Revision 1086 branches/simulator/projects/simulator/simulator/gui/gtk_environment_view.c

View differences:

gtk_environment_view.c
38 38
				GdkEventMotion* event);
39 39

  
40 40

  
41
static void draw_world(GdkDrawable* drawable, GdkGC* gc, world_t* world);
42
static void draw_robot(GdkDrawable* drawable, GdkGC* gc, 
41
static void draw_world(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, world_t* world);
42
static void draw_robot(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, 
43 43
                        float x, float y, float angle);
44 44

  
45
static void to_world_coordinates(GtkEnvironmentView* view, int x, int y, float* world_x, float* world_y);
46
static void to_window_coordinates(GtkEnvironmentView* view, float x, float y, int* win_x, int* win_y);
47
static void to_window_scale(GtkEnvironmentView* view, float v, int* win_v);
48

  
49

  
45 50
GtkType gtk_environment_view_get_type(void)
46 51
{
47 52
	static GtkType environment_view_type = 0;
......
193 198
	
194 199
	view = GTK_ENVIRONMENT_VIEW(widget);
195 200

  
196
	draw_world(widget->window, widget->style->fg_gc[GTK_WIDGET_STATE(widget)], &world);
201
	draw_world(view, widget->window, widget->style->fg_gc[GTK_WIDGET_STATE(widget)], &world);
197 202
	
198 203
	robot_iterator_reset();
199 204
	Robot* r;
200 205
	while ((r = robot_iterator_next()) != NULL) {
201
		draw_robot(widget->window, 
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		draw_robot(view, widget->window, 
202 207
			widget->style->fg_gc[GTK_WIDGET_STATE(widget)], 
203 208
            r->pose.x, r->pose.y, r->pose.theta);
204 209
    }
......
210 215
				GdkEventButton* event)
211 216
{
212 217
	GtkEnvironmentView* view;
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	Robot* r;
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	float closestdist;
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	int closest;
213 221

  
214 222
	if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL)
215 223
		return FALSE;
......
224 232
	view->mouseX = event->x;
225 233
	view->mouseY = event->y;
226 234
	view->mouseDown = 1;
235
	
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	/*closestdist = 10e8;
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	robot_iterator_reset();
238
	while ((r = robot_iterator_next()) != NULL) {
239
	{
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		float dist = r->pose.x - 
241
	}*/
227 242

  
228 243
	return FALSE;
229 244
}
......
320 335
		return FALSE;
321 336

  
322 337
	// we need to make sure the new view is to scale
323
	int w = abs(view->mouseX - view->mouseDownX);
338
	/*int w = abs(view->mouseX - view->mouseDownX);
324 339
	int h = abs(view->mouseY - view->mouseDownY);
325 340
	// scale to height
326 341
	if (fabs((double)w / h) <= fabs((double)view->width / view->height))
......
339 354
			view->mouseY = view->mouseDownY - h;
340 355
		else
341 356
			view->mouseY = view->mouseDownY + h;
342
	}
357
	}*/
343 358

  
344 359
	gtk_widget_queue_draw_area(widget, 0, 0, view->width, view->height);
345 360

  
......
353 368
	gdk_threads_leave();
354 369
}
355 370

  
356
static void draw_world(GdkDrawable* drawable, GdkGC* gc, world_t* world)
371
void to_world_coordinates(GtkEnvironmentView* view, int x, int y, float* world_x, float* world_y)
357 372
{
373
	double leftx = world.win.p1.x;
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	double upy = world.win.p1.x;
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	double xwidth = world.win.p2.x - leftx;
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	double yheight = world.win.p2.y - upy;
377
	int width = view->width, height = view->height;
378
	if (xwidth / width < yheight / height)
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		width = (int)(height / yheight * xwidth);
380
	else
381
		height = (int)(width / xwidth * yheight);
382

  
383
	*world_x = (float)x / width * xwidth + leftx;
384
	*world_y = (float)y / height * yheight + upy;
385
}
386

  
387
void to_window_coordinates(GtkEnvironmentView* view, float x, float y, int* win_x, int* win_y)
388
{
389
	double leftx = world.win.p1.x;
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	double upy = world.win.p1.x;
391
	double xwidth = world.win.p2.x - leftx;
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	double yheight = world.win.p2.y - upy;
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	int width = view->width, height = view->height;
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	if (xwidth / width < yheight / height)
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		width = (int)(height / yheight * xwidth);
396
	else
397
		height = (int)(width / xwidth * yheight);
398

  
399
	*win_x = (int)((x - leftx) / xwidth * width);
400
	*win_y = (int)((y - upy) / yheight * height);
401
}
402

  
403
void to_window_scale(GtkEnvironmentView* view, float v, int* win_v)
404
{
405
	double leftx = world.win.p1.x;
406
	double upy = world.win.p1.x;
407
	double xwidth = world.win.p2.x - leftx;
408
	double yheight = world.win.p2.y - upy;
409
	int width = view->width, height = view->height;
410
	if (xwidth / width < yheight / height)
411
		width = (int)(height / yheight * xwidth);
412
	else
413
		height = (int)(width / xwidth * yheight);
414
	
415
	*win_v = (int)(v / xwidth * width);
416
}
417

  
418
static void draw_world(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, world_t* world)
419
{
358 420
	int i, j;
359 421
	GdkPoint* points;
360 422
	poly_t* p;
......
362 424
	if (!drawable || !gc || !world)
363 425
		return;
364 426

  
365
	double leftx = world->win.p1.x;
366
	double upy = world->win.p1.x;
367
	double xwidth = world->win.p2.x - leftx;
368
	double yheight = world->win.p2.y - upy;
369
	int width, height;
370
	gdk_drawable_get_size(drawable, &width, &height);
371
	if (xwidth / width < yheight / height)
372
		width = (int)(height / yheight * xwidth);
373
	else
374
		height = (int)(width / xwidth * yheight);
375

  
376 427
	for (i = 0 ; i < world->max_objs; i++)
377 428
	{
378 429
		object_t* o = &(world->objs[i]);
......
382 433
				p = (poly_t*)o->props;
383 434
				points = (GdkPoint*)malloc(sizeof(GdkPoint) * p->num_pts);
384 435
				for (j = 0; j < p->num_pts; j++)
385
				{
386
					points[j].x = (int)((p->pts[j].x - leftx) / xwidth * width);
387
					points[j].y = (int)((p->pts[j].y - upy) / yheight * height);
388
				}
436
					to_window_coordinates(view, p->pts[j].x, p->pts[j].y, &(points[j].x), &(points[j].y));
389 437
				switch(p->type)
390 438
				{
391 439
					case POLY_CONNECTED:
......
407 455
	}
408 456
}
409 457

  
410
static void draw_robot(GdkDrawable* drawable, GdkGC* gc, 
458
static void draw_robot(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, 
411 459
                        float x, float y, float angle)
412 460
{
413
	double leftx = world.win.p1.x;
414
	double upy = world.win.p1.x;
415
	double xwidth = world.win.p2.x - leftx;
416
	double yheight = world.win.p2.y - upy;
417
	double rx, ry;
418
	int width, height;
419
	
461
	int rx, ry;
462
	int rox, roy;
420 463
	if (!drawable || !gc)
421 464
		return;
422
	gdk_drawable_get_size(drawable, &width, &height);
423
	if (xwidth / width < yheight / height)
424
		width = (int)(height / yheight * xwidth);
425
	else
426
		height = (int)(width / xwidth * yheight);
427 465
	
428
	rx = (double)ROBOT_DIAMETER / xwidth * width;
429
	ry = (double)ROBOT_DIAMETER / yheight * height;
466
	to_window_scale(view, ROBOT_DIAMETER, &rx);
467
	to_window_scale(view, ROBOT_DIAMETER, &ry);
468
	to_window_coordinates(view, x, y, &rox, &roy);
430 469

  
431
	x = ((x - leftx) / xwidth * width);
432
	y = ((y - upy) / yheight * height);
433

  
434
	gdk_draw_arc(drawable, gc, FALSE, (int)(x - rx / 2), (int)(y - ry / 2), 
470
	gdk_draw_arc(drawable, gc, FALSE, (int)(rox - (float)rx / 2), (int)(roy - (float)ry / 2), 
435 471
		rx, ry, 0, 360*64);
436 472

  
437
	gdk_draw_line(drawable, gc, x, y, 
438
		x + (rx / 1.8) * cos(-angle),
439
		y - (ry / 1.8) * sin(-angle));
473
	gdk_draw_line(drawable, gc, rox, roy, 
474
		rox + (rx / 1.8) * cos(-angle),
475
		roy - (ry / 1.8) * sin(-angle));
440 476
}
441 477

  

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