From bb0da810d945d98b25390c65ab3f34e695914fd6 Mon Sep 17 00:00:00 2001
From: ccolin
Date: Sat, 2 Jan 2021 01:16:06 +0100
Subject: move Drone and Waypoint declarations to their own files

---
 src/drone.cc | 73 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 73 insertions(+)
 create mode 100644 src/drone.cc

(limited to 'src/drone.cc')

diff --git a/src/drone.cc b/src/drone.cc
new file mode 100644
index 0000000..b7e4007
--- /dev/null
+++ b/src/drone.cc
@@ -0,0 +1,73 @@
+#include "drone.hh"
+
+#include "load_obj.hh"
+#include "opengl_widget.hh"
+
+#include <QJsonArray>
+
+
+bool Drone::mesh_initialized = false;
+OpenGLMesh *Drone::mesh = nullptr;
+
+Drone::Drone(int id)
+	:id(id) {
+	if (!mesh_initialized) {
+		QVector<GLfloat> verts = load_obj(":/mdl/dji600.obj", LOAD_OBJ_NORMALS | LOAD_OBJ_UVS);
+		QOpenGLTexture *texture = new QOpenGLTexture(QImage(":/img/dji600.jpg").mirrored());
+		mesh = new OpenGLMesh(verts, texture);
+		mesh_initialized = true;
+	}
+	OpenGLWidget::instance->meshes.append(*mesh);
+	mesh_id = OpenGLWidget::instance->meshes.size() - 1;
+}
+
+
+Drone::Drone(const QJsonObject &json)
+	:Drone(json["id"].toInt()) {
+	QJsonArray ja = json["waypoints"].toArray();
+	waypoints.reserve(ja.size());
+	for (const QJsonValue &o : ja) {
+		waypoints.append(Waypoint(o.toObject()));
+	}
+}
+
+
+const QVector<Waypoint> Drone::getWaypoints() const {
+	return waypoints;
+}
+
+
+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) {
+		pos = next_wp->pos;
+	} else if (prev > -1 && next == -1) {
+		pos = prev_wp->pos;
+	} else {
+		pos = lerp(prev_wp->pos, next_wp->pos, (double) (frame-prev) / (next-prev));
+	}
+	mesh.mat.translate(pos);
+}
+
+
+QVector3D Drone::getPos() const {
+	return pos;
+}
+
+
+int Drone::getId() const {
+	return id;
+}
-- 
cgit v1.2.3-70-g09d2