collision sphere previsualization

mdl/mdl_resources.qrc

@@ -3,5 +3,6 @@
   <qresource prefix="/mdl">
     <file>dji600.obj</file>
     <file>dji600.mtl</file>
+    <file>sphere.obj</file>
   </qresource>
 </RCC>

src/drone_controller.cc

@@ -1,14 +1,34 @@
 #include "drone_controller.hh"
 #include "opengl_widget.hh"
+#include "load_obj.hh"
 
 #include <QJsonArray>
 #include <QDebug>
 #include <QOpenGLShaderProgram>
 
 
-DroneController::DroneController(const QJsonObject &json)
+const unsigned char DroneController::sphere_neutral[] = {
-	:framerate(json["framerate"].toInt()) {
+	166, 166, 166
+};
 
+OpenGLMesh *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;
 }

src/drone_controller.hh

@@ -19,6 +19,12 @@ class DroneController : public QObject, public Painter {
 	QVector<Drone> 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);
 };
 
 

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);

src/opengl_mesh.cc

@@ -21,8 +21,6 @@ OpenGLMesh::OpenGLMesh(QVector<float> 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();
 }