mirror of
https://bitbucket.org/librepilot/librepilot.git
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b36be73ffb
Change Zoomm sensibility (made it more sensitive) Remobe unecessary state variable : - load Error - init failed (An OpenGL init failed cause a Crash)
370 lines
10 KiB
C++
370 lines
10 KiB
C++
/**
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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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* @addtogroup GCSPlugins GCS Plugins
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* @{
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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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*****************************************************************************/
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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 "QtDebug"
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#include "modelviewgadgetwidget.h"
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#include "extensionsystem/pluginmanager.h"
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#include "glc_context.h"
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#include "glc_exception.h"
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#include "glc_openglexception.h"
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#include "viewport/glc_userinput.h"
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#include <iostream>
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ModelViewGadgetWidget::ModelViewGadgetWidget(QWidget *parent)
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: QGLWidget(new GLC_Context(QGLFormat(QGL::SampleBuffers)),parent)
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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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, acFilename()
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, bgFilename()
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, vboEnable(false)
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{
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setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
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CreateScene();
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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= GLC_Factory::instance()->createDefaultMoverController(repColor, &m_GlView);
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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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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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}
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void ModelViewGadgetWidget::setAcFilename(QString acf)
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{
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if(QFile::exists(acf))
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acFilename = acf;
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else
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{
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acFilename= acf= ":/modelview/models/warning_sign.obj";
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m_GlView.cameraHandle()->setFrontView(); // set to front camera to see/read the warning sign
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}
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}
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void ModelViewGadgetWidget::setBgFilename(QString bgf)
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{
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if (QFile::exists(bgFilename))
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bgFilename = bgf;
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else
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{
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qDebug() << "file " << bgf << " doesn't exists";
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bgFilename= ":/modelview/models/black.jpg"; // will put a black background if there's no background
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}
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}
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void ModelViewGadgetWidget::setVboEnable(bool eVbo)
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{
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vboEnable = eVbo;
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m_World.collection()->setVboUsage(vboEnable);
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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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// OpenGL initialization
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m_GlView.initGl();
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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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m_GlView.cameraHandle()->setDefaultUpVector(glc::Z_AXIS);
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m_GlView.cameraHandle()->setFrontView();
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m_GlView.setToOrtho(true); // orthogonal view
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glEnable(GL_NORMALIZE);
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// Enable antialiasing
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glEnable(GL_MULTISAMPLE);
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m_MotionTimer.start(100);
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setFocusPolicy(Qt::StrongFocus); // keyboard capture for camera switching
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}
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void ModelViewGadgetWidget::paintGL()
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{
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try
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{
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// Clear screen
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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// OpenGL error handler
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{
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GLenum error= glGetError();
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if (error != GL_NO_ERROR)
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{
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GLC_OpenGlException OpenGlException("ModelViewGadgetWidget::paintGL() ", error);
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throw(OpenGlException);
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}
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}
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// Load identity matrix
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glLoadIdentity();
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// Enable antialiasing
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glEnable(GL_MULTISAMPLE);
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// Calculate camera depth of view
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m_GlView.setDistMinAndMax(m_World.boundingBox());
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// define view matrix
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m_Light.glExecute();
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m_GlView.glExecuteCam();
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// Display the collection of GLC_Object
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m_World.render(0, glc::ShadingFlag);
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m_World.render(0, glc::TransparentRenderFlag);
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// Display UI Info (orbit circle)
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m_MoverController.drawActiveMoverRep();
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}
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catch (GLC_Exception &e)
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{
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qDebug() << e.what();
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}
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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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// OpenGL error handler
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{
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GLenum error= glGetError();
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if (error != GL_NO_ERROR)
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{
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GLC_OpenGlException OpenGlException("ModelViewGadgetWidget::resizeGL() ", error);
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throw(OpenGlException);
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}
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}
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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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// put a black background if the 3D model is invalid or if the background image is also invalid
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if (acFilename == ":/modelview/models/warning_sign.obj" or !QFile::exists(bgFilename))
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bgFilename= ":/modelview/models/black.jpg";
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try
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{
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m_GlView.loadBackGroundImage(bgFilename);
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}
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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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try
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{
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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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m_GlView.reframe(m_ModelBoundingBox); // center 3D model in the scene
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} else {
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qDebug("ModelView: aircraft file not found.");
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}
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}
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catch(GLC_Exception e)
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{
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qDebug("ModelView: aircraft file loading failed.");
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}
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}
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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()/4) ;
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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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void ModelViewGadgetWidget::mousePressEvent(QMouseEvent *e)
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{
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GLC_UserInput userInput(e->x(), e->y());
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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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m_MoverController.setActiveMover(GLC_MoverController::TurnTable, userInput);
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updateGL();
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break;
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case (Qt::RightButton):
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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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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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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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GLC_UserInput userInput(e->x(), e->y());
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if (not m_MoverController.hasActiveMover()) return;
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m_MoverController.move(userInput);
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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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void ModelViewGadgetWidget::keyPressEvent(QKeyEvent * e) // switch between camera
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{
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if (e->key() == Qt::Key_1)
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{
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m_GlView.cameraHandle()->setIsoView();
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updateGL();
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}
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if (e->key() == Qt::Key_2)
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{
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m_GlView.cameraHandle()->setFrontView();
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updateGL();
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}
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if (e->key() == Qt::Key_3)
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{
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m_GlView.cameraHandle()->setIsoView();
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m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(90));
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updateGL();
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}
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if (e->key() == Qt::Key_4)
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{
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m_GlView.cameraHandle()->setLeftView();
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updateGL();
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}
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if (e->key() == Qt::Key_5)
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{
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m_GlView.cameraHandle()->setTopView();
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m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(180));
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updateGL();
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}
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if (e->key() == Qt::Key_6)
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{
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m_GlView.cameraHandle()->setRightView();;
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updateGL();
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}
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if (e->key() == Qt::Key_7)
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{
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m_GlView.cameraHandle()->setIsoView();
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m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(-90));
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updateGL();
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}
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if (e->key() == Qt::Key_8)
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{
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m_GlView.cameraHandle()->setRearView();;
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updateGL();
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}
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if (e->key() == Qt::Key_9)
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{
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m_GlView.cameraHandle()->setIsoView();
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m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(180));
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updateGL();
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}
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if (e->key() == Qt::Key_0)
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{
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m_GlView.cameraHandle()->setBottomView();
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m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS,glc::toRadian(180));
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updateGL();
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}
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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(); // get attitude data
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GLC_StructOccurence* rootObject= m_World.rootOccurence(); // get the full 3D model
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double x= data.q3;
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double y= data.q2;
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double z= data.q4;
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double w= data.q1;
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if (w == 0.0)
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w = 1.0;
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// create and gives the product of 2 4x4 matrices to get the rotation of the 3D model's matrix
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QMatrix4x4 m1;
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m1.setRow(0, QVector4D(w,z,-y,x));
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m1.setRow(1, QVector4D(-z,w,x,y));
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m1.setRow(2, QVector4D(y,-x,w,z));
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m1.setRow(3, QVector4D(-x,-y,-z,w));
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QMatrix4x4 m2;
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m2.setRow(0, QVector4D(w,z,-y,-x));
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m2.setRow(1, QVector4D(-z,w,x,-y));
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m2.setRow(2, QVector4D(y,-x,w,-z));
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m2.setRow(3, QVector4D(x,y,z,w));
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QMatrix4x4 m0= m1 * m2;
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// convert QMatrix4x4 to GLC_Matrix4x4
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GLC_Matrix4x4 rootObjectRotation;
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{
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double* newMatrixData = rootObjectRotation.setData();
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double* oldMatrixData = (double*) m0.data();
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for (int i=0; i<16; i++){
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newMatrixData[i]= oldMatrixData[i];
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}
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}
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// sets and updates the 3D model's matrix
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rootObject->structInstance()->setMatrix(rootObjectRotation);
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rootObject->updateChildrenAbsoluteMatrix();
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updateGL();
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}
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