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#include "simul/table.h"
#include "simul/robot.h"
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#include "simul/objet.h"
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#include "element.h"
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#include "cstdlib"
#include "time.h"
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#define PI 3.14159265358979323846264338327950
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//#include <iostream>
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#include <QPainter>
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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);
//2014
//a.lowerBound.Set(102,102);
//a.upperBound.Set(tableWidth-127, tableHeight-127);
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Table::Table(QWidget* parent) :
QWidget(parent),
#ifdef BOX2D_2_0_1
world(getWorldAABB(),b2Vec2(0.f,0.f), false)
#else
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// world(b2Vec2(0.f,0.f), false)
world(b2Vec2(0.f,0.f))
//world(b2Vec2(127.0,102.0))
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#endif
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{
contactListenerTable = ContactListener();
world.SetContactListener(&contactListenerTable);
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dt=0;
setAutoFillBackground(true);
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QPalette p = palette();
p.setColor(QPalette::Window,QColor(Qt::darkGray));
setPalette(p);
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//création des robots
robots.push_back(new Robot(world,PositionPlusAngle(Position(3000-270,560), M_PI), true));
robots.push_back(new Robot(world,PositionPlusAngle(Position(195,1360, true), 0), false)); // une seule odometrie, il faut donc mettre ce robot en dernier (celui commandé par la strat)
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//création des feux
// côté rouge
objets.push_back(new Objet(world, Position(885.,1470.), Objet::fireUp, PI/2, QColor(0, 0, 0)));
objets.push_back(new Objet(world, Position(915.,470.), Objet::fireUp, 3*PI/2, QColor(0, 0, 0)));
objets.push_back(new Objet(world, Position(330.,915.), Objet::fireUp, 0, QColor(0, 0, 0)));
objets.push_back(new Objet(world, Position(0.,1270.), Objet::fireUp, PI/2, QColor(0, 0, 0)));
objets.push_back(new Objet(world, Position(1370.,30.), Objet::fireUp, 0, QColor(0, 0, 0)));
//côté jaune
objets.push_back(new Objet(world, Position(2085.,1470.), Objet::fireUp, PI/2, QColor(0, 0, 0)));
objets.push_back(new Objet(world, Position(2115.,470.), Objet::fireUp, 3*PI/2, QColor(0, 0, 0)));
objets.push_back(new Objet(world, Position(2530.,885.), Objet::fireUp, PI, QColor(0, 0, 0)));
objets.push_back(new Objet(world, Position(2970.,1270.), Objet::fireUp, PI/2, QColor(0, 0, 0)));
objets.push_back(new Objet(world, Position(1630.,0.), Objet::fireUp, PI, QColor(0, 0, 0)));
//création des torches
//torche rouge
objets.push_back(new Objet(world, Position(900.,900.), Objet::torch, 0, QColor(108, 59, 42)));
//torche jaune
objets.push_back(new Objet(world, Position(2100.,900.), Objet::torch, 0, QColor(108, 59, 42)));
//Verres 2012l
/* // 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)));
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// 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)));
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//Geometry
b2BodyDef bodyDef;
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tableBody = world.CreateBody(&bodyDef);
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#ifdef BOX2D_2_0_1
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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
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// bordures
box.SetAsBox(30,0, b2Vec2(0,0),0);
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tableBody->CreateFixture(&fixture);
box.SetAsBox(0,20, b2Vec2(0,0),0);
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tableBody->CreateFixture(&fixture);
box.SetAsBox(0,20, b2Vec2(30,0),0);
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tableBody->CreateFixture(&fixture);
box.SetAsBox(30,0, b2Vec2(0,20),0);
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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);
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// gateau
b2CircleShape circle;
b2FixtureDef fixtureDef;
fixtureDef.shape = &circle;
circle.m_radius = 5.f;
circle.m_p.Set(15.,20.);
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tableBody->CreateFixture(&fixtureDef);
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*/
// table 2014
//Foyer central
b2CircleShape foyerCentral;
b2FixtureDef fixtureDef;
fixtureDef.shape = &foyerCentral;
foyerCentral.m_radius = 1.5;
foyerCentral.m_p.Set(15.0,9.50);
tableBody->CreateFixture(&fixtureDef);
//Foyer rouge
b2CircleShape foyerRouge;
//b2FixtureDef fixtureDef;
fixtureDef.shape = &foyerRouge;
foyerRouge.m_radius = 2.5;
foyerRouge.m_p.Set(0.0,0.0);
tableBody->CreateFixture(&fixtureDef);
//Foyer jaune
b2CircleShape foyerJaune;
//b2FixtureDef fixtureDef;
fixtureDef.shape = &foyerJaune;
foyerJaune.m_radius = 2.5;
foyerJaune.m_p.Set(30.0,0.0);
tableBody->CreateFixture(&fixtureDef);
//Bloc dépose côté Jaune
box.SetAsBox(3.5,0.65, b2Vec2(7.5,19.35),0);
tableBody->CreateFixture(&fixture);
box.SetAsBox(3.5,0.85, b2Vec2(7.5,17.85),0);
tableBody->CreateFixture(&fixture);
//Bloc dépose côté Rouge
box.SetAsBox(3.5,0.65, b2Vec2(22.5,19.35),0);
tableBody->CreateFixture(&fixture);
box.SetAsBox(3.5,0.85, b2Vec2(22.5,17.85),0);
tableBody->CreateFixture(&fixture);
/*
// 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);
// gateau
b2CircleShape circle;
b2FixtureDef fixtureDef;
fixtureDef.shape = &circle;
circle.m_radius = 5.f;
circle.m_p.Set(15.,20.);
tableBody->CreateFixture(&fixtureDef);
*/
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// load the graphics of the game.
tableGraphics.load("/home/alex/Documents/Krabi/gitRobotique/simulation/qtcreator-files/paprikaSimulateur/tabledata.xml");
//tableGraphics.load("tabledata.xml");
//2013
tableGraphics.addYOffset(-tableHeight);
// tableGraphics.addYOffset();
//2014
//tableGraphics.addYOffset(-tableHeight+102); // because we want the (0,0) point to be at the bottom left.
//tableGraphics.addXOffset(+150); // because we want the (0,0) point to be at the bottom left.
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// création des bougies :
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/* 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), -2000.f+450.f*sin((7.5+15.f*(float)(i))*PI/180.f)), 40.f);
//std::cout << "Position(" << 1500.f-700.f*cos((10+7.5+15.f*(float)(i))*PI/180.f) << ", " << 2000.f-700.f*sin((10+7.5+15.f*(float)(i))*PI/180.f) << "), " << wrapAngle((7.5+15.f*(float)(i))*PI/180.f-M_PI/2) << std::endl;
}
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), -2000.f+350.f*sin((11.25+22.5f*(float)(i-12))*PI/180.f)), 40.f);
std::cout << "Position(" << 1500.f-700.f*cos((11.25+22.5f*(float)(i-12))*PI/180.f) << ", " << 2000.f-700.f*sin((11.25+22.5f*(float)(i-12))*PI/180.f) << "), " << wrapAngle((7.5+15.f*(float)(i))*PI/180.f-M_PI/2) << std::endl;
}
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), -2000.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), -2000.f+350.f*sin((11.25+22.5f*(float)(i-12))*PI/180.f)), 33.f);
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}*/
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}
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];
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}
void Table::update(int dt)
{
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this->dt = dt;
for(unsigned int i=0; i < robots.size(); i++)
robots[i]->updateForces(dt);
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// std::cout << Odometrie::odometrie->getPos().getPosition().getX() << " " << Odometrie::odometrie->getPos().getPosition().getY() << std::endl;
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/*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));
}
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}*/
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#ifdef BOX2D_2_0_1
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#else
world.Step((float)dt/1000., 10, 10);
world.ClearForces();
#endif
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for(unsigned int i=0; i < objets.size(); i++)
objets[i]->updatePos();
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repaint();
}
void Table::paintEvent(QPaintEvent* evt)
{
QPainter p(this);
p.setRenderHints(QPainter::Antialiasing,true);
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p.setWorldMatrixEnabled(true);
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// dessine la table
tableGraphics.draw(&p);
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for (unsigned int i=0; i < objets.size(); i++)
objets[i]->paint(p);
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/*for(unsigned int i=0; i < 20; i++)
p_bougies[i].draw(p);
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p_balles[i].draw(p);*/
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for(unsigned int i=0; i < robots.size(); i++)
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robots[i]->paint(p,dt);
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dt = 0;
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// Dessin d'un trajet
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/* PositionPlusAngle** path = CommandGoTo::path();
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p.setPen(QColor(Qt::black));
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if (path)
{
for(unsigned int i=0; i+1 < PATH_LENGTH; i++)
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p.drawLine(path[i]->position.x, -path[i]->position.y, path[i+1]->position.x, -path[i+1]->position.y);
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CommandGoTo::deletePath(path);
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}
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*/
evt->ignore();
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}
void Table::keyPressEvent(QKeyEvent* evt, bool press)
{
for(unsigned int i=0; i < robots.size(); i++)
robots[i]->keyPressEvent(evt, press);
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Sensors::getSensors()->keyPressEvent(evt,press);
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Position getSideElemCenter(bool right, unsigned int elem)
{
return Position(right ? 200 : 2800, 1810 - elem*280);
}
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float Table::getDistanceToObject(Position pos)
{
float min = 1000000;
for (unsigned int i = 0 ; i < objets.size(); i++)
{
if ((objets[i]->getPosition() - pos).getNorme() < min)
min = (objets[i]->getPosition() - pos).getNorme();
}
return min;
}
void Table::removeClosestObject(Position pos)
{
int minID = -1;
float min = 1000000;
for (unsigned int i = 0 ; i < objets.size(); i++)
{
if ((objets[i]->getPosition() - pos).getNorme() < min)
{
minID = i;
min = (objets[i]->getPosition() - pos).getNorme();
}
}
if (minID > 0)
{
objets.erase(objets.begin()+minID);
}
}
Robot* Table::getMainRobot()
{
return robots[0];
}