1 files changed, 66 insertions, 12 deletions

diff --git a/src/drone_controller.cc b/src/drone_controller.cc
index 2f1364e..9241d30 100644
--- a/src/drone_controller.cc
+++ b/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)) {}
+
+
+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::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();