int GLWidget::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QGLWidget::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: clicked(); break;
case 1: selectedRobot(); break;
case 2: closeSignal((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 3: toggleFullScreen((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 4: robotTurnedOnOff((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< bool(*)>(_a[2]))); break;
case 5: moveRobot(); break;
case 6: resetRobot(); break;
case 7: selectRobot(); break;
case 8: moveCurrentRobot(); break;
case 9: resetCurrentRobot(); break;
case 10: moveBall(); break;
case 11: changeCameraMode(); break;
case 12: yellowRobotsMenuTriggered((*reinterpret_cast< QAction*(*)>(_a[1]))); break;
case 13: blueRobotsMenuTriggered((*reinterpret_cast< QAction*(*)>(_a[1]))); break;
case 14: switchRobotOnOff(); break;
case 15: moveRobotHere(); break;
case 16: moveBallHere(); break;
case 17: lockCameraToRobot(); break;
case 18: lockCameraToBall(); break;
default: ;
}
_id -= 19;
}
return _id;
}
RangeSensorWidget::RangeSensorWidget(int& argc, char * argv[]) :
QWidget(),
client_(argc, argv),
sensor_(),
robotName_(client_.namingContextName.c_str()),
sensorName_("Sonar"),
group_(0),
timer_(0),
drawCones_(false)
{
// set widget size
resize(400, 400);
// init menu
menuBar_ = new QMenuBar(this);
menuFile_ = new QPopupMenu(this);
menuView_ = new QPopupMenu(this);
menuView_->setCheckable(true);
menuBar_->insertItem("&Robot", menuFile_);
menuBar_->insertItem("&View", menuView_);
menuFile_->insertItem("Select robot", this, SLOT(selectRobot()));
menuFile_->insertItem("Select sensor", this, SLOT(selectSensor()));
groupIndex_ = menuFile_->insertItem("Select group", this, SLOT(selectGroup()));
menuFile_->setItemEnabled(groupIndex_, false);
menuFile_->insertSeparator();
menuFile_->insertItem("Quit", qApp, SLOT(quit()));
coneIndex_ = menuView_->insertItem("Draw Cone", this, SLOT(toggleCone()));
}
void HumanPlayer::controlRobotAt(int index)
{
selectRobotView(robots.at(0));
changeCamera(CAMERA_ROBOT);
selectRobot(index);
aRobotIsSelected = true;
robots.at(0)->isRobotBeingControlled = true;
}
GLWidget::GLWidget(QWidget *parent,ConfigWidget* _cfg)
: QGLWidget(parent)
{
frames = 0;
state = 0;
first_time = true;
cfg = _cfg;
forms[0] = new RobotsFomation(-1); //outside
forms[1] = new RobotsFomation(-2); //outside
forms[2] = new RobotsFomation(1); //inside type 1
forms[3] = new RobotsFomation(2); //inside type 2
forms[4] = new RobotsFomation(3); //inside type 1
forms[5] = new RobotsFomation(4); //inside type 2
ssl = new SSLWorld(this,cfg,forms[2],forms[2]);
Current_robot = 0;
Current_team = 0;
cammode = 0;
setMouseTracking(true);
blueRobotsMenu = new QMenu("&Blue Robots");
yellowRobotsMenu = new QMenu("&Yellow Robots");
blueRobotsMenu->addAction(tr("Put all inside with formation 1"));
blueRobotsMenu->addAction(tr("Put all inside with formation 2"));
blueRobotsMenu->addAction(tr("Put all outside"));
blueRobotsMenu->addAction(tr("Put all out of field"));
yellowRobotsMenu->addAction(tr("Put all inside with formation 1"));
yellowRobotsMenu->addAction(tr("Put all inside with formation 2"));
yellowRobotsMenu->addAction(tr("Put all outside"));
yellowRobotsMenu->addAction(tr("Put all out of field"));
robpopup = new QMenu(this);
moveRobotAct = new QAction(tr("&Locate robot"),this);
selectRobotAct = new QAction(tr("&Select robot"),this);
resetRobotAct = new QAction(tr("&Reset robot"),this);
onOffRobotAct = new QAction(tr("Turn &off"),this);
lockToRobotAct = new QAction(tr("Loc&k camera to this robot"),this);
robpopup->addAction(moveRobotAct);
robpopup->addAction(resetRobotAct);
robpopup->addAction(onOffRobotAct);
robpopup->addAction(lockToRobotAct);
robpopup->addMenu(blueRobotsMenu);
robpopup->addMenu(yellowRobotsMenu);
moveBallAct = new QAction(tr("&Locate ball"),this);
lockToBallAct = new QAction(tr("Loc&k camera to ball"),this);
ballpopup = new QMenu(this);
ballpopup->addAction(moveBallAct);
ballpopup->addAction(lockToBallAct);
moveRobotHereAct = new QAction(tr("Locate current &robot here"),this);
moveBallHereAct = new QAction(tr("Locate &ball here"),this);
mainpopup = new QMenu(this);
mainpopup->addAction(moveBallHereAct);
mainpopup->addAction(moveRobotHereAct);
cameraMenu = new QMenu("&Camera");
changeCamModeAct=new QAction(tr("Change &mode"),this);
changeCamModeAct->setShortcut(QKeySequence("C"));
cameraMenu->addAction(changeCamModeAct);
cameraMenu->addAction(lockToRobotAct);
cameraMenu->addAction(lockToBallAct);
mainpopup->addMenu(cameraMenu);
mainpopup->addMenu(blueRobotsMenu);
mainpopup->addMenu(yellowRobotsMenu);
connect(moveRobotAct, SIGNAL(triggered()), this, SLOT(moveRobot()));
connect(selectRobotAct, SIGNAL(triggered()), this, SLOT(selectRobot()));
connect(resetRobotAct, SIGNAL(triggered()), this, SLOT(resetRobot()));
connect(moveBallAct, SIGNAL(triggered()), this, SLOT(moveBall()));
connect(onOffRobotAct, SIGNAL(triggered()), this, SLOT(switchRobotOnOff()));
connect(yellowRobotsMenu,SIGNAL(triggered(QAction*)),this,SLOT(yellowRobotsMenuTriggered(QAction*)));
connect(blueRobotsMenu,SIGNAL(triggered(QAction*)),this,SLOT(blueRobotsMenuTriggered(QAction*)));
connect(moveBallHereAct, SIGNAL(triggered()),this , SLOT(moveBallHere()));
connect(moveRobotHereAct, SIGNAL(triggered()),this , SLOT(moveRobotHere()));
connect(lockToRobotAct, SIGNAL(triggered()), this, SLOT(lockCameraToRobot()));
connect(lockToBallAct, SIGNAL(triggered()), this, SLOT(lockCameraToBall()));
connect(changeCamModeAct,SIGNAL(triggered()),this,SLOT(changeCameraMode()));
setFocusPolicy(Qt::StrongFocus);
fullScreen = false;
ctrl = false;
alt = false;
kickingball = false;
kickpower = 3.0;
}
void GLWidget::mousePressEvent(QMouseEvent *event)
{
if (!ssl->g->isGraphicsEnabled()) return;
lastPos = event->pos();
if (event->buttons() & Qt::LeftButton)
{
if (state==1)
{
if (moving_robot_id!=-1)
{
ssl->robots[moving_robot_id]->setXY(ssl->cursor_x,ssl->cursor_y);
state = 0;
ssl->show3DCursor = false;
}
}
else if (state==2)
{
ssl->ball->setBodyPosition(ssl->cursor_x,ssl->cursor_y,cfg->v_BallRadius->getValue()*1.1*20.0);
dBodySetAngularVel(ssl->ball->body,0,0,0);
dBodySetLinearVel(ssl->ball->body,0,0,0);
ssl->show3DCursor = false;
state = 0;
}
else {
if (ssl->selected>=0){
clicked_robot = ssl->selected;
selectRobot();
}
if (kickingball)
{
dReal x,y,z;
ssl->ball->getBodyPosition(x,y,z);
x = ssl->cursor_x - x;
y = ssl->cursor_y - y;
dReal lxy = hypot(x,y);
x /= lxy;
y /= lxy;
x *= kickpower;
y *= kickpower;
dBodySetLinearVel(ssl->ball->body,x,y,0);
dBodySetAngularVel(ssl->ball->body,-y/cfg->v_BallRadius->getValue(),x/cfg->v_BallRadius->getValue(),0);
}
}
}
if (event->buttons() & Qt::RightButton)
{
if (ssl->selected!=-1 && ssl->selected!=-2)
{
clicked_robot = ssl->selected;
selectRobot();
if (ssl->robots[ssl->selected]->on)
onOffRobotAct->setText("Turn &off");
else onOffRobotAct->setText("Turn &on");
robpopup->exec(event->globalPos());
}
else clicked_robot=-1;
if (ssl->selected==-2)
ballpopup->exec(event->globalPos());
if (ssl->selected==-1)
mainpopup->exec(event->globalPos());
}
}
