91 lines
1.9 KiB
C++
91 lines
1.9 KiB
C++
#include "drone.hh"
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#include "load_obj.hh"
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#include "opengl_widget.hh"
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#include <QJsonArray>
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#include <QDebug>
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bool Drone::mesh_initialized = false;
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OpenGLMesh *Drone::mesh = nullptr;
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Drone::Drone(int id)
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:id(id) {
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OpenGLWidget *glw = OpenGLWidget::instance;
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if (!mesh_initialized) {
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glw->makeCurrent();
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QVector<GLfloat> verts = load_obj(":/mdl/dji600.obj", LOAD_OBJ_NORMALS | LOAD_OBJ_UVS);
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QOpenGLTexture *texture = new QOpenGLTexture(QImage(":/img/dji600.jpg").mirrored());
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mesh = new OpenGLMesh(verts, texture, glw->getMainProgram());
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mesh_initialized = true;
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glw->doneCurrent();
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}
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}
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Drone::Drone(const QJsonObject &json)
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:Drone(json["id"].toInt()) {
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QJsonArray ja = json["waypoints"].toArray();
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waypoints.reserve(ja.size());
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for (const QJsonValue &o : ja) {
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waypoints.append(Waypoint(o.toObject()));
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}
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for (int i = 0; i < waypoints.size() - 1; i++) {
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waypoints[i].computed_speed = (waypoints[i + 1].pos - waypoints[i].pos).length()
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/ (waypoints[i + 1].frame - waypoints[i].frame);
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}
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setTo(0);
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}
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const QVector<Waypoint> Drone::getWaypoints() const {
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return waypoints;
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}
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void Drone::setTo(int frame) {
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int prev = -1, next = -1;
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const Waypoint *prev_wp, *next_wp;
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for (const Waypoint &wp : waypoints) { // TODO: this can be optimized
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if (wp.frame < frame) {
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prev = wp.frame;
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prev_wp = ℘
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} else {
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next = wp.frame;
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next_wp = ℘
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break;
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}
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}
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if (next > -1 && prev == -1) {
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pos = next_wp->pos;
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speed = next_wp->computed_speed;
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} else if (prev > -1 && next == -1) {
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pos = prev_wp->pos;
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speed = prev_wp->computed_speed;
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} else {
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pos = lerp(prev_wp->pos, next_wp->pos, (double) (frame-prev) / (next-prev));
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speed = prev_wp->computed_speed;
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}
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}
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const QVector3D Drone::getPos() const {
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return pos;
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}
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int Drone::getId() const {
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return id;
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}
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double Drone::getSpeed() const {
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return speed;
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}
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const OpenGLMesh *Drone::getMesh() const {
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return mesh;
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}
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