61 lines
2.1 KiB
C++
61 lines
2.1 KiB
C++
|
|
# include <SR/sr_vec2.h>
|
|
# include <SR/sr_array.h>
|
|
|
|
# include <FL/Fl_Widget.H>
|
|
|
|
//============================ SrSwingControl ============================
|
|
|
|
/*! Controls a 2D panel allowing to specify a swing rotation.
|
|
The 2D panel uses the axis-angle parameterization of the
|
|
swing, and ellipse-like joint limits are supported */
|
|
class SrSwingControl : public Fl_Widget
|
|
{ private :
|
|
float _sx, _sy; // the axis angle representation of the swing
|
|
float _ex, _ey; // ellipse limits (default PI)
|
|
bool _swap;
|
|
int _crossr;
|
|
SrArray<SrPnt2> _points;
|
|
|
|
public :
|
|
|
|
/*! Construtor as required by fltk */
|
|
SrSwingControl ( int x, int y, int w, int h, const char *l=0 );
|
|
|
|
/*! Swap mode (default is true) puts the X (red) axis vertical and
|
|
the Y (green) axis horizontal, better to visualize swing rotations */
|
|
void swap_axis ( bool b ) { _swap=b; }
|
|
|
|
/*! Set radius of the cross marking the current value (default is 3)*/
|
|
void cross_radius ( int r ) { _crossr=r; }
|
|
|
|
/*! Set new value, ensuring that ellipse limits are respected.
|
|
True is returned if a new value is accepted */
|
|
bool value ( float x, float y );
|
|
|
|
/*! Returns the x value as float */
|
|
float xval() const { return _sx; }
|
|
|
|
/*! Returns the x value as float */
|
|
float yval() const { return _sy; }
|
|
|
|
/*! Define the X and Y radius of the ellipse limiting the swing.
|
|
The default value is (pi,pi). Values are ensured to be <=pi */
|
|
void ellipse ( float ex, float ey );
|
|
|
|
/*! Returns the limiting ellipse x radius */
|
|
float ellipsex () const { return _swap? _ey:_ex; }
|
|
|
|
/*! Returns the limiting ellipse y radius */
|
|
float ellipsey () const { return _swap? _ex:_ey; }
|
|
|
|
/*! Send segments (as a point list) to be drawn in the swing pannel */
|
|
void draw_segments ( const SrArray<SrPnt2>& pl ) { _points=pl; }
|
|
|
|
protected :
|
|
virtual void draw ();
|
|
virtual int handle ( int e );
|
|
};
|
|
|
|
//================================ End of File =================================================
|