void uiDrawMatrixMultiply(uiDrawMatrix *dest, uiDrawMatrix *src)
{
D2D1_MATRIX_3X2_F c, d;
m2d(dest, &c);
m2d(src, &d);
c = c * d;
d2m(&c, dest);
}
int uiDrawMatrixInvertible(uiDrawMatrix *m)
{
D2D1_MATRIX_3X2_F d;
m2d(m, &d);
return D2D1IsMatrixInvertible(&d) != FALSE;
}
void uiDrawMatrixTranslate(uiDrawMatrix *m, double x, double y)
{
D2D1_MATRIX_3X2_F dm;
m2d(m, &dm);
dm = dm * D2D1::Matrix3x2F::Translation(x, y);
d2m(&dm, m);
}
int uiDrawMatrixInvert(uiDrawMatrix *m)
{
D2D1_MATRIX_3X2_F d;
m2d(m, &d);
if (D2D1InvertMatrix(&d) == FALSE)
return 0;
d2m(&d, m);
return 1;
}
void uiDrawMatrixSkew(uiDrawMatrix *m, double x, double y, double xamount, double yamount)
{
D2D1_MATRIX_3X2_F dm;
D2D1_POINT_2F center;
m2d(m, &dm);
center.x = x;
center.y = y;
dm = dm * D2D1::Matrix3x2F::Skew(r2d(xamount), r2d(yamount), center);
d2m(&dm, m);
}
void uiDrawMatrixRotate(uiDrawMatrix *m, double x, double y, double amount)
{
D2D1_MATRIX_3X2_F dm;
D2D1_POINT_2F center;
m2d(m, &dm);
center.x = x;
center.y = y;
dm = dm * D2D1::Matrix3x2F::Rotation(r2d(amount), center);
d2m(&dm, m);
}
void uiDrawMatrixScale(uiDrawMatrix *m, double xCenter, double yCenter, double x, double y)
{
D2D1_MATRIX_3X2_F dm;
D2D1_POINT_2F center;
m2d(m, &dm);
center.x = xCenter;
center.y = yCenter;
dm = dm * D2D1::Matrix3x2F::Scale(x, y, center);
d2m(&dm, m);
}
void uiDrawMatrixTransformPoint(uiDrawMatrix *m, double *x, double *y)
{
D2D1::Matrix3x2F dm;
D2D1_POINT_2F pt;
m2d(m, &dm);
pt.x = *x;
pt.y = *y;
pt = dm.TransformPoint(pt);
*x = pt.x;
*y = pt.y;
}
shared_ptr <Mapper2d> Mapper2d::
Create (GridFrame const & gframe,
double robot_radius, double buffer_zone, double decay_power)
{
shared_ptr <travmap_cost_decay> cost_decay (new exponential_travmap_cost_decay (decay_power));
shared_ptr <travmap_grow_strategy> grow_strategy (new always_grow());
shared_ptr <TraversabilityMap> travmap (new TraversabilityMap (gframe, 0, 0, 0, 0));
static double const padding_factor (2.0);
shared_ptr <Mapper2d> m2d (new Mapper2d (robot_radius, buffer_zone, padding_factor,
cost_decay, travmap, grow_strategy));
return m2d;
}
void uiDrawTransform(uiDrawContext *c, uiDrawMatrix *m)
{
D2D1_MATRIX_3X2_F dm;
uiDrawMatrix already;
uiDrawMatrix temp;
ID2D1RenderTarget_GetTransform(c->rt, &dm);
d2m(&dm, &already);
temp = *m; // don't modify m
// you would think we have to do already * m, right?
// WRONG! we have to do m * already
// why? a few reasons
// a) this lovely comment in cairo's source - http://cgit.freedesktop.org/cairo/tree/src/cairo-matrix.c?id=0537479bd1d4c5a3bc0f6f41dec4deb98481f34a#n330
// Direct2D uses column vectors and I don't know if this is even documented
// b) that's what Core Graphics does
// TODO see if Microsoft says to do this
uiDrawMatrixMultiply(&temp, &already);
m2d(&temp, &dm);
ID2D1RenderTarget_SetTransform(c->rt, &dm);
}