You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
631 lines
20 KiB
631 lines
20 KiB
import {
|
|
RADAR_X_MAX,
|
|
RADAR_X_MIN,
|
|
RADAR_Y_MAX,
|
|
RADAR_Y_MIN,
|
|
MAX_TRAJECTORY_LENGTH,
|
|
} from "./constants.js";
|
|
import { appState } from "./state.js";
|
|
import {
|
|
toggleSnrColor,
|
|
toggleClusterColor,
|
|
toggleInlierColor,
|
|
toggleFrameNorm,
|
|
toggleVelocity,
|
|
toggleStationaryColor,
|
|
} from "./dom.js";
|
|
|
|
// Defines a set of SNR (Signal-to-Noise Ratio) colors.
|
|
export const snrColors = (p) => ({
|
|
c1: p.color(0, 0, 255), // Blue
|
|
c2: p.color(0, 255, 255), // Cyan
|
|
c3: p.color(0, 255, 0), // Green
|
|
c4: p.color(186,142,35), // Dark Yellow
|
|
c5: p.color(255, 0, 0), // Red
|
|
});
|
|
|
|
// In src/drawUtils.js, add this near the other color constants
|
|
|
|
export const ttcColors = (p) => ({
|
|
critical: p.color(255, 0, 0), // Red for TTC <= 5s
|
|
high: p.color(255, 165, 0), // Orange for 5s < TTC <= 10s
|
|
medium: p.color(255, 255, 0), // Yellow for 10s < TTC <= 30s
|
|
low: p.color(0, 255, 0), // Green for TTC > 30s
|
|
away: p.color(0, 191, 255), // Deep Sky Blue for moving away
|
|
default: p.color(128, 128, 128), // Gray for unknown/default
|
|
});
|
|
|
|
// Defines a palette of colors for different clusters.
|
|
export const clusterColors = (p) => [
|
|
p.color(230, 25, 75), // Red
|
|
p.color(60, 180, 75), // Green
|
|
p.color(0, 130, 200), // Blue
|
|
p.color(245, 130, 48), // Orange
|
|
p.color(145, 30, 180), // Purple
|
|
p.color(70, 240, 240), // Cyan
|
|
p.color(240, 50, 230), // Magenta
|
|
p.color(210, 245, 60), // Lime Green
|
|
p.color(128, 0, 0), // Maroon
|
|
p.color(0, 128, 128), // Teal
|
|
];
|
|
|
|
// Defines colors for stationary and moving objects.
|
|
export const stationaryColor = (p) => p.color(218, 165, 32); // Goldenrod
|
|
export const movingColor = (p) => p.color(255, 0, 255); // Magenta
|
|
|
|
/**
|
|
* Draws the static radar region lines to a buffer.
|
|
* @param {p5.Graphics} b - The p5.Graphics buffer to draw on.
|
|
* @param {object} plotScales - The calculated scales for plotting.
|
|
*/
|
|
export function drawStaticRegionsToBuffer(p, b, plotScales) {
|
|
b.clear();
|
|
b.push();
|
|
// Translate to the bottom center of the buffer.
|
|
b.translate(b.width / 2, b.height * 0.95);
|
|
// Flip the Y-axis to match radar coordinates (Y increases upwards).
|
|
b.scale(1, -1);
|
|
// Set stroke properties for the static region lines.
|
|
b.stroke(100, 100, 100, 150);
|
|
b.strokeWeight(1);
|
|
// Set dashed line pattern.
|
|
b.drawingContext.setLineDash([8, 8]);
|
|
// Define angles for the radar beams.
|
|
const a1 = p.radians(30),
|
|
a2 = p.radians(150);
|
|
const len = 70;
|
|
// Draw the first static region line.
|
|
b.line(
|
|
0,
|
|
0,
|
|
len * p.cos(a1) * plotScales.plotScaleX,
|
|
len * p.sin(a1) * plotScales.plotScaleY
|
|
);
|
|
// Draw the second static region line.
|
|
b.line(
|
|
0,
|
|
0,
|
|
len * p.cos(a2) * plotScales.plotScaleX,
|
|
len * p.sin(a2) * plotScales.plotScaleY
|
|
);
|
|
// Reset line dash pattern.
|
|
b.drawingContext.setLineDash([]);
|
|
b.pop();
|
|
}
|
|
|
|
/**
|
|
* Draws the grid and axes for the radar plot.
|
|
* @param {p5} p - The p5 instance.
|
|
* @param {object} plotScales - The calculated scales for plotting.
|
|
*/
|
|
export function drawAxes(p, plotScales) {
|
|
p.push();
|
|
// Determine axis and text colors based on the current theme (dark/light mode).
|
|
const axisColor = document.documentElement.classList.contains("dark")
|
|
? p.color(100)
|
|
: p.color(220);
|
|
const mainAxisColor = document.documentElement.classList.contains("dark")
|
|
? p.color(150)
|
|
: p.color(180);
|
|
const textColor = document.documentElement.classList.contains("dark")
|
|
? p.color(200)
|
|
: p.color(150);
|
|
// Draw horizontal grid lines.
|
|
p.stroke(axisColor);
|
|
p.strokeWeight(1);
|
|
for (let y = 5; y <= RADAR_Y_MAX; y += 5)
|
|
p.line(
|
|
RADAR_X_MIN * plotScales.plotScaleX,
|
|
y * plotScales.plotScaleY,
|
|
RADAR_X_MAX * plotScales.plotScaleX,
|
|
y * plotScales.plotScaleY
|
|
);
|
|
// Draw vertical grid lines.
|
|
for (let x = -15; x <= 15; x += 5) {
|
|
if (x === 0) continue;
|
|
p.line(
|
|
x * plotScales.plotScaleX,
|
|
RADAR_Y_MIN * plotScales.plotScaleY,
|
|
x * plotScales.plotScaleX,
|
|
RADAR_Y_MAX * plotScales.plotScaleY
|
|
);
|
|
}
|
|
p.stroke(mainAxisColor);
|
|
p.line(
|
|
RADAR_X_MIN * plotScales.plotScaleX,
|
|
0,
|
|
RADAR_X_MAX * plotScales.plotScaleX,
|
|
0
|
|
);
|
|
p.line(
|
|
0,
|
|
RADAR_Y_MIN * plotScales.plotScaleY,
|
|
0,
|
|
RADAR_Y_MAX * plotScales.plotScaleY
|
|
);
|
|
// Draw Y-axis labels.
|
|
p.fill(textColor);
|
|
p.noStroke();
|
|
p.textSize(10);
|
|
for (let y = 5; y <= RADAR_Y_MAX; y += 5) {
|
|
p.push();
|
|
p.translate(5, y * plotScales.plotScaleY);
|
|
// Flip text vertically to align with flipped Y-axis.
|
|
p.scale(1, -1);
|
|
p.text(y, 0, 4);
|
|
p.pop();
|
|
}
|
|
// Draw X-axis labels.
|
|
for (let x = -15; x <= 15; x += 5) {
|
|
if (x === 0) continue;
|
|
p.push();
|
|
p.translate(x * plotScales.plotScaleX, -10);
|
|
p.scale(1, -1);
|
|
p.textAlign(p.CENTER);
|
|
p.text(x, 0, 0);
|
|
p.pop();
|
|
}
|
|
p.pop();
|
|
}
|
|
|
|
/**
|
|
* Draws the point cloud on the radar canvas.
|
|
* @param {p5} p - The p5 instance.
|
|
* @param {Array} points - The array of point cloud data.
|
|
* @param {object} plotScales - The calculated scales for plotting.
|
|
*/
|
|
export function drawPointCloud(p, points, plotScales) {
|
|
// Set stroke weight for points.
|
|
p.strokeWeight(4);
|
|
// Get state of various toggles from the DOM.
|
|
const useSnr = toggleSnrColor.checked;
|
|
const useCluster = toggleClusterColor.checked;
|
|
const useInlier = toggleInlierColor.checked;
|
|
const useFrameNorm = toggleFrameNorm.checked;
|
|
let minSnr = appState.globalMinSnr, // Initialize with global SNR range.
|
|
maxSnr = appState.globalMaxSnr;
|
|
|
|
if (useSnr && useFrameNorm && points.length > 0) {
|
|
const snrVals = points.map((p) => p.snr).filter((snr) => snr !== null);
|
|
if (snrVals.length > 1) {
|
|
minSnr = Math.min(...snrVals);
|
|
maxSnr = Math.max(...snrVals);
|
|
} else if (snrVals.length === 1) {
|
|
minSnr = snrVals[0] - 1;
|
|
maxSnr = snrVals[0] + 1;
|
|
}
|
|
}
|
|
// Draw SNR legend if enabled and p5 instance is ready.
|
|
if (useSnr && p.drawSnrLegendToBuffer)
|
|
p.drawSnrLegendToBuffer(minSnr, maxSnr);
|
|
|
|
// Get local color instances for cluster and SNR.
|
|
const localClusterColors = clusterColors(p);
|
|
const localSnrColors = snrColors(p);
|
|
|
|
// Iterate through each point in the point cloud.
|
|
for (const pt of points) {
|
|
if (pt && pt.x !== null && pt.y !== null) {
|
|
// Apply cluster coloring if enabled.
|
|
if (useCluster && pt.clusterNumber !== null) {
|
|
p.stroke(
|
|
pt.clusterNumber > 0
|
|
? localClusterColors[
|
|
(pt.clusterNumber - 1) % localClusterColors.length
|
|
]
|
|
: 128
|
|
// Default to gray if cluster number is 0 or invalid.
|
|
);
|
|
} else if (useInlier) {
|
|
p.stroke(
|
|
pt.isOutlier === false
|
|
? p.color(0, 255, 0)
|
|
: pt.isOutlier === true
|
|
? p.color(255, 0, 0)
|
|
: 128
|
|
// Default to gray if inlier status is unknown.
|
|
);
|
|
} else if (useSnr && pt.snr !== null) {
|
|
const amt = p.map(pt.snr, minSnr, maxSnr, 0, 1, true);
|
|
let c;
|
|
if (amt < 0.25)
|
|
c = p.lerpColor(localSnrColors.c1, localSnrColors.c2, amt / 0.25);
|
|
else if (amt < 0.5)
|
|
c = p.lerpColor(
|
|
localSnrColors.c2,
|
|
localSnrColors.c3,
|
|
(amt - 0.25) / 0.25
|
|
);
|
|
else if (amt < 0.75)
|
|
c = p.lerpColor(
|
|
localSnrColors.c3,
|
|
localSnrColors.c4,
|
|
(amt - 0.5) / 0.25
|
|
);
|
|
else
|
|
c = p.lerpColor(
|
|
localSnrColors.c4,
|
|
localSnrColors.c5,
|
|
(amt - 0.75) / 0.25
|
|
// Interpolate color based on SNR value.
|
|
);
|
|
p.stroke(c);
|
|
// Default point color if no specific coloring is applied.
|
|
} else {
|
|
p.stroke(0, 150, 255);
|
|
}
|
|
p.point(pt.x * plotScales.plotScaleX, pt.y * plotScales.plotScaleY);
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Draws the historical trajectories of tracked objects.
|
|
* @param {p5} p - The p5 instance.
|
|
* @param {object} plotScales - The calculated scales for plotting.
|
|
*/
|
|
export function drawTrajectories(p, plotScales) {
|
|
const localTtcColors = ttcColors(p);
|
|
|
|
for (const track of appState.vizData.tracks) {
|
|
if (!track || !track.historyLog || !Array.isArray(track.historyLog)) {
|
|
// Safeguard for malformed data
|
|
continue;
|
|
}
|
|
|
|
const logs = track.historyLog.filter(
|
|
(log) => log.frameIdx <= appState.currentFrame + 1
|
|
);
|
|
if (logs.length < 2) continue;
|
|
|
|
const lastLog = logs[logs.length - 1];
|
|
if (appState.currentFrame + 1 - lastLog.frameIdx > MAX_TRAJECTORY_LENGTH)
|
|
continue;
|
|
|
|
const isCurrentlyStationary = lastLog.isStationary;
|
|
|
|
// ... (trajectory point calculation logic remains the same)
|
|
let maxLen = isCurrentlyStationary ? Math.floor(MAX_TRAJECTORY_LENGTH / 4) : MAX_TRAJECTORY_LENGTH;
|
|
let trajPts = logs.filter((log) => log.correctedPosition && log.correctedPosition[0] !== null).map((log) => log.correctedPosition);
|
|
if (trajPts.length > maxLen) {
|
|
trajPts = trajPts.slice(trajPts.length - maxLen);
|
|
}
|
|
|
|
p.push();
|
|
p.noFill();
|
|
|
|
if (isCurrentlyStationary) {
|
|
// Stationary tracks are always green and dashed
|
|
p.stroke(34, 139, 34, 220);
|
|
p.strokeWeight(1);
|
|
p.drawingContext.setLineDash([3, 3]);
|
|
for (let i = 1; i < trajPts.length; i++) {
|
|
// ... (draw fading stationary trajectory logic)
|
|
}
|
|
} else {
|
|
// --- START: New Dynamic Coloring Logic ---
|
|
let trajectoryColor;
|
|
|
|
if (appState.useCustomTtcScheme) {
|
|
// MODE 1: CUSTOM TTC SCHEME (Calculate color on the fly)
|
|
const ttc = lastLog.ttc;
|
|
const scheme = appState.customTtcScheme;
|
|
if (ttc === null || isNaN(ttc) || ttc < 0) {
|
|
trajectoryColor = p.color(localTtcColors.default); // Gray for unknown
|
|
} else if (ttc <= scheme.critical.time) {
|
|
trajectoryColor = p.color(scheme.critical.color);
|
|
} else if (ttc <= scheme.high.time) {
|
|
trajectoryColor = p.color(scheme.high.color);
|
|
} else if (ttc <= scheme.medium.time) {
|
|
trajectoryColor = p.color(scheme.medium.color);
|
|
} else {
|
|
trajectoryColor = p.color(scheme.low.color); // Use custom color for low risk
|
|
}
|
|
} else {
|
|
// MODE 2: DEFAULT TTC SCHEME (Use pre-calculated category from JSON)
|
|
switch (lastLog.ttcCategory) {
|
|
case 3: trajectoryColor = p.color(localTtcColors.critical); break;
|
|
case 2: trajectoryColor = p.color(localTtcColors.high); break;
|
|
case 1: trajectoryColor = p.color(localTtcColors.medium); break;
|
|
case 0: trajectoryColor = p.color(localTtcColors.low); break;
|
|
case -1: trajectoryColor = p.color(localTtcColors.away); break;
|
|
default: trajectoryColor = p.color(localTtcColors.default); break;
|
|
}
|
|
}
|
|
|
|
p.strokeWeight(1.5);
|
|
p.drawingContext.setLineDash([]);
|
|
|
|
// Fading trajectory logic (works for both modes)
|
|
for (let i = 1; i < trajPts.length; i++) {
|
|
const alpha = p.map(i, 0, trajPts.length, 50, 255);
|
|
trajectoryColor.setAlpha(alpha);
|
|
p.stroke(trajectoryColor);
|
|
|
|
const prevPt = trajPts[i - 1];
|
|
const currPt = trajPts[i];
|
|
p.line(
|
|
prevPt[0] * plotScales.plotScaleX, prevPt[1] * plotScales.plotScaleY,
|
|
currPt[0] * plotScales.plotScaleX, currPt[1] * plotScales.plotScaleY
|
|
);
|
|
}
|
|
// --- END: New Dynamic Coloring Logic ---
|
|
}
|
|
|
|
p.drawingContext.setLineDash([]);
|
|
p.pop();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Draws markers for the current position of tracked objects.
|
|
* @param {p5} p - The p5 instance.
|
|
* @param {object} plotScales - The calculated scales for plotting.
|
|
*/
|
|
// In src/drawUtils.js
|
|
|
|
export function drawTrackMarkers(p, plotScales) {
|
|
const showDetails = toggleVelocity.checked;
|
|
const useStationary = toggleStationaryColor.checked;
|
|
const textColor = document.documentElement.classList.contains("dark")
|
|
? p.color(255)
|
|
: p.color(0);
|
|
const localStationaryColor = stationaryColor(p);
|
|
const localMovingColor = movingColor(p);
|
|
|
|
for (const track of appState.vizData.tracks) {
|
|
// --- START: Add the Same Safeguard Here ---
|
|
// This robust check ensures the track and its historyLog are valid before use.
|
|
if (!track || !track.historyLog || !Array.isArray(track.historyLog)) {
|
|
// We don't need to log a warning here again, as drawTrajectories already did.
|
|
// We can just safely skip this malformed track.
|
|
continue;
|
|
}
|
|
// --- END: Add the Same Safeguard Here ---
|
|
|
|
const log = track.historyLog.find(
|
|
(log) => log.frameIdx === appState.currentFrame + 1
|
|
);
|
|
|
|
if (log) {
|
|
const pos = log.correctedPosition;
|
|
if (pos && pos.length === 2 && pos[0] !== null && pos[1] !== null) {
|
|
const size = 5;
|
|
const x = pos[0] * plotScales.plotScaleX;
|
|
const y = pos[1] * plotScales.plotScaleY;
|
|
let velocityColor = p.color(255, 0, 255, 200);
|
|
|
|
p.push();
|
|
p.strokeWeight(2);
|
|
if (useStationary && log.isStationary === true) {
|
|
p.stroke(localStationaryColor);
|
|
p.noFill();
|
|
p.rectMode(p.CENTER);
|
|
p.square(x, y, size * 1.5);
|
|
velocityColor = localStationaryColor;
|
|
} else {
|
|
let markerColor = p.color(0, 0, 255);
|
|
if (useStationary && log.isStationary === false) {
|
|
markerColor = localMovingColor;
|
|
velocityColor = localMovingColor;
|
|
}
|
|
p.stroke(markerColor);
|
|
p.line(x - size, y, x + size, y);
|
|
p.line(x, y - size, x, y + size);
|
|
}
|
|
p.pop();
|
|
|
|
if (
|
|
showDetails &&
|
|
log.predictedVelocity &&
|
|
log.predictedVelocity[0] !== null
|
|
) {
|
|
const [vx, vy] = log.predictedVelocity;
|
|
if (log.isStationary === false) {
|
|
p.push();
|
|
p.stroke(velocityColor);
|
|
p.strokeWeight(2);
|
|
p.line(
|
|
x,
|
|
y,
|
|
(pos[0] + vx) * plotScales.plotScaleX,
|
|
(pos[1] + vy) * plotScales.plotScaleY
|
|
);
|
|
p.pop();
|
|
}
|
|
const speed = (p.sqrt(vx * vx + vy * vy) * 3.6).toFixed(1);
|
|
const ttc =
|
|
log.ttc !== null && isFinite(log.ttc) && log.ttc < 100
|
|
? `TTC: ${log.ttc.toFixed(1)}s`
|
|
: "";
|
|
const text = `ID: ${track.id} | ${speed} km/h\n${ttc}`;
|
|
p.push();
|
|
p.fill(textColor);
|
|
p.noStroke();
|
|
p.scale(1, -1);
|
|
p.textSize(12);
|
|
p.text(text, x + 10, -y);
|
|
p.pop();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Handles the display of detailed info for points under the mouse cursor.
|
|
* @param {p5} p - The p5 instance.
|
|
* @param {object} plotScales - The calculated scales for plotting.
|
|
*/
|
|
export function handleCloseUpDisplay(p, plotScales) {
|
|
// Get current frame data.
|
|
const frameData = appState.vizData.radarFrames[appState.currentFrame];
|
|
if (!frameData || !frameData.pointCloud) return;
|
|
|
|
const hoveredPoints = [];
|
|
const radius = 10;
|
|
|
|
// Iterate through point cloud to find hovered points.
|
|
for (const pt of frameData.pointCloud) {
|
|
if (pt.x === null || pt.y === null) continue;
|
|
// Convert radar coordinates to screen coordinates.
|
|
const screenX = pt.x * plotScales.plotScaleX + p.width / 2;
|
|
const screenY = p.height * 0.95 - pt.y * plotScales.plotScaleY; // Y-axis is inverted for drawing.
|
|
const d = p.dist(p.mouseX, p.mouseY, screenX, screenY);
|
|
if (d < radius) {
|
|
hoveredPoints.push({
|
|
point: pt,
|
|
screenX: screenX,
|
|
screenY: screenY,
|
|
});
|
|
}
|
|
}
|
|
|
|
// If points are hovered, display detailed info.
|
|
if (hoveredPoints.length > 0) {
|
|
// Sort points by Y-coordinate for consistent display.
|
|
hoveredPoints.sort((a, b) => a.screenY - b.screenY);
|
|
|
|
p.push();
|
|
p.textSize(12);
|
|
const lineHeight = 15; // Line height for text in the info box.
|
|
const boxPadding = 8;
|
|
let boxWidth = 0;
|
|
const infoStrings = [];
|
|
|
|
for (const hovered of hoveredPoints) {
|
|
const pt = hovered.point;
|
|
const vel = pt.velocity !== null ? pt.velocity.toFixed(2) : "N/A";
|
|
const snr = pt.snr !== null ? pt.snr.toFixed(1) : "N/A";
|
|
const infoText = `X:${pt.x.toFixed(2)}, Y:${pt.y.toFixed(
|
|
2
|
|
)} | V:${vel}, SNR:${snr}`;
|
|
infoStrings.push(infoText);
|
|
boxWidth = Math.max(boxWidth, p.textWidth(infoText));
|
|
} // Calculate box dimensions.
|
|
const boxHeight = infoStrings.length * lineHeight + boxPadding * 2;
|
|
boxWidth += boxPadding * 2;
|
|
|
|
// Position the info box relative to the mouse.
|
|
const xOffset = 20;
|
|
let boxX = p.mouseX + xOffset;
|
|
let boxY = p.mouseY - boxHeight / 2;
|
|
|
|
// Adjust box position to stay within canvas bounds.
|
|
if (boxX + boxWidth > p.width) {
|
|
boxX = p.mouseX - boxWidth - xOffset;
|
|
}
|
|
boxY = p.constrain(boxY, 0, p.height - boxHeight);
|
|
|
|
// Highlight hovered points and draw connecting lines to the info box.
|
|
const highlightColor = p.color(46, 204, 113);
|
|
|
|
for (let i = 0; i < hoveredPoints.length; i++) {
|
|
const hovered = hoveredPoints[i];
|
|
p.noFill();
|
|
p.stroke(highlightColor);
|
|
p.strokeWeight(2);
|
|
p.ellipse(hovered.screenX, hovered.screenY, 15, 15);
|
|
p.strokeWeight(1);
|
|
p.line(
|
|
boxX + boxPadding,
|
|
boxY + boxPadding + i * lineHeight + lineHeight / 2,
|
|
hovered.screenX,
|
|
hovered.screenY
|
|
);
|
|
}
|
|
|
|
// Draw the info box background and border.
|
|
const bgColor = document.documentElement.classList.contains("dark")
|
|
? p.color(20, 20, 30, 255)
|
|
: p.color(245, 245, 245, 255);
|
|
p.fill(bgColor);
|
|
p.stroke(highlightColor);
|
|
p.strokeWeight(1);
|
|
p.rect(boxX, boxY, boxWidth, boxHeight, 4);
|
|
// Draw the text content inside the info box.
|
|
const textColor = document.documentElement.classList.contains("dark")
|
|
? p.color(230)
|
|
: p.color(20);
|
|
p.fill(textColor);
|
|
p.noStroke();
|
|
p.textAlign(p.LEFT, p.TOP);
|
|
for (let i = 0; i < infoStrings.length; i++) {
|
|
p.text(
|
|
infoStrings[i],
|
|
boxX + boxPadding,
|
|
boxY + boxPadding + i * lineHeight
|
|
);
|
|
}
|
|
|
|
p.pop();
|
|
}
|
|
}
|
|
|
|
export function drawCovarianceEllipse(
|
|
p,
|
|
position,
|
|
covarianceP,
|
|
plotScales,
|
|
isStationary
|
|
) {
|
|
// Only draw the ellipse for tracks that are not stationary.
|
|
if (isStationary) return;
|
|
|
|
const pPos = [
|
|
[covarianceP[0][0], covarianceP[0][1]],
|
|
[covarianceP[1][0], covarianceP[1][1]],
|
|
];
|
|
|
|
const a = pPos[0][0];
|
|
const b = pPos[0][1];
|
|
const d = pPos[1][1];
|
|
const trace = a + d;
|
|
const determinant = a * d - b * b;
|
|
|
|
//const lambda1 = trace / 2 + Math.sqrt(Math.pow(trace, 2) / 4 - determinant);
|
|
//const lambda2 = trace / 2 - Math.sqrt(Math.pow(trace, 2) / 4 - determinant);
|
|
// --- START: New robust calculation with logging ---
|
|
let sqrtTermVal = Math.pow(trace, 2) / 4 - determinant;
|
|
|
|
// Check for a negative value, which causes NaN errors
|
|
if (sqrtTermVal < 0) {
|
|
// Log a warning so we know it happened, as you suggested
|
|
console.warn(
|
|
`Clamping negative sqrtTermVal in frame ${appState.currentFrame} to prevent NaN. Original value: ${sqrtTermVal}`
|
|
);
|
|
// Clamp the value to 0. This allows drawing to continue instead of breaking.
|
|
sqrtTermVal = 0;
|
|
}
|
|
|
|
const sqrtTerm = Math.sqrt(sqrtTermVal);
|
|
const lambda1 = trace / 2 + sqrtTerm;
|
|
const lambda2 = trace / 2 - sqrtTerm;
|
|
// --- END: New robust calculation with logging ---
|
|
const chi2 = 5.991;
|
|
const majorAxis = Math.sqrt(chi2 * lambda1);
|
|
const minorAxis = Math.sqrt(chi2 * lambda2);
|
|
|
|
let eigenvector = [1, 0];
|
|
if (b !== 0) {
|
|
eigenvector = [lambda1 - d, b];
|
|
}
|
|
const angle = Math.atan2(eigenvector[1], eigenvector[0]);
|
|
|
|
p.push();
|
|
p.noFill();
|
|
p.stroke(255, 0, 0, 150);
|
|
p.strokeWeight(1);
|
|
p.translate(
|
|
position[0] * plotScales.plotScaleX,
|
|
position[1] * plotScales.plotScaleY
|
|
);
|
|
p.rotate(angle);
|
|
p.ellipse(
|
|
0,
|
|
0,
|
|
majorAxis * 2 * plotScales.plotScaleX,
|
|
minorAxis * 2 * plotScales.plotScaleY
|
|
);
|
|
p.pop();
|
|
}
|