/**
* @param g the graphics object intialized in paint method which is used to draw on the panel
* <p>loops from the minimum cell (getSlam2().getMap().getmap.getMinPoint()()) explored of the
* environment to the maximum cell (map.getMaxPoint())
*/
public void gridDraw(Graphics g) {
x = 0;
y = 0;
cellSize = calculateCellSize();
for (int i = (int) map.getMinPoint().getX(); i <= map.getMaxPoint().getX(); i++) {
x++;
y = 0;
for (int j = (int) map.getMinPoint().getY(); j <= map.getMaxPoint().getY(); j++) {
y++;
cellDraw(i, j, g);
}
}
try {
Thread.sleep(25);
} catch (InterruptedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
/**
* @param a the width of the panel
* @param b the height of the panel
* @param s the slam object to be used
*/
public EvaulationMapPanel(double a, double b, EvaluationGUI frameUI) {
setSize((int) a, (int) b);
percentageZoom = 1;
// System.out.println(getHeight());
map = frameUI.getSlam2().getMap();
frame = frameUI;
main = frame.getSlam2();
mapSize =
new Point(getSlam2().getMap().getGrid()[0].length, getSlam2().getMap().getGrid().length);
currentCell = new Point(getSlam2().getCurrentIndexX(), getSlam2().getCurrentIndexY());
totalCells = 0;
cellsVisited = 0;
if (map.getMaxPoint() == null) {
map.setMaxPoint(new Point(currentCell.getX() + 1, currentCell.getY() + 1));
}
if (map.getMinPoint() == null) {
map.setMinPoint(new Point(currentCell.getX() - 1, currentCell.getY() - 1));
}
if (map.getMapPoint() == null) {
map.setMapPoint(
new Point(this.getWidth() / calculateCellSize(), this.getHeight() / calculateCellSize()));
}
setAutoscrolls(true);
mouseListener mouse = new mouseListener();
addMouseWheelListener(mouse);
}
/** method to draw the map */
public void paint(Graphics g) {
super.paintComponent(g);
this.setBackground(new Color(172, 158, 158));
moveX =
(int)
((int)
(map.getMapPoint().getX()
- (map.getMaxPoint().getX() - map.getMinPoint().getX()))
/ 2);
moveY =
(int)
((int)
(map.getMapPoint().getY()
- (map.getMaxPoint().getY() - map.getMinPoint().getY()))
/ 2);
resetSize();
getCurrentCell();
refreshMaxMin();
gridDraw(g);
}
public void refreshMaxMin() {
xCoordinate = (int) currentCell.getX();
yCoordiante = (int) currentCell.getY();
if (map.getMapPoint().getY() > map.getMaxPoint().getY() - map.getMinPoint().getY()
&& map.getMapPoint().getX() > map.getMaxPoint().getX() - map.getMinPoint().getX()) {
if (yCoordiante - 1 < map.getMinPoint().getY()) {
map.getMinPoint().setY(yCoordiante - 1);
}
if (xCoordinate - 1 < map.getMinPoint().getX()) {
map.getMinPoint().setX(xCoordinate - 1);
}
if (yCoordiante + 1 > map.getMaxPoint().getY()) {
map.getMaxPoint().setY(yCoordiante + 1);
// System.out.println("doing it");
}
if (xCoordinate + 1 > map.getMaxPoint().getX()) {
map.getMaxPoint().setX(xCoordinate + 1);
}
} else {
if (map.getMapPoint().getX() < map.getGrid()[0].length) {
setPreferredSize(
new Dimension((int) (20 * calculateCellSize()) + this.getWidth(), this.getHeight()));
this.repaint();
map.getMapPoint().setX(map.getMapPoint().getX() + 20);
frame.panelSize.setX(this.getWidth() + (int) (20 * calculateCellSize()));
}
if (map.getMapPoint().getY() < map.getGrid().length) {
frame.panelSize.setY(this.getHeight() + (int) (20 * calculateCellSize()));
setPreferredSize(
new Dimension(this.getWidth(), this.getHeight() + (int) (20 * calculateCellSize())));
map.getMapPoint().setY(map.getMapPoint().getY() + 10);
this.repaint();
}
}
}
