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m2-ar-projet
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move Drone and Waypoint declarations to their own files

This commit is contained in:
ccolin 2021-01-02 01:16:06 +01:00
parent 861d505606
commit bb0da810d9
7 changed files with 145 additions and 118 deletions
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4
projet.pro
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@ -13,6 +13,8 @@ SOURCES += src/opengl_widget.cc
SOURCES += src/drone_controller.cc
SOURCES += src/load_obj.cc
SOURCES += src/settings_pane.cc
SOURCES += src/drone.cc
SOURCES += src/waypoint.cc
HEADERS += src/main_window.hh
HEADERS += src/opengl_mesh.hh
@ -20,3 +22,5 @@ HEADERS += src/opengl_widget.hh
HEADERS += src/drone_controller.hh
HEADERS += src/load_obj.hh
HEADERS += src/settings_pane.hh
HEADERS += src/drone.cc
HEADERS += src/waypoint.cc

73
src/drone.cc Normal file
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@ -0,0 +1,73 @@
#include "drone.hh"
#include "load_obj.hh"
#include "opengl_widget.hh"
#include <QJsonArray>
bool Drone::mesh_initialized = false;
OpenGLMesh *Drone::mesh = nullptr;
Drone::Drone(int id)
:id(id) {
if (!mesh_initialized) {
QVector<GLfloat> verts = load_obj(":/mdl/dji600.obj", LOAD_OBJ_NORMALS | LOAD_OBJ_UVS);
QOpenGLTexture *texture = new QOpenGLTexture(QImage(":/img/dji600.jpg").mirrored());
mesh = new OpenGLMesh(verts, texture);
mesh_initialized = true;
}
OpenGLWidget::instance->meshes.append(*mesh);
mesh_id = OpenGLWidget::instance->meshes.size() - 1;
}
Drone::Drone(const QJsonObject &json)
:Drone(json["id"].toInt()) {
QJsonArray ja = json["waypoints"].toArray();
waypoints.reserve(ja.size());
for (const QJsonValue &o : ja) {
waypoints.append(Waypoint(o.toObject()));
}
}
const QVector<Waypoint> Drone::getWaypoints() const {
return waypoints;
}
void Drone::setTo(int frame) {
int prev = -1, next = -1;
const Waypoint *prev_wp, *next_wp;
for (const Waypoint &wp : waypoints) { // TODO: this can be optimized
if (wp.frame < frame) {
prev = wp.frame;
prev_wp = &wp;
} else {
next = wp.frame;
next_wp = &wp;
break;
}
}
OpenGLMesh &mesh = OpenGLWidget::instance->meshes[mesh_id];
mesh.mat = QMatrix4x4();
if (next > -1 && prev == -1) {
pos = next_wp->pos;
} else if (prev > -1 && next == -1) {
pos = prev_wp->pos;
} else {
pos = lerp(prev_wp->pos, next_wp->pos, (double) (frame-prev) / (next-prev));
}
mesh.mat.translate(pos);
}
QVector3D Drone::getPos() const {
return pos;
}
int Drone::getId() const {
return id;
}

37
src/drone.hh Normal file
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@ -0,0 +1,37 @@
#ifndef DRONE_HH
#define DRONE_HH
#include "opengl_mesh.hh"
#include "waypoint.hh"
#include <QVector>
#include <QVector3D>
#include <QJsonObject>
template <typename T>
static T lerp(T a, T b, double factor) {
return a + (factor * (b - a));
}
class Drone {
static OpenGLMesh *mesh;
static bool mesh_initialized;
QVector<Waypoint> waypoints;
int mesh_id;
QVector3D pos;
int id;
public:
Drone(int id);
Drone(const QJsonObject &json);
const QVector<Waypoint> getWaypoints() const;
void setTo(int frame);
QVector3D getPos() const;
int getId() const;
};
#endif

82
src/drone_controller.cc
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@ -1,89 +1,7 @@
#include "drone_controller.hh"
#include "opengl_widget.hh"
#include "load_obj.hh"
#include <QJsonArray>
#include <QDebug>
#include <QFile>
Waypoint::Waypoint(unsigned frame, QVector3D pos)
:frame(frame),
pos(pos) {}
Waypoint::Waypoint(const QJsonObject &json)
:Waypoint(json["frame"].toInt(),
QVector3D(json["position"]["lng_X"].toInt() / 100.0,
json["position"]["alt_Y"].toInt() / 100.0,
json["position"]["lat_Z"].toInt() / 100.0)) {}
bool Drone::mesh_initialized = false;
OpenGLMesh *Drone::mesh = nullptr;
Drone::Drone(int id)
:id(id) {
if (!mesh_initialized) {
QVector<GLfloat> verts = load_obj(":/mdl/dji600.obj", LOAD_OBJ_NORMALS | LOAD_OBJ_UVS);
QOpenGLTexture *texture = new QOpenGLTexture(QImage(":/img/dji600.jpg").mirrored());
mesh = new OpenGLMesh(verts, texture);
mesh_initialized = true;
}
OpenGLWidget::instance->meshes.append(*mesh);
mesh_id = OpenGLWidget::instance->meshes.size() - 1;
}
Drone::Drone(const QJsonObject &json)
:Drone(json["id"].toInt()) {
QJsonArray ja = json["waypoints"].toArray();
waypoints.reserve(ja.size());
for (const QJsonValue &o : ja) {
waypoints.append(Waypoint(o.toObject()));
}
}
const QVector<Waypoint> Drone::getWaypoints() const {
return waypoints;
}
void Drone::setTo(int frame) {
int prev = -1, next = -1;
const Waypoint *prev_wp, *next_wp;
for (const Waypoint &wp : waypoints) { // TODO: this can be optimized
if (wp.frame < frame) {
prev = wp.frame;
prev_wp = &wp;
} else {
next = wp.frame;
next_wp = &wp;
break;
}
}
OpenGLMesh &mesh = OpenGLWidget::instance->meshes[mesh_id];
mesh.mat = QMatrix4x4();
if (next > -1 && prev == -1) {
pos = next_wp->pos;
} else if (prev > -1 && next == -1) {
pos = prev_wp->pos;
} else {
pos = lerp(prev_wp->pos, next_wp->pos, (double) (frame-prev) / (next-prev));
}
mesh.mat.translate(pos);
}
QVector3D Drone::getPos() const {
return pos;
}
int Drone::getId() const {
return id;
}
DroneController::DroneController(const QJsonObject &json)

37
src/drone_controller.hh
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@ -1,47 +1,12 @@
#ifndef DRONE_CONTROLLER_HH
#define DRONE_CONTROLLER_HH
#include "opengl_mesh.hh"
#include "drone.hh"
#include <QJsonObject>
#include <QVector3D>
#include <QTimer>
template <typename T>
static T lerp(T a, T b, double factor) {
return a + (factor * (b - a));
}
struct Waypoint {
int frame;
QVector3D pos;
Waypoint(unsigned frame, QVector3D pos);
Waypoint(const QJsonObject &json);
};
class Drone {
static OpenGLMesh *mesh;
static bool mesh_initialized;
QVector<Waypoint> waypoints;
int mesh_id;
QVector3D pos;
int id;
public:
Drone(int id);
Drone(const QJsonObject &json);
const QVector<Waypoint> getWaypoints() const;
void setTo(int frame);
QVector3D getPos() const;
int getId() const;
};
class DroneController : public QObject {
Q_OBJECT

13
src/waypoint.cc Normal file
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@ -0,0 +1,13 @@
#include "waypoint.hh"
Waypoint::Waypoint(unsigned frame, QVector3D pos)
:frame(frame),
pos(pos) {}
Waypoint::Waypoint(const QJsonObject &json)
:Waypoint(json["frame"].toInt(),
QVector3D(json["position"]["lng_X"].toInt() / 100.0,
json["position"]["alt_Y"].toInt() / 100.0,
json["position"]["lat_Z"].toInt() / 100.0)) {}

17
src/waypoint.hh Normal file
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@ -0,0 +1,17 @@
#ifndef WAYPOINT_HH
#define WAYPOINT_HH
#include <QVector3D>
#include <QJsonObject>
struct Waypoint {
int frame;
QVector3D pos;
Waypoint(unsigned frame, QVector3D pos);
Waypoint(const QJsonObject &json);
};
#endif