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add option to draw trajectories

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ccolin
2021-01-03 19:55:04 +01:00
parent ec4017bb0f
commit 5326f294ce
9 changed files with 88 additions and 0 deletions
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41
src/drone_controller.cc
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@ -44,6 +44,38 @@ DroneController::DroneController(const QJsonObject &json)
}
void DroneController::drawTrajectory(QOpenGLExtraFunctions *f, const Drone &d) const {
OpenGLWidget::instance->getLineProgram()->bind();
OpenGLWidget::instance->getLineProgram()->setUniformValue("color", 1, 0, .532);
size_t trajectory_len = 1;
for (const Waypoint &wp : d.getWaypoints()) {
if (wp.frame > frame) break;
trajectory_len++;
}
GLfloat trajectory[trajectory_len * 3] = {0};
size_t i = 0;
for (const Waypoint &wp : d.getWaypoints()) {
if (wp.frame > frame) break;
trajectory[i] = wp.pos.x();
trajectory[i + 1] = wp.pos.y();
trajectory[i + 2] = wp.pos.z();
i += 3;
}
trajectory[i] = d.getPos().x();
trajectory[i + 1] = d.getPos().y();
trajectory[i + 2] = d.getPos().z();
f->glEnableVertexAttribArray(0);
f->glBindBuffer(GL_ARRAY_BUFFER, 0);
f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, trajectory);
glLineWidth(2);
f->glDisable(GL_CULL_FACE);
f->glDrawArrays(GL_LINE_STRIP, 0, trajectory_len);
f->glEnable(GL_CULL_FACE);
OpenGLWidget::instance->getLineProgram()->release();
OpenGLWidget::instance->getMainProgram()->bind();
}
void DroneController::draw(QOpenGLExtraFunctions *f) const {
const QVector<QPair<int, int>> &col = collisions[frame];
for (const Drone &d : drones) {
@ -60,6 +92,9 @@ void DroneController::draw(QOpenGLExtraFunctions *f) const {
sphere->draw(f, mat);
}
OpenGLWidget::instance->getMainProgram()->setUniformValue("highlight", false);
if (draw_trajectories) {
drawTrajectory(f, d);
}
}
}
@ -155,3 +190,9 @@ void DroneController::displaySpheres(double sphere_radius) {
bool DroneController::collides(const Drone &a, const Drone &b, double sqDist) {
return (b.getPos() - a.getPos()).lengthSquared() < sqDist;
}
void DroneController::setDrawTrajectories(bool enable) {
draw_trajectories = enable;
OpenGLWidget::instance->update();
}