lessThan(rangeNodes.get(i).startId)) - 1);
+    }
+
+    /** Returns true if no (s2cell_id, label) pairs intersect this range, or if {@link #done}. */
+    public boolean isEmpty() {
+      return node.contents == ContentsIterator.DONE;
+    }
+
+    /**
+     * Advances this iterator 'n' times and returns true, or if doing so would advance this iterator
+     * past the end, leaves the iterator unmodified and returns false.
+     */
+    public boolean advance(int n) {
+      // Note that the last element of rangeNodes is a sentinel value.
+      if (n >= rangeNodes.size() - 1 - offset) {
+        return false;
+      }
+      seekAndLoad(offset + n);
+      return true;
+    }
+
+    private void seekAndLoad(int offset) {
+      this.offset = offset;
+      this.node = rangeNodes.get(offset);
+    }
+  }
+
+  /** As {@link RangeIterator} but only visits range nodes that overlap (cellId, label) pairs. */
+  public class NonEmptyRangeIterator extends RangeIterator {
+    @Override
+    public void begin() {
+      super.begin();
+      while (isEmpty() && !done()) {
+        super.next();
+      }
+    }
+
+    @Override
+    public void next() {
+      do {
+        super.next();
+      } while (isEmpty() && !done());
+    }
+
+    @Override
+    public boolean prev() {
+      while (super.prev()) {
+        if (!isEmpty()) {
+          return true;
+        }
+      }
+      // Return the iterator to its original position.
+      if (isEmpty() && !done()) {
+        next();
+      }
+      return false;
+    }
+
+    // Positions the iterator at the range that contains or follows "target", or at the end if no
+    // such range exists. (Note that start_id() may still be called in the latter case.)
+    @Override
+    public void seek(S2CellId target) {
+      super.seek(target);
+      while (isEmpty() && !done()) {
+        super.next();
+      }
+    }
+  }
+
+  /**
+   * An iterator that visits the (cellId, label) pairs that cover a set of leaf cell ranges (see
+   * RangeIterator). To use it, construct an instance or {@link #clear} an existing instance, and
+   * {@link #startUnion} to visit the contents of each desired leaf cell range.
+   *
+   * <p>Note that when multiple leaf cell ranges are visited, this class only guarantees that each
+   * result will be reported at least once, i.e. duplicate values may be suppressed. If you want
+   * duplicate values to be reported again, be sure to call {@link #clear} first.
+   *
+   * <p>In particular, the implementation guarantees that when multiple leaf cell ranges are visited
+   * in monotonically increasing order, then each (cellId, label) pair is reported exactly once.
+   */
+  public class ContentsIterator {
+    /** A special label indicating that {@link #done} is true. */
+    private static final int DONE = -1;
+
+    /**
+     * The value of it.startId() from the previous call to startUnion(). This is used to check
+     * whether these values are monotonically increasing.
+     */
+    private S2CellId prevStartId;
+
+    /**
+     * The maximum index within {@link #cellNodes} visited during the previous call to startUnion().
+     * This is used to eliminate duplicate values when startUnion() is called multiple times.
+     */
+    private int nodeCutoff;
+
+    /**
+     * The maximum index within {@link #cellNodes} visited during the current call to startUnion().
+     * This is used to update nodeCutoff.
+     */
+    private int nextNodeCutoff;
+
+    /** A copy of the current node in the cell tree. */
+    private final CellNode node = new CellNode(null, DONE, -1);
+
+    /** Creates a new iterator. Call {@link #startUnion} next. */
+    private ContentsIterator() {
+      clear();
+    }
+
+    /** Clears all state with respect to which range(s) have been visited. */
+    public void clear() {
+      prevStartId = S2CellId.none();
+      nodeCutoff = -1;
+      nextNodeCutoff = -1;
+      setDone();
+    }
+
+    /**
+     * Positions the ContentsIterator at the first (cellId, label) pair that covers the given leaf
+     * cell range. Note that when multiple leaf cell ranges are visited using the same
+     * ContentsIterator, duplicate values may be suppressed. If you don't want this behavior, call
+     * clear() first.
+     */
+    public void startUnion(RangeIterator range) {
+      if (range.startId().lessThan(prevStartId)) {
+        // Can't automatically eliminate duplicates.
+        nodeCutoff = -1;
+      }
+      prevStartId = range.startId();
+      int contents = range.node.contents;
+      if (contents <= nodeCutoff) {
+        setDone();
+      } else {
+        node.setFrom(cellNodes.get(contents));
+      }
+
+      // When visiting ancestors, we can stop as soon as the node index is smaller than any
+      // previously visited node index.  Because indexes are assigned using a preorder traversal,
+      // such nodes are guaranteed to have already been reported.
+      nextNodeCutoff = contents;
+    }
+
+    /** Returns the S2CellId of the current (cellId, label) pair. */
+    public S2CellId cellId() {
+      assert !done();
+      return node.cellId;
+    }
+
+    /** Returns the label of the current (cellId, label) pair. */
+    public int label() {
+      assert !done();
+      return node.label;
+    }
+
+    /** Returns true if all (cellId, label) pairs have been visited. */
+    public boolean done() {
+      return node.label == DONE;
+    }
+
+    /**
+     * Advances the iterator to the next (cellId, label) pair covered by the current leaf cell
+     * range.
+     */
+    public void next() {
+      assert !done();
+      if (node.parent <= nodeCutoff) {
+        // We have already processed this node and its ancestors.
+        nodeCutoff = nextNodeCutoff;
+        setDone();
+      } else {
+        node.setFrom(cellNodes.get(node.parent));
+      }
+    }
+
+    /** Sets the current node label to DONE to indicate that iteration has finished. */
+    private void setDone() {
+      node.label = DONE;
+    }
+  }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/geometry/S2CellUnion.java

@@ -0,0 +1,837 @@
+/*
+ * Copyright 2005 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.mogo.eagle.core.utilcode.geometry;
+
+import static com.mogo.eagle.core.utilcode.geometry.S2Projections.PROJ;
+
+import com.google.common.annotations.GwtCompatible;
+import com.google.common.collect.Lists;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.io.Serializable;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.Iterator;
+import java.util.List;
+
+/**
+ * An S2CellUnion is a region consisting of cells of various sizes. Typically a cell union is used
+ * to approximate some other shape. There is a tradeoff between the accuracy of the approximation
+ * and how many cells are used. Unlike polygons, cells have a fixed hierarchical structure. This
+ * makes them more suitable for optimizations based on preprocessing.
+ *
+ * <p>An S2CellUnion is represented as a vector of sorted, non-overlapping S2CellIds. By default the
+ * vector is also "normalized", meaning that groups of 4 child cells have been replaced by their
+ * parent cell whenever possible. S2CellUnions are not required to be normalized, but certain
+ * operations will return different results if they are not, e.g. {@link #contains(S2CellUnion)}.
+ *
+ */
+@GwtCompatible(serializable = true)
+public strictfp class S2CellUnion implements S2Region, Iterable<S2CellId>, Serializable {
+  private static final long serialVersionUID = 1L;
+
+  private static final byte LOSSLESS_ENCODING_VERSION = 1;
+
+  /** The CellIds that form the Union */
+  private ArrayList<S2CellId> cellIds = new ArrayList<S2CellId>();
+
+  public S2CellUnion() {}
+
+  /**
+   * Populates a cell union with the given S2CellIds, and then calls normalize(). This directly uses
+   * the input list, without copying it.
+   */
+  public void initFromCellIds(ArrayList<S2CellId> cellIds) {
+    initRawCellIds(cellIds);
+    normalize();
+  }
+
+  /** Populates a cell union with the given 64-bit cell ids, and then calls normalize(). */
+  public void initFromIds(List<Long> cellIds) {
+    initRawIds(cellIds);
+    normalize();
+  }
+
+  /**
+   * Populates a cell union with the given S2CellIds. The input list is copied, and then cleared.
+   */
+  public void initSwap(List<S2CellId> cellIds) {
+    initRawSwap(cellIds);
+    normalize();
+  }
+
+  /**
+   * Populates a cell union with the given S2CellIds. This does not call normalize, see {@link
+   * #initRawSwap} for details. This directly uses the input list, without copying it.
+   */
+  public void initRawCellIds(ArrayList<S2CellId> cellIds) {
+    this.cellIds = cellIds;
+  }
+
+  /**
+   * Populates a cell union with the given 64 bit cell ids. This does not call normalize, see {@link
+   * #initRawSwap} for details. The input list is copied.
+   */
+  // TODO(eengle): Make a constructed S2CellUnion immutable, and port other init methods from C++.
+  public void initRawIds(List<Long> cellIds) {
+    int size = cellIds.size();
+    this.cellIds = new ArrayList<S2CellId>(size);
+    for (Long id : cellIds) {
+      this.cellIds.add(new S2CellId(id));
+    }
+  }
+
+  /**
+   * Like the initFrom*() constructors, but does not call normalize(). The cell union *must* be
+   * normalized before doing any calculations with it, so it is the caller's * responsibility to
+   * make sure that the input is normalized. This method is useful when converting cell unions to
+   * another representation and back.
+   *
+   * <p>The input list is copied, and then cleared.
+   */
+  public void initRawSwap(List<S2CellId> cellIds) {
+    this.cellIds = new ArrayList<S2CellId>(cellIds);
+    cellIds.clear();
+  }
+
+  /**
+   * Create a cell union that corresponds to a continuous range of cell ids. The output is a
+   * normalized collection of cell ids that covers the leaf cells between "minId" and "maxId"
+   * inclusive.
+   *
+   * <p>Requires that minId.isLeaf(), maxId.isLeaf(), and minId <= maxId.
+   */
+  public void initFromMinMax(S2CellId minId, S2CellId maxId) {
+    // assert minId.isLeaf();
+    // assert maxId.isLeaf();
+    // assert minId.compareTo(maxId) <= 0;
+    // assert minId.isValid() && maxId.isValid();
+    initFromBeginEnd(minId, maxId.next());
+  }
+
+  /**
+   * As {@link #initFromMinMax(S2CellId, S2CellId)}, except that the union covers the range of leaf
+   * cells from "begin" (inclusive) to "end" (exclusive.) If {@code begin.equals(end)}, the result
+   * is empty.
+   *
+   * <p>Requires that begin.isLeaf(), end.isLeaf(), and begin <= end.
+   */
+  public void initFromBeginEnd(S2CellId begin, S2CellId end) {
+    // assert (begin.isLeaf());
+    // assert (end.isLeaf());
+    // assert (begin.compareTo(end) <= 0);
+
+    // We repeatedly add the largest cell we can, in sorted order.
+    cellIds.clear();
+    for (S2CellId nextBegin = begin; nextBegin.compareTo(end) < 0; ) {
+      // assert(nextBegin.isLeaf());
+
+      // Find the largest cell that starts at "next_begin" and ends before "end".
+      S2CellId nextId = nextBegin;
+      while (!nextId.isFace()
+          && nextId.parent().rangeMin().equals(nextBegin)
+          && nextId.parent().rangeMax().compareTo(end) < 0) {
+        nextId = nextId.parent();
+      }
+      cellIds.add(nextId);
+      nextBegin = nextId.rangeMax().next();
+    }
+
+    // The output should already be sorted and normalized.
+    // assert(!normalize());
+  }
+
+  public int size() {
+    return cellIds.size();
+  }
+
+  /** Convenience methods for accessing the individual cell ids. */
+  public S2CellId cellId(int i) {
+    return cellIds.get(i);
+  }
+
+  /** Enable iteration over the union's cells. */
+  @Override
+  public Iterator<S2CellId> iterator() {
+    return cellIds.iterator();
+  }
+
+  /** Direct access to the underlying vector for iteration . */
+  public ArrayList<S2CellId> cellIds() {
+    return cellIds;
+  }
+
+  /**
+   * Returns true if the cell union is valid, meaning that the S2CellIds are non-overlapping and
+   * sorted in increasing order.
+   */
+  public boolean isValid() {
+    for (int i = 1; i < cellIds.size(); i++) {
+      if (cellIds.get(i - 1).rangeMax().compareTo(cellIds.get(i).rangeMin()) >= 0) {
+        return false;
+      }
+    }
+    return true;
+  }
+
+  /**
+   * Returns true if the cell union is normalized, meaning that it {@link #isValid()} is true and
+   * that no four cells have a common parent.
+   *
+   * <p>Certain operations such as {@link #contains(S2CellUnion)} may return a different result if
+   * the cell union is not normalized.
+   */
+  public boolean isNormalized() {
+    for (int i = 1; i < cellIds.size(); i++) {
+      if (cellIds.get(i - 1).rangeMax().compareTo(cellIds.get(i).rangeMin()) >= 0) {
+        return false;
+      }
+      if (i >= 3
+          && areSiblings(
+              cellIds.get(i - 3), cellIds.get(i - 2),
+              cellIds.get(i - 1), cellIds.get(i))) {
+        return false;
+      }
+    }
+    return true;
+  }
+
+  /**
+   * Returns true if the given four cells have a common parent.
+   *
+   * <p>Requires the four cells are distinct.
+   */
+  private static boolean areSiblings(S2CellId a, S2CellId b, S2CellId c, S2CellId d) {
+    // A necessary (but not sufficient) condition is that the XOR of the four cells must be zero.
+    // This is also very fast to test.
+    if ((a.id() ^ b.id() ^ c.id()) != d.id()) {
+      return false;
+    }
+
+    // Now we do a slightly more expensive but exact test.  First, compute a mask that blocks out
+    // the two bits that encode the child position of "id" with respect to its parent, then check
+    // that the other three children all agree with "mask".
+    long mask = d.lowestOnBit() << 1;
+    mask = ~(mask + (mask << 1));
+    long idMasked = d.id() & mask;
+    return !d.isFace()
+        && (a.id() & mask) == idMasked
+        && (b.id() & mask) == idMasked
+        && (c.id() & mask) == idMasked;
+  }
+
+  /**
+   * Replaces "output" with an expanded version of the cell union where any cells whose level is
+   * less than "min_level" or where (level - min_level) is not a multiple of "level_mod" are
+   * replaced by their children, until either both of these conditions are satisfied or the maximum
+   * level is reached.
+   *
+   * <p>This method allows a covering generated by S2RegionCoverer using min_level() or level_mod()
+   * constraints to be stored as a normalized cell union (which allows various geometric
+   * computations to be done) and then converted back to the original list of cell ids that
+   * satisfies the desired constraints.
+   */
+  public void denormalize(int minLevel, int levelMod, ArrayList<S2CellId> output) {
+    // assert (minLevel >= 0 && minLevel <= S2CellId.MAX_LEVEL);
+    // assert (levelMod >= 1 && levelMod <= 3);
+
+    output.clear();
+    output.ensureCapacity(size());
+    for (S2CellId id : this) {
+      int level = id.level();
+      int newLevel = Math.max(minLevel, level);
+      if (levelMod > 1) {
+        // Round up so that (new_level - min_level) is a multiple of level_mod.
+        // (Note that S2CellId::kMaxLevel is a multiple of 1, 2, and 3.)
+        newLevel += (S2CellId.MAX_LEVEL - (newLevel - minLevel)) % levelMod;
+        newLevel = Math.min(S2CellId.MAX_LEVEL, newLevel);
+      }
+      if (newLevel == level) {
+        output.add(id);
+      } else {
+        S2CellId end = id.childEnd(newLevel);
+        for (id = id.childBegin(newLevel); !id.equals(end); id = id.next()) {
+          output.add(id);
+        }
+      }
+    }
+  }
+
+  /**
+   * If there are more than "excess" elements of the cell_ids() vector that are allocated but
+   * unused, reallocate the array to eliminate the excess space. This reduces memory usage when many
+   * cell unions need to be held in memory at once.
+   */
+  public void pack() {
+    cellIds.trimToSize();
+  }
+
+  /**
+   * Return true if the cell union contains the given cell id. Containment is defined with respect
+   * to regions, e.g. a cell contains its 4 children. This is a fast operation (logarithmic in the
+   * size of the cell union).
+   *
+   * <p>CAVEAT: If you have constructed a valid but non-normalized S2CellUnion, note that groups of
+   * 4 child cells are <em>not</em> considered to contain their parent cell. To get this behavior
+   * you must construct a normalized cell union, or call {@link #normalize()} prior to this method.
+   */
+  public boolean contains(S2CellId id) {
+    // This is an exact test. Each cell occupies a linear span of the S2
+    // space-filling curve, and the cell id is simply the position at the center
+    // of this span. The cell union ids are sorted in increasing order along
+    // the space-filling curve. So we simply find the pair of cell ids that
+    // surround the given cell id (using binary search). There is containment
+    // if and only if one of these two cell ids contains this cell.
+
+    int pos = Collections.binarySearch(cellIds, id);
+    if (pos < 0) {
+      pos = -pos - 1;
+    }
+    if (pos < cellIds.size() && cellIds.get(pos).rangeMin().lessOrEquals(id)) {
+      return true;
+    }
+    return pos != 0 && cellIds.get(pos - 1).rangeMax().greaterOrEquals(id);
+  }
+
+  /**
+   * Return true if the cell union intersects the given cell id. This is a fast operation
+   * (logarithmic in the size of the cell union).
+   */
+  public boolean intersects(S2CellId id) {
+    // This is an exact test; see the comments for Contains() above.
+    int pos = Collections.binarySearch(cellIds, id);
+
+    if (pos < 0) {
+      pos = -pos - 1;
+    }
+
+    if (pos < cellIds.size() && cellIds.get(pos).rangeMin().lessOrEquals(id.rangeMax())) {
+      return true;
+    }
+    return pos != 0 && cellIds.get(pos - 1).rangeMax().greaterOrEquals(id.rangeMin());
+  }
+
+  /**
+   * Returns true if this cell union contains {@code that}.
+   *
+   * <p>CAVEAT: If you have constructed a valid but non-normalized S2CellUnion, note that groups of
+   * 4 child cells are <em>not</em> considered to contain their parent cell. To get this behavior
+   * you must construct a normalized cell union, or call {@link #normalize()} prior to this method.
+   */
+  public boolean contains(S2CellUnion that) {
+    S2CellUnion result = new S2CellUnion();
+    result.getIntersection(this, that);
+    return result.cellIds.equals(that.cellIds);
+  }
+
+  /** This is a fast operation (logarithmic in the size of the cell union). */
+  @Override
+  public boolean contains(S2Cell cell) {
+    return contains(cell.id());
+  }
+
+  /** Return true if this cell union intersects {@code union}. */
+  public boolean intersects(S2CellUnion union) {
+    S2CellUnion result = new S2CellUnion();
+    result.getIntersection(this, union);
+    return result.size() > 0;
+  }
+
+  /** Sets this cell union to the union of {@code x} and {@code y}. */
+  public void getUnion(S2CellUnion x, S2CellUnion y) {
+    // assert (x != this && y != this);
+    cellIds.clear();
+    cellIds.ensureCapacity(x.size() + y.size());
+    cellIds.addAll(x.cellIds);
+    cellIds.addAll(y.cellIds);
+    normalize();
+  }
+
+  /**
+   * Specialized version of GetIntersection() that gets the intersection of a cell union with the
+   * given cell id. This can be useful for "splitting" a cell union into chunks.
+   *
+   * <p><b>Note:</b> {@code x} and {@code y} must be normalized.
+   */
+  public void getIntersection(S2CellUnion x, S2CellId id) {
+    // assert (x != this);
+    cellIds.clear();
+    if (x.contains(id)) {
+      cellIds.add(id);
+    } else {
+      int pos = Collections.binarySearch(x.cellIds, id.rangeMin());
+
+      if (pos < 0) {
+        pos = -pos - 1;
+      }
+
+      S2CellId idmax = id.rangeMax();
+      int size = x.cellIds.size();
+      while (pos < size && x.cellIds.get(pos).lessOrEquals(idmax)) {
+        cellIds.add(x.cellIds.get(pos++));
+      }
+    }
+    // assert isNormalized() || !x.isNormalized();
+  }
+
+  /**
+   * Initializes this cell union to the intersection of the two given cell unions. Requires: x !=
+   * this and y != this.
+   *
+   * <p><b>Note:</b> {@code x} and {@code y} must be normalized.
+   */
+  public void getIntersection(S2CellUnion x, S2CellUnion y) {
+    getIntersection(x.cellIds, y.cellIds, cellIds);
+    // The output is normalized as long as at least one input is normalized.
+    // assert isNormalized() || (!x.isNormalized() && !y.isNormalized());
+  }
+
+  /**
+   * Like {@code #getIntersection(S2CellUnion, S2CellUnion)}, but works directly with lists of
+   * S2CellIds, and this method has slightly more relaxed normalization requirements: the input
+   * vectors may contain groups of 4 child cells that all have the same parent. (In a normalized
+   * S2CellUnion, such groups are always replaced by the parent cell.)
+   *
+   * <p><b>Note:</b> {@code x} and {@code y} must be sorted.
+   */
+  public static void getIntersection(List<S2CellId> x, List<S2CellId> y, List<S2CellId> results) {
+    // assert (x != results && y != results);
+
+    // This is a fairly efficient calculation that uses binary search to skip
+    // over sections of both input vectors. It takes constant time if all the
+    // cells of "x" come before or after all the cells of "y" in S2CellId order.
+    results.clear();
+    int i = 0;
+    int j = 0;
+    while (i < x.size() && j < y.size()) {
+      S2CellId xCell = x.get(i);
+      S2CellId xMin = xCell.rangeMin();
+      S2CellId yCell = y.get(j);
+      S2CellId yMin = yCell.rangeMin();
+      if (xMin.greaterThan(yMin)) {
+        // Either j->contains(xCell) or the two cells are disjoint.
+        if (xCell.lessOrEquals(yCell.rangeMax())) {
+          results.add(xCell);
+          i++;
+        } else {
+          // Advance "j" to the first cell possibly contained by xCell.
+          j = indexedBinarySearch(y, xMin, j + 1);
+          // The previous cell *(j-1) may now contain xCell.
+          if (xCell.lessOrEquals(y.get(j - 1).rangeMax())) {
+            --j;
+          }
+        }
+      } else if (yMin.greaterThan(xMin)) {
+        // Identical to the code above with "i" and "j" reversed.
+        if (yCell.lessOrEquals(xCell.rangeMax())) {
+          results.add(yCell);
+          j++;
+        } else {
+          i = indexedBinarySearch(x, yMin, i + 1);
+          if (yCell.lessOrEquals(x.get(i - 1).rangeMax())) {
+            --i;
+          }
+        }
+      } else {
+        // "i" and "j" have the same rangeMin(), so one contains the other.
+        if (xCell.lessThan(yCell)) {
+          results.add(xCell);
+          i++;
+        } else {
+          results.add(yCell);
+          j++;
+        }
+      }
+    }
+  }
+
+  /** Initiaizes this cell union to the difference of the two given cell unions. */
+  public void getDifference(S2CellUnion x, S2CellUnion y) {
+    // TODO(user): this is approximately O(N*log(N)), but could probably use similar techniques as
+    // getIntersection() to be more efficient.
+    cellIds.clear();
+    for (S2CellId id : x) {
+      getDifferenceInternal(id, y);
+    }
+    // The output is normalized as long as the first argument is normalized.
+    // assert isNormalized() || !x.isNormalized();
+  }
+
+  private void getDifferenceInternal(S2CellId cell, S2CellUnion y) {
+    // Add the difference between cell and y to cellIds. If they intersect but the difference is
+    // non-empty, divide and conquer.
+    if (!y.intersects(cell)) {
+      cellIds.add(cell);
+    } else if (!y.contains(cell)) {
+      for (int i = 0; i < 4; i++) {
+        getDifferenceInternal(cell.child(i), y);
+      }
+    }
+  }
+
+  /**
+   * Just as normal binary search, except that it allows specifying the starting value for the lower
+   * bound.
+   *
+   * @return The position of the searched element in the list (if found), or the position where the
+   *     element could be inserted without violating the order.
+   */
+  private static int indexedBinarySearch(List<S2CellId> l, S2CellId key, int low) {
+    int high = l.size() - 1;
+
+    while (low <= high) {
+      int mid = (low + high) >> 1;
+      S2CellId midVal = l.get(mid);
+      int cmp = midVal.compareTo(key);
+
+      if (cmp < 0) {
+        low = mid + 1;
+      } else if (cmp > 0) {
+        high = mid - 1;
+      } else {
+        return mid; // key found
+      }
+    }
+    return low; // key not found
+  }
+
+  /**
+   * Expands the cell union such that it contains all cells of the given level that are adjacent to
+   * any cell of the original union. Two cells are defined as adjacent if their boundaries have any
+   * points in common, i.e. most cells have 8 adjacent cells (not counting the cell itself).
+   *
+   * <p>Note that the size of the output is exponential in "level". For example, if level == 20 and
+   * the input has a cell at level 10, there will be on the order of 4000 adjacent cells in the
+   * output. For most applications the Expand(min_fraction, min_distance) method below is easier to
+   * use.
+   */
+  public void expand(int level) {
+    ArrayList<S2CellId> output = new ArrayList<S2CellId>();
+    long levelLsb = S2CellId.lowestOnBitForLevel(level);
+    for (int i = size(); --i >= 0; ) {
+      S2CellId id = cellId(i);
+      if (id.lowestOnBit() < levelLsb) {
+        id = id.parent(level);
+        // Optimization: skip over any cells contained by this one. This is
+        // especially important when very small regions are being expanded.
+        while (i > 0 && id.contains(cellId(i - 1))) {
+          --i;
+        }
+      }
+      output.add(id);
+      id.getAllNeighbors(level, output);
+    }
+    initSwap(output);
+  }
+
+  /**
+   * Expand the cell union such that it contains all points whose distance to the cell union is at
+   * most minRadius, but do not use cells that are more than maxLevelDiff levels higher than the
+   * largest cell in the input. The second parameter controls the tradeoff between accuracy and
+   * output size when a large region is being expanded by a small amount (e.g. expanding Canada by
+   * 1km).
+   *
+   * <p>For example, if maxLevelDiff == 4, the region will always be expanded by approximately 1/16
+   * the width of its largest cell. Note that in the worst case, the number of cells in the output
+   * can be up to 4 * (1 + 2 ** maxLevelDiff) times larger than the number of cells in the input.
+   */
+  public void expand(S1Angle minRadius, int maxLevelDiff) {
+    int minLevel = S2CellId.MAX_LEVEL;
+    for (S2CellId id : this) {
+      minLevel = Math.min(minLevel, id.level());
+    }
+    // Find the maximum level such that all cells are at least "min_radius"
+    // wide.
+    int radiusLevel = PROJ.minWidth.getMaxLevel(minRadius.radians());
+    if (radiusLevel == 0 && minRadius.radians() > PROJ.minWidth.getValue(0)) {
+      // The requested expansion is greater than the width of a face cell.
+      // The easiest way to handle this is to expand twice.
+      expand(0);
+    }
+    expand(Math.min(minLevel + maxLevelDiff, radiusLevel));
+  }
+
+  // NOTE: This should be marked as @Override, but clone() isn't present in GWT's version of
+  // Object, so we can't mark it as such.
+  @SuppressWarnings("MissingOverride")
+  public S2Region clone() {
+    S2CellUnion copy = new S2CellUnion();
+    copy.initRawCellIds(Lists.newArrayList(cellIds));
+    return copy;
+  }
+
+  @Override
+  public S2Cap getCapBound() {
+    // Compute the approximate centroid of the region. This won't produce the
+    // bounding cap of minimal area, but it should be close enough.
+    if (cellIds.isEmpty()) {
+      return S2Cap.empty();
+    }
+    S2Point centroid = S2Point.ORIGIN;
+    for (S2CellId id : this) {
+      double area = S2Cell.averageArea(id.level());
+      centroid = S2Point.add(centroid, S2Point.mul(id.toPoint(), area));
+    }
+    if (centroid.equalsPoint(S2Point.ORIGIN)) {
+      centroid = S2Point.X_POS;
+    } else {
+      centroid = S2Point.normalize(centroid);
+    }
+
+    // Use the centroid as the cap axis, and expand the cap angle so that it
+    // contains the bounding caps of all the individual cells. Note that it is
+    // *not* sufficient to just bound all the cell vertices because the bounding
+    // cap may be concave (i.e. cover more than one hemisphere).
+    S2Cap cap = S2Cap.fromAxisChord(centroid, S1ChordAngle.ZERO);
+    for (S2CellId id : this) {
+      cap = cap.addCap(new S2Cell(id).getCapBound());
+    }
+    return cap;
+  }
+
+  @Override
+  public S2LatLngRect getRectBound() {
+    S2LatLngRect.Builder builder = S2LatLngRect.Builder.empty();
+    for (S2CellId id : this) {
+      builder.union(new S2Cell(id).getRectBound());
+    }
+    return builder.build();
+  }
+
+  /** This is a fast operation (logarithmic in the size of the cell union). */
+  @Override
+  public boolean mayIntersect(S2Cell cell) {
+    return intersects(cell.id());
+  }
+
+  /**
+   * The point 'p' does not need to be normalized. This is a fast operation (logarithmic in the size
+   * of the cell union).
+   */
+  @Override
+  public boolean contains(S2Point p) {
+    return contains(S2CellId.fromPoint(p));
+  }
+
+  /**
+   * The number of leaf cells covered by the union. This will be no more than 6*2^60 for the whole
+   * sphere.
+   *
+   * @return the number of leaf cells covered by the union
+   */
+  public long leafCellsCovered() {
+    long numLeaves = 0;
+    for (S2CellId cellId : cellIds) {
+      int invertedLevel = S2CellId.MAX_LEVEL - cellId.level();
+      numLeaves += (1L << (invertedLevel << 1));
+    }
+    return numLeaves;
+  }
+
+  /**
+   * Approximate this cell union's area by summing the average area of each contained cell's average
+   * area, using {@link S2Cell#averageArea()}. This is equivalent to the number of leaves covered,
+   * multiplied by the average area of a leaf.
+   *
+   * <p>Note that {@link S2Cell#averageArea()} does not take into account distortion of cell, and
+   * thus may be off by up to a factor of 1.7. NOTE: Since this is proportional to
+   * LeafCellsCovered(), it is always better to use the other function if all you care about is the
+   * relative average area between objects.
+   *
+   * @return the sum of the average area of each contained cell's average area
+   */
+  public double averageBasedArea() {
+    return S2Cell.averageArea(S2CellId.MAX_LEVEL) * leafCellsCovered();
+  }
+
+  /**
+   * Calculates this cell union's area by summing the approximate area for each contained cell,
+   * using {@link S2Cell#approxArea()}.
+   *
+   * @return approximate area of the cell union
+   */
+  public double approxArea() {
+    double area = 0;
+    for (S2CellId cellId : cellIds) {
+      area += new S2Cell(cellId).approxArea();
+    }
+    return area;
+  }
+
+  /**
+   * Calculates this cell union's area by summing the exact area for each contained cell, using the
+   * {@link S2Cell#exactArea()}.
+   *
+   * @return the exact area of the cell union
+   */
+  public double exactArea() {
+    double area = 0;
+    for (S2CellId cellId : cellIds) {
+      area += new S2Cell(cellId).exactArea();
+    }
+    return area;
+  }
+
+  /** Return true if two cell unions are identical. */
+  @Override
+  public boolean equals(Object that) {
+    if (!(that instanceof S2CellUnion)) {
+      return false;
+    }
+    S2CellUnion union = (S2CellUnion) that;
+    return this.cellIds.equals(union.cellIds);
+  }
+
+  @Override
+  public int hashCode() {
+    int value = 17;
+    for (S2CellId id : this) {
+      value = 37 * value + id.hashCode();
+    }
+    return value;
+  }
+
+  /**
+   * Normalizes the cell union by discarding cells that are contained by other cells, replacing
+   * groups of 4 child cells by their parent cell whenever possible, and sorting all the cell ids in
+   * increasing order. Returns true if the number of cells was reduced.
+   *
+   * <p>This method *must* be called before doing any calculations on the cell union, such as
+   * Intersects() or Contains().
+   *
+   * @return true if the normalize operation had any effect on the cell union, false if the union
+   *     was already normalized
+   */
+  public boolean normalize() {
+    return normalize(cellIds);
+  }
+
+  /** Like {@link #normalize()}, but works directly with a vector of S2CellIds. */
+  public static boolean normalize(List<S2CellId> ids) {
+    // Optimize the representation by looking for cases where all subcells of a parent cell are
+    // present.
+    Collections.sort(ids);
+    int out = 0;
+    for (int i = 0; i < ids.size(); i++) {
+      S2CellId id = ids.get(i);
+
+      // Check whether this cell is contained by the previous cell.
+      if (out > 0 && ids.get(out - 1).contains(id)) {
+        continue;
+      }
+
+      // Discard any previous cells contained by this cell.
+      while (out > 0 && id.contains(ids.get(out - 1))) {
+        out--;
+      }
+
+      // Check whether the last 3 elements of "output" plus "id" can be collapsed into a single
+      // parent cell.
+      while (out >= 3) {
+        // A necessary (but not sufficient) condition is that the XOR of the
+        // four cells must be zero. This is also very fast to test.
+        if ((ids.get(out - 3).id() ^ ids.get(out - 2).id() ^ ids.get(out - 1).id()) != id.id()) {
+          break;
+        }
+
+        // Now we do a slightly more expensive but exact test. First, compute a
+        // mask that blocks out the two bits that encode the child position of
+        // "id" with respect to its parent, then check that the other three
+        // children all agree with "mask.
+        long mask = id.lowestOnBit() << 1;
+        mask = ~(mask + (mask << 1));
+        long idMasked = (id.id() & mask);
+        if ((ids.get(out - 3).id() & mask) != idMasked
+            || (ids.get(out - 2).id() & mask) != idMasked
+            || (ids.get(out - 1).id() & mask) != idMasked
+            || id.isFace()) {
+          break;
+        }
+
+        // Replace four children by their parent cell.
+        id = id.parent();
+        out -= 3;
+      }
+
+      ids.set(out++, id);
+    }
+
+    int size = ids.size();
+    boolean trimmed = out < size;
+    while (out < size) {
+      size--;
+      ids.remove(size);
+    }
+    return trimmed;
+  }
+
+  /**
+   * Writes a simple lossless encoding of this cell union to the given output stream. This encoding
+   * uses 1 byte for a version number, and N+1 64-bit longs where the first is the number of longs
+   * that follow.
+   *
+   * @throws IOException there is a problem writing to the underlying stream
+   */
+  public void encode(OutputStream output) throws IOException {
+    encode(new LittleEndianOutput(output));
+  }
+
+  /**
+   * As {@link #encode(OutputStream)}, but avoids creating a little endian output helper.
+   *
+   * <p>Use this method if a number of S2 objects will be encoded to the same underlying stream.
+   */
+  public void encode(LittleEndianOutput output) throws IOException {
+    output.writeByte(LOSSLESS_ENCODING_VERSION);
+    output.writeLong(cellIds.size());
+    for (S2CellId cellId : this) {
+      output.writeLong(cellId.id());
+    }
+  }
+
+  /**
+   * Decodes an S2CellUnion encoded with Encode(). Returns true on success.
+   *
+   * @throws IOException there is a problem reading from the underlying stream, the version number
+   *     doesn't match, or the number of elements to read is not between 0 and 2^31-1.
+   */
+  public static S2CellUnion decode(InputStream input) throws IOException {
+    return decode(new LittleEndianInput(input));
+  }
+
+  /**
+   * As {@link #decode(InputStream)}, but avoids creating a little endian input helper.
+   *
+   * <p>Use this method if a number of S2 objects will be decoded from the same underlying stream.
+   */
+  public static S2CellUnion decode(LittleEndianInput input) throws IOException {
+    // Should contain at least version and vector length.
+    byte version = input.readByte();
+    if (version != LOSSLESS_ENCODING_VERSION) {
+      throw new IOException("Unrecognized version number " + version);
+    }
+    long numCells = input.readLong();
+    if (numCells < 0 || numCells > Integer.MAX_VALUE) {
+      throw new IOException("Unsupported number of cells encountered: " + numCells);
+    }
+    S2CellUnion result = new S2CellUnion();
+    for (int i = 0; i < numCells; i++) {
+      result.cellIds().add(new S2CellId(input.readLong()));
+    }
+    return result;
+  }
+}