From 7e0554bf65b9be61f3b73625d762a5043ad2af0f Mon Sep 17 00:00:00 2001 From: ccolin Date: Sun, 3 Jan 2021 13:27:01 +0100 Subject: [PATCH] collision sphere previsualization --- mdl/mdl_resources.qrc | 1 + mdl/sphere.obj | 3210 +++++++++++++++++++++++++++++++++++++++ src/drone_controller.cc | 36 +- src/drone_controller.hh | 7 + src/main_window.cc | 2 + src/opengl_mesh.cc | 6 +- 6 files changed, 3256 insertions(+), 6 deletions(-) create mode 100644 mdl/sphere.obj diff --git a/mdl/mdl_resources.qrc b/mdl/mdl_resources.qrc index 88aba98..19087aa 100644 --- a/mdl/mdl_resources.qrc +++ b/mdl/mdl_resources.qrc @@ -3,5 +3,6 @@ dji600.obj dji600.mtl + sphere.obj diff --git a/mdl/sphere.obj b/mdl/sphere.obj new file mode 100644 index 0000000..8198ebc --- /dev/null +++ b/mdl/sphere.obj @@ -0,0 +1,3210 @@ +# Blender v2.90.1 OBJ File: '' +# www.blender.org +o Icosphere +v 0.000000 -1.000000 0.000000 +v 0.723607 -0.447220 0.525725 +v -0.276388 -0.447220 0.850649 +v -0.894426 -0.447216 0.000000 +v 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*DroneController::sphere = nullptr; + + +DroneController::DroneController(const QJsonObject &json) + :framerate(json["framerate"].toInt()), + sphere_timer(this) { + sphere_timer.setSingleShot(true); + connect(&sphere_timer, &QTimer::timeout, [&]() { + draw_spheres = false; + OpenGLWidget::instance->update(); + }); + if (sphere == nullptr) { + OpenGLWidget::instance->makeCurrent(); + sphere = new OpenGLMesh(load_obj(":/mdl/sphere.obj", LOAD_OBJ_NORMALS | LOAD_OBJ_UVS), + new QOpenGLTexture(QImage(sphere_neutral, 1, 1, QImage::Format_RGB888)), + OpenGLWidget::instance->getMainProgram()); + OpenGLWidget::instance->makeCurrent(); + } QJsonArray ja = json["drones"].toArray(); drones.reserve(ja.size()); for (const QJsonValue &o : ja) { @@ -29,6 +49,10 @@ void DroneController::draw(QOpenGLExtraFunctions *f) const { QMatrix4x4 mat; mat.translate(d.getPos()); d.getMesh()->draw(f, mat); + if (draw_spheres) { + mat.scale(sphere_radius); + sphere->draw(f, mat); + } } } @@ -111,6 +135,14 @@ void DroneController::computeCollisions(double sphere_radius) { } +void DroneController::displaySpheres(double sphere_radius) { + draw_spheres = true; + this->sphere_radius = sphere_radius; + sphere_timer.start(1000); + OpenGLWidget::instance->update(); +} + + bool DroneController::collides(const Drone &a, const Drone &b, double sqDist) { return (b.getPos() - a.getPos()).lengthSquared() < sqDist; } diff --git a/src/drone_controller.hh b/src/drone_controller.hh index bcf1a1a..de9385d 100644 --- a/src/drone_controller.hh +++ b/src/drone_controller.hh @@ -19,6 +19,12 @@ class DroneController : public QObject, public Painter { QVector drones; QTimer timer; bool paused = true; + bool draw_spheres = false; + double sphere_radius = 0; + QTimer sphere_timer; + + static OpenGLMesh *sphere; + static const unsigned char sphere_neutral[]; static bool collides(const Drone &a, const Drone &b, double radius); @@ -43,6 +49,7 @@ public slots: void resume(); void seek(int frame); void computeCollisions(double sphere_radius); + void displaySpheres(double sphere_radius); }; diff --git a/src/main_window.cc b/src/main_window.cc index cd85ae7..9680d94 100644 --- a/src/main_window.cc +++ b/src/main_window.cc @@ -87,6 +87,8 @@ void MainWindow::open(const QString &path) { [&](double _) { settings_pane->clearCollisions(); }); connect(settings_pane, &SettingsPane::sphereRadiusChanged, dc, &DroneController::computeCollisions); + connect(settings_pane, &SettingsPane::sphereRadiusChanged, + dc, &DroneController::displaySpheres); settings_pane->setEnabled(true); glw.setPainter(dc); diff --git a/src/opengl_mesh.cc b/src/opengl_mesh.cc index a1f5a23..f77a70a 100644 --- a/src/opengl_mesh.cc +++ b/src/opengl_mesh.cc @@ -21,8 +21,6 @@ OpenGLMesh::OpenGLMesh(QVector verts, QOpenGLTexture *tex, QOpenGLShaderP glf->glEnableVertexAttribArray(1); glf->glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, 8 * sizeof (float), (void *) (6 * sizeof (float))); glf->glEnableVertexAttribArray(2); - tex->bind(); - glf->glBindVertexArray(0); OpenGLWidget::instance->doneCurrent(); } @@ -31,7 +29,7 @@ void OpenGLMesh::draw(QOpenGLExtraFunctions *f, const QMatrix4x4 &mat) const { program->bind(); program->setUniformValue("model", mat); f->glBindVertexArray(vao); - tex->bind(); + if (tex) tex->bind(); f->glDrawArrays(GL_TRIANGLES, 0, nverts); - tex->release(); + if (tex) tex->release(); }