2010-06-23 03:59:12 +02:00
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/**
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******************************************************************************
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*
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* @file modelviewgadgetwidget.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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2010-07-16 16:06:09 +02:00
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* @addtogroup GCSPlugins GCS Plugins
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2010-06-23 03:59:12 +02:00
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* @{
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2010-07-16 16:06:09 +02:00
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* @addtogroup ModelViewPlugin ModelView Plugin
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* @{
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* @brief A gadget that displays a 3D representation of the UAV
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2010-06-23 03:59:12 +02:00
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "modelviewgadgetwidget.h"
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#include "extensionsystem/pluginmanager.h"
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#include <iostream>
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ModelViewGadgetWidget::ModelViewGadgetWidget(QWidget *parent)
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2010-06-29 11:46:40 +02:00
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: QGLWidget(QGLFormat(QGL::SampleBuffers),parent)
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// : QGLWidget(parent)
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2010-06-23 03:59:12 +02:00
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, m_pFactory(GLC_Factory::instance(this->context()))
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, m_Light()
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, m_World()
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, m_GlView(this)
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, m_MoverController()
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, m_ModelBoundingBox()
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, m_MotionTimer()
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2010-10-03 12:38:35 +02:00
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, vboEnable(false)
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2010-06-23 03:59:12 +02:00
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{
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2010-10-03 12:38:35 +02:00
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// Prevent crash on non-VBO enabled systems during GLC geometry creation
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GLC_State::setVboUsage(vboEnable);
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2010-06-23 03:59:12 +02:00
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setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
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2010-09-10 17:25:05 +02:00
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mvInitGLSuccess = false;
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2010-06-23 03:59:12 +02:00
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2010-08-10 18:57:14 +02:00
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CreateScene();
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2010-06-23 03:59:12 +02:00
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m_Light.setPosition(4000.0, 40000.0, 80000.0);
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m_Light.setAmbientColor(Qt::lightGray);
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2010-10-04 11:53:31 +02:00
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m_GlView.cameraHandle()->setDefaultUpVector(glc::Z_AXIS);
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m_GlView.cameraHandle()->setFrontView();
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2010-06-23 03:59:12 +02:00
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2010-08-17 21:53:24 +02:00
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QColor repColor;
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repColor.setRgbF(1.0, 0.11372, 0.11372, 0.0);
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m_MoverController= m_pFactory->createDefaultMoverController(repColor, &m_GlView);
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2010-06-23 03:59:12 +02:00
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// Get required UAVObjects
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ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
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attActual = AttitudeActual::GetInstance(objManager);
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// Create objects to display
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connect(&m_MotionTimer, SIGNAL(timeout()), this, SLOT(updateAttitude()));
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}
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ModelViewGadgetWidget::~ModelViewGadgetWidget()
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{
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delete m_pFactory;
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}
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//// Public funcitons ////
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void ModelViewGadgetWidget::reloadScene()
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{
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CreateScene();
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}
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//// Private functions ////
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void ModelViewGadgetWidget::initializeGL()
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{
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if (loadError)
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return;
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2010-06-23 03:59:12 +02:00
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// OpenGL initialization
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m_GlView.initGl();
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2010-10-03 12:38:35 +02:00
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// Enable VBO usage if configured (default is to disable)
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GLC_State::setVboUsage(vboEnable);
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if (!vboEnable)
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2010-06-23 03:59:12 +02:00
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{
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2010-08-17 21:53:24 +02:00
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qDebug("VBOs disabled. Enable for better performance if GPU supports it. (Most do)");
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2010-06-23 03:59:12 +02:00
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}
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m_GlView.reframe(m_ModelBoundingBox);
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// Calculate camera depth of view
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m_GlView.setDistMinAndMax(m_World.boundingBox());
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glEnable(GL_NORMALIZE);
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2010-06-29 11:46:40 +02:00
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// Enable antialiasing
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glEnable(GL_MULTISAMPLE);
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2010-06-23 03:59:12 +02:00
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m_MotionTimer.start(100);
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}
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void ModelViewGadgetWidget::paintGL()
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{
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2010-09-09 23:18:43 +02:00
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if (loadError)
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return;
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2010-06-23 03:59:12 +02:00
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// Clear screen
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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// Load identity matrix
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glLoadIdentity();
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2010-06-29 11:46:40 +02:00
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// Enable antialiasing
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glEnable(GL_MULTISAMPLE);
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2010-06-23 03:59:12 +02:00
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// define the light
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m_Light.enable();
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// define view matrix
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m_GlView.glExecuteCam();
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m_Light.glExecute();
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// Display the collection of GLC_Object
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2010-09-07 14:52:52 +02:00
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m_World.render(0, glc::TransparentRenderFlag);
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2010-08-10 18:57:14 +02:00
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m_World.render(0, glc::ShadingFlag);
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2010-06-23 03:59:12 +02:00
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// Display UI Info (orbit circle)
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m_MoverController.drawActiveMoverRep();
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2010-09-10 17:25:05 +02:00
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mvInitGLSuccess = true;
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2010-06-23 03:59:12 +02:00
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}
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void ModelViewGadgetWidget::resizeGL(int width, int height)
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{
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m_GlView.setWinGLSize(width, height); // Compute window aspect ratio
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}
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// Create GLC_Object to display
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void ModelViewGadgetWidget::CreateScene()
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{
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2010-08-10 18:57:14 +02:00
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try
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2010-06-23 03:59:12 +02:00
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{
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m_GlView.loadBackGroundImage(bgFilename);
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}
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2010-08-10 18:57:14 +02:00
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catch(GLC_Exception e)
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{
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qDebug("ModelView background image file loading failed.");
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}
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2010-06-23 03:59:12 +02:00
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2010-08-10 18:57:14 +02:00
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try
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{
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2010-08-10 18:57:14 +02:00
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if(QFile::exists(acFilename))
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{
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QFile aircraft(acFilename);
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m_World= GLC_Factory::instance()->createWorldFromFile(aircraft);
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m_ModelBoundingBox= m_World.boundingBox();
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2010-09-09 23:18:43 +02:00
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loadError = false;
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2010-09-10 17:25:05 +02:00
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if (!mvInitGLSuccess)
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initializeGL();
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2010-09-09 23:18:43 +02:00
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} else {
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loadError = true;
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}
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2010-08-10 18:57:14 +02:00
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}
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catch(GLC_Exception e)
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{
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qDebug("ModelView aircraft texture file loading failed.");
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2010-09-09 23:18:43 +02:00
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loadError = true;
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2010-06-23 03:59:12 +02:00
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}
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}
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2010-08-17 21:53:24 +02:00
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void ModelViewGadgetWidget::wheelEvent(QWheelEvent * e)
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{
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double delta = m_GlView.cameraHandle()->distEyeTarget() - (e->delta()/120) ;
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m_GlView.cameraHandle()->setDistEyeTarget(delta);
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m_GlView.setDistMinAndMax(m_World.boundingBox());
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}
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2010-06-23 03:59:12 +02:00
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void ModelViewGadgetWidget::mousePressEvent(QMouseEvent *e)
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{
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if (m_MoverController.hasActiveMover()) return;
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switch (e->button())
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{
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case (Qt::LeftButton):
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m_MotionTimer.stop();
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2010-08-10 18:57:14 +02:00
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m_MoverController.setActiveMover(GLC_MoverController::TurnTable, e);
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2010-06-23 03:59:12 +02:00
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updateGL();
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break;
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2010-09-07 14:52:52 +02:00
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case (Qt::RightButton):
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2010-10-03 12:38:35 +02:00
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printf("VBO enabled: %s, VBO supported: %s, VBO used: %s\n",
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vboEnable ? "yes" : "no",
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GLC_State::vboSupported() ? "yes" : "no",
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GLC_State::vboUsed() ? "yes" : "no");
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2010-09-07 14:52:52 +02:00
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printf("Renderer - %s \n", (char*)glGetString(GL_RENDERER));
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printf("Extensions - %s\n", (char*)glGetString(GL_EXTENSIONS));
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break;
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2010-06-23 03:59:12 +02:00
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default:
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break;
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}
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}
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void ModelViewGadgetWidget::mouseMoveEvent(QMouseEvent * e)
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{
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if (not m_MoverController.hasActiveMover()) return;
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2010-08-10 18:57:14 +02:00
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m_MoverController.move(e);
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2010-06-23 03:59:12 +02:00
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m_GlView.setDistMinAndMax(m_World.boundingBox());
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updateGL();
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}
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void ModelViewGadgetWidget::mouseReleaseEvent(QMouseEvent*)
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{
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if (not m_MoverController.hasActiveMover()) return;
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m_MoverController.setNoMover();
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m_MotionTimer.start();
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updateGL();
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}
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//////////////////////////////////////////////////////////////////////
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// Private slots Functions
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//////////////////////////////////////////////////////////////////////
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void ModelViewGadgetWidget::updateAttitude()
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{
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AttitudeActual::DataFields data = attActual->getData();
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2010-10-04 11:53:31 +02:00
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GLC_StructOccurence* rootObject= m_World.rootOccurence();
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GLC_Matrix4x4 rootObjectPosition(0, 0, 0); // will be changed when the acceleration movement is tested
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double pitch= glc::toRadian(data.Pitch);
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double roll= glc::toRadian(data.Roll);
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double yaw= glc::toRadian(data.Yaw);
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GLC_Matrix4x4 rootObjectRotation(GLC_Matrix4x4().fromEuler(pitch, roll, yaw));
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rootObject->structInstance()->setMatrix(rootObjectPosition * rootObjectRotation);
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rootObject->updateChildrenAbsoluteMatrix();
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2010-06-23 03:59:12 +02:00
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updateGL();
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}
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