I have created a class where I define Shape objects for my program. Each of these Shapes has a transparent ellipse drawn around it (I defined that in my constructor) and if any other Shape moves into that circular ellipse area, I want that Shape to change it's direction so that it moves in a circular path.
Each Shape object has a defined radius attribute (because of the ellipse I draw around each object) and I want to use that value to determine how big of a circular pattern the Shape has to move in when it collides.
Please help! Anything is greatly appreciated!
EDIT:
As I said above, I want the shape to move into a circular path. HOWEVER, I want it only to move in a circular path once (meaning it moves around a circle once) and then I want it to continue on the original path it was programmed with.
The short answer is that you'll have to use basic trig to figure out the angle between the points, and then more basic trig to determine subsequent points on the circular path.
Check out the trigonometry section of the Processing reference for more info.
But basically, if you have two points, you can use the atan2() function to calculate the angle between them. You'd use this to find the starting angle from the center of your circle to the shape.
Once you have that angle, you can simply increment it, and then use cos() and sin() to figure out the x and y coordinates at that new angle.
Here is a basic sketch that does all of the above:
PVector center;
float angle;
float radius;
void setup() {
size(500, 500);
center = new PVector(width/2, height/2);
//get the initial point
//for you, this would be the initial location of the object
PVector point = new PVector(random(width), random(height));
//find the angle between the points
float deltaX = center.x - point.x;
float deltaY = center.y - point.y;
angle = atan2(deltaX, deltaY);
//find the radius of the circle
radius = dist(center.x, center.y, point.x, point.y);
ellipseMode(RADIUS);
}
void draw() {
background(0);
//draw the center point
ellipse(center.x, center.y, 10, 10);
//find the point based on the angle
float x = center.x + cos(angle)*radius;
float y = center.y + sin(angle)*radius;
//draw the traveling point
ellipse(x, y, 10, 10);
//increment the angle to move the point
angle += PI/120;
}
Well, before I saw Kevin's post, I did one also. Not using objects, just a simple procedural example. Posting anyway :)
PVector pos, speed, stored;
float diam = 40;
boolean wonder = false;
float angle = 0;
void setup() {
size(300, 300);
// arbitrary positioning and speeding
pos = new PVector(-20, height/2);
speed = new PVector(1, 0);
noStroke();
}
void draw() {
background(5);
// normally increment speed
if (!wonder) {
pos.add(speed);
} else {
// if is to wonder...
if (angle <= 360) {
//get circle path by trig
pos.x = stored.x + cos(radians(angle))*diam;
pos.y = stored.y + sin(radians(angle))*diam;
} else {
// if the circle is complete
// reset angle and stop wondering
wonder = false;
angle = 0;
}
// increment angle
angle++;
}
// draw
ellipse(pos.x, pos.y, diam, diam);
}
void mouseClicked() {
if (isOverCircle() ) {
// store position where it has being clicked
stored = pos.get();
// off set the diam
stored.x -= diam;
// trig wondering
wonder = true;
angle = 0;
}
}
boolean isOverCircle() {
float disX = pos.x - mouseX;
float disY = pos.y - mouseY;
return sqrt(sq(disX) + sq(disY)) < diam/2;
}
Related
I am using PCL viewer (which uses VTK) for visualizing a 3D point cloud generated by SLAM algorithm. I am trying to render the view of point cloud as seen by the robot at a given pose (position and orientation). I am able to set the position and ViewUp vector of the camera, but I am unable to set the Focal point of the camera to the heading of the robot. Currently, I am using sliders to set the Focal Point, but I want to set it programmatically based on the heading.
I am trying understand the type (angle in rad / distance in m) and range of values VTKCamera Focal Point expects and how that's related to the heading.
Function where I am updating camera
void Widget::setcamView(){
//transfrom position
Eigen::Vector3d position = this->transformpose(Eigen::Vector3d(image_pose.at(pose_ittr).position[0], image_pose.at(pose_ittr).position[1], image_pose.at(pose_ittr).position[2]));
posx = position(0);
posy = position(1);
posz = position(2);
//transform the pose
Eigen::Vector3d attitude = this->transformpose(Eigen::Vector3d(image_pose.at(pose_ittr).orientation[0],image_pose.at(pose_ittr).orientation[1],image_pose.at(pose_ittr).orientation[2]));
roll = attitude(0);
pitch = attitude(1);
yaw = attitude(2);
viewx = ui->viewxhSlider->value();// * std::pow(10,-3);
viewy = ui->viewyhSlider->value();// * std::pow(10,-3);
viewz = ui->viewzhSlider->value();// * std::pow(10,-3);
// debug
std::cout<<"Positon: "<<posx<<"\t"<<posy<<"\t"<<posz<<std::endl<<
"View: "<<viewx<<"\t"<<viewy<<"\t"<<viewz<<std::endl<<
"Orientation: "<<roll<<"\t"<<pitch<<"\t"<<yaw<<std::endl;
point_cutoffy = ui->ptcutoffhSlider->value();
if(yaw <=0)
yaw = yaw * -1;
viewer->setCameraPosition(posx,posy,posz+1,
viewz,viewy,viewz,
0, 0, 1, 0);
viewer->setCameraFieldOfView(1);
viewer->setCameraClipDistances(point_cutoffx,point_cutoffy,0);
ui->qvtkWidget->update();
count++;
}
Any help is greatly appreciated.
-Thanks
P.S
PCL Viewer Set Camera Implementation (uses VTK)
void pcl::visualization::PCLVisualizer::setCameraPosition (
double pos_x, double pos_y, double pos_z,
double view_x, double view_y, double view_z,
double up_x, double up_y, double up_z,
int viewport)
{
rens_->InitTraversal ();
vtkRenderer* renderer = NULL;
int i = 0;
while ((renderer = rens_->GetNextItem ()) != NULL)
{
// Modify all renderer's cameras
if (viewport == 0 || viewport == i)
{
vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
cam->SetPosition (pos_x, pos_y, pos_z);
cam->SetFocalPoint (view_x, view_y, view_z);
cam->SetViewUp (up_x, up_y, up_z);
renderer->ResetCameraClippingRange ();
}
++i;
}
win_->Render ();
}
I'm working with very similar problem via opencv Viz, which also uses VTK. Relatively to your question, I think you can find an answer HERE
Working in Processing, I am trying to build my first generative patch. What I want to have happen is start drawing a circle somewhere on screen (a point following the path of a circle), but after a random amount of time, the circle breaks, the line goes in a random direction for a random amount of time, and begins drawing a new circle elsewhere.
Right now I have the circle being drawn, and I have a toggle mechanism that turns on and off after a random period of time. I can't figure out how to get it "break" from that original circle, let alone get it to start a new circle elsewhere. Would anybody have some advice on how to accomplish this? I think it might have an interesting visual effect.
Rotor r;
float timer = 0;
boolean freeze = false;
void setup() {
size(1000,600);
smooth();
noFill();
frameRate(60);
background(255);
timeLimit();
r = new Rotor(random(width),random(height),random(40,100));
}
void draw() {
float t = frameCount / 100.0;
timer = timer + frameRate/1000;
r.drawRotor(t);
if(timer > timeLimit()){
timer = 0;
timeLimit();
if(freeze == true){
freeze = false;
}else{
freeze = true;
}
background(255);
}
}
float timeLimit(){
float timeLimit = random(200);
return timeLimit;
}
Rotor Class:
class Rotor {
color c;
int thickness;
float xPoint;
float yPoint;
float radius;
float angle = 0;
float centerX;
float centerY;
Rotor(float cX, float cY, float rad) {
c = color(0);
thickness = 1;
centerX = cX;
centerY = cY;
radius = rad;
}
void drawRotor(float t) {
stroke(c);
strokeWeight(thickness);
angle = angle + frameRate/1000;
xPoint = centerX + cos(angle) * radius;
yPoint = centerY + sin(angle) * radius;
ellipse(xPoint, yPoint,thickness,thickness);
}
}
First to answer your question about "breaking" circle: you need to create new rotor instance or just change its properties like center and radius. If I got your idea right you just need one instance of rotor so just change this values:
r.centerX = newX;
r.centerY = newY
r.radius = random(40,100) //as you have in setup
But how you can calculate new position? It could be random but you want to create path so you need to calculate it. And here comes the tricky part. So how to make connecting line and start new circle?
First you will need two mode. First will draw circle second will draw line. Simplest way to achieve that is by updating rotor draw method [You can pass mode variable as parameter of drawRotor function or as global variable]:
if(mode == 1){
angle += frameRate/1000;
}else{
radius += 2;
}
As you can see I just differ between increasing angle to draw circle and increasing radius to draw line (not in random direction but in way from center). Then we will need to calculate new position of circle's center. To do this we simple calculate how it would continue according to angle and substitute new radiusso whole part will looks like this:
if(mode != 1){
float newR = random(40,100);
float newX = r.centerX + cos(r.angle) * (r.radius - newR);
float newY = r.centerY + sin(r.angle) * (r.radius - newR);
r.newPos(newX, newY);
r.radius = newR; //we cant change it earlier because we need also old value
}
This will happen inside your "time handler" function only when you change mode back to drawing circle. Mode can be simple changed within handler
mode *= -1; //but need to be init to 1 inside setup()
If you want to have path always visible just delete background() function but if you want some cool effect add this at the begging of draw()
noStroke(); //No stroke needed and you turn it on again in drawRotor()
fill( 255,255,255, 10 ); //This will set transparency to 10%
rect(0,0,width,height); //You put layer after each "point" you draw
noFill(); //This will restore fill settings as you have before
Here I paste whole code just for demonstration and you should modify it according your own purpose. Better to code own version.
The call to background()usually comes as first thing in draw. That's because the draw only renders at the end of each loop (frame). So calling bg at the beginning will clear all stuff drawn in last frame. If you need to persist the draws trough frames can either remove the call to background() or draw your stuff every frame. Or yet draw stuff in a PGraphics and display it.
The other thing is each time the 'Rotor' stops you should give it new random coordinates.
If you go for removing the background() call this will do the trick:
Rotor r;
float timer = 0;
boolean freeze = false;
void setup() {
size(1000,600);
smooth();
noFill();
frameRate(60);
background(255);
timeLimit();
r = new Rotor(random(width),random(height),random(40,100));
}
void draw() {
float t = frameCount / 100.0;
timer = timer + frameRate/1000;
r.drawRotor(t);
if(timer > timeLimit()){
timer = 0;
timeLimit();
//***** here new coordinates!!
r = new Rotor(random(width),random(height),random(40,100));
//*****
if(freeze == true){
freeze = false;
}else{
freeze = true;
}
//***** no background()
// background(255);
}
}
float timeLimit(){
float timeLimit = random(200);
return timeLimit;
}
class Rotor {
color c;
int thickness;
float xPoint;
float yPoint;
float radius;
float angle = 0;
float centerX;
float centerY;
Rotor(float cX, float cY, float rad) {
c = color(0);
thickness = 1;
centerX = cX;
centerY = cY;
radius = rad;
}
void drawRotor(float t) {
stroke(c);
strokeWeight(thickness);
angle = angle + frameRate/1000;
xPoint = centerX + cos(angle) * radius;
yPoint = centerY + sin(angle) * radius;
ellipse(xPoint, yPoint,thickness,thickness);
}
}
now, if you need to clear the screen, You can make a List (ArrayList?) and add a new Rotor to it when the previous is done. But you need to manage the Rotor to be able to display it self without animating as well. So new created Rotor would animate, and old ones would just display its arc without animating. Or make a PGraphis with no call to bg and display it in main canvas that can have a bg call...
A side note, be aware that relying in frameRate to times stuff makes it dependable on the system performance. You can do the same thing using millis()to avoid that. Not an issue so far, as this is very light yet, but may become an issue if the project grows further.
At the moment I'm using the dot product of the mouse position and (0, 1) to generate radians to rotate an object, in three.js
Code below, works ok but the object 'jumps' because the radian angle skips from positive to negative when the clientX value goes between window.innerWidth / 2
onDocumentMouseMove : function(event) {
// rotate circle relative to current mouse pos
var oldPos = new THREE.Vector2(0, 1);
Template.Main.mouseCurrPos = new THREE.Vector2((event.clientX / window.innerWidth ) * 2 - 1, - (event.clientY / window.innerHeight) * 2 + 1);
Template.Main.mouseCurrPos.normalize();
//Template.Main.projector.unprojectVector(Template.Main.mouseCurrPos, Template.Main.scene);
var angle = oldPos.dot(Template.Main.mouseCurrPos);
Template.Main.mousePrevPos.x = event.clientX;
Template.Main.mousePrevPos.y = event.clientY;
if (event.clientX < window.innerWidth / 2) {
Template.Main.circle.rotation.z = -angle;
}
else {
Template.Main.circle.rotation.z = angle;
}
console.log(Template.Main.circle.rotation.z);
}
However if I add this to assign the value to oldPos:
if (event.clientX < window.innerWidth / 2) {
oldPos = new THREE.Vector2(0, -1);
}
else {
oldPos = new THREE.Vector2(0, 1);
}
Then the "jumping" goes but the effect of rotation is inverted when the mouse is on the left of the window.
I.e. mouse going up rotates anti-clockwise and vice-versa which is not desired.
It's frustrating.
Also if I keep the oldPos conditional assignment and leave out the conditional negation of the angle instead, the jumping comes back.
You can see a demo here: http://theworldmoves.me/rotation-demo/
Many thanks for any tips.
Why are you using the result of the dot product as the angle (radians)? The dot product gives you the cosine of the angle (times the magnitude of the vectors, but these are a unit vector and a normalized vector, so that doesn't matter).
You could change your angle computation to
var angle = Math.acos(oldPos.dot(Template.Main.mouseCurrPos));
However, you may get the wrong quadrant, since there can be two values of theta that satisfy cos(theta) = n. The usual way to get the angle of a vector (origin to mouse position) in the right quadrant is to use atan2():
var angle = Math.atan2(Template.Main.mouseCurrPos.y,
Template.Main.mouseCurrPos.x);
This should give the angle of the mouse position vector, going counterclockwise from (1, 0). A little experimentation can determine for sure where the zero angle is, and which direction is positive rotation.
I'm trying to draw some rotated texts by using the CGAffineTransform.MakeRotation method at specifc location. I also make use of the TranslateCTM, but something must be wrong as rotated texts do not appear aligned and at the correct x, y position where they should appear, here is simple the code I'm using, anyone know where the problem is? :
public override void Draw (RectangleF rect)
{
DrawTextRotated("Hello1",10,100,30);
DrawTextRotated("Hello2",50,100,60);
SetNeedsDisplay();
}
static public float DegreesToRadians(float x)
{
return (float) (Math.PI * x / 180.0);
}
public void DrawTextRotated(string text,int x, int y, int rotDegree)
{
CGContext c = UIGraphics.GetCurrentContext();
c.SaveState();
c.TextMatrix = CGAffineTransform.MakeRotation((float)DegreesToRadians((float)(-rotDegree)));
c.ConcatCTM(c.TextMatrix);
float xxx = ((float)Math.Sin(DegreesToRadians((float)rotDegree))*y);
float yyy = ((float)Math.Sin(DegreesToRadians((float)rotDegree))*x);
// Move the context back into the view
c.TranslateCTM(-xxx,yyy);
c.SetTextDrawingMode(CGTextDrawingMode.Fill);
c.SetShouldSmoothFonts(true);
MonoTouch.Foundation.NSString str = new MonoTouch.Foundation.NSString(text);
SizeF strSize = new SizeF();
strSize = str.StringSize(UIFont.SystemFontOfSize(12));
RectangleF tmpR = new RectangleF(x,y,strSize.Width,strSize.Height);
str.DrawString(tmpR,UIFont.SystemFontOfSize(12),UILineBreakMode.WordWrap,UITextAlignment.Right);
c.RestoreState();
}
Thanks !
Here's some code that will draw text rotated properly about the top-left corner of the text. For the moment, I'm disregarding your use of text alignment.
First, a utility method to draw a marker where we expect the text to show up:
public void DrawMarker(float x, float y)
{
float SZ = 20;
CGContext c = UIGraphics.GetCurrentContext();
c.BeginPath();
c.AddLines( new [] { new PointF(x-SZ,y), new PointF(x+SZ,y) });
c.AddLines( new [] { new PointF(x,y-SZ), new PointF(x,y+SZ) });
c.StrokePath();
}
And the code to draw the text (note I've replaced all int rotations with float, and you may want negate your rotation):
public void DrawTextRotated(string text, float x, float y, float rotDegree)
{
CGContext c = UIGraphics.GetCurrentContext();
c.SaveState();
DrawMarker(x,y);
// Proper rotation about a point
var m = CGAffineTransform.MakeTranslation(-x,-y);
m.Multiply( CGAffineTransform.MakeRotation(DegreesToRadians(rotDegree)));
m.Multiply( CGAffineTransform.MakeTranslation(x,y));
c.ConcatCTM( m );
// Draws text UNDER the point
// "This point represents the top-left corner of the string’s bounding box."
//http://developer.apple.com/library/ios/#documentation/UIKit/Reference/NSString_UIKit_Additions/Reference/Reference.html
NSString ns = new NSString(text);
UIFont font = UIFont.SystemFontOfSize(12);
SizeF sz = ns.StringSize(font);
RectangleF rect = new RectangleF(x,y,sz.Width,sz.Height);
ns.DrawString( rect, font);
c.RestoreState();
}
Rotation about a point requires translation of the point to the origin followed by rotation, followed by rotation back to the original point. CGContext.TextMatrix has no effect on NSString.DrawString so you can just use ConcatCTM.
The alignment and line break modes don't have any effect. Since you're using NSString.StringSize, the bounding rectangle fits the entirety of the text, snug up against the left and right edges. If you make the width of the bounding rectangle wider and use UITextAlignment.Right, you'll get proper right alignment, but the text will still rotate around the top left corner of the entire bounding rectangle. Which is not, I'm guessing, what you're expecting.
If you want the text to rotate around the top right corner, let me know and I'll adjust the code accordingly.
Here's the code I used in my test:
DrawTextRotated("Hello 0",100, 50, 0);
DrawTextRotated("Hello 30",100,100,30);
DrawTextRotated("Hello 60",100,150,60);
DrawTextRotated("Hello 90",100,200,90);
Cheers.
XNA doesn't have any methods which support circle drawing.
Normally when I had to draw circle, always with the same color, I just made image with that circle and then I could display it as a sprite.
But now the color of the circle is specified during runtime, any ideas how to deal with that?
You can simply make an image of a circle with a Transparent background and the coloured part of the circle as White. Then, when it comes to drawing the circles in the Draw() method, select the tint as what you want it to be:
Texture2D circle = CreateCircle(100);
// Change Color.Red to the colour you want
spriteBatch.Draw(circle, new Vector2(30, 30), Color.Red);
Just for fun, here is the CreateCircle method:
public Texture2D CreateCircle(int radius)
{
int outerRadius = radius*2 + 2; // So circle doesn't go out of bounds
Texture2D texture = new Texture2D(GraphicsDevice, outerRadius, outerRadius);
Color[] data = new Color[outerRadius * outerRadius];
// Colour the entire texture transparent first.
for (int i = 0; i < data.Length; i++)
data[i] = Color.TransparentWhite;
// Work out the minimum step necessary using trigonometry + sine approximation.
double angleStep = 1f/radius;
for (double angle = 0; angle < Math.PI*2; angle += angleStep)
{
// Use the parametric definition of a circle: http://en.wikipedia.org/wiki/Circle#Cartesian_coordinates
int x = (int)Math.Round(radius + radius * Math.Cos(angle));
int y = (int)Math.Round(radius + radius * Math.Sin(angle));
data[y * outerRadius + x + 1] = Color.White;
}
texture.SetData(data);
return texture;
}