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 PlaygroundScene::PlaygroundScene(QObject *parent)
  39         : QGraphicsScene(parent)
  40 {
  41         using namespace Qt;
  42         QGraphicsRectItem *playgroundRect;
  43
  44         /* All scene units are milimeters */
  45         setSceneRect(QRectF(QPointF(-MARGIN, -MARGIN), QPointF(PLAYGROUND_WIDTH+MARGIN, PLAYGROUND_HEIGHT+MARGIN)));
  46
  47         /* playground border */
  48         addRect(QRect(0, 0, -BORDER_WIDTH, PLAYGROUND_HEIGHT), QPen(), QBrush(BORDER_COLOR));           //left
  49         addRect(QRect(-BORDER_WIDTH, PLAYGROUND_HEIGHT, PLAYGROUND_WIDTH + 2*BORDER_WIDTH, BORDER_WIDTH), QPen(), QBrush(BORDER_COLOR));                //top
  50         addRect(QRect(PLAYGROUND_WIDTH, 0, BORDER_WIDTH, PLAYGROUND_HEIGHT), QPen(), QBrush(BORDER_COLOR));             //right
  51         addRect(QRect(-BORDER_WIDTH, -BORDER_WIDTH, PLAYGROUND_WIDTH + 2*BORDER_WIDTH, BORDER_WIDTH), QPen(), QBrush(BORDER_COLOR));            //bottom
  52
  53         /* playground */
  54         playgroundRect = addRect(
  55                                 QRect(0, 0, PLAYGROUND_WIDTH, PLAYGROUND_HEIGHT),
  56                                 QPen(),
  57                                 QPixmap(":/images/playground_eurobot2012_1024.png").scaled(PLAYGROUND_WIDTH, PLAYGROUND_HEIGHT)
  58                                 );
  59         playgroundRect->setZValue(0);
  60
  61         /* obstacles */
  62         obstacle = new QGraphicsEllipseItem(0, 0, SIM_OBST_SIZE_M*1000, SIM_OBST_SIZE_M*1000);
  63         obstacle->translate(-SIM_OBST_SIZE_M*1000/2,-SIM_OBST_SIZE_M*1000/2);
  64         obstacle->setZValue(5);
  65         obstacle->setBrush(QBrush(QColor(0, 0, 255, 200)));
  66         obstacle->setVisible(false);
  67         obstacle->setPos(QPointF(2000, 1000));
  68         this->addItem(obstacle);
  69 }
  70
  71 PlaygroundScene::~PlaygroundScene()
  72 {
  73 }
  74
  75 void PlaygroundScene::mouseMoveEvent(QGraphicsSceneMouseEvent *mouseEvent)
  76 {
  77         QPointF pos = scene2world(mouseEvent->scenePos());
  78         emit mouseMoved(pos);
  79         QGraphicsScene::mouseMoveEvent(mouseEvent);
  80 }
  81
  82 void PlaygroundScene::mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent)
  83 {
  84         QGraphicsScene::mousePressEvent(mouseEvent);
  85         QPointF pos = scene2world(mouseEvent->scenePos());
  86         obstacle->setPos(mouseEvent->scenePos().x(),
  87                          mouseEvent->scenePos().y());
  88         emit obstacleChanged(pos);
  89 }
  90
  91 /*!
  92     \fn PlaygroundScene::scene2world(QPointF scenePos)
  93  */
  94 QPointF PlaygroundScene::scene2world(QPointF scenePos)
  95 {
  96         return QPointF((scenePos.x()) / 1000.0,
  97                        (scenePos.y()) / 1000.0);
  98 }
  99
 100
 101 /*!
 102     \fn PlaygroundScene::world2scene(QPointF worldPos)
 103  */
 104 QPointF PlaygroundScene::world2scene(QPointF worldPos)
 105 {
 106         return QPointF(worldPos.x() * 1000,
 107                        worldPos.y() * 1000);
 108 }
 109
 110
 111 /*!
 112     \fn PlaygroundScene::showObstacle(int val)
 113  */
 114 void PlaygroundScene::showObstacle(int val)
 115 {
 116         if (val)
 117                 obstacle->setVisible(true);
 118         else
 119                 obstacle->setVisible(false);
 120 }