src/robomon/PlaygroundScene.cpp

   1 /*
   2  * PlaygroundScene.cpp                  07/10/31
   3  *
   4  * Draw playground and likewise stuffs.
   5  *
   6  * Copyright: (c) 2007 CTU Dragons
   7  *            CTU FEE - Department of Control Engineering
   8  * Authors: Martin Zidek, Michal Sojka, Tran Duy Khanh
   9  * License: GNU GPL v.2
  10  */
  11
  12 #include <QPointF>
  13 #include <QGraphicsSceneMouseEvent>
  14 #include <QGraphicsScene>
  15 #include <QGraphicsRectItem>
  16
  17 #include "PlaygroundScene.h"
  18
  19 PlaygroundScene::PlaygroundScene(QObject *parent)
  20         : QGraphicsScene(parent)
  21 {
  22         using namespace Qt;
  23         QGraphicsRectItem *tempRect;
  24
  25         /* All scene units are milimeters */
  26         setSceneRect(QRectF(QPointF(-40, -40), QPointF(3040, 2140)));
  27
  28         /* playground border */
  29         addRect(QRect(0, 0, -22, 2100), QPen(), QBrush(white));
  30         addRect(QRect(-22, 2100, 3000+2*22, 22), QPen(), QBrush(white));
  31         addRect(QRect(3000, 0, 22, 2100), QPen(), QBrush(white));
  32
  33         /* playground */
  34         tempRect = addRect(QRect(0, 0, 3000, 2100), QPen(), QBrush(QColor(0, 148, 180)));
  35         tempRect->setZValue(1);
  36
  37         /* green starting area */
  38         tempRect = addRect(QRect(0, 1600, 500, 500), QPen(NoPen), QBrush(green));
  39         tempRect->setZValue(3);
  40
  41         /* red starting area */
  42         tempRect = addRect(QRect(2500, 1600, 500, 500), QPen(NoPen), QBrush(red));
  43         tempRect->setZValue(3);
  44
  45         QBrush brownBrush = QBrush(QColor(202, 98, 9));
  46
  47         /* circular building area */
  48         addEllipse(1500-150, 1050-150, 300, 300, QPen(), brownBrush)->setZValue(3);
  49
  50         /* side building areas */
  51         addRect(QRect(600, 0, 600, 100), QPen(),  brownBrush)->setZValue(3);
  52         addRect(QRect(1200, 0, 600, 100), QPen(),  brownBrush)->setZValue(3);
  53         addRect(QRect(1800, 0, 600, 100), QPen(),  brownBrush)->setZValue(3);
  54
  55         obstacle = new QGraphicsEllipseItem(0, 0, 300, 300);
  56         obstacle->translate(-150,-150);
  57         obstacle->setZValue(5);
  58         obstacle->setBrush(QBrush(QColor(0, 0, 255, 200)));
  59         obstacle->setVisible(false);
  60         obstacle->setPos(QPointF(2000, 1000));
  61         this->addItem(obstacle);
  62
  63         initMap();
  64 }
  65
  66 PlaygroundScene::~PlaygroundScene()
  67 {
  68 }
  69
  70 void PlaygroundScene::mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent)
  71 {
  72         QGraphicsScene::mousePressEvent(mouseEvent);
  73         QPointF pos = scene2world(mouseEvent->scenePos());
  74         obstacle->setPos(mouseEvent->scenePos().x(),
  75                          mouseEvent->scenePos().y());
  76         obstacleChanged(pos);
  77 }
  78
  79 /*!
  80     \fn PlaygroundScene::scene2world(QPointF scenePos)
  81  */
  82 QPointF PlaygroundScene::scene2world(QPointF scenePos)
  83 {
  84         return QPointF((scenePos.x()) / 1000.0,
  85                         (scenePos.y()) / 1000.0);
  86 }
  87
  88
  89 /*!
  90     \fn PlaygroundScene::world2scene(QPointF worldPos)
  91  */
  92 QPointF PlaygroundScene::world2scene(QPointF worldPos)
  93 {
  94         return QPointF(worldPos.x() * 1000,
  95                        worldPos.y() * 1000);
  96 }
  97
  98
  99 /*!
 100     \fn PlaygroundScene::showObstacle(int val)
 101  */
 102 void PlaygroundScene::showObstacle(int val)
 103 {
 104         if (val)
 105                 obstacle->setVisible(true);
 106         else
 107                 obstacle->setVisible(false);
 108 }
 109
 110 void PlaygroundScene::initMap()
 111 {
 112         this->map = new QGraphicsItemGroup();
 113         for(int i=0; i < MAP_WIDTH; i++) {
 114                 for(int j=0; j<MAP_HEIGHT; j++) {
 115                         rects[i][j] = new QGraphicsRectItem(
 116                                         QRectF(i*MAP_CELL_SIZE_MM, (MAP_HEIGHT-1-j)*MAP_CELL_SIZE_MM,
 117                                                MAP_CELL_SIZE_MM,MAP_CELL_SIZE_MM));
 118                         rects[i][j]->setPen(QPen());
 119                         rects[i][j]->setBrush(QBrush(Qt::lightGray));
 120                         map->addToGroup(rects[i][j]);
 121                 }
 122         }
 123         map->setVisible(false);
 124         map->setZValue(4);
 125         addItem(map);
 126 }
 127
 128 void PlaygroundScene::showMap(int show)
 129 {
 130         map->setVisible(show);
 131 }
 132
 133 void PlaygroundScene::setMapColor(int x, int y, QColor color)
 134 {
 135         color.setAlpha(200);
 136         rects[x][y]->setBrush(QBrush(color));
 137 }