std::vector<LineSegment> makeRay(const Ray& ray, float t)
{
std::vector<LineSegment> result;
Math::Vector3 endPoint = ray.mStart + (ray.mDirection * t);
const float goldenRatio = 1.61803398875f;
Math::Vector3 right;
Math::Vector3 up;
Math::GenerateOrthonormalBasis(ray.mDirection, &up, &right);
Math::Vector3 circleCenter = endPoint - ray.mDirection * goldenRatio * goldenRatio * 0.2f;
float radius = 0.5f * goldenRatio * 0.2f;
result = makeCircle(circleCenter, ray.mDirection, radius);
//connecting segments
result.push_back(LineSegment(circleCenter + right * radius, endPoint));
result.push_back(LineSegment(circleCenter - right * radius, endPoint));
result.push_back(LineSegment(circleCenter + up * radius, endPoint));
result.push_back(LineSegment(circleCenter - up * radius, endPoint));
result.push_back(LineSegment(ray.mStart, endPoint));
return result;
}
b2Body* makeAxle(b2World* world, b2Body* base, xform_t xform)
{
// creates a small square axle body and a revolute joint centered at the anchor
b2Body * axle = makeDynamicBody(world, xform);
b2CircleShape shape = makeCircle(.04);
makeFixture(axle, &shape);
makeRevoluteJoint(world, base, axle, b2Vec2(xform.x, xform.y));
return axle;
}
void makeBoard(){
// draw outer board
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor3ub( 89, 62, 26);
glRectf(-0.990f,0.990f, 0.990f, -0.990f);
//draw inner board
if(friction == 0)
glColor3ub(210, 180, 140);
else if(friction == 1)
glColor3ub(182, 153, 117);
else if(friction == 2)
glColor3ub(128, 128, 0);
glRectf(-innerBoard,innerBoard, innerBoard, -innerBoard);
//draw red inner lines
glColor3ub( 105 ,38,28 );
glBegin(GL_LINE_LOOP);
glVertex2f( -redBoard, redBoard );
glVertex2f( -redBoard, -redBoard );
glVertex2f( redBoard, -redBoard );
glVertex2f( redBoard, redBoard );
glEnd();
//draw red inner cirlces
makeEmptyCircle(-redCirclePos,redCircleRad,redCirclePos);
makeEmptyCircle(redCirclePos,redCircleRad,-redCirclePos);
makeEmptyCircle(redCirclePos,redCircleRad,redCirclePos);
makeEmptyCircle(-redCirclePos,redCircleRad,-redCirclePos);
//draw red center design
makeEmptyCircle(0,innerCircle,0);
makeEmptyCircle(0,innerCircle/4,0);
makeEmptyCircle(0,innerCircle/2,0);
makeEmptyCircle(0,3*innerCircle/4,0);
//draw pockets
glColor3f(0.5f, 0.5f, 0.5f);
makeCircle(-pocketPos,pocketCircle,pocketPos);
makeCircle(pocketPos,pocketCircle,-pocketPos);
makeCircle(pocketPos,pocketCircle,pocketPos);
makeCircle(-pocketPos,pocketCircle,-pocketPos);
}
void generateCone(GLuint program, ShapeData* coneData) {
vec2 circlePoints[numConeDivisions];
makeCircle(circlePoints, numConeDivisions);
int Index = 0;
makeCircleWall(coneData->points, coneData->normals, numConeDivisions, 1.0f, 1.0f, Index, 1);
makeCircleWall(coneData->points, coneData->normals, numConeDivisions, 1.0f, -1.0f, Index, -1);
// Create a vertex array object
coneData->bind(program);
}
DebugShape& DebugDrawer::DrawSphere(const Sphere& sphere)
{
// To access the camera's position for the horizon disc calculation use mApplication->mCamera.mTranslation
DebugShape& shape = GetNewShape();
int it;
std::vector<LineSegment> segments[4];
segments[0] = makeCircle(sphere.mCenter, Math::Vector3(1.0f, 0.0f, 0.0f), sphere.mRadius);
segments[1] = makeCircle(sphere.mCenter, Math::Vector3(0.0f, 1.0f, 0.0f), sphere.mRadius);
segments[2] = makeCircle(sphere.mCenter, Math::Vector3(0.0f, 0.0f, 1.0f), sphere.mRadius);
if(mApplication)
{
//horizon circle
Math::Vector3 dVec = sphere.mCenter - mApplication->mCamera.mTranslation;
Math::Vector3 dVecNorm = dVec.Normalized();
float radSquared = sphere.mRadius * sphere.mRadius;
float lLen = Math::Sqrt(dVec.LengthSq() - radSquared);
float rPrime = (sphere.mRadius * lLen) / dVec.Length();
float z = radSquared - (rPrime * rPrime);
Math::Vector3 newCenter = mApplication->mCamera.mTranslation + (dVec - (dVecNorm * z));
segments[3] = makeCircle(newCenter, dVecNorm, rPrime);
}
for(int i = 0; i < 4; ++i)
{
shape.mSegments.insert(shape.mSegments.end(), segments[i].begin(), segments[i].end());
}
return shape;
}
int main(){
initializePrinter();
drawCanvas(0,0,0,255);
int x,y;
y = getYRes()/2;
x = getXRes()/2;
circle C = makeCircle(0,0,0,255,20,x,y);
for (i=0;i<=360;i++) {
rotateCircle(C,i,x,y);
drawCircle(C);
}
printToScreen();
finishPrinter();
}
void displayCoinDock()
{
//Display the coins on the side of the board. You have to know what you hit in!;
float y = 0;
y = -innerBoard - 0.05;
float coinRad = 0.035;
float x = -0.8;
for (int i = 0; i < blackHitIn; ++i)
{
glColor3ub(0,0,0);
makeCircle(x+i*0.08,coinRad,y);
}
for (int i = 0; i < whiteHitIn; ++i)
{
glColor3ub(255,255,255);
makeCircle(x+(i+blackHitIn)*0.08,coinRad,y);
}
for (int i = 0; i < redHitIn; ++i)
{
glColor3ub( 105 ,38,28 );
makeCircle(x+(i+whiteHitIn + blackHitIn)*0.08,coinRad,y);
}
}
void makeCircleWall(vec4* destp, vec3* destn, float radius, const int numDivisions, float z1, float z2, int& Index, int dir) {
vec2* circlePoints = (vec2*)malloc(sizeof(vec2) * numDivisions);
makeCircle(circlePoints, numDivisions);
for (int i = 0; i < numDivisions; i++) {
vec3 p1(radius*circlePoints[i].x, radius*circlePoints[i].y, z1);
vec3 p2(0.0f, 0.0f, z2);
vec3 p3(radius*circlePoints[(i+1)%numDivisions].x, radius*circlePoints[(i+1)%numDivisions].y, z1);
if (dir == -1) {
vec3 temp = p1;
p1 = p3;
p3 = temp;
}
vec3 n = cross(p1-p2, p3-p2);
destp[Index] = p1; destn[Index] = n; Index++;
destp[Index] = p2; destn[Index] = n; Index++;
destp[Index] = p3; destn[Index] = n; Index++;
}
delete circlePoints;
}
void generateCone(GLuint program, ShapeData* coneData)
{
makeCircle(circlePoints, numConeDivisions);
int Index = 0;
makeConeWall(conePoints, coneNormals, numConeDivisions, 1.0f, 1.0f, Index, 1);
makeConeWall(conePoints, coneNormals, numConeDivisions, 1.0f, -1.0f, Index, -1);
coneData->numVertices = numConeVertices;
// Create a vertex array object
glGenVertexArrays( 1, &coneData->vao );
glBindVertexArray( coneData->vao );
// Set vertex attributes
setVertexAttrib(program,
(float*)conePoints, sizeof(conePoints),
(float*)coneNormals, sizeof(coneNormals),
0, 0);
}
void generateCylinder(GLuint program, ShapeData* cylData) {
int Index = 0;
vec3 tangent = vec3(0.0f, 0.0f, 1.0f);
vec2 circlePoints[numCylDivisions];
makeCircle(circlePoints, numCylDivisions);
makeCircleWall(cylData->points, cylData->normals, numCylDivisions, 1.0f, 1.0f, Index, 1);
makeCircleWall(cylData->points, cylData->normals, numCylDivisions, -1.0f, -1.0f, Index, -1);
for (int i = 0; i < numCylDivisions; i++)
{
int i2 = (i+1)%numCylDivisions;
float iAngle = ( i / (float)numCylDivisions );
float i2Angle = ( (i+1) / (float)numCylDivisions );
vec3 p1(circlePoints[i2].x, circlePoints[i2].y, -1.0f);
vec3 p2(circlePoints[i2].x, circlePoints[i2].y, 1.0f);
vec3 p3(circlePoints[i].x, circlePoints[i].y, 1.0f);
cylData->points[Index] = p1; cylData->normals[Index] = vec3(p1.x, p1.y, 0.0f); cylData->tangents[Index] = tangent;
cylData->UVs[Index] = vec2(i2Angle, 1); Index++;
cylData->points[Index] = p2; cylData->normals[Index] = vec3(p2.x, p2.y, 0.0f); cylData->tangents[Index] = tangent;
cylData->UVs[Index] = vec2(i2Angle, 0); Index++;
cylData->points[Index] = p3; cylData->normals[Index] = vec3(p3.x, p3.y, 0.0f); cylData->tangents[Index] = tangent;
cylData->UVs[Index] = vec2(iAngle, 0); Index++;
p1 = vec3(circlePoints[i2].x, circlePoints[i2].y, -1.0f);
p2 = vec3(circlePoints[i].x, circlePoints[i].y, 1.0f);
p3 = vec3(circlePoints[i].x, circlePoints[i].y, -1.0f);
cylData->points[Index] = p1; cylData->normals[Index] = vec3(p1.x, p1.y, 0.0f); cylData->tangents[Index] = tangent;
cylData->UVs[Index] = vec2(i2Angle, 1); Index++;
cylData->points[Index] = p2; cylData->normals[Index] = vec3(p2.x, p2.y, 0.0f); cylData->tangents[Index] = tangent;
cylData->UVs[Index] = vec2(iAngle, 0); Index++;
cylData->points[Index] = p3; cylData->normals[Index] = vec3(p3.x, p3.y, 0.0f); cylData->tangents[Index] = tangent;
cylData->UVs[Index] = vec2(iAngle, 1); Index++;
}
// Create a vertex array object
cylData->enableTangentArray( program, true );
cylData->enableUVArray( program, true );
cylData->bind(program);
}
void generateCylinder(GLuint program, ShapeData* cylData)
{
makeCircle(circlePoints, numCylDivisions);
int Index = 0;
makeConeWall(cylPoints, cylNormals, numCylDivisions, 1.0f, 1.0f, Index, 1);
makeConeWall(cylPoints, cylNormals, numCylDivisions, -1.0f, -1.0f, Index, -1);
for (int i = 0; i < numCylDivisions; i++)
{
int i2 = (i+1)%numCylDivisions;
point3 p1(circlePoints[i2].x, circlePoints[i2].y, -1.0f);
point3 p2(circlePoints[i2].x, circlePoints[i2].y, 1.0f);
point3 p3(circlePoints[i].x, circlePoints[i].y, 1.0f);
//point3 n = cross(p3-p2, p1-p2);
cylPoints[Index] = p1; cylNormals[Index] = point3(p1.x, p1.y, 0.0f); Index++;
cylPoints[Index] = p2; cylNormals[Index] = point3(p2.x, p2.y, 0.0f); Index++;
cylPoints[Index] = p3; cylNormals[Index] = point3(p3.x, p3.y, 0.0f); Index++;
p1 = point3(circlePoints[i2].x, circlePoints[i2].y, -1.0f);
p2 = point3(circlePoints[i].x, circlePoints[i].y, 1.0f);
p3 = point3(circlePoints[i].x, circlePoints[i].y, -1.0f);
//n = cross(p3-p2, p1-p2);
cylPoints[Index] = p1; cylNormals[Index] = point3(p1.x, p1.y, 0.0f); Index++;
cylPoints[Index] = p2; cylNormals[Index] = point3(p2.x, p2.y, 0.0f); Index++;
cylPoints[Index] = p3; cylNormals[Index] = point3(p3.x, p3.y, 0.0f); Index++;
}
cylData->numVertices = numCylVertices;
// Create a vertex array object
glGenVertexArrays( 1, &cylData->vao );
glBindVertexArray( cylData->vao );
// Set vertex attributes
setVertexAttrib(program,
(float*)cylPoints, sizeof(cylPoints),
(float*)cylNormals, sizeof(cylNormals),
0, 0);
}
void TeleopCOBMarker::createMarkers()
{
InteractiveMarker marker_driver;
marker_driver.name = MARKER_DRIVER_NAME;
marker_driver.header.frame_id = "/base_link";
marker_driver.header.stamp = ros::Time::now();
marker_driver.pose = initial_pose_;
marker_driver.scale = 1.5;
InteractiveMarkerControl control;
control.name = CONTROL_ROTATE_NAME;
control.orientation_mode = InteractiveMarkerControl::FIXED;
control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
control.orientation.x = 0;
control.orientation.y = 1;
control.orientation.z = 0;
control.orientation.w = 1;
marker_driver.controls.push_back(control);
control.name = CONTROL_MOVE_NAME;
control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
control.orientation.x = 1;
control.orientation.y = 0;
control.orientation.z = 0;
control.orientation.w = 1;
marker_driver.controls.push_back(control);
control.name = CONTROL_STRAFE_NAME;
control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
control.orientation.x = 0;
control.orientation.y = 0;
control.orientation.z = 1;
control.orientation.w = 1;
marker_driver.controls.push_back(control);
InteractiveMarker marker_navigator;
marker_navigator.name = MARKER_NAVIGATOR_NAME;
marker_navigator.header.frame_id = "/base_link";
marker_navigator.header.stamp = ros::Time::now();
marker_navigator.pose = initial_pose_;
marker_navigator.scale = 1.5;
InteractiveMarkerControl floorControl;
floorControl.name = CONTROL_NAVIGATION_NAME;
floorControl.orientation_mode = InteractiveMarkerControl::INHERIT;
floorControl.interaction_mode = InteractiveMarkerControl::MOVE_PLANE;
floorControl.orientation.x = 0;
floorControl.orientation.y = 1;
floorControl.orientation.z = 0;
floorControl.orientation.w = 1;
std_msgs::ColorRGBA c;
c.r = 1.0;
c.g = 1.0;
c.b = 0.0;
c.a = 1.0;
makeCircle(floorControl, 0.1, 10.0, c);
marker_navigator.controls.push_back(floorControl);
server_->insert(marker_driver, boost::bind(&TeleopCOBMarker::processFeedback, this, _1));
server_->insert(marker_navigator, boost::bind(&TeleopCOBMarker::processFeedback, this, _1));
server_->applyChanges();
}
Render(const UVViewHelper& helper, const float centerRadius, const float outerRadius, const bool highlight) :
m_helper(helper),
m_highlight(highlight),
m_center(makeCircle(helper, centerRadius, 10, true)),
m_outer(makeCircle(helper, outerRadius, 32, false)) {}
void NurbsCurve<float,2>::makeCircle(const Point_nD<float,2>& O, float r, double as, double ae){
makeCircle(O,Point_nD<float,2>(1,0),Point_nD<float,2>(0,1),r,as,ae) ;
}
template<> void NurbsCurve<double,2>::makeCircle(const Point_nD<double,2>& O, double r, double as, double ae){
makeCircle(O,Point_nD<double,2>(1,0),Point_nD<double,2>(0,1),r,as,ae) ;
}
void makeCircle(vec2* dest, int numDivions) {
makeCircle(dest, numDivions, 1.0f);
}
Circle makeCircleFromDrag(Drag drag, CvScalar color, int thickness) {
int X = drag.end.x - drag.start.x;
int Y = drag.end.y - drag.start.y;
int radius = (int)sqrt(X * X + Y * Y);
return makeCircle(cvPoint(drag.start.x, drag.start.y), radius, color, thickness);
}
int main(int argc, char *argv[])
{
GraphType graphType;
edgefn ef;
opts.pfx = "";
opts.name = "";
opts.cnt = 1;
graphType = init(argc, argv, &opts);
if (opts.directed) {
fprintf(opts.outfile, "digraph %s{\n", opts.name);
ef = dirfn;
}
else {
fprintf(opts.outfile, "graph %s{\n", opts.name);
ef = undirfn;
}
switch (graphType) {
case grid:
makeSquareGrid(opts.graphSize1, opts.graphSize2,
opts.foldVal, opts.isPartial, ef);
break;
case circle:
makeCircle(opts.graphSize1, ef);
break;
case path:
makePath(opts.graphSize1, ef);
break;
case tree:
if (opts.graphSize2 == 2)
makeBinaryTree(opts.graphSize1, ef);
else
makeTree(opts.graphSize1, opts.graphSize2, ef);
break;
case trimesh:
makeTriMesh(opts.graphSize1, ef);
break;
case ball:
makeBall(opts.graphSize1, opts.graphSize2, ef);
break;
case torus:
if ((opts.parm1 == 0) && (opts.parm2 == 0))
makeTorus(opts.graphSize1, opts.graphSize2, ef);
else
makeTwistedTorus(opts.graphSize1, opts.graphSize2, opts.parm1, opts.parm2, ef);
break;
case cylinder:
makeCylinder(opts.graphSize1, opts.graphSize2, ef);
break;
case mobius:
makeMobius(opts.graphSize1, opts.graphSize2, ef);
break;
case sierpinski:
makeSierpinski(opts.graphSize1, ef);
break;
case complete:
makeComplete(opts.graphSize1, ef);
break;
case randomg:
makeRandom (opts.graphSize1, opts.graphSize2, ef);
break;
case randomt:
{
int i;
treegen_t* tg = makeTreeGen (opts.graphSize1);
for (i = 1; i <= opts.cnt; i++) {
makeRandomTree (tg, ef);
if (i != opts.cnt) closeOpen ();
}
freeTreeGen (tg);
}
makeRandom (opts.graphSize1, opts.graphSize2, ef);
break;
case completeb:
makeCompleteB(opts.graphSize1, opts.graphSize2, ef);
break;
case hypercube:
makeHypercube(opts.graphSize1, ef);
break;
case star:
makeStar(opts.graphSize1, ef);
break;
case wheel:
makeWheel(opts.graphSize1, ef);
break;
default:
/* can't happen */
break;
}
fprintf(opts.outfile, "}\n");
exit(0);
}
