void Joint::draw() {
if (hover) {
gui_panel_p = p;
}
if (hover || selected || controlled_angle || fixed_angle) {
if (gui != NULL) {
gui->setPosition(getPx(p) + ofPoint(30.0f, 30.0f));
gui->draw();
}
}
ofPoint icon_offset(13, 13);
if (joint_type == JOINT_FIXED) {
fixed = true;
}
if (controlled || controlled_angle) {
ofSetColor(ofColor::darkRed);
} else if (selected) {
ofSetColor(ofColor::steelBlue);
} else if (hover) {
ofSetColor(ofColor::red);
} else if (fixed) {
ofSetColor(ofColor::darkBlue);
} else {
ofSetColor(ofColor::black);
}
ofPoint p1 = getPx(p);
if (fixed || fixed_angle) {
joint_icon_fixed.draw(p1 - icon_offset);
} else {
joint_icon_r.draw(p1 - icon_offset);
}
ofSetColor(ofColor::red);
ofSetLineWidth(4.0f);
ofLine(getPx(p), getPx(p+f));
//ofDrawBitmapStringHighlight(ofToString(angle), p1);
// ofDrawBitmapStringHighlight("a"+ofToString(angle_change_i), p1);
// ofDrawBitmapStringHighlight("m"+ofToString(moved_i), p1 + ofPoint(0.0f, 15.0f));
// ofSetColor(ofColor::blue);
// ofSetLineWidth(4.0f);
// ofLine(getPx(p), getPx(target));
}
Eigen::Vector3d getSubPx_intx(const cv::Mat & M, const int nx, const double y)
{
const int ny_lo = intFloor(y);
const int ny_hi = ny_lo + 1;
const double y_lo = (double) ny_lo;
if(IS_DEBUG) CHECK(y_lo > y, "floor failed");
double dWeightHi = y - y_lo;
double dWeightLo = 1 - dWeightHi;
if(IS_DEBUG) CHECK(dWeightHi < 0 || dWeightHi > 1, "Weight OOB");
if(IS_DEBUG) CHECK(dWeightLo < 0 || dWeightLo > 1, "Weight OOB");
return dWeightLo * getPx(M, nx, ny_lo) + dWeightHi * getPx(M, nx, ny_hi);
}
ofPoint Canvas::getPx(InteractiveObject *v) {
return getPx(v->p);
}
