Start adding support for drawing flyers on the stairwell.

This introduces a dependency between the Engine and Processing;
the Engine uses Processing's 3D Matrices to compute positions.
We may want to transition to Java3D or another approach.
It looks like Java3D requires a separate download, though,
so that would be one more dependency.

software/FlightGui/Drawing.pde

@@ -53,10 +53,14 @@ class UIFlightDrawer extends UI3dComponent implements GeometryConstants {
   }
   
   protected void onDraw(UI ui, PGraphics pg) {
-    pg.pushMatrix();
-    drawBuilding(pg);
-    drawFlyers(pg);
-    pg.popMatrix();
+      try {    pg.pushMatrix();
+          drawBuilding(pg);
+          drawFlyers(pg);
+          pg.popMatrix();
+      } catch (Exception e) {
+          e.printStackTrace();
+          throw e;
+      }
   }
 
     /**

software/ui/compile.sh

@@ -2,6 +2,6 @@
 
 cd "$( dirname "$0" )"
 mkdir -p build
-javac -source 1.8 -target 1.8 -cp "lib/*:lib/lx/*" -d build src/*.java
+javac -source 1.8 -target 1.8 -cp "lib/*:lib/lx/*:lib/lx/processing-3.5.4/*" -d build src/*.java
 cd build
 jar cf flight.jar *.class

software/ui/src/Model.java

@@ -8,6 +8,7 @@ import java.util.ArrayList;
 import heronarts.lx.model.LXModel;
 import heronarts.lx.model.LXPoint;
 
+import processing.core.PMatrix3D;
 
 class Model implements GeometryConstants {
   static FlightModel flight;
@@ -366,7 +367,7 @@ class FlyerModel extends LXModel implements Flyer {
   // VBAR_OFFSETS[4], and BACK_WALL_OFFSETS[3] == VBAR_OFFSETS[6].
   private final float[] BACK_WALL_OFFSETS;
 
-
+    
   // StairEdgePoint describes how the stairwell moves through
   // space.  It's used to place Flyers along the stairwell.
   // The fraction field describes how far along the stairwell this
@@ -385,8 +386,20 @@ class FlyerModel extends LXModel implements Flyer {
       this.y = y;
       this.z = z;
     }
+
+    StairEdgePoint(float faction, PMatrix3D matrix) {
+        this.fraction = fraction;
+        
+        float[] origin = {1, 1, 1};
+        float[] newPos = new float[3];
+        matrix.mult(origin, newPos);
+        this.x = newPos[0];
+        this.y = newPos[1];
+        this.z = newPos[2];
+    }
   }
   private final StairEdgePoint[] OUTER_STAIR_EDGE;
+  private final StairEdgePoint[] INNER_STAIR_EDGE;
 
     FlyerModel(FlyerConfig config,
                WingModel leftWing,
@@ -432,8 +445,53 @@ class FlyerModel extends LXModel implements Flyer {
     }
 
     OUTER_STAIR_EDGE = new StairEdgePoint[10];
+    PMatrix3D matrix = new PMatrix3D();
+    // Move so center of bottom platform is at 0,0
+    matrix.translate(FRONT_WINDOW_WIDTH * (1f + 0.707f) / 2f,
+                 0f,
+                 FRONT_WINDOW_WIDTH * (0.707f) / 2f);
+    matrix.rotateY(- 5.0f/8.0f * (float)Math.PI);
+
+    matrix.translate(168.0f - 126.0f * (float)Math.sin((float)Math.PI/8f), 
+                 0,
+                 32.0f + 126f * (float)Math.cos((float)Math.PI/8f));
+    OUTER_STAIR_EDGE[0] = new StairEdgePoint(0f, matrix);
+    matrix.rotateY((float)Math.PI/8f);
+    matrix.translate(0, 90f, 186f);
+    OUTER_STAIR_EDGE[1] = new StairEdgePoint(0.125f, matrix);
+    matrix.translate(0, 0, 128f);
+    OUTER_STAIR_EDGE[2] = new StairEdgePoint(0.25f, matrix);
+    matrix.rotateY(3f *(float) Math.PI / 4f);
+    matrix.translate(0, 0, 128f);
+    OUTER_STAIR_EDGE[3] = new StairEdgePoint(0.375f, matrix);
+    matrix.translate(0, 90f, 186f);
+    OUTER_STAIR_EDGE[4] = new StairEdgePoint(0.5f, matrix);
+
+    matrix = new PMatrix3D();
+    // Move so center of middle platform is at 0,0
+    matrix.translate(FRONT_WINDOW_WIDTH * (1f + 0.707f) / 2f,
+                 90f,
+                 FRONT_WINDOW_WIDTH * (0.707f) / 2f);
+    matrix.rotateY(- 5.0f/8.0f *(float) Math.PI);
+
+    matrix.translate(168.0f - 126.0f *(float)Math.sin((float)Math.PI/8f), 
+                 0,
+                 32.0f + 126f * (float)Math.cos((float)Math.PI/8f));
+    OUTER_STAIR_EDGE[5] = new StairEdgePoint(0.5f, matrix);
+    matrix.rotateY((float)Math.PI/8f);
+    matrix.translate(0, 90f, 186f);
+    OUTER_STAIR_EDGE[6] = new StairEdgePoint(0.625f, matrix);
+    matrix.translate(0, 0, 128f);
+    OUTER_STAIR_EDGE[7] = new StairEdgePoint(0.75f, matrix);
+    matrix.rotateY(3f * (float)Math.PI / 4f);
+    matrix.translate(0, 0, 128f);
+    OUTER_STAIR_EDGE[8] = new StairEdgePoint(0.875f, matrix);
+    matrix.translate(0, 90f, 186f);
+    OUTER_STAIR_EDGE[9] = new StairEdgePoint(1.0f, matrix);
 
-    //OUTER_STAIR_EDGE[0] = 
+
+    
+    INNER_STAIR_EDGE = new StairEdgePoint[10];
   }
   
 
@@ -449,7 +507,19 @@ class FlyerModel extends LXModel implements Flyer {
       if (face.equals("F")) {
           return this.faceConfig.x;
       } else if (face.equals("E")) {
-          return this.index;
+          float position = this.faceConfig.position;
+          for (int i = 1; i < OUTER_STAIR_EDGE.length; i++) {
+              if (position <= OUTER_STAIR_EDGE[i].fraction) {
+                  float start = OUTER_STAIR_EDGE[i - 1].x;
+                  float end = OUTER_STAIR_EDGE[i].x;
+                  float distance = end - start;
+                  float ratio = (position - start) / distance;
+                  float x = (ratio * end + 
+                             (1f - ratio) * start);
+                  return x;
+              }
+          }
+          return 10f;
       } else if (face.equals("I")) {
           return this.index;
       } else if (face.equals("C")) {
@@ -508,7 +578,9 @@ class FlyerModel extends LXModel implements Flyer {
       } else if (face.equals("C")) {
           offset =  GeometryConstants.FRONT_WINDOW_NADIR_HEIGHT -  20f;
       }
-      else {
+      else if (face.equals("E")) {
+          return 200f;
+      } else {
           return this.index;
       }
       return  offset - this.faceConfig.hangDistance;