ilqgames
A new real-time solver for large-scale differential games.
draw_shapes.cpp
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34  * Authors: David Fridovich-Keil ( dfk@eecs.berkeley.edu )
35  */
36 
37 ///////////////////////////////////////////////////////////////////////////////
38 //
39 // Shape-creation utilities based on polylines.
40 //
41 ///////////////////////////////////////////////////////////////////////////////
42 
43 #include <ilqgames/geometry/draw_shapes.h>
44 #include <ilqgames/geometry/polyline2.h>
45 #include <ilqgames/utils/types.h>
46 
47 #include <glog/logging.h>
48 
49 namespace ilqgames {
50 
51 Polyline2 DrawSquare(const Point2& center, float side_length) {
52  CHECK_GT(side_length, 0.0);
53  const float half_side = 0.5 * side_length;
54  return Polyline2({center + Point2(half_side, half_side),
55  center + Point2(-half_side, half_side),
56  center + Point2(-half_side, -half_side),
57  center + Point2(half_side, -half_side),
58  center + Point2(half_side, half_side)});
59 }
60 
61 Polyline2 DrawCircle(const Point2& center, float radius, size_t num_segments) {
62  CHECK_GT(radius, 0.0);
63 
64  PointList2 poly;
65  poly.push_back(center + Point2(radius, 0.0));
66  for (size_t ii = 0; ii < num_segments; ii++) {
67  const float angle = 2.0 * M_PI * static_cast<float>(ii + 1) /
68  static_cast<float>(num_segments);
69  poly.push_back(center + radius * Point2(std::cos(angle), std::sin(angle)));
70  }
71 
72  return Polyline2(poly);
73 }
74 
75 } // namespace ilqgames