SemanticGraphEdgeItem.cpp

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#include "SemanticGraphEdgeItem.h"
 
#include <QGraphicsSceneContextMenuEvent>
#include <QPainter>
 
#include <ArmarXCore/core/logging/Logging.h>
 
namespace armarx
{
    static const QColor SEMANTIC_HIGHLIGHT(0x00, 0x97, 0x81);
    static const QColor SEMANTIC_DEFAULT = Qt::GlobalColor::black;
 
    void
    SemanticGraphEdgeItem::paint(QPainter* painter,
                                 const QStyleOptionGraphicsItem* option,
                                 QWidget* widget)
    {
        this->setPen(QPen(color, selected ? 3.0 : 2.0));
        QGraphicsPathItem::paint(painter, option, widget);
 
        QPainterPath path = this->path();
        if (path.elementCount() < 2)
        {
            return;
        }
 
        int elementCount = path.elementCount();
        QPointF p1 = path.elementAt(elementCount - 1);
        QPointF p2 = path.elementAt(elementCount - 2);
        QLineF line(p1, p2);
 
        QPolygonF arrowHead;
        {
            double angle = std::acos(line.dx() / line.length());
 
            if (line.dy() >= 0)
            {
                angle = (M_PI * 2) - angle;
            }
 
            float adjustedAngle = M_PI / 2.0 + openingAngle;
            QPointF arrowP1 = line.p1() + QPointF(sin(angle + adjustedAngle) * size,
                                                  cos(angle + adjustedAngle) * size);
            QPointF arrowP2 = line.p1() + QPointF(sin(angle + M_PI - adjustedAngle) * size,
                                                  cos(angle + M_PI - adjustedAngle) * size);
 
            arrowHead << line.p1() << arrowP1 << arrowP2;
        }
 
        QBrush brush(color);
        painter->setBrush(brush);
        painter->drawPolygon(arrowHead);
        if (label.size() > 0)
        {
            painter->drawText(labelPosition, label);
        }
    }
 
    void
    SemanticGraphEdgeItem::mousePressEvent(QGraphicsSceneMouseEvent* event)
    {
        QPointF point = event->pos();
 
        QPainterPath path = this->path();
 
        float minDistance2 = 1000.0f;
        for (int i = 0; i < 101; ++i)
        {
            double t = i / 100.0;
            QPointF pointOnPath = path.pointAtPercent(t);
            QPointF diff(pointOnPath - point);
            float length2 = diff.x() * diff.x() + diff.y() * diff.y();
            if (length2 < minDistance2)
            {
                minDistance2 = length2;
            }
        }
        ARMARX_DEBUG << "Mouse: " << sourceDescriptor << " -> " << targetDescriptor << ": "
                     << std::sqrt(minDistance2);
        const float CLICK_DISTANCE = 7.0f;
        if (minDistance2 < CLICK_DISTANCE * CLICK_DISTANCE)
        {
            event->setAccepted(true);
            emit onLeftClick(this);
        }
        else
        {
            event->setAccepted(false);
        }
    }
 
} // namespace armarx
 
QPainterPath
armarx::SemanticGraphEdgeItem::shape() const
{
    QPainterPath result;
    QRectF bb = path().boundingRect();
    double deltaX = 5.0;
    double deltaY = 5.0;
    bb.adjust(-deltaX, -deltaY, deltaX, deltaY);
 
    result.addRect(bb);
    return result;
}