root / branches / simulator / projects / simulator / simulator / gui / gtk_environment_view.c @ 1115
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#include <math.h> |
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <sys/time.h> |
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#include <string.h> |
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|
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#include <gtk/gtkmain.h> |
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#include <gtk/gtksignal.h> |
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#include <gdk/gdkkeysyms.h> |
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|
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#include "gtk_environment_view.h" |
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|
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#include "robot.h" |
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#include "world.h" |
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|
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#define ENVIRONMENT_VIEW_MIN_WIDTH 100 |
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#define ENVIRONMENT_VIEW_MIN_HEIGHT 50 |
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|
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#define ROBOT_DIAMETER 30 |
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|
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static GtkWidgetClass* parent_class = NULL; |
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|
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static void gtk_environment_view_class_init(GtkEnvironmentViewClass* environmentClass); |
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static void gtk_environment_view_init(GtkEnvironmentView* view); |
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static void gtk_environment_view_destroy(GtkObject* object); |
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|
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static void gtk_environment_view_size_request(GtkWidget* widget, |
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GtkRequisition* req); |
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static void gtk_environment_view_realize(GtkWidget* widget); |
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static void gtk_environment_view_size_allocate(GtkWidget* widget, GtkAllocation* a); |
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static gboolean gtk_environment_view_expose(GtkWidget* widget,
|
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GdkEventExpose* event); |
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|
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static gboolean gtk_environment_view_mouse_down(GtkWidget* widget,
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GdkEventButton* event); |
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static gboolean gtk_environment_view_mouse_release(GtkWidget* widget,
|
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GdkEventButton* event); |
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static gboolean gtk_environment_view_mouse_move(GtkWidget* widget,
|
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GdkEventMotion* event); |
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static gboolean gtk_environment_view_key_press(GtkWidget* widget,
|
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GdkEventKey* event); |
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|
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|
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static void draw_world(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, world_t* world); |
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static void draw_robot(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, |
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float x, float y, float angle, int selected); |
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|
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static void to_world_coordinates(GtkEnvironmentView* view, int x, int y, float* world_x, float* world_y); |
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static void to_window_coordinates(GtkEnvironmentView* view, float x, float y, int* win_x, int* win_y); |
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static void to_window_scale(GtkEnvironmentView* view, float v, int* win_v); |
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|
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|
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GtkType gtk_environment_view_get_type(void)
|
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{ |
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static GtkType environment_view_type = 0; |
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if (!environment_view_type)
|
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{ |
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static const GtkTypeInfo environment_view_info = |
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{ |
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"GtkEnvironmentView",
|
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sizeof(GtkEnvironmentView),
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sizeof(GtkEnvironmentViewClass),
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(GtkClassInitFunc)gtk_environment_view_class_init, |
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(GtkObjectInitFunc)gtk_environment_view_init, |
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NULL, NULL, (GtkClassInitFunc)NULL |
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}; |
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|
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environment_view_type = gtk_type_unique(GTK_TYPE_WIDGET, |
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&environment_view_info); |
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} |
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|
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return environment_view_type;
|
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} |
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|
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static void gtk_environment_view_class_init(GtkEnvironmentViewClass* environmentClass) |
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{ |
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GtkObjectClass* object_class; |
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GtkWidgetClass* widget_class; |
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|
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object_class = (GtkObjectClass*)environmentClass; |
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widget_class = (GtkWidgetClass*)environmentClass; |
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|
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parent_class = gtk_type_class(gtk_widget_get_type()); |
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|
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object_class->destroy = gtk_environment_view_destroy; |
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|
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widget_class->realize = gtk_environment_view_realize; |
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widget_class->expose_event = gtk_environment_view_expose; |
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widget_class->size_request = gtk_environment_view_size_request; |
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widget_class->size_allocate = gtk_environment_view_size_allocate; |
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widget_class->button_press_event = gtk_environment_view_mouse_down; |
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widget_class->button_release_event = gtk_environment_view_mouse_release; |
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widget_class->motion_notify_event = gtk_environment_view_mouse_move; |
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widget_class->key_press_event = gtk_environment_view_key_press; |
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} |
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|
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GtkWidget* gtk_environment_view_new(void)
|
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{ |
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GtkEnvironmentView* view; |
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view = gtk_type_new(gtk_environment_view_get_type()); |
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|
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return GTK_WIDGET(view);
|
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} |
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|
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static void gtk_environment_view_init(GtkEnvironmentView* view) |
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{ |
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view->topLeftX = -2.0; |
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view->topLeftY = -1.3; |
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view->scale = 2.0 / 800.0; |
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view->width = -1;
|
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view->height = -1;
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view->selected_robot = -1;
|
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|
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GTK_WIDGET_SET_FLAGS(&(view->widget), GTK_DOUBLE_BUFFERED | GTK_CAN_FOCUS); |
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|
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view->mouseDown = 0;
|
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} |
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|
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static void gtk_environment_view_destroy(GtkObject* object) |
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{ |
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GtkEnvironmentView* view; |
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g_return_if_fail(object != NULL);
|
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g_return_if_fail(GTK_IS_ENVIRONMENT_VIEW(object)); |
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view = GTK_ENVIRONMENT_VIEW(object); |
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|
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if (GTK_OBJECT_CLASS(parent_class)->destroy)
|
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(* GTK_OBJECT_CLASS(parent_class)->destroy) (object); |
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} |
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|
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static void gtk_environment_view_realize(GtkWidget* widget) |
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{ |
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GtkEnvironmentView* view; |
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GdkWindowAttr attributes; |
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gint attributes_mask; |
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|
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g_return_if_fail( widget != NULL);
|
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g_return_if_fail( GTK_IS_ENVIRONMENT_VIEW(widget)); |
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|
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GTK_WIDGET_SET_FLAGS(widget, GTK_REALIZED); |
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view = GTK_ENVIRONMENT_VIEW(widget); |
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|
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attributes.x = widget->allocation.x; |
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attributes.y = widget->allocation.y; |
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attributes.width = widget->allocation.width; |
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attributes.height = widget->allocation.height; |
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attributes.wclass = GDK_INPUT_OUTPUT; |
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attributes.window_type = GDK_WINDOW_CHILD; |
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attributes.event_mask = gtk_widget_get_events(widget) | |
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GDK_EXPOSURE_MASK | GDK_BUTTON_PRESS_MASK | |
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GDK_BUTTON_RELEASE_MASK | GDK_POINTER_MOTION_MASK | |
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GDK_POINTER_MOTION_HINT_MASK; |
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attributes.visual = gtk_widget_get_visual(widget); |
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attributes.colormap = gtk_widget_get_colormap(widget); |
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|
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attributes_mask = GDK_WA_X | GDK_WA_Y | GDK_WA_VISUAL | GDK_WA_COLORMAP; |
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widget->window = gdk_window_new(widget->parent->window, &attributes, |
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attributes_mask); |
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gdk_window_set_user_data(widget->window, widget); |
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widget->style = gtk_style_attach(widget->style, widget->window); |
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gtk_style_set_background(widget->style, widget->window, |
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GTK_STATE_NORMAL); |
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} |
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|
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static void gtk_environment_view_size_request(GtkWidget* widget, |
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GtkRequisition* req) |
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{ |
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if (req->width < ENVIRONMENT_VIEW_MIN_WIDTH)
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req->width = ENVIRONMENT_VIEW_MIN_WIDTH; |
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if (req->height < ENVIRONMENT_VIEW_MIN_HEIGHT)
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req->height = ENVIRONMENT_VIEW_MIN_HEIGHT; |
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} |
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|
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static void gtk_environment_view_size_allocate(GtkWidget* widget, GtkAllocation* a) |
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{ |
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GtkEnvironmentView* view; |
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|
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g_return_if_fail(widget != NULL);
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g_return_if_fail(GTK_IS_ENVIRONMENT_VIEW(widget)); |
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g_return_if_fail(a != NULL);
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|
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view = GTK_ENVIRONMENT_VIEW(widget); |
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widget->allocation = *a; |
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|
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view->width = a->width; |
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view->height = a->height; |
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|
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if (GTK_WIDGET_REALIZED(widget))
|
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{ |
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gdk_window_move_resize(widget->window, a->x, a->y, a->width, a->height); |
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} |
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} |
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|
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static gboolean gtk_environment_view_expose(GtkWidget* widget,
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GdkEventExpose* event) |
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{ |
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GtkEnvironmentView* view; |
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if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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return FALSE;
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if (event->count > 0) |
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return FALSE;
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view = GTK_ENVIRONMENT_VIEW(widget); |
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draw_world(view, widget->window, widget->style->fg_gc[GTK_WIDGET_STATE(widget)], &world); |
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|
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robot_iterator_reset(); |
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Robot* r; |
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while ((r = robot_iterator_next()) != NULL) { |
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if (view->mouseDown && view->selected_robot == r->id)
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{ |
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float x, y;
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to_world_coordinates(view, view->mouseX, view->mouseY, &x, &y); |
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draw_robot(view, widget->window, |
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widget->style->fg_gc[GTK_WIDGET_STATE(widget)], |
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x, y, r->pose.theta, 1);
|
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} |
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else
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draw_robot(view, widget->window, |
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widget->style->fg_gc[GTK_WIDGET_STATE(widget)], |
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r->pose.x, r->pose.y, r->pose.theta, (view->selected_robot == r->id)); |
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} |
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|
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return FALSE;
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} |
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|
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static gboolean gtk_environment_view_mouse_down(GtkWidget* widget,
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GdkEventButton* event) |
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{ |
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GtkEnvironmentView* view; |
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Robot* r; |
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float closestdist;
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int closest;
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float x, y;
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if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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return FALSE;
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view = GTK_ENVIRONMENT_VIEW(widget); |
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if (event->button != 1) |
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return FALSE;
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view->mouseDownX = event->x; |
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view->mouseDownY = event->y; |
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view->mouseX = event->x; |
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view->mouseY = event->y; |
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view->mouseDown = 1;
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closest = -1;
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closestdist = 10e16; |
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to_world_coordinates(view, event->x, event->y, &x, &y); |
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robot_iterator_reset(); |
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while ((r = robot_iterator_next()) != NULL) |
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{ |
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float dx = r->pose.x - x;
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float dy = r->pose.y - y;
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float dist = sqrt(dx * dx + dy * dy);
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if (dist < closestdist)
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{ |
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closestdist = dist; |
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closest = r->id; |
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} |
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} |
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view->selected_robot = closest; |
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return FALSE;
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} |
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|
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static gboolean gtk_environment_view_mouse_release(GtkWidget* widget,
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GdkEventButton* event) |
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{ |
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GtkEnvironmentView* view; |
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Robot* r; |
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|
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if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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return FALSE;
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view = GTK_ENVIRONMENT_VIEW(widget); |
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if (event->button != 1 && event->button != 3) |
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return FALSE;
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|
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if (event->button == 1) |
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{ |
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view->mouseDown = 0;
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robots_pause(); |
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r = robot_get(view->selected_robot); |
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if (r != NULL) |
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to_world_coordinates(view, view->mouseX, view->mouseY, |
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&r->pose.x, &r->pose.y); |
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robots_resume(); |
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} |
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view->mouseX = event->x; |
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view->mouseY = event->y; |
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/*w = abs(view->mouseX - view->mouseDownX);
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h = abs(view->mouseY - view->mouseDownY);
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// if the box is big, zoom to the box
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if (event->button == 1 && (w >= 10 || h >= 10))
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{
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// we need to make sure the box is to scale
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// scale to height
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if (fabs((double)w / h) <= fabs((double)view->width / view->height))
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{
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w = (int)((double)view->width / view->height * h);
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if (view->mouseX < view->mouseDownX)
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view->mouseX = view->mouseDownX - w;
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else
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view->mouseX = view->mouseDownX + w;
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}
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// scale to width
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else
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{
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h = (int)((double)view->height / view->width * w);
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if (view->mouseY < view->mouseDownY)
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view->mouseY = view->mouseDownY - h;
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else
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view->mouseY = view->mouseDownY + h;
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}
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x1 = view->mouseX * view->scale + view->topLeftX;
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y1 = view->mouseY * view->scale + view->topLeftY;
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x2 = view->mouseDownX * view->scale + view->topLeftX;
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y2 = view->mouseDownY * view->scale + view->topLeftY;
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if (x2 < x1)
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x1 = x2;
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if (y2 < y1)
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y1 = y2;
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view->scale = (w * view->scale) / view->width;
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view->topLeftX = x1;
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view->topLeftY = y1;
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}
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else
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{
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x1 = view->mouseX * view->scale + view->topLeftX;
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y1 = view->mouseY * view->scale + view->topLeftY;
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|
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// zoom in on left click, out on right click
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if (event->button == 1)
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view->scale /= 2.0;
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else
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view->scale *= 2.0;
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view->topLeftX = x1 - view->width / 2 * view->scale;
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view->topLeftY = y1 - view->height / 2 * view->scale;
|
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}*/
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|
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return FALSE;
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} |
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|
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static gboolean gtk_environment_view_mouse_move(GtkWidget* widget,
|
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GdkEventMotion* event) |
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{ |
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GtkEnvironmentView* view; |
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|
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if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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return FALSE;
|
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|
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view = GTK_ENVIRONMENT_VIEW(widget); |
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|
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view->mouseX = event->x; |
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view->mouseY = event->y; |
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|
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if (!view->mouseDown)
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return FALSE;
|
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|
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// we need to make sure the new view is to scale
|
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/*int w = abs(view->mouseX - view->mouseDownX);
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int h = abs(view->mouseY - view->mouseDownY);
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// scale to height
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if (fabs((double)w / h) <= fabs((double)view->width / view->height))
|
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{
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w = (int)((double)view->width / view->height * h);
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if (view->mouseX < view->mouseDownX)
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view->mouseX = view->mouseDownX - w;
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else
|
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view->mouseX = view->mouseDownX + w;
|
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}
|
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// scale to width
|
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else
|
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{
|
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h = (int)((double)view->height / view->width * w);
|
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if (view->mouseY < view->mouseDownY)
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view->mouseY = view->mouseDownY - h;
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else
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view->mouseY = view->mouseDownY + h;
|
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}*/
|
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|
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gtk_widget_queue_draw_area(widget, 0, 0, view->width, view->height); |
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|
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return FALSE;
|
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} |
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|
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gboolean gtk_environment_view_key_press(GtkWidget* widget, |
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GdkEventKey* event) |
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{ |
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GtkEnvironmentView* view; |
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|
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if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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return FALSE;
|
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|
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view = GTK_ENVIRONMENT_VIEW(widget); |
406 |
|
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if (event->keyval == GDK_Delete)
|
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{ |
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printf("Deleting.\n");
|
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robots_pause(); |
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if (view->selected_robot != -1) |
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{ |
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robot_destroy(view->selected_robot); |
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} |
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robots_resume(); |
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} |
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return FALSE;
|
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} |
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|
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void gtk_environment_view_refresh(GtkWidget* view)
|
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{ |
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gdk_threads_enter(); |
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gtk_widget_queue_draw(view); |
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gdk_threads_leave(); |
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} |
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|
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void to_world_coordinates(GtkEnvironmentView* view, int x, int y, float* world_x, float* world_y) |
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{ |
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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;
|
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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);
|
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else
|
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height = (int)(width / xwidth * yheight);
|
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|
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*world_x = (float)x / width * xwidth + leftx;
|
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*world_y = (float)y / height * yheight + upy;
|
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} |
442 |
|
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void to_window_coordinates(GtkEnvironmentView* view, float x, float y, int* win_x, int* win_y) |
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{ |
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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;
|
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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);
|
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else
|
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height = (int)(width / xwidth * yheight);
|
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|
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*win_x = (int)((x - leftx) / xwidth * width);
|
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*win_y = (int)((y - upy) / yheight * height);
|
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} |
458 |
|
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void to_window_scale(GtkEnvironmentView* view, float v, int* win_v) |
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{ |
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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;
|
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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);
|
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else
|
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height = (int)(width / xwidth * yheight);
|
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|
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*win_v = (int)(v / xwidth * width);
|
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} |
473 |
|
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static void draw_world(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, world_t* world) |
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{ |
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int i, j;
|
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GdkPoint* points; |
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poly_t* p; |
479 |
|
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if (!drawable || !gc || !world)
|
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return;
|
482 |
|
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for (i = 0 ; i < world->max_objs; i++) |
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{ |
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object_t* o = &(world->objs[i]); |
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switch (o->id)
|
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{ |
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case ID_POLY:
|
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p = (poly_t*)o->props; |
490 |
points = (GdkPoint*)malloc(sizeof(GdkPoint) * p->num_pts);
|
491 |
for (j = 0; j < p->num_pts; j++) |
492 |
to_window_coordinates(view, p->pts[j].x, p->pts[j].y, &(points[j].x), &(points[j].y)); |
493 |
switch(p->type)
|
494 |
{ |
495 |
case POLY_CONNECTED:
|
496 |
gdk_draw_polygon(drawable, gc, 1, points, p->num_pts);
|
497 |
break;
|
498 |
default:
|
499 |
fprintf(stderr, "Detected unexpected type of polygon.\n");
|
500 |
break;
|
501 |
} |
502 |
free(points); |
503 |
break;
|
504 |
// no object
|
505 |
case ID_NULL:
|
506 |
break;
|
507 |
default:
|
508 |
fprintf(stderr, "Unexpected object type %d in world.\n", o->id);
|
509 |
break;
|
510 |
} |
511 |
} |
512 |
} |
513 |
|
514 |
static void draw_robot(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, |
515 |
float x, float y, float angle, int selected) |
516 |
{ |
517 |
int rx, ry;
|
518 |
int rox, roy;
|
519 |
if (!drawable || !gc)
|
520 |
return;
|
521 |
|
522 |
selected = 0;
|
523 |
|
524 |
to_window_scale(view, ROBOT_DIAMETER, &rx); |
525 |
to_window_scale(view, ROBOT_DIAMETER, &ry); |
526 |
to_window_coordinates(view, x, y, &rox, &roy); |
527 |
|
528 |
if (selected)
|
529 |
gdk_gc_set_fill(gc, GDK_TILED); |
530 |
gdk_draw_arc(drawable, gc, selected, (int)(rox - (float)rx / 2), (int)(roy - (float)ry / 2), |
531 |
rx, ry, 0, 360*64); |
532 |
if (selected)
|
533 |
gdk_gc_set_fill(gc, GDK_SOLID); |
534 |
|
535 |
gdk_draw_line(drawable, gc, rox, roy, |
536 |
rox + (rx / 1.8) * cos(-angle), |
537 |
roy - (ry / 1.8) * sin(-angle)); |
538 |
} |
539 |
|