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@ -45,9 +45,9 @@ DroneController::DroneController(const QJsonObject &json)
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}
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void DroneController::drawTrajectory(QOpenGLExtraFunctions *f, const Drone &d) const {
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OpenGLWidget::instance->getLineProgram()->bind();
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OpenGLWidget::instance->getLineProgram()->setUniformValue("color", 1, 0, .532);
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void DroneController::drawTrajectory(OpenGLWidget *glw, const Drone &d) const {
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glw->getLineProgram()->bind();
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glw->getLineProgram()->setUniformValue("color", 1, 0, .532);
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size_t trajectory_len = 1;
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for (const Waypoint &wp : d.getWaypoints()) {
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if (wp.frame > frame) break;
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@ -65,25 +65,23 @@ void DroneController::drawTrajectory(QOpenGLExtraFunctions *f, const Drone &d) c
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trajectory[i] = d.getPos().x();
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trajectory[i + 1] = d.getPos().y();
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trajectory[i + 2] = d.getPos().z();
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f->glEnableVertexAttribArray(0);
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f->glBindBuffer(GL_ARRAY_BUFFER, 0);
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f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, trajectory);
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glw->glEnableVertexAttribArray(0);
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glw->glBindBuffer(GL_ARRAY_BUFFER, 0);
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glw->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, trajectory);
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glLineWidth(2);
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f->glDisable(GL_CULL_FACE);
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f->glDrawArrays(GL_LINE_STRIP, 0, trajectory_len);
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f->glEnable(GL_CULL_FACE);
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OpenGLWidget::instance->getLineProgram()->release();
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OpenGLWidget::instance->getMainProgram()->bind();
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glw->glDisable(GL_CULL_FACE);
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glw->glDrawArrays(GL_LINE_STRIP, 0, trajectory_len);
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glw->glEnable(GL_CULL_FACE);
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glw->getLineProgram()->release();
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glw->getMainProgram()->bind();
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}
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void DroneController::drawGuide(QOpenGLExtraFunctions *f, const Drone &d) const {
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OpenGLWidget *glw = OpenGLWidget::instance;
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void DroneController::drawGuide(OpenGLWidget *glw, const Drone &d) const {
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glw->getLineProgram()->bind();
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f->glEnableVertexAttribArray(0);
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f->glBindBuffer(GL_ARRAY_BUFFER, 0);
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f->glDisable(GL_CULL_FACE);
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glw->glEnableVertexAttribArray(0);
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glw->glBindBuffer(GL_ARRAY_BUFFER, 0);
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glw->glDisable(GL_CULL_FACE);
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QVector<GLfloat> support_line {
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d.getPos().x(), 0, d.getPos().z(),
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@ -91,8 +89,8 @@ void DroneController::drawGuide(QOpenGLExtraFunctions *f, const Drone &d) const
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};
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glLineWidth(2);
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glw->getLineProgram()->setUniformValue("color", .2, .2, .4);
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f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, support_line.constData());
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f->glDrawArrays(GL_LINES, 0, 2);
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glw->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, support_line.constData());
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glw->glDrawArrays(GL_LINES, 0, 2);
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QVector<GLfloat> grid;
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const int size = 100;
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@ -113,8 +111,8 @@ void DroneController::drawGuide(QOpenGLExtraFunctions *f, const Drone &d) const
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}
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glLineWidth(1);
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glw->getLineProgram()->setUniformValue("color", .2, .2, .2);
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f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, grid.constData());
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f->glDrawArrays(GL_LINES, 0, grid.size() / 3);
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glw->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, grid.constData());
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glw->glDrawArrays(GL_LINES, 0, grid.size() / 3);
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glDisable(GL_DEPTH_TEST); // pro-gamer move
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QVector<GLfloat> axes {
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@ -124,17 +122,17 @@ void DroneController::drawGuide(QOpenGLExtraFunctions *f, const Drone &d) const
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};
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glLineWidth(2);
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glw->getLineProgram()->setUniformValue("color", 1, 0, 0);
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f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, axes.constData());
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f->glDrawArrays(GL_LINES, 0, 2);
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glw->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, axes.constData());
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glw->glDrawArrays(GL_LINES, 0, 2);
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glw->getLineProgram()->setUniformValue("color", 0, 1, 0);
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f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, axes.constData() + 6);
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f->glDrawArrays(GL_LINES, 0, 2);
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glw->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, axes.constData() + 6);
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glw->glDrawArrays(GL_LINES, 0, 2);
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glw->getLineProgram()->setUniformValue("color", 0, 0, 1);
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f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, axes.constData() + 12);
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f->glDrawArrays(GL_LINES, 0, 2);
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glw->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, axes.constData() + 12);
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glw->glDrawArrays(GL_LINES, 0, 2);
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glDisable(GL_DEPTH_TEST);
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f->glEnable(GL_CULL_FACE);
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glw->glEnable(GL_CULL_FACE);
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glw->getLineProgram()->release();
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glw->getMainProgram()->bind();
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@ -154,27 +152,30 @@ void DroneController::drawGuide(QOpenGLExtraFunctions *f, const Drone &d) const
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}
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void DroneController::draw(QOpenGLExtraFunctions *f) const {
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void DroneController::draw(OpenGLWidget *glw) const {
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const QVector<QPair<int, int>> &col = collisions[frame];
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for (const Drone &d : drones) {
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glw->getMainProgram()->bind();
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QMatrix4x4 mat;
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mat.translate(d.getPos());
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for (const QPair<int, int> &p : col) {
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if (d.getId() == p.first || d.getId() == p.second) {
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OpenGLWidget::instance->getMainProgram()->setUniformValue("highlight", true);
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glw->getMainProgram()->setUniformValue("highlight", true);
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}
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}
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d.getMesh()->draw(f, mat);
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d.getMesh()->draw(glw, mat);
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if (draw_spheres) {
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mat.scale(sphere_radius);
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sphere->draw(f, mat);
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sphere->draw(glw, mat);
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}
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OpenGLWidget::instance->getMainProgram()->setUniformValue("highlight", false);
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glw->getMainProgram()->bind();
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glw->getMainProgram()->setUniformValue("highlight", false);
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glw->getMainProgram()->release();
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if (draw_trajectories) {
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drawTrajectory(f, d);
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drawTrajectory(glw, d);
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}
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if (draw_guides) {
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drawGuide(f, d);
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drawGuide(glw, d);
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}
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}
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}
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