From bb0da810d945d98b25390c65ab3f34e695914fd6 Mon Sep 17 00:00:00 2001 From: ccolin Date: Sat, 2 Jan 2021 01:16:06 +0100 Subject: [PATCH] move Drone and Waypoint declarations to their own files --- projet.pro | 4 ++ src/drone.cc | 73 ++++++++++++++++++++++++++++++++++++ src/drone.hh | 37 +++++++++++++++++++ src/drone_controller.cc | 82 ----------------------------------------- src/drone_controller.hh | 37 +------------------ src/waypoint.cc | 13 +++++++ src/waypoint.hh | 17 +++++++++ 7 files changed, 145 insertions(+), 118 deletions(-) create mode 100644 src/drone.cc create mode 100644 src/drone.hh create mode 100644 src/waypoint.cc create mode 100644 src/waypoint.hh diff --git a/projet.pro b/projet.pro index d44ae55..0ff7abb 100644 --- a/projet.pro +++ b/projet.pro @@ -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 diff --git a/src/drone.cc b/src/drone.cc new file mode 100644 index 0000000..b7e4007 --- /dev/null +++ b/src/drone.cc @@ -0,0 +1,73 @@ +#include "drone.hh" + +#include "load_obj.hh" +#include "opengl_widget.hh" + +#include + + +bool Drone::mesh_initialized = false; +OpenGLMesh *Drone::mesh = nullptr; + +Drone::Drone(int id) + :id(id) { + if (!mesh_initialized) { + QVector 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 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 = ℘ + } else { + next = wp.frame; + next_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; +} diff --git a/src/drone.hh b/src/drone.hh new file mode 100644 index 0000000..6c43cc1 --- /dev/null +++ b/src/drone.hh @@ -0,0 +1,37 @@ +#ifndef DRONE_HH +#define DRONE_HH + +#include "opengl_mesh.hh" +#include "waypoint.hh" + +#include +#include +#include + + +template +static T lerp(T a, T b, double factor) { + return a + (factor * (b - a)); +} + + +class Drone { + static OpenGLMesh *mesh; + static bool mesh_initialized; + + QVector waypoints; + int mesh_id; + QVector3D pos; + int id; + +public: + Drone(int id); + Drone(const QJsonObject &json); + const QVector getWaypoints() const; + void setTo(int frame); + QVector3D getPos() const; + int getId() const; +}; + + +#endif diff --git a/src/drone_controller.cc b/src/drone_controller.cc index 6ef78ad..588ac23 100644 --- a/src/drone_controller.cc +++ b/src/drone_controller.cc @@ -1,89 +1,7 @@ #include "drone_controller.hh" #include "opengl_widget.hh" -#include "load_obj.hh" #include -#include -#include - - -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 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 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 = ℘ - } else { - next = wp.frame; - next_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) diff --git a/src/drone_controller.hh b/src/drone_controller.hh index 93930a1..08dac42 100644 --- a/src/drone_controller.hh +++ b/src/drone_controller.hh @@ -1,47 +1,12 @@ #ifndef DRONE_CONTROLLER_HH #define DRONE_CONTROLLER_HH -#include "opengl_mesh.hh" +#include "drone.hh" #include -#include #include -template -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 waypoints; - int mesh_id; - QVector3D pos; - int id; - -public: - Drone(int id); - Drone(const QJsonObject &json); - const QVector getWaypoints() const; - void setTo(int frame); - QVector3D getPos() const; - int getId() const; -}; - - class DroneController : public QObject { Q_OBJECT diff --git a/src/waypoint.cc b/src/waypoint.cc new file mode 100644 index 0000000..7acf632 --- /dev/null +++ b/src/waypoint.cc @@ -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)) {} diff --git a/src/waypoint.hh b/src/waypoint.hh new file mode 100644 index 0000000..4b455fd --- /dev/null +++ b/src/waypoint.hh @@ -0,0 +1,17 @@ +#ifndef WAYPOINT_HH +#define WAYPOINT_HH + +#include +#include + + +struct Waypoint { + int frame; + QVector3D pos; + + Waypoint(unsigned frame, QVector3D pos); + Waypoint(const QJsonObject &json); +}; + + +#endif