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#include "simul/table.h"
#include "simul/robot.h"
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#include "element.h"
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#include "cstdlib"
#include "time.h"
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#include "main_window.h"
#define COUPE_2015
#ifndef ROBOTHW
#include <QDebug>
#endif
#define PI 3.14159265358979323846264338327950
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//#include <iostream>
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#include <QPainter>
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Table* Table::_instance = NULL;
Table* Table::getMainInstance()
{
return _instance;
}
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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);
Table::Table(MainWindow *mainWindow, QWidget* parent, bool isBlue) :
QWidget(parent), mainWindow(mainWindow),
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#ifdef BOX2D_2_0_1
world(getWorldAABB(),b2Vec2(0.f,0.f), false)
#else
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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);
// ####### création des robots ######
//Robot adversaire
robots.push_back(new Robot(world,PositionPlusAngle(Position(2700,1000, isBlue), 2*M_PI/2), true, !isBlue));
robots.push_back(new Robot(world,PositionPlusAngle(Position(300,1000, isBlue), 0), false, isBlue)); // une seule odometrie, il faut donc mettre ce robot en dernier (celui commandé par la strat)
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// ################################ Coupe 2014 ################################
#ifdef COUPE_2014
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.,330.), Objet::FIREUP, 3*PI/2, QColor(0, 0, 0)));
objets.push_back(new Objet(world, Position(470.,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)));
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.,330.), 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)));
#endif
// ################################ Coupe 2013 ################################
#ifdef COUPE_2013
//Verres 2013
// 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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// ################################ Coupe 2015 ################################
#ifdef COUPE_2015
//Gobelets à pop-corn
objets.push_back(new Objet(world, Position(250.,1750.), Objet::CUP, 0, QColor(255, 255, 255)));
objets.push_back(new Objet(world, Position(910.,800.), Objet::CUP, 0, QColor(255, 255, 255)));
objets.push_back(new Objet(world, Position(1500.,1650.), Objet::CUP, 0, QColor(255, 255, 255)));
objets.push_back(new Objet(world, Position(2090.,800.), Objet::CUP, 0, QColor(255, 255, 255)));
objets.push_back(new Objet(world, Position(2750.,1750.), Objet::CUP, 0, QColor(255, 255, 255)));
objets.push_back(new Objet(world, Position(90.,200.), Objet::STAND, 0, QColor(252, 189, 31)));
objets.push_back(new Objet(world, Position(90.,1750.), Objet::STAND, 0, QColor(252, 189, 31)));
objets.push_back(new Objet(world, Position(90.,1850.), Objet::STAND, 0, QColor(252, 189, 31)));
objets.push_back(new Objet(world, Position(850.,100.), Objet::STAND, 0, QColor(252, 189, 31)));
objets.push_back(new Objet(world, Position(850.,200.), Objet::STAND, 0, QColor(252, 189, 31)));
objets.push_back(new Objet(world, Position(870.,1355.), Objet::STAND, 0, QColor(252, 189, 31)));
objets.push_back(new Objet(world, Position(1100.,1770.), Objet::STAND, 0, QColor(252, 189, 31)));
objets.push_back(new Objet(world, Position(1300.,1400.), Objet::STAND, 0, QColor(252, 189, 31)));
objets.push_back(new Objet(world, Position(2910.,200.), Objet::STAND, 0, QColor(79, 168, 51)));
objets.push_back(new Objet(world, Position(2910.,1750.), Objet::STAND, 0, QColor(79, 168, 51)));
objets.push_back(new Objet(world, Position(2910.,1850.), Objet::STAND, 0, QColor(79, 168, 51)));
objets.push_back(new Objet(world, Position(2150.,100.), Objet::STAND, 0, QColor(79, 168, 51)));
objets.push_back(new Objet(world, Position(2150.,200.), Objet::STAND, 0, QColor(79, 168, 51)));
objets.push_back(new Objet(world, Position(2130.,1355.), Objet::STAND, 0, QColor(79, 168, 51)));
objets.push_back(new Objet(world, Position(1900.,1770.), Objet::STAND, 0, QColor(79, 168, 51)));
objets.push_back(new Objet(world, Position(1700.,1400.), Objet::STAND, 0, QColor(79, 168, 51)));
//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);
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// load the graphics of the game.
tableGraphics.load("../paprikaSimulateur/tabledata.xml");
tableGraphics.createSolids(tableBody);
// création des bougies :
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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}
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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QString debugText = "Robot Position :\n";
QString sharpsChecked = "";
for (int i = 0; i < SharpSensor::END_SHARP_NAME; i++)
if (StrategieV2::getSharpsToCheck()[i])
sharpsChecked.append((!sharpsChecked.isEmpty() ? QString(", ") : QString()) + QString::number(i));
debugText += " x : " + QString::number(robots[1]->getPos().position.getX()) + " mm\n";
debugText += " y : " + QString::number(robots[1]->getPos().position.getY()) + " mm\n";
debugText += " angle : " + QString::number(robots[1]->getPos().getAngle()*180/M_PI) + " °\n\n";
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debugText += "Robot Speeds :\n";
debugText += " lin : " + QString::number(robots[1]->getVitesseLineaire()) + " \n";
debugText += " ang : " + QString::number(robots[1]->getVitesseAngulaire()) + " \n\n";
debugText += "Time : " + QString::number(StrategieV2::getTimeSpent()/1000.) + " s\n\n";
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debugText += "Sharps : \n " + sharpsChecked + "\n\n";
DebugWindow::getInstance()->setText(debugText);
DebugWindow::getInstance()->plot(0, "Linear Speed", robots[1]->getVitesseLineaire());
DebugWindow::getInstance()->plot(1, "Angular Speed", robots[1]->getVitesseAngulaire() * 100.);
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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);
//p.setWindow(QRect(0,-tableHeight,tableWidth,tableHeight));
p.setWindow(QRect(0,0,tableWidth,tableHeight));
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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
/* 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);
CommandGoTo::deletePath(path);
}*/
// On dessine le graphe de la strat
if(true)
{
this->getMainRobot()->paintStrategie(p);
}
/*QFont font;
font.setPixelSize(50);
p.setFont(font);
p.setOpacity(1);
p.setPen(QColor("krabicolor"));
//p.setBrush(QBrush("black"));
p.drawText( QPoint(2625,100), "Pos X : ");
p.drawText( QPoint(2800,100), QString::number(robots[1]->getPos().position.getX()));
p.drawText( QPoint(2625,200), "Pos Y : ");
p.drawText( QPoint(2800,200), QString::number(robots[1]->getPos().position.getY()));
p.drawText( QPoint(2625,300), "Angle : ");
p.drawText( QPoint(2800,300), QString::number(robots[1]->getPos().getAngle()*180/M_PI));
p.drawText( QPoint(2625,400), "Timer : ");
p.drawText( QPoint(2800,400), QString::number(StrategieV2::getTimeSpent()/1000.) + " s");
p.drawText( QPoint(2625,500), "Check Sharps: ");
QString sharpsChecked = "";
for (int i = 0; i < SharpSensor::END_SHARP_NAME; i++)
if (StrategieV2::getSharpsToCheck()[i])
sharpsChecked.append((!sharpsChecked.isEmpty() ? QString(", ") : QString()) + QString::number(i));
p.drawText( QPoint(2625,600), sharpsChecked);*/
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);
void Table::mousePressEvent(QMouseEvent* evt, bool press)
{
qDebug() << "X : " << (evt->x()/900.0)*3000 << " - Y : " << (evt->y()/600.0)*2000;
}
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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.back();
}
std::vector<Objet*> Table::findObjectsNear(Position pos, Distance searchRadius, Objet::Type type)
{
std::vector<Objet*> r;
for(std::vector<Objet*>::iterator it = objets.begin(); it != objets.end(); ++it)
{
if ((type == Objet::ANY || (*it)->getType() == type) && (*it)->isNear(pos, searchRadius))
r.push_back(*it);
}
return r;