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graficoJS.lisp
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graficoJS.lisp
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(load "motores.lisp")
(defun graficoJS (matDH matDH1 matDH2 matDH3 matDH4)
(concatenate 'string
"<!DOCTYPE html>
<html>
<head>
<title>Page Title</title>
</head>
<body>
<script src='jquery.min.js'></script>
<script>
//////////////////////////////////////////////////////////////
//DEFINE MATRIX CLASS
function Matrix(ary) {
this.mtx = ary
this.height = ary.length;
this.width = ary[0].length;
}
Matrix.prototype.toString = function() {
var s = []
for (var i = 0; i < this.mtx.length; i++)
s.push( this.mtx[i].join(',') );
return s.join('\n');
}
// returns a new matrix
Matrix.prototype.transpose = function() {
var transposed = [];
for (var i = 0; i < this.width; i++) {
transposed[i] = [];
for (var j = 0; j < this.height; j++) {
transposed[i][j] = this.mtx[j][i];
}
}
return new Matrix(transposed);
}
// returns a new matrix
Matrix.prototype.mult = function(other) {
if (this.width != other.height) {
throw 'error: incompatible sizes';
}
var result = [];
for (var i = 0; i < this.height; i++) {
result[i] = [];
for (var j = 0; j < other.width; j++) {
var sum = 0;
for (var k = 0; k < this.width; k++) {
sum += this.mtx[i][k] * other.mtx[k][j];
}
result[i][j] = sum;
}
}
return new Matrix(result);
}
//////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////
// BEGIN 3D GRAPH SECTION
//////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////
maxVal = 40;
maxVal2 = 40;
middleX = 171;
middleY = 160;
zoomRatio = maxVal / middleX;
zoomRatio2 = maxVal2 / middleX;
tx = " (substitute #\0 #\d (write-to-string (first (pegarPosicao matDH4))))";
ty = " (substitute #\0 #\d (write-to-string (second (pegarPosicao matDH4))))";
tz = " (substitute #\0 #\d (write-to-string (third (pegarPosicao matDH4))))";
tx2 = " (substitute #\0 #\d (write-to-string (first (pegarPosicao matDH3))))";
ty2 = " (substitute #\0 #\d (write-to-string (second (pegarPosicao matDH3))))";
tz2 = " (substitute #\0 #\d (write-to-string (third (pegarPosicao matDH3))))";
tx3 = " (substitute #\0 #\d (write-to-string (first (pegarPosicao matDH2))))";
ty3 = " (substitute #\0 #\d (write-to-string (second (pegarPosicao matDH2))))";
tz3 = " (substitute #\0 #\d (write-to-string (third (pegarPosicao matDH2))))";
tx4 = " (substitute #\0 #\d (write-to-string (first (pegarPosicao matDH1))))";
ty4 = " (substitute #\0 #\d (write-to-string (second (pegarPosicao matDH1))))";
tz4 = " (substitute #\0 #\d (write-to-string (third (pegarPosicao matDH1))))";
tx5 = " (substitute #\0 #\d (write-to-string (first (pegarPosicao matDH))))";
ty5 = " (substitute #\0 #\d (write-to-string (second (pegarPosicao matDH))))";
tz5 = " (substitute #\0 #\d (write-to-string (third (pegarPosicao matDH))))";
//////////////////////////////////////////////////////////////
// make rotation matrices
// functions to update the matrices
function RZ(phi) {
PHI = phi;
Rz = new Matrix([[ Math.cos(phi) , Math.sin(phi) , 0, 0],
[- Math.sin(phi), Math.cos(phi), 0, 0],
[0,0,1,0],[0,0,0,1]]);
}
function RX(theta) {
THETA = theta;
Rx = new Matrix([[1,0,0,0],
[0,Math.cos(theta),Math.sin(theta),0],
[0,-Math.sin(theta),Math.cos(theta),0],
[0,0,0,1]]);
}
function TZ(z) {
Tz = new Matrix([[1,0,0,0],[0,1,0,0],[0,0,0,0],[0,0,z,1]]);
}
function updateR() {
R = Rz.mult(Rx);
R = R.mult(Tz);
}
function updateRZ(phi) {
RZ(phi);
updateR();
}
function updateRX(theta) {
RX(theta);
updateR();
}
function updateTZ(z) {
TZ(z);
updateR();
}
// set the default view orientation
RZ( Math.PI / 4.0 );
RX( Math.PI / 4.0 );
updateTZ(10.0);
//////////////////////////////////////////////////////////////
// point class - constructed x, y, and z
//
// used for data organization
//
// project uses the projection matrix
function Point(xx, yy, zz) {
this.m = new Matrix([[xx,yy,zz,0]])
this.project = function() {
return this.m.mult(R)
};
};
/////////////////////////////////////////////////////////////
// line class - constructed with two points, an
//
// use this to add a line to the graph
//
// use update class to update the positions of
function Line(start, end, id) {
this.start = start; // start point
this.end = end; // end point
this.id = id; // uniquely identifiable jquery string
this.update = function() {
// find start and end points in 2d space
var s = this.start.project();
var e = this.end.project();
// draw line between two points
$(this.id).attr('x1', s.mtx[0][0] + middleX );
$(this.id).attr('y1', s.mtx[0][1] + middleY );
$(this.id).attr('x2', e.mtx[0][0] + middleX );
$(this.id).attr('y2', e.mtx[0][1] + middleY );
}
//update graphics when constructed
this.update();
};
function Dot(id, p1, p2, p3) {
var circ = document.createElementNS('http://www.w3.org/2000/svg','circle');
// style the dot
circ.setAttribute('stroke','black');
circ.setAttribute('stroke-width','1.5');
circ.setAttribute('id',id+'-point');
circ.setAttribute('r','4.5');
circ.setAttribute('fill','rgb(200,000,000)');
$('#3d-graph').append(circ);
this.$dot = $('#3d-graph #' + id + '-point')
this.hasError = false;
this.update = function () {
this.xDot.update();
this.yDot.update();
this.zDot.update();
if ( this.hasError ) {
this.hyp.update();
}
dotPos = this.dot.project();
this.$dot.attr('cx',dotPos.mtx[0][0] + middleX);
this.$dot.attr('cy',dotPos.mtx[0][1] + middleY);
}
this.changePoint = function() {
this.x = p1 / zoomRatio;
this.y = p2 / zoomRatio;
this.z = p3 / zoomRatio2;
this.xDot = new Line( new Point(0,this.y,0), new Point(this.x,this.y,0), this.xDotID );
this.yDot = new Line( new Point(this.x,0,0), new Point(this.x,this.y,0), this.yDotID );
this.zDot = new Line( new Point(this.x,this.y,0), new Point(this.x, this.y, this.z), this.zDotID );
//change point for circle
this.dot = new Point(this.x, this.y, this.z);
this.len = Math.sqrt( this.x*this.x + this.y*this.y + this.z*this.z );
$('#length').html( Math.round(this.len) * zoomRatio );
if ( this.len > middleX && this.hasError === false ) {
this.hasError = true;
$('#length').addClass('error');
this.$hyp = $(document.createElementNS('http://www.w3.org/2000/svg','line'));
this.$hyp.attr('style','stroke:red;stroke-width:1;');
this.$hyp.attr('id','hyp-error');
$('#3d-graph').append(this.$hyp);
this.$dot.attr('stroke','rgb(150,0,0)');
this.$dot.attr('r','4');
this.$dot.attr('fill','rgb(255,0,0)');
}
else if ( this.len <= middleX && this.hasError === true ) {
$('#length').removeClass('error');
this.hasError = false;
this.$hyp.remove();
this.$dot.attr('stroke','black');
this.$dot.attr('r','3');
this.$dot.attr('fill','rgb(200,200,200)');
}
if ( this.hasError === true ) {
this.hyp = new Line( origin, new Point(this.x, this.y, this.z), '#hyp-error' );
}
this.update();
}
this.changePoint();
}
// update all lines when refreshing the display
lines = [];
function updateLines() {
for ( l in lines ) {
lines[l].update();
}
}
// update all dots when refreshing the display
dots = [];
function updateDots() {
for( d in dots ) {
dots[d].update();
}
}
$(document).ready(function () {
//attach a mover for left drag and middle click
$('#3d-graph').mousedown( function(e) {
e.preventDefault();
/////////////////////////////////////////////////////////
// MIDDLE MOUSE ROTATE
if ( e.which == 1 ) {
var startX = (e.screenX + 100 * PHI);
var startY = e.screenY + 100 * THETA;
$('html').mousemove( function(e) {
var newPhi = (-e.screenX + startX) / 100.0;
var newTheta = (-e.screenY + startY) / 100.0;
if (newTheta > Math.PI || newTheta < 0.0 ) {
newTheta = THETA;
}
RZ( newPhi );
updateRX( newTheta );
updateLines();
updateDots();
});
}
});
//mouse up, so stop moving or rotating
$('html').mouseup( function( e ) {
$('html').unbind('mousemove');
if ( typeof sendPosInterval !== 'undefined' ) {
window.clearInterval(sendPosInterval);
}
if ( typeof sendPosInterval !== 'undefined' ) {
window.clearInterval(inputInterval);
}
});
//add lines to the graph
origin = new Point(0,0,0);
x = new Point(middleX,0,0);
y = new Point(0,middleX,0);
var z = new Point(0,0,middleX);
var nx = new Point(-middleX,0,0);
var ny = new Point(0,-middleX,0);
var nz = new Point(0,0,-middleX);
var xAxis = new Line( origin, x, '#axis-x' );
var yAxis = new Line( origin, y, '#axis-y' );
var zAxis = new Line( origin, z, '#axis-z' );
var nxAxis = new Line( origin, nx, '#neg-axis-x' );
var nyAxis = new Line( origin, ny, '#neg-axis-y' );
var nzAxis = new Line( origin, nz, '#neg-axis-z' );
//add the lines to an array so they can all be updated at once on refresh
lines.push( xAxis );
lines.push( yAxis );
lines.push( zAxis );
lines.push( nxAxis );
lines.push( nyAxis );
lines.push( nzAxis );
var p1 = new Point(tx/zoomRatio, ty/zoomRatio,tz/zoomRatio2);
var p2 = new Point(tx2/zoomRatio, ty2/zoomRatio, tz2/zoomRatio2);
var p3 = new Point(tx3/zoomRatio, ty3/zoomRatio,tz3/zoomRatio2);
var p4 = new Point(tx4/zoomRatio, ty4/zoomRatio,tz4/zoomRatio2);
var p5 = new Point(tx5/zoomRatio, ty5/zoomRatio,tz5/zoomRatio2);
var l0 = new Line( origin, p1 ,'#ligacao');
var l1 = new Line( p1, p2 ,'#ligacao1');
var l2 = new Line( p2, p3 ,'#ligacao2');
var l3 = new Line( p3, p4 ,'#ligacao3');
var l4 = new Line( p4, p5 ,'#ligacao4');
lines.push(l0);
lines.push(l1);
lines.push(l2);
lines.push(l3);
lines.push(l4);
// add the dots to the graph
origem = new Dot ('graph-dot-0', 0, 0, 0);
ponto1 = new Dot ('graph-dot-1', tx, ty, tz);
ponto2 = new Dot ('graph-dot-2', tx2, ty2, tz2);
ponto3 = new Dot ('graph-dot-3', tx3, ty3, tz3);
ponto4 = new Dot ('graph-dot-4', tx4, ty4, tz4);
ponto5 = new Dot ('graph-dot-5', tx5, ty5, tz5);
dots.push(origem);
dots.push(ponto1);
dots.push(ponto2);
dots.push(ponto3);
dots.push(ponto4);
dots.push(ponto5);
});
</script>
<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='320' width='352' id='3d-graph' style='height: 320px; width:342px; margin: 0 auto; padding: 5px;' >
<!-- neg axis -->
<line x1='100' y1='250' x2='400' y2='250' id='neg-axis-x' style='stroke:rgba(250,200,200,0.5);stroke-width:2'/>
<line x1='100' y1='250' x2='100' y2='0' id='neg-axis-y' style='stroke:rgba(200,250,200,0.5);stroke-width:2'/>
<line x1='100' y1='250' x2='0' y2='400' id='neg-axis-z' style='stroke:rgba(200,200,250,0.5);stroke-width:2'/>
<!-- axis -->
<line x1='100' y1='250' x2='400' y2='250' id='axis-x' style='stroke:rgb(200,0,0);stroke-width:2'/>
<line x1='100' y1='250' x2='100' y2='0' id='axis-y' style='stroke:rgb(0,200,0);stroke-width:2'/>
<line x1='100' y1='250' x2='0' y2='400' id='axis-z' style='stroke:rgb(0,0,200);stroke-width:2'/>
<line x1='100' y1='250' x2='0' y2='400' id='ligacao' style='stroke:rgb(0,0,0);stroke-width:2'/> <line x1='100' y1='250' x2='0' y2='400' id='ligacao1' style='stroke:rgb(0,0,0);stroke-width:2'/> <line x1='100' y1='250' x2='0' y2='400' id='ligacao2' style='stroke:rgb(0,0,0);stroke-width:2'/> <line x1='100' y1='250' x2='0' y2='400' id='ligacao3' style='stroke:rgb(0,0,0);stroke-width:2'/> <line x1='100' y1='250' x2='0' y2='400' id='ligacao4' style='stroke:rgb(0,0,0);stroke-width:2'/>
</svg>
</body>
</html>"
))