Problem with FillArea in animation

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joske
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Problem with FillArea in animation

Post by joske »

I'm making an animation of the workspace of a two-link planar arm. In the animation the arm follows the border of it's workspace, and paints a line on the border. After the animation is finished, I want to fill up the workspace with a green color. But then the screen starts flickering.

I don't know where this problem coming from. Can anyone help me out?!
The function FillArea() is used on line 258 of the code below.

Code: Select all

; Exercise 7
; Animation of a two link planar arm with rotary joints
; Copyright © 2006 Serge Visser en Jos de Jong
; Written with the programming language PureBasic

; create program constants
#winmain = 1
#winpaint = 2
#timerID = 3
#start = 4
#t1_scroll = 5
#t2_scroll = 6
#t1_text = 7
#t2_text = 8

#font_Verdana = 10
#font_Verdana_big  = 11
#refreshinterval = 50     ;millisecs
#scroll_max = 40

; create global variables and declare functions
Declare CreateAnimation()
Global x0.f, y0.f
Global x1.f, y1.f
Global x2.f, y2.f
Global L1.f, L2.f
Global theta1.f, theta2.f         ;angle of the links
Global theta1_ref.f, theta2_ref.f ;position of the scrollbars
Global pi.f
Global delta.f
Global animT12
Global animXY
Global animcount
Global animpos
Global animating
Global animfinished
Dim animT12.f(1000,1)
Dim animXY.f(1000,1)

; create program variables
pi = 4*ATan(1)
x0 = 300
y0 = 350
L1 = 150
L2 = L1/2
theta1 = 0.2*pi
theta2 = 0.25*pi
theta1_ref = theta1
theta2_ref = theta2
delta = 0.02*pi
animating = #False
animfinished = #False

; create some colors used for the graphics
Global darkgray   :darkgray = RGB(96,96,96)
Global gray       :gray = RGB(180,180,180)
Global black      :black = RGB(0,0,0)
Global red        :red = RGB(255,0,0)
Global white      :white = RGB(255,255,255)
Global brown      :brown = RGB(128,64,0)
Global pink       :pink = RGB(255,128,192)
Global purple     :purple = RGB(128,0,128)
Global green      :green = RGB(0,255,0)
Global darkgreen  :darkgreen = RGB(0,128,0)

Procedure CreateWindow()
  ; create the mainwindow with gadgets and 2D directX window
  OpenWindow(#winmain, 100, 100, 600, 500, #PB_Window_SystemMenu, "Two-link Animation")
  CreateGadgetList(WindowID()) 
  ButtonGadget(#start,10,10, 120,35, "&Start Animation")
  
  ; create a scrollbar for theta1
  TextGadget(#t1_text, 160, 5, 150, 20, "Theta1") 
  ScrollBarGadget(#t1_scroll, 160, 25,150, 20, 0, #scroll_max, 1)
  SetGadgetState(#t1_scroll, #scroll_max * theta1/pi)

  ; create a scrollbar for theta2
  TextGadget(#t2_text, 320, 5, 150, 20, "Theta2") 
  ScrollBarGadget(#t2_scroll, 320, 25,150, 20, 0, #scroll_max, 1)
  SetGadgetState(#t2_scroll, #scroll_max * (theta2+0.5*pi)/(1.5*pi))
  
  ; create a directX screen in the main window
  If InitSprite()=0
    MessageRequester("Error","Can't open DirectX",0) 
    End   ;stop the program
  EndIf
  OpenWindowedScreen(WindowID(), 0, 55, 600, 445, 0, 0, 0)
  CreateAnimation()
  
  LoadFont(#font_Verdana, "Verdana", 10, 0)
  LoadFont(#font_Verdana_big, "Verdana", 13, #PB_Font_Bold)
  
  FlipBuffers()
  ClearScreen(255,255,255)

EndProcedure

Procedure CreateAnimation()
  ; create the data needed to do the animation.
  ; the positions for the arm are saved in a matrix with two columns:
  ; first column contains theta1 for each moment,
  ; second column contains theta2 for each moment
  
  t1.f = 0
  t2.f = 0.5*pi
  animcount=0
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t2 = t2+delta
  Until t2 >= 1*Pi

  t2 = pi
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t1 = t1+delta
  Until t1 >= 1*Pi

  t1 = pi
  t2 = pi
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t2 = t2-delta
  Until t2 <=0
  
  t1=pi
  t2=0
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t1 = t1-delta
  Until t1 <=0
  
  t1=0
  t2=0
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t2 = t2-delta
  Until t2 <= -0.5*pi

  t1=0
  t2=-0.5*pi
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t1 = t1+delta
  Until t1 >= 0.32*pi

EndProcedure

Procedure PlayAnimation()
  ; play the stored animation
  animpos=0
  animating = #True
  animfinished = #False
EndProcedure

Procedure StopAnimation()
  ; play the stored animation
  animating = #False
  animfinished = #True
EndProcedure

Procedure PaintLink(x.f, y.f, theta.f, length.f)
  ; paint a link with a joint using primitive graphics (yes thats fun! :)
  #armwidth = 5
  #jointradius = 8
  #jointradiusinner = 5
  
  bottom1x.f = x+#armwidth*Cos(theta+0.5*Pi)
  bottom1y.f = y+#armwidth*Sin(theta+0.5*Pi)
  bottom2x.f = x+#armwidth*Cos(theta-0.5*Pi)
  bottom2y.f = y+#armwidth*Sin(theta-0.5*Pi)

  top1x.f = bottom1x.f + length*Cos(theta)
  top1y.f = bottom1y.f + length*Sin(theta)
  top2x.f = bottom2x.f + length*Cos(theta)
  top2y.f = bottom2y.f + length*Sin(theta)

  LineXY(x, y, x+length*Cos(theta), y+length*Sin(theta), black)

  ;LineXY(bottom1x, bottom1y, top1x, top1y, black)
  ;LineXY(bottom2x, bottom2y, top2x, top2y, black)
  ;LineXY(bottom1x, bottom1y, bottom2x, bottom2y, black)
  ;LineXY(top1x, top1y, top2x, top2y, black)
  
;  fillx.f = x+0.5*length*Cos(theta)
;  filly.f = y+0.5*length*Sin(theta)
;  FillArea(fillx, filly, black, gray)

  Circle(x, y, #jointradius, black) 
  Circle(x, y, #jointradius-1, white)
  Circle(x, y, #jointradiusinner, black)
  
EndProcedure

Procedure Paint2Link()
  ; paint the arm on the screen

  ; paint the base of the arm
  w0 = 100
  h0 = 50
  r = 5
  border = 3
  FrontColor(0,0,0)
  Box(x0-0.5*w0, y0, w0, h0, black)
  Box(x0-0.5*w0+border, y0+border, w0-2*border, h0-2*border, red)
  
  ; paint the first link and the base joint
  PaintLink(x0, y0, -theta1, L1)

  ; paint the second link
  x1 = x0 + L1*Cos(-theta1)
  y1 = y0 + L1*Sin(-theta1)
  PaintLink(x1, y1, -theta1-theta2, L2)

  ; paint a joint on the end
  x2 = x1 + L2*Cos(-theta1-theta2)
  y2 = y1 + L2*Sin(-theta1-theta2)
  PaintLink(x2, y2, -theta1-theta2, 0)
        
EndProcedure

Procedure PaintWorkarea()
  ; paint the workarea reached so far during the animation
  posmax = animpos
  If posmax>animcount     :posmax = animcount :EndIf
  If animfinished = #True :posmax = animcount :EndIf
  
  ;paint the border of the workarea
  For pos = 2 To posmax
    LineXY(animXY(pos-1,0),animXY(pos-1,1), animXY(pos,0),animXY(pos,1), darkgreen)
  Next

  ; after the last animation, fill up the workarea
  If posmax=animcount
    FillArea(x0, y0-L1, darkgreen, green)
  EndIf   

EndProcedure

Procedure PaintText()
  ;paint some text in the window
  DrawingFont(UseFont(#font_Verdana_big))
  Locate(10,60)
  DrawText("Exercise 7 - Reachable workspace for a two-link planar arm")

  DrawingFont(UseFont(#font_Verdana))
  Locate(10,475)
  DrawText("Copyright © 2006 Serge Visser en Jos de Jong")

EndProcedure

Procedure UpdateScrollvariables()
  pos.f
  
  ;update theta1
  pos = GetGadgetState(#t1_scroll)
  pos = pos/#scroll_max * Pi
  theta1_ref = pos
  SetGadgetText(#t1_text, "Theta1 = "+StrF(theta1_ref/pi,2) + " * Pi")

  ;update theta2
  pos = GetGadgetState(#t2_scroll)
  pos = pos/#scroll_max * (1.5*Pi) - 0.5*Pi
  theta2_ref = pos
  SetGadgetText(#t2_text, "Theta2 = "+StrF(theta2_ref/pi,2) + " * Pi") 

EndProcedure

Procedure UpdateScrollBar()
; update the scrollbar positions with given theta1_ref and theta2_ref

  ;update theta1
  theta1_ref = theta1
  SetGadgetState(#t1_scroll, #scroll_max * theta1_ref/pi)

  ;update theta2
  theta2_ref = theta2
  SetGadgetState(#t2_scroll, #scroll_max * (theta2_ref+0.5*pi)/(1.5*pi))

EndProcedure

; Create the window
CreateWindow()
UpdateScrollvariables()
SetTimer_(WindowID(), #timerID, #refreshinterval, 0)    ; start a timer

;-Eventhandler
;{
Repeat 
  WhichEvent = WaitWindowEvent()  ;Wait for an Event 
  WhichWindow = EventWindowID()   ;Number of Window which fires the event 
  WhichGadget = EventGadgetID()   ;Is an Gadget used ? 
  WhichEventType = EventType()    ;The event type
  
  If WhichWindow = #winmain
    Select WhichEvent
      Case #PB_EventGadget 
        Select WhichGadget 
          Case #start
            ; if user pressed the button "start animation" then start the animation
            PlayAnimation()
          Case #t1_scroll
            UpdateScrollvariables()
          Case #t2_scroll
            UpdateScrollvariables()
        EndSelect 
    
      Case #PB_Event_CloseWindow
        ; quit the program
        KillTimer_(WindowID(), #timerID)
        End
                
      Case #WM_TIMER
        ; timer routine
        Select EventwParam()
          Case #timerID
            If animating = #True
              ; go to the next animation position.
              ; stop the animation if the end is reached
              animpos = animpos + 1
              ;If animpos>animcount :animpos = animcount :EndIf
              If animpos<=animcount
                ; get new positions for theta1 and theta2
                theta1 = animT12(animpos,0)
                theta2 = animT12(animpos,1)
              Else
                ; stop the animation if the end of the data is reached
                StopAnimation()
                UpdateScrollBar()
              EndIf
            EndIf
            If animating = #False
              ;update position for link1
              If theta1_ref<>theta1
                theta1 = theta1 + delta * Abs(theta1_ref-theta1)/(theta1_ref-theta1)
                If Abs(theta1_ref-theta1) < delta
                  theta1 = theta1_ref
                EndIf
              EndIf
              
              ;update position for link2
              If theta2_ref<>theta2
                theta2 = theta2 + delta * Abs(theta2_ref-theta2)/(theta2_ref-theta2)
                If Abs(theta2_ref-theta2) < delta
                  theta2 = theta2_ref
                EndIf
              EndIf
            EndIf

            ; repaint the arm
            FlipBuffers()
            ClearScreen(255,255,255)      ;empty the paint window
            If StartDrawing(WindowOutput())
              If animating=#True Or animfinished = #True
                PaintWorkarea()           ;paint the workarea
              EndIf
              Paint2Link()                
              PaintText()
              StopDrawing()
            EndIf            
        EndSelect
                
    EndSelect

  EndIf
ForEver 
;}
Thanks,
Jos
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joske
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Posts: 22
Joined: Thu Feb 09, 2006 8:12 pm
Location: Netherlands, Rotterdam

Post by joske »

I simplified the FillArea problem.

It seems that the screen starts flickering when the area that has to be filled is large. Try out some different values for Radius. On my computer the screen flickers for values of Radius > 70.

Does anybody know how to solve this problem?

Code: Select all

; test for flickering screen when using FillArea()
; when the area that has to be filled is large, the screen flickers

; create program constants
#winmain = 1
#winpaint = 2
#timerID = 3
#refreshinterval = 500   ;millisecs

; create some colors used for the graphics
Global black      :black = RGB(0,0,0)
Global white      :white = RGB(255,255,255)
Global green      :green = RGB(0,255,0)
Global darkgreen  :darkgreen = RGB(0,128,0)

Procedure CreateWindow()
  ; create the mainwindow with gadgets and 2D directX window
  OpenWindow(#winmain, 100, 100, 600, 500, #PB_Window_SystemMenu, "Two-link Animation")
  
  ; create a directX screen in the main window
  If InitSprite()=0
    MessageRequester("Error","Can't open DirectX",0) 
    End   ;stop the program
  EndIf
  OpenWindowedScreen(WindowID(), 0, 55, 600, 445, 0, 0, 0)
  
  FlipBuffers()
  ClearScreen(255,255,255)

EndProcedure

; Create the window
CreateWindow()
SetTimer_(WindowID(), #timerID, #refreshinterval, 0)    ; start a timer

;-Eventhandler
Repeat 
  WhichEvent = WaitWindowEvent()  ;Wait for an Event 
  WhichWindow = EventWindowID()   ;Number of Window which fires the event 
  WhichGadget = EventGadgetID()   ;Is an Gadget used ? 
  WhichEventType = EventType()    ;The event type
  
  If WhichWindow = #winmain
    Select WhichEvent
    
      Case #PB_Event_CloseWindow
        ; quit the program
        KillTimer_(WindowID(), #timerID)
        End
                
      Case #WM_TIMER
        ; timer routine
        Select EventwParam()
          Case #timerID
            FlipBuffers()
            ClearScreen(255,255,255)      ;empty the paint window
            If StartDrawing(WindowOutput())
              x0 = 300
              y0 = 300
              Radius = 150
              Circle(x0, y0, Radius, darkgreen)
              Circle(x0, y0, Radius-2, white)
              FillArea(x0, y0, darkgreen, green)
              
              StopDrawing()
            EndIf            
        EndSelect

    EndSelect

  EndIf
ForEver
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va!n
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Posts: 1104
Joined: Wed Apr 20, 2005 12:48 pm

Post by va!n »

when using a windowedscreen, you have to draw on the screen and not on the window! ;)

Code: Select all

; test for flickering screen when using FillArea()
; when the area that has to be filled is large, the screen flickers

; create program constants
#winmain = 1
#winpaint = 2
#timerID = 3
#refreshinterval = 500   ;millisecs

; create some colors used for the graphics
Global black      :black = RGB(0,0,0)
Global white      :white = RGB(255,255,255)
Global green      :green = RGB(0,255,0)
Global darkgreen  :darkgreen = RGB(0,128,0)

Procedure CreateWindow()
  ; create the mainwindow with gadgets and 2D directX window
  OpenWindow(#winmain, 100, 100, 600, 500, #PB_Window_SystemMenu, "Two-link Animation")
 
  ; create a directX screen in the main window
  If InitSprite()=0
    MessageRequester("Error","Can't open DirectX",0)
    End   ;stop the program
  EndIf
  OpenWindowedScreen(WindowID(), 0, 55, 600, 445, 0, 0, 0)
 
 ; FlipBuffers()
  ClearScreen(255,255,255)

EndProcedure

; Create the window
CreateWindow()
SetTimer_(WindowID(), #timerID, #refreshinterval, 0)    ; start a timer

;-Eventhandler
Repeat
  WhichEvent = WaitWindowEvent()  ;Wait for an Event
  WhichWindow = EventWindowID()   ;Number of Window which fires the event
  WhichGadget = EventGadgetID()   ;Is an Gadget used ?
  WhichEventType = EventType()    ;The event type
 
  If WhichWindow = #winmain
    Select WhichEvent
   
      Case #PB_Event_CloseWindow
        ; quit the program
        KillTimer_(WindowID(), #timerID)
        End
               
      Case #WM_TIMER
        ; timer routine
        Select EventwParam()
          Case #timerID
            ;FlipBuffers()
           ; ClearScreen(255,255,255)      ;empty the paint window
            If StartDrawing(ScreenOutput())
              x0 = 300
              y0 = 300
              Radius = 150
              Circle(x0, y0, Radius, darkgreen)
              Circle(x0, y0, Radius-2, white)
              FillArea(x0, y0, darkgreen, green)
             
              StopDrawing()
            EndIf           
        EndSelect

    EndSelect

  EndIf
  
  FlipBuffers()
ForEver
va!n aka Thorsten

Intel i7-980X Extreme Edition, 12 GB DDR3, Radeon 5870 2GB, Windows7 x64,
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joske
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Posts: 22
Joined: Thu Feb 09, 2006 8:12 pm
Location: Netherlands, Rotterdam

Post by joske »

Aha! WindowOutput() instead of ScreenOutput(). That explains a lot. Thanks va!n!

Here is the final, smooth working code:
(With some other adaptions)

Code: Select all

; Exercise 7
; Animation of a two link planar arm with rotary joints
; Copyright © 2006 Serge Visser en Jos de Jong
; Written with the programming language PureBasic

; create program constants
; window and gadget constants
#winmain = 1
#winpaint = 2
#timerID = 3
#start = 4
#t1_scroll = 5
#t2_scroll = 6
#t1_text = 7
#t2_text = 8

; fonts and other constants
#font_Verdana = 10
#font_Verdana_big  = 11
#refreshinterval = 50     ;millisecs
#scroll_max = 40

; animating states: 
#FollowBorder = 1
#GoToStartpoint = 2
#Finished = 3
;(#False is the initial state for animating)

; create global variables and declare functions
Declare CreateAnimation()
Declare UpdateScrollBar()
Global x0.f, y0.f
Global x1.f, y1.f
Global x2.f, y2.f
Global L1.f, L2.f
Global theta1.f, theta2.f         ;angle of the links
Global theta1_ref.f, theta2_ref.f ;position of the scrollbars
Global pi.f
Global delta.f
Global animT12
Global animXY
Global animcount
Global animpos
Global animating
Dim animT12.f(1000,1)
Dim animXY.f(1000,1)

; set initial values for the variables
pi = 4*ATan(1)
x0 = 300
y0 = 300
L1 = 150
L2 = L1/2
theta1 = 0.2*pi
theta2 = 0.25*pi
theta1_ref = theta1
theta2_ref = theta2
delta = 0.02*pi
animating = #False

; create some colors used for the graphics
Global black      :black = RGB(0,0,0)
Global red        :red = RGB(255,0,0)
Global white      :white = RGB(255,255,255)
Global brown      :brown = RGB(128,64,0)
Global pink       :pink = RGB(255,128,192)
Global purple     :purple = RGB(128,0,128)
Global green      :green = RGB(0,255,0)
Global darkgreen  :darkgreen = RGB(0,128,0)

Procedure CreateWindow()
  ; create the mainwindow with gadgets and 2D directX window
  OpenWindow(#winmain, 100, 100, 600, 500, #PB_Window_SystemMenu | #PB_Window_MinimizeGadget, "Two-link Animation")
  CreateGadgetList(WindowID()) 
  ButtonGadget(#start,10,10, 120,35, "&Start Animation")
  
  ; create a scrollbar for theta1
  TextGadget(#t1_text, 160, 5, 150, 20, "Theta1") 
  ScrollBarGadget(#t1_scroll, 160, 25,150, 20, 0, #scroll_max, 1)
  SetGadgetState(#t1_scroll, Int(#scroll_max * theta1/pi))

  ; create a scrollbar for theta2
  TextGadget(#t2_text, 320, 5, 150, 20, "Theta2") 
  ScrollBarGadget(#t2_scroll, 320, 25,150, 20, 0, #scroll_max, 1)
  SetGadgetState(#t2_scroll, Int(#scroll_max * (theta2+0.5*pi)/(1.5*pi)))
  
  ; create a directX screen in the main window
  If InitSprite()=0
    MessageRequester("Error","Can't open DirectX",0) 
    End   ;stop the program
  EndIf
  OpenWindowedScreen(WindowID(), 0, 55, 600, 445, 0, 0, 0)
  CreateAnimation()
  
  LoadFont(#font_Verdana, "Verdana", 10, 0)
  LoadFont(#font_Verdana_big, "Verdana", 13, #PB_Font_Bold)
  
  ; clear the screen
  ClearScreen(255,255,255)
EndProcedure

Procedure CreateAnimation()
  ; create the data needed to do the animation.
  ; the positions for the arm are saved in a matrix with two columns:
  ; first column contains theta1 for each moment,
  ; second column contains theta2 for each moment
  
  t1.f = 0
  t2.f = 0.5*pi
  animcount=0
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t2 = t2+delta
  Until t2 >= 1*Pi

  t2 = pi
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t1 = t1+delta
  Until t1 >= 1*Pi

  t1 = pi
  t2 = pi
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t2 = t2-delta
  Until t2 <=0
  
  t1=pi
  t2=0
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t1 = t1-delta
  Until t1 <=0
  
  t1=0
  t2=0
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t2 = t2-delta
  Until t2 <= -0.5*pi

  t1=0
  t2=-0.5*pi
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t1 = t1+delta
  Until t1 >= 0.32*pi

EndProcedure

Procedure PlayAnimation()
  ; play the stored animation
  animpos = 0
  animating = #GoToStartpoint
  animfinished = #False
  theta1_ref = animT12(animpos+1,0)
  theta2_ref = animT12(animpos+1,1)
  
  ; disable the scrollbars
  DisableGadget(#t1_scroll, 1)
  DisableGadget(#t2_scroll, 1)
  DisableGadget(#t1_text, 1)
  DisableGadget(#t2_text, 1)
EndProcedure

Procedure StopAnimation()
  ; stop the animation
  animating = #Finished
  
  ; enable the scrollbars
  DisableGadget(#t1_scroll, 0)
  DisableGadget(#t2_scroll, 0)
  DisableGadget(#t1_text, 0)
  DisableGadget(#t2_text, 0)
EndProcedure

Procedure PaintLink(x.f, y.f, theta.f, length.f)
  ; paint a link with a joint using primitive graphics (yes thats fun! :)
  #armwidth = 5
  #jointradius = 8
  #jointradiusinner = 5
  
  bottom1x.f = x+#armwidth*Cos(theta+0.5*Pi)
  bottom1y.f = y+#armwidth*Sin(theta+0.5*Pi)
  bottom2x.f = x+#armwidth*Cos(theta-0.5*Pi)
  bottom2y.f = y+#armwidth*Sin(theta-0.5*Pi)

  top1x.f = bottom1x.f + length*Cos(theta)
  top1y.f = bottom1y.f + length*Sin(theta)
  top2x.f = bottom2x.f + length*Cos(theta)
  top2y.f = bottom2y.f + length*Sin(theta)

  LineXY(x, y, x+length*Cos(theta), y+length*Sin(theta), black)
  Circle(x, y, #jointradius, black) 
  Circle(x, y, #jointradius-1, white)
  Circle(x, y, #jointradiusinner, black)
  
EndProcedure

Procedure Paint2Link()
  ; paint the arm on the screen

  ; paint the base of the arm
  w0 = 100
  h0 = 50
  r = 5
  border = 3
  FrontColor(0,0,0)
  Box(x0-0.5*w0, y0, w0, h0, black)
  Box(x0-0.5*w0+border, y0+border, w0-2*border, h0-2*border, red)
  
  ; paint the first link and the base joint
  PaintLink(x0, y0, -theta1, L1)

  ; paint the second link
  x1 = x0 + L1*Cos(-theta1)
  y1 = y0 + L1*Sin(-theta1)
  PaintLink(x1, y1, -theta1-theta2, L2)

  ; paint a joint on the end
  x2 = x1 + L2*Cos(-theta1-theta2)
  y2 = y1 + L2*Sin(-theta1-theta2)
  PaintLink(x2, y2, -theta1-theta2, 0)
        
EndProcedure

Procedure PaintWorkarea()
  ; paint the workarea reached so far during the animation
  posmax = animpos
  If posmax>animcount     :posmax = animcount :EndIf
  If animating=#Finished  :posmax = animcount :EndIf
  
  ;paint the border of the workarea
  For pos = 2 To posmax
    LineXY(animXY(pos-1,0),animXY(pos-1,1), animXY(pos,0),animXY(pos,1), darkgreen)
  Next

  If animating=#Finished
    ; after the last animation, fill up the workarea
    FillArea(x0, y0-L1, darkgreen, green)
  EndIf
EndProcedure

Procedure PaintText()
  ;paint some text in the window
  FrontColor(0,0,0)   ;black
  DrawingFont(UseFont(#font_Verdana_big))
  Locate(10,10)
  DrawText("Exercise 7 - Reachable workspace for a two-link planar arm")

  FrontColor(92,92,92)   ;dark gray
  DrawingFont(UseFont(#font_Verdana))
  Locate(10,420)
  DrawText("Copyright © 2006 Serge Visser en Jos de Jong")

EndProcedure

Procedure UpdateScrollvariables()
  pos.f
  
  ;update theta1
  pos = GetGadgetState(#t1_scroll)
  pos = pos/#scroll_max * Pi
  theta1_ref = pos
  SetGadgetText(#t1_text, "Theta1 = "+StrF(theta1_ref/pi,2) + " * Pi")

  ;update theta2
  pos = GetGadgetState(#t2_scroll)
  pos = pos/#scroll_max * (1.5*Pi) - 0.5*Pi
  theta2_ref = pos
  SetGadgetText(#t2_text, "Theta2 = "+StrF(theta2_ref/pi,2) + " * Pi") 

EndProcedure

Procedure UpdateScrollBar()
; update the scrollbar positions with given theta1_ref and theta2_ref

  ;update theta1
  theta1_ref = theta1
  SetGadgetState(#t1_scroll, Int(#scroll_max * theta1_ref/pi))

  ;update theta2
  theta2_ref = theta2
  SetGadgetState(#t2_scroll, Int(#scroll_max * (theta2_ref+0.5*pi)/(1.5*pi)))

EndProcedure

; Create the window
CreateWindow()
UpdateScrollvariables()
SetTimer_(WindowID(), #timerID, #refreshinterval, 0)    ; start a timer

;-Eventhandler
;{
Repeat 
  WhichEvent = WaitWindowEvent()  ;Wait for an Event 
  WhichWindow = EventWindowID()   ;Number of Window which fires the event 
  WhichGadget = EventGadgetID()   ;Is an Gadget used ? 
  WhichEventType = EventType()    ;The event type
  
  If WhichWindow = #winmain
    Select WhichEvent
      Case #PB_EventGadget 
        Select WhichGadget 
          Case #start
            ; if user pressed the button "start animation" then start the animation
            PlayAnimation()
          Case #t1_scroll
            UpdateScrollvariables()
          Case #t2_scroll
            UpdateScrollvariables()
        EndSelect 
    
      Case #PB_Event_CloseWindow
        ; quit the program
        KillTimer_(WindowID(), #timerID)
        End
                
      Case #WM_TIMER
        ; timer routine
        Select EventwParam()
          Case #timerID
            If animating = #FollowBorder
              ; go to the next animation position.
              ; stop the animation if the end is reached
              animpos = animpos + 1
              If animpos<=animcount
                ; get new positions for theta1 and theta2
                theta1 = animT12(animpos,0)
                theta2 = animT12(animpos,1)
              Else
                ; stop the animation if the end of the data is reached
                StopAnimation()
                UpdateScrollBar()
              EndIf
            EndIf
            If animating = #False Or animating = #GoToStartpoint Or animating = #Finished
              ;update position for link1
              If theta1_ref<>theta1
                theta1 = theta1 + delta * Abs(theta1_ref-theta1)/(theta1_ref-theta1)
                If Abs(theta1_ref-theta1) < delta
                  theta1 = theta1_ref
                EndIf
              EndIf
              
              ;update position for link2
              If theta2_ref<>theta2
                theta2 = theta2 + delta * Abs(theta2_ref-theta2)/(theta2_ref-theta2)
                If Abs(theta2_ref-theta2) < delta
                  theta2 = theta2_ref
                EndIf
              EndIf
            EndIf
            If animating = #GoToStartpoint
              If theta1_ref=theta1 And theta2_ref=theta2
                ;startpoint for the animation is reached.
                animating = #FollowBorder
              EndIf
            EndIf

            ; repaint the arm
            ClearScreen(255,255,255)      ;empty the paint window
            If StartDrawing(ScreenOutput())
              PaintText()
              If animating=#FollowBorder Or animating=#Finished
                PaintWorkarea()           ;paint the workarea
              EndIf
              Paint2Link()
              
              StopDrawing()
            EndIf            
            FlipBuffers()
        EndSelect
                
    EndSelect
  EndIf
  
ForEver 
;}
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va!n
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Posts: 1104
Joined: Wed Apr 20, 2005 12:48 pm

Post by va!n »

WWWWWWOOOOOOOOOWWWWWWWW !!!!!
damn cool for your first program! hope to see more cool stuff from you soon! Keep on ya nice work! 10 points!
va!n aka Thorsten

Intel i7-980X Extreme Edition, 12 GB DDR3, Radeon 5870 2GB, Windows7 x64,
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