[Krobot-commits] [SCM] krobot branch, master, updated. ef0c23665393de15b54be73047a9d65214d3c23d

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit ef0c23665393de15b54be73047a9d65214d3c23d
Author: Jérémie Dimino <je...@di...>
Date:   Sun Apr 17 17:40:13 2011 +0200

    [krobot_viewer] show bezier curves

-----------------------------------------------------------------------

Changes:
diff --git a/info/control2011/src/lib/krobot_geom.ml b/info/control2011/src/lib/krobot_geom.ml
index 28178d6..34bf8a6 100644
--- a/info/control2011/src/lib/krobot_geom.ml
+++ b/info/control2011/src/lib/krobot_geom.ml
@@ -132,4 +132,45 @@ module Bezier = struct
     let t2 = t1 *. t in
     let t3 = t2 *. t in
     translate origin ((b.a *| t3) +| (b.b *| t2) +| (b.c *| t1) +| b.p)
+
+  let fold_curves f initial vertices acc =
+    let add_curve q r v1 v2 acc =
+      (* Create the bezier curve. *)
+      let curve = of_vertices q (translate q v1) (translate r v2) r in
+
+      f curve acc
+    in
+
+    (* Compute cubic bezier curves. *)
+    let rec loop acc = function
+      |  p :: (q :: r :: s :: _ as rest) ->
+           (* Computes tangents with a length that is half of the
+              minimum length of the adjacent segments. *)
+           let _, v1 = tangents p q r and v2, _ = tangents q r s in
+           let v1 = v1 *| (min (distance p q) (distance q r) /. 2.)
+           and v2 = v2 *| (min (distance q r) (distance r s) /. 2.) in
+           loop (add_curve q r v1 v2 acc) rest
+      | [p; q; r] ->
+          let _, v1 = tangents p q r and v2 = vector r q /| distance q r in
+          let v1 = v1 *| (min (distance p q) (distance q r) /. 2.)
+          and v2 = v2 *| (distance q r /. 2.) in
+          add_curve q r v1 v2 acc
+      | _ ->
+          acc
+    in
+    match vertices with
+      | q :: r :: s :: _ ->
+          let v1 = initial
+          and v2, _ = tangents q r s in
+          let v1 = v1 *| (distance q r /. 2.)
+          and v2 = v2 *| (distance q r /. 2.) in
+          loop (add_curve q r v1 v2 acc) vertices
+      | [q; r] ->
+          let v1 = initial
+          and v2 = vector r q /| distance q r  in
+          let v1 = v1 *| (distance q r /. 2.)
+          and v2 = v2 *| (distance q r /. 2.) in
+          add_curve q r v1 v2 acc
+      | [_] | [] ->
+          acc
 end
diff --git a/info/control2011/src/lib/krobot_geom.mli b/info/control2011/src/lib/krobot_geom.mli
index ddeabbf..2226508 100644
--- a/info/control2011/src/lib/krobot_geom.mli
+++ b/info/control2011/src/lib/krobot_geom.mli
@@ -63,4 +63,9 @@ module Bezier : sig
   val vertice : curve -> float -> vertice
     (** [vertice curve u] returns the vertice on the given curve for
         the given paramter [u] which must be in the range [0..1]. *)
+
+  val fold_curves : (curve -> 'a -> 'a) -> vector -> vertice list -> 'a -> 'a
+    (** [fold_curves f vector vertices acc] folds [f] over the curve
+        passing through the given list of vertices. [vector] is the
+        initial direction vector. *)
 end
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index f46bcce..1739473 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -420,11 +420,21 @@ module Board = struct
     Cairo.move_to ctx board.state.pos.x board.state.pos.y;
     List.iter (fun { x; y } -> Cairo.line_to ctx x y) (S.value board.vertices);
     Cairo.stroke ctx;
-(*
+
+    (* Draw bezier curves. *)
     Cairo.set_source_rgb ctx 255. 0. 255.;
-    List.iter (Array.iter (fun { x; y } -> Cairo.line_to ctx x y)) board.bezier;
-    Cairo.stroke ctx;
-*)
+    Bezier.fold_curves
+      (fun curve () ->
+         let { x; y } = Bezier.vertice curve 0. in
+         Cairo.move_to ctx x y;
+         for i = 1 to 100 do
+           let { x; y } = Bezier.vertice curve (float i /. 100.) in
+           Cairo.line_to ctx x y
+         done;
+         Cairo.stroke ctx)
+      { vx = cos board.state.theta; vy = sin board.state.theta }
+      (board.state.pos :: S.value board.vertices)
+      ();
 
     let ctx = Cairo_lablgtk.create board.ui#scene#misc#window in
     Cairo.set_source_surface ctx surface 0. 0.;


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