Revision 1115
Smart run around mostly works!!!
Thanks to Brian for fixing a bug in motion code
divide by 0 zero error in motion.c
Makefile cleans .csim and copy it over
GUI no longer fill the robot
| gtk_environment_view.c | ||
|---|---|---|
| 248 | 248 |
view->mouseY = event->y; |
| 249 | 249 |
view->mouseDown = 1; |
| 250 | 250 |
|
| 251 |
closestdist = 10e8; |
|
| 251 |
closest = -1; |
|
| 252 |
closestdist = 10e16; |
|
| 252 | 253 |
to_world_coordinates(view, event->x, event->y, &x, &y); |
| 253 | 254 |
robot_iterator_reset(); |
| 254 | 255 |
while ((r = robot_iterator_next()) != NULL) |
| 255 | 256 |
{
|
| 256 | 257 |
float dx = r->pose.x - x; |
| 257 | 258 |
float dy = r->pose.y - y; |
| 258 |
float dist = dx * dx + dy * dy;
|
|
| 259 |
float dist = sqrt(dx * dx + dy * dy);
|
|
| 259 | 260 |
if (dist < closestdist) |
| 260 | 261 |
{
|
| 261 | 262 |
closestdist = dist; |
| ... | ... | |
| 287 | 288 |
view->mouseDown = 0; |
| 288 | 289 |
robots_pause(); |
| 289 | 290 |
r = robot_get(view->selected_robot); |
| 290 |
to_world_coordinates(view, view->mouseX, view->mouseY, |
|
| 291 |
if (r != NULL) |
|
| 292 |
to_world_coordinates(view, view->mouseX, view->mouseY, |
|
| 291 | 293 |
&r->pose.x, &r->pose.y); |
| 292 | 294 |
robots_resume(); |
| 293 | 295 |
} |
| ... | ... | |
| 516 | 518 |
int rox, roy; |
| 517 | 519 |
if (!drawable || !gc) |
| 518 | 520 |
return; |
| 519 |
|
|
| 521 |
|
|
| 522 |
selected = 0; |
|
| 523 |
|
|
| 520 | 524 |
to_window_scale(view, ROBOT_DIAMETER, &rx); |
| 521 | 525 |
to_window_scale(view, ROBOT_DIAMETER, &ry); |
| 522 | 526 |
to_window_coordinates(view, x, y, &rox, &roy); |
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