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gfx/gfx.c

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+#include "gfx.h"
+#include "../game/motion.h"
+#include "../include/SDL.h"
+#include "../include/SDL_render.h"
+#include "../include/SDL_image.h"
+#include <corecrt.h>
+#include <stdbool.h>
+#include <stdio.h>
+
+static Window window;
+
+static void draw_line_width(SDL_Renderer *r, point a, point b, float width) {
+	// HACK: really bad way of drawing lines: draws width ^ 2 lines instead.
+	// I should find a way to do it with OpenGL instead with basic mesh rendering.
+	for (float i = 0; i < width; i += 1.f) {
+		for (float j = 0; j < width; j += 1.f) {
+			SDL_RenderDrawLine(r, (a.x - (width/2) + i), (a.y - (width/2) + j),
+					(b.x - (width/2) + i), (b.y - (width/2) + j));
+		}
+	}
+}
+
+errno_t init_gfx(bool funny) {
+	if (SDL_Init(SDL_FLAGS) != 0) {
+		printf("could not initialize sdl2\n");
+		exit(1);
+	}
+
+	if (IMG_Init(IMG_FLAGS) != IMG_FLAGS) {
+		printf("could not initialize images\n");
+		exit(1);
+	}
+
+	window.window = SDL_CreateWindow("Auto Planner | 4388",
+			SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED,
+			SCREEN_WIDTH, SCREEN_HEIGHT, SDL_WINDOW_SHOWN);
+	window.surface = SDL_GetWindowSurface(window.window);
+	window.renderer = SDL_CreateRenderer(window.window, -1, RENDER_FLAGS);
+
+	if (window.renderer == NULL) {
+		printf("could not create renderer\n");
+		exit(1);
+	}
+
+	window.texture = IMG_LoadTexture(window.renderer,
+			funny ? "deeeen2.jpg" : "field.png");
+	if (window.texture == NULL) {
+		printf("cannot find texture\n");
+		exit(1);
+	}
+
+	return 0;
+}
+
+void draw_field(Field *field) {
+	SDL_SetRenderDrawColor(window.renderer, 0x18, 0x00, 0x00, 0xFF);
+	SDL_RenderClear(window.renderer);
+
+	int err = SDL_RenderCopy(window.renderer, window.texture,
+			NULL, &(SDL_Rect) { 0, 0, SCREEN_WIDTH, SCREEN_HEIGHT });
+
+	if (err < 0) {
+		printf("cannot copy texture\n");
+		exit(1);
+	}
+}
+
+void draw_path(MotionPath *path, Field *field, bool bold, bool select) {
+	if (path->odo_path == NULL) return;
+
+	if (select)
+		SDL_SetRenderDrawColor(window.renderer, 0x00, 0x00, 0xFF, 0xFF);
+	else
+		SDL_SetRenderDrawColor(window.renderer, 0xFF, 0x00, 0x00, 0xFF);
+
+	double x = path->odo_path[0].x;
+	double y = path->odo_path[0].y;
+
+	for (int i = 1; i < path->len; i++) {
+		double _x = path->odo_path[i].x;
+		double _y = path->odo_path[i].y;
+
+		point a = scale_to_screen( x,  y, FIELD_RESCALED);
+		point b = scale_to_screen(_x, _y, FIELD_RESCALED);
+		draw_line_width(window.renderer, a, b, bold ? 6.f : 3.f);
+		x = _x, y = _y;
+	}
+}
+
+void draw_bezier(BezierPath *path, Field *field, bool bold, bool select) {
+	if (path->arr == NULL && path->len > 0) return;
+
+	if (select)
+		SDL_SetRenderDrawColor(window.renderer, 0x00, 0x00, 0xFF, 0xFF);
+	else
+		SDL_SetRenderDrawColor(window.renderer, 0xFF, 0x00, 0x00, 0xFF);
+
+	for (int i = 0; i < path->len-1; i += 2) {
+		point prev = path->arr[i];
+
+		for (float j = 0; j < 1.f; j += RES) {
+			point percent_a = lerp_point(path->arr[i    ], path->arr[i + 1], j);
+			point percent_b = lerp_point(path->arr[i + 1], path->arr[i + 2], j);
+
+			point curve        = lerp_point(percent_a, percent_b, j);
+			point scaled_prev  = scale_to_screen(prev.x, prev.y, FIELD_RESCALED);
+			point scaled_curve = scale_to_screen(curve.x, curve.y, FIELD_RESCALED);
+
+			draw_line_width(window.renderer, scaled_prev, scaled_curve,
+					bold ? 6.f : 3.f);
+
+			prev = curve;
+		}
+
+	}
+
+	if (!select) return;
+
+	for (int i = 0; i < path->len; i++) {
+		point scaled_node = scale_to_screen(path->arr[i].x, path->arr[i].y,
+				FIELD_RESCALED);
+
+		if (path->selected == i)
+			SDL_SetRenderDrawColor(window.renderer, 0x00, 0xFF, 0xFF, 0xFF);
+		else
+			SDL_SetRenderDrawColor(window.renderer, 0xFF, 0xFF, 0xFF, 0xFF);
+
+		SDL_RenderDrawRect(window.renderer, &(SDL_Rect) {
+					scaled_node.x - 5,
+					scaled_node.y - 5,
+					10,
+					10,
+				});
+	}
+}
+
+void draw_robot(Field *field, point p) {
+	const double size = .635;
+
+	SDL_SetRenderDrawColor(window.renderer, 0xFF, 0xFF, 0xFF, 0xFF);
+	point ll     = scale_to_screen(p.x - size / 2, p.y - size / 2, FIELD_RESCALED);
+	point rr     = scale_to_screen(size, size, FIELD_RESCALED);
+	point center = scale_to_screen(p.x, p.y, FIELD_RESCALED);
+
+	SDL_RenderDrawPointF(window.renderer, center.x, center.y);
+	SDL_RenderDrawRect(window.renderer, &(SDL_Rect) {
+				.x = ll.x, .y = ll.y,
+				.w = rr.x, .h = rr.y,
+			});
+}
+
+void blit_screen(void) {
+	SDL_RenderPresent(window.renderer);
+}

gfx/gfx.h

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+#pragma once
+
+#include "../include/SDL.h"
+#include "../include/SDL_events.h"
+#include "../include/SDL_pixels.h"
+#include "../include/SDL_surface.h"
+#include "../include/SDL_video.h"
+#include "../game/motion.h"
+#include "../game/planner.h"
+
+#define SCREEN_WIDTH  1000
+#define SCREEN_HEIGHT 500
+
+#define SDL_FLAGS    (SDL_INIT_VIDEO)
+#define RENDER_FLAGS (SDL_RENDERER_ACCELERATED)
+#define IMG_FLAGS    (IMG_INIT_PNG | IMG_INIT_JPG)
+
+// SDL Metadata
+typedef struct {
+	SDL_Window   *window;
+	SDL_Surface  *surface;
+	SDL_Renderer *renderer;
+	SDL_Texture  *texture;
+} Window;
+
+int init_gfx(bool funny);
+
+#define DRAW_PATH(path, field)        draw_path(path, field, false, false)
+#define DRAW_PATH_BOLD(path, field)   draw_path(path, field, true,  false)
+#define DRAW_PATH_BLUE(path, field)    draw_path(path, field, false, true)
+#define DRAW_PATH_SELECT(path, field) draw_path(path, field, true,  true)
+
+void draw_field(Field *field);
+void draw_path(MotionPath *path, Field *field, bool bold, bool select);
+void draw_bezier(BezierPath *path, Field *field, bool bold, bool select);
+
+void draw_robot(Field *field, point p);
+
+void blit_screen(void);