public void DrawDots(System.Drawing.Graphics gContext, int w, int h)
{
cVertexList listcopy = new cVertexList();
listcopy.SetVertex(list.head.Point.X, list.head.Point.Y);
if (nlinks == 3)
{
/*for the first link:*/
listcopy = MakePoints(0, firstlinks, firstlinks - 1, list.head, list.head.NextVertex, listcopy);
/*set the middle link*/
listcopy.SetVertex(list.head.NextVertex.Point.X, list.head.NextVertex.Point.Y);
listcopy.SetVertex(list.head.NextVertex.NextVertex.Point.X, list.head.NextVertex.NextVertex.Point.Y);
/* for the last link, the third one*/
listcopy = MakePoints(firstlinks + 1, nlinksback, nlinksback, list.head.NextVertex.NextVertex, list.head.PrevVertex, listcopy);
}
else
{
if (nlinksback > 2)
/*if we have any extra - points*/
{
/*first link:*/
listcopy = MakePoints(0, firstlinks, firstlinks - 1, list.head, list.head.NextVertex, listcopy);
/*set the middle point:*/
listcopy.SetVertex(list.head.NextVertex.Point.X, list.head.NextVertex.Point.Y);
/*set the last link*/
listcopy = MakePoints(firstlinks, nlinksback + 1, nlinksback - 1, list.head.PrevVertex.PrevVertex, list.head.PrevVertex, listcopy);
} //end if nlinksback > 2
} // end else
/*set the last point and draw everything*/
listcopy.SetVertex(list.head.PrevVertex.Point.X, list.head.PrevVertex.Point.Y);
listcopy.DrawPoints(gContext, w, h);
}
public void SetAChain(cPointd Jk, cPointi target)
{
cPointi vaux1;
cPointi vaux2;
vaux1 = new cPointi(list.head.Point.X, list.head.Point.Y);
vaux2 = new cPointi(target.X, target.Y);
list.ClearVertexList();
list.SetVertex(vaux1.X, vaux1.Y);
list.SetVertex((int)(Jk.x + .5), (int)(Jk.y + .5));
list.SetVertex(vaux2.X, vaux2.Y);
}
}//end TwoCircles00
/*Method used for cretaing the "extra-points" that will be displayed
* on the screen after the arm is straightened. Called from DrawPoints */
public cVertexList MakePoints(int lo, int hi1, int hi2, cVertex first, cVertex last, cVertexList listcopy)
{
double xaux; //auxiliary variable for storin the info
double lenaux = 0; //auxiliary variable for storing the Length of the
//current link
cPointi v1 = new cPointi(0, 0); //aux variable for computing the values
//of the new points
double sum = 0; //the sum of the previous link Lengths
for (i = lo; i < hi1; i++)
{
lenaux += linklenback[i];
}
sum = 0;
for (i = lo; i < hi2; i++)
{
sum += linklenback[i];
xaux = sum / (double)lenaux;
v1.X = (int)(.5 + (1 - xaux) * first.Point.X + xaux * last.Point.X);
v1.Y = (int)(.5 + (1 - xaux) * first.Point.Y + xaux * last.Point.Y);
listcopy.SetVertex(v1.X, v1.Y);
}//end for
return(listcopy);
}