robot-simulation-cpp/graphic.cc at main · Kevinabj/robot-simulation-cpp · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
#include "graphic.h"
#include <cmath>

static const Cairo::RefPtr<Cairo::Context>* ptcr(nullptr);
void graphic_set_context( const Cairo::RefPtr<Cairo::Context>& cr)
{
ptcr = &cr;
}


void draw_border(double xMin, double yMin, double xMax,
                                                double yMax, double thickness) {
	(*ptcr)->save();
    set_color(Gray);
    (*ptcr)->set_line_width(thickness);

    // Draw the four lines to form the border
    (*ptcr)->move_to(xMin, yMin);
    (*ptcr)->line_to(xMax, yMin);
    (*ptcr)->stroke();

    (*ptcr)->move_to(xMax, yMin);
    (*ptcr)->line_to(xMax, yMax);
    (*ptcr)->stroke();

    (*ptcr)->move_to(xMax, yMax);
    (*ptcr)->line_to(xMin, yMax);
    (*ptcr)->stroke();

    (*ptcr)->move_to(xMin, yMax);
    (*ptcr)->line_to(xMin, yMin);
    (*ptcr)->stroke();
    (*ptcr)->restore();
}

void set_color(ColorIndex color) {
    switch (color) {
        case White:
            (*ptcr)->set_source_rgb(1, 1, 1);
            break;
        case Gray:
            (*ptcr)->set_source_rgb(0.5, 0.5, 0.5);
            break;
        case Red:
            (*ptcr)->set_source_rgb(1, 0, 0);
            break;
        case LightBlue:
            (*ptcr)->set_source_rgb(0, 255, 255);
            break;
        case Black:
            (*ptcr)->set_source_rgb(0, 0, 0);
            break;
        case Violet:
            (*ptcr)->set_source_rgb(128, 0, 128);
            break;
        case Orange:
            (*ptcr)->set_source_rgb(255, 0, 0);
            break;
        case Green:
            (*ptcr)->set_source_rgb(0, 128, 0);
            break;
    }
}


void draw_particle(double x, double y, double d) {

	double half_d = d/2;

	(*ptcr)->save();
    set_color(Red);
    (*ptcr)->set_line_width(1);

    // Draw the four lines to form the border
    (*ptcr)->move_to(x - half_d, y - half_d);
    (*ptcr)->line_to(x + half_d, y - half_d);
    (*ptcr)->line_to(x + half_d, y + half_d);
    (*ptcr)->line_to(x - half_d, y + half_d);
    (*ptcr)->line_to(x - half_d, y-half_d);
    (*ptcr)->close_path();

    (*ptcr)->stroke_preserve();
    set_color(Gray);
    (*ptcr)->fill();
    (*ptcr)->restore();
}

void draw_robot_spatial(double x, double y, double r) {
	(*ptcr)->save();
    set_color(LightBlue);
    (*ptcr)->arc(x, y, r, 0, 2 * M_PI);
    (*ptcr)->set_line_width(1);
    (*ptcr)->stroke();

    // Draw a light blue dot in the middle of the spatial robot
    set_color(LightBlue);
    (*ptcr)->arc(x, y, r / 16, 0, 2 * M_PI);
    (*ptcr)->fill();
    (*ptcr)->restore();
}


void draw_robot_repairer(double x, double y, double r) {
    // Draw a green circle
    (*ptcr)->save();
    (*ptcr)->arc(x, y, r, 0.0, 2.0 * M_PI); // full circle
    set_color(Green);
    (*ptcr)->fill_preserve();

    // Draw a black outline
    set_color(Black);
    (*ptcr)->set_line_width(r / 8); // Adjust the line width if needed
    (*ptcr)->stroke();
    (*ptcr)->restore();
}


void draw_robot_neutralizer_panne(double x, double y, double r, double angle){
	(*ptcr)->save();

    set_color(White);
    (*ptcr)->arc(x, y, r, 0, 2 * M_PI);
    (*ptcr)->fill_preserve();
	set_color(Orange);
    (*ptcr)->set_line_width(1);
    (*ptcr)->stroke();

    set_color(Green); // Change orientation line color to green
    (*ptcr)->move_to(x, y);
    (*ptcr)->line_to(x + r * cos(angle), y + r * sin(angle));
    (*ptcr)->set_line_width(r / 6); // Increase orientation line width
    (*ptcr)->stroke();
    set_color(Black);
    (*ptcr)->arc(x, y, 0.5, 0, 2 * M_PI);
    (*ptcr)->fill();

    (*ptcr)->restore();
}

void draw_robot_neutralizer_service(double x, double y, double r, double angle){
	(*ptcr)->save();


    set_color(White);
    (*ptcr)->arc(x, y, r, 0, 2 * M_PI);
    (*ptcr)->fill_preserve();
	set_color(Black);
    (*ptcr)->set_line_width(1);
    (*ptcr)->stroke();

    set_color(Green); // Change orientation line color to green
    (*ptcr)->move_to(x, y);
    (*ptcr)->line_to(x + r * cos(angle), y + r * sin(angle));
    (*ptcr)->set_line_width(r / 6); // Increase orientation line width
    (*ptcr)->stroke();

    set_color(Black);
    (*ptcr)->arc(x, y, 0.5, 0, 2 * M_PI);
    (*ptcr)->fill();

    (*ptcr)->restore();
}

void draw_robot_neutralizer_collistion(double x, double y, double r, double angle){
	(*ptcr)->save();


    set_color(White);
    (*ptcr)->arc(x, y, r, 0, 2 * M_PI);
    (*ptcr)->fill_preserve();

	set_color(Violet);
    (*ptcr)->set_line_width(1);
    (*ptcr)->stroke();

    set_color(Green); // Change orientation line color to green
    (*ptcr)->move_to(x, y);
    (*ptcr)->line_to(x + r * cos(angle), y + r * sin(angle));
    (*ptcr)->set_line_width(r / 6); // Increase orientation line width
    (*ptcr)->stroke();

    set_color(Black);
    (*ptcr)->arc(x, y, 0.5, 0, 2 * M_PI);
    (*ptcr)->fill();

    (*ptcr)->restore();
}