void TrajectoryVisualization::addSpline(const base::geometry::Spline3& data,
const osg::Vec4& color)
{
//needs a copy as getCurveLength is not const
base::geometry::Spline3 spline = data;
if(!data.getSISLCurve())
return;
//a point every 5 cm
double stepSize = (spline.getEndParam() - spline.getStartParam()) / (spline.getCurveLength() / 0.05);
for(double param = spline.getStartParam(); param <= spline.getEndParam(); param += stepSize )
{
auto splinePoint = spline.getPointAndTangent(param);
Point p;
p.point = osg::Vec3(splinePoint.first.x(), splinePoint.first.y(),
splinePoint.first.z());
if(max_velocity > 0)
{
double color_multiplier = splinePoint.second.norm()/max_velocity;
osg::Vec4 gradient_color(color_multiplier, 1 - color_multiplier , 0 ,1);
p.color = gradient_color;
}
else
p.color = color;
points.push_back(p);
}
while(points.size() > max_number_of_points)
points.pop_front();
}
void radial_gradient_fill()
{
vec2 grad_center = vary_data.xy;
float rcp_grad_length = brush_data2.x;
int stop_start = int(brush_data2.y);
int stop_end = int(brush_data2.z);
float t = length(grad_center) * rcp_grad_length;
cl_FragColor = mask(gradient_color(stop_start, stop_end, t));
}
void linear_gradient_fill()
{
vec2 grad_start = vary_data.xy;
vec2 grad_dir = brush_data1.zw;
float rcp_grad_length = brush_data2.x;
int stop_start = int(brush_data2.y);
int stop_end = int(brush_data2.z);
float t = dot(grad_start, grad_dir) * rcp_grad_length;
cl_FragColor = mask(gradient_color(stop_start, stop_end, t));
}
extern void save_xsch(FILE* xsch_stream, lofig_list* lofig, ptype_list* long_path, int color_mode)
{
long color;
ptype_list* ptype, *ptype2=NULL;
float delay=0, delay_out=0;
char mes[1024];
char* signame = NULL;
locon_list* locon;
losig_list* losig;
float gradient=1;
int count;
loins_list* loins;
char *source, *dest=NULL, *last_sig;
chain_list* chain, *loinschain=NULL;
chain_list* lofigchain;
losig_list* losig_aux;
/*build gradient*/
if (long_path && color_mode==XSCH_GRADIENT) {
/*get time of last entry*/
count=1;
for (ptype=long_path; ptype->NEXT; ptype=ptype->NEXT) count++;
if (!ptype->DATA) {
fprintf(stderr,"save_xsch: compute error\n");
exit(1);
}
delay=ptype->TYPE;
gradient=delay/((float)XSCH_COLOR_MAX);
}
/*color for signals*/
for (losig=lofig->LOSIG; losig; losig=losig->NEXT) {
if (!losig->NAMECHAIN || !losig->NAMECHAIN->DATA) {
fprintf(stderr,"save_xsch: no name for signal\n");
exit(1);
}
signame=losig->NAMECHAIN->DATA;
if (isvdd(signame) || isvss(signame)) continue;
if (losig->TYPE==EXTERNAL) {
/*search external output*/
ptype=getptype(losig->USER,LOFIGCHAIN);
for (lofigchain=ptype->DATA; lofigchain; lofigchain=lofigchain->NEXT) {
locon=lofigchain->DATA;
if (locon->TYPE==EXTERNAL && locon->DIRECTION!=IN) break;
}
if (lofigchain) delay=getdelay(output_name(signame));
else delay=getdelay(signame);
}
else delay=getdelay(signame);
switch (color_mode) {
case XSCH_GRADIENT: color=gradient_color(delay,gradient); break;
case XSCH_CRITICAL_PATH: default: color=XSCH_NEUTRAL_COLOR; break;
}
flush_losig(xsch_stream, signame, color, delay, losig->TYPE);
}
/*color for instances*/
for (loins=lofig->LOINS; loins; loins=loins->NEXT) {
/*search signal output*/
for (locon=loins->LOCON; locon; locon=locon->NEXT) {
if (locon->DIRECTION==UNKNOWN) {
fprintf(stderr,"BEH: 'linkage %s' in figure '%s' isn't accepted\n",
locon->NAME,loins->INSNAME);
exit(1);
}
if (locon->DIRECTION==OUT || locon->DIRECTION==INOUT
|| locon->DIRECTION==TRISTATE || locon->DIRECTION==TRANSCV) break;
}
if (!locon) {
fprintf(stderr,"save_xsch: no output found for '%s'\n",loins->INSNAME);
exit(1);
}
losig=locon->SIG;
signame=losig->NAMECHAIN->DATA;
delay=getdelay(loins->INSNAME);
switch (color_mode) {
case XSCH_GRADIENT: color=gradient_color(delay,gradient); break;
case XSCH_CRITICAL_PATH: default:
/*is instance in critical path?*/
for (ptype=long_path; ptype; ptype=ptype->NEXT) {
if ((char*)ptype->DATA!=signame) continue;
/*if output and input signals belong to critical path, then instance belongs*/
for (locon=loins->LOCON; locon; locon=locon->NEXT) {
if (locon->DIRECTION==OUT || locon->DIRECTION==TRISTATE) continue;
losig_aux=locon->SIG;
/*is signal in critical path?*/
for (ptype2=long_path; ptype2; ptype2=ptype2->NEXT) {
if ((char*)ptype2->DATA==losig_aux->NAMECHAIN->DATA) break;
}
if (ptype2) break;
}
ptype=ptype2; /*found?*/
break;
}
/*build critical path list*/
if (ptype) loinschain=addchain(loinschain,loins);
if (ptype) color=XSCH_RED_COLOR;
else color=XSCH_NEUTRAL_COLOR;
}
flush_loins(xsch_stream, loins->INSNAME, color, delay);
}
/*color for connectors*/
for (locon=lofig->LOCON; locon; locon=locon->NEXT) {
if (isvdd(locon->NAME) || isvss(locon->NAME)) continue;
switch (locon->DIRECTION) {
case IN:
delay_out=getdelay(locon->NAME);
sprintf(mes, "%d ps",(int)delay_out);
break;
case OUT: case TRISTATE:
delay_out=getdelay(output_name(locon->NAME));
sprintf(mes, "%d ps",(int)delay_out);
break;
case INOUT: case TRANSCV:
delay=getdelay(locon->NAME);
delay_out=getdelay(output_name(locon->NAME));
sprintf(mes, "%d ps on input; %d ps on output",(int)delay,(int)delay_out);
break;
}
switch (color_mode) {
case XSCH_GRADIENT: color=gradient_color(delay_out,gradient); break;
case XSCH_CRITICAL_PATH: default:
/* seek if signal is in a long path*/
for (ptype=long_path; ptype; ptype=ptype->NEXT) {
if ((char*)ptype->DATA==locon->NAME) break;
}
if (ptype) color=XSCH_RED_COLOR;
else color=XSCH_NEUTRAL_COLOR;
}
flush_stream_special(xsch_stream, locon->NAME, color, mes);
}
/*critical path*/
if (loinschain && long_path && color_mode==XSCH_CRITICAL_PATH) {
source=NULL;
last_sig=NULL;
for (ptype=long_path; ptype; ptype=ptype->NEXT) {
signame=ptype->DATA;
for (chain=loinschain; chain; chain=chain->NEXT) {
loins=chain->DATA;
/*search signal output*/
for (locon=loins->LOCON; locon; locon=locon->NEXT) {
if (locon->DIRECTION==OUT || locon->DIRECTION==INOUT
|| locon->DIRECTION==TRISTATE || locon->DIRECTION==TRANSCV) {
losig=locon->SIG;
if (losig->NAMECHAIN->DATA==signame) {
dest=loins->INSNAME;
break;
}
}
}
if (locon) break;
}
/*if no instance found it is external connector. it has the same name than signal*/
if (!locon) dest=signame;
if (source)
flush_path(xsch_stream, source, last_sig, dest, XSCH_RED_COLOR, delay, INTERNAL);
source=dest;
last_sig=signame;
}
/*for last signal search output*/
if (losig) {
ptype=getptype(losig->USER,LOFIGCHAIN);
for (chain=ptype->DATA; chain; chain=chain->NEXT) {
locon=chain->DATA;
/*port of circuit*/
if (locon->TYPE==EXTERNAL) {dest=locon->NAME; break;}
loins=locon->ROOT;
/*register input if no error*/
if (locon->DIRECTION==IN || locon->DIRECTION==INOUT || locon->DIRECTION==TRANSCV)
{dest=loins->INSNAME; break;}
}
flush_path(xsch_stream, source, signame, dest, XSCH_RED_COLOR, delay, losig->TYPE);
}
}
freechain(loinschain);
}
