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
  27 //margin around borders (just for better look)
  28 #define MARGIN  40
  29
  30 //playground borders
  31 #define BORDER_WIDTH    10
  32 #define BORDER_COLOR    black
  33
  34 //playground
  35 #define PLAYGROUND_WIDTH        PLAYGROUND_WIDTH_MM
  36 #define PLAYGROUND_HEIGHT       PLAYGROUND_HEIGHT_MM
  37
  38 // grid
  39 #define GRID_HEIGHT       5000
  40 #define GRID_WIDTH        5000
  41
  42 PlaygroundScene::PlaygroundScene(QObject *parent)
  43         : QGraphicsScene(parent)
  44 {
  45         using namespace Qt;
  46         QGraphicsRectItem *playgroundRect;
  47         QGraphicsLineItem *tempLine;
  48
  49         /* All scene units are milimeters */
  50         setSceneRect(QRectF(QPointF(-MARGIN, -MARGIN), QPointF(PLAYGROUND_WIDTH+MARGIN, PLAYGROUND_HEIGHT+MARGIN)));
  51
  52         /* playground border */
  53         addRect(QRect(0, 0, -BORDER_WIDTH, PLAYGROUND_HEIGHT), QPen(), QBrush(BORDER_COLOR));           //left
  54         addRect(QRect(-BORDER_WIDTH, PLAYGROUND_HEIGHT, PLAYGROUND_WIDTH + 2*BORDER_WIDTH, BORDER_WIDTH), QPen(), QBrush(BORDER_COLOR));                //top
  55         addRect(QRect(PLAYGROUND_WIDTH, 0, BORDER_WIDTH, PLAYGROUND_HEIGHT), QPen(), QBrush(BORDER_COLOR));             //right
  56         addRect(QRect(-BORDER_WIDTH, -BORDER_WIDTH, PLAYGROUND_WIDTH + 2*BORDER_WIDTH, BORDER_WIDTH), QPen(), QBrush(BORDER_COLOR));            //bottom
  57
  58         /* playground */
  59         playgroundRect = addRect(
  60                                 QRect(0, 0, PLAYGROUND_WIDTH, PLAYGROUND_HEIGHT),
  61                                 QPen() //,
  62                                 // QPixmap(":/images/playground_sick-day-2012.png").scaled(PLAYGROUND_WIDTH, PLAYGROUND_HEIGHT)
  63                                 );
  64         playgroundRect->setZValue(0);
  65
  66         /* horizontal grid */
  67         for (int i = 0; i < (PLAYGROUND_HEIGHT / GRID_HEIGHT); i++) {
  68                 tempLine = addLine(QLine( 0, PLAYGROUND_HEIGHT - i*GRID_HEIGHT, PLAYGROUND_WIDTH, PLAYGROUND_HEIGHT - i*GRID_HEIGHT), QPen());
  69                 tempLine->setZValue(1);
  70         }
  71
  72         /* vertical grid */
  73         for (int i = 0; i < (PLAYGROUND_WIDTH / GRID_WIDTH); i++) {
  74                 tempLine = addLine(QLine(PLAYGROUND_WIDTH - i*GRID_WIDTH, PLAYGROUND_HEIGHT, PLAYGROUND_WIDTH - i*GRID_WIDTH, 0), QPen());
  75                 tempLine->setZValue(1);
  76         }
  77
  78         /* opponent obstacle - placeable by mouse clic */
  79         obstacle = new QGraphicsEllipseItem(0, 0, SIM_OBST_SIZE_M*1000, SIM_OBST_SIZE_M*1000);
  80         obstacle->translate(-SIM_OBST_SIZE_M*1000/2,-SIM_OBST_SIZE_M*1000/2);
  81         obstacle->setZValue(5);
  82         obstacle->setBrush(QBrush(QColor(0, 0, 255, 200)));
  83         obstacle->setVisible(false);
  84         obstacle->setPos(QPointF(2000, 1000));
  85         this->addItem(obstacle);
  86 }
  87
  88 PlaygroundScene::~PlaygroundScene()
  89 {
  90 }
  91
  92 void PlaygroundScene::mouseMoveEvent(QGraphicsSceneMouseEvent *mouseEvent)
  93 {
  94         QPointF pos = scene2world(mouseEvent->scenePos());
  95         emit mouseMoved(pos);
  96         QGraphicsScene::mouseMoveEvent(mouseEvent);
  97 }
  98
  99 void PlaygroundScene::mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent)
 100 {
 101         QGraphicsScene::mousePressEvent(mouseEvent);
 102         QPointF pos = scene2world(mouseEvent->scenePos());
 103         obstacle->setVisible(true);
 104         obstacle->setPos(mouseEvent->scenePos().x(),
 105                          mouseEvent->scenePos().y());
 106         emit obstacleChanged(pos);
 107 }
 108
 109 /*!
 110     \fn PlaygroundScene::scene2world(QPointF scenePos)
 111  */
 112 QPointF PlaygroundScene::scene2world(QPointF scenePos)
 113 {
 114         return QPointF((scenePos.x()) / 1000.0,
 115                        (scenePos.y()) / 1000.0);
 116 }
 117
 118
 119 /*!
 120     \fn PlaygroundScene::world2scene(QPointF worldPos)
 121  */
 122 QPointF PlaygroundScene::world2scene(QPointF worldPos)
 123 {
 124         return QPointF(worldPos.x() * 1000,
 125                        worldPos.y() * 1000);
 126 }
 127
 128
 129 /*!
 130     \fn PlaygroundScene::showObstacle(int val)
 131  */
 132 void PlaygroundScene::showObstacle(int val)
 133 {
 134         if (val)
 135                 obstacle->setVisible(true);
 136         else
 137                 obstacle->setVisible(false);
 138 }