drone models (broken) and animation

src/drone_controller.cc

@@ -1,7 +1,12 @@
 #include "drone_controller.hh"
+#include "opengl_widget.hh"
+
+#define TINYOBJLOADER_IMPLEMENTATION
+#include "tiny_obj_loader.h"
 
 #include <QJsonArray>
 #include <QDebug>
+#include <Qt3DRender/QMesh>
 
 
 Waypoint::Waypoint(unsigned frame, QVector3D pos)
@@ -11,12 +16,39 @@ Waypoint::Waypoint(unsigned frame, QVector3D pos)
 
 Waypoint::Waypoint(const QJsonObject &json)
 	:Waypoint(json["frame"].toInt(),
-			  QVector3D(json["position"]["lng_X"].toInt(),
-						json["position"]["alt_Y"].toInt(),
-						json["position"]["lat_Z"].toInt())) {}
+			  QVector3D(json["position"]["lng_X"].toInt() / 100.0,
+						json["position"]["alt_Y"].toInt() / 100.0,
+						json["position"]["lat_Z"].toInt() / 100.0)) {}
 
 
-Drone::Drone(const QJsonObject &json) {
+bool Drone::mesh_initialized = false;
+OpenGLMesh *Drone::mesh = nullptr;
+
+Drone::Drone() {
+	if (!mesh_initialized) {
+		tinyobj::ObjReaderConfig reader_config;
+		reader_config.mtl_search_path = "../mdl/"; // Path to material files
+		tinyobj::ObjReader reader;
+		if (!reader.ParseFromFile("../mdl/dji600.obj", reader_config)) {
+			if (!reader.Error().empty()) {
+				qWarning() << "Erreur lors de la lecture de ../mdl/dji600.obj";
+			}
+			exit(1);
+		}
+		// if (!reader.Warning().empty()) {
+		// 	qWarning() << "TinyObjReader: " << reader.Warning();
+		// }
+		auto& attrib = reader.GetAttrib();
+		mesh = new OpenGLMesh(QVector<float>(attrib.vertices.begin(), attrib.vertices.end()));
+		mesh_initialized = true;
+	}
+	OpenGLWidget::instance->meshes.append(*mesh);
+	mesh_id = OpenGLWidget::instance->meshes.size() - 1;
+}
+
+
+Drone::Drone(const QJsonObject &json)
+	:Drone() {
 	QJsonArray ja = json["waypoints"].toArray();
 	waypoints.reserve(ja.size());
 	for (const QJsonValue &o : ja) {
@@ -30,12 +62,34 @@ const QVector<Waypoint> Drone::getWaypoints() const {
 }
 
 
+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) {
+		mesh.mat.translate(next_wp->pos);
+	} else if (prev > -1 && next == -1) {
+		mesh.mat.translate(prev_wp->pos);
+	} else {
+		mesh.mat.translate(lerp(prev_wp->pos, next_wp->pos, (double) (frame-prev) / (next-prev)));
+	}
+}
+
+
 DroneController::DroneController(const QJsonObject &json)
 	:framerate(json["framerate"].toInt()) {
 
-	// TODO: REMOVE!!
-	framerate = 1;
-
 	QJsonArray ja = json["drones"].toArray();
 	drones.reserve(ja.size());
 	for (const QJsonValue &o : ja) {
@@ -52,17 +106,17 @@ DroneController::DroneController(const QJsonObject &json)
 }
 
 
-DroneController::~DroneController() {
-}
-
-
 int DroneController::getDuration() const {
 	return duration;
 }
 
 
 void DroneController::step() {
-	qDebug("frame %d (%d%%)", frame, (int) ((double) frame / duration * 100));
+	// qDebug("frame %d (%d%%)", frame, (int) ((double) frame / duration * 100));
+	for (Drone d : drones) {
+		d.setTo(frame);
+	}
+	OpenGLWidget::instance->update();
 	emit frameChanged(frame);
 	if (frame == duration) {
 		pause();

src/drone_controller.hh

@@ -1,11 +1,19 @@
 #ifndef DRONE_CONTROLLER_HH
 #define DRONE_CONTROLLER_HH
 
+#include "opengl_mesh.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;
@@ -16,11 +24,17 @@ struct Waypoint {
 
 
 class Drone {
+	static OpenGLMesh *mesh;
+	static bool mesh_initialized;
+
 	QVector<Waypoint> waypoints;
+	int mesh_id;
 
 public:
+	Drone();
 	Drone(const QJsonObject &json);
 	const QVector<Waypoint> getWaypoints() const;
+	void setTo(int frame);
 };
 
 
@@ -36,7 +50,6 @@ class DroneController : public QObject {
 
 public:
 	DroneController(const QJsonObject &json);
-	~DroneController();
 	int getDuration() const;
 
 signals:

src/opengl_widget.cc

@@ -1,5 +1,7 @@
 #include "opengl_widget.hh"
 
+#include <QMouseEvent>
+
 
 static const GLchar *vertex_shader_source = R"glsl(
 #version 330 core
@@ -135,9 +137,43 @@ void OpenGLWidget::resizeGL(int w, int h) {
 
 void OpenGLWidget::paintGL() {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+	QMatrix4x4 trans;
+	trans.translate(0, 0, -cam_dist);
+	QMatrix4x4 view = trans * rot;
+	glUniformMatrix4fv(view_attr, 1, GL_FALSE, view.data());
 	for (const OpenGLMesh &mesh : meshes) {
 		glUniformMatrix4fv(model_attr, 1, GL_FALSE, mesh.mat.data());
 		glBindVertexArray(mesh.vao);
 		glDrawArrays(GL_TRIANGLES, 0, mesh.nverts);
 	}
 }
+
+
+void OpenGLWidget::mousePressEvent(QMouseEvent *e) {
+	if (e->button() == Qt::LeftButton) {
+		mouse_pos = e->pos();
+	}
+}
+
+
+void OpenGLWidget::mouseReleaseEvent(QMouseEvent *e) {
+	(void) e;
+	rot_start = rot;
+}
+
+
+void OpenGLWidget::mouseMoveEvent(QMouseEvent *e) {
+	if (e->buttons() & Qt::LeftButton) {
+		QPoint delta = e->pos() - mouse_pos;
+		rot = rot_start;
+		rot.rotate(delta.x() / 5., 0, 1, 0);
+		rot.rotate(delta.y() / 5., QVector3D(1, 0, 0) * rot);
+		update();
+	}
+}
+
+
+void OpenGLWidget::wheelEvent(QWheelEvent *e) {
+	cam_dist -= e->angleDelta().y() / 1000. * cam_dist;
+	update();
+}

src/opengl_widget.hh

@@ -16,6 +16,16 @@ class OpenGLWidget : public QOpenGLWidget, public QOpenGLFunctions_4_4_Core {
 
 	GLuint pos_attr, proj_attr, view_attr, model_attr;
 
+	QMatrix4x4 rot, rot_start;
+	GLfloat cam_dist = 1;
+	QPoint mouse_pos;
+
+protected:
+    virtual void mousePressEvent(QMouseEvent *e);
+    virtual void mouseReleaseEvent(QMouseEvent *e);
+    virtual void mouseMoveEvent(QMouseEvent *e);
+    virtual void wheelEvent(QWheelEvent *e);
+
 public:
 	static OpenGLWidget *instance;