2 // Written and (C) by Francois Fleuret
3 // Contact <francois.fleuret@idiap.ch> for comments & bug reports
9 #include "simple_window.h"
17 int _nb_polygons; // We need to know the total number of polygons in
20 scalar_t _mass, _moment_of_inertia, _radius;
22 scalar_t *_relative_x, *_relative_y;
23 scalar_t _last_center_x, _last_center_y, _last_theta;
32 inline void intersection(scalar_t xa2, scalar_t ya2,
33 scalar_t xa1, scalar_t ya1,
34 scalar_t xb2, scalar_t yb2,
35 scalar_t xb1, scalar_t yb1,
36 scalar_t &det, scalar_t &s1, scalar_t &s2) {
37 scalar_t m11, m12, m21, m22, n11, n12, n21, n22, v1, v2;
38 m11 = xa1 - xa2; m12 = xb2 - xb1; m21 = ya1 - ya2; m22 = yb2 - yb1;
39 det = m11 * m22 - m12 * m21;
41 n11 = + m22 / det; n12 = - m12 / det; n21 = - m21 / det; n22 = + m11 / det;
42 v1 = xb2 - xa2; v2 = yb2 - ya2;
43 s1 = n11 * v1 + n12 * v2; s2 = n21 * v1 + n22 * v2;
52 scalar_t _red, _green, _blue;
53 scalar_t _center_x, _center_y, _theta;
54 scalar_t _dcenter_x, _dcenter_y, _dtheta;
56 // The x and y parameters are ignored if null. Useful to initialize
59 Polygon(scalar_t mass,
60 scalar_t red, scalar_t green, scalar_t blue,
61 scalar_t *x, scalar_t *y,
68 void print_fig(ostream &os);
69 void draw(SimpleWindow *window);
70 void draw_contours(SimpleWindow *window);
71 void set_vertex(int k, scalar_t x, scalar_t y);
72 void set_position(scalar_t center_x, scalar_t center_y, scalar_t theta);
73 void set_speed(scalar_t dcenter_x, scalar_t dcenter_y, scalar_t dtheta);
74 bool contain(scalar_t x, scalar_t y);
75 void triangularize(int &nt, int nb, int *index);
76 void initialize(int nb_polygons);
77 bool update(scalar_t dt);
78 scalar_t relative_x(scalar_t ax, scalar_t ay);
79 scalar_t relative_y(scalar_t ax, scalar_t ay);
80 scalar_t absolute_x(scalar_t rx, scalar_t ry);
81 scalar_t absolute_y(scalar_t rx, scalar_t ry);
83 void apply_force(scalar_t dt, scalar_t x, scalar_t y, scalar_t fx, scalar_t fy);
84 void apply_border_forces(scalar_t dt, scalar_t xmax, scalar_t ymax);
85 void apply_collision_forces(scalar_t dt, int n_polygon, Polygon *p);
87 bool collide(Polygon *p);