Revision 1086
Reorganized coordinate transforms in the GUI.
| branches/simulator/projects/simulator/simulator/gui/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);
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|
| 42 |
static void draw_robot(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc,
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|
| 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 |
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| 49 |
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|
| 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, |
|
| 206 |
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; |
| 218 |
Robot* r; |
|
| 219 |
float closestdist; |
|
| 220 |
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 |
|
|
| 236 |
/*closestdist = 10e8; |
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| 237 |
robot_iterator_reset(); |
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| 238 |
while ((r = robot_iterator_next()) != NULL) {
|
|
| 239 |
{
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|
| 240 |
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)
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| 371 |
void to_world_coordinates(GtkEnvironmentView* view, int x, int y, float* world_x, float* world_y)
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| 357 | 372 |
{
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double leftx = world.win.p1.x; |
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| 374 |
double upy = world.win.p1.x; |
|
| 375 |
double xwidth = world.win.p2.x - leftx; |
|
| 376 |
double yheight = world.win.p2.y - upy; |
|
| 377 |
int width = view->width, height = view->height; |
|
| 378 |
if (xwidth / width < yheight / height) |
|
| 379 |
width = (int)(height / yheight * xwidth); |
|
| 380 |
else |
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| 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 |
|
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| 387 |
void to_window_coordinates(GtkEnvironmentView* view, float x, float y, int* win_x, int* win_y) |
|
| 388 |
{
|
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| 389 |
double leftx = world.win.p1.x; |
|
| 390 |
double upy = world.win.p1.x; |
|
| 391 |
double xwidth = world.win.p2.x - leftx; |
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| 392 |
double yheight = world.win.p2.y - upy; |
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| 393 |
int width = view->width, height = view->height; |
|
| 394 |
if (xwidth / width < yheight / height) |
|
| 395 |
width = (int)(height / yheight * xwidth); |
|
| 396 |
else |
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| 397 |
height = (int)(width / xwidth * yheight); |
|
| 398 |
|
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| 399 |
*win_x = (int)((x - leftx) / xwidth * width); |
|
| 400 |
*win_y = (int)((y - upy) / yheight * height); |
|
| 401 |
} |
|
| 402 |
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| 403 |
void to_window_scale(GtkEnvironmentView* view, float v, int* win_v) |
|
| 404 |
{
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| 405 |
double leftx = world.win.p1.x; |
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| 406 |
double upy = world.win.p1.x; |
|
| 407 |
double xwidth = world.win.p2.x - leftx; |
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| 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 |
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| 413 |
height = (int)(width / xwidth * yheight); |
|
| 414 |
|
|
| 415 |
*win_v = (int)(v / xwidth * width); |
|
| 416 |
} |
|
| 417 |
|
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| 418 |
static void draw_world(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, world_t* world) |
|
| 419 |
{
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|
| 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; |
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| 414 |
double upy = world.win.p1.x; |
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| 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 |
|
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| 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 |
|
| branches/simulator/projects/simulator/simulator/gui/gtk_environment_view.h | ||
|---|---|---|
| 32 | 32 |
int mouseX; |
| 33 | 33 |
int mouseY; |
| 34 | 34 |
int mouseDown; |
| 35 |
|
|
| 36 |
int selectedRobot; |
|
| 35 | 37 |
}; |
| 36 | 38 |
|
| 37 | 39 |
struct _GtkEnvironmentViewClass |
Also available in: Unified diff