void draw(){
  _window.Clear();
  
  {
    sf::Rect<float> frect = sf::Rect<float>(0,0,window_width,window_height);
    _camera.SetFromRect(frect);
  }
  
  _window.Draw(_backgroundSprite);
  
  
  // draw the range shade
  _rangeSprite.SetPosition(current_pose.x + window_width/2, window_height/2 - current_pose.y);
  _window.Draw(_rangeSprite);
  
  // draw the landmarks
  for(unsigned int i=0; i<landmarks.size(); i++){
    _landmarkSprite.SetPosition(landmarks[i].x + window_width/2, window_height/2 - landmarks[i].y);
    _window.Draw(_landmarkSprite);
  }

  // draw the robot
  _robotSprite.SetPosition(current_pose.x + window_width/2, window_height/2 - current_pose.y);
  _robotSprite.SetRotation(current_pose.theta * 180 / M_PI);
  _window.Draw(_robotSprite);
  
  // draw the "other" robot
  _fakeRobotSprite.SetPosition(fake_current_pose.x + window_width/2, window_height/2 - fake_current_pose.y);
  _fakeRobotSprite.SetRotation(fake_current_pose.theta * 180 / M_PI);
  _window.Draw(_fakeRobotSprite);
  
  // display everything
  _window.Display();
}
Esempio n. 2
0
int main()
{
	img_r.LoadFromFile("..\\Imagenes\\rcircle.png");
	img_b.LoadFromFile("..\\Imagenes\\bcircle.png");
	
	sprite_b.SetImage(img_b);
	sprite_r.SetImage(img_r);

	sf::RenderWindow App(sf::VideoMode(800,600,32),"ventana");
	
	const sf::Input& in = App.GetInput();

	sprite_b.Scale(sprite_r.GetSize().x/sprite_b.GetSize().x,sprite_r.GetSize().y/sprite_b.GetSize().y);

	while(App.IsOpened())
	{

		while(App.GetEvent(Event))
		{
			if(Event.Type == sf::Event::Closed)
				App.Close();

			if(Event.Type == sf::Event::MouseMoved){
			//	cursor.SetPosition(Event.MouseMove.X,Event.MouseMove.Y);
			}

		}

		if(in.IsKeyDown(sf::Key::Escape))
			App.Close();

		//cursor.SetPosition(in.GetMouseX(),in.GetMouseY());

		App.Clear();
		sprite_r.SetPosition(0,0);
		App.Draw(sprite_r);

		sprite_r.SetPosition(App.GetWidth()-img_r.GetWidth(),0);
		App.Draw(sprite_r);

		sprite_r.SetPosition(0,App.GetHeight()-img_r.GetHeight());
		App.Draw(sprite_r);

		sprite_r.SetPosition(App.GetWidth()-img_r.GetWidth(),App.GetHeight()-img_r.GetHeight());
		App.Draw(sprite_r);
		
		sprite_b.SetPosition((App.GetWidth()-sprite_b.GetSize().x)/2,(App.GetHeight()-sprite_b.GetSize().y)/2);
		App.Draw(sprite_b);
		App.Display();
	}

	return 0;
}
Esempio n. 3
0
float Functions::calculateRotation(sf::Sprite &sprite, float posX, float posY, float radius, float speed, float angle, float angleOffset)
{
	float rad = (float)(angle * (3.1415 / -180));
			
	sprite.SetPosition(posX + radius * sin(rad), posY + radius * cos(rad));
	
	angle -= speed;	
	angle = fmod(angle, 360);
	
	if (angle == 0) 
	{
		angle = 360;
	}
	
	sprite.SetRotation(angle + angleOffset);

	return angle;
}
Esempio n. 4
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void SubWindow::add(sf::Sprite sprite, sf::Vector2i pos) {
	sprite.SetPosition(pos.x + position.x, pos.y + position.y);

	queue.push_back(new sf::Sprite(sprite));
}
Esempio n. 5
0
int main()
{
	img_r.LoadFromFile("..\\Imagenes\\rcircle.png");
	img_b.LoadFromFile("..\\Imagenes\\bcircle.png");
	
	sprite_b.SetImage(img_b);
	sprite_r[0].SetImage(img_r);
	sprite_r[1].SetImage(img_r);
	sprite_r[2].SetImage(img_r);
	sprite_r[3].SetImage(img_r);

	sf::RenderWindow App(sf::VideoMode(800,600,32),"ventana");

	const sf::Input& in = App.GetInput();
	
	sprite_b.Scale(sprite_r[0].GetSize().x/sprite_b.GetSize().x,sprite_r[0].GetSize().y/sprite_b.GetSize().y);
	sprite_r[0].SetPosition(0,0);
	sprite_r[1].SetPosition(App.GetWidth()-img_r.GetWidth(),0);
	sprite_r[2].SetPosition(0,App.GetHeight()-img_r.GetHeight());
	sprite_r[3].SetPosition(App.GetWidth()-img_r.GetWidth(),App.GetHeight()-img_r.GetHeight());
	sprite_b.SetPosition((App.GetWidth()-sprite_b.GetSize().x)/2,(App.GetHeight()-sprite_b.GetSize().y)/2);

	int index = -1;
	int pos_x,pos_y;

	while(App.IsOpened())
	{
		while(App.GetEvent(Event))
		{
			if(Event.Type == sf::Event::Closed)
				App.Close();
			
			if(index == -1 && Event.Type == sf::Event::MouseButtonPressed)
			{
				int x = Event.MouseButton.X;
				int y = Event.MouseButton.Y;
				int sx,sy;
				int w,h;
				for(int i=0;i<4;i++)
				{
					sx = sprite_r[i].GetPosition().x;
					sy = sprite_r[i].GetPosition().y;
					h = sprite_r[i].GetSize().y;
					w = sprite_r[i].GetSize().x;
					if(sx < x && sx + w > x && sy < y && sy + h > y)
					{
						index = i;
						pos_x = x;
						pos_y = y;
						break;
					}
				}
			}

			if(index > -1 && Event.Type == sf::Event::MouseButtonReleased)
			{
				index = -1;
			}
		}

		if(in.IsKeyDown(sf::Key::Escape))
			App.Close();

		if(index > -1)
		{
		   int off_x = in.GetMouseX() - pos_x;
		   int off_y = in.GetMouseY() - pos_y;
		   pos_x = in.GetMouseX();
		   pos_y = in.GetMouseY();
		   sprite_r[index].Move(off_x,off_y);		   
		}

		App.Clear();
		
		App.Draw(sprite_r[3]);
		App.Draw(sprite_r[2]);		
		App.Draw(sprite_r[1]);
		App.Draw(sprite_r[0]);
		App.Draw(sprite_b);

		App.Display();
	}

	return 0;
}