* Copyright: (c) 2007 CTU Dragons
* CTU FEE - Department of Control Engineering
* Authors: Martin Zidek, Michal Sojka, Tran Duy Khanh
- * Edit: Petr Kubiznak
+ * Michal Vokac, Petr Kubiznak
* License: GNU GPL v.2
*/
#include <QGraphicsSceneMouseEvent>
#include <QGraphicsScene>
#include <QGraphicsRectItem>
+#include <QImage>
+#include <QColor>
+#include <QBrush>
+
using namespace Qt;
#include "PlaygroundScene.h"
#include <robodim.h>
+#include <math.h>
//margin around borders (just for better look)
-#define MARGIN 40
+#define MARGIN 40
//playground borders
-#define BORDER_WIDTH 22
-#define BORDER_COLOR black
+#define BORDER_WIDTH 10
+#define BORDER_COLOR black
//playground
-#define PLAYGROUND_WIDTH 3000
-#define PLAYGROUND_HEIGHT 2100
-#define PLAYGROUND_COLOR green
-
-//starting areas
-#define STARTAREA_WIDTH 500
-#define STARTAREA_HEIGHT 500
-#define STARTAREA_L_COLOR blue
-#define STARTAREA_R_COLOR yellow
-
-//baskets
-#define BASK_WIDTH 500
-#define BASK_HEIGHT 300
-#define BASK_L_COLOR (STARTAREA_R_COLOR)
-#define BASK_R_COLOR (STARTAREA_L_COLOR)
-
-//raised area
-#define RAISED_AREA_HEIGHT 500
-#define RAISED_AREA_WIDTH 1519
-#define RAISED_AREA_TOP_WIDTH 519
-#define RAISED_AREA_STRIP_WIDTH 100
-#define RAISED_AREA_COLOR white
-
-//corns
-#define CORN_WIDTH 50
-#define CORN_ROWS_NUM 3
-#define CORN_COLS_NUM 7
-#define CORN_ROWS_SPACE 500
-#define CORN_COLS_SPACE 450
-#define CORN_COLS_DRIFT 250
-#define CORN_INIT_X (PLAYGROUND_WIDTH / 2)
-#define CORN_INIT_Y (128 - CORN_ROWS_SPACE)
-#define CORN_COLOR gray
-
-//tomatoes
-#define TOMATO_WIDTH 100
-#define TOMATO_ROWS_NUM 2
-#define TOMATO_COLS_NUM 7
-#define TOMATO_ROWS_SPACE 500
-#define TOMATO_COLS_SPACE 450
-#define TOMATO_COLS_DRIFT 250
-#define TOMATO_INIT_X (PLAYGROUND_WIDTH / 2)
-#define TOMATO_INIT_Y (CORN_INIT_Y + 250)
-#define TOMATO_COLOR red
-
-//orange trees
-#define ORANGE_WIDTH 100
-#define ORANGE_LEFT_X ( (PLAYGROUND_WIDTH - RAISED_AREA_TOP_WIDTH)/2 + 135 )
-#define ORANGE_RIGHT_X ( (PLAYGROUND_WIDTH + RAISED_AREA_TOP_WIDTH)/2 - 135 )
-#define ORANGE_TOP_Y (PLAYGROUND_HEIGHT - 145)
-#define ORANGE_BOTTOM_Y (ORANGE_TOP_Y - 225)
-#define ORANGE_COLOR QBrush(QColor(255, 165, 0))
-
-/* draws a corn */
-void PlaygroundScene::putCorn(QGraphicsEllipseItem *g, int centerX, int centerY) {
- using namespace Qt;
- g = addEllipse(QRect(centerX - CORN_WIDTH/2, centerY - CORN_WIDTH/2, CORN_WIDTH, CORN_WIDTH), QPen(), QBrush(CORN_COLOR));
- g->setZValue(3);
-}
+#define PLAYGROUND_WIDTH PLAYGROUND_WIDTH_MM
+#define PLAYGROUND_HEIGHT PLAYGROUND_HEIGHT_MM
-/* draws a tomato */
-void PlaygroundScene::putTomato(QGraphicsEllipseItem *g, int centerX, int centerY) {
- using namespace Qt;
- g = addEllipse(QRect(centerX - TOMATO_WIDTH/2, centerY - TOMATO_WIDTH/2, TOMATO_WIDTH, TOMATO_WIDTH), QPen(), QBrush(TOMATO_COLOR));
- g->setZValue(3);
-}
-
-/* draws an orange tree (coordinates concern the middle branch) */
-void PlaygroundScene::putTree(QGraphicsEllipseItem *g, int centerX, int centerY, bool isLeft) {
- using namespace Qt;
- int leftMove1 = (isLeft ? -55 : 55); //x-pos of the top branch according to the middle
- int leftMove2 = (isLeft ? -80 : 80); //x-pos of the bottom branch according to the middle
-
- g = addEllipse(QRect(centerX - ORANGE_WIDTH/2, centerY - ORANGE_WIDTH/2, ORANGE_WIDTH, ORANGE_WIDTH), QPen(), QBrush(ORANGE_COLOR)); //middle branch
- g->setZValue(5);
- g = addEllipse(QRect(centerX + leftMove1 - ORANGE_WIDTH/2, centerY + 75 - ORANGE_WIDTH/2, ORANGE_WIDTH, ORANGE_WIDTH), QPen(), QBrush(ORANGE_COLOR)); //top branch
- g->setZValue(5);
- g = addEllipse(QRect(centerX + leftMove2 - ORANGE_WIDTH/2, centerY - 50 - ORANGE_WIDTH/2, ORANGE_WIDTH, ORANGE_WIDTH), QPen(), QBrush(ORANGE_COLOR)); //bottom branch
- g->setZValue(5);
-}
+// grid
+#define GRID_HEIGHT 5000
+#define GRID_WIDTH 5000
PlaygroundScene::PlaygroundScene(QObject *parent)
: QGraphicsScene(parent)
{
using namespace Qt;
- QGraphicsRectItem *tempRect;
+ QGraphicsRectItem *playgroundRect;
+ QGraphicsLineItem *tempLine;
/* All scene units are milimeters */
- setSceneRect(QRectF(QPointF(-MARGIN, -MARGIN - BASK_HEIGHT), QPointF(PLAYGROUND_WIDTH+MARGIN, PLAYGROUND_HEIGHT+MARGIN)));
-
+ setSceneRect(QRectF(QPointF(-MARGIN, -MARGIN), QPointF(PLAYGROUND_WIDTH+MARGIN, PLAYGROUND_HEIGHT+MARGIN)));
+
/* playground border */
addRect(QRect(0, 0, -BORDER_WIDTH, PLAYGROUND_HEIGHT), QPen(), QBrush(BORDER_COLOR)); //left
addRect(QRect(-BORDER_WIDTH, PLAYGROUND_HEIGHT, PLAYGROUND_WIDTH + 2*BORDER_WIDTH, BORDER_WIDTH), QPen(), QBrush(BORDER_COLOR)); //top
addRect(QRect(PLAYGROUND_WIDTH, 0, BORDER_WIDTH, PLAYGROUND_HEIGHT), QPen(), QBrush(BORDER_COLOR)); //right
- addRect(QRect(BASK_WIDTH, -BORDER_WIDTH, PLAYGROUND_WIDTH - 2*BASK_WIDTH, BORDER_WIDTH), QPen(), QBrush(BORDER_COLOR)); //bottom
+ addRect(QRect(-BORDER_WIDTH, -BORDER_WIDTH, PLAYGROUND_WIDTH + 2*BORDER_WIDTH, BORDER_WIDTH), QPen(), QBrush(BORDER_COLOR)); //bottom
/* playground */
- tempRect = addRect(QRect(0, 0, PLAYGROUND_WIDTH, PLAYGROUND_HEIGHT), QPen(), PLAYGROUND_COLOR);
- tempRect->setZValue(1);
-
- /* baskets */
- addRect(QRect(0, -BASK_HEIGHT, BASK_WIDTH, BASK_HEIGHT), QPen(), BASK_L_COLOR);
- addRect(QRect(PLAYGROUND_WIDTH-BASK_WIDTH, -BASK_HEIGHT, BASK_WIDTH, BASK_HEIGHT), QPen(), BASK_R_COLOR);
-
- /* left starting area */
- tempRect = addRect(QRect(0, PLAYGROUND_HEIGHT-STARTAREA_HEIGHT, STARTAREA_WIDTH, STARTAREA_HEIGHT), QPen(NoPen), QBrush(STARTAREA_L_COLOR));
- tempRect->setZValue(3);
-
- /* right starting area */
- tempRect = addRect(QRect(PLAYGROUND_WIDTH-STARTAREA_WIDTH, PLAYGROUND_HEIGHT-STARTAREA_HEIGHT, STARTAREA_WIDTH, STARTAREA_HEIGHT), QPen(NoPen), QBrush(STARTAREA_R_COLOR));
- tempRect->setZValue(3);
-
- /* raised zone */
- tempRect = addRect(QRect((PLAYGROUND_WIDTH-RAISED_AREA_WIDTH)/2, PLAYGROUND_HEIGHT-RAISED_AREA_HEIGHT, RAISED_AREA_WIDTH, RAISED_AREA_HEIGHT), QPen(), QBrush(RAISED_AREA_COLOR));
- tempRect->setZValue(3);
- tempRect = addRect(QRect((PLAYGROUND_WIDTH-RAISED_AREA_TOP_WIDTH)/2, PLAYGROUND_HEIGHT-RAISED_AREA_HEIGHT, RAISED_AREA_TOP_WIDTH, RAISED_AREA_HEIGHT), QPen(), QBrush(RAISED_AREA_COLOR)); //top
- tempRect->setZValue(4);
- tempRect = addRect(QRect((PLAYGROUND_WIDTH-RAISED_AREA_WIDTH)/2 - RAISED_AREA_STRIP_WIDTH, PLAYGROUND_HEIGHT-RAISED_AREA_HEIGHT, RAISED_AREA_STRIP_WIDTH, RAISED_AREA_HEIGHT), QPen(), QBrush(RAISED_AREA_COLOR)); //left stripe
- tempRect->setZValue(3);
- tempRect = addRect(QRect(PLAYGROUND_WIDTH - (PLAYGROUND_WIDTH-RAISED_AREA_WIDTH)/2, PLAYGROUND_HEIGHT-RAISED_AREA_HEIGHT, RAISED_AREA_STRIP_WIDTH, RAISED_AREA_HEIGHT), QPen(), QBrush(RAISED_AREA_COLOR)); //right stripe
- tempRect->setZValue(3);
- tempRect = addRect(QRect((PLAYGROUND_WIDTH-RAISED_AREA_WIDTH)/2, PLAYGROUND_HEIGHT-RAISED_AREA_HEIGHT-BORDER_WIDTH, RAISED_AREA_WIDTH, BORDER_WIDTH), QPen(), QBrush(RAISED_AREA_COLOR)); //border
- tempRect->setZValue(3);
-
- /* corn */
- for(int x=0; x<=CORN_COLS_NUM/2; x++) {
- int left_move = x*CORN_COLS_SPACE;
- for(int y=0; y<CORN_ROWS_NUM; y++) {
- QGraphicsEllipseItem *corn = NULL;
- int top = CORN_INIT_Y + x*CORN_COLS_DRIFT + y*CORN_ROWS_SPACE;
- if(top > 0) {
- putCorn(corn, left_move + CORN_INIT_X, top);
- putCorn(corn, -left_move + CORN_INIT_X, top);
- }
- }
- }
-
- /* tomatoes */
- for(int x=0; x<=TOMATO_COLS_NUM/2; x++) {
- int left_move = x*TOMATO_COLS_SPACE;
- for(int y=0; y<TOMATO_ROWS_NUM; y++) {
- QGraphicsEllipseItem *tomato = NULL;
- int top = TOMATO_INIT_Y + x*TOMATO_COLS_DRIFT + y*TOMATO_ROWS_SPACE;
- if(top < 0) top += 2*TOMATO_ROWS_SPACE; //moves a tomato "in front of the playground" "over the triangle"
- putTomato(tomato, left_move + TOMATO_INIT_X, top);
- putTomato(tomato, -left_move + TOMATO_INIT_X, top);
- }
- }
-
- /* oranges */
- QGraphicsEllipseItem *orange = NULL;
- putTree(orange, ORANGE_LEFT_X, ORANGE_TOP_Y, true);
- putTree(orange, ORANGE_LEFT_X, ORANGE_BOTTOM_Y, true);
- putTree(orange, ORANGE_RIGHT_X, ORANGE_TOP_Y, false);
- putTree(orange, ORANGE_RIGHT_X, ORANGE_BOTTOM_Y, false);
-
- /* obstacles */
+ playgroundRect = addRect(
+ QRect(0, 0, PLAYGROUND_WIDTH, PLAYGROUND_HEIGHT),
+ QPen() //,
+ // QPixmap(":/images/playground_sick-day-2012.png").scaled(PLAYGROUND_WIDTH, PLAYGROUND_HEIGHT)
+ );
+ playgroundRect->setZValue(0);
+
+ /* horizontal grid */
+ for (int i = 0; i < (PLAYGROUND_HEIGHT / GRID_HEIGHT); i++) {
+ tempLine = addLine(QLine( 0, PLAYGROUND_HEIGHT - i*GRID_HEIGHT, PLAYGROUND_WIDTH, PLAYGROUND_HEIGHT - i*GRID_HEIGHT), QPen());
+ tempLine->setZValue(1);
+ }
+
+ /* vertical grid */
+ for (int i = 0; i < (PLAYGROUND_WIDTH / GRID_WIDTH); i++) {
+ tempLine = addLine(QLine(PLAYGROUND_WIDTH - i*GRID_WIDTH, PLAYGROUND_HEIGHT, PLAYGROUND_WIDTH - i*GRID_WIDTH, 0), QPen());
+ tempLine->setZValue(1);
+ }
+
+ /* opponent obstacle - placeable by mouse clic */
obstacle = new QGraphicsEllipseItem(0, 0, SIM_OBST_SIZE_M*1000, SIM_OBST_SIZE_M*1000);
obstacle->translate(-SIM_OBST_SIZE_M*1000/2,-SIM_OBST_SIZE_M*1000/2);
obstacle->setZValue(5);
obstacle->setVisible(false);
obstacle->setPos(QPointF(2000, 1000));
this->addItem(obstacle);
-
- initMap();
}
PlaygroundScene::~PlaygroundScene()
{
}
+void PlaygroundScene::mouseMoveEvent(QGraphicsSceneMouseEvent *mouseEvent)
+{
+ QPointF pos = scene2world(mouseEvent->scenePos());
+ emit mouseMoved(pos);
+ QGraphicsScene::mouseMoveEvent(mouseEvent);
+}
+
void PlaygroundScene::mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent)
{
QGraphicsScene::mousePressEvent(mouseEvent);
QPointF pos = scene2world(mouseEvent->scenePos());
+ obstacle->setVisible(true);
obstacle->setPos(mouseEvent->scenePos().x(),
mouseEvent->scenePos().y());
- obstacleChanged(pos);
+ emit obstacleChanged(pos);
}
/*!
QPointF PlaygroundScene::scene2world(QPointF scenePos)
{
return QPointF((scenePos.x()) / 1000.0,
- (scenePos.y()) / 1000.0);
+ (scenePos.y()) / 1000.0);
}
else
obstacle->setVisible(false);
}
-
-void PlaygroundScene::initMap()
-{
- this->map = new QGraphicsItemGroup();
- for(int i=0; i < MAP_WIDTH; i++) {
- for(int j=0; j<MAP_HEIGHT; j++) {
- rects[i][j] = new QGraphicsRectItem(
- QRectF(i*MAP_CELL_SIZE_MM, (MAP_HEIGHT-1-j)*MAP_CELL_SIZE_MM,
- MAP_CELL_SIZE_MM,MAP_CELL_SIZE_MM));
- rects[i][j]->setPen(QPen());
- rects[i][j]->setBrush(QBrush(Qt::lightGray));
- map->addToGroup(rects[i][j]);
- }
- }
- map->setVisible(false);
- map->setZValue(4);
- addItem(map);
-}
-
-void PlaygroundScene::showMap(bool show)
-{
- map->setVisible(show);
-}
-
-void PlaygroundScene::setMapColor(int x, int y, QColor color)
-{
- color.setAlpha(200);
- rects[x][y]->setBrush(QBrush(color));
-}
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