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add drone names when guides are enabled

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This commit is contained in:
ccolin 2021-01-04 01:29:44 +01:00
parent d5080935ff
commit da37a84d5f
3 changed files with 44 additions and 10 deletions
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35
src/drone_controller.cc
View File

@ -5,6 +5,7 @@
#include <QJsonArray>
#include <QDebug>
#include <QOpenGLShaderProgram>
#include <QPainter>
const unsigned char DroneController::sphere_neutral[] = {
@ -77,7 +78,9 @@ void DroneController::drawTrajectory(QOpenGLExtraFunctions *f, const Drone &d) c
void DroneController::drawGuide(QOpenGLExtraFunctions *f, const Drone &d) const {
OpenGLWidget::instance->getLineProgram()->bind();
OpenGLWidget *glw = OpenGLWidget::instance;
glw->getLineProgram()->bind();
f->glEnableVertexAttribArray(0);
f->glBindBuffer(GL_ARRAY_BUFFER, 0);
f->glDisable(GL_CULL_FACE);
@ -87,7 +90,7 @@ void DroneController::drawGuide(QOpenGLExtraFunctions *f, const Drone &d) const
d.getPos().x(), d.getPos().y(), d.getPos().z(),
};
glLineWidth(2);
OpenGLWidget::instance->getLineProgram()->setUniformValue("color", .2, .2, .4);
glw->getLineProgram()->setUniformValue("color", .2, .2, .4);
f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, support_line.constData());
f->glDrawArrays(GL_LINES, 0, 2);
@ -109,7 +112,7 @@ void DroneController::drawGuide(QOpenGLExtraFunctions *f, const Drone &d) const
grid.append(i);
}
glLineWidth(1);
OpenGLWidget::instance->getLineProgram()->setUniformValue("color", .2, .2, .2);
glw->getLineProgram()->setUniformValue("color", .2, .2, .2);
f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, grid.constData());
f->glDrawArrays(GL_LINES, 0, grid.size() / 3);
@ -117,23 +120,37 @@ void DroneController::drawGuide(QOpenGLExtraFunctions *f, const Drone &d) const
QVector<GLfloat> axes {
0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 1
0, 0, 0, 0, 0, 1,
};
glLineWidth(2);
OpenGLWidget::instance->getLineProgram()->setUniformValue("color", 1, 0, 0);
glw->getLineProgram()->setUniformValue("color", 1, 0, 0);
f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, axes.constData());
f->glDrawArrays(GL_LINES, 0, 2);
OpenGLWidget::instance->getLineProgram()->setUniformValue("color", 0, 1, 0);
glw->getLineProgram()->setUniformValue("color", 0, 1, 0);
f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, axes.constData() + 6);
f->glDrawArrays(GL_LINES, 0, 2);
OpenGLWidget::instance->getLineProgram()->setUniformValue("color", 0, 0, 1);
glw->getLineProgram()->setUniformValue("color", 0, 0, 1);
f->glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, axes.constData() + 12);
f->glDrawArrays(GL_LINES, 0, 2);
glDisable(GL_DEPTH_TEST);
f->glEnable(GL_CULL_FACE);
OpenGLWidget::instance->getLineProgram()->release();
OpenGLWidget::instance->getMainProgram()->bind();
glw->getLineProgram()->release();
glw->getMainProgram()->bind();
QVector3D text_pos = d.getPos();
text_pos.setY(text_pos.y() + .5);
QPoint screen_pos;
if (!glw->project(text_pos, screen_pos)) return;
QPainter painter(glw);
painter.endNativePainting();
painter.setRenderHint(QPainter::Antialiasing);
painter.setPen(Qt::green);
QRect rect(0, 0, 200, 100);
rect.moveCenter({screen_pos.x(), screen_pos.y()});
painter.drawText(rect, Qt::AlignCenter, QString::number(d.getId()));
painter.beginNativePainting();
painter.end();
}

18
src/opengl_widget.cc
View File

@ -176,7 +176,7 @@ void OpenGLWidget::resizeGL(int w, int h) {
void OpenGLWidget::paintGL() {
glEnable(GL_CULL_FACE); // i shouldn't have to do this every frame, should i?
glEnable(GL_CULL_FACE);
glEnable(GL_DEPTH_TEST);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
QMatrix4x4 trans;
@ -258,3 +258,19 @@ QOpenGLShaderProgram *OpenGLWidget::getMainProgram() {
QOpenGLShaderProgram *OpenGLWidget::getLineProgram() {
return &line_program;
}
bool OpenGLWidget::project(const QVector3D &p, QPoint &point) const {
QMatrix4x4 trans;
trans.translate(0, 0, -cam_dist);
QMatrix4x4 view = trans * rot;
QVector3D projected = proj * view * p;
if (projected.x() < -1 || projected.x() > 1
|| projected.y() < -1 || projected.y() > 1
|| projected.z() < -1 || projected.z() > 1) {
return false;
}
point.setX((projected.x() / 2 + .5) * (float) width());
point.setY(((projected.y() / 2 - .5) * -1) * (float) height());
return true;
}

1
src/opengl_widget.hh
View File

@ -58,6 +58,7 @@ public:
void setPainter(const Painter *p);
QOpenGLShaderProgram *getMainProgram();
QOpenGLShaderProgram *getLineProgram();
bool project(const QVector3D &p, QPoint &point) const;
signals:
void initialized();