int get_slope(loc_t a , loc_t b, int add_line, int reverse, vx_buffer_t* buf)
{
if(add_line) {
int npoints = 2;
float points[npoints*3];
points[0] = a.x;
points[1] = a.y;
points[2] = 0;
points[3] = b.x;
points[4] = b.y;
points[5] = 0;
vx_resc_t *verts = vx_resc_copyf(points, npoints*3);
vx_buffer_add_back(buf, vxo_pix_coords(VX_ORIGIN_BOTTOM_LEFT,
vxo_lines(verts, npoints, GL_LINES,
vxo_points_style(vx_blue, 2.0f))));
}
if(reverse) {
if((a.y - b.y) == 0)
return((a.x - b.x)/.0001);
int ret = (a.x - b.x) / (a.y - b.y);
return(ret);
}
if((a.x - b.x) == 0)
return((a.y - b.y)/.0001);
int ret = (a.y - b.y) / (a.x - b.x);
return(ret);
}
void project_measurements_through_homography(matd_t* H, vx_buffer_t* buf,
zarray_t* pix_found, int size)
{
int npoints = NUM_CHART_BLOBS * 2; // line per chart blob
float points[npoints*3];
float* real_world_coords;
if(size == NUM_TARGETS) real_world_coords = target_coords;
else if(size == NUM_CHART_BLOBS) real_world_coords = chart_coords;
else assert(0);
for(int i = 0; i < size; i++) {
// run each real world point through homography and add to buf
double tmp[3] = {real_world_coords[i*2], real_world_coords[i*2+1], 1};
matd_t* xy_matrix = matd_create_data(3,1,tmp);
matd_t* pix_estimated = matd_op("(M)*M",H, xy_matrix);
MATD_EL(pix_estimated,0,0) /= MATD_EL(pix_estimated,2, 0);
MATD_EL(pix_estimated,1,0) /= MATD_EL(pix_estimated,2, 0);
vx_buffer_add_back(buf,
vxo_pix_coords(VX_ORIGIN_BOTTOM_LEFT,
vxo_chain(vxo_mat_translate3(MATD_EL(pix_estimated,0,0), MATD_EL(pix_estimated,1,0), 0),
vxo_mat_scale(2.0),
vxo_circle(vxo_mesh_style(vx_green)))));
// create endpoints for lines
loc_t pos;
zarray_get(pix_found, i, &pos); //
points[6*i + 0] = pos.x;
points[6*i + 1] = pos.y;
points[6*i + 2] = 0;
points[6*i + 3] = MATD_EL(pix_estimated,0,0);
points[6*i + 4] = MATD_EL(pix_estimated,1,0);
points[6*i + 5] = 0;
}
// make lines
vx_resc_t *verts = vx_resc_copyf(points, npoints*3);
vx_buffer_add_back(buf, vxo_pix_coords(VX_ORIGIN_BOTTOM_LEFT,
vxo_lines(verts, npoints, GL_LINES,
vxo_points_style(vx_blue, 2.0f))));
}
void add_line_to_buffer(image_u32_t* im, vx_buffer_t* buf, double size,
loc_t p1, loc_t p2, const float* color)
{
int npoints = 2; // line per chart blob
float points[npoints*3];
points[0] = p1.x;
points[1] = p1.y;
points[2] = 0;
points[3] = p2.x;
points[4] = p2.y;
points[5] = 0;
// make lines
vx_resc_t *verts = vx_resc_copyf(points, npoints*3);
vx_buffer_add_back(buf, vxo_pix_coords(VX_ORIGIN_BOTTOM_LEFT,
vxo_lines(verts, npoints, GL_LINES,
vxo_points_style(color, size))));
}
static void draw(state_t * state, vx_world_t * world)
{
// Draw from the vx shape library
vx_buffer_add_back(vx_world_get_buffer(world, "fixed-cube"), vxo_chain(vxo_mat_translate3(3.0,0,0),
vxo_mat_scale(2),
vxo_box(vxo_mesh_style(vx_orange))));
vx_buffer_swap(vx_world_get_buffer(world, "fixed-cube"));
// Draw some text
if (1) {
vx_object_t *vt = vxo_text_create(VXO_TEXT_ANCHOR_LEFT, "<<right>>hello!\n<<serif-italic-4>>line 2\nfoo<<#ff0000>>red<<sansserif-bold-30,#0000ff80>>blue semi\n<<serif-italic-4>>foo bar baz");
vx_buffer_t *vb = vx_world_get_buffer(world, "text");
vx_buffer_add_back(vb, vt);
vx_buffer_swap(vb);
}
// Draw a custom ellipse:
{
int npoints = 35;
float points[npoints*3];
for (int i = 0; i < npoints; i++) {
float angle = 2*M_PI*i/npoints;
float x = 5.0f*cosf(angle);
float y = 8.0f*sinf(angle);
float z = 0.0f;
points[3*i + 0] = x;
points[3*i + 1] = y;
points[3*i + 2] = z;
}
vx_buffer_add_back(vx_world_get_buffer(world, "ellipse"), vxo_lines(vx_resc_copyf (points, npoints*3),
npoints, GL_LINE_LOOP,
vxo_lines_style(vx_purple, 1.0f) ));
vx_buffer_swap(vx_world_get_buffer(world, "ellipse"));
}
// Draw a sin wave
{
int npoints = 100;
float points[npoints*3];
for (int i = 0; i < npoints; i++) {
float angle = 2*M_PI*i/npoints;
float x = i*.1;
float y = sinf(angle);
float z = 0.0f;
points[3*i + 0] = x;
points[3*i + 1] = y;
points[3*i + 2] = z;
}
vx_buffer_add_back(vx_world_get_buffer(world, "sin"), vxo_points(vx_resc_copyf (points, npoints*3), npoints,
vxo_points_style(vx_purple, 10.0)));
vx_buffer_swap(vx_world_get_buffer(world, "sin"));
}
// Draw a cos wave
{
int npoints = 100;
float points[npoints*3];
float colors[npoints*4];
for (int i = 0; i < npoints; i++) {
float angle = 2*M_PI*i/npoints;
float x = i*.1;
float y = cosf(angle);
float z = 0.0f;
points[3*i + 0] = x;
points[3*i + 1] = y;
points[3*i + 2] = z;
float r = angle/(2*M_PI);
float g = 0.3f;
float b = 1.0f-(angle/(2*M_PI));
colors[4*i + 0] = r;
colors[4*i + 1] = g;
colors[4*i + 2] = b;
colors[4*i + 3] = 1.0f;
}
vx_buffer_add_back(vx_world_get_buffer(world, "cos"), vxo_points(vx_resc_copyf (points, npoints*3), npoints,
vxo_points_style_multi_colored(vx_resc_copyf(colors, npoints*4), 10.0)));
vx_buffer_swap(vx_world_get_buffer(world, "cos"));
}
// Draw a rose
if (1) {
int npoints = 100;
float points[npoints*3];
float colors[npoints*4];
int k = 3;
for (int i = 0; i < npoints; i++) {
float angle = M_PI*i/npoints; // [0, Pi] for Odd
float x = cosf(k*angle)*sin(angle);
float y = cosf(k*angle)*cos(angle);
float z = 0.0f;
points[3*i + 0] = x;
points[3*i + 1] = y;
points[3*i + 2] = z;
float r = angle/(M_PI);
float g = 1.0f-(angle/(M_PI));
float b = 0.3f;
colors[4*i + 0] = r;
colors[4*i + 1] = g;
colors[4*i + 2] = b;
colors[4*i + 3] = 1.0f;
}
vx_buffer_add_back(vx_world_get_buffer(world, "rose"), vxo_lines(vx_resc_copyf (points, npoints*3), npoints,
GL_LINE_LOOP,
vxo_lines_style_multi_colored(vx_resc_copyf(colors, npoints*4), 1.0)));
vx_buffer_swap(vx_world_get_buffer(world, "rose"));
}
if (1) { // draw a box with all the fixings
vx_buffer_t * vb = vx_world_get_buffer(world, "rect");
// should draw purple square, with green lines, all occluded by red corners.
vx_buffer_add_back(vb, vxo_depth_test(0,vxo_chain(
vxo_mat_translate2(-5,-5),
vxo_rect(vxo_mesh_style(vx_purple),
vxo_lines_style(vx_green, 6.0f),
vxo_points_style(vx_red, 6.0f)))));
vx_buffer_swap(vb);
}
// Draw a texture
if (state->img != NULL) {
image_u8_t * img = state->img;
vx_object_t * o3 = vxo_image(vx_resc_copyub(img->buf, img->width*img->height*img->bpp),
img->width, img->height, img->bpp == 4? GL_RGBA : GL_RGB, VXO_IMAGE_FLIPY);
// pack the image into the unit square
vx_buffer_t * vb = vx_world_get_buffer(world, "texture");
vx_buffer_add_back(vb, vxo_chain(vxo_mat_scale3(1.0/img->width, 1.0/img->height, 1), o3));
vx_buffer_swap(vb);
}
}
void body_draw(Body *body, vx_buffer_t *buf) {
vx_object_t *vo;
float scale = 1/20.0;
float zoffset = 0;
joint_t rShoulder = body->getJoint(RSHOULDER);
joint_t rElbow = body->getJoint(RELBOW);
joint_t rWrist = body->getJoint(RWRIST);
joint_t lWrist = body->getJoint(LWRIST);
double rShoulderX = 0;
double rShoulderY = 0;
double rShoulderZ = scale*(-2 * rShoulder.y);
double rElbowX = scale*(rElbow.x - rShoulder.x);
double rElbowY = scale*(rElbow.z - rShoulder.z);
double rElbowZ = scale*(-rElbow.y - rShoulder.y);
double rWristX = scale*(rWrist.x - rShoulder.x);
double rWristY = scale*(rWrist.z - rShoulder.z);
double rWristZ = scale*(-rWrist.y - rShoulder.y);
double lWristX = scale*(lWrist.x - rShoulder.x);
double lWristY = scale*(lWrist.z - rShoulder.z);
double lWristZ = scale*(-lWrist.y - rShoulder.y);
//Draw Axes
float axes[12] = {(float) rShoulderX, (float) rShoulderY, (float) rShoulderZ,
(float) rElbowX, (float) rElbowY, (float) rElbowZ,
(float) rElbowX, (float) rElbowY, (float) rElbowZ,
(float) rWristX, (float) rWristY, (float) rWristZ};
vx_resc_t *verts = vx_resc_copyf(axes, 12);
vo = vxo_chain(
vxo_lines(verts, 4, GL_LINES, vxo_points_style(vx_blue, 2.0f))
);
vx_buffer_add_back(buf, vo);
//Draw Joints
vo = vxo_chain(
vxo_mat_translate3(rShoulderX, rShoulderY, rShoulderZ),
vxo_mat_scale3(1.5, 1.5, 1.5),
vxo_sphere(vxo_mesh_style(vx_yellow))
);
vx_buffer_add_back(buf, vo);
vo = vxo_chain(
vxo_mat_translate3(rElbowX, rElbowY, rElbowZ),
vxo_mat_scale3(1.5, 1.5, 1.5),
vxo_sphere(vxo_mesh_style(vx_blue))
);
vx_buffer_add_back(buf, vo);
vo = vxo_chain(
vxo_mat_translate3(rWristX, rWristY, rWristZ),
vxo_mat_scale3(1.5, 1.5, 1.5),
vxo_sphere(vxo_mesh_style(vx_green))
);
vx_buffer_add_back(buf, vo);
vo = vxo_chain(
vxo_mat_translate3(lWristX, lWristY, lWristZ),
vxo_mat_scale3(3, 3, 3),
vxo_sphere(vxo_mesh_style(vx_black))
);
vx_buffer_add_back(buf, vo);
}
void connect_lines(zarray_t* locs, vx_buffer_t* buf)
{
connection_t lines[12];
int idx = 0;
// iterate
for(int i = 0; i < zarray_size(locs); i++) {
loc_t curr;
zarray_get(locs, i, &curr);
for(int j = 0; j < zarray_size(locs); j++) {
// make a connection to every point except self and add to the lines
loc_t other;
zarray_get(locs, j, &other);
if(i != j) { // not same point
lines[idx].start = curr;
lines[idx].end = other;
lines[idx].length = sqrt((curr.x - other.x)*(curr.x - other.x)
+ (curr.y - other.y)*(curr.y - other.y));
idx++;
}
}
}
// sort the array by distance
int flag = 1;
connection_t tmp;
for(int i = 0; (i < 12) && flag; i++)
{
flag = 0; // only go over again if swap has been made
for(int j = 0; j < (11); j++)
{
if(lines[j+1].length < lines[j].length)
{
tmp = lines[j];
lines[j] = lines[j+1];
lines[j+1] = tmp;
flag = 1;
}
}
}
for(int i = 0; (i < 12); i++)
{
// printf("%lf\n", lines[i].length);
}
// usleep(2000000);
int npoints = 8;
float points[npoints*3];
for(int i = 0; i < 4; i++) {
points[6*i + 0] = lines[i*2].start.x;
points[6*i + 1] = lines[i*2].start.y;
points[6*i + 2] = 1;
points[6*i + 3] = lines[i*2].end.x;
points[6*i + 4] = lines[i*2].end.y;
points[6*i + 5] = 1;
}
vx_resc_t *verts = vx_resc_copyf(points, npoints*3);
vx_buffer_add_back(buf, vxo_pix_coords(VX_ORIGIN_BOTTOM_LEFT,
vxo_lines(verts, npoints, GL_LINES,
vxo_points_style(vx_blue, 2.0f))));
}
