Applied-Math-Assignment-2/update_leg_drawing.m at main · HiGoldAnimationStudios/Applied-Math-Assignment-2 · GitHub

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%Updates the plot objects that visualize the leg linkage
%for the current leg configuration
%INPUTS:
%vertex_coords_root: a column vector containing the (x,y) coordinates of every vertex
%leg_drawing: a struct containing all the plotting objects for the linkage
% leg_drawing.linkages is a cell array, where each element corresponds
% to a plot of a single link (excluding the crank)
% leg_drawing.crank is a plot of the crank link
% leg_drawing.vertices is a cell array, where each element corresponds
% to a plot of one of the vertices in the linkage
function update_leg_drawing(vertex_coords_root, leg_drawing, leg_params)

    num_vertices=leg_params.num_vertices;
    num_linkages=leg_params.num_linkages;
    link_to_vertex_list=leg_params.link_to_vertex_list;
    link_lengths=leg_params.link_lengths;
    crank_length=leg_params.crank_length;
    vertex_pos0=leg_params.vertex_pos0;
    vertex_pos2=leg_params.vertex_pos2;

    vertex_coords_mat=column_to_matrix(vertex_coords_root);

    %iterate through each link, and update corresponding link plot
    for linkage_index = 1:leg_params.num_linkages
        %linkage_index is the label of the current link
        %your code here
        a_vertex=link_to_vertex_list(linkage_index,1);
        b_vertex=link_to_vertex_list(linkage_index,2);


        x_a=vertex_coords_mat(a_vertex,1);
        y_a=vertex_coords_mat(a_vertex,2);
        x_b=vertex_coords_mat(b_vertex,1);
        y_b=vertex_coords_mat(b_vertex,2);

        %line_x and line_y should both be two element arrays containing
        %the x and y coordinates of the line segment describing the current link
        line_x = [x_a, x_b];%your code here
        line_y = [y_a, y_b];%your code here
        set(leg_drawing.linkages{linkage_index},'xdata',line_x,'ydata',line_y);
    end
    %iterate through each vertex, and update corresponding vertex plot
    for vertex_index = 1:leg_params.num_vertices
        %vertex_index is the label of the current vertex
        %your code here
        x_i=vertex_coords_mat(vertex_index,1);
        y_i=vertex_coords_mat(vertex_index,2);

        %dot_x and dot_y should both be scalars
        %specifically the x and y coordinates of the corresponding vertex
        dot_x = x_i;%your code here
        dot_y = y_i;%your code here
        set(leg_drawing.vertices{vertex_index},'xdata',dot_x,'ydata',dot_y);
    end
    %your code here
    x1=vertex_coords_mat(1,1);
    y1=vertex_coords_mat(1,2);
    x0=vertex_pos0(1);
    y0=vertex_pos0(2);

    %crank_x and crank_y should both be two element arrays
    %containing the x and y coordinates of the line segment describing the crank
    crank_x = [x0,x1];%your code here
    crank_y = [y0,y1];%your code here
    set(leg_drawing.crank,'xdata',crank_x,'ydata',crank_y);
end