Newer
Older
Grégoire Payen de La Garanderie
committed
#include "simul/table.h"
#include "simul/robot.h"
Xavier CORBILLON
committed
#include "simul/objet.h"
Grégoire Payen de La Garanderie
committed
#include "element.h"
Xavier CORBILLON
committed
#include "cstdlib"
#include "time.h"
Grégoire Payen de La Garanderie
committed
#define PI 3.14159265358979323846264338327950
Grégoire Payen de La Garanderie
committed
#include <iostream>
#include <QPainter>
#include "commandGoTo.h"
Grégoire Payen de La Garanderie
committed
Grégoire Payen de La Garanderie
committed
Position getCase(unsigned int i, unsigned int j)
{
return Position(450 + i*350, j*350);
}
Position getCaseCenter(unsigned int i, unsigned int j)
{
return Position(625 + i*350, 175 + j*350);
}
b2AABB Table::getWorldAABB()
{
b2AABB a;
a.lowerBound.Set(0,0);
a.upperBound.Set(tableWidth, tableHeight);
Grégoire Payen de La Garanderie
committed
Table::Table(QWidget* parent) :
QWidget(parent),
#ifdef BOX2D_2_0_1
world(getWorldAABB(),b2Vec2(0.f,0.f), false)
#else
Xavier CORBILLON
committed
// world(b2Vec2(0.f,0.f), false)
world(b2Vec2(0.f,0.f))
Grégoire Payen de La Garanderie
committed
#endif
Grégoire Payen de La Garanderie
committed
{
dt=0;
setAutoFillBackground(true);
Xavier CORBILLON
committed
Grégoire Payen de La Garanderie
committed
QPalette p = palette();
p.setColor(QPalette::Window,QColor(Qt::darkGray));
setPalette(p);
Xavier CORBILLON
committed
//création des robots
robots.push_back(new Robot(world));
hilnius
committed
//création des verres
// côté bleu
objets.push_back(new Objet(world, Position(900.,550.), Objet::glass, 0, QColor(170, 170, 170)));
objets.push_back(new Objet(world, Position(1200.,550.), Objet::glass, 0, QColor(170, 170, 170)));
objets.push_back(new Objet(world, Position(1050.,800.), Objet::glass, 0, QColor(170, 170, 170)));
objets.push_back(new Objet(world, Position(1350.,800.), Objet::glass, 0, QColor(170, 170, 170)));
objets.push_back(new Objet(world, Position(900.,1050.), Objet::glass, 0, QColor(170, 170, 170)));
objets.push_back(new Objet(world, Position(1200.,1050.), Objet::glass, 0, QColor(170, 170, 170)));
hilnius
committed
// côté rouge
objets.push_back(new Objet(world, Position(2100.,550.), Objet::glass, 0, QColor(170, 170, 170)));
objets.push_back(new Objet(world, Position(1800.,550.), Objet::glass, 0, QColor(170, 170, 170)));
objets.push_back(new Objet(world, Position(1950.,800.), Objet::glass, 0, QColor(170, 170, 170)));
objets.push_back(new Objet(world, Position(1650.,800.), Objet::glass, 0, QColor(170, 170, 170)));
objets.push_back(new Objet(world, Position(2100.,1050.), Objet::glass, 0, QColor(170, 170, 170)));
objets.push_back(new Objet(world, Position(1800.,1050.), Objet::glass, 0, QColor(170, 170, 170)));
hilnius
committed
Xavier CORBILLON
committed
//Geometry
b2BodyDef bodyDef;
bodyDef.position.Set(0., 0.);
Xavier CORBILLON
committed
tableBody = world.CreateBody(&bodyDef);
Xavier CORBILLON
committed
Grégoire Payen de La Garanderie
committed
#ifdef BOX2D_2_0_1
Grégoire Payen de La Garanderie
committed
b2PolygonDef &fixture = box;
#else
b2PolygonShape box;
b2FixtureDef fixture;
fixture.shape = &box;
#endif
fixture.friction = 0.5;
fixture.density = 0;
#ifdef BOX2D_2_0_1
#define CreateFixture CreateShape
#endif
hilnius
committed
// bordures
box.SetAsBox(30,0, b2Vec2(0,0),0);
Grégoire Payen de La Garanderie
committed
tableBody->CreateFixture(&fixture);
box.SetAsBox(0,20, b2Vec2(0,0),0);
Grégoire Payen de La Garanderie
committed
tableBody->CreateFixture(&fixture);
box.SetAsBox(0,20, b2Vec2(30,0),0);
Grégoire Payen de La Garanderie
committed
tableBody->CreateFixture(&fixture);
box.SetAsBox(30,0, b2Vec2(0,20),0);
Xavier CORBILLON
committed
tableBody->CreateFixture(&fixture);
// fin bordures
// plateaux blancs bords zones départ
box.SetAsBox(4,1, b2Vec2(0,0),0);
tableBody->CreateFixture(&fixture);
box.SetAsBox(4,1, b2Vec2(30,0),0);
tableBody->CreateFixture(&fixture);
box.SetAsBox(4,1, b2Vec2(0,20),0);
tableBody->CreateFixture(&fixture);
box.SetAsBox(4,1, b2Vec2(30,20),0);
tableBody->CreateFixture(&fixture);
Xavier CORBILLON
committed
hilnius
committed
// gateau
b2CircleShape circle;
b2FixtureDef fixtureDef;
fixtureDef.shape = &circle;
circle.m_radius = 5.f;
circle.m_p.Set(15.,20.);
hilnius
committed
tableBody->CreateFixture(&fixtureDef);
Xavier CORBILLON
committed
hilnius
committed
// load the graphics of the game.
tableGraphics.load("tabledata.xml");
tableGraphics.addYOffset(-tableHeight); // because we want the (0,0) point to be at the bottom left.
Xavier Corbillon
committed
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
// création des bougies :
QColor colors[20];
colors[0] = QColor(0,0,255);
colors[1] = QColor(255,0,0);
colors[2] = QColor(255,0,0);
colors[3] = QColor(0,0,255);
colors[4] = QColor(255,255,255);
colors[5] = QColor(255,255,255);
colors[6] = QColor(255,255,255);
colors[7] = QColor(255,255,255);
colors[8] = QColor(255,0,0);
colors[9] = QColor(0,0,255);
colors[10] = QColor(0,0,255);
colors[11] = QColor(255,0,0);
colors[12] = QColor(0,0,255);
colors[13] = QColor(255,0,0);
colors[14] = QColor(0,0,255);
colors[15] = QColor(255,0,0);
colors[16] = QColor(0,0,255);
colors[17] = QColor(255,0,0);
colors[18] = QColor(0,0,255);
colors[19] = QColor(255,0,0);
for (int i = 0; i < 12; i++)
{
p_bougies[i] = Bougie(colors[i], QPointF(1500.f-450.f*cos((7.5+15.f*(float)(i))*PI/180.f), -2100.f+450.f*sin((7.5+15.f*(float)(i))*PI/180.f)), 40.f);
}
for (int i = 12; i < 20; i++)
{
p_bougies[i] = Bougie(colors[i], QPointF(1500.f-350.f*cos((11.25+22.5f*(float)(i-12))*PI/180.f), -2100.f+350.f*sin((11.25+22.5f*(float)(i-12))*PI/180.f)), 40.f);
}
for (int i = 0; i < 12; i++)
{
p_balles[i] = Bougie(QColor(255,255,0), QPointF(1500.f-450.f*cos((7.5+15.f*(float)(i))*PI/180.f), -2100.f+450.f*sin((7.5+15.f*(float)(i))*PI/180.f)), 33.f);
}
for (int i = 12; i < 20; i++)
{
p_balles[i] = Bougie(QColor(255,255,0), QPointF(1500.f-350.f*cos((11.25+22.5f*(float)(i-12))*PI/180.f), -2100.f+350.f*sin((11.25+22.5f*(float)(i-12))*PI/180.f)), 33.f);
}
Grégoire Payen de La Garanderie
committed
}
Table::~Table()
{
for (unsigned int i = 0; i<robots.size();i++)
delete robots[i];
for (unsigned int i = 0; i<objets.size();i++)
delete objets[i];
Grégoire Payen de La Garanderie
committed
}
void Table::update(int dt)
{
this->dt = dt;
for(unsigned int i=0; i < robots.size(); i++)
robots[i]->updateForces(dt);
Xavier CORBILLON
committed
// robots[i]->interact(elements);
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
if (dt) {
QPoint posBougie, posMarteau, tester;
for (unsigned int i = 12; i < 20; i++) {
posBougie = p_bougies[i].getPosition();
posMarteau = robots[0]->getLeftUpperHammerPos();
tester = QPoint(posBougie - posMarteau );
if (tester.manhattanLength() < 40)
p_balles[i].setColor(QColor(0,128,255));
posBougie = p_bougies[i].getPosition();
posMarteau = robots[0]->getRightUpperHammerPos();
tester = QPoint(posBougie - posMarteau );
if (tester.manhattanLength() < 40)
p_balles[i].setColor(QColor(0,128,255));
}
for (unsigned int i = 0; i < 12; i++) {
posBougie = p_bougies[i].getPosition();
posMarteau = robots[0]->getLeftLowerHammerPos();
tester = QPoint(posBougie - posMarteau );
if (tester.manhattanLength() < 40)
p_balles[i].setColor(QColor(0,128,255));
posBougie = p_bougies[i].getPosition();
posMarteau = robots[0]->getRightLowerHammerPos();
tester = QPoint(posBougie - posMarteau );
if (tester.manhattanLength() < 40)
p_balles[i].setColor(QColor(0,128,255));
}
}
Grégoire Payen de La Garanderie
committed
#ifdef BOX2D_2_0_1
Grégoire Payen de La Garanderie
committed
#else
world.Step((float)dt/1000., 10, 10);
world.ClearForces();
#endif
Xavier CORBILLON
committed
for(unsigned int i=0; i < objets.size(); i++)
objets[i]->updatePos();
Grégoire Payen de La Garanderie
committed
repaint();
}
void Table::paintEvent(QPaintEvent* evt)
{
QPainter p(this);
p.setRenderHints(QPainter::Antialiasing,true);
Grégoire Payen de La Garanderie
committed
p.setWindow(QRect(0,-tableHeight,tableWidth,tableHeight));
Grégoire Payen de La Garanderie
committed
p.setWorldMatrixEnabled(true);
hilnius
committed
// dessine la table
tableGraphics.draw(&p);
hilnius
committed
Xavier CORBILLON
committed
for (unsigned int i=0; i < objets.size(); i++)
objets[i]->paint(p);
for(unsigned int i=0; i < 20; i++)
p_bougies[i].draw(p);
for(unsigned int i=0; i < 20; i++)
p_balles[i].draw(p);
Grégoire Payen de La Garanderie
committed
for(unsigned int i=0; i < robots.size(); i++)
hilnius
committed
robots[i]->paint(p,dt);
Grégoire Payen de La Garanderie
committed
dt = 0;
Xavier CORBILLON
committed
// Dessin d'un trajet
Xavier Corbillon
committed
/* PositionPlusAngle** path = CommandGoTo::path();
Xavier Corbillon
committed
p.setPen(QColor(Qt::black));
Xavier Corbillon
committed
if (path)
{
for(unsigned int i=0; i+1 < PATH_LENGTH; i++)
Xavier CORBILLON
committed
p.drawLine(path[i]->position.x, -path[i]->position.y, path[i+1]->position.x, -path[i+1]->position.y);
Xavier Corbillon
committed
CommandGoTo::deletePath(path);
Xavier Corbillon
committed
}
Xavier Corbillon
committed
*/
evt->ignore();
Grégoire Payen de La Garanderie
committed
}
void Table::keyPressEvent(QKeyEvent* evt, bool press)
{
for(unsigned int i=0; i < robots.size(); i++)
robots[i]->keyPressEvent(evt, press);
Xavier Corbillon
committed
Sensors::getSensors()->keyPressEvent(evt,press);
Grégoire Payen de La Garanderie
committed
Position getSideElemCenter(bool right, unsigned int elem)
{
return Position(right ? 200 : 2800, 1810 - elem*280);
}