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Code Issues Releases Activity

OP-306 Update revealed two bugs in the widget destructors, workaround for now, too late for today...

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2683 ebee16cc-31ac-478f-84a7-5cbb03baadba
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edouard 2011-02-01 23:15:29 +00:00 committed by edouard
parent 959e9101b2
commit c1555d9dfe
2 changed files with 509 additions and 509 deletions
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368
ground/openpilotgcs/src/plugins/gpsdisplay/gpsconstellationwidget.cpp
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@ -1,184 +1,184 @@
/**
******************************************************************************
*
* @file gpsconstellationwidget.cpp
* @author Edouard Lafargue Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup GPSGadgetPlugin GPS Gadget Plugin
* @{
* @brief A widget which displays the GPS constellation
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "gpsconstellationwidget.h"
#include <QtGui>
#include <QDebug>
/*
* Initialize the widget
*/
GpsConstellationWidget::GpsConstellationWidget(QWidget *parent) : QGraphicsView(parent)
{
// Create a layout, add a QGraphicsView and put the SVG inside.
// The constellation widget looks like this:
// |--------------------|
// | |
// | |
// | Constellation |
// | |
// | |
// | |
// |--------------------|
setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/gpsgadget/images/gpsEarth.svg"));
world = new QGraphicsSvgItem();
world->setSharedRenderer(renderer);
world->setElementId("map");
scene = new QGraphicsScene(this);
scene->addItem(world);
scene->setSceneRect(world->boundingRect());
setScene(scene);
// Now create 'maxSatellites' satellite icons which we will move around on the map:
for (int i=0; i < MAX_SATTELITES;i++) {
satellites[i][0] = 0;
satellites[i][1] = 0;
satellites[i][2] = 0;
satellites[i][3] = 0;
satIcons[i] = new QGraphicsSvgItem(world);
satIcons[i]->setSharedRenderer(renderer);
satIcons[i]->setElementId("sat-notSeen");
satIcons[i]->hide();
satTexts[i] = new QGraphicsSimpleTextItem("##",satIcons[i]);
satTexts[i]->setBrush(QColor("Black"));
satTexts[i]->setFont(QFont("Courier"));
}
}
GpsConstellationWidget::~GpsConstellationWidget()
{
delete scene;
scene = 0;
delete renderer;
renderer = 0;
}
void GpsConstellationWidget::showEvent(QShowEvent *event)
{
Q_UNUSED(event)
// Thit fitInView method should only be called now, once the
// widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small.
fitInView(world, Qt::KeepAspectRatio);
// Scale, can't use fitInView since that doesn't work until we're shown.
// qreal factor = height()/world->boundingRect().height();
// world->setScale(factor);
// setSceneRect(world->boundingRect());
}
void GpsConstellationWidget::resizeEvent(QResizeEvent* event)
{
Q_UNUSED(event);
fitInView(world, Qt::KeepAspectRatio);
}
void GpsConstellationWidget::updateSat(int index, int prn, int elevation, int azimuth, int snr)
{
if (index >= MAX_SATTELITES) {
// A bit of error checking never hurts.
return;
}
// TODO: add range checking
satellites[index][0] = prn;
satellites[index][1] = elevation;
satellites[index][2] = azimuth;
satellites[index][3] = snr;
if (prn) {
QPointF opd = polarToCoord(elevation,azimuth);
opd += QPointF(-satIcons[index]->boundingRect().center().x(),
-satIcons[index]->boundingRect().center().y());
satIcons[index]->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), false);
if (snr) {
satIcons[index]->setElementId("satellite");
} else {
satIcons[index]->setElementId("sat-notSeen");
}
satIcons[index]->show();
QRectF iconRect = satIcons[index]->boundingRect();
QString prnString = QString().number(prn);
if(prnString.length() == 1) {
prnString = "0" + prnString;
}
satTexts[index]->setText(prnString);
QRectF textRect = satTexts[index]->boundingRect();
QTransform matrix;
qreal scale = 0.70 * (iconRect.width() / textRect.width());
matrix.translate(iconRect.width()/2, iconRect.height()/2);
matrix.scale(scale,scale);
matrix.translate(-textRect.width()/2,-textRect.height()/2);
satTexts[index]->setTransform(matrix,false);
} else {
satIcons[index]->hide();
}
}
/**
Converts the elevation/azimuth to X/Y coordinates on the map
*/
QPointF GpsConstellationWidget::polarToCoord(int elevation, int azimuth)
{
double x;
double y;
double rad_elevation;
double rad_azimuth;
rad_elevation = M_PI*elevation/180;
rad_azimuth = M_PI*azimuth/180;
x = cos(rad_elevation)*sin(rad_azimuth);
y = -cos(rad_elevation)*cos(rad_azimuth);
x = world->boundingRect().width()/2 * x;
y = world->boundingRect().height()/2 * y;
x = (world->boundingRect().width() / 2) + x;
y = (world->boundingRect().height() / 2) + y;
return QPointF(x,y);
}
/**
******************************************************************************
*
* @file gpsconstellationwidget.cpp
* @author Edouard Lafargue Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup GPSGadgetPlugin GPS Gadget Plugin
* @{
* @brief A widget which displays the GPS constellation
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "gpsconstellationwidget.h"
#include <QtGui>
#include <QDebug>
/*
* Initialize the widget
*/
GpsConstellationWidget::GpsConstellationWidget(QWidget *parent) : QGraphicsView(parent)
{
// Create a layout, add a QGraphicsView and put the SVG inside.
// The constellation widget looks like this:
// |--------------------|
// | |
// | |
// | Constellation |
// | |
// | |
// | |
// |--------------------|
setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/gpsgadget/images/gpsEarth.svg"));
world = new QGraphicsSvgItem();
world->setSharedRenderer(renderer);
world->setElementId("map");
scene = new QGraphicsScene(this);
scene->addItem(world);
scene->setSceneRect(world->boundingRect());
setScene(scene);
// Now create 'maxSatellites' satellite icons which we will move around on the map:
for (int i=0; i < MAX_SATTELITES;i++) {
satellites[i][0] = 0;
satellites[i][1] = 0;
satellites[i][2] = 0;
satellites[i][3] = 0;
satIcons[i] = new QGraphicsSvgItem(world);
satIcons[i]->setSharedRenderer(renderer);
satIcons[i]->setElementId("sat-notSeen");
satIcons[i]->hide();
satTexts[i] = new QGraphicsSimpleTextItem("##",satIcons[i]);
satTexts[i]->setBrush(QColor("Black"));
satTexts[i]->setFont(QFont("Courier"));
}
}
GpsConstellationWidget::~GpsConstellationWidget()
{
delete scene;
scene = 0;
//delete renderer;
//renderer = 0;
}
void GpsConstellationWidget::showEvent(QShowEvent *event)
{
Q_UNUSED(event)
// Thit fitInView method should only be called now, once the
// widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small.
fitInView(world, Qt::KeepAspectRatio);
// Scale, can't use fitInView since that doesn't work until we're shown.
// qreal factor = height()/world->boundingRect().height();
// world->setScale(factor);
// setSceneRect(world->boundingRect());
}
void GpsConstellationWidget::resizeEvent(QResizeEvent* event)
{
Q_UNUSED(event);
fitInView(world, Qt::KeepAspectRatio);
}
void GpsConstellationWidget::updateSat(int index, int prn, int elevation, int azimuth, int snr)
{
if (index >= MAX_SATTELITES) {
// A bit of error checking never hurts.
return;
}
// TODO: add range checking
satellites[index][0] = prn;
satellites[index][1] = elevation;
satellites[index][2] = azimuth;
satellites[index][3] = snr;
if (prn) {
QPointF opd = polarToCoord(elevation,azimuth);
opd += QPointF(-satIcons[index]->boundingRect().center().x(),
-satIcons[index]->boundingRect().center().y());
satIcons[index]->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), false);
if (snr) {
satIcons[index]->setElementId("satellite");
} else {
satIcons[index]->setElementId("sat-notSeen");
}
satIcons[index]->show();
QRectF iconRect = satIcons[index]->boundingRect();
QString prnString = QString().number(prn);
if(prnString.length() == 1) {
prnString = "0" + prnString;
}
satTexts[index]->setText(prnString);
QRectF textRect = satTexts[index]->boundingRect();
QTransform matrix;
qreal scale = 0.70 * (iconRect.width() / textRect.width());
matrix.translate(iconRect.width()/2, iconRect.height()/2);
matrix.scale(scale,scale);
matrix.translate(-textRect.width()/2,-textRect.height()/2);
satTexts[index]->setTransform(matrix,false);
} else {
satIcons[index]->hide();
}
}
/**
Converts the elevation/azimuth to X/Y coordinates on the map
*/
QPointF GpsConstellationWidget::polarToCoord(int elevation, int azimuth)
{
double x;
double y;
double rad_elevation;
double rad_azimuth;
rad_elevation = M_PI*elevation/180;
rad_azimuth = M_PI*azimuth/180;
x = cos(rad_elevation)*sin(rad_azimuth);
y = -cos(rad_elevation)*cos(rad_azimuth);
x = world->boundingRect().width()/2 * x;
y = world->boundingRect().height()/2 * y;
x = (world->boundingRect().width() / 2) + x;
y = (world->boundingRect().height() / 2) + y;
return QPointF(x,y);
}

650
ground/openpilotgcs/src/plugins/modelview/modelviewgadgetwidget.cpp
View File

@ -1,325 +1,325 @@
/**
******************************************************************************
*
* @file modelviewgadgetwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ModelViewPlugin ModelView Plugin
* @{
* @brief A gadget that displays a 3D representation of the UAV
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "modelviewgadgetwidget.h"
#include "extensionsystem/pluginmanager.h"
#include <iostream>
ModelViewGadgetWidget::ModelViewGadgetWidget(QWidget *parent)
: QGLWidget(QGLFormat(QGL::SampleBuffers),parent)
// : QGLWidget(parent)
, m_pFactory(GLC_Factory::instance(this->context()))
, m_Light()
, m_World()
, m_GlView(this)
, m_MoverController()
, m_ModelBoundingBox()
, m_MotionTimer()
, vboEnable(false)
{
// Prevent crash on non-VBO enabled systems during GLC geometry creation
GLC_State::setVboUsage(vboEnable);
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
mvInitGLSuccess = false;
CreateScene();
m_Light.setPosition(4000.0, -40000.0, 80000.0);
m_Light.setAmbientColor(Qt::lightGray);
m_GlView.cameraHandle()->setDefaultUpVector(glc::Z_AXIS);
m_GlView.cameraHandle()->setFrontView();
m_GlView.setToOrtho(true); // orthogonal view
QColor repColor;
repColor.setRgbF(1.0, 0.11372, 0.11372, 0.0);
m_MoverController= m_pFactory->createDefaultMoverController(repColor, &m_GlView);
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
attActual = AttitudeActual::GetInstance(objManager);
// Create objects to display
connect(&m_MotionTimer, SIGNAL(timeout()), this, SLOT(updateAttitude()));
}
ModelViewGadgetWidget::~ModelViewGadgetWidget()
{
delete m_pFactory;
}
//// Public funcitons ////
void ModelViewGadgetWidget::reloadScene()
{
CreateScene();
}
//// Private functions ////
void ModelViewGadgetWidget::initializeGL()
{
if (loadError)
return;
// OpenGL initialization
m_GlView.initGl();
// Enable VBO usage if configured (default is to disable)
GLC_State::setVboUsage(vboEnable);
if (!vboEnable)
{
qDebug("VBOs disabled. Enable for better performance if GPU supports it. (Most do)");
}
m_GlView.reframe(m_ModelBoundingBox);
// Calculate camera depth of view
m_GlView.setDistMinAndMax(m_World.boundingBox());
glEnable(GL_NORMALIZE);
// Enable antialiasing
glEnable(GL_MULTISAMPLE);
m_MotionTimer.start(100);
setFocusPolicy(Qt::StrongFocus); // keyboard capture for camera switching
}
void ModelViewGadgetWidget::paintGL()
{
if (loadError)
return;
// Clear screen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Load identity matrix
glLoadIdentity();
// Enable antialiasing
glEnable(GL_MULTISAMPLE);
// define the light
m_Light.enable();
// define view matrix
m_GlView.glExecuteCam();
m_Light.glExecute();
// Display the collection of GLC_Object
m_World.render(0, glc::TransparentRenderFlag);
m_World.render(0, glc::ShadingFlag);
// Display UI Info (orbit circle)
m_MoverController.drawActiveMoverRep();
mvInitGLSuccess = true;
}
void ModelViewGadgetWidget::resizeGL(int width, int height)
{
m_GlView.setWinGLSize(width, height); // Compute window aspect ratio
}
// Create GLC_Object to display
void ModelViewGadgetWidget::CreateScene()
{
// put a black background if the 3D model is invalid or if the background image is also invalid
if (acFilename == ":/modelview/models/warning_sign.obj" or !QFile::exists(bgFilename))
bgFilename= ":/modelview/models/black.jpg";
try
{
m_GlView.loadBackGroundImage(bgFilename);
}
catch(GLC_Exception e)
{
qDebug("ModelView: background image file loading failed.");
}
try
{
if(QFile::exists(acFilename))
{
QFile aircraft(acFilename);
m_World= GLC_Factory::instance()->createWorldFromFile(aircraft);
m_ModelBoundingBox= m_World.boundingBox();
m_GlView.reframe(m_ModelBoundingBox); // center 3D model in the scene
m_GlView.setDistMinAndMax(m_World.boundingBox());
loadError = false;
if (!mvInitGLSuccess)
initializeGL();
} else {
loadError = true;
}
}
catch(GLC_Exception e)
{
qDebug("ModelView: aircraft file loading failed.");
loadError = true;
}
}
void ModelViewGadgetWidget::wheelEvent(QWheelEvent * e)
{
double delta = m_GlView.cameraHandle()->distEyeTarget() - (e->delta()/120) ;
m_GlView.cameraHandle()->setDistEyeTarget(delta);
m_GlView.setDistMinAndMax(m_World.boundingBox());
}
void ModelViewGadgetWidget::mousePressEvent(QMouseEvent *e)
{
if (m_MoverController.hasActiveMover()) return;
switch (e->button())
{
case (Qt::LeftButton):
m_MotionTimer.stop();
m_MoverController.setActiveMover(GLC_MoverController::TurnTable, e);
updateGL();
break;
case (Qt::RightButton):
printf("VBO enabled: %s, VBO supported: %s, VBO used: %s\n",
vboEnable ? "yes" : "no",
GLC_State::vboSupported() ? "yes" : "no",
GLC_State::vboUsed() ? "yes" : "no");
printf("Renderer - %s \n", (char*)glGetString(GL_RENDERER));
printf("Extensions - %s\n", (char*)glGetString(GL_EXTENSIONS));
break;
default:
break;
}
}
void ModelViewGadgetWidget::mouseMoveEvent(QMouseEvent * e)
{
if (not m_MoverController.hasActiveMover()) return;
m_MoverController.move(e);
m_GlView.setDistMinAndMax(m_World.boundingBox());
updateGL();
}
void ModelViewGadgetWidget::mouseReleaseEvent(QMouseEvent*)
{
if (not m_MoverController.hasActiveMover()) return;
m_MoverController.setNoMover();
m_MotionTimer.start();
updateGL();
}
void ModelViewGadgetWidget::keyPressEvent(QKeyEvent * e) // switch between camera
{
if (e->key() == Qt::Key_1)
{
m_GlView.cameraHandle()->setIsoView();
updateGL();
}
if (e->key() == Qt::Key_2)
{
m_GlView.cameraHandle()->setFrontView();
updateGL();
}
if (e->key() == Qt::Key_3)
{
m_GlView.cameraHandle()->setIsoView();
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(90));
updateGL();
}
if (e->key() == Qt::Key_4)
{
m_GlView.cameraHandle()->setLeftView();
updateGL();
}
if (e->key() == Qt::Key_5)
{
m_GlView.cameraHandle()->setTopView();
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(180));
updateGL();
}
if (e->key() == Qt::Key_6)
{
m_GlView.cameraHandle()->setRightView();;
updateGL();
}
if (e->key() == Qt::Key_7)
{
m_GlView.cameraHandle()->setIsoView();
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(-90));
updateGL();
}
if (e->key() == Qt::Key_8)
{
m_GlView.cameraHandle()->setRearView();;
updateGL();
}
if (e->key() == Qt::Key_9)
{
m_GlView.cameraHandle()->setIsoView();
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(180));
updateGL();
}
if (e->key() == Qt::Key_0)
{
m_GlView.cameraHandle()->setBottomView();
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(180));
updateGL();
}
}
//////////////////////////////////////////////////////////////////////
// Private slots Functions
//////////////////////////////////////////////////////////////////////
void ModelViewGadgetWidget::updateAttitude()
{
AttitudeActual::DataFields data = attActual->getData(); // get attitude data
GLC_StructOccurence* rootObject= m_World.rootOccurence(); // get the full 3D model
// create quaternions rotations for each axis
QQuaternion qX= QQuaternion::fromAxisAndAngle(QVector3D(1,0,0),data.Pitch);
QQuaternion qY= QQuaternion::fromAxisAndAngle(QVector3D(0,1,0),data.Roll);
QQuaternion qZ= QQuaternion::fromAxisAndAngle(QVector3D(0,0,1),data.Yaw);
QQuaternion quat= qX * qY * qZ; // create the quaternion of all the rotations
// pass values to simpler variables
double x= quat.vector().x();
double y= quat.vector().y();
double z= quat.vector().z();
double w= quat.scalar();
// create and gives the product of 2 4x4 matrices to get the rotation of the 3D model's matrix
QMatrix4x4 m1;
m1.setRow(0, QVector4D(w,z,-y,x));
m1.setRow(1, QVector4D(-z,w,x,y));
m1.setRow(2, QVector4D(y,-x,w,z));
m1.setRow(3, QVector4D(-x,-y,-z,w));
QMatrix4x4 m2;
m2.setRow(0, QVector4D(w,z,-y,-x));
m2.setRow(1, QVector4D(-z,w,x,-y));
m2.setRow(2, QVector4D(y,-x,w,-z));
m2.setRow(3, QVector4D(x,y,z,w));
QMatrix4x4 m0= m1 * m2;
// convert QMatrix4x4 to GLC_Matrix4x4
GLC_Matrix4x4 rootObjectRotation;
for (int i=0; i<16; i++){
rootObjectRotation.data()[i]= m0.data()[i];
}
// sets and updates the 3D model's matrix
rootObject->structInstance()->setMatrix(rootObjectRotation);
rootObject->updateChildrenAbsoluteMatrix();
updateGL();
}
/**
******************************************************************************
*
* @file modelviewgadgetwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ModelViewPlugin ModelView Plugin
* @{
* @brief A gadget that displays a 3D representation of the UAV
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "modelviewgadgetwidget.h"
#include "extensionsystem/pluginmanager.h"
#include <iostream>
ModelViewGadgetWidget::ModelViewGadgetWidget(QWidget *parent)
: QGLWidget(QGLFormat(QGL::SampleBuffers),parent)
// : QGLWidget(parent)
, m_pFactory(GLC_Factory::instance(this->context()))
, m_Light()
, m_World()
, m_GlView(this)
, m_MoverController()
, m_ModelBoundingBox()
, m_MotionTimer()
, vboEnable(false)
{
// Prevent crash on non-VBO enabled systems during GLC geometry creation
GLC_State::setVboUsage(vboEnable);
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
mvInitGLSuccess = false;
CreateScene();
m_Light.setPosition(4000.0, -40000.0, 80000.0);
m_Light.setAmbientColor(Qt::lightGray);
m_GlView.cameraHandle()->setDefaultUpVector(glc::Z_AXIS);
m_GlView.cameraHandle()->setFrontView();
m_GlView.setToOrtho(true); // orthogonal view
QColor repColor;
repColor.setRgbF(1.0, 0.11372, 0.11372, 0.0);
m_MoverController= m_pFactory->createDefaultMoverController(repColor, &m_GlView);
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
attActual = AttitudeActual::GetInstance(objManager);
// Create objects to display
connect(&m_MotionTimer, SIGNAL(timeout()), this, SLOT(updateAttitude()));
}
ModelViewGadgetWidget::~ModelViewGadgetWidget()
{
//delete m_pFactory;
}
//// Public funcitons ////
void ModelViewGadgetWidget::reloadScene()
{
CreateScene();
}
//// Private functions ////
void ModelViewGadgetWidget::initializeGL()
{
if (loadError)
return;
// OpenGL initialization
m_GlView.initGl();
// Enable VBO usage if configured (default is to disable)
GLC_State::setVboUsage(vboEnable);
if (!vboEnable)
{
qDebug("VBOs disabled. Enable for better performance if GPU supports it. (Most do)");
}
m_GlView.reframe(m_ModelBoundingBox);
// Calculate camera depth of view
m_GlView.setDistMinAndMax(m_World.boundingBox());
glEnable(GL_NORMALIZE);
// Enable antialiasing
glEnable(GL_MULTISAMPLE);
m_MotionTimer.start(100);
setFocusPolicy(Qt::StrongFocus); // keyboard capture for camera switching
}
void ModelViewGadgetWidget::paintGL()
{
if (loadError)
return;
// Clear screen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Load identity matrix
glLoadIdentity();
// Enable antialiasing
glEnable(GL_MULTISAMPLE);
// define the light
m_Light.enable();
// define view matrix
m_GlView.glExecuteCam();
m_Light.glExecute();
// Display the collection of GLC_Object
m_World.render(0, glc::TransparentRenderFlag);
m_World.render(0, glc::ShadingFlag);
// Display UI Info (orbit circle)
m_MoverController.drawActiveMoverRep();
mvInitGLSuccess = true;
}
void ModelViewGadgetWidget::resizeGL(int width, int height)
{
m_GlView.setWinGLSize(width, height); // Compute window aspect ratio
}
// Create GLC_Object to display
void ModelViewGadgetWidget::CreateScene()
{
// put a black background if the 3D model is invalid or if the background image is also invalid
if (acFilename == ":/modelview/models/warning_sign.obj" or !QFile::exists(bgFilename))
bgFilename= ":/modelview/models/black.jpg";
try
{
m_GlView.loadBackGroundImage(bgFilename);
}
catch(GLC_Exception e)
{
qDebug("ModelView: background image file loading failed.");
}
try
{
if(QFile::exists(acFilename))
{
QFile aircraft(acFilename);
m_World= GLC_Factory::instance()->createWorldFromFile(aircraft);
m_ModelBoundingBox= m_World.boundingBox();
m_GlView.reframe(m_ModelBoundingBox); // center 3D model in the scene
m_GlView.setDistMinAndMax(m_World.boundingBox());
loadError = false;
if (!mvInitGLSuccess)
initializeGL();
} else {
loadError = true;
}
}
catch(GLC_Exception e)
{
qDebug("ModelView: aircraft file loading failed.");
loadError = true;
}
}
void ModelViewGadgetWidget::wheelEvent(QWheelEvent * e)
{
double delta = m_GlView.cameraHandle()->distEyeTarget() - (e->delta()/120) ;
m_GlView.cameraHandle()->setDistEyeTarget(delta);
m_GlView.setDistMinAndMax(m_World.boundingBox());
}
void ModelViewGadgetWidget::mousePressEvent(QMouseEvent *e)
{
if (m_MoverController.hasActiveMover()) return;
switch (e->button())
{
case (Qt::LeftButton):
m_MotionTimer.stop();
m_MoverController.setActiveMover(GLC_MoverController::TurnTable, e);
updateGL();
break;
case (Qt::RightButton):
printf("VBO enabled: %s, VBO supported: %s, VBO used: %s\n",
vboEnable ? "yes" : "no",
GLC_State::vboSupported() ? "yes" : "no",
GLC_State::vboUsed() ? "yes" : "no");
printf("Renderer - %s \n", (char*)glGetString(GL_RENDERER));
printf("Extensions - %s\n", (char*)glGetString(GL_EXTENSIONS));
break;
default:
break;
}
}
void ModelViewGadgetWidget::mouseMoveEvent(QMouseEvent * e)
{
if (not m_MoverController.hasActiveMover()) return;
m_MoverController.move(e);
m_GlView.setDistMinAndMax(m_World.boundingBox());
updateGL();
}
void ModelViewGadgetWidget::mouseReleaseEvent(QMouseEvent*)
{
if (not m_MoverController.hasActiveMover()) return;
m_MoverController.setNoMover();
m_MotionTimer.start();
updateGL();
}
void ModelViewGadgetWidget::keyPressEvent(QKeyEvent * e) // switch between camera
{
if (e->key() == Qt::Key_1)
{
m_GlView.cameraHandle()->setIsoView();
updateGL();
}
if (e->key() == Qt::Key_2)
{
m_GlView.cameraHandle()->setFrontView();
updateGL();
}
if (e->key() == Qt::Key_3)
{
m_GlView.cameraHandle()->setIsoView();
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(90));
updateGL();
}
if (e->key() == Qt::Key_4)
{
m_GlView.cameraHandle()->setLeftView();
updateGL();
}
if (e->key() == Qt::Key_5)
{
m_GlView.cameraHandle()->setTopView();
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(180));
updateGL();
}
if (e->key() == Qt::Key_6)
{
m_GlView.cameraHandle()->setRightView();;
updateGL();
}
if (e->key() == Qt::Key_7)
{
m_GlView.cameraHandle()->setIsoView();
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(-90));
updateGL();
}
if (e->key() == Qt::Key_8)
{
m_GlView.cameraHandle()->setRearView();;
updateGL();
}
if (e->key() == Qt::Key_9)
{
m_GlView.cameraHandle()->setIsoView();
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(180));
updateGL();
}
if (e->key() == Qt::Key_0)
{
m_GlView.cameraHandle()->setBottomView();
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(180));
updateGL();
}
}
//////////////////////////////////////////////////////////////////////
// Private slots Functions
//////////////////////////////////////////////////////////////////////
void ModelViewGadgetWidget::updateAttitude()
{
AttitudeActual::DataFields data = attActual->getData(); // get attitude data
GLC_StructOccurence* rootObject= m_World.rootOccurence(); // get the full 3D model
// create quaternions rotations for each axis
QQuaternion qX= QQuaternion::fromAxisAndAngle(QVector3D(1,0,0),data.Pitch);
QQuaternion qY= QQuaternion::fromAxisAndAngle(QVector3D(0,1,0),data.Roll);
QQuaternion qZ= QQuaternion::fromAxisAndAngle(QVector3D(0,0,1),data.Yaw);
QQuaternion quat= qX * qY * qZ; // create the quaternion of all the rotations
// pass values to simpler variables
double x= quat.vector().x();
double y= quat.vector().y();
double z= quat.vector().z();
double w= quat.scalar();
// create and gives the product of 2 4x4 matrices to get the rotation of the 3D model's matrix
QMatrix4x4 m1;
m1.setRow(0, QVector4D(w,z,-y,x));
m1.setRow(1, QVector4D(-z,w,x,y));
m1.setRow(2, QVector4D(y,-x,w,z));
m1.setRow(3, QVector4D(-x,-y,-z,w));
QMatrix4x4 m2;
m2.setRow(0, QVector4D(w,z,-y,-x));
m2.setRow(1, QVector4D(-z,w,x,-y));
m2.setRow(2, QVector4D(y,-x,w,-z));
m2.setRow(3, QVector4D(x,y,z,w));
QMatrix4x4 m0= m1 * m2;
// convert QMatrix4x4 to GLC_Matrix4x4
GLC_Matrix4x4 rootObjectRotation;
for (int i=0; i<16; i++){
rootObjectRotation.data()[i]= m0.data()[i];
}
// sets and updates the 3D model's matrix
rootObject->structInstance()->setMatrix(rootObjectRotation);
rootObject->updateChildrenAbsoluteMatrix();
updateGL();
}