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#include "drone_controller.hh"
#include "opengl_widget.hh"
#include <QJsonArray>
#include <QDebug>
DroneController::DroneController(const QJsonObject &json)
:framerate(json["framerate"].toInt()) {
QJsonArray ja = json["drones"].toArray();
drones.reserve(ja.size());
for (const QJsonValue &o : ja) {
drones.append(Drone(o.toObject()));
}
for (const Drone &d : drones) {
for (const Waypoint &wp : d.getWaypoints()) {
if (wp.frame > duration) duration = wp.frame;
}
}
OpenGLWidget::instance->makeCurrent();
QOpenGLTexture *ground_tex = new QOpenGLTexture(QImage(":/img/ground.jpg").mirrored());
ground_tex->setMagnificationFilter(QOpenGLTexture::LinearMipMapLinear);
ground_tex->setMinificationFilter(QOpenGLTexture::LinearMipMapLinear);
ground_tex->setWrapMode(QOpenGLTexture::MirroredRepeat);
OpenGLMesh *ground = new OpenGLMesh({
-1000, 0, -1000, 0, 1000, 0, 0, 0,
1000, 0, -1000, 0, 1000, 0, 1000, 0,
-1000, 0, 1000, 0, 1000, 0, 0, 1000,
1000, 0, -1000, 0, 1000, 0, 1000, 0,
-1000, 0, 1000, 0, 1000, 0, 0, 1000,
1000, 0, 1000, 0, 1000, 0, 1000, 1000,
}, ground_tex);
OpenGLWidget::instance->meshes.append(*ground);
OpenGLWidget::instance->doneCurrent();
connect(&timer, &QTimer::timeout, this, &DroneController::step);
}
int DroneController::getDuration() const {
return duration;
}
void DroneController::step() {
for (Drone d : drones) {
d.setTo(frame);
}
OpenGLWidget::instance->update();
emit frameChanged(frame);
if (frame == duration) {
pause();
} else {
frame++;
}
}
void DroneController::play() {
if (!paused) return;
paused = false;
timer.start(1000. / framerate);
emit playing();
}
void DroneController::pause() {
if (paused) return;
paused = true;
timer.stop();
emit pausing();
}
void DroneController::suspend() {
if (!paused) {
pause();
paused = false;
}
}
void DroneController::resume() {
if (!paused) {
paused = true;
play();
}
}
void DroneController::seek(int frame) {
if (this->frame == frame) return;
this->frame = frame;
step();
}
void DroneController::computeCollisions(double sphere_radius) {
double sqDist = sphere_radius * sphere_radius * 2;
for (int i = 0; i < duration; i++) {
for (Drone &a : drones) {
a.setTo(i);
for (Drone &b : drones) {
b.setTo(i);
if (&a == &b) continue;
if (collides(a, b, sqDist)) {
emit collision(a.getId(), b.getId(), i);
}
}
}
}
seek(frame);
}
bool DroneController::collides(const Drone &a, const Drone &b, double sqDist) {
return (b.getPos() - a.getPos()).lengthSquared() < sqDist;
}
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