314 lines
10 KiB
C++
314 lines
10 KiB
C++
/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "gazebo/common/SVGLoader.hh"
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#include "gazebo/gui/model/ExtrudeDialogPrivate.hh"
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#include "gazebo/gui/model/ExtrudeDialog.hh"
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using namespace gazebo;
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using namespace gui;
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/////////////////////////////////////////////////
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ExtrudeDialog::ExtrudeDialog(const std::string &_filename, QWidget *_parent)
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: QDialog(_parent), dataPtr(new ExtrudeDialogPrivate)
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{
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this->setObjectName("ExtrudeDialog");
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this->setWindowTitle(tr("Extrude Link"));
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this->setWindowFlags(Qt::Window | Qt::WindowCloseButtonHint |
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Qt::WindowStaysOnTopHint | Qt::CustomizeWindowHint);
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// Title
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QLabel *titleLabel = new QLabel(tr(
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"Extrude a 2D polyline into a 3D mesh.<br>"));
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// Thickness
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this->dataPtr->thicknessSpin = new QDoubleSpinBox();
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this->dataPtr->thicknessSpin->setObjectName("thicknessSpin");
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this->dataPtr->thicknessSpin->setRange(0.001, 1000);
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this->dataPtr->thicknessSpin->setSingleStep(0.1);
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this->dataPtr->thicknessSpin->setDecimals(3);
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this->dataPtr->thicknessSpin->setValue(0.1);
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// Resolution
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this->dataPtr->resolutionSpin = new QDoubleSpinBox();
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this->dataPtr->resolutionSpin->setObjectName("resolutionSpin");
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this->dataPtr->resolutionSpin->setRange(1, 100000);
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this->dataPtr->resolutionSpin->setSingleStep(100);
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this->dataPtr->resolutionSpin->setDecimals(3);
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// 3543.3 px/m == 90 dpi
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this->dataPtr->resolutionSpin->setValue(3543.3);
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connect(this->dataPtr->resolutionSpin, SIGNAL(valueChanged(double)),
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this, SLOT(OnUpdateView(double)));
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// Samples
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this->dataPtr->samplesSpin = new QSpinBox();
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this->dataPtr->samplesSpin->setObjectName("samplesSpin");
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this->dataPtr->samplesSpin->setRange(2, 100);
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this->dataPtr->samplesSpin->setSingleStep(1);
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this->dataPtr->samplesSpin->setValue(5);
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QLabel *samplesTips = new QLabel(tr("<b><font size=4>?</font></b>"));
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samplesTips->setToolTip(
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"Number of points to divide each curve segment into.");
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connect(this->dataPtr->samplesSpin, SIGNAL(valueChanged(int)),
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this, SLOT(OnUpdateView(int)));
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QGridLayout *inputsLayout = new QGridLayout();
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inputsLayout->addWidget(new QLabel("Thickness:"), 0, 0);
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inputsLayout->addWidget(this->dataPtr->thicknessSpin, 0, 1);
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inputsLayout->addWidget(new QLabel("m"), 0, 2);
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inputsLayout->addWidget(new QLabel("Resolution:"), 1, 0);
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inputsLayout->addWidget(this->dataPtr->resolutionSpin, 1, 1);
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inputsLayout->addWidget(new QLabel("px/m"), 1, 2);
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inputsLayout->addWidget(new QLabel("Samples per segment:"), 2, 0);
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inputsLayout->addWidget(this->dataPtr->samplesSpin, 2, 1);
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inputsLayout->addWidget(samplesTips, 2, 2);
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// Buttons
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QPushButton *backButton = new QPushButton(tr("Back"));
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connect(backButton, SIGNAL(clicked()), this, SLOT(OnReject()));
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QPushButton *okButton = new QPushButton("Ok");
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okButton->setDefault(true);
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connect(okButton, SIGNAL(clicked()), this, SLOT(OnAccept()));
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QHBoxLayout *buttonsLayout = new QHBoxLayout();
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buttonsLayout->addWidget(backButton);
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buttonsLayout->addWidget(okButton);
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buttonsLayout->setAlignment(Qt::AlignRight);
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// Left column
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QWidget *leftColumn = new QWidget();
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leftColumn->setSizePolicy(QSizePolicy::Fixed,
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QSizePolicy::Fixed);
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QVBoxLayout *leftColumnLayout = new QVBoxLayout();
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leftColumn->setLayout(leftColumnLayout);
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leftColumnLayout->addWidget(titleLabel);
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leftColumnLayout->addLayout(inputsLayout);
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leftColumnLayout->addSpacing(30);
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leftColumnLayout->addLayout(buttonsLayout);
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// Image view
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this->dataPtr->filename = _filename;
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this->dataPtr->view = new QGraphicsView(this);
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QGraphicsScene *scene = new QGraphicsScene();
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scene->setBackgroundBrush(Qt::white);
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this->dataPtr->view->setSizePolicy(QSizePolicy::Expanding,
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QSizePolicy::Expanding);
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this->dataPtr->view->setScene(scene);
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this->dataPtr->view->setViewportUpdateMode(
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QGraphicsView::FullViewportUpdate);
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this->dataPtr->view->setDragMode(QGraphicsView::ScrollHandDrag);
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this->dataPtr->view->setMinimumWidth(200);
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this->dataPtr->viewWidth = 500;
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this->dataPtr->view->installEventFilter(this);
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this->UpdateView();
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// Main layout
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QHBoxLayout *mainLayout = new QHBoxLayout;
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mainLayout->addWidget(leftColumn, 0, Qt::AlignTop);
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mainLayout->addWidget(this->dataPtr->view);
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this->setLayout(mainLayout);
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}
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/////////////////////////////////////////////////
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ExtrudeDialog::~ExtrudeDialog()
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{
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delete this->dataPtr;
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this->dataPtr = NULL;
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}
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/////////////////////////////////////////////////
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void ExtrudeDialog::OnAccept()
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{
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this->accept();
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}
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/////////////////////////////////////////////////
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void ExtrudeDialog::OnReject()
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{
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// back to import
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this->reject();
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}
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/////////////////////////////////////////////////
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double ExtrudeDialog::GetThickness() const
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{
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return this->dataPtr->thicknessSpin->value();
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}
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/////////////////////////////////////////////////
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unsigned int ExtrudeDialog::GetSamples() const
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{
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return this->dataPtr->samplesSpin->value();
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}
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/////////////////////////////////////////////////
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double ExtrudeDialog::GetResolution() const
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{
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return this->dataPtr->resolutionSpin->value();
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}
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/////////////////////////////////////////////////
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void ExtrudeDialog::OnUpdateView(int /*_value*/)
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{
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this->UpdateView();
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}
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/////////////////////////////////////////////////
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void ExtrudeDialog::OnUpdateView(double /*_value*/)
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{
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this->UpdateView();
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}
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/////////////////////////////////////////////////
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void ExtrudeDialog::UpdateView()
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{
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QGraphicsScene *scene = this->dataPtr->view->scene();
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scene->clear();
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common::SVGLoader svgLoader(this->GetSamples());
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std::vector<common::SVGPath> paths;
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svgLoader.Parse(this->dataPtr->filename, paths);
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if (paths.empty())
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{
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gzerr << "An empty path should never get here." << std::endl;
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return;
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}
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// Find extreme values to center and scale
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math::Vector2d min(paths[0].polylines[0][0]);
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math::Vector2d max(min);
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for (const auto &p : paths)
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{
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for (const auto &poly : p.polylines)
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{
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for (const auto &pt : poly)
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{
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if (pt.X() < min.x)
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min.x = pt.X();
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if (pt.Y() < min.y)
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min.y = pt.Y();
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if (pt.X() > max.x)
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max.x = pt.X();
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if (pt.Y() > max.y)
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max.y = pt.Y();
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}
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}
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}
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int margin = 50;
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double svgWidth = this->dataPtr->viewWidth - margin * 2;
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double resolutionView = svgWidth / (max.x-min.x);
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double svgHeight = (max.y - min.y) * resolutionView;
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double viewHeight = svgHeight + 2 * margin;
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scene->setSceneRect(0, 0, this->dataPtr->viewWidth, viewHeight);
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// Draw grid lines
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double sceneMeter = 1 * this->GetResolution() * resolutionView;
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for (double r = 0; r <= viewHeight; r += sceneMeter/10.0)
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{
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scene->addLine(- margin, r, this->dataPtr->viewWidth + margin, r,
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QPen(QColor(230, 230, 255)));
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}
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for (double c = 0; c <= this->dataPtr->viewWidth; c += sceneMeter/10.0)
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{
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scene->addLine(c, - margin, c, viewHeight + margin,
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QPen(QColor(230, 230, 255)));
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}
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for (double r = 0; r <= viewHeight; r += sceneMeter)
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{
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scene->addLine(- margin, r, this->dataPtr->viewWidth + margin, r,
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QPen(QColor(108, 108, 255)));
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}
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for (double c = 0; c <= this->dataPtr->viewWidth; c += sceneMeter)
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{
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scene->addLine(c, - margin, c, viewHeight + margin,
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QPen(QColor(108, 108, 255)));
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}
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// Draw origin
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scene->addLine(this->dataPtr->viewWidth/2.0 - this->dataPtr->viewWidth/30.0,
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viewHeight/2.0,
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this->dataPtr->viewWidth/2.0 + this->dataPtr->viewWidth/30.0,
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viewHeight/2.0,
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QPen(QColor(50, 50, 255), 2));
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scene->addLine(this->dataPtr->viewWidth/2.0,
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viewHeight/2.0 - this->dataPtr->viewWidth/30.0,
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this->dataPtr->viewWidth/2.0,
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viewHeight/2.0 + this->dataPtr->viewWidth/30.0,
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QPen(QColor(50, 50, 255), 2));
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// Draw polygons
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for (common::SVGPath path : paths)
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{
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for (std::vector<ignition::math::Vector2d> poly : path.polylines)
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{
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QPainterPath painterPath;
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bool firstPoint = true;
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for (ignition::math::Vector2d pt : poly)
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{
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// Centroid at SVG 0,0
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pt = pt - min.Ign() - (max-min).Ign()*0.5;
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// Scale to view while keeping aspect ratio
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pt = ignition::math::Vector2d(
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pt.X() * resolutionView, pt.Y() * resolutionView);
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// Translate to view center
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pt.X() += this->dataPtr->viewWidth/2.0;
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pt.Y() += viewHeight/2.0;
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// Draw point
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double pointSize = 5;
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QGraphicsEllipseItem *ptItem = new QGraphicsEllipseItem(
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pt.X() - pointSize/2.0, pt.Y() - pointSize/2.0,
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pointSize, pointSize);
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ptItem->setBrush(Qt::red);
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ptItem->setZValue(5);
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scene->addItem(ptItem);
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if (firstPoint)
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{
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firstPoint = false;
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painterPath.moveTo(pt.X(), pt.Y());
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}
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else
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painterPath.lineTo(pt.X(), pt.Y());
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}
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QGraphicsPathItem *pathItem = new QGraphicsPathItem(painterPath);
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// Draw polygon
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pathItem->setPen(QPen(Qt::black, 3, Qt::SolidLine));
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scene->addItem(pathItem);
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}
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}
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}
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/////////////////////////////////////////////////
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bool ExtrudeDialog::eventFilter(QObject *_obj, QEvent *_event)
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{
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QGraphicsView *graphicsView = qobject_cast<QGraphicsView *>(_obj);
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if (graphicsView && _event->type() == QEvent::Resize)
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{
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QResizeEvent *resizeEv = dynamic_cast<QResizeEvent *>(_event);
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this->dataPtr->viewWidth = resizeEv->size().width() - 20;
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this->UpdateView();
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}
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return QObject::eventFilter(_obj, _event);
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}
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