From 7e0554bf65b9be61f3b73625d762a5043ad2af0f Mon Sep 17 00:00:00 2001
From: ccolin
Date: Sun, 3 Jan 2021 13:27:01 +0100
Subject: collision sphere previsualization

---
 src/drone_controller.cc | 36 ++++++++++++++++++++++++++++++++++--
 1 file changed, 34 insertions(+), 2 deletions(-)

(limited to 'src/drone_controller.cc')

diff --git a/src/drone_controller.cc b/src/drone_controller.cc
index 0be9844..514a166 100644
--- a/src/drone_controller.cc
+++ b/src/drone_controller.cc
@@ -1,14 +1,34 @@
 #include "drone_controller.hh"
 #include "opengl_widget.hh"
+#include "load_obj.hh"
 
 #include <QJsonArray>
 #include <QDebug>
 #include <QOpenGLShaderProgram>
 
 
-DroneController::DroneController(const QJsonObject &json)
-	:framerate(json["framerate"].toInt()) {
+const unsigned char DroneController::sphere_neutral[] = {
+	166, 166, 166
+};
+
+OpenGLMesh *DroneController::sphere = nullptr;
+
 
+DroneController::DroneController(const QJsonObject &json)
+	:framerate(json["framerate"].toInt()),
+	 sphere_timer(this) {
+	sphere_timer.setSingleShot(true);
+	connect(&sphere_timer, &QTimer::timeout, [&]() {
+		draw_spheres = false;
+		OpenGLWidget::instance->update();
+	});
+	if (sphere == nullptr) {
+		OpenGLWidget::instance->makeCurrent();
+		sphere = new OpenGLMesh(load_obj(":/mdl/sphere.obj", LOAD_OBJ_NORMALS | LOAD_OBJ_UVS),
+								new QOpenGLTexture(QImage(sphere_neutral, 1, 1, QImage::Format_RGB888)),
+								OpenGLWidget::instance->getMainProgram());
+		OpenGLWidget::instance->makeCurrent();
+	}
 	QJsonArray ja = json["drones"].toArray();
 	drones.reserve(ja.size());
 	for (const QJsonValue &o : ja) {
@@ -29,6 +49,10 @@ void DroneController::draw(QOpenGLExtraFunctions *f) const {
 		QMatrix4x4 mat;
 		mat.translate(d.getPos());
 		d.getMesh()->draw(f, mat);
+		if (draw_spheres) {
+			mat.scale(sphere_radius);
+			sphere->draw(f, mat);
+		}
 	}
 }
 
@@ -111,6 +135,14 @@ void DroneController::computeCollisions(double sphere_radius) {
 }
 
 
+void DroneController::displaySpheres(double sphere_radius) {
+	draw_spheres = true;
+	this->sphere_radius = sphere_radius;
+	sphere_timer.start(1000);
+	OpenGLWidget::instance->update();
+}
+
+
 bool DroneController::collides(const Drone &a, const Drone &b, double sqDist) {
 	return (b.getPos() - a.getPos()).lengthSquared() < sqDist;
 }
-- 
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