def DrawTransform(self, xf):
"""
Draw the transform xf on the screen
"""
p1 = xf.position
p2 = self.to_screen(p1 + self.axisScale * xf.R.x_axis)
p3 = self.to_screen(p1 + self.axisScale * xf.R.y_axis)
p1 = self.to_screen(p1)
cv2.line(self.surface, cvcoord(p1), cvcoord(p2), (0, 0, 255), 1)
cv2.line(self.surface, cvcoord(p1), cvcoord(p3), (0, 255, 0), 1)
def DrawPolygon(self, vertices, color):
"""
Draw a wireframe polygon given the screen vertices with the specified color.
"""
if not vertices:
return
if len(vertices) == 2:
cv2.line(self.surface, cvcoord(vertices[0]), cvcoord(vertices[1]), cvcolor(color), 1)
else:
pts = np.array(vertices, np.int32)
pts = pts.reshape((-1,1,2))
cv2.polylines(self.surface,[pts],True,cvcolor(color))
def DrawSolidCircle(self, center, radius, axis, color):
"""
Draw a solid circle given the center, radius, axis of orientation and color.
"""
radius *= self.zoom
if radius < 1: radius = 1
else: radius = int(radius)
FILL = False
cv2.circle(self.surface, cvcoord(center), radius, cvcolor(color), -1 if FILL else 1)
cv2.line(self.surface, cvcoord(center),
cvcoord((center[0] - radius*axis[0], center[1] + radius*axis[1])),
(0,0,255),
1)
def DrawCircle(self, center, radius, color, drawwidth=1):
"""
Draw a wireframe circle given the center, radius, axis of orientation and color.
"""
radius *= self.zoom
if radius < 1: radius = 1
else: radius = int(radius)
cv2.circle(self.surface, cvcoord(center), radius, cvcolor(color), drawwidth)
def DrawSolidPolygon(self, vertices, color):
"""
Draw a filled polygon given the screen vertices with the specified color.
"""
FILL = False
if not FILL:
self.DrawPolygon(vertices, color)
return
if not vertices:
return
if len(vertices) == 2:
cv2.line(self.surface, cvcoord(vertices[0]), cvcoord(vertices[1]), cvcolor(color), 1)
else:
pts = np.array(vertices, np.int32)
pts = pts.reshape((-1,1,2))
cv2.fillPoly(self.surface, [pts], cvcolor(color))
def DrawSegment(self, p1, p2, color):
"""
Draw the line segment from p1-p2 with the specified color.
"""
cv2.line(self.surface, cvcoord(p1), cvcoord(p2), cvcolor(color), 1)