void MainWindow::on_btn_start_clicked()
{
rsim->reset();
scene->clear();
graphicalInit();
ui->liste_tributs_1->clear();
ui->liste_tributs_2->clear();
g_billes.clear();
photos_g.clear();
outlight_g.clear();
int n = ui->nbilles_dial->value();
for(int i=0;i<n;i++) {
if(i%2 == 0) {
ui->liste_tributs_1->addItem("Palmer?");
} else if(i%2 == 1) {
ui->liste_tributs_2->addItem("Palmer?");
}
}
rsim->start(n);
QVector<b2Body*> b=rsim->getBalls();
for(int i=0;i<b.size();i++) {
QGraphicsEllipseItem* g_bille = scene->addEllipse(-10,-10,35,35,QPen(), QBrush(QColor(200,86,23)));
g_billes.append(g_bille);
QGraphicsPixmapItem* p = scene->addPixmap(unknown);
if(n<= 12) {
p->setScale(0.5f);
int total_height = (ceil(b.size()/2.0))*150+40;
p->setPos(i%2==0? -540 : 520-100, -total_height/2+(i/2)*150);
} else {
float scale = 0.5*12/(float)n;
p->setScale(scale);
float height = 150*12/(float) n;
int total_height = (ceil(b.size()/2.0))*height+40;
p->setPos(i%2==0? -540 : 520-100*12/(float)n, -total_height/2+(i/2)*height);
}
photos_g.append(p);
QVector<QPointF> points;
points.append(QPointF(0,0));
points.append(QPointF(1500,0));
points.append(QPointF(1500*cos(1/48.0*2*3.14159),1500*sin(1/48.0*2*3.14159)));
QGraphicsPolygonItem* outlight = scene->addPolygon(QPolygonF(points),QPen(QColor(255,255,255,128)),QBrush(QColor(255,192+(rand()%64 - 32),0,96)));
outlight->setZValue(-1);
outlight->setTransformOriginPoint(QPointF(0,0));
outlight->setVisible(false);
outlight_g.append(outlight);
}
}
void
rce::gui::RImageMarkerScene::
setAllPolygonsVisible(bool value)
{
for(auto it = polygonItems_.begin();
it != polygonItems_.end();
++it)
{
QGraphicsPolygonItem *item = it.value();
item->setVisible(value);
}
}
void cbSimulator::showGraph(int id)
{
unsigned int w,c;
QGraphicsPolygonItem *wallCanvas;
QGraphicsRectItem *grCanvas;
if(id<1 || id > (int)robots.size()) {
cerr << "Cannot show graph of robot " << id << "\n";
return;
}
labCanvasWidth=(int)(lab->Width()*30);
labCanvasHeight=(int)(lab->Height()*30);
labScene=new QGraphicsScene(0, 0, labCanvasWidth,labCanvasHeight);
labView=new cbGraphView(labScene,this);
labView->viewport()->setMouseTracking(true);
QPolygon *pa;
for(w=1; w<lab->nWalls();w++) {
vector<cbPoint> &corners=lab->Wall(w)->Corners();
//pa.resize(corners.size());
pa = new QPolygon(corners.size());
for(c=0; c<corners.size();c++)
pa->setPoint(c,(int)(corners[c].X()*labCanvasWidth/lab->Width()),
(int)(labCanvasHeight-corners[c].Y()*labCanvasHeight/lab->Height()) );
wallCanvas = new QGraphicsPolygonItem(0, labScene);
wallCanvas->setPolygon(*pa);
wallCanvas->setBrush(QBrush(Qt::black));
wallCanvas->setVisible(true);
}
unsigned int x,y;
double distMax=0.0;
//grAux=graph; Tentativa de optimizacao
for(x = 0; x < GRIDSIZE; x++)
for(y = 0; y < GRIDSIZE; y++) {
*grAux=*graph;
//grAux->resetInitState(); Tentativa de optimizacao - testes indicam que fica muito mais lento!!
//grAux->writeGraph();
cbPoint p((0.5+x)*lab->Width()/GRIDSIZE, (GRIDSIZE-0.5-y)*lab->Height()/GRIDSIZE);
grAux->addFinalPoint(id,p);
distGrid[x][y]=grAux->dist(id);
if(distGrid[x][y] < 2000 && distGrid[x][y]>distMax)
distMax=distGrid[x][y];
}
// fprintf(stderr,"distmax=%f labCanvasWidth=%d labCanvasHeight=%d\n",
// distMax,labCanvasWidth,labCanvasHeight);
for(x = 0; x < GRIDSIZE; x++)
for(y = 0; y < GRIDSIZE; y++) {
if(distGrid[x][y]<2000) {
grCanvas = new QGraphicsRectItem(x*labCanvasWidth/GRIDSIZE,y*labCanvasHeight/GRIDSIZE,
(x+1)*labCanvasWidth/GRIDSIZE - x*labCanvasWidth/GRIDSIZE,
(y+1)*labCanvasHeight/GRIDSIZE -y*labCanvasHeight/GRIDSIZE,
0, labScene);
QColor color((int)(0+distGrid[x][y]/distMax*250),
(int)(0+distGrid[x][y]/distMax*250),
(int)(0+distGrid[x][y]/distMax*250));
grCanvas->setBrush(QBrush(color));
grCanvas->setPen(QPen(color));
grCanvas->setVisible(true);
//debug
//distGrid[x][y]=(int)(0+distGrid[x][y]/distMax*250);
}
}
labScene->update();
}