2 // Written and (C) by Francois Fleuret
3 // Contact <francois.fleuret@idiap.ch> for comments & bug reports
12 #include "xfig_tracer.h"
16 #include "simple_window.h"
25 int _nb_polygons; // We need to know the total number of polygons in
28 scalar_t _mass, _moment_of_inertia, _radius;
30 scalar_t *_relative_x, *_relative_y;
31 scalar_t _last_center_x, _last_center_y, _last_theta;
40 inline void intersection(scalar_t xa2, scalar_t ya2,
41 scalar_t xa1, scalar_t ya1,
42 scalar_t xb2, scalar_t yb2,
43 scalar_t xb1, scalar_t yb1,
44 scalar_t &det, scalar_t &s1, scalar_t &s2) {
45 scalar_t m11, m12, m21, m22, n11, n12, n21, n22, v1, v2;
46 m11 = xa1 - xa2; m12 = xb2 - xb1; m21 = ya1 - ya2; m22 = yb2 - yb1;
47 det = m11 * m22 - m12 * m21;
49 n11 = + m22 / det; n12 = - m12 / det; n21 = - m21 / det; n22 = + m11 / det;
50 v1 = xb2 - xa2; v2 = yb2 - ya2;
51 s1 = n11 * v1 + n12 * v2; s2 = n21 * v1 + n22 * v2;
60 scalar_t _red, _green, _blue;
61 scalar_t _center_x, _center_y, _theta;
62 scalar_t _dcenter_x, _dcenter_y, _dtheta;
64 // The x and y parameters are ignored if null. Useful to initialize
67 Polygon(scalar_t mass,
68 scalar_t red, scalar_t green, scalar_t blue,
69 scalar_t *x, scalar_t *y,
77 void color_xfig(XFigTracer *tracer);
78 void print_xfig(XFigTracer *tracer);
82 void draw(SimpleWindow *window);
83 void draw_contours(SimpleWindow *window);
86 void draw(Canvas *canvas);
87 void draw_contours(Canvas *canvas);
89 void set_vertex(int k, scalar_t x, scalar_t y);
90 void set_position(scalar_t center_x, scalar_t center_y, scalar_t theta);
91 void set_speed(scalar_t dcenter_x, scalar_t dcenter_y, scalar_t dtheta);
92 bool contain(scalar_t x, scalar_t y);
93 void triangularize(int &nt, int nb, int *index);
94 void initialize(int nb_polygons);
95 bool update(scalar_t dt);
96 scalar_t relative_x(scalar_t ax, scalar_t ay);
97 scalar_t relative_y(scalar_t ax, scalar_t ay);
98 scalar_t absolute_x(scalar_t rx, scalar_t ry);
99 scalar_t absolute_y(scalar_t rx, scalar_t ry);
101 void apply_force(scalar_t dt, scalar_t x, scalar_t y, scalar_t fx, scalar_t fy);
102 void apply_border_forces(scalar_t dt, scalar_t xmax, scalar_t ymax);
103 void apply_collision_forces(scalar_t dt, int n_polygon, Polygon *p);
105 bool collide(Polygon *p);