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move Drone and Waypoint declarations to their own files

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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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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)