1 files changed, 26 insertions, 9 deletions

diff --git a/src/drone_controller.cc b/src/drone_controller.cc
index 24cfa2d..99df662 100644
--- a/src/drone_controller.cc
+++ b/src/drone_controller.cc
@@ -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();
 }