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Simulation GUI: Add 2D field view (#2261)

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The field image and robot image can be loaded or just a wireframe used.
The robot can be moved and rotated with a mouse click + drag.
The robot position is settable in robot code via the Field2d class.
This commit is contained in:
Peter Johnson
2020-02-01 21:30:23 -08:00
committed by GitHub
parent 42da07396c
commit c165dc5e50
16 changed files with 2325 additions and 5 deletions
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17
simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
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@@ -40,6 +40,8 @@ struct WindowInfo {
ImGuiCond sizeCond = 0;
ImVec2 pos;
ImVec2 size;
bool setPadding = false;
ImVec2 padding;
};
} // namespace
@@ -248,6 +250,14 @@ void HALSimGui::SetDefaultWindowSize(const char* name, float width,
window.size = ImVec2{width, height};
}
void HALSimGui::SetWindowPadding(const char* name, float x, float y) {
auto it = gWindowMap.find(name);
if (it == gWindowMap.end()) return;
auto& window = gWindows[it->second];
window.setPadding = true;
window.padding = ImVec2{x, y};
}
bool HALSimGui::AreOutputsDisabled() {
return gDisableOutputsOnDSDisable && !HALSIM_GetDriverStationEnabled();
}
@@ -521,9 +531,12 @@ void HALSimGui::Main(void*) {
ImGui::SetNextWindowPos(window.pos, window.posCond);
if (window.sizeCond != 0)
ImGui::SetNextWindowSize(window.size, window.sizeCond);
if (window.setPadding)
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, window.padding);
if (ImGui::Begin(window.name.c_str(), &window.visible, window.flags))
window.display();
ImGui::End();
if (window.setPadding) ImGui::PopStyleVar();
}
}
@@ -597,6 +610,10 @@ void HALSIMGUI_SetDefaultWindowSize(const char* name, float width,
HALSimGui::SetDefaultWindowSize(name, width, height);
}
void HALSIMGUI_SetWindowPadding(const char* name, float x, float y) {
HALSimGui::SetDefaultWindowSize(name, x, y);
}
int HALSIMGUI_AreOutputsDisabled(void) {
return HALSimGui::AreOutputsDisabled();
}