void GrAtlasTextBlob::Run::SubRunInfo::computeTranslation(const SkMatrix& viewMatrix,
SkScalar x, SkScalar y, SkScalar* transX,
SkScalar* transY) {
calculate_translation(!this->drawAsDistanceFields(), viewMatrix, x, y,
fCurrentViewMatrix, fX, fY, transX, transY);
fCurrentViewMatrix = viewMatrix;
fX = x;
fY = y;
}
void GrAtlasTextBlob::flushBigGlyphs(GrContext* context, GrDrawContext* dc,
const GrClip& clip, const SkPaint& skPaint,
const SkMatrix& viewMatrix, SkScalar x, SkScalar y,
const SkIRect& clipBounds) {
SkScalar transX, transY;
for (int i = 0; i < fBigGlyphs.count(); i++) {
GrAtlasTextBlob::BigGlyph& bigGlyph = fBigGlyphs[i];
calculate_translation(bigGlyph.fApplyVM, viewMatrix, x, y,
fInitialViewMatrix, fInitialX, fInitialY, &transX, &transY);
SkMatrix ctm;
ctm.setScale(bigGlyph.fScale, bigGlyph.fScale);
ctm.postTranslate(bigGlyph.fX + transX, bigGlyph.fY + transY);
if (bigGlyph.fApplyVM) {
ctm.postConcat(viewMatrix);
}
GrBlurUtils::drawPathWithMaskFilter(context, dc, clip, bigGlyph.fPath,
skPaint, ctm, nullptr, clipBounds, false);
}
}
/** Calculate here your desired settings. What you desire is checked afterwards to the current
* settings of the physical boundaries, but take care also.
*
* How you do this is up to you, but be careful, our hardware is expensive!!!!
*
* Available are:
*
* target_ --> current target coordinates to drive to
* robot_ --> current robot coordinates
* robot_vel_ --> current Motor velocities
*
* local_target_ --> our local target found by the search component we want to reach
* local_trajec_ --> The point we would collide with, if we would drive WITHOUT Rotation
*
* orient_at_target_ --> Do we have to orient ourself at the target?
* stop_at_target_ --> Do we have to stop really ON the target?
*
* Afterwards filled should be:
*
* proposed_ --> Desired translation and rotation speed
*
* Those values are questioned after an update() was called.
*/
void
ForwardOmniDriveModule::update()
{
proposed_.x = 0.f;
proposed_.rot = 0.f;
float dist_to_target = sqrt( sqr(local_target_.x) + sqr(local_target_.y) );
float alpha_target = normalize_mirror_rad( atan2( local_target_.y, local_target_.x ) );
float alpha_next_target = angle_distance_signed(robot_.ori, target_.ori);
// last time border check............. IMPORTANT!!!
// because the motorinstructor just tests robots physical borders.
if ( dist_to_target < 0.04 ) {
proposed_.x = proposed_.y = proposed_.rot = 0.f;
} else {
float angle_tollerance = M_PI_4;
calculate_rotation(alpha_target, alpha_next_target, dist_to_target, angle_tollerance / 2.);
float dec_factor = 1;
if ( fabs(alpha_target) >= angle_tollerance ) { // if we need to turn a lot => drive slower
dec_factor = 0.5;
}
calculate_translation(dist_to_target, alpha_target, dec_factor);
if ( stop_at_target_ ) {
float target_rel = std::sqrt( sqr(target_.x - robot_.x) + sqr(target_.y - robot_.y) );
float robo_trans = std::sqrt( sqr(robot_vel_.x) + sqr(robot_vel_.y) );
float proposed_trans = std::sqrt( sqr(proposed_.x) + sqr(proposed_.y) );
float target_trans = guarantee_trans_stop(target_rel, robo_trans, proposed_trans);
float des = fabs(target_trans / proposed_trans);
if ( proposed_trans == 0 ) { des = 0; }
proposed_.x *= des;
proposed_.y *= des;
}
}
}
