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  *          Michal Vokac, Petr Kubiznak
  10  * License: GNU GPL v.2
  11  */
  12
  13 #include <QPointF>
  14 #include <QGraphicsSceneMouseEvent>
  15 #include <QGraphicsScene>
  16 #include <QGraphicsRectItem>
  17 #include <QImage>
  18 #include <QColor>
  19 #include <QBrush>
  20
  21 using namespace Qt;
  22
  23 #include "PlaygroundScene.h"
  24 #include <robodim.h>
  25 #include <math.h>
  26 #include "../robofsm/corns_configs.h"
  27
  28 //margin around borders (just for better look)
  29 #define MARGIN  40
  30
  31 //playground borders
  32 #define BORDER_WIDTH    10
  33 #define BORDER_COLOR    black
  34
  35 //playground
  36 #define PLAYGROUND_WIDTH        PLAYGROUND_WIDTH_MM
  37 #define PLAYGROUND_HEIGHT       PLAYGROUND_HEIGHT_MM
  38
  39 PlaygroundScene::PlaygroundScene(QObject *parent)
  40         : QGraphicsScene(parent)
  41 {
  42         using namespace Qt;
  43         QGraphicsRectItem *playgroundRect;
  44
  45         /* All scene units are milimeters */
  46         setSceneRect(QRectF(QPointF(-MARGIN, -MARGIN), QPointF(PLAYGROUND_WIDTH+MARGIN, PLAYGROUND_HEIGHT+MARGIN)));
  47
  48         /* playground border */
  49         addRect(QRect(0, 0, -BORDER_WIDTH, PLAYGROUND_HEIGHT), QPen(), QBrush(BORDER_COLOR));           //left
  50         addRect(QRect(-BORDER_WIDTH, PLAYGROUND_HEIGHT, PLAYGROUND_WIDTH + 2*BORDER_WIDTH, BORDER_WIDTH), QPen(), QBrush(BORDER_COLOR));                //top
  51         addRect(QRect(PLAYGROUND_WIDTH, 0, BORDER_WIDTH, PLAYGROUND_HEIGHT), QPen(), QBrush(BORDER_COLOR));             //right
  52         addRect(QRect(-BORDER_WIDTH, -BORDER_WIDTH, PLAYGROUND_WIDTH + 2*BORDER_WIDTH, BORDER_WIDTH), QPen(), QBrush(BORDER_COLOR));            //bottom
  53
  54         /* playground */
  55         playgroundRect = addRect(
  56                                 QRect(0, 0, PLAYGROUND_WIDTH, PLAYGROUND_HEIGHT),
  57                                 QPen(),
  58                                 QPixmap(":/images/playground_eurobot2012_1024.png").scaled(PLAYGROUND_WIDTH, PLAYGROUND_HEIGHT)
  59                                 );
  60         playgroundRect->setZValue(0);
  61
  62         /* obstacles */
  63         obstacle = new QGraphicsEllipseItem(0, 0, SIM_OBST_SIZE_M*1000, SIM_OBST_SIZE_M*1000);
  64         obstacle->translate(-SIM_OBST_SIZE_M*1000/2,-SIM_OBST_SIZE_M*1000/2);
  65         obstacle->setZValue(5);
  66         obstacle->setBrush(QBrush(QColor(0, 0, 255, 200)));
  67         obstacle->setVisible(false);
  68         obstacle->setPos(QPointF(2000, 1000));
  69         this->addItem(obstacle);
  70 }
  71
  72 PlaygroundScene::~PlaygroundScene()
  73 {
  74 }
  75
  76 void PlaygroundScene::mouseMoveEvent(QGraphicsSceneMouseEvent *mouseEvent)
  77 {
  78         QPointF pos = scene2world(mouseEvent->scenePos());
  79         emit mouseMoved(pos);
  80         QGraphicsScene::mouseMoveEvent(mouseEvent);
  81 }
  82
  83 void PlaygroundScene::mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent)
  84 {
  85         QGraphicsScene::mousePressEvent(mouseEvent);
  86         QPointF pos = scene2world(mouseEvent->scenePos());
  87         obstacle->setPos(mouseEvent->scenePos().x(),
  88                          mouseEvent->scenePos().y());
  89         emit obstacleChanged(pos);
  90 }
  91
  92 /*!
  93     \fn PlaygroundScene::scene2world(QPointF scenePos)
  94  */
  95 QPointF PlaygroundScene::scene2world(QPointF scenePos)
  96 {
  97         return QPointF((scenePos.x()) / 1000.0,
  98                        (scenePos.y()) / 1000.0);
  99 }
 100
 101
 102 /*!
 103     \fn PlaygroundScene::world2scene(QPointF worldPos)
 104  */
 105 QPointF PlaygroundScene::world2scene(QPointF worldPos)
 106 {
 107         return QPointF(worldPos.x() * 1000,
 108                        worldPos.y() * 1000);
 109 }
 110
 111
 112 /*!
 113     \fn PlaygroundScene::showObstacle(int val)
 114  */
 115 void PlaygroundScene::showObstacle(int val)
 116 {
 117         if (val)
 118                 obstacle->setVisible(true);
 119         else
 120                 obstacle->setVisible(false);
 121 }