/** ****************************************************************************** * * @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() { 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::Y_AXIS); m_GlView.cameraHandle()->setRightView(); //m_GlView.cameraHandle()->setIsoView(); 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(); if (!vboEnable) { GLC_State::setVboUsage(false); 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); } 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() { 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(); loadError = false; if (!mvInitGLSuccess) initializeGL(); } else { loadError = true; } } catch(GLC_Exception e) { qDebug("ModelView aircraft texture 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("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(); } ////////////////////////////////////////////////////////////////////// // Private slots Functions ////////////////////////////////////////////////////////////////////// void ModelViewGadgetWidget::updateAttitude() { // Reset view to zero angles // NOTE: Some aircraft 3D models have different orientation and axis m_GlView.cameraHandle()->setTopView(); m_GlView.cameraHandle()->rotateAroundTarget(glc::X_AXIS, 180.0*glc::PI/180.0); m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS, 90.0*glc::PI/180.0); // Rotate to the actual angles (if a gimbal lock at yaw 90/270 deg, change sequence of rotations) AttitudeActual::DataFields data = attActual->getData(); m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS, data.Yaw*glc::PI/180.0); m_GlView.cameraHandle()->rotateAroundTarget(glc::Y_AXIS, data.Roll*glc::PI/180.0); m_GlView.cameraHandle()->rotateAroundTarget(glc::X_AXIS, data.Pitch*glc::PI/180.0); updateGL(); }