renderarea.h

#ifndef RENDERAREA_H
#define RENDERAREA_H
 
#include <QWidget>
#include <QPainter>
#include <QTimer>
 
 
#include "ui/worldmodel.h"
 
#include "geom/voronoiGenerator.h"
 
#define Pi 3.141592653589793238
 
#define WORLD_SCALE 10
#define DOUBLE_CENTER_X 476
#define DOUBLE_CENTER_Y 319
#define SINGLE_CENTER_X 370
#define SINGLE_CENTER_Y 270
 
#define ROBOT_R 9
#define ROBOT_D 18
 
#define BALL_R 4
#define NODE 4
 
#define ANGLE_TO_CHORD(a) 16*((a)*180/Pi+40), 16*280
 
class RenderArea : public QWidget
{
    Q_OBJECT
public:
    explicit RenderArea(WorldModel *wm);
private:
 
//    QVector<Kilobot *> _kiloList;
    WorldModel* _wm;
 
//    QPainter painter;
 
    QBrush *brush_field, *brush_insideRect, *brush_yrobot, *brush_yrobot_MT, *brush_brobot, *brush_test;
    QBrush *brush_initPoints, *brush_initPoints2;
    QTimer _timer; //, _noiseTimer;
    int bias_X, bias_Y;
 
    QPen *pen_insideRect, *pen_RobCust1, *pen_pnts2Draw, *pen_circ2Draw, *pen_network, *pen_voronoii, *pen_tracePnts;
 
    QPixmap marker0, marker1, marker2, marker3;
    QPixmap arenaImg, SCIoIImg, webPage, centroidImage, ballImage;
    QRadialGradient *radGradient, *radGradientRob;
    QRect *expArena;
    int robRad;
 
    cv::Mat heatMapTemp;
    QImage heatMapQImage;
 
    QRect bigFieldRect;
    QPolygon bigFieldPoly;
 
    QImage arenaImage;
 
    bool refreshNoiseBool = false;
 
    voronoiGenerator VoronoiiGen;
    boost::polygon::voronoi_diagram<double> vd;
 
    int centroid_width = 30;
 
    int index_node_to_light_net = -1;
 
    igraph_t graph;
    igraph_vector_int_t edges;
 
 
signals:
 
public slots:
    void refresh();
//    void toggleNoiseBool();
    void paintEvent(QPaintEvent *);
    void updatePainters();
    void updateGradientPainter();
 
protected:
    int getMostCentralNode(const igraph_t &graph);
};
 
#endif // RENDERAREA_H