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CoordinateCalculator.py
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CoordinateCalculator.py
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############################################################################
#
# DIM - A Direct Interaction Manager for SAGE
# Copyright (C) 2013 Electronic Visualization Laboratory,
# University of Illinois at Chicago
#
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following disclaimer
# in the documentation and/or other materials provided with the distribution.
# * Neither the name of the University of Illinois at Chicago nor
# the names of its contributors may be used to endorse or promote
# products derived from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# Direct questions, comments etc about SAGE UI to www.evl.uic.edu/cavern/forum
#
############################################################################
import math
class CoordinateCalculator(object):
MAX_Y_ERROR = 0.5
# in meters
MAX_X_ERROR = 0.05
# fractional
RADIUS = 6.477 / 2;
RADIANS_FOR_DOOR = 36 * math.pi / 180;
MIN_Y = 0.305;
MAX_Y = 2.625;
MAX_Z = RADIUS * (2 + math.cos(RADIANS_FOR_DOOR / 2));
X = 0
Y = 1
Z = 2
BAD_SCREEN_POS = (-1,-1)
def __init__(self):
self.position = (0, 0, 1)
self.orientation = (0, 0, 1)
self.screen_pos = (0.5, 0.5)
def set_position(self, x, y, z):
self.position = (x, y, z)
def set_orientation(self, x, y, z):
self.orientation = (x, y, z)
def calculate(self):
'''Orientation is vertical'''
if self.orientation[self.X] == 0 and self.orientation[self.Z] == 0:
self.set_screen_pos(self.BAD_SCREEN_POS)
return self.get_screen_pos()
h = 0 # x-coordinate of the center of the circle
k = 0 # z-coordinate of the center of the circle
ox = self.orientation[self.X] # parametric slope of x, from orientation vector
oy = self.orientation[self.Y] # parametric slope of y, from orientation vector
oz = self.orientation[self.Z] # parametric slope of z, from orientation vector
x0 = self.position[self.X] # position in x
y0 = self.position[self.Y] # position in y
z0 = self.position[self.Z] # position in z
r = self.RADIUS # Radius of the cylinder
# A * t^2 + B * t + C
A = ox*ox + oz*oz
B = 2*ox*x0 + 2*oz*z0 - 2*h*ox - 2*k*oz
C = x0*x0 + z0*z0 + h*h + k*k - r*r - 2*h*x0 - 2*k*z0
if A != 0 and (B*B - 4*A*C) >= 0:
t1 = (-B + math.sqrt(B*B - 4*A*C)) / (2*A)
t2 = (-B - math.sqrt(B*B - 4*A*C)) / (2*A)
t = 0
if t1 >= 0:
t = t1
elif t2 >= 0:
t = t2
else:
self.set_screen_pos(self.BAD_SCREEN_POS)
return self.get_screen_pos()
x_pos = ox*t + x0
y_pos = oy*t + y0
z_pos = oz*t + z0
self.calculate_screen_position(x_pos, y_pos, z_pos)
return self.get_screen_pos()
else:
self.set_screen_pos(self.BAD_SCREEN_POS)
return self.get_screen_pos()
def calculate_screen_position(self, x, y, z):
'''I'm not certain that these checks are necessary; they aren't
normal, and we'll get a valid point anyway.'''
'''
if z < 0:
z = 0
if z > 2*self.RADIUS:
z = 2*self.RADIUS
if y > self.MAX_Y:
y = self.MAX_Y
if y < self.MIN_Y:
y = self.MIN_Y
if x > self.RADIUS:
x = self.RADIUS
if x < -self.RADIUS:
x = -self.RADIUS
'''
if y > self.MAX_Y:
if y < self.MAX_Y + self.MAX_Y_ERROR:
y = self.MAX_Y
else:
self.set_screen_pos(self.BAD_SCREEN_POS)
return
if y < self.MIN_Y:
if y > self.MIN_Y - self.MAX_Y_ERROR:
y = self.MIN_Y
else:
self.set_screen_pos(self.BAD_SCREEN_POS)
return
angle = math.atan2(x, z)
if angle < 0:
angle += 2*math.pi
angle = 2*math.pi - angle
angle -= self.RADIANS_FOR_DOOR / 2
x = angle / (2*math.pi - self.RADIANS_FOR_DOOR)
x += 0.02777777777
if x > 1:
if x < 1 + self.MAX_X_ERROR:
x = 1
else:
self.set_screen_pos(self.BAD_SCREEN_POS)
return
if x < 0:
if x > -self.MAX_X_ERROR:
x = 0
else:
self.set_screen_pos(self.BAD_SCREEN_POS)
return
y -= self.MIN_Y
y /= (self.MAX_Y - self.MIN_Y)
pos = (x, 1-y)
self.set_screen_pos(pos)
def set_screen_pos(self, pos):
self.screen_pos = pos
def get_screen_pos(self):
return self.screen_pos
def get_x(self):
return self.screen_pos[0]
def get_y(self):
return self.screen_pos[1]
def test(self):
calc = CoordinateCalculator()
calc.set_position(1, 1, 1)
calc.set_orientation(1, 1, 1)
return calc.calculate()
def main(self):
self.set_orientation(-1, -1, 1)
self.set_position(0, 3, self.RADIUS)
print self.calculate()
if __name__ == '__main__':
obj = CoordinateCalculator()
obj.main()