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[graphics] draw_AUV and draw_tank for IPE #126

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[graphics] draw_AUV and draw_tank for IPE #126

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f6cbfd1
[graphics] early drawAUV for IPE
godardma Oct 28, 2024
55a85fc
[graphics] draw_AUV for IPE
godardma Oct 28, 2024
87bc83d
[graphics] draw_tank for IPE
godardma Oct 28, 2024
66a1ae1
[graphics] tip in polyline for IPE
godardma Oct 28, 2024
f34963f
[graphics] minor changes for xml format
godardma Oct 28, 2024
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99 changes: 92 additions & 7 deletions src/graphics/3rd/ipe/codac2_Figure2D_IPE.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@

#include <cstdio>
#include "codac2_Figure2D_IPE.h"
#include "codac2_math.h"

using namespace std;
using namespace codac2;
Expand Down Expand Up @@ -74,7 +75,7 @@ void Figure2D_IPE::center_viewbox(const Vector& c, const Vector& r)
assert(r.min_coeff() > 0.);
}

void Figure2D_IPE::begin_path(const StyleProperties& s)
void Figure2D_IPE::begin_path(const StyleProperties& s, bool tip=false)
{
// substr is needed to remove the "#" at the beginning of hex_str (deprecated by IPE)
_colors.emplace(s.stroke_color.hex_str.substr(1), s.stroke_color);
Expand All @@ -86,7 +87,32 @@ void Figure2D_IPE::begin_path(const StyleProperties& s)
fill=\"codac_color_" << s.fill_color.hex_str.substr(1) << "\" \n \
opacity=\"" << (int)(10*round(10.*s.fill_color.alpha)) << "%\" \n \
stroke-opacity=\"" << (int)(10*round(10.*s.stroke_color.alpha)) << "%\" \n \
pen=\"normal\"> \n ";
pen=\"normal\"";
if (tip)
_f_temp_content << "\n \
arrow=\"normal/normal\"";
_f_temp_content << "> \n";
}

void Figure2D_IPE::begin_path_with_matrix(const Vector& x, float length, const StyleProperties& s)
{
// substr is needed to remove the "#" at the beginning of hex_str (deprecated by IPE)
_colors.emplace(s.stroke_color.hex_str.substr(1), s.stroke_color);
_colors.emplace(s.fill_color.hex_str.substr(1), s.fill_color);

_f_temp_content << "\n \
<path layer=\"alpha\" \n \
stroke=\"codac_color_" << s.stroke_color.hex_str.substr(1) << "\" \n \
fill=\"codac_color_" << s.fill_color.hex_str.substr(1) << "\" \n \
opacity=\"" << (int)(10*round(10.*s.fill_color.alpha)) << "%\" \n \
stroke-opacity=\"" << (int)(10*round(10.*s.stroke_color.alpha)) << "%\" \n \
pen=\"normal\" \n \
matrix=";

// Matrix is composed of the 4 components of the 2D transformation matrix and the translation vector
_f_temp_content << "\"" << scale_length(length) * cos(x[j()+1]).mid() << " " << scale_length(length) * sin(x[j()+1]).mid() << " "
<< - scale_length(length) * sin(x[j()+1]).mid() << " " << scale_length(length) * cos(x[j()+1]).mid() << " "
<< scale_x(x[i()]) << " " << scale_y(x[j()]) << "\">\n";
}

void Figure2D_IPE::draw_point(const Vector& c, const StyleProperties& s)
Expand All @@ -103,7 +129,7 @@ void Figure2D_IPE::draw_point(const Vector& c, const StyleProperties& s)
fill=\"codac_color_" << s.fill_color.hex_str.substr(1) << "\" \n \
opacity=\"" << (int)(10*round(10.*s.fill_color.alpha)) << "%\" \n \
stroke-opacity=\"" << (int)(10*round(10.*s.stroke_color.alpha)) << "%\" \n \
size=\"normal\"/>";
size=\"normal\"\n/>";
}

void Figure2D_IPE::draw_box(const IntervalVector& x, const StyleProperties& s)
Expand Down Expand Up @@ -144,9 +170,8 @@ void Figure2D_IPE::draw_polyline(const std::vector<Vector>& x, float tip_length,
{
assert(x.size() > 1);
assert(tip_length >= 0.);
// todo: draw tip

begin_path(s);
begin_path(s, tip_length>2e-3*_fig.scaled_unit());

for(size_t k = 0 ; k < x.size() ; k++)
{
Expand Down Expand Up @@ -181,15 +206,75 @@ void Figure2D_IPE::draw_tank(const Vector& x, float size, const StyleProperties&
assert(_fig.size() <= x.size()+1);
assert(j()+1 < x.size());
assert(size >= 0.);
// Not implemented yet

float length=size/4.0; // from VIBes : initial vehicle's length is 4

begin_path_with_matrix(x,length,s);

// Body
_f_temp_content << 1 << " " << -1.5 << " m \n";
_f_temp_content << -1 << " " << -1.5 << " l \n";
_f_temp_content << 0 << " " << -1.5 << " l \n";
_f_temp_content << 0 << " " << -1 << " l \n";
_f_temp_content << -1 << " " << -1 << " l \n";
_f_temp_content << -1 << " " << 1 << " l \n";
_f_temp_content << 0 << " " << 1 << " l \n";
_f_temp_content << 0 << " " << 1.5 << " l \n";
_f_temp_content << -1 << " " << 1.5 << " l \n";
_f_temp_content << 1 << " " << 1.5 << " l \n";
_f_temp_content << 0 << " " << 1.5 << " l \n";
_f_temp_content << 0 << " " << 1 << " l \n";
_f_temp_content << 3 << " " << 0.5 << " l \n";
_f_temp_content << 3 << " " << -0.5 << " l \n";
_f_temp_content << 0 << " " << -1 << " l \n";
_f_temp_content << 0 << " " << -1.5 << " l \n";

_f_temp_content << "</path>";
}

void Figure2D_IPE::draw_AUV(const Vector& x, float size, const StyleProperties& s)
{
assert(_fig.size() <= x.size()+1);
assert(j()+1 < x.size());
assert(size >= 0.);
// Not implemented yet

float length=size/7.0; // from VIBes : initial vehicle's length is 7

_f_temp_content<<"\n<group>\n";

// Body

begin_path_with_matrix(x,length,s);

_f_temp_content << -4 << " " << 0 << " m \n";
_f_temp_content << -2 << " " << 1 << " l \n";
_f_temp_content << 2 << " " << 1 << " l \n";

for (float i = 90.; i > -90.; i -= 10.)
_f_temp_content << cos(i * codac2::pi / 180.).mid() + 2.0 << " "
<< sin(i * codac2::pi / 180.).mid() + 0.0 << " l \n";

_f_temp_content << 2 << " " << -1 << " l \n";
_f_temp_content << -2 << " " << -1 << " l \n";
_f_temp_content << -4 << " " << 0 << " l \n";

_f_temp_content << "</path>\n";

// Propulsion unit

begin_path_with_matrix(x,length,s);

_f_temp_content << -4 << " " << 1 << " m \n";
_f_temp_content << -3.25 << " " << 1 << " l \n";
_f_temp_content << -3.25 << " " << -1 << " l \n";
_f_temp_content << -4 << " " << -1 << " l \n";
_f_temp_content << -4 << " " << 1 << " l \n";

_f_temp_content << "</path>\n";

_f_temp_content<<"</group>";


}

double Figure2D_IPE::scale_x(double x) const
Expand Down
3 changes: 2 additions & 1 deletion src/graphics/3rd/ipe/codac2_Figure2D_IPE.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,8 @@ namespace codac2
void update_axes();
void update_window_properties();
void center_viewbox(const Vector& c, const Vector& r);
void begin_path(const StyleProperties& s);
void begin_path(const StyleProperties& s,bool tip);
void begin_path_with_matrix(const Vector& x, float length, const StyleProperties& s);

// Geometric shapes
void draw_point(const Vector& c, const StyleProperties& s = StyleProperties());
Expand Down
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