From c1555d9dfe907273cb341e95fc6b740c15c46558 Mon Sep 17 00:00:00 2001 From: edouard Date: Tue, 1 Feb 2011 23:15:29 +0000 Subject: [PATCH] OP-306 Update revealed two bugs in the widget destructors, workaround for now, too late for today... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2683 ebee16cc-31ac-478f-84a7-5cbb03baadba --- .../gpsdisplay/gpsconstellationwidget.cpp | 368 +++++----- .../modelview/modelviewgadgetwidget.cpp | 650 +++++++++--------- 2 files changed, 509 insertions(+), 509 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/gpsdisplay/gpsconstellationwidget.cpp b/ground/openpilotgcs/src/plugins/gpsdisplay/gpsconstellationwidget.cpp index 08c8ad7cc..d6bddb291 100644 --- a/ground/openpilotgcs/src/plugins/gpsdisplay/gpsconstellationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/gpsdisplay/gpsconstellationwidget.cpp @@ -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 -#include - -/* - * 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 +#include + +/* + * 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); + +} diff --git a/ground/openpilotgcs/src/plugins/modelview/modelviewgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/modelview/modelviewgadgetwidget.cpp index 95651a5fb..3f1e2fb5e 100644 --- a/ground/openpilotgcs/src/plugins/modelview/modelviewgadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/modelview/modelviewgadgetwidget.cpp @@ -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 - -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(); - 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 + +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(); + 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(); +}