pxmlw6n2f/Gazebo_Distributed_TCP/gazebo/gui/building/WallSegmentItem.cc

/*
 * Copyright (C) 2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#include <ignition/math/Angle.hh>
#include <ignition/math/Vector2.hh>

#include "gazebo/common/Color.hh"

#include "gazebo/gui/Conversions.hh"
#include "gazebo/gui/building/EditorView.hh"
#include "gazebo/gui/building/MeasureItem.hh"
#include "gazebo/gui/building/RectItem.hh"
#include "gazebo/gui/building/WallInspectorDialog.hh"
#include "gazebo/gui/building/WallSegmentItem.hh"
#include "gazebo/gui/building/WallSegmentItemPrivate.hh"

using namespace gazebo;
using namespace gui;

/////////////////////////////////////////////////
WallSegmentItem::WallSegmentItem(const ignition::math::Vector2d &_start,
    const ignition::math::Vector2d &_end, const double _height)
  : SegmentItem(), dataPtr(new WallSegmentItemPrivate())
{
  this->editorType = "WallSegment";

  this->dataPtr->measure = new MeasureItem(this->StartPoint(),
                                           this->EndPoint());
  this->dataPtr->measure->setParentItem(this);
  this->SegmentUpdated();

  this->level = 0;

  this->dataPtr->wallThickness = 15;
  this->dataPtr->wallHeight = _height;

  this->SetThickness(this->dataPtr->wallThickness);
  this->SetLine(_start, _end);
  this->SetColor(common::Color(247, 142, 30));

  this->zValueIdle = 0;
  this->zValueSelected = 5;

  this->setFlag(QGraphicsItem::ItemSendsGeometryChanges);
  this->setAcceptHoverEvents(true);

  this->dataPtr->inspector = new WallInspectorDialog();
  this->dataPtr->inspector->setModal(false);
  connect(this->dataPtr->inspector, SIGNAL(Applied()), this, SLOT(OnApply()));

  this->dataPtr->openInspectorAct =
      new QAction(tr("&Open Wall Inspector"), this);
  this->dataPtr->openInspectorAct->setStatusTip(tr("Open Wall Inspector"));
  connect(this->dataPtr->openInspectorAct, SIGNAL(triggered()),
    this, SLOT(OnOpenInspector()));
  this->dataPtr->deleteItemAct = new QAction(tr("&Delete"), this);
  this->dataPtr->deleteItemAct->setStatusTip(tr("Delete"));
  connect(this->dataPtr->deleteItemAct, SIGNAL(triggered()),
    this, SLOT(OnDeleteItem()));
}

/////////////////////////////////////////////////
WallSegmentItem::~WallSegmentItem()
{
  delete this->dataPtr->inspector;
}

/////////////////////////////////////////////////
double WallSegmentItem::Height() const
{
  return this->dataPtr->wallHeight;
}

/////////////////////////////////////////////////
void WallSegmentItem::SetHeight(const double _height)
{
  this->dataPtr->wallHeight = _height;
}

/////////////////////////////////////////////////
WallSegmentItem *WallSegmentItem::Clone() const
{
  WallSegmentItem *wallSegmentItem = new WallSegmentItem(this->StartPoint(),
      this->EndPoint(), this->dataPtr->wallHeight);

  wallSegmentItem->SetLevel(this->level);
  wallSegmentItem->SetThickness(this->dataPtr->wallThickness);

  return wallSegmentItem;
}

/////////////////////////////////////////////////
void WallSegmentItem::Update()
{
  this->WallSegmentChanged();
  this->SegmentChanged();
}

/////////////////////////////////////////////////
void WallSegmentItem::WallSegmentChanged()
{
  emit DepthChanged(this->dataPtr->wallThickness);
  emit HeightChanged(this->dataPtr->wallHeight);
  emit PosZChanged(this->levelBaseHeight);
  this->SegmentUpdated();
}

/////////////////////////////////////////////////
void WallSegmentItem::UpdateInspector()
{
  double segmentLength = this->line().length() + this->dataPtr->wallThickness;
  QPointF segmentStartPoint = this->mapToScene(this->line().p1());
  QPointF segmentEndPoint = this->mapToScene(this->line().p2());

  this->dataPtr->inspector->SetName(this->Name());
  this->dataPtr->inspector->SetThickness(
      this->dataPtr->wallThickness * this->itemScale);
  this->dataPtr->inspector->SetHeight(
      this->dataPtr->wallHeight * this->itemScale);
  this->dataPtr->inspector->SetLength(segmentLength * this->itemScale);
  QPointF startPos = segmentStartPoint * this->itemScale;
  startPos.setY(-startPos.y());
  this->dataPtr->inspector->SetStartPosition(Conversions::Convert(startPos));
  QPointF endPos = segmentEndPoint * this->itemScale;
  endPos.setY(-endPos.y());
  this->dataPtr->inspector->SetEndPosition(Conversions::Convert(endPos));
  this->dataPtr->inspector->SetColor(this->visual3dColor);
  this->dataPtr->inspector->SetTexture(this->visual3dTexture);
}

/////////////////////////////////////////////////
void WallSegmentItem::SegmentUpdated()
{
  // distance in px between wall and measure line
  double d = 20;
  double t = this->Thickness()/2;

  auto p1 = this->StartPoint();
  auto p2 = this->EndPoint();
  double angle = IGN_DTOR(this->line().angle());

  this->dataPtr->measure->SetStartPoint(ignition::math::Vector2d(
      p1.X()+(d+t)*qCos(angle+M_PI/2.0)+t*qCos(angle+M_PI),
      p1.Y()-(d+t)*qSin(angle+M_PI/2.0)-t*qSin(angle+M_PI)));
  this->dataPtr->measure->SetEndPoint(ignition::math::Vector2d(
      p2.X()+(d+t)*qCos(angle+M_PI/2.0)-t*qCos(angle+M_PI),
      p2.Y()-(d+t)*qSin(angle+M_PI/2.0)+t*qSin(angle+M_PI)));
  this->dataPtr->measure->SetValue(
      (this->line().length()+2*t)*this->itemScale);

  // Doors, windows...
  QList<QGraphicsItem *> children = this->childItems();
  for (int j = 0; j < children.size(); ++j)
  {
    // TODO find a more generic way than casting child as rect item,
    // and need to keep wall-children pos ratio fixed
    RectItem *rectItem = dynamic_cast<RectItem *>(children[j]);
    if (rectItem)
    {
      rectItem->SetRotation(-this->line().angle() + rectItem->AngleOnWall());
      QPointF segLine = this->line().p2() - this->line().p1();
      rectItem->setPos(this->line().p1() + rectItem->PositionOnWall()*
          segLine);
    }
  }
}

/////////////////////////////////////////////////
void WallSegmentItem::contextMenuEvent(QGraphicsSceneContextMenuEvent *_event)
{
  this->scene()->clearSelection();
  this->setSelected(true);
  QMenu menu;
  menu.addAction(this->dataPtr->openInspectorAct);
  menu.addAction(this->dataPtr->deleteItemAct);
  menu.exec(dynamic_cast<QGraphicsSceneContextMenuEvent *>(
      _event)->screenPos());
}

/////////////////////////////////////////////////
void WallSegmentItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *
    _event)
{
  if (this->isSelected())
  {
    this->scene()->clearSelection();
    this->setSelected(true);
    this->OnOpenInspector();
    _event->setAccepted(true);
  }
}

/////////////////////////////////////////////////
QVariant WallSegmentItem::itemChange(GraphicsItemChange _change,
  const QVariant &_value)
{
  if (_change == QGraphicsItem::ItemSelectedChange && this->scene())
  {
    this->SetHighlighted(_value.toBool());
  }
  return QGraphicsItem::itemChange(_change, _value);
}

/////////////////////////////////////////////////
void WallSegmentItem::SetHighlighted(bool _highlighted)
{
  if (_highlighted)
  {
    this->ShowHandles(true);
    this->dataPtr->measure->setVisible(true);
    this->setZValue(this->zValueSelected);
    this->SetColor(Conversions::Convert(QColor(247, 142, 30)));
    this->Set3dTransparency(0.0);
  }
  else
  {
    this->ShowHandles(false);
    this->dataPtr->measure->setVisible(false);
    this->setZValue(this->zValueIdle);
    this->SetColor(common::Color::Black);
    this->Set3dTransparency(0.4);
  }
}

/////////////////////////////////////////////////
void WallSegmentItem::OnApply()
{
  WallInspectorDialog *dialog =
      qobject_cast<WallInspectorDialog *>(QObject::sender());

  double segmentLength = this->line().length() + this->dataPtr->wallThickness;
  this->dataPtr->wallThickness = dialog->Thickness() / this->itemScale;
  this->SetThickness(this->dataPtr->wallThickness);
  this->dataPtr->wallHeight = dialog->Height() / this->itemScale;
  this->SetTexture3d(dialog->Texture());
  this->SetColor3d(dialog->Color());
  this->WallSegmentChanged();

  double newLength = dialog->Length() / this->itemScale;

  // The if statement below limits the change to either the length of
  // the wall segment or its start/end pos.
  // Comparison between doubles up to 1 decimal place
  if (fabs(newLength - segmentLength) > 0.1)
  {
    newLength = std::max(newLength - this->dataPtr->wallThickness, 1.0);
    QLineF newLine = this->line();
    newLine.setLength(newLength);
    this->SetEndPoint(Conversions::Convert(this->mapToScene(newLine.p2())));
  }
  else
  {
    auto newStartPoint = dialog->StartPosition() / this->itemScale;
    newStartPoint.Y(-newStartPoint.Y());

    auto newEndPoint = dialog->EndPosition() / this->itemScale;
    newEndPoint.Y(-newEndPoint.Y());

    this->SetStartPoint(newStartPoint);
    this->SetEndPoint(newEndPoint);
  }
  this->UpdateLinkedGrabbers(this->grabbers[0], this->StartPoint());
  this->UpdateLinkedGrabbers(this->grabbers[1], this->EndPoint());
  this->update();
  this->UpdateInspector();
}

/////////////////////////////////////////////////
void WallSegmentItem::OnOpenInspector()
{
  this->UpdateInspector();
  this->dataPtr->inspector->move(QCursor::pos());
  this->dataPtr->inspector->show();
}

/////////////////////////////////////////////////
void WallSegmentItem::OnDeleteItem()
{
  dynamic_cast<EditorView *>(this->scene()->views()[0])->DeleteItem(this);
}