# homogeneous-coords.tcl --
 # 
 # Part of: Useless Widgets Package
 # Contents: shows how to move a frame with homogeneous coords
 # Date: Mon Nov 15, 2004
 # 
 # Abstract
 # 
 #	This script shows the meaning of homogeneous coordinates
 #	transforms. It makes use of the "hoco.tcl" package, which
 #	you can find on the TCL'ers Wiki also. You have to place the
 #	"hoco.tcl" file in the same directory of this file.
 # 
 # Copyright (c) 2004 Marco Maggi
 # 
 # The author  hereby grant permission to use,  copy, modify, distribute,
 # and  license this  software  and its  documentation  for any  purpose,
 # provided that  existing copyright notices  are retained in  all copies
 # and that  this notice  is included verbatim  in any  distributions. No
 # written agreement, license, or royalty  fee is required for any of the
 # authorized uses.  Modifications to this software may be copyrighted by
 # their authors and need not  follow the licensing terms described here,
 # provided that the new terms are clearly indicated on the first page of
 # each file where they apply.
 # 
 # IN NO  EVENT SHALL THE AUTHOR  OR DISTRIBUTORS BE LIABLE  TO ANY PARTY
 # FOR  DIRECT, INDIRECT, SPECIAL,  INCIDENTAL, OR  CONSEQUENTIAL DAMAGES
 # ARISING OUT  OF THE  USE OF THIS  SOFTWARE, ITS DOCUMENTATION,  OR ANY
 # DERIVATIVES  THEREOF, EVEN  IF THE  AUTHOR  HAVE BEEN  ADVISED OF  THE
 # POSSIBILITY OF SUCH DAMAGE.
 # 
 # THE  AUTHOR  AND DISTRIBUTORS  SPECIFICALLY  DISCLAIM ANY  WARRANTIES,
 # INCLUDING,   BUT   NOT  LIMITED   TO,   THE   IMPLIED  WARRANTIES   OF
 # MERCHANTABILITY,    FITNESS   FOR    A    PARTICULAR   PURPOSE,    AND
 # NON-INFRINGEMENT.  THIS  SOFTWARE IS PROVIDED  ON AN "AS  IS" BASIS,
 # AND  THE  AUTHOR  AND  DISTRIBUTORS  HAVE  NO  OBLIGATION  TO  PROVIDE
 # MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
 #
 
 #page
 ## ------------------------------------------------------------
 ## Setup.
 ## ------------------------------------------------------------
 
 package require Tcl 8.4
 package require Tk  8.4
 
 set pathname [file dirname $argv]
 source [file join $pathname hoco.tcl]
 
 #page
 ## ------------------------------------------------------------
 ## TK options.
 ## ------------------------------------------------------------
 
 option add *topgeometry +20+20
 option add *borderWidth			1
 option add *Labelframe.borderWidth	2
 option add *command_buttons.exit.text	"Exit"
 foreach { option value } {
     background \#f8f8f8 width 600 height 600 relief sunken borderwidth 2
     x_axis_color red y_axis_color blue z_axis_color green
 } { option add *Drawing.Canvas.$option $value }
 proc widget_option_scale_from_to { master from to } {
     option add *${master}.to	$to
     option add *${master}.from	$from
 }
 proc widget_option_scale_rotation { args } {
     foreach w $args { widget_option_scale_from_to $w 180.0 -180.0 }
 }
 proc widget_option_scale_translation { args } {
     foreach w $args { widget_option_scale_from_to $w 300.0 -300.0 }
 }
 #page
 ## ------------------------------------------------------------
 ## Widget procedures.
 ## ------------------------------------------------------------
 
 proc widget_grid_frames { args } { foreach w $args { grid $w -sticky news } }
 proc widget_configure_toplevel {} {
     wm geometry . [option get . topgeometry {}]
     wm title . [option get . toptitle {}]
     foreach event { <Return> <Escape> } { bind . $event main_exit }
 }
 proc widget_build_canvas { master } {
     global	widget_canvas
     set f [frame $master.drawing -class Drawing]
     grid [set widget_canvas [canvas $f.canvas]] -sticky news
     return $f
 }
 proc widget_build_command_buttons { master } {
     set f [frame $master.command_buttons]
     focus [grid [button $f.exit -command main_exit]]
     return $f
 }
 proc widget_build_scale_frame { master coord_spec } {
     set f [labelframe $master.$coord_spec -class [string totitle $coord_spec]]
     set column_index 0    
     foreach name [uwp_hoco_instance_get_dynamic_parameter_names $coord_spec] {
 	label [set label_widget $f.lab_$name] -text [string totitle $name]
 	scale [set scale_widget $f.$name]
 	$scale_widget set \
 	    [uwp_hoco_instance_get_parameter_value $coord_spec $name]
 	$scale_widget configure -command \
 	    [list widget_update_parameter_from_scale $coord_spec $name]
 	grid $label_widget -column $column_index -row 0 -sticky news
 	grid $scale_widget -column $column_index -row 1 -sticky news
 	incr column_index
     }
     return $f
 }
 proc widget_update_parameter_from_scale { coord_spec param_name param_value } {
     uwp_hoco_instance_update_parameter $coord_spec $param_name $param_value
     after 0 widget_put_drawing_on_canvas
 }
 proc widget_canvas_draw { command coords {main_tag {}} {tags {}} } {
     global	widget_canvas
     if { [string length $main_tag] } { $widget_canvas delete $main_tag }
     $widget_canvas create $command $coords -tags [lappend tags $main_tag]
 }
 proc widget_canvas_query_option { option } {
     global	widget_canvas
     option get $widget_canvas $option {}
 }
 proc widget_canvas_tag_config { tag args } {
     global	widget_canvas
     eval { $widget_canvas itemconfigure $tag } $args
 }
 
 #page
 ## ------------------------------------------------------------
 ## Main procedures.
 ## ------------------------------------------------------------
 
 proc main {} {
     global	exit_trigger
 
     uwp_hoco_instance_declare moving -type homogeneous \
 	-dynamic [uwp_hoco_transform_get_parameter_names homogeneous]
 
     widget_build_all
 
     interp alias {} draw_canvas_frame {} \
 	uwp_wireframe_draw_reference_frame Canvas_Frame \
 	{canvas} {yes {200 0 0 1  0 200 0 1  0 0 0 1  0 0 0 1}}
     interp alias {} draw_world_frame {} \
 	uwp_wireframe_draw_reference_frame World_Frame \
 	{ world canvas } {yes {50 0 0 0  0 50 0 0  0 0 50 0  0 0 0 1}}
     interp alias {} draw_moving_frame {} \
 	uwp_wireframe_draw_reference_frame Moving_Frame \
 	{ moving world canvas } {yes {100 0 0 1  0 100 0 1  0 0 100 1  0 0 0 1}}
 
     draw_canvas_frame
     widget_put_drawing_on_canvas
     interp alias {} main_exit {} uplevel \#0 {set exit_trigger 1}
     vwait exit_trigger
     exit
 }
 proc widget_put_drawing_on_canvas {} {
     draw_world_frame
     draw_moving_frame
     draw_prism
     widget_canvas_configure_tags
 }
 #page
 ## ------------------------------------------------------------
 ## Homogeneous coordinates proof widgets.
 ## ------------------------------------------------------------
 
 proc widget_build_all {} {
     widget_setup_options
     widget_configure_toplevel
     grid columnconfigure . 0 -weight 1
     grid rowconfigure . 0 -weight 1
     grid [widget_build_canvas .] [frame [set right_frame .right]] -sticky news
     widget_grid_frames \
 	[widget_build_command_buttons $right_frame] \
 	[widget_build_color_explanation $right_frame] \
 	[widget_build_scale_frame $right_frame world] \
 	[widget_build_scale_frame $right_frame moving]
 }
 proc widget_build_color_explanation { master } {
     set f [labelframe $master.explain_colors -class Explain_colors]
     set column_index 0
     foreach axis { x y z } {
 	grid [label $f.${axis}axis] -row 1 -column [incr column_index]
     }
     return $f
 }
 proc widget_canvas_configure_tags {} {
     foreach axis {x y z} {
 	widget_canvas_tag_config reference_frame_${axis}axis \
 	    -fill [widget_canvas_query_option ${axis}_axis_color] }
     foreach arglist {
 	{reference_frame -arrow last} {World_Frame -dash ,}
 	{Canvas_Frame -fill "\#d0d0d0"}
     } { eval widget_canvas_tag_config $arglist }
 }
 proc widget_setup_options {} {
     option add *toptitle "Playing with homogeneous coordinates"
     widget_option_scale_rotation \
 	moving.theta moving.phi moving.psi world.theta world.phi world.psi
     widget_option_scale_translation moving.x moving.y moving.z
     foreach {name text} {
 	World "World Frame" Moving "Homogeneous Coords"
 	Explain_colors "Axis colors"
     } {
 	option add *$name.text		$text
 	option add *$name.borderWidth	2
     }
     foreach { ax color } { x red y blue z green } {
 	set axis [format "%saxis" $ax]
 	option add *Explain_colors.$axis.text \
 	    [format "%saxis" [string toupper $ax]]
 	option add *Explain_colors.$axis.foreground	$color
     }
 }
 #page
 ## ------------------------------------------------------------
 ## Graphical elements.
 ## ------------------------------------------------------------
 
 interp alias {} draw_prism {} uwp_wireframe_draw_prism \
     Prism {moving world canvas} {yes {50 0 0 0  0 50 0 0  0 0 50 0  0 0 0 1}}
 
 #page
 ## ------------------------------------------------------------
 ## Let's go.
 ## ------------------------------------------------------------
 
 main
 
 ### end of file
 # Local Variables:
 # mode: tcl
 # End: